Shield tunneling machine conjoined tool apron welding robot and method based on arc welding robot

Abstract

The invention relates to a shield tunneling machine conjoined tool apron welding robot and method based on an arc welding robot, and belongs to the technical field of shield tunneling machine welding. The robot comprises a cutterhead, a tool apron, a supporting assembly, a moving assembly, a welding robot, a polishing assembly and a heat treatment device. The supporting assembly is in meshing transmission with the gear ring through the movable base, and is matched with the movement of the movable assembly along the guide rail, so that the welding robot can accurately weld the tool apron and the cutter head in the whole circumferential direction; the grinding assembly drives an angle grinder to move along a rectangular sliding rail through a motor, the angle is adjusted, and welding seam coating cleaning is completed. According to the heat treatment device, multiple sets of heating rods and heating core rods are adopted for cooperative heating, and local precise heat treatment is conducted on a welding area to eliminate residual stress. According to the invention, the integrated operation of welding, coating cleaning and heat treatment is realized, the precise coincidence of the'welding heat 'center of a complex rectangular welding seam in space and the close connection in time are realized, and the welding quality and the operation efficiency of the tool apron are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of tunnel boring machine welding technology, and relates to a welding robot and method for a tunnel boring machine integrated tool holder based on an arc welding robot. Background Technology

[0002] As the core equipment in tunnel excavation engineering, the shield tunneling machine's integrated cutterhead directly bears the working load of the cutting tools. The welding quality of the cutterhead and cutterhead directly determines the tunneling efficiency, operational stability, and service life of the shield tunneling machine. The connecting weld between the cutterhead and cutterhead is mostly annular or irregular curved weld, and both are thick-walled, high-strength steel components. The welding process must withstand high current and deep penetration welding requirements, while ensuring that the weld is free of defects such as cracks and porosity. This places extremely high demands on the precision and stability of the welding technology.

[0003] Currently, the welding of tunnel boring machine cutterheads mainly employs two operation modes: manual welding and semi-automatic welding. Manual welding relies on the operator's experience and skills, requires frequent movement around the massive cutterhead during welding, resulting in extremely high labor intensity and low welding efficiency.

[0004] With the development of welding technology, some companies have introduced semi-automatic welding equipment, using fixed fixtures in conjunction with simple robotic arms for operation. While such equipment reduces the intensity of manual labor to some extent, it still faces many technical bottlenecks: After welding, it is necessary to accelerate the removal of flux residue within a specific temperature range and then perform heat treatment to prevent cold cracking. Traditional heat treatment cannot precisely heat the welding area of ​​the tool holder, resulting in poor heating uniformity. At the same time, in the post-weld flux residue removal process, manual operation makes it difficult to accurately control the grinding force and angle. In existing technologies, these three processes are usually completed step by step by different equipment or manual labor. Furthermore, semi-automatic equipment is mostly designed based on planar or regular cylindrical surfaces, making it difficult to simultaneously meet the requirements of large-scale circumferential movement of the tool head and depth operation of the tool holder in a single clamping. This necessitates the need for enclosed disassembly, assembly, and lifting of the equipment, further amplifying the positioning accuracy issue. Additionally, problems such as incomplete cleaning or excessive grinding that damages the weld often occur.

[0005] Therefore, we propose a shield tunneling machine integrated tool holder welding robot and method based on arc welding robot to solve the problems mentioned above. Summary of the Invention

[0006] In view of this, in order to solve the above problems, the present invention provides a shield tunneling machine integrated tool holder welding robot and method based on an arc welding robot.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a shield tunneling machine integrated tool holder welding robot based on an arc welding robot, comprising:

[0008] A cutter head, wherein a cutter holder is provided on the cutter head;

[0009] A support assembly is provided on the outside of the cutter head, including two movable bases. The movable bases are semi-circular, and a toothed ring is slidably provided on their tops. A sliding frame is provided at the bottom of the support assembly. The sliding frame is slidably sleeved on a guide rail fixed to the ground. A motor I is provided on one side of one of the movable bases. The output end of the motor I is provided with a gear that meshes with the toothed ring.

[0010] A guide rail, wherein the guide rail is disposed on one of the toothed rings;

[0011] A movable assembly, which is movably mounted on the guide rail;

[0012] A welding robot, which is mounted on top of the mobile assembly, is used to weld the tool holder and the tool disc;

[0013] A grinding assembly, which is vertically and flexibly mounted at the bottom of the movable assembly, includes a motor IV, a rectangular slide rail, and an angle grinder. The motor IV drives the angle grinder to move along the rectangular slide rail to clean the slag on the tool holder and the tool disc.

[0014] A heat treatment device is movably disposed on one side of the movable assembly and used in conjunction with the rectangular slide rail for heat treatment of the welded tool holder;

[0015] Specifically, the toothed ring is driven to rotate by the motor I, which in turn drives the guide rail and the moving assembly to move circumferentially along the cutter head. After the welding robot welds the cutter head, the grinding assembly cleans the flux residue, and the heat treatment device performs heat treatment, thus realizing integrated continuous operation of welding, flux residue cleaning and heat treatment.

[0016] As a further improvement to the above technical solution:

[0017] Multiple fixing plates I are fixedly provided on the inner side of the toothed ring. A pressure roller I that abuts against the cutter head is rotatably provided at the bottom of the fixing plate I. The guide rail is fixed to the top of one of the fixing plates I.

[0018] An extension frame is fixedly provided at the other end of the guide rail. At least one hydraulic cylinder I is fixedly provided on the top of the extension frame. A positioning end is fixedly provided at the output end of the hydraulic cylinder I. The positioning end is used in conjunction with the mounting hole on the cutter head to position and support the guide rail.

[0019] The grinding assembly also includes a hydraulic cylinder III fixedly mounted on the top of the movable assembly. A guide rod V is slidably mounted through the top of the movable assembly. A bottom base plate is fixedly mounted at the bottom end of the guide rod V. The output end of the hydraulic cylinder III is fixedly connected to the bottom base plate. The rectangular slide rail is fixed to the bottom of the bottom base plate. The bottom base plate is driven to rise and fall by the hydraulic cylinder III, thereby moving the angle grinder closer to or away from the weld seam.

[0020] The motor IV is fixed to the top of the movable assembly. A sleeve rod is rotatably provided through the top of the bottom base plate. A sliding rod is slidably provided through the sleeve rod. The top end of the sliding rod is fixedly connected to the output end of the motor IV. A fixing ring is fixedly sleeved on the outer wall of the sleeve rod. A drive rod is fixedly provided on the outer wall of the fixing ring. A sliding seat is slidably provided at the bottom of the rectangular slide rail. A guide slider is rotatably provided at the bottom of the sliding seat. The guide slider is slidably sleeved on the drive rod. The angle grinder is located at the bottom of the guide slider.

[0021] The motor IV drives the sliding rod and the sleeve rod to rotate, and the drive rod drives the guide slider and the sliding seat to move along the rectangular slide rail, so that the angle grinder can clean the sludge.

[0022] The guide slider has a mounting plate II rotatably mounted on one side via a bracket. The angle grinder is fixed to one side of the mounting plate II via a clamping sleeve. A motor V is fixedly mounted on one side of the bracket. The output end of the motor V is fixedly connected to the rotating shaft of the mounting plate II to drive the angle grinder to rotate and adjust its angle.

[0023] The heat treatment device includes a fixed plate II movably disposed on one side of the movable assembly. A fixing rib is fixedly provided at the bottom of the fixed plate II. Two guide rods I are fixedly provided on both sides of the fixing rib. A sliding base plate is slidably sleeved on the two guide rods I on the same side. A nut seat is fixedly provided at the top of the sliding base plate. A screw is rotatably provided at the top of the fixed plate II. The nut seat is threaded onto the screw. A dual-axis drive motor is fixedly provided at the top of the fixed plate II. The output end of the dual-axis drive motor is connected to the screw.

[0024] The top of the sliding base plate is provided with a guide rod II that rotates through it. The outer wall of the guide rod II is fitted with a plurality of connecting collars. An extension column is fixedly provided on the outer wall of the connecting collar. An isolation sleeve is fixedly provided at the other end of the extension column. A heating rod I is provided in two corresponding isolation sleeves on the same side. A heating rod III is provided in two corresponding isolation sleeves on the other side. A heating rod II is provided at both ends of the heating rod I. The heating rod II is slidably disposed in the heating rod III.

[0025] The dual-axis drive motor drives the screw to rotate, which in turn moves the sliding plate along the guide rod I to adjust the heating width. After it moves into position, it moves up and down by resisting the rectangular slide rail.

[0026] The connecting collar at the bottom is rotatably sleeved on the guide rod II. One of the guide rods II has a threaded groove on its outer wall, and the connecting collar at the top has an internal threaded groove that matches the threaded groove on its inner wall. The top of the sliding base plate is fixedly equipped with a motor II, and the output end of the motor II is fixedly connected to the guide rod II.

[0027] A tension spring is sleeved on the outer wall of the guide rod II, and the tension spring is located between two adjacent connecting collars;

[0028] The motor II drives the guide rod II to rotate, and through threaded engagement, it drives the connecting collar to move up and down along the guide rod II to adjust the heating height.

[0029] The bottom of the guide rod II is rotatably provided with a U-shaped base, and the other end of the U-shaped base is fixed with a heating core rod. The top end of the heating core rod is fixed to the bottom of the sliding base plate to provide auxiliary heating for the corner area of ​​the knife holder.

[0030] A method for welding a shield tunneling machine integrated tool holder based on an arc welding robot, employing the aforementioned welding robot, includes the following steps:

[0031] S1. Hoist the cutter head to the working position and fix it initially. The movable base moves along the guide rail to surround the cutter head. Motor I drives the gear to rotate the gear ring. Hydraulic cylinder I drives the positioning end to insert into the mounting hole to achieve precise positioning of the cutter head.

[0032] S2. Motor III drives pressure roller II to move the mobile assembly along the guide rail. The welding robot performs full-circumferential welding on the connection between the tool holder and the tool disc according to the preset path.

[0033] S3. After welding is completed, wait for the weld temperature to drop below 200℃, then hydraulic cylinder III drives the angle grinder to descend, motor IV drives the angle grinder to move along the rectangular slide rail, and motor V adjusts the angle grinder angle to complete the cleaning of the weld coating.

[0034] S4. After the coating is cleaned, hydraulic cylinder II drives the heat treatment device to move above the working position, and hydraulic cylinder III drives the heat treatment device to move into the tool holder. The dual-axis drive motor and motor II adjust the position of the heating components. The heating core rod and each heating rod work together to heat the welding area of ​​the tool holder to perform local heat treatment to eliminate residual welding stress. After the heat treatment is completed, it is cooled to room temperature to complete the welding operation.

[0035] The beneficial effects of this invention are as follows:

[0036] 1. The shield machine integrated tool holder welding robot disclosed in this invention integrates the welding of the tool holder and the cutter head, the cleaning of weld flux and the post-weld heat treatment functions into the same working platform. It eliminates the need to change equipment or adjust the workpiece position between different processes, effectively shortening the process interval time. The coordinated linkage design of the welding robot with the grinding assembly and the heat treatment device allows the flux cleaning and heat treatment processes to be directly connected after welding, avoiding time loss and collision risks during workpiece transportation.

[0037] 2. The shield machine integrated cutterhead welding robot disclosed in this invention adopts a design of splicing two semi-circular movable bases in the support assembly. With the reciprocating movement of the sliding frame along the guide rail, the meshing transmission of the gear ring and gear, and the guiding effect of the pressure roller I, the welding robot can move smoothly along the circumference of the cutterhead. Combined with the radial movement of the movable assembly along the guide rail, the full circumference and no dead angle coverage of the cutterhead welding can be achieved.

[0038] 3. The shield machine integrated cutterhead welding robot disclosed in this invention uses hydraulic cylinder I on the extended frame to drive the positioning end head into the cutterhead mounting hole. With the dual calibration of laser positioning instrument and vision positioning system, the rigid positioning of the cutterhead and the support of the guide rail are achieved, which effectively avoids the workpiece displacement during the welding process. The pressure roller I on the inner side of the toothed ring and the pressure roller II on the guide rail provide guiding support for the rotation of the toothed ring and the movement of the moving assembly, respectively, reducing vibration and offset during the movement process and providing structural guarantee for precise welding.

[0039] 4. The shield machine integrated cutterhead welding robot disclosed in this invention uses a heat treatment device consisting of a heating rod I, a heating core rod, etc., to form an all-round heating system. In particular, it is designed for corners, which improves the fatigue life of the cutterhead compared with traditional welding processes and reduces the risk of cutterhead breakage during shield machine construction.

[0040] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0042] Figure 1 This is a three-dimensional structural schematic diagram of a shield tunneling machine integrated tool holder welding robot based on an arc welding robot, according to the present invention.

[0043] Figure 2 This is a schematic diagram of the cutterhead structure of a shield tunneling machine integrated cutterhead welding robot based on an arc welding robot, according to the present invention.

[0044] Figure 3 This is a schematic diagram of the support assembly structure of a shield tunneling machine integrated tool holder welding robot based on an arc welding robot according to the present invention;

[0045] Figure 4 This is a schematic diagram of the mobile assembly and welding robot structure of a shield tunneling machine integrated tool holder welding robot based on an arc welding robot according to the present invention.

[0046] Figure 5 This is a schematic diagram of the mobile assembly structure of a shield tunneling machine integrated tool holder welding robot based on an arc welding robot according to the present invention;

[0047] Figure 6 This is a schematic diagram of the drive rod and guide slider structure of a shield machine integrated tool holder welding robot based on an arc welding robot according to the present invention.

[0048] Figure 7 This is a schematic diagram of the connection structure between the angle grinder and the guide slider of a shield tunneling machine integrated tool holder welding robot based on an arc welding robot according to the present invention;

[0049] Figure 8 This is a partial cross-sectional view of the sliding block of a shield tunneling machine integrated tool holder welding robot based on an arc welding robot, according to the present invention.

[0050] Figure 9 This is a schematic diagram of the heat treatment device structure of a shield machine integrated tool holder welding robot based on an arc welding robot according to the present invention;

[0051] Figure 10 for Figure 9 Enlarged structural diagram of section A in the middle.

[0052] Reference numerals: 1. Support assembly; 2. Welding robot; 3. Heat treatment device; 4. Moving assembly; 5. Grinding assembly; 6. Cutter head; 11. Moving base; 12. Gear ring; 13. Rolling wheel; 14. Guide rail; 15. Sliding frame; 16. Motor I; 17. Gear; 18. Guide rail; 181. Extension frame; 182. Hydraulic cylinder I; 183. Positioning end; 19. Fixed plate I; 20. Pressure roller I; 31. Fixed plate II; 32. Sliding base plate; 33. Fixed rib; 34. Guide rod I; 35. Guide rod II; 36. Motor II; 37. U-shaped base; 38. Heating core rod; 39. Dual-axis drive motor; 310. Screw; 311. Nut seat; 312. Heating rod I; 313. Heating rod II; 314. Heating rod III; 315. Connecting collar; 316. Extension column; 317. Isolation sleeve; 318. Tension spring; 41. Sliding base; 42. Pressure roller II; 43. Motor III; 44. Hydraulic cylinder II; 45. Guide rod III; 46. Sliding block; 47. Guide rod IV; 48. Elastic element; 49. Mounting plate I; 410. Positioning pin; 411. Positioning hole; 51. Hydraulic cylinder III; 52. Guide rod V; 53. Bottom base plate; 54. Rectangular slide rail; 55. Motor IV; 56. Sliding seat; 57. Guide slider; 58. Sleeve rod; 59. Sliding rod; 510. Fixing collar; 512. Drive rod; 513. Mounting plate II; 514. Motor V; 515. Clamping sleeve; 516. Angle grinder; 61. Tool holder; 62. Mounting hole. Detailed Implementation

[0053] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0054] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0055] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0056] Example 1

[0057] like Figure 1-10 As shown, a shield tunneling machine integrated tool holder welding robot based on arc welding robot is used to realize the integrated operation of efficient welding of tool holder and cutter head, flux removal and post-weld heat treatment. Its overall structure is compact and easy to operate, which can effectively improve welding quality and operation efficiency.

[0058] Reference Figures 1-3 The welding robot includes a cutter head 6, a cutter holder 61 disposed within the cutter head 6, and a support assembly 1 disposed outside the cutter head 6. The support assembly 1, serving as the load-bearing foundation of the entire device, is constructed from high-strength steel and includes two movable bases 11 positioned in the workshop. Each movable base 11 is semi-circular, its curvature matching the outer circumference of the cutter head 6 to ensure a close fit to the outer side of the cutter head 6 for circumferential operation. When the two movable bases 11 are joined, they form a complete annular structure, encircling the cutter head 6 for full circumferential coverage. A sliding structure is provided on the top of each movable base 11; specifically, an annular groove on the top of the movable base 11 engages with a boss on the bottom of a toothed ring 12. The toothed ring 12 is slidably mounted on the top of the movable base 11 via this sliding structure. High-temperature grease is applied between the groove and the boss to reduce relative friction. The inner diameter of the toothed ring 12 is slightly larger than the outer diameter of the cutter head 6, ensuring that the toothed ring 12 can rotate around the cutter head 6. The tooth surface of the toothed ring 12 is carburized and quenched to improve the hardness and wear resistance of the tooth surface.

[0059] The bottom of the movable base 11 is fixedly installed with a sliding frame 15 by welding. The sliding frame 15 has a rectangular cross-section, and its outer wall is fitted with a guide rail 14. The guide rail 14 is made of cast iron and its surface is ground to ensure flatness. Both guide rails 14 are fixed to the ground with expansion bolts with a bolt spacing of 1.5 meters to ensure stable installation. The extension direction of the guide rail 14 is parallel to the axis of the cutter head 6. The movable base 11 can move back and forth along the guide rail 14 via the sliding frame 15 to adjust the relative distance between the support assembly 1 and the cutter head 6, so as to meet the operating requirements of cutter heads of different sizes. Rolling wheels 13 are welded to the bottom of both ends of the movable base 11, which can roll on the ground. One of the movable bases 11 has a motor I 16 fixedly mounted on one side by bolts. The bolts are locked with anti-loosening nuts. The motor I 16 is a servo motor with position feedback function, which can realize precise speed control. Its output end is fixedly fitted with a gear 17 by a flat key. The flat key and the keyway of the gear 17 are interference fit to ensure stable power transmission. The gear 17 meshes with the gear ring 12. When the motor I 16 starts, its output shaft drives the gear 17 to rotate, which in turn drives the gear ring 12 to move circumferentially along the sliding structure on the top of the movable base 11. The movement is smooth and without jamming.

[0060] Guide rail 18 is mounted on one of the toothed rings 12. Guide rail 18 is formed by welding steel plate, and its other end extends along the radius of cutter head 6. The cross-section of guide rail 18 is C-shaped to prevent the moving assembly 4 from falling off. The moving assembly 4 is movably mounted on guide rail 18 by a slider at the bottom. A rolling bearing is installed between the slider and the rail to convert sliding friction into rolling friction and reduce motion resistance. The welding robot 2 is bolted to the top of the mobile assembly 4. Shock-absorbing pads are installed at the bolt connections to reduce vibration transmission during operation. The welding robot 2 is a six-axis arc welding robot, specifically model ABBIRB1660ID. This model is designed for heavy-duty arc welding operations, with a load capacity of up to 15kg and a working range of 1521mm. It can flexibly adapt to the large-scale welding requirements of tunnel boring machine cutterheads. Its operation control adopts a dual-layer architecture of "PLC main control + dedicated robot controller". The PLC is a Siemens S7-1500 series, and the robot controller is a dedicated model IRC5 for this arc welding robot. The two interact via a PROFINET bus to ensure the real-time and stable transmission of control commands. The control unit is equipped with a 15-inch touchscreen human-machine interface, allowing operators to directly perform operations such as welding program calls, parameter settings, status monitoring, and fault diagnosis on the interface. The interface also supports multi-language switching and operation log storage for easy traceability and maintenance.

[0061] The welding robot 2 (ABB IRB 1660ID) has two control modes: automatic and manual. In automatic mode, the 3D models of the tool head 6 and tool holder 61 can be imported in advance through the offline programming software RobotStudio. The software automatically generates the welding path with an accuracy of up to 0.02 mm. After the generated program is imported into the robot controller IRC5 via data cable, the robot can operate according to the preset path. Alternatively, path planning can be completed through online teaching. The operator holds a teach pendant and drags the welding torch along the weld seam trajectory. The controller automatically records the coordinates of each point and generates a continuous path. The teaching process can be paused at any time to adjust the points, improving path adaptability. The manual mode is used for equipment debugging and emergency operation. The movement of each axis of the robot can be controlled individually through the joystick or buttons on the teach pendant to achieve precise positioning of the welding torch. Its welding torch can flexibly adjust its posture in three-dimensional space. A welding torch cleaning device and a laser contour sensor are installed at the end of the torch. The cleaning device automatically starts after every five weld seams, using high-pressure gas and a wire brush to clean spatter from the torch nozzle. The laser contour sensor scans the weld seam contour in real time, transmitting the data to the controller for comparison with a preset path. If the deviation exceeds 0.05 mm, the controller immediately issues an adjustment command to correct the torch position, ensuring welding accuracy. This model of robot has a built-in weld seam tracking function, which can compensate for deviations caused by workpiece deformation during welding in real time through arc sensing, further improving welding quality. Welding robot 2 is used to weld the connection between the tool holder 61 and the tool disc 6. Its control system is linked with various drive components such as motor I 16, motor III 43, wire feeding mechanism, and welding power supply to achieve coordinated operation. For example, the welding speed is matched in real time with the moving speed of the moving assembly 4 and the rotation speed of the gear ring 12 to avoid missed welds or weld bead accumulation.

[0062] The grinding assembly 5 is vertically and flexibly mounted at the bottom of the movable assembly 4. It is used to clean the slag from the weld after welding. The lifting stroke of the grinding assembly 5 can be flexibly adjusted according to the weld position to ensure that the angle grinder 516 can accurately fit the weld surface. The heat treatment device 3 is movably mounted on one side of the movable assembly 4 and works in conjunction with the rectangular slide rail 54. It is used to perform post-weld heat treatment on the welded tool holder 61 to eliminate residual welding stress. The heating range of the heat treatment device 3 can cover the entire welding area of ​​the tool holder 61 to ensure uniform heat treatment.

[0063] Multiple fixing plates I19 are welded to the inner side of the toothed ring 12 using continuous fillet welds to ensure connection strength. The fixing plates I19 are evenly distributed circumferentially around the toothed ring 12. Each fixing plate I19 has a pressure roller I20 rotatably mounted on its bottom via a deep groove ball bearing. The outer circumferential surface of the pressure roller I20 is wrapped with rubber of Shore A90 hardness, which increases friction with the cutter head 6 and prevents scratching the cutter head 6 surface. The outer circumferential surface of the pressure roller I20 abuts against the outer circumferential wall of the cutter head 6. When the toothed ring 12 rotates around the cutter head 6, the pressure roller I20 rolls accordingly, guiding the rotation of the toothed ring 12 and reducing frictional wear between the toothed ring 12 and the cutter head 6. A guide rail 18 is bolted to the top of one of the fixing plates I19 using double nuts to ensure the installation stability of the guide rail 18 and prevent loosening during operation.

[0064] The other end of the guide rail 18 is fixedly welded to an extension frame 181, which is made of square steel, lightweight yet strong. The extension frame 181 extends towards the center of the cutter head 6, with its extension length determined by the radius of the cutter head 6, ensuring that the positioning end 183 is accurately aligned with the mounting hole 62. Three hydraulic cylinders I 182 are bolted to the top of the extension frame 181, arranged in a triangular pattern. The output ends of the hydraulic cylinders I 182 are threadedly connected to the positioning end 183, with threadlocking compound applied to the threads to prevent loosening. The outer diameter of the positioning end 183 matches the inner diameter of the mounting hole 62 on the cutter head 6, and the end of the positioning end 183 is tapered for easy insertion into the mounting hole 62. When the support assembly 1 moves to the designated working position, the hydraulic cylinder I 182 is activated, its piston rod extends, and drives the positioning end 183 to insert into the corresponding mounting hole 62, so as to achieve precise positioning of the cutter head 6 and avoid displacement of the cutter head 6 during the welding process. After positioning is completed, the hydraulic cylinder I 182 maintains pressure to ensure reliable positioning, and at the same time can support the other end of the guide rail 18. It also ensures that after each rotation adjustment, the positioning ends 183 on both sides or one of the positioning ends 183 in the middle can cooperate with the corresponding mounting hole 62.

[0065] Reference Figure 4 and Figure 5The grinding assembly 5 also includes a hydraulic cylinder Ⅲ51 fixedly mounted on the top of the movable assembly 4. The hydraulic cylinder Ⅲ51 is a double-acting hydraulic cylinder with bidirectional driving capability. A guide hole is provided through the top of the movable assembly 4. A copper sleeve is installed on the inner wall of the guide hole to reduce the wear of the guide rod Ⅴ52. The guide rod Ⅴ52 slides through the guide hole through the top of the movable assembly 4. The surface of the guide rod Ⅴ52 is chrome-plated to improve wear resistance and rust prevention. The bottom end of the guide rod Ⅴ52 is fixedly connected to the bottom base plate 53 by welding. Before welding, beveling is performed to ensure a firm weld. The output end of hydraulic cylinder III 51 is fixedly connected to the bottom base plate 53 via a flange. A sealing gasket is provided between the flanges to prevent hydraulic oil leakage. When the piston rod of hydraulic cylinder III 51 extends or retracts, it can drive the bottom base plate 53 to rise and fall along the axis of guide rod V 52. The rectangular slide rail 54 is fixed to the bottom of the bottom base plate 53 by bolts and rises and falls synchronously with the bottom base plate 53. The guide rod V 52 ensures the straightness of the bottom base plate 53 during the rising and falling process and avoids deviation.

[0066] Reference Figure 5 and Figure 6 Motor IV 55 is bolted to the top of the moving assembly 4. Elastic washers are installed in the bolt mounting holes to absorb vibrations during motor operation. Motor IV 55 is a stepper motor with precise position control, enabling accurate movement of the angle grinder 516. A mounting hole is provided through the top of the bottom base plate 53, housing a bearing seat. The sleeve rod 58 is rotatably mounted within this bearing seat via a bearing, which is lubricated with grease. The sleeve rod 58 has a hollow internal structure with guide grooves on its inner wall. The outer wall of the sliding rod 59 has guide bosses. The two work together to achieve sliding and transmit torque. The sliding rod 59 is slidably mounted within the sleeve rod 58. The top of the sliding rod 59 is fixedly connected to the output end of motor IV 55 via an elastic coupling. The elastic coupling compensates for installation errors and reduces vibration transmission. When motor IV 55 starts, it drives the sliding rod 59 to rotate around its own axis, thereby causing the sleeve rod 58 to rotate synchronously without affecting the lifting and lowering movement of the rectangular slide rail 54.

[0067] Reference Figure 6A fixing ring 510 is welded to the outer wall of the sleeve rod 58. Full welding is used to ensure connection strength. A drive rod 512, made of solid round steel, is welded to the outer wall of the fixing ring 510 and extends towards the rectangular slide rail 54. A T-shaped groove is formed at the bottom of the rectangular slide rail 54. The sliding seat 56 is slidably mounted on the bottom of the rectangular slide rail 54 via a T-shaped slider. Lubricant is applied between the slider and the groove to reduce sliding resistance. A guide slider 57 is rotatably mounted on the bottom of the sliding seat 56 via a rotating shaft. A through hole is formed in the middle of the guide slider 57, and the hole wall is polished. It is slidably mounted on the drive rod 512. When the sleeve rod 58 drives the drive rod 512 to rotate, the drive rod 512 drives the sliding seat 56 to move along the groove of the rectangular slide rail 54 via the guide slider 57. The movement is smooth, which in turn drives the angle grinder 516 to move, thus cleaning the weld slag on the tool holder. The cleaning range can cover the entire weld length.

[0068] Reference Figure 6 and Figure 7 A bracket is bolted to one side of the guide slider 57. The bracket is made of bent steel plate. The mounting plate II 513 is rotatably mounted on the bracket via a rotating shaft and a deep groove ball bearing. The outer ring of the bearing is interference-fitted with the bracket, and the inner ring is transition-fitted with the rotating shaft to ensure flexible rotation. The angle grinder 516 is fixed to one side of the mounting plate II 513 by two clamping sleeves 515. The clamping sleeves 515 have a two-half structure and are locked with bolts to accommodate the installation requirements of different models of angle grinders, ensuring that the angle grinder 516 is firmly installed and does not shake during operation. A motor V 514 is bolted to one side of the bracket. The motor V 514 is a geared motor with low output speed and high torque. Its output end is fixedly connected to the rotating shaft of the mounting plate II 513 via a coupling. When the motor V 514 is started, it can drive the mounting plate II 513 to rotate around the rotating shaft, with a rotation angle range of 0 to 90 degrees, thereby adjusting the height of the angle grinder 516 when not in use.

[0069] Reference Figure 4 and Figure 9The heat treatment device 3 includes a fixed plate II 31 movably mounted on one side of the movable assembly 4. The fixed plate II 31 is made of thick steel plate to ensure structural stability. A fixing rib 33 is welded to the bottom of the fixed plate II 31, and the fixing rib 33 is arranged along the length of the fixed plate II 31. Two guide rods I 34 are welded to both sides of the fixing rib 33. The guide rods I 34 are made of round steel and their surfaces are ground. The two guide rods I 34 on the same side are parallel to each other, with a parallelism error controlled within 0.05 mm. A sliding plate 32 is slidably mounted on the two guide rods I 34 on the same side via linear bearings. The linear bearings enable low-friction sliding. A nut seat 311 is bolted to the top of the sliding plate 32. A rectangular groove is formed in the middle of the fixed plate II 31. The inner wall of the rectangular groove is milled to ensure flatness. The nut seat 311 is slidably mounted in the rectangular groove, which guides the nut seat 311 and prevents it from rotating.

[0070] Reference Figure 9 The top of the fixed plate II 31 is rotatably equipped with a screw 310 via a bearing seat. The screw 310 has a trapezoidal thread and a self-locking function to prevent the nut seat 311 from moving on its own. The screw 310 is adapted to the nut seat 311. The top of the fixed plate II 31 is fixed with a dual-shaft drive motor 39 by bolts. The two output ends of the dual-shaft drive motor 39 are respectively fixedly connected to the other end of the corresponding screw 310 via rigid couplings. The rigid coupling transmits large torque and has a simple structure. When the dual-shaft drive motor 39 starts, its two output shafts rotate synchronously, driving the two screws 310 to rotate synchronously, thereby driving the nut seat 311 to move along the rectangular groove, driving the sliding plate 32 to move horizontally along the guide rod I 34, adjusting the width of the heating component, and ensuring that the heating component is accurately aligned with the welded area.

[0071] Reference Figure 9 Two guide rods II 35 are rotatably mounted on the top of the sliding base plate 32 through a bearing seat. The two guide rods II 35 are parallel to each other. Multiple connecting collars 315 are sleeved on the outer wall of the guide rods II 35. The inner wall of the connecting collars 315 is adapted to the outer wall of the guide rods II 35. The inner wall has a groove that matches the guide plane. An extension column 316 is fixedly welded to the outer wall of the connecting collars 315. The extension column 316 extends towards the tool holder 61 and is made of seamless steel pipe, which is lightweight and has high strength. An isolation sleeve 317 is fixedly welded to the other end of the extension column 316. The isolation sleeve 317 is made of high temperature resistant ceramic material and can withstand temperatures up to 800℃. It plays a role in heat insulation and protection, preventing heat from being transferred to other parts.

[0072] Reference Figure 9Heating rod I 312 is installed in two corresponding isolation sleeves 317 on the same side. Heating rod I 312 adopts resistance heating and is covered with an insulating layer. Heating rod III 314 is installed in two corresponding isolation sleeves 317 on the other side. The structure of heating rod III 314 is the same as that of heating rod I 312. Heating rod II 313 is integrally formed at both ends of heating rod I 312 on one side. The outer diameter of heating rod II 313 is adapted to the inner diameter of heating rod III 314. The other end of heating rod II 313 is slidably installed in heating rod III 314, so that heating rod II 313 can extend and retract along the axial direction of heating rod III 314 to adjust the heating range and adapt to the heat treatment requirements of different sized tool holders 61. The heating power of heating rod I 312, heating rod II 313 and heating rod III 314 can be controlled independently to achieve zoned heating.

[0073] Reference Figure 9 The connecting collar 315 at the bottom is rotatably mounted on the guide rod II 35 via a thrust bearing. The thrust bearing can withstand axial pressure. One of the guide rods II 35 has a threaded groove on its outer wall, which is a trapezoidal thread. The connecting collar 315 at the top has an internal threaded groove on its inner wall that matches the threaded groove. The guide rod II 35 and the connecting collar 315 are linked together by a threaded connection. The top of the sliding base plate 32 is fixed with a motor II 36 by bolts. The motor II 36 is a servo motor with position feedback function. Its output end is fixedly connected to the top of the guide rod II 35 via a coupling. When the motor II 36 starts, its output shaft drives the guide rod II 35 to rotate. Through the threaded engagement, the connecting collar 315 moves up and down along the guide rod II 35. The movement speed is stable and controllable, thereby adjusting the height of the heating rods I 312, II 313, and III 314 to adapt to welding areas of different heights.

[0074] Reference Figure 9 and Figure 10 Multiple tension springs 318 are sleeved on the outer wall of the guide rod II 35. The tension springs 318 are made of high-temperature resistant spring steel and can maintain elasticity in high-temperature environments. The tension springs 318 are located between two adjacent connecting collars 315. Their two ends are fixedly connected to the adjacent sides of the two connecting collars 315 by hooks. The tension springs 318 are always in a stretched state and have a reset function for the connecting collars 315, ensuring that the multiple connecting collars 315 move smoothly and avoiding impact.

[0075] Reference Figure 9The bottom of the guide rod II 35 is provided with a U-shaped base 37 via a bearing. The other end of the U-shaped base 37 is fixed with a heating core rod 38 by bolts. The heating core rod 38 is a high-temperature resistant resistance heating rod with high heating efficiency. The top of the heating core rod 38 is fixed to the bottom of the sliding base plate 32 by bolts. The bolts are made of high-temperature resistant materials to ensure reliable connection in high-temperature environments. The heating core rod 38 cooperates with the heating rod I 312, heating rod II 313, and heating rod III 314 to form an all-round heating area. The temperature uniformity error of the heating area is controlled within ±5℃, which improves the uniformity of heat treatment and avoids uneven heating at the corner of the tool holder 61.

[0076] Reference Figure 4 , Figure 5 and Figure 8 Two guide rods III45 are fixedly welded to one side of the moving assembly 4. The welding adopts bevel welding to ensure connection strength. The two guide rods III45 are parallel to each other, and the parallelism error is controlled within 0.05 mm. The sliding block 46 is slidably sleeved on the outer wall of the two guide rods III45 through linear bearings. The linear bearings are lubricated by grease. Two guide holes are opened through the top of the sliding block 46. Guide sleeves are installed on the inner wall of the guide holes. Two guide rods IV47 slide through the top of the sliding block 46 through the guide holes. The surface of the guide rods IV47 is chrome-plated to improve wear resistance. The bottom end of the two guide rods IV47 is fixedly welded to the mounting plate I49. The welding adopts continuous weld. The fixing plate II31 is fixed to one side of the mounting plate I49 by bolts and moves synchronously with the mounting plate I49. Spring washers are set at the bolt connection to prevent loosening.

[0077] Reference Figure 4 , Figure 5 and Figure 8 The outer wall of the guide rod IV 47 is fitted with an elastic element 48, which is a cylindrical helical spring made of spring steel and has good elastic recovery capability. Its two ends are fixedly connected to the top of the guide rod IV 47 and the top of the sliding block 46, respectively. The elastic element 48 is always in a compressed state to provide buffering force. A hydraulic cylinder II 44 is fixed inside the moving assembly 4 by bolts. The mounting seat of the hydraulic cylinder II 44 is fixed inside the moving assembly 4 by welding to ensure stable installation. The output end of the hydraulic cylinder II 44 extends to the outside of the moving assembly 4 and is connected by a flange. Fixedly connected to the sliding block 46, a sealing gasket is provided between the flanges to prevent hydraulic oil leakage. When the piston rod of the hydraulic cylinder II 44 extends or retracts, it drives the sliding block 46 to move along the guide rod III 45. The moving speed can be adjusted by the hydraulic valve, thereby driving the heat treatment device 3 to move as a whole, so that the heat treatment device 3 moves to the bottom of the rectangular slide rail 54. At this time, when the rectangular slide rail 54 moves downward, it can drive the heat treatment device 3 to move downward, so that it penetrates into the tool holder 61. And when resetting, the heat treatment device 3 can be reset upward under the action of the elastic element 48.

[0078] Reference Figure 8 The outer end of the guide rod Ⅲ45 is fixed with a positioning pin 410 by a thread. The thread is a fine thread with good self-locking performance. The outer wall of the guide rod Ⅳ47 and the outer side of the sliding block 46 are both provided with positioning holes 411 that cooperate with the positioning pin 410. The diameter of the positioning hole 411 is adapted to the outer diameter of the positioning pin 410. When the sliding block 46 moves outward to the designated position, the positioning pin 410 is inserted into the corresponding positioning hole 411 to fix the sliding block 46 and the guide rod Ⅳ47. The fixation is reliable and prevents the heat treatment device 3 from shaking when moving.

[0079] Reference Figure 5 A pressure roller II 42 is rotatably mounted on the top of the sliding base 41 via a bearing seat. The outer wall of the pressure roller II 42 is wrapped with rubber material, and the rubber surface has anti-slip texture to increase the friction with the guide rail 18. The outer wall of the pressure roller II 42 abuts against the top of the guide rail 18, and the contact pressure can be controlled by adjusting the height of the sliding base 41. A motor III 43 is fixed to one side of the sliding base 41 by bolts, and the bolts are locked with anti-loosening nuts. The motor III 43 is a servo motor with good speed regulation performance. Its output end is fixedly connected to the rotating shaft of the pressure roller II 42 through a flexible coupling. The flexible coupling can compensate for installation errors. When the motor III 43 starts, its output shaft drives the pressure roller II 42 to rotate. The friction between the pressure roller II 42 and the guide rail 18 drives the moving assembly 4 to move along the guide rail 18. The moving speed can be adjusted according to the welding and grinding requirements, realizing the position adjustment of the welding robot 2, the grinding assembly 5, and the heat treatment device 3, and improving the flexibility of operation.

[0080] The working process of this embodiment is as follows: First, the cutter head 6 is hoisted and placed in the designated working position by a crane. The bottom of the cutter head 6 is initially fixed by support pads. The height of the support pads is adjustable to ensure that the cutter head 6 is placed horizontally. Then, the movable base 11 of the support assembly 1 is moved along the guide rail 14. During the movement, the laser positioning device is used to assist in positioning, so that the support assembly 1 surrounds the outside of the cutter head 6. The joint of the two movable bases 11 is temporarily fixed by bolts to form a complete ring structure.

[0081] Start motor I 16, set the motor speed through the control system, drive gear 17 to rotate, and drive gear ring 12 to slide slowly along the slide groove on the top of the movable base 11. At the same time, start motor III 43, drive pressure roller II 42 to rotate, and drive the movable assembly 4 to move along guide rail 18. Through the vision positioning system built into welding robot 2, adjust welding robot 2 to the welding start position to ensure that the welding torch is accurately aligned with the weld start point.

[0082] Start hydraulic cylinder I182, its piston rod slowly extends, driving the positioning end 183 to align with the mounting hole 62 of the cutter head 6 and insert it into it, achieving precise positioning of the cutter head 6. After positioning is completed, hydraulic cylinder I182 maintains working pressure, the pressure value is set to 10MPa, which can support the other end of the guide rail 18 (at this time, hydraulic cylinders I182 on both sides extend; if it continues to rotate 45°, the middle hydraulic cylinder I182 extends).

[0083] The welding power supply and wire feeding mechanism of welding robot 2 are started. The wire feeding speed is matched according to the welding current. Welding operation is performed on the connection between tool holder 61 and tool disc 6. During the welding process, motor III 43 works in coordination with the welding progress to drive welding robot 2 to move along guide rail 18. The moving speed is consistent with the welding speed to achieve omnidirectional continuous welding. The welding parameters during the welding process are fed back to the control system in real time for easy monitoring by the operator.

[0084] After welding is completed, welding robot 2 is shut down. Once the weld temperature drops below 200℃, hydraulic cylinder III 51 is activated, its piston rod slowly extending to drive the bottom base plate 53 downwards at a speed of 50 mm / s, bringing the angle grinder 516 close to the weld surface at a distance of 2 to 3 mm. Motor IV 55 is then activated, its rotation angle and speed set, driving the angle grinder 516 to move slowly along the rectangular slide rail 54 at a speed of 100 mm / s. This thoroughly cleans the flux residue from the weld. Dust generated during cleaning is collected by a vacuum cleaner (not shown in the diagram, but could be an industrial vacuum cleaner) installed next to the angle grinder 516 to prevent environmental pollution.

[0085] After the flux residue is removed, the weld surface is initially inspected using a visual inspection system. Once it is confirmed that there is no residual flux residue, motor V514 is started and the angle grinder 516 is adjusted to ensure that the grinding disc does not come into contact with the weld surface after it is lowered into position.

[0086] Hydraulic cylinder II 44 is activated, its piston rod retracts, driving sliding block 46 to move along guide rod III 45, moving heat treatment device 3 to below rectangular slide rail 54. Hydraulic cylinder III 51 is activated, its piston rod slowly extends, driving bottom base plate 53 to descend at a speed set to 50 mm / s, driving heat treatment device 3 to move downward into tool holder 61. Dual-axis drive motor 39 and motor II 36 are activated, and the positions of heating rod I 312, heating rod II 313, heating rod III 314, and heating core rod 38 are adjusted according to the size of tool holder 61 to completely cover the welding area of ​​tool holder 61. After adjustment, the heating components are activated, and the heating temperature and holding time are set through the temperature control system. The heating temperature is set to 600℃, and the holding time is set to 2 hours to perform post-weld heat treatment on tool holder 61. During the heat treatment process, the temperature of the heating area is monitored in real time to ensure temperature uniformity.

[0087] After the heat treatment is completed, the heating components are turned off, and the tool holder 61 is cooled to room temperature. During the cooling process, external factors are avoided. After the cooling is completed, the heat treatment device 3 is driven to reset and move.

[0088] The above method is used to weld multiple tool holders 61 in the same direction sequentially until the welding is completed.

[0089] Then drive the positioning end 183 away from the mounting hole 62 of the cutter head 6, start the motor I 16 to adjust the position of the guide rail 18, and repeat the above welding, grinding and heat treatment work until the welding is completely completed.

[0090] Finally, the welded cutter head 6 is lifted away from the work area by a crane, completing the entire operation process.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A shield tunneling machine articulated tool holder welding robot based on an arc welding robot, characterized in that, Include: The cutter head (6) is provided with a cutter seat (61); Support assembly (1), the support assembly (1) is provided outside the cutter head (6), including two movable moving base (11), the moving base (11) is semicircular, the top is slidably provided with a tooth ring (12), the bottom of the support assembly (1) is provided with a sliding frame (15), the sliding frame (15) is slidably arranged on the guide rail (14) fixed to the ground, one side of one moving base (11) is provided with motor I (16), the output end of the motor I (16) is provided with a gear (17) engaged with the tooth ring (12); Guide rail (18), the guide rail (18) is arranged on one of the tooth rings (12); Moving assembly (4), the moving assembly (4) is movably arranged on the guide rail (18); Welding robot (2), the welding robot (2) is arranged on the top of the moving assembly (4), used for welding the cutter seat (61) and the cutter head (6); Polishing assembly (5), the polishing assembly (5) is arranged on the bottom of the moving assembly (4) and can be lifted, including motor IV (55), rectangular slide rail (54) and angle grinder (516), the motor IV (55) drives the angle grinder (516) to move along the rectangular slide rail (54), to clean the coating on the cutter seat (61) and the cutter head (6); Heat treatment device (3), the heat treatment device (3) is movably arranged on one side of the moving assembly (4) and cooperates with the rectangular slide rail (54) for use, used for heat treatment of the cutter seat (61) after welding; Wherein, the motor I (16) drives the tooth ring (12) to rotate, drives the guide rail (18) and the moving assembly (4) to move along the circumference of the cutter head (6), so that the welding robot (2) welds the cutter seat (61), the polishing assembly (5) cleans the coating, and the heat treatment device (3) is heat treated, realizing the integration of welding, cleaning coating and heat treatment continuous operation.

2. The shield machine gang tool holder welding robot according to claim 1, characterized in that: The inner side of the tooth ring (12) is fixedly provided with a plurality of fixed plates I (19), the bottom of the fixed plate I (19) is rotatably provided with a pressure roller I (20) abutting against the cutter head (6), and the guide rail (18) is fixed to the top of one of the fixed plates I (19).

3. The TBM jumbo drill head welder robot of claim 2, wherein: The other end of the guide rail (18) is fixedly provided with an extension frame (181), the top of the extension frame (181) is fixedly provided with at least one hydraulic cylinder I (182), the output end of the hydraulic cylinder I (182) is fixedly provided with a positioning end (183), and the positioning end (183) is used in cooperation with the mounting hole (62) on the cutter head (6) to position and support the guide rail (18).

4. The shield machine gang tool holder welding robotic machine of claim 1, wherein: The polishing assembly (5) further comprises a hydraulic cylinder III (51) fixedly arranged on the top of the moving assembly (4), a guide rod V (52) is arranged on the top of the moving assembly (4) and can slide, a bottom base plate (53) is fixedly arranged on the bottom end of the guide rod V (52), the output end of the hydraulic cylinder III (51) is fixedly connected with the bottom base plate (53), and the rectangular slide rail (54) is fixed on the bottom of the bottom base plate (53). The bottom base plate (53) is driven to ascend and descend by the hydraulic cylinder III (51), so that the angle grinder (516) is close to or away from the weld.

5. The TBM jumbo drill head welder robot of claim 4, wherein: The motor IV (55) is fixed on the top of the moving assembly (4), a sleeve rod (58) is arranged on the top of the bottom base plate (53) and can rotate, a sliding rod (59) is arranged in the sleeve rod (58) and can slide, the top end of the sliding rod (59) is fixedly connected with the output end of the motor IV (55), a fixed sleeve ring (510) is fixedly arranged on the outer wall of the sleeve rod (58), a driving rod (512) is fixedly arranged on the outer wall of the fixed sleeve ring (510), a sliding seat (56) is arranged on the bottom of the rectangular slide rail (54) and can slide, a guide sliding block (57) is arranged on the bottom of the sliding seat (56) and can rotate, the guide sliding block (57) is slidably arranged on the driving rod (512), and the angle grinder (516) is arranged on the bottom of the guide sliding block (57). The motor IV (55) drives the sliding rod (59) and the sleeve rod (58) to rotate, the guide sliding block (57) and the sliding seat (56) are driven to move along the rectangular slide rail (54) through the driving rod (512), and the angle grinder (516) is cleaned.

6. The TBM jumbo drill head welder robot of claim 5, wherein: One side of the guide sliding block (57) is rotatably provided with a mounting plate II (513) through a support, the angle grinder (516) is fixed on one side of the mounting plate II (513) through a clamping sleeve (515), one side of the support is fixedly provided with a motor V (514), the output end of the motor V (514) is fixedly connected with the rotating shaft of the mounting plate II (513), so as to drive the angle grinder (516) to overturn and adjust the angle.

7. The machine tool according to any one of claims 1 to 6, wherein: The heat treatment device (3) comprises a fixed plate II (31) movably arranged on one side of the moving assembly (4), a fixed rib (33) is fixedly arranged on the bottom of the fixed plate II (31), two guide rods I (34) are fixedly arranged on the both sides of the fixed rib (33), a sliding base plate (32) is slidably arranged on the same side of the two guide rods I (34), a nut seat (311) is fixedly arranged on the top of the sliding base plate (32), a screw rod (310) is rotatably arranged on the top of the fixed plate II (31), the nut seat (311) is threadedly arranged on the screw rod (310), a double-shaft driving motor (39) is fixedly arranged on the top of the fixed plate II (31), and the output end of the double-shaft driving motor (39) is connected with the screw rod (310). The top of the sliding base plate (32) is provided with a guide rod II (35) rotating through, the outer wall of the guide rod II (35) is provided with a plurality of connecting sleeves (315), the outer wall of the connecting sleeve (315) is fixedly provided with an extension column (316), the other end of the extension column (316) is fixedly provided with an isolation sleeve (317), the inside of the two isolation sleeves (317) corresponding on the same side is provided with a heating rod I (312), the inside of the two isolation sleeves (317) corresponding on the other side is provided with a heating rod III (314), the two ends of the heating rod I (312) are provided with a heating rod II (313), the heating rod II (313) is slidingly arranged in the heating rod III (314); Wherein, the double-shaft driving motor (39) drives the screw rod (310) to rotate, drives the sliding base plate (32) to move along the guide rod I (34), adjusts the heating width, and after moving to the position, the rectangular slide rail (54) is abutted to lift and move.

8. The TBM jumbo drill head welder robot of claim 7, wherein: The connecting sleeve (315) located at the bottom is rotatably sleeved on the guide rod II (35), one of the outer walls of the guide rod II (35) is provided with a threaded groove, the inner wall of the connecting sleeve (315) located at the top is provided with an internal thread groove matched with the threaded groove, the top of the sliding base plate (32) is fixedly provided with a motor II (36), and the output end of the motor II (36) is fixedly connected with the guide rod II (35); The outer wall of the guide rod II (35) is sleeved with a tension spring (318), and the tension spring (318) is located between the two adjacent connecting sleeves (315); Wherein, the motor II (36) drives the guide rod II (35) to rotate, drives the connecting sleeve (315) to move up and down along the guide rod II (35) through threaded cooperation, and adjusts the heating height.

9. The shield machine gang tool holder welding robot according to claim 7, characterized in that: The bottom of the guide rod II (35) is rotatably provided with a U-shaped base (37), the other end of the U-shaped base (37) is fixedly provided with a heating core rod (38), and the top end of the heating core rod (38) is fixed to the bottom of the sliding base plate (32), so as to assist in heating the corner area of the tool holder (61).

10. A method of welding a joint of a shield tunneling machine based on an arc welding robot, using the welding robot according to any one of claims 1 to 9, characterized in that, The method comprises the following steps: S1, hoist the cutter head (6) to the working position and preliminarily fix, move the base (11) along the guide rail (14) to surround the cutter head (6), drive the gear (17) to rotate through the motor I (16) to drive the gear ring (12), drive the positioning end (183) to insert into the mounting hole (62) through the hydraulic cylinder I (182) to realize accurate positioning of the cutter head (6); S2, the motor III (43) drives the compression roller II (42) to drive the moving assembly (4) to move along the guide rail (18), and the welding robot (2) welds the connecting part of the tool holder (61) and the cutter head (6) according to the preset path. S3, after the welding is completed, the temperature of the weld is reduced to below 200 DEG C, the hydraulic cylinder III (51) drives the angle grinder (516) to descend, the motor IV (55) drives the angle grinder (516) to move along the rectangular slide rail (54), the motor V (514) adjusts the angle of the angle grinder (516), and the weld coating cleaning is completed; S4, after the coating cleaning is completed, the hydraulic cylinder II (44) drives the heat treatment device (3) to move to the top of the working position, and the hydraulic cylinder III (51) drives the heat treatment device (3) to move into the tool holder (61), the double shaft drive motor (39) and the motor II (36) adjust the position of the heating component, the heating core rod (38) and each heating rod cooperate to heat, and the local heat treatment is carried out on the welding area of the tool holder (61) to eliminate the welding residual stress, and the heat treatment is cooled to room temperature after the heat treatment is completed, and the welding operation is completed.

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