A tool changing mechanical clamp for single roller cutter of shield machine

Abstract

The invention belongs to the field of shield machine machinery and relates to a tool changing mechanical clamp for a single hob of a shield machine; it comprises two parts: a clamp body module and a path driving module; the clamp body module comprises a clamp, a worm gear mechanism, a hydraulic motor and a clamp frame; the path driving module comprises a hydraulic cylinder, a linear guide rail, a clamp box, a linear guide rail, a multi-stage hydraulic cylinder and a clamp platform; the multi-stage hydraulic cylinder is used in conjunction with the linear guide rail to control the advancement and retreat of the entire clamp box; the hydraulic cylinder is used in conjunction with the linear guide rail to control the lateral movement of the clamp frame; the worm gear mechanism controls the tightening and opening of the clamp; the mechanical clamp has a large load-bearing capacity, a moderate volume, a simple motion trajectory, is easy to operate, has a high efficiency in disassembling the hob, and saves the replacement time of the hob.

Description

Technical Field

[0001] The invention belongs to the field of shield machine machinery and relates to a mechanical clamp for changing cutters of a shield machine roller cutter; in particular, it relates to a mechanical clamp for changing cutters of a single roller cutter of a shield machine. Background Art

[0002] Shield machines are widely used in underground rail transit, water pipelines, power tunnels and other projects, while shield machines with single-edged roller cutters are mainly used in rock tunnel excavation and other projects. Long-term work will cause a certain degree of wear on the cutter, and the cutter needs to be opened regularly for inspection and replacement. Due to the harsh working environment and high-pressure enclosure, workers will face great difficulties and dangers in the cutter replacement operation, and the use of robots to replace the roller cutter has attracted increasing attention.

[0003] However, due to the large size and weight of the roller cutter, the disassembly path is relatively complicated, which puts higher requirements on the robot gripper for replacing the roller cutter. The existing mechanical grippers have a high degree of automation but limited load-bearing capacity, and those with large load-bearing capacity cannot meet the requirements of the loading and unloading path. Therefore, it is necessary to provide a single-edged roller cutter mechanical gripper that has a large load-bearing capacity, high replacement efficiency and meets the disassembly path for the harsh working environment of the shield machine. Summary of the invention

[0004] To solve this problem, the present invention provides a tool-changing mechanical clamp for a single hob of an inserted shield machine, which has large load-bearing capacity, high hob replacement efficiency, moderate size, and easy operation; the clamp comprises two parts: a clamp body module and a path driving module.

[0005] The clamp body module includes a clamp, a worm gear mechanism, a hydraulic motor and a clamp frame; the middle part of the clamp is connected to the clamp frame through pins, and the rear end of the clamp is connected to the worm gear mechanism; one end of the worm gear mechanism is also connected to the hydraulic motor; the hydraulic motor is fixedly connected to the clamp frame through a hydraulic motor base; the clamp body module is arranged inside the clamp box.

[0006] The path driving module includes a hydraulic cylinder, a linear guide rail I, a clamping claw box, a linear guide rail II, a multi-stage hydraulic cylinder and a clamping claw platform.

[0007] The hydraulic cylinder is connected to the clamp frame through a hydraulic base, wherein the piston rod of the hydraulic cylinder is connected to the clamp box; the linear guide I is horizontally installed inside the clamp box; the clamp frame is installed on the slider of the linear guide I; the linear guide II is longitudinally installed on the clamp platform; the clamp box is installed on the slider of the linear guide II; the multi-stage hydraulic cylinder is connected to the clamp platform through a hydraulic cylinder base, wherein the piston rod of the multi-stage hydraulic cylinder is connected to the clamp box.

[0008] Preferably, the clamp is a horizontal two-piece clamp, which includes a connecting portion and a clamping portion. The clamping portion adopts a circular positioning method for clamping the cylindrical side of the hob; the circular positioning of the clamp is completely engaged with the cylindrical surface of the hob; the front end of the connecting portion is connected to the clamping portion by a pin, and the middle part is connected to the clamp frame; the tail is also connected to the worm gear mechanism.

[0009] The hydraulic cylinder is used in conjunction with the linear guide rail I; the multi-stage hydraulic cylinder is used in conjunction with the linear guide rail II.

[0010] Preferably, the mechanical gripper created by the present invention needs to be installed on a conveying platform in the intelligent tool changing system of a shield machine for use, wherein the gripper platform is connected to the conveying platform. Beneficial Effects

[0011] Compared with the prior art, the present invention saves space utilization by installing the slide rails in a staggered manner horizontally and vertically, and at the same time, the clamping claw fixing structure is used as a slider on the slide rail to move, and the movement trajectory can meet the needs of roller cutter disassembly without increasing the volume of the mechanical clamping claw; the large transmission ratio characteristic of the worm gear mechanism makes the clamping claw have a large bearing capacity and can meet the needs of large roller cutter weight; and the worm gear mechanism has a self-locking function, and the clamping claw remains in a clamped state in the event of an unexpected failure to prevent the roller cutter from falling and causing danger; and the mechanical clamping claw of the present invention has a simple structure, moderate size, and is easy to operate, and is suitable for replacing roller cutters in the narrow space of the shield machine soil bin. The roller cutter replacement path of this structure is simple, and a single roller cutter can be quickly replaced, which improves the efficiency of roller cutter replacement and saves working time. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0013] Figure 2 Schematic diagram of the process of removing the hob from the mechanical gripper;

[0014] Figure 3 This is a schematic diagram of the completed disassembly of the mechanical gripper.

[0015] Among them: 1-grip; 1-1 gripper clamping part; 1-2 gripper connecting part; 2-hydraulic cylinder; 3-grip frame, 4-grip box, 5-worm gear mechanism, 6-hydraulic motor, 7-grip platform, 8-multi-stage hydraulic cylinder, 9-linear guide rail II, 10-linear guide rail I, 11-single hob, 12-tool box, 13-tool holder. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings.

[0017] A tool-changing mechanical clamp for an inserted single-roll cutter of a shield machine; the clamp comprises two parts: a clamp body module and a path driving module.

[0018] The clamp body module includes a clamp 1, a worm gear mechanism 5, a hydraulic motor 6 and a clamp frame 3; the middle part of the clamp 1 is connected to the clamp frame 3 through pins, and the rear end of the clamp 1 is connected to the worm gear mechanism 5; one end of the worm gear mechanism 5 is also connected to the hydraulic motor 6; the hydraulic motor 6 is fixedly connected to the clamp frame 3 through a hydraulic motor base; the clamp body module is arranged inside the clamp box 4.

[0019] The path driving module includes a hydraulic cylinder 2, a linear guide rail I10, a clamping jaw box 4, a linear guide rail II9, a multi-stage hydraulic cylinder 8 and a clamping jaw platform 7.

[0020] The hydraulic cylinder 2 is connected to the clamp frame 3 through a hydraulic base, wherein the piston rod of the hydraulic cylinder is connected to the clamp box 4; the linear guide I10 is horizontally installed inside the clamp box 4; the clamp frame 3 is installed on the slider of the linear guide I10; the linear guide II9 is ​​longitudinally installed on the clamp platform 7; the clamp box 4 is installed on the slider of the linear guide II 9; the multi-stage hydraulic cylinder 8 is connected to the clamp platform 7 through a hydraulic cylinder base, wherein the multi-stage hydraulic cylinder piston rod is connected to the clamp box 4.

[0021] Preferably, the clamp 1 is a horizontal two-piece clamp, which includes a clamp connection portion 1-2 and a clamp clamping portion 1-1. The clamp clamping portion 1-1 adopts a circular positioning to clamp the cylindrical side of the hob; the front end of the clamp connection portion 1-2 is connected to the clamp clamping portion 1-1 through a pin, and the middle part is connected to the clamp frame 3; the tail is also connected to the worm gear mechanism 5.

[0022] The present invention needs to be installed on a conveying platform in an intelligent tool changing system of a shield machine for use, wherein the clamping claw platform is connected to the conveying platform.

[0023] The working process of the present invention is as follows:

[0024] The old hob is removed; the multi-stage hydraulic cylinder 8 is started to drive the clamping jaw box 4 to move forward along the linear guide rail Ⅱ9, and the clamping jaw 1 is inserted into the tool box 12 and positioned on both sides of the single hob 11; the hydraulic motor 6 is started to drive the worm gear mechanism 5 to shrink the clamping jaw 1 and clamp the single hob 11; the hydraulic cylinder 2 is started to drive the clamping jaw body to move right along the linear guide rail Ⅰ10, and the single hob 11 is taken out of the tool holder 13; the multi-stage hydraulic cylinder 8 is started to drive the clamping jaw box 4 to move backward along the linear guide rail Ⅱ9, and the single hob 11 is taken out of the tool box 12, and the removal of the single hob is completed.

[0025] Installation of new hob: First, the clamp 1 clamps the new single hob 11 in place, and the clamp body is at the right end of the clamp box 4. Start the multi-stage hydraulic cylinder 8, drive the clamp box 4 to move forward along the linear guide rail Ⅱ9, and the clamp 1 clamps the single hob 11 into the tool box 12; start the hydraulic cylinder 2, drive the clamp body to move left along the linear guide rail Ⅰ10, and put the single hob 11 into the tool holder 13; start the hydraulic motor 6, drive the worm gear mechanism 5 to open the clamp 1 and release the single hob 11; start the multi-stage hydraulic cylinder 8, drive the clamp box 4 to move backward along the linear guide rail Ⅱ9, retract the empty clamp 1, and complete the installation of the single hob. At this point, a round of single hob replacement work is completed.

Claims

1. A tool changing mechanical clamp for a single roller cutter of a shield machine; characterized by: It includes two parts: the gripper body module and the path driving module; The clamp body module includes a clamp, a worm gear mechanism, a hydraulic motor and a clamp frame; the middle of the clamp is connected to the clamp frame, and the rear end of the clamp is connected to the worm gear mechanism; one end of the worm gear mechanism is also connected to the hydraulic motor; the hydraulic motor is fixedly connected to the clamp frame through a hydraulic motor base; the clamp body module is arranged inside the clamp box; The path driving module includes a hydraulic cylinder, a linear guide rail I, a clamping jaw box, a linear guide rail II, a multi-stage hydraulic cylinder and a clamping jaw platform; the hydraulic cylinder is connected to the clamping jaw frame through a hydraulic base, wherein the piston rod of the hydraulic cylinder is connected to the clamping jaw box; the linear guide rail I is horizontally installed inside the clamping jaw box; the clamping jaw frame is installed on the slider of the linear guide rail I; the linear guide rail II is longitudinally installed on the clamping jaw platform; the clamping jaw box is installed on the slider of the linear guide rail II; the multi-stage hydraulic cylinder is connected to the clamping jaw platform through the hydraulic cylinder base, wherein the piston rod is connected to the clamping jaw box; The clamp is a horizontal two-piece clamp, which includes a connecting part and a clamping part. The clamping part adopts a circular positioning to clamp the cylindrical side of the hob. The front end of the connecting part is connected to the clamping part through a pin, and the middle part is connected to the clamp frame. The tail is also connected to the worm gear mechanism. The hydraulic cylinder is used in conjunction with the linear guide rail I; the multi-stage hydraulic cylinder is used in conjunction with the linear guide rail II; This mechanical gripper needs to be installed on the conveying platform in the intelligent tool changing system of the shield machine, where the gripper platform is connected to the conveying platform.

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