CN209908506U - Shield machine transition cabin based on shield machine after automatic tool changing is improved - Google Patents
Shield machine transition cabin based on shield machine after automatic tool changing is improved Download PDFInfo
- Publication number
- CN209908506U CN209908506U CN201920636310.0U CN201920636310U CN209908506U CN 209908506 U CN209908506 U CN 209908506U CN 201920636310 U CN201920636310 U CN 201920636310U CN 209908506 U CN209908506 U CN 209908506U
- Authority
- CN
- China
- Prior art keywords
- cabin
- cutter
- shield machine
- tool
- new
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007704 transition Effects 0.000 title claims abstract description 86
- 238000006243 chemical reaction Methods 0.000 claims abstract description 77
- 230000006872 improvement Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 6
- 210000000078 claw Anatomy 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005641 tunneling Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Landscapes
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The utility model relates to a shield constructs quick-witted transition cabin after automatic tool changing improves based on shield constructs quick-witted, it includes sets up in the left front transition cabin of blade disc, sets up in the left old and new sword conversion cabin of front transition cabin, sets up in the left back transition cabin of old and new sword conversion cabin, and tool changing robot; the cutter of the shield machine is transferred between the front transition cabin and the new and old cutter conversion cabin; the cutter changing robot is used for transferring the cutter of the shield machine between the front transition cabin and the cutter head and/or storing the cutter of the shield machine transferred between the new cutter and the old cutter conversion cabin into the front transition cabin. The utility model relates to a rationally, compact structure and convenient to use.
Description
Technical Field
The invention relates to an improved shield machine transition cabin based on automatic tool changing of a shield machine.
Background
At present, when a shield machine works, due to the fact that underground rock stratum conditions are complex, cutters on a front cutter head are often seriously abraded and need to be changed at any time. However, at present, still the working personnel enter the interior of the shield machine to change the cutter, the underground working environment is severe, and the body is easily damaged. In order to realize automatic tool changing, the factors such as working space and working time are also considered, so a tool changing mode capable of saving the working space and time is required to be designed.
Disclosure of Invention
The invention aims to solve the technical problems of providing an improved shield machine transition cabin based on automatic tool changing of a shield machine and a tool changing process; the technical problems to be solved and the advantages to be achieved are set forth in the description which follows and in the detailed description of the embodiments.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
a shield machine transition cabin based on shield machine automatic tool changing improvement comprises a front transition cabin arranged on the left side of a cutter head, a new and old tool conversion cabin arranged on the left side of the front transition cabin, a rear transition cabin arranged on the left side of the new and old tool conversion cabin and a tool changing robot;
the cutter of the shield machine is transferred between the front transition cabin and the new and old cutter conversion cabin;
the cutter changing robot is used for transferring the cutter of the shield machine between the front transition cabin and the cutter head and/or storing the cutter of the shield machine transferred between the new cutter and the old cutter conversion cabin into the front transition cabin.
As a further improvement of the above technical solution:
a conversion cabin front door is arranged between the front transition cabin and the new and old cutter conversion cabin, and a conversion cabin rear door for sealing is arranged between the rear transition cabin and the new and old cutter conversion cabin.
An upper guide rail is arranged in the front transition cabin, a lower guide rail is arranged in parallel under the upper guide rail,
the right end of the upper guide rail is positioned on the right side of the right end of the lower guide rail, and the left end of the upper guide rail is positioned between the right end and the left end of the lower guide rail;
a cutter conveying device linearly reciprocates on the lower guide rail; the cutter conveying device conveys the old shield machine cutter to the opening of the new and old cutter conversion cabin from the front transition cabin and conveys the new shield machine cutter to the front transition cabin from the new and old cutter conversion cabin.
The new and old knife conversion cabin is provided with a manipulator for changing the knife of the knife conveying device positioned at the opening of the new and old knife conversion cabin;
a front transition cabin door is arranged on one side of the front transition cabin.
The robot paw at the right end of the upper guide rail is used for mounting or dismounting the shield machine cutter on the cutter seat of the cutter head;
a cutter rest used for storing a new shield machine cutter is arranged at the left end of the lower guide rail and below the upper guide rail;
placing a new shield machine cutter in a cutter conveying device positioned at the right end of the lower guide rail into a cutter tool rest by a robot paw of the cutter changing robot at the left end of the upper guide rail, and clamping the new shield machine cutter for being installed on a cutter seat in the cutter tool rest;
the robot gripper at the right end of the upper guide rail is used to place the old shield machine tool removed from the tool holder into the tool transport device located at the right end of the lower guide rail.
An upper support frame used for supporting the left end of the upper guide rail and/or a lower support frame used for supporting the right end of the lower guide rail are/is arranged in the front transition cabin;
the cutter conveying device is a rail trolley;
the left end of the lower guide rail is positioned below the front door of the conversion cabin.
The conversion cabin front door comprises a power rod arranged at the right end of the new and old cutter conversion cabin and used for swinging, a front door panel used for opening and closing and sealing, a connecting plate arranged between the front door panel and a power rod cantilever head, a sliding rail transversely arranged on a door opening at the right end of the new and old cutter conversion cabin, and a sliding seat with one end hinged on the front door panel and the other end sliding on the sliding rail; the conversion cabin back door comprises a back door plate, a back door baffle and a back door switch valve, wherein one side of the back door plate is hinged to a left end door opening of the new and old knife conversion cabin, two ends of the back door baffle are clamped on the left end door opening of the new and old knife conversion cabin and used for closing the back door plate, and the back door switch valve is arranged on the back door baffle and used for tightly pushing the left end face of the back door baffle in a closed state.
An upper moving rack which is positioned on one side of the upper guide rail and connected with the supporting plate and a lower moving rack which is positioned on one side of the lower guide rail and connected with the cutter conveying device are respectively arranged in the front transition cabin, and the upper moving rack and the lower moving rack are simultaneously meshed with a main driving gear;
or two groups of hydraulic cylinders are respectively arranged in the front transition cabin in series and simultaneously and respectively drive the corresponding supporting plate and the corresponding tool conveying device to move back to back.
A shield machine transition cabin tool changing process based on shield machine automatic tool changing improvement is characterized in that a shield machine tool is changed through a tool changing robot.
As a further improvement of the above technical solution:
by means of a shield tunneling machine transition cabin; comprises the following steps;
step one, pre-storing a new shield machine cutter into a new and old cutter conversion cabin; when the old shield machine cutter of the cutter seat of the cutter head needs to be disassembled and replaced, executing the second step;
opening a cabin door of the front transition cabin to ensure that the pressure of the front transition cabin is consistent with the pressure of the rear transition cabin;
step three, firstly, the cutter changing robot disassembles the old shield machine cutter; then, the tool changing robot retreats to the left end on the upper guide rail, and meanwhile, the no-load tool conveying device advances to the right end; secondly, the cutter changing robot places the old shield machine cutter in a cutter conveying device; thirdly, the tool changing robot grabs a pre-stored new shield machine tool from the tool rest, and simultaneously, the power rod drives the front door plate to be opened through the connecting plate;
firstly, the tool changing robot moves forward to the right end and simultaneously retracts to the left end after the tool conveying device moves back; then, the tool changing robot installs a new shield machine tool on a tool seat of the cutter head, and meanwhile, the manipulator in the step one places the old shield machine tool in a new and old tool conversion cabin; then, placing the new shield machine cutter in the step one into a cutter conveying device;
step five, firstly, the tool changing robot retreats to the left end and the tool conveying device advances to the right end; then, the cutter changing robot places a new shield machine cutter in the cutter conveying device into a cutter rest; secondly, closing the front transition cabin door and the front door plate; thirdly, the shield machine starts to work;
and when the new shield machine cutter in the new and old cutter conversion cabin is taken out, executing the sixth step, opening the rear door of the conversion cabin, and replacing the shield machine cutter in the new and old cutter conversion cabin.
The invention realizes the automation of the cutter changing of the shield machine, the upper guide rail is responsible for the movement of the cutter changing robot, and the lower guide rail is responsible for the movement of the cutter transporting device. In the device for realizing automatic tool changing of the shield machine, the most important part of the shield machine tool changing robot body can realize automatic tool changing of the shield machine in a short time, and the working space can be saved.
The advantages of the invention are not limited to this description, but are described in more detail in the detailed description for better understanding.
Drawings
FIG. 1 is a general schematic diagram of a transition cabin of a shield tunneling machine
FIG. 2 is a schematic view of a front door of a conversion cabin
FIG. 3 is a schematic view of a rear door of the conversion cabin
In the figure, 1, a tool seat; 2. a shield machine cutter; 3. a robot gripper; 4. a robot arm; 5. a robot base; 6. a tool holder; 7. a front transition compartment door; 8. a tool transport device; 9. an upper guide rail; 10. an upper support frame; 11. a lower guide rail; 12. a lower support frame; 13. a conversion bay front door; 14. the new and old cutters are converted into cabins; 15. a conversion bay back door; 16. a front door panel; 17. a connecting plate; 18. a slide rail; 19. a power rod; 20. a rear door shield; 21. a back door switch valve; 22. a back door panel.
Detailed Description
As shown in fig. 1-3, the improved shield machine transition cabin based on automatic tool changing of the shield machine of the embodiment includes a front transition cabin arranged on the left side of a cutter head, a new and old tool conversion cabin 14 arranged on the left side of the front transition cabin, a rear transition cabin arranged on the left side of the new and old tool conversion cabin 14, and a tool changing robot;
the shield machine cutter 2 is transferred between the front transition cabin and the new and old cutter conversion cabin 14;
the tool changing robot is used for transferring the shield machine cutter 2 between the front transition cabin and the cutter head and/or storing the shield machine cutter 2 transferred between the new cutter conversion cabin and the old cutter conversion cabin 14 into the front transition cabin. The action is accurate high-efficient, improves the effect, safe and reliable.
A conversion cabin front door 13 is arranged between the front transition cabin and the new and old knife conversion cabin 14, and a conversion cabin rear door 15 for sealing is arranged between the rear transition cabin and the new and old knife conversion cabin 14. Thereby ensuring the balance of the working pressure and the pressure during tool changing.
An upper guide rail 9 is arranged in the front transition cabin, and a lower guide rail 11 is arranged in parallel under the upper guide rail 9 to realize the guiding function
The right end of the upper guide rail 9 is positioned on the right side of the right end of the lower guide rail 11, and the left end of the upper guide rail 9 is positioned between the right end and the left end of the lower guide rail 11;
a cutter conveying device 8 linearly reciprocates on the lower guide rail 11; the cutter transport device 8 transports the old shield machine cutter 2 from the old to the new and old cutter changing cabin 14 and the new shield machine cutter 2 from the new and old cutter changing cabin 14 to the old and old transition cabin. Thereby reasonably utilizing the limited space and having compact structure.
A manipulator for changing the tools of the tool conveying device 8 positioned at the door opening of the new and old tool conversion cabin 14 is arranged on the new and old tool conversion cabin 14;
a front transition cabin door 7 is arranged on one side of the front transition cabin.
The robot paw 3 at the right end of the upper guide rail 9 is used for mounting or dismounting the shield machine cutter 2 on the cutter seat 1 of the cutter head;
a cutter tool rest 6 for storing a new shield machine cutter 2 is arranged at the left end of the lower guide rail 11 and below the upper guide rail 9;
the robot gripper 3 of the tool changing robot at the left end of the upper guide rail 9 places a new shield machine cutter 2 in the cutter transportation device 8 located at the right end of the lower guide rail 11 into the cutter head 6 and clamps the new shield machine cutter 2 for mounting on the cutter head 1 in the cutter head 6;
the robot gripper 3 at the right end of the upper guide rail 9 is used to place the old shield machine tool 2 removed from the tool holder 1 into the tool transport device 8 located at the right end of the lower guide rail 11.
An upper support frame 10 for supporting the left end of the upper guide rail 9 and/or a lower support frame 12 for supporting the right end of the lower guide rail 11 are arranged in the front transition cabin;
preferably, the tool transport device 8 is a rail guided trolley;
the left end of the lower guide rail 11 is positioned below the front door 13 of the conversion cabin, so that the opening and closing of the door are prevented from being hindered.
The conversion cabin front door 13 comprises a power rod 19 arranged at the right end of the new and old knife conversion cabin 14 and used for swinging, a front door panel 16 used for opening and closing and sealing, a connecting plate 17 arranged between the front door panel 16 and the cantilever head of the power rod 19, a sliding rail 18 transversely arranged on the door opening at the right end of the new and old knife conversion cabin 14, and a sliding seat with one end hinged on the front door panel 16 and the other end sliding on the sliding rail 18; the conversion cabin back door 15 comprises a back door plate 22, a back door baffle plate 20 and a back door switch valve 21, wherein one side of the back door plate 22 is hinged to a left end door opening of the new and old knife conversion cabin 14, two ends of the back door baffle plate 20 are clamped on the left end door opening of the new and old knife conversion cabin 14 and used for closing the back door plate 22, and the back door switch valve 21 is arranged on the back door baffle plate 20 and used for tightly pushing against the left end face of the back door baffle plate 20 in a closed state. Reasonable in design, convenient operation, through baffle safe and reliable.
An upper moving rack which is positioned on one side of the upper guide rail 9 and connected with the supporting plate and a lower moving rack which is positioned on one side of the lower guide rail 11 and connected with the cutter conveying device 8 are respectively arranged in the front transition cabin, and the upper moving rack and the lower moving rack are simultaneously meshed with a main driving gear;
or two groups of hydraulic cylinders are respectively arranged in the front transition cabin in series and simultaneously and respectively drive the corresponding supporting plate and the corresponding tool conveying device 8 to move back to back. The synchronous driving of one-time operation is realized, the action is accurate, the linkage is realized, the efficiency is high, the cost is saved, the structure is simplified, and the preferential space is saved.
According to the shield machine transition cabin tool changing process based on the shield machine automatic tool changing improvement, the shield machine tool 2 is changed through the tool changing robot.
By means of a shield tunneling machine transition cabin; comprises the following steps;
step one, pre-storing a new shield machine cutter 2 into a new and old cutter conversion cabin 14; when the old shield machine cutter 2 of the cutter seat 1 of the cutter head needs to be disassembled and replaced, executing the second step;
opening a front transition cabin door 7 to ensure that the pressure of the front transition cabin is consistent with the pressure of the rear transition cabin;
step three, firstly, the cutter changing robot disassembles the old shield machine cutter 2; then, the tool changing robot retreats to the left end at the upper guide rail 9, and simultaneously, the unloaded tool transport device 8 advances to the right end; secondly, the cutter changing robot places the old shield machine cutter 2 in a cutter conveying device 8; thirdly, the tool changing robot grabs a pre-stored new shield machine tool 2 from the tool rest 6, and simultaneously, the power rod 19 drives the front door panel 16 to be opened through the connecting plate 17;
firstly, the tool changing robot moves forward to the right end and the tool conveying device 8 moves back to the left end; then, the tool changing robot installs a new shield machine tool 2 on a tool seat 1 of the cutter head, and meanwhile, the manipulator in the step one places the old shield machine tool 2 in a new and old tool conversion cabin 14; then, placing the new shield machine cutter 2 in the step one into a cutter transportation device 8;
step five, firstly, the tool changing robot retreats to the left end and the tool conveying device 8 advances to the right end; then, the cutter changing robot places a new shield machine cutter 2 in the cutter conveying device 8 into the cutter rest 6; secondly, closing the front transition cabin door 7 and the front door panel 16; thirdly, the shield machine starts to work;
and when the new shield machine cutter 2 in the new and old cutter conversion cabin 14 is taken out, executing the sixth step, opening the rear door 15 of the conversion cabin, and replacing the shield machine cutter 2 in the new and old cutter conversion cabin 14.
As shown in fig. 1-3, the robot arm 4 is a main body of the tool-changing robot body and can extend from the front transition compartment to the tool pan. The robot base 5 is driven by a swing hydraulic cylinder to swing and is used for controlling the position of the robot arm 4 relative to the cutter, and the robot arm 4 and the shield machine cutter 2 are guaranteed to be on the same vertical plane. The robot gripper 3 capable of being transversely finely adjusted is used for accurately positioning the tool changing robot body, correcting the relative position deviation between the robot body and a tool, and ensuring the normal work of a tool changing module and a detection module.
As shown in fig. 1, the shield machine cutter 2 integrates a common cutter and a fastener, and is beneficial to positioning and grabbing the shield machine cutter 2 by the robot paw 3.
As shown in fig. 1, after the front transition compartment door 7 is opened, the robot body (including the robot claw 3, the robot arm 4, and the robot base 5) moves to the foremost end of the upper guide rail 9, the old tool is removed, and then the robot body returns to the rear end of the upper guide rail 9, and the replaced old tool is placed in the tool transportation device 8. The tool transport device 8 and the robot body now operate simultaneously. The robot moves to a proper position to grab a new cutter on the 6 cutter rest, loads the new cutter into the position of the original old cutter, and then retracts to the rear end of the upper guide rail 9. The front door 13 of the conversion cabin is opened, the cutter conveying device 8 conveys the old cutters to the new and old cutter conversion cabin 14, and the front door 13 of the conversion cabin is closed; the old knife is taken out, another new knife is put in, the front door 13 of the conversion cabin is opened again, and the new knife is transported to the front end of the lower guide rail 11. And the robot picks up the newly introduced cutter and places the newly introduced cutter to the position of the cutter rest 6 of the front transition cabin, and one cutter changing process is completed circularly.
As shown in fig. 2, the front door panel 16 is connected with a power rod 19 through a connecting plate 17, and the power rod 19 controls the opening and closing of the front door.
The invention has the advantages of reasonable design, low cost, firmness, durability, safety, reliability, simple operation, time and labor saving, capital saving, compact structure and convenient use.
The present invention has been fully described for a clear disclosure and is not to be considered as an exemplification of the prior art.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; it is obvious as a person skilled in the art to combine several aspects of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a shield constructs quick-witted transition cabin after automatic tool changing of shield constructs machine improves which characterized in that: the cutter head comprises a front transition cabin arranged on the left side of the cutter head, a new and old cutter conversion cabin (14) arranged on the left side of the front transition cabin, a rear transition cabin arranged on the left side of the new and old cutter conversion cabin (14), and a cutter changing robot;
the cutter (2) of the shield machine is transferred between the front transition cabin and the new and old cutter conversion cabin (14);
the tool changing robot is used for transferring the shield machine tool (2) between the front transition cabin and the cutter head and/or storing the shield machine tool (2) transferred between the new and old tool transition cabins (14) into the front transition cabin.
2. The shield machine transition cabin improved based on automatic tool changing of the shield machine according to claim 1, wherein a front conversion cabin door (13) is arranged between the front transition cabin and the new and old tool conversion cabin (14), and a rear conversion cabin door (15) is arranged between the rear transition cabin and the new and old tool conversion cabin (14) for sealing.
3. The improved shield machine transition cabin based on automatic tool changing of the shield machine according to claim 1, characterized in that an upper guide rail (9) is arranged in the front transition cabin, a lower guide rail (11) is arranged in parallel under the upper guide rail (9),
the right end of the upper guide rail (9) is positioned on the right side of the right end of the lower guide rail (11), and the left end of the upper guide rail (9) is positioned between the right end and the left end of the lower guide rail (11);
a cutter conveying device (8) linearly reciprocates on the lower guide rail (11); the cutter conveying device (8) conveys the old shield machine cutter (2) to the door of the new and old cutter conversion cabin (14) from the front transition cabin and conveys the new shield machine cutter (2) to the front transition cabin from the new and old cutter conversion cabin (14).
4. The shield machine transition cabin improved based on automatic tool changing of the shield machine according to claim 3, wherein a manipulator for tool changing of a tool conveying device (8) positioned at the portal of the new and old tool conversion cabin (14) is arranged on the new and old tool conversion cabin (14);
a front transition cabin door (7) is arranged on one side of the front transition cabin.
5. The shield machine transition cabin based on shield machine automatic tool changing improvement of claim 3 is characterized in that the tool changing robot comprises an upper supporting plate which is arranged on an upper guide rail (9) and moves in a linear reciprocating manner, a robot base (5) which is arranged on the upper supporting plate and is driven by a hydraulic motor to rotate, a robot arm (4) the root of which is arranged on the robot base (5) in a swinging manner, and a robot claw (3) arranged at the cantilever end of the robot arm (4), wherein the robot claw (3) at the right end of the upper guide rail (9) is used for installing or detaching a shield machine tool (2) on a tool seat (1) of a cutter head;
a cutter tool rest (6) for storing a new shield machine cutter (2) is arranged at the left end of the lower guide rail (11) and below the upper guide rail (9);
a robot paw (3) of the tool changing robot at the left end of an upper guide rail (9) places a new shield machine tool (2) in a tool transport device (8) at the right end of a lower guide rail (11) into a tool rest (6), and clamps the new shield machine tool (2) for mounting on a tool base (1) in the tool rest (6);
the robot gripper (3) at the right end of the upper guide rail (9) is used for placing an old shield machine tool (2) removed from the tool holder (1) into a tool transport device (8) at the right end of the lower guide rail (11).
6. The shield machine transition cabin improved based on automatic tool changing of the shield machine according to claim 3, wherein an upper support frame (10) for supporting the left end of the upper guide rail (9) and/or a lower support frame (12) for supporting the right end of the lower guide rail (11) are arranged in the front transition cabin;
the cutter conveying device (8) is a rail trolley;
the left end of the lower guide rail (11) is positioned below a front door (13) of the conversion cabin.
7. The shield machine transition cabin based on shield machine automatic tool changing improvement according to claim 2, wherein a conversion cabin front door (13) comprises a power rod (19) arranged at the right end of a new and old tool conversion cabin (14) in a swinging mode, a front door panel (16) used for opening and closing and sealing, a connecting plate (17) arranged between the front door panel (16) and a cantilever head of the power rod (19), a sliding rail (18) transversely arranged on a door opening at the right end of the new and old tool conversion cabin (14), and a sliding seat with one end hinged on the front door panel (16) and the other end sliding on the sliding rail (18); the conversion cabin back door (15) comprises a back door plate (22) with one side hinged to a left end door opening of the new and old knife conversion cabin (14), a back door baffle (20) with two ends clamped on the left end door opening of the new and old knife conversion cabin (14) and used for closing the back door plate (22), and a back door switch valve (21) arranged on the back door baffle (20) and used for tightly pushing the left end face of the back door baffle (20) in a closed state.
8. The shield machine transition cabin after the automatic tool changing based on the shield machine is improved according to the claim 3, which is characterized in that an upper moving rack which is arranged at one side of an upper guide rail (9) and is connected with a supporting plate and a lower moving rack which is arranged at one side of a lower guide rail (11) and is connected with a tool conveying device (8) are respectively arranged in the front transition cabin, and the upper moving rack and the lower moving rack are simultaneously meshed with a main driving gear;
or two groups of hydraulic cylinders are respectively arranged in the front transition cabin in series and simultaneously and respectively drive the corresponding supporting plate and the corresponding tool conveying device (8) to move back to back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920636310.0U CN209908506U (en) | 2019-05-06 | 2019-05-06 | Shield machine transition cabin based on shield machine after automatic tool changing is improved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920636310.0U CN209908506U (en) | 2019-05-06 | 2019-05-06 | Shield machine transition cabin based on shield machine after automatic tool changing is improved |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209908506U true CN209908506U (en) | 2020-01-07 |
Family
ID=69047007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920636310.0U Active CN209908506U (en) | 2019-05-06 | 2019-05-06 | Shield machine transition cabin based on shield machine after automatic tool changing is improved |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209908506U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110005426A (en) * | 2019-05-06 | 2019-07-12 | 青岛科技大学 | Based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique |
-
2019
- 2019-05-06 CN CN201920636310.0U patent/CN209908506U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110005426A (en) * | 2019-05-06 | 2019-07-12 | 青岛科技大学 | Based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110005426A (en) | Based on the improved shield machine transfer chamber of shield machine automation tool changing and tool changing technique | |
| CN109941765B (en) | Multipurpose feeding device and feeding method | |
| CN211618255U (en) | Three-degree-of-freedom loading and supporting box feeding mechanism | |
| CN110587297B (en) | Connecting rod assembling device | |
| CN209908506U (en) | Shield machine transition cabin based on shield machine after automatic tool changing is improved | |
| CN201519865U (en) | Full-automatic base-binding machine | |
| CN212558388U (en) | Full-automatic multilayer turnover work or material rest for material loading | |
| CN110817499A (en) | Felt cutting and feeding device | |
| CN108673659A (en) | A kind of carpenter's process equipment | |
| CN112025719A (en) | Climbing robot for high-voltage power transmission tower | |
| CN210938046U (en) | Connecting rod assembling device | |
| CN212399977U (en) | Automatic cutting robot and brick cutting system with same | |
| CN109968403B (en) | Device and method for automatically replacing end effector by mechanical arm | |
| CN210997301U (en) | Automatic welding jig of rotary cultivator main shaft | |
| CN210649727U (en) | Automatic processing system for feeding and taking integrated guide sleeve | |
| CN215432272U (en) | Automobile part welding forming tool | |
| CN115159104B (en) | Car tail-gate snatchs equipment and assembly system | |
| CN209158602U (en) | A kind of carpenter's process equipment | |
| CN202684617U (en) | Servo manipulator device | |
| CN213730386U (en) | Equipment for automatically loading iron blocks into carrier | |
| CN210209272U (en) | Automatic screw locking mechanism | |
| CN209424761U (en) | A kind of tubing feed device of pipe cutting machine | |
| CN209466260U (en) | Automatic dismantling machinery gripper for shield machine shaft type single-blade hob | |
| CN112693882A (en) | Feeding and discharging device for concrete compressive strength detection system | |
| CN108436413B (en) | Automatic assembling system for automobile seat side plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |