Method for dismounting and mounting a cutter of a shield tunneling machine based on an end effector

Abstract

The application relates to a method for dismounting and mounting a cutter of a shield tunneling machine based on an end effector, which comprises the following steps: moving the end effector to a designated cutter changing position through a mechanical arm, allowing a sleeve assembly arranged on the end effector to be sleeved on a cutter fixing bolt or a cutter fixing nut, and relying on the sleeve assembly to screw the cutter fixing bolt or the cutter fixing nut; before the cutter fixing bolt or the cutter fixing nut is screwed, the method further comprises the following steps: extending a jaw for clamping the dismounted cutter on the end effector into a cutter box in which the cutter is arranged, allowing the jaw to be opened and tightly support two opposite cutter box inner walls in the cutter box, and allowing the end effector to be fixed on the cutter box to balance an overturning moment generated in the process of screwing the cutter fixing bolt or the cutter fixing nut. The application can solve the problem that the end effector or the mechanical arm is easily damaged due to a large reverse overturning moment generated when the cutter fixing bolt or the cutter fixing nut is screwed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of shield machine cutter replacement, and particularly relates to a shield machine cutter dismounting method based on an end effector. BACKGROUND

[0002] Full-face tunnel shield machines are widely used in major engineering fields such as transportation, water conservancy and national defense, and are large national equipment representing the level of national equipment manufacturing. In the excavation process, full-face tunnel shield machines mainly rely on the extrusion of cutters and rocks to cut and break rocks. Therefore, in a harsh working environment, the consumption of cutters is huge, so it is necessary to frequently replace the cutters. In the existing engineering, the cutters are mainly replaced by manual method. The time for replacing a single cutter by manual method is as high as 4 hours, and the total time for replacing the cutters accounts for more than one third of the entire construction period. Moreover, the operating personnel often need to withstand high pressure hazards, and long-time operation can cause irreversible damage to the human body, and even major accidents such as personnel casualties may occur.

[0003] Therefore, in order to improve the dismounting efficiency of the cutters and avoid safety problems caused by manual replacement of the cutters, a robot suitable for automatic replacement of disc cutters and a use method thereof are disclosed in Chinese Patent Application Publication No. CN109434849A to replace the manual replacement of the cutters installed on the cutter holder. The cutter holder is formed as a cutter box in the form of a cuboid, and the cutter box is provided with cutter shaft mounting side plates on the front and rear sides. The two cutter shaft mounting side plates are respectively provided for the two ends of the cutter shaft of the cutter to be fixedly mounted. Specifically, the front and rear sides of the cutter box are provided with C-shaped blocks and a linkage mechanism for locking the cutter shaft in cooperation with the C-shaped blocks. The linkage mechanism is driven by a threaded fastener. After the cutter shaft of the cutter is mounted in the C-shaped block, the side corresponding to the opening of the C-shaped block is pressed by the linkage mechanism, so as to mount the cutter on the cutter box. When dismounting the cutter, the threaded fastener is rotated to drive the linkage mechanism to move away from the cutter shaft of the cutter so as to take out the cutter.

[0004] For another example, a cutter changing jaw and a cutter changing robot are disclosed in Chinese Utility Model Patent No. CN214686601U. The cutter changing jaw is an end effector, which is used to be fixed at the end of the mechanical arm of the cutter changing robot and can be moved under the driving of the mechanical arm. The cutter changing jaw is provided with a sleeve assembly, which is used to twist the cutter fixing bolt or the cutter fixing nut on the cutter holder. The cutter changing jaw is also provided with a jaw, which is used to clamp the dismounted cutter.

[0005] Since the cutter will be subjected to a large force in the actual working process of the shield machine, in order to firmly fix the cutter, the cutter fixing bolt or the cutter fixing nut needs to provide a large locking torque to realize the firm fixation of the cutter on the cutter seat. However, in this way, a large torque needs to be provided by the robot to screw the cutter fixing bolt or the cutter fixing nut during the disassembly and assembly of the cutter, and a large reverse overturning torque is generated during the screwing process, which is easy to cause damage to the end effector or the mechanical arm. SUMMARY

[0006] The purpose of the present application is to provide an end effector-based shield machine cutter disassembly and assembly method to solve the problem that the end effector or the mechanical arm is easily damaged due to the generation of a large reverse overturning torque when the cutter fixing bolt or the cutter fixing nut is screwed.

[0007] To achieve the above purpose, the end effector-based shield machine cutter disassembly and assembly method in the present application adopts the following technical solution:

[0008] The end effector-based shield machine cutter disassembly and assembly method comprises the following steps:

[0009] The end effector is moved to a specified tool changing position by the mechanical arm, the sleeve assembly installed on the end effector is sleeved on the cutter fixing bolt or the cutter fixing nut, and the sleeve assembly is screwed on the cutter fixing bolt or the cutter fixing nut.

[0010] Before screwing the cutter fixing bolt or the cutter fixing nut, the following steps are further included:

[0011] The gripper on the end effector for clamping the disassembled cutter is inserted into the cutter box in which the cutter is installed, the gripper is opened and tightly pressed against the two opposite cutter box inner walls in the cutter box, so that the end effector is fixed on the cutter box to balance the overturning torque generated during the screwing of the cutter fixing bolt or the cutter fixing nut.

[0012] The beneficial effects of the above technical solution are that, in the present application, when the cutter of the shield machine is disassembled and assembled, the gripper is opened and tightly pressed against the two opposite cutter box inner walls, so that a support fulcrum for the end effector is provided on the cutter box when the cutter fixing bolt or the cutter fixing nut is screwed, and the overturning torque generated when the sleeve assembly screws the cutter fixing bolt or the cutter fixing nut can be balanced through the support fulcrum, so as to reduce the influence of the screwing of the cutter fixing bolt or the cutter fixing nut on the end effector or the mechanical arm, and avoid damage to the end effector or the mechanical arm.

[0013] Further, the clamping jaw comprises a first clamping jaw and a second clamping jaw which are guided on the fixed seat of the end effector, a clamping cylinder is arranged between the first clamping jaw and the second clamping jaw, and a translation cylinder is arranged between the first clamping jaw and the fixed seat; when the clamping jaw is tightened against the inner wall of the tool box, the overall position of the first clamping jaw and the second clamping jaw is adjusted by the translation cylinder, and the spacing between the first clamping jaw and the second clamping jaw is adjusted by the clamping cylinder, so as to finally tighten the inner wall of the tool box.

[0014] The beneficial effects of the above technical solution are that the adjustment of the spacing between the first clamping jaw and the second clamping jaw and the adjustment of the overall position of the clamping jaw by the clamping cylinder and the translation cylinder respectively can ensure that the sleeve assembly can be aligned with the tool fixing bolt or the tool fixing nut, and at the same time, the clamping jaw can be tightened against the inner wall of the tool box, thereby ensuring the balance of the overturning moment.

[0015] Further, the clamping jaw of the end effector is a clamping jaw with a planar structure on one side for tightening the inner wall of the tool box.

[0016] The beneficial effects of the above technical solution are that the clamping jaw with a planar structure can increase the contact area between the clamping jaw and the inner wall of the tool box, so that the clamping jaw can be more stably tightened against the inner wall of the tool box, thereby further ensuring the balance of the overturning moment.

[0017] Further, two sleeve assemblies are used to simultaneously screw two tool fixing bolts or tool fixing nuts, and the threads of the two tool fixing bolts or tool fixing nuts are opposite in rotation direction.

[0018] The beneficial effects of the above technical solution are that when the two sleeve assemblies are rotated in opposite directions to screw the two tool fixing bolts or tool fixing nuts with opposite rotation directions, the moment generated during the screwing process can be offset by the rotation in opposite directions, so that the end effector of the tool changing robot works more stably, and at the same time, the failure of the end effector due to excessive moment can be prevented, thereby ensuring the normal operation of the end effector.

[0019] Further, the two sleeve assemblies are arranged on the two sides of the clamping jaw in a direction perpendicular to the clamping direction of the clamping jaw.

[0020] The beneficial effects of the above technical solution are that the end effector can adapt to the structural arrangement of the tool box, which facilitates the use of the end effector and is also conducive to improving the tool changing efficiency.

[0021] Further, the sleeve assembly is a floating sleeve assembly which can avoid the loosening stroke of the bolt when the bolt is screwed, and the floating sleeve assembly comprises a floating sleeve, a sleeve mounting seat, and a spherical universal joint which is hinged to the floating sleeve and the sleeve mounting seat at both ends by a pin shaft.

[0022] The beneficial effects of the above technical solutions are that: in the case of ensuring that the clamping jaw supports the side wall of the cutter box, even if the sleeve assembly is not centered with the cutter fixing bolt or the cutter fixing nut, the sleeve assembly can be connected through the spherical universal joint, that is, the spherical universal joint between the floating sleeve and the sleeve mounting seat can ensure that the clamping jaw supports the side wall of the cutter box and can realize the connection of the sleeve assembly and the cutter fixing bolt or the cutter fixing nut.

[0023] Further, a cylindrical spring capable of centering the floating sleeve and the sleeve mounting seat is arranged between the floating sleeve and the sleeve mounting seat.

[0024] The beneficial effects of the above technical solutions are that: through the cylindrical spring, the centering between the floating sleeve and the sleeve mounting seat can be ensured, which is beneficial to improve the connection efficiency between the floating sleeve and the cutter fixing bolt or the cutter fixing nut, and further beneficial to improve the replacement efficiency of the cutter of the shield tunneling machine.

[0025] Further, a supporting spring is arranged between the spherical universal joint and at least one of the floating sleeve and the sleeve mounting seat.

[0026] The beneficial effects of the above technical solutions are that: through the supporting spring, a pulling force can be generated between the pin shaft on one end of the spherical universal joint and the pin shaft hole matched with the pin shaft on the spherical universal joint, under the action of the pulling force, the spherical universal joint can be stabilized, and the centering between the floating sleeve and the spherical universal joint can be ensured, which is more beneficial to the connection of the floating sleeve and the cutter fixing bolt or the cutter fixing nut. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a perspective view of the end effector in the application;

[0028] Figure 2 is a sectional view of the bolt dismounting device in the end effector in the application (the driving device is not shown);

[0029] Figure 3 is a perspective view of the first clamping jaw in the end effector in the application;

[0030] Figure 4 is a perspective view of the second clamping jaw in the end effector in the application;

[0031] Figure 5 is a state diagram of the sleeve and the bolt in the end effector in the application;

[0032] Figure 6 is a state diagram of the clamping jaw supporting the side wall of the cutter seat in the end effector in the application;

[0033] Figure 7 is a state diagram of the clamping jaw clamping the hob in the end effector in the application.

[0034] In the figure: 10, rear mounting plate; 20, front mounting plate; 21, slide rail; 30, driving device; 40, sleeve mounting base; 41, base; 42, sleeve segment; 43, mounting groove; 50, pin shaft; 60, spherical universal joint; 70, floating sleeve; 71, docking cavity; 72, connecting cavity; 80, cylindrical spring; 90, first conical spring; 100, second conical spring; 110, limit check ring; 120, camera; 130, cleaning nozzle; 140, light source; 150, second clamping jaw; 160, first clamping jaw; 170, slide plate base; 180, clamping oil cylinder; 190, translation oil cylinder; 200, screw; 210, cutter fixing bolt; 220, cutter box; 221, cutter box side wall; 222, hobbing cutter channel; 223, sliding block; 224, C-shaped fixing block; 230, hobbing cutter; 231, cutter shaft; 240, connecting column. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, i.e., the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application generally described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0036] Therefore, the detailed description of the embodiments of the present application provided below in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without making creative efforts fall within the scope of the present application.

[0037] It should be noted that in the specific embodiments of the present application, the relationship terms such as "first" and "second" and the like that may appear are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Moreover, the terms such as "include", "contain" or any other variants that may appear are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the appearing statement "including a……" and the like of the limited elements does not exclude the presence of other same elements in the process, method, article or device including the elements.

[0038] In the description of the present application, unless explicitly defined and limited otherwise, the terms "mounting", "connecting", "connection" can be understood in a broad sense, for example, can be fixed connection, can be detachable connection, or integral connection; can be mechanical connection, can be electrical connection; can be direct connection, or indirect connection through intermediate medium, or internal connection of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0039] In the description of the present application, unless explicitly defined and limited otherwise, the term "provided with" can be understood in a broad sense, for example, the object of "provided with" can be part of the body, or arranged separately from the body and connected to the body, which can be detachable connection or non-detachable connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] The present application will be further described in detail below in combination with embodiments.

[0041] Embodiment 1 of the method for dismounting and mounting the cutter of the shield machine based on the end effector in the present application:

[0042] The dismounting and mounting of the cutter of the shield machine is completed by the cutter changing robot, which comprises a mounting seat (not shown in the figure) and a mechanical arm (not shown in the figure) mounted on the mounting seat. The mechanical arm is provided with a cutter changing gripper at the end of the side away from the mounting seat, and the cutter changing gripper is an end effector. Figure 1 As shown in the figure, the end effector comprises a fixing seat, and the fixing seat comprises a rear mounting plate 10, two bolt dismounting devices for screwing the cutter fixing bolts 210 on the cutter seat and a gripper device located between the two bolt dismounting devices are mounted on the rear mounting plate 10. It should be noted that the cutter seat in this embodiment is a cutter box 220, and the cutter box 220 has cutter box side walls 221 located on both sides of the cutter shaft 231 of the cutter 230 in the radial direction. The cutter box 220 is provided with a cutter passage 222 adapted to the cutter shaft 231 of the cutter 230 on both sides of the cutter shaft 231 of the cutter 230 in the axial direction, and the cutter passage 222 can realize the installation and dismounting of the cutter 230 in the cutter box 220. The bottom of the cutter passage 222 is provided with a C-shaped block welded with the cutter box 220 and a sliding block 223 slidingly mounted on the cutter box 220, and the sliding block 223 is in transmission connection with the cutter fixing bolts 210 on the cutter box 220. When the cutter 230 is installed in the cutter box 220, that is, when the cutter shaft 231 of the cutter 230 is located at the bottom of the cutter passage 222, one side of the cutter shaft 231 will be clamped into the C-shaped block, and the other side of the cutter shaft 231 can be pressed by screwing the cutter fixing bolts 210 to make the sliding block 223 tight, so as to realize the installation and fixation of the cutter 230 in the cutter box 220.

[0043] AsFigure 1 As shown in the figure, the clamping jaw device comprises a front mounting plate 20 arranged in parallel and spaced apart with the rear mounting plate 10, and the front mounting plate 20 and the rear mounting plate 10 are connected through a plurality of connecting columns 240. The front mounting plate 20 is provided with two parallel and spaced apart slide rails 21, and the clamping jaws are slidingly assembled on the two slide rails 21. Figure 3 And Figure 4 As shown in the figure, the clamping jaw device comprises a front mounting plate 20 arranged in parallel and spaced apart with the rear mounting plate 10, and the front mounting plate 20 and the rear mounting plate 10 are connected through a plurality of connecting columns 240. The front mounting plate 20 is provided with two parallel and spaced apart slide rails 21, and the clamping jaws are slidingly assembled on the two slide rails 21.

[0044] As shown in the figure, the clamping jaw device comprises a front mounting plate 20 arranged in parallel and spaced apart with the rear mounting plate 10, and the front mounting plate 20 and the rear mounting plate 10 are connected through a plurality of connecting columns 240. The front mounting plate 20 is provided with two parallel and spaced apart slide rails 21, and the clamping jaws are slidingly assembled on the two slide rails 21. Figure 1 、 Figure 5 、 Figure 6 And Figure 7 As shown in the figure, the clamping jaw device further comprises clamping oil cylinders 180 and translation oil cylinders 190, wherein the clamping oil cylinders 180 are provided with two, and the two clamping oil cylinders 180 are respectively installed between the second clamping jaw 150 and the first clamping jaw 160 on the same slide rail 21, and one end of the clamping oil cylinder 180 is connected with the second clamping jaw 150, and the other end is connected with the first clamping jaw 160, so that the second clamping jaw 150 and the first clamping jaw 160 can be driven to move relative to each other through the clamping oil cylinder 180, so as to realize the opening and closing of the second clamping jaw 150 and the first clamping jaw 160. One end of the translation oil cylinder 190 is connected with the front mounting plate 20, and the other end is connected with the slide plate seat 170. The translation oil cylinder 190 adjusts the position of the entire clamping jaw device on the front mounting plate 20 by driving the position of the slide plate seat 170 on the front mounting plate 20. When the bolt dismounting device twists the tool fixing bolt 210, the overall position of the first clamping jaw 160 and the second clamping jaw 150 can be adjusted through the translation oil cylinder 190, and the distance between the first clamping jaw 160 and the second clamping jaw 150 can be adjusted through the clamping oil cylinder 180, so that the second clamping jaw 150 and the first clamping jaw 160 are opened and tightly supported on the inner wall of the two opposite knife box side walls 221 in the knife box 220 (as shown in the figure), so as to avoid damage to the end effector or the mechanical arm caused by the large overturning moment generated during the twisting of the tool fixing bolt 210. When the tool fixing bolt 210 is loosened, the second clamping jaw 150 and the first clamping jaw 160 can be driven to clamp and fix the hob 230 (as shown in the figure) through the clamping oil cylinder 180, and the hob 230 can be taken out from the knife box 220 or installed in the knife box 220 through the action of the translation oil cylinder 190 and the action of the tool changing robot mechanical arm. In addition, the first clamping jaw 160 and the second clamping jaw 150 are both flat structure clamping jaws used for supporting the inner wall of the knife box 220. Figure 6 As shown in the figure, the clamping jaw device comprises a front mounting plate 20 arranged in parallel and spaced apart with the rear mounting plate 10, and the front mounting plate 20 and the rear mounting plate 10 are connected through a plurality of connecting columns 240. The front mounting plate 20 is provided with two parallel and spaced apart slide rails 21, and the clamping jaws are slidingly assembled on the two slide rails 21. Figure 7 As shown in the figure, the clamping jaw device comprises a front mounting plate 20 arranged in parallel and spaced apart with the rear mounting plate 10, and the front mounting plate 20 and the rear mounting plate 10 are connected through a plurality of connecting columns 240. The front mounting plate 20 is provided with two parallel and spaced apart slide rails 21, and the clamping jaws are slidingly assembled on the two slide rails 21.

[0045] As shown in the figure, the clamping jaw device comprises a front mounting plate 20 arranged in parallel and spaced apart with the rear mounting plate 10, and the front mounting plate 20 and the rear mounting plate 10 are connected through a plurality of connecting columns 240. The front mounting plate 20 is provided with two parallel and spaced apart slide rails 21, and the clamping jaws are slidingly assembled on the two slide rails 21. Figure 1As shown, the bolt dismounting device comprises a driving device 30 and a sleeve assembly connected with the output end of the driving device 30, wherein the driving device 30 is installed on the rear mounting plate 10, and the driving device 30 is used to provide the sleeve assembly with rotating power to drive the sleeve assembly to rotate and screw the tool fixing bolt 210. In addition, since two bolt dismounting devices are arranged on both sides of the clamping jaw along the direction perpendicular to the clamping direction of the clamping jaw, the two sleeve assemblies are also arranged on both sides of the clamping jaw along the direction perpendicular to the clamping direction of the clamping jaw.

[0046] The sleeve assembly is a floating sleeve assembly, as shown in the drawings. Figure 2 As shown, the sleeve assembly comprises a floating sleeve 70 and a sleeve mounting base 40, wherein the sleeve mounting base 40 comprises a base 41 which is a disc base, and the base 41 is fixedly connected with the output end of the driving device 30 through a screw 200, and the base 41 is provided with a sleeve segment 42 extending axially towards the base 41, and the inner cavity of the sleeve segment 42 constitutes an installation groove 43. Figure 2 As shown, two counter-connection cavities 71 and connecting cavities 72 are arranged in the floating sleeve 70 along the axial direction of the floating sleeve 70, wherein the counter-connection cavities 71 are used to connect with the tool fixing bolt 210 on the tool seat, and the upper end port of the counter-connection cavities 71 is in a horn shape, so that the connection between the floating sleeve 70 and the tool fixing bolt 210 can be guided and centered through the horn-shaped port, and the head of the tool fixing bolt 210 can be conveniently entered into the counter-connection cavities 71; the inner wall of the counter-connection cavities 71 below the horn-shaped port is in a polygonal structure, and the inner wall of the polygonal structure can better realize the dismounting of the tool fixing bolt 210.

[0047] A spherical universal joint 60 is arranged between the sleeve segment 42 of the sleeve mounting base 40 and the floating sleeve 70, one end of the spherical universal joint 60 is located in the connecting cavity 72 of the floating sleeve 70, the other end is located in the installation groove 43 of the sleeve segment 42, and the two ends of the spherical universal joint 60 are respectively hinged with the floating sleeve 70 and the sleeve segment 42 through pin shafts 50. The two pin shafts 50 are respectively in clearance fit with the corresponding pin shaft hole of the spherical universal joint 60, so that the spherical universal joint 60 has a certain floating space in the axial direction of the sleeve segment 42, and further, the floating sleeve 70 also has a certain floating space in the axial direction of the sleeve segment 42, since the tool fixing bolt 210 will retreat by a certain unit of pitch when the floating sleeve 70 rotates to screw the tool fixing bolt 210, so that the floating space can avoid the retreat of the tool fixing bolt 210. In addition, the floating sleeve 70 and the sleeve segment 42 are respectively provided with limiting stop rings 110 for limiting the pin shafts 50, so as to prevent the two pin shafts 50 from being pulled out, and the reliability of the connection between the spherical universal joint 60 and the sleeve segment 42 and the floating sleeve 70 is ensured.

[0048] AsFigure 2 As shown, a first conical spring 90 is arranged between the spherical joint 60 and the bottom wall of the connecting cavity 72, and a second conical spring 100 is arranged between the spherical joint 60 and the bottom wall of the mounting groove 43, and the first conical spring 90 and the second conical spring 100 both constitute a supporting spring supporting the spherical joint 60. The spherical joint 60 is stably supported by the supporting and pressing of the first conical spring 90 and the second conical spring 100, so as to avoid swinging of the spherical joint 60, and further to ensure the stability of the connection between the floating sleeve 70 and the sleeve mounting seat 40. In addition, since the spherical joint 60 is a double-headed spherical column, if the first conical spring 90 and the second conical spring 100 are replaced by ordinary springs, if the inner diameter of the spring is too small, the spring is prone to sliding, and if the inner diameter of the spring is too large, the spring is prone to being stuck.

[0049] As shown in the figure, Figure 2 The floating sleeve 70 and the sleeve segment 42 have an axial gap therebetween, and a cylindrical spring 80 is arranged at the gap, two ends of the cylindrical spring 80 are connected with the floating sleeve 70 and the sleeve segment 42 respectively, and through the action of the cylindrical spring 80, in addition to ensuring the floating space between the floating sleeve 70 and the sleeve segment 42, the centering between the floating sleeve 70 and the sleeve mounting seat 40 can also be ensured, which is beneficial to improve the docking efficiency of the floating sleeve 70 and the tool fixing bolt 210, and further beneficial to improve the replacement efficiency of the shield machine tool.

[0050] The end effector further comprises a visual navigation device mounted on the rear mounting plate 10, the visual navigation device is located on the same side as one of the two sleeve assemblies on the rear mounting plate 10, the visual navigation device comprises a camera 120 mounted on the rear mounting plate 10, the camera 120 is used for detecting the working condition in the tool changing operation process, and the position of the tool fixing bolt 210 is located through machine vision, and the obtained position signal is fed back to the end effector, and the position of the bolt dismounting device is adjusted according to the feedback signal, until the floating sleeve 70 and the tool fixing bolt 210 are docked.

[0051] The visual navigation device further comprises a light source 140 mounted on the rear mounting plate 10, the light source 140 is sleeved outside the circumference of the camera 120, the light source 140 can ensure the clarity of the picture captured by the camera 120, and facilitate the end effector to judge the position of the tool fixing bolt 210. In addition, a camera cleaning device is also symmetrically arranged at the lens of the camera 120, the camera cleaning device comprises a cleaning nozzle 130 for cleaning the lens of the camera 120, so that the camera 120 can also work normally in harsh environment.

[0052] The method for dismounting and mounting the shield machine tool in the application comprises the following steps:

[0053] First step, the tool changer robot locks the position of the tool fixing bolt 210 on the tool box 220 through the visual navigation device, and through the action of the mechanical arm of the tool changer robot, the floating sleeve 70 in the bolt dismounting device is matched with the tool fixing bolt 210 for screwing the bolt;

[0054] Second step, the overall position of the first clamping jaw 160 and the second clamping jaw 150 is adjusted through the translation oil cylinder 190, and the distance between the first clamping jaw 160 and the second clamping jaw 150 is adjusted through the clamping oil cylinder 180, so that the second clamping jaw 150 and the first clamping jaw 160 are opened and tightly supported on the inner walls of the two oppositely arranged tool box side walls 221 in the tool box 220;

[0055] Third step, the two sleeve assemblies are driven to rotate in opposite directions by the respective driving devices 30 to screw the two tool fixing bolts 210 with opposite rotation directions, and in the process of screwing, the sliding block 223 moves with the action of the tool fixing bolt 210, and the cutter shaft 231 of the hob 230 is moved away, so that the cutter shaft 231 of the hob 230 moves out of the hob passage 222;

[0056] Fourth step, the second clamping jaw 150 and the first clamping jaw 160 are driven to move by the clamping oil cylinder 180 to clamp the hob 230, and the hob 230 is taken out from the tool box 220 through the action of the tool changer robot mechanical arm and the action of the second clamping jaw 150 and the first clamping jaw 160 on the front mounting plate 20, and the dismounting of the hob 230 is completed. The installation steps of the hob 230 are opposite to the dismounting steps of the hob 230.

[0057] In the present application, when the tool of the shield machine is dismounted, the clamping jaw is opened and tightly supported on the two oppositely arranged tool box inner walls, so that the end effector can be supported on the tool box when the tool fixing bolt or the tool fixing nut is screwed, and the overturning moment generated when the sleeve assembly screws the tool fixing bolt or the tool fixing nut can be balanced through the supporting fulcrum, so as to reduce the influence of the tool fixing bolt or the tool fixing nut on the end effector or the mechanical arm, and avoid the damage of the end effector or the mechanical arm.

[0058] Embodiment 2 of the shield machine tool dismounting method based on the end effector in the present application:

[0059] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, when the rotation directions of the tool fixing bolts 210 corresponding to the two sleeve assemblies on the tool holder are opposite, the two sleeve assemblies are screwed by rotating in opposite directions, and at this time, the torque generated when the tool fixing bolts 210 are screwed can be offset by rotating in opposite directions. In the embodiment, when the rotation directions of the tool fixing bolts 210 corresponding to the two sleeve assemblies on the tool holder are the same, the two sleeve assemblies are screwed by rotating in the same direction, and at this time, the influence of the torque generated when the tool fixing bolts 210 are screwed is reduced only by clamping the tool holder with the jaws.

[0060] The embodiment 3 of the tool dismounting method of the shield tunneling machine based on the end effector in the application:

[0061] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the spherical universal joint 60 is provided with a supporting spring between the floating sleeve 70 and the sleeve mounting seat 40. In the embodiment, the spherical universal joint 60 is provided with a supporting spring between one of the floating sleeve 70 and the sleeve mounting seat 40.

[0062] The embodiment 4 of the tool dismounting method of the shield tunneling machine based on the end effector in the application:

[0063] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, when the jaws are clamped on the inner wall of the tool box 220, the overall position of the first jaw 160 and the second jaw 150 is adjusted by means of the translation oil cylinder 190, and the distance between the first jaw 160 and the second jaw 150 is adjusted by means of the clamping oil cylinder 180, so as to finally clamp the inner wall of the tool box 220. In the embodiment, one of the first jaw 160 and the second jaw 150 is clamped on one side of the inner wall of the tool box 220 by means of the mechanical arm, and then the other jaw is clamped on the other side of the inner wall of the tool box 220 by means of the clamping oil cylinder 180, so as to complete the clamping of the jaws on the inner wall of the tool box 220.

[0064] The embodiment 5 of the tool dismounting method of the shield tunneling machine based on the end effector in the application:

[0065] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, when the jaws are clamped on the inner wall of the tool box 220, the overall position of the first jaw 160 and the second jaw 150 is adjusted by means of the translation oil cylinder 190, and the distance between the first jaw 160 and the second jaw 150 is adjusted by means of the clamping oil cylinder 180, so as to finally clamp the inner wall of the tool box 220. In the embodiment, one of the first jaw 160 and the second jaw 150 is clamped on one side of the inner wall of the tool box 220 by means of the mechanical arm, and then the other jaw is clamped on the other side of the inner wall of the tool box 220 by means of the clamping oil cylinder 180, so as to complete the clamping of the jaws on the inner wall of the tool box 220.

[0066] Embodiment 6 of the end effector-based shield tunneling machine cutter dismounting method in the application:

[0067] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the first jaw 160 and the second jaw 150 are the j aws with a planar structure for supporting the inner wall of the cutter box 220. In the embodiment, the first jaw 160 and the second jaw 150 are the j aws with a circular arc surface structure for supporting the inner wall of the cutter box 220.

[0068] Embodiment 7 of the end effector-based shield tunneling machine cutter dismounting method in the application:

[0069] The difference between the embodiment and the embodiment 1 is that, in the embodiment 1, the cutter fixing bolt 210 is used to fix and install the cutter 230 on the cutter box 220. In the embodiment, the cutter fixing nut is used to fix and install the cutter 230 on the cutter box 220.

[0070] The above is only the preferred embodiment of the application, and is not used to limit the application. The patent protection scope of the application is subject to the claims, and any equivalent structural changes made according to the content of the specification and the drawings of the application shall be included in the protection scope of the application.

Claims

1. A method for dismounting and mounting a cutter of a shield tunneling machine based on an end effector, comprising the following steps: The end effector comprises a fixed seat, the fixed seat comprises a rear mounting plate, two bolt dismounting devices are mounted on the rear mounting plate, and a clamping jaw device is arranged between the two bolt dismounting devices, the clamping jaw device comprises a front mounting plate parallel and spaced apart from the rear mounting plate, the front mounting plate is provided with a sliding rail, and a pair of clamping jaws are slidingly assembled on the sliding rail in a guided manner, and the two bolt dismounting devices are arranged on both sides of the clamping jaws in a direction perpendicular to the clamping direction of the clamping jaws; The end effector is moved to a specified cutter changing position by a mechanical arm, a sleeve assembly of the bolt dismounting device is sleeved on a cutter fixing bolt (210) or a cutter fixing nut, and the sleeve assembly is used to rotate the cutter fixing bolt (210) or the cutter fixing nut. The method is characterized in that before the cutter fixing bolt (210) or the cutter fixing nut is rotated, the following steps are further included: The clamping jaw on the end effector for clamping the dismounted cutter is inserted into a cutter box (220) in which the cutter is mounted, the clamping jaw is opened and tightly supports two opposite inner walls of the cutter box (220), and the end effector is fixed on the cutter box (220) to balance the overturning moment generated in the process of rotating the cutter fixing bolt (210) or the cutter fixing nut. Two sleeve assemblies are used to rotate two cutter fixing bolts (210) or cutter fixing nuts at the same time, and the threads of the two cutter fixing bolts (210) or the cutter fixing nuts are opposite in rotation direction.

2. The end effector-based shield machine cutter removal method of claim 1, wherein, The clamping jaw comprises a first clamping jaw (160) and a second clamping jaw (150) which are arranged on the fixed seat of the end effector in a guided manner, a clamping oil cylinder (180) is arranged between the first clamping jaw (160) and the second clamping jaw (150), a translation oil cylinder (190) is arranged between the first clamping jaw (160) and the fixed seat, when the clamping jaw tightly supports the inner wall of the cutter box (220), the overall position of the first clamping jaw (160) and the second clamping jaw (150) is adjusted by means of the translation oil cylinder (190), the spacing between the first clamping jaw (160) and the second clamping jaw (150) is adjusted by means of the clamping oil cylinder (180), and finally the inner wall of the cutter box (220) is tightly supported.

3. The end effector based shield machine cutter changing method according to claim 1 or 2, characterized in that, The clamping jaw of the end effector is a clamping jaw with a planar structure on one side for tightly supporting the inner wall of the cutter box.

4. The end effector-based shield machine cutter removal method of claim 1 or 2, wherein, The two sleeve assemblies are arranged on both sides of the clamping jaw in a direction perpendicular to the clamping direction of the clamping jaw.

5. The end effector-based shield machine cutter removal method of claim 1 or 2, wherein, The sleeve assembly is a floating sleeve assembly which can avoid the bolt loosening stroke when the sleeve assembly is used to rotate the bolt, the floating sleeve assembly comprises a floating sleeve (70), a sleeve mounting seat (40), and a spherical universal joint (60) which is hinged to the floating sleeve (70) and the sleeve mounting seat (40) through a pin shaft (50) at both ends.

6. The end effector-based shield machine cutter installation and removal method of claim 5, wherein, A cylindrical spring (80) which can center the floating sleeve (70) and the sleeve mounting seat (40) is arranged between the floating sleeve (70) and the sleeve mounting seat (40).

7. The end effector-based shield machine cutter installation and removal method of claim 5, wherein, A supporting spring is arranged between the spherical universal joint (60) and at least one of the floating sleeve (70) and the sleeve mounting seat (40).

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