CN110259470A - Cutter head of shield machine system and its cutter replacing method - Google Patents
Cutter head of shield machine system and its cutter replacing method Download PDFInfo
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- CN110259470A CN110259470A CN201910655377.3A CN201910655377A CN110259470A CN 110259470 A CN110259470 A CN 110259470A CN 201910655377 A CN201910655377 A CN 201910655377A CN 110259470 A CN110259470 A CN 110259470A
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- Prior art keywords
- cutter
- shield machine
- storehouse
- cutter head
- machine system
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000012636 effector Substances 0.000 claims abstract description 34
- 238000004088 simulation Methods 0.000 claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 239000002689 soil Substances 0.000 claims description 30
- 238000009434 installation Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 10
- 238000010276 construction Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005192 partition Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 102000006822 Agouti Signaling Protein Human genes 0.000 description 1
- 108010072151 Agouti Signaling Protein Proteins 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000002161 passivation Methods 0.000 description 1
- 238000009790 rate-determining step (RDS) Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
A mesh of the invention is to provide a kind of cutter head of shield machine system, can be realized automation tool changing and guarantee the safety of operator when tool changing.A mesh of the invention is to provide a kind of cutter head of shield machine cutter replacing method, uses cutter head of shield machine system above-mentioned.For the cutter head of shield machine system for realizing foregoing purpose, including cutterhead and it is successively set on muddy water storehouse, air cushion storehouse, manhole storehouse and automatic tool changer after cutterhead.Automatic tool changer includes sliding rail mobile platform, sixdegree-of-freedom simulation, end effector and the electrical cabinet for controlling aforementioned device.Wherein, manhole storehouse includes manual working area, robot workspace and the Accessorial Tools Storage for being separated by setting, the first hatch door is provided between manual working area and Accessorial Tools Storage, the second hatch door is provided between robot workspace and Accessorial Tools Storage, there is the back side walkway that can be connected to, back side walkway is closed by third hatch door between Accessorial Tools Storage and cutter disc system rear space.
Description
Technical field
The present invention relates to a kind of cutter head of shield machine system and its cutter replacing methods.
Background technique
Shield machine equipment in use, is especially applied in the harder environment of soil property, cutter is in tunneling process
Easily there is phenomena such as passivation, damage, needs to realize the replacement of cutter in underground.
The prior art realizes the replacement to cutter by the way of artificial, and for single-blade hob, operator passes through wearing
Corresponding diving apparatus and other safeguards, by entering manhole storehouse, air cushion storehouse finally reaches and carries out tool changing in muddy water storehouse
Operation.In exchanging knives process, to prevent extraneous soil etc. from entering muddy water storehouse, protected by way of pressurization, therefore operator
Member needs to carry out tool changing under hyperbaric environment, proposes certain require to operator.Pressurized operation can not still be kept away completely simultaneously
Exempt from a possibility that extraneous soil collapses, when generation, which can damage operator, even results in death.Working environment badly with
And there are high risk, the disadvantages of this leads to shield machine tool changing working face Lingao cost, high risk, poor efficiency.
Summary of the invention
A mesh of the invention is to provide a kind of cutter head of shield machine system, can be realized automation tool changing, and guarantees to change
The safety of operator when knife.
A mesh of the invention is to provide a kind of cutter head of shield machine cutter replacing method, uses cutter head of shield machine system above-mentioned
System.
For the cutter head of shield machine system for realizing foregoing purpose, including cutterhead and it is successively set on the muddy water after the cutterhead
Storehouse, air cushion storehouse and manhole storehouse, further include automatic tool changer, and the automatic tool changer includes:
Sliding rail mobile platform, including fixed part and movable part, the relatively described fixed part of the movable part can move along a straight line；
Sixdegree-of-freedom simulation is connect with the movable part；
End effector is rotationally connect with the sixdegree-of-freedom simulation end；And
Electrical cabinet, for controlling the fortune of the sliding rail mobile platform, sixdegree-of-freedom simulation and the end effector
It is dynamic；
Wherein, the manhole storehouse includes manual working area, robot workspace and the Accessorial Tools Storage for being separated by setting, institute
It states and is provided with the first hatch door between manual working area and the Accessorial Tools Storage, set between the robot workspace and the Accessorial Tools Storage
It is equipped with the second hatch door, there is the back side walkway that can be connected between the Accessorial Tools Storage and cutter disc system rear space, the rear side is logical
It is closed by third hatch door in road.
In one or more embodiments, the first cabin is provided between the robot workspace and the air cushion storehouse
Hole, so that the robot workspace can be connected to the side in the air cushion storehouse as robot channel；The manual working
It is provided with the second compartment between area and the air cushion storehouse, so that the Accessorial Tools Storage, the manual working area and the air cushion storehouse
The other side can be sequentially communicated as artificial channel；
Wherein, the automatic tool changer works in the robot channel.
In one or more embodiments, electronic soil cabin is provided between the robot channel and the muddy water storehouse
Door, is provided with manual soil cabin door between the artificial channel and the muddy water storehouse.
In one or more embodiments, the electronic soil cabin door has electronic briquetting, the electronic briquetting realization pair
The fastening of the electronic soil cabin door.
In one or more embodiments, by flanged joint, the flange between the manhole storehouse and the air cushion storehouse
With first compartment and second compartment.
In one or more embodiments, line slide rail is provided on the fixed part, the movable part has sliding slot,
The sliding slot and the line slide rail are cooperatively connected.
In one or more embodiments, the end effector may be provided with camera, hydraulic giant, water knife and illumination
Lamp.
In one or more embodiments, the shield with automatic tool changer cooperation is additionally provided in the air cushion storehouse
Structure rounding machine cutter girff assembly, cutter are set in the shield machine cutter girff assembly.
In one or more embodiments, first is respectively arranged at the top of the manual working area and the Accessorial Tools Storage
Cutter can be transported to institute by auxiliary lifting appliance and the second auxiliary lifting appliance, first auxiliary lifting appliance, second auxiliary lifting appliance
It states outside manhole storehouse.
For the cutter replacing method of the cutter head of shield machine system of the aforementioned another object of realization, foregoing shield machine knife is used
The cutter replacing method of disc system, the cutter head of shield machine system includes:
The electrical cabinet controls the movable part and moves along a straight line on the fixed part, so that the sixdegree-of-freedom simulation
Into the muddy water storehouse, and control to adjust the corresponding positions that the end effector to the cutterhead surface carries out disassembly cutter
It sets；
The electrical cabinet controls the end effector and unloads from the cutterhead；
The electrical cabinet controls the sixdegree-of-freedom simulation and restores to original state, and controls the movable part described
It moves along a straight line on fixed part, so that the end effector returns in the air cushion storehouse, and cutter is placed in cutter support frame
On；
After operator enters from Accessorial Tools Storage into the manual working area, into the air cushion storehouse, and the knife is replaced
Has the cutter on support frame；
The electrical cabinet controls the end effector and moves at the cutter support frame, and after grabbing the cutter,
Above step is repeated in the opposite manner, makes to control to adjust the end effector to corresponding position installation cutter；
The electrical cabinet controls the sixdegree-of-freedom simulation and restores to original state, waits tool changing operation next time.
Gain effect of the invention is, by manhole storehouse being divided into robot service aisle and manual working is led to
Road can be realized in automatic tool changer more efficiency and robot at work will not impact the safety of operator.
Meanwhile multiple tracks hatch door is set between the multiple regions in manhole storehouse, it can guarantee that operator can be convenient for disengaging multiple tracks
While hatch door, opening and closing multiple tracks hatch door can realize the equipressure between different zones in multiple regions, ensure that construction environment
Safety, and then realize and automation tool changing carried out to shield machine safe and efficiently.
Detailed description of the invention
The above and other features of the present invention, property and advantage will pass through retouching with reference to the accompanying drawings and examples
It states and becomes readily apparent from, in which:
Fig. 1 shows a kind of stereoscopic schematic diagram of cutter head of shield machine system；
Fig. 2 is the schematic top plan view of Fig. 1；
Fig. 3 shows the stereoscopic schematic diagram under one embodiment of automatic tool changer；
Fig. 4 shows the front schematic view under one embodiment of electronic soil cabin door；
Fig. 5 is the schematic cross-sectional view in Fig. 2 along the direction A-A；
Fig. 6 shows the stereoscopic schematic diagram under one embodiment of shield machine cutter girff assembly；
Fig. 7 is the schematic cross-sectional view in Fig. 2 along the direction B-B；
Fig. 8 to Figure 13 respectively illustrates state change signal when cutter head of shield machine system carries out tool changing in shield machine
Figure.
Specific embodiment
It is following to disclose the embodiment or embodiment of subject technology scheme described in a variety of different implementations.For simplification
The specific example of each element and arrangement is described below in disclosure, and certainly, these are only example, is not to this
The protection scope of application is limited.Such as the fisrt feature then recorded in the description above second feature or above
It is formed, may include the embodiment that the first and second features are formed by way of directly contacting, also be included in the first He
The embodiment that supplementary features are formed between second feature, to can not directly be contacted between the first and second features.In addition,
In these disclosures may in different examples repeat reference numerals and/or letter.The repetition is in order to brief and clear
Chu itself does not indicate each embodiment being discussed and/or interstructural relationship.Further, when first element be with
The mode that second element is connected or combines describes, which includes the reality that the first and second elements are connected directly or are bonded to each other
Mode is applied, also includes so that the first and second interelements ground connection is connected or is tied each other using one or more other intervening elements additions
It closes.
It should be noted that use in the case where, it is described below in up, down, left, right, before and after, top, bottom, just,
Instead, clockwise and anticlockwise merely for the sake of used in convenient purpose, and any specific fixed-direction is not implied that.Thing
In reality, they be used to reflect relative position and/or direction between the various pieces of object.
Shield machine is a kind of equipment excavated for subterranean tunnel, and weight is played in the construction works such as subway, subterranean tunnel
The effect wanted.Wherein, the main part of shield machine is known as shield body, and shield body includes anterior shield, middle shield and shield tail three parts.Preceding clypeus
Dividing has cutterhead, and cutterhead is typically secured on the pressure-bearing partition of shield machine anterior shield, and by shield machine anterior shield and pressure-bearing partition branch
Support.When shield machine at work, cutterhead is driven by cutter motor to make clockwise or anticlockwise rotation.It sets simultaneously
The propelling cylinder set in middle shield pushes shield machine to advance, to realize that the underground soil body excavates.
In Large Construction, the shield machine for carrying out the excavation of the underground soil body can usually have the case where tool wear.As Fig. 1 shows
A kind of stereoscopic schematic diagram of cutter head of shield machine system is gone out, Fig. 2 is the schematic top plan view of Fig. 1.It is understood that shown in Fig. 1
Cutter head of shield machine system be for cutter head of shield machine internal system structure is presented, after broken section shown in schematic diagram, Fig. 2 is figure
The schematic diagram regarded after 1 broken section, with depression angle.
Can be regarded in conjunction with referring to after Fig. 1 to Fig. 2, cutter head of shield machine system include cutterhead 1 and by cutterhead 1 inwardly successively
Muddy water storehouse 2, air cushion storehouse 3 and the manhole storehouse 4 of setting.Wherein, automatic tool changer is additionally provided in cutter head of shield machine system
5。
Fig. 3 shows the stereoscopic schematic diagram under 5 one embodiments of automatic tool changer, and automatic tool changer 5 is by sliding rail
Mobile platform 51, sixdegree-of-freedom simulation 52 and end effector 53 are constituted.Wherein, sliding rail mobile platform 51 divides for fixed part
511 can move along a straight line with movable part 512, the relatively fixed portion 511 of movable part 512.Sixdegree-of-freedom simulation 52 and movable part 512 connect
It connects, when the relatively fixed portion 511 of movable part 512 moves along a straight line, is able to drive sixdegree-of-freedom simulation 52 and is moved.It holds end
Row device 53 is rotationally connect with the end of sixdegree-of-freedom simulation 52, can be turned between the end of sixdegree-of-freedom simulation 52
It is dynamic, it can be that shaft is rotated along the extending direction of sixdegree-of-freedom simulation 52.When sixdegree-of-freedom simulation 52 is by movable part
When 512 drive linear movement, end effector 53 can enter and leave between manhole storehouse 4 and air cushion storehouse 3.10 society's money of electrical cabinet
In manhole storehouse 3, for controlling the movement of sliding rail mobile platform 51, sixdegree-of-freedom simulation 52 and end effector 53.?
In one embodiment, electrical cabinet 10 is also possible to outsides different from diagram, that manhole storehouse 4 is arranged in.In an embodiment
In, electrical cabinet 10 may include one or more hardware processors, such as microcontroller, microprocessor (such as MCU chip or 51
Single-chip microcontroller), Reduced Instruction Set Computer (RISC), specific integrated circuit (ASIC), using specific instruction integrate processor
(ASIP), central processing unit (CPU), graphics processing unit (GPU), physical processing unit (PPU), micro controller unit, number
Word signal processor (DSP), field programmable gate array (FPGA), advanced risc machine (ARM), programmable logic device (PLD),
It is able to carry out one of any circuit or processor of one or more functions etc. or a variety of combinations.Electrical cabinet 10 is for certainly
The rate-determining steps for moving knife system 5 will be discussed in detail subsequent.
Continuing with referring to Fig. 1 to Fig. 2, manhole storehouse 4 includes the manual working area 410 for being separated by setting, robot work
Area 412 and Accessorial Tools Storage 411 are provided with the first hatch door 42, robot workspace between manual working area 410 and Accessorial Tools Storage 411
The second hatch door 43 is provided between 412 and Accessorial Tools Storage 411, having between Accessorial Tools Storage 411 and cutter disc system rear space can be connected to
Back side walkway 411a, back side walkway 411a closes by third hatch door 41.
Continuing with referring to Fig. 1 to Fig. 2, in an embodiment of cutter head of shield machine system, robot workspace 412 with
The first compartment 30a is provided between air cushion storehouse 3, so that robot workspace 412 can be connected to the side 3a in air cushion storehouse 3 to be become
Robot channel 12.The second compartment 30b is provided between manual working area 410 and air cushion storehouse 3, so that Accessorial Tools Storage 411, artificial work
The other side 3b for making area 410 and air cushion storehouse 3 can be sequentially communicated as artificial channel 11.Wherein, robot channel 12 is supplied to
The working space of automatic tool changer 5, artificial channel 11 provide the operator space of work.
In an embodiment of cutter head of shield machine system, it is provided between robot channel 12 and muddy water storehouse 2 electronic
Soil cabin door 7 is provided with manual soil cabin door 8 between artificial channel 11 and muddy water storehouse 2.
It may be implemented between different zones by opening or closing the first hatch door 42, the second hatch door 43 and third hatch door 41
It realizes isobaric.For example, when electronic soil cabin door 7 and manual soil cabin door 8 are under closed state, when the first hatch door 42 of closing
And second hatch door 43, equipressure can be realized between manual working area 410, robot workspace 412 and air cushion storehouse 3, this
When Accessorial Tools Storage 411 be isolated.When opening third hatch door 41 at this time, Accessorial Tools Storage 411 will be realized individually isobaric with ambient pressure.
By the way that manhole storehouse is divided into robot service aisle and manual working channel, can be realized in automatic tool changer
More efficiency and robot at work will not impact the safety of operator.Meanwhile multiple areas in manhole storehouse
Multiple tracks hatch door is set between domain, while can guarantee that operator can be convenient for disengaging multiple tracks hatch door, opens and closes multiple tracks hatch door
The equipressure between different zones can be being realized in multiple regions, ensure that the safety of construction environment, and then realize safety, height
Effect ground carries out automation tool changing to shield machine.
Fig. 4 shows the front schematic view under 7 one embodiments of electronic soil cabin door, wherein electronic soil cabin door 7 includes electricity
Door panels of breaking ground 71, electronic soil cabin door pivot 72 and electronic briquetting 73.Electronic soil cabin door pivot 72 is passed through by external motor
Retarder, which is realized, drives electronic soil cabin door face board 71 to be opened and closed, when electronic soil cabin door face board 71 in the closure state, it is electronic
Soil cabin door briquetting 73 will be closed electronic briquetting 73 under the driving of electric pushrod, realize the fastening to electronic soil cabin door face board 71,
Before electronic soil cabin door face board 71 needs to open, electronic briquetting 73 will be turned under the driving of electric pushrod.Implement at one
It is to realize to control the electric opening and closing of electronic soil cabin door 7 by electrical cabinet 10, to cooperate realization automatic tool changer in mode.
Fig. 5 is the schematic cross-sectional view in Fig. 2 along the direction A-A, incorporated by reference to referring to Fig. 1 and Fig. 5.Wherein, manhole storehouse 4 and gas
It pads between storehouse 3 through flanged joint, the first compartment 30a and the second compartment 30b is provided on flange.Specifically, manhole storehouse 4
Flanged joint part with air cushion storehouse 3 includes air cushion storehouse interconnected mounting flange 31 and manhole storehouse mounting flange 47, gas
It is tightly connected between pad storehouse mounting flange 31 and manhole storehouse mounting flange 47, and is respectively provided with the first compartment 30a and second
Compartment 30b, to form channel structure on air cushion storehouse mounting flange 31 and manhole storehouse mounting flange 47.
Straight line is provided on fixed part 511 in an embodiment of cutter head of shield machine system continuing with referring to Fig. 3
Sliding rail 511a, has the sliding slot matched with line slide rail 511a in 512 lower part of movable part, and line slide rail 511a and sliding slot cooperate
Connection, so that movable part 512 can be for linear motion along line slide rail 511a on fixed part 511, line slide rail 511a is to work
The movement in dynamic portion 512 play the guiding role.In an embodiment of cutter head of shield machine system, it is additionally provided on fixed part 511
Ball-screw 511b, ball-screw 511b are driven movable part 512, and movable part 512 is made to make straight line fortune on fixed part 511
It is dynamic.
In an embodiment of cutter head of shield machine system, camera, hydraulic giant, water has been can be set in end effector 53
The auxiliary equipments such as knife and headlamp, wherein camera and headlamp can provide the visual field being more clear for operator, with
The position that prompt end effector 53 is moved to.Can have water source inside end effector 53, the water source can be with outside
The water pipe that portion's water storage device is connected, hydraulic giant and water knife are connected with water source respectively.By the injection of hydraulic giant and water knife with
Remove the dirts such as the soil on cutter.
In an embodiment of cutter head of shield machine system, it is additionally provided in air cushion storehouse 3 as shown in Figure 6, move with oneself
The shield machine cutter girff assembly 6 that knife system 5 is used in combination, shield machine cutter girff assembly 6 is respectively by cutter 61 and girff
62 are constituted, and wherein cutter 61 is suitable for robot automatic tool changer, can be grabbed by end effector 53, and pass through end
Actuator carries out corresponding installation or removal operation, realizes the fastening and disengaging between girff 62.
Fig. 7 is the schematic cross-sectional view in Fig. 2 along the direction B-B, in an embodiment of cutter head of shield machine system, manually
It is logical that the top of workspace 410 and Accessorial Tools Storage 411, which is respectively arranged with the first auxiliary lifting appliance 48 and the second auxiliary lifting appliance 49, cutter,
It crosses under the handling of the first auxiliary lifting appliance 48 and the second auxiliary lifting appliance 49, is transported to the gas outside manhole storehouse 4 from Accessorial Tools Storage 411
It pads in storehouse 3.In one embodiment, in air cushion storehouse 3 also have third auxiliary lifting appliance 33, thus by the first auxiliary lifting appliance 48 with
And second auxiliary lifting appliance 49 be hoisted to the cutter in air cushion storehouse 3 can be by 33 handling of third auxiliary lifting appliance.In cutter head of shield machine system
In one embodiment of system, 3 bottom of air cushion storehouse is additionally provided with cutter support frame 9, via the knife of 33 handling of third auxiliary lifting appliance
Tool can be placed on cutter support frame 9, so that subsequent automatic tool changer operates with.
It is also set in robot workspace 412 in an embodiment of cutter head of shield machine system continuing with referring to Fig. 5
It is equipped with the support frame 44 for being used to support fixed part 511, then extends to the part inside it for fixed part 511 in air cushion storehouse 3
It is provided with sliding rail front support platform 32,32 upper surface of sliding rail front support platform is equipped with ball bearing and mentions in for sliding rail mobile platform 51
It is supported for front side.Manhole storehouse 4 also has installation window 45, use when for installing or removing automatic tool changer 5, in remaining shape
Under state, installation window 45 is realized by installation window cover board 46 and is sealed.
In an embodiment different from diagram, support frame 44 is also possible to, setting different from diagram in manhole storehouse 4
Side or top.
Fig. 8 to Figure 13 respectively illustrates state change when cutter head of shield machine system carries out tool changing in shield machine, please tie
It closes referring to Fig. 1 to Fig. 6, steps are as follows for the cutter replacing method of cutter head of shield machine system:
Firstly, and opening electronic soil cabin as shown in figure 8, electrical cabinet 10 controls automatic tool changer 5 adjusts to suitable posture
Door 7.
Then, as shown in figure 9, the control movable part 512 of electrical cabinet 10 moves along a straight line on fixed part 511, so that six is free
It spends mechanical arm 52 and enters muddy water storehouse 2, and control to adjust end effector 53 to cutterhead surface and carry out the corresponding of disassembly cutter
Position.Wherein, the junction between each arm body of sixdegree-of-freedom simulation 52 all has motor, is connected by adjusting each arm body
The motor at the place of connecing realizes the pose adjustment to sixdegree-of-freedom simulation 52, to realize the control of end effector 53 to needing
Carry out the corresponding position of disassembly cutter.
Then, as shown in Figure 10, in the corresponding position for carrying out disassembly cutter, electrical cabinet 10 controls automatic tool changer
End effector 53 in 5 rotates, and cutter 61 is unloaded from the cutting tool assembly 6 on cutterhead 1.Wherein, end effector 53
It can be between sixdegree-of-freedom simulation 52 and be provided with motor, electrical cabinet 10 is by control motor rotation so that end effector
53 rotations.
Later, as shown in Figure 11 to Figure 12, electrical cabinet 10 controls sixdegree-of-freedom simulation 52 and is gradually recovered original state.And
Control movable part 512 moves along a straight line on fixed part, so that end effector 53 returns in air cushion storehouse 3, and cutter 61 is placed
In cutter support frame 9.Then as shown in figure 13, the control of electrical cabinet 10 is until sixdegree-of-freedom simulation 52 restores to initial shape
State.
Then, after operator, which enters, enters manual working area 410 from Accessorial Tools Storage 411, into air cushion storehouse 3, and
Replace the cutter 61 in cutter support frame 9.In one embodiment, described in entering and enter from Accessorial Tools Storage 411 as operator
When manual working area 410, the first auxiliary lifting appliance 48, the second auxiliary lifting appliance 49 handling under and third auxiliary lifting appliance 33 auxiliary will
Cutter is transported to air cushion storehouse 3.
Later, if cutter need to be installed, after replacing the cutter 61 in cutter support frame 9, electrical cabinet 10 controls automatic tool changer again
Device 5 adjusts posture, until adjusting at end effector to cutter support frame 9, and after grabbing cutter 61, weighs in the opposite manner
Multiple above step makes to control to adjust end effector 53 to install the corresponding position of cutter, and completes cutter 61
Installation.
Restore finally, electrical cabinet 10 controls sixdegree-of-freedom simulation 52 to original state, waits tool changing operation next time.
In the cutter replacing method step of above-mentioned cutter head of shield machine system, when electrical cabinet 10 controls the control of end effector 53 extremely
Behind the corresponding position for carrying out disassembly cutter, the water knife hydraulic giant on end effector 53 works, to clean to cutter.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this field skill
Art personnel without departing from the spirit and scope of the present invention, can make possible variation and modification.Therefore, it is all without departing from
The content of technical solution of the present invention, according to the technical essence of the invention any modification to the above embodiments, equivalent variations
And modification, it each falls within the protection scope that the claims in the present invention are defined.
Claims (10)
1. a kind of cutter head of shield machine system, including cutterhead and be successively set on the muddy water storehouse after the cutterhead, air cushion storehouse and
Manhole storehouse, which is characterized in that further include automatic tool changer, the automatic tool changer includes:
Sliding rail mobile platform, including fixed part and movable part, the relatively described fixed part of the movable part can move along a straight line；
Sixdegree-of-freedom simulation is connect with the movable part；
End effector is rotationally connect with the sixdegree-of-freedom simulation end；And
Electrical cabinet, for controlling the movement of the sliding rail mobile platform, sixdegree-of-freedom simulation and the end effector；
Wherein, the manhole storehouse includes manual working area, robot workspace and the Accessorial Tools Storage for being separated by setting, the people
It is provided with the first hatch door between work workspace and the Accessorial Tools Storage, is provided between the robot workspace and the Accessorial Tools Storage
Second hatch door, has the back side walkway that can be connected between the Accessorial Tools Storage and cutter disc system rear space, the back side walkway by
The closing of third hatch door.
2. cutter head of shield machine system as described in claim 1, which is characterized in that the robot workspace and the air cushion storehouse
Between be provided with the first compartment so that the robot workspace and the side in the air cushion storehouse can be connected to it is logical as robot
Road；It is provided with the second compartment between the manual working area and the air cushion storehouse, so that the Accessorial Tools Storage, the manual working area
It can be sequentially communicated with the other side in the air cushion storehouse as artificial channel；
Wherein, the automatic tool changer works in the robot channel.
3. cutter head of shield machine system as claimed in claim 2, which is characterized in that the robot channel and the muddy water storehouse it
Between be provided with electronic soil cabin door, manual soil cabin door is provided between the artificial channel and the muddy water storehouse.
4. cutter head of shield machine system as claimed in claim 3, which is characterized in that the electronic soil cabin door has electronic briquetting,
The electronic briquetting realizes the fastening to the electronic soil cabin door.
5. cutter head of shield machine system as claimed in claim 3, which is characterized in that between the manhole storehouse and the air cushion storehouse by
Flanged joint, the flange have first compartment and second compartment.
6. cutter head of shield machine system as described in claim 1, which is characterized in that it is provided with line slide rail on the fixed part,
The movable part has sliding slot, and the sliding slot and the line slide rail are cooperatively connected.
7. cutter head of shield machine system as described in claim 1, which is characterized in that the end effector may be provided with camera shooting
Head, hydraulic giant, water knife and headlamp.
8. cutter head of shield machine system as described in claim 1, which is characterized in that be additionally provided in the air cushion storehouse with it is described from
Move the shield machine cutter girff assembly of knife system cooperation, cutter is set in the shield machine cutter girff assembly.
9. cutter head of shield machine system as described in claim 1, which is characterized in that the manual working area and the Accessorial Tools Storage
Top is respectively arranged with the first auxiliary lifting appliance and the second auxiliary lifting appliance, first auxiliary lifting appliance, second auxiliary lifting appliance
Cutter can be transported to outside the manhole storehouse.
10. a kind of cutter replacing method of cutter head of shield machine system, which is characterized in that it is used such as any one of claims 1 to 9 institute
The cutter replacing method of the cutter head of shield machine system stated, the cutter head of shield machine system includes:
The electrical cabinet controls the movable part and moves along a straight line on the fixed part, so that the sixdegree-of-freedom simulation enters
The muddy water storehouse, and control to adjust the corresponding position that the end effector to the cutterhead surface carries out disassembly cutter；
The electrical cabinet controls the end effector and unloads from the cutterhead；
The electrical cabinet controls the sixdegree-of-freedom simulation and restores to original state, and controls the movable part in the fixation
It moves along a straight line in portion, so that the end effector returns in the air cushion storehouse, and cutter is placed on cutter support frame；
After operator enters from Accessorial Tools Storage into the manual working area, into the air cushion storehouse, and the cutter branch is replaced
Cutter on support；
The electrical cabinet controls the end effector and moves at the cutter support frame, and after grabbing the cutter, with phase
Anti- mode repeats above step, makes to control to adjust the end effector to corresponding position installation cutter；
The electrical cabinet controls the sixdegree-of-freedom simulation and restores to original state, waits tool changing operation next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| 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 |
| CN110685706A (en) * | 2019-10-31 | 2020-01-14 | 中铁工程装备集团有限公司 | Shield constructs quick-witted robot tool changing experimental apparatus |
| CN111535824A (en) * | 2020-05-15 | 2020-08-14 | 周亚新 | Shield tunneling machine front-end soil body cutting and dividing device and working method thereof |
| CN111691891A (en) * | 2020-06-30 | 2020-09-22 | 中国铁建重工集团股份有限公司 | Tool changing device for replacing hob of shield machine |
| 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 |
| CN112943275A (en) * | 2021-02-08 | 2021-06-11 | 中国铁建重工集团股份有限公司 | Shield machine |
| CN113464152A (en) * | 2021-07-14 | 2021-10-01 | 中铁工程装备集团有限公司 | Normal pressure tool changing shield machine based on telescopic mannequin |
| CN114263470A (en) * | 2021-12-28 | 2022-04-01 | 上海机器人产业技术研究院有限公司 | Automatic access method for hob of shield machine |
| CN114352303A (en) * | 2021-12-31 | 2022-04-15 | 英诺威阀业有限公司 | Cutter changing sealing seat assembly of ultrahigh-pressure large-caliber robot of full-face tunneling machine |
| CN115045671A (en) * | 2021-03-09 | 2022-09-13 | 广东工业大学 | Shield automatic tool changer system capable of sensing tool abrasion |
| CN115870945A (en) * | 2022-10-27 | 2023-03-31 | 山东大学 | Shield intelligent identification maintenance tool changing robot and method |
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| CN110685706A (en) * | 2019-10-31 | 2020-01-14 | 中铁工程装备集团有限公司 | Shield constructs quick-witted robot tool changing experimental apparatus |
| CN110630279B (en) * | 2019-10-31 | 2022-01-21 | 中铁工程装备集团有限公司 | Shield machine with robot tool changing function |
| 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 |
| CN111535824A (en) * | 2020-05-15 | 2020-08-14 | 周亚新 | Shield tunneling machine front-end soil body cutting and dividing device and working method thereof |
| 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 |
| CN111691891A (en) * | 2020-06-30 | 2020-09-22 | 中国铁建重工集团股份有限公司 | Tool changing device for replacing hob of shield machine |
| 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 |
| CN111691891B (en) * | 2020-06-30 | 2022-04-29 | 中国铁建重工集团股份有限公司 | Tool changing device for replacing hob of shield machine |
| CN112943275A (en) * | 2021-02-08 | 2021-06-11 | 中国铁建重工集团股份有限公司 | Shield machine |
| CN115045671A (en) * | 2021-03-09 | 2022-09-13 | 广东工业大学 | Shield automatic tool changer system capable of sensing tool abrasion |
| CN113464152A (en) * | 2021-07-14 | 2021-10-01 | 中铁工程装备集团有限公司 | Normal pressure tool changing shield machine based on telescopic mannequin |
| CN113464152B (en) * | 2021-07-14 | 2022-03-22 | 中铁工程装备集团有限公司 | Normal pressure tool changing shield machine based on telescopic mannequin |
| CN114263470A (en) * | 2021-12-28 | 2022-04-01 | 上海机器人产业技术研究院有限公司 | Automatic access method for hob of shield machine |
| CN114263470B (en) * | 2021-12-28 | 2023-06-13 | 上海机器人产业技术研究院有限公司 | Automatic access method for hob of shield machine |
| CN114352303A (en) * | 2021-12-31 | 2022-04-15 | 英诺威阀业有限公司 | Cutter changing sealing seat assembly of ultrahigh-pressure large-caliber robot of full-face tunneling machine |
| CN115870945A (en) * | 2022-10-27 | 2023-03-31 | 山东大学 | Shield intelligent identification maintenance tool changing robot and method |
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