A shield machine automatic tool changing device system capable of sensing tool wear

Abstract

The present invention discloses a shield automatic tool changing device system capable of sensing tool wear, the device comprising a cutter disc, a soil chamber, a screw conveyor and an automatic tool changing device capable of realizing unmanned operation. The cutter disc has independent tool devices, including a position baffle, a sensing baffle and a detachable sleeve tool. The position baffle comprises a small jack, a pressure sensor and an arc groove, which are used to ensure that the tool bears the same excavation pressure. The sensing baffle is provided with an infrared sensor for sensing tool wear. The soil chamber is provided with two arched electric hatches, which connect the cutter disc and the automatic tool changing device. The automatic tool changing device comprises a six-degree-of-freedom tool feeding mechanical arm, a tool unloading mechanical arm, a tool feeding conveyor belt and a tool unloading conveyor belt. When the shield machine starts to change the tool, the hatch opens automatically, and the mechanical arm enters the cutter disc position from the hatch to automatically change the tool.

Description

Technical Field

[0001] The invention relates to the technical field of shield machines, in particular to a tool changing operation of a shield machine, and in particular to an automatic tool changing device and system for a shield machine capable of sensing tool wear. 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 the replacement of cutting tools. 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 the cutting tool replacement operation. During the cutting tool replacement 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 cutting tool under a high-pressure environment, which puts certain requirements on the operator. However, even when operating under pressure, the possibility of external soil collapse cannot be completely avoided, 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 cutting tool replacement of the shield machine.

[0004] At the same time, the current automatic tool changing technology of shield machine ignores the issue of utilization rate of old and new tools. When the damaged old tool is replaced with a new tool, the position of the new tool is more prominent than the original position of the old tool, resulting in the new tool being under greater pressure than the old tool during the excavation process, which means that the new tool will wear out faster. Since the old tool is under less pressure, it cannot participate in the excavation process to the maximum extent, which will greatly reduce the excavation efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic tool changing device for a shield machine which can sense tool wear, has high working efficiency, is intelligent and safe, and has high precision in order to solve the above problems.

[0006] The purpose of the present invention can be achieved by adopting the following technical solutions:

[0007] A shield automatic tool changing device system capable of sensing tool wear, characterized in that it comprises a cutter disc, a soil storage chamber, a screw conveyor and an automatic tool changing device that realizes unmanned operation; the cutter disc has independent tool devices, and the tool devices include a position baffle, a sensing baffle and a detachable sleeve tool; the position baffle is located at the upper and lower ends of the sleeve tool, and the sensing baffle is located at the left and right ends of the sleeve tool; the position baffle includes a small jack, a pressure sensor, and an arc groove, and an infrared sensor is provided in the sensing baffle; two arched electric hatches are provided in the soil storage chamber, connecting the cutter disc and the automatic tool changing device, and the automatic tool changing device includes a six-degree-of-freedom tool feeding robot arm, a tool unloading robot arm, a tool feeding conveyor belt, and a tool unloading conveyor belt.

[0008] As a preferred solution, one end of the jack is connected to the side wall of the position baffle, and the other end is connected to the pressure sensor, and the pressure sensor is used to sense the pressure exerted on the sleeve tool.

[0009] As a preferred solution, the infrared sensor is provided in the center of the sensing baffle for sensing the distance from the blade edge of the sleeve tool to the infrared sensor. When the distance is greater than a fixed value, the sleeve tool has been damaged.

[0010] As a preferred solution, the sleeve tool includes the blade at the center position and sleeve fixing devices at both ends. The gears at both ends of the sleeve fixing device are embedded in the arc groove of the position baffle. When the tool needs to be changed, it is only necessary to disassemble the sleeve fixing device, replace the original old blade with a new blade, and then merge the sleeve fixing device again, which greatly reduces the use and loss of steel.

[0011] As a preferred solution, the arched electric hatch is connected to the tool disc and the automatic tool changing device. When the tool change starts, the hatch will open automatically, and the tool feeding robot arm and the tool unloading robot arm will enter the tool disc from the hatch to change the tool. When the tool change is completed, the hatch will close automatically.

[0012] As a preferred solution, the automatic tool changing device is entirely located behind the hatch. When the tool changing starts, the hatch will open, and the tool feeding robot arm and the tool unloading robot arm enter the tool disc position from the hatch. The tool unloading robot arm replaces the old tool and places it on the tool unloading conveyor belt for transportation backwards. At the same time, the tool feeding robot arm picks up the new tool from the tool feeding conveyor belt and replaces it to the corresponding position of the tool disc.

[0013] The implementation of the present invention has the following beneficial effects:

[0014] 1. By realizing the automated tool changing process in the shield machine, the corresponding tool removal and tool changing operations can be completely completed by machinery instead of manual labor, which solves the safety problems such as the inconvenience of manual tool changing in a small space and the operator's proneness to falling and collision injuries when changing tools. It avoids the difficulty of replacement operations for maintenance workers and they are no longer exposed to high-pressure environments.

[0015] 2. By realizing the automated tool changing process inside the shield machine, the two robotic arms cooperate with each other, which greatly shortens the tool changing time, has a high positioning accuracy for the tool, greatly reduces the shield machine's tool changing downtime, and effectively improves the efficiency of the construction project. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 The present invention is a schematic diagram of the overall structure of an automatic tool changing device system for a shield machine capable of sensing tool wear.

[0018] Figure 2 The invention discloses a top view of an automatic tool changing device system for a shield machine capable of sensing tool wear.

[0019] Figure 3 The present invention is a cross-sectional view of an automatic tool changing device system for a shield machine capable of sensing tool wear.

[0020] Figure 4 It is a structural schematic diagram of the tool device and the sleeve tool of the present invention.

[0021] Figure 5 It is a structural schematic diagram of the position baffle and the induction baffle of the present invention.

[0022] Figure 6 It is a schematic diagram of the automatic tool changing device of the present invention.

[0023] Figures 7 to 10 It is a schematic diagram of the state change of the shield machine of the present invention when changing cutters.

[0024] Among them, there are a cutter disc 1; a tool device 2; a soil bin chamber 3; an arched electric hatch 4; a tool changing device 5; a tool feeding mechanical arm 6; a tool unloading mechanical arm 7; a tool feeding conveyor belt 8; a tool unloading conveyor belt 9; a position baffle 10; a sensing baffle 11; a sleeve tool 12; a jack 13; a pressure sensor 14; an arc groove 15; an infrared sensor 16; a screw conveyor 17; a blade 18; and a sleeve fixing device 19. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Example

[0027] Reference Figures 1 to 6 The present embodiment relates to a shield automatic tool changing device system capable of sensing tool wear, comprising a cutter disc 1, a soil storage chamber 3, a screw conveyor 17 and an automatic tool changing device 5 capable of realizing unmanned operation; the cutter disc has independent tool devices 2, the tool devices 2 include a position baffle 10, a sensing baffle 11 and a detachable sleeve tool 12, the position baffle 10 is located at the upper and lower ends of the sleeve tool 12, and the sensing baffle 11 is located at the left and right ends of the sleeve tool 12; the position baffle 10 includes a small jack 13, a pressure sensor 14 and an arc groove 15, and an infrared sensor 16 is provided in the sensing baffle 11; two arched electric hatches 4 are provided in the soil storage chamber 3, connecting the cutter disc 1 and the automatic tool changing device 5, and the automatic tool changing device 5 includes a six-degree-of-freedom tool feeding robot arm 6, a tool unloading robot arm 7, a tool feeding conveyor belt 8, and a tool unloading conveyor belt 9.

[0028] A shield automatic tool changing device system capable of sensing tool wear can sense the excavation pressure of the sleeve tool 12 through a pressure sensor 14 during shield excavation, and realize regulation. When the pressure on the sleeve tool 12 is too large, the jack 13 located at the position baffle 10 begins to retract. When the pressure is too small, the jack 13 pushes forward to keep the new and old tools under the same pressure value. The new and old tools work together to improve the excavation efficiency. The sleeve tool 12 is worn during the excavation process. The distance between the outermost edge of the blade 18 of the sleeve tool 12 and the infrared sensor 16 is sensed by the infrared sensor 16 in the sensing baffle 11. When this distance is greater than a fixed value, it is determined that the sleeve tool 12 is damaged. At this time, the hatch 4 opens automatically, and the knife feeding mechanical arm 6 and the knife unloading mechanical arm 7 enter the position of the cutter disc 1 from the soil hatch. The knife unloading mechanical arm 7 replaces the old knife and puts it on the knife unloading conveyor belt 9 for transportation. At the same time, the knife feeding mechanical arm 6 picks up the new knife from the knife feeding conveyor belt 8 and replaces it to the corresponding position of the cutter disc 1. The whole process requires almost no manual operation, which solves the inconvenience of manual knife changing in a small space, and the safety problems such as the operator being prone to falling and collision injuries when changing knives, and avoids the difficulty of maintenance workers changing operations, and no longer being exposed to high-pressure environments. It also ensures that during the excavation process, the new and old knives are subjected to the same pressure, and jointly bear the excavation pressure, thereby improving the excavation efficiency and preventing the new knife from wearing out too quickly.

[0029] like Figure 1 , Figure 2 , Figure 3 As shown, a shield automatic tool changing device system capable of sensing tool wear includes a cutter disc 1, a soil bin chamber 3, a screw conveyor 17, and an automatic tool changing device 5 that can be unmanned operated.

[0030] like Figure 1 , Figure 4 , Figure 5 As shown, the position baffle 10 is located on the upper and lower sides of the sleeve cutter 12, and includes a small jack 13, a pressure sensor 14 and an arc groove 15. One end of the small jack 13 is connected to the side wall of the position baffle 10, and the other end is connected to the pressure sensor 14. The pressure sensor 14 is used to sense the pressure on the sleeve cutter 12 and realize regulation. When the pressure on the sleeve cutter 12 is too large, the jack 13 located on the position baffle 10 begins to retract. When the pressure is too small, the jack 13 pushes forward to ensure that the new cutter and the old cutter are subjected to the same pressure value. The shield excavation efficiency is improved under the joint action of the new and old cutters.

[0031] like Figure 1 , Figure 4 , Figure 5As shown, the sensing baffle 11 is located on the left and right sides of the sleeve cutter 12, and an infrared sensor 16 is provided in the center of the sensing baffle 12 to sense the distance from the edge of the blade 18 of the sleeve cutter 12 to the infrared sensor. The sleeve cutter 12 is worn during the excavation process, so the distance between the edge of the blade 18 of the sleeve cutter 12 and the infrared sensor 16 will definitely increase. When this distance is greater than a fixed value, the sleeve cutter 12 has been damaged.

[0032] like Figure 1 , Figure 4 As shown, the sleeve tool 12 includes a blade 18 at the center and sleeve fixing devices 19 at both ends. The gears at both ends of the sleeve fixing device 19 are embedded in the arc groove 15 of the position baffle 10. When the blade is damaged and needs to be replaced, it is only necessary to disassemble the sleeve fixing devices 19 at both ends, replace the original old blade with a new blade, and then recombine the sleeve and put it on the knife conveyor 8 for recycling. In this way, the use and loss of steel are greatly reduced.

[0033] like Figure 1 , Figure 6 As shown, the automatic tool changing device 5 is located behind the hatch 4, including a six-degree-of-freedom tool feeding robot arm 6, a tool unloading robot arm 7, a tool feeding conveyor belt 8, and a tool unloading conveyor belt 9. Before the tool change starts, the automatic tool changing device 5 is completely located behind the hatch 4. When the tool change starts, the hatch 4 will be opened, and the tool feeding robot arm 6 and the tool unloading robot arm 7 enter the position of the tool disk 1 from the hatch 4. The tool unloading robot arm 7 replaces the old tool and puts it on the tool unloading conveyor belt 9 for transportation. At the same time, the tool feeding robot arm 6 picks up the new tool from the tool feeding conveyor belt 8 and replaces it to the corresponding position of the tool disk 1.

[0034] like Figures 7 to 10 The following is a schematic diagram of the state change of the shield machine when changing the cutter. Figures 1 to 6 , the steps of automatic tool change of shield machine are as follows:

[0035] First, if Figure 7 As shown, at this time, the shield machine is about to start automatic tool change, and the entire automatic tool change device 5 is inside the cabin door 4, and the cabin door is in a closed state.

[0036] Then, if Figure 8 As shown, the hatch 4 opens automatically, and the knife feeding robot arm 6 and the knife unloading robot arm 7 can directly enter the knife disc 1 position through the hatch 4. According to the induction of the infrared sensor 16, the damaged old knife is judged, and the mechanical claws of the knife unloading robot arm 7 have gradually penetrated into the damaged knife and started to disassemble.

[0037] Secondly, if Fig. 9As shown, while the tool unloading robot arm 7 has dismantled the damaged tool, the tool feeding robot arm 6 picks up a new tool from the tool feeding conveyor belt 8 and prepares to send it to the corresponding tool disc 1 position.

[0038] Finally, if Fig.10 As shown, the mechanical claw of the tool unloading robot arm 7 moves to the tool unloading conveyor belt 9, puts down the broken tool, and makes the tool move to the back along with the tool unloading conveyor belt 9; and the tool feeding robot arm 6 embeds the new tool into the corresponding tool position of the tool disc 1 to complete the tool change.

[0039] Working principle of the present invention:

[0040] A shield automatic tool changing device system capable of sensing tool wear can sense the excavation pressure borne by the tool device 2 through a pressure sensor 14 during shield excavation, and realize regulation. When the pressure borne by the sleeve tool 12 is too large, the jack 13 located at the position baffle 10 begins to retract; when the pressure is too small, the jack 13 pushes forward to keep the new and old tools under the same pressure value, and the new and old tools work together to improve the excavation efficiency. The sleeve tool 12 is worn during the excavation process. The infrared sensor 16 in the sensing baffle 11 senses the distance between the outermost edge of the blade 18 of the sleeve tool 12 and the infrared sensor. When this distance is greater than a fixed value, it is determined that the sleeve tool 12 is damaged. At this time, the hatch 4 opens automatically, and the knife feeding robot arm 6 and the knife unloading robot arm 7 enter the knife disc 1 position from the hatch 4. The knife unloading robot arm 7 replaces the old knife and puts it on the knife unloading conveyor 9 for transportation backwards. At the same time, the knife feeding robot arm 6 picks up the new knife from the knife feeding conveyor 8 and replaces it to the corresponding position of the knife disc 1.

[0041] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A shield machine automatic tool changing device system capable of sensing tool wear, characterized in that: The invention comprises a cutter disc (1), a soil storage chamber (3), a screw conveyor (17) and an automatic tool changing device (5) for realizing unmanned operation; the cutter disc (1) has independent tool devices (2), the tool devices (2) include a position baffle (10), a sensing baffle (11) and a detachable sleeve tool (12), the sleeve tool (12) includes a blade (18) at the center and sleeve fixing devices (19) at both ends; the position baffle (10) is located at the upper and lower ends of the sleeve tool (12), the sensing baffle (11) is located at the left and right ends of the sleeve tool (12); the position baffle (10) includes a small jack (13), a pressure sensor (14) and a pressure sensor (15). ) and an arc groove (15), an infrared sensor (16) is provided in the center of the sensing baffle (11), and the infrared sensor (16) is used to sense the distance between the blade (18) of the sleeve tool (12), so as to facilitate the sensing baffle (11) to judge the wear state of the blade (18); two arched electric hatches (4) are provided in the soil bin chamber (3), connecting the tool disc (1) and the automatic tool changing device (5), and the automatic tool changing device (5) is located behind the hatches (4), and the automatic tool changing device (5) includes a six-degree-of-freedom tool feeding robot arm (6), a tool unloading robot arm (7), a tool feeding conveyor belt (8), and a tool unloading conveyor belt (9).

2. The shield automatic tool changing device system capable of sensing tool wear according to claim 1, characterized in that: One end of the jack (13) is connected to the side wall of the position baffle (10), and the other end is connected to the pressure sensor (14). The pressure sensor (14) is used to sense the pressure exerted on the sleeve tool (12).

3. The shield automatic tool changing device system capable of sensing tool wear according to claim 1, characterized in that: The infrared sensor (16) is used to sense the change in the distance between the edge of the blade (18) of the sleeve tool (12) and the infrared sensor (16), so as to facilitate the sensing baffle (11) to determine the degree of wear of the blade (18); when the distance is less than a fixed value, it indicates that the blade (18) is in a normal working state; when the distance is greater than the fixed value, it indicates that the blade (18) is in a worn state; when the sensing baffle (11) senses that the sleeve tool (12) is worn, the hatch (4) will open, the knife feeding robot arm (6) and the knife unloading robot arm (7) will enter the position of the knife disc (1) from the hatch (4), the knife unloading robot arm (7) will replace the old knife and put it on the knife unloading conveyor belt (9) for backward transportation, and at the same time, the knife feeding robot arm (6) will pick up the new knife from the knife feeding conveyor belt (8) and replace it to the corresponding position of the knife disc (1), completing the replacement of the knife.

4. The shield automatic tool changing device system capable of sensing tool wear according to claim 1, characterized in that: The sleeve fixing device (19) includes gears at both ends, and the gears are embedded in the arc groove (15) of the position baffle (10). When it is necessary to change the blade, it is only necessary to disassemble the sleeve fixing device (19), replace the original old blade with a new blade, and then re-combine the sleeve, thereby reducing the use and loss of steel.

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