CN111706346B - Shield machine and tool changing device thereof - Google Patents
Shield machine and tool changing device thereof Download PDFInfo
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- CN111706346B CN111706346B CN202010614613.XA CN202010614613A CN111706346B CN 111706346 B CN111706346 B CN 111706346B CN 202010614613 A CN202010614613 A CN 202010614613A CN 111706346 B CN111706346 B CN 111706346B
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- bin
- pressure
- hob
- cutter
- transfer
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- 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 invention discloses a shield machine and a cutter changing device thereof.A controller controls a front-mounted gate to be opened according to a received feedback signal when the pressure of an excavation chamber is consistent with the pressure of a transfer chamber so that a cutter changing assembly passes through the front-mounted gate to remove a hob on a cutter head, controls the front-mounted gate to be closed after the cutter changing assembly carries the removed hob to return to the transfer chamber according to the received removal signal, and controls a rear-mounted gate to be opened according to the received front-mounted gate closing signal when the pressure of the transfer chamber is consistent with the pressure of a storage chamber so that the cutter changing assembly replaces the hob clamped by the cutter storing assembly; the controller controls the rear gate to be closed after the tool changing assembly returns to the transfer bin according to the received tool changing signal, controls the front gate to be opened when the pressure of the excavation bin is consistent with the pressure of the transfer bin according to the received rear door closing signal so that the tool changing assembly penetrates through the front gate to install the replaced hob to the cutter head, controls the front gate to be closed after the tool changing assembly returns to the transfer bin according to the received installation signal, and can safely and efficiently replace the hob.
Description
Technical Field
The invention relates to the technical field of engineering equipment, in particular to a shield tunneling machine and a tool changing device thereof.
Background
The shield machine is used as important tunneling equipment and widely applied to the field of heavy engineering such as urban subways, highway tunnels, hydraulic engineering and the like.
The cutter head of the shield machine is usually provided with a plurality of hobbing cutters for cutting rock strata, the hobbing cutters always have abrasion problems in the tunneling process, and the hobbing cutters need to be replaced in time to improve the cutting efficiency. The existing shield machine mainly relies on manual work to change the tool, however, the space of an excavation chamber of the shield machine is extremely narrow, and the shield machine has the characteristics of high pressure, high humidity and the like, so that the personal safety of tool changing operators is threatened, and the safety risk is high; the manual tool changing has high operation strength and longer tool changing time, and the tool changing efficiency is influenced.
Therefore, how to safely and efficiently replace the hob of the shield machine is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a shield machine and a cutter changer thereof, which can automatically change a damaged hob on a cutter head, have high automation degree, and do not require manual intervention, so that the hob of the shield machine can be safely and efficiently changed.
The invention provides a cutter changing device of a shield machine, which comprises:
the transfer bin is used for being connected with the excavation bin, and a tool changing assembly is arranged in the transfer bin;
the storage bin is connected with the transfer bin, and a cutter storage assembly is arranged in the storage bin;
the front gate is arranged between the transfer bin and the excavation bin;
the rear gate is arranged between the transfer bin and the storage bin;
the controller is respectively connected with the tool changing assembly, the tool storage assembly, the front gate and the rear gate;
the controller is used for controlling the front gate to be opened according to the received feedback signal when the pressure of the excavation bin is consistent with the pressure of the transfer bin so that the cutter changing assembly penetrates through the front gate to detach the hob on the cutter head, controlling the front gate to be closed after the cutter changing assembly carries the detached hob to return to the transfer bin according to the received detachment signal, and controlling the rear gate to be opened according to the received front door closing signal when the pressure of the transfer bin is consistent with the pressure of the storage bin so that the hob clamped by the cutter changing assembly is replaced by the cutter storage assembly;
the controller is used for controlling the rear gate to be closed after the hob replacing assembly carries the replaced hob to return to the transfer bin according to the received hob replacing signal, and is also used for controlling the front gate to be opened when the pressure of the excavation bin is consistent with the pressure of the transfer bin according to the received rear door closing signal so that the hob replacing assembly penetrates through the front gate to install the replaced hob on the cutterhead, and is also used for controlling the front gate to be closed after the hob replacing assembly does not carry the hob to return to the transfer bin according to the received installation signal.
Preferably, the tool changing assembly comprises:
the transfer sliding rail is fixedly arranged in the transfer bin;
the mechanical arm can be slidably hung on the transfer slide rail;
and the clamping claw is arranged on the mechanical arm and used for clamping or loosening the hob.
Preferably, the accumulator assembly comprises:
the cutter storage box is used for containing the hob;
the cutter storage sliding rail is fixedly arranged in the storage bin and used for supporting the cutter storage box to slide into or out of the storage bin so as to replace the hob;
the sliding driving part is fixedly connected with the cutter storage box and is used for driving the cutter storage box to move along the cutter storage sliding rail;
and the lifting frame is fixedly arranged in the storage bin and used for supporting the cutter storage box to drive the hob to lift so as to enable the cutter storage box to be close to or far away from the cutter changing assembly.
Preferably, the accumulator slide rail comprises:
a fixed track fixedly arranged in the transfer bin;
the extension track is arranged outside the transfer bin and is rotationally connected with the fixed track;
the two ends of the support connecting rod are respectively used for being rotationally connected with the shield body partition plate and the extension track;
when the cutter storage box slides in or slides out of the transfer bin, the support connecting rod supports the extension track to rotate relative to the fixed track until the extension track is butted with the fixed track.
Preferably, the method further comprises the following steps:
the hob detection part is used for detecting the damage condition of the hob;
the excavation chamber pressure detection piece is used for detecting the excavation chamber pressure;
a transfer bin pressure detecting member for detecting a transfer bin pressure;
the pressure regulating assembly is arranged in the transfer bin;
the front door detection piece is used for detecting the opening and closing state of the front gate;
the hob detection piece, the pressure regulating assembly and the front door detection piece are all connected with a controller, and the controller is used for generating a feedback signal when the hob is damaged according to a signal sent by the hob detection piece;
the controller is also used for starting the pressure regulating assembly to regulate the pressure of the transfer bin until the pressure of the excavation bin is consistent with the pressure of the transfer bin according to the feedback signal and signals sent by the excavation bin pressure detecting piece and the transfer bin pressure detecting piece simultaneously when the pressure of the excavation bin is inconsistent with the pressure of the transfer bin;
the controller is also used for controlling the front gate to be opened when the pressure of the excavation bin is consistent with the pressure of the transfer bin according to signals sent by the excavation bin pressure detecting piece and the transfer bin pressure detecting piece simultaneously, and is used for starting the cutter changing assembly to penetrate through the front gate to detach the hob on the cutter head according to the signals sent by the front gate detecting piece when the front gate is opened.
Preferably, the method further comprises the following steps:
the dismounting detection piece is used for detecting the dismounting condition of the hob and is connected with the controller, and the controller is used for generating a dismounting signal after the hob is dismounted from the hob changing assembly according to a signal sent by the dismounting detection piece; the controller is also used for controlling the cutter changing assembly to carry the dismounted hob to return to the transfer bin according to the dismounting signal;
the bin returning detection piece is used for detecting whether the tool changing assembly returns to the transfer bin; the bin returning detection piece is connected with the controller, and the controller is used for controlling the front gate to be closed when the tool changing assembly returns to the transfer bin according to a signal sent by the bin returning detection piece.
Preferably, the controller is used for generating a front door closing signal when the front door is closed according to a signal sent by the front door detection piece; the controller is also used for restarting the pressure regulating assembly to regulate the pressure of the transfer bin when the pressure of the transfer bin is inconsistent with the pressure of the storage bin according to a front door closing signal and signals simultaneously sent by the transfer bin pressure detecting element and the storage bin pressure detecting element until the pressure of the transfer bin is consistent with the pressure of the storage bin;
the controller is used for controlling the rear gate to be opened when the pressure of the transfer bin is consistent with the pressure of the storage bin according to signals sent by the transfer bin pressure detection piece and the storage bin pressure detection piece simultaneously, and is used for starting the cutter storage assembly to replace the hob clamped by the cutter changing assembly when the rear gate is opened according to the signals sent by the rear gate detection piece.
Preferably, the method further comprises the following steps:
the tool changing detection piece is used for detecting whether the tool changing assembly completes tool changing, the tool changing detection piece is connected with the controller, and the controller is used for generating a tool changing signal when the tool changing assembly completes tool changing according to a signal sent by the tool changing detection piece;
the controller is also used for controlling the cutter changing assembly to carry the replaced hob to return to the transferring bin according to the cutter changing signal, and controlling the rear gate to be closed when the cutter changing assembly returns to the transferring bin according to the signal sent by the bin returning detection piece.
Preferably, the controller is used for generating a rear door closing signal when the rear gate is closed according to a signal sent by the rear door detection piece, controlling the front gate to be opened when the pressure of the excavation bin is consistent with the pressure of the transfer bin according to the rear door closing signal and signals sent by the excavation bin pressure detection piece and the transfer bin pressure detection piece simultaneously, and starting the cutter changing assembly to penetrate through the front gate to install the replaced hob on the cutter head when the front gate is opened according to a signal sent by the front door detection piece;
the controller is also used for generating an installation signal after the hob cutter assembly is provided with the hob cutter according to the signal sent by the disassembly and assembly detection piece, and controlling the hob cutter assembly to return to the transfer bin according to the installation signal;
the controller is also used for controlling the front gate to be closed when the tool changing assembly returns to the transfer bin according to the signal sent by the bin returning detection piece.
The invention also provides a shield machine and a tool changing device of the shield machine.
Compared with the background technology, the shield machine tool changing device provided by the invention comprises a tool changing assembly, a tool storage assembly, a front gate, a rear gate and a controller.
When the controller receives a feedback signal, the damaged hob needs to be replaced by the cutterhead, and the controller controls the front gate to be opened when the pressure of the excavation bin is consistent with the pressure of the transfer bin, so that the hob on the cutterhead is detached after the hob changing assembly penetrates through the front gate; when the controller receives the disassembly signal, the damaged hob is disassembled from the cutter head, and the controller controls the front gate to be closed after the hob replacing assembly with the disassembled hob returns to the transfer bin, so that the excavation bin and the transfer bin are separated; when the controller receives a front door closing signal, the front gate is closed, and the controller controls the rear gate to be opened when the pressure of the transfer bin is consistent with the pressure of the storage bin, so that the hob clamped by the hob changing assembly is replaced by the hob storing assembly; therefore, the damaged hob on the cutterhead can be automatically dismounted.
When the controller receives a tool changing signal, the tool changing assembly clamps the undamaged hob provided by the tool storage assembly, and the controller controls the rear gate to be closed after ensuring that the tool changing assembly carries the replaced hob to return to the transfer bin; when the controller receives a rear door closing signal, the rear gate is closed, and the controller controls the front gate to be opened again when the pressure of the excavation bin is consistent with the pressure of the transfer bin, so that the cutter changing assembly passes through the front gate again and the replaced hob is installed on the cutterhead; when the controller receives the installation signal, the cutter changing assembly is used for installing the undamaged hob onto the cutter head, and the controller controls the front gate to be closed after the cutter changing assembly is ensured not to return to the transfer bin with the hob; this allows an automatic mounting of the undamaged hob to the cutterhead.
In conclusion, the cutter changing device of the shield machine provided by the invention can realize automatic replacement of the damaged hob on the cutter head, has high automation degree, does not need manual participation, is convenient to operate, and can safely and efficiently replace the hob of the shield machine.
The shield machine comprising the tool changing device has the same beneficial effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a cross-sectional view of a tool changer of a shield tunneling machine according to an embodiment of the present invention;
FIG. 2 is a diagram of the working condition of the accumulator assembly when receiving a damaged hob gripped by the accumulator assembly;
FIG. 3 is a diagram of the working conditions of the accumulator assembly when a damaged hob is replaced with a new hob.
The reference numbers are as follows:
a shield body partition plate 01;
the device comprises an excavation bin 1, a transfer bin 2, a storage bin 3, a tool changing assembly 4, a tool storage assembly 5, a front gate 6 and a rear gate 7;
a transfer slide 41, a robot arm 42, and a gripper jaw 43;
a cutter storage base 50, a cutter storage box 51, a cutter storage slide rail 52, a slide driving piece 53, a lifting frame 54 and a slide trolley 55;
a fixed rail 521, an extension rail 522, and a support link 523.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific examples.
Referring to fig. 1 to 3, fig. 1 is a cross-sectional view of a tool changer of a shield tunneling machine according to an embodiment of the present invention; FIG. 2 is a diagram of the working condition of the accumulator assembly when receiving a damaged hob gripped by the accumulator assembly; FIG. 3 is a diagram of the working conditions of the accumulator assembly when a damaged hob is replaced with a new hob.
The embodiment of the invention discloses a cutter changing device of a shield machine, which comprises a cutter changing assembly 4, a cutter storage assembly 5, a front gate 6 and a rear gate 7.
In the storehouse 2 is transported to tool changing subassembly 4 locating, hold the sword subassembly 5 and locate in storage storehouse 3. In this embodiment, the transfer chamber 2 is defined by a cylindrical housing disposed at the center of the shield, and the cylindrical housing is fixed on the shield partition 01. Hold the sword subassembly 5 and locate on holding sword base 50, hold sword base 50 and pass through rearmounted gate 7 and link to each other with the tubular casing, and hold sword base 50 and also be fixed in on the shield body baffle 01.
The front gate 6 is arranged between the transfer bin 2 and the excavation bin 1. When the front gate 6 is opened, the transferring bin 2 is communicated with the excavating bin 1, so that the tool changing assembly 4 can be conveniently moved from the transferring bin 2 to the excavating bin 1; when the front gate 6 is closed, the transfer bin 2 is separated from the excavation bin 1 by the front gate 6, so that the excavation bin 1 can keep constant pressure conveniently.
The rear gate 7 is arranged between the transfer bin 2 and the storage bin 3. When the rear gate 7 is opened, the transfer bin 2 is communicated with the storage bin 3, so that the tool changing assembly 4 and the tool storage assembly 5 are convenient to approach each other, and tool changing is realized; when the rear gate 7 is closed, the transfer bin 2 and the storage bin 3 are mutually separated, and conditions are provided for the communication of the transfer bin 2 and the excavation bin 1 in a high-pressure state.
As can be known from the attached drawing 1, the transferring bin 2 and the excavating bin 1 can be communicated along the axial direction of the shield body, and the transferring bin 2 and the storage bin 3 can be communicated along the radial direction of the shield body.
In order to realize automation, the invention also comprises a controller which is respectively connected with the tool changing assembly 4, the tool storage assembly 5, the front gate 6 and the rear gate 7.
When the controller receives a feedback signal, the damaged hob needs to be replaced by the cutterhead, and at the moment, the controller controls the front gate 6 to be opened when the pressure of the excavation bin 1 is consistent with the pressure of the transfer bin 2, so that the hob on the cutterhead is detached by the hob changing assembly 4 penetrating through the front gate 6; when the controller receives the disassembly signal, the damaged hob is disassembled from the cutterhead, and the controller controls the front gate 6 to be closed after ensuring that the hob replacing component 4 carries the disassembled hob to return to the transfer bin 2, so that the excavation bin 1 and the transfer bin 2 are separated; when the controller receives a front door closing signal, the front gate 6 is closed, and the controller controls the rear gate 7 to be opened when the pressure of the transfer bin 2 is ensured to be consistent with the pressure of the storage bin 3, so that the hob clamped by the hob changing assembly 4 is replaced by the hob accumulating assembly 5; therefore, the damaged hob on the cutterhead can be automatically dismounted.
When the controller receives a tool changing signal, the tool changing assembly 4 clamps the undamaged hob provided by the tool storage assembly 5, and the controller controls the rear gate 7 to be closed after ensuring that the tool changing assembly 4 carries the replaced hob to return to the transfer bin 2; when the controller receives a rear door closing signal, the rear gate 7 is closed, and the controller controls the front gate 6 to be opened again when the pressure of the excavation bin 1 is ensured to be consistent with the pressure of the transfer bin 2, so that the cutter changing assembly 4 passes through the front gate 6 again and the replaced hob is installed on the cutterhead; when the controller receives the installation signal, the fact that the cutter changing assembly 4 installs an undamaged hob onto the cutter head means that the controller controls the front gate 6 to be closed after ensuring that the cutter changing assembly 4 does not carry the hob to return to the transfer bin 2; this allows an automatic mounting of the undamaged hob to the cutterhead.
In conclusion, the cutter changing device of the shield machine provided by the invention can realize automatic replacement of the damaged hob on the cutter head, has high automation degree, does not need manual participation, is convenient to operate, and can realize safe and efficient replacement of the hob of the shield machine.
In this embodiment, the tool changing assembly 4 comprises a transfer slide rail 41, a robot arm 42 and a gripper 43, wherein the transfer slide rail 41 is fixedly arranged in the transfer chamber 2, specifically arranged at the top of the transfer chamber 2 and extending along the axial direction of the transfer chamber 2.
The mechanical arm 42 is slidably hung on the transfer slide rail 41, so that the transfer slide rail 41 guides the mechanical arm 42 to slide along the axial direction of the shield body. It should be added that, one end of the mechanical arm 42 close to the transfer slide rail 41 is provided with a sliding driving assembly for driving the mechanical arm 42 to slide along the transfer slide rail 41, the sliding driving assembly may be a servo motor configured with a screw-nut pair, and a nut block in the screw-nut pair is fixedly connected with the mechanical arm 42. Of course, the structure of the slide driving assembly is not limited thereto.
A gripper jaw 43 is provided at the end of the robot arm 42 remote from the transfer slide 41 for gripping or releasing the hob. The configuration of the gripper jaw 43 may be set according to the configuration of the hob and will not be described in detail here. The robot arm 42 is provided with a grip driving member for driving the grip claws 43 to be gathered or spread, and the grip driving member may be a hydraulic cylinder, but is not limited thereto.
When the old hob needs to be dismounted, the mechanical arm 42 drives the clamping claw 43 to move from the transfer bin 2 to the excavation bin 1; when the old hob needs to be replaced by a new hob, the mechanical arm 42 drives the clamping claw 43 to move from the transfer bin 2 to the storage bin 3.
Of course, the structure of the tool changing assembly 4 is not limited thereto.
The cutter storage assembly 5 comprises a cutter storage box 51, a cutter storage slide rail 52, a slide driving piece 53 and a lifting frame 54, wherein the cutter storage box 51 is an open box body and is used for temporarily storing the hob.
The cutter storage slide rail 52 is fixedly arranged in the storage bin 3 and is used for supporting the cutter storage box 51 to slide in or out of the storage bin 3 so as to provide conditions for replacing the hob. The cutter storage slide rails 52 are two guide rails arranged on two sides of the bottom of the storage bin 3, and the lifting frame 54 can conveniently penetrate through the cutter storage slide rails 52.
The sliding driving member 53 is fixedly connected to the blade storage box 51 and is used for driving the blade storage box 51 to slide along the blade storage slide rail 52. The slide drive 53 may be a hydraulic cylinder, but is not limited thereto. For hold sword case 51 and realize stable slip, hold the bottom of sword case 51 and be equipped with sliding trolley 55, sliding trolley 55 is including the support automobile body that is used for supporting hold sword case 51 and locate the gyro wheel that supports the automobile body, and every gyro wheel has the recess with holding sword slide rail 52 matched with, prevents that sliding trolley 55 from breaking away from holding sword slide rail 52 at the removal in-process.
The lifting frame 54 is fixed in the storage bin 3 and used for supporting the cutter storage box 51 to drive the hob to lift, so that the cutter storage box 51 is close to or far away from the cutter changing assembly 4. In this embodiment, the lifting frame 54 is a scissor-type lifting frame 54, and the storage knife base 50 is fixedly provided with a lifting driving member for driving the lifting frame 54 to lift along the radial direction of the shield body, and the lifting driving member may be a hydraulic cylinder, but is not limited thereto.
It should be specifically described that a supporting plate for supporting the cutter storage box 51 is arranged at the top of the lifting frame 54, and the center of the sliding trolley 55 is hollow, so that the supporting plate can drive the cutter storage box 51 to sequentially pass through the cutter storage slide rail 52 and the sliding trolley 55.
In this embodiment, the storage knife sliding rail 52 is preferably a split sliding rail, the storage knife sliding rail 52 includes a fixed rail 521, an extension rail 522 and a support link 523, and the fixed rail 521 is fixedly disposed in the transfer bin 2. The extension track 522 is disposed outside the transferring bin 2 and is rotatably connected to the fixed track 521. The two ends of the support link 523 are respectively used for being rotatably connected with the shield partition 01 and the extension track 522. When the cutter storage box 51 slides in or slides out the transfer bin 2, the support link 523 supports the extension track 522 to rotate relative to the fixed track 521 so as to enable the extension track 522 to be connected with the fixed track 521 in a butting mode, conditions are provided for the cutter storage box 51 to slide out the transfer bin 2, the difficulty in taking out a hob in the cutter storage box 51 is reduced, and the hob in the cutter storage box 51 is convenient to replace.
In order to ensure that the extension rail 522 is reliably butted with the fixed rail 521, a limit pin can be inserted at the butted position of the extension rail 522 and the fixed rail 521, and the limit pin can limit the extension rail 522 to rotate relative to the fixed rail 521.
Of course, the accumulator rail 52 may be an integral rail without affecting the objectives of the present invention.
In the embodiment, in order to realize the automation, the invention comprises a hob detection piece, an excavation bin pressure detection piece, a transfer bin pressure detection piece, a pressure regulating assembly and a front door detection piece which are respectively connected with a controller.
The hob detecting part is used for detecting the damage condition of the hob, and may be an image recognition device such as a camera, but is not limited thereto. Excavation storehouse pressure measurement spare is used for detecting 1 pressure in excavation storehouse, transports storehouse pressure measurement spare and is used for detecting 2 pressures in transport storehouse. The excavation chamber pressure detection piece and the transfer chamber pressure detection piece can be pressure sensors, but are not limited to the pressure sensors. The front door detection element is used for detecting the opening and closing state of the front gate 6, and may be a contact sensor or a pressure sensor, and the like, which is not specifically limited herein.
The pressure regulating assembly is arranged in the transferring bin 2 and used for regulating the pressure of the transferring bin 2. The pressure regulating assembly comprises a gas storage tank, a pressure regulating valve and other conventional air pressure elements, and when the pressure in the transfer bin 2 needs to be increased, the gas storage tank inputs a certain volume of high-pressure gas into the transfer bin 2 so as to increase the pressure in the transfer bin 2; otherwise, the gas in the transfer bin 2 is pumped out to reduce the pressure in the transfer bin 2. The structure of the voltage regulating assembly can be referred to the prior art, and is not detailed here.
When the hob detection piece detects that the hob is damaged, the hob detection piece sends a signal to the controller, the controller generates a feedback signal and automatically enters a hob changing mode, the rotation of a cutter head of the shield machine can be controlled to stop at the moment, and the hob is conveniently washed by high-pressure water.
After the controller receives the feedback signal, when the pressure of excavation storehouse 1 is inconsistent with the pressure of transporting storehouse 2, the signal that the controller sent simultaneously according to excavation storehouse pressure measurement spare and transport storehouse pressure measurement spare starts the pressure regulating subassembly, and the pressure regulating subassembly automatically regulated transports the pressure of storehouse 2, and the pressure of excavation storehouse 1 is unanimous with the pressure of transporting storehouse 2, provides the condition for opening of leading gate 6.
When the pressure of the excavation bin 1 is detected to be consistent with the pressure of the transfer bin 2, the controller controls the front-mounted gate 6 to be automatically opened according to signals sent by the excavation bin pressure detection piece and the transfer bin pressure detection piece simultaneously.
When the front door detection piece detects that the front gate 6 is opened, the front door detection piece sends a signal to the controller, the controller starts the cutter changing assembly 4, the cutter changing assembly 4 penetrates through the front gate 6 to be close to the cutter head, and the cutter changing assembly 4 is convenient to detach the damaged hob on the cutter head.
The invention also comprises a disassembly and assembly detection piece and a return bin detection piece which are respectively connected with the controller, wherein the disassembly and assembly detection piece is used for detecting the disassembly and assembly condition of the hob and can be image recognition equipment such as a camera. The return magazine detector for detecting whether the tool changer 4 is returned to the transfer magazine 2 may be a stroke switch and a contact sensor, and the type thereof is not particularly limited.
When the dismounting detection piece detects that the hob is dismounted from the tool changing assembly 4, the dismounting detection piece sends a signal to the controller, and the controller generates a dismounting signal, so that the controller controls the hob to be dismounted from the tool changing assembly 4 to return to the transfer bin 2 according to the dismounting signal.
When returning storehouse detection piece and detecting tool changing assembly 4 and returning to transporting storehouse 2, return storehouse detection piece and send signal to the controller, leading gate 6 of controller control is closed, continues to separate excavation storehouse 1 and transportation storehouse 2.
When the front door detection piece detects that the front gate 6 is closed, the front door detection piece sends a signal to the controller, and the controller generates a front door closing signal.
The invention also comprises a storage bin pressure detection piece and a rear door detection piece which are respectively connected with the controller, wherein the storage bin pressure detection piece is used for detecting the pressure of the storage bin 3, and the storage bin pressure detection piece can be a pressure sensor. The rear door detecting member is used for detecting the opening and closing state of the rear gate 7, and the rear door detecting member may be a contact sensor or a pressure sensor, which is not specifically limited herein.
After the door signal is closed before the controller generates, when the pressure of transporting storehouse 2 is inconsistent with the pressure of storage storehouse 3, transport storehouse pressure measurement spare and storage storehouse pressure measurement spare send signal to controller simultaneously, and the controller restarts the pressure regulating subassembly, makes the pressure of pressure regulating subassembly automatically regulated transport storehouse 2, and the pressure of transporting storehouse 2 is unanimous with the pressure of storage storehouse 3 until.
When the pressure of the transfer bin 2 is consistent with that of the storage bin 3, the controller controls the rear gate 7 to be opened according to signals sent by the transfer bin pressure detection piece and the storage bin pressure detection piece simultaneously.
When the back door detection piece detects that the rear gate 7 is opened, the back door detection piece sends a signal to the controller, and the controller starts the cutter storage assembly 5, so that the damaged hob clamped by the cutter storage assembly 4 is replaced by a new hob by the cutter storage assembly 5.
The tool changing detection piece is connected with the controller and used for detecting whether the tool changing assembly 4 completes tool changing or not, and the tool changing detection piece is specifically arranged at the free end of the tool changing assembly 4 and can be image recognition equipment such as a camera.
When the tool changing detection piece detects that the tool changing assembly 4 completes tool changing, the tool changing detection piece sends a signal to the controller, and the controller automatically generates a tool changing signal, so that the controller controls the tool changing assembly 4 to carry a newly changed hob to return to the transfer bin 2 again according to the tool changing signal.
When the bin returning detection piece detects that the tool changing assembly 4 returns to the transferring bin 2, the bin returning detection piece sends a signal to the controller, and the controller controls the rear gate 7 to be closed.
When the rear door detection piece detects that the rear gate 7 is closed, the rear door detection piece sends a signal to the controller, and the controller automatically generates a rear door closing signal.
After the controller generates a rear door closing signal, when the pressure of the excavation cabin 1 is consistent with the pressure of the transfer cabin 2, the controller controls the front gate 6 to be opened again according to a signal sent by the excavation cabin pressure detection piece and the transfer cabin pressure detection piece simultaneously.
When the front door detection piece detects that the front gate 6 is opened, the front door detection piece sends a signal to the controller, the controller starts the tool changing assembly 4, the tool changing assembly 4 with a newly replaced tool penetrates through the front gate 6 again, and the newly replaced hob is installed on the cutterhead.
When the disassembly and assembly detection piece detects that a new hob is installed on the hob plate, the disassembly and assembly detection piece sends a signal to the controller, the controller automatically generates an installation signal, and the hob changing assembly 4 is controlled to return to the transfer bin 2 according to the installation signal.
When the bin returning detection piece detects that the tool changing assembly 4 returns to the transferring bin 2, the bin returning detection piece sends a signal to the controller, and the controller controls the front gate 6 to be closed.
Therefore, the damaged hob can be automatically replaced, the automation degree is high, the hob replacing efficiency is high, and the hob replacing is convenient.
The working principle of the tool changing device of the shield tunneling machine provided by the invention is as follows:
when the hob detection piece detects that the hob is damaged, the hob detection piece sends a signal to the controller, the controller generates a feedback signal, a hob changing mode is entered, the hob head stops rotating, and the hob is cleaned by using high-pressure water;
after the controller receives the feedback signal, when the pressure of the excavation bin 1 is inconsistent with the pressure of the transfer bin 2, the controller starts the pressure regulating assembly to regulate the pressure of the transfer bin 2 according to signals sent by the excavation bin pressure detecting piece and the transfer bin pressure detecting piece simultaneously until the pressure of the excavation bin 1 is consistent with the pressure of the transfer bin 2;
when the pressure of the excavation cabin 1 is detected to be consistent with the pressure of the transfer cabin 2, the controller controls the front gate 6 to be automatically opened according to signals sent by the excavation cabin pressure detection piece and the transfer cabin pressure detection piece simultaneously;
when the front door detection piece detects that the front gate 6 is opened, the front door detection piece sends a signal to the controller, the controller starts the cutter changing assembly 4, the mechanical arm 42 drives the clamping claw 43 to move along the transfer track, the clamping claw 43 penetrates through the front gate 6 until the clamping claw is close to the cutter disc, and the clamping claw 43 unloads the damaged hob on the cutter disc;
when the dismounting detection piece detects that the hob is dismounted from the hob changing assembly 4, the dismounting detection piece sends a signal to the controller, the controller generates a dismounting signal, and the controller controls the hob changing assembly 4 to carry the dismounted hob back to the transfer bin 2 according to the dismounting signal, so that the hob can be dismounted automatically;
when the bin returning detection piece detects that the tool changing assembly 4 returns to the transferring bin 2, the bin returning detection piece sends a signal to the controller, and the controller controls the front gate 6 to be closed;
when the front door detection piece detects that the front gate 6 is closed, the front door detection piece sends a signal to the controller, and the controller generates a front door closing signal;
after the front door closing signal is generated, when the pressure of the transfer bin 2 is inconsistent with the pressure of the storage bin 3, the controller restarts the pressure regulating assembly to regulate the pressure of the transfer bin 2 according to signals sent by the transfer bin pressure detecting piece and the storage bin pressure detecting piece simultaneously until the pressure of the transfer bin 2 is consistent with the pressure of the storage bin 3;
when the pressure of the transfer bin 2 is consistent with that of the storage bin 3, the controller controls the rear gate 7 to be opened according to signals sent by the transfer bin pressure detection piece and the storage bin pressure detection piece simultaneously;
when the rear door detection piece detects that the rear gate 7 is opened, the rear door detection piece sends a signal to the controller, the controller starts the cutter storage assembly 5, the lifting frame 54 drives the cutter storage box 51 to ascend, and the clamping claws 43 place the clamped damaged hob in the cutter storage box 51; the lifting frame 54 drives the cutter storage box 51 to descend, the sliding driving piece 53 drives the cutter storage box 51 to slide along the cutter storage sliding rail 52 until the cutter storage box 51 slides out of the storage bin 3, and the damaged hob in the cutter storage box 51 is replaced by a new hob; the sliding driving piece 53 drives the cutter storage box 51 to slide and reset, the lifting frame 54 drives the cutter storage box 51 to ascend again, and the clamping claw 43 clamps a new hob in the cutter storage box 51;
when the tool changing detection piece detects that the tool changing assembly 4 finishes tool changing, the tool changing detection piece sends a signal to the controller, the controller generates a tool changing signal, and the tool changing assembly 4 is controlled to carry a newly changed hob to return to the transfer bin 2 again according to the tool changing signal;
when the bin returning detection piece detects that the tool changing assembly 4 returns to the transferring bin 2, the bin returning detection piece sends a signal to the controller, and the controller controls the rear gate 7 to be closed;
when the rear door detection piece detects that the rear gate 7 is closed, the rear door detection piece sends a signal to the controller, and the controller generates a rear door closing signal;
after the rear door closing signal is generated, when the pressure of the excavation cabin 1 is consistent with the pressure of the transfer cabin 2, the controller controls the front gate 6 to be opened again according to signals sent by the excavation cabin pressure detection piece and the transfer cabin pressure detection piece simultaneously;
when the front door detection piece detects that the front gate 6 is opened, the front door detection piece sends a signal to the controller, the controller starts the cutter changing assembly 4, the mechanical arm 42 drives the clamping claw 43 to move along the transfer track, the clamping claw 43 penetrates through the front gate 6 until the clamping claw is close to a cutter head, and the clamping claw 43 installs a newly replaced hob on the cutter head;
when the disassembly and assembly detection piece detects that a new hob is installed on the cutter head, the disassembly and assembly detection piece sends a signal to the controller, the controller generates an installation signal, and controls the hob changing assembly 4 to return to the transfer bin 2 according to the installation signal;
when the bin returning detection piece detects that the tool changing assembly 4 returns to the transferring bin 2, the bin returning detection piece sends a signal to the controller, and the controller controls the front gate 6 to be closed;
therefore, the hob can be automatically replaced once, and a plurality of damaged hobs can be replaced in such a circulating way.
The invention also provides a shield machine and a tool changing device of the shield machine, and the shield machine tool changing device has the same beneficial effects.
The shield machine and the tool changer thereof provided by the invention are introduced in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. The utility model provides a shield constructs tool changing device of machine which characterized in that includes:
the transfer bin (2) is connected with the excavation bin (1), and a tool changing assembly (4) is arranged in the transfer bin (2);
the storage bin (3) is connected with the transfer bin (2), and a cutter storage assembly (5) is arranged in the storage bin (3);
the front gate (6) is arranged between the transfer bin (2) and the excavation bin (1);
a rear gate (7) arranged between the transfer bin (2) and the storage bin (3);
the controller is respectively connected with the cutter changing assembly (4), the cutter storage assembly (5), the front gate (6) and the rear gate (7);
the hob detection part is used for detecting the damage condition of the hob;
the excavation chamber pressure detection piece is used for detecting the pressure of the excavation chamber (1);
a transfer bin pressure detection member for detecting the pressure of the transfer bin (2);
the pressure regulating assembly is arranged on the transfer bin (2);
the front door detection piece is used for detecting the opening and closing states of the front gate (6);
the hob detection piece, the excavation bin pressure detection piece, the transfer bin pressure detection piece, the pressure regulating assembly and the front door detection piece are all connected with the controller, and the controller is used for generating a feedback signal when the hob is damaged according to a signal sent by the hob detection piece;
the controller is used for controlling the front gate (6) to be opened according to received feedback signals when the pressure of an excavation cabin (1) is consistent with the pressure of the transfer cabin (2) so that the cutter changing assembly (4) can penetrate through the front gate (6) to detach the hob on the cutter head, controlling the front gate (6) to be closed after the cutter changing assembly (4) carries the detached hob to return to the transfer cabin (2) according to received detachment signals, and controlling the rear gate (7) to be opened according to received front door closing signals when the pressure of the transfer cabin (2) is consistent with the pressure of the storage cabin (3) so that the cutter storing assembly (5) replaces the hob clamped by the cutter changing assembly (4);
the controller is used for controlling the rear gate (7) to be closed after the cutter changing assembly (4) carries the replaced hob and returns to the transfer bin (2) according to the received cutter changing signal, controlling the front gate (6) to be opened to enable the cutter changing assembly (4) to penetrate through the front gate (6) to install the replaced hob on the cutter when the pressure of the excavation bin (1) is consistent with the pressure of the transfer bin (2) according to the received rear door closing signal, and controlling the front gate (6) to be closed after the cutter changing assembly (4) does not carry the hob and returns to the transfer bin (2) according to the received installation signal;
the controller is also used for starting the pressure regulating assembly to regulate the pressure of the transfer bin (2) according to the feedback signal and signals sent by the excavation bin pressure detecting piece and the transfer bin pressure detecting piece simultaneously when the pressure of the excavation bin (1) is inconsistent with the pressure of the transfer bin (2) until the pressure of the excavation bin (1) is consistent with the pressure of the transfer bin (2);
the controller is used for according again the pressure of excavation storehouse pressure measurement spare with the signal that transports storehouse pressure measurement spare and send simultaneously is in excavation storehouse (1) with when the pressure of transporting storehouse (2) is unanimous control leading gate (6) is opened, and be used for according to the signal that the qianmen measurement spare sent is in start when leading gate (6) is opened cutter changing subassembly (4) pass the hobbing cutter on the blade disc is pulled down to leading gate (6).
2. The tool changer of the shield tunneling machine according to claim 1, characterized in that the tool changing assembly (4) comprises:
a transfer slide rail (41) fixedly arranged in the transfer bin (2);
a mechanical arm (42) which can be hung on the transfer slide rail (41) in a sliding way;
and a clamping claw (43) which is arranged on the mechanical arm (42) and is used for clamping or loosening the hob.
3. The tool changer of the shield tunneling machine according to claim 1, wherein the accumulator assembly (5) comprises:
a hob storage box (51) for containing hobs;
a cutter storage slide rail (52) which is fixedly arranged in the storage bin (3) and is used for supporting the cutter storage box (51) to slide in or out of the storage bin (3) so as to replace the hob;
a sliding driving part (53) which is fixedly connected with the cutter storage box (51) and is used for driving the cutter storage box (51) to move along the cutter storage slide rail (52);
and the lifting frame (54) is fixedly arranged in the storage bin (3) and is used for supporting the cutter storage box (51) to drive the hob to lift so as to enable the cutter storage box (51) to be close to or far away from the cutter changing assembly (4).
4. The tool changer of the shield tunneling machine according to claim 3, wherein the storage slide (52) comprises:
a fixed track (521) fixedly arranged in the storage bin (3);
an extension track (522) which is arranged outside the storage bin (3) and is rotationally connected with the fixed track (521);
the two ends of the support connecting rod (523) are respectively used for being rotationally connected with the shield partition plate and the extension track (522);
when the cutter storage box (51) slides in or out of the storage bin (3), the support link (523) supports the extension track (522) to rotate relative to the fixed track (521) until the extension track (522) is in butt joint with the fixed track (521).
5. The tool changer of the shield tunneling machine according to any one of claims 1 to 4, further comprising:
the disassembly and assembly detection piece is used for detecting the disassembly and assembly condition of the hob and is connected with the controller, and the controller is used for generating a disassembly signal after the hob is disassembled from the hob replacing assembly (4) according to a signal sent by the disassembly and assembly detection piece; the controller is also used for controlling the cutter changing assembly (4) to carry the dismounted hob to return to the transferring bin (2) according to the dismounting signal;
a return bin detector for detecting whether the tool changing assembly (4) returns to the transfer bin (2); the bin returning detection piece is connected with the controller, and the controller is used for controlling the front gate (6) to be closed when the tool changing assembly (4) returns to the transfer bin (2) according to a signal sent by the bin returning detection piece.
6. The tool changer of the shield tunneling machine according to claim 5, wherein the controller is configured to generate the front-door-closing signal when the front gate (6) is closed according to the signal sent by the front door detector; the pressure regulating device is characterized by further comprising a storage bin pressure detecting piece used for detecting the pressure of the storage bin (3), the storage bin pressure detecting piece is connected with the controller, and the controller is further used for starting the pressure regulating component again to regulate the pressure of the transfer bin (2) until the pressure of the transfer bin (2) is consistent with the pressure of the storage bin (3) according to the front door closing signal and signals sent by the transfer bin pressure detecting piece and the storage bin pressure detecting piece simultaneously when the pressure of the transfer bin (2) is inconsistent with the pressure of the storage bin (3);
the rear door detection piece is used for detecting the opening and closing state of the rear door (7), the controller is used for controlling the rear door (7) to be opened according to the signals sent by the transfer bin pressure detection piece and the storage bin pressure detection piece simultaneously when the pressure of the transfer bin (2) is consistent with the pressure of the storage bin (3), and the rear door detection piece sends signals according to the rear door detection piece, the rear door (7) is opened, the cutter storage assembly (5) is started, and the cutter changing assembly (4) is replaced by the cutter changing assembly (4) clamped hobbing cutter.
7. The tool changer of the shield tunneling machine of claim 6, further comprising:
the tool changing detection piece is used for detecting whether the tool changing assembly (4) completes tool changing or not, the tool changing detection piece is connected with the controller, and the controller is used for generating a tool changing signal when the tool changing assembly (4) completes tool changing according to a signal sent by the tool changing detection piece;
the controller is also used for controlling the cutter changing assembly (4) to carry the replaced hob to return to the transferring bin (2) according to the cutter changing signal, and controlling the rear gate (7) to be closed when the cutter changing assembly (4) returns to the transferring bin (2) according to a signal sent by the return bin detection piece.
8. The cutter changing device of the shield tunneling machine according to claim 7, wherein the controller is used for generating the rear door closing signal when the rear gate (7) is closed according to the signal sent by the rear door detector, controlling the front gate (6) to be opened according to the rear door closing signal and the signals sent by the excavation chamber pressure detector and the transfer chamber pressure detector simultaneously when the pressure of an excavation chamber (1) is consistent with the pressure of the transfer chamber (2), and starting the cutter changing assembly (4) to pass through the front gate (6) to install a replaced hob onto a cutterhead according to the signal sent by the front door detector when the front gate (6) is opened;
the controller is also used for generating an installation signal after a hob is installed on the hob changing assembly (4) according to a signal sent by the dismounting detection piece, and controlling the hob changing assembly (4) to return to the transfer bin (2) according to the installation signal;
the controller is also used for controlling the front gate (6) to be closed when the tool changing assembly (4) returns to the transfer bin (2) according to the signal sent by the bin returning detection piece.
9. A shield tunneling machine further comprising a tool changer of the shield tunneling machine according to any one of claims 1 to 8.
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| CN202010614613.XA CN111706346B (en) | 2020-06-30 | 2020-06-30 | Shield machine and tool changing device thereof |
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| CN202010614613.XA CN111706346B (en) | 2020-06-30 | 2020-06-30 | Shield machine and tool changing device thereof |
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| CN111706346B true CN111706346B (en) | 2022-02-01 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112593966B (en) * | 2020-12-08 | 2022-12-06 | 安徽唐兴装备科技股份有限公司 | Efficient hob replacing device of push bench and using method thereof |
| CN113334394B (en) * | 2021-08-09 | 2021-11-02 | 中国铁建重工集团股份有限公司 | Shield machine and tool changing device thereof |
| 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 |
| 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 |
| CN114352298A (en) * | 2022-01-10 | 2022-04-15 | 中铁工程装备集团有限公司 | Normal-pressure cutter changing cutter head, shield tunneling machine and cutter changing method of shield tunneling machine |
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