Automatic shield tunneling machine cutter ring assembling device and feeding mode

Abstract

The invention discloses an automatic shield tunneling machine cutter ring assembling device and a feeding mode. The automatic shield tunneling machine cutter ring assembling device comprises a rotary stock bin, transfer equipment used for conveying a cutter ring body, a chain type track conveying structure composed of eight chassis stations, a supporting base with the telescopic bottom and rotatable universal wheels. The guide column is fixedly arranged at the top end of the transfer support, the outer edge of the guide column is slidably connected with a movable column used for stacking the cutter ring body, the inner surface of the movable column can vertically slide along the outer surface of the guide column for adjustment, and fixed trays are distributed on the outer surface of the movable column at equal intervals and movably connected with the cutter ring body in an attached mode. Limiting mechanisms are arranged on the outer surfaces of the movable columns. According to the shield hobbing cutter ring feeding and discharging device and method, through the design of the limiting mechanism, independent support is provided for each cutter ring body, the phenomenon that the bottom cutter ring bears too large pressure and is deformed is avoided, and cutter abrasion is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of shield machine tool processing, in particular to an automatic assembly device for a shield machine cutter ring and a feeding method. Background Art

[0002] During the use of the shield machine, the replacement and maintenance of the cutter are important components to ensure the normal operation of the shield machine. During the processing process, the shield machine cutter not only needs to cycle through loading and unloading, but also needs to be horizontally flipped. Due to the heavy weight of the shield machine cutter, it is difficult to complete manually and the efficiency is low. At this time, a rotating hopper is needed for assistance.

[0003] In the existing shield machine tool loading process, it is usually necessary to stack the shield machine cutter head on a transfer bracket (a component of the rotating silo) to facilitate subsequent processing and loading and unloading. However, this process has the following problems: the shield machine cutter head is heavy, generally between 60kg and 80kg, and five cutters usually need to be assembled on a single transfer bracket. Such weight places high demands on the bearing capacity of the underlying cutters. The weld layer of the shield machine cutter is very brittle in a short time after heat treatment, which can easily cause the underlying cutter to deform due to excessive pressure. During the tool loading and unloading process, a robotic arm is usually used to clamp and release or take out the material. Due to the accuracy and stability limitations of the robotic arm, the clamping structure often detaches from the cutter when there is still a certain small distance between the two cutters. In this case, although the distance is small, because the cutter is made of metal and has a large weight, the collision of the contact surface between the two may still cause cracks or peeling on the tool surface or weld layer. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic assembly device and feeding method for shield machine cutter rings, so as to solve the problem in the background art that the surface of shield machine cutters is easily worn during stacking.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: an automatic assembly device and feeding method for a shield machine cutter ring, comprising: Rotating silo, a transfer device for conveying the cutter ring body, a chain track conveying structure consisting of eight chassis stations, and including a retractable support base at the bottom and rotatable universal wheels; The guide column is fixedly arranged at the top of the transfer bracket, and the outer edge is slidably connected to the movable column for stacking the knife ring body. The inner surface of the movable column can slide vertically along the outer surface of the guide column for adjustment. Fixed trays are evenly distributed on the outer surface of the movable column. The fixed trays are movably connected to the knife ring body. A limiting mechanism is provided on the outer surface of the movable column; The limiting mechanism includes a lower movable limit plate, an upper movable limit plate and a middle movable limit plate, the lower movable limit plate is located at the bottom of the movable column and is fixedly connected to the movable column, the upper movable limit plate is located at the top of the movable column, there are three middle movable limit plates and they are evenly spaced between the lower movable limit plate and the upper movable limit plate, telescopic support plates are distributed in an annular manner inside the upper movable limit plate and the middle movable limit plate, the bottom of the lower movable limit plate is fixedly connected to the telescopic support plate, the telescopic support plate has an "L"-shaped structure, and the telescopic support plate is provided with a rubber pad for buffering the collision caused by the loading and unloading of the knife ring body, the middle movable limit plate and the lower movable limit plate are respectively provided with a lower air guide cavity and a charging piston cavity, the middle movable limit plate and the upper air guide seal are respectively provided with a guide piston cavity and an upper air guide cavity, a transfer air guide channel is provided between the guide piston cavity and the upper air guide cavity, and a charging air guide channel is provided between the charging piston cavity and the lower air guide cavity. The charging piston cavity is movably connected to an active piston member, and the active piston members are respectively arranged on the surface of the fixed tray and distributed in an annular manner. An upper air guide seal and a lower air guide seal are distributed in an annular manner inside the fixed tray. The upper air guide seal and the lower air guide seal have the same distribution spacing as the active piston member. The upper air guide seal and the lower air guide seal correspond vertically to each other, and the upper air guide seal and the lower air guide seal are hollow structures at the connection ends with the fixed tray, and the hollow structure at the connection end of the fixed tray is a conical structure. The upper air guide seal The diameter of the component is smaller than that of the lower air guide seal, the upper air guide seal and the lower air guide seal respectively form a piston sealing structure with the upper air guide cavity and the lower air guide cavity, the telescopic support plates provided by the upper movable limit plate and the middle movable limit plate are respectively provided with a driven piston component at one end, and the driven piston component is movably connected to the guide piston cavity, the guide piston cavity forms a gas channel structure with the upper air guide cavity through the transfer air guide channel, the lower air guide seal is movably connected to the lower air guide cavity, and the upper air guide cavity is movably connected to the upper air guide seal; A shield cutter ring loading and unloading method further includes the following steps: Preparation stage: Turn on the power of the rotary silo, start the motor of the rotary silo, and make the rotary silo start to rotate at a speed of 100 revolutions per minute, ensuring that the knife ring body is evenly distributed along the chain track conveying structure; Check whether the air source of the pneumatic push rod and horizontal cylinder is normal and ensure that the air pressure is stable at 0.6MPa; Cutter ring grabbing and palletizing: Move the movable column to the discharge port of the rotary hopper to ensure that the inner surface of the movable column is aligned with the outer surface of the guide column; move the movable column down to the appropriate position to keep the fixed pallet level with the ground; through air pressure control, extend the telescopic support plate to the limit position to ensure that the rubber pad (for buffering) fits well with the cutter ring body.

[0006] Cutter ring transportation and positioning: Driven by air pressure, the movable column takes the cutter ring body out of the fixed tray, and through the guidance of the guide column, the cutter ring body is transported to the shield machine tool loading position.

[0007] The position of the feeding port is monitored by an infrared sensor. When the infrared sensor detects that the cutter ring body reaches the feeding port, the rotating bin stops; Cutter ring installation: Start the robotic arm and, with the assistance of the infrared sensor, accurately grasp and install the cutter ring body to the corresponding position on the shield machine; Cleaning and maintenance: After the knife ring is installed, clean the device, including cleaning the rotating silo, movable column, fixed tray and other components.

[0008] By adopting the above technical solution, the lower movable limit plate, the upper movable limit plate and the middle movable limit plate are respectively provided with independent support structures, and are passively triggered in a progressive manner. When the bottom limit plate is pressurized by the weight of the knife ring body, it slides due to the weight, and utilizes the air pressure generated by the sliding matching piston to drive the internal telescopic support plate of the adjacent top limit plate to extend and retract forward, and repeat this sequence, so that each knife ring body has an independent support structure, avoiding the bottom knife ring body from bearing too much weight, and avoiding wear between the knife ring bodies caused by the loading and unloading actions.

[0009] As the preferred technical solution of the present invention, the upper air-guiding seal and the lower air-guiding seal are driven by the upper air-guiding cavity and the lower air-guiding cavity. The upper air-guiding seal is used to transmit the internal air pressure of the lower air-guiding seal to the interior of the upper air-guiding cavity, and the lower air-guiding seal is used to fill the internal air pressure of the charging piston cavity from the charging air-guiding channel into the interior.

[0010] By adopting the above technical solution, the upper air-guiding seal and the lower air-guiding seal have the same air path and are respectively connected to the upper air-guiding cavity and the lower air-guiding cavity. While ensuring that the air path remains connected, the upper air-guiding seal and the lower air-guiding seal can adapt to the vertical movement of the upper movable limit plate or the middle movable limit plate. Since the upper air-guiding seal and the lower air-guiding seal have a hollow structure inside, their telescopic movement will not affect the air pressure.

[0011] As the preferred technical solution of the present invention, the upper air guide cavity forms an air pressure conduction structure with the guide piston cavity through the transit air guide channel, the internal shape of the guide piston cavity is consistent with the shape of the driven piston member, and the driven piston member and the telescopic support plate form a horizontal telescopic transmission structure with respect to the lower movable limit plate and the upper movable limit plate, and the outer diameter formed by the telescopic length of the telescopic support plate is larger than the outer diameter of the annular distribution of the guide column.

[0012] By adopting the above technical solution, the upper air guide cavity is the final air pressure transmission point, and an air pressure state is generated between the upper air guide cavity and the charging piston cavity through the piston movement of the active piston member, and the air path between the charging piston cavity and the upper air guide cavity always maintains a positive pressure state, and the movement resistance of the inside of the guide piston cavity and the driven piston member is relatively large. In order to keep the upper movable limit plate and the middle movable limit plate suspended and supported, the air pressure between the charging piston cavity and the lower air guide cavity is relatively large, and in order to smoothly pop out the telescopic support plate under the same pressure, the upper air guide seal and the lower air guide seal are conical in shape and form a Laval nozzle structure, which can generate a large air pressure capacity inside the guide piston cavity, so that the friction resistance between the active piston member and the guide piston cavity is large in time, and it is also sufficient for the air pressure generated by the weight placement action of the knife ring body to serve as an air pressure power source.

[0013] As the preferred technical solution of the present invention, a slide rail is distributed in an annular manner between the guide column and the movable column, the length of the slide rail is the same as the length of the guide column, the guide column is fixedly connected to the chassis, and a guide rail is distributed in an annular manner between the movable column and the upper movable limit plate and the middle movable limit plate, and the length of the guide rail is the distance length between the two adjacent fixed trays.

[0014] By adopting the above technical solution, the length of the slide rail is set to the same as the length of the guide column, which can prevent the movable column from derailing during the sliding process and play a guiding role. The length of the guide rail is the spacing length of the two adjacent fixed trays, so that the movable spacing between the upper movable limit plate and the middle movable limit plate is also only maintained between the two trays. This ensures that the upper air guide seal and the lower air guide seal will not fall off due to unstable movable spacing, further improving the stability and sealing of the lower air guide seal and the upper air guide seal.

[0015] As the preferred technical solution of the present invention, a pneumatic push rod is movably connected inside the chassis, one end of the pneumatic push rod passes through the interior of the chassis and extends to the bottom surface of the downward movable limit plate. The pneumatic force source of the pneumatic push rod is set at the bottom of the rotating silo, and the pneumatic push rod lifts the movable column up and down as a whole.

[0016] Using the above technical solution, the pneumatic push rod cooperates with the pneumatic power source to lift the chassis, and the pneumatic push rod is set at the loading port. When the cutter ring body needs to be processed and taken out, the pneumatic push rod lifts the chassis so that the topmost cutter ring body is at the pick-up and placement height of the robot arm, and continuous lifting can lift the cutter ring body on each limit plate surface to the predetermined pick-up and placement height of the robot arm.

[0017] As the preferred technical solution of the present invention, two transmission sprockets are provided at the top of the rotating silo, and the outer surface of the transmission sprocket is connected with a transmission chain. The transmission chain is connected to the chassis through a connecting plate. The driving source of the transmission sprocket is a reduction motor and is arranged at the bottom of the rotating silo. A number of guide balls are distributed on the top surface of the rotating silo along the chain track.

[0018] Using the above technical solution, the transmission sprocket and the transmission chain are the existing conventional transmission structure. The chain is driven by the sprocket, and the chain is connected to one end of the chassis. During the movement of the chain, multiple chassis can be pulled to move along the top surface of the guide ball. The guide ball is a ball that is movable in a cavity, and the guide ball can support the chassis, reduce the track pressure, and also reduce the movement resistance of the chassis.

[0019] As the preferred technical solution of the present invention, a feeding port and a loading port are respectively provided at the front and rear ends of the rotating hopper, a horizontal cylinder is symmetrically provided on the surface of the loading port, a positioning push plate is connected to the output of the horizontal cylinder, a trapezoidal positioning block is provided on the surface of the positioning push plate, a positioning groove matching the shape of the positioning block is provided inside the chassis, and the positioning groove and the positioning block are movably connected.

[0020] By adopting the above technical solution, when the chassis moves to the loading port, in order to ensure accurate positioning, the horizontal cylinder moves the front positioning push plate horizontally by telescoping. The power generated by the movement and the positioning groove and the positioning block are matched with each other to force the chassis to return to its position. If the positioning groove and the positioning block are misaligned by a large margin, an alarm will be issued through the sensor and the transmission chain will be used to reposition it.

[0021] As a preferred technical solution of the present invention, monitoring poles are symmetrically arranged at the top of the feeding port, and infrared sensors are arranged at the top of the monitoring poles. The infrared sensors are connected to the horizontal cylinder via wireless signals.

[0022] With the above technical solution, the monitoring pole monitors the height of the topmost knife ring body of the limit plate by setting an infrared sensor. When the height does not match, the pneumatic push rod needs to be extended and retracted twice or multiple times for correction.

[0023] A shield cutter ring feeding method, characterized in that it also includes the following steps: S1: In the preparation stage, turn on the power of the rotary silo, start the motor of the rotary silo, and make the rotary silo start to rotate at a speed of 100 revolutions per minute, ensuring that the knife ring body is evenly distributed along the chain track conveying structure; Check whether the air source of the pneumatic push rod and horizontal cylinder is normal; S2: Cutter ring grabbing and palletizing, move the movable column to the discharge port of the rotary hopper, and ensure that the inner surface of the movable column is aligned with the outer surface of the guide column; Move the movable column down to a suitable position so that the fixed tray remains level with the ground; Through air pressure control, the telescopic support plate is extended to the limit position to ensure that the rubber pad (for buffering) fits the knife ring body; The knife ring body is steadily lifted onto the movable column under the support of the telescopic support plate; S3: knife ring conveying and positioning; Driven by air pressure, the movable column removes the cutter ring body from the fixed tray, and through the guidance of the guide column, transfers the cutter ring body to the shield machine tool loading position; The position of the feeding port is monitored by an infrared sensor. When the infrared sensor detects that the cutter ring body reaches the feeding port, the rotating bin stops; S4: knife ring installation; Start the robotic arm and, with the help of infrared sensors, accurately grasp and install the cutter ring body to the corresponding position on the shield machine; S5: Cleaning and maintenance; After the cutter ring is installed, clean the device, including cleaning the rotating silo, movable column, fixed tray and other components; Action process: The movable column moves downward to keep the fixed tray level with the ground; The telescopic support plate extends to lift the knife ring body onto the movable column; The movable column rises to separate the knife ring body from the fixed tray; The movable column moves to transfer the cutter ring body to the shield machine cutter loading position; The robotic arm grabs the cutter ring body and installs it on the shield machine; Clean all parts of the device to ensure there are no residual tools or foreign objects.

[0024] Compared with the prior art, the shield cutter ring loading and unloading device and loading method of the present invention have the following beneficial effects: High-frequency induction heating technology is used to enlarge the inner diameter of the cutter ring, making it easier to install and reduce the difficulty of replacement. At the same time, the device is also equipped with automated equipment such as robotic arms and conveyor belts to realize the automation of cutting ring loading and transmission, thereby improving production efficiency. Compared with the existing technology, the present invention has a high degree of automation, a fast knife ring replacement speed, and reduces construction time. The high-frequency induction heating technology makes the inner diameter of the knife ring larger, making it easier to install. Through the automated process, the risk of manual intervention is reduced, the labor intensity of manual operation is reduced, and the safety hazard caused by excessive temperature of the knife ring is avoided. The design of the limit mechanism provides independent support for each knife ring body to prevent the bottom knife ring from being deformed due to excessive pressure, reducing tool wear. The slide and guide rail design of the guide column and the movable column ensures that the movable column will not derail during the sliding process, and plays a guiding role, thereby improving the stability of the structure. The design of the guide ball can support the chassis, reduce the track pressure, and reduce the movement resistance of the chassis. The design of the positioning push plate and the positioning groove realizes the automatic return of the chassis, thereby improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the internal structure of the upper movable limiting plate and the middle movable limiting plate of the present invention; Figure 3 This is a schematic diagram of the internal structure of the guide column of the present invention; Figure 4 This is a schematic diagram of the front view of the internal structure of the guide piston cavity of the present invention; Figure 5 This is a schematic diagram of the internal cross-sectional structure of the guide piston cavity of the present invention; Figure 6 This is a schematic diagram of the internal top view of the guide column and the middle movable limit plate of the present invention; Figure 7 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 8 It is a schematic diagram of the overall high-frequency induction heating structure of the present invention.

[0026] Figure: 1. Rotating hopper; 101. Cutter ring body; 102. Feeding port; 103. Feeding port; 104. Robotic arm; 105. High-frequency induction heating machine; 106. Assembly line conveyor belt; 107. Assembly body; 2. Drive chain; 21. Drive sprocket; 22. Guide ball; 3. Chassis; 31. Guide column; 32. Pneumatic push rod; 4. Guide column; 41. Movable column; 42. Fixed tray; 43. Slide rail; 44. Guide rail; 5. Horizontal cylinder; 51. Positioning push plate ; 52. Positioning block; 53. Monitoring pole; 54. Infrared sensor; 55. Positioning groove; 6. Lower movable limit plate; 61. Upper movable limit plate; 62. Middle movable limit plate; 63. Telescopic support plate; 64. Driven piston member; 65. Upper air guide seal; 66. Lower air guide seal; 67. Active piston member; 7. Guide piston cavity; 71. Upper air guide cavity; 72. Lower air guide cavity; 73. Charging piston cavity; 74. Transfer air guide channel; 75. Charging air guide channel. DETAILED DESCRIPTION

[0027] See also Figure 1-7 The present invention provides a technical solution: an automatic assembly device and feeding method for a shield machine cutter ring, comprising: The rotary silo 1 is a transfer device for conveying the cutter ring body 101. It is a chain track conveying structure composed of eight chassis 3 stations, and includes a retractable support base at the bottom and a rotatable universal wheel; The guide column 4 is fixedly arranged at the top of the transfer bracket, and the outer edge is slidably connected to the movable column 41 for stacking the knife ring body 101. The inner surface of the movable column 41 can slide vertically along the outer surface of the guide column 4 for adjustment. The outer surface of the movable column 41 is evenly spaced with fixed trays 42. The fixed trays 42 are movably connected to the knife ring body 101. The outer surface of the movable column 41 is provided with a limiting mechanism; The limiting mechanism includes a lower movable limiting plate 6, an upper movable limiting plate 61 and a middle movable limiting plate 62. The lower movable limiting plate 6 is located at the bottom end of the movable column 41 and is fixedly connected to the movable column 41. The upper movable limiting plate 61 is located at the top end of the movable column 41. There are three middle movable limiting plates 62 and they are evenly spaced between the lower movable limiting plate 6 and the upper movable limiting plate 61. A telescopic support plate 63 is distributed in an annular manner inside the upper movable limiting plate 61 and the middle movable limiting plate 62. The bottom end of the lower movable limiting plate 6 is fixedly connected to the telescopic support plate 63. The telescopic support plate 63 is "L"-shaped structure, and the telescopic support plate 63 is provided with a rubber pad to buffer the collision caused by loading and unloading of the cutter ring body 101, the middle movable limit plate 62 and the lower movable limit plate 6 are respectively provided with a lower air guide cavity 72 and an energizing piston cavity 73, the middle movable limit plate 62 and the upper air guide seal 65 are respectively provided with a guide piston cavity 7 and an upper air guide cavity 71, a transfer air guide channel 74 is provided between the guide piston cavity 7 and the upper air guide cavity 71, and an energizing air guide channel 75 is provided between the energizing piston cavity 73 and the lower air guide cavity 72; The charging piston cavity 73 is movably connected to the active piston member 67, and the active piston members 67 are respectively arranged on the surface of the fixed tray 42 and distributed in an annular manner. The upper air guide seal 65 and the lower air guide seal 66 are distributed in an annular manner inside the fixed tray 42. The upper air guide seal 65 and the lower air guide seal 66 have the same distribution spacing as the active piston member 67. The upper air guide seal 65 and the lower air guide seal 66 correspond vertically, and the upper air guide seal 65 and the lower air guide seal 66 are hollow structures at the connection ends with the fixed tray 42, and the hollow structure at the connection end of the fixed tray 42 is a conical structure. The upper air guide seal 6 The diameter of the upper and lower air guide seals 65 and 66 is smaller than that of the lower air guide seal 66. The upper and lower air guide seals 65 and 66 respectively form a piston sealing structure with the upper and lower air guide cavities 71 and 72. The telescopic support plates 63 provided on the upper movable limiting plate 61 and the middle movable limiting plate 62 are respectively provided with follower pistons 64 at one end. The follower pistons 64 are movably connected to the guide piston cavity 7. The guide piston cavity 7 forms a gas channel structure with the upper air guide cavity 71 through the intermediate air guide channel 74. The lower air guide seal 66 is movably connected to the lower air guide cavity 72, and the upper air guide cavity 71 is movably connected to the upper air guide seal 65. A shield cutter ring loading and unloading method further includes the following steps: Preparation time: 5 minutes: Turn on the power of the rotary silo, start the motor of the rotary silo, and make the rotary silo start to rotate at a speed of 1 rpm, ensuring that the knife ring body is evenly distributed along the chain track conveying structure; Check whether the air source of the pneumatic push rod and horizontal cylinder is normal and ensure that the air pressure is stable at 0.6MPa; Cutter ring grabbing and palletizing time: 30 seconds: Move the movable column to the discharge port of the rotary hopper, ensuring that the inner surface of the movable column is aligned with the outer surface of the guide column; move the movable column down to the appropriate position to keep the fixed pallet level with the ground; through air pressure control, extend the telescopic support plate to the limit position, ensuring that the rubber pad is used for buffering and fits the cutter ring body.

[0028] Cutter ring conveying and positioning time: 60 seconds: Driven by air pressure, the movable column removes the cutter ring body from the fixed pallet, and through the guidance of the guide column, the cutter ring body is transported to the shield machine tool loading position.

[0029] The position of the feeding port is monitored by an infrared sensor. When the infrared sensor detects that the cutter ring body reaches the feeding port, the rotating bin stops; Cutter ring installation time: 2 minutes: Start the robotic arm and, with the assistance of infrared sensors, accurately grasp and install the cutter ring body to the corresponding position on the shield machine; Cleaning and maintenance time: 10 minutes: After the cutter ring is installed, clean the device, including cleaning the rotating silo, movable column, fixed tray and other components.

[0030] By adopting the above technical solution, the lower movable limit plate 6, the upper movable limit plate 61 and the middle movable limit plate 62 are respectively provided with independent supporting structures, and are passively triggered in a progressive manner. When the bottom limit plate is pressurized by the weight of the knife ring body 101, it slides due to the weight, and utilizes the air pressure generated by the sliding matching piston to drive the internal telescopic support plate 63 of the adjacent top limit plate to extend and retract forward, and repeat this sequence, so that each knife ring body 101 has an independent supporting structure, avoiding the knife ring body 101 at the bottom end from bearing too much weight, and avoiding wear between the knife ring bodies 101 caused by the loading and unloading actions.

[0031] As the preferred technical solution of the present invention, the upper air-guiding seal 65 and the lower air-guiding seal 66 are driven by the upper air-guiding cavity 71 and the lower air-guiding cavity 72. The upper air-guiding seal 65 is used to transmit the internal air pressure of the lower air-guiding seal 66 to the interior of the upper air-guiding cavity 71, and the lower air-guiding seal 66 is used to fill the internal air pressure of the charging piston cavity 73 from the charging air-guiding channel 75 into the interior.

[0032] By adopting the above technical solution, the upper air-guiding seal 65 and the lower air-guiding seal 66 are in the same air path, and are respectively connected to the upper air-guiding cavity 71 and the lower air-guiding cavity 72. While ensuring that the air path remains connected, the upper air-guiding seal 65 and the lower air-guiding seal 66 can adapt to the vertical movement of the upper movable limit plate 61 or the middle movable limit plate 62. Since the interior of the upper air-guiding seal 65 and the lower air-guiding seal 66 is a hollow structure, their telescopic movement will not affect the air pressure.

[0033] As the preferred technical solution of the present invention, the upper air guide cavity 71 forms an air pressure conduction structure with the guide piston cavity 7 through the transit air guide channel 74. The internal shape of the guide piston cavity 7 is consistent with the shape of the driven piston member 64, and the driven piston member 64 and the telescopic support plate 63 form a horizontal telescopic transmission structure with respect to the lower movable limit plate 6 and the upper movable limit plate 61. The outer diameter formed by the telescopic length of the telescopic support plate 63 is larger than the outer diameter of the annular distribution of the guide column 31.

[0034] The cam 72 of the piston rod 71 is pressed down, and the piston 62 of the piston rod 71 is pressed down, and the cam 72 of the piston rod 71 is pressed down, and the cam 72 of the piston rod 71 is pressed down.

[0035] As the preferred technical solution of the present invention, a slide rail 43 is distributed in an annular manner between the guide column 4 and the movable column 41. The length of the slide rail 43 is the same as the length of the guide column 4. The guide column 4 is fixedly connected to the chassis 3. A guide rail 44 is distributed in an annular manner between the movable column 41 and the upper movable limit plate 61 and the middle movable limit plate 62. The length of the guide rail 44 is the distance between the two adjacent fixed trays 42.

[0036] By adopting the above technical solution, the length of the slide rail 43 is set to be the same as the length of the guide column 4, which can prevent the movable column 41 from derailing during the sliding process and play a guiding role. The length of the guide rail 44 is the spacing length of the two adjacent fixed trays 42, so that the movable spacing between the upper movable limit plate 61 and the middle movable limit plate 62 is also only maintained between the two trays, thereby ensuring that the upper air guide seal 65 and the lower air guide seal 66 will not fall off due to unstable movable spacing, further improving the stability and sealing of the lower air guide seal 66 and the upper air guide seal 65.

[0037] As the preferred technical solution of the present invention, a pneumatic push rod 32 is movably connected to the interior of the chassis 3. One end of the pneumatic push rod 32 passes through the interior of the chassis 3 and extends to the bottom surface of the downward movable limit plate 6. The pneumatic power source of the pneumatic push rod 32 is set at the bottom of the rotary silo 1. The pneumatic push rod 32 lifts the movable column 41 up and down as a whole.

[0038] By adopting the above technical solution, the pneumatic push rod 32 cooperates with the pneumatic power source to lift the chassis 3, and the pneumatic push rod 32 is set at the loading port 103. When the cutter ring body 101 needs to be processed and taken out, the pneumatic push rod 32 lifts the chassis 3 so that the topmost cutter ring body 101 is at the pick-up and placement height of the robot arm, and the continuous lifting can lift the cutter ring body 101 on the surface of each limit plate to the predetermined pick-up and placement height of the robot arm.

[0039] As the preferred technical solution of the present invention, two transmission sprockets 21 are provided at the top of the rotating silo 1, and the outer surface of the transmission sprocket 21 is connected to the transmission chain 2. The transmission chain 2 is connected to the chassis 3 through a connecting plate. The driving source of the transmission sprocket 21 is a reduction motor and is arranged at the bottom of the rotating silo 1. A number of guide balls 22 are distributed on the top surface of the rotating silo 1 along the chain track.

[0040] Using the above technical solution, the transmission sprocket 21 and the transmission chain 2 are existing conventional transmission structures. The chain is driven by the sprocket, and the chain is connected to one end of the chassis 3. During the movement of the chain, multiple chassis 3 can be pulled to move along the top surface of the guide ball 22. The guide ball 22 is a ball that is movable in a cavity, and the guide ball 22 can support the chassis 3, reduce the track pressure, and also reduce the movement resistance of the chassis 3.

[0041] As the preferred technical solution of the present invention, the front and rear ends of the rotary silo 1 are respectively provided with a discharge port 102 and a load port 103, and the surface of the load port 103 is symmetrically provided with a horizontal cylinder 5, and the output of the horizontal cylinder 5 is connected with a positioning push plate 51, and the surface of the positioning push plate 51 is provided with a trapezoidal positioning block 52, and the inside of the chassis 3 is provided with a positioning groove 55 matching the shape of the positioning block 52, and the positioning groove 55 and the positioning block 52 are movably matched.

[0042] By adopting the above technical solution, when the chassis 3 moves to the position of the loading port 103, in order to ensure accurate positioning, the horizontal cylinder 5 moves the front end positioning push plate 51 horizontally by telescoping, and uses the power generated by the movement and cooperates with the positioning groove 55 and the positioning block 52 to match each other, so that the chassis 3 is forced to return to its position. If the positioning groove 55 and the positioning block 52 are misaligned by a large range, an alarm is issued through the sensor and the transmission chain 2 is used to reposition it.

[0043] As a preferred technical solution of the present invention, a monitoring pole 53 is symmetrically provided at the top of the loading port 103 , and an infrared sensor 54 is provided at the top of the monitoring pole 53 . The infrared sensor 54 is connected to the horizontal cylinder 5 via a wireless signal.

[0044] With the above technical solution, the monitoring pole 53 monitors the height of the topmost cutter ring body 101 of the limit plate by setting an infrared sensor 54. When the height does not match, the pneumatic push rod 32 needs to be extended and retracted twice or more times for correction.

[0045] A shield cutter ring feeding method, characterized in that it also includes the following steps: S1: In the preparation stage, the power of the rotary silo 1 is turned on, and the motor of the rotary silo is started to rotate the rotary silo at a speed of 1 rpm to ensure that the cutter ring body 101 is evenly distributed along the chain track conveying structure; Check whether the air source of the pneumatic push rod 32 and the horizontal cylinder 5 is normal and ensure that the air pressure is stable at 0.6 MPa; S2: Cutter ring grabbing and palletizing, move the movable column 41 to the discharge port 102 of the rotary silo, and ensure that the inner surface of the movable column 41 is aligned with the outer surface of the guide column 4; The movable column 41 moves down to a suitable position so that the fixed tray 42 remains level with the ground; Through air pressure control, the telescopic support plate 63 is extended to the limit position, ensuring that the rubber pad is used for cushioning and fits the cutter ring body 101; The cutter ring body 101 is steadily lifted onto the movable column 41 under the support of the telescopic support plate 63; S3: knife ring conveying and positioning; The movable column 41 is driven by air pressure to remove the cutter ring body 101 from the fixed tray 42, and is guided by the guide column 4 to transfer the cutter ring body to the shield machine tool loading position; The position of the feeding port 103 is monitored by the infrared sensor 54. When the infrared sensor detects that the cutter ring body reaches the feeding port, the rotating bin stops; S4: knife ring installation; Start the robotic arm and, with the assistance of the infrared sensor 54, accurately grasp and install the cutter ring body 101 to the corresponding position on the shield machine; S5: Cleaning and maintenance; After the cutter ring is installed, clean the device, including cleaning the rotating silo, movable column, fixed tray and other components; Action process: The movable column 41 moves downward to keep the fixed tray 42 level with the ground; The telescopic support plate 63 extends to lift the cutter ring body 101 onto the movable column 41; The movable column 41 rises to separate the cutter ring body 101 from the fixed tray 42; The movable column 41 moves to transfer the cutter ring body 101 to the shield machine cutter loading position; The robotic arm grabs the cutter ring body 101 and installs it on the shield machine; Clean all parts of the device to ensure there are no residual tools or foreign objects.

[0046] Working principle of rotary silo 1: The rotating silo can be flexibly moved to different positions through the retractable support base and rotatable universal wheels at the bottom.

[0047] The chassis 3 rotates at a speed of 1 revolution per minute through a chain track conveying structure, so that the cutter ring body 101 is evenly distributed on the conveying chain.

[0048] Working principle of guide column 4 and movable column 41: The guide column is fixed on the top of the transfer bracket, and the movable column is connected to the outer edge of the guide column by sliding, so that the position can be adjusted in the vertical direction.

[0049] A fixed tray 42 is distributed on the outer surface of the movable column, which is used to flexibly fit with the knife ring body 101 to achieve stacking of the knife rings.

[0050] Working principle of limit mechanism: The limiting mechanism includes a lower movable limiting plate 6, an upper movable limiting plate 61 and a middle movable limiting plate 62, which are respectively arranged at different heights of the movable column.

[0051] A lower air guide cavity 72 and an energizing piston cavity 73 , as well as a guide piston cavity 7 and an upper air guide cavity 71 are provided inside the middle movable limiting plate 62 and the lower movable limiting plate 6 .

[0052] Driven by air pressure, the telescopic support plates 63 of the middle movable limit plate and the lower movable limit plate can move upward to provide independent support for each cutter ring body, preventing the bottom cutter ring from being deformed due to excessive pressure.

[0053] Working principle of pneumatic push rod 32: The pneumatic push rod is connected to the inside of the chassis 3 and is driven by air pressure to make the movable column 41 extend and retract as a whole up and down to achieve the grabbing and stacking of the knife ring.

[0054] Movement and guidance principle of the movable column 41: Driven by air pressure, the movable column 41 takes out the cutter ring body 101 from the fixed tray and transmits it to the shield machine cutter loading position through the guiding effect of the guide column 4.

[0055] The outer surface of the movable column 41 is provided with a slide rail 43 and a guide rail 44 to ensure that it will not derail during the sliding process and to play a guiding role.

[0056] Working principle of horizontal cylinder 5 and positioning push plate 51: The horizontal cylinder drives the positioning push plate 51 by telescoping, ensuring that the chassis 3 is accurately positioned when it moves to the position of the loading port 103 .

[0057] The positioning block 52 on the positioning push plate matches the positioning groove 55 inside the chassis to achieve automatic return.

[0058] Working principle of monitoring pole 53 and infrared sensor 54: The infrared sensor 54 monitors the height of the knife ring body 101 at the top end of the limiting plate to ensure that it reaches the predetermined pick-up and placement height.

[0059] Grasping and installation of the knife ring body 101: With the assistance of infrared sensors, the robotic arm accurately grasps and installs the cutter ring body to the corresponding position on the shield machine.

[0060] Cleaning and maintenance: After the knife ring is installed, clean the device, including the rotating silo, movable column, fixed tray and other components to ensure the safety and efficiency of the next operation.

Claims

1. An automatic assembly device for a shield machine cutter ring, characterized in that: It comprises a rotating silo (1), a transfer device for conveying a knife ring body (101), a chain track conveying structure composed of eight chassis (3) workstations, and comprises a retractable support seat at the bottom and a rotatable universal wheel. A mechanical arm (104) is arranged at the front end of the rotating silo (1), high-frequency induction heating machines (105) are arranged at the left and right ends of the mechanical arm (104), and an assembly line conveyor belt (106) and an assembly body (107) are arranged at the front end of the mechanical arm (104); A guide column (4) is fixedly arranged at the top of the transfer bracket, and its outer edge is slidably connected to a movable column (41) for stacking the knife ring body (101); the inner surface of the movable column (41) can slide vertically along the outer surface of the guide column (4) for adjustment; fixed trays (42) are evenly spaced on the outer surface of the movable column (41); the fixed trays (42) are movably fitted and connected to the knife ring body (101); and a limiting mechanism is provided on the outer surface of the movable column (41); The limiting mechanism comprises a lower movable limiting plate (6), an upper movable limiting plate (61) and a middle movable limiting plate (62), wherein the lower movable limiting plate (6) is located at the bottom end of the movable column (41) and is fixedly connected to the movable column (41), the upper movable limiting plate (61) is located at the top end of the movable column (41), the number of the middle movable limiting plates (62) is three and they are evenly spaced and distributed between the lower movable limiting plate (6) and the upper movable limiting plate (61), the upper movable limiting plate (61) and the middle movable limiting plate (62) are annularly distributed with telescopic supporting plates (63), the bottom end of the lower movable limiting plate (6) is fixedly connected with the telescopic supporting plate (63), and the telescopic supporting plate (63) The structure is in an "L" shape, and the telescopic support plate (63) is provided with a rubber pad for buffering the collision caused by loading and unloading of the cutter ring body (101); the middle movable limit plate (62) and the lower movable limit plate (6) are respectively provided with a lower air guide cavity (72) and an energy-charging piston cavity (73); the middle movable limit plate (62) and the upper air guide seal (65) are respectively provided with a guide piston cavity (7) and an upper air guide cavity (71); a transfer air guide channel (74) is provided between the guide piston cavity (7) and the upper air guide cavity (71); and an energy-charging air guide channel (75) is provided between the energy-charging piston cavity (73) and the lower air guide cavity (72); An active piston member (67) is movably connected inside the charging piston cavity (73), and the active piston members (67) are respectively arranged on the surface of the fixed tray (42) and are distributed in an annular manner. An upper air guide seal (65) and a lower air guide seal (66) are distributed in an annular manner inside the fixed tray (42). The upper air guide seal (65) and the lower air guide seal (66) are distributed at the same spacing as the active piston member (67). The upper air guide seal (65) and the lower air guide seal (66) correspond vertically, and the connection ends of the upper air guide seal (65) and the lower air guide seal (66) with the fixed tray (42) are hollow structures, and the hollow structure of the connection end of the fixed tray (42) is a conical structure. The upper air guide seal (65) The diameter of the guide piston cavity (7) is smaller than that of the lower air guide seal (66); the upper air guide seal (65) and the lower air guide seal (66) respectively form a piston seal structure with the upper air guide cavity (71) and the lower air guide cavity (72); one end of the telescopic support plate (63) provided by the upper movable limit plate (61) and the middle movable limit plate (62) is respectively provided with a driven piston member (64); the driven piston member (64) is movably connected to the guide piston cavity (7); the guide piston cavity (7) forms a gas channel structure with the upper air guide cavity (71) through the intermediate air guide channel (74); the lower air guide seal (66) is movably connected to the lower air guide cavity (72); and the upper air guide cavity (71) is movably connected to the upper air guide seal (65); A method for loading and unloading a shield cutter ring also includes the following steps: Preparation stage (time: 5 minutes): Turn on the power of the rotary silo, start the motor of the rotary silo, and make the rotary silo start to rotate at a speed of 1 rpm, ensuring that the knife ring body is evenly distributed along the chain track conveying structure; Check whether the air source of the pneumatic push rod and horizontal cylinder is normal and ensure that the air pressure is stable at 0.6MPa; Cutter ring grabbing and palletizing (time: 30 seconds): Move the movable column to the discharge port of the rotary silo to ensure that the inner surface of the movable column is aligned with the outer surface of the guide column; move the movable column down to a suitable position to keep the fixed pallet level with the ground; through air pressure control, extend the telescopic pallet to the limit position to ensure that the rubber pad (for buffering) fits the cutter ring body; Cutter ring conveying and positioning (time: 60 seconds): The movable column is driven by air pressure to take the cutter ring body out of the fixed tray, and the cutter ring body is transported to the shield machine cutter loading position through the guiding effect of the guide column; The position of the feeding port is monitored by an infrared sensor. When the infrared sensor detects that the knife ring body reaches the feeding port, the rotating bin stops; Cutter ring installation (time: 2 minutes): Start the robotic arm and, with the assistance of the infrared sensor, accurately grasp and install the cutter ring body to the corresponding position on the shield machine; Cleaning and maintenance (time: 10 minutes): After the knife ring is installed, clean the device, including cleaning the rotating silo, movable column, fixed tray and other parts.

2. The automatic assembly device for the cutter ring of a shield machine according to claim 1, characterized in that: The upper air-guiding seal (65) and the lower air-guiding seal (66) are driven by the upper air-guiding cavity (71) and the lower air-guiding cavity (72); the upper air-guiding seal (65) is used to transmit the internal air pressure of the lower air-guiding seal (66) to the interior of the upper air-guiding cavity (71); and the lower air-guiding seal (66) is used to fill the internal air pressure of the charging piston cavity (73) from the charging air-guiding channel (75) into the interior.

3. The shield machine cutter ring automatic assembly device according to claim 1, characterized in that: The upper air guide cavity (71) forms an air pressure conduction structure with the guide piston cavity (7) via the intermediate air guide channel (74); the internal shape of the guide piston cavity (7) matches the shape of the driven piston member (64); the driven piston member (64) and the telescopic support plate (63) form a horizontal telescopic transmission structure with respect to the lower movable limit plate (6) and the upper movable limit plate (61); the outer diameter formed by the telescopic length of the telescopic support plate (63) is larger than the outer diameter of the annular distribution of the guide column (31).

4. The automatic assembly device for the cutter ring of a shield machine according to claim 1, characterized in that: A slide rail (43) is distributed in an annular manner between the guide column (4) and the movable column (41), and the length of the slide rail (43) is the same as the length of the guide column (4). The guide column (4) is fixedly connected to the chassis (3). A guide rail (44) is distributed in an annular manner between the movable column (41) and the upper movable limit plate (61) and the middle movable limit plate (62), and the length of the guide rail (44) is the length of the spacing between two adjacent fixed trays (42).

5. The automatic assembly device for the cutter ring of a shield machine according to claim 1, characterized in that: A pneumatic push rod (32) is movably connected inside the chassis (3), one end of the pneumatic push rod (32) penetrates the inside of the chassis (3) and extends toward the bottom surface of the movable limit plate (6) downwardly, a pneumatic power source of the pneumatic push rod (32) is arranged at the bottom of the rotating silo (1), and the pneumatic push rod (32) causes the movable column (41) to extend and retract as a whole in a jacking manner.

6. The automatic assembly device for the cutter ring of a shield machine according to claim 1, characterized in that: Two transmission sprockets (21) are arranged at the top of the rotating silo (1); a transmission chain (2) is connected to the outer surface of the transmission sprocket (21); the transmission chain (2) is connected to the chassis (3) via a connecting plate; the driving source of the transmission sprocket (21) is a reduction motor and is arranged at the bottom of the rotating silo (1); and a plurality of guide balls (22) are arranged on the top surface of the rotating silo (1) in a chain track distribution.

7. The automatic assembly device for the cutter ring of a shield machine according to claim 1, characterized in that: The front and rear ends of the rotary silo (1) are respectively provided with a material discharge port (102) and a material loading port (103); a horizontal cylinder (5) is symmetrically provided on the surface of the material loading port (103); a positioning push plate (51) is connected to the output of the horizontal cylinder (5); a trapezoidal positioning block (52) is provided on the surface of the positioning push plate (51); a positioning groove (55) matching the shape of the positioning block (52) is provided inside the chassis (3); and the positioning groove (55) and the positioning block (52) are movably connected.

8. The shield machine cutter ring automatic assembly device according to claim 7, characterized in that: A monitoring pole (53) is symmetrically arranged at the top of the feeding port (103), an infrared sensor (54) is arranged at the top of the monitoring pole (53), and the infrared sensor (54) is connected to the horizontal cylinder (5) via a wireless signal.

9. A shield cutter ring feeding method according to any one of claims 1 to 8, characterized in that: The following steps are also included: S1: Preparation stage: Turn on the power of the rotary bin (1), start the motor of the rotary bin, and make the rotary bin start to rotate at a speed of 1 revolution per minute, ensuring that the knife ring body (101) is evenly distributed along the chain track conveying structure; Check whether the air source of the pneumatic push rod (32) and the horizontal cylinder (5) is normal and ensure that the air pressure is stable at 0.6 MPa; S2: Knife ring grabbing and palletizing Move the movable column (41) to the discharge port (102) of the rotary silo, and ensure that the inner surface of the movable column (41) is aligned with the outer surface of the guide column (4); The movable column (41) moves down to a suitable position so that the fixed tray (42) remains level with the ground; Through air pressure control, the telescopic support plate (63) is extended to the limit position to ensure that the rubber pad (for buffering) fits the knife ring body (101); The knife ring body (101) is steadily lifted onto the movable column (41) under the support of the telescopic support plate (63); S3: Cutter ring conveying and positioning: The movable column (41) is driven by air pressure to take the cutter ring body (101) out of the fixed tray (42), and the cutter ring body is conveyed to the shield machine cutter loading position through the guiding action of the guide column (4); The position of the feeding port (103) is monitored by an infrared sensor (54), and when the infrared sensor (54) detects that the knife ring body reaches the feeding port, the rotating bin (1) is stopped; S4: Installation of the knife ring: The robot arm (104) grabs the knife ring from the rotating silo and places it in the heating station for high-frequency heating. In the heating station, the knife ring is heated using high-frequency induction heating technology. The heating temperature is controlled at 200-250°C and the insulation time is 2 minutes. This process makes the inner diameter of the knife ring expand, which is convenient for subsequent installation. After the assembly line transports the knife hub to the designated position, the robot arm (104) grabs the hot knife ring and inserts it into the knife hub to complete the assembly. The assembled assembly (107) is transmitted to the next process for subsequent processing and assembly. S5: Cleaning and maintenance: After the knife ring is installed, the device is cleaned, including cleaning the rotating bin (1), the movable column (41), the fixed tray (42) and other components; The movable column (41) moves downward so that the fixed tray (42) remains level with the ground; The telescopic support plate (63) is extended to lift the knife ring body (101) onto the movable column (41); The movable column (41) rises to separate the knife ring body (101) from the fixed tray (42); The movable column (41) moves to transfer the cutter ring body (101) to the cutter loading position of the shield machine; The mechanical arm grabs the cutter ring body (101) and installs it on the shield machine; Clean all parts of the device to ensure that there are no residual knives or foreign objects.

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