CN108161917B - A snakelike arm for shield constructs blade disc and detects - Google Patents
A snakelike arm for shield constructs blade disc and detects Download PDFInfo
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- CN108161917B CN108161917B CN201810226784.8A CN201810226784A CN108161917B CN 108161917 B CN108161917 B CN 108161917B CN 201810226784 A CN201810226784 A CN 201810226784A CN 108161917 B CN108161917 B CN 108161917B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- Excavating Of Shafts Or Tunnels (AREA)
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Abstract
A snakelike mechanical arm for shield cutter detection comprises a mechanical arm system and a rotary system, wherein the mechanical arm system realizes swinging motion of the snakelike mechanical arm and comprises a first swinging joint and a second swinging joint, the first swinging joint is fixedly connected with a base, and the rotary system is connected between the first swinging joint and the second swinging joint and realizes rotary motion of the snakelike mechanical arm; the snake-shaped mechanical arm realizes all-dimensional movement in the space range of the shield cutter head through swinging movement and rotary movement of the snake-shaped mechanical arm, and the state of the shield cutter head is detected without dead angles. The invention has the advantages of simple structure and flexible movement, can carry equipment such as illumination, inspection, maintenance and cleaning, replaces manual work to enter a narrow and severe space of the shield cutter head, completes the detection of no dead angle in the space of the shield cutter head, and greatly improves the maintenance efficiency of the shield cutter head and the cutter.
Description
Technical Field
The invention relates to a construction detection device for tunnel engineering, in particular to a snakelike mechanical arm for detecting a shield cutter head and an auxiliary cutter thereof, and belongs to the technical field of constructional engineering machinery.
Background
With the development of the robot technology and the modern control theory technology, the robot technology is integrated into the aspects of life, and people use the robot to complete tasks which cannot be completed by manpower or can not be completed with high quality, particularly disaster relief search tasks, outer space science exploration tasks and the field of medical application. The snake-shaped robot as a new bionic robot has important research value and significance in the bionic field and other fields of the robot.
During the construction of the shield tunnel, the use condition of the cutter head and the auxiliary cutters directly relates to the construction quality and efficiency of the tunnel, so that the cutter head and the auxiliary cutters need to be periodically overhauled. In a shield machine in field tunneling, the cutter head maintenance environment is usually accompanied by high pressure, thick slurry, high humidity and the like, so that the manual maintenance is very difficult, especially in the manual operation in a tunnel with a large buried depth. At present, the maintenance of a cutter head and an auxiliary cutter thereof in the shield tunnel construction process is generally carried out manually, and the environment for the maintenance of the cutter head is complex, so that the manual maintenance is difficult and huge.
Therefore, the robot suitable for maintenance of the shield cutter head is developed to replace manual operation, enters into a severe environment with narrow space of the shield cutter head, carries equipment such as a water gun for lighting, visiting and cleaning the cutter head, provides great convenience for maintenance of the cutter head, and has great practical significance and market potential.
Disclosure of Invention
The invention aims to solve the technical problem that manual operation is difficult to carry out in a severe environment with a narrow shield cutter head space, and provides a snakelike mechanical arm for shield cutter head detection, which can carry equipment such as illumination, inspection, cleaning and the like, so that manual work can be replaced to enter the narrow and severe space of the shield cutter head to complete maintenance of the cutter head and auxiliary cutters.
The invention solves the technical problems by the following technical scheme:
a snakelike mechanical arm for shield cutter detection comprises a mechanical arm system and a rotary system, wherein the mechanical arm system realizes swinging motion of the snakelike mechanical arm and comprises a first swinging joint and a second swinging joint, the first swinging joint is fixedly connected with a base, and the rotary system is connected between the first swinging joint and the second swinging joint and realizes rotary motion of the snakelike mechanical arm; the snake-shaped mechanical arm realizes all-dimensional movement in the space range of the shield cutter head through swinging movement and rotary movement of the snake-shaped mechanical arm so as to detect the state of the shield cutter head without dead angles;
the first swing joint comprises a first male joint, a first female joint, a first hinge pin seat and a first swing oil cylinder, one side edge of the first male joint is connected with one side edge of the first female joint through the first hinge pin seat, the other side edge of the first male joint is connected through the first swing oil cylinder, and the swing of the first swing joint is realized through the expansion of the first swing oil cylinder and the rotation of the first hinge pin seat;
the second swing joint comprises a second male joint, a second female joint, a second hinge pin seat and a second swing oil cylinder, one side edge of the second male joint and one side edge of the second female joint are connected through the second hinge pin seat, the other side edge of the second male joint and the other side edge of the second female joint are connected through the second swing oil cylinder, and the second swing joint swings through the stretching of the second swing oil cylinder and the rotation of the second hinge pin seat.
Furthermore, the slewing system comprises a slewing bearing, a pinion and a driving motor, wherein the slewing bearing comprises an outer ring and an inner ring, the inner ring is embedded in the outer ring and performs relative rotation motion in the outer ring, the outer ring is fixedly connected with the second male joint, the inner ring is fixedly connected with the first female joint, an internal gear is arranged on the inner side of the inner ring, the driving motor is fixedly connected to the second male joint, and the pinion is fixed on an output shaft of the driving motor and meshed with the internal gear of the inner ring;
the driving motor drives the pinion to rotate, the pinion drives the outer ring and the second male joint to rotate around the axis of the second male joint through an inner gear meshed with the inner ring, relative rotary motion is formed between the pinion and the first female joint, and then rotary motion of the snake-shaped mechanical arm is achieved.
Further, the pinion and the driving motor are respectively provided with two, and are respectively arranged symmetrically about the center of the slewing bearing.
Furthermore, the first male joint, the first female joint, the second male joint and the second female joint are cylindrical, two ends of the first hinge pin seat and the first swing oil cylinder are respectively fixed on the inner walls of the first male joint and the first female joint, and two ends of the second hinge pin seat and the second swing oil cylinder are respectively fixed on the inner walls of the second male joint and the second female joint.
Furthermore, the snake-shaped mechanical arm comprises a structure formed by connecting a plurality of groups of mechanical arm systems and a rotation system in series.
Compared with manual operation, the snake-shaped mechanical arm device provided by the invention can enter a severe environment with a narrow space to work, has the advantages of simple structure and flexible all-directional movement of the whole structure, can realize the work of illumination, cleaning, repair and the like by combining computer control, and greatly improves the maintenance efficiency of the shield cutter head and the cutter.
Drawings
FIG. 1 is an isometric view of the present invention.
Fig. 2 is a structural sectional view of the present invention.
Fig. 3 is a cross-sectional view of the slewing bearing structure of the present invention.
In the figure, the position of the upper end of the main shaft,
1.1-second male joint, 1.2-first male joint, 2.1-second female joint, 2.2-first female joint, 3-slewing bearing, 3.1-outer lane, 3.2-inner lane, 4.1-second swing cylinder, 4.2-first swing cylinder, 5-driving motor, 6-pinion, 7.1-second hinge pin seat, 7.2-first hinge pin seat.
Detailed Description
The serpentine mechanical arm for shield cutterhead detection according to the present invention is further described in detail with reference to the accompanying drawings and the specific embodiments.
Please refer to fig. 1 and 2 in combination, which illustrate a serpentine mechanical arm for detecting a shield cutter head, comprising a mechanical arm system and a rotation system, wherein the mechanical arm system is connected to the rotation system, the mechanical arm system realizes the swing motion of the serpentine mechanical arm itself, the rotation system realizes the overall rotation motion of the serpentine mechanical arm around a joint axis, and the serpentine mechanical arm realizes the all-directional motion in the space range of the shield cutter head through the swing motion and the rotation motion of the serpentine mechanical arm and detects the state of the shield cutter head without dead angle.
The mechanical arm system comprises a first swing joint and a second swing joint, the first swing joint is a first section of a snake-shaped mechanical arm structure and is fixed on a specific base, and equipment for lighting, visiting, overhauling, cleaning and the like can be installed at the front end of the second swing joint.
The first swing joint comprises a first male joint 1.2, a first female joint 2.2, a first hinge pin seat 7.2 and a first swing oil cylinder 4.2; one side of the first male joint 1.2 is connected with one side of the first female joint 2.2 through the first hinge pin seat 7.2, and the other side is connected through the first swing oil cylinder 4.2. The first male joint 1.2 and the first female joint 2.2 are cylindrical, one end of the first hinge pin seat 7.2 is fixed on the inner wall of the first male joint 1.2, the other end of the first hinge pin seat is fixed on the inner wall of the first female joint 2.2, and the rotation of the first hinge pin seat 7.2 enables the axis of the first male joint 1.2 and the axis of the first female joint 2.2 to generate relative angle change. Similarly, two ends of the first swing oil cylinder 4.2 are respectively fixed on the inner walls of the first male joint 1.2 and the first female joint 2.2, and the first swing joint swings through the expansion and contraction of the first swing oil cylinder 4.2 and the rotation of the first hinge pin base 7.2.
The structure of the second swing joint is the same as that of the first swing joint, and the second swing joint comprises a second male joint 1.1, a second female joint 2.1, a second hinge pin seat 7.1 and a second swing oil cylinder 4.1; one side of the second male joint 1.1 is connected with one side of the second female joint 2.1 through the second hinge pin seat 7.1, and the other side is connected through the second swing oil cylinder 4.1. The second male joint 1.1 and the second female joint 2.1 are cylindrical, one end of the second hinge pin seat 7.1 is fixed on the inner wall of the second male joint 1.1, the other end of the second hinge pin seat is fixed on the inner wall of the second female joint 2.1, and the rotation of the second hinge pin seat 7.1 enables the axes of the second male joint 1.1 and the second female joint 2.1 to generate relative angle change. Similarly, two ends of the second swing oil cylinder 4.1 are respectively fixed on the inner walls of the second male joint 1.1 and the second female joint 2.1, and the second swing joint swings by controlling the extension and contraction of the second swing oil cylinder 4.1 and the rotation of the second hinge pin base 7.1.
The swing system is connected between the first swing joint and the second swing joint, and includes a swing support 3, a pinion 6 and a driving motor 5, please refer to fig. 2 and 3, where the pinion 6 and the driving motor 5 are respectively provided with two, and are respectively arranged symmetrically with respect to the center of the swing support 3.
Referring to fig. 3, the slewing bearing 3 includes an outer ring 3.1 and an inner ring 3.2; the inner ring 3.2 is embedded in the outer ring 3.1 and performs relative rotational movement in the outer ring 3.1. The outer ring 3.1 is fixedly connected with the second male joint 1.1 through a bolt, and the inner ring 3.2 is fixedly connected with the first female joint 2.2 through a bolt; an internal gear is arranged on the inner side of the inner ring 3.2, the driving motor 5 is fixedly connected to the second male joint 1.1, the pinion 6 is fixed to an output shaft of the driving motor 5, and the internal gear of the inner ring 3.2 is meshed with the two pinions 6 at the same time.
The driving motor 5 drives the pinion 6 to rotate, the pinion 6 drives the outer ring 3.1 and the second male joint 1.1 to rotate around the axis of the second male joint through an inner gear meshed with the inner ring 3.2, so that relative rotary motion between the second male joint 1.1 and the first female joint 2.2 is formed, relative rotation between the first swing joint and the second swing joint is completed, and rotary motion of the snake-shaped mechanical arm is achieved.
Besides the structure of the above embodiment, the serpentine mechanical arm may also be a structure in which multiple groups of mechanical arm systems and a rotation system are connected in series, that is, the front end of the second female joint 2.1 is extended to connect with a swing joint and a rotation support formed by multiple groups of male joints and female joints, so as to realize all-directional movement in a larger shield cutter head space range, and perform no-dead-angle detection on the shield cutter head and the cutter state.
Claims (5)
1. The utility model provides a snakelike arm for shield constructs blade disc detects which characterized in that: the snakelike mechanical arm comprises a mechanical arm system and a rotary system, wherein the mechanical arm system realizes the swinging motion of the snakelike mechanical arm and comprises a first swinging joint and a second swinging joint, the first swinging joint is fixedly connected with the base, and the rotary system is connected between the first swinging joint and the second swinging joint and realizes the rotary motion of the snakelike mechanical arm; the snake-shaped mechanical arm realizes all-dimensional movement in the space range of the shield cutter head through swinging movement and rotary movement of the snake-shaped mechanical arm so as to detect the state of the shield cutter head without dead angles;
the first swing joint comprises a first male joint, a first female joint, a first hinge pin seat and a first swing oil cylinder, one side edge of the first male joint is connected with one side edge of the first female joint through the first hinge pin seat, the other side edge of the first male joint is connected through the first swing oil cylinder, and the swing of the first swing joint is realized through the expansion of the first swing oil cylinder and the rotation of the first hinge pin seat;
the second swing joint comprises a second male joint, a second female joint, a second hinge pin seat and a second swing oil cylinder, one side edge of the second male joint and one side edge of the second female joint are connected through the second hinge pin seat, the other side edge of the second male joint and the other side edge of the second female joint are connected through the second swing oil cylinder, and the second swing joint swings through the stretching of the second swing oil cylinder and the rotation of the second hinge pin seat.
2. The serpentine robotic arm for shield cutterhead detection as claimed in claim 1, wherein: the slewing system comprises a slewing bearing, a pinion and a driving motor, wherein the slewing bearing comprises an outer ring and an inner ring, the inner ring is embedded in the outer ring and performs relative rotary motion in the outer ring, the outer ring is fixedly connected with the second male joint, the inner ring is fixedly connected with the first female joint, an internal gear is arranged on the inner side of the inner ring, the driving motor is fixedly connected to the second male joint, and the pinion is fixed on an output shaft of the driving motor and meshed with the internal gear of the inner ring;
the driving motor drives the pinion to rotate, the pinion drives the outer ring and the second male joint to rotate around the axis of the second male joint through an inner gear meshed with the inner ring, relative rotary motion is formed between the pinion and the first female joint, and then rotary motion of the snake-shaped mechanical arm is achieved.
3. The serpentine robotic arm for shield cutterhead detection as claimed in claim 2, wherein: the pinion and the driving motor are respectively provided with two pinions and are respectively arranged symmetrically about the center of the slewing bearing.
4. The serpentine robotic arm for shield cutterhead detection as claimed in claim 1, wherein: the first male joint, the first female joint, the second male joint and the second female joint are cylindrical, two ends of the first hinge pin seat and the first swing oil cylinder are respectively fixed on the inner walls of the first male joint and the first female joint, and two ends of the second hinge pin seat and the second swing oil cylinder are respectively fixed on the inner walls of the second male joint and the second female joint.
5. The serpentine robotic arm for shield cutterhead detection as claimed in claim 1, wherein: the snake-shaped mechanical arm comprises a structure formed by connecting a plurality of groups of mechanical arm systems and a rotation system in series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810226784.8A CN108161917B (en) | 2018-03-19 | 2018-03-19 | A snakelike arm for shield constructs blade disc and detects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810226784.8A CN108161917B (en) | 2018-03-19 | 2018-03-19 | A snakelike arm for shield constructs blade disc and detects |
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| Publication Number | Publication Date |
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| CN108161917A CN108161917A (en) | 2018-06-15 |
| CN108161917B true CN108161917B (en) | 2020-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810226784.8A Active CN108161917B (en) | 2018-03-19 | 2018-03-19 | A snakelike arm for shield constructs blade disc and detects |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109262602B (en) * | 2018-09-29 | 2020-09-01 | 中国矿业大学 | Magnetofluid mechanical arm |
| CN112894782A (en) * | 2021-02-23 | 2021-06-04 | 中铁工程装备集团有限公司 | Snakelike arm connecting structure and snakelike arm robot controlled by series-parallel connection coupling |
| CN113319887B (en) * | 2021-06-15 | 2022-08-12 | 郑州科技学院 | Adjustable numerical control mechanical arm joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6512345B2 (en) * | 2001-03-30 | 2003-01-28 | The Regents Of The University Of Michigan | Apparatus for obstacle traversion |
| US6774597B1 (en) * | 2001-03-30 | 2004-08-10 | The Regents Of The University Of Michigan | Apparatus for obstacle traversion |
| DE102004058450A1 (en) * | 2004-12-03 | 2006-06-08 | Hartmut Friedrich | Movement device has powered axle arranged per serially parallel kinematic element whereby lower part of each element has guiding device firmly attached for linear thrust elements |
| JP4821516B2 (en) * | 2006-08-31 | 2011-11-24 | 旭光電機株式会社 | Articulated structure |
| CN103056876B (en) * | 2013-01-16 | 2015-03-04 | 北京化工大学 | Variable rigidity parallel joint snake-shaped robot mechanism |
| CN203266650U (en) * | 2013-04-22 | 2013-11-06 | 汕头大学 | Snakelike robot with three-dimensional motion ability |
| CN203282481U (en) * | 2013-05-21 | 2013-11-13 | 华南理工大学 | Nondestructive detection robot of excavator |
| CN104875199A (en) * | 2015-04-16 | 2015-09-02 | 长春工业大学 | Power pipeline route inspection robot |
| CN105150219B (en) * | 2015-09-28 | 2017-06-23 | 哈尔滨工业大学深圳研究生院 | A kind of super redundancy flexible mechanical arm driven based on rope |
| CN106078717B (en) * | 2016-07-08 | 2018-09-28 | 深圳先进技术研究院 | A kind of snake-shaped robot |
| CN205889178U (en) * | 2016-08-10 | 2017-01-18 | 武汉科技大学 | Binary drive bionic robot |
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