Automatic detection and tool changing device of super-large-diameter slurry shield tunneling machine and method thereof

Abstract

The present application relates to the technical field of detection and maintenance of shield machines, and particularly relates to an automatic detection and tool changing device for a super-large-diameter slurry shield machine and a method thereof. The device comprises a tool wear detection mechanism, an automatic tool changing mechanism and a telescopic mechanical arm. The tool wear detection mechanism and the automatic tool changing mechanism are respectively connected to the telescopic mechanical arm. The automatic tool changing mechanism comprises an operation cabin, a tool clamping and grabbing assembly, a tensioning assembly, a tool sealing assembly and a grouting and gas injection assembly. One end of the telescopic mechanical arm is used for connecting an external operation device. The other end of the telescopic mechanical arm is respectively connected to the operation cabin, fixedly connected to the tensioning assembly, hingedly connected to the tool clamping and grabbing assembly and slidably connected to the tool sealing assembly. The operation cabin covers the tool clamping and grabbing assembly, the tensioning assembly and the tool sealing assembly. The grouting and gas injection assembly is arranged on a cabin wall of the operation cabin. A cabin body window is arranged at a front end of the operation cabin. A tool frame for fixing a tool is connected to the cabin body window. The present application improves the tool changing efficiency and avoids the risks caused by manual tool changing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection and maintenance of a shield machine, and particularly relates to an automatic detection and cutter changing device for a super-large-diameter slurry shield machine and a method thereof. BACKGROUND

[0002] During the construction process of a super-large-diameter slurry balance shield machine, the contact with the stratum is complex, the cutter is consumed greatly and needs to be frequently replaced, the cutter detection and cutter changing operation time accounts for a relatively long period of the tunnel construction cycle, the existing cutter detection and cutter changing work mainly relies on manual operation, and the operation safety hidden danger is great under the construction environment of large buried depth and high water pressure, and major safety accidents such as personnel casualties are prone to occur. According to statistics, nearly 70% of tunnel construction safety accidents in China are directly related to manual cutter changing operation. The international industry problem of "difficult detection and dangerous cutter changing" has become a bottleneck restricting the safety and efficiency of tunnel construction under complex geological conditions. Therefore, using a machine to replace manual operation is the trend.

[0003] The existing cutter changing robot device is mainly used for simulating a general shield diameter and does not consider the complex slurry condition at the rear part of the cutter head. For a large-diameter slurry shield, in order to maintain the stability of the working face, the slurry pressure chamber is full of slurry and has a certain pressure. If the cutter changing operation is to be performed, a mud film must be built and the liquid level must be lowered to provide the cutter changing conditions for the cutter changing robot. Such a process consumes a lot of time and has a great influence on the construction progress.

[0004] For example, a terminal execution mechanism based on a cutter changing robot in patent No. CN110666829A does not consider the condition that the slurry pressure chamber is full of slurry, which causes resistance when the cutter changing operation is performed and is not convenient for operation. A detection and cutter changing robot for a tunnel boring machine in patent No. CN209855796U needs a large floor area, and the influence of the pressure of the slurry chamber is not considered. A test system and method for a slurry shield model test in patent No. CN110005426A also does not consider the influence of the slurry in the slurry chamber.

[0005] Therefore, the existing shield machine cutter changing robot has a complex structure, poor flexibility, a complicated cutter changing process, and ignores many actual problems, cannot realize quick cutter changing in a short time, and cannot realize cutter changing operation in slurry. SUMMARY

[0006] The present application provides an automatic detection and cutter changing device for a super-large-diameter slurry shield machine and a method thereof, and aims to solve the problems that the existing shield machine cutter changing robot cannot realize cutter changing operation in slurry and has low cutter changing efficiency.

[0007] The application provides an automatic detection and tool changing device of a super-large-diameter slurry shield tunneling machine, which comprises a tool wear detection mechanism, an automatic tool changing mechanism and a telescopic mechanical arm, the tool wear detection mechanism and the automatic tool changing mechanism are connected with the telescopic mechanical arm respectively, the automatic tool changing mechanism comprises an operation cabin, a tool clamping and grabbing assembly, a tensioning assembly, a tool sealing assembly and a slurry pumping and gas injecting assembly, one end of the telescopic mechanical arm is used for connecting external operation equipment, the other end of the telescopic mechanical arm is connected with the operation cabin, the tensioning assembly is fixedly connected, the tool clamping and grabbing assembly is hingedly connected, and the tool sealing assembly is slidingly connected, the operation cabin covers the tool clamping and grabbing assembly, the tensioning assembly and the tool sealing assembly, the slurry pumping and gas injecting assembly is arranged on the cabin wall of the operation cabin, the front end of the operation cabin is provided with a cabin window, the tool frame of the fixed tool is connected with the operation cabin through the cabin window, the tool sealing assembly extends to the outside of the tool and is sealingly connected with the operation cabin when the tool is changed, the tool clamping and grabbing assembly swings to the cabin window to grab the tool, and the tensioning assembly extends to the fastener of the tool frame to fix the tool.

[0008] As a further improvement of the application, the tensioning assembly comprises a tensioning support, a telescopic rod connected with the fastener of each tool frame and a rotatable dismounting head, the tensioning support is fixed at the other end of the telescopic mechanical arm, the telescopic rod is connected with the tensioning support, and the dismounting head is connected with the tail end of the telescopic rod, the telescopic rod drives the dismounting head to extend to or retreat from the fastener of the tool frame.

[0009] As a further improvement of the application, a flushing head is arranged at one end of the telescopic rod of the dismounting head, and the flushing head is connected with external liquid supply equipment through a water pipe.

[0010] As a further improvement of the application, the tool sealing assembly comprises a sealing cover, an arc-shaped sliding rail, a straight sliding rail and a straight support, the tensioning assembly is provided with a support sliding block, the straight support is fixed on the straight sliding rail, the straight sliding rail is connected with the support sliding block to drive the sealing cover to extend forward or retreat backward, the arc-shaped sliding rail is connected with the tail end of the straight support, the side surface of the sealing cover is provided with an arc-shaped groove for turning, the arc-shaped sliding rail is connected with the arc-shaped groove to drive the sealing cover to turn to cover the tool, and the turned sealing cover is sealingly connected with the operation cabin.

[0011] As a further improvement of the application, the tool clamping and grabbing assembly comprises an upper clamping arm and a lower clamping arm, the other end of the telescopic mechanical arm is hingedly connected with a joint block, the joint block is provided with a clamping arm hole, the upper clamping arm and the lower clamping arm are hingedly connected with the clamping arm hole of the joint block respectively, the tail ends of the upper clamping arm and the lower clamping arm are provided with arc-shaped clamping plates matched with the tool, and the upper clamping arm and the lower clamping arm clamp the tool through the arc-shaped clamping plates when the upper clamping arm and the lower clamping arm are closed.

[0012] As a further improvement of the present invention, the slurry pumping and air injection assembly includes a slurry pumping valve and an air injection valve. The cabin wall of the operating chamber is provided with multiple through holes. The slurry pumping valve and the air injection valve are respectively installed on the through holes of the cabin wall. The slurry pumping valve is connected to a slurry pumping device through a pipe, and the air injection valve is connected to an air injection device through a pipe.

[0013] As a further improvement of the present invention, the tool wear detection mechanism includes a detector and a detection bracket. The other end of the telescopic robotic arm is hinged to a joint block. One end of the detection bracket is fixedly connected to the joint block, and the other end of the detection bracket has a U-shaped structure. Multiple detectors are telescopically arranged in the middle groove of the U-shaped structure.

[0014] As a further improvement of the present invention, the telescopic robotic arm includes a support and joint blocks, and multiple supports and joint blocks are connected in sequence to form a telescopic structure that can be bent at multiple joints.

[0015] This invention also provides an automatic detection and cutter replacement method for an ultra-large diameter slurry shield tunneling machine, including an automatic cutter replacement method comprising the following steps:

[0016] a1. After the tunnel boring machine stops and the slurry in the cutter and mud chamber stabilizes, the telescopic robotic arm drives the operating cabin to dock with the cutter frame where the cutter is located, so that the space in the rear half of the cutter frame forms a sealed environment.

[0017] a2. Move the sealing cover to the side of the tool away from the working face. The sealing cover rotates around the tool via the arc-shaped slide rail. It stops when the sealing cover closes with the front half of the tool frame. The operating chamber, sealing cover, and tool frame are connected to form a closed environment containing the tool.

[0018] a3. The pumping and air-injection assembly on the bulkhead of the operating compartment extracts the mud from the sealed environment, while the flushing head of the loosening and tightening assembly washes away the deposits at the tool fastener positions on the tool frame.

[0019] a4. Extend the tool clamping assembly and fix the tool by the upper and lower clamping arms;

[0020] a5. The telescopic rod of the tensioning component drives the disassembly head to engage with the fastener of the old tool, and rotates the disassembly head to unload the fastener;

[0021] a6. The tool clamping assembly removes the old tool and places it in the operating chamber, clamps the new tool that is pre-stored in the operating chamber, and places the new tool in the tool frame;

[0022] a7. Rotate the mounting head to reinstall the fastener and secure the new tool, completing the tool change operation.

[0023] As a further improvement of the present invention, the automatic detection and cutter replacement method for ultra-large diameter slurry shield tunneling machines also includes a cutter wear detection method, which includes the following steps:

[0024] b1. After the tunnel boring machine stops and the cutters and mud slurry in the mud chamber stabilize, the cutter rotation position information is obtained through the tunnel boring machine shutdown data to determine the specific position of each cutter. The cutters are then inspected in order from the outside to the inside.

[0025] b2. Align the probe bracket with both sides of the tool using the telescopic robotic arm, increase the pressure to make the probe bracket fit tightly against the tool and keep it relatively fixed;

[0026] b3. Extend the detectors. Stop when all detectors contact the cutter ring. Use a telescopic robotic arm to slide the detectors on the cutter and record the amount of wear on the cutter at this time.

[0027] b4. Repeat steps S2 and S3 until all tools are measured and wear data for all tools are obtained.

[0028] The beneficial effects of this invention are: by using a telescopic robotic arm to drive the cutter wear detection mechanism and the automatic cutter replacement mechanism to complete the detection and replacement of the tunnel boring machine cutters, it is possible to perform cutter replacement in the mud without lowering the liquid level during the time interval when the tunnel boring machine stops to replace the segments; it is possible to obtain cutter ring wear detection and cutter replacement operation in a short time under unmanned conditions, improve cutter replacement efficiency, and avoid the risks associated with manual cutter replacement operation. Attached Figure Description

[0029] Figure 1 This is an overall structural diagram of the automatic tool changing mechanism and the tool frame docking in this invention;

[0030] Figure 2 This is an internal structural diagram of the automatic detection and tool changing device in this invention;

[0031] Figure 3 This is a structural diagram of the tensioning component in this invention;

[0032] Figure 4 This is a structural diagram of the tool sealing assembly in this invention;

[0033] Figure 5 This is a structural diagram of the tool clamping assembly in this invention;

[0034] Figure 6 This is a structural diagram showing the tool wear detection mechanism and its connection with the tool in this invention;

[0035] Figure 7 This is a top view of the tool wear detection mechanism and its docking with the tool in this invention;

[0036] Figure 8 This is a structural diagram showing the connection between the detector and the detector support in this invention;

[0037] Figure 9 This is a flowchart of the tool sealing process during the tool changing operation of this invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0039] like Figure 1 and Figure 2 As shown, an automatic detection and cutter replacement device for an ultra-large diameter slurry shield tunneling machine according to the present invention includes a cutter wear detection mechanism 6, an automatic cutter replacement mechanism 9, and a telescopic robotic arm 1. The cutter wear detection mechanism 6 and the automatic cutter replacement mechanism 9 are respectively connected to the telescopic robotic arm 1. The automatic cutter replacement mechanism 9 includes an operating cabin 2, a cutter gripping assembly 3, a tensioning assembly 4, a cutter sealing assembly 5, and a slurry pumping and air injection assembly 21. One end of the telescopic robotic arm 1 is used to connect to external operating equipment, and the other end of the telescopic robotic arm 1 is respectively connected to the operating cabin 2, the fixed connection tensioning assembly 4, the hinged cutter gripping assembly 3, and the sliding... The operating chamber 2 is equipped with a tool sealing assembly 5, which is connected to the tool clamping assembly 3, the tensioning assembly 4, and the tool sealing assembly 5. The pumping and air injection assembly 21 is installed on the chamber wall of the operating chamber 2. The front end of the operating chamber 2 is provided with a chamber window. The operating chamber 2 connects to the tool frame 8 that fixes the tool 7 through the chamber window. When changing the tool, the tool sealing assembly 5 extends to the chamber window to cover the outside of the tool 7 and connects to the operating chamber 2 in a sealed manner. The tool clamping assembly 3 swings to the chamber window to grab the tool 7. The tensioning assembly 4 extends to the chamber window to connect to the fastener 81 that fixes the tool 7 on the tool frame 8.

[0040] An operating chamber 2 is located on the outermost side of the automatic tool changer 9. The operating chamber 2 contains a cavity that accommodates the movement of the tool clamping assembly 3, the tightening assembly 4, and the tool sealing assembly 5. One side of the operating chamber 2 has a window for aligning with the tool frame 8 at the location of the tool 7, thus sealing the rear of the tool frame 8. The other side of the operating chamber 2 is connected to a telescopic robotic arm 1. The control system controls the telescopic robotic arm 1, thereby moving the automatic tool changer 9 within the mud pressure chamber. This allows the operating chamber 2 to precisely align with the tool frame 8, completing the positioning and replacement of the tool 7.

[0041] The bottom of the operating chamber 2 is provided with a tool slot 22 with a certain space for placing the old tool 7 that has been unloaded, as well as the new tool 7 to be installed. The tool slot 22 is located within the swing range of the tool gripping assembly 3, which facilitates the gripping of the tool gripping assembly 3.

[0042] like Figure 3As shown, the tensioning assembly 4 includes a tensioning bracket 41, a telescopic rod 42 that engages with the fastener 81 of each tool frame 8, and a rotatable disassembly / removal head 43. The tensioning bracket 41 is fixed to the other end of the telescopic robotic arm 1, the telescopic rod 42 is connected to the tensioning bracket 41, and the disassembly / removal head 43 is connected to the end of the telescopic rod 42. The telescopic rod 42 drives the disassembly / removal head 43 to extend or retract towards the fastener 81 of the tool frame 8. The distributed tensioning assembly 4 is fixed one-to-one with the screw positions of the tool 7, thereby enabling the replacement of all screws with a single positioning. This reduces the time spent positioning multiple tensioning assemblies 4 separately, improving efficiency. The disassembly / removal head 43 can preferably be a nut structure that mates with the screw. When disassembling or installing screws, the telescopic rod 42 first extends the disassembly / removal head 43 to the position of the screw on the tool 7. After the disassembly / removal head 43 mates with the screw, the screw is tightened by rotating the disassembly / removal head 43, thereby achieving the effect of unloading or installing screws. Of course, in order to drive the telescopic rod 42 to move forward and backward and the disassembly head 43 to rotate, motors (not shown in the attached drawings) will be installed on the telescopic rod 42 and the disassembly head 43 respectively to drive the telescopic rod 42 to move linearly and drive the disassembly head 43 to rotate.

[0043] like Figure 3 As shown, a flushing head 44 is provided at one end of the telescopic rod 42 located at the disassembly head 43. The flushing head 44 is connected to an external liquid supply device via a water pipe. Each telescopic rod 42 of the tensioning assembly 4 is equipped with a flushing head 44, which can use high-pressure water to flush the tool 7 screw, so that the disassembly head 43 can smoothly connect with the tool 7 screw, avoiding connection failure caused by interference from deposits.

[0044] like Figure 4 As shown, the tool sealing assembly 5 includes a sealing cover 51, an arc-shaped slide rail 53, a linear slide rail 54, and a linear support 55. The tensioning assembly 4 is provided with a support slider 45. The linear support 55 is fixed on the linear slide rail 54. The linear slide rail 54 and the support slider 45 are connected to each other to drive the sealing cover 51 to extend forward or retract backward. The arc-shaped slide rail 53 is connected to the end of the linear support 55. The side of the sealing cover 51 is provided with an arc-shaped groove 52 for flipping. The arc-shaped slide rail 53 and the arc-shaped groove 52 are connected to each other to drive the sealing cover 51 to flip up to cover the tool 7. After flipping, the sealing cover 51 is sealed to the operating chamber 2.

[0045] The tension bracket 41 has bracket sliders 45 on both sides. A linear slide rail 54 is connected to the bracket sliders 45. The linear slide rail 54 slides on the bracket sliders 45, which allows the linear bracket 55 to move back and forth, thereby causing the sealing cover 51 to extend towards the cabin window or retract away from the cabin window. The sealing cover 51 slides along the arc groove 52 on the arc slide rail 53, thereby allowing the sealing cover 51 to flip. The sealing cover 51 is installed on the arc slide rail 53 and the linear slide rail 54. After the operating cabin 2 is connected to the tool frame 8, the sealing cover 51 can be extended to the position of the tool 7 and rotated, and it can seal with the operating cabin 2 to put the tool 7 in a sealed environment. At this time, the slurry pumping and air injection mechanism extracts the slurry in the sealed space of the operating cabin 2, thereby providing conditions for tool replacement and reducing the impact of slurry on the tool 7. Of course, in order to drive the linear slide rail 54 to move forward and backward, and to drive the sealing cover 51 to rotate around the arc slide rail 53, motors (not shown in the attached drawings) will be installed on the linear slide rail 54 and the arc slide rail 53 respectively to drive the linear slide rail 54 to move in a straight line and drive the sealing cover 51 to rotate.

[0046] like Figure 5 As shown, the tool gripping assembly 3 includes an upper gripping arm 31 and a lower gripping arm 32. A joint block 12 is hinged to the other end of the telescopic robotic arm 1. The joint block 12 has gripping arm holes. The upper gripping arm 31 and the lower gripping arm 32 are respectively hinged to the gripping arm holes of the joint block 12. Both the upper gripping arm 31 and the lower gripping arm 32 have arc-shaped clamping plates 33 that cooperate with the tool 7 at their ends. When the upper gripping arm 31 and the lower gripping arm 32 are closed, the tool 7 is clamped by the arc-shaped clamping plates 33. The upper gripping arm 31 and the lower gripping arm 32 can swing around the joint block 12, allowing them to contact the tool 7 and the tool slot 22 in the operating chamber 2, facilitating the gripping and replacement of the tool 7. When the tool gripping assembly 3 reaches the position of the tool 7, it grips the tool 7 by opening the upper gripping arm 31 and the lower gripping arm 32, thereby positioning and firmly connecting it to the tool 7, facilitating the loosening assembly 4 to remove the fixing screws of the tool 7. Of course, in order to drive the upper clamping arm 31 and the lower clamping arm 32 to swing, motors (not shown in the attached drawings) will be installed on the upper clamping arm 31 and the lower clamping arm 32 respectively to drive the upper clamping arm 31 and the lower clamping arm 32 to swing around the joint block 12, as well as to open and close the upper clamping arm 31 and the lower clamping arm 32, so as to realize the gripping of the tool 7.

[0047] like Figure 1As shown, the slurry pumping and air injection assembly 21 includes a slurry pumping valve and an air injection valve. The walls of the operating chamber 2 have multiple through holes. The slurry pumping valve and the air injection valve are respectively installed on these through holes. The slurry pumping valve is connected to external slurry pumping equipment via a pipeline, and the air injection valve is connected to external air injection equipment via a pipeline. The slurry pumping and air injection assembly 21 is located on the walls of the operating chamber 2. After docking and sealing, slurry pumping is performed to facilitate cutterhead replacement. The slurry pumping valve can be installed on a through hole slightly below the bottom of the walls. Since slurry sinks, the lower slurry pumping valve can effectively pump out the slurry from the operating chamber 2. The air injection valve can be installed on a through hole in the walls other than the slurry pumping valve. While pumping slurry into the operating chamber 2, gas is introduced into the operating chamber 2 through the air injection valve to ensure pressure balance inside and outside the operating chamber 2, allowing the slurry in the sealed chamber to be smoothly pumped out.

[0048] like Figure 6 and Figure 8 As shown, the tool wear detection mechanism 6 includes a detector 61 and a detection bracket 62. The other end of the telescopic robotic arm 1 is hinged to a joint block 12. One end of the detection bracket 62 is fixedly connected to the joint block 12, and the other end of the detection bracket 62 has a U-shaped structure. Multiple detectors 61 are telescopically arranged in the middle groove of the U-shaped structure.

[0049] The other end of the detection bracket 62 is concave, with the opening size corresponding to the cutter 7 size. A retractable detector 61 is located within the concave groove. During detection, the detector 61 extends towards the cutter ring and stops extending when it contacts the ring. The wear condition of the cutter 7 at the specific location can be determined based on the extension length of the detector 61. This cutter wear detection mechanism 6 has a simple structure, fast measurement speed, and is unaffected by mud chamber pressure or mud. It allows for rapid detection of cutter 7 wear at any downtime of the tunnel boring machine.

[0050] like Figure 1 and Figure 6 As shown, the telescopic robotic arm 1 includes branches 11 and joint blocks 12. Multiple branches 11 and joint blocks 12 are connected sequentially to form a telescopic structure capable of multi-joint bending. The multiple branches 11 are hinged together by the joint blocks 12, allowing them to be folded back or extended relative to each other. This multi-joint bending structure reduces space occupation during retraction and extends to the required length during extension to meet the operating length required when the tool wear detection mechanism 6 docks with the tool frame 8. Of course, to enable the telescopic robotic arm 1 to fold or extend, a motor (not shown in the attached figure) is installed at each branch 11 to drive the relative rotation between the branches 11.

[0051] The tool wear detection mechanism 6 and the automatic tool change mechanism 9 can each be connected to a telescopic robotic arm 1. When performing tool wear detection and tool change operations, each telescopic robotic arm 1 can drive the corresponding mechanism to perform the operation, thus achieving fully unmanned operation.

[0052] Based on the aforementioned automatic detection and cutterhead replacement device for ultra-large diameter slurry shield tunneling machines, this invention also provides an automatic detection and cutterhead replacement method for ultra-large diameter slurry shield tunneling machines. This method includes an automatic cutterhead replacement method, combined with... Figure 9 The automatic tool changer 9 is structured such that, based on the results obtained from the tool wear detection mechanism 6, a specific tool 7 is replaced. Figure 9 (a) is the process of docking the operating compartment 2 with the tool frame 8. Figure 9 (b) is the process of sealing and docking the rear half of the tool frame 8 with the operating compartment 2 and moving the tool sealing assembly 5 forward. Figure 9 (c) shows the process of the sealing cover 51 flipping over. Figure 9 (d) is the process of sealing and connecting the sealing cover 51 with the front half of the tool frame 8.

[0053] The automatic tool changer includes the following steps:

[0054] a1. After the tunnel boring machine stops and the cutter 7 and the slurry in the mud chamber stabilize, the telescopic robotic arm 1 drives the operating cabin 2 to dock with the cutter frame 8 where the cutter 7 is located, so that the space in the rear half of the cutter frame 8 forms a sealed environment.

[0055] a2. Move the sealing cover 51 to the side surrounding the tool 7 away from the working face. The sealing cover 51 rotates around the tool 7 via the arc-shaped slide rail 53. It stops when the sealing cover 51 closes with the front half of the tool frame 8. The sealed operating chamber 2, the sealing cover 51, and the tool frame 8 are connected to form a sealed environment containing the tool 7.

[0056] a3. The pumping and air-injection assembly 21 on the bulkhead of the operating compartment 2 pumps out the mud in the sealed environment, while the flushing head 44 of the loosening and tightening assembly 4 washes the deposits at the position of the fastener 81 of the cutter 7 on the cutter frame 8.

[0057] a4. The extended tool clamping assembly 3 is fixedly connected to the tool 7 via the upper clamping arm 31 and the lower clamping arm 32;

[0058] a5. The telescopic rod 42 of the tensioning component 4 drives the disassembly head 43 to engage with the fastener 81 of the old tool 7, and rotates the disassembly head 43 to unscrew the old tool 7.

[0059] a6. The tool clamping assembly 3 takes out the old tool 7 and places it in the operating chamber 2, clamps the new tool 7 that is pre-stored in the operating chamber 2, and places the new tool 7 in the tool frame 8;

[0060] a7. Rotate the disassembly head 43 to reinstall the screw and secure the new tool 7, completing the tool change operation.

[0061] The automatic cutter replacement method for this ultra-large diameter slurry shield tunneling machine also includes a cutter wear detection method. Based on the structure of the cutter wear detection mechanism 6, the wear condition of the cutters 7 is detected before replacement to determine which cutters 7 need to be replaced. This cutter wear detection method includes the following steps:

[0062] b1. After the tunnel boring machine is shut down and the cutter 7 and the slurry in the mud chamber are stable, the wear detection operation of the cutter 7 is carried out; by using the tunnel boring machine shutdown data, the rotation position information of the cutter 7 is obtained, the specific position of each cutter 7 is determined, and the cutter 7 is detected in the order from the outside to the inside of the cutter 7;

[0063] b2. Align the probe bracket 62 with both sides of the tool 7 using the telescopic robotic arm 1, and increase the pressure to make the probe bracket 62 and the tool 7 fit tightly together and remain relatively fixed.

[0064] b3. The extension detector 61 stops when all detectors 61 contact the cutter ring of the tool 7. The extension robot arm 1 drives the detector 61 to slide on the tool 7 and records the extension length of the detector 61 at this time to obtain the wear amount of the tool 7.

[0065] b4. Repeat steps S2 and S3 until the measurement operation for all tools 7 is completed, so that the wear degree of all tool rings can be measured and wear data can be obtained.

[0066] The technical solution of this invention can realize tool ring wear detection and tool replacement operation under unmanned conditions, improve tool replacement efficiency, and avoid the risks associated with manual tool replacement.

[0067] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. An automatic detection and cutterhead changing device for an ultra-large diameter slurry shield tunneling machine, characterized in that, The system includes a tool wear detection mechanism, an automatic tool changer, and a telescopic robotic arm. The tool wear detection mechanism and the automatic tool changer are respectively connected to the telescopic robotic arm. The automatic tool changer includes an operating chamber, a tool gripping assembly, a tensioning assembly, a tool sealing assembly, and a slurry extraction and air injection assembly. One end of the telescopic robotic arm is used to connect to external operating equipment, and the other end of the telescopic robotic arm is respectively connected to the operating chamber, a fixed connection tensioning assembly, a hinged tool gripping assembly, and a sliding connection tool sealing assembly. The operating chamber covers the tool gripping assembly, the tensioning assembly, and the tool sealing assembly. The slurry extraction and air injection assembly is set on the chamber wall of the operating chamber. The front end of the operating chamber has a chamber window. The operating chamber connects to the tool frame that fixes the tool through the chamber window. When changing the tool, the tool sealing assembly extends towards the chamber window to cover the outside of the tool and seals with the operating chamber. The tool gripping assembly swings towards the chamber window to grab the tool. The tensioning assembly extends towards the chamber window to connect with the fasteners that fix the tool on the tool frame. The tool sealing assembly includes a sealing cover, an arc-shaped slide rail, a linear slide rail, and a linear support. The tensioning assembly is equipped with a support slider. The linear support is fixed on the linear slide rail. The linear slide rail and the support slider are connected to each other to drive the sealing cover to extend forward or retract backward. The arc-shaped slide rail is connected to the end of the linear support. The side of the sealing cover is provided with an arc-shaped groove for flipping. The arc-shaped slide rail and the arc-shaped groove are connected to each other to drive the sealing cover to flip up to cover the tool. After flipping, the sealing cover is sealed to the operating chamber. Move the sealing cover to the side of the tool away from the working face. The sealing cover rotates around the tool via an arc-shaped slide rail. It stops when the sealing cover closes with the front half of the tool frame. The operating chamber, sealing cover, and tool frame are connected to form a sealed environment containing the tool.

2. The automatic detection and cutterhead changing device for an ultra-large diameter slurry shield tunneling machine according to claim 1, characterized in that, The tensioning assembly includes a tensioning bracket, a telescopic rod that engages with each tool frame fastener, and a rotatable disassembly head. The tensioning bracket is fixed to the other end of the telescopic robotic arm, the telescopic rod is connected to the tensioning bracket, and the disassembly head is connected to the end of the telescopic rod. The telescopic rod drives the disassembly head to extend or retract towards the fastener of the tool frame.

3. The automatic detection and cutterhead changing device for an ultra-large diameter slurry shield tunneling machine according to claim 2, characterized in that, The telescopic rod is equipped with a flushing head at one end of the disassembly head, and the flushing head is connected to an external liquid supply device through a water pipe.

4. The automatic detection and cutterhead changing device for an ultra-large diameter slurry shield tunneling machine according to claim 1, characterized in that, The tool clamping assembly includes an upper clamping arm and a lower clamping arm. The other end of the telescopic robotic arm is hinged to a joint block. The joint block is provided with a clamping arm hole. The upper clamping arm and the lower clamping arm are respectively hinged to the clamping arm hole of the joint block. The ends of the upper clamping arm and the lower clamping arm are provided with arc-shaped clamping plates that cooperate with the tool. When the upper clamping arm and the lower clamping arm are closed, the tool is clamped by the arc-shaped clamping plates.

5. The automatic detection and cutterhead changing device for an ultra-large diameter slurry shield tunneling machine according to claim 1, characterized in that, The slurry pumping and air injection assembly includes a slurry pumping valve and an air injection valve. The cabin wall of the operating chamber is provided with multiple through holes. The slurry pumping valve and the air injection valve are respectively installed on the through holes of the cabin wall. The slurry pumping valve is connected to slurry pumping equipment through a pipeline, and the air injection valve is connected to air injection equipment through a pipeline.

6. The automatic detection and cutterhead changing device for an ultra-large diameter slurry shield tunneling machine according to claim 1, characterized in that, The tool wear detection mechanism includes a detector and a detection bracket. The other end of the telescopic robotic arm is hinged to a joint block. One end of the detection bracket is fixedly connected to the joint block, and the other end of the detection bracket has a U-shaped structure. Multiple detectors are telescopically arranged in the middle groove of the U-shaped structure.

7. The automatic detection and cutterhead changing device for an ultra-large diameter slurry shield tunneling machine according to claim 1, characterized in that, The telescopic robotic arm includes a support and joint blocks, and multiple supports and joint blocks are connected in sequence to form a telescopic structure that can be bent at multiple joints.

8. An automatic detection and cutterhead replacement method for an ultra-large diameter slurry shield tunneling machine, executed based on the automatic detection and cutterhead replacement device for the ultra-large diameter slurry shield tunneling machine as described in any one of claims 1 to 7, characterized in that, The method includes an automatic tool changer, which comprises the following steps: a1. After the tunnel boring machine stops and the slurry in the cutter and mud chamber stabilizes, the telescopic robotic arm drives the operating cabin to dock with the cutter frame where the cutter is located, so that the space in the rear half of the cutter frame forms a sealed environment. a2. Move the sealing cover to the side of the tool away from the working face. The sealing cover rotates around the tool via the arc-shaped slide rail. It stops when the sealing cover closes with the front half of the tool frame. The operating chamber, sealing cover, and tool frame are connected to form a closed environment containing the tool. a3. The pumping and air-injection assembly on the bulkhead of the operating compartment extracts the mud from the sealed environment, while the flushing head of the loosening and tightening assembly washes away the deposits at the tool fastener positions on the tool frame. a4. Extend the tool clamping assembly and fix the tool by the upper and lower clamping arms; a5. The telescopic rod of the tensioning component drives the disassembly head to engage with the fastener of the old tool, and rotates the disassembly head to unload the fastener; a6. The tool clamping assembly removes the old tool and places it in the operating chamber, clamps the new tool that is pre-stored in the operating chamber, and places the new tool in the tool frame; a7. Rotate the mounting head to reinstall the fastener and secure the new tool, completing the tool change operation.

9. The automatic detection and cutterhead replacement method for ultra-large diameter slurry shield tunneling machines according to claim 8, characterized in that, This includes a tool wear detection method, which comprises the following steps: b1. After the tunnel boring machine stops and the cutters and mud slurry in the mud chamber stabilize, the cutter rotation position information is obtained through the tunnel boring machine shutdown data to determine the specific position of each cutter. The cutters are then inspected in order from the outside to the inside. b2. Align the probe bracket with both sides of the tool using the telescopic robotic arm, increase the pressure to make the probe bracket fit tightly against the tool and keep it relatively fixed; b3. Extend the detectors. Stop when all detectors contact the cutter ring. Use a telescopic robotic arm to slide the detectors on the cutter and record the amount of wear on the cutter at this time. b4. Repeat steps S2 and S3 until all tools are measured and wear data for all tools are obtained.

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