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Full cross-section tunneling machine tool changing robot testbed and tool changing simulation method

A technology of tunnel boring machine and robot, which is applied in tunnels, manipulators, earthwork drilling and mining, etc. It can solve the problem of poor simulation of tool changing process of tool changing robot, and achieve the effect of reducing research and development costs and accurate test data

Active Publication Date: 2019-12-31
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a full-section tunnel boring machine tool change robot test bench and its simulated tool change method, which solves the problem of poor simulation of the tool change process of the tool change robot in the prior art

Method used

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  • Full cross-section tunneling machine tool changing robot testbed and tool changing simulation method
  • Full cross-section tunneling machine tool changing robot testbed and tool changing simulation method
  • Full cross-section tunneling machine tool changing robot testbed and tool changing simulation method

Examples

Experimental program
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Effect test

Embodiment 1

[0034] Example 1, such as figure 1 As shown, a full-section tunnel boring machine tool-changing robot test bench includes a beam frame 4 and a tool storage box 7 for storing tools 6. Lifting devices 2 and warehouse doors are respectively provided on the opposite sides of the beam frame 4. Mechanism 10, the lifting device 2 is provided with a tool horizontal adjustment device 1, and the tool horizontal adjustment device 1 is equipped with a knife box 3. Through the tool horizontal adjustment device and the lifting device, it is used to adjust the different postures of the knife box 3, simulating the most realistic Tool box state, that is, the tools are distributed in the circumferential direction on the tool head, and different tools have different polar diameters and polar angles. The tool box tool replacement in different states is simulated by the tool horizontal adjustment device and the lifting device. A moving guide rail 9 is provided between the tool storage box 7 and th...

Embodiment 2

[0037] Example 2, such as image 3 and 12 As shown, a full-section tunnel boring machine tool changing robot test bench, the lifting device 2 has two sets and is symmetrically arranged on both sides of the tool horizontal adjustment device 1, and each set of lifting device includes a vertically arranged on the beam frame 4 The lifting lead screw 2-3 on the top of the lifting screw 2-3 is threadedly connected with a lifting base 2-7, and the lifting base 2-7 is hinged with the hinge 1-3 on the traversing base through the hinged connector 2-1. The lifting base 2-7 is provided with a worm and gear lifting mechanism 2-2, and the worm and gear lifting mechanism 2-2 cooperates with the lifting screw 2-3, and the worm and gear lifting mechanism 2-2 is arranged on the lifting base 2-7. The second servo motor 2-5 is connected. That is, under the action of the second servo motor, the worm gear lifting mechanism is driven to move up and down along the lifting screw 2-3, so as to realiz...

Embodiment 3

[0040] Example 3, such as Figure 5 As shown, a full-section tunnel boring machine tool changing robot test bench, the door mechanism 10 includes a door frame 10-5, the door frame 10-5 is fixedly connected with the beam frame 4, and the door frame 10-5 There is a tool change channel 10-4 on the main viewing surface, and a chute 10-6 is provided on both sides of the door frame 10-5, and a sliding door 10-3 is provided in the chute 10-6, and a door 10-3 is provided. -3 cooperates with the tool change channel 10-4; the beam frame 4 is hinged with a hydraulic telescopic cylinder 10-1, and the telescopic end of the hydraulic telescopic cylinder 10-1 is hinged with the warehouse door 10-3. Under the action of the hydraulic telescopic cylinder, the door moves up and down along the chute to realize the opening and closing of the tool changing channel. The opening size of the tool change channel 10-4 simulates the space constraints of the real full-section tunnel boring machine, and s...

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Abstract

The invention discloses a full cross-section tunneling machine tool changing robot testbed and a tool changing simulation method. Through the full cross-section tunneling machine tool changing robot testbed and the tool changing simulation method, the problem that the tool changing process simulation condition of a tool changing robot is not good in the prior art is solved. The full cross-sectiontunneling machine tool changing robot testbed comprises a beam frame and a tool storage box used for storing tools. A lifting device and a chamber door mechanism are arranged on the two opposite sidefaces of the beam frame correspondingly. The lifting device is provided with a tool transverse adjusting device. A tool box is arranged on the tool transverse adjusting device. A moving guide rail isarranged between the tool storage box and the chamber door mechanism. A six-axis mechanical arm is arranged on the moving guide rail. The six-axis mechanical arm is provided with a robot end executionmechanism. The full cross-section tunneling machine tool changing robot testbed can simulate different positions and postures of a set to tools on a cutterhead, greatly reduces the research and development cost of the full cross-section tunneling machine tool changing robot automatic tool changing technology and lays the foundation for success research and development of the full cross-section tunneling machine tool changing robot automatic tool changing technology.

Description

technical field [0001] The invention relates to the technical field of tool change test devices, in particular to a tool change robot test bench for a full-section tunnel boring machine and a tool change simulation method. Background technique [0002] The full-section tunnel boring machine is a large-scale construction machine used for one-time forming of the tunnel section. It is a highly mechanized, automated and integrated large-scale tunnel lining complete set of equipment integrating light, electricity, hydraulics, machinery and sensors. It is widely used in mountain tunnels, Subway, water conservancy and hydropower and other fields. During the tunneling process of the roadheader, the excavation of the tunnel depends entirely on the cutting of the cutter on the cutterhead. The cutter is prone to wear or impact and fails. When the cutter wears to a certain extent or fails, it needs to be replaced in time, otherwise it will aggravate the damage of other cutters and even ...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J5/02B25J19/00E21D9/11
CPCB25J5/02B25J11/00B25J19/00E21D9/11
Inventor 郭俊可王杜娟魏晓龙徐淼董科史乘百李光
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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