Integrated hob of shield tunneling machine and assembly method of integrated hob

Abstract

The invention provides an integrated hob of a shield tunneling machine and an assembling method of the integrated hob, and relates to the field of shield tunneling machine cutterhead components. The cutter box is of a tetragonal frame structure, multiple sets of screws are symmetrically installed on the inner wall of the cutter box through cutter box wedge blocks in an embedded mode, thrust knuckle bearings are connected to the side faces of one ends of the screws, the thrust knuckle bearings are arranged on the inner sides of the cutter box wedge blocks, screw sleeves are arranged at the heads of one ends of the screws, and end covers are arranged on the outer sides of the thrust knuckle bearings. The end cover is connected with the outer wall of the cutter box wedge block through a bolt, the screw sleeve is rotated to drive the screw to rotate together, the other end of the screw is connected with a movable clamping block through threads, the movable clamping block is slidably connected with a hob shaft rod, and the other side of the hob shaft rod is connected with a cutter box clamping block in an embedded mode. According to the integrated hobbing cutter matched cutter changing manipulator, automatic cutter changing operation of the hobbing cutter of the shield tunneling machine can be achieved, so that the hobbing cutter changing efficiency of the shield tunneling machine is improved, and the tunnel construction efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of shield machine cutterhead components, and in particular to an integrated roller cutter for a shield machine and an assembly method thereof. Background Art

[0002] The roller cutter installed on the cutterhead is the main tool for the shield machine to break rocks. It is a key component and vulnerable part of the shield machine. It is characterized by easy wear, complex structure and high technical content. The wear of the cutter has an important impact on the cost, speed and efficiency of the shield machine construction. The replacement of the cutter is a major reason for the low utilization rate of the shield machine in construction. At present, the replacement of the cutter is manual, and the replacement accounts for up to a quarter of the total construction time. The efficiency of the shield machine cutter replacement is directly related to the construction period and project cost. In addition, the tool change environment in the tunnel is harsh, threatening the personal safety of workers. It is very necessary to develop equipment for mechanized and automated replacement of shield machine cutters to replace manual operations. Therefore, how to ensure that the shield cutter changing robot can quickly replace the roller cutter, improve the excavation efficiency, and save economic costs has become a difficult problem that needs to be solved urgently. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to provide an integrated roller cutter for a shield machine, and further to provide an assembly method for the integrated roller cutter, so as to effectively solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above-mentioned purpose, the first aspect of the present invention proposes an integrated roller cutter for a shield machine, which includes a cutter box, which is arranged as a cubic frame structure, and a screw is embedded in the inner wall of the cutter box through a cutter box wedge block. There are multiple groups of screws symmetrically arranged, and a thrust spherical bearing is connected to the side of one end of the screw, and the thrust spherical bearing is arranged on the inner side of the cutter box wedge block. A screw sleeve is provided at the head of one end of the screw, and an end cover is provided on the outer side of the thrust spherical bearing. The end cover is connected to the outer wall of the cutter box wedge block by bolts, and rotating the screw sleeve drives the screw to rotate together. The other end of the screw is connected to a movable block by a thread, and the movable block is slidably connected to the roller shaft rod, and the other side of the roller shaft rod is embedded in the cutter box block.

[0005] In a further embodiment of the first aspect, the movable card block is arranged as an L-shaped structure, a screw slot hole is arranged vertically in the longitudinal direction of the movable card block, an inner thread of the slot hole is arranged at the inner bottom end of the screw slot hole, the movable card block is matched with one end of the screw rod through the inner thread of the slot hole, and an axial rod inclined surface is arranged on one side of the bottom end of the movable card block.

[0006] In a further embodiment of the first aspect, a hob is provided on the side of the middle section of the hob shaft, and fixed ends of the hob shaft are provided at both ends of the hob shaft. A right-angled bevel is provided on one side of the fixed end of the shaft, and the right-angled bevel is contact-connected with a block of the tool box, and a block contact bevel is provided on the other side of the fixed end of the shaft, and the block contact bevel is contact-slidingly connected with the inclined surface of the shaft.

[0007] In a further embodiment of the first aspect, the tool box block is arranged as a C-shaped structure, a right-angle embedding slot for the shaft rod is provided on one side of the opening of the tool box block, a circular chamfer is provided at the bottom end of the right-angle embedding slot for the shaft rod, and one end of the top of the tool box block is longer than the other end of the bottom of the tool box block.

[0008] Based on the integrated roller cutter of the shield machine disclosed in the first aspect, the second aspect of the present invention discloses an assembly method of the integrated roller cutter from two perspectives of disassembling a damaged roller cutter and installing a new roller cutter.

[0009] Removing a damaged reel:

[0010] Step A1, after the robot end effector is aligned with the screw sleeve, the screw sleeve is rotated to drive the screw to rotate, so that the moving block moves horizontally a predetermined distance in a direction away from the hob shaft;

[0011] Step A2, after the moving block moves horizontally a predetermined distance in the direction away from the hob shaft, the hob and the hob shaft change from a fixed state to a movable position state, and the robot arm clamps the hob and the hob shaft to remove the hob and the hob shaft that need to be replaced from the integrated tool box.

[0012] Installing a new hob:

[0013] Step B1, the robot arm gripper grasps the new hob together with the hob shaft, changes the posture and sends it to the integrated tool box, and the robot arm puts the hob together with the hob shaft into the groove of the tool box block, and uses the gravity of the hob together with the hob shaft to achieve positioning;

[0014] Step B2, after the robot end effector is aligned with the screw sleeve, the screw sleeve is rotated to drive the screw to rotate, so that the moving block moves in the direction of the hob until the newly replaced hob is completely fixed. The robot arm changes its posture and returns to the initial position, completing the hob replacement process.

[0015] In a further embodiment of the second aspect, in step A1 and step A2, the tool box can be fixed on the cutter head component of the shield machine by welding, bolting or slot embedding, and the cutter shaft is connected to the cutter by a bearing or a sleeve.

[0016] In a further embodiment of the second aspect, in step B1 and step B2, when the tool box and its auxiliary components are replaced as a whole, the tool box is pre-assembled, the tool box wedge is first installed and fixed on the inner side of the tool box, and then the thrust joint bearing, screw sleeve, end cover and movable block are respectively fixed by screws, and the two screws are rotated to drive the rotating movable block to move up and down so that the gap distance with the tool box block changes, and the gap distance changes from small to large, and the hob shaft rod and the hob can be put in or taken out, and the gap distance changes from large to small, thereby achieving the fixation of the hob shaft rod and indirectly fixing the hob.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The present invention can realize the automatic tool changing operation of the shield machine cutter in conjunction with the tool changing robot, thereby improving the efficiency of replacing the shield machine cutter, ensuring the personal safety of construction personnel, improving the efficiency of tunnel construction, and saving economic costs. The cutter of the equipment together with the cutter box and its associated components can be fixed as a whole on the cutterhead component of the shield machine, so that the cutter can be flexibly replaced as a whole, or only the cutter and its associated components can be replaced.

[0019] (2) The tool box with a cube frame structure can provide support and protect internal components. The tool box wedge can assist in fixing the screw. The rotation of the screw drives the rotation and position change of its associated components. The thrust spherical bearing plays an indirect role in fixing the screw. Under its action, the screw only rotates and does not move to the other end. The force moving to the other end is transmitted to the end cover, which in turn transmits it to the tool box wedge. The rotation of the screw is not affected. Under the protection of the screw sleeve, the movable block can be displaced by rotation.

[0020] (3) The center hole of the hob passes through the connecting hob shaft. The hob shafts extending from both ends of the hob are fixed by the moving block and the tool box block respectively. The screw drives the moving block to move, which ultimately determines whether the hob shaft is locked or released and can be taken out. The inclined surface of the shaft corresponds to the contact bevel of the block, and the right-angled bevel corresponds to the right-angle embedded groove and arc chamfer of the shaft. This prevents the hob shaft from rotating, thereby avoiding affecting the rotation of the hob. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the movable block and the screw structure of the present invention.

[0023] Figure 3 It is a schematic diagram of the structure of the hob shaft rod of the present invention.

[0024] Figure 4 It is a schematic diagram of the tool box block structure of the present invention.

[0025] Figure 5 It is a schematic diagram of the disassembly hob structure of the present invention.

[0026] The reference numerals in the figure are: tool box 1, tool box wedge block 2, screw 3, thrust spherical bearing 4, screw sleeve 5, end cover 6, movable block 7, hob shaft 8, tool box block 9, screw slot 10, slot internal thread 11, shaft bevel 12, hob 13, shaft fixed end 14, right-angle bevel 15, block contact bevel 16, shaft right-angle embedded slot 17, arc chamfer 18. DETAILED DESCRIPTION

[0027] In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described. In order to enable those skilled in the art to better understand the present application scheme, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is only an embodiment of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians of the art without making creative work should belong to the scope of protection of this application.

[0028] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] Figure 1 The overall structure of the integrated cutter 13 of the shield machine in this embodiment is shown. Figure 2 The diagram shows the schematic diagram of its internal structure. Figure 1 and Figure 2It can be seen that the integrated hob 13 is composed of a tool box 1, a tool box wedge block 2, a screw 3, a thrust spherical bearing 4, a screw sleeve 5, an end cover 6, a movable block 7, a hob 13 shaft 8, a tool box block 9, and a hob 13. The tool box 1 is set as a cubic frame structure. The inner wall of the tool box 1 is embedded with a screw 3 through a tool box wedge block 2. The screw 3 is symmetrically arranged in multiple groups. A thrust joint bearing 4 is connected to the side of one end of the screw 3. The thrust joint bearing 4 is arranged on the inner side of the tool box wedge block 2. A screw sleeve 5 is provided at the head of one end of the screw 3. The outer side of the thrust joint bearing 4 is contact-connected with an end cover 6. The end cover 6 is connected to the outer wall of the tool box wedge block 2 by bolts. Rotating the screw sleeve 5 drives the screw 3 to rotate together. The other end of the screw 3 is connected to a moving block 7 through a thread. The moving block 7 is slidably connected to the shaft rod 8 of the hob 13. The other side of the shaft rod 8 of the hob 13 is embedded in the tool box block 9. The screw sleeve 5 is installed on the screw 3. The mechanical arm rotates the screw sleeve 5 to drive the screw 3 to rotate together. The bottom component of the screw 3 moves up and down, so that the hob 1 3 and its associated components are loose and can be installed and replaced. A thrust joint bearing 4 is installed on the screw rod 3. Through the support and positioning effect of the screw rod 3 during rotation, when the screw rod 3 is installed on the mobile block 7, the tool box block 9 and the mobile block 7 fix the hob 13 and its associated components together. When the hob 13 needs to be replaced, the robot end rotates the screw rod 3, and the rotation of the screw rod 3 drives the mobile block 7 to move, so that the hob 13 is no longer fixed, which facilitates the replacement of the hob 13. By controlling the rotation of the screw rod 3, the movement of the mobile block 7 can be ensured, the hob 13 can leave the tool box 1 for replacement, and the mobile block 7 will not fall off the integrated hob 13. The two screw rods 3 installed on the tool box wedge block 2 can rotate at the same time, so that the two mobile blocks 7 can move at the same time, and the replacement of the hob 13 is completed.

[0031] Figure 2 It can be seen that the movable block 7 is arranged in an L-shaped structure, and a screw slot hole 10 is arranged vertically in the longitudinal direction of the movable block 7, and an inner thread 11 is arranged at the inner bottom end of the inner side of the screw slot hole 10. The movable block 7 is matched with one end of the screw 3 through the inner thread 11 of the slot hole, and an axial rod inclined surface 12 is arranged on one side of the bottom end of the movable block 7. The connection between the L-shaped movable block 7 and the tool box wedge block 2 can be connected through a non-cylindrical slot. If it is connected through a cylindrical slot, the rotating screw 3 drives the movable block 7 to deflect to one side, thereby releasing the constraint on the fixed end 14 of the axial rod.

[0032] Figure 3 The hob 13 shaft 8 and its surrounding structure are shown. Figure 3It can be seen that a hob 13 is provided on the side of the middle section of the shaft 8 of the hob 13, and shaft fixed ends 14 are provided at both ends of the shaft 8 of the hob 13. A right-angled bevel 15 is provided on one side of the shaft fixed end 14, and the right-angled bevel 15 is contact-connected with the tool box block 9, and a block contact bevel 16 is provided on the other side of the shaft fixed end 14. The block contact bevel 16 is contact-slidingly connected with the shaft inclined surface 12. The shaft 8 of the hob 13 and the hob 13 can be collectively referred to as rolling, and the rotation of the hob 13 is inseparable from the shaft 8 of the hob 13, and the shaft 8 of the hob 13 does not participate in the rotation. A sleeve is provided on the side of the hob 13 to be connected with the center hole of the hob 13.

[0033] Figure 4 The structure of the knife box block 9 is shown. Figure 4 It can be seen that the tool box block 9 is configured as a C-shaped structure, and a right-angle embedded slot 17 for the shaft rod is provided on one side of the opening of the tool box block 9, and an arc chamfer 18 is provided at the bottom end of the right-angle embedded slot 17 for the shaft rod. One end of the top of the tool box block 9 is longer than the other end of the bottom of the tool box block 9. When the restraint of the movable block 7 on the fixed end 14 of the shaft rod is removed, the shaft rod 8 of the hob 13 can slide out naturally with the rolling. In order to prevent the hob 13 from being stressed, the movable block 7 and the tool box block 9 are deformed by stress, causing the hob 13 to fly out. The movable block 7 and the bottom end of the tool box block 9 can also be locked and fixed by bolts and reinforcing ribs. When disassembling, this component is removed first.

[0034] Combination Figure 5 , this embodiment discloses the steps of disassembling the damaged hob 13: first, after the robot end effector is aligned with the screw sleeve 5, the screw sleeve 5 is rotated to drive the screw 3 to rotate, so that the moving block 7 moves horizontally in the direction away from the shaft 8 of the hob 13 by a predetermined distance; then, after the moving block 7 moves horizontally in the direction away from the shaft 8 of the hob 13 by a predetermined distance, the hob 13 and the shaft 8 of the hob 13 change from a fixed state to a movable position state, and the robot arm clamps the hob 13 and the shaft 8 of the hob 13, so that the hob 13 to be replaced and the shaft 8 of the hob 13 are removed from the integrated tool box 1. In this process, the tool box 1 can be fixed on the cutter head component of the shield machine by welding, bolting, or slot embedded fixing, and the shaft 8 of the hob 13 is connected to the hob 13 by a bearing or a sleeve.

[0035] Steps for installing a new hob 13: First, the robot arm's gripper grasps the new hob 13 together with the hob 13 shaft 8, changes its posture and sends it to the integrated tool box 1, and the robot arm places the hob 13 together with the hob 13 shaft 8 into the groove of the tool box block 9, and uses the gravity of the hob 13 together with the hob 13 shaft 8 to achieve positioning; then, after the robot's end effector is aligned with the screw sleeve 5, the screw sleeve 5 is rotated to drive the screw 3 to rotate, so that the moving block 7 moves in the direction of the hob 13 until the newly replaced hob 13 is completely fixed, the robot arm changes its posture, returns to the initial position, and the replacement process of the hob 13 is completed. During this process, when the tool box 1 and its auxiliary components are replaced as a whole, the tool box 1 is pre-assembled, and the tool box wedge block 2 is first installed and fixed on the inner side of the tool box 1, and then the thrust joint bearing 4, the screw sleeve 5, the end cover 6 and the movable block 7 are respectively fixed by the screw 3, and the two screws 3 are rotated to drive the rotating movable block 7 to move up and down so that the gap distance with the tool box block 9 changes, and the gap distance changes from small to large, and the shaft rod 8 of the hob 13 can be put in or taken out together with the hob 13, and the gap distance changes from large to small, thereby realizing the fixation of the shaft rod 8 of the hob 13, and indirectly fixing the hob 13.

[0036] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An integrated roller cutter for a shield machine, characterized in that: include: The tool box is arranged as a cubic frame structure, the inner wall of the tool box is embedded with a screw through a tool box wedge block, the screw is symmetrically arranged in multiple groups, one end of the screw is connected to a thrust joint bearing on the side, the thrust joint bearing is arranged on the inner side of the tool box wedge block, a screw sleeve is provided on the head of one end of the screw, an end cover is contact-connected to the outer side of the thrust joint bearing, the end cover is connected to the outer wall of the tool box wedge block by bolts, and rotating the screw sleeve drives the screw to rotate together, the other end of the screw is threadedly connected to a moving block, the moving block is slidably connected to the hob shaft, and the other side of the hob shaft is embedded in the tool box block.

2. The shield machine integrated roller cutter according to claim 1, characterized in that: The movable card block is set to an L-shaped structure, and a screw slot hole is vertically arranged in the longitudinal direction of the movable card block. The inner bottom end of the screw slot hole is provided with an internal thread of the slot hole. The movable card block is matched with one end of the screw rod through the internal thread of the slot hole, and a shaft rod inclined surface is provided on one side of the bottom end of the movable card block.

3. The shield machine integrated roller cutter according to claim 1, characterized in that: A hob is provided on the side of the middle section of the hob shaft, and fixed ends of the hob shaft are provided at both ends of the hob shaft. A right-angled bevel is provided on one side of the fixed end of the shaft, and the right-angled bevel is contact-connected with a block of a tool box, and a block contact bevel is provided on the other side of the fixed end of the shaft, and the block contact bevel is contact-slidingly connected with the inclined surface of the shaft.

4. The shield machine integrated roller cutter according to claim 1, characterized in that: The tool box card block is arranged as a C-shaped structure, a right-angle embedding slot for an axial rod is arranged on one side of the opening of the tool box card block, a circular chamfer is arranged on the bottom end of the right-angle embedding slot for the axial rod, and one end of the top of the tool box card block is longer than the other end of the bottom of the tool box card block.

5. A method for assembling an integrated roller cutter of a shield machine according to any one of claims 1 to 4, characterized in that: The steps to remove a damaged reel include: Step A1, after the robot end effector is aligned with the screw sleeve, the screw sleeve is rotated to drive the screw to rotate, so that the moving block moves horizontally a predetermined distance in a direction away from the hob shaft; Step A2, after the moving block moves horizontally a predetermined distance in the direction away from the hob shaft, the hob and the hob shaft change from a fixed state to a movable position state, and the robot arm clamps the hob and the hob shaft to remove the hob and the hob shaft that need to be replaced from the integrated tool box.

6. A method for assembling an integrated roller cutter of a shield machine according to any one of claims 1 to 4, characterized in that: The steps for installing a new reel include: Step B1, the robot arm gripper grasps the new hob together with the hob shaft, changes the posture and sends it to the integrated tool box, and the robot arm puts the hob together with the hob shaft into the groove of the tool box block, and uses the gravity of the hob together with the hob shaft to achieve positioning; Step B2, after the robot end effector is aligned with the screw sleeve, the screw sleeve is rotated to drive the screw to rotate, so that the moving block moves in the direction of the hob until the newly replaced hob is completely fixed. The robot arm changes its posture and returns to the initial position, completing the hob replacement process.

7. The method for assembling an integrated roller cutter of a shield machine according to claim 5, characterized in that: In step A1 and step A2: the cutter box is fixed on the cutter head component of the shield machine, and the roller cutter shaft is connected to the roller cutter through a bearing or a sleeve.

8. The method for assembling an integrated roller cutter of a shield machine according to claim 7, characterized in that: The method of fixing the cutter box on the cutter head component of the shield machine includes welding, bolting or slot-embedded fixing.

9. The method for assembling an integrated roller cutter of a shield machine according to claim 6, characterized in that: In step B1 and step B2: When the tool box and its auxiliary components are replaced as a whole, the tool box is pre-assembled. First, the tool box wedge is installed and fixed on the inside of the tool box, and then the thrust joint bearing, screw sleeve, end cover and movable block are fixed respectively by screws. The two screws are rotated to drive the rotating movable block to move up and down, so that the gap distance with the tool box block changes, and the gap distance changes from small to large. The hob shaft rod is put in or taken out together with the hob, and the gap distance changes from large to small, thereby achieving the fixation of the hob shaft rod and indirectly fixing the hob.

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