Shield tunneling machine cutter replacing device and replacing method thereof

Abstract

The invention relates to the technical field of shield tunneling machines, in particular to a shield tunneling machine cutter replacing device and a replacing method thereof.The shield tunneling machine cutter replacing device comprises a rack, a driving part and a replacing device body, and the driving part drives the replacing device body to replace a cutter; the rack comprises a supporting plate, a transverse rod, a sliding groove and a movable connecting base. The driving part comprises a sliding connecting plate and a first driving device; the replacing device comprises a base, a connecting base, a movable box, a clamping part, a third gear, a second connecting rod and an arc-shaped protrusion, and deflection of the movable box is controlled through rotation of the third gear. According to the shield tunneling machine cutter replacement device and the replacement method thereof, the time for cutter replacement can be shortened, and cutter replacement is further facilitated; the cutter does not need to be lifted and clamped at a high position all the time in the cutter replacement process, falling caused by misoperation is avoided, and potential safety hazards are reduced; and the tool conveying device is simple, practical, time-saving and labor-saving.

Description

Technical Field

[0001] The invention relates to the technical field of shield machines, and in particular to a shield machine tool replacement device and a replacement method thereof. Background Art

[0002] As an efficient and safe underground tunnel boring equipment, shield machines are widely used in infrastructure construction such as urban subways, water conservancy projects, and cross-river tunnels. During the excavation process, shield machines need to pass through complex and changeable geological conditions and withstand huge stratum pressure and water and soil pressure.

[0003] A cutter is installed on the front shield of the shield machine through a tool holder. The cutter is used to cut the soil and rock in front. However, due to long-term high-intensity operation, the cutter on the shield machine tool holder will gradually wear out, affecting the cutting efficiency and may even cause excavation interruption. Therefore, the replacement of the cutter becomes an inevitable task in the shield construction process.

[0004] However, in the prior art, the replacement of shield machine cutters is mostly done manually. The disc cutter is clamped by a clamping mechanism on site and then transported manually. This operation is not only time-consuming and affects the tunneling efficiency of the shield machine, but also because the clamping mechanism always holds the cutter and cannot perform other operations, the cutter clamped by the mechanism can easily fall due to improper operation during the subsequent replacement and transportation process, especially when the cutter located at a high place is replaced, which poses a great safety hazard. Summary of the invention

[0005] The present invention provides a shield machine tool replacement device and a replacement method thereof to solve the technical problems raised in the above background technology.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A tool replacement device for a shield machine comprises a frame, a driving part and a replacement device, wherein the driving part and the replacement device are arranged in the frame, and the replacement device is driven by the driving part to replace the tool; the frame comprises a support plate, a pair of cross bars are arranged at the bottom of one side of the support plate, a sliding groove is arranged at the upper end of the cross bar, a movable connection seat is slidably installed in the sliding groove, and a replacement device is installed between the pair of movable connection seats; the driving part comprises a sliding connection plate arranged at one side of the support plate, a first driving device is installed at one side of the sliding connection plate, and an output end of the first driving device is connected to the replacement device; the replacement device comprises a pair of bases respectively connected to the movable connection seats, a connection seat is arranged between the bases, a movable box is rotatably installed on one side of the connection seat, a clamping part adapted to the tool for clamping the tool is arranged on one side of the movable box, third gears are rotatably installed on both sides of the inner wall of the connection seat, the third gears are connected by a second connecting rod, arc-shaped protrusions are symmetrically arranged on both sides of the inner wall of the movable box, convex teeth meshing with the third gear are arranged on the arc-shaped protrusions, and the deflection of the movable box is controlled by the rotation of the third gear.

[0008] As a preferred solution of the present invention, a secondary hole is provided in the base, a tertiary hole is provided on one side of the secondary hole, a second gear is rotatably installed in the secondary hole, the second gear and the third gear are connected by an axis control device provided in the side wall of the connecting seat, and the third gear is driven to rotate by the second gear.

[0009] As a preferred solution of the present invention, one side of the support plate is provided with primary rods respectively adapted to the base, one side of the primary rod is provided with a secondary rod adapted to the secondary hole, the secondary rod is provided with a rack meshed with the second gear, one side of the secondary rod is provided with a tertiary rod adapted to the tertiary hole, and the meshing stroke of the rack and the second gear is used to control the deflection of the movable box to the loading state.

[0010] As a preferred solution of the present invention, a sliding mounting plate is provided on one side of the support plate, a secondary driving device is spaced apart at the upper end of the sliding mounting plate, an output end of the secondary driving device is connected to a sliding connecting plate, and the sliding connecting plate is slidably installed on the upper end surface of the sliding mounting plate.

[0011] As a preferred solution of the present invention, the clamping part includes first gears installed at intervals on the top and bottom of the inner wall of the movable box for rotation, the top and bottom first gears are connected by a first connecting rod, and a clamping rod adapted to the tool is arranged at intervals on one side of the first connecting rod.

[0012] As a preferred solution of the present invention, a third driving device is provided on the top of the movable box, the output end of which extends deep into the movable box and is connected to the first gear.

[0013] As a preferred solution of the present invention, it also includes a loading box arranged between the cross bars, the upper end of the loading box is open, and the inner cavity thereof is adapted to the tool.

[0014] As a preferred solution of the present invention, an installation groove adapted to the bottom of the charging box is provided between the cross bars, support handles are provided on both sides of the outer wall of the charging box, and support cylinders with output ends facing upward and adapted to the support handles are installed on the upper ends of the two side walls of the installation groove.

[0015] As a preferred solution of the present invention, both sides of the inner wall of the loading box are provided with limiting grooves adapted to the shafts on both sides of the tool, and a flexible buffer pad is provided at the bottom of the loading box.

[0016] As a preferred solution of the present invention, the replacement method of the shield machine tool replacement device comprises the following steps:

[0017] S1. When it is determined that the tool 2 needs to be replaced, the device is moved to a position on one side of the tool holder 1 where the tool 2 is located;

[0018] S2, after starting the driving unit to control the replacement device to clamp the tool 2 in the tool holder 1, the tool holder 1 releases the lock on the tool 2, and controls the replacement device again to clamp the tool 2 and take it out of the tool holder 1;

[0019] S3, controlling the movable box 16 in the replacement device to deflect, lowering the clamped tool 2 from a high place, and releasing the clamping;

[0020] S4, after taking away the put-down tool 2, the new tool 2 is clamped and transported to the tool holder 1 by controlling the replacement device again, and the tool 2 is installed to complete the replacement.

[0021] The beneficial effects of the present invention are:

[0022] By replacing the device and the setting of the driving part, this device can reduce the time for replacing the tool, further facilitate the replacement of the tool, and thus reduce the impact on the tunneling efficiency of the shield machine; by replacing the cooperation of the movable box in the device and its control drive device, the clamped tool can be deflected downward, thereby lowering the clamped tool, so that the device does not need to hold the tool at a high place all the time during the tool replacement process, avoiding falling due to improper operation and reducing safety hazards; at the same time, the process of controlling the deflection of the movable box to lower the tool is combined with the process of tool transportation, without the need to use additional devices or steps, further facilitating the operation process of controlling the lowering of the tool, being simple, practical, and saving time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the top structure of the present invention.

[0024] Figure 2It is a schematic diagram of a top view and a cross-sectional structure of the present invention.

[0025] Figure 3 It is a schematic diagram of the top cross-sectional structure of the clamping state of the present invention.

[0026] Figure 4 It is a schematic diagram of the cross-sectional structure of the present invention in a transport state from above.

[0027] Figure 5 It is a schematic diagram of the cross-sectional structure of the present invention in a loading state from above.

[0028] Figure 6 It is a side structural schematic diagram of the present invention.

[0029] Figure 7 It is a side cross-sectional structural schematic diagram of the present invention.

[0030] Figure 8 It is a schematic diagram of the side cross-sectional structure of the clamping state of the present invention.

[0031] Fig. 9 It is a side cross-sectional structural schematic diagram of the present invention in a loading state.

[0032] Fig.10 It is a schematic cross-sectional view of the structure of loading and unloading cutting tools in the charging box of the present invention.

[0033] The text labels in the figure are as follows: 1. tool holder; 2. tool; 3. support plate; 4. base; 5. connecting seat; 6. first driving device; 7. second driving device; 8. cross bar; 9. sliding groove; 10. movable connecting seat; 11. primary rod; 12. secondary rod; 13. tertiary rod; 14. secondary hole; 15. tertiary hole; 16. movable box; 17. first gear; 18. clamping rod; 19. second gear; 20. axis control device; 21. third gear; 22. second connecting rod; 23. first connecting rod; 24. third driving device; 25. charging box; 26. limiting groove; 27. supporting handle; 28. arc-shaped protrusion; 29. ​​sliding connecting plate; 30. supporting cylinder; 31. sliding mounting plate. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory and should not have any limiting effect on the protection scope of the present invention.

[0035] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0036] like Figure 1-9As shown, a tool replacement device for a shield machine includes a frame, a driving unit and a replacement device, wherein the driving unit and the replacement device are arranged in the frame, and the driving unit drives the replacement device to replace the tool 2 in the tool holder 1;

[0037] The frame includes a support plate 3, a pair of cross bars 8 are provided at the bottom of one side of the support plate 3. In this embodiment, a connection port connected to a manipulator is provided on the other side of the support plate 3, and the manipulator can further facilitate the movement and transportation of the device; a sliding groove 9 is provided at the upper end of the cross bar 8, and a movable connecting seat 10 is slidably installed in the sliding groove 9, and a replacement device is installed between the pair of movable connecting seats 10, that is, the replacement device moves horizontally within the travel range of the sliding groove 9;

[0038] The driving part includes a sliding connection plate 29 arranged on one side of the support plate 3, and a first driving device 6 is installed on one side of the sliding connection plate 29. The output end of the first driving device 6 is connected to the replacement device. The first driving device 6 is a cylinder, and the first driving device 6 is horizontally arranged, and the movement direction of the output end thereof is adapted to the direction of the cross bar 8, that is, the first driving device 6 drives the replacement device to move horizontally within the travel range of the sliding groove 9;

[0039] The replacement device includes a pair of bases 4 respectively connected to the movable connecting seat 10, a connecting seat 5 is arranged between the bases 4, a movable box 16 is rotatably installed on one side of the connecting seat 5, the rotation plane of the movable box 16 is a vertical plane, that is, the movable box 16 rotates in the vertical plane, one side of the movable box 16 is provided with a clamping portion adapted to the tool 2 for clamping the tool 2, third gears 21 are rotatably installed on both sides of the inner wall of the connecting seat 5, the third gears 21 are connected by a second connecting rod 22, arc-shaped protrusions 28 are symmetrically arranged on both sides of the inner wall of the movable box 16, the arc angle of the arc-shaped protrusion 28 is greater than 90°, that is, the movable box 16 can be deflected from horizontal to vertical, and the arc-shaped protrusion 28 is provided with a convex tooth meshing with the third gear 21, and the deflection of the movable box 16 is controlled by the rotation of the third gear 21.

[0040] like Figure 1-5 As shown, further, a secondary hole 14 is provided in the base 4, a tertiary hole 15 is provided on one side of the secondary hole 14, a second gear 19 is rotatably installed in the secondary hole 14, the second gear 19 is connected to the third gear 21 through an axis control device 20 provided in the side wall of the connecting seat 5, and the second gear 19 drives the third gear 21 to rotate.

[0041] Specifically, in the present embodiment, the secondary hole 14 is a square hole, and the setting of the square hole can facilitate the installation and rotation of the second gear 19 in the hole; at the same time, the axis control device 20 between the second gear 19 and the third gear 21 is a one-way rotation limit device installed on the transmission shaft, that is, under the action of the axis control device 20, only the rotation of the second gear 19 can drive the third gear 21 to rotate, and the second gear 19 cannot be driven to rotate by the third gear 21. Therefore, the axis control device 20 can play a one-way transmission control and protection role.

[0042] like Figure 1-9 As shown, further, one side of the support plate 3 is provided with a primary rod 11 respectively adapted to the base 4, one side of the primary rod 11 is provided with a secondary rod 12 adapted to the secondary hole 14, the secondary rod 12 is provided with a rack meshing with the second gear 19, and one side of the secondary rod 12 is provided with a tertiary rod 13 adapted to the tertiary hole 15, and the meshing stroke of the rack and the second gear 19 is used to control the movable box 16 to deflect to the loading state.

[0043] Specifically, in the present embodiment, the primary rod 11 is a limit rod, which can support the base 4 moved to the primary rod 11; the cross-section of the secondary rod 12 is square and matched with the square hole of the secondary hole 14. When the secondary rod 12 extends into the secondary hole 14, the rack on the secondary rod 12 can engage with the second gear 19 in the hole, and drive the second gear 19 to rotate during the continuous transportation and movement of the replacement device; the tertiary rod 13 is a positioning guide rod, which will first pass through the secondary hole 14 and extend into the tertiary hole 15 matched thereto, and has the effect of positioning movement guidance and improving the movement stability of the replacement device.

[0044] like Figure 1-9 As shown, further, a sliding mounting plate 31 is provided on one side of the support plate 3, a secondary driving device 7 is spaced apart at the upper end of the sliding mounting plate 31, an output end of the secondary driving device 7 is connected to a sliding connecting plate 29, and the sliding connecting plate 29 is slidably installed on the upper end surface of the sliding mounting plate 31.

[0045] Specifically, in this embodiment, the secondary drive device 7 is a cylinder, and the telescopic stroke of its output end is adapted to the meshing transmission stroke of the rack of the secondary rod 12 and the second gear 19, that is, the deflection movement stroke of the replacement device is controlled by the telescopic control of the output end of the secondary drive device 7.

[0046] like Figure 1-9 As shown, further, the clamping part includes a first gear 17 which is rotatably installed at intervals on the top and bottom of the inner wall of the movable box 16, and the top and bottom first gears 17 are connected by a first connecting rod 23, and a clamping rod 18 adapted to the tool 2 is arranged at intervals on one side of the first connecting rod 23.

[0047] Specifically, in this embodiment, the clamping rod 18 is a pair of approximately hook-shaped clamps. Driven by a gear transmission device such as the first gear 17 and the first connecting rod 23, the upper and lower pairs of clamping rods 18 are closed to clamp and fix the tool 2.

[0048] like Figure 1 , Figure 6 As shown, further, a third driving device 24 is provided on the top of the movable box 16 , the output end of which extends deep into the movable box 16 and is connected to the first gear 17 .

[0049] Specifically, the third driving device 24 in this embodiment is a motor, which controls the first gear 17 connected thereto to rotate through the output end of the motor, further facilitating the control of the clamping rod 18 by the clamping part of the device.

[0050] like Figure 1-10 As shown, further, it also includes a loading box 25 arranged between the cross bars 8, the upper end of the loading box 25 is open, and its inner cavity is adapted to the tool 2.

[0051] Specifically, by setting up the loading box 25, the tool 2 put down by the replacement device is loaded into the loading box 25, which further improves the loading effect of the device, and the loading box 25 can further facilitate the transfer of the replaced tool 2.

[0052] like Figure 1-10 As shown, further, a mounting groove adapted to the bottom of the charging box 25 is provided between the cross bars 8, support handles 27 are provided on both sides of the outer wall of the charging box 25, and support cylinders 30 with output ends facing upward and adapted to the support handles 27 are installed on the upper ends of the two side walls of the mounting groove.

[0053] Specifically, through the setting of the mounting groove, the loading box 25 can be conveniently positioned and placed; through the cooperation of the battlefield handle 27 and the supporting cylinder 30 on the loading box 25, the loading box 25 can be supported and lifted, reducing the falling stroke of the tool 2, and can more stably and safely catch the tool 2, further facilitating the loading of the loading box 25 of the device.

[0054] like Figure 1-10 As shown, further, the inner walls of the loading box 25 are provided with limit grooves 26 adapted to the shafts on both sides of the tool 2, and the bottom of the loading box 25 is provided with a flexible buffer pad. That is, through the cooperation of the limit grooves 26 and the shafts on both sides of the tool 2, the tool 2 can be centered in the loading box 25 or the shaking can be reduced. In this embodiment, the flexible buffer pad is a rubber pad. The flexible buffer pad provided at the bottom reduces the vibration and impact generated when the tool 2 falls into the loading box 25, and further improves the safety of the loading box 25.

[0055] like Figure 1-10 As shown, further, the replacement method of the shield machine tool replacement device includes the following steps:

[0056] S1. When it is determined that the tool 2 needs to be replaced, the device is moved to a position on one side of the tool holder 1 where the tool 2 is located;

[0057] S2, after starting the driving unit to control the replacement device to clamp the tool 2 in the tool holder 1, the tool holder 1 releases the lock on the tool 2, and controls the replacement device again to clamp the tool 2 and take it out of the tool holder 1;

[0058] S3, controlling the movable box 16 in the replacement device to deflect, lowering the clamped tool 2 from a high place, and releasing the clamping;

[0059] S4, after taking away the put-down tool 2, the new tool 2 is clamped and transported to the tool holder 1 by controlling the replacement device again, and the tool 2 is installed to complete the replacement.

[0060] Specifically, in a specific tool 2 replacement process, the following specific steps are included:

[0061] S1, when it is determined that the tool 2 needs to be replaced by using time or setting a sensor in the tool holder 1, the device is moved to a position on one side of the tool holder 1 where the tool 2 is located by a manipulator;

[0062] S2, start the driving part, control the output end of the first driving device 6 to extend, push the replacement device as a whole to move toward the tool holder 1, until the clamping rod 18 extends into the tool holder 1 and fits with the tool 2, start the third driving device 24 to control the clamping rod 18 to close and clamp the tool 2 in the tool holder 1, then release the lock of the tool holder 1 on the tool 2, and control the output end of the first driving device 6 to retract and drive the replacement device to move away from the tool holder 1 again, until the tool 2 is clamped out of the tool holder 1 and continuously transported back;

[0063] S3, in the process of the replacement device transporting the tool 2 back, after the output end of the first drive device 1 is fully retracted, the second drive device 7 is started, the output end of the second drive device 7 is retracted and continues to drive the replacement device to move. In this process, the third-level rod 13 will first extend into the third-level hole 15 for positioning and guiding, and then the second-level rod 12 will also extend into the second-level hole 14 until the rack on the second-level rod 12 is meshed with the second gear 19 in the second-level hole 14, and as the replacement device continues to move, the rack on the second-level rod 12 drives the second gear 19 to start rotating, and the second gear 19 is transmitted through the third gear 21 and the arc-shaped protrusion 28 meshing with the third gear 21, that is, the control The movable box 16 starts to deflect downward, and the tool 2 clamped by the clamping part in the movable box 16 is rotated downward from a high position and lowered, so that the tool 2 enters the vertical state and loading state from the upper horizontal state; until the primary rod 11 supports the base 4, the output end of the second drive device 7 is completely retracted and the replacement device moves to the end point, at this time, the support cylinder 30 is started, and the output end of the support cylinder 30 is extended, and the loading box 25 is lifted to the vicinity below the tool 2 through the support handle 27, and the clamping part releases the clamping of the tool 2, that is, the clamping rod 18 is opened, and the tool 2 falls into the loading box 25, and then the loading box 25 is controlled to be lowered by the support cylinder 30 to complete the loading of the tool 2;

[0064] S4. After removing the loading box 25 from the installation slot and taking away the replaced tool 2, the clamping part of the replacement device is controlled again, and the new tool 2 to be installed is clamped by the clamping rod 18, and the second drive device 7 and the first drive device 6 are started in sequence, the tool 2 is reversely deflected and raised to a horizontal level and continuously transported to the tool holder 1, the tool 2 is locked and installed in the tool holder 1, the clamping part is opened and the device is moved away to complete the entire replacement process.

[0065] During the above-mentioned whole process, the device can reduce the time for replacing the tool 2 by setting the replacement device and the driving part, further facilitate the replacement of the tool 2, and thus reduce the impact on the excavation efficiency of the shield machine; by replacing the movable box 16 in the device and cooperating with its various control drive devices, the clamped tool 2 can be deflected downward, thereby putting down the clamped tool 2, so that the device does not need to hold the clamped tool 2 at a high place all the time during the replacement of the tool 2, thereby avoiding falling due to improper operation and reducing safety hazards; at the same time, the process of controlling the deflection of the movable box 16 to put down the tool 2 is combined with the process of transporting the tool 2, without the need to use additional devices or steps, further facilitating the operation process of controlling the lowering of the tool 2, being simple, practical, time-saving and labor-saving; when installing a new tool 2, the deflection and lifting function of the replacement device can also be used to lift the low tool 2 to the horizontal plane to be installed at a high place, and then install it in the original way, further improving the installation efficiency during the replacement of the tool 2 and reducing the safety hazards during the installation of the tool 2.

[0066] It should be noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0067] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. The above is only a preferred implementation of the present invention. It should be pointed out that due to the limitations of textual expression, there are objectively infinite specific structures. For ordinary technicians in this technical field, without departing from the principles of the present invention, they can make several improvements, modifications or changes, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the protection scope of the present invention.

Claims

1. A shield machine tool replacement device, characterized in that: It comprises a frame, a driving part and a replacement device, wherein the driving part and the replacement device are arranged in the frame, and the driving part drives the replacement device to replace the tool (2); The frame comprises a support plate (3), a pair of cross bars (8) are arranged at the bottom of one side of the support plate (3), a sliding groove (9) is arranged at the upper end of the cross bar (8), a movable connection seat (10) is slidably installed in the sliding groove (9), and a replacement device is installed between the pair of movable connection seats (10); The driving part comprises a sliding connection plate (29) arranged on one side of the support plate (3), a first driving device (6) is installed on one side of the sliding connection plate (29), and an output end of the first driving device (6) is connected to the replacement device; The replacement device comprises a pair of bases (4) respectively connected to the movable connecting base (10), a connecting base (5) is arranged between the bases (4), a movable box (16) is rotatably mounted on one side of the connecting base (5), a clamping portion adapted to the tool (2) for clamping the tool (2) is arranged on one side of the movable box (16), third gears (21) are rotatably mounted on both sides of the inner wall of the connecting base (5), the third gears (21) are connected by a second connecting rod (22), arc-shaped protrusions (28) are symmetrically arranged on both sides of the inner wall of the movable box (16), and convex teeth meshing with the third gear (21) are arranged on the arc-shaped protrusions (28), and the deflection of the movable box (16) is controlled by the rotation of the third gear (21).

2. A shield machine tool replacement device according to claim 1, characterized in that: The base (4) is provided with a secondary hole (14), a tertiary hole (15) is provided on one side of the secondary hole (14), a second gear (19) is rotatably mounted in the secondary hole (14), the second gear (19) and the third gear (21) are connected via an axis control device (20) provided in the side wall of the connecting seat (5), and the second gear (19) drives the third gear (21) to rotate.

3. A shield machine tool replacement device according to claim 2, characterized in that: One side of the support plate (3) is provided with a primary rod (11) adapted to the base (4) at intervals, one side of the primary rod (11) is provided with a secondary rod (12) adapted to the secondary hole (14), the secondary rod (12) is provided with a rack meshing with the second gear (19), one side of the secondary rod (12) is provided with a tertiary rod (13) adapted to the tertiary hole (15), and the meshing stroke between the rack and the second gear (19) is used to control the movable box (16) to deflect to a loading state.

4. A shield machine tool replacement device according to claim 3, characterized in that: A sliding mounting plate (31) is provided on one side of the support plate (3), a secondary driving device (7) is spaced apart at the upper end of the sliding mounting plate (31), an output end of the secondary driving device (7) is connected to a sliding connecting plate (29), and the sliding connecting plate (29) is slidably mounted on the upper end surface of the sliding mounting plate (31).

5. A shield machine tool replacement device according to claim 4, characterized in that: The clamping portion comprises first gears (17) which are rotatably mounted at intervals on the top and bottom of the inner wall of the movable box (16); the top and bottom first gears (17) are connected via a first connecting rod (23); and a clamping rod (18) adapted to the tool (2) is arranged at intervals on one side of the first connecting rod (23).

6. A shield machine tool replacement device according to claim 5, characterized in that: A third driving device (24) is provided on the top of the movable box (16), the output end of which extends deep into the movable box (16) and is connected to the first gear (17).

7. A shield machine tool replacement device according to claim 3, characterized in that: It also includes a loading box (25) arranged between the cross bars (8), the loading box (25) has an open upper end, and its inner cavity is adapted to the tool (2).

8. A shield machine tool replacement device according to claim 7, characterized in that: A mounting groove adapted to the bottom of the charging box (25) is provided between the cross bars (8), support handles (27) are provided on both sides of the outer wall of the charging box (25), and support cylinders (30) with output ends facing upward and adapted to the support handles (27) are installed on the upper ends of the two side walls of the mounting groove.

9. A shield machine tool replacement device according to claim 8, characterized in that: Limiting grooves (26) adapted to the shafts on both sides of the cutter (2) are arranged on both sides of the inner wall of the loading box (25), and a flexible buffer pad is arranged at the bottom of the loading box (25).

10. A method for replacing a tool replacement device for a shield machine according to any one of claims 1 to 9, characterized in that: The steps include: S1. When it is determined that the tool (2) needs to be replaced, the device is moved to a position on one side of the tool holder (1) where the tool (2) is located; S2, after starting the driving unit to control the replacement device to clamp the tool (2) in the tool holder (1), release the lock of the tool holder (1) on the tool (2), and control the replacement device again to clamp the tool (2) and take it out of the tool holder (1); S3, controlling the movable box (16) in the replacement device to deflect, lowering the clamped tool (2) from a high position, and releasing the clamping; S4, after taking away the lowered tool (2), the new tool (2) is clamped and transported to the tool holder (1) by controlling the replacement device again, and the tool (2) is installed to complete the replacement.

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