CN110005426A - Based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique - Google Patents
Based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique Download PDFInfo
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- CN110005426A CN110005426A CN201910372879.5A CN201910372879A CN110005426A CN 110005426 A CN110005426 A CN 110005426A CN 201910372879 A CN201910372879 A CN 201910372879A CN 110005426 A CN110005426 A CN 110005426A
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- shield machine
- transfer chamber
- cutter
- cabin
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims description 21
- 230000007704 transition Effects 0.000 claims description 14
- 238000007789 sealing Methods 0.000 claims description 5
- 238000009510 drug design Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
Abstract
The present invention relates to based on the shield machine improved shield machine transfer chamber of automation tool changing and tool changing technique comprising the preceding transfer chamber on the left of cutterhead is arranged in, the new and old swivel that is arranged on the left of preceding transfer chamber changes cabin, new and old swivel is arranged in changes rear transfer chamber and tool changing robot on the left of cabin；Shield machine cutter is changed between cabin in preceding transfer chamber and new and old swivel and is transported；Tool changing robot is stored for transporting between preceding transfer chamber and cutterhead and/or new and old swivel being changed the shield machine cutter transported between cabin shield machine cutter into preceding transfer chamber.The present invention has rational design, compact-sized and easy to use.
Description
Technical field
The present invention relates to based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique.
Background technique
Currently, shield machine is at work, since subterranean strata situation is complicated, the cutter on the cutterhead of front is frequently worn out sternly
Weight, needs tool changing at any time.But be at present still that staff enters and carries out tool changing inside shield machine, underground activities bad environments,
Body is highly susceptible to injure.Tool changing is automated to realize, also to consider the factors such as working space and working time, so needing
Design a kind of tool changing mode that can save working space and time.
Summary of the invention
After the technical problems to be solved by the invention are generally speaking to provide one kind based on shield machine automation tool changing improvement
Shield machine transfer chamber and tool changing technique；The technical issues of solving in detail and acquirement beneficial effect are in aftermentioned content and combination
Content specifically describes in specific embodiment.
To solve the above problems, the technical solution used in the present invention is:
One kind automating the improved shield machine transfer chamber of tool changing based on shield machine, including the preceding transition on the left of cutterhead is arranged in
Cabin, the new and old swivel being arranged on the left of preceding transfer chamber, which change cabin, new and old swivel is arranged in changes rear transfer chamber and tool changing on the left of cabin
Robot；
Shield machine cutter is changed between cabin in preceding transfer chamber and new and old swivel and is transported；
Tool changing robot by shield machine cutter between preceding transfer chamber and cutterhead for transporting and/or changing new and old swivel between cabin
The shield machine cutter of transhipment is stored into preceding transfer chamber.
As a further improvement of the above technical scheme:
It is changed between cabin in preceding transfer chamber and new and old swivel and is provided with conversion cabin front door and/air ticket is changed in rear transfer chamber and new and old swivel
The conversion cabin back door for sealing is provided between cabin.
It is provided with upper rail in preceding transfer chamber, lower guideway is arranged in parallel with immediately below upper rail,
The right end of upper rail is located at the right side of the right end of lower guideway, the left end of upper rail be located at lower guideway right end and left end it
Between；
Linear reciprocation traveling has cutter transport device on lower guideway；Cutter transport device is by old shield machine cutter from preceding transition
Cabin send to new and old swivel change at hatch door mouth and newly by shield machine cutter change cabin from new and old swivel and send into preceding transfer chamber.
Cabin is changed in new and old swivel to be provided with for the cutter transport device tool changing changed positioned at new and old swivel at hatch door mouth
Manipulator；
The transition cabin door before preceding transfer chamber side is provided with.
The robot hand of the right end of upper rail on the base of tool of cutterhead for installing or removing shield machine cutter；
In lower guideway left end and it is located at the tool holder being provided with below upper rail for storing new shield machine cutter；
It will be located in the cutter transport device of lower guideway right end in the robot hand of the tool changing robot of the left end of upper rail
New shield machine cutter is placed into tool holder, and is clamped in tool holder for installation into the new shield on the base of tool
Rounding machine cutter；
Upper rail right end robot hand be used for by the old shield machine cutter dismantled from the base of tool be in place in
In the cutter transport device of lower guideway right end.
It is provided with the upper support frame for being used to support the left end of upper rail in preceding transfer chamber and/or supports lower guideway right end
Lower bracing frame；
Cutter transport device is rail guided vehicle；
Lower guideway left end is located at below conversion cabin front door.
Conversion cabin front door includes that new and old swivel is arranged in change the power rail of cabin right end swing, the Qian Menmen for opening and closing sealing
Plate, the connecting plate being arranged between preceding door board and power rail cantalever head are horizontally installed on new and old swivel and change on the right end doorway of cabin
Sliding rail and one end be hinged on before on door board and slide that the other end is slided in sliding rail；Conversion cabin back door includes side hinge
It connects and is stuck in new and old swivel at rear door plate that new and old swivel changes on the doorway of cabin left end, both ends and changes on the doorway of cabin left end and for being closed
The rear door guard plate of rear door plate and it is arranged on rear door guard plate and the left side of the rear door guard plate for holding out against closed state
Back door switch valve.
It is respectively arranged in preceding transfer chamber positioned at upper rail side and the upper mobile rack being connect with supporting plate and setting
In lower guideway side and the lower mobile rack connecting with cutter transport device and upper mobile rack engages simultaneously with lower mobile rack
One main driving gear；
Or it is respectively arranged in preceding transfer chamber through two groups of hydraulic cylinders of series connection and two groups of hydraulic cylinders while respectively driving correspondence
Supporting plate and corresponding cutter transport device backwards to moving.
A kind of tool changing technique based on the shield machine automation improved shield machine transfer chamber of tool changing, passes through tool changing machine
People replaces shield machine cutter.
As a further improvement of the above technical scheme:
By means of shield machine transfer chamber；Include the following steps；
New shield machine cutter is stored in new and old swivel in advance and changed in cabin by step 1；When the old shield machine of the base of tool of cutterhead
When cutter needs dismounting and change, step 2 is executed；
Step 2, transition cabin door before opening guarantee that preceding transfer chamber pressure is consistent with rear transfer chamber pressure；
Step 3, firstly, tool changing robot dismantles old shield machine cutter；Then, tool changing robot upper rail retreat to
Left end, meanwhile, unloaded cutter transport device advances to right end；Secondly, old shield machine cutter is placed knife by tool changing robot
Have in transport device；Again, tool changing robot grabs the new shield machine cutter prestored from tool holder, meanwhile, power rail
Door board is opened before being driven by connecting plate；
Step 4, firstly, tool changing robot is forwarded to right end, cutter transport device backs to left end simultaneously；Then, tool changing machine
New shield machine cutter is mounted on the base of tool of cutterhead by people, meanwhile, manipulator in step 1 is by old shield machine cutter
New and old swivel is placed to change in cabin；Then, the new shield machine cutter in step 1 is placed into cutter transport device；
Step 5, firstly, tool changing robot backs to left end, cutter transport device is forwarded to right end simultaneously；Then, tool changing machine
New shield machine cutter in cutter transport device is placed into tool holder by people；Secondly, transition cabin door is with before before closing
Door board；Again, shield machine is started to work；
It is taken when new and old swivel changes shield machine cutter new in cabin, executes step 6, opened conversion cabin back door, replace new and old swivel
Change the shield machine cutter in cabin.
The present invention realizes the automation of shield machine tool changing, and upper rail is responsible for the movement of tool changing robot, and lower guideway is responsible for knife
Has the movement of transport device.In the device for realizing shield machine automation tool changing, most important part shield machine tool changing robot sheet
Body can realize automatic exchange shield machine cutter within a short period of time, and can save working space.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More detailed description is gone.
Detailed description of the invention
Fig. 1 is the total schematic diagram of shield machine transfer chamber
Fig. 2 is conversion cabin front door schematic diagram
Fig. 3 is conversion cabin back door schematic diagram
In figure, 1, the base of tool；2, shield machine cutter；3, robot hand；4, robot arm；5, robot base；6, cutter
Knife rest；7, preceding transition cabin door；8, cutter transport device；9, upper rail；10, upper support frame；11, lower guideway；12, lower support
Frame；13, cabin front door is converted；14, new and old swivel changes cabin；15, cabin back door is converted；16, preceding door board；17, connecting plate；18, sliding rail；
19, power rail；20, rear door guard plate；21, back door switch valve；22, rear door plate.
Specific embodiment
As shown in Figure 1-3, the present embodiment automates the improved shield machine transfer chamber of tool changing based on shield machine, including set
Set the preceding transfer chamber on the left of cutterhead, the new and old swivel that is arranged on the left of preceding transfer chamber changes cabin 14, is arranged and changes cabin in new and old swivel
The rear transfer chamber and tool changing robot in 14 left sides；
Shield machine cutter 2 is changed between cabin 14 in preceding transfer chamber and new and old swivel and is transported；
Tool changing robot by shield machine cutter 2 between preceding transfer chamber and cutterhead for transporting and/or new and old swivel being changed cabin 14
Between the shield machine cutter 2 transported store into preceding transfer chamber.Precisely efficient, improvement effect is acted, securely and reliably.
Preceding transfer chamber and new and old swivel change between cabin 14 be provided with conversion cabin front door 13 and/air ticket rear transfer chamber with newly
Old swivel changes the conversion cabin back door 15 being provided between cabin 14 for sealing.Pressure when to ensure that operating pressure and tool changing
Dynamic balance.
It is provided with upper rail 9 in preceding transfer chamber, lower guideway 11 is arranged in parallel with immediately below upper rail 9, realizes guiding
Effect
The right end of upper rail 9 is located at the right side of the right end of lower guideway 11, and the left end of upper rail 9 is located at right end and a left side for lower guideway 11
Between end；
Linear reciprocation traveling has cutter transport device 8 on lower guideway 11；Cutter transport device 8 by old shield machine cutter 2 from
Preceding transfer chamber send to new and old swivel change at 14 doorway of cabin and newly by shield machine cutter 2 change cabin 14 from new and old swivel and send to preceding transition
In cabin.It is compact-sized to rationally utilize the confined space.
Cabin 14 is changed in new and old swivel to be provided with for changing the cutter transport device 8 changed at 14 doorway of cabin positioned at new and old swivel
The manipulator of knife；
The transition cabin door 7 before preceding transfer chamber side is provided with.
The robot hand 3 of the right end of upper rail 9 is for installing or tearing open shield machine cutter 2 on the base of tool 1 of cutterhead
It unloads；
In 11 left end of lower guideway and it is located at the tool holder 6 being provided with below upper rail 9 for storing new shield machine cutter 2；
The cutter transport device 8 of 11 right end of lower guideway will be located in the robot hand 3 of the tool changing robot of the left end of upper rail 9
In new shield machine cutter 2 be placed into tool holder 6, and in tool holder 6 clamping for installation on the base of tool 1
New shield machine cutter 2；
It is used to for the old shield machine cutter 2 dismantled from the base of tool 1 being placed into the robot hand 3 of the right end of upper rail 9
In the cutter transport device 8 of 11 right end of lower guideway.
The upper support frame 10 for being used to support the left end of upper rail 9 and/or support lower guideway 11 are provided in preceding transfer chamber
The lower bracing frame 12 of right end；
Preferably, cutter transport device 8 is rail guided vehicle；
11 left end of lower guideway is located at 13 lower section of conversion cabin front door, avoids the folding for interfering door.
Conversion cabin front door 13 includes that new and old swivel is arranged in change the power rail 19 of 14 right end of cabin swing, for opening and closing sealing
Preceding door board 16, is horizontally installed on new and old swivel at the connecting plate 17 being arranged between 19 cantalever head of preceding door board 16 and power rail
It changes sliding rail 18 and one end on 14 right end doorway of cabin and is hinged on the cunning that on preceding door board 16 and the other end is slided in sliding rail 18
Seat；Conversion cabin back door 15 includes that side is hinged on the rear door plate 22 that new and old swivel changes on 14 left end doorway of cabin, both ends are stuck in newly
Old swivel changes the rear door guard plate 20 on 14 left end doorway of cabin and for being closed rear door plate 22 and is arranged in rear door guard plate 20
And the back door switch valve 21 of the left side of the rear door guard plate 20 for holding out against closed state.Reasonable design, easy operation passes through gear
Plate is safe and reliable.
It is respectively arranged in preceding transfer chamber positioned at 9 side of upper rail and the upper mobile rack being connect with supporting plate and setting
In 11 side of lower guideway and the lower mobile rack connecting with cutter transport device 8 and upper mobile rack is nibbled simultaneously with lower mobile rack
Unify a main driving gear；
Or it is respectively arranged in preceding transfer chamber through two groups of hydraulic cylinders of series connection and two groups of hydraulic cylinders while respectively driving correspondence
Supporting plate and corresponding cutter transport device 8 backwards to moving.Realize the synchronous driving of once-through operation, movement is accurate, linkage, efficiency
Height, save the cost simplify structure, the space of economization at first.
The tool changing technique based on the shield machine automation improved shield machine transfer chamber of tool changing of the present embodiment, by changing
Knife robot replaces shield machine cutter 2.
By means of shield machine transfer chamber；Include the following steps；
New shield machine cutter 2 is stored in new and old swivel in advance and changed in cabin 14 by step 1；When the old shield of the base of tool 1 of cutterhead
When structure rounding machine cutter 2 needs dismounting and change, step 2 is executed；
Step 2, transition cabin door 7 before opening guarantee that preceding transfer chamber pressure is consistent with rear transfer chamber pressure；
Step 3, firstly, tool changing robot dismantles old shield machine cutter 2；Then, tool changing robot is retreated in upper rail 9
To left end, meanwhile, unloaded cutter transport device 8 advances to right end；Secondly, old shield machine cutter 2 is put in tool changing robot
It sets in cutter transport device 8；Again, tool changing robot grabs the new shield machine cutter 2 prestored from tool holder 6, meanwhile,
Door board 16 is opened before power rail 19 is driven by connecting plate 17；
Step 4, firstly, tool changing robot is forwarded to right end, cutter transport device 8 backs to left end simultaneously；Then, tool changing machine
New shield machine cutter 2 is mounted on the base of tool 1 of cutterhead by people, meanwhile, manipulator in step 1 is by old shield machine knife
Tool 2 is placed new and old swivel and is changed in cabin 14；Then, the new shield machine cutter 2 in step 1 is placed into cutter transport device 8
In；
Step 5, firstly, tool changing robot backs to left end, cutter transport device 8 is forwarded to right end simultaneously；Then, tool changing machine
New shield machine cutter 2 in cutter transport device 8 is placed into tool holder 6 by people；Secondly, transition cabin door 7 before closing
With preceding door board 16；Again, shield machine is started to work；
It is taken when new and old swivel changes shield machine cutter 2 new in cabin 14, executes step 6, opened conversion cabin back door 15, more renew
Old swivel changes the shield machine cutter 2 in cabin 14.
Shown in Fig. 1-3, robot arm 4 is the main body of tool changing robot body, can extend to cutterhead from preceding transfer chamber.Machine
Device people pedestal 5 is driven by oscillating motor and is swung, and for controlling position of the robot arm 4 relative to cutter, guarantees robot
Arm 4 and shield machine cutter 2 are substantially on same vertical plane.The robot hand 3 that can laterally finely tune is used for tool changing robot sheet
The relative position deviation between robot body and cutter is corrected in the accurate positioning of body, is guaranteeing tool changing module, detection module just
Often work.
Shown in Fig. 1, shield machine cutter 2 repacks universal cutter and fastener into integration, and it is fixed to be conducive to robot hand 3
Position and crawl shield machine cutter 2.
Shown in Fig. 1, after preceding transition cabin door 7 is opened, robot body (including robot hand 3, robot arm 4,
And robot base 5) it is moved to 9 front end of upper rail, old cutter is disassembled, 9 rear end of upper rail is then retracted into, it will
The old cutter changed is put into cutter transport device 8.Cutter transport device 8 and robot body operate simultaneously at this time.Robot moves
The new cutter grabbed on 6 tool holders is moved to suitable position, and new cutter is packed into former cutter position, is then retracted into
9 rear end of upper rail.It converts cabin front door 13 to open, old cutter is transported to new and old swivel and changes cabin 14 by cutter transport device 8, converts cabin
Front door 13 is closed；Old pulling-out of cutter, another that new cutter is put into, conversion cabin front door 13 is again turned on, and new knife is transported under and is led
11 front end of rail.Robot picks up the cutter of new incoming, and 6 position of tool holder of transfer chamber, a tool changing process are followed before being put into
Ring terminates.
Shown in Fig. 2, preceding door board 16 is connect by connecting plate 17 with power rail 19, and power rail 19 controls the switch at front door.
The present invention has rational design, it is low in cost, durable, safe and reliable, easy to operate, time saving and energy saving, save fund,
It is compact-sized and easy to use.
It is to disclose in order to more clear, and the prior art is just no longer enumerated that the present invention, which fully describes,.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious for being combined for those skilled in the art to multiple technical solutions of the invention.And these are modified or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. one kind automates the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that: including being arranged in cutterhead
The preceding transfer chamber in left side, the new and old swivel being arranged on the left of preceding transfer chamber change cabin (14), setting and change cabin (14) left side in new and old swivel
The rear transfer chamber and tool changing robot of side；
Shield machine cutter (2) is changed between cabin (14) in preceding transfer chamber and new and old swivel and is transported；
Tool changing robot by shield machine cutter (2) between preceding transfer chamber and cutterhead for transporting and/or new and old swivel being changed cabin
(14) shield machine cutter (2) transported between is stored into preceding transfer chamber.
2. according to claim 1 automate the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that:
It is changed between cabin (14) in preceding transfer chamber and new and old swivel and is provided with conversion cabin front door (13) and/air ticket in rear transfer chamber and new and old knife
The conversion cabin back door (15) for sealing is provided between conversion cabin (14).
3. according to claim 1 automate the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that:
It is provided with upper rail (9) in preceding transfer chamber, is arranged in parallel with lower guideway (11) immediately below upper rail (9),
The right end of upper rail (9) is located at the right side of the right end of lower guideway (11), and the left end of upper rail (9) is located at lower guideway (11)
Between right end and left end；
Linear reciprocation traveling has cutter transport device (8) on lower guideway (11)；Cutter transport device (8) is by old shield machine knife
Tool (2) send from preceding transfer chamber to new and old swivel change cabin (14) doorway from and newly by shield machine cutter (2) change cabin from new and old swivel
(14) it send into preceding transfer chamber.
4. according to claim 3 automate the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that:
Cabin (14) is changed in new and old swivel to be provided with for cutter transport device (8) tool changing to changing positioned at new and old swivel at cabin (14) doorway
Manipulator；
The transition cabin door (7) before preceding transfer chamber side is provided with.
5. according to claim 3 automate the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that:
Tool changing robot include setting upper rail (9) straight reciprocating motion upper pallet, be arranged on upper pallet and by hydraulic motor
The robot base (5) of rotation, root is driven to swing robot arm (4) and the setting of setting on robot base (5)
It is used in the robot hand (3) of the robot hand (3) of robot arm (4) cantilever end, the right end of upper rail (9) by shield
Rounding machine cutter (2) installs or removes on the base of tool (1) of cutterhead；
In lower guideway (11) left end and it is located at the cutter being provided with below upper rail (9) for storing new shield machine cutter (2)
Knife rest (6)；
It is transported in the cutter that the robot hand (3) of the tool changing robot of the left end of upper rail (9) will be located at lower guideway (11) right end
New shield machine cutter (2) in defeated device (8) is placed into tool holder (6), and is clamped in tool holder (6) for pacifying
The new shield machine cutter (2) being attached on the base of tool (1)；
In the old shield machine cutter that the robot hand (3) of the right end of upper rail (9) is used to dismantle from the base of tool (1)
(2) it is in place in the cutter transport device (8) of lower guideway (11) right end.
6. according to claim 3 automate the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that:
It is provided with the upper support frame (10) for being used to support the left end of upper rail (9) in preceding transfer chamber and/or support lower guideway (11) is right
The lower bracing frame (12) at end；
Cutter transport device (8) is rail guided vehicle；
Lower guideway (11) left end is located at below conversion cabin front door (13).
7. according to claim 2 automate the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that:
Converting cabin front door (13) includes setting before new and old swivel changes the power rail (19) of cabin (14) right end swing, seals for folding
Door board (16), is horizontally installed on newly the connecting plate (17) being arranged between preceding door board (16) and power rail (19) cantalever head
The sliding rail (18) and one end that old swivel changes on cabin (14) right end doorway are hinged on preceding door board (16) and the other end is in sliding rail
(18) slide slided；Conversion cabin back door (15) includes that side is hinged on the back door door that new and old swivel changes on cabin (14) left end doorway
Plate (22), both ends are stuck in new and old swivel and change the rear door guard plate on cabin (14) left end doorway and being used to be closed rear door plate (22)
(20) and it is arranged on rear door guard plate (20) and the back door of left side of the rear door guard plate (20) for holding out against closed state is opened
It closes valve (21).
8. according to claim 3 automate the improved shield machine transfer chamber of tool changing based on shield machine, it is characterised in that:
It is respectively arranged in preceding transfer chamber positioned at upper rail (9) side and the upper mobile rack connecting with supporting plate and setting is led under
Rail (11) side and the lower mobile rack being connect with cutter transport device (8) and upper mobile rack engages simultaneously with lower mobile rack
One main driving gear；
Or it is respectively arranged in preceding transfer chamber through two groups of hydraulic cylinders of series connection and two groups of hydraulic cylinders while respectively driving correspondence
Supporting plate and corresponding cutter transport device (8) backwards to moving.
9. a kind of tool changing technique based on the shield machine automation improved shield machine transfer chamber of tool changing, it is characterised in that: pass through
Tool changing robot replaces shield machine cutter (2).
10. the tool changing technique according to claim 9 based on the shield machine automation improved shield machine transfer chamber of tool changing,
It is characterized by: by means of shield machine transfer chamber；Include the following steps；
New shield machine cutter (2) is stored in new and old swivel in advance and changed in cabin (14) by step 1；When the base of tool (1) of cutterhead
When old shield machine cutter (2) needs dismounting and change, step 2 is executed；
Step 2, transition cabin door (7) before opening guarantee that preceding transfer chamber pressure is consistent with rear transfer chamber pressure；
Step 3, firstly, tool changing robot dismantles old shield machine cutter (2)；Then, tool changing robot is in upper rail (9)
It retreats to left end, meanwhile, unloaded cutter transport device (8) advances to right end；Secondly, tool changing robot is by old shield machine knife
Have in (2) arrangement of tool transport device (8)；Again, the tool changing robot new shield machine that crawl prestores from tool holder (6)
Cutter (2), meanwhile, door board (16) is opened before power rail (19) is driven by connecting plate (17)；
Step 4, firstly, tool changing robot is forwarded to right end, cutter transport device (8) backs to left end simultaneously；Then, tool changing machine
New shield machine cutter (2) is mounted on the base of tool (1) of cutterhead by device people, meanwhile, manipulator in step 1 is by old shield
Structure rounding machine cutter (2) is placed new and old swivel and is changed in cabin (14)；Then, the new shield machine cutter (2) in step 1 is placed into knife
Have in transport device (8)；
Step 5, firstly, tool changing robot backs to left end, cutter transport device (8) is forwarded to right end simultaneously；Then, tool changing machine
New shield machine cutter (2) in cutter transport device (8) is placed into tool holder (6) by device people；Secondly, transition before closing
Cabin door (7) and preceding door board (16)；Again, shield machine is started to work；
It is taken when new and old swivel changes shield machine cutter (2) new in cabin (14), executes step 6, open conversion cabin back door (15),
Replace the shield machine cutter (2) that new and old swivel changes in cabin (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910372879.5A CN110005426A (en) | 2019-05-06 | 2019-05-06 | Based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910372879.5A CN110005426A (en) | 2019-05-06 | 2019-05-06 | Based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique |
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Cited By (7)
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| CN110259470A (en) * | 2019-07-19 | 2019-09-20 | 宏润建设集团股份有限公司 | Cutter head of shield machine system and its cutter replacing method |
| CN110630279A (en) * | 2019-10-31 | 2019-12-31 | 中铁工程装备集团有限公司 | Shield machine with robot tool changing function |
| CN111438502A (en) * | 2020-04-16 | 2020-07-24 | 中南大学 | Storage cabin suitable for shield constructs tool changing robot |
| CN111442918A (en) * | 2020-04-16 | 2020-07-24 | 中南大学 | Pressure-resistant sealing performance testing device for gate of storage structure of shield tool-changing robot |
| CN111472795A (en) * | 2020-05-15 | 2020-07-31 | 上海隧道工程有限公司 | Cutter replacing device and method for hard rock dual-mode shield |
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| CN114033404A (en) * | 2021-12-28 | 2022-02-11 | 上海机器人产业技术研究院有限公司 | Automatic hob head inside shield machine |
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| CN111472795A (en) * | 2020-05-15 | 2020-07-31 | 上海隧道工程有限公司 | Cutter replacing device and method for hard rock dual-mode shield |
| CN111706346A (en) * | 2020-06-30 | 2020-09-25 | 中国铁建重工集团股份有限公司 | Shield machine and tool changing device thereof |
| CN111706346B (en) * | 2020-06-30 | 2022-02-01 | 中国铁建重工集团股份有限公司 | Shield machine and tool changing device thereof |
| CN114033404A (en) * | 2021-12-28 | 2022-02-11 | 上海机器人产业技术研究院有限公司 | Automatic hob head inside shield machine |
| CN114033404B (en) * | 2021-12-28 | 2023-12-22 | 上海机器人产业技术研究院有限公司 | Automatic cutter head inside shield machine |
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