A mechanical arm for changing a cutter of a shield machine

Abstract

The application provides a mechanical arm for replacing a cutter of a shield machine, comprising a base, the surface of the base being provided with a lifting device; a driving device provided on the surface of the lifting device; two rotating assemblies provided on the two sides of the driving device respectively; two taking assemblies provided on one side of the two rotating assemblies respectively, the taking assembly comprising a telescopic rod, one end of the telescopic rod being connected with a U-shaped placing rack; and a cutter main body provided in the U-shaped placing rack. The mechanical arm for replacing a cutter of a shield machine can be used in cooperation with the driving device and the rotating assembly to take the taking assembly, is convenient to replace the cutter of the shield machine underground, can be operated in a narrow space, and can replace manual cutter replacement operation.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machines, and more particularly to a robotic arm for changing cutterheads in tunnel boring machines. Background Technology

[0002] A tunnel boring machine (TBM) is a type of tunnel boring machine that uses the shield tunneling method. The shield tunneling method involves the tunnel boring machine constructing a "shield" of the tunnel while simultaneously excavating, which differs from open-face construction methods.

[0003] Current tunnel boring machines require blades to break up the ground during operation, but these blades tend to become dull after prolonged use, necessitating regular replacement.

[0004] The blades on existing tunnel boring machines are large and heavy, requiring regular replacement. However, the space is limited when replacing blades underground, making it impossible to use auxiliary equipment and necessitating manual replacement.

[0005] Therefore, it is necessary to provide a robotic arm for changing cutterheads in tunnel boring machines to solve the above-mentioned technical problems. Summary of the Invention

[0006] This invention provides a robotic arm for changing cutterheads in tunnel boring machines (TBMs), which solves the problem that existing TBMs, when working underground for extended periods, require cutterhead replacements, but the limited underground space prevents the placement of replacement equipment, necessitating manual operation.

[0007] To solve the above-mentioned technical problems, the present invention provides a robotic arm for changing cutterheads in a tunnel boring machine, comprising:

[0008] A base, the surface of which is provided with a lifting device;

[0009] A driving device, wherein the driving device is disposed on the surface of the lifting device;

[0010] The rotating assembly comprises two rotating assemblies, which are respectively disposed on both sides of the driving device;

[0011] The picking component has two parts, which are respectively disposed on one side of the two rotating components. Each picking component includes a telescopic rod, and one end of the telescopic rod is connected to a U-shaped placement frame.

[0012] The blade body is disposed inside the U-shaped placement frame.

[0013] Preferably, the lifting device includes two hydraulic rods, and a fixing plate is connected between the two hydraulic rods.

[0014] Preferably, the drive device includes a mounting bracket, and two mounting brackets are provided with rotating rods inside.

[0015] Preferably, a motor is provided on the surface of the mounting bracket and on the side opposite to the rotating rod.

[0016] Preferably, the U-shaped placement rack has a fixing component inside.

[0017] Preferably, the rotating assembly includes a U-shaped fixing frame, and a rotating seat is provided inside the U-shaped fixing frame. The surface of the rotating seat is connected to the bottom end of the telescopic rod.

[0018] Preferably, a fixing plate is provided on one side of the rotating seat, and a fixing bolt is provided on the surface of the U-shaped fixing frame on the side opposite to the fixing plate.

[0019] Preferably, protective components are provided on both sides of the surface of the fixing plate. The protective components include a guardrail, a fixing buckle is connected to one side of the guardrail, an L-shaped fixing frame is connected to one side of the fixing buckle, and a placement box is fixedly connected to the surface of the L-shaped fixing frame.

[0020] Preferably, the bottom of the fixing plate is provided with a shielding component, the shielding component includes two rectangular blocks, one side of each of the two rectangular blocks is connected to a sliding rod, the surface of the two sliding rods is fitted with a sliding sleeve, and a connecting frame is connected between the two sliding sleeves.

[0021] Preferably, a baffle plate is connected to one side of the connecting frame, and a telescopic plate is connected to one side of the baffle plate.

[0022] Compared with related technologies, the robotic arm for cutterhead replacement in a tunnel boring machine provided by this invention has the following advantages:

[0023] This invention provides a robotic arm for changing cutterheads in tunnel boring machines. A drive device and a rotating component are installed on the surface of the lifting device to work with the picking component. This makes it convenient to operate in confined spaces when changing cutterheads in underground tunnel boring machines, thereby replacing manual operation of cutterhead replacement. Attached Figure Description

[0024] Figure 1 A schematic diagram of the structure of a first embodiment of a robotic arm for changing cutterheads in a tunnel boring machine provided by the present invention;

[0025] Figure 2 for Figure 1 The enlarged schematic diagram of part A shown below;

[0026] Figure 3 for Figure 1 The enlarged schematic diagram of section B is shown below;

[0027] Figure 4 A schematic diagram of the structure of a second embodiment of a robotic arm for changing cutterheads in a tunnel boring machine provided by the present invention;

[0028] Figure 5 This is a schematic diagram of the third embodiment of a robotic arm for changing cutterheads in a tunnel boring machine, provided by the present invention.

[0029] Numbered in the diagram: 1. Base

[0030] 2. Lifting device; 21. Hydraulic rod; 22. Fixing plate.

[0031] 3. Drive unit; 31. Mounting bracket; 32. Rotating rod; 33. Motor.

[0032] 4. Rotating assembly; 41. U-shaped fixing bracket; 42. Rotating seat; 43. Fixing plate; 44. Fixing bolt.

[0033] 5. Retrieve components: 51. Telescopic rod, 52. U-shaped shelf, 53. Fixture.

[0034] 6. Blade body,

[0035] 7. Protective components; 71. Guardrail; 72. Fixing buckle; 73. L-shaped fixing bracket; 74. Placement box.

[0036] 8. Shielding component; 81. Rectangular block; 82. Sliding rod; 83. Sliding sleeve; 84. Connecting frame; 85. Shielding plate; 86. Telescopic plate. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0038] First Embodiment

[0039] Please refer to the following: Figure 1 , Figure 2 and Figure 3 ,in, Figure 1 A schematic diagram of the structure of a first embodiment of a robotic arm for changing cutterheads in a tunnel boring machine provided by the present invention; Figure 2 for Figure 1 The enlarged schematic diagram of part A shown below; Figure 3 for Figure 1 The enlarged schematic diagram of section B shown. A robotic arm for changing cutterheads in a tunnel boring machine, comprising:

[0040] Base 1, the surface of which is provided with a lifting device 2;

[0041] Drive device 3, which is disposed on the surface of lifting device 2;

[0042] Rotating assembly 4, there are two rotating assemblies 4, and the two rotating assemblies 4 are respectively disposed on both sides of the driving device 3;

[0043] The number of the two picking components 5 is two, and the two picking components 5 are respectively disposed on one side of the two rotating components 4. The picking component 5 includes a telescopic rod 51, and one end of the telescopic rod 51 is connected to a U-shaped placement rack 52.

[0044] The telescopic rod 51 is a hydraulic telescopic rod. The U-shaped placement frame 52 facilitates the placement of the blade body 6. The telescopic rod 51 can place the blade body 6 at a designated position through the U-shaped placement frame 52.

[0045] The blade body 6 is disposed inside the U-shaped placement frame 52.

[0046] The lifting device 2 includes two hydraulic rods 21, and a fixing plate 22 is connected between the two hydraulic rods 21.

[0047] Two hydraulic rods 21 are symmetrically fixed to the surface of the base 1. The use of hydraulic rods 21 can adjust the height of the entire device. When in use, the hydraulic rods 21 are activated to drive the fixed plate 22 to move upward. When the fixed plate 22 moves upward, it pushes the entire device upward.

[0048] The drive device 3 includes a mounting frame 31, and two mounting frames 31 are provided with rotating rods 32 inside.

[0049] A motor 33 is provided on the surface of the mounting bracket 31 and on the side opposite to the rotating rod 32.

[0050] Mounting bracket 31 is fixedly mounted at the center of the surface of fixing plate 22. One end of rotating rod 32 is rotatably connected to one side of the inner wall of mounting bracket 31 via rotating shaft, and the other end is connected to motor 33. Motor 33 is a servo motor. Motor 33 rotates 180 degrees and then stops rotating each time it works. The use of motor 33 and rotating rod 32 can rotate both the new blade body 6 and the old blade body 6, thereby enabling the disassembly of the old blade and the installation of the new blade.

[0051] The U-shaped placement rack 52 is equipped with a fixing member 53 inside.

[0052] The fastener 53 includes a fixing frame, a through hole on one side of the fixing frame, a U-shaped connecting rod inside the through hole, an arc-shaped fixing block connected to one end of the U-shaped connecting rod, a thread on one side of the surface of the U-shaped connecting rod, and a threaded sleeve threadedly connected to the surface of the U-shaped connecting rod.

[0053] The rotating assembly 4 includes a U-shaped fixing frame 41, and a rotating seat 42 is provided inside the U-shaped fixing frame 41. The surface of the rotating seat 42 is connected to the bottom end of the telescopic rod 51.

[0054] The U-shaped fixing bracket 41 is fixedly connected to the surface of the rotating rod 32.

[0055] A fixing plate 43 is provided on one side of the rotating seat 42, and a fixing bolt 44 is provided on the surface of the U-shaped fixing frame 41 on the side opposite to the fixing plate 43.

[0056] The use of the fixing plate 43 and the fixing bolt 44 facilitates the fixing of the telescopic rod 51.

[0057] The working principle of the robotic arm for cutterhead changing in a tunnel boring machine provided by this invention is as follows:

[0058] When replacing the blade body 6, first install the new blade body 6 inside one of the U-shaped placement racks 52. After the new blade body 6 is placed, place the old blade body 6 inside the other U-shaped placement rack 52. After the old blade body 6 is placed, start the motor 33 to drive the rotating rod 32 to rotate 180 degrees. When the old blade body 6 rotates into the mounting rack 31, the new blade body 6 rotates to the outside of the mounting rack 31, and can then be installed.

[0059] Compared with related technologies, the robotic arm for cutterhead replacement in a tunnel boring machine provided by this invention has the following advantages:

[0060] This invention provides a robotic arm for changing cutterheads in tunnel boring machines. A drive device 3 and a rotating component 4 are provided on the surface of the lifting device 2 to work with a picking component 5. This makes it convenient to operate in confined spaces when changing cutterheads in underground tunnel boring machines, thereby replacing manual operation of cutting blade replacement.

[0061] Second Embodiment

[0062] Please refer to the following: Figure 4 Based on the robotic arm for cutterhead replacement in the first embodiment of this application, the second embodiment of this application proposes another robotic arm for cutterhead replacement in tunnel boring machines. The second embodiment is merely a preferred embodiment of the first embodiment, and implementation of the second embodiment will not affect the separate implementation of the first embodiment.

[0063] Specifically, the second embodiment of this application provides a robotic arm for changing cutterheads in that, in a robotic arm for changing cutterheads in a tunnel boring machine, protective components 7 are provided on both sides of the surface of the fixed plate 22. The protective components 7 include a protective railing 71, a fixing buckle 72 is connected to one side of the protective railing 71, an L-shaped fixing frame 73 is connected to one side of the fixing buckle 72, and a placement box 74 is fixedly connected to the surface of the L-shaped fixing frame 73.

[0064] The guardrail 71 is fixedly installed on the surface of the fixing plate 22, and the use of the fixing buckle 72 facilitates the installation and removal of the L-shaped fixing bracket 73 with the placement box 74.

[0065] The working principle of the robotic arm for cutterhead changing in a tunnel boring machine provided by this invention is as follows:

[0066] When in use, first fix the placement box 74 inside the L-shaped fixing bracket 73. After the placement box 74 is installed, install the L-shaped fixing bracket 73 with the fixing buckle 72 on the surface of the guardrail 71 for use.

[0067] Compared with related technologies, the robotic arm for cutterhead replacement in a tunnel boring machine provided by this invention has the following advantages:

[0068] The present invention provides a robotic arm for changing cutterheads in a tunnel boring machine. A protective railing 71 is provided on the surface of the fixed plate 22 to provide protection when the operator is working manually. An L-shaped fixing frame 73 and a storage box 74 are provided on the surface of the protective railing 71 to facilitate the placement of parts and tools disassembled from the cutterheads on the tunnel boring machine, making them easy for personnel to access.

[0069] Third Embodiment

[0070] Please refer to the following: Figure 5 Based on the robotic arm for changing cutterheads in a tunnel boring machine provided in the first embodiment of this application, the third embodiment of this application proposes another robotic arm for changing cutterheads in a tunnel boring machine. The third embodiment is merely a preferred embodiment of the first embodiment, and the implementation of the third embodiment will not affect the separate implementation of the first embodiment.

[0071] Specifically, the difference in the third embodiment of this application regarding the robotic arm for changing cutterheads of a tunnel boring machine is that the robotic arm for changing cutterheads of a tunnel boring machine has a shielding component 8 at the bottom of the fixed plate 22. The shielding component 8 includes two rectangular blocks 81, one side of each of the two rectangular blocks 81 is connected to a sliding rod 82, the surface of the two sliding rods 82 is fitted with a sliding sleeve 83, and a connecting frame 84 is connected between the two sliding sleeves 83.

[0072] Two rectangular blocks 81 are symmetrically connected to the bottom of the fixed plate 22. A stop block is connected to the other end of the two sliding rods 82 to prevent the sliding sleeve 83 from falling off. Bolts are provided on the surface of the baffle plate 85, and multiple threaded holes that are compatible with the bolts are opened on the surface of the telescopic plate 86.

[0073] A baffle plate 85 is connected to one side of the connecting frame 84, and a telescopic plate 86 is connected to one side of the baffle plate 85.

[0074] The working principle of the robotic arm for cutterhead changing in a tunnel boring machine provided by this invention is as follows:

[0075] When replacing the blade body 6, first move the baffle plate 85 to the outside of the fixing plate 22. When the baffle plate 85 is moved to the outside of the fixing plate 22, it drives the connecting frame 84 to move. When the connecting frame 84 moves, it drives the sliding sleeves 83 on both sides to move on the surface of the two sliding rods 82. After the baffle plate 85 moves to the outside of the fixing plate 22, pull the telescopic plate 86 inside the baffle plate 85 to the appropriate position for use.

[0076] Compared with related technologies, the robotic arm for cutterhead replacement in a tunnel boring machine provided by this invention has the following advantages:

[0077] The present invention provides a robotic arm for changing cutterheads in a tunnel boring machine. A shielding component 8 is provided at the bottom of the fixed plate 22 to prevent residual sand and gravel from falling off the surface during the replacement of the cutterheads, thereby improving the safety of the entire device during operation.

[0078] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A robotic arm for changing cutterheads in a tunnel boring machine, characterized in that, include: A base, the surface of which is provided with a lifting device; A driving device, wherein the driving device is disposed on the surface of the lifting device; The rotating assembly comprises two rotating assemblies, which are respectively disposed on both sides of the driving device; The picking component has two parts, which are respectively disposed on one side of the two rotating components. Each picking component includes a telescopic rod, and one end of the telescopic rod is connected to a U-shaped placement frame. The blade body is disposed inside the U-shaped mounting bracket; The driving device includes a mounting frame, and two mounting frames are provided with rotating rods inside. A motor is provided on the surface of the mounting frame and at one end opposite to the rotating rod. One end of the rotating rod is rotatably connected to one side of the inner wall of the mounting frame through a rotating shaft, and the other end is connected to the motor. The rotating assembly includes a U-shaped fixing frame, inside which is a rotating seat. The surface of the rotating seat is connected to the bottom end of the telescopic rod. A fixing plate is provided on one side of the rotating seat. A fixing bolt is provided on the surface of the U-shaped fixing frame and on the side opposite to the fixing plate. The fixing plate and the fixing bolt are used to fix the telescopic rod, and a plurality of fixing holes for the fixing bolt to pass through are provided along the circumference of the fixing plate. The U-shaped fixing bracket is mounted on the side of the rotating rod.

2. The robotic arm for cutterhead changing in a tunnel boring machine according to claim 1, characterized in that, The lifting device includes two hydraulic rods, and a fixed plate is connected between the two hydraulic rods.

3. The robotic arm for cutterhead changing in a tunnel boring machine according to claim 1, characterized in that, The U-shaped placement rack has internal fasteners.

4. The robotic arm for changing cutterheads in a tunnel boring machine according to claim 2, characterized in that, Both sides of the surface of the fixed plate are provided with protective components. The protective components include protective railings. One side of the protective railings is connected to a fixing buckle. One side of the fixing buckle is connected to an L-shaped fixing frame. A placement box is fixedly connected to the surface of the L-shaped fixing frame.

5. The robotic arm for changing cutterheads in a tunnel boring machine according to claim 2, characterized in that, The bottom of the fixed plate is provided with a shielding component, which includes two rectangular blocks. Each of the two rectangular blocks is connected to a sliding rod on one side. The surfaces of the two sliding rods are fitted with sliding sleeves, and a connecting frame is connected between the two sliding sleeves.

6. The robotic arm for cutterhead changing in a tunnel boring machine according to claim 5, characterized in that, A baffle plate is connected to one side of the connecting frame, and a telescopic plate is connected to one side of the baffle plate.

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