A shield machine disc-shaped hob tool changing mechanical arm end effector

Abstract

The invention discloses a shield tunneling machine disk type rolling knife knife changing mechanical arm end actuator. The shield tunneling machine disk type rolling knife knife changing mechanical arm end actuator can be cooperatively used with a shield tunneling machine knife changing mechanical arm, an artificial knife changing technology is replaced, and a shield tunneling machine disk type rolling knife is automatically changed. The shield tunneling machine disk type rolling knife knife changing mechanical arm end actuator mainly comprises an end actuator body module, a bolt dismounting and fixing module and an axial movement module; the end actuator body module comprises two hydraulic cylinders which are used for driving four fingers to grab and fix a knife tool, each of the fingers has three contacting areas, when bolts at different positions are grabbed or dismounted, different contacting areas are in contact with the rolling knife; the bolt dismounting and fixing module adopts a cycloid motor as a power source, and the bolts are dismounted through bolt sleeves; the axial movement module brings convenience to dismounting of the bolts, the moving speed of the axial movement module is relevant to the rotating speed of a motor, and the axial movement module is fixed on the frame of the end actuator through a linear guide rail. According to the shield tunneling machine disk type rolling knife knife changing mechanical arm end actuator, the operation is convenient, the constructing efficiency can be sharply improved, the constructing risks are effectively reduced, and the improvement of people on an underground space utilization technology is quickened.

Description

technical field [0001] The invention relates to the technical field of a shield machine, in particular to an end effector of a disc-shaped hob tool changing mechanical arm of a shield machine. Background technique [0002] Usually, the cutters of the shield machine are directly used for rock breaking and excavation, which are subject to large impact and wear, are easily damaged, and the cutters are changed frequently. At present, the mature tool change technology is manual tool change, including normal pressure tool change and pressure tool change. Atmospheric pressure tool change has strict requirements on geological conditions, which are difficult to meet in general geology. The pressure tool change technology has a strong adaptability to geological conditions, but the construction environment is harsh, and the requirements for operators are harsh. Only professionally trained divers can perform operations. The manual tool change technology is difficult and inefficient. T...

AI Technical Summary

Problems solved by technology

The manual tool change operation is too dangerous. Once a landslide accident occurs, the consequences will be disastrous

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