Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A shield machine with robot tool changing function

A technology of robots and shield machines, applied in mining equipment, tunnels, earthwork drilling and mining, etc., can solve the problems of shield machine tool change difficulties, improve tool change efficiency and operational safety factor, and make tool change procedures simple and orderly , the effect of ingenious structural design

Active Publication Date: 2022-01-21
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies in the above-mentioned background technology, the present invention proposes a shield machine with robot tool change function, which solves the problem of difficult tool change of the shield machine in the prior art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A shield machine with robot tool changing function
  • A shield machine with robot tool changing function
  • A shield machine with robot tool changing function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 2

[0047] Example 2, such as Figure 4 As shown, a shield machine with robot tool changing function, the end effector 6-1 includes a movement adjustment mechanism 6-1-5, and the movement adjustment mechanism 6-1-5 is provided with a jaw assembly 6-1 -1. Image collection mechanism 6-1-2, bolt tightening mechanism 6-1-4 and high-pressure cleaning mechanism 6-1-3. The image collection mechanism is used to collect images when the end actuator performs actions, which is convenient for visual detection. The bolt tightening mechanism is used for screwing the bolts for installing the cutter; the high-pressure cleaning mechanism 3 is used for cleaning the cutter to be replaced. The jaw assembly 6-1-1, the image acquisition mechanism 6-1-2, the bolt tightening mechanism 6-1-4 and the high pressure cleaning mechanism 6-1-3 are located on the same board surface of the motion adjustment mechanism 6-1-5. The five parts are used together to realize efficient and safe replacement of knives.

...

Embodiment 3

[0053] Example 3, such as Figure 7 As shown, an end effector based on a tool changing robot, the jaw assembly 6-1-1 includes a fixed jaw 101 and a moving jaw 102, the moving jaw 102 is hinged to the fixed jaw 101 and is opened and closed by a clamping cylinder 108 , that is, under the expansion and contraction of the clamping cylinder, the moving claw moves relative to the fixed claw to realize whether the tool is grasped or not. The top of the fixed claw 101 is connected with the sliding drive mechanism. Under the action of the sliding drive mechanism, the fixed claw and the movable claw can slide and translate to realize the change of their positions, so as to adapt to the disassembly and replacement of tools in different positions.

[0054] Further, the sliding drive mechanism includes a guide rail 105, the guide rail 105 is fixed in the connecting box 502, a slider 103 is slid on the guide rail 105, the slider 103 is fixedly connected with the fixed claw 101, and the sli...

Embodiment 4

[0057] Example 4, such as Figure 8 As shown, an end effector based on a tool changing robot, the image acquisition mechanism 6-1-2 includes a camera 201 and a multi-degree-of-freedom adjustment platform 202, and the multi-degree-of-freedom adjustment platform 202 is located in the connection box 502 and extends upward Connect the side of the box body 502 corresponding to the jaw assembly. The camera 201 is arranged on the upper part of the multi-degree-of-freedom adjustment platform 202 through the second rotation mechanism 203. The degree of freedom adjustment platform can drive the camera to swing and lift, and the rotation mechanism drives the camera to rotate, and cooperate with it to realize its own position and angle adjustment. The multi-degree-of-freedom adjustment platform 202 includes a fixed platform 2-1 and a moving platform 2-2, a swing lifting mechanism is arranged between the fixed platform 2-1 and the moving platform 2-2, and the swing lifting mechanism drives...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a shield tunneling machine with the tool changing function of a robot, which solves the problem of difficult tool changing of the shield tunneling machine in the prior art. The present invention includes a cutter head, a main engine and a supporting system. An earth bin is arranged between the main machine and the cutter head. A robot bin and a tool magazine are arranged above the inside of the main machine. The tool magazine is located in the robot bin, and the robot bin is located behind the earth bin. A tool change gate is provided on the bulkhead of the soil warehouse, a tool change robot is provided in the robot warehouse, and a new type of tool suitable for the tool change robot is provided on the cutter head. The invention is a shield tunneling machine using a robot tool changer. The tool changer robot can move in the robot warehouse to change the tool. The tool change procedure is simple and orderly; The cleaning mechanism and the image acquisition mechanism realize the clamping and hoisting of the tool, the tightening of the bolt, and the high-pressure cleaning of the tool. At the same time, image acquisition and real-time monitoring can be performed to improve the efficiency of tool change and the safety factor of operation.

Description

technical field [0001] The invention relates to the technical field of shield machines, in particular to a shield machine with a robot tool changing function. Background technique [0002] During the construction process of the full-face tunnel boring machine, the tool consumption is large and the replacement is frequent. The time for tool inspection and tool replacement accounts for more than 10% of the tunnel construction cycle. The existing tool inspection and tool replacement work mainly depends on manual work. Under the construction environment such as high pressure, there are great potential safety hazards in operation, and major safety accidents such as casualties are prone to occur. According to statistics, nearly 70% of tunnel construction safety accidents in China are directly related to manual tool change operations. The international industry problem of "difficult detection and dangerous tool change" has become a bottleneck restricting the safety and efficiency o...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): E21D9/08
CPCE21D9/08
Inventor 叶蕾姜礼杰文勇亮杨航原晓伟赵梦媛欧阳凯
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com