Shield machine cutterhead system and cutter changing method thereof

Abstract

One object of the present invention is to provide a shield machine cutter head system, which can realize automatic tool change and ensure the safety of operators during tool change. One object of the present invention is to provide a shield machine cutter head tool change method, which adopts the aforementioned shield machine cutter head system. The shield machine cutter head system for achieving the aforementioned purpose includes a cutter head and a mud and water bin, an air cushion bin, a manhole bin and an automatic tool change device arranged in sequence behind the cutter head. The automatic tool change device includes a slide rail moving platform, a six-degree-of-freedom robotic arm, an end effector and an electrical cabinet for controlling the aforementioned equipment. Among them, the manhole bin includes a manual work area, a robot work area and a tool area that are separated from each other, a first hatch is arranged between the manual work area and the tool area, a second hatch is arranged between the robot work area and the tool area, and a rear channel that can be connected between the tool area and the rear space of the cutter head system is provided, and the rear channel is closed by a third hatch.

Description

Technical Field

[0001] The invention relates to a shield machine cutter head system and a cutter changing method thereof. Background Art

[0002] During the use of shield machine equipment, especially in an environment with hard soil, the cutter is prone to blunting and damage during the excavation process, and the cutter needs to be replaced underground.

[0003] The existing technology uses manual methods to achieve tool replacement. For single-edged roller cutters, the operator wears corresponding diving equipment and other protective equipment, enters the manhole bin, the air cushion bin, and finally reaches the mud and water bin to perform tool change operations. During the tool change process, in order to prevent external mud and the like from entering the mud and water bin, it is protected by pressurization. Therefore, the operator needs to change the tool under a high-pressure environment, which places certain requirements on the operator. At the same time, the pressurized operation still cannot completely avoid the possibility of external soil collapse, which will cause harm to the operator or even death when it occurs. The harsh working environment and high risks lead to the disadvantages of high cost, high risk, and low efficiency in the tool change work of the shield machine. Summary of the invention

[0004] An object of the present invention is to provide a shield machine cutter head system that can realize automatic cutter change and ensure the safety of operators during cutter change.

[0005] An object of the present invention is to provide a shield machine cutter head changing method, which adopts the aforementioned shield machine cutter head system.

[0006] The shield machine cutterhead system for achieving the above-mentioned purpose comprises a cutterhead and a mud and water bin, an air cushion bin and a manhole bin arranged in sequence behind the cutterhead, and also comprises an automatic cutter changing device, wherein the automatic cutter changing device comprises:

[0007] The slide rail movable platform comprises a fixed part and a movable part, wherein the movable part can move linearly relative to the fixed part;

[0008] A six-degree-of-freedom robotic arm connected to the movable part;

[0009] an end effector rotatably connected to the end of the six-degree-of-freedom robotic arm; and

[0010] An electrical cabinet, used to control the movement of the slide rail moving platform, the six-degree-of-freedom robotic arm and the end effector;

[0011] Among them, the manhole warehouse includes a manual working area, a robot working area and a tool area which are separated from each other, a first hatch is arranged between the manual working area and the tool area, a second hatch is arranged between the robot working area and the tool area, and a rear channel that can be connected between the tool area and the rear space of the cutter disc system is provided, and the rear channel is closed by a third hatch.

[0012] In one or more embodiments, a first hatch is provided between the robot work area and the air cushion warehouse, so that the robot work area and one side of the air cushion warehouse can be connected to form a robot channel; a second hatch is provided between the manual work area and the air cushion warehouse, so that the tool area, the manual work area and the other side of the air cushion warehouse can be connected in sequence to form a manual channel;

[0013] Wherein, the automatic tool changing device works in the robot channel.

[0014] In one or more embodiments, an electric soil hatch is provided between the robot passage and the mud and water bin, and a manual soil hatch is provided between the manual passage and the mud and water bin.

[0015] In one or more embodiments, the electric soil hatch door has an electric pressing block, and the electric pressing block is used to fasten the electric soil hatch door.

[0016] In one or more embodiments, the manhole chamber and the air cushion chamber are connected by a flange, and the flange has the first chamber hole and the second chamber hole.

[0017] In one or more embodiments, a linear slide rail is disposed on the fixed portion, and the movable portion has a slide groove, and the slide groove is cooperatively connected with the linear slide rail.

[0018] In one or more embodiments, the end effector may be provided with a camera, a water gun, a water jet, and a lighting lamp.

[0019] In one or more embodiments, a shield machine tool box assembly cooperating with the automatic tool changing device is also provided in the air cushion chamber, and the tool is provided in the shield machine tool box assembly.

[0020] In one or more embodiments, a first auxiliary sling and a second auxiliary sling are respectively provided on the top of the manual work area and the top of the tool area, and the first auxiliary sling and the second auxiliary sling can transport the tool to the outside of the manhole bin.

[0021] In order to achieve the aforementioned another purpose, a cutter changing method of a shield machine cutter disc system adopts the shield machine cutter disc system as described above, and the cutter changing method of the shield machine cutter disc system comprises:

[0022] The electrical cabinet controls the movable part to move linearly on the fixed part, so that the six-degree-of-freedom robot arm enters the mud and water bin, and controls and adjusts the end effector to a corresponding position on the surface of the cutter disc where the tool needs to be removed;

[0023] The electrical cabinet controls the end effector to be removed from the cutter disc;

[0024] The electrical cabinet controls the six-degree-of-freedom robot arm to return to an initial state, and controls the movable part to move linearly on the fixed part, so that the end effector returns to the air cushion chamber and places the tool on the tool support frame;

[0025] After the operator enters the manual work area from the tool area, he enters the air cushion chamber and replaces the tool on the tool support frame;

[0026] The electrical cabinet controls the end effector to move to the tool support frame, and after grabbing the tool, repeats the above steps in the opposite manner to control and adjust the end effector to the corresponding position to install the tool;

[0027] The electrical cabinet controls the six-degree-of-freedom robotic arm to return to an initial state and wait for the next tool changing operation.

[0028] The benefit effect of the present invention is that by dividing the manhole bin into a robot working channel and a manual working channel, it is possible to achieve more efficiency in automatic tool change and the robot will not affect the safety of the operator when working. At the same time, multiple hatches are set between multiple areas in the manhole bin. While ensuring that the operator can easily enter and exit the multiple hatches, opening and closing the multiple hatches can achieve equal pressure between different areas in multiple areas, ensuring the safety of the construction environment, and thus realizing safe and efficient automatic tool change for the shield machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0030] Figure 1 A three-dimensional schematic diagram of a shield machine cutterhead system is shown;

[0031] Figure 2 for Figure 1 Schematic diagram of top view;

[0032] Figure 3 A three-dimensional schematic diagram of an automatic tool changing device in one embodiment is shown;

[0033] Figure 4 A front view schematic diagram of an electric earth hatch door in one embodiment is shown;

[0034] Figure 5 for Figure 2 Schematic cross-sectional view along the AA direction;

[0035] Figure 6 A three-dimensional schematic diagram showing an embodiment of a shield machine cutter box assembly;

[0036] Figure 7 for Figure 2 A schematic cross-sectional view along the BB direction;

[0037] Figures 8 to 13 Schematic diagrams of the state changes of the shield machine cutter head system when changing cutters in the shield machine are shown respectively. DETAILED DESCRIPTION

[0038] The following discloses a variety of different implementation methods or embodiments of the subject technical solution. To simplify the disclosure, specific examples of each element and arrangement are described below. Of course, these are only examples and are not intended to limit the scope of protection of the present application. For example, the first feature subsequently recorded in the specification is formed above or on the second feature, which may include an implementation method in which the first and second features are formed by direct connection, and may also include an implementation method in which an additional feature is formed between the first and second features, so that the first and second features may not be directly connected. In addition, the figure marks and / or letters may be repeated in different examples in these disclosures. This repetition is for simplicity and clarity, and does not itself represent the relationship between the various implementation methods and / or structures to be discussed. Further, when the first element is described in a manner connected or combined with the second element, the description includes an implementation method in which the first and second elements are directly connected or combined with each other, and also includes the use of one or more other intervening elements to indirectly connect or combine the first and second elements.

[0039] It should be noted that, where used, the terms up, down, left, right, front, back, top, bottom, positive, negative, clockwise and counterclockwise in the following description are used only for convenience and do not imply any specific fixed direction. In fact, they are used to reflect the relative position and / or direction between various parts of an object.

[0040] The shield machine is a device used for underground tunnel excavation, which plays an important role in construction projects such as subways and underground tunnels. Among them, the main part of the shield machine is called the shield body, which includes three parts: the front shield, the middle shield and the tail shield. The front shield part has a cutter disc, which is usually fixed on the pressure-bearing partition of the front shield of the shield machine and supported by the front shield and the pressure-bearing partition of the shield machine. When the shield machine is working, the cutter disc is driven by the cutter disc motor to rotate clockwise or counterclockwise. At the same time, the propulsion cylinder set in the middle shield pushes the shield machine forward, thereby realizing underground soil excavation.

[0041] In large-scale construction, shield machines used for underground excavation often suffer from tool wear. Figure 1 A three-dimensional schematic diagram of a shield machine cutterhead system is shown. Figure 2 for Figure 1 It is understandable that Figure 1 The shield machine cutterhead system shown is a schematic diagram showing the internal structure of the shield machine cutterhead system and a partial section view. Figure 2 for Figure 1 A schematic diagram obtained from a top-down perspective after partial sectioning.

[0042] See also Figure 1 to Figure 2 It can be seen that the shield machine cutterhead system includes a cutterhead 1 and a mud and water bin 2, an air cushion bin 3 and a manhole bin 4 which are sequentially arranged inward from the cutterhead 1. Among them, an automatic tool changing device 5 is also arranged in the shield machine cutterhead system.

[0043] Figure 3The three-dimensional schematic diagram of an embodiment of the automatic tool changing device 5 is shown. The automatic tool changing device 5 is composed of a slide rail moving platform 51, a six-degree-of-freedom mechanical arm 52 and an end effector 53. Among them, the slide rail moving platform 51 is divided into a fixed part 511 and a movable part 512, and the movable part 512 can move linearly relative to the fixed part 511. The six-degree-of-freedom mechanical arm 52 is connected to the movable part 512. When the movable part 512 moves linearly relative to the fixed part 511, it can drive the six-degree-of-freedom mechanical arm 52 to move. The end effector 53 is rotatably connected to the end of the six-degree-of-freedom mechanical arm 52, and it can rotate between the end of the six-degree-of-freedom mechanical arm 52, that is, it can rotate along the extension direction of the six-degree-of-freedom mechanical arm 52 as the rotation axis. When the six-degree-of-freedom mechanical arm 52 is driven by the movable part 512 to move linearly, the end effector 53 can enter and exit between the manhole warehouse 4 and the air cushion warehouse 3. The electrical cabinet 10 is provided in the manhole warehouse 3 and is used to control the movement of the slide rail mobile platform 51, the six-degree-of-freedom mechanical arm 52 and the end effector 53. In one embodiment, the electrical cabinet 10 may also be different from the figure and arranged outside the manhole warehouse 4. In one embodiment, the electrical cabinet 10 may include one or more hardware processors, such as a microcontroller, a microprocessor (such as an MCU chip or a 51 single-chip microcomputer), a reduced instruction set computer (RISC), an application-specific integrated circuit (ASIC), an application-specific instruction integrated processor (ASIP), a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a microcontroller unit, a digital signal processor (DSP), a field programmable gate array (FPGA), an advanced RISC machine (ARM), a programmable logic device (PLD), any circuit or processor capable of performing one or more functions, etc. One or more combinations thereof. The control steps of the electrical cabinet 10 for the automatic tool changing device 5 will be described in detail later.

[0044] Please continue to see Figure 1 to Figure 2 The manhole bin 4 includes a manual work area 410, a robot work area 412 and a tool area 411 which are separated from each other. A first hatch 42 is provided between the manual work area 410 and the tool area 411, a second hatch 43 is provided between the robot work area 412 and the tool area 411, and a rear channel 411a which can be connected between the tool area 411 and the rear space of the cutter disc system is provided, and the rear channel 411a is closed by a third hatch 41.

[0045] Please continue to see Figure 1 to Figure 2In one embodiment of the shield machine cutter head system, a first hatch 30a is provided between the robot work area 412 and the air cushion chamber 3, so that the robot work area 412 and one side 3a of the air cushion chamber 3 can be connected to form a robot channel 12. A second hatch 30b is provided between the manual work area 410 and the air cushion chamber 3, so that the tool area 411, the manual work area 410 and the other side 3b of the air cushion chamber 3 can be connected in sequence to form a manual channel 11. The robot channel 12 provides a working space for the automatic tool changer 5, and the manual channel 11 provides a working space for the operator.

[0046] In one embodiment of the shield machine cutter head system, an electric soil hatch door 7 is provided between the robot channel 12 and the mud and water bin 2 , and a manual soil hatch door 8 is provided between the manual channel 11 and the mud and water bin 2 .

[0047] By opening or closing the first hatch 42, the second hatch 43 and the third hatch 41, equal pressure can be achieved between different areas. For example, when the electric hatch 7 and the manual hatch 8 are both in the closed state, when the first hatch 42 and the second hatch 43 are closed, equal pressure can be achieved between the manual work area 410, the robot work area 412 and the air cushion chamber 3, and the tool area 411 is isolated. At this time, when the third hatch 41 is opened, the tool area 411 will be able to achieve equal pressure with the external air pressure alone.

[0048] By dividing the manhole warehouse into robot working channels and manual working channels, it is possible to achieve more efficient automatic tool change and the robot will not affect the safety of the operator when working. At the same time, multiple hatches are set between multiple areas in the manhole warehouse. While ensuring that operators can easily enter and exit the multiple hatches, opening and closing the multiple hatches can achieve equal pressure between different areas in multiple areas, ensuring the safety of the construction environment, and thus realizing safe and efficient automatic tool change for the shield machine.

[0049] Figure 4 A front schematic diagram of an embodiment of an electric soil compartment door 7 is shown, wherein the electric soil compartment door 7 includes an electric soil compartment door panel 71, an electric soil compartment door shaft 72, and an electric pressing block 73. The electric soil compartment door shaft 72 is driven by an external motor through a reducer to drive the electric soil compartment door panel 71 to open and close. When the electric soil compartment door panel 71 is in a closed state, the electric soil compartment door pressing block 73 will close the electric pressing block 73 under the drive of the electric push rod to achieve the fastening of the electric soil compartment door panel 71. Before the electric soil compartment door panel 71 needs to be opened, the electric pressing block 73 will be opened under the drive of the electric push rod. In one embodiment, the electric opening and closing control of the electric soil compartment door 7 is realized by the electrical cabinet 10 to cooperate with the automatic tool change.

[0050] Figure 5 for Figure 2Please refer to the cross-sectional view along the AA direction in Figure 1 as well as Figure 5 . The manhole bin 4 is connected to the air cushion bin 3 by a flange, and a first hatch 30a and a second hatch 30b are arranged on the flange. Specifically, the flange connection part between the manhole bin 4 and the air cushion bin 3 includes an air cushion bin mounting flange 31 and a manhole bin mounting flange 47 connected to each other, and the air cushion bin mounting flange 31 and the manhole bin mounting flange 47 are sealed and connected to each other, and have a first hatch 30a and a second hatch 30b respectively, so as to form a double-channel structure on the air cushion bin mounting flange 31 and the manhole bin mounting flange 47.

[0051] Please continue to see Figure 3 In one embodiment of the shield machine cutter head system, a linear slide 511a is provided on the fixed part 511, and a slide groove matching the linear slide 511a is provided at the lower part of the movable part 512. The linear slide 511a is connected with the slide groove, so that the movable part 512 can move linearly along the linear slide 511a on the fixed part 511, and the linear slide 511a guides the movement of the movable part 512. In one embodiment of the shield machine cutter head system, a ball screw 511b is also provided on the fixed part 511, and the ball screw 511b drives the movable part 512, so that the movable part 512 moves linearly on the fixed part 511.

[0052] In one embodiment of the shield machine cutter system, the end effector 53 may be provided with auxiliary equipment such as a camera, a water gun, a water knife and a lighting lamp, wherein the camera and the lighting lamp can provide a clearer field of view for the operator to indicate the position to which the end effector 53 moves. The end effector 53 may have a water source inside, which may be a water pipe connected to an external water storage device, and the water gun and the water knife are respectively connected to the water source. Dirt such as mud on the cutter is removed by spraying the water gun and the water knife.

[0053] In one embodiment of the shield machine cutter head system, the air cushion chamber 3 is also provided with the following Figure 6 As shown, the shield machine tool box assembly 6 used in conjunction with the automatic tool changing device 5 is composed of a tool 61 and a tool box 62, wherein the tool 61 is suitable for automatic tool changing by a robot, and can be grasped by the end effector 53, and the corresponding installation or disassembly operation can be performed through the end effector to achieve fastening and separation with the tool box 62.

[0054] Figure 7 for Figure 2In the cross-sectional schematic diagram along the BB direction, in one embodiment of the shield machine cutter head system, the first auxiliary sling 48 and the second auxiliary sling 49 are respectively provided at the top of the manual work area 410 and the tool area 411, and the tool is transported from the tool area 411 to the air cushion bin 3 outside the manhole bin 4 by the first auxiliary sling 48 and the second auxiliary sling 49. In one embodiment, the air cushion bin 3 also has a third auxiliary sling 33, so that the tool lifted by the first auxiliary sling 48 and the second auxiliary sling 49 to the air cushion bin 3 can be lifted by the third auxiliary sling 33. In one embodiment of the shield machine cutter head system, a tool support frame 9 is also provided at the bottom of the air cushion bin 3, and the tool lifted by the third auxiliary sling 33 can be placed on the tool support frame 9 for subsequent automatic tool changing operations.

[0055] Please continue to see Figure 5 In one embodiment of the shield machine cutterhead system, a support frame 44 for supporting the fixed part 511 is also provided in the robot work area 412, and a slide rail front support platform 32 is provided for the portion of the fixed part 511 extending thereinto in the air cushion chamber 3, and a ball bearing is installed on the upper surface of the slide rail front support platform 32 to provide front support for the slide rail moving platform 51. The manhole chamber 4 also has an installation window 45 for use when installing or removing the automatic tool changing device 5, and in other states, the installation window 45 is sealed by the installation window cover 46.

[0056] In an embodiment different from that shown in the figure, the support frame 44 may also be different from that shown in the figure and be arranged on the side or top of the manhole bin 4.

[0057] Figures 8 to 13 The status changes of the shield machine cutterhead system when the cutter is changed in the shield machine are shown respectively. Please refer to Figures 1 to 6 The steps for changing the cutter head of the shield machine cutter head system are as follows:

[0058] First, if Figure 8 As shown, the electrical cabinet 10 controls the automatic tool changing device 5 to adjust to a suitable posture and opens the electric soil compartment door 7.

[0059] Then, if Fig. 9 As shown, the electrical cabinet 10 controls the movable part 512 to move linearly on the fixed part 511, so that the six-degree-of-freedom mechanical arm 52 enters the mud and water tank 2, and controls and adjusts the end effector 53 to the corresponding position on the surface of the cutter head where the tool needs to be removed. Among them, the connection between each arm body of the six-degree-of-freedom mechanical arm 52 has a motor, and the posture adjustment of the six-degree-of-freedom mechanical arm 52 is achieved by adjusting the motors at the connection of each arm body, so as to control the end effector 53 to the corresponding position where the tool needs to be removed.

[0060] Then, if Fig.10As shown, at the corresponding position where the tool needs to be removed, the electrical cabinet 10 controls the end effector 53 in the automatic tool changing device 5 to rotate, and removes the tool 61 from the tool assembly 6 on the tool tray 1. A motor may be provided between the end effector 53 and the six-degree-of-freedom mechanical arm 52, and the electrical cabinet 10 controls the motor to rotate so as to rotate the end effector 53.

[0061] Afterwards, if Figure 11 to Figure 12 As shown, the electrical cabinet 10 controls the six-degree-of-freedom robot 52 to gradually restore the initial state. And controls the movable part 512 to move linearly on the fixed part, so that the end effector 53 returns to the air cushion chamber 3 and places the tool 61 in the tool support frame 9. Then as shown in FIG. Fig.13 As shown, the electrical cabinet 10 controls until the six-degree-of-freedom robotic arm 52 returns to its initial state.

[0062] Then, when the operator enters the manual work area 410 from the tool area 411, he enters the air cushion bin 3 and replaces the tool 61 in the tool support frame 9. In one embodiment, when the operator enters the manual work area 410 from the tool area 411, the first auxiliary sling 48, the second auxiliary sling 49 and the third auxiliary sling 33 assist in transporting the tool to the air cushion bin 3.

[0063] Afterwards, if it is necessary to install a tool, after replacing the tool 61 in the tool support frame 9, the electrical cabinet 10 controls the automatic tool changing device 5 to adjust the posture until the end effector is adjusted to the tool support frame 9 and grabs the tool 61, and then repeats the above steps in the opposite way to control and adjust the end effector 53 to the corresponding position where the tool needs to be installed, and complete the installation of the tool 61.

[0064] Finally, the electrical cabinet 10 controls the six-degree-of-freedom robot arm 52 to return to the initial state and wait for the next tool changing operation.

[0065] In the above-mentioned tool changing method steps of the shield machine cutter system, when the electrical cabinet 10 controls the end effector 53 to the corresponding position where the tool needs to be removed, the water jet water gun on the end effector 53 works to clean the tool.

[0066] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A shield machine cutterhead system, comprising a cutterhead and a mud and water bin, an air cushion bin and a manhole bin arranged in sequence behind the cutterhead, characterized in that: It also includes an automatic tool changing device, the automatic tool changing device comprising: The slide rail movable platform comprises a fixed part and a movable part, wherein the movable part can move linearly relative to the fixed part; A six-degree-of-freedom robotic arm connected to the movable part; an end effector rotatably connected to the end of the six-degree-of-freedom robotic arm; and An electrical cabinet, used to control the movement of the slide rail moving platform, the six-degree-of-freedom robotic arm and the end effector; Wherein, the manhole warehouse comprises a manual work area, a robot work area and a tool area which are separated from each other, a first hatch is arranged between the manual work area and the tool area, a second hatch is arranged between the robot work area and the tool area, a rear passage which can be connected between the tool area and the rear space of the cutter disc system is provided, and the rear passage is closed by a third hatch; a first hatch is arranged between the robot work area and the air cushion warehouse, so that the robot work area and one side of the air cushion warehouse can be connected to form a robot channel; a second hatch is arranged between the manual work area and the air cushion warehouse, so that the tool area, the manual work area and the other side of the air cushion warehouse can be connected in sequence to form a manual channel; Wherein, the automatic tool changing device works in the robot channel.

2. The shield machine cutterhead system according to claim 1, characterized in that: An electric soil hatch door is arranged between the robot passage and the mud and water bin, and a manual soil hatch door is arranged between the manual passage and the mud and water bin.

3. The shield machine cutterhead system according to claim 2, characterized in that: The electric soil hatch door has an electric pressing block, and the electric pressing block is used to fasten the electric soil hatch door.

4. The shield machine cutterhead system according to claim 2, characterized in that: The manhole chamber is connected to the air cushion chamber by a flange, and the flange has the first chamber hole and the second chamber hole.

5. The shield machine cutterhead system according to claim 1, characterized in that: The fixed part is provided with a linear slide rail, and the movable part has a slide groove, and the slide groove is cooperatively connected with the linear slide rail.

6. The shield machine cutterhead system according to claim 1, characterized in that: The end effector may be provided with a camera, a water gun, a water knife and a lighting lamp.

7. The shield machine cutterhead system according to claim 1, characterized in that: A shield machine tool box assembly cooperating with the automatic tool changing device is also arranged in the air cushion chamber, and the tool is arranged in the shield machine tool box assembly.

8. The shield machine cutterhead system according to claim 1, characterized in that: A first auxiliary sling and a second auxiliary sling are respectively provided on the top of the manual work area and the tool area. The first auxiliary sling and the second auxiliary sling can transport the tool to the outside of the manhole bin.

9. A cutter changing method for a shield machine cutter system, characterized in that: It adopts the shield machine cutter head system according to any one of claims 1 to 8, and the cutter changing method of the shield machine cutter head system comprises: The electrical cabinet controls the movable part to move linearly on the fixed part, so that the six-degree-of-freedom robot arm enters the mud and water bin, and controls and adjusts the end effector to the corresponding position on the surface of the cutter disc where the tool needs to be removed; The electrical cabinet controls the end effector to be removed from the cutter disc; The electrical cabinet controls the six-degree-of-freedom robot arm to return to an initial state, and controls the movable part to move linearly on the fixed part, so that the end effector returns to the air cushion chamber and places the tool on the tool support frame; After the operator enters the manual work area from the tool area, he enters the air cushion chamber and replaces the tool on the tool support frame; The electrical cabinet controls the end effector to move to the tool support frame, and after grabbing the tool, repeats the above steps in the opposite manner to control and adjust the end effector to the corresponding position to install the tool; The electrical cabinet controls the six-degree-of-freedom robotic arm to return to an initial state and wait for the next tool changing operation.

Images