A method for disassembling and assembling a disc cutter of a tunneling machine and a disassembling and assembling module

Abstract

The application discloses a shield machine roller cutter dismounting method and a dismounting module, and comprises the following steps: a driving motor of an inner supporting mechanism drives an abutting block to abut against an inner wall of a cutter box; a large torque wrench is used to drive a wedge-shaped block bolt to rotate, so that the wedge-shaped block bolt is loosened; a manipulator grabs a base, a prying cutter mechanism is used to drive an old roller cutter to separate from a C-shaped block; the old roller cutter is transferred by the manipulator; the manipulator grabs a new roller cutter shaft and puts it into the C-shaped block; the manipulator grabs the base, a large torque wrench is used to reset the wedge-shaped block bolt on the cutter box, and the cutter replacement is completed. The shield machine roller cutter dismounting method and the dismounting module can reduce the load of the manipulator during cutter dismounting, improve the cutter dismounting success rate, and improve the cutter dismounting efficiency by using a small torque wrench to quickly rotate the wedge-shaped block bolt. The small torque wrench has a small load on the manipulator, can reduce the influence on the flexibility of the manipulator, and can improve the efficiency of the roller cutter dismounting without damaging the flexibility of the manipulator.

Description

Technical Field

[0001] This invention relates to the technical field of cutterhead replacement equipment for tunnel boring machines (TBMs), and more specifically to a method for disassembling and assembling cutterheads for TBMs, as well as a disassembly and assembly module. Background Technology

[0002] The environment for cutting tool replacement on modern tunnel boring machines is extremely harsh, and the process itself carries inherent risks. The tunnel is at risk of collapse, posing a threat to the lives of technicians. To prevent soil from entering the personnel compartment during the replacement process, the compartment needs to be pressurized. Workers must withstand six atmospheres of pressure during the replacement; therefore, a robotic arm is required to perform the cutter replacement.

[0003] According to patent application CN111691891B, published on April 29, 2022, a cutter replacement device for replacing tunnel boring machine cutters is disclosed. The device includes two cutter locking frames respectively fixed to both sides of the cutter and a clamp connected to the two locking frames. The clamp includes: clamping claws for clamping the locking frames; and a drive assembly connected to the clamping claws for driving the locking frames to open within the cutter storage slot to lock the cutter in the slot. The main technical advantage is that the clamp, including the clamping claws and the drive assembly, drives each locking frame to open within the cutter storage slot, thus engaging the locking frame with the slot. This securely locks the cutter in the slot, preventing random rolling, avoiding incorrect cutter installation, reducing the risk of malfunction, and improving reliability. Therefore, the reliability of the cutter replacement device for replacing tunnel boring machine cutters provided by this invention is significantly improved.

[0004] In the prior art, the cutter head of a tunnel boring machine is connected inside the cutter box, and the cutter head shaft is embedded in the cutter box. When the robot arm grabs and moves the cutter head, the load on the end of the robot arm is relatively large. To address this, a method for disassembling and assembling the cutter head of a tunnel boring machine and a disassembly and assembly module are proposed, aiming to solve the problem of the large load on the end of the robot arm when the cutter head shaft is embedded in the cutter box in the prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a method for disassembling and assembling cutterheads in tunnel boring machines, as well as a disassembly and assembly module, in order to solve the problem in the prior art where the cutterhead shaft is embedded in the cutter box and the robotic arm has a large load on its end when it grabs and moves the cutterhead.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A method for disassembling and assembling cutterheads of a tunnel boring machine includes the following steps: The robotic arm grasps the base and moves it to the work station; The drive motor of the inner support mechanism drives the abutment block to abut against the inner wall of the tool box; The high-torque wrench installed on the base drives the wedge bolt to rotate, thereby loosening the wedge bolt; The robotic arm places the base in the standby position, and then uses a small torque wrench on the robotic arm to quickly rotate the wedge bolt, so that the wedge block is quickly separated from the hob shaft; The robotic arm grabs the base, and the prying mechanism on the base drives the old hobbing cutter inside the tool box to separate from the C-block of the tool box; The robotic arm places the base in the standby station, grabs the hob cutter separated from the C-block, and transfers the old hob cutter through the robotic arm. The robotic arm grasps the new hobbing cutter shaft and places it between the wedge block and the C-block; The base is gripped by a robotic arm, and the wedge bolt is quickly rotated by a small torque wrench so that the wedge block can quickly approach the hob shaft. The robotic arm grasps the base and uses a high-torque wrench on the base to reset the wedge bolts on the tool box, thus completing the tool change.

[0007] Preferably, the automatic tightening wrench drives the wedge bolt to rotate by the following steps: The high-torque wrench drives the wedge bolt to rotate at low speed with high torque. The low-torque wrench drives the wedge bolt to rotate at high speed and low torque.

[0008] A disassembly and assembly module applicable to the above-described method for disassembling and assembling tunnel boring machine cutters includes a cutter box and a robotic arm. The cutter box is equipped with C-shaped blocks and wedge bolts. The module also includes: The base, with an internal support mechanism, a pry mechanism, and an automatic tightening wrench mounted on it; The internal support mechanism includes a movable abutment block; The pry bar mechanism includes a movable pry bar block; The abutment block provided by the internal support mechanism maintains contact with the tool box; the wedge bolt is driven to rotate by the automatic tightening wrench, and the prying tool block is driven to contact the old hob by the prying tool mechanism, so as to separate the old hob from the tool box.

[0009] Preferably, the inner support mechanism further includes a fixed frame and a drive motor. The abutment block is slidably connected to the fixed frame. The fixed frame is fixedly installed on the outer wall of one side of the base. The drive motor is fixedly installed on the fixed frame and drives the abutment block to remain movable.

[0010] Preferably, the prying mechanism further includes a reciprocating drive unit, and the prying block is fixedly installed at the output end of the reciprocating drive unit. The reciprocating drive unit drives the prying block to keep moving so that the prying block abuts against the hob cutter shaft, thereby driving the hob cutter shaft to separate from the C-block.

[0011] Preferably, a gripping block is fixedly installed on the outer wall of one side of the base, a passage groove for the passage of the robotic arm's fingers is provided on the outer wall of one side of the base, and an abutment part is provided on the outer wall of one side of the gripping block.

[0012] Preferably, the automatic tightening wrench includes a high-torque wrench and a low-torque wrench, with the high-torque wrench mounted on the base and the low-torque wrench mounted on the robotic arm.

[0013] Preferably, there are two high-torque wrenches, which are symmetrically arranged on the outer wall of one side of the base.

[0014] Preferably, the low-torque wrench includes a movable seat slidably connected to the robot arm and a wrench body disposed on the movable seat, which keeps the wrench body in contact with the wedge bolt by maintaining the sliding motion through the movable seat.

[0015] The present invention provides a method for disassembling and assembling cutterheads of a tunnel boring machine, as well as a disassembly and assembly module, which has the following beneficial effects: This invention, through an internal support mechanism that maintains contact with the inner wall of the cutter box, prevents the robotic arm from twisting during the disassembly and assembly of the hob, thereby improving the safety of hob disassembly and assembly and reducing the occurrence of safety accidents. An automatic tightening wrench drives the wedge block bolt to move and separate it from the hob cutter shaft. At this point, the hob can be driven from the C-block. Subsequently, a prying mechanism initially separates the hob cutter shaft from the C-block, preventing the hob cutter shaft from being too tightly fitted to the C-block. This reduces the load on the robotic arm when gripping the hob, making it easier for the robotic arm to grip the hob and improving the safety and efficiency of the robotic arm's hob gripping. When replacing a new hob, the robotic arm grips the new hob, places the new hob cutter shaft between the C-block and the wedge block, and finally, the robotic arm grips the base, automatically tightening the wedge block bolt to reset, completing the installation of the new hob. This achieves fully automatic hob disassembly and assembly, replacing manual hob replacement. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a three-dimensional structural schematic diagram provided for an embodiment of the present invention; Figure 2 This is a schematic diagram of the internal structure of the toolbox provided in an embodiment of the present invention; Figure 3This is a schematic diagram of the robotic arm gripping base structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the base provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the internal support mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the grabbing block structure provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the wrench drive mechanism provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of a small torque wrench structure provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the internal support mechanism provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the toolbox structure provided in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Tool box; 11. C-block; 12. Wedge bolt; 13. Wedge block; 14. Box body; 2. Robotic arm; 21. Mounting plate; 3. Base; 31. Gripping block; 33. Abutment part; 4. Internal support mechanism; 41. Abutment block; 42. Fixing frame; 43. Drive motor; 44. Connecting rod; 45. First linkage group; 451. First link; 452. Second link; 46. Second linkage group; 461. Connecting plate; 462. Third link; 463. Fourth link; 464. Fifth link; 5. Pryer mechanism; 51. Pryer block; 52. Reciprocating drive unit; 53. Guide block; 54. Fixed seat; 55. Guide rod; 56. Connecting block; 57. Connecting shaft; 58. Connecting piece; 6. Automatic tightening wrench; 61. High torque wrench; 611. Drive block; 62. Low torque wrench; 621. Movable seat; 622. Wrench body; 623. Connecting shaft; 624. First gear; 625. Second gear; 626. Movable plate; 627. Wrench drive mechanism; 6271. First motor; 6272. Third gear; 6273. Fourth gear; 6274. Fifth gear; 6275. Rotating rod; 6276. Mounting chamber. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] Please refer to Figures 1 to 10 A method for disassembling and assembling cutterheads of a tunnel boring machine, and a disassembly and assembly module, comprising the following steps: The robotic arm 2 grasps the base 3 and moves the base 3 to the work station; The drive motor 43 of the inner support mechanism 4 drives the abutment block 41 to abut against the inner wall of the knife box 1; The high-torque wrench 61 installed on the base 3 drives the wedge bolt 12 to rotate, thereby loosening the wedge bolt 12; The robot arm 2 places the base 3 in the standby position, and then uses the small torque wrench 62 set on the robot arm 2 to quickly rotate the wedge block bolt 12, so that the wedge block 13 is quickly separated from the hob cutter shaft. The robotic arm 2 grabs the base 3, and through the prying mechanism 5 set on the base 3, it drives the old hob inside the tool box 1 to separate from the C-shaped block 11 of the tool box 1; The robotic arm 2 places the base 3 into the standby station, and the robotic arm 2 grabs the hob cutter that is separated from the C-block 11 and transfers the old hob cutter through the robotic arm 2. The robotic arm 2 grasps the new hobbing cutter shaft and places it between the wedge block 13 and the C-shaped block 11; The robot arm 2 grasps the base 3 and the wedge bolt 12 is quickly rotated by the small torque wrench 62 so that the wedge block 13 quickly approaches the hob shaft; The robotic arm 2 grabs the base 3 and uses the high-torque wrench 61 on the base 3 to reset the wedge bolt 12 on the tool box 1, thus completing the tool change.

[0021] The robotic arm 2 grasps the base 3 and moves the base 3 to the work station; The working position is located on the base 3 near the tool box 1, which facilitates the high torque wrench 61 to drive the wedge bolt 12 to rotate. When it is necessary to change the tool during use, the robot arm 2 grabs the base 3, keeps the drive block 611 on the high torque wrench 61 connected to the wedge bolt 12, and drives the drive block 611 to rotate through the high torque wrench 61 on the base 3, so that the wedge block 13 is separated from the hob shaft. Then the robotic arm 2 places the base 3 into the standby station. It should be noted that the standby station is a temporary storage location for the base 3. The wrench body 622 of the small torque wrench 62 set on the robotic arm 2 is kept in contact with the wedge bolt 12, and the wedge bolt 12 is driven to rotate quickly by the first motor 6271, thereby driving the wedge block 13 to move quickly to the designated position. Then the robotic arm 2 grabs the base 3, and through the prying mechanism 5 set on the base 3, the prying block 51 is driven to move by the reciprocating drive unit 52, so that it abuts against the hob cutter shaft, thereby enabling the hob cutter shaft to initially separate from the C-block 11. Robot 2 repositions base 3 to the standby station, then picks up the old hob and places it to the transfer station. The old hob is transferred, and then robot 2 picks up the new hob and places it into C-block 11. It should be noted that the small torque wrench 62 can move on the robot arm 2 via the movable seat 621 to ensure that the robot arm 2 will not interfere with the tool box 1 during the disassembly and assembly of the hob. The robotic arm 2 drives the wedge bolt 12 to rotate rapidly via the small torque wrench 62, causing the wedge block 13 to quickly approach the hob shaft, thus saving installation time. The robotic arm 2 grasps the base 3 and tightens the wedge bolt 12 using the high-torque wrench 61 on the base 3, thus completing the tool installation.

[0022] This invention, through the inner support mechanism 4 maintaining contact with the inner wall of the tool box 1, prevents the robotic arm 2 from twisting during the disassembly and assembly of the hob, thereby improving the safety of hob assembly and disassembly and reducing the occurrence of safety accidents. The automatic tightening wrench 6 drives the wedge bolt 12 to move and separate it from the hob shaft, at which point the hob can be driven from the C-block 11. Subsequently, the prying mechanism 5 initially separates the hob shaft from the C-block 11, preventing the hob shaft from being too tightly fitted to the C-block 11, thus enabling mechanical... When the robotic arm 2 grasps the hob, reducing the load on the robotic arm 2 makes it easier to grasp the hob, improving the safety and efficiency of the robotic arm 2 in grasping the hob. When replacing a new hob, the robotic arm 2 grasps the new hob and places the new hob shaft between the C-block 11 and the wedge block 13. Finally, the robotic arm 2 grasps the base 3 and automatically tightens the wrench 6 to reset the wedge block bolt 12, completing the installation of the new hob. This can achieve fully automatic disassembly and assembly of the hob, and can replace manual hob replacement.

[0023] By setting an internal support mechanism 4 and keeping it in contact with the inner wall of the tool box 1, the load on the robot arm 2 when disassembling and assembling the hob can be reduced. The internal support mechanism 4 and the high torque wrench 61 are set on the base 3, and the base 3 and the robot arm 2 are detachable, which can greatly reduce the mass of the load on the robot arm 2 and ensure the flexibility of the robot arm 2 during operation. At the same time, a prying mechanism 5 is set on the base 3. The prying mechanism 5 can be used to pre-separate the hob cutter shaft from the C-block 11, which is convenient for removing the hob cutter shaft. This can further reduce the load on the robot arm 2 when disassembling the cutter and improve the success rate of disassembly. It should be noted that by pre-separating the hob cutter shaft from the C-block 11 and abutting with the tool box 1 through the internal support mechanism 4, not only can the load on the robot arm 2 be reduced, but the load requirements on the robot arm 2 can also be reduced, which can reduce the operating cost of the robot arm 2. In addition, a high-torque wrench 61 is mounted on the base 3, and a low-torque wrench 62 is mounted on the robot arm 2. The wedge bolt 12 can be rotated quickly by driving the low-torque wrench 62, which can improve the efficiency of disassembling and assembling the cutter. The low-torque wrench 62 has a smaller load on the robot arm 2, which can reduce the impact on the flexibility of the robot arm 2. Thus, the efficiency of disassembling and assembling the cutter can be improved without compromising the flexibility of the robot arm.

[0024] A disassembly and assembly module applicable to the above-mentioned method for disassembling and assembling cutterheads of tunnel boring machines includes a cutterhead box 1 and a robotic arm 2. The cutterhead box 1 is provided with a C-shaped block 11 and a wedge bolt 12, and further includes: The base 3 includes an inner support mechanism 4, a pry mechanism 5, and an automatic tightening wrench 6, all mounted on the base 3. The internal support mechanism 4 includes a movable abutment block 41; The prying mechanism 5 includes a movable prying block 51; The abutment block 41 provided by the inner support mechanism 4 maintains contact with the tool box 1; the wedge bolt 12 is driven to rotate by the automatic tightening wrench 6, and the prying tool block 51 is driven to contact the old hob cutter by the prying tool mechanism 5, so that the old hob cutter is separated from the tool box 1.

[0025] As an embodiment provided by the present invention, such as Figure 2 As shown, a C-shaped block 11 and a wedge-shaped bolt 12 are provided on the tool box 1. It should be noted that the tool box 1 provided in this embodiment is prior art. The tool box 1 mentioned in this invention includes a housing 14, a C-shaped block 11, a wedge-shaped bolt 12, and a wedge block 13. The C-shaped block 11 is fixedly installed inside the housing 14, and the wedge block 13 is slidably connected inside the tool box 1. The wedge-shaped bolt 12 and the wedge block 13 are threadedly connected. The hob's shaft abuts against the C-shaped block 11 through the outer wall of the wedge block 13. By driving the wedge-shaped bolt 12 to rotate, the wedge block 13 is driven to separate from the hob's shaft. It should be noted that the tool boxes 1 are symmetrically arranged, and the hob is mounted on the C-shaped blocks 11 of the two tool boxes 1 through the two ends of its shaft.

[0026] It also includes base 3, such as Figure 4 , Figure 5 and Figure 6 As shown, an inner support mechanism 4 is provided on the outer wall of one side of the base 3. A prying mechanism 5 is located below the inner support mechanism 4, and an automatic tightening wrench 6 is located above the inner support mechanism 4. Specifically, the inner support mechanism 4 includes a movable abutment block 41. The abutment block 41 can remain movable inside the inner support mechanism 4, thereby maintaining contact with the inner wall of the cutter box 1 to prevent twisting during the disassembly and assembly of the hob, which could cause damage or accidents. Figure 4 As shown, the prying mechanism 5 includes a prying block 51. The prying block 51 of the prying mechanism 5 abuts against the cutter shaft of the old hob in the cutter box 1, thereby separating the hob from the cutter box 1, making it easier for the robot arm 2 to grab the old hob. As shown, the high torque wrench 61 is set on the base 3 and is located above the inner support mechanism 4. The high torque wrench 61 can keep the wedge block bolt 12 on the cutter box 1 rotating, and then the rotation of the wedge block bolt 12 drives the wedge block 13 to rotate and separate from the hob, so that the hob cutter shaft can be taken out from the C-shaped block 11.

[0027] By having the pry block 51 of the pry mechanism 5 abut against the cutter shaft of the old hob, the cutter shaft can be pre-separated from the C-block 11 of the cutter box 1, preventing the cutter shaft and the C-block 11 from fitting too tightly together, making it difficult for the robot arm 2 to grasp.

[0028] As an embodiment provided by the present invention, such as Figure 9 As shown, the internal support mechanism 4 also includes a fixed frame 42 and a drive motor 43. The fixed frame 42 is fixedly installed on the outer wall of one side of the base 3, and the drive motor 43 is fixedly installed inside the fixed frame 42. There are two abutment blocks 41. Connecting rods 44 are symmetrically installed on the outer wall of one side of the abutment block 41. Connecting holes are symmetrically opened on the outer walls of opposite sides of the fixed frame 42. The two abutment blocks 41 are respectively connected to the two connecting holes on the outer wall of one side of the fixed frame 42 through the two connecting rods 44 on one side of the outer wall. The output end of the drive motor 43 is fixedly connected to the outer wall of one side of the abutment block 41, and the output end of the drive motor 43 drives one of the abutment blocks 41 to maintain reciprocating motion.

[0029] As a further embodiment provided by the present invention, such as Figure 9 As shown, the internal support mechanism 4 also includes a first link group 45 and a second link group 46. One end of the first link group 45 is connected to one of the connecting rods 44 on one of the abutment blocks 41, and the other end of the first link group 45 is connected to one of the connecting rods 44 on another abutment block 41. One end of the second link group 46 is connected to another connecting rod 44 on one of the abutment blocks 41, and the other end of the second link group 46 is connected to another connecting rod 44 on another abutment block 41. Specifically, a connecting groove is provided on the inner wall of one side of the fixed frame 42, and a connecting pin is fixedly installed inside the connecting groove. The first link group 45 includes a first link 451 and a second link 452. One end of the first link 451 is rotatably connected to one of the connecting rods 44 on one of the abutment blocks 41, and the other end of the first link 451 is slidably connected to the connecting pin. One end of the second link 452 is rotatably connected to one of the connecting rods 44 on another abutment block 41, and the other end of the second link 452 is slidably connected to the connecting pin. The second linkage group 46 includes a connecting plate 461, a third link 462, a fourth link 463, and a fifth link 464. Specifically, there are two connecting plates 461, and mounting slots are provided on the outer walls of opposite sides of the fixing frame 42. The two ends of the two connecting plates 461 are fixedly installed inside the mounting slots. The fourth link 463 is rotatably connected between the two connecting plates 461 via a shaft. One end of the third link 462 is rotatably connected to another connecting rod 44 on one of the abutment blocks 41, and the other end of the third link 462 is rotatably connected to one end of the fourth link 463. One end of the fifth link 464 is rotatably connected to one end of another connecting rod 44 on another abutment block 41, and the other end of the fifth link 464 is rotatably connected to the fourth link 463.

[0030] The drive motor 43 drives one of the abutment blocks 41 to keep moving. While one of the abutment blocks 41 is moving, the third link 462 is driven to keep rotating. The rotation of the third link 462 further drives the fourth link 463 to keep rotating, which in turn drives the fifth link 464 to keep rotating, and finally drives the other abutment block 41 to keep moving. While the two abutment blocks 41 are moving, the first link 451 and the second link 452 are rotating synchronously.

[0031] As an embodiment of the present invention, the prying mechanism 5 further includes a reciprocating drive unit 52, which is fixedly installed on the outer wall of one side of the base 3, and the output end of the reciprocating drive unit 52 extends through and to the outer wall of the other side of the base 3. The prying mechanism 5 also includes a guide block 53, a fixed seat 54, and a guide rod 55. Specifically, there are two guide blocks 53, both of which are fixedly installed on the outer wall of one side of the base 3. The guide rod 55 is slidably connected inside the guide block 53. The fixed seat 54 is fixedly installed at the output end of the reciprocating drive unit 52, and the fixed seat 54 can be driven by the output end of the reciprocating drive unit 52. Maintaining reciprocating motion, one end of the guide rod 55 is fixedly installed on the fixed base 54, ensuring that the fixed base 54 can move smoothly and stably during the movement of the fixed base 54. Connecting blocks 56 are fixedly installed on the outer walls of opposite sides of the fixed base 54, and connecting parts 58 are fixedly installed on the outer walls of opposite sides of the pry bar block 51. Connecting shafts 57 are fixedly installed on the outer walls of opposite sides of the connecting parts 58. The pry bar block 51 is slidably connected to the connecting blocks 56 through the connecting shafts 57. A compression spring is provided between the connecting blocks 56 and the connecting parts 58, and the compression spring ensures that the connecting parts 58 can be located between the connecting blocks 56.

[0032] As an embodiment provided by the present invention, such as Figure 6As shown, a gripping block 31 is fixedly installed on the outer wall of one side of the base 3, and a through groove is fixedly opened on the outer wall of one side of the base 3. Several abutting parts 33 are provided on the outer wall of the gripping block 31. Specifically, the abutting parts 33 are arc surfaces. Preferably, the arc surface structure and curvature of the abutting parts 33 are designed according to the curvature of the fingers of the robotic hand 2. When the robotic hand 2 grips, it can fit the curvature of the fingers of the robotic hand 2, which facilitates the gripping of the fingers of the robotic hand 2 and simplifies the control program of the fingers of the robotic hand 2.

[0033] As an embodiment provided by the present invention, such as Figure 6 , Figure 7 and Figure 8 As shown, the automatic tightening wrench 6 includes a high torque wrench 61 and a low torque wrench 62. Furthermore, the high torque wrench 61 is disposed on the outer wall of one side of the base 3, and the low torque wrench 62 is disposed on the outer wall of one side of the robot arm 2.

[0034] As an embodiment provided by the present invention, such as Figure 6 As shown, there are two high-torque wrenches 61, which are symmetrically arranged on the outer wall of one side of the base 3. A drive block 611 is provided at the output end of the high-torque wrench 61. By driving the drive block 611 to rotate through the high-torque wrench 61, the wedge bolt 12 can be kept rotating.

[0035] As a further embodiment provided by the present invention, such as Figure 7 and Figure 8 As shown, the small torque wrench 62 includes a movable base 621 and a torque drive motor. A slide rail is fixedly installed on the outer wall of one side of the robotic arm 2. The movable base 621 is slidably connected to the outer wall of one side of the robotic arm 2 via the slide rail. A mounting plate 21 is fixedly installed on the outer wall of one side of the robotic arm 2. The torque drive motor is fixedly installed on the outer wall of one side of the mounting plate 21, and the output end of the torque drive motor passes through the mounting plate 21. The small torque wrench 62 also includes a connecting shaft 623. A first gear 624 is installed on the output end of the torque drive motor located on the outer wall of the other side of the mounting plate 21. A second gear 625 is rotatably connected to the outer wall of one side of the mounting plate 21. The first gear 624 meshes with the second gear 625. One end of the connecting shaft 623 is fixedly installed on the second gear 625. The second gear 625 is rotatably connected to the outer wall of one side of the mounting plate 21 through the connecting shaft 623. The end of the connecting shaft 623 away from the second gear 625 is threaded to the movable plate 626. The torque drive motor drives the first gear 624 and the second gear 625 to keep rotating, thereby driving the movable seat 621 to keep sliding on the outer wall of the robot arm 2. Both ends of the movable seat 621 are provided with a wrench drive mechanism 627. The wrench body 622 is connected to the output end of the wrench drive mechanism 627. The wrench drive mechanism 627 drives the wrench body 622 to rotate, thereby driving the wedge block bolt 12 to rotate.

[0036] As an embodiment of the present invention, the wrench driving mechanism 627 includes a first motor 6271, a third gear 6272, a fourth gear 6273, a fifth gear 6274, a rotating rod 6275, and a mounting chamber 6276. Specifically, the mounting chamber 6276 is fixedly installed on the outer wall of one side of the movable seat 621, the first motor 6271 is fixedly installed on the outer wall of the other side of the movable seat 621, the output end of the first motor 6271 penetrates and extends into the interior of the mounting chamber 6276, and the third gear 6272 is fixedly installed on the outer wall of the movable seat 621. A motor 6271 is located at one end inside the mounting chamber 6276. A fourth gear 6273 is rotatably connected inside the mounting chamber 6276 via a shaft. A fifth gear 6274 is fixedly installed on the outer wall of one end of a rotating rod 6275. One end of the rotating rod 6275 passes through and extends to the outer wall of one side of the movable seat 621. A wrench body 622 is fixedly installed on one end of the rotating rod 6275 located on the outer wall of one side of the movable seat 621. The fourth gear 6273 meshes with the third gear 6272 and the fifth gear 6274 respectively.

[0037] The rotation of the output of the first motor 6271 drives the third gear 6272 to rotate, and the rotation of the third gear 6272 drives the fourth gear 6273 and the fifth gear 6274 to rotate, ultimately driving the wrench body 622 to rotate.

[0038] The compression spring mentioned in this article has an elastic coefficient that meets the technical requirements of the present invention.

[0039] Those skilled in the art will understand that other similar connection methods can also achieve the present invention. For example, welding, bonding, or screwing.

[0040] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A method for disassembling and assembling cutterheads of a tunnel boring machine, characterized in that, A disassembly and assembly module is used for disassembly and assembly. The disassembly and assembly module includes a tool box (1) and a robot (2). The tool box (1) is provided with a C-shaped block (11) and a wedge bolt (12). It also includes a base (3) and an automatic tightening wrench (6). An inner support mechanism (4) and a prying mechanism (5) are provided on the base (3). The automatic tightening wrench (6) includes a high torque wrench (61) and a low torque wrench (62). The internal support mechanism (4) includes a movable abutment block (41); The pry bar mechanism (5) includes a pry bar block (51) that is movably set. The method includes the following steps: The robotic arm (2) grabs the base (3) and moves the base (3) to the work station; The drive motor (43) of the inner support mechanism (4) drives the abutment block (41) to abut against the inner wall of the knife box (1); The high-torque wrench (61) provided on the base (3) drives the wedge bolt (12) to rotate, so as to loosen the wedge bolt (12); The robot (2) places the base (3) in the standby position, and then uses the small torque wrench (62) set on the robot (2) to quickly rotate the wedge bolt (12) so that the wedge (13) is quickly separated from the hob shaft; The robotic arm (2) grabs the base (3) and drives the old hob inside the tool box (1) to separate from the C-block (11) of the tool box (1) through the prying mechanism (5) set on the base (3); The robotic arm (2) places the base (3) in the standby position, the robotic arm (2) grabs the hob that is separated from the C-block (11), and the old hob is transferred through the robotic arm (2); The robotic arm (2) grasps the new hobbing cutter shaft and places it between the wedge block (13) and the C-block (11); The robot (2) grabs the base (3) and the wedge bolt (12) is rotated quickly by the small torque wrench (62) so that the wedge (13) quickly approaches the hob shaft; The robotic arm (2) grabs the base (3) and resets the wedge bolt (12) on the tool box (1) using the high torque wrench (61) on the base (3), thus completing the tool change.

2. The method for disassembling and assembling the cutterhead of a tunnel boring machine according to claim 1, characterized in that, The automatic tightening wrench (6) drives the wedge bolt (12) to rotate by the following steps: The high-torque wrench (61) drives the wedge bolt (12) to rotate at low speed and high torque; The low-torque wrench (62) drives the wedge bolt (12) to rotate at high speed and low torque.

3. A disassembly and assembly module applicable to the shield machine cutterhead disassembly and assembly method according to any one of claims 1-2, comprising a cutterhead box (1) and a robotic arm (2), wherein the cutterhead box (1) is provided with a C-shaped block (11) and a wedge-shaped bolt (12), characterized in that, Also includes: The base (3) and the automatic tightening wrench (6) are provided on the base (3), and the inner support mechanism (4) and the prying mechanism (5) are provided on the base (3); the automatic tightening wrench (6) includes a high torque wrench (61) and a low torque wrench (62). The internal support mechanism (4) includes a movable abutment block (41); The pry bar mechanism (5) includes a pry bar block (51) that is movably set. The abutment block (41) provided by the inner support mechanism (4) is kept in contact with the tool box (1); the wedge bolt (12) is driven to rotate by the automatic tightening wrench (6), and the prying block (51) is driven to abut with the old hob by the prying mechanism (5), so that the old hob is separated from the tool box (1).

4. A tunnel boring machine cutterhead assembly / disassembly module according to claim 3, characterized in that, The inner support mechanism (4) also includes a fixed frame (42) and a drive motor (43). The abutment block (41) is slidably connected to the fixed frame (42). The fixed frame (42) is fixedly installed on the outer wall of one side of the base (3). The drive motor (43) is fixedly installed on the fixed frame (42). The abutment block (41) is driven to remain active by the drive motor (43).

5. A tunnel boring machine cutterhead assembly / disassembly module according to claim 3, characterized in that, The prying mechanism (5) also includes a reciprocating drive unit (52). The prying block (51) is fixedly installed at the output end of the reciprocating drive unit (52). The reciprocating drive unit (52) drives the prying block (51) to keep moving so that the prying block (51) abuts against the hob cutter shaft, thereby driving the hob cutter shaft to separate from the C-block (11).

6. A tunnel boring machine cutterhead assembly / disassembly module according to claim 3, characterized in that, A gripping block (31) is fixedly installed on one side of the outer wall of the base (3). A passage groove for the fingers of the robotic arm (2) is provided on one side of the outer wall of the base (3). An abutment part (33) is provided on one side of the outer wall of the gripping block (31).

7. A tunnel boring machine cutterhead assembly / disassembly module according to claim 3, characterized in that, The high-torque wrench (61) is mounted on the base (3), and the low-torque wrench (62) is mounted on the robot arm (2).

8. A tunnel boring machine cutterhead assembly / disassembly module according to claim 7, characterized in that, The number of high torque wrenches (61) is two, and the two high torque wrenches (61) are symmetrically arranged on the outer wall of one side of the base (3).

9. A tunnel boring machine cutterhead assembly / disassembly module according to claim 7, characterized in that, The small torque wrench (62) includes a movable seat (621) slidably connected to the manipulator (2) and a wrench body (622) disposed on the movable seat (621). The movable seat (621) keeps the wrench body (622) in sliding position so that the wrench body (622) is in contact with the wedge bolt (12).

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