TBM (Tunnel Boring Machine) hobbing cutter replacement test bed suitable for foldable electric drive cutter replacement robot

Abstract

The utility model discloses a TBM (Tunnel Boring Machine) hobbing cutter replacement test bed suitable for a foldable electric drive cutter replacement robot, so as to carry out laboratory-level function verification on a later developed TBM cutter replacement robot. The test bed is designed to be used for simulating different postures of a hob on a TBM cutterhead and comprises a fixed tool rest and a robot guide rail. The fixed knife rest is composed of a hob head, a positive hob box, a side hob box, a rear side supporting frame and two side supporting frames, and a double-layer structure is adopted to simulate the posture and position of a hob in an actual cutterhead. The robot guide rail comprises a rectangular base, a 300 * 200 H-shaped steel supporting column, a cutter feeding plate and an I-shaped beam steel guide rail, and a capsule-shaped cavity is designed to optimize the hob replacement process. The test bed further comprises a foldable electric drive cutter changing robot which can save space when not in use and can be rapidly unfolded to replace the hobbing cutter when needed.

Description

Technical Field

[0001] This utility model belongs to the technical field of tunnel boring machine equipment, and relates to a TBM cutterhead replacement test bench suitable for foldable electric drive cutterhead changing robots. Background Technology

[0002] A tunnel boring machine (TBM) is a highly complex engineering piece of equipment that integrates advanced technologies from multiple fields, including mechanical engineering, electronics, hydraulic systems, optical measurement, and automatic control. TBMs have a wide range of applications, ranging from dams and water diversion tunnels in water conservancy projects to railway and subway tunnel construction, oil and gas pipeline laying, and underground infrastructure construction for national defense projects. The most critical part of a TBM's working principle is its rotating cutterhead, which directly contacts and cuts the rock to break it and form the tunnel profile. However, due to the hardness of the rock and the high loads, impacts, and erosion from mud during excavation, these cutterheads suffer severe wear. Once worn to a certain extent, the cutterheads must be replaced to ensure the TBM's continued efficient operation. To address these issues and improve the safety and efficiency of TBM construction, the development of automated cutterhead changing robots and their auxiliary equipment has become crucial. Automated cutterhead changing robots can reduce reliance on manual operation by using precise robotic arms and sensor systems to identify and replace worn cutterheads. These robots can work stably in harsh working environments, unaffected by human physiological limitations, thus significantly improving the speed and safety of tool changing. Summary of the Invention

[0003] This invention provides a simple test bench for simulating different types of hobs on a cutter head surface, so as to conduct laboratory-level verification for the subsequent development of TBM tool-changing robots.

[0004] The technical solution of this utility model:

[0005] A TBM hobbing tool changing test bench suitable for a foldable electric drive tool changing robot includes a fixed tool holder 1 and a robot guide rail 2;

[0006] The fixed tool holder 1 includes a hobbing tool holder 1-1, a front hobbing tool box 1-2, a side hobbing tool box 1-3, a rear support frame 1-4, and two side support frames 1-5.

[0007] The aforementioned roller cutter holder 1-1 is welded from a structural steel frame and is a hollow box, which ensures the overall stability and provides convenient space for the installation and maintenance of internal components.

[0008] The hobbing cutter holder 1-1 is equipped with rear support brackets 1-4 and side support brackets 1-5 on both sides for fixed support. These support brackets not only provide necessary fixation and support for the guide rail, but also enhance the rigidity and durability of the entire system. These support brackets are tightly integrated with the housing through precise welding and bolting, ensuring the stability and reliability of the entire structure.

[0009] The hob cutter holder has a double-layer structure. The upper layer is dedicated to mounting the tool box 1-2 for the positive hob, while the lower layer is for mounting the tool box 1-3 for the side hob. This layered design allows the hob cutter holder to simulate various postures and positions of the hobs in an actual cutter head, thus enabling more precise cutting and machining in practical applications. To ensure a tight fit and stable connection between the hob cutter holder, tool box, and support frame, the upper and lower layers of the double-layer hob cutter holder are bolted together. This connection method not only facilitates installation and disassembly but also provides sufficient fastening force to ensure that no components shift or loosen during machine operation.

[0010] The robot guide rail 2 comprises a rectangular base 2-1, four H-beam steel supports 2-2, a cutter feed plate 2-3, and two I-beam steel guide rails 2-4. Four mounting plates are installed on the side walls of the supports, providing a platform for various mechanical equipment and components. Their positions and layout are carefully calculated to ensure optimal alignment and stability during installation. The H-beam steel supports 2-2 are bolted to the cutter feed plates 2-3. The cutter feed plates 2-3 have a capsule-shaped cavity at their center, specifically designed for the transport path of new and old cutters, ensuring a smooth and efficient cutter replacement process. Two I-beam steel guide rails 2-4 are welded to the upper part of the H-beam steel supports 2-2, providing precise guidance for the mechanical equipment mounted on them. A foldable electrically driven tool changing robot can be installed on the I-beam steel guide rail 2-4. The design of this robot fully considers the optimized use of space. It can be folded up when not in use to save space, and can be quickly unfolded when needed to perform the tool changing work.

[0011] The beneficial effects of this utility model are:

[0012] This utility model's TBM hobbing cutter replacement test bench, by combining a fixed tool magazine, can simulate various postures of the hobbing cutter in an actual cutter head, significantly reducing the size and weight of the test bench, thus facilitating the verification of the basic performance and potential defects of the TBM tool-changing robot. Furthermore, the test bench can be quickly deployed for hobbing cutter replacement when needed, and can be stored away in a space-saving manner when not in use. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the test bench.

[0014] Figure 2 A schematic diagram of the overall structure of the test bench after installing the foldable electric-driven tool-changing robot.

[0015] Figure 3 This is a schematic diagram of the overall structure of the fixed tool holder.

[0016] Figure 4 This is a schematic diagram of the overall structure of the robot guide rail.

[0017] In the diagram: 1 Fixed tool holder; 2 Robot guide rail; 1-1 Hob holder; 1-2 Front hob tool box; 1-3 Side hob tool box; 1-4 Rear support frame; 1-5 Side support frames; 2-1 Rectangular base;

[0018] 2-2 H-shaped steel support column; 2-3 blade feed plate; 2-4 I-beam steel guide rail. Detailed Implementation

[0019] The specific embodiments of this invention are described in detail below with reference to the accompanying drawings and technical solutions.

[0020] Example 1: TBM hobbing tool changing test bench suitable for foldable electric drive tool changer robot

[0021] As shown in the figure, the TBM hobbing cutter replacement test bench of this utility model, applicable to a foldable electrically driven tool-changing robot, includes a fixed tool holder 1 and a robot guide rail 2. The fixed tool holder 1 includes a hobbing cutter holder 1-1, a forward hobbing cutter box 1-2, a side hobbing cutter box 1-3, a rear support frame 1-4, and two side support frames 1-5. The hobbing cutter holder 1-1 is welded from a structural steel frame and is a hollow box. The rear support frame 1-4 and the two side support frames 1-5 are installed on both sides of the hobbing cutter holder 1-1 for fixed support. The hobbing cutter holder has a double-layer structure; the upper layer is specifically used to install the forward hobbing cutter box 1-2, while the lower layer is used to install the side hobbing cutter box 1-3.

[0022] The robot guide rail 2 includes a rectangular base 2-1, four H-beam steel supports 2-2, a blade feed plate 2-3, and two I-beam steel guide rails 2-4. The H-beam steel supports 2-2 are bolted to the blade feed plate 2-3. A capsule-shaped cavity is pre-drilled at the center of the blade feed plate 2-3. Two I-beam steel guide rails 2-4 are welded to the upper part of the H-beam steel supports 2-2, providing precise guidance for the mechanical equipment installed on them.

[0023] Example 2: Tool changing experiment on the TBM hobbing test bench

[0024] Step 1: To construct the TBM cutter replacement test bench, prepare the following materials: structural steel frame, 300x200H-section steel support column, cutter feed plate, I-beam steel guide rail, cutter holder (including cutter holder 1-1, front cutter box 1-2, side cutter box 1-3), rear support frame 1-4, side support frames 1-5, and connecting tools such as bolts and welding equipment;

[0025] Step 2: Weld a structural steel frame into a hollow box, which is the cutter holder 1-1. Ensure that it has a double-layer structure. The upper layer is used to install the positive cutter box 1-2, and the lower layer is used to install the side cutter box 1-3. Use bolts to fix the positive cutter box 1-2 and the side cutter box 1-3 to specific positions on the cutter holder 1-1.

[0026] Step 3: Fabricate the rear support frame 1-4 and the side support frames 1-5, and use precise welding and bolting techniques to tightly connect these support frames to the hob holder 1-1 to enhance the rigidity and durability of the entire system. At this point, the fixed hob holder installation is complete. Figure 3 ;

[0027] Step 4: Make a rectangular base 2-1, which will serve as the foundation of the robot rail 2, ensuring that its size and strength can support the entire structure of the robot rail 2.

[0028] Step 5: Install four 300x200 H-beam steel supports 2-2, which will serve as the main support structure for the robot guide rail 2. The installation position and angle of the supports need to be precise to ensure the stability of the entire guide rail system;

[0029] Step 6: Install four mounting plates on the side wall of the support column, and connect the cutter plate 2-3 to the 300x200H-section steel support column 2-2 with bolts to ensure the firmness and reliability of the connection;

[0030] Step 7: Weld two I-beam steel guide rails 2-4 onto the upper part of the 300x200H-section steel column 2-2. This provides precise guidance for the mechanical equipment installed on it. At this point, the robot guide rail 2 installation is complete. Figure 4 ;

[0031] Step 8: Install the foldable electrically driven tool changer robot on the I-beam steel guide rails 2-4. Before installation, ensure that the robot's design and dimensions match the guide rail system and that it can move smoothly along the guide rails; ensure that the robot's design allows it to be folded up when not in use to save space and quickly unfolded when needed for tool changing.

[0032] Step 8: Conduct system debugging, including robot movement testing and cutter installation and replacement testing. During debugging, it is necessary to check whether the operation of each component is coordinated and whether there are any problems such as interference or abnormal noise.

[0033] Example 3: Working process of the TBM hobbing cutter replacement test bench

[0034] Step 1: Turn on the power, start the robot guide rail, and ensure that all motors and drives are working properly; conduct a preliminary robot guide rail movement test to ensure that the robot can move smoothly and accurately on the guide rail;

[0035] Step 2: Load the hob to be tested into the corresponding tool box of the fixed tool holder 1 (forward hob tool box 1-2 or side hob tool box 1-3), and ensure that the hob is correctly fixed in the tool box and will not be displaced during the test;

[0036] Step 3: Operate the robot guide rail to move the robot to the appropriate position, prepare for the cutter change operation, and ensure that the robot's tool changer is aligned with the correct position of the cutter in the tool box;

[0037] Step 4: Start the robot's tool changing program to perform the gripping, removal, and replacement of the hobbing cutter. During operation, monitor the entire tool changing process to ensure that the operation proceeds smoothly without collisions or errors.

[0038] Step 5: Record all data during the testing process, including the robot's motion parameters and the hob's performance parameters. Then, analyze the data to determine the working effect of the test bench and the performance status of the hob.

[0039] Step Six: After the test is completed, reset the robot and the hobbing system to their initial state, turn off the power, ensure that all equipment is in a safe state, and end the experiment.

Claims

1. A TBM cutter replacement test bench suitable for a foldable electric drive cutter replacement robot, characterized in that, It comprises a fixed tool holder (1), a robot guide rail (2); The fixed tool holder (1) comprises a hob holder (1-1), a positive hob tool box (1-2), a side hob tool box (1-3), a rear support frame (1-4) and two side support frames (1-5); The hob holder (1-1) is a hollow box welded by structural steel frames; the rear support frame (1-4) and the two side support frames (1-5) are installed on both sides of the hob holder (1-1) for fixed support; the hob holder (1-1) is a double-layer structure, the upper layer is used for installing the positive hob tool box (1-2), and the lower layer is used for installing the side hob tool box (1-3); The robot guide rail (2) comprises a rectangular base (2-1), four H-shaped steel support columns (2-2), a tool feeding plate (2-3) and two I-beam steel guide rails (2-4); four installation plates are arranged on the side walls of the four H-shaped steel support columns, which provide installation platforms for various mechanical equipment and components; the H-shaped steel support columns (2-2) are connected with the tool feeding plate (2-3) through bolts; a capsule-shaped hollow is reserved at the center position of the tool feeding plate (2-3), which is used as a transportation path for new and old hobs; the two I-beam steel guide rails (2-4) are welded on the upper part of the H-shaped steel support columns (2-2), which provide accurate guidance for the mechanical equipment installed thereon.

2. The TBM cutterhead replacement test bed of claim 1, wherein, The upper layer and the lower layer of the hob holder (1-1) are connected through welding and bolts.

3. The TBM cutter replacement test bench of claim 1, wherein, The H-shaped steel support column is a 300x200 H-shaped steel support column.

4. The TBM cutter replacement test bench of claim 1, wherein, The I-beam steel guide rail (2-4) can be installed with a foldable electric-driven tool changing robot, which is designed to fully consider the optimization of space utilization, and is folded when not in use, and can be quickly unfolded when needed to perform hob changing work.

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