CN114352303A - Cutter changing sealing seat assembly of ultrahigh-pressure large-caliber robot of full-face tunneling machine - Google Patents
Cutter changing sealing seat assembly of ultrahigh-pressure large-caliber robot of full-face tunneling machine Download PDFInfo
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- CN114352303A CN114352303A CN202111665130.3A CN202111665130A CN114352303A CN 114352303 A CN114352303 A CN 114352303A CN 202111665130 A CN202111665130 A CN 202111665130A CN 114352303 A CN114352303 A CN 114352303A
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Abstract
The invention relates to the technical field of tunneling machines, and discloses a tool changing seal seat assembly of an ultrahigh-pressure large-caliber robot of a full-face tunneling machine, which comprises a cutter head and a supporting cabin body, wherein the supporting cabin body is composed of a connecting cabin, a transition cabin and a main cabin body which are sequentially arranged, a first gate is movably inserted at the upper end and the lower end of the connecting cabin, an access hatch is arranged at the upper end of the main cabin body, a cabin door supporting frame is arranged along the circumferential direction of the edge of the access hatch, a second gate is movably inserted on the cabin door supporting frame, a base, a guide rail seat, a transverse moving cylinder and a tool changing mechanical arm are arranged in the main cabin body, and the tool changing mechanical arm is used for penetrating through the supporting cabin body and extending into the cutter head to perform tool changing operation. According to the automatic tool changing device, the opening and closing states of the first gate and the second gate are controlled, and the transverse movement of the base and the deformation adjustment of the tool changing mechanical arm in the cutter head are matched, so that the automatic tool changing process of the worn tool can be realized, and the comprehensive coverage and the adjustment flexibility of the automatic tool changing process are improved.
Description
Technical Field
The invention relates to the technical field of tunneling machines, in particular to a tool changing seal seat assembly of an ultrahigh-pressure large-caliber robot of a full-face tunneling machine.
Background
The heading machine cutterhead applied in the current tunnel engineering is shown in fig. 1 and mainly comprises a cutterhead frame, a hob and a cutterhead cabin, wherein the cutterhead frame is used for installing and arranging the hob, and the hob is used for crushing rock soil layers. When the hobbing cutter wearing and tearing seriously need be changed, often all need the manual work to get into the hobbing cutter under-deck among the prior art, carry out manual tool changing operation to the hobbing cutter, and the operation of manual tool changing is intensity of labour big not only to because tunnel hole internal environment seals, oxygen content is few, harmful gas gathering, the in-process of manual tool changing can harm workman healthy. Therefore, the application provides a full-face tunnel boring machine superhigh pressure heavy-calibre robot tool changing seal receptacle assembly that can realize automatic tool changing.
Disclosure of Invention
The invention aims to provide a tool changing seal seat assembly of an ultrahigh-pressure large-caliber robot of a full-face tunneling machine, and aims to solve the technical problems of high labor intensity, low efficiency and high risk of manual tool changing in the prior art.
The purpose of the invention can be realized by the following technical scheme:
the cutter changing seal seat assembly of the ultrahigh-pressure large-caliber robot of the full-section tunneling machine comprises a cutter head and a supporting cabin body, wherein the supporting cabin body comprises a connecting cabin, a transition cabin and a main cabin body which are sequentially arranged, the connecting cabin is connected with the cutter head through a sealing flange, the transition cabin is connected with the main cabin body through a connecting flange, the tail end of the main cabin body is hermetically connected with a cabin cover, the upper end and the lower end of the connecting cabin are movably inserted with a first gate, the upper end of the main cabin body is provided with an access hatch, a cabin door support frame is arranged along the edge circumference of the access hatch, and a second gate is movably inserted on the cabin door support frame;
the internally mounted of the main cabin body has base, guide rail seat and is used for driving the sideslip cylinder that the base removed along the guide rail seat, the upper end of base rotates and installs rotatory base station, one side of rotatory base station is connected with the tool changing arm, the tool changing arm is used for passing the support cabin body and stretches into in the blade disc in order to carry out the tool changing operation.
As a further scheme of the invention: the tool changing mechanical arm comprises a rotating member, a telescopic member rotationally connected with the rotating member and a clamping member rotationally connected with the telescopic member.
As a further scheme of the invention: the rotary member includes first roating seat, the one end of first roating seat is rotated and is connected with U type support arm, the first power supply that is used for driving telescopic member is installed to the one end that first roating seat was kept away from to U type support arm.
As a further scheme of the invention: the telescopic member comprises two sets of telescopic arms which are oppositely arranged, the telescopic arms are divided into a fixed arm and a movable arm, one end of the fixed arm is connected with a first power source, one end of the movable arm is slidably mounted in the fixed arm, and a second power source used for driving the clamping member is mounted at the other end of the movable arm.
As a further scheme of the invention: the clamping member arranges between two sets of flexible arms, the clamping member includes second roating seat, braced frame, centre gripping cylinder and clamping jaw, the second roating seat is connected with the second power supply and is used for driving braced frame rotatory, the centre gripping cylinder is installed in braced frame, the output of centre gripping cylinder is close to each other through two sets of clamping jaws of connecting rod drive.
As a further scheme of the invention: the supporting frame is provided with a limiting arm in an outward extending mode, the limiting arm is provided with a limiting hole, and the tail end of the clamping jaw extends to be provided with a limiting rod in sliding fit with the limiting hole.
As a further scheme of the invention: a plurality of hobbing cutters are distributed on the front end face of the cutter head, and one side of each hobbing cutter is uniformly provided with a wear sensor.
As a further scheme of the invention: and sealing components are arranged at the joint of the first gate and the connecting cabin and the joint of the second gate and the cabin door supporting frame.
As a further scheme of the invention: the main cabin body is also connected with a mounting bracket, and one side of the mounting bracket is fixedly provided with a cutter box and a collecting box.
The invention has the beneficial effects that:
(1) according to the tool changing device, the first gate is used for controlling the communication state of the supporting cabin body and the cutter head, the second gate is used for supporting the communication state of the cabin body and the outside, when a tool needs to be changed, the automatic tool changing process of an abraded tool can be realized by controlling the opening and closing states of the first gate and the second gate and matching with the transverse movement of the base and the deformation adjustment of the tool changing mechanical arm in the cutter head, the tool changing process is not required to be manually participated in tool changing, and the safety and the efficiency of the tool changing process are greatly improved;
(2) according to the invention, the vertical and horizontal directions of the clamping member in the cutter head can be flexibly and rapidly adjusted through the rotating member, and the clamping member can accurately reach the position of a hob at any position by matching with the telescopic adjustment of the telescopic member, so that the comprehensive coverage and the adjustment flexibility of the automatic tool changing process are improved;
(3) the invention can adjust the position angle of the clamping component through the rotation process of the telescopic component, and meanwhile, the movable arm can extend along the length direction of the fixed arm, thereby expanding the working range of the clamping component;
(4) the clamping component realizes the clamping process of the clamping jaw through the transmission of the connecting rod, and simultaneously realizes the guiding and limiting of the clamping process through the sliding fit of the limiting rod and the limiting hole, thereby improving the stability of the motion process of the clamping jaw.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of a prior art configuration;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a schematic view of the structure of a rotary member in the present invention;
FIG. 4 is a schematic view of the construction of the telescoping member of the present invention;
fig. 5 is a schematic view of the structure of the holding member in the present invention.
In the figure: 1. a cutter head; 2. supporting the cabin; 3. a first gate; 4. a second gate; 5. a base; 6. tool changing mechanical arms; 7. mounting a bracket; 8. a tool box; 9. a collection box; 11. hobbing cutters; 12. a wear sensor; 21. sealing the flange; 22. a connection cabin; 23. a transition cabin; 24. a connecting flange; 25. a main cabin; 26. a hatch cover; 27. a cabin door support frame; 51. a guide rail seat; 52. a transverse moving cylinder; 53. rotating the base platform; 61. a rotating member; 611. a first rotating base; 612. a U-shaped support arm; 613. a first power source; 62. a telescoping member; 621. a fixed arm; 622. a movable arm; 623. a second power source; 63. a clamping member; 631. a second rotary base; 632. a support frame; 633. a clamping cylinder; 634. a clamping jaw; 635. a connecting rod; 636. a limiting arm; 637. a limiting rod.
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.
Referring to fig. 2, the tool changing seal seat assembly for the ultrahigh-pressure large-caliber robot of the full-face tunneling machine comprises a cutter head 1 and a supporting cabin body 2, wherein the supporting cabin body 2 is composed of a connecting cabin 22, a transition cabin 23 and a main cabin body 25 which are sequentially arranged, the connecting cabin 22 is connected with the cutter head 1 through a seal flange 21, the transition cabin 23 is connected with the main cabin body 25 through a connecting flange 24, the tail end of the main cabin body 25 is hermetically connected with a cabin cover 26, the upper end and the lower end of the connecting cabin 22 are movably inserted with a first gate 3, the upper end of the main cabin body 25 is provided with an access hatch, a cabin door support frame 27 is arranged along the circumferential direction of the edge of the access hatch, and a second gate 4 is movably inserted on the cabin door support frame 27.
The internally mounted of main cabin body 25 has base 5, guide rail seat 51 and is used for driving the sideslip cylinder 52 that base 5 removed along guide rail seat 51, and the upper end of base 5 is rotated and is installed rotatory base station 53, and one side of rotatory base station 53 is connected with tool changing arm 6, and tool changing arm 6 is used for passing the support cabin body 2 and stretches into in the blade disc 1 in order to carry out the tool changing operation.
Specifically, a plurality of hobs 11 are distributed on the front end face of the cutter head 1, and a wear sensor 12 is uniformly arranged on one side of each hob 11.
The working principle of the invention is as follows: the supporting cabin body 2 and the cutter head 1 are arranged inside a machine head of the heading machine, the supporting cabin body 2 formed by the connecting cabin 22, the transition cabin 23 and the main cabin body 25 is communicated with the cutter head 1, meanwhile, the first gate 3 and the second gate 4 are driven by a power device inside the machine head, the first gate 3 is used for controlling the communication state of the supporting cabin body 2 and the cutter head 1, and the second gate 4 is used for supporting the communication state of the cabin body 2 and the outside. The abrasion sensor 12 can monitor the abrasion condition of the corresponding hob 11 in real time, when the hob needs to be replaced, the abrasion sensor 12 transmits a monitoring signal to a background control platform, the control platform controls the first gate 3 to be opened, the transverse moving cylinder 52 pushes the base 5 to be close to the hob 1 along the guide rail seat 51, meanwhile, the rotary base 53 rotates to adjust the orientation of the hob-changing mechanical arm 6, the connecting cabin 22 and the transition cabin 23 can provide a space for adjusting deformation for the hob-changing mechanical arm 6, the hob-changing mechanical arm 6 extends into the position of the corresponding hob 11, and the hob 11 with a serious abrasion state is replaced automatically in a targeted manner; meanwhile, the staff can enter the interior of the main cabin 25 through the second gate 4 to carry out maintenance or manual tool changing operation.
As shown in fig. 3, the tool changing robot arm 6 includes a rotating member 61, a telescopic member 62 rotatably connected to the rotating member 61, and a gripping member 63 rotatably connected to the telescopic member 62.
Specifically, the rotating member 61 includes a first rotating base 611, one end of the first rotating base 611 is rotatably connected with a U-shaped supporting arm 612, and one end of the U-shaped supporting arm 612 far away from the first rotating base 611 is provided with a first power source 613 for driving the telescopic member 62.
By adopting the above scheme, the first rotating base 611 drives the whole U-shaped supporting arm 612, the telescopic member 62 and the clamping member 63 to rotate around the axis, so that the extending clamping member 63 can flexibly and rapidly adjust the up-down and left-right directions in the cutter head 1, and meanwhile, the clamping member 63 can accurately reach the position of the hob 11 at any position by matching with the telescopic adjustment of the telescopic member 62, thereby improving the overall coverage and adjustment flexibility of the automatic tool changing process.
In this embodiment, the first power source 613 is used to drive the telescopic member 62 to rotate in the U-shaped supporting frame, and to drive the telescopic member 62 to perform a specific extending and retracting process. The first power source 613 is a power assembly capable of implementing the above process, such as a rotary cylinder, a telescopic cylinder, etc., and since the above power structure and the specific structure connection relationship are known in the prior art, they are not described in detail herein.
As shown in fig. 4, the telescopic member 62 includes two sets of telescopic arms disposed oppositely, the telescopic arms are divided into a fixed arm 621 and a movable arm 622, one end of the fixed arm 621 is connected to the first power source 613, one end of the movable arm 622 is slidably mounted in the fixed arm 621, and the other end of the movable arm 622 is mounted with a second power source 623 for driving the clamping member 63.
By adopting the above scheme, the first power source 613 can drive the telescopic arm to rotate for 360 degrees, and the rotation process can pass through the U-shaped support arms 612, so that the position angle of the clamping member 63 can be adjusted according to actual conditions; meanwhile, the movable arm 622 can extend along the length direction of the fixed arm 621, so that the working range of the clamping member 63 is expanded, and the process of driving the clamping member 63 to rotate by matching with the second power source 623 is favorable for improving the adjustment flexibility of the tool changing process.
In a specific application of the present embodiment, the second power source 623 is mainly used to drive the clamping member 63 to rotate between the two sets of telescopic arms, and the second power source 623 is a power assembly capable of implementing the above process, such as a rotary cylinder, a rotary motor, etc., and since the above power structure and the specific structural connection relationship are known in the prior art, they are not described herein again.
As shown in fig. 5, the clamping member 63 is disposed between the two sets of telescopic arms, the clamping member 63 includes a second rotary base 631, a support frame 632, a clamping cylinder 633 and a clamping jaw 634, the second rotary base 631 is connected to a second power source 623 and is used for driving the support frame 632 to rotate, the clamping cylinder 633 is installed in the support frame 632, and an output end of the clamping cylinder 633 drives the two sets of clamping jaws 634 to approach each other through a connecting rod 635.
Furthermore, the support frame 632 is provided with a limiting arm 636 extending outwards, the limiting arm 636 is provided with a limiting hole, and the tail end of the clamping jaw 634 is provided with a limiting rod 637 slidably engaged with the limiting hole.
Through adopting above-mentioned scheme, centre gripping cylinder 633 can drive connecting rod 635, drives clamping jaw 634 by connecting rod 635 and is close to each other or keep away from each other to realize the centre gripping process, simultaneously in the centre gripping process, gag lever post 637 all the time with spacing hole sliding fit, thereby can lead spacingly to clamping jaw 634's removal, in order to improve stability. When the clamping jaw 634 clamps a component to be replaced, the second rotating base 631 rotates to perform an unscrewing or screwing process.
When this embodiment is at specific application, the output of centre gripping cylinder 633 is connected with the connecting seat, and the both sides of this connecting seat rotate with the one end of two connecting rods 635 respectively and are connected, and the other end and the clamping jaw 634 of connecting rod 635 rotate to be connected simultaneously, and through the removal of connecting seat, the clamping process of clamping jaw 634 just can be realized to the transmission effect through connecting rod 635 like this.
As shown in fig. 2, the joints of the first gate 3 and the connection cabin 22 and the joints of the second gate 4 and the cabin door support 27 are provided with sealing components, such as sealing rings, sealing gaskets, etc., for improving the sealing performance of the support cabin 2.
As shown in fig. 2, a mounting bracket 7 is further connected in the main cabin 25, a tool box 8 and a collecting box 9 are fixedly mounted on one side of the mounting bracket 7, wherein the tool box 8 is used for placing brand-new tools of different sizes so as to facilitate tool replacement, and the collecting box 9 is used for collecting worn tools after replacement, so as to facilitate centralized processing by workers.
When the tool changing machine is used, the first gate 3 is used for controlling the communication state of the supporting cabin body 2 and the cutter head 1, the second gate 4 is used for supporting the communication state of the cabin body 2 and the outside, when a tool needs to be changed, the automatic tool changing process of an abraded tool can be realized by controlling the opening and closing states of the first gate 3 and the second gate 4 and matching with the transverse movement of the base 5 and the deformation adjustment of the tool changing mechanical arm 6 in the cutter head 1, the tool changing process is not required to be manually participated in tool changing, and the safety and the efficiency of the tool changing process are greatly improved;
the vertical and horizontal directions of the clamping member 63 in the cutter head 1 can be flexibly and rapidly adjusted through the rotating member 61, and the clamping member 63 can accurately reach the position of the hob 11 at any position by matching with the telescopic adjustment of the telescopic member 62, so that the comprehensive coverage and the adjustment flexibility of the automatic tool changing process are improved;
the position angle of the clamping member 63 can be adjusted through the rotation process of the telescopic member 62, and the movable arm 622 can extend along the length direction of the fixed arm 621, so that the working range of the clamping member 63 is expanded;
the clamping process of the clamping jaw 634 is realized through the transmission of the connecting rod 635, and meanwhile, the guide limit of the clamping process is realized through the sliding fit of the limit rod 637 and a limit hole, so that the stability of the movement process of the clamping jaw 634 is improved.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. Cutter changing seal receptacle assembly of full-face tunneling machine superhigh pressure heavy-calibre robot, including blade disc (1) and the support cabin body (2), its characterized in that, the support cabin body (2) comprises connection cabin (22), transition cabin (23) and the main cabin body (25) of arranging in proper order, connection cabin (22) are connected with blade disc (1) through sealing flange (21), transition cabin (23) are connected with the main cabin body (25) through flange (24), the tail end sealing connection of the main cabin body (25) has cabin cover (26), the upper and lower both ends activity of connection cabin (22) are inserted and are equipped with first gate (3), main cabin body (25) upper end is equipped with the discrepancy hatch, is provided with hatch support frame (27) along the marginal circumference of discrepancy hatch, activity is inserted and is equipped with second gate (4) on hatch support frame (27);
the internally mounted of the main cabin body (25) has base (5), guide rail seat (51) and is used for driving sideslip cylinder (52) that base (5) removed along guide rail seat (51), the upper end of base (5) rotates and installs rotatory base station (53), one side of rotatory base station (53) is connected with tool changing arm (6), tool changing arm (6) are used for passing the support cabin body (2) and stretch into in blade disc (1) in order to carry out the tool changing operation.
2. The cutter changing seal seat assembly of the full-face tunneling machine ultrahigh pressure large diameter robot according to claim 1, wherein the cutter changing mechanical arm (6) comprises a rotating member (61), a telescopic member (62) rotatably connected with the rotating member (61), and a clamping member (63) rotatably connected with the telescopic member (62).
3. The cutter changing seal seat assembly of the full face tunnel boring machine ultrahigh pressure large caliber robot is characterized in that the rotating member (61) comprises a first rotating seat (611), one end of the first rotating seat (611) is rotatably connected with a U-shaped supporting arm (612), and one end, far away from the first rotating seat (611), of the U-shaped supporting arm (612) is provided with a first power source (613) for driving the telescopic member (62).
4. The cutter changing seal seat assembly of the full-face tunneling machine ultrahigh-pressure large-caliber robot is characterized in that the telescopic member (62) comprises two sets of telescopic arms which are oppositely arranged, each telescopic arm is divided into a fixed arm (621) and a movable arm (622), one end of each fixed arm (621) is connected with a first power source (613), one end of each movable arm (622) is slidably installed in the corresponding fixed arm (621), and a second power source (623) used for driving the clamping member (63) is installed at the other end of each movable arm (622).
5. The cutter changing seal seat assembly of the full-face tunneling machine ultrahigh-pressure large-caliber robot is characterized in that the clamping member (63) is arranged between two sets of telescopic arms, the clamping member (63) comprises a second rotating seat (631), a supporting frame (632), a clamping cylinder (633) and clamping jaws (634), the second rotating seat (631) is connected with a second power source (623) and used for driving the supporting frame (632) to rotate, the clamping cylinder (633) is installed in the supporting frame (632), and the output end of the clamping cylinder (633) drives the two sets of clamping jaws (634) to approach each other through a connecting rod (635).
6. The cutter changing seal seat assembly of the full-face tunneling machine ultrahigh pressure large caliber robot as claimed in claim 5, wherein a limit arm (636) extends outwards from the support frame (632), a limit hole is formed in the limit arm (636), and a limit rod (637) slidably fitted with the limit hole is extended from the tail end of the clamping jaw (634).
7. The cutter changing seal seat assembly of the full-face tunneling machine ultrahigh-pressure large-caliber robot is characterized in that a plurality of hobs (11) are distributed on the front end face of the cutter head (1), and a wear sensor (12) is arranged on one side of each hob (11).
8. The cutter changing seal seat assembly of the full-face tunneling machine ultrahigh-pressure large-caliber robot is characterized in that a sealing component is arranged at the joint of the first gate (3) and the connecting cabin (22) and the joint of the second gate (4) and the cabin door support frame (27).
9. The cutter changing seal seat assembly of the full-face tunneling machine ultrahigh pressure large caliber robot is characterized in that a mounting support (7) is further connected in the main cabin body (25), and a cutter box (8) and a collecting box (9) are fixedly mounted on one side of the mounting support (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111665130.3A CN114352303B (en) | 2021-12-31 | 2021-12-31 | Cutter changing sealing seat assembly of ultrahigh-pressure large-caliber robot of full-face tunneling machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111665130.3A CN114352303B (en) | 2021-12-31 | 2021-12-31 | Cutter changing sealing seat assembly of ultrahigh-pressure large-caliber robot of full-face tunneling machine |
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| CN114352303A true CN114352303A (en) | 2022-04-15 |
| CN114352303B CN114352303B (en) | 2022-11-01 |
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| JP2986462B1 (en) * | 1998-09-18 | 1999-12-06 | 川崎重工業株式会社 | Cutter equipment for shield machine |
| CN105781563A (en) * | 2016-03-22 | 2016-07-20 | 东北大学 | Auxiliary tool changing device of slurry balance shield tunneling machine and application method of auxiliary tool changing device |
| CN107461203A (en) * | 2017-06-26 | 2017-12-12 | 北京圣龙博睿科技有限公司 | A kind of shield machine automatic tool changer |
| CN108825252A (en) * | 2018-09-11 | 2018-11-16 | 太原理工大学 | The rotational automatic tool changing device of three tool apron of shield machine and method |
| CN109594997A (en) * | 2018-12-17 | 2019-04-09 | 大连理工大学 | A kind of tool changing robot fuselage applied to complete-section tunnel boring machine |
| CN110259470A (en) * | 2019-07-19 | 2019-09-20 | 宏润建设集团股份有限公司 | Cutter head of shield machine system and its cutter replacing method |
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2021
- 2021-12-31 CN CN202111665130.3A patent/CN114352303B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2986462B1 (en) * | 1998-09-18 | 1999-12-06 | 川崎重工業株式会社 | Cutter equipment for shield machine |
| CN105781563A (en) * | 2016-03-22 | 2016-07-20 | 东北大学 | Auxiliary tool changing device of slurry balance shield tunneling machine and application method of auxiliary tool changing device |
| CN107461203A (en) * | 2017-06-26 | 2017-12-12 | 北京圣龙博睿科技有限公司 | A kind of shield machine automatic tool changer |
| CN108825252A (en) * | 2018-09-11 | 2018-11-16 | 太原理工大学 | The rotational automatic tool changing device of three tool apron of shield machine and method |
| CN109594997A (en) * | 2018-12-17 | 2019-04-09 | 大连理工大学 | A kind of tool changing robot fuselage applied to complete-section tunnel boring machine |
| CN110259470A (en) * | 2019-07-19 | 2019-09-20 | 宏润建设集团股份有限公司 | Cutter head of shield machine system and its cutter replacing method |
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| CN114352303B (en) | 2022-11-01 |
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