CN111441787B - Hob dismounting mechanism suitable for shield constructs tool changing robot - Google Patents
Hob dismounting mechanism suitable for shield constructs tool changing robot Download PDFInfo
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- CN111441787B CN111441787B CN202010298585.5A CN202010298585A CN111441787B CN 111441787 B CN111441787 B CN 111441787B CN 202010298585 A CN202010298585 A CN 202010298585A CN 111441787 B CN111441787 B CN 111441787B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000001125 extrusion Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 238000007493 shaping process Methods 0.000 description 1
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- 230000005641 tunneling Effects 0.000 description 1
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- 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)
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- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention provides a hob disassembling and assembling mechanism suitable for a shield cutter changing robot, which comprises a hob shaft mounting seat, wherein a hob shaft of a hob is fixedly connected with the hob shaft mounting seat, and the hob shaft mounting seat is detachably connected with a cutter box on a cutter head of a shield machine; the locking part is arranged on the cutter shaft mounting seat and mainly comprises a middle sliding block and an edge sliding block, and the edge sliding block is driven to horizontally move through the vertical movement of the middle sliding block so as to complete the locking and loosening processes between the cutter shaft mounting seat and the inner cutter box as well as between the hob and the inner cutter box. The invention simultaneously considers the limited internal space of the cutter box and the heavy load characteristic of the hob, provides a compact and reliable hob dismounting mechanism, realizes the reliable connection and safe dismounting of the hob and the cutter box through the matching of the hob shaft mounting seat, the middle slide block and the side slide block, replaces the manual tool changing operation, improves the tool changing efficiency and reduces the shield construction risk.
Description
Technical Field
The invention relates to the field of shield construction equipment, in particular to a hob disassembling and assembling mechanism of a hob changing robot suitable for shield tunnel engineering.
Background
The shield machine is a special engineering machine for tunneling, and has wide application prospect in tunnel construction of subways, railways, highways, municipal works and the like. The hob is used as a core component of the shield machine, the hob is seriously failed due to complex and variable geological conditions, the whole energy consumption of the shield machine is increased and the construction period is delayed when the hob is not replaced in time. Therefore, the tool changing is an inevitable process in the shield construction process. At present, manual tool changing is still adopted in part of shield construction at home and abroad, the tool changing operation difficulty is high, the technical requirement is high, the time consumption is long, the risk is high under a high-pressure narrow operation space, a tool changing robot needs to be developed, the tool changing operation of replacing people with robots under the high-risk environment of a shield machine is realized, and the condition that the tool changing robot realizes automatic replacement of a hob is that the hob dismounting mechanism for dismounting and mounting the hob is provided.
Because the hobbing cutter is large in size and weight, the dismounting path is relatively complex, a higher requirement is provided for a dismounting mechanism of the hobbing cutter, the automation degree and the bearing capacity of the conventional hobbing cutter dismounting mechanism are limited, and the hobbing cutter dismounting mechanism which is high in bearing capacity and replacement efficiency and aims at the severe operation environment of the shield machine needs to be developed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a hob dismounting and mounting mechanism which can realize the fast dismounting and mounting operation of a hob, simplify the working procedure of the hob changing operation and improve the automation level of a hob changing robot and the overall construction efficiency and safety of a shield machine.
In order to achieve the aim, the invention provides a hob disassembling and assembling mechanism suitable for a shield cutter changing robot, which comprises a hob shaft mounting seat, wherein the hob shaft of the hob is fixedly connected with the hob shaft mounting seat, and the hob shaft mounting seat is detachably connected with a cutter box on a cutter head of a shield machine; the cutter shaft mounting seat is provided with a locking part, and the locking part controls the locking or loosening state of the cutter box and the cutter shaft mounting seat.
Further, the shaping of the upper surface middle part position of arbor mount pad has one to be down trapezoidal recess, locking portion includes that a middle slider is in with the setting two limit sliders of middle slider both sides, middle slider sets up and is the obcunning, the outer inclined plane of middle slider both sides with the inner inclined plane of recess both sides is sliding contact respectively, the limit slider slides and sets up the upper surface of arbor mount pad, and is located respectively the both sides of recess, the inside wall of limit slider with the outer inclined plane sliding contact of middle slider, work as the limit slider outwards slide to with during the knife case extrusion contact, the knife case is right the limit slider locks spacingly.
Furthermore, the outer inclined plane of the middle sliding block and the inner side surface of the side sliding block are provided with connecting structures which are matched with each other, so that the outer inclined plane of the middle sliding block and the inner side surface of the side sliding block keep sliding contact.
Further, the connecting structure comprises a first T-shaped groove formed on the outer inclined surface of the middle sliding block and a first T-shaped boss formed on the inner side surface of the side sliding block, and the wider part of the first T-shaped boss is arranged in the wider inner groove of the first T-shaped groove in a sliding mode.
Furthermore, the bottom surface of the side sliding block is also provided with a second T-shaped boss, two side positions of the upper surface of the cutter shaft mounting seat are respectively provided with a second T-shaped groove, and the wider part of the second T-shaped boss is arranged in a wider inner groove of the second T-shaped groove in a sliding manner.
Furthermore, a threaded through hole is formed in the middle of the middle sliding block, a hexagon bolt is arranged in the threaded through hole, the middle sliding block is driven to move along the hexagon bolt through rotation of the hexagon bolt, and one end of the hexagon bolt is rotatably connected with the cutter shaft mounting seat.
Furthermore, the hobbing cutter is in a gyro shape, cutter shafts on two sides of the hobbing cutter are respectively provided with a cutter shaft mounting seat, and the cutter shaft mounting seats are fixedly connected with the cutter shafts through bolts.
Furthermore, the knife box is an inner knife box, the inner knife box is connected with the inner wall of the outer knife box on the cutter head in a welding mode, the upper layer and the lower layer of the inner knife box are respectively provided with a limiting portion, and when the edge sliding block slides outwards to the maximum position, the limiting portions are used for limiting locking of the edge sliding block.
Furthermore, the limiting part comprises two steps which are oppositely arranged at two sides of the upper layer and the lower layer of the inner knife box, a V-shaped groove is arranged on each step, and the V-shaped groove corresponds to the outer angle of the outer side of the edge sliding block.
Furthermore, a third T-shaped groove is formed in the step, and when the cutter shaft mounting seat is mounted in the inner cutter box in place, the third trapezoidal groove is communicated with the second T-shaped groove.
The scheme of the invention has the following beneficial effects:
the invention simultaneously considers the limited internal space of the cutter box and the heavy load characteristic of the hob, provides a compact and reliable hob dismounting mechanism, realizes the reliable connection and safe dismounting of the hob and the cutter box through the matching of the hob shaft mounting seat, the middle slide block and the side slide block, replaces the manual tool changing operation, improves the tool changing efficiency and reduces the shield construction risk;
the T-shaped connecting structures which are matched with each other can ensure that the middle sliding block and the side sliding block are in sliding contact, so that the locking and loosening processes of the hob disassembling and assembling mechanism can be completed only by forward and backward rotation of the hexagonal screw, the disassembling and assembling process is simplified, the control difficulty of a robot is reduced, meanwhile, the sliding contact of the side sliding block and the hob shaft mounting seat can be ensured, the locking load can be transmitted to the hob through the side sliding block, the middle sliding block and the hob shaft mounting seat in sequence, and the reliability of hob locking is improved.
Drawings
FIG. 1 is a schematic view of the overall mechanism of the present invention;
FIG. 2 is a schematic structural view of a knife shaft mounting seat of the present invention;
FIG. 3 is a schematic view of the structure of the intermediate slider of the present invention;
FIG. 4 is a schematic view of an edge slider configuration of the present invention;
FIG. 5 is a schematic structural view of the inner blade box of the present invention;
FIG. 6 is a schematic view of the locking state of the hob of the present invention;
FIG. 7 is a schematic view of the hob of the present invention in a released state.
[ description of reference ]
1-hobbing cutter; 2-cutter shaft; 3-a cutter shaft mounting seat; 4-a groove; 5-inner inclined plane; 6-middle slide block; 7-outer inclined plane; 8-edge slide block; 9-medial side; 10-a first T-shaped groove; 11-a first T-shaped boss; 12-a second T-shaped boss; 13-a second T-shaped groove; 14-hex bolts; 15-inner knife box; 16-step; 17-V-shaped grooves; 18-external angle; 19-a third T-shaped groove; 20-threaded through hole.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, an embodiment of the present invention provides a hob dismounting mechanism, wherein a hob 1 is in a gyro shape, cutter shafts 2 on two sides of the hob 1 are respectively and fixedly connected with a cutter shaft mounting base 3, and the installation of the hob 1 is completed after the cutter shaft mounting base 3 is locked and fixed with a hob box on a hob.
Referring to fig. 2-4, an inverted trapezoidal groove 4 is formed in the middle of the upper surface of the arbor mounting base 3, and an inner inclined surface 5 of the groove 4 is tightly attached to an outer inclined surface 7 of the middle slider 6 when the hob 1 is in a locked state, so as to transmit load. Meanwhile, two sides of the groove 4 of the cutter shaft mounting seat 3 are respectively provided with an edge sliding block 8, the edge sliding blocks 8 can horizontally slide along the cutter shaft mounting seat 3, and the inclined inner side surfaces 9 of the edge sliding blocks 8 are also kept in contact with the outer inclined surface 7 of the middle sliding block 6 and can slide relative to the outer inclined surface 7 of the middle sliding block 6.
Under the action of the inclined plane, the middle slide block 6 vertically moves to drive the side slide block 8 to horizontally move along the upper surface of the cutter shaft mounting seat 3, so that the hob 1 is locked and loosened. When the hob 1 is installed and locked, the middle slide block 6 moves downwards to the lowest position (limit position), the outer inclined surface 7 of the middle slide block is attached to the inner inclined surface 5 of the hob shaft installation seat 3, the inner side surfaces 9 of the two side slide blocks 8 are extruded by the middle slide block 6, so that the side slide blocks 8 horizontally move outwards along the hob shaft installation seat 3, and the outer side surfaces of the side slide blocks are in extrusion contact with the hob box to form a locked state. Thereby pass through limit slider 8, middle slider 6 and arbor mount pad 3 in proper order, transmit the locking force to hobbing cutter 1, make hobbing cutter 1 locked fixedly for the tool box.
The loosening process of the hob 1 is opposite to that of the hob, when the hob 1 is removed and loosened, the middle slide block 6 moves upwards to the highest position (limit position), and at the moment, in order to unlock, the side slide blocks 8 on two sides need to be driven to be close to the middle, so that the outermost positions of the side slide blocks 8 cannot hinder the dismounting manipulator of the hob 1 to smoothly enter the hob box for dismounting. Therefore, in this embodiment, the outer inclined surface 7 of the middle slider 6 and the inner side surface 9 of the side slider 8 are provided with connecting structures which are matched with each other, so that the middle slider 6 can drive the side sliders 7 to move inward when moving upward.
Referring to fig. 2-4 again, the specific form of the connection structure includes a first T-shaped groove 10 formed on the outer inclined surface 7 of the middle slider 6, a first T-shaped boss 11 formed on the inner side surface of the side slider 8, a wider portion of the first T-shaped boss 11 fitting into the wider inner groove of the first T-shaped groove 10 and being limited to be unable to be separated, and the first T-shaped boss 11 being capable of sliding relative to the first T-shaped groove 10 to realize reliable connection between the side slider 8 and the middle slider 6, and to drive the side slider 8 to approach to the middle when the middle slider 6 moves upward. Meanwhile, in order to ensure reliable connection between the edge slider 8 and the arbor mounting seat 3 and ensure that the horizontal sliding of the edge slider 8 relative to the arbor mounting seat 3 is more accurate and reliable, a second T-shaped boss 12 is further arranged on the bottom surface of the edge slider 8, second T-shaped grooves 13 are arranged on two side positions of the upper surface of the arbor mounting seat 3 in a matched manner, and the edge slider 8 and the arbor mounting seat 3 are reliably connected through matching of the second T-shaped boss 12 and the second T-shaped grooves 13.
In order to drive the middle slider 6 to move up and down and switch the locking and loosening actions of the hob 1, in this embodiment, the middle slider 6 is provided with a vertical threaded through hole 20 in the middle, a hexagon bolt 14 is arranged in the vertical threaded through hole, the middle slider 6 is driven to move in the vertical direction through the rotation of the hexagon bolt, and the bottom end of the hexagon bolt 14 is rotatably connected with the bottom end of the groove 4 of the arbor mounting seat 3.
Referring to fig. 5, in the present embodiment, an inner cutter box 15 is provided, which is a hollow rectangular parallelepiped box structure, and the peripheral dimension of the inner cutter box is identical to the inner dimension of the original outer cutter box on the cutter head, and the inner cutter box 15 is welded to the inner wall of the outer cutter box in advance, so as to be fixed on the cutter head as a mounting box of the hob 1. Wherein, the upper and lower two layers of the inner cutter box 15 are respectively provided with a step 16 for fixing the cutter shaft mounting seats 3 at both sides of the hob 1. Each step 16 is oppositely provided with two V-shaped grooves 17 which are matched with the outer side surfaces of the two side sliding blocks 8 arranged on the cutter shaft mounting seat 3 in a sliding way.
In this embodiment, the side sliding blocks 8 are inclined trapezoidal structures, the long bottom sides of the side sliding blocks are taken as inner side surfaces 9 to be attached to and slide on the outer inclined surfaces 7 of the middle sliding blocks 6, one side edge of each trapezoid is attached to and slide on the upper surface of the cutter shaft mounting seat 3, and an outer angle 18 formed by the other side edge and the short bottom side corresponds to the V-shaped groove 17. When the middle slide block 6 moves downwards to the lowest position, the inner side surfaces 9 of the two side slide blocks 8 are extruded by the middle slide block 6, and the side slide blocks 8 horizontally move towards the outer side along the cutter shaft mounting seat 3, so that the outer corners 18 of the side slide blocks 8 enter the V-shaped grooves 17, pressure perpendicular to a contact surface is generated between the side slide blocks and the inner cutter box 15, and a locking and fixing state is formed through static friction force.
Since the bottom surface of the side sliding block 8 is provided with the second T-shaped boss 12, in order to smoothly enable the outer corner 18 of the side sliding block 8 to enter the V-shaped groove 17, the step 16 of the inner cutter box 15 is also provided with the third T-shaped groove 19 in a matching manner, when the cutter shaft mounting seat 3 is mounted in place in the inner cutter box 15, the second T-shaped groove 13 is aligned and communicated with the third trapezoidal groove 19, so that the outer side part of the second T-shaped boss 12 can smoothly slide into the third trapezoidal groove 19 from the second T-shaped groove 13 when the side sliding block 8 slides outwards, and the outer corner 18 of the side sliding block 8 is ensured to enter the V-shaped groove 17 and be pressed and locked.
When the method is applied, the shield machine is stopped before the cutter changing operation is carried out, and then the hob 1 is disassembled and assembled: the tool changing robot extends a tool changing manipulator into the inner tool box 15 to clamp the hob 1, and the hob dismounting mechanism is in a locking state at the moment; the hexagon bolt 14 is rotated to drive the middle slide block 6 to move upwards to the limit position, so that the side slide block 8 moves horizontally towards the middle, and the outer corner 18 of the side slide block 8 is separated from the V-shaped groove 17 of the inner cutter box 15; the hob changing manipulator transports the removed hob 1, the removed hob shaft mounting seat 3, the middle sliding block 6, the edge sliding block 8 and the like out of the inner hob box 15, and hob removing operation is completed; the cutter changing robot clamps a new hob 1, a new hob shaft mounting seat 3 and the like, and conveys the new hob 1, the new hob shaft mounting seat 3 and the like to the position of the hob 1 to be assembled in the inner hob box 15, and at the moment, the hob assembling and disassembling mechanism is in a loose state; the hexagon bolt 14 is rotated to drive the middle slide block 6 to move downwards to the limit position, the side slide block 8 horizontally moves to the outermost side, the outer corner 18 of the side slide block is tightly attached to the V-shaped groove 17, and the installation operation of the hob 1 and the inner hob box 15 is completed. The locking and unlocking of the roller cutter can be seen in fig. 6 and 7, respectively.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A hob disassembling and assembling mechanism suitable for a shield cutter changing robot is characterized by comprising a hob shaft mounting seat, wherein a hob shaft of a hob is fixedly connected with the hob shaft mounting seat, and the hob shaft mounting seat is detachably connected with a cutter box on a cutter head of a shield machine; the cutter shaft mounting seat is provided with a locking part which controls the locking or unlocking state of the cutter box and the cutter shaft mounting seat;
the middle position of the upper surface of the cutter shaft mounting seat is provided with an inverted trapezoidal groove, the locking part comprises a middle sliding block and two side sliding blocks arranged on two sides of the middle sliding block, the middle sliding block is arranged in an inverted wedge shape, outer inclined planes on two sides of the middle sliding block are in sliding contact with inner inclined planes on two sides of the groove respectively, the side sliding blocks are arranged on the upper surface of the cutter shaft mounting seat in a sliding mode and are located on two sides of the groove respectively, inner side walls of the side sliding blocks are in sliding contact with the outer inclined planes of the middle sliding block, and when the side sliding blocks slide outwards to be in extrusion contact with the cutter box, the cutter box locks and limits the side sliding blocks;
the outer inclined plane of the middle sliding block and the inner side surface of the side sliding block are provided with connecting structures which are matched with each other, so that the outer inclined plane of the middle sliding block and the inner side surface of the side sliding block are in sliding contact;
the connecting structure comprises a first T-shaped groove formed on the outer inclined surface of the middle sliding block and a first T-shaped boss formed on the inner side surface of the side sliding block, and the wider part of the first T-shaped boss is arranged in the wider inner groove of the first T-shaped groove in a sliding manner;
the bottom surface of the side sliding block is also provided with a second T-shaped boss, two side positions of the upper surface of the cutter shaft mounting seat are respectively provided with a second T-shaped groove, and the wider part of the second T-shaped boss is arranged in the wider inner groove of the second T-shaped groove in a sliding manner.
2. The hob disassembling and assembling mechanism suitable for the shield cutter changing robot as claimed in claim 1, wherein a threaded through hole is formed in the middle of the middle slider, a hexagon bolt is arranged in the threaded through hole, the middle slider is driven to move along the hexagon bolt through rotation of the hexagon bolt, and one end of the hexagon bolt is rotatably connected with the arbor mounting seat.
3. The hob disassembling and assembling mechanism suitable for the shield cutter changing robot as claimed in claim 2, wherein the hob is in a gyro shape, the cutter shafts on two sides of the hob are respectively provided with the cutter shaft mounting seats, and the cutter shaft mounting seats are fixedly connected with the cutter shafts through bolts.
4. The hob disassembling and assembling mechanism suitable for the shield cutter changing robot of claim 3, wherein the hob box is an inner hob box, the inner hob box is welded to the inner wall of the outer hob box on the cutter head, the upper layer and the lower layer inside the inner hob box are respectively provided with a limiting portion, and when the edge slide block slides outwards to the maximum position, the limiting portion is used for limiting the locking of the edge slide block.
5. The hob disassembling and assembling mechanism suitable for the shield cutter changing robot as claimed in claim 4, wherein each of the limiting portions includes two steps oppositely disposed at two sides of the inner hob box, each of the steps is provided with a V-shaped groove, and the V-shaped groove corresponds to an outer corner of the outer side of the edge sliding block.
6. A hob disassembling and assembling mechanism suitable for a shield cutter changing robot according to claim 5, wherein a third T-shaped groove is further formed in the step, and when the arbor mounting seat is mounted in place in the inner hob box, the third T-shaped groove is communicated with the second T-shaped groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010298585.5A CN111441787B (en) | 2020-04-16 | 2020-04-16 | Hob dismounting mechanism suitable for shield constructs tool changing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010298585.5A CN111441787B (en) | 2020-04-16 | 2020-04-16 | Hob dismounting mechanism suitable for shield constructs tool changing robot |
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| Publication Number | Publication Date |
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| CN111441787A CN111441787A (en) | 2020-07-24 |
| CN111441787B true CN111441787B (en) | 2021-03-26 |
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| CN202010298585.5A Active CN111441787B (en) | 2020-04-16 | 2020-04-16 | Hob dismounting mechanism suitable for shield constructs tool changing robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112554897B (en) * | 2020-12-10 | 2022-09-30 | 中国铁建重工集团股份有限公司 | Shield machine and tool changing device thereof |
| CN113356868A (en) * | 2021-06-10 | 2021-09-07 | 中国船舶重工集团公司第七一三研究所 | Shield machine cutter device capable of being rapidly disassembled |
| CN113250702B (en) * | 2021-06-15 | 2021-09-28 | 中国铁建重工集团股份有限公司 | Knife box telescopic structure of graded excavation cutter head |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3246077A1 (en) * | 1982-04-19 | 1983-11-17 | Bergwerksverband Gmbh, 4300 Essen | Machine for mining and tunnelling |
| CN104879134B (en) * | 2015-05-21 | 2017-01-11 | 中铁工程装备集团有限公司 | Round cutter box capable of having disc cutter replaced bidirectionally |
| CN106305702A (en) * | 2015-07-06 | 2017-01-11 | 国网山东省电力公司潍坊供电公司 | Multifunctional bird repelling device |
| CN109236317B (en) * | 2018-11-08 | 2019-11-19 | 大连理工大学 | A kind of integrated tunneling boring rock tunnel development machine hob holder |
| CN109209427B (en) * | 2018-11-08 | 2020-02-18 | 大连理工大学 | TBM hobbing cutter blade holder structure based on machine operation |
| CN109236316B (en) * | 2018-11-08 | 2020-01-17 | 大连理工大学 | Novel integrated hob structure based on tool changing of TBM robot |
| CN109944602A (en) * | 2019-04-28 | 2019-06-28 | 中铁工程装备集团有限公司 | A kind of tooling system and its installation method of novel disk-shape hobboing cutter |
| CN109915161A (en) * | 2019-04-28 | 2019-06-21 | 中铁工程装备集团有限公司 | A kind of New Kind of Hob tooling system being easily changed and its installation method |
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