CN114263470B - Automatic access method for hob of shield machine - Google Patents
Automatic access method for hob of shield machine Download PDFInfo
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- CN114263470B CN114263470B CN202111621657.6A CN202111621657A CN114263470B CN 114263470 B CN114263470 B CN 114263470B CN 202111621657 A CN202111621657 A CN 202111621657A CN 114263470 B CN114263470 B CN 114263470B
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Abstract
The invention discloses an automatic storing and taking method of a hob of a shield machine, which uses an automatic hob holder and comprises the following steps: step one, changing a new cutter into an old cutter; and step two, manually feeding the cutter and warehousing. According to the invention, a certain number of new cutters are stored in advance on an automatic cutter frame, and when the cutters are automatically replaced, old cutters are taken down from a cutter disc one by one and placed on the automatic cutter frame; simultaneously, placing new cutters on the automatic cutter rest at designated positions on the cutter disc one by one; after all the new knives are replaced, the automatic knife rest sends the old knives out of the cabin and takes down the old knives manually; and after all the old knives are taken out, manually feeding new knives, and conveying the new knives into the cabin by the automatic knife rest. After the method provided by the invention is adopted, a certain number of new and old hobs can be stored on the automatic hob holder, and the automatic hob holder can be automatically stored and taken according to the system requirement, so that the manual heavy transfer operation in a narrow space of the shield machine is replaced. Therefore, the cutter changing operation of the shield machine is safer, more efficient and more economical.
Description
Technical Field
The invention relates to an automatic access method for a hob of a shield machine, and belongs to the technical field of shield machines.
Background
In the use process of the shield machine, the cutter (hob) is easy to be passivated, damaged and the like, and especially when the shield machine encounters an environment with harder soil, the abrasion of the cutter is increased. Considering the construction progress and the actual situation, the replacement of the cutter is often required to be completed underground.
When the manual tool changing operation, a group of 5 people is usually adopted, wherein 2 people finish tool checking, disassembling and installing in a muddy water cabin, 2 people are in a personnel gate, are responsible for conveying the tools, and the rest 1 people are out of the personnel gate and are responsible for other auxiliary operations. The weight of a single cutter is approximately 200kg, and the transferring operation of the cutter consumes great physical strength, so that the whole cutter changing efficiency is affected. Often 2 groups of personnel are arranged on site to exchange the replacement cutters, one group of personnel is used for completing the replacement cutters and withdrawing from rest, and the other group of personnel starts working.
Disclosure of Invention
The invention aims to solve the technical problems that: how to automatically access the hob inside the shield machine.
In order to solve the technical problems, the technical scheme of the invention provides an automatic storage and retrieval method for a hob of a shield machine, which is characterized in that an automatic hob head is used, the automatic hob head comprises a cabin body and an automatic hob head, the automatic hob head is arranged in the cabin body, and the automatic hob head comprises a transverse moving platform structure, a conveying platform structure and a lifting platform structure which are sequentially connected in a transmission manner from left to right; the transverse moving platform structure consists of a bottom layer translation mechanism, a top layer translation mechanism and a first conveying platform, wherein the top layer translation mechanism is arranged on the bottom layer translation mechanism in a sliding manner, and the first conveying platform is arranged on the top layer translation mechanism in a sliding manner; the conveying platform structure comprises a top conveying platform and a bottom conveying platform, the top conveying platform and the bottom conveying platform are identical in structure, and the top conveying platform is arranged above the bottom conveying platform; the lifting platform structure comprises a second conveying platform and a mounting plate, the bottom of the second conveying platform is connected with the mounting plate through the lifting structure, and the second conveying platform is arranged above the mounting plate; the cabin body comprises a shell, a front cabin door and a rear cabin door, wherein the front cabin door and the rear cabin door are arranged on two sides of the shell, the front cabin door is arranged at a position close to the mud water cabin, and the rear cabin door is arranged opposite to the front cabin door; when the cabin outlet cutter changing is needed, the front cabin door is opened, and the rear cabin door is closed; when a new knife is placed in the cabin body or an old knife is dismounted, the front cabin door is closed, and the rear cabin door is opened; the automatic hob access method comprises the following steps:
step one, replacing an old knife with a new knife:
1.1, pre-storing n new hobs on a top layer conveying platform of a conveying platform structure, wherein each hob is arranged on the top layer conveying platform through a jig for loading the hob, the jig is arranged on a second conveying platform of a lifting platform structure, and the second conveying platform is level with the top layer conveying platform; n is greater than 1;
1.2, grabbing an old hob from the outside of the cabin body, and then placing the old hob on a jig frame of the lifting platform structure;
1.3, the lifting platform structure is lowered to the height that the second conveying platform is flush with the bottom conveying platform, and then the second conveying platform and the bottom conveying platform move leftwards in a coordinated manner to transfer the old hob to the bottom conveying platform;
1.4, lifting the platform structure to rise to the height, enabling the second conveying platform to be flush with the top conveying platform, enabling the second conveying platform and the top conveying platform to move rightwards cooperatively, transferring the new hob to the second conveying platform of the lifting platform structure, enabling n new hobs to move rightwards integrally by one position, and enabling n-1 new hobs to remain on the top conveying platform;
1.5, the robot moves to the upper part of the lifting platform structure, and after a new hob is taken away, only a jig frame is left on the lifting platform structure;
1.6, repeating the steps 1.1-1.5 until n new hob are changed, at the moment, n old hob are transferred to the bottom layer conveying platform, and the lifting platform is structurally provided with a jig frame, wherein the height of the jig frame is flush with the top layer conveying platform;
step two, manually feeding the cutter and warehousing:
2.1, the second conveying platform and the top conveying platform move leftwards cooperatively, so that the jig frame on the second conveying platform is transferred to the top conveying platform;
2.2, the lifting platform structure is lowered to be level with the bottom layer conveying platform, then the second conveying platform and the bottom layer conveying platform move rightwards cooperatively, the old hob with the jig frame is transferred to the second conveying platform, at the moment, the old hob is integrally moved rightwards by one position, and n-1 old hob is left on the bottom layer conveying platform;
2.3, lifting the lifting platform structure to be level with the top layer conveying platform, then moving the second conveying platform and the top layer conveying platform leftwards in a coordinated manner, transferring the old hob onto the top layer conveying platform, wherein the old hob and the jig frame integrally move leftwards on the top layer conveying platform by one position, and 1 old hob is arranged on the top layer conveying platform;
2.4, repeating the steps 2.2-2.3 until n-1 on the bottom layer conveying platform transfers the old hob anticlockwise to the top layer conveying platform, and finally 1 placing the old hob on the lifting platform;
2.5, the first conveying platform, the top conveying platform and the second conveying platform move leftwards in a coordinated manner, a jig frame on the top conveying platform is transferred to the first conveying platform, and meanwhile, old hob on the second conveying platform is transferred to the top conveying platform, and n old hob are stored on the top conveying platform;
2.6, the bottom layer translation mechanism and the top layer translation mechanism move leftwards, the rear cabin door is opened, and the jig frame is manually taken down;
2.7, the bottom layer translation mechanism and the top layer translation mechanism move rightwards until the first conveying platform approaches the top layer conveying platform and then stops;
2.8, repeating the steps 2.5-2.7 until all the old hob and the jig frame are removed, and extending the first conveying platform out of the rear cabin door;
2.9, manually placing a new hob and a jig on the first conveying platform, and moving the bottom layer translation mechanism and the top layer translation mechanism rightwards until the first conveying platform approaches the top layer conveying platform and then stopping;
2.10, the first conveying platform and the top conveying platform move to the right in a coordinated manner, a new hob is transferred to the top conveying platform, and 1 new hob is stored on the top conveying platform;
2.11, the bottom layer translation mechanism and the top layer translation mechanism move leftwards to a designated position, and the first conveying platform extends out of the rear cabin door;
and 2.12, repeating the steps 2.9-2.11 until n is that all new hob are transferred to the top layer conveying platform, and closing the rear cabin door.
Preferably, the shell is formed by roll bending and welding of a high-strength steel plate; the front cabin door and the rear cabin door are both opened outwards.
Preferably, the bottom layer translation mechanism comprises a first bottom plate, a first linear guide rail and a motor support are fixed on the first bottom plate, a sliding block is arranged on the first linear guide rail in a sliding mode, the sliding block is fixedly connected with a first mounting plate, and the first bottom plate is in driving connection with the first mounting plate through a first driving device; the top layer translation mechanism comprises a second linear guide rail, the second linear guide rail is fixed at the top of the first mounting plate, a sliding block is arranged on the second linear guide rail in a sliding mode, the sliding block on the second linear guide rail is fixed at the bottom of the second mounting plate, and the first mounting plate is in driving connection with the second mounting plate through a second driving device.
Preferably, the first driving device comprises a motor support, a second speed reducing motor is fixed on the motor support, a synchronous pulley is fixed on the driving end of the second speed reducing motor, the synchronous pulley is rotationally connected with one end of a first ball screw through a synchronous belt, two ends of the first ball screw are respectively rotationally arranged on a screw fixing end and a screw floating end, a first connecting block is fixed at the bottom of the first mounting plate, a nut is fixed on the first connecting block, and the nut is in threaded connection with the first ball screw; the motor support, the screw rod fixing end and the screw rod floating end are all fixed on the first bottom plate.
Preferably, the structure of the first driving device is the same as that of the second driving device; the second driving device comprises a second connecting block, the bottom of the second mounting plate is also fixed with a second connecting block, a nut is fixed on the second connecting block, a second ball screw is connected with the nut through threads, two ends of the second ball screw are respectively rotationally arranged on a screw fixing end and a screw floating end, a second speed reduction motor is fixed on a motor support, a driving end of the second speed reduction motor is fixed with a synchronous belt pulley, and the synchronous belt pulley is rotationally connected with one end of the second ball screw through a synchronous belt; the motor support, the screw rod fixing end and the screw rod floating end are all fixed at the top on the first mounting plate.
Preferably, the first conveying platform comprises at least one first power roller and a plurality of unpowered rollers, the first power roller and the unpowered rollers are sequentially arranged on the first frame, and the first power roller and the unpowered rollers are connected through a first conveying chain.
Preferably, the top layer conveying platform and the bottom layer conveying platform both comprise a second power roller and a second unpowered roller, the second power roller and the second unpowered roller are connected through a second conveying chain, and a jig frame for loading a hob is arranged on the second power roller and the second unpowered roller;
the second power roller and the second unpowered roller on the top layer conveying platform are both arranged on the top layer frame, and the second power roller and the second unpowered roller on the bottom layer conveying platform are both arranged on the bottom layer frame; the top layer frame is arranged above the bottom layer frame.
Preferably, a first gear motor is fixed on the mounting plate, the driving end of the first gear motor is connected with one end of a rigid chain, and the other end of the rigid chain is connected with the bottom of the second conveying platform; the second conveying platform has the same structure as the first conveying platform.
The invention provides an automatic storing and taking method for a hob of a shield machine, which comprises the steps of pre-storing a certain number of new knives on an automatic knife rest, taking old knives down from a cutterhead one by one when the knives are automatically replaced, and placing the old knives on the automatic knife rest; simultaneously, placing new cutters on the automatic cutter rest at designated positions on the cutter disc one by one; after all the new knives are replaced, the automatic knife rest sends the old knives out of the cabin and takes down the old knives manually; and after all the old knives are taken out, manually feeding new knives, and conveying the new knives into the cabin by the automatic knife rest. The automatic feeding and discharging device can realize the rapid circulation of new and old hob in the shield machine, and operators can realize the automatic feeding and discharging of the hob under normal pressure, thereby solving the problem of automatic storing and taking of the cutter.
Compared with the prior art, the invention has the following beneficial effects:
after the method provided by the invention is adopted, a certain number of new and old cutters can be stored on the automatic cutter frame by the hob of the shield machine, and the automatic cutter frame can be automatically stored and taken according to the system requirement, so that the manual heavy transfer operation in a narrow space of the shield machine is replaced. Therefore, the cutter changing operation of the shield machine is safer, more efficient and more economical.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic cutter head inside a shield machine;
FIG. 2 is a schematic view of the structure of the nacelle;
FIG. 3 is a schematic view of the structure of the automatic tool post;
FIG. 4 is a schematic structural view of a traversing platform structure;
FIG. 5 is a left side view of the traversing platform structure;
FIG. 6 is a schematic diagram of a transfer platform structure;
fig. 7 is a schematic structural diagram of a lifting platform structure.
FIG. 8 is a flow chart of an automatic tool post tool change;
fig. 9 is a flow chart of manual feeding and warehousing.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
The invention provides an automatic storage and taking method for a hob of a shield machine, which needs to use an automatic hob head, as shown in fig. 1, wherein the automatic hob head comprises a cabin body 1 and an automatic hob head 3. The automatic tool rest 3 is arranged in the cabin body 1, the cabin body 1 is of a columnar structure, and the cabin body 1 is connected with the shield tunneling machine body through screws.
As shown in fig. 2, the cabin body 1 is composed of a shell 11, a front cabin door 12 and a rear cabin door 13, wherein the front cabin door 12 and the rear cabin door 13 are both arranged on the shell 11, the front cabin door 12 is close to a mud water cabin (or a cutterhead), the rear cabin door 13 is opposite to the front cabin door 12, and the shell 11 is formed by roll bending and welding high-strength steel plates. The front cabin door 12 and the rear cabin door 13 are both in an outward open state, and when the cabin outlet cutter changing is needed, the front cabin door 12 is opened and the rear cabin door 13 is closed; when a new hob 2 is manually placed in the cabin 1 or an old hob 2 is detached, the front cabin door 12 is closed and the rear cabin door 13 is opened.
As shown in fig. 3, the automatic tool post 3 includes a traversing platform structure 31, a conveying platform structure 32, and a lifting platform structure 33, which are connected in order by transfer.
As shown in fig. 4 and 5, the traversing platform structure 31 is composed of a bottom layer translating mechanism 31A, a top layer translating mechanism 31B and a first conveying platform 31C, where three modules are stacked, that is, the top layer translating mechanism 31B is slidably disposed on the bottom layer translating mechanism 31A, and the first conveying platform 31C is slidably disposed on the top layer translating mechanism 31B. The double-layer translation mechanism (i.e. the bottom layer translation mechanism 31A and the top layer translation mechanism 31B) aims to enable the first conveying platform 31C to obtain a larger movement space, so that the operator 4 can conveniently go up and down the knife.
The bottom layer translation mechanism 31A includes a first base plate 3101, a first linear guide 3102, a slider 3103, a first ball screw 3104, a second speed reducing motor 3105, a motor support 3106, a timing pulley 3107, a timing belt 3108, a screw fixed end 3109, a screw floating end 3110, a nut 3111, a first connecting block 3112, a first mounting plate 3113, the first linear guide 3102 being fixed to the first base plate 3101, the slider 3103 being slidably provided on the first linear guide 3102, the slider 3103 on the first linear guide 3102 being fixed to the bottom of the first mounting plate 3113, a motor support 3106 being fixed to the first base plate 3101, a timing pulley 3107 being fixed to the motor support 3106, the timing pulley 3107 being rotatably connected to one end of the first ball screw 3114 through the timing belt 3108, one end of the first ball screw fixed end 3119 being rotatably provided to the first ball screw fixed end 3114, the other end of the first ball fixed to the ball fixed end 3114 being rotatably connected to the first ball screw 3111, the first fixed end 3112 being rotatably connected to the first fixed to the nut 3111, and the first fixed to the first fixed end 3112 being rotatably fixed to the first fixed to the nut 3111.
The top-layer translation mechanism 31B includes a second linear guide 3114, a slider 3103, a second ball screw 3115, a second speed reducing motor 3105, a motor mount 3106, a timing pulley 3107, a timing belt 3108, a screw fixed end 3109, a screw floating end 3110, a nut 3111, a second connection block 3116, a second mounting plate 3117, the second linear guide 3114, the motor mount 3106, the screw fixed end 3109, the screw floating end 3110 are all fixed on top of the first mounting plate 3113, the slider 3103 is slidingly provided on the second linear guide 3114, the slider 3103 on the second linear guide 3114 is fixed on bottom of the second mounting plate 3117, the bottom of the second mounting plate 3117 is also fixed with a second connection block 3116, the second connection block 3116 is fixed with a nut 3111, the second ball screw 3115 is screwed with the nut 3111, both ends of the second ball 3115 are respectively rotatably provided on the screw fixed end 3109 and the screw floating end 3110, the second speed reducing motor 3105 is fixed on the motor mount 6, the slider 3103 is slidingly provided on the second linear guide 3114, the slider 3103 is fixed on the bottom of the timing pulley 3117 is connected with the timing belt 3118 by rotation of the timing pulley 3118.
The first conveying platform 31C includes at least one first power roller 3118, a plurality of unpowered rollers 3119, a first conveying chain 3120 and a first frame 3121, where the at least one first power roller 3118 and the plurality of unpowered rollers 3119 are sequentially arranged on the first frame 3121, and the first power roller 3118 is connected to the unpowered roller 3119 through the first conveying chain 3120, so that the first power roller 3118 drives the unpowered roller 3119 to rotate synchronously.
As shown in fig. 6, the transport platform structure 32 includes a top transport platform 32A and a bottom transport platform 32B. The top and bottom transfer platforms 32A and 32B are identical in construction, powered by powered rollers, with a plurality of unpowered rollers connected in series by chains, with the number of powered rollers depending on the particular situation. The top conveyor deck 32A is placed over the bottom conveyor deck 32B and secured by screws.
As shown in fig. 7, the lifting platform structure 33 includes a second conveying platform 33A, a connecting rod 3301, a pin shaft 3302, a guide wheel 3303, a guide groove 3304, a mounting plate 3305, a first gear motor 3306 and a rigid chain 3307, wherein the bottom of the second conveying platform 33A is connected with the mounting plate 3305 through a lifting structure, the second conveying platform 33A is arranged above the mounting plate 3305, the lifting structure includes two groups of connecting rod mechanisms, one side of the upper end of each connecting rod mechanism is fixedly connected with the bottom of the second conveying platform 33A, the other side of the upper end of each connecting rod mechanism is movably connected with the bottom of the second conveying platform 33A, one side of the lower end of each connecting rod mechanism is fixedly connected with the top of the mounting plate 3305, and the other side of the upper end of each connecting rod mechanism is movably connected with the top of the mounting plate 3305. A first gear motor 3306 is fixed on the mounting plate 3305, the driving end of the first gear motor 3306 is connected with one end of a rigid chain 3307, and the other end of the rigid chain 3307 is connected with the bottom of the second conveying platform 33A. The movable connection position of the connecting rod mechanism and the mounting plate 3305 and the movable connection position of the connecting rod mechanism and the second conveying platform 33A are respectively provided with a guide wheel 3303, the guide wheels 3303 are arranged in the guide grooves 3304, and the guide grooves 3304 are fixed on the second conveying platform 33A and the mounting plate 3305.
Each group of linkage mechanism comprises a plurality of groups of cross linkage structures, each cross linkage structure consists of two cross-connected links 3301, the cross-connected links 3301 are connected through pin shafts 3302, and any two adjacent groups of cross linkage structures are connected through pin shafts 3302.
The second transfer stage 33A has the same structure as the first transfer stage 31C. The second transfer platform 33A includes at least a first powered roller 3118, a plurality of first unpowered rollers 3119, a first transfer chain 3120, and a second frame 3308. At least one first powered roller 3118 and a plurality of unpowered rollers 3119 are sequentially arranged on the second frame 3308, and the first powered roller 3118 is connected to the unpowered rollers 3119 through a first conveying chain 3120, so that the first powered roller 3118 drives the unpowered rollers 3119 to rotate synchronously.
According to the automatic storage and taking method for the hob of the shield machine, provided by the invention, the ordered storage and automatic operation coordination of the new hob 2 and the old hob 2 are realized through the coordination of the conveying platform structure 32 and the lifting platform structure 33. The transverse moving platform mainly achieves the purpose of manually replacing the new hob 2 and the old hob 2. Specifically, after the new hob is replaced, the old hob 2 is firstly conveyed to the outside of the cabin through the lifting platform structure 33, the conveying platform structure 32 and the transverse moving platform structure 31 in sequence, and then the new hob 2 is conveyed to a temporary storage position on the conveying platform structure 32 through the transverse moving platform structure 31. The method specifically comprises the following steps:
step one, replacing an old tool with a new tool, as shown in fig. 1 and 8:
1.1, pre-storing n new hob 2 on the top layer conveying platform 32A of the conveying platform structure 32, placing each hob 2 on the top layer conveying platform 32A through a jig 3204, and placing the jig 3204 on the second conveying platform 33A of the lifting platform structure 33, wherein the second conveying platform 33A is level with the top layer conveying platform 32A; n is greater than 1;
1.2, grabbing an old hob 2 from the outside of the cabin 1, and then placing the old hob 2 on a jig frame 3204 of the lifting platform structure 33;
1.3, lowering the height of the lifting platform structure 33 until the second conveying platform 33A is flush with the bottom conveying platform 32B, and then the second conveying platform 33A and the bottom conveying platform 32B move leftwards in a coordinated manner to transfer the old hob 2 onto the bottom conveying platform 32B;
1.4, lifting platform structure 33 is lifted to the height until second conveying platform 33A is flush with top conveying platform 32A, then second conveying platform 33A and top conveying platform 32A move rightwards cooperatively to transfer new hob 2 to second conveying platform 33A of lifting platform structure 33, at this time n moves new hob 2 to right wholly by one position, n-1 remains on top conveying platform 32A to hold new hob 2;
1.5, the robot moves to the upper part of the lifting platform structure 33, and after the new hob 2 is taken away, only the jig frame 3204 is left on the lifting platform structure 33;
1.6, repeating steps 1.1-1.5 until n new hobs 2 are exchanged, at which time n old hobs 2 have been transferred to the bottom conveyor deck 32B and the lifting deck structure 33 stores the jig frame 3204 at a level flush with the top conveyor deck 32A.
Step two, manually feeding the cutter into a warehouse, as shown in fig. 1 and 9:
2.1, the second transfer platform 33A and the top transfer platform 32A move in tandem to the left, transferring the jig 3204 on the second transfer platform 33A to the top transfer platform 32A;
2.2, the lifting platform structure 33 is lowered to be flush with the bottom layer conveying platform 32B, then the second conveying platform 33A and the bottom layer conveying platform 32B move rightwards cooperatively to transfer the old hob 2 with the jig frame 3204 onto the second conveying platform 33A, at this time, n moves the old hob 2 to the right integrally by one position, and n-1 remains on the bottom layer conveying platform 32B to hold the old hob 2;
2.3, lifting platform structure 33 is lifted to be level with top layer conveying platform 32A, then second conveying platform 33A and top layer conveying platform 32A move leftwards cooperatively to transfer old hob 2 onto top layer conveying platform 32A, at this time, old hob 2 and jig frame 3204 move leftwards on top layer conveying platform 32A integrally by one position, and old hob 2 is 1 on top layer conveying platform 32A;
2.4, repeating steps 2.2-2.3 until n-1 on the bottom conveyor deck 32B transfers the old hob 2 counter-clockwise to the top conveyor deck 32A (and 1 places the old hob 2 on the lifting deck 33);
2.5, the first conveying platform 31C and the top conveying platform 32A and the second conveying platform 33A move in coordination to the left, so that the jig 3204 on the top conveying platform 32A is transferred to the first conveying platform 31C, and meanwhile, the old hob 2 on the second conveying platform 33A is transferred to the top conveying platform 32A, and at the moment, n old hobs 2 are stored on the top conveying platform 32A;
2.6, the bottom layer translation mechanism 31A and the top layer translation mechanism 31B move leftwards, the rear cabin door 13 is opened, and the jig frame 3204 is manually removed;
2.7, the bottom layer translation mechanism 31A and the top layer translation mechanism 31B move rightward until the first conveying platform 31C approaches the top layer conveying platform 32A and then stops;
2.8, repeating steps 2.5-2.7 until all old hob 2 together with jig 3204 are removed, at which time the first transfer platform 31C extends out of the rear hatch door 13;
2.9, manually placing the new hob 2 and the jig 3204 on the first conveying platform 31C, and moving the bottom layer translation mechanism 31A and the top layer translation mechanism 31B rightward until the first conveying platform 31C approaches the top layer conveying platform 32A and then stops;
2.10, the first conveying platform 31C and the top conveying platform 32A move to the right in a coordinated manner, and a new hob 2 is transferred to the top conveying platform 32A, and 1 new hob 2 is stored on the top conveying platform 32A;
2.11, the bottom layer translation mechanism 31A and the top layer translation mechanism 31B move leftwards to a designated position, and the first conveying platform 31C extends out of the rear cabin door 13;
2.12, repeating the steps 2.9-2.11 until n is to transfer all new hob 2 to the top layer conveying platform 32A, and closing the rear cabin door 13.
Claims (8)
1. The automatic storing and taking method for the hob of the shield machine is characterized in that an automatic hob head is used, the automatic hob head comprises a cabin body (1) and an automatic hob head (3), the automatic hob head (3) is arranged in the cabin body (1), and the automatic hob head (3) comprises a transverse moving platform structure (31), a conveying platform structure (32) and a lifting platform structure (33) which are sequentially connected in a transmission manner from left to right; the transverse moving platform structure (31) consists of a bottom layer translation mechanism (31A), a top layer translation mechanism (31B) and a first conveying platform (31C), wherein the top layer translation mechanism (31B) is arranged on the bottom layer translation mechanism (31A) in a sliding manner, and the first conveying platform (31C) is arranged on the top layer translation mechanism (31B) in a sliding manner; the conveying platform structure (32) comprises a top conveying platform (32A) and a bottom conveying platform (32B), the top conveying platform (32A) and the bottom conveying platform (32B) are identical in structure, and the top conveying platform (32A) is arranged above the bottom conveying platform (32B); the lifting platform structure (33) comprises a second conveying platform (33A) and a mounting plate (3305), the bottom of the second conveying platform (33A) is connected with the mounting plate (3305) through the lifting structure, and the second conveying platform (33A) is arranged above the mounting plate (3305); the cabin body (1) comprises a shell (11), a front cabin door (12) and a rear cabin door (13), wherein the front cabin door (12) and the rear cabin door (13) are arranged on two sides of the shell (11), the front cabin door (12) is arranged at a position close to the mud water cabin, and the rear cabin door (13) is arranged opposite to the front cabin door (12); when the cabin outlet tool changing is needed, the front cabin door (12) is opened, and the rear cabin door (13) is closed; when a new knife is placed in the cabin body (1) or an old knife is dismounted, the front cabin door (12) is closed, and the rear cabin door (13) is opened; the automatic hob access method comprises the following steps:
step one, replacing an old knife with a new knife:
1.1, pre-storing n new hobs (2) on a top layer conveying platform (32A) of a conveying platform structure (32), placing each hobs (2) on the top layer conveying platform (32A) through a jig frame (3204) for loading the hobs (2), and placing the jig frame (3204) on a second conveying platform (33A) of a lifting platform structure (33), wherein the second conveying platform (33A) is level with the top layer conveying platform (32A); n is greater than 1;
1.2, grabbing an old hob (2) from the outside of the cabin body (1), and then placing the old hob (2) on a jig frame (3204) of a lifting platform structure (33);
1.3, the lifting platform structure (33) is lowered to the height until the second conveying platform (33A) is flush with the bottom conveying platform (32B), and then the second conveying platform (33A) and the bottom conveying platform (32B) move leftwards cooperatively to transfer the old hob (2) onto the bottom conveying platform (32B);
1.4, lifting the platform structure (33) to the height, until the second conveying platform (33A) is flush with the top conveying platform (32A), then the second conveying platform (33A) and the top conveying platform (32A) move rightwards cooperatively, transferring a new hob (2) onto the second conveying platform (33A) of the lifting platform structure (33), at the moment, n moves the new hob (2) to the right wholly by one position, and n-1 leaves a new hob (2) on the top conveying platform (32A);
1.5, the robot moves to the upper part of the lifting platform structure (33), and after the new hob (2) is taken away, only a jig frame (3204) is left on the lifting platform structure (33);
1.6, repeating steps 1.1-1.5 until n new hob (2) are replaced, at which time n old hob (2) is transferred to the bottom layer conveying platform (32B), and the lifting platform structure (33) stores a jig frame (3204) with the height being flush with the top layer conveying platform (32A);
step two, manually feeding the cutter and warehousing:
2.1, the second conveying platform (33A) and the top conveying platform (32A) move leftwards cooperatively, so that the jig frame (3204) on the second conveying platform (33A) is transferred to the top conveying platform (32A);
2.2, the lifting platform structure (33) is lowered to be flush with the bottom layer conveying platform (32B), then the second conveying platform (33A) and the bottom layer conveying platform (32B) move rightwards cooperatively, the old hob (2) with the jig frame (3204) is transferred to the second conveying platform (33A), at the moment, n moves the old hob (2) to the right wholly by one position, and n-1 leaves the old hob (2) on the bottom layer conveying platform (32B);
2.3, lifting platform structure (33) is lifted to be level with top layer conveying platform (32A), then second conveying platform (33A) and top layer conveying platform (32A) move leftwards cooperatively, old hob (2) is transferred onto top layer conveying platform (32A), at this time, old hob (2) and moulding bed (3204) are moved leftwards by one position on top layer conveying platform (32A), and old hob (2) is 1 on top layer conveying platform (32A);
2.4, repeating the steps 2.2-2.3 until n-1 on the bottom layer conveying platform (32B) transfers the old hob (2) to the top layer conveying platform (32A) anticlockwise, and finally 1 placing the old hob (2) on the lifting platform structure (33);
2.5, the first conveying platform (31C) moves leftwards in coordination with the top conveying platform (32A) and the second conveying platform (33A), a jig frame (3204) on the top conveying platform (32A) is transferred to the first conveying platform (31C), meanwhile, an old hob (2) on the second conveying platform (33A) is transferred to the top conveying platform (32A), and n old hobs (2) are stored on the top conveying platform (32A);
2.6, the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) move leftwards, the rear cabin door (13) is opened, and the jig frame (3204) is manually taken down;
2.7, the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) move rightwards until the first conveying platform (31C) approaches the top layer conveying platform (32A) and then stops;
2.8, repeating the steps 2.5-2.7 until all old hob (2) and jig frame (3204) are removed, and the first conveying platform (31C) extends out of the rear cabin door (13);
2.9, manually placing a new hob (2) together with a jig frame (3204) on the first conveying platform (31C), and moving the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) rightwards until the first conveying platform (31C) approaches the top layer conveying platform (32A) and then stopping;
2.10, the first conveying platform (31C) and the top conveying platform (32A) move to the right in a coordinated manner, a new hob (2) is transferred to the top conveying platform (32A), and 1 new hob (2) is stored on the top conveying platform (32A);
2.11, the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) move leftwards to a designated position, and the first conveying platform (31C) extends out of the rear cabin door (13);
2.12, repeating the steps 2.9-2.11 until n is that all new hob (2) are transferred to the top layer conveying platform (32A), and closing the rear cabin door (13).
2. The automatic storing and taking method of the hob of the shield machine according to claim 1, wherein the shell (11) is formed by roll bending and welding of a high-strength steel plate; the front cabin door (12) and the rear cabin door (13) are both in an outward open state.
3. The automatic shield machine hob accessing method according to claim 1, wherein the bottom layer translation mechanism (31A) comprises a first bottom plate (3101), a first linear guide rail (3102) and a motor support (3106) are fixed on the first bottom plate (3101), a sliding block (3103) is slidably arranged on the first linear guide rail (3102), the sliding block (3103) is fixedly connected with the first mounting plate (3113), and the first bottom plate (3101) is in driving connection with the first mounting plate (3113) through a first driving device; the top layer translation mechanism (31B) comprises a second linear guide rail (3114), the second linear guide rail (3114) is fixed at the top of the first mounting plate (3113), a sliding block (3103) is arranged on the second linear guide rail (3114) in a sliding mode, the sliding block (3103) on the second linear guide rail (3114) is fixed at the bottom of the second mounting plate (3117), and the first mounting plate (3113) and the second mounting plate (3117) are in driving connection through a second driving device.
4. The automatic shield tunneling machine hob accessing method according to claim 3, characterized in that the first driving device comprises a motor support (3106), a second gear motor (3105) is fixed on the motor support (3106), a synchronous pulley (3107) is fixed on the driving end of the second gear motor (3105), the synchronous pulley (3107) is rotatably connected with one end of the first ball screw (3104) through a synchronous belt (3108), two ends of the first ball screw (3104) are respectively rotatably arranged on a screw fixing end (3109) and a screw floating end (3110), a first connecting block (3112) is fixed at the bottom of the first mounting plate (3113), a nut (3111) is fixed on the first connecting block (3112), and the nut (3111) is in threaded connection with the first ball screw (3104); the motor support (3106), the screw fixing end (3109) and the screw floating end (3110) are all fixed on the first base plate (3101).
5. The automatic shield tunneling machine hob accessing method according to claim 4, wherein the first driving device has the same structure as the second driving device; the second driving device comprises a second connecting block (3116), a second connecting block (3116) is further fixed at the bottom of a second mounting plate (3117), a nut (3111) is fixed on the second connecting block (3116), a second ball screw (3115) is connected with the nut (3111) through threads, two ends of the second ball screw (3115) are respectively rotationally arranged on a screw fixing end (3109) and a screw floating end (3110), a second speed reducing motor (3105) is fixed on a motor support (3106), a synchronous pulley (3107) is fixed at the driving end of the second speed reducing motor (3105), and the synchronous pulley (3107) is rotationally connected with one end of the second ball screw (3115) through a synchronous belt (3108); the motor support (3106), the screw fixing end (3109) and the screw floating end (3110) are all fixed on the top of the first mounting plate (3113).
6. The automatic storing and taking method for the hob of the shield machine according to claim 1, wherein the first conveying platform (31C) comprises at least one first power roller (3118) and a plurality of unpowered rollers (3119), the first power roller (3118) and the unpowered rollers (3119) are sequentially arranged on the first frame (3121), and the first power roller (3118) and the unpowered rollers (3119) are connected through a first conveying chain (3120).
7. The automatic shield tunneling machine hob accessing method according to claim 1, wherein the top layer conveying platform (32A) and the bottom layer conveying platform (32B) each comprise a second power roller (3201) and a second unpowered roller (3202), the second power rollers (3201) and the second unpowered rollers (3202) are connected through a second conveying chain (3203), and a jig frame (3204) for loading the hob (2) is arranged on the second power rollers (3201) and the second unpowered rollers (3202);
the second power roller (3201) and the second unpowered roller (3202) on the top layer conveying platform (32A) are arranged on the top layer frame (3205), and the second power roller (3201) and the second unpowered roller (3202) on the bottom layer conveying platform (32B) are arranged on the bottom layer frame (3206); the top layer frame (3205) is disposed over the bottom layer frame (3206).
8. The automatic shield machine hob accessing method according to claim 1, wherein a first gear motor (3306) is fixed on the mounting plate (3305), the driving end of the first gear motor (3306) is connected with one end of a rigid chain (3307), and the other end of the rigid chain (3307) is connected with the bottom of the second conveying platform (33A); the second transfer platform (33A) has the same structure as the first transfer platform (31C).
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| CN202111621657.6A CN114263470B (en) | 2021-12-28 | 2021-12-28 | Automatic access method for hob of shield machine |
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| CN202111621657.6A CN114263470B (en) | 2021-12-28 | 2021-12-28 | Automatic access method for hob of shield machine |
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| CN114263470A (en) | 2022-04-01 |
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