Automatic welding device and welding method for shield body of shield tunneling machine

Abstract

The invention discloses an automatic welding device and method for a shield body of a shield tunneling machine, and the device comprises a chain type track which is fixed on the outer surface of the shield body of the shield tunneling machine and is parallel to a welding line; the welding trolley is located on the chain type track and can move along the track; the welding vehicle comprises a vehicle body; the power wheels are mounted on the vehicle body, and the vehicle body is driven to move along the chain type track by rotating the power wheels; the electromagnetic fixer is arranged at the lower part of the vehicle body and realizes magnetic attraction between the vehicle body and the shield body shell of the shield tunneling machine after being electrified; one end of the cutting mechanical arm is fixed to the upper portion of the advancing side of the vehicle body, and a cutting machine is arranged at the other end of the cutting mechanical arm and can cut a notch in a welding seam between shield bodies needing to be welded; one end of the welding mechanical arm is fixed to the upper portion of the side, opposite to the cutting mechanical arm, of the vehicle body, and a welding machine is arranged at the other end of the welding mechanical arm and can weld the notch. The problems that in the assembling process of an existing shield tunneling machine, the welding difficulty is large, the quality is unstable, and the welding efficiency is low can be solved.

Description

Technical Field

[0001] The invention relates to the field of shield machine construction, in particular to an automatic shield welding device and a welding method for a shield machine. Background Art

[0002] Shield machines are widely used in the construction of subway tunnels, municipal pipelines, integrated pipe corridors, etc. In order to facilitate the transportation and on-site assembly of shield machines, the shield machines are usually split into several shields and transported to the site, and then hoisted into the starting shaft for on-site assembly. This involves multiple shield welding projects. The existing technology is mostly manual welding. Due to the influence of the site, there are usually problems such as high welding difficulty, unstable welding quality, large manual welding workload, long welding time, and low welding efficiency caused by the huge size of the shield machine. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic shield welding device and a welding method for a shield machine, which can solve the problems of great welding difficulty, unstable quality, low welding efficiency, etc. in the assembly process of the existing shield machine.

[0004] To achieve the above object, the present invention provides an automatic shield welding device for a shield machine, which can automatically weld the welds between multiple shields constituting the shield machine after the shield machine is assembled, comprising:

[0005] A chain track, which is fixed to the outer surface of the shield of the shield machine and is parallel to the weld;

[0006] A welding vehicle is located on the chain track and can move along the track;

[0007] Wherein, the welding vehicle comprises:

[0008] Car body;

[0009] A plurality of power wheels are mounted on the vehicle body, and the power wheels are rotated to drive the vehicle body to move along the chain track;

[0010] An electromagnetic fixer is arranged at the lower part of the vehicle body, and realizes magnetic attraction between the vehicle body and the shield shell of the shield machine after being powered on;

[0011] A cutting mechanical arm, one end of which is fixed to the upper part of the forward side of the vehicle body, and the other end of which is provided with a cutting machine, which can cut an incision on the weld between the shield bodies to be welded;

[0012] A welding robot arm has one end fixed to the upper part of the vehicle body on the side opposite to the cutting robot arm, and the other end is provided with a welding machine for welding the incision.

[0013] Optionally, the automatic welding device for the shield body of the shield machine also includes: a remote control device, which is wirelessly connected to the electromagnetic fixer, the cutting robot arm, and the welding robot arm, remotely controls the electromagnetic fixer to power on or off, remotely controls the cutting robot arm to cut, and remotely controls the cutting robot arm to cut.

[0014] Optionally, a welding wire reel is provided on the upper part of the welding vehicle and close to the welding robot arm to provide welding wire for the welding machine.

[0015] Optionally, the welding vehicle further includes a driving device, which is connected to the power wheel and is wirelessly connected to the remote control device. The driving device is remotely controlled to enable the power wheel to move on the chain track.

[0016] Optionally, the driving device is a motor, and the remote control device controls the start or stop and the rotation speed of the motor, thereby controlling the forward distance and forward speed of the power wheel of the welding vehicle on the chain track.

[0017] Optionally, the chain track is fixed to the outer surface of the shield body of the shield machine by spot welding;

[0018] The chain track is a double chain track, which is symmetrically arranged on both sides of the weld between the shield bodies.

[0019] Optionally, the chain track may be arranged circumferentially along the annular weld.

[0020] Optionally, the incision cut by the cutting machine is a V-shaped notch, and the V-shaped notch is located between two adjacent shield bodies that need to be welded, so as to increase the welding area between the two adjacent shield bodies.

[0021] The present invention also provides a method for welding a shield body of a shield machine, comprising the following steps:

[0022] Step S1, fixing a chain track on the outer surface of the shield body of the shield machine and parallel to the weld between the shield bodies;

[0023] Step S2, installing the welding vehicle, including energizing the electromagnetic fixer through the remote control device, so that the welding vehicle and the surface of the shield are magnetically attracted to each other, ensuring that the multiple power wheels of the welding vehicle are adsorbed on the chain track and do not detach;

[0024] Step S3, moving the welding vehicle by remote control equipment to a starting welding position, remotely starting the cutting robot arm and its cutting machine to cut a V-shaped notch, and then remotely starting the welding robot arm and its welding machine to weld the V-shaped notch;

[0025] Step S4, when a certain weld is completed, the electromagnetic fixer is powered off remotely, and the chain track is removed; and another chain track is reinstalled on both sides of another weld, and the above operation is repeated until all welds on the shield surface are completed.

[0026] Optionally, in step S3, the cutting robot arm and its cutting machine and the welding robot arm and its welding machine work synchronously;

[0027] Specifically, the cutting robot arm and its cutting machine are remotely started and controlled to perform cutting. After a V-shaped notch is cut and moved to the next welding position, the welding robot arm and its welding machine are remotely started and controlled to synchronously weld the original V-shaped notch and cut a new V-shaped notch at the next welding position. In this way, the welding vehicle completes the cutting and welding of all welding positions on the weld.

[0028] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The present invention provides an automatic shield welding device and method for a shield machine, which can automatically weld the shield after the shield machine is assembled, thereby realizing automated shield welding, greatly improving the speed and efficiency of shield machine assembly, and effectively ensuring the shield welding quality.

[0030] 2. The present invention provides an automatic welding device and method for a shield body of a tunnel boring machine, which replaces the manual welding method, thereby improving the welding efficiency and the safety of the welding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural cross-sectional view of the present invention;

[0032] Figure 2 It is a top view of the structure of the present invention;

[0033] Figure 3 It is a schematic diagram of the V-shaped incision of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the attached Figures 1 to 3 , the technical content, structural features, objectives achieved and effects of the present invention are described in detail through preferred embodiments.

[0035] It should be noted that the drawings are in a very simplified form and use non-precise proportions. They are only used to conveniently and clearly assist in explaining the embodiments of the present invention, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention.

[0036] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The present invention provides an automatic shield welding device for a shield machine, which is used to automatically weld the welds 300 between the multiple shields constituting the shield machine after the shield machine is assembled. Figure 1 and Figure 2As shown, the shield automatic welding device comprises: a chain track 200, which is arranged parallel to the weld 300 and fixed to the outer surface of the shield body of the shield machine; a welding vehicle, which is located on the chain track 200 and can move along the track; wherein the welding vehicle comprises: a vehicle body 100; a plurality of power wheels 130, which are installed on the vehicle body 100, and the power wheels 130 can drive the vehicle body 100 to move along the chain track 200 by rotating; an electromagnetic fixer 140, which is arranged at the lower part of the vehicle body 100, and the electromagnetic fixer 140 can realize magnetic attraction between the vehicle body 100 and the outer shell of the steel shield body of the shield machine after being powered on, so that the power wheels 130 are firmly adsorbed on the chain track 200; The cutting robot arm 120 has one end fixed to the upper part of the forward side of the vehicle body 100, and the other end is provided with a cutting machine, which can cut an incision on the weld 300 between the shield bodies to be welded to increase the welding area; the welding robot arm 110 has one end fixed to the upper part of the vehicle body 100 on the opposite side of the cutting robot arm 120, and the other end is provided with a welding machine, which can weld the incision; the remote control device is wirelessly connected with the electromagnetic fixer 140, the cutting robot arm 120, and the welding robot arm 110, and can remotely control the electromagnetic fixer 140 to turn on / off, remotely control the cutting robot arm 120 to perform cutting operations, and remotely control the welding robot arm 110 to perform welding operations. Among them, a welding wire barrel 111 is also provided on the upper part of the welding vehicle and close to the welding robot arm 110. The welding wire in the welding wire barrel 111 enters the welding machine to provide welding wire for the welding machine.

[0039] The chain track 200 is specifically a double chain track, which is symmetrically arranged on both sides of the weld 300; the chain track 200 is fixed to the outer surface of the shield body of the shield machine by spot welding.

[0040] Further, the weld 300 on the surface of the shield body may be Figure 2 The transverse weld 300 shown, at this time, the double chain-type tracks symmetrically distributed on both sides of the transverse weld 300 are also arranged transversely.

[0041] The weld 300 on the surface of the shield body may also be an annular weld 300 , in which case the double chain-type tracks symmetrically distributed along both sides of the annular weld 300 are also arranged in an annular direction.

[0042] Furthermore, there are a plurality of welds 300 on the outer surface of the shield machine. After one weld is completed, the chain track 200 and the welding vehicle need to be reinstalled to weld another weld 300 .

[0043] Preferably, four power wheels 130 are provided, which are respectively installed on the left front, left rear, right front and right rear sides of the vehicle body 100 .

[0044] The welding vehicle further comprises a driving device; the power wheel 130 is connected to the driving device, and the power wheel 130 can be rotated under the control of the driving device; the driving device is also wirelessly connected to the remote control device, and the welding vehicle can be remotely controlled to move on the chain track 200.

[0045] Specifically, the driving device is a motor. The remote control device can control the start / stop of the motor to control the power wheel 130 of the welding vehicle to move according to a preset forward distance. Alternatively, the remote control device can control the rotation speed of the motor to control the power wheel 130 of the welding vehicle to move according to a preset forward speed.

[0046] Therefore, the forward distance and forward speed of the power wheel 130 are set and regulated by remote control equipment, so as to adjust the moving speed of the welding vehicle and the arrangement of welding points in real time according to different forms of welds 300 .

[0047] The cutting machine adopts numerical control technology; the cutting robot arm 120 can start the cutting machine and adjust the cutting angle under the control of the remote control device.

[0048] The welding machine adopts numerical control technology; the welding robot arm 110 can start the welding machine and adjust the welding angle under the control of the remote control device.

[0049] Furthermore, after the cutting machine of the cutting robot arm 120 cuts the first incision and the welding vehicle moves to the next welding position, the welding robot arm 110 and its welding machine work simultaneously with the cutting robot arm 120 and its cutting machine, that is, the first incision is welded while the second incision is cut. This welding method greatly improves the welding efficiency of the automatic welding device.

[0050] Among them, Figure 3 As shown, the cutout is a V-shaped notch, which is cut between two adjacent shield bodies to be welded. Specifically, a V-shaped notch is set between two adjacent shield bodies to be welded, and then the V-shaped notch is welded. This welding setting increases the welding surface between the two shield bodies, so that the welding effect between the shield bodies is better.

[0051] The present invention also provides a method for welding a shield body of a shield machine, comprising the following steps:

[0052] Step S1, fixing the chain track 200 in parallel along the track of the weld 300 between the shield bodies, that is, fixing the chain track 200 to the outer surface of the shield body by spot welding;

[0053] Specifically, if the weld 300 between the shield bodies is Figure 2If the weld 300 is a transverse weld 300 as shown, the chain track 200 is arranged transversely symmetrically to the weld 300 ; if the weld 300 between the shield bodies is an annular weld 300 , the chain track 200 is arranged annularly symmetrically to the weld 300 .

[0054] Step S2, installing the welding vehicle, that is, placing the power wheel 130 on the chain track 200, and then controlling the electromagnetic fixer 140 to be energized through the remote control device, so that an electromagnetic adsorption force is generated between the welding vehicle and the steel shield shell, thereby causing the welding vehicle and the shield body of the shield machine to have a mutual magnetic attraction, ensuring that the multiple power wheels 130 of the welding vehicle are adsorbed on the chain track 200 and will not fall off.

[0055] Step S3, under the control of the remote control device, the mobile welding vehicle starts cutting and welding, that is, after the welding vehicle is moved to the starting welding position of a certain weld 300, the cutting robot arm 120 is remotely started and controlled to cut the weld 300 between the shield bodies at a certain cutting angle. When a V-shaped notch is cut, the welding vehicle is remotely controlled to move to the next welding position of the weld 300;

[0056] When the welding vehicle moves to the next welding position, the welding robot arm 110 and its welder work simultaneously with the cutting robot arm 120 and its cutter, that is, the cutting robot arm 120 located on the forward side of the welding vehicle cuts a new V-shaped notch at the next welding position at a certain cutting angle, and the welding robot arm 110 located on the other side of the welding vehicle also adjusts the position of the welding robot arm 110 under remote control to bring the welder connected to the end close to the original V-shaped notch, thereby welding the original V-shaped notch.

[0057] In this way, the welding vehicle completes the cutting and welding of all welding positions on the weld 300 one by one until the last welding position is reached, at which time the cutting robot arm 120 and its cutting machine are remotely controlled to stop working, while the welding robot arm 110 and its welding machine continue to work until the last welding position is welded, at which time the welding robot arm 110 and its welding machine are remotely controlled to stop working.

[0058] Step S4, after completing the welding of one of the welds 300, the electromagnetic fixer 140 is powered off through the remote control device, the chain track 200 is removed, and another chain track 200 is reinstalled on both sides of another weld 300, and the above steps are repeated until the welding of all the welds 300 on the shield surface is completed.

[0059] To sum up, the automatic welding device and welding method for the shield body of a shield machine provided by the present invention can reduce the operating risks of operators when welding on a smooth shield body, while improving the welding efficiency of the shield body of the shield machine and ensuring the welding quality of the shield machine during assembly.

[0060] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the invention. After reading the above content, it will be obvious to those skilled in the art for various modifications and substitutions of the present invention. Therefore, the protection scope of the present invention should be limited by the attached claims.

Claims

1. An automatic shield welding device for a shield machine, which can automatically weld the welds (300) between the multiple shields constituting the shield machine after the shield machine is assembled, characterized in that: Include: A chain track (200) fixed to the outer surface of the shield of the shield machine and parallel to the weld (300); A welding vehicle, located on the chain track (200) and movable along the track; Wherein, the welding vehicle comprises: Body(100); A plurality of power wheels (130) are mounted on the vehicle body (100), and the power wheels (130) are rotated to drive the vehicle body (100) to move along the chain track (200); An electromagnetic fixer (140) is arranged at the lower part of the vehicle body (100) and realizes magnetic attraction between the vehicle body (100) and the shield shell of the shield machine after power is supplied; A cutting mechanical arm (120), one end of which is fixed to the upper part of the forward side of the vehicle body (100), and the other end of which is provided with a cutting machine, which can cut an incision on the weld (300) between the shield bodies to be welded; A welding robot arm (110) has one end fixed to the upper portion of the vehicle body (100) on the side opposite to the cutting robot arm (120), and the other end is provided with a welding machine for welding the cut.

2. The shield automatic welding device for a shield machine according to claim 1, characterized in that: It also includes: a remote control device, which is wirelessly connected to the electromagnetic fixer (140), the cutting robot arm (120), and the welding robot arm (110), and is capable of remotely controlling the electromagnetic fixer (140) to power on or off, remotely controlling the cutting robot arm (120) to perform cutting, and remotely controlling the cutting robot arm (120) to perform cutting.

3. The shield automatic welding device for a shield machine according to claim 1, characterized in that: A welding wire barrel (111) is provided on the upper part of the welding vehicle and close to the welding mechanical arm (110) to provide welding wire for the welding machine.

4. The shield machine shield automatic welding device according to claim 2, characterized in that: The welding vehicle further comprises a driving device, the driving device being connected to the power wheel (130), and the driving device being wirelessly connected to the remote control device, and the power wheel (130) is moved on the chain track (200) by remotely controlling the driving device.

5. The shield automatic welding device for a shield machine as claimed in claim 4, characterized in that: The driving device is a motor, and the remote control device controls the start or stop and the rotation speed of the motor, thereby controlling the forward distance and forward speed of the power wheel (130) of the welding vehicle on the chain track (200).

6. The shield automatic welding device for a shield machine according to claim 1, characterized in that: The chain track (200) is fixed to the outer surface of the shield body of the shield machine by spot welding; The chain track (200) is a double chain track, which is symmetrically arranged on both sides of the weld (300) between the shield bodies.

7. The shield automatic welding device for a shield machine according to claim 1, characterized in that: The chain track can be arranged in an annular direction along the annular weld (300).

8. The shield machine shield automatic welding device according to claim 1, characterized in that: The cut made by the cutting machine is a V-shaped notch, and the V-shaped notch is located between two adjacent shield bodies to be welded, so as to increase the welding area between the two adjacent shield bodies.

9. A shield welding method for a shield machine, implemented based on the shield automatic welding device for a shield machine according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step S1, fixing a chain track (200) on the outer surface of the shield body of the shield machine and parallel to the weld (300) between the shield bodies; Step S2, installing the welding vehicle, including energizing the electromagnetic fixer (140) through a remote control device, so that the welding vehicle and the surface of the shield are magnetically attracted to each other, ensuring that the multiple power wheels (130) of the welding vehicle are adsorbed on the chain track (200) and do not detach; Step S3, moving the welding vehicle by remote control equipment, and after reaching the starting welding position, remotely starting the cutting robot arm (120) and its cutting machine to cut a V-shaped notch, and then remotely starting the welding robot arm (110) and its welding machine to weld the V-shaped notch; Step S4, after the welding of a certain weld (300) is completed, the electromagnetic fixer (140) is remotely powered off, and the chain track (200) is removed; and another chain track (200) is reinstalled on both sides of another weld (300), and the above operation is repeated until the welding of all welds (300) on the surface of the shield is completed.

10. The shield welding method of a shield machine according to claim 9, characterized in that: In the step S3, the cutting robot arm (120) and its cutting machine and the welding robot arm (110) and its welding machine work synchronously; Specifically, the cutting robot arm (120) and its cutting machine are remotely started and controlled to perform cutting. After a V-shaped notch is cut and moved to the next welding position, the welding robot arm (110) and its welding machine are remotely started and controlled to synchronously weld the original V-shaped notch and cut a new V-shaped notch at the next welding position. In this way, the welding vehicle completes the cutting and welding of all welding positions on the weld (300).

Images