An automatic tool changer

Abstract

The application discloses an automatic tool changing device, which comprises a fixed frame body, a guide rail arranged on the fixed frame body, a sliding beam in sliding cooperation with the guide rail, an extension mechanism for driving the sliding beam to slide on the guide rail, a pair of clamping pieces arranged symmetrically on the sliding beam and used for automatically clamping a hob, and a locking mechanism arranged between the sliding beam and the clamping pieces and used for locking the clamping pieces; the clamping pieces on the sliding beam can be driven to extend into a hob box and automatically clamp the hob through the extension mechanism, the clamping pieces are locked through the locking mechanism, the clamping pieces stably clamp the hob, the hob is finally pulled out through the extension mechanism, the old hob is removed, and the new hob can be loaded in reversely, so that the manual tool changing is replaced, time and labor are saved, and the safety and reliability are high.

Description

Technical Field

[0001] This invention relates to the field of tool changing technology, and more specifically to an automatic tool changing device. Background Technology

[0002] A tunnel boring machine (TBM), or shield tunneling machine for short, is a specialized engineering machine for tunnel excavation. Modern TBMs integrate optics, mechanics, electronics, hydraulics, sensing, and information technology. They have functions such as excavating and cutting soil, transporting excavated material, assembling tunnel lining, and measuring, guiding, and correcting deviations. They involve multiple disciplines such as geology, civil engineering, mechanics, hydraulics, electrical engineering, control, and surveying. Moreover, they must be designed and manufactured in a "tailor-made" manner according to different geological conditions, and the reliability requirements are extremely high.

[0003] Currently, tunnel boring machines (TBMs) are widely used in tunnel projects such as subways, railways, highways, municipal works, and hydropower projects. They are characterized by high automation, saving manpower, fast construction speed, one-time tunneling, no impact from weather, control of ground settlement during excavation, reduced impact on ground buildings, and no impact on water traffic during underwater excavation. When the tunnel is long and deep, using TBMs is more economical and reasonable.

[0004] When existing tunnel boring machines (TBMs) need to replace damaged cutterheads during tunnel excavation, the fasteners between the old cutterheads and the cutterhead box must be removed, and the old cutterheads must be moved manually. When installing new cutterheads, the interference between the cutterhead box and the cutterhead hoisting equipment means that the cutterheads can only be installed manually. However, the cutterheads are heavy, and the space in front of the TBM cutterhead is limited, making it difficult for multiple people to work. At the same time, manual operation is labor-intensive, difficult, and inefficient. Summary of the Invention

[0005] To address the aforementioned shortcomings of existing technologies, this invention provides an automatic cutter changer, which solves the problems of high difficulty and low efficiency in changing cutterheads in tunnel boring machines.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An automatic tool changer is provided, comprising a fixed frame, a guide rail, a sliding beam that slides with the guide rail, and a telescopic mechanism for driving the sliding beam to slide on the guide rail. A pair of clamping members for automatically clamping hobs are symmetrically arranged on the sliding beam, and a locking mechanism for locking the clamping members is provided between the sliding beam and the clamping members.

[0007] The beneficial effects of adopting the above technical solution are as follows: This solution can drive the clamping part on the sliding beam to extend into the cutter box through the telescopic mechanism and automatically clamp the cutter. Then, the clamping part is locked by the locking mechanism to stably clamp the cutter. Finally, the cutter is pulled out through the telescopic mechanism to remove the old cutter. Similarly, the new cutter can be installed in the opposite way, thereby replacing manual cutter replacement. It is time-saving, labor-saving and safe and reliable.

[0008] Furthermore, each clamping member includes two gapped cutting claws, and the two clamping members form two pairs of cutting claws that can respectively clamp the cutter heads on both sides of the hob, with the hob located in the gap between the two pairs of cutting claws; this arrangement makes it less likely for the hob to deviate, shake, or fall off after the cutting claws clamp the cutter heads.

[0009] Furthermore, the cutting claw includes an arc-shaped clamping rod and a rotating rod. The two rotating rods on each clamping member are fixedly connected by a connecting rod. The sliding beam is provided with two connecting ears, and a first rotating shaft is passed through the connecting ears. The two rotating rods on each clamping member are respectively movably sleeved at both ends of the first rotating shaft. The connecting rod can fix the two cutting claws on the same clamping member, and the first rotating shaft can realize the synchronous rotation of the two cutting claws, thereby realizing the opening and closing of the cutting claws.

[0010] Furthermore, the rotating rod is composed of multiple rods fixedly connected together. The sliding beam is provided with a guide post parallel to the guide rail. A slider is slidably fitted on the guide post. The slider is provided with two strip holes. A second rotating shaft is movably inserted through the strip holes. The rotational connection between the rotating rod and the sliding beam is located on the outside of the rotating rod. The inner sides of the two rotating rods on each clamping member are respectively movably sleeved on both ends of the second rotating shaft. The slider is locked by a locking mechanism.

[0011] The beneficial effects of adopting the above technical solution are as follows: This solution can lock all the cutting claws by locking the slider through the locking mechanism, thereby achieving stable clamping of the cutting claws on the hob. At the same time, the slider does not affect the opening and closing of the cutting claws. When the cutting claws rotate along the first rotating shaft, the rotating rod can drive the slider to move along the guide post through the second rotating shaft. At the same time, the second rotating shaft can move within the strip hole to achieve displacement compensation of the rotating rod at the position of the second rotating shaft.

[0012] Furthermore, the locking mechanism includes a lock base and an L-shaped lock head. One end of the L-shaped lock head is hinged to the lock base, and the slider is provided with a slot that engages with the other end of the L-shaped lock head. The lock base is provided with a handle for locking the end of the lock head in the slot.

[0013] Furthermore, one end of the handle is hinged to the lock seat, and the hinged end of the handle is provided with an arc surface whose distance from each point along its arc direction increases sequentially to the hinge point. The arc surface contacts the rotating back side of the L-shaped lock head, and a return spring is provided between the lock seat and the rotating front side of the L-shaped lock head to drive the end of the lock head to disengage from the slot.

[0014] The beneficial effects of adopting the above technical solution are as follows: By manually rotating the handle, the arc surface on the handle can gradually push the L-shaped lock head to rotate, and the end of the L-shaped lock head can engage with the slot, thereby locking the slider. When the handle is rotated to reset, the L-shaped lock head rotates in the opposite direction under the action of the reset spring, and the end of the L-shaped lock head disengages from the slot, thereby releasing the slider.

[0015] Furthermore, the front end of the clamping rod is provided with an inclined surface to facilitate the automatic opening of the cutting claws, and the two connecting rods on the two clamping members are connected by a tension spring to achieve automatic closing between the cutting claws.

[0016] Furthermore, the rotating rod is equipped with a top cutter telescopic cylinder that extends outward and whose telescopic direction is perpendicular to the guide rail.

[0017] Furthermore, the extension direction of the strip hole is parallel to the rotation surface of the rotating rod on the first rotating shaft, and the extension direction of the strip hole is perpendicular to the extension direction of the guide rail.

[0018] Furthermore, the fixed frame is equipped with two parallel guide rails, and the two ends of the sliding beam are slidably sleeved on the two guide rails respectively. The telescopic mechanism is a knife-drawing telescopic cylinder with its extension direction parallel to the guide rail. The knife-drawing telescopic cylinder is located at one end of the guide rail, and the telescopic end of the knife-drawing telescopic cylinder is connected to the sliding beam.

[0019] The beneficial effects of adopting the above technical solution are as follows: the two ends of the sliding beam can slide smoothly under the guidance of the two guide rails, and the space between the two guide rails can be used to accommodate the hob, so as to avoid the guide rails affecting the pulling out of the hob. Attached Figure Description Figure 1 This is a schematic diagram of the structure of an automatic tool changer holding a hob.

[0020] Figure 2 This is a schematic diagram of the first structure of the automatic tool changer.

[0021] Figure 3 This is a schematic diagram of the automatic tool changer and the hobbing box working together.

[0022] Figure 4 This is a schematic diagram of the hobbing cutter box.

[0023] Figure 5 This is a schematic diagram of the second structure of the automatic tool changer.

[0024] Figure 6 This is a cross-sectional view of the locking mechanism.

[0025] The components include: 1. Fixed frame; 101. Bottom beam; 102. Base; 103. Fixed rod; 2. Guide rail; 3. Sliding beam; 4. Claw; 41. Clamping rod; 42. Rotating rod; 43. Connecting rod; 5. Connecting ear; 6. First rotating shaft; 7. Guide column; 8. Slider; 9. Strip hole; 10. Second rotating shaft; 11. Locking mechanism; 12. Lock seat; 13. L-shaped lock head; 14. Slot; 15. Handle; 16. Arc surface; 17. Return spring; 18. Inclined surface; 19. Tension spring; 20. Top cutter telescopic cylinder; 21. Cutter withdrawal telescopic cylinder; 22. Hob cutter; 23. Cutter disc; 24. Hob cutter box; 25. Mounting slot. Detailed Implementation

[0026] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0027] Example 1 like Figure 1 and Figure 2 As shown, the automatic tool changer of this scheme includes a fixed frame 1, which includes a bottom beam 101 and a base 102. The bottom beam 101 and the base 102 are connected by a fixed rod 103. The fixed frame 1 is provided with two parallel guide rails 2, a sliding beam 3 that slides with the two guide rails 2, and a telescopic mechanism that drives the sliding beam 3 to slide on the guide rails 2. In the design, the two parallel guide rails 2 are set between the bottom beam 101 and the base 102. The two ends of the sliding beam 3 are respectively slidably sleeved on the two guide rails 2 to achieve smooth sliding of the sliding beam 3. The telescopic mechanism is a tool-drawing telescopic cylinder 21 whose extension direction is parallel to the guide rail 2. The tool-drawing telescopic cylinder 21 is installed on the base 102 at one end of the guide rail 2, and the telescopic end of the tool-drawing telescopic cylinder 21 is connected to the sliding beam 3.

[0028] A pair of clamping members for automatically clamping the hob cutter 22 are symmetrically arranged on the sliding beam 3. A locking mechanism 11 for locking the clamping members is provided between the sliding beam 3 and the clamping members. In use, this solution can drive the clamping members on the sliding beam 3 to extend into the hob cutter box 24 through the knife-pulling telescopic cylinder 21 and automatically clamp the hob cutter 22. Then, the clamping members are locked by the locking mechanism 11, so that the clamping members stably clamp the hob cutter 22. Finally, the hob cutter 22 is pulled out by the telescopic mechanism to remove the old hob cutter 22. Similarly, the new hob cutter 22 can be installed in the opposite way.

[0029] Example 2 like Figure 1 and Figure 2 As shown, this embodiment provides a specific solution for the clamping component based on embodiment 1. Each clamping component includes two gapped cutting claws 4. The two clamping components form two pairs of cutting claws 4 that can respectively clamp the cutter discs 23 on both sides of the hob 22. The hob 22 is located in the gap between the two pairs of cutting claws 4. This arrangement makes it less likely for the hob 22 to deviate, shake, or fall off after the cutting claws 4 clamp the cutter discs 23.

[0030] In the design, the cutting claw 4 includes an arc-shaped clamping rod 41 and a rotating rod 42. The two rotating rods 42 on each clamping member are fixedly connected by a connecting rod 43. The sliding beam 3 is provided with two connecting ears 5, and a first rotating shaft 6 is passed through the connecting ears 5. The two rotating rods 42 on each clamping member are respectively movably sleeved at both ends of the first rotating shaft 6. The two cutting claws 4 on the same clamping member can be fixedly connected by the connecting rod 43, and the two cutting claws 4 can be rotated synchronously by the first rotating shaft 6, thereby realizing the opening and closing of the cutting claws 4.

[0031] The front end of the clamping rod 41 is provided with an inclined surface 18, which can slide in contact with the side of the cutter head 23 and automatically open the cutter claw 4. The two connecting rods 43 on the two clamping members are connected by a tension spring 19 to realize the automatic closing between the cutter claws 4, and finally realize the automatic clamping of the cutter claw 4 on the hob 22.

[0032] The rotating rod 42 is formed by the fixed connection of multiple rods. The sliding beam 3 is provided with two guide posts 7 parallel to the guide rail 2. The two guide posts 7 are slidably fitted with sliders 8. The sliders 8 are locked by the locking mechanism 11. The sliders 8 are provided with two strip holes 9. The extension direction of the strip holes 9 is parallel to the rotation surface of the rotating rod 42 on the first rotating shaft 6, and the extension direction of the strip holes 9 is perpendicular to the extension direction of the guide rail 2. The second rotating shaft 10 is movably inserted in the strip holes 9. The rotational connection between the rotating rod 42 and the sliding beam 3 is located on the outside of the rotating rod 42. The inner sides of the two rotating rods 42 on each clamping member are respectively movably sleeved at both ends of the second rotating shaft 10.

[0033] When the cutting claw 4 rotates along the first rotating shaft 6, the inner side of the rotating rod 42 will inevitably undergo relative displacement, causing the rotating rod 42 to drive the slider 8 to move through the second rotating shaft 10. At the same time, the second rotating shaft 10 moves within the strip hole 9. Conversely, when the slider 8 does not move, the cutting claw 4 will not rotate. Therefore, by locking the slider 8 through the locking mechanism 11, all the cutting claws 4 can be locked, thereby achieving a stable clamping of the cutting claw 4 on the hob 22.

[0034] like Figure 3 and Figure 4As shown, a top-cutting telescopic cylinder 20 is provided on the rotating rod 42, extending outward and with its telescopic direction perpendicular to the guide rail 2. Since the mounting groove 25 for the hob 22 inside the hob box 24 is L-shaped, the hob 22 cannot be pulled out directly. After the cutter claw 4 stably clamps the hob 22, the telescopic end of the top-cutting telescopic cylinder 20 extends and abuts against the inner wall of the hob box 24. The top-cutting telescopic cylinder 20 extends again, which can drive the automatic tool changing device of this solution to move laterally together with the hob 22, thereby pushing the hob 22 shaft out of the mounting groove 25 of the hob box 24. Finally, the tool-drawing telescopic cylinder 21 is retracted, and the hob 22 can be pulled out of the mounting groove 25 of the hob box 24.

[0035] Example 3 like Figure 5 and Figure 6 As shown, this embodiment provides a specific solution for the locking mechanism 11 based on embodiment 2. The locking mechanism 11 includes a lock seat 12 and an L-shaped lock head 13. One end of the L-shaped lock head 13 is hinged to the lock seat 12. The slider 8 is provided with a slot 14 that engages with the other end of the L-shaped lock head 13. The lock seat 12 is provided with a handle 15 for locking the end of the lock head in the slot 14.

[0036] In the design, one end of the handle 15 is hinged to the lock seat 12, and the hinge end of the handle 15 is provided with an arc surface 16 in which the distance from each point to the hinge point increases sequentially along its arc direction. The arc surface 16 contacts the rotating back side of the L-shaped lock head 13. A return spring 17 is provided between the lock seat 12 and the rotating front side of the L-shaped lock head 13 to drive the end of the lock head to disengage from the slot 14.

[0037] The working principle of the locking mechanism 11 in this scheme is as follows: by manually rotating the handle 15, the arc surface 16 on the handle 15 can gradually push the L-shaped lock head 13 to rotate, and the end of the L-shaped lock head 13 engages with the slot 14, thereby locking the slider 8. When the handle 15 is rotated to reset, the L-shaped lock head 13 rotates in the opposite direction under the action of the reset spring 17, and the end of the L-shaped lock head 13 disengages from the slot 14, thereby releasing the slider 8.

[0038] In summary, based on Examples 1-3, the working principle of the automatic tool changer in this solution will be explained in detail: First, the solution is moved to the cutter box 24 using an external mobile device. The extended cutter extension cylinder 21 pushes the sliding beam 3 and cutter claw 4 forward. When the cutter claw 4 contacts the cutter discs 23 on both sides of the cutter 22, the inclined surface 18 slides against the side of the cutter disc 23, causing the cutter claw 4 to rotate on the first rotating shaft 6, thus automatically opening the cutter claw 4. Under the tension of the tension spring 19, the cutter claw 4 automatically closes, automatically clamping the cutter discs 23 on both sides of the cutter 22. Then, the locking mechanism 1... 1. Lock the sliding beam 3 and the slider 8; then extend the top cutter telescopic cylinder 20 to move this solution and the hob 22 laterally until the hob 22 shaft is pushed out of the mounting slot 25 of the hob box 24; finally, retract the cutter extraction telescopic cylinder 21 to pull the hob 22 out of the mounting slot 25 of the hob box 24. Similarly, the reverse can be used to install a new hob 22. This solution replaces manual tool changing, saves manpower, and has low operation difficulty, high tool changing efficiency, and strong safety and reliability in the tool changing process.

Claims

1. An automatic tool changer, characterized in that, The device includes a fixed frame (1), on which a guide rail (2) is provided, a sliding beam (3) that slides with the guide rail (2), and a telescopic mechanism that drives the sliding beam (3) to slide on the guide rail (2). A pair of clamping members for automatically clamping the hob (22) are symmetrically arranged on the sliding beam (3). A locking mechanism (11) for locking the clamping members is provided between the sliding beam (3) and the clamping members. Each of the clamping members includes two gapped cutting claws (4), and the two clamping members form two pairs of cutting claws (4) that can respectively clamp the cutter discs (23) on both sides of the hob (22), and the hob (22) is located in the gap between the two pairs of cutting claws (4); The blade (4) includes an arc-shaped clamping rod (41) and a rotating rod (42). The two rotating rods (42) on each clamping member are fixedly connected by a connecting rod (43). The sliding beam (3) is provided with two connecting ears (5). A first rotating shaft (6) is passed through the connecting ears (5). The two rotating rods (42) on each clamping member are respectively movably sleeved at both ends of the first rotating shaft (6). The rotating rod (42) is formed by fixed connection of multiple rods. The sliding beam (3) is provided with a guide post (7) parallel to the guide rail (2). The guide post (7) is slidably fitted with a slider (8). The slider (8) is provided with two strip holes (9). The second rotating shaft (10) is movably inserted in the strip holes (9). The rotating connection between the rotating rod (42) and the sliding beam (3) is located on the outside of the rotating rod (42). The inner sides of the two rotating rods (42) on each clamp are respectively movably sleeved at both ends of the second rotating shaft (10). The slider (8) is locked by a locking mechanism (11). The locking mechanism (11) includes a lock seat (12) and an L-shaped lock head (13). One end of the L-shaped lock head (13) is hinged to the lock seat (12). The slider (8) is provided with a slot (14) that engages with the other end of the L-shaped lock head (13). The lock seat (12) is provided with a handle (15) for locking the end of the lock head in the slot (14). One end of the handle (15) is hinged to the lock seat (12), and the hinge end of the handle (15) is provided with an arc surface (16) whose distance from each point to the hinge point increases sequentially along its arc direction. The arc surface (16) is in contact with the rotating back side of the L-shaped lock head (13). A return spring (17) is provided between the lock seat (12) and the rotating front side of the L-shaped lock head (13) to drive the end of the lock head to disengage from the slot (14). The front end of the clamping rod (41) is provided with an inclined surface (18) that facilitates the automatic opening of the blade (4), and the two connecting rods (43) on the two clamping members are connected by a tension spring (19). The rotating rod (42) is provided with a top knife telescopic cylinder (20) that extends outward and whose telescopic direction is perpendicular to the guide rail (2).

2. The automatic tool changer according to claim 1, characterized in that, The extension direction of the strip hole (9) is parallel to the rotation surface of the rotating rod (42) on the first rotating shaft (6), and the extension direction of the strip hole (9) is perpendicular to the extension direction of the guide rail (2).

3. The automatic tool changer according to claim 1, characterized in that, The fixed frame (1) is provided with two parallel guide rails (2). The two ends of the sliding beam (3) are respectively slidably sleeved on the two guide rails (2). The telescopic mechanism is a knife-pulling telescopic cylinder (21) whose extension direction is parallel to the guide rail (2). The knife-pulling telescopic cylinder (21) is located at one end of the guide rail (2), and the telescopic end of the knife-pulling telescopic cylinder (21) is connected to the sliding beam (3).

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