A tool-changing robot and a tunnel boring machine

Abstract

This utility model provides a tool-changing robot and a tunnel boring machine, belonging to the technical field of tunnel boring equipment. The tool-changing robot includes a moving mechanism and a tool-changing operating arm. An end effector is connected to the end of the tool-changing operating arm. At least one swing mechanism is connected in series on the tool-changing operating arm, and a linear adjustment mechanism is also connected in series on the tool-changing operating arm. The linear adjustment mechanism includes a fixed base, a movable seat that is guided and moved on the fixed base, and a linear drive device connected between the fixed base and the movable seat to control the linear movement of the movable seat and thus change the position of the movable seat. The linear movement direction of the movable seat is parallel to the swing axis direction of at least one swing mechanism. In this way, the position of the end effector can be directly adjusted in a direction parallel to the swing axis of the end effector, increasing the degree of freedom of the end effector. It eliminates the need for rotating the cutterhead and complex compound movements, making the adjustment more direct and the operation simpler, thereby improving the tool-changing efficiency.

Description

Technical Field

[0001] This utility model relates to a tool-changing robot and a tunnel boring machine, belonging to the technical field of tunnel boring equipment. Background Technology

[0002] Tunnel boring machines (TBMs) achieve tunneling by cutting with a cutterhead. Due to long-term operation in complex geological formations, the cutters will wear down and need to be replaced frequently. Traditional manual cutter replacement methods are inefficient and risky, making it difficult to meet the requirements of safe and efficient tunnel construction.

[0003] In response, Chinese utility model patent CN210791011U discloses a simulated tool-changing robot body structure (i.e., a tool-changing robot). This robot includes a movable upper arm and a telescopic lower arm. A walking mechanism is located at the lower part of the movable upper arm. The telescopic lower arm is connected to the movable upper arm via a first rotating mechanism. The first rotating mechanism includes a radial rotating component and an axial rotating component. The rotation axis of the radial rotating component extends in the front-rear direction, and the rotation axis of the axial rotating component is perpendicular to the rotation axis of the radial rotating component. Both the movable upper arm and the telescopic lower arm are capable of extension and retraction. The front end of the telescopic lower arm is connected to an end effector for assembling and disassembling hobs via a second rotating mechanism. The rotation axis of the second rotating mechanism is parallel to the rotation axis of the axial rotating component. The second rotating mechanism, the telescopic lower arm, and the axial rotating component together form a tool-changing operating arm. This tool-changing operating arm is connected to the movable upper arm (which has a walking mechanism at its bottom, collectively referred to as the movable mechanism) via the radial rotating component.

[0004] In actual use, the tool-changing robot is installed in a robot cabin (located behind the tool turret, offset from the center of the tool turret). Before tool changing, the tool turret is rotated by a certain angle to bring the tool to be changed onto the movement path covered by the end effector (i.e., the end effector mechanism). Then, the end effector is moved closer to or away from the tool turret by the movement of the upper arm and the extension and retraction of the upper arm and the telescopic arm. As one implementation method, the position of the axial rotator (i.e., the first-stage swing mechanism) can be adjusted by the radial rotator (i.e., the rotator mechanism), so that the swing axis of the axial rotator is adjusted to extend vertically. At this time, the telescopic arm can be swung left and right by the axial rotator, and the end effector can be swung left and right by the second rotator mechanism (i.e., the second-stage swing mechanism), thereby adjusting the left and right position of the end effector and realizing the replacement of each tool from the center to the edge in a radius direction. After all the tools within a radius range on the tool turret have been replaced, the tool turret is rotated by a certain angle to replace the tools in the next radius range.

[0005] Of course, by using the appropriate orientation of the axial rotator, the axial rotator can also control the telescopic arm to swing diagonally upwards and downwards. At this time, the second rotary mechanism can also control the end effector to swing diagonally upwards and downwards, thus adjusting the position of the end effector. However, the position of the end effector cannot be adjusted in the direction parallel to its swing axis. For example, when the end effector swings left and right, its vertical position cannot be adjusted. Therefore, when there is a positional deviation between the end effector and the tool to be changed in the direction parallel to its own swing axis, the tool position needs to be adjusted by rotating the tool head again. The tool head needs to be adjusted repeatedly, which is complex and affects the tool changing efficiency. Of course, by combining the swing of the end effector with the rotation of the radial rotator, the combined effect of the two movements can also achieve the adjustment of the end effector position. However, this requires comprehensive consideration of both movements, is complex, and also affects the tool changing efficiency. Utility Model Content

[0006] The purpose of this utility model is to provide a tool changing robot to solve the problem that when there is a positional deviation between the end effector of the existing tool changing robot and the tool to be changed in the direction parallel to its own swing axis, the adjustment operation is complicated and the tool changing efficiency is affected; the purpose of this utility model is also to provide a tunnel boring machine to solve the above problems.

[0007] To achieve the above objectives, the tool-changing robot of this utility model adopts the following technical solution:

[0008] A tool-changing robot includes a moving mechanism and a tool-changing operating arm connected to the moving mechanism. The end of the tool-changing operating arm is connected to an end effector for loading and unloading tools. At least one swing mechanism is connected in series on the tool-changing operating arm. A linear adjustment mechanism is also connected in series on the tool-changing operating arm. The linear adjustment mechanism includes a fixed base, a movable base that is guided and movably mounted on the fixed base, and a linear drive device connected between the fixed base and the movable base to control the linear movement of the movable base and thereby change the position of the movable base. The linear movement direction of the movable base is parallel to the swing axis direction of the at least one swing mechanism.

[0009] The beneficial effects of the above technical solution are as follows: This utility model is an improved invention. Specifically, a linear adjustment mechanism is connected in series on the tool changing operating arm. The linear adjustment mechanism includes a fixed base, a movable base that is guided and moved on the fixed base, and a linear drive device connected between the fixed base and the movable base. The linear drive device can control the linear movement of the movable base, thereby changing the position of the movable base. At the same time, the linear movement direction of the movable base is parallel to the swing axis direction of at least one level of swing mechanism. In this way, the position of the end effector can be directly adjusted in a direction parallel to the swing axis of the end effector, increasing the degree of freedom of the end effector without having to rotate the tool disc or go through complex compound movements. The adjustment is more direct and convenient, the operation is simpler, and the tool changing efficiency can be improved.

[0010] Furthermore, the swing mechanism has at least two stages, and the direct adjustment mechanism is connected between two adjacent swing mechanisms.

[0011] Furthermore, the end effector is connected to the final stage swing mechanism, and the direct adjustment mechanism is connected between the final stage swing mechanism and the previous stage swing mechanism.

[0012] Furthermore, the movable seat includes two parallel spaced side plates and an end plate connected between the two side plates. The fixed seat is located in the space enclosed by the side plates and the end plate. The spaced arrangement direction of the two side plates is perpendicular to the linear movement direction of the movable seat and the movement direction of the moving mechanism. Each side plate and one of the movable seats is provided with a side slide rail, and the other is provided with a side slide groove that guides and slides with the side slide rail.

[0013] Furthermore, one of the end plates and the movable seat is provided with an end slide rail, and the other is provided with an end slide groove that slides and guides the end slide rail.

[0014] Furthermore, the mounting base has a mounting groove with its opening facing the end plate, and the linear drive device is arranged in the mounting groove.

[0015] Furthermore, the swing axes of each swing mechanism are parallel.

[0016] Furthermore, the tool changing operating arm is connected to the moving mechanism via a rotary mechanism, and the rotation axis of the rotary mechanism is in the same direction as the movement direction of the moving mechanism.

[0017] Furthermore, the first-stage swing mechanism is located at the end of the tool changing operating arm. The first-stage swing mechanism is connected to the moving mechanism through a rotary mechanism, and the rotation axis of the rotary mechanism is in the same direction as the movement direction of the moving mechanism.

[0018] To achieve the above objectives, the tunnel boring machine of this utility model adopts the following technical solution:

[0019] A tunnel boring machine includes a cutterhead and a robot compartment arranged behind the cutterhead. A tool changing robot is installed in the robot compartment. The tool changing robot includes a moving mechanism and a tool changing operating arm connected to the moving mechanism. The end of the tool changing operating arm is connected to an end effector for loading and unloading tools. At least one swing mechanism is connected in series on the tool changing operating arm. A linear adjustment mechanism is also connected in series on the tool changing operating arm. The linear adjustment mechanism includes a fixed seat, a movable seat that is guided and moved on the fixed seat, and a linear drive device connected between the fixed seat and the movable seat to control the linear movement of the movable seat and thus change the position of the movable seat. The linear movement direction of the movable seat is parallel to the swing axis direction of the at least one swing mechanism.

[0020] The beneficial effects of the above technical solution are as follows: This utility model is an improved invention. Specifically, a linear adjustment mechanism is connected in series on the tool changing operating arm. The linear adjustment mechanism includes a fixed base, a movable base that is guided and moved on the fixed base, and a linear drive device connected between the fixed base and the movable base. The linear drive device can control the linear movement of the movable base, thereby changing the position of the movable base. At the same time, the linear movement direction of the movable base is parallel to the swing axis direction of at least one level of swing mechanism. In this way, the position of the end effector can be directly adjusted in a direction parallel to the swing axis of the end effector, increasing the degree of freedom of the end effector without having to rotate the tool disc or go through complex compound movements. The adjustment is more direct and convenient, the operation is simpler, and the tool changing efficiency can be improved.

[0021] Furthermore, the swing mechanism has at least two stages, and the direct adjustment mechanism is connected between two adjacent swing mechanisms.

[0022] Furthermore, the end effector is connected to the final stage swing mechanism, and the direct adjustment mechanism is connected between the final stage swing mechanism and the previous stage swing mechanism.

[0023] Furthermore, the movable seat includes two parallel spaced side plates and an end plate connected between the two side plates. The fixed seat is located in the space enclosed by the side plates and the end plate. The spaced arrangement direction of the two side plates is perpendicular to the linear movement direction of the movable seat and the movement direction of the moving mechanism. Each side plate and one of the movable seats is provided with a side slide rail, and the other is provided with a side slide groove that guides and slides with the side slide rail.

[0024] Furthermore, one of the end plates and the movable seat is provided with an end slide rail, and the other is provided with an end slide groove that slides and guides the end slide rail.

[0025] Furthermore, the mounting base has a mounting groove with its opening facing the end plate, and the linear drive device is arranged in the mounting groove.

[0026] Furthermore, the swing axes of each swing mechanism are parallel.

[0027] Furthermore, the tool changing operating arm is connected to the moving mechanism via a rotary mechanism, and the rotation axis of the rotary mechanism is in the same direction as the movement direction of the moving mechanism.

[0028] Furthermore, the first-stage swing mechanism is located at the end of the tool changing operating arm. The first-stage swing mechanism is connected to the moving mechanism through a rotary mechanism, and the rotation axis of the rotary mechanism is in the same direction as the movement direction of the moving mechanism. Attached Figure Description

[0029] Figure 1 This is a perspective view of the tool-changing robot in the embodiment of the tunnel boring machine of this utility model;

[0030] Figure 2 This is a top view of the tool-changing robot in the embodiment of the tunnel boring machine of this utility model;

[0031] Figure 3 This is a perspective view of the direct adjustment mechanism of the tool changing robot in the embodiment of the tunnel boring machine of this utility model;

[0032] Figure 4 This is a side view of the direct adjustment mechanism of the tool changing robot in the embodiment of the tunnel boring machine of this utility model;

[0033] Figure 5 This is a partial perspective view of the tunnel boring machine of this utility model.

[0034] In the diagram: 10. Moving mechanism; 11. Moving seat; 12. Telescopic arm; 20. Rotating mechanism; 30. Tool changer arm; 31. First-stage swing mechanism; 32. Second-stage swing mechanism; 33. Final-stage swing mechanism; 34. Direct adjustment mechanism; 341. Fixed seat; 3411. Side slide rail; 3412. End slide rail; 3413. Mounting slot; 342. Movable seat; 3421. Side plate; 3422. End plate; 3423. Side slide groove; 3424. End slide groove; 40. End effector; 50. Ground rail; 60. Tool head; 70. Robot cabin. Detailed Implementation

[0035] To address the technical problems existing in the prior art, the basic concept of this utility model is to add a direct adjustment mechanism, which enables the position of the end effector to be directly adjusted in a direction parallel to the swing axis of the end effector. This makes the adjustment more direct and convenient, the operation simpler, and improves tool changing efficiency.

[0036] The features and performance of this utility model will be further described in detail below with reference to the embodiments.

[0037] Embodiment 1 of the tunnel boring machine in this utility model:

[0038] like Figure 5As shown, the tunnel boring machine includes a cutterhead 60 and a robot compartment 70 arranged behind the cutterhead 60. The robot compartment 70 is equipped with a tool changing robot, which is used to replace the tools on the cutterhead 60 after they wear out.

[0039] Combination Figure 1 , Figure 2 , Figure 5 As shown, the tool-changing robot in this embodiment includes a moving mechanism 10 and a tool-changing operating arm 30 connected to the moving mechanism 10 via a rotating mechanism 20. The end (i.e., the front end) of the tool-changing operating arm 30 is connected to an end effector 40. The moving mechanism 10, rotating mechanism 20, and tool-changing operating arm 30 can drive the end effector 40 to move, disassembling and assembling the tools on the tool disc 60, thus completing the tool-changing process. During the tool-changing process, the robot's actions are controlled by a backend control system.

[0040] The end effector 40 includes a bolt tightening mechanism and a gripper. The bolt tightening mechanism is used for removing bolts from tools to be removed and installing bolts on tools to be installed. The gripper is used to grasp the tools, and its height and opening size are adjustable. By controlling the gripper height and opening size, tools of different positions and sizes can be grasped and placed. It should be noted that the specific structure of the end effector 40 is existing technology, such as the end effector of the tool changing robot disclosed in CN217072400U, and will not be described in detail in this utility model.

[0041] The moving mechanism 10 includes a moving base 11, which is movably mounted on a ground rail 50. The ground rail 50 allows for forward and backward movement, thereby enabling the tool changing operating arm 30 and the end effector 40 to move forward or backward relative to the tool head 60. The ground rail 50 is located inside the robot compartment 8 for easy installation.

[0042] The moving mechanism 10 also includes a telescopic arm 12 disposed in the moving seat 11, and of course, a control device for controlling the extension or retraction of the telescopic arm 12 into the moving seat 11. The control device can specifically be a hydraulic cylinder or a pneumatic cylinder. The extension length of the tool changing operating arm 30 and the end effector 40 can be increased by the telescopic arm 12. The tool changing coverage range can be further increased by length adjustment.

[0043] At least one level of swing mechanism is connected in series on the tool changing operating arm 30. In this embodiment, there are three levels of swing mechanisms: the first-level swing mechanism 31, the intermediate-level swing mechanism 32, and the final-level swing mechanism 33. The specific structures of each level of swing mechanism are all existing technologies. Among them, the first-level swing mechanism 31 and the final-level swing mechanism 33 are located at both ends of the tool changing operating arm 30, and the end effector 40 is connected to the final-level swing mechanism 33. The first-level swing mechanism 31 is connected to the rotary mechanism 20, and the rotary mechanism 20 is connected to the telescopic arm 12. The rotation axis of the rotary mechanism 20 is in the same direction as the movement direction of the moving mechanism 10, which is the front-to-back direction. The swing axes of each level of swing mechanism are parallel, and the swing axes of each level of swing mechanism are perpendicular to the rotation axis of the rotary mechanism 20.

[0044] Therefore, the entire tool changer arm 30 and end effector 40 can rotate around the rotation axis of the rotary mechanism 20. The end effector 40, the final stage swing mechanism 33 and the intermediate stage swing mechanism 32 can swing in the first stage under the action of the first stage swing mechanism 31. The end effector 40 and the final stage swing mechanism 33 can swing in the second stage under the action of the intermediate stage swing mechanism 32. The end effector 40 can also swing in the third stage under the action of the final stage swing mechanism 33, so that the end effector 40 can have a relatively large swing range, which can cover the replacement of each tool from the center to the edge.

[0045] Alternatively, the rotary mechanism 20 can adjust the position and orientation of each swing mechanism and the end effector 40, changing the direction of the swing axis of the swing mechanism, so as to... Figure 1 and Figure 2 For example, when the swing axis directions of each swing mechanism are all vertical, under the action of the first-stage swing mechanism 31, the end-stage actuator 40, the final-stage swing mechanism 33, and the intermediate-stage swing mechanism 32 can swing left and right; under the action of the intermediate-stage swing mechanism 32, the end-stage actuator 40 and the final-stage swing mechanism 33 can swing left and right further; under the action of the final-stage swing mechanism 33, the end-stage actuator 40 can swing left and right a step further.

[0046] Meanwhile, a direct adjustment mechanism 34 is also connected in series on the tool changing operating arm 30 of this utility model, combined with Figure 3 and Figure 4 As shown, the linear adjustment mechanism 34 includes a fixed base 341, a movable base 342 that is guided and movably mounted on the fixed base 341, and a linear drive device (not shown in the figure) connected between the fixed base 341 and the movable base 342 to control the linear movement of the movable base 342 and thereby change the position of the movable base 342. The linear drive device can specifically be a hydraulic cylinder or a pneumatic cylinder.

[0047] The linear motion direction of the movable seat 342 is parallel to the swing axis direction of each swing mechanism. This allows the position of the end effector 40 to be directly adjusted in a direction parallel to the swing axis of the end effector 40, increasing the degree of freedom of the end effector 40 without having to rotate the cutter head or go through complex compound motions. The adjustment is more direct and convenient, the operation is simpler, and the tool changing efficiency can be improved.

[0048] like Figure 1 and Figure 2 As shown, the straight adjustment mechanism 34 is connected between two adjacent swing mechanisms, ensuring that the first-stage swing mechanism 31 can control the end effector 40, the final-stage swing mechanism 33, the intermediate-stage swing mechanism 32, and the straight adjustment mechanism 34 to have a certain swing amplitude as a whole. Specifically, in this embodiment, the straight adjustment mechanism 34 is connected between the final-stage swing mechanism 33 and the intermediate-stage swing mechanism 32, wherein the fixed seat 341 is connected to the intermediate-stage swing mechanism 32, and the movable seat 342 is connected to the intermediate-stage swing mechanism 32. The straight adjustment mechanism 34 is located closer to the end effector 40 in the entire tool changer arm 30, so that the straight adjustment mechanism 34 only needs to adjust the straight position of the end effector 40 and the final-stage swing mechanism 33. The final-stage swing mechanism 33 realizes the adjustment of the small-range swing amplitude of the end effector 40, while the first-stage swing mechanism 31 and the intermediate-stage swing mechanism 32 are responsible for the adjustment of the large-range swing amplitude.

[0049] like Figure 3 and Figure 4 As shown, the movable seat 342 includes two parallel, spaced-apart side plates 3421 and an end plate 3422 connected between the two side plates 3421. The fixed seat 341 is located within the space enclosed by the side plates 3421 and the end plate 3422. The spacing direction of the two side plates 3421 is perpendicular to the linear movement direction of the movable seat 342 and the movement direction of the moving mechanism 10. Each side plate 3421 is provided with a side groove 3423, both of which are U-shaped and have their openings facing each other. The two opposite sides of the fixed seat 341 are respectively provided with side slide rails 3411 that are embedded in the corresponding side grooves 3423 and slide in a guide-sliding cooperation with the side grooves 3423, ensuring the stability of the sliding of the movable seat 342.

[0050] Furthermore, the end plate 3422 is provided with two end grooves 3424, and the fixed seat 341 is provided with two end slide rails 3412 that are respectively embedded in the corresponding end grooves 3424 and slide in a guide-sliding cooperation with the end grooves 3424, thereby improving the guiding cooperation accuracy between the movable seat 342 and the fixed seat 341.

[0051] Furthermore, the mounting base 341 has a mounting groove 3413 with its opening facing the end plate 3422. The mounting groove 3413 is located between the two end slide rails 3412, and the aforementioned linear drive device is arranged in the mounting groove 3413, thus making the structure more compact.

[0052] The tool-changing robot in this utility model, when in use, combines with Figure 1 , Figure 2 and Figure 5 As shown, firstly, the cutter head 60 is rotated at a certain angle so that the tool to be replaced is positioned on the motion path covered by the end effector 40. Before tool replacement, the cutter head 60 must stop rotating. Then, the tool changing operating arm 30 and the end effector 40 are extended towards the cutter head 60 by the moving mechanism 10. With the rotation of the rotary mechanism 20, the swing motion of the three-stage swing mechanism, and the linear adjustment of the straight adjustment mechanism 34, the position of the end effector 40 can be adjusted to avoid interference between the tool changing robot and structural components such as the cutter head's twisting leg during tool replacement. During tool replacement, to address the issue of misalignment between the gripper and the tool height, there is no need to rotate the cutter head again to adjust the tool height. The position of the end effector 40 can be directly adjusted in a direction parallel to the swing axis of the end effector 40 through the straight adjustment mechanism 34. This allows the tool changing robot to meet the tool replacement requirements of multiple angles and positions, and can complete the disassembly and assembly of edge hobbing tools in extreme positions, with a large tool replacement coverage area.

[0053] As a specific embodiment, when rotating the tool head before tool change, the radius direction of the tool to be changed can be adjusted to the horizontal. The swing axis of each swing mechanism is controlled to extend vertically by the rotary mechanism 20. At this time, each swing mechanism can control the end effector 40 to swing left and right. When the height of the end effector 40 does not match the height of the tool to be changed, the vertical adjustment mechanism 34 is used to adjust the vertical height of the end effector 40. Subsequently, by moving the end effector 40 left and right, the tool change operation within a radius range can be realized.

[0054] In other embodiments, the radius direction of the tool to be replaced can also be inclined. In this case, the swing axis of each swing mechanism can be controlled to be inclined through the rotary mechanism 20. Each swing mechanism can control the end effector 40 to swing in an inclined manner. At this time, the straight adjustment mechanism 34 can also adjust the height of the end effector 40 relative to the tool to be replaced. However, during the adjustment, the end effector 40 moves up and down in an inclined manner. After the adjustment is completed, the end effector 40 can still be controlled through each swing mechanism to achieve the replacement operation of all tools within a radius.

[0055] In other implementations of the tunnel boring machine: the direct adjustment mechanism can also be connected between the primary swing mechanism and the intermediate swing mechanism. Of course, the swing mechanism can also be set with four or more levels. In this case, the direct adjustment mechanism is connected between the primary swing mechanism and the next level swing mechanism. Of course, the swing mechanism can also be connected between any two swing mechanisms among the remaining swing mechanisms other than the primary swing mechanism and the final swing mechanism.

[0056] In other implementations of tunnel boring machines: the straight adjustment mechanism can also be connected between the first-stage swing mechanism and the slewing mechanism. In this case, the straight adjustment mechanism controls the linear motion of each stage of the swing mechanism and the end actuator. Of course, in this case, the swing mechanism can also be only one stage, namely the first-stage swing mechanism, which is also the last-stage swing mechanism.

[0057] In other implementations of tunnel boring machines: the straight adjustment mechanism can also be connected between the final stage swing mechanism and the end effector. In this case, the straight adjustment mechanism only controls the linear motion of the end effector. Of course, in this case, the swing mechanism can also have only one stage, namely the final stage swing mechanism, which is also the first stage swing mechanism.

[0058] In other implementations of tunnel boring machines: regardless of the number of stages of the swing mechanism, and regardless of whether the direct adjustment mechanism is at the end or in the middle of the cutter changer arm, the cutter changer arm and the moving mechanism can be directly connected without any intermediate transition through the rotary mechanism. In this case, the swing axis of the swing mechanism is unique and can only extend vertically. At the same time, the adjustment direction of the direct adjustment mechanism is also unique and can only be adjusted vertically.

[0059] In other implementations of tunnel boring machines: when the swing mechanism has two or more stages, the swing axis directions of each stage of the swing mechanism may not be parallel, and there may be a situation where they are perpendicular. In this case, the adjustment direction of the straight adjustment mechanism only needs to be parallel to the swing axis direction of one of the swing mechanisms.

[0060] In other embodiments of the tunnel boring machine: the mounting slot may no longer be provided on the fixed seat, and the linear drive device is arranged outside the fixed seat and the movable seat.

[0061] In other implementations of the tunnel boring machine: the end slide rail can be set on the end plate, and the end slide groove is set on the fixed seat. Of course, the end slide rail and end slide groove can also be omitted, and the guide between the fixed seat and the movable seat can be achieved by the side slide rail and side slide groove alone.

[0062] In other embodiments of the tunnel boring machine: the side slide rail can be set on the side plate, and the side slide groove is set on the fixed seat.

[0063] In other embodiments of the tunnel boring machine: the movable seat may consist of only an end plate, without side plates, side slide rails and side grooves. Instead, a groove is provided on the end plate and a slide rail is provided on the fixed seat, or a groove is provided on the fixed seat and a slide rail is provided on the end plate. Both the groove and the slide rail are dovetail-shaped. Of course, the linear drive device is arranged outside the fixed seat and the movable seat.

[0064] The embodiment of the tool changing robot in this utility model is as follows: the specific structure of the tool changing robot is the same as that of the tool changing robot in any of the above-mentioned embodiments of the tunnel boring machine, and will not be repeated here.

[0065] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. The patent protection scope of the present utility model shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present utility model shall also be included within the protection scope of the present utility model.

Claims

1. A tool changer robot comprising a moving mechanism and a tool changing operation arm connected to the moving mechanism, a terminal execution mechanism for disassembling and assembling a tool being connected to a terminal end of the tool changing operation arm, and at least one stage of a swing mechanism being connected in series to the tool changing operation arm, characterized in that, The tool changing operating arm is also connected in series with a linear adjustment mechanism, which includes a fixed seat, a movable seat that is guided and moved on the fixed seat, and a linear drive device connected between the fixed seat and the movable seat to control the linear movement of the movable seat and thus change the position of the movable seat. The linear movement direction of the movable seat is parallel to the swing axis direction of at least one swing mechanism.

2. The tool-changing robot according to claim 1, characterized in that, The swing mechanism has at least two stages, and the direct adjustment mechanism is connected between two adjacent swing mechanisms.

3. The tool-changing robot according to claim 2, characterized in that, The end effector is connected to the final stage swing mechanism, and the direct adjustment mechanism is connected between the final stage swing mechanism and the previous stage swing mechanism.

4. The tool-changing robot according to any one of claims 1 to 3, characterized in that, The movable seat includes two parallel spaced side plates and an end plate connected between the two side plates. The fixed seat is located in the space enclosed by the side plates and the end plate. The spacing direction of the two side plates is perpendicular to the linear movement direction of the movable seat and the movement direction of the moving mechanism. Each side plate and one of the movable seats is provided with a side slide rail, and the other is provided with a side slide groove that guides and slides with the side slide rail.

5. The tool-changing robot according to claim 4, characterized in that, One of the end plates and the movable seat is provided with an end slide rail, and the other is provided with an end slide groove that slides and guides the end slide rail.

6. The tool-changing robot according to claim 4, characterized in that, The mounting base has a mounting slot with the opening facing the end plate, and the linear drive device is arranged in the mounting slot.

7. The tool-changing robot according to claim 2 or 3, characterized in that, The swing axes of each swing mechanism are parallel.

8. The tool-changing robot according to any one of claims 1 to 3, characterized in that, The tool changing arm is connected to the moving mechanism via a rotary mechanism, and the rotation axis of the rotary mechanism is in the same direction as the moving direction of the moving mechanism.

9. The tool-changing robot according to claim 2 or 3, characterized in that, The first-stage swing mechanism is located at the end of the tool changing operating arm. The first-stage swing mechanism is connected to the moving mechanism through a rotary mechanism. The rotation axis of the rotary mechanism is in the same direction as the movement direction of the moving mechanism.

10. A tunnel boring machine, comprising a cutterhead and a robot cabin arranged behind the cutterhead, wherein a cutter-changing robot is installed in the robot cabin, characterized in that, The tool-changing robot is the tool-changing robot described in any one of claims 1 to 9.

Images