CN117967337A - Cutter head, cutter changing device and method for coping with upper-soft lower-hard stratum shield machine upper drift - Google Patents

Abstract

The invention provides a cutter head, a cutter changing device and a cutter changing method for coping with upper floating of a shield machine for a stratum with soft upper part and hard lower part, and belongs to the field of track traffic tunnel excavation construction. The cutter head comprises a cutter head body, a main cutter beam assembly, auxiliary cutter beam assemblies and a web assembly, wherein the main cutter beam assembly comprises cross beam assemblies and vertical beam assemblies which are distributed in a cross mode, the auxiliary cutter beam assemblies are arranged on two sides, close to one end of the edge of the cutter head, of the main cutter beam assembly, and the web assembly is arranged on the edge of the cutter head and located between two adjacent auxiliary cutter beam assemblies. Compared with the traditional cutter head, the cutter head is designed to replace six heavy tearing knives and two wedge-tooth hob, and four heavy tearing knives are added. Through the special design of cutter mounted position and angle and mutually supporting, can be better cut the mudstone of tunnel lower part, effectually prevent the cutter wearing and tearing, play broken rock and the effect of gauge protection on the whole for the dregs that cuts out can get into the soil bin smoothly, lets the gesture of shield structure machine be controlled, also lets the quality of shaping section of jurisdiction be ensured.

Description

Cutter head, cutter changing device and method for coping with upper-soft lower-hard stratum shield machine upper drift

Technical Field

The invention belongs to the field of track traffic tunnel excavation and tunneling construction, and particularly relates to a cutter head, a cutter changing device and a cutter changing method for coping with upper floating of a shield machine for a stratum with soft upper part and hard lower part.

Background

With the rapid development of the civil engineering industry, the building type has been not limited to the surface engineering, but the underground space engineering is also continuously developed and tends to be mature. While the underground space construction technology is mature, modern urban underground rail transit is also developing continuously, and more cities have constructed underground rail transit networks composed of a plurality of subway lines. Meanwhile, in the process of building subway rail transit, tunnel excavation is often difficult because special stratum or stratum geological conditions appear in an engineering design route.

At present, the common excavation machinery of urban underground track traffic engineering is a shield tunneling machine. The front end of the shield machine is provided with a full-section cutting cutterhead, a soil bin for storing cutting soil is arranged behind the cutting cutterhead, a conveyor is arranged at the lower part of the central line of the soil bin, and the other end of the conveyor is provided with an inlet and an outlet for conveying soil residues.

In the construction process of urban subways, when a shield tunneling machine encounters an upper soft stratum and a lower hard stratum in a tunneling line, the cutting amount of a cutterhead on the upper and lower geology is inconsistent and is often represented as the condition that the cutting amount of the lower part is less than the cutting amount of the upper part, so that shield tunneling is difficult, the attitude of the shield tunneling machine is hard to float, the quality of a formed tunnel cannot be guaranteed and the like are caused. Once the shield machine starts, the problems can be solved only by opening and replacing the cutter in the middle of the situation, but the shutdown of the cutter opening and replacing consumes a great amount of time to delay the construction period, the construction cost is increased, the surrounding environment is possibly greatly influenced, and engineering accidents of stratum instability caused by shutdown of the cutter opening and replacing the cutter are frequent. Therefore, before the shield starts, proper cutters are selected for geological exploration analysis which is designed to pass through the upper soft and lower hard layers and the cutters are arranged in the shield cutter head in a targeted manner, so that the difficult problem of tunneling in the upper soft and lower hard layers is solved, the possibility of cutter opening and changing in the tunneling process is greatly reduced, and the potential risk is reduced. Even if the need of replacing the cutter is really existed, the cutter replacing time is shortened, the manual participation is reduced, and the cutter replacing efficiency and the safety are improved.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a cutter head, a cutter changing device and a cutter changing method for handling upper drift of a shield machine with upper soft and lower hard strata, which are used for solving the problem that the shield machine in the prior art has upper drift of the posture when facing the upper soft and lower hard strata.

In order to achieve the above and other related objects, the present invention provides a cutter head, a cutter changing device and a method for coping with upper soft and lower hard stratum shield machine float.

The cutter head for coping with upper soft and lower hard stratum shield machine upper drift comprises a cutter head body, a main cutter beam assembly, an auxiliary cutter beam assembly and a web assembly, wherein the main cutter beam assembly comprises cross beam assemblies and vertical beam assemblies which are distributed in a cross manner, the auxiliary cutter beam assemblies are arranged on two sides of one end, close to the edge of the cutter head, of the main cutter beam assembly, and the web assembly is arranged at the edge of the cutter head and positioned between two adjacent auxiliary cutter beam assemblies;

The novel heavy-duty tearing machine further comprises a first heavy-duty tearing cutter, a second heavy-duty tearing cutter, a third heavy-duty tearing cutter, a fourth heavy-duty tearing cutter, a fifth heavy-duty tearing cutter, a sixth heavy-duty tearing cutter, a seventh heavy-duty tearing cutter, an eighth heavy-duty tearing cutter, a ninth heavy-duty tearing cutter, a tenth heavy-duty tearing cutter, a first wedge hob and a second wedge hob;

the first heavy tearing knife is arranged at the edge of the auxiliary knife beam assembly at the right upper side of the vertical beam assembly, and the installation angle is 36.3 degrees;

the second heavy tearing knife is arranged at the edge of the auxiliary knife beam assembly at the left lower side of the beam assembly, and the installation angle is 70 degrees;

The third heavy tearing knife is arranged at the edge of the auxiliary knife beam assembly at the left upper side of the beam assembly and has an installation angle of 61.8 degrees;

The fourth tearing knife is arranged at the edge of the auxiliary knife beam assembly at the left upper side of the vertical beam assembly, and the installation angle is 50.2 degrees;

the fifth heavy tearing knife is arranged at the edge of the auxiliary knife beam assembly at the right lower side of the vertical beam assembly, and the installation angle is 43.5 degrees;

The sixth heavy tearing knife is arranged at the lower side edge of the vertical beam assembly and has an installation angle of 56.3 degrees;

the seventh heavy tearing knife is arranged on the inner side of the upper side edge of the right lower corner web component of the cutter head body, and the installation angle is 0 degree;

the eighth heavy tearing knife is arranged on the upper side edge of the vertical beam assembly and has an installation angle of 0 degree;

the ninth heavy tearing knife is arranged on the inner side of the lower side edge of the upper right corner web component of the cutter head body, and the installation angle is 0 degree;

the tenth heavy tearing knife is arranged on the inner side of the lower side edge of the upper left corner web component of the cutter head body, and the installation angle is 0 degree;

The first wedge hob is arranged at the edge of the auxiliary knife beam assembly at the right upper side of the beam assembly, and the installation angle is 70 degrees;

the second wedge hob is arranged at the edge of the auxiliary knife beam assembly at the right lower side of the beam assembly, and the installation angle is 66.2 degrees;

The installation angle is determined by the following steps: the angle of clockwise rotation is positive by taking the perpendicular line on the front face of the cutterhead as a reference when the angle is 0 degree when the angle is perpendicular to the front face of the cutterhead.

Optionally, the wedge hob is mounted on the cutterhead through a hob box;

the cutter box comprises a cutter seat, an end side wedge block and a middle wedge block, and the outer side of the cutter seat is welded to the cutter head;

The cutter holder is of a through cavity structure, positioning grooves are formed in one group of opposite cavity walls of the cavity structure, concave wedge grooves are formed in two sides of each positioning groove, the wedge hob is arranged in the cavity structure along the positioning grooves, two end side wedges are obliquely inserted into gaps of the wedge grooves and the wedge hob from the middle to the two sides respectively and are fastened by end side bolts, and the middle wedges are horizontally inserted into gaps between the wedge hob and the two end side wedges and are fastened by the middle bolts.

The cutter changing device for coping with upper soft and lower hard stratum shield machine floating comprises a tailstock, a mechanical arm and an end effector, wherein the tailstock is fixedly arranged in an air cushion cabin of a shield in front of the shield machine, the mechanical arm is connected between the tailstock and the end effector and has a plurality of degrees of freedom, and the end effector stretches into the rear end of a cutter disc along with the mechanical arm and can assemble and disassemble a cutter;

adopting the wedge hob and the hob case;

the end effector comprises a connecting seat, a sliding block, a clamping jaw, a first dismounting part and a second dismounting part;

The connecting seat is fixedly arranged at the tail end of the mechanical arm, the sliding block is slidably arranged on the connecting seat, the sliding position of the sliding block can be adjusted, one ends of the two groups of clamping jaws are rotatably arranged on the sliding block, the other ends of the two groups of clamping jaws are opposite and cohesive and can clamp the wedge hob, and the cohesion degree is adjusted and controlled by the elastic device;

The two groups of first dismounting and mounting parts are respectively arranged at two sides of the sliding block and can extend out and dismount the middle bolt and the middle wedge block;

The four groups of second dismounting parts are respectively arranged on four corners of the sliding block and can extend out and dismount the end side bolts and the end side wedge blocks.

Optionally, the loosening and tightening device includes:

The device comprises a telescopic power source, an active cross rod, a passive cross rod and a structural connecting rod;

the output shaft of flexible power supply is located two sets of the middle part of clamping jaw, initiative horizontal pole fixed connection is on the output shaft and with the output shaft is perpendicular, and initiative horizontal pole and the plane that the output shaft is located are two sets of the symmetry plane of clamping jaw, two passive horizontal pole connect respectively in two of each group on the clamping jaw and with initiative horizontal pole is parallel, the both ends of structure connecting rod rotate respectively and connect between initiative horizontal pole and the passive horizontal pole, when flexible power supply stretches out and draws in or opens two sets of clamping jaws.

Optionally, the elasticity device still includes the locking pole, the setting direction of locking pole with the flexible direction of flexible power supply is unanimous, locking pole one end fixed connection in initiative horizontal pole, the other end are provided with the locking head, works as flexible power supply is retracted and is strained the clamping jaw, the locking head inserts two clamping jaw terminal middle part.

Optionally, the first dismounting part comprises a first power source and an annular transmission structure which are fixedly arranged on the sliding block, and a first dismounting rod, and when the sliding block slides to the middle part of the connecting seat, the axis of the first dismounting rod coincides with the axis of the middle bolt;

The annular transmission structure comprises a rotating seat and a ring gear, the rotating seat is fixedly arranged on the periphery of the sliding block, and the ring gear is rotatably arranged on the rotating seat and driven by the first power source;

The first dismounting rod comprises a first sleeve at the head end, a first rod body at the middle part and a telescopic driving device at the tail end, the telescopic driving device is fixedly arranged on the sliding block through a first supporting column, the first rod body rotates and is slidably arranged in the telescopic driving device, and the middle part of the first rod body is provided with teeth and meshed with the ring gear;

The first sleeve can be inserted into the counter bore of the middle wedge block to screw the middle bolt and adsorb the middle bolt and the middle wedge block.

Optionally, the second dismounting part comprises a second power source, a transmission flexible shaft and a second dismounting rod, and when the sliding block slides to the upper end and the lower end of the connecting seat, the axis of the second dismounting rod coincides with the axis of the end-side bolt;

the second dismounting rod comprises a second sleeve assembly at the head end, a second rod body at the middle part and a telescopic driving device at the tail end, the telescopic driving device is fixedly arranged on the sliding block through a second supporting column, and the second rod body is in telescopic sliding connection with the telescopic driving device;

The second sleeve assembly comprises a sleeve shell, a sleeve plate and a telescopic airbag, wherein the sleeve shell is of a U-shaped opening structure, the opening width is matched with the end side wedge, the sleeve plate is arranged at the opening in a sliding mode, the telescopic airbag is arranged in the sleeve plate and the opening and adjusts the position of the sleeve plate, the sleeve plate is rotatably arranged on the sleeve plate, the tail end of the sleeve is connected with the second power source through a transmission flexible shaft, the head end of the sleeve can be inserted into a counter bore of the end side wedge, and the end side bolt and the end side wedge are screwed.

Optionally, the connecting seat is arc, be provided with an arc groove on the connecting seat and will the connecting seat divide into sliding part and connecting portion, sliding block sliding connection in sliding part, the arm connect in connecting portion.

Optionally, when the clamping jaw clamps the wedge hob, a sliding track of the sliding block on the connecting seat is concentric with the wedge hob.

The tool changing method for coping with the upper drift of the shield tunneling machine of the upper soft stratum and the lower hard stratum adopts the tool changing device, and comprises the following steps:

The preparation steps are as follows: the cutter head rotates, and the replaced cutter reaches a cutter changing working area;

The knife removing step: the mechanical arm acts, the end effector reaches the rear of the target cutter, the clamping jaw is opened and inserted into the cutter box to clamp the cutter, and the sliding block slides to the middle of the connecting seat; the first dismounting part stretches out and dismantles the middle bolt and the middle wedge block, and the first dismounting part carries the middle bolt and the middle wedge block to retreat after dismantlement is completed; the sliding block slides to one side, the second dismounting rod on the other side extends out and dismantles the end side bolt and the end side wedge block, and the end side bolt and the end side wedge block are carried to retreat after dismantlement is completed; the sliding block slides to the other side, and the end side bolt and the end side wedge block on the other side are removed to retreat;

placing and taking a cutter: the clamping jaw of the end effector clamps the cutter, the mechanical arm acts to take down the old cutter to the cutter recovery position, take out the new cutter from the new cutter position, return to the position of removing the cutter, and put the cutter into the cutter box;

and (3) a knife loading step: the substeps in the step of detaching the cutter are reversely operated to finish the installation of a new cutter;

and the mechanical arm acts, the end effector is separated from the cutter head, the cutter head rotates, the next tool to be changed reaches the tool changing working area, and the steps of tool changing are repeated.

As described above, the cutter head, the cutter changing device and the method for coping with upper-soft and lower-hard stratum shield machine floating have at least the following beneficial effects:

The shield machine can maintain a good posture when tunneling in upper soft and lower hard strata, and the problem of floating up can not occur. Specifically, on the basis of the arrangement of the traditional cutters, 8 cutters are designed and replaced at the edge of the cutter head, 4 cutters are welded, the cutters comprise a wedge hob, a heavy tearing cutter and the like, mud rocks at the lower part of a tunnel can be cut better through the special design and the interaction of the cutter mounting position and the angle parameters, the cutter is effectively prevented from being worn, the functions of breaking rocks and protecting diameters are achieved on the whole, the cut slag soil can smoothly enter a soil bin, meanwhile, the posture of a shield tunneling machine is controlled, and the quality of tunnel molding segments is guaranteed.

Drawings

Fig. 1 shows a schematic front view of a cutterhead according to the present invention.

Fig. 2 shows a schematic view of a wedge hob and a hob case according to the present invention.

Fig. 3 is a schematic view of a tool changer according to the present invention.

Fig. 4 is a schematic view of an end effector of the present invention.

Fig. 5 is a schematic view of an end effector of the present invention.

Fig. 6 is a schematic view of an end effector of the present invention.

FIG. 7 is a schematic illustration of the end effector center wedge of the present invention.

FIG. 8 is a schematic view of an end effector of the present invention with the end-side wedge removed.

FIG. 9 is a schematic view of the end effector of the present invention with the end side wedge removed.

Fig. 10 shows a schematic view of the arrangement of the tool changing device in the shield tunneling machine.

Fig. 11 is a schematic view of the working station of the tool changer of the present invention.

Wherein: the cutter head comprises a front shield 1, a cutter head body 2, a cutter seat 20, a positioning groove 201, a wedge groove 2010, an end side wedge 21, an end side bolt 210, a middle wedge 22, a middle bolt 220, a main cutter beam assembly 3, a cross beam assembly 30, a vertical beam assembly 31, a sixth heavy type tearing cutter 311, an eighth heavy type tearing cutter 312, a secondary cutter beam assembly 4, a first heavy type tearing cutter 40, a second heavy type tearing cutter 41, a third heavy type tearing cutter 42, a fourth heavy type tearing cutter 43, a fifth heavy type tearing cutter 44, a first wedge hob 45, a second wedge hob 46, a web assembly 5, a seventh heavy type tearing cutter 51, a ninth heavy type tearing cutter 52, a tenth heavy type tearing cutter 53, a tailstock 6, a mechanical arm 7, an end effector 8, a connecting seat 80, a sliding block 81, a clamping jaw 82, a first dismounting portion 83, a first power source 830, an annular transmission structure 831, a rotating seat 8311, an annular gear 8312, a first dismounting rod 832, a first sleeve 8321, a first rod body 8322, a second dismounting portion 84, a flexible shaft transmission sleeve 8411, a second rod body 8411, a flexible sleeve 8411, a flexible shaft transmission housing 8511, a flexible rod 8511, a flexible sleeve 851, a flexible rod 851, a flexible sleeve structure, a flexible joint 8585, a flexible rod 8411, a flexible and a flexible sleeve structure, a flexible and a driving device.

Detailed Description

Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.

Please refer to fig. 1 to 11. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or scope thereof. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.

The following examples are given by way of illustration only. Various embodiments may be combined and are not limited to only what is presented in the following single embodiment.

The following are examples of cutterhead, tool changing device and method for handling upper soft and lower hard stratum shield machine float.

In the embodiment of the cutter head for upper-soft and lower-hard stratum shield tunneling machine floating, referring to fig. 1, the cutter head comprises a cutter head body 2, a main cutter beam assembly 3, an auxiliary cutter beam assembly 4 and a web assembly 5, wherein the main cutter beam assembly 3 comprises cross beam assemblies 30 and vertical beam assemblies 31 which are distributed in a cross manner, the auxiliary cutter beam assemblies 4 are arranged on two sides, close to one end of the cutter head edge, of the main cutter beam assembly 3, and the web assembly 5 is arranged on the cutter head edge and positioned between two adjacent auxiliary cutter beam assemblies 4. Besides the traditional tearing knife, scraping knife, abrasion detection and the like, the main improvement points of the invention aiming at the cutterhead are as follows: also included are a first heavy tearing knife 40, a second heavy tearing knife 41, a third heavy tearing knife 42, a fourth heavy tearing knife 43, a fifth heavy tearing knife 44, a sixth heavy tearing knife 311, a seventh heavy tearing knife 51, an eighth heavy tearing knife 312, a ninth heavy tearing knife 52, a tenth heavy tearing knife 53, a first wedge hob 45 and a second wedge hob 46.

The first heavy tearing knife 40 is arranged at the edge of the auxiliary knife beam assembly 4 on the right upper side of the vertical beam assembly 31 and has an installation angle of 36.3 degrees; the second heavy tearing knife 41 is arranged at the edge of the auxiliary knife beam assembly 4 at the left lower side of the beam assembly 30 and has an installation angle of 70 degrees; the third type tearing knife 42 is arranged at the edge of the auxiliary knife beam assembly 4 at the left upper side of the beam assembly 30 and has an installation angle of 61.8 degrees; the fourth heavy tearing knife 43 is arranged at the edge of the auxiliary knife beam assembly 4 at the left upper side of the vertical beam assembly 31 and has an installation angle of 50.2 degrees; the fifth heavy tearing knife 44 is arranged at the edge of the auxiliary knife beam assembly 4 at the right lower side of the vertical beam assembly 31 and has an installation angle of 43.5 degrees; the sixth heavy tearing knife 311 is mounted on the lower side edge of the vertical beam assembly 31 with a mounting angle of 56.3 degrees; the cutter heights of the six heavy tearing cutters are 187.7mm, on a traditional shield cutter head, the six positions are smooth cutters originally, the smooth cutters have poor cutting effect on lower rock mass, a cutter box is easy to be blocked in the mudstone tunneling process, the cutter head opening ratio is reduced, and the lower mudstone cannot enter a soil bin completely after cutting, so that the shield posture floats upwards. The invention replaces it with a heavy tearing knife. Compared with a common tearing knife, the heavy tearing knife has a thicker wear-resisting layer and deeper tooth marks, when cutting mudstones, the smooth hob cannot normally work because the start thrust is not reached, but the heavy tearing knife for replacement has low thrust requirement, can forcedly cut the mudstones, and can effectively cut lower mudstones by being matched with specific tunneling parameters. Because the heavy tearing knife has a thicker wear-resisting layer and has better rock breaking effect on mudstone compared with a common smooth single-edge hob, the mudstone at the lower part of a tunnel can be better cut, so that dregs enter a soil bin and then the shield posture is controlled, and the quality of formed duct pieces is ensured.

The seventh heavy tearing knife 51 is arranged on the inner side of the upper side edge of the right lower corner web component 5 of the cutter head body 2 and has an installation angle of 0 degree; the eighth heavy tearing knife 312 is mounted on the upper side edge of the vertical beam assembly 31 at an angle of 0 degrees; the ninth heavy tearing knife 52 is arranged on the inner side of the lower side edge of the upper right corner web component 5 of the cutter head body 2 and has an installation angle of 0 degree; the tenth heavy tearing knife 53 is arranged on the inner side of the lower side edge of the upper left corner web component 5 of the cutter head body 2 and has an installation angle of 0 degree; the four heavy tearing knives are the same as the six heavy tearing knives in types and are different in installation method, the six heavy tearing knives are replaced by a replaceable knife box, and the four heavy tearing knives are directly welded on the edge of the knife disc. The heights of the four welded heavy tearing knives are 187.7mm the same as those of the heavy tearing knives installed on the first six knife boxes, the functions of the four welded heavy tearing knives are the same, and the functions of protecting the diameter and protecting the edge of the shield cutterhead are achieved while the capability of integrally cutting mudstone of the shield cutterhead is enhanced.

The first wedge hob 45 is arranged at the edge of the auxiliary knife beam assembly 4 on the right upper side of the beam assembly 30 and has an installation angle of 70 degrees; the second wedge hob 46 is arranged at the edge of the auxiliary knife beam assembly 4 at the right lower side of the beam assembly 30 and has an installation angle of 66.2 degrees; the wedge tooth hob can adopt a hob with 17 inch single edge, the wedge edge is 120 degrees, the height of the hob is matched with that of the heavy tearing hob, the outer ring is welded with a hard alloy tooth hob ring, and the alloy tooth is hemispherical. Besides being larger in size, the carbide teeth have thicker wear-resisting layers and deeper tooth marks, the function of the carbide teeth is to increase friction force with mudstone, the carbide teeth can be embedded into the surface of the mudstone to reduce thrust required by starting rotation of the hob, and meanwhile, the carbide teeth on the hob ring of the wedge tooth hob can obviously enhance the rock breaking effect. The wedge hob plays roles of breaking rock and protecting diameter from the integral effect, and meanwhile, the wedge hob is arranged on the edge of the cutter head, so that the cutter can be effectively prevented from being worn.

In the cutter installation process, the installation angle determining mode is as follows: the cutter head is installed at 0 degree perpendicular to the front of the cutter head, the perpendicular line of the front of the cutter head is used as a reference, the clockwise rotation angle is positive, the front of the cutter head can be arc-shaped at the edge of the cutter head, and the arc-shaped tangent plane is used as the front of the cutter head. After the scheme is implemented, the problem of floating of the attitude of the shield machine in the process of excavating the upper soft stratum and the lower hard stratum can be solved, the control of the vertical attitude in the process of shield tunneling is facilitated, the problems of difficult slag tapping, cutter abrasion and the like are solved, the shield thrust and torque in the cutting process are reduced, and the low-energy-consumption tunneling is realized.

In the application of the actual shield process, firstly, a cutter is arranged on a cutter disc according to the scheme, and before the shield machine is pushed down the well, the pushing speed in the reinforcing body is determined according to the design data of the existing shield starting end concrete reinforcing body, namely the concrete strength and the reinforcing body width.

For example, when the shield tunneling machine is propelled in the starting end reinforcing body, the shield tunneling machine thrust is gradually increased from 4500KN to 9000KN, the cutter torque is gradually increased from 560 KN.m to 2500 KN.m, and the tunneling speed is controlled to be 10-30mm/min, namely the shield tunneling machine thrust and the cutter torque are not excessively large, and the shield tunneling speed is not excessively high.

When the shield tunneling machine tunnels in a gravel layer and a round gravel layer, the shield tunneling machine can maintain a tunneling speed of 60-70mm/min, the tunneling is performed at a rotating speed of 1.5r/min, the torque of a cutter head is controlled to be about 3500 KN.m, and the total thrust is controlled to be about 14000 KN. The tunneling speed, thrust, torque and the like of the shield machine during tunneling in the upper soft stratum and the lower hard stratum are lower than the normal tunneling parameter values.

After the shield enters the upper soft stratum and the lower hard stratum, the shield machine tunnels at a tunneling speed of 40-60mm/min and a rotating speed of 1.5-2.0r/min before tunneling until the lower mudstone invades the tunnel section by about 1.5 m. The torque of the cutter disc is controlled to be 2000-3000 KN.m, and the total thrust is controlled to be 10000-14000KN.

After the shield tunneling machine tunnels until the lower mudstone invades the tunnel for 1.5m, the tunneling speed of the shield tunneling machine is reduced, on one hand, the shield tunneling machine is enabled to cut the lower mudstone sufficiently and effectively, on the other hand, the tunneling speed is reduced, the shield tunneling posture can be better controlled and adjusted, and specific tunneling parameters are as follows: the tunneling speed of the shield tunneling machine is kept at 30-50mm/min, tunneling is performed at a rotating speed below 1.5r/min, the total thrust is controlled at 9000-11000KN, and the cutter torque is controlled below 2500 KN.m. In the actual propelling process, the thrust, the cutter torque, the cutter rotating speed and the tunneling speed of the shield tunneling machine can be properly controlled and adjusted according to the field condition.

When the shield cutterhead firstly enters an upper soft stratum and a lower hard stratum, the cutterhead contacts lower mudstone and further advances the process, the data acquired by a soil pressure sensor on the cutterhead are paid attention to all the time, the total thrust, the torque and the rotating speed of the cutterhead for tunneling of the shield tunneling machine are monitored in time, once the numerical value is suddenly increased and is far greater than tunneling data in a sand layer, the phenomenon that the thrust and the torque of the shield are obviously increased can be further judged, and a tunneling method when the heavy tearing cutters and the wedge hob on the auxiliary cutter beam and the amplitude disc are contacted with the lower mudstone is adopted immediately.

The scheme provides a targeted feasibility solution according to the problem of difficult tunneling of upper soft and lower hard stratum in actual engineering, namely, a core principle and an implementation scheme for solving the problem in the shield field are provided by optimizing cutter arrangement of a shield cutter head, and the scheme is successfully applied to construction of Nanchang rail transit in combination with the working method.

Further, referring to fig. 2, the wedge hob is mounted to the cutterhead by a cutter box. The cutter box comprises a cutter seat 20, an end side wedge block 21 and a middle wedge block 22, and the outer side of the cutter seat 20 is welded to the cutter head; the tool holder 20 is a through cavity structure, in fig. 2, in order to facilitate the visual inspection of the inner structure of the tool holder, the outer side structure of the tool holder is hidden, a positioning groove 201 is arranged on one group of opposite cavity walls of the cavity structure of the tool holder, concave wedge grooves 2010 are arranged on two sides of the positioning groove 201, the wedge hob is installed in the cavity structure along the positioning groove 201, two end side wedges 21 are respectively inserted into gaps of the wedge grooves 2010 and the wedge hob from the middle to two sides in an inclined manner and are fastened by end side bolts 210, and a middle wedge 22 is horizontally inserted into the gaps between the wedge hob and the two end side wedges 21 and is fastened by middle bolts 220. The cutter head body is provided with a plurality of cutter box positions, the cutter box can be inserted into the cutter box, the cutter is arranged in the cutter box, the outer side of the cutter protrudes out of the surface of the cutter head of the shield tunneling machine, and the inner side of the cutter can perform cutter changing operation. In the above embodiment, the cutter can be conveniently replaced after being worn by a corresponding setting mode.

In this embodiment, referring to fig. 3 and fig. 10-11, the tool changing device for handling upper drift of a shield tunneling machine with soft upper and hard lower strata includes a tailstock 6, a mechanical arm 7 and an end effector 8, wherein the tailstock 6 is fixedly installed in an air cushion cabin of a shield tunneling machine front shield 1, the mechanical arm 7 is connected between the tailstock 6 and the end effector 8 and has a plurality of degrees of freedom, and the end effector 8 extends into the rear end of a cutterhead along with the mechanical arm 7 and can disassemble and assemble a tool. The wedge hob and the hob box are adopted in the embodiment; the end effector 8 includes a connecting base 80, a slide block 81, a jaw 82, a first attaching/detaching portion 83, and a second attaching/detaching portion 84; the connecting seat 80 is fixedly installed at the tail end of the mechanical arm 7, the sliding block 81 is slidably installed on the connecting seat 80, the sliding position can be adjusted, and the specific implementation manner is more and is not shown in the figure. One end of the two groups of clamping jaws 82 is rotatably arranged on the sliding block 81, the other end of the two groups of clamping jaws is opposite to the clamping wedge hob, and the clamping degree is regulated and controlled by the elastic device 85. The two groups of first dismounting parts 83 are respectively arranged at two sides of the sliding block 81 and can extend out and dismount the middle bolt 220 and the middle wedge block 22; the four second attaching/detaching portions 84 are provided at the four corners of the slider 81, respectively, and can extend and detach the end-side bolts 210 and the end-side wedges 21.

In the above embodiment, the wedge hob replacement principle is as follows:

The preparation steps are as follows: when the cutter on the cutter head needs to be replaced, the cutter head rotates to enable the replaced cutter to reach a cutter replacing working area, namely a working space of the end effector 8, and the cutter replacing working area can be seen in fig. 10 and 11;

The knife removing step: the mechanical arm 7 acts, the end effector 8 reaches the rear of the target cutter, the clamping jaw 82 is opened and inserted into the cutter box to clamp the cutter, and the sliding block 81 slides to the middle part of the connecting seat 80; as shown in fig. 7, the first dismounting portion 83 extends out and dismantles the middle bolt 220 and the middle wedge 22, and after the dismounting is completed, the first dismounting portion 83 carries the middle bolt 220 and the middle wedge 22 to retreat, and the first dismounting portion 83 can be set in a mode having an adsorptivity, magnetism or a clamping mechanism to achieve the above effect; the slide block 81 slides to one side, for example, to the lower side, and as shown in fig. 8, the second attachment/detachment rod on the other side (upper side) is extended to detach the upper end-side bolt 210 and the end-side wedge 21, and after the detachment, the end-side bolt 210 and the end-side wedge 21 are carried back; the slide block 81 slides to the other side, as shown in fig. 9, and the end side bolts 210 and the end side wedges 21 on the remaining one side are removed and retracted;

placing and taking a cutter: the clamping jaw 82 of the end effector 8 clamps the cutter, the mechanical arm 7 acts to take down the old cutter to the cutter recovery position, take out the new cutter from the new cutter position, return to the position of dismantling the cutter on the cutter head, and put the cutter into the cutter box;

and (3) a knife loading step: the sub-step in the reverse operation tool disassembly step is used for completing the installation of a new tool;

The mechanical arm 7 acts to separate the end effector 8 from the cutterhead, the cutterhead rotates, the next tool to be changed reaches the tool changing working area, namely the state of the preparation step, the tool is changed by repeating the steps until the complete tool is changed, and the mechanical arm is retracted.

The tool changing device is combined with the tool changing method, so that the tool changing efficiency can be improved, the mechanical automatic tool changing is realized, the condition that personnel enter a bin to operate when the tool changing is needed is avoided, the tool changing efficiency can be improved, and the construction safety can be improved.

Referring to fig. 5 and 7, the loosening and tightening device 85 includes: a telescoping power source 850, a driving crossbar 851, a driven crossbar 852 and a structural linkage 853; the output shaft of the telescopic power source 850 is located in the middle of the two groups of clamping jaws 82, and can be arranged in the sliding block 81, the driving cross rod 851 is fixedly connected to the output shaft and is perpendicular to the output shaft, the plane where the driving cross rod 851 and the output shaft are located is the symmetry plane of the two groups of clamping jaws 82, the driving cross rod 851 and the output shaft of the telescopic power source 850 are in a T shape, the two driven cross rods 852 are respectively connected to the two clamping jaws 82 of each group and are parallel to the driving cross rod 851, two ends of the structural connecting rod 853 are respectively connected between the driving cross rod 851 and the driven cross rod 852 in a rotating mode, and when the telescopic power source 850 stretches, the two groups of clamping jaws 82 are folded or unfolded.

In the above embodiment, the clamping jaw 82 is opened and closed by the expansion of the expansion power source 850, the expansion power source 850 is arranged in the middle, and the structure has stronger stability, when the movement is performed, the folding or unfolding movements of the upper and lower clamping jaws 82 are synchronous, and the force application point is positioned in the middle of the clamping jaw 82, when the clamping jaw 82 clamps a tool, the force arm of the gravity of the tool is shorter, and the stability of the whole clamping jaw structure is stronger.

Further, as shown in fig. 5, the elastic device 85 further includes a locking rod 854, the setting direction of the locking rod 854 is consistent with the telescopic direction of the telescopic power source 850, one end of the locking rod 854 is fixedly connected to the driving cross rod 851, the other end is provided with a locking head 855, when the telescopic power source 850 retracts to tighten the clamping jaws 82, the locking head 855 is inserted into the middle parts of the tail ends of the two clamping jaws 82, and the outer side of the locking head 855 can be wrapped with elastic materials such as rubber. When the locking head 855 is retracted to clamp the tool, the locking head 855 is synchronously clamped into the tail ends of the two clamping jaws 82, so that the tail ends of the two clamping jaws 82 form interaction force, and meanwhile, the tail ends of the two clamping jaws 82 are directly acted by the telescopic power source 850 to push the two clamping jaws to be tightened from the tail ends. Overall, the force transmission way is richer, the mutual acting force can be shared, and the dynamic effect and the structural stability are further enhanced.

Referring to fig. 4-6, the first dismounting portion 83 includes a first power source 830 and an annular transmission structure 831 fixedly disposed on the sliding block 81, and a first dismounting rod 832, and when the sliding block 81 slides to the middle of the connecting seat 80, i.e. the position shown in fig. 7, the axis of the first dismounting rod 832 coincides with the axis of the middle bolt 220. The ring transmission structure 831 includes a rotation seat 8311 and a ring gear 8312, the rotation seat 8311 is fixedly installed at the outer circumference of the sliding block 81, and the ring gear 8312 is rotatably installed at the rotation seat 8311 and driven by the first power source 830. The first dismounting rod 832 comprises a first sleeve 8321 at the head end, a first rod body 8322 at the middle part and a telescopic driving device at the tail end, the telescopic driving device is fixedly arranged on the sliding block 81 through a first supporting column, the first rod body 8322 rotates and is slidably arranged in the telescopic driving device, the first rod body 8322 and the telescopic driving device can be of a piston structure, and the first rod body 8322 and the telescopic driving device are controlled to extend or retract through a pneumatic tube on the telescopic driving device, and the middle section of the first rod body 8322 is provided with teeth and meshed with the ring gear 8312; the first sleeve 8321 can be inserted into the counterbore of the center wedge 22 to screw the center bolt 220 and to adsorb the center bolt 220 and the center wedge 22. This can be achieved by providing an electromagnet on the first sleeve 8321, although other clamping means, such as pneumatic or electric, can be used. After the middle bolt and the middle wedge block are removed, the middle bolt and the middle wedge block are temporarily and fixedly connected to the first sleeve 8321, and after a new cutter is replaced, the new cutter is assembled again in the original mode, so that the cutter replacing process can be greatly simplified, and the cutter replacing efficiency is improved.

The second detachable portion 84 includes a second power source, a driving flexible shaft 840, and a second detachable rod, and when the slider 81 is slid to the upper and lower ends of the connection block 80, as shown in fig. 8 or 9, after the second detachable rod is extended, the axis of the second detachable rod coincides with the axis of the end-side bolt 210. The second dismounting rod comprises a second sleeve assembly 841 at the head end, a second rod body 842 at the middle part and a telescopic driving device at the tail end, the telescopic driving device is fixedly arranged on the sliding block 81 through a second supporting column, the telescopic operation can be in an electric or pneumatic mode, and the second rod body 842 is in telescopic sliding connection with the telescopic driving device. The second sleeve assembly 841 includes a sleeve housing 8411, a sleeve plate 8412 and a telescopic air bag 8413, the sleeve housing 8411 has a "U" shaped opening structure, the opening width is matched with the end side wedge 21, the sleeve plate 8412 is slidably disposed at the opening, the telescopic air bag 8413 is disposed in the sleeve plate 8412 and the opening and adjusts the position of the sleeve plate 8412, a sleeve is rotatably disposed on the sleeve plate 8412, and the tail end of the sleeve is connected to the second power source through a transmission flexible shaft 840. The transmission flexible shaft is a shaft which is transmitted through a steel wire and can be bent. The transmission flexible shaft 840 drives the sleeve to rotate, the head end of the sleeve can be inserted into the counter bore of the end side wedge 21 to screw the end side bolt 210 and adsorb the end side bolt 210 and the end side wedge 21, the end side bolt 210 adsorbs the end side bolt 210 and the end side wedge 21, and after the end side bolt 210 falls off from the tool box, the telescopic airbag 8413 contracts to pull the end side bolt 210 and the end side wedge 21 into the sleeve housing 8411.

Further, referring to fig. 7 to 8, the connection base 80 is arc-shaped, and an arc-shaped groove is provided on the connection base 80 to divide the connection base 80 into a sliding portion and a connection portion, the sliding block 81 is slidably connected to the sliding portion, and the mechanical arm 7 is connected to the connection portion. When the clamping jaw 82 clamps the wedge hob, the sliding track of the sliding block 81 on the connection block 80 is concentric with the wedge hob.

The tail end of the sliding block 81 is located in the arc-shaped groove of the connecting seat 80 and divides the arc-shaped groove into an upper groove and a lower groove, the upper groove and the lower groove are respectively provided with a telescopic structure, one end of the telescopic structure acts on the tail end of the sliding block 81, and the other end acts on the upper end and the lower end of the arc-shaped groove. Specifically, the telescopic structure can be a hydraulic bag or an arc-shaped hydraulic cylinder. The angular position control of the slider 81 on the connection base 80 can be realized by differential control of the telescopic states of the two telescopic structures located on both sides.

In order to obtain better fastening effect, the wedging mode of cutter adopts the mode that both sides end side voussoir slant inserts cooperation middle voussoir, this also leads to the dismantlement of cutter and installation angle comparatively complicated when changing the sword, generally adopts artifical tool changing among the prior art, in this embodiment, two sets of dismouting poles about through the sliding block cooperation, dismouting from two angles respectively, in whole dismouting in-process, the arm only need keep in situ, the change of dismouting angle is adjusted by the end effector oneself, the repeated positioning accuracy requirement of arm has been showing to have reduced, the efficiency of dismantling has been improved. Meanwhile, when the clamping jaw clamps a cutter, the two groups of clamping jaw clamping parts are concentric with the axis of the cutter, so that when the clamping jaw slides up and down on the connecting seat 80, the whole end actuating mechanism rotates around the axis of the cutter, on one hand, the position adjustment of each disassembly component and the positioning of each angle are convenient, on the other hand, the tail end of the mechanical arm of the cantilever structure can be connected with the cutter head through the cutter, the stability of the tail end of the mechanical arm is prevented from being influenced by the long-time cantilever state in the disassembly process, and the stability and the reliability of the whole cutter changing device are improved.

In summary, the invention effectively overcomes various disadvantages in the prior art, can produce beneficial technical effects, and has remarkable progress.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims (10)

1. The utility model provides a handle soft lower hard stratum shield constructs cutter disc that floats on machine, includes cutter disc body (2), main knife beam subassembly (3), vice knife beam subassembly (4) and scuba subassembly (5), main knife beam subassembly (3) are including cross beam assembly (30) and vertical beam subassembly (31) that distribute, vice knife beam subassembly (4) set up main knife beam subassembly (3) are close to the both sides of cutter disc edge one end, scuba subassembly (5) set up in the cutter disc edge just is located adjacent two in the middle of vice knife beam subassembly (4), its characterized in that:

The novel heavy-duty tearing machine further comprises a first heavy-duty tearing knife (40), a second heavy-duty tearing knife (41), a third heavy-duty tearing knife (42), a fourth heavy-duty tearing knife (43), a fifth heavy-duty tearing knife (44), a sixth heavy-duty tearing knife (311), a seventh heavy-duty tearing knife (51), an eighth heavy-duty tearing knife (312), a ninth heavy-duty tearing knife (52), a tenth heavy-duty tearing knife (53), a first wedge hob (45) and a second wedge hob (46);

the first heavy tearing knife (40) is arranged at the edge of the auxiliary knife beam assembly (4) at the right upper side of the vertical beam assembly (31) and has an installation angle of 36.3 degrees;

The second heavy tearing knife (41) is arranged at the edge of the auxiliary knife beam assembly (4) at the left lower side of the beam assembly (30) and has an installation angle of 70 degrees;

The third heavy-duty tearing knife (42) is arranged at the edge of the auxiliary knife beam assembly (4) at the left upper side of the beam assembly (30) and has an installation angle of 61.8 degrees;

the fourth heavy tearing knife (43) is arranged at the edge of the auxiliary knife beam assembly (4) at the left upper side of the vertical beam assembly (31) and has an installation angle of 50.2 degrees;

The fifth heavy tearing knife (44) is arranged at the edge of the auxiliary knife beam assembly (4) at the right lower side of the vertical beam assembly (31) and has an installation angle of 43.5 degrees;

The sixth heavy tearing knife (311) is arranged on the lower side edge of the vertical beam assembly (31) and has an installation angle of 56.3 degrees;

the seventh heavy tearing knife (51) is arranged on the inner side of the upper side edge of the right lower corner web component (5) of the cutter head body (2) and has an installation angle of 0 degree;

the eighth heavy tearing knife (312) is arranged on the upper side edge of the vertical beam assembly (31) and has an installation angle of 0 degree;

The ninth heavy tearing knife (52) is arranged on the inner side of the lower side edge of the right upper corner web component (5) of the cutter head body (2) and has an installation angle of 0 degree;

The tenth heavy tearing knife (53) is arranged on the inner side of the lower side edge of the upper left corner web component (5) of the cutter head body (2) and has an installation angle of 0 degree;

The first wedge hob (45) is arranged at the edge of the auxiliary knife beam assembly (4) at the right upper side of the beam assembly (30) and has an installation angle of 70 degrees;

the second wedge hob (46) is arranged at the edge of the auxiliary knife beam assembly (4) at the right lower side of the beam assembly (30) and has an installation angle of 66.2 degrees;

The installation angle is determined by the following steps: the angle of clockwise rotation is positive by taking the perpendicular line on the front face of the cutterhead as a reference when the angle is 0 degree when the angle is perpendicular to the front face of the cutterhead.

2. The cutterhead for handling upward floating of shield tunneling machine for upper soft and lower hard stratum according to claim 1, wherein:

The wedge hob is arranged on the cutterhead through a hob box;

The cutter box comprises a cutter seat (20), an end side wedge block (21) and a middle wedge block (22), and the outer side of the cutter seat (20) is welded to the cutter head;

The tool apron (20) is of a through cavity structure, a positioning groove (201) is formed in one group of opposite cavity walls of the cavity structure, concave wedge grooves (2010) are formed in two sides of the positioning groove (201), the wedge hob is arranged in the cavity structure along the positioning groove (201), two end side wedges (21) are obliquely inserted into gaps of the wedge grooves (2010) and the wedge hob from the middle to the two sides respectively and are fastened by end side bolts (210), and a middle wedge (22) is horizontally inserted into a gap between the wedge hob and the two end side wedges (21) and is fastened by the middle bolts (220).

3. The utility model provides a handle soft lower hard stratum shield constructs tool changing device that floats on machine, includes tailstock (6), arm (7) and end effector (8), tailstock (6) fixed mounting is in the air cushion cabin of shield constructs quick-witted front shield (1), arm (7) are connected between tailstock (6) and end effector (8) and have a plurality of degrees of freedom, end effector (8) stretch into cutter disc rear end and can dismouting cutter along with arm (7), its characterized in that:

use of a wedge hob and a magazine according to claim 2;

The end effector (8) comprises a connecting seat (80), a sliding block (81), a clamping jaw (82), a first dismounting part (83) and a second dismounting part (84);

The connecting seat (80) is fixedly arranged at the tail end of the mechanical arm (7), the sliding block (81) is slidably arranged on the connecting seat (80) and the sliding position can be adjusted, one ends of the two groups of clamping jaws (82) are rotatably arranged on the sliding block (81), the other ends of the two groups of clamping jaws are opposite and cohesive and can clamp the wedge hob, and the cohesion degree is adjusted and controlled by the elastic device (85);

the two groups of first dismounting parts (83) are respectively arranged at two sides of the sliding block (81) and can extend out and dismount the middle bolt (220) and the middle wedge block (22);

The four second dismounting parts (84) are respectively arranged at four corners of the sliding block (81) and can extend out and dismount the end side bolt (210) and the end side wedge block (21).

4. A tool changer for handling upper drift of a shield tunneling machine for soft and hard formations according to claim 3, wherein said takeup device (85) comprises:

a telescopic power source (850), an active cross bar (851), a passive cross bar (852) and a structural connecting rod (853);

The output shaft of flexible power supply (850) is located two sets of middle part of clamping jaw (82), initiative horizontal pole (851) fixed connection is on the output shaft and perpendicular with the output shaft, initiative horizontal pole (851) and output shaft place plane be two sets of the symmetry plane of clamping jaw (82), two passive horizontal pole (852) connect respectively in two of each group clamping jaw (82) and with initiative horizontal pole (851) are parallel, the both ends of structure connecting rod (853) are rotated respectively and are connected between initiative horizontal pole (851) and passive horizontal pole (852), when flexible power supply (850) are flexible, two sets of clamping jaw (82) are drawn in or open.

5. The tool changing device for handling upward floating of shield tunneling machine for upper soft and lower hard strata according to claim 4, wherein said tightening and loosening device (85) further comprises a locking rod (854), the setting direction of said locking rod (854) is consistent with the telescoping direction of said telescoping power source (850), one end of said locking rod (854) is fixedly connected to said driving cross bar (851), the other end is provided with a locking head (855), and when said telescoping power source (850) retracts to tighten the clamping jaws (82), said locking head (855) is inserted into the middle of the ends of both said clamping jaws (82).

6. The tool changing device for handling upward floating of shield tunneling machine for upper soft and lower hard strata according to claim 3, wherein:

The first dismounting part (83) comprises a first power source (830) and an annular transmission structure (831) which are fixedly arranged on the sliding block (81), and a first dismounting rod (832), and when the sliding block (81) slides to the middle part of the connecting seat (80), the axis of the first dismounting rod (832) coincides with the axis of the middle bolt (220);

The annular transmission structure (831) comprises a rotating seat (8311) and a ring gear (8312), the rotating seat (8311) is fixedly arranged on the periphery of the sliding block (81), and the ring gear (8312) is rotatably arranged on the rotating seat (8311) and driven by the first power source (830);

the first dismounting rod (832) comprises a first sleeve (8321) at the head end, a first rod body (8322) at the middle part and a telescopic driving device at the tail end, the telescopic driving device is fixedly arranged on the sliding block (81) through a first supporting column, the first rod body (8322) rotates and is slidably arranged in the telescopic driving device, and the middle section of the first rod body (8322) is provided with teeth and meshed with the ring gear (8312);

The first sleeve (8321) is capable of being inserted into a counter bore of the middle wedge (22) to screw the middle bolt (220) and to adsorb the middle bolt (220) and the middle wedge (22).

7. The tool changing device for handling upward floating of shield tunneling machine for upper soft and lower hard strata according to claim 3, wherein:

the second dismounting part (84) comprises a second power source, a transmission flexible shaft (840) and a second dismounting rod, and when the sliding block (81) slides to the upper end and the lower end of the connecting seat (80), the axis of the second dismounting rod coincides with the axis of the end side bolt (210);

The second dismounting rod comprises a second sleeve assembly (841) at the head end, a second rod body (842) at the middle part and a telescopic driving device at the tail end, the telescopic driving device is fixedly arranged on the sliding block (81) through a second supporting column, and the second rod body (842) is in telescopic sliding connection with the telescopic driving device;

The second sleeve assembly (841) comprises a sleeve shell (8411), a sleeve plate (8412) and a telescopic airbag (8413), the sleeve shell (8411) is of a U-shaped opening structure, the opening width of the sleeve shell is matched with that of the end side wedge block (21), the sleeve plate (8412) is slidably arranged at the opening, the telescopic airbag (8413) is arranged in the sleeve plate (8412) and the opening and adjusts the position of the sleeve plate (8412), a sleeve is rotatably arranged on the sleeve plate (8412), the tail end of the sleeve is connected with the second power source through a transmission flexible shaft (840), and the head end of the sleeve can be inserted into a counter bore of the end side wedge block (21) to twist the end side bolt (210) and adsorb the end side wedge block (210) and the end side wedge block (21).

8. A tool changing device for handling floating of a shield tunneling machine for upper soft and lower hard strata according to claim 3, wherein said connection base (80) is arc-shaped, an arc-shaped groove is provided on said connection base (80) to divide said connection base (80) into a sliding part and a connecting part, said sliding block (81) is slidably connected to said sliding part, and said mechanical arm (7) is connected to said connecting part.

9. The tool changing device for handling floating up of shield tunneling machine for upper soft and lower hard strata according to claim 8, wherein a sliding track of said sliding block (81) on said connecting seat (80) is concentric with said cutter (82) when said clamping jaw clamps said cutter (80).

10. A tool changing method for coping with upper soft and lower hard stratum shield machine floating, characterized by adopting the tool changing device as claimed in claim 3, comprising the following steps:

The preparation steps are as follows: the cutter head rotates, and the replaced cutter reaches a cutter changing working area;

The knife removing step: the mechanical arm (7) acts, the end effector (8) reaches the rear of the target cutter, the clamping jaw (82) is opened and inserted into the cutter box to clamp the cutter, and the sliding block (81) slides to the middle part of the connecting seat (80); the first dismounting part (83) stretches out and dismantles the middle bolt (220) and the middle wedge block (22), and after the dismounting is completed, the first dismounting part (83) carries the middle bolt (220) and the middle wedge block (22) to retreat; the sliding block (81) slides to one side, the second dismounting rod on the other side stretches out and dismantles the end side bolt (210) and the end side wedge block (21), and the end side bolt (210) and the end side wedge block (21) are carried to retreat after dismantlement is completed; the sliding block (81) slides to the other side and removes the end side bolt (210) and the end side wedge block (21) of the other side to retreat;

placing and taking a cutter: clamping the cutter by a clamping jaw (82) of the end effector (8), taking the old cutter down to a cutter recovery position by the action of the mechanical arm (7), taking the new cutter out of the new cutter position, returning to the cutter dismantling position, and putting the cutter into the cutter box;

and (3) a knife loading step: the substeps in the step of detaching the cutter are reversely operated to finish the installation of a new cutter;

and the mechanical arm (7) acts, the end effector (8) is separated from the cutter head, the cutter head rotates, the next tool to be changed reaches the tool changing working area, and the steps are repeated for tool changing.