Shield hob measuring system

Abstract

The utility model relates to a shield hob measuring system which comprises a rotatable base, a rear-end hob data management terminal, a mechanical arm, an automatic identification device, a hob identification strip and a digital display measuring scale, the rotatable base is fixed on a rear panel of a shield soil bin, and the mechanical arm is arranged on the front portion of the rotatable base. The automatic identification device and the digital display measuring scale are arranged at the front part of the mechanical forearm, the digital display measuring scale is used for measuring the loss of the hobbing cutter, the hobbing cutter identification strip is arranged at a hobbing cutter box and records the number of the hobbing cutter, and the hobbing cutter identification strip is used for being matched with the automatic identification device to identify the number of the hobbing cutter. The automatic identification device and the digital display measuring scale transmit collected data back to the rear-end hob data management terminal, and the rear-end hob data management terminal records and analyzes the abrasion loss of the hob to guide personnel to change the hob. The technical problems that the tool measuring efficiency is low, the personal safety is poor and the tool cannot be accurately and rapidly replaced due to manual measurement and tool replacement depending on manual experience at present can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of shield construction and cutter measurement, and more specifically, to a shield roller cutter measurement system. Background Art

[0002] With the rapid development of underground engineering, more and more tunnel excavation is carried out by shield construction. Among them, the roller cutter, as the "teeth" of the shield, plays an important role in the rock breaking process. Excessive wear of the roller cutter brings huge problems to the construction of the project: after the roller cutter is worn, the staff needs to measure the tool, and the roller cutter needs to be removed and replaced after reaching the required wear value; traditional roller cutter tools need to be measured manually with a handheld measuring ruler in the soil bin. If broken strata are encountered, there is a great risk to personal injury. At the same time, due to the limited position and the small number of measurements during manual measurement, there are many interference factors and the measurement results are not accurate enough; most of the tool replacements rely on manual experience, lack of accurate theoretical criteria as a guide, and based on manual measurement results as the premise of tool replacement, it is easy to cause certain misleading. At the same time, tool replacement is judged based on manual experience, and the accuracy of tool replacement is poor.

[0003] For example, a shield cutter wear measuring ruler disclosed in the Chinese utility model document with authorization announcement number CN219914223U adapts the cutter ring through a groove, and uses a measuring rod with two ends slidingly connected to the slide groove to contact the outermost edge of the cutter ring. The spring is used to maintain the contact state with the cutter ring, and the wear condition of the cutter is obtained in combination with the scale on the ruler body. It is convenient for one-handed operation and reduces the difficulty of measurement. The synchronous sliding of both sides can reduce the offset of the measuring rod and improve the measurement accuracy. Although the above-mentioned shield cutter wear measuring ruler can improve the convenience and accuracy of manual one-handed measurement to a certain extent, it still uses manual measurement, which cannot effectively ensure the personal safety of shield operators and improve the efficiency of cutter measurement. At the same time, there is a lack of effective guidance criteria for tool replacement, and it is impossible to achieve accurate and fast tool replacement during the construction process. Utility Model Content

[0004] The utility model aims to provide a shield cutter measuring system, which can solve the technical problems of low cutter measuring efficiency, poor personal safety and inability to accurately and quickly change cutters in the current manual measurement and cutting tool replacement based on manual experience.

[0005] The utility model provides a shield cutter measurement system technical solution as follows:

[0006] A shield cutter measuring system mainly consists of a rotatable base, a rear end cutter data management terminal, a human-machine interaction interface, a mechanical arm, an automatic identification device, a cutter identification strip, and a digital display measuring ruler. The rotatable base is used to be fixed on the rear panel of the shield soil bin. The rotatable base is arranged forward and the central axis extends in the horizontal direction. The mechanical arm is arranged at the front of the rotatable base, including a front mechanical forearm and a rear mechanical rear arm. The rear end of the mechanical rear arm is rotatably connected to the front of the rotatable base through a rear rotating joint, and the mechanical rear arm is rotatably connected to the mechanical forearm through a front rotating joint. The automatic identification device is used to fix the rear panel of the shield soil bin. The rotatable base is arranged forward and the central axis extends in the horizontal direction. The mechanical arm is arranged at the front of the rotatable base, including a front mechanical forearm and a rear mechanical rear arm. The identification device and the digital measuring ruler are arranged at the front of the mechanical forearm. The digital measuring ruler is used to measure the hob loss and is arranged at the front end of the mechanical forearm. The automatic identification device includes a camera device and is arranged at the upper part of the front end of the mechanical forearm. The hob identification strip is arranged at the four corners of the hob box and records the hob number. The automatic identification device cooperates with the hob identification strip to identify the hob number. The rear hob data management terminal is respectively connected to the rotatable base, the front rotary joint, the rear rotary joint, the automatic identification device, and the digital measuring ruler; the human-computer interaction interface is connected to the rear hob data management terminal;

[0007] During measurement, the automatic identification device and the digital measuring ruler will transmit the collected data back to the back-end hob data management terminal, which will record and analyze the hob wear and guide personnel to change tools. The human-computer interaction interface is used to control the movement of the robotic arm, the automatic identification device, and the digital measuring ruler, and obtain tool change guidance information.

[0008] Furthermore, the automatic identification device also includes an identification support frame, an identification protective shell, and a front end baffle. The identification support frame is fixed to the upper part of the front end of the mechanical forearm. The identification protective shell is rotatably connected to the identification support frame through a supporting rotating joint. The camera device is located inside the identification protective shell. The front end baffle extends forward along the front end of the identification protective shell and is located above the camera device to protect the camera device.

[0009] Furthermore, the rear end hob data management terminal is connected to the camera device and the digital display measuring ruler respectively through the power transmission cable, and the power transmission cable passes through the rear arm and the front arm of the machine from back to front and is connected to the camera device and the digital display measuring ruler.

[0010] Furthermore, the roller cutter identification strip is made of high temperature resistant and wear resistant metal material.

[0011] In summary, the utility model has the following beneficial effects: compared with the traditional manual measurement method of roller cutters, the accurate identification and measurement of a single roller cutter can be realized in sequence through mechanization and automation, thus avoiding the greater risk of manual measurement of roller cutters to personal safety in an unstable stratum environment, which is beneficial to ensuring safe tunnel construction; the flexible movement of the digital measuring ruler is realized through the mechanical arm and the rotating base, which is easy to operate, can save the time of measuring roller cutters, improve the efficiency of measuring roller cutters, and then help to improve the overall construction efficiency; the digital measuring ruler is used to measure the loss data, combined with multiple measurements of a single roller cutter, to overcome the disadvantages of large interference from human factors in traditional measurements, greatly improve the accuracy of tool loss measurement, rely on the digital measuring ruler measurement data and the back-end roller cutter data management terminal to record and analyze the data, based on accurate data and combined with the principle of tool change, the roller cutter number and roller cutter replacement position that need to be replaced are given, and the next tool change operation is accurately and effectively guided, realizing the function of fast and accurate tool change, and achieving the purpose of making full use of roller cutters, reducing construction costs, and improving economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of a specific embodiment 1 of a shield cutter measurement system of the utility model;

[0013] Figure 2 It is a structural schematic diagram of a visualization device in a specific embodiment 1 of a shield cutter measurement system of the utility model;

[0014] Figure 3 It is a schematic diagram of a roller cutter identification strip in a specific embodiment 1 of a shield roller cutter measurement system of the utility model;

[0015] Figure 4 It is a schematic diagram of shield cutter head cutter numbering when a specific embodiment 1 of a shield cutter measuring system of the utility model is implemented and applied;

[0016] Figure 5 A specific embodiment of a shield cutter measuring system of the utility model 1 is a schematic diagram of the specific contents of the cutter changing principle when implementing the application;

[0017] Figure markings: 1-digital display measuring ruler; 2-automatic identification device; 21-camera device; 23-front baffle; 24-identification protection shell; 25-support rotation joint; 27-identification support frame; 31-mechanical front arm; 32-front rotation joint; 33-power transmission cable; 34-mechanical rear arm; 35-rear rotation joint; 36-drive control core; 37-rotatable base; 38-shield soil bin rear panel; 41-A measurement area; 42-B measurement area; 43-C measurement area; 44-D measurement area; 45-hob identification strip; 5-rear hob data management terminal. DETAILED DESCRIPTION

[0018] The utility model is described in detail below in conjunction with the accompanying drawings.

[0019] Specific embodiment 1 of a shield cutter measuring system of the utility model:

[0020] like Figure 1 As shown, the shield cutter measuring system includes a rotatable base 37, a rear end cutter data management terminal 5, a human-machine interface, a mechanical arm, an automatic identification device 2, a cutter identification bar 45 and a digital measuring ruler 1. The rotatable base 37 is fixed on the rear panel 38 of the shield soil bin and is arranged toward the cutter head in the front, and its central axis extends in the horizontal direction. The mechanical arm is arranged in front of the rotatable base 37, and the rotatable base 37 can drive the mechanical arm to rotate.

[0021] The mechanical arm includes a mechanical forearm 31 at the front side and a mechanical rear arm 34 at the rear side. The rear end of the mechanical rear arm 34 is rotatably connected to the front of a rotatable base 37 through a rear rotary joint 35. The front of the rotatable base 37 is provided with a driving control core 36 connected to the rear rotary joint 35. The front end of the mechanical rear arm 34 is rotatably connected to the rear end of the mechanical forearm 31 through a front rotary joint 32. The mechanical forearm 34 can be driven to rotate and extend relative to the mechanical rear arm 34 through the front rotary joint 32; the mechanical rear arm 34 can be driven to rotate and extend relative to the rotatable base 37 through the rear rotary joint 35. As the supporting transmission structure of the measurement system, the mechanical arm is made of high-strength alloy material and has excellent durability.

[0022] The automatic identification device 2 and the digital measuring ruler 1 are arranged at the front of the mechanical forearm 31. The digital measuring ruler 1 is used to measure the wear of the roller cutter and is arranged at the front end of the mechanical forearm 31. The digital measuring ruler in this embodiment is a roller cutter measuring instrument in the prior art, and can be a digital shield roller cutter wear measuring ruler in the Chinese utility model patent with the authorization announcement number CN216845940U, which is equipped with a lighting device, which is conducive to improving the measurement accuracy of the measuring ruler in the dim environment of the soil bin and helping image recognition.

[0023] like Figure 2 As shown, the automatic identification device 2 is arranged at the upper part of the front end of the mechanical forearm 31, and includes a camera device 21, an identification support frame 27, an identification protection shell 24 and a front baffle 23. The identification support frame 27 is fixed to the upper part of the front end of the mechanical forearm 31, and the identification protection shell 24 is rotatably connected to the identification support frame 27 via a support rotation joint 25. The support rotation joint 25 can adjust the angle of the camera device 21 and improve the accuracy of image recognition. The camera device 21 is located at the front end inside the identification protection shell 24, and the front baffle 23 extends forward along the front end of the identification protection shell 24 and is located above the camera device 21 to play a protective role. Figure 3As shown, the cutter identification strip 45 is set at the four corners of the cutter box and records the cutter number. The cutter identification strip 45 is made of high temperature resistant and wear-resistant metal material with a smooth surface, such as GH605 cobalt-based high temperature alloy sheet, GH3030 alloy sheet, etc., to prevent damage caused by long-term use in the soil bin. The cutter identification strip 45 is used to cooperate with the camera device 21 of the automatic identification device to identify the cutter number.

[0024] The back-end hob data management terminal 5 is connected to the rotatable base, the front rotary joint, the rear rotary joint, the automatic identification device, the digital measuring ruler, and the human-machine interface respectively. On the one hand, during measurement, the automatic identification device and the digital measuring ruler transmit the collected data to the back-end hob data management terminal for recording and analysis, and the back-end hob data management terminal records and analyzes the hob wear based on the set tool change principle, outputs the hob number and the hob replacement method and position to be replaced through the human-machine interface, and guides the manual next tool change operation; on the other hand, the operator can control the rotatable base, the front rotary joint, the rear rotary joint, and the supporting rotary joint through the human-machine interface and the back-end hob data management terminal, control the mechanical arm extension and retraction action, and start and close the measurement function.

[0025] In this embodiment, the rear-end roller cutter data management terminal 5 is connected to the camera device and the digital display measuring ruler 1 respectively through the power supply transmission cable 33. The power supply transmission cable passes through the mechanical rear arm 34 and the mechanical front arm 31 from back to front and is connected to the camera device 21 and the digital display measuring ruler 1. While ensuring the power supply and data transmission functions, the problem of the power supply transmission cable being easily damaged and malfunctioning when exposed in the complex environment of the soil bin can be avoided.

[0026] The steps for measuring and replacing the hob cutter when implementing the shield cutter measuring system are as follows:

[0027] by Figure 4 Taking the 9.13 diameter dual-mode shield cutter head shown in the figure as an example, a total of 64 rollers are installed, and the corresponding roller numbers are 1#-64#; the roller size is 18 inches, the cutter ring diameter is 48.26cm, and the maximum allowable wear is 25mm. The shield cutter head is evenly divided into four measurement areas, namely: A measurement area 41, B measurement area 42, C measurement area 43, and D measurement area 44.

[0028] S1: After the shield completes each ring of excavation, the gap between the assembled segments needs to be measured by the cutter. The roller cutter measurement function is started through the human-computer interaction interface.

[0029] S2: The rear arm of the robot is driven by the rear rotary joint to extend forward, and the front arm of the robot is controlled to extend forward through the front rotary joint; in steps S1 and S2, the situation in the soil bin should be observed before the robot arm is extended to avoid foreign objects interfering with the movement of the robot arm.

[0030] S3: The automatic identification device determines the hob number by identifying the hob identification strip, and then the mechanical forearm operates the digital measuring ruler to clamp into the hob cutter ring position to measure the hob wear; the wear detection of a single hob requires changing the position and performing at least three measurements.

[0031] S4: The digital measuring ruler is operated by the robotic arm and the rotatable base to measure the roller cutter in the 1 / 4 area of ​​the shield cutter head. After completion, the shield cutter head is rotated to measure the other 1 / 4 area of ​​the shield cutter head.

[0032] S5: After completing the measurement of the hob wear in each area, the measurement data is transmitted to the back-end hob data management terminal, which records and analyzes it based on the tool change principle, gives the hob number and hob replacement position that need to be replaced, and guides the next tool change operation.

[0033] The tool changing principles include Figure 5 The specific replacement rules are as follows:

[0034] (1) When changing the cutter, the cutter on the outer ring of the cutter disc is replaced step by step to the inner ring of the cutter disc;

[0035] (2) The greater the wear of the hob, the closer the tool change position is to the inner ring;

[0036] (3) The hobs between adjacent rings should be replaced as close as possible in radial distance.

[0037] The utility model provides a shield measurement system with the following significant advantages:

[0038] (1) Compared with the traditional manual measurement method of roller cutters, the accurate identification and measurement of a single roller cutter can be achieved through mechanized and automated means in a sequence, reducing the personal risks caused by manual measurement in unstable strata and ensuring safe tunnel construction.

[0039] (2) The digital measuring ruler can be flexibly moved by the mechanical arm and the rotating base, which is easy to operate, can save the time of measuring the tool, improve the efficiency of measuring the tool, and then help improve the overall construction efficiency; the digital measuring ruler can be retracted by the mechanical arm when not measuring, which will not affect the normal excavation work.

[0040] (3) The wear data is measured by a digital measuring ruler and combined with multiple measurements of a single hob, which overcomes the disadvantage of large human interference in traditional measurement and greatly improves the accuracy of tool wear loss measurement. Relying on the measurement data of the digital measuring ruler and the data recording and analysis of the back-end hob data management terminal, the hob number and hob replacement position that need to be replaced are given according to the tool change principle and precise data, and accurate and effective guidance is provided for the next tool change operation, realizing the function of fast and accurate tool change, making full use of the hob tool to the greatest extent, and achieving the purpose of reducing construction costs and improving the overall economic benefits of construction.

[0041] The above are only preferred implementations of the utility model. The protection scope of the utility model is not limited to the above embodiments. All technical solutions under the idea of ​​the utility model belong to the protection scope of the utility model. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the utility model should also be regarded as the protection scope of the utility model.

Claims

1. A shield cutter measurement system, characterized in that: It is mainly composed of a rotatable base, a rear end roller cutter data management terminal, a mechanical arm, an automatic identification device, a roller cutter identification strip, and a digital display measuring ruler. The rotatable base is used to be fixed on the rear panel of the shield soil bin. The rotatable base is arranged forward and the central axis extends in the horizontal direction. The mechanical arm is arranged at the front of the rotatable base, including a front mechanical forearm and a rear mechanical rear arm. The rear end of the mechanical rear arm is rotationally connected with the front of the rotatable base through a rear rotation joint, and the mechanical rear arm is rotationally connected with the mechanical forearm through a front rotation joint. The automatic identification device and the digital display measuring ruler are arranged at the front of the mechanical forearm. The digital display measuring ruler is used to measure the roller cutter loss and is arranged at the front end of the mechanical forearm. The automatic identification device includes a camera device and is arranged at the upper part of the front end of the mechanical forearm. The roller cutter identification strip is arranged at the four corners of the roller cutter box and records the roller cutter number. The automatic identification device cooperates with the roller cutter identification strip to identify the roller cutter number. The rear end roller cutter data management terminal is respectively connected with the rotatable base, the front rotation joint, the rear rotation joint, the automatic identification device, and the digital display measuring ruler. During measurement, the automatic identification device and the digital measuring ruler will transmit the collected data back to the back-end hob data management terminal, which will record and analyze the hob wear and guide personnel to change the hob.

2. A shield cutter measuring system as claimed in claim 1, characterized in that: The automatic identification device also includes an identification support frame, an identification protection shell, and a front end baffle. The identification support frame is fixed to the upper part of the front end of the mechanical forearm. The identification protection shell is rotatably connected to the identification support frame through a supporting rotation joint. The camera device is located inside the identification protection shell. The front end baffle extends forward along the front end of the identification protection shell and is located above the camera device to protect the camera device.

3. A shield cutter measuring system as claimed in claim 1, characterized in that: The rear end hob data management terminal is connected to the camera device and the digital display measuring ruler through the power transmission cable. The power transmission cable passes through the rear arm and the front arm of the machine from back to front and is connected to the camera device and the digital display measuring ruler.

4. A shield cutter measuring system as claimed in claim 1, characterized in that: The hob identification strip is made of GH605 cobalt-based high-temperature alloy sheet or GH3030 alloy sheet.

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