End effector for cleaning mud cake of shield tunneling machine

Abstract

The utility model belongs to the technical field of tunneling construction equipment, and discloses an end effector for cleaning a mud cake of a shield tunneling machine, which comprises a mounting support, a swing mechanism, a high-pressure water gun and a fixing mechanism, the mounting support comprises a support body and a main moving rod; the swing mechanism comprises a support arm, a connecting rod and a hinge shaft; the high-pressure water gun and the fixing mechanism are located between the supporting arm and a cutter head of the shield tunneling machine and fixedly connected with the supporting arm. According to the end effector provided by the utility model, firstly, manual work is replaced by machinery, so that the safety of removing mud cakes on the cutter head can be enhanced; secondly, the high-pressure water gun is used for flushing the mud cake, the cleaning speed can be effectively increased, and the cleaning efficiency is greatly improved; thirdly, the end effector has a folding function and can be suitable for complex application scenes, and the mud cake cleaning range is expanded; finally, the end effector provided by the utility model is simple in production process, low in production cost and capable of improving the economical efficiency of shield tunneling machine construction.

Description

Technical Field

[0001] This utility model belongs to the technical field of tunnel excavation equipment, and relates to an end effector for cleaning mud cake from a tunnel boring machine. Background Technology

[0002] With the continuous improvement of my country's infrastructure, the shield tunneling method has been widely used in urban tunnel construction due to its advantages such as minimal environmental impact, fast construction speed, high degree of automation, and easy assurance of tunnel structure quality. However, due to the complex geological conditions and defects in the preliminary survey and design during shield tunneling, the engineering technical problem of cutterhead mud cake formation is very likely to occur. Cutterhead mud cake refers to the semi-solid or solid blocky mass formed by the accumulation of fine particles and debris cut by the cutterhead in the sealed chamber and cutterhead area. Once mud cake forms on the cutterhead, the shield's advance speed slows down, the shield cutters wear down, and this can lead to serious damage to the shield machine. In water-rich strata, it may induce gushing or even surface collapse, causing serious engineering accidents.

[0003] Currently, preventing cutterhead mud cake formation typically involves addressing the design and selection of the tunnel boring machine (TBM). However, due to complex geological conditions, this method has significant shortcomings. In practice, mud cake removal during construction is mostly done manually under pressure, which is slow, inefficient, and poses numerous safety hazards, severely hindering tunnel construction progress. Therefore, enhancing the safety of cutterhead mud cake removal while simultaneously increasing its speed and efficiency has become paramount. Utility Model Content

[0004] To address the aforementioned problems in the existing technology, this utility model provides an end effector for cleaning mud cake from a tunnel boring machine.

[0005] The technical solution of this utility model:

[0006] An end effector for cleaning mud cake from a tunnel boring machine includes a mounting bracket, a swing mechanism, a high-pressure water gun, and a fixing mechanism;

[0007] The mounting bracket includes a bracket body and a main moving rod. The bracket body is a rod with a thickness and a through groove. The end effector is fixed through the fixed end of the bracket body. The main moving rod is located inside the through groove of the bracket body and can move along the length of the bracket body within the through groove.

[0008] The swing mechanism includes a support arm, a connecting rod, and a hinge shaft. The first end of the support arm is rotatably connected to the free end of the support body. The hinge shaft cooperates with the main moving rod to form a sliding pair and is rotatably connected to the first end of the connecting rod. The second end of the connecting rod is rotatably connected to the second end of the support arm. When the main moving rod moves along the length of the support body, it drives the support arm to rotate around its connection point with the support body through the hinge shaft and the connecting rod.

[0009] The high-pressure water gun and fixing mechanism are located between the support arm and the cutterhead of the tunnel boring machine, and are respectively fixedly connected to the support arm.

[0010] Furthermore, the second end of the connecting rod is rotatably connected to the support arm via a fixed mechanism.

[0011] Furthermore, the support arm has a bent portion, and the fixing mechanism is fixedly connected to the support arm at the bent portion.

[0012] Furthermore, the fixing mechanism includes an electromagnet, which is fixedly connected to the bent portion.

[0013] Furthermore, the electromagnet is cylindrical.

[0014] Furthermore, the fixing mechanism includes an electromagnet mounting base and an electromagnet, the electromagnet mounting base is fixedly connected to the support arm, and the electromagnet can be mounted on the electromagnet mounting base to form an assembly.

[0015] Furthermore, there are two support arms, which are arranged symmetrically about the support body vertically along the length of the support body when deployed.

[0016] Furthermore, there are two high-pressure water guns, which are symmetrically arranged about the top and bottom of the support body along its length.

[0017] Furthermore, the two high-pressure water guns are located at the second ends of the two support arms, respectively.

[0018] The beneficial effects of this utility model are:

[0019] The end effector for cleaning tunnel boring machine (TBM) mud cake provided by this utility model includes a mounting bracket, a swing mechanism, a high-pressure water gun, and a fixing mechanism. When TBM mud cake needs to be cleaned, the robot delivers the end effector to the designated position. The fixing mechanism of the end effector fixes the end effector to the cutterhead of the TBM. The swing mechanism of the end effector can adjust the position of the high-pressure water gun, and the high-pressure water gun cleans the mud cake on the TBM cutterhead.

[0020] The end effector provided by this utility model has several advantages. First, by replacing manual labor with machinery, it ensures the safety of workers during mud cake removal and enhances the safety of removing mud cake from the cutterhead. Second, by using a high-pressure water gun to wash the mud cake, it effectively increases the cleaning speed and efficiency, significantly shortening the construction period. Third, the end effector has a folding function, making it suitable not only for applications with limited cleaning space and complex cutterhead panel structures, but also allowing for expansion of the mud cake cleaning range by adjusting the position of the high-pressure water gun. Finally, the end effector has a simple manufacturing process and low production cost, improving the economic efficiency of tunnel boring machine construction. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the end effector in its extended state;

[0022] Figure 2 This is a schematic diagram of the folded state of the end effector;

[0023] In the diagram: 1. Hinge shaft; 2. Support body; 3. Connecting rod; 4. Electromagnet; 5. Electromagnet mounting base; 6. High-pressure water gun; 7. High-pressure water gun mounting base; 8. Support arm; 9. Main moving rod. Detailed Implementation

[0024] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and technical solutions.

[0025] like Figures 1-2 As shown, the end effector for cleaning mud cake from a tunnel boring machine provided in this embodiment includes a mounting bracket, a swing mechanism, a high-pressure water gun 6, and a fixing mechanism.

[0026] The mounting bracket includes a bracket body 2 and a main moving rod 9. The main moving rod 9 is located inside the slot of the bracket body 2 and can move along the length of the bracket body 2 within the slot.

[0027] The swing mechanism includes a support arm 8, a connecting rod 3, and a hinge shaft 1. The first end of the support arm 8 is rotatably connected to the support body 2. The hinge shaft 1 cooperates with the main moving rod 9 to form a sliding pair and is rotatably connected to the first end of the connecting rod 3. The second end of the connecting rod 3 is rotatably connected to the support arm 8. When the main moving rod 9 moves along the length of the support body 2, it drives the support arm 8 to rotate around its connection point with the support body 2 through the hinge shaft 1 and the connecting rod 3.

[0028] The high-pressure water gun 6 and the fixing mechanism are located between the boom 8 and the cutterhead of the tunnel boring machine, and are respectively fixedly connected to the boom 8.

[0029] When it is necessary to clean the mud cake of the tunnel boring machine, the robot sends the end effector to the designated position. The fixing mechanism of the end effector fixes the end effector on the cutterhead of the tunnel boring machine. The swing mechanism of the end effector can adjust the position of the high-pressure water gun 6, and clean the mud cake of the tunnel boring machine cutterhead through the high-pressure water gun 6.

[0030] The end effector provided by this utility model has several advantages. First, by replacing manual labor with machinery, it ensures the safety of workers during mud cake removal and enhances the safety of removing mud cake from the cutterhead. Second, the use of a high-pressure water gun 6 to wash the mud cake effectively increases the cleaning speed and efficiency, significantly shortening the construction period. Third, the end effector has a folding function, making it suitable not only for applications with limited cleaning space and complex cutterhead panel structures, but also allowing for expansion of the mud cake cleaning range by adjusting the position of the high-pressure water gun 6. Finally, the end effector has a simple manufacturing process and low production cost, improving the economic efficiency of tunnel boring machine construction.

[0031] In one specific embodiment, the end effector can be used in conjunction with a tunnel boring machine (TBM) cleaning robot, with one end of the support body 2 connected to the flange of the TBM mud cake cleaning robot. By controlling the robot, the end effector provided by this invention can be delivered to a designated position suitable for cleaning the TBM mud cake. Wearing or old end effectors can be replaced by disassembling the flange structure; alternatively, end effectors of different sizes can be installed on the robot according to the actual construction scenario.

[0032] In this embodiment, the end effector also includes a high-pressure water gun mounting base 7, which is fixedly connected to the support arm 8, and the high-pressure water gun 6 is detachably connected to the high-pressure water gun mounting base 7.

[0033] In this embodiment, the second end of the connecting rod 3 is rotatably connected to the support arm 8 via a fixing mechanism. The advantage of this arrangement is that, in addition to fixing the end effector, the fixing mechanism can also serve as the hinge axis 1 between the connecting rod 3 and the support arm 8.

[0034] In this embodiment, the support arm 8 has a bent portion. When the support arm 8 is folded, the longer segment of the support arm 8 can overlap with the support body 2 as much as possible, reducing the space occupied by the end effector. The fixing mechanism includes an electromagnet mounting base 5 and an electromagnet 4. The electromagnet mounting base 5 is fixedly connected to the support arm 8 at the bent portion. The electromagnet 4 is cylindrical and can be mounted on the electromagnet mounting base 5 to form an assembly.

[0035] Because the cutterhead of the tunnel boring machine is a metal structure, electromagnets 4 and 5 are used as the fixing mechanism. This approach is not only simple and practical, but also provides a very secure fixation. The cylindrical shape of electromagnet 4 minimizes its footprint; in practice, electromagnet 4 can be prism-shaped.

[0036] In this embodiment, the support arm 8 is flat, and there are two support arms 8. When extended, they are symmetrically arranged vertically about the support body 2 along its length. There are also two high-pressure water guns 6 and two electromagnets 4, symmetrically arranged vertically about the support body 2 along its length. The two high-pressure water guns 6 and two electromagnets 4 are located between the support arm 8 and the cutterhead of the tunnel boring machine, and are fixedly connected to the support arm 8. Specifically, the two high-pressure water guns 6 are located at the second ends of the two support arms 8, and the two electromagnets 4 are located at the two bends of the two support arms 8. This arrangement makes the end effector structure simple and compact, and provides good balance during cleaning operations.

[0037] In one specific implementation, when it is necessary to clean the mud cake from the tunnel boring machine, the robot delivers its end effector to a designated location. For example... Figure 1 As shown, when the main moving rod 9 moves to the right, the hinge shaft 1 drives the first end of the connecting rod 3 to move linearly in sync with the main moving rod 9. The second end of the connecting rod 3 is rotatably connected to the support arm 8. When the connecting rod 3 moves, it applies an external force to the support arm 8, which causes the support arm 8 to rotate around its connection point with the support body 2. The included angle between the two support arms 8 gradually increases, and the second ends of the two support arms 8 gradually move away from the mounting support body 2, thereby driving the high-pressure water gun 6 and the electromagnet 4, which are fixedly connected to the support arms 8, to gradually move away from the mounting support body 2, completing the deployment; as Figure 2 As shown, when the main moving rod 9 moves to the left, the hinge shaft 1 drives the first end of the connecting rod 3 to move linearly in sync with the main moving rod 9. The second end of the connecting rod 3 is rotatably connected to the support arm 8. When the connecting rod 3 moves, it applies an external force to the support arm 8, which causes the support arm 8 to rotate around its connection point with the support body 2. The included angle between the two support arms 8 gradually decreases, and the second ends of the two support arms 8 gradually approach the mounting support body 2, thereby driving the high-pressure water gun 6 and the fixing mechanism fixedly connected to the support arms 8 to gradually approach the mounting support body 2, completing the folding.

[0038] By moving the main moving rod 9 left and right, the hinge shaft 1 and the connecting rod 3 drive the support arm 8 to rotate around the connection point between it and the support body 2, thereby realizing the unfolding and folding of the support arm 8. This, in turn, drives the high-pressure water gun 6 and the fixing mechanism fixedly connected to the support arm 8 to move relative to the cutterhead of the tunnel boring machine, thus completing the position adjustment of the high-pressure water gun 6 and the electromagnet 4.

[0039] After electromagnet 4 is energized, it will be tightly connected to the tunnel boring machine cutterhead, fixing the end effector in place. The water supply system will then be activated, and high-pressure water will be sprayed from the high-pressure water gun 6 through a water pipe to clean the mud cake from the tunnel boring machine. By changing the position of the end effector or adjusting the position of the high-pressure water gun 6, mud cake at different locations on the tunnel boring machine cutterhead will be cleaned until it is completely removed.

[0040] In one specific implementation, provided that the work of cleaning the mud cake of the tunnel boring machine can be completed, the number of the support arm 8 can be one; the number of the high-pressure water gun 6 and the electromagnet 4 can be one or more; the high-pressure water gun 6 and the electromagnet 4 can be fixedly connected to other positions of the support arm 8.

[0041] It should be noted that the end effector provided by this utility model can be used independently of the tunnel boring machine cleaning robot, or in conjunction with other machinery.

Claims

1. An end effector for cleaning a mud cake of a shield machine, characterized in that, The end effector includes a mounting bracket, a swing mechanism, a high-pressure water jet, and a fixing mechanism; The mounting bracket includes a bracket body and a main moving rod. The bracket body is a rod with a thickness and a through groove. The end effector is fixed through the fixed end of the bracket body. The main moving rod is located inside the through groove of the bracket body and can move along the length of the bracket body within the through groove. The swing mechanism includes a support arm, a connecting rod, and a hinge shaft. The first end of the support arm is rotatably connected to the free end of the support body. The hinge shaft cooperates with the main moving rod to form a sliding pair and is rotatably connected to the first end of the connecting rod. The second end of the connecting rod is rotatably connected to the second end of the support arm. When the main moving rod moves along the length of the support body, it drives the support arm to rotate around its connection point with the support body through the hinge shaft and the connecting rod. The high-pressure water gun and fixing mechanism are located between the support arm and the cutterhead of the tunnel boring machine, and are respectively fixedly connected to the support arm.

2. The end effector of claim 1, wherein, The second end of the connecting rod is rotatably connected to the support arm via a fixed mechanism.

3. The end effector of claim 1, wherein, The support arm has a bent portion, and the fixing mechanism is fixedly connected to the support arm at the bent portion.

4. The end effector of claim 3, wherein, The fixing mechanism includes an electromagnet, which is fixedly connected to the bent part.

5. The end effector of claim 4, wherein, The electromagnet is cylindrical.

6. The end effector of claim 1, wherein, The fixing mechanism includes an electromagnet mounting base and an electromagnet. The electromagnet mounting base is fixedly connected to the support arm, and the electromagnet can be mounted on the electromagnet mounting base to form an assembly.

7. The end effector of claim 1, wherein, The number of support arms is two, and when deployed, they are symmetrically arranged about the support body from top to bottom along the length of the support body.

8. The end effector of claim 1, wherein, The number of high-pressure water guns is two, which are symmetrically arranged about the top and bottom of the support body along the length of the support body.

9. The end effector of claim 1, wherein, The two high-pressure water guns are located at the second end of the two arms, respectively.

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