Automatic cutter changing device for shield cutter head

Abstract

The invention relates to the technical field of subway tunnel shield construction, in particular to a shield cutter head automatic cutter changing device which comprises a sliding support, a rotating mechanism, a mechanical arm, a cutter changing groove and a control box, a vertical force arm is installed at the upper end of the sliding support and fixedly connected with an electric sliding rail, and multiple rows of balls and sealing gaskets are arranged in the electric sliding rail. The position and data parameters of a shield cutter head are input in advance through a control motor of a control box, the replacement process of a worn cutter is implemented through automatic transmission and transfer of a rotating device, a mechanical arm and a cutter replacement groove, the multi-component machining requirement of a shield structure is met, the non-fault shutdown time of automatic cutter replacement is shortened as much as possible, the shield cutter replacement period is shortened, and the machining efficiency is improved. Manual operation is effectively reduced, the tool changing risk is reduced, reliable functions and rapid exchange are achieved, the tool exchange mechanism completes exchange work of tools (new tools) in the tool magazine and tools (old tools) on the main shaft, efficiency is improved, tool changing cost is saved, and safety in the construction period is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of subway tunnel shield construction, in particular to an automatic cutter changing device for a shield cutterhead. Background Art

[0002] With the continuous development of urbanization, shield tunneling has been widely used in subway tunnel construction as a safe, environmentally friendly, and rapid construction method. During shield construction, the shield machine's cutters are subject to varying degrees of wear due to geological conditions. Opening the chamber to change cutters is a necessary measure to deal with this. However, the traditional cutter change process requires operators to enter the chamber for inspection. This process also involves increasing and decreasing the pressure in the soil chamber, which is time-consuming and poses risks to the operator's health. This has increased the demand for automated shield cutter changes.

[0003] At present, the shield tool change automation often reduces the tool change operation time by adding a tool magazine during the tool change process. However, manual assistance is still required during the tool change process, and the tool change process cannot be fully automated. In addition, it is technically difficult to increase the tool change speed, which reduces the tool change efficiency and increases the construction cost during the automated tool change process. Therefore, an automatic tool change device and tool change method for a shield cutter head are developed to meet the multi-component processing requirements of the shield structure, and to minimize the non-fault downtime of the automated tool change, so as to shorten the shield tool change cycle, achieve reliable function, rapid exchange, and the tool exchange mechanism completes the exchange of the knife (new knife) in the knife magazine with the knife (old knife) on the spindle, thereby improving efficiency and saving tool change costs. To this end, the present invention proposes an automatic tool change device for a shield cutter head to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic tool changing device for a shield cutter head to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic tool changing device for a shield cutterhead, comprising a sliding bracket, a rotating mechanism, a mechanical arm, a tool changing slot, and a control box; a vertical force arm is mounted on the upper end of the sliding bracket, the vertical force arm is fixedly connected to an electric slide rail, multiple rows of balls and sealing gaskets are arranged inside the electric slide rail, four universal wheels are mounted on the bottom of the sliding bracket, the rotating mechanism includes a protective housing, the rear end of the protective housing is slidably connected to the electric slide rail via a slider;

[0006] The robotic arm includes a first joint body, a second joint body, and a third joint body. One end of the first joint body is rotatably connected to the protective shell through a turbine. The front and rear ends of the second joint body are rotatably connected to the first joint body and the third joint body respectively. A clamping bracket is installed at one end of the third joint body.

[0007] The tool changing slot and the control box are both fixedly mounted on the upper end of the sliding bracket.

[0008] Preferably, a roller bearing is fixedly mounted on one side of the lower end of the protective shell, and a mounting port is opened on one side of the upper end of the protective shell. A worm gear and a turbine are rotatably mounted inside the protective shell, one end of the worm gear is inserted into the roller bearing and fixedly connected to the inner wall of the roller bearing, and the outer wall of the worm gear is meshed with the outer wall of the turbine.

[0009] Preferably, one end of the turbine is rotatably connected to the inner wall of the protective shell through a rotating shaft, and a boss is fixedly mounted on the other end of the turbine, and the outer end of the boss passes through the mounting opening.

[0010] Preferably, one end of the first joint body is fixedly connected via a connecting block and a boss, a first joint motor is installed between the first joint body and the second joint body, and a second joint motor is installed between the second joint body and the third joint body.

[0011] Preferably, the second joint body includes two fixed cylinders, a telescopic motor and a threaded cylinder, and the two fixed cylinders can be telescopic. The telescopic motor is fixed to the bottom of one of the fixed cylinders of the second joint body, and the output end of the telescopic motor is connected to a screw rod through a coupling. One end of the threaded cylinder is fixedly installed on the bottom end of the other fixed cylinder of the second joint body, and the outer wall of the other end of the screw rod and the inner wall of the other end of the threaded cylinder are threadedly connected.

[0012] Preferably, the clamping bracket includes a fixing part, a cylinder and two sets of clamping rods, one end of the fixing part is fixedly mounted on one end side wall of the third joint body, one end of the two sets of clamping rods are hinged to the side wall of the fixing part, the clamping rod is made of two hinged metal rods, the cylinder is fixedly mounted on the outer end of the fixing part, and the output end of the cylinder is hinged to the clamping rod through a connecting rod.

[0013] Preferably, the tool changing slot is fixed at the bottom of the sliding bracket, and the tool changing slot is a cylindrical structure. A rotating platform, a sliding steel plate, an arc-shaped clamping rod, a lifting system, and a support frame are installed in the tool changing slot. The arc-shaped clamping frame is fixedly installed on the side wall of the cylindrical tool changing slot, the rotating platform is installed at the bottom of the cylindrical tool changing slot, and the lifting system is fixedly installed on the top of the cylindrical tool changing slot. A support frame is added between the rotating platform and the lifting system to drive the rotating platform to rise and fall.

[0014] Preferably, a sliding steel plate is placed above the rotating platform, and a guide device is installed around the sliding steel plate to control the movement of the sliding steel plate in a plane. An arc-shaped clamping frame is installed above the sliding steel plate to facilitate access to the tool changing slot and replacement of the tool.

[0015] Preferably, a control host is provided inside the control box, and the control host contains information about the shield cutterhead and tool magazine.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The shield cutter head position and data parameters are pre-input through the control motor of the control box, and the worn tool replacement process is implemented by mobilizing the rotating device, robotic arm and tool changing slot through automatic transmission, so as to realize the multi-component processing needs of the shield structure and minimize the non-fault downtime of automatic tool changing, thereby shortening the shield tool changing cycle, effectively reducing manual operation, reducing the risk of tool changing, and achieving reliable function and rapid exchange. The tool changing mechanism completes the exchange of the tool (new tool) in the tool magazine and the tool (old tool) on the spindle, thereby improving efficiency, saving tool changing costs and ensuring safety during construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a schematic diagram of the rotating structure of the present invention;

[0020] Figure 3 It is a schematic diagram of the interior of the rotating structure of the present invention;

[0021] Figure 4 is a schematic diagram of the internal structure of the second joint body of the present invention;

[0022] Figure 5 This is a schematic diagram of the clamping bracket of the present invention;

[0023] Figure 6 This is a top view of the tool changing slot structure of the present invention;

[0024] Figure 7 This is a front view of the tool changing slot structure of the present invention.

[0025] In the figure: 1. Sliding bracket; 2. Universal wheel; 3. Electric slide rail; 4. Rotating mechanism; 41. Protective shell; 42. Roller bearing; 43. Worm gear; 44. Turbine; 5. Robotic arm; 51. Clamping bracket; 511. Fixing part; 512. Cylinder; 513. Clamping rod; 52. First joint; 53. Second joint; 531. Telescopic motor; 532. Screw; 533. Threaded barrel; 54. Third joint; 55. First joint motor; 56. Second joint motor; 6. Tool changing slot; 61. Rotating platform; 62. Lifting system; 63. Arc clamping rod; 64. Sliding steel plate; 65. Support frame; 7. Control box. DETAILED DESCRIPTION

[0026] In order to clearly and completely describe the objectives and technical solutions of the present invention and make the advantages more clearly understood, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are part of the embodiments of the present invention, not all of them, and are only used to explain the embodiments of the present invention, not to limit the embodiments of the present invention. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be noted that the terms "center," "middle," "upper," "lower," "left," "right," "inner," "outer," "top," "bottom," "side," "vertical," "horizontal," and the like, indicating positions or location relationships, are based on the positions or location relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "one," "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0029] For the purpose of simplicity and illustration, the principles of the embodiments are described primarily with reference to examples. In the following description, many specific details are provided to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that these embodiments may not be limited to these specific details in practice. In some instances, well-known methods and structures are not described in detail to avoid unnecessarily obscuring the understanding of these embodiments. In addition, all embodiments may be used in combination with each other.

[0030] See also Figures 1 to 7The present invention provides a technical solution: an automatic tool changing device for a shield cutter head, comprising a sliding bracket 1, a rotating mechanism 4, a mechanical arm 5, a tool changing slot 6 and a control box 7. A vertical force arm is installed at the upper end of the sliding bracket 1, and the vertical force arm is fixedly connected to the electric slide rail 3. Multiple rows of ball bearings and sealing gaskets are arranged inside the electric slide rail 3 to reduce the wear of the electric slide rail 3 and ensure the smooth operation of the electric slide rail 3. Four universal wheels 2 are installed at the bottom of the sliding bracket 1. The universal wheels 2 are composed of rollers and rotating brackets. The rotating bracket is installed on the bottom plate of the sliding bracket 1. A limit block is provided above the rotating bracket to realize the horizontal 360-degree rotation of the universal wheels, which is convenient for changing the moving direction, has a good locking effect, and is not easy to loosen. The rotating mechanism 4 includes a protective shell 41. The rear end of the protective shell 41 is slidably connected to the electric slide rail 3 through a slider.

[0031] A roller bearing 42 is fixedly mounted on one side of the lower end of the protective shell 41. A mounting opening is opened on one side of the upper end of the protective shell 41. A worm gear 43 and a rotatable turbine 44 are provided in the protective shell 41. One end of the worm gear 43 is inserted into the roller bearing 42 and is fixedly connected to the inner wall of the roller bearing 42. The outer wall of the worm gear 43 is meshed with the outer wall of the turbine 44. One end of the turbine 44 is rotatably connected to the inner wall of the protective shell 41 through a rotating shaft. A boss is fixedly mounted on the other end of the turbine 44, and the outer end of the boss passes through the mounting opening. A drive motor is fixedly mounted on the outer wall of the protective shell 41. The output end of the drive motor is fixedly connected to one end of the worm gear 43 through a coupling, driving the worm gear 43 and the turbine 44 to rotate. Regardless of whether the turbine 44 is in forward rotation, reverse rotation or stationary state, it is always in a pre-loaded state, perfectly eliminating backlash, thereby achieving high positioning accuracy and high repeatability positioning accuracy under working conditions, which is convenient for automatic tool changing of the cutter disc.

[0032] The robotic arm 5 includes a first joint body 52, a second joint body 53 and a third joint body 54. One end of the first joint body 52 is rotatably connected to the protective shell 41 through the turbine 44, and the front and rear ends of the second joint body 53 are rotatably connected to the first joint body 52 and the third joint body 54 respectively. One end of the third joint body 54 is equipped with a clamping bracket 51, and one end of the first joint body 52 is fixedly connected through a connecting block and a boss. When the turbine 44 rotates, the robotic arm 5 can rotate 360 ​​degrees. A first joint motor 55 is installed between the first joint body 52 and the second joint body 53, and a second joint motor 56 is installed between the second joint body 53 and the third joint body 54. The second joint body 53 and the third joint body 54 can rotate under the drive of the first joint motor 55 and the third joint body 54, so that the tool disc can be clamped and moved to realize precise tool changing operation of the tool disc.

[0033] The second joint body 53 includes two fixed cylinders, a telescopic motor 531 and a threaded cylinder 533. The two fixed cylinders can be telescopic and telescopic, and the two fixed cylinders are slidably connected. The telescopic motor 531 is fixed to the bottom of one of the fixed cylinders of the second joint body 53. The telescopic motor 531 is a servo motor that can rotate forward and reverse. The output end of the telescopic motor 531 is connected to the screw rod 532 through a coupling. One end of the threaded cylinder 533 is fixedly installed at the bottom end of the other fixed cylinder of the second joint body 53. The outer wall of the other end of the screw rod 532 is threadedly connected to the inner wall of the other end of the threaded cylinder 533. When the telescopic motor 531 is started, it can drive the screw rod 532 to rotate forward and reverse, thereby driving the second joint body 53 to telescope.

[0034] The clamping bracket 51 includes a fixing part 511, a cylinder 512 and two groups of clamping rods 513. One end of the fixing part 511 is fixedly mounted on the side wall of one end of the third joint body 54. One end of the two groups of clamping rods 513 are hinged to the side wall of the fixing part 511. The clamping rod 513 is made of two hinged metal rods. The cylinder 512 is fixedly mounted on the outer end of the fixing part 511. The output end of the cylinder 512 is hinged to the clamping rod 513 through a connecting rod. The cylinder 512 can drive the two groups of clamping rods 513 to perform clamping operations, thereby clamping the cutter disc and moving it to facilitate tool changing.

[0035] The tool changing slot 6 and the control box 7 are both fixedly mounted on the upper end of the sliding bracket 1 .

[0036] The tool changing slot 6 is fixed at the bottom of the sliding bracket 1. The tool changing slot 6 has a cylindrical structure. A rotating platform 61, a sliding steel plate 64, an arc-shaped clamping rod 63, a lifting system 62, and a support frame 65 are installed in the tool changing slot 6. The arc-shaped clamping frame 63 is fixedly installed on the side wall of the cylindrical tool changing slot 6. The rotating platform 61 is installed at the bottom of the cylindrical tool changing slot 6. The lifting system 62 is fixedly installed on the top of the cylindrical tool changing slot 6. A support frame 65 is added between the rotating platform 61 and the lifting system 62 to drive the rotating platform 61 to rise and fall. A sliding steel plate 64 is placed above the rotating platform 61. A guide device is installed around the sliding steel plate 64 to control the movement of the sliding steel plate 64 in the plane. An arc-shaped clamping frame 63 is installed above the sliding steel plate 64 to facilitate the tool changing slot 6 to access and replace tools.

[0037] A control host is provided inside the control box 7, and the control host contains the shield cutter disc and tool magazine information so as to automatically control the tool changing device to the specified position for tool replacement. A display screen is installed on the front surface of the control box 7, and the display screen is connected to the control host for displaying support for the tool changing process.

[0038] A construction method for an automatic cutter changing device for a shield cutter head comprises the following steps:

[0039] S1. Move the sliding bracket 1 of the shield cutterhead automatic tool changing device between the shield cutterhead and the front shield, and lock the bottom of the sliding bracket 1. The bottom of the sliding bracket 1 can be fixed by installing a fixed stopper inside the shield body;

[0040] S2. Start the control box 7, mark the designated shield tool change position, mobilize the rotating mechanism 4 and the electric slide 3 to control the manipulator 5 to move horizontally and rotate, so that the manipulator 5 moves to the front end of the shield structure to generate the corresponding horizontal displacement and rotation angle, and at the same time observe the corresponding data in the monitoring control motor. After reaching the correct position, lock the rotating mechanism 4 and the electric slide 3;

[0041] S3. Start the braking of the robotic arm 5. Under the action of the control motor, move the robotic arm 5 to the front end of the tool changing position to remove the worn tool. Operate the robotic arm 5 to the bottom of the tool changing slot 6. Use the automatic lifting and translation function of the tool changing slot 6 to replace the worn tool and the tool changing tool. Then replace it with a new tool through the robotic arm 5, thereby realizing the automatic tool changing process.

[0042] When the device is working, the shield cutter head position and data parameters are pre-input through the control motor of the control box 7, and the wearing tool replacement process is implemented by mobilizing the rotating device, the mechanical arm 5 and the tool changing slot 6 through automatic transmission, so as to realize the multi-component processing needs of the shield structure and reduce the non-fault downtime of the automatic tool changing as much as possible, so as to shorten the shield tool changing cycle, effectively reduce manual operation, reduce the risk of tool changing, realize reliable function and rapid exchange, and the tool changing mechanism completes the exchange of the tool (new tool) in the tool magazine with the tool (old tool) on the spindle, thereby improving efficiency, saving tool changing costs and ensuring safety during construction.

[0043] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A shield cutterhead automatic tool changing device, comprising a sliding bracket (1), a rotating mechanism (4), a mechanical arm (5), a tool changing slot (6) and a control box (7), wherein a vertical force arm is installed at the upper end of the sliding bracket (1), and the vertical force arm is fixedly connected to an electric slide rail (3), wherein multiple rows of balls and sealing gaskets are arranged inside the electric slide rail (3), and four universal wheels (2) are installed at the bottom of the sliding bracket (1), characterized in that: The rotating mechanism (4) includes a protective shell (41), and the rear end of the protective shell (41) is slidably connected to the electric slide rail (3) via a slider; The mechanical arm (5) includes a first joint body (52), a second joint body (53) and a third joint body (54). One end of the first joint body (52) is rotatably connected to the protective shell through a turbine (44). The front and rear ends of the second joint body (53) are rotatably connected to the first joint body (52) and the third joint body (54), respectively. One end of the third joint body (54) is equipped with a clamping bracket (51). The tool changing slot (6) and the control box (7) are both fixedly mounted on the upper end of the sliding bracket (1).

2. The shield cutterhead automatic tool changing device according to claim 1, characterized in that: A roller bearing (42) is fixedly mounted on one side of the lower end of the protective shell (41); a mounting opening is provided on one side of the upper end of the protective shell (41); a worm gear (43) and a turbine (44) are rotatably mounted in the protective shell (41); one end of the worm gear (43) is inserted into the roller bearing (42) and fixedly connected to the inner wall of the roller bearing (42); and the outer wall of the worm gear (43) is meshed with the outer wall of the turbine (44).

3. The shield cutterhead automatic tool changing device according to claim 2, characterized in that: One end of the turbine (44) is rotatably connected to the inner wall of the protective shell (41) through a rotating shaft, and a boss is fixedly mounted on the other end of the turbine (44), and the outer end of the boss passes through the mounting opening.

4. The automatic tool changing device for a shield cutterhead according to claim 3, characterized in that: One end of the first joint body (52) is fixedly connected via a connecting block and a boss, a first joint motor (55) is installed between the first joint body (52) and the second joint body (53), and a second joint motor (56) is installed between the second joint body (53) and the third joint body (54).

5. The automatic tool changing device for a shield cutterhead according to claim 4, characterized in that: The second joint body (53) comprises two fixed cylinders, a telescopic motor (531) and a threaded cylinder (533), and the two fixed cylinders can be telescopic. The telescopic motor (531) is fixed to the bottom of one of the fixed cylinders of the second joint body (53). The output end of the telescopic motor (531) is connected to a screw rod (532) through a coupling. One end of the threaded cylinder (533) is fixedly mounted on the bottom end of the other fixed cylinder of the second joint body (53). The outer wall of the other end of the screw rod (532) is threadedly connected to the inner wall of the other end of the threaded cylinder (533).

6. The shield cutterhead automatic tool changing device according to claim 1, characterized in that: The clamping bracket (51) includes a fixing member (511), a cylinder (512) and two groups of clamping rods (513). One end of the fixing member (511) is fixedly mounted on a side wall of one end of the third joint body (54). One end of the two groups of clamping rods (513) are hinged to the side wall of the fixing member (511). The clamping rod (513) is made of two hinged metal rods. The cylinder (512) is fixedly mounted on the outer end of the fixing member (511). The output end of the cylinder (512) is hinged to the clamping rod (513) through a connecting rod.

7. The shield cutterhead automatic tool changing device according to claim 1, characterized in that: The tool changing slot (6) is fixed at the bottom of the sliding bracket (1). The tool changing slot (6) is a cylindrical structure. A rotating platform (61), a sliding steel plate (64), an arc-shaped clamping rod (63), a lifting system (62), and a support frame (65) are installed in the tool changing slot (6). The arc-shaped clamping frame (63) is fixedly installed on the side wall of the cylindrical tool changing slot (6). The rotating platform (61) is installed at the bottom of the cylindrical tool changing slot (6). The lifting system (62) is fixedly installed at the top of the cylindrical tool changing slot (6). A support frame (65) is added between the rotating platform (61) and the lifting system (62) to drive the rotating platform (61) to rise and fall.

8. The shield cutterhead automatic tool changing device according to claim 7, characterized in that: A sliding steel plate (64) is placed above the rotating platform (61), and a guide device is installed around the sliding steel plate (64) to control the movement of the sliding steel plate (64) in a plane. An arc-shaped clamping frame (63) is installed above the sliding steel plate (64) to facilitate access to the tool changing slot (6) and replacement of tools.

9. The shield cutterhead automatic tool changing device according to claim 1, characterized in that: A control host is provided inside the control box (7), and the control host contains shield cutterhead and tool magazine information.

Images