An overhauling carrier for a cutter head of a shield machine

Abstract

The application provides a maintenance carrier for a cutter head of a shield tunneling machine, and relates to the field of shield tunneling machine maintenance, and comprises a first walking part and a second walking part for walking on a working face, a fixed plate and a rotating plate are correspondingly arranged above the first walking part and the second walking part, the fixed plate and the rotating plate partially overlap, a slewing mechanism is arranged in the overlapping area of the fixed plate and the rotating plate, and the slewing mechanism is connected with the fixed plate and the rotating plate respectively, a steering mechanism is rotatably connected with one end of the fixed plate and the other end of the rotating plate, the steering mechanism pushes the rotating plate to rotate around the slewing mechanism, a pushing mechanism is connected with the first walking part and the second walking part at two ends respectively, and two linear guide mechanisms are arranged in parallel on the rotating plate and connected with the second walking part respectively, and the second walking part moves along the linear guide mechanisms.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine (TBM) maintenance, and particularly to a maintenance carrier for the cutterhead of a TBM. Background Technology

[0002] The maintenance of the cutterhead of a tunnel boring machine (TBM) has always been a major challenge during its operation. Due to the special structure of the TBM, the cutterhead can only be maintained by entering a negative pressure chamber. The inlet and outlet of this negative pressure chamber should not be too large, otherwise it may affect the strength and working condition of the cutterhead.

[0003] Currently, cutterhead inspection via a negative pressure chamber can be performed using a robot that enters the chamber, as described in patent CN216974840U. This inspection equipment has two traveling sections, which alternately charge and discharge magnets and extend and retract to achieve movement and steering. Specifically, elastic pads are provided on the guide rail mounting plate, and guide rails are mounted on these pads. When steering is required, the lengths of the two extendable sections are adjusted, and the guide rails compress the guiding load-bearing structure to achieve guidance. However, the presence of the elastic pads results in poor rotational accuracy and guiding performance of the traveling sections. Summary of the Invention

[0004] The present invention provides a maintenance carrier for the cutterhead of a tunnel boring machine, the purpose of which is to provide a maintenance carrier with high rotational accuracy and guidance.

[0005] To achieve the above objectives, embodiments of the present invention provide a maintenance carrier for the cutterhead of a tunnel boring machine, comprising:

[0006] A first traveling section and a second traveling section are used for traveling on the working surface. A fixed plate and a rotating plate are respectively arranged above the first traveling section and the second traveling section. The fixed plate and the rotating plate partially overlap. A rotary mechanism is arranged in the area where the fixed plate and the rotating plate overlap. The rotary mechanism is connected to the fixed plate and the rotating plate respectively.

[0007] The steering mechanism has one end rotatably connected to the fixed plate and the other end rotatably connected to the rotating plate. The steering mechanism pushes the rotating plate to rotate around the rotary mechanism.

[0008] The propulsion mechanism is connected at both ends to the first traveling section and the second traveling section, respectively;

[0009] Two linear guide mechanisms are arranged in parallel on the rotating plate and are respectively connected to the second traveling part, which moves along the linear guide mechanisms.

[0010] Preferably, the linear guide mechanism is a box-type linear bearing, the guide rod of the box-type linear bearing is connected to the rotating plate, the housing of the box-type linear bearing is connected to the second traveling part, and the second traveling part moves along the guide rod within the coverage area of ​​the rotating plate.

[0011] Preferably, the carrier for the maintenance of the cutterhead of the tunnel boring machine further includes a second electro-permanent magnet mounting plate, which is disposed on the upper surface of the second traveling part. A second electro-permanent magnet assembly is disposed on the second electro-permanent magnet mounting plate, and guide supports are disposed on both sides of the second electro-permanent magnet mounting plate. The housing of the box-type linear bearing is connected to the second traveling part through the guide supports.

[0012] Preferably, the guide support includes a support body, a guide plate, and a T-shaped connecting shaft. The support body is mounted on the second electro-permanent magnet mounting plate. The guide plate is positioned above the support body and is connected to the housing of the box-type linear bearing. The T-shaped connecting shaft passes through the guide plate and extends into the support body, where it is restricted by a transverse pin along the radial direction of the T-shaped connecting shaft. The distance between the upper end of the support body and the upper end of the T-shaped connecting shaft is D, where D is greater than the thickness of the guide plate.

[0013] Preferably, a sleeve is further provided between the T-shaped connecting shaft and the guide plate. The sleeve is in the shape of an inverted T and is sleeved on the outside of the T-shaped connecting shaft. The lower end of the sleeve is in contact with the lower surface of the guide plate.

[0014] Preferably, the steering mechanism and the rotating plate are connected by a fisheye bearing.

[0015] Preferably, the two ends of the pushing mechanism are connected to the first traveling part and the second traveling part via fisheye bearings.

[0016] Preferably, the upper surface of the first traveling part is provided with a first electro-permanent magnet mounting plate, the first electro-permanent magnet mounting plate is provided with a first electro-permanent magnet assembly, and the first electro-permanent magnet mounting plate is also provided with a support column, the other end of the support column being connected to the fixing plate.

[0017] Preferably, the carrier for tunnel boring machine cutterhead maintenance also includes a control system, which is signal-connected to the steering mechanism, the propulsion mechanism, the first electro-permanent magnet group, and the second electro-permanent magnet group.

[0018] Preferably, the bottom surfaces of the first and second traveling parts are further provided with grooves, and a guide wheel mechanism is provided in the grooves. The guide wheel mechanism includes a guide wheel frame and a guide wheel body disposed on the guide wheel frame. An elastic pad is provided above the guide wheel frame, and the guide wheel frame is installed in the groove through the elastic pad.

[0019] The above-described solution of the present invention has the following beneficial effects:

[0020] In this application, the relative rotation of the first traveling section and the second traveling section is achieved by using a steering mechanism and a slewing mechanism. The slewing mechanism and the steering mechanism have small errors, good rotation accuracy and guidance, and can achieve precise rotation, which is more conducive to the travel of this application to the designated position. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of this application;

[0022] Figure 2 It is a diagram of the rotating structure of the fixed plate and the rotating plate;

[0023] Figure 3 This is a structural diagram of the route of this application;

[0024] Figure 4 This is a schematic diagram of the guide support structure;

[0025] Figure 5 yes Figure 4 Sectional view in the XZ plane;

[0026] Figure 6 This is a top view of the application traveling on the working face.

[0027] [Explanation of Labels in the Attached Image]

[0028] 1-First traveling part, 11-Fixing plate, 12-First electro-permanent magnet mounting plate, 13-First electro-permanent magnet assembly, 14-Support column, 2-Second traveling part, 21-Rotating plate, 22-Second electro-permanent magnet mounting plate, 23-Second electro-permanent magnet assembly, 24-Guide support, 241-Support body, 242-Guide plate, 243-T-type connecting shaft, 244-Horizontal pin, 245-Sleeve, 3-Rotation mechanism, 4-Steering mechanism, 5-Pushing mechanism, 6-Linear guide mechanism, 61-Box, 62-Guide rod, 7-Fisheye bearing, 8-Guide wheel mechanism, 81-Guide wheel frame, 82-Guide wheel body, 83-Elastic pad.

[0029] A - Working surface, B - Cutter head, C - Inspection equipment. Detailed Implementation

[0030] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0031] In this application, the straight travel direction is defined as the X-axis direction, the turning direction as the Y-axis direction, and the height direction as the Z-axis direction.

[0032] like Figure 1-6As shown, an embodiment of the present invention provides a maintenance carrier for the cutterhead of a tunnel boring machine (TBM), comprising a first traveling section 1 and a second traveling section 2. The first traveling section 1 and the second traveling section 2 are arranged on a working surface parallel to the TBM cutterhead, typically using a negative pressure chamber wall as the working surface. A fixed plate 11 and a rotating plate 21 are arranged above the first traveling section 1 and the second traveling section 2, respectively. The fixed plate 11, used for mounting inspection equipment, is positioned above the first traveling section 1, and the rotating plate 21 is positioned above the second traveling section 2. The ends of the fixed plate 11 and the rotating plate 21 overlap to form an overlapping area. A slewing mechanism 3 is arranged within this overlapping area, and the slewing mechanism 3 is connected to both the fixed plate 11 and the rotating plate 21. A steering mechanism 4 is also arranged between the first traveling section 1 and the second traveling section 2. The two ends of the steering mechanism 4 are hinged to the fixed plate 11 and the rotating plate 21, respectively. The rotating plate 21 is steered around the slewing mechanism 3 under the push of the steering mechanism 4 to achieve high-accuracy steering.

[0033] A pushing mechanism 5 is also provided between the first traveling part 1 and the second traveling part 2. The two ends of the pushing mechanism 5 are respectively connected to the first traveling part 1 and the second traveling part 2. The distance between the first traveling part 1 and the second traveling part 2 can be increased or decreased under the pushing, so as to realize the alternating forward movement of the first traveling part 1 and the second traveling part 2.

[0034] Two linear guide mechanisms 6 are also arranged in parallel on the rotating plate 21. The linear guide mechanisms 6 are connected to the second traveling part 2, and the second traveling part 2 moves along the linear guide mechanisms 6.

[0035] In this application, a rotation mechanism 3 is provided between the fixed plate 11 and the rotating plate 21, and the rotating plate 21 can rotate relative to the fixed plate 11 by the traction of the steering mechanism 4, which has good accuracy and can reduce errors.

[0036] Preferably, the slewing mechanism 3 is a slewing bearing, with the inner ring of the slewing bearing fixedly connected to the rotating plate 21 and the outer ring fixedly connected to the fixed plate 11.

[0037] Preferably, the pushing mechanism 5 is an electric push rod or a cylinder. In this application, the use of an electric push rod or a cylinder can precisely control the extension or retraction distance, further ensuring that the rotating plate 21 can rotate to the required angle.

[0038] Furthermore, the linear guide mechanism 6 is a box-type linear bearing, which includes a guide rod 62 and a housing 61. The housing 61 is sleeved on the guide rod 62 and can slide along the guide rod 62. The housing 61 is connected to the second traveling part 2. The guide rod 62 is disposed on the rotating plate 21, and the length of the guide rod 62 is equal to the length of the rotating plate 21, so that the housing 61 can move within the area covered by the rotating plate 21.

[0039] Furthermore, this application also includes a first electro-permanent magnet mounting plate 12 and a second electro-permanent magnet mounting plate 22. The second electro-permanent magnet mounting plate 22 is disposed on the upper surface of the second traveling portion 2, and a second electro-permanent magnet assembly 23 is disposed on the second electro-permanent magnet mounting plate 22. The first electro-permanent magnet mounting plate 12 is disposed on the upper surface of the first traveling portion 1, and a first electro-permanent magnet assembly 13 is disposed on the first electro-permanent magnet mounting plate 12.

[0040] This application achieves adsorption through the charging and discharging of the first electro-permanent magnet group 13 and the second electro-permanent magnet group 23, and moves in conjunction with the pushing mechanism 5. Specifically, the electro-permanent magnet groups are magnetic when not energized, and are in a magnetized state. When energized, the magnetism is reduced by controlling the current magnitude, and they are in a demagnetized state. When the first electro-permanent magnet group 13 is in a magnetized state, the first traveling part 1 is adsorbed onto the working surface, and the second electro-permanent magnet group 23 is in a demagnetized state, with its magnetism weakened. The pushing mechanism 5 increases the distance between the two traveling parts. Subsequently, the first electro-permanent magnet group 13 is in a demagnetized state, and the second electro-permanent magnet group 23 is in a magnetized state. At this time, the magnetism of the second electro-permanent magnet group 23 is enhanced, and the pushing mechanism 5 pulls the first traveling part 1 toward the second traveling part 2. This alternating process enables the vehicle to move forward along the X-axis.

[0041] When a turn is required, the first permanent magnet assembly 13 is in a magnetized state, and the second permanent magnet assembly is in a demagnetized state. Under the push of the steering mechanism 4, the rotating plate 21 drives the second traveling part 2 to rotate in the forward or reverse direction of the Y axis to a preset angle to achieve rotation. Combined with the aforementioned forward movement method, the purpose of forward movement or turning is finally achieved.

[0042] Furthermore, guide supports 24 are provided on both sides of the second electro-permanent magnet assembly 23. The two guide supports 24 are respectively installed on the second electro-permanent magnet mounting plate 22. The guide supports 24 are used to connect the second traveling part 2 to the housing 61.

[0043] Specifically, the guide support 24 includes a support body 241, a guide plate 242, and a T-shaped connecting shaft 243. The support body 241 is mounted on the second electro-permanent magnet mounting plate 22. The guide plate 242 is positioned above the support body 241 and is connected to the housing 61. The T-shaped connecting shaft 243 passes through the guide plate 242 and extends into the support body 241. A horizontal pin 244 restricts the T-shaped connecting shaft 243, preventing it from detaching from the support body 241 while allowing it to rotate relative to the support body 241 about the horizontal pin 244. The distance D between the upper end of the support body 241 and the upper end of the T-shaped connecting shaft 243 is greater than the thickness of the guide plate 242. Preferably, the upper surface of the support body 241 is flat.

[0044] Preferably, a support column 14 is provided on the first electro-permanent magnet mounting plate 12, and the other end of the support column 14 is connected to the fixing plate 11.

[0045] The steering mechanism 4 is connected to the rotating plate 21 via a fisheye bearing 7, and the two ends of the pushing mechanism 5 are connected to the first traveling part 1 and the second traveling part 2 via fisheye bearings 7.

[0046] See Figure 6 The carrier provided in this application can be attached to the working surface by controlling the magnitude of the magnetic force. At this time, the working surface is not limited to a horizontal state, but can also be tilted or even vertical. Compared with other maintenance carriers, it is not limited by the usage environment.

[0047] Furthermore, when the negative pressure chamber is used as the working surface, the working surface cannot be kept completely flat due to environmental factors inside the negative pressure chamber. By using the fish-eye bearing 7 and setting the interval distance D, the first traveling part 1 and the second traveling part 2 can withstand a certain height difference (i.e., the height difference in the Z direction), which can better adapt to the uneven working surface.

[0048] Furthermore, when any of the traveling parts is energized, it can effectively prevent the application from falling off the working surface. When the application moves forward (X-axis direction), the first electro-permanent magnet assembly 13 is in a magnetized state, and the second electro-permanent magnet assembly 23 is in a demagnetized state. Under the action of the pushing mechanism 5, the distance between the first traveling part 1 and the second traveling part 2 increases. If the application moves on the approximately vertical working surface, the second electro-permanent magnet assembly 23 will have reduced magnetic force, and the second traveling part 2 may not be able to adhere to the working surface. Under its own gravity, the second traveling part 2 will deflect in the Z direction. Since the first traveling part 1 is firmly attached to the working surface, and the first traveling part 1 is connected to the first fixed plate 11 through the support column 14, and the fixed plate 11 is connected to the rotating plate 21 through the rotary mechanism 3, the gravitational component of the second traveling part 2 along the Z-axis acts on the rotating plate 21. By relying on the adsorption force of the first traveling part 1 attached to the working surface, the second traveling part 2 can be effectively prevented from detaching from the working surface due to the weakening of magnetism.

[0049] By setting a distance D, the sway amplitude of the second traveling part 2 in the Z-axis direction can be effectively limited. That is, by setting a distance D, the second traveling part 2 can be prevented from being unable to adhere to the working surface due to excessive distance. This would prevent the first permanent magnet assembly 13 from being demagnetized, resulting in both traveling parts being not firmly adhered and causing the application to fall off the working surface.

[0050] Furthermore, a sleeve 245 is provided between the T-shaped connecting shaft 243 and the guide plate 242. The sleeve 245 is in the shape of an inverted T and is sleeved on the outside of the T-shaped connecting shaft 243. The lower end of the sleeve 245 is in contact with the lower surface of the guide plate 242, and the upper end of the T-shaped connecting shaft 243 is in contact with the upper surface of the guide plate 242.

[0051] Furthermore, this application also includes a control system (not shown in the figure), which is signal-connected to the steering mechanism 4, the pushing mechanism 5, the first electro-permanent magnet group 13 and the second electro-permanent magnet group 23 and controls the operation of each component.

[0052] Furthermore, a groove is provided on the bottom surface of the first traveling part 1 and the second traveling part 2. A guide wheel mechanism 8 is provided in the groove. The guide wheel mechanism 8 includes a guide wheel frame 81 and a guide wheel body 82 provided on the guide wheel frame 81. An elastic pad 83 is provided above the guide wheel frame 81. The guide wheel frame 81 is installed in the groove through the elastic pad 83.

[0053] When any traveling part is de-energized, the traveling part is attracted by the corresponding electro-permanent magnet assembly, causing the elastic pad 83 to deform under pressure, retracting the guide wheel body 82 into the groove. When any traveling part is energized, the traveling part loses the attractive force, the elastic pad 83 returns to its original shape, extending the guide wheel body 82 out of the groove and lifting the corresponding traveling part a certain distance. By setting the elastic pad 83, it is possible to prevent the traveling part from scratching the working surface during sliding.

[0054] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A TBM cutterhead service carrier, comprising: The utility model relates to a shield machine cutter head overhauling carrier which comprises a first walking part (1) and a second walking part (2) for walking on a working face, a fixed plate (11) and a rotating plate (21) are correspondingly arranged above the first walking part (1) and the second walking part (2), the fixed plate (11) and the rotating plate (21) are partially overlapped, a slewing mechanism (3) is arranged in the overlapping area of the fixed plate (11) and the rotating plate (21), and the slewing mechanism (3) is connected with the fixed plate (11) and the rotating plate (21) respectively. A steering mechanism (4) is rotatably connected with the fixed plate (11) at one end and rotatably connected with the rotating plate (21) at the other end, and the steering mechanism (4) drives the rotating plate (21) to rotate around the slewing mechanism (3). A pushing mechanism (5) is connected with the first walking part (1) and the second walking part (2) at two ends respectively. Two linear guide mechanisms (6) are arranged in parallel on the rotating plate (21) and connected with the second walking part (2) respectively, and the second walking part (2) moves along the linear guide mechanisms (6). The linear guide mechanism (6) is a box type linear bearing, the guide rod (62) of the box type linear bearing is connected with the rotating plate (21), the box body (61) of the box type linear bearing is connected with the second walking part (2), and the second walking part (2) moves along the guide rod (62) within the coverage range of the rotating plate (21). The shield machine cutter head overhauling carrier further comprises a second electric permanent magnet mounting plate (22) arranged on the upper surface of the second walking part (2), a second electric permanent magnet group (23) is arranged on the second electric permanent magnet mounting plate (22), guide supports (24) are further arranged on the two sides of the second electric permanent magnet mounting plate (22), and the box body (61) of the box type linear bearing is connected with the second walking part (2) through the guide supports (24).

2. The TBM cutterhead service carrier of claim 1, wherein: The guide support (24) comprises a support body (241), a guide plate (242) and a T-shaped connecting shaft (243), the support body (241) is arranged on the second electric permanent magnet mounting plate (22), the guide plate (242) is arranged above the support body (241) and connected with the box body (61) of the box type linear bearing, the T-shaped connecting shaft (243) penetrates through the guide plate (242) and extends into the support body (241) and is limited by a transverse pin (244) along the radial direction of the T-shaped connecting shaft (243), and the distance between the upper end of the support body (241) and the upper end of the T-shaped connecting shaft (243) is D, and D is greater than the thickness of the guide plate (242).

3. The TBM cutterhead service carrier of claim 2, wherein: A sleeve (245) is further arranged between the T-shaped connecting shaft (243) and the guide plate (242), the sleeve (245) is inverted T-shaped, the sleeve (245) is sleeved on the T-shaped connecting shaft (243), and the lower end of the sleeve (245) is attached to the lower surface of the guide plate (242).

4. The TBM cutterhead service carrier of claim 3, wherein: The steering mechanism (4) is connected with the rotating plate (21) through a fisheye bearing (7).

5. The TBM cutterhead service carrier of claim 1, wherein: ​ 6. The TBM cutterhead service carrier of claim 1, wherein: Two ends of the pushing mechanism (5) are connected with the first walking part (1) and the second walking part (2) through fisheye bearings (7).

7. The TBM cutterhead service carrier of claim 5, wherein: An upper surface of the first walking part (1) is provided with a first electric permanent magnet mounting plate (12), a first electric permanent magnet group (13) is arranged on the first electric permanent magnet mounting plate (12), and a supporting column (14) is further arranged on the first electric permanent magnet mounting plate (12), one end of the supporting column (14) is connected with the first electric permanent magnet mounting plate (12), and the other end of the supporting column (14) is connected with the fixed plate (11).

8. The TBM cutterhead service carrier of claim 1, wherein: The shield machine cutter head maintenance carrier further comprises a control system, and the control system is signal connected with the steering mechanism (4), the pushing mechanism (5), the first electric permanent magnet group (13) and the second electric permanent magnet group (23).

9. The TBM cutterhead service carrier of claim 1, wherein: Bottom surfaces of the first walking part (1) and the second walking part (2) are further provided with grooves, guide wheel mechanisms (8) are arranged in the grooves, the guide wheel mechanism (8) comprises a guide wheel frame (81) and a guide wheel body (82) arranged on the guide wheel frame (81), an elastic pad (83) is arranged above the guide wheel frame (81), and the guide wheel frame (81) is installed in the groove through the elastic pad (83).

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