CN210460668U - Cutter head system of shield tunneling machine - Google Patents
Cutter head system of shield tunneling machine Download PDFInfo
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- CN210460668U CN210460668U CN201921145878.9U CN201921145878U CN210460668U CN 210460668 U CN210460668 U CN 210460668U CN 201921145878 U CN201921145878 U CN 201921145878U CN 210460668 U CN210460668 U CN 210460668U
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- 230000005641 tunneling Effects 0.000 title claims description 33
- 239000012636 effector Substances 0.000 claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims 1
- 239000002689 soil Substances 0.000 description 16
- 238000010276 construction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002161 passivation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
An object of the utility model is to provide a shield constructs machine cutter head system can realize automatic tool changing and operating personnel's when guaranteeing the tool changing safety. The shield machine cutter head system for achieving the purpose comprises a cutter head, and a muddy water bin, an air cushion bin, a manhole bin and an automatic cutter changing device which are sequentially arranged behind the cutter head. The automatic tool changing device comprises a sliding rail moving platform, a six-degree-of-freedom mechanical arm, an end effector and an electric cabinet for controlling the equipment. The manhole bin comprises an artificial working area, a robot working area and a tool area which are arranged at intervals, a first cabin door is arranged between the artificial working area and the tool area, a second cabin door is arranged between the robot working area and the tool area, a rear side channel which can be communicated is arranged between the tool area and the rear side space of the cutter head system, and the rear side channel is sealed by a third cabin door.
Description
Technical Field
The utility model relates to a shield constructs machine cutter head system.
Background
When the shield machine equipment is used, particularly applied to the environment with hard soil, the phenomena of passivation, damage and the like easily occur in the tunneling process of the cutter, and the replacement of the cutter needs to be realized underground.
The prior art adopts artificial mode to realize the change of cutter, and to the single-edged hob, operating personnel carries out the tool changing operation through wearing corresponding diving equipment and other protective equipment, through getting into manhole storehouse, air cushion storehouse and arriving in the muddy water storehouse at last. In the tool changing process, in order to prevent external mud and the like from entering the muddy water bin, the muddy water bin is protected in a pressurizing mode, so that an operator needs to change tools under a high-pressure environment, and certain requirements are provided for the operator. Meanwhile, the pressurizing operation still cannot completely avoid the possibility of external soil collapse, and the pressurizing operation can cause injury to operators and even death. The working environment is severe and high risk exists, which causes the shield machine tool changing work to face the defects of high cost, high risk, low efficiency and the like.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a shield constructs machine cutter head system can realize automatic tool changing to operating personnel's safety when guaranteeing the tool changing.
For realizing the shield constructs machine cutter head system of aforementioned purpose, include the blade disc and set gradually muddy water storehouse, air cushion storehouse and manhole storehouse behind the blade disc still include automatic tool changer, automatic tool changer includes:
the sliding rail moving platform comprises a fixed part and a movable part, and the movable part can linearly move relative to the fixed part;
the six-degree-of-freedom mechanical arm is connected with the movable part;
the end effector is rotatably connected with the tail end of the six-degree-of-freedom mechanical arm; and the number of the first and second groups,
the electric cabinet is used for controlling the movement of the sliding rail moving platform, the six-degree-of-freedom mechanical arm and the end effector;
the manhole bin comprises a manual working area, a robot working area and a tool area which are arranged at intervals, a first cabin door is arranged between the manual working area and the tool area, a second cabin door is arranged between the robot working area and the tool area, a rear side channel which can be communicated is arranged between the tool area and the rear side space of the cutter head system, and the rear side channel is sealed by a third cabin door.
In one or more embodiments, a first cabin hole is arranged between the robot working area and the air cushion cabin, so that the robot working area can be communicated with one side of the air cushion cabin to form a robot channel; a second cabin hole is formed between the manual working area and the air cushion cabin, so that the tool area, the manual working area and the other side of the air cushion cabin can be sequentially communicated to form a manual channel;
wherein the automatic tool changer operates in the robot tunnel.
In one or more embodiments, an electric earth cabin door is arranged between the robot channel and the muddy water bin, and a manual earth cabin door is arranged between the artificial channel and the muddy water bin.
In one or more embodiments, the powered hatchway door has a motorized press that effects fastening of the powered hatchway door.
In one or more embodiments, the manhole chamber and the air cushion chamber are connected by a flange, and the flange is provided with the first cabin hole and the second cabin hole.
In one or more embodiments, a linear slide rail is disposed on the fixed portion, and the movable portion has a sliding groove, and the sliding groove is connected to the linear slide rail in a matching manner.
In one or more embodiments, the end effector may be provided with a camera, a water gun, a water knife, and a light.
In one or more embodiments, a shield machine cutter box assembly matched with the automatic cutter changing device is further arranged in the air cushion bin, and a cutter is arranged in the shield machine cutter box assembly.
In one or more embodiments, a first auxiliary lifting tool and a second auxiliary lifting tool are respectively arranged on the tops of the manual working area and the tool area, and the first auxiliary lifting tool and the second auxiliary lifting tool can convey a tool to the outside of the manhole bin.
The beneficial effects of the utility model reside in that:
through dividing the manhole storehouse into robot working channel and artifical working channel, can realize more efficiency and robot can not cause the influence to operating personnel's safety at the during operation when automatic tool changing. Meanwhile, the plurality of areas in the manhole bin are provided with the plurality of cabin doors, so that when an operator can conveniently enter and exit the plurality of cabin doors, the plurality of cabin doors can be opened and closed to realize equal pressure among different areas in the plurality of areas, the safety of a construction environment is ensured, and further, automatic tool changing of the shield tunneling machine is safely and efficiently realized.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings, in which:
FIG. 1 illustrates a perspective view of a shield cutter head system;
FIG. 2 is a schematic top view of FIG. 1;
FIG. 3 shows a perspective view of one embodiment of an automatic tool changer;
FIG. 4 shows a schematic front view of one embodiment of a powered earth cabin door;
FIG. 5 is a schematic cross-sectional view taken along A-A of FIG. 2;
FIG. 6 illustrates a schematic perspective view of one embodiment of a shield tunneling machine tool box assembly;
FIG. 7 is a schematic cross-sectional view taken along line B-B of FIG. 2;
fig. 8 to 13 respectively show state change schematic diagrams of the shield tunneling machine cutterhead system when the shield tunneling machine carries out tool changing in the shield tunneling machine.
Detailed Description
The following discloses many different embodiments or examples for implementing the subject technology described. Specific examples of components and arrangements are described below to simplify the present disclosure, but these are merely examples and are not intended to limit the scope of the present disclosure. For example, if a first feature is formed over or on a second feature described later in the specification, this may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact. Additionally, reference numerals and/or letters may be repeated among the various examples throughout this disclosure. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. Further, when a first element is described as being coupled or coupled to a second element, the description includes embodiments in which the first and second elements are directly coupled or coupled to each other, as well as embodiments in which one or more additional intervening elements are added to indirectly couple or couple the first and second elements to each other.
It should be noted that, where used, the following description of upper, lower, left, right, front, rear, top, bottom, positive, negative, clockwise, and counterclockwise are used for convenience only and do not imply any particular fixed orientation. In fact, they are used to reflect the relative position and/or orientation between the various parts of the object.
The shield machine is a device used for underground tunnel excavation, and plays an important role in construction projects such as subways and underground tunnels. The main body of the shield machine is called a shield body, and the shield body comprises a front shield, a middle shield and a shield tail. The front shield part is provided with a cutter head which is usually fixed on a pressure-bearing partition plate of the front shield of the shield machine and supported by the front shield of the shield machine and the pressure-bearing partition plate. When the shield machine works, the cutter head is driven by the cutter head motor to rotate clockwise or anticlockwise. Meanwhile, a propulsion oil cylinder arranged in the middle shield pushes the shield machine to advance, so that underground soil excavation is realized.
In large-scale construction, a shield machine for excavating underground soil often has the condition that a cutter is abraded. Fig. 1 is a perspective view of a shield tunneling machine cutterhead system, and fig. 2 is a top view of fig. 1. It is to be understood that the shield tunneling machine cutterhead system shown in fig. 1 is a schematic diagram shown in partial section for showing the internal structure of the shield tunneling machine cutterhead system, and fig. 2 is a schematic diagram shown in partial section and viewed from a top view in fig. 1.
With reference to fig. 1 to 2, it can be seen that the cutter head system of the shield machine comprises a cutter head 1, and a muddy water bin 2, an air cushion bin 3 and a manhole bin 4 which are sequentially arranged from the cutter head 1 to the inside. Wherein, an automatic tool changer 5 is also arranged in the shield machine cutter head system.
Fig. 3 is a perspective view showing an embodiment of the automatic tool changer 5, and the automatic tool changer 5 is composed of a slide rail moving platform 51, a six-degree-of-freedom robot arm 52, and an end effector 53. The sliding track moving platform 51 includes a fixed portion 511 and a movable portion 512, and the movable portion 512 is capable of moving linearly relative to the fixed portion 511. The six-degree-of-freedom robot arm 52 is connected to the movable portion 512, and when the movable portion 512 moves linearly with respect to the fixed portion 511, the six-degree-of-freedom robot arm 52 is driven to move. The end effector 53 is rotatably connected to the end of the six-degree-of-freedom robot arm 52, and is rotatable with respect to the end of the six-degree-of-freedom robot arm 52, that is, rotatable about a rotation axis in the extending direction of the six-degree-of-freedom robot arm 52. When the six-degree-of-freedom robot arm 52 is moved linearly by the movable part 512, the end effector 53 can move in and out between the manhole chamber 4 and the air cushion chamber 3. The electrical cabinet 10 socially popularizes the manhole chamber 3 and is used for controlling the movement of the slide rail moving platform 51, the six-degree-of-freedom mechanical arm 52 and the end effector 53. In one embodiment, the electrical cabinet 10 may also be disposed outside the manhole vault 4, unlike the illustration. In one embodiment, electrical cabinet 10 may include one or more hardware processors, such as one or more combinations of microcontrollers, microprocessors (e.g., MCU chips or 51 singlechips), Reduced Instruction Set Computers (RISC), Application Specific Integrated Circuits (ASICs), Application Specific Integrated Processors (ASIPs), Central Processing Units (CPUs), Graphics Processing Units (GPUs), Physical Processing Units (PPUs), microcontroller units, Digital Signal Processors (DSPs), Field Programmable Gate Arrays (FPGAs), Advanced RISC Machines (ARMs), Programmable Logic Devices (PLDs), any circuit or processor capable of performing one or more functions, or the like. The control steps of the electrical cabinet 10 for the automatic tool changer 5 will be described in detail later.
With continued reference to fig. 1 to 2, the manhole chamber 4 includes an artificial working area 410, a robot working area 412 and a tool area 411 which are arranged at a distance from each other, a first door 42 is arranged between the artificial working area 410 and the tool area 411, a second door 43 is arranged between the robot working area 412 and the tool area 411, a rear channel 411a which can be communicated is arranged between the tool area 411 and the rear space of the cutterhead system, and the rear channel 411a is closed by a third door 41.
With continued reference to fig. 1-2, in one embodiment of the shield tunneling machine cutterhead system, a first compartment 30a is provided between the robot working area 412 and the air cushion compartment 3 to enable the robot working area 412 to communicate with one side 3a of the air cushion compartment 3 as a robot passage 12. A second cabin hole 30b is arranged between the artificial work area 410 and the air cushion bin 3, so that the tool area 411, the artificial work area 410 and the other side 3b of the air cushion bin 3 can be sequentially communicated to form an artificial channel 11. Among them, the robot path 12 provides a working space of the automatic tool changer 5, and the manual path 11 provides a working space of an operator.
In one embodiment of the shield tunneling machine cutterhead system, an electric earth hatch door 7 is arranged between the robot channel 12 and the muddy water bin 2, and a manual earth hatch door 8 is arranged between the manual channel 11 and the muddy water bin 2.
Equal pressure can be achieved between the different zones by opening or closing the first door 42, the second door 43 and the third door 41. For example, when the electric and manual hatches 7 and 8 are both closed, the tool area 411 is isolated when the first and second hatches 42 and 43 are closed to achieve equal pressure between the manned work area 410, the robot work area 412, and the air cushion chamber 3. When the third door 41 is opened, the tool area 411 can be independently isobaric with the external air pressure.
Through dividing the manhole storehouse into robot working channel and artifical working channel, can realize more efficiency and robot can not cause the influence to operating personnel's safety at the during operation when automatic tool changing. Meanwhile, the plurality of areas in the manhole bin are provided with the plurality of cabin doors, so that when an operator can conveniently enter and exit the plurality of cabin doors, the plurality of cabin doors can be opened and closed to realize equal pressure among different areas in the plurality of areas, the safety of a construction environment is ensured, and further, automatic tool changing of the shield tunneling machine is safely and efficiently realized.
Fig. 4 is a schematic front view of an embodiment of the electric soil bin door 7, wherein the electric soil bin door 7 comprises an electric soil bin door panel 71, an electric soil bin door rotating shaft 72 and an electric pressure block 73. The electric soil bin door rotating shaft 72 is driven by an external motor through a speed reducer to drive the electric soil bin door panel 71 to open and close, when the electric soil bin door panel 71 is in a closed state, the electric soil bin door pressing block 73 is used for closing the electric pressing block 73 under the driving of the electric push rod, the electric pressing block 73 is used for fastening the electric soil bin door panel 71, and before the electric soil bin door panel 71 needs to be opened, the electric pressing block 73 is used for being opened under the driving of the electric push rod. In one embodiment, the electric opening and closing control of the electric soil bin door 7 is realized through the electric cabinet 10 so as to realize automatic tool changing cooperatively.
Fig. 5 is a schematic cross-sectional view along the direction a-a in fig. 2, please refer to fig. 1 and fig. 5 in combination. The manhole chamber 4 is connected with the air cushion chamber 3 through a flange, and a first cabin hole 30a and a second cabin hole 30b are arranged on the flange. Specifically, the flange connection portion of the manhole chamber 4 and the air cushion chamber 3 includes an air cushion chamber mounting flange 31 and a manhole chamber mounting flange 47, which are connected to each other, and the air cushion chamber mounting flange 31 and the manhole chamber mounting flange 47 are connected in a sealing manner and respectively have a first cabin hole 30a and a second cabin hole 30b, so that a two-channel structure is formed on the air cushion chamber mounting flange 31 and the manhole chamber mounting flange 47.
With continued reference to fig. 3, in an embodiment of the shield machine cutter head system, the fixed portion 511 is provided with a linear sliding rail 511a, the movable portion 512 has a sliding slot at a lower portion thereof, the linear sliding rail 511a is connected to the sliding slot, so that the movable portion 512 can move linearly along the linear sliding rail 511a on the fixed portion 511, and the linear sliding rail 511a guides the movement of the movable portion 512. In one embodiment of the shield tunneling machine cutter head system, the fixed portion 511 is further provided with a ball screw 511b, and the ball screw 511b transmits the movable portion 512 so that the movable portion 512 moves linearly on the fixed portion 511.
In one embodiment of the shield tunneling machine cutterhead system, the end effector 53 may be provided with auxiliary equipment such as a camera, a water gun, a water jet, a lighting lamp, etc., wherein the camera and the lighting lamp may provide a clearer view for the operator to prompt the position to which the end effector 53 moves. The end effector 53 may have a water source therein, which may be a water pipe in communication with an external water storage device, and the water gun and the water knife are in communication with the water source, respectively. The water gun and the water knife are used for spraying to remove dirt such as soil on the cutter.
In one embodiment of the shield tunneling machine cutter head system, a shield tunneling machine cutter head assembly 6, as shown in fig. 6, is further disposed in the air cushion chamber 3 and used in cooperation with the automatic cutter changer 5, and the shield tunneling machine cutter head assembly 6 is respectively composed of a cutter 61 and a cutter head 62, wherein the cutter 61 is suitable for automatic robot cutter changing and can be grabbed by the end effector 53, and corresponding mounting or dismounting operations are performed through the end effector to fasten or detach the cutter 61 from the cutter head 62.
Fig. 7 is a schematic sectional view along the direction B-B in fig. 2, in one embodiment of the cutterhead system of the shield tunneling machine, a first auxiliary hoist 48 and a second auxiliary hoist 49 are respectively arranged on the tops of the manual working area 410 and the tool area 411, and the cutters are transported from the tool area 411 to the air cushion chamber 3 outside the manhole chamber 4 by being hoisted by the first auxiliary hoist 48 and the second auxiliary hoist 49. In one embodiment, a third auxiliary hoist 33 is also present in the air cushion chamber 3, so that the tools which are hoisted into the air cushion chamber 3 by the first auxiliary hoist 48 and the second auxiliary hoist 49 can be hoisted by the third auxiliary hoist 33. In one embodiment of the shield tunneling machine cutterhead system, the bottom of the air cushion chamber 3 is further provided with a cutter support frame 9, and a cutter lifted by the third auxiliary lifting appliance 33 can be placed on the cutter support frame 9 for subsequent automatic cutter changing operation.
With continued reference to fig. 5, in an embodiment of the shield tunneling machine cutterhead system, a support frame 44 for supporting the fixed portion 511 is further disposed in the robot working area 412, a front slide rail support table 32 is disposed in the air cushion chamber 3 for the portion of the fixed portion 511 extending to the inside, and a ball bearing is mounted on the upper surface of the front slide rail support table 32 and provides a front side support for the slide rail moving platform 51. The manhole chamber 4 further has a mounting window 45 for use in mounting or dismounting the automatic tool changer 5, and the mounting window 45 is sealed by a mounting window cover plate 46 in the remaining state.
In an embodiment different from that shown, the support frame 44 may also be arranged on the side or top of the manhole cover 4.
Fig. 8 to 13 respectively show the state changes of the shield machine cutterhead system when the shield machine cutterhead system performs tool changing in the shield machine, please refer to fig. 1 to 6 in combination, and the tool changing method of the shield machine cutterhead system has the following steps:
first, as shown in fig. 8, the electrical cabinet 10 controls the automatic tool changer 5 to adjust to a proper posture, and opens the electrical earth door 7.
Subsequently, as shown in fig. 9, the electrical cabinet 10 controls the movable part 512 to move linearly on the fixed part 511, so that the six-degree-of-freedom mechanical arm 52 enters the mud chamber 2, and controls and adjusts the end effector 53 to a corresponding position on the surface of the cutterhead where the tool needs to be dismounted. The six-degree-of-freedom mechanical arm 52 is provided with motors at the joints between the arm bodies, and the posture of the six-degree-of-freedom mechanical arm 52 is adjusted by adjusting the motors at the joints of the arm bodies, so that the end effector 53 is controlled to a corresponding position where the tool needs to be disassembled.
Then, as shown in fig. 10, in a corresponding position where tool disassembly is required, the electrical cabinet 10 controls the end effector 53 in the automatic tool changer 5 to rotate, and the tool 61 is disassembled from the tool assembly 6 on the tool deck 1. A motor may be disposed between the end effector 53 and the six-degree-of-freedom mechanical arm 52, and the electrical cabinet 10 controls the motor to rotate so as to rotate the end effector 53.
Thereafter, as shown in fig. 11 to 12, the electrical cabinet 10 controls the six-degree-of-freedom mechanical arm 52 to gradually return to the initial state. And controls the movable part 512 to move linearly on the fixed part, so that the end effector 53 returns to the air cushion chamber 3 and the cutter 61 is placed in the cutter support frame 9. Subsequently, as shown in fig. 13, the electrical cabinet 10 is controlled until the six-degree-of-freedom mechanical arm 52 returns to the initial state.
Subsequently, when the operator enters the manual working area 410 from the tool area 411, the operator enters the air cushion chamber 3 and replaces the tool 61 in the tool support frame 9. In one embodiment, the handling of the first auxiliary spreader 48, the second auxiliary spreader 49 and the third auxiliary spreader 33 assists the transport of the tools to the air cushion magazine 3 when the operator enters the manual work area 410 from the tool area 411.
Then, if a tool needs to be installed, after the tool 61 in the tool support frame 9 is replaced, the electrical cabinet 10 controls the automatic tool changer 5 to adjust the posture until the end effector is adjusted to the tool support frame 9, and after the tool 61 is grabbed, the above steps are repeated in an opposite manner, so that the end effector 53 is controlled and adjusted to the corresponding position where the tool needs to be installed, and the installation of the tool 61 is completed.
Finally, the electrical cabinet 10 controls the six-degree-of-freedom mechanical arm 52 to return to the initial state to wait for the next tool changing operation.
In the tool changing method step of the shield tunneling machine cutterhead system, after the electrical cabinet 10 controls the end effector 53 to be controlled to a corresponding position where the tool needs to be disassembled, a water jet gun on the end effector 53 works to clean the tool.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention, all without departing from the content of the technical solution of the present invention, fall within the scope of protection defined by the claims of the present invention.
Claims (9)
1. The utility model provides a shield constructs machine cutter head system, includes the blade disc and sets gradually muddy water storehouse, air cushion storehouse and manhole storehouse behind the blade disc, its characterized in that still includes automatic tool changing device, automatic tool changing device includes:
the sliding rail moving platform comprises a fixed part and a movable part, and the movable part can linearly move relative to the fixed part;
the six-degree-of-freedom mechanical arm is connected with the movable part;
the end effector is rotatably connected with the tail end of the six-degree-of-freedom mechanical arm; and the number of the first and second groups,
the electric cabinet is used for controlling the movement of the sliding rail moving platform, the six-degree-of-freedom mechanical arm and the end effector;
the manhole bin comprises a manual working area, a robot working area and a tool area which are arranged at intervals, a first cabin door is arranged between the manual working area and the tool area, a second cabin door is arranged between the robot working area and the tool area, a rear side channel which can be communicated is arranged between the tool area and the rear side space of the cutter head system, and the rear side channel is sealed by a third cabin door.
2. The shield tunneling machine cutterhead system of claim 1, wherein a first compartment is provided between said robot work area and said air cushion compartment to enable communication between said robot work area and one side of said air cushion compartment as a robot path; a second cabin hole is formed between the manual working area and the air cushion cabin, so that the tool area, the manual working area and the other side of the air cushion cabin can be sequentially communicated to form a manual channel;
wherein the automatic tool changer operates in the robot tunnel.
3. The shield tunneling machine cutterhead system of claim 2, wherein an electric earth hatch door is provided between the robot tunnel and the mud sump, and a manual earth hatch door is provided between the manual tunnel and the mud sump.
4. The shield tunneling machine cutterhead system of claim 3, wherein the motorized hatches have motorized compacts that effect the fastening of the motorized hatches.
5. The shield tunneling machine cutterhead system of claim 3, wherein the manhole chamber is connected to the air cushion chamber by a flange, the flange having the first and second apertures.
6. The shield tunneling machine cutterhead system of claim 1, wherein the fixed portion is provided with linear slides and the movable portion has slide slots, the slide slots being in mating connection with the linear slides.
7. The shield tunneling machine cutterhead system of claim 1, wherein the end effector may be provided with a camera, a water gun, a water knife, and a light.
8. The shield tunneling machine cutterhead system of claim 1, wherein a shield tunneling machine cutter box assembly is further disposed within said air cushion compartment for cooperating with said automatic cutter changer, and a cutter is disposed within said shield tunneling machine cutter box assembly.
9. The shield tunneling machine cutterhead system of claim 1, wherein a first auxiliary hoist and a second auxiliary hoist are respectively provided on the top of the manual working area and the tool area, and the first auxiliary hoist and the second auxiliary hoist can transport cutters to the outside of the manhole bin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921145878.9U CN210460668U (en) | 2019-07-19 | 2019-07-19 | Cutter head system of shield tunneling machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921145878.9U CN210460668U (en) | 2019-07-19 | 2019-07-19 | Cutter head system of shield tunneling machine |
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| CN210460668U true CN210460668U (en) | 2020-05-05 |
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| CN201921145878.9U Active CN210460668U (en) | 2019-07-19 | 2019-07-19 | Cutter head system of shield tunneling machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259470A (en) * | 2019-07-19 | 2019-09-20 | 宏润建设集团股份有限公司 | Cutter head of shield machine system and its cutter replacing method |
| CN111577307A (en) * | 2020-06-02 | 2020-08-25 | 盾构及掘进技术国家重点实验室 | Shield machine and tunneling method thereof |
| CN113464152A (en) * | 2021-07-14 | 2021-10-01 | 中铁工程装备集团有限公司 | Normal pressure tool changing shield machine based on telescopic mannequin |
| CN114263470A (en) * | 2021-12-28 | 2022-04-01 | 上海机器人产业技术研究院有限公司 | Automatic access method for hob of shield machine |
-
2019
- 2019-07-19 CN CN201921145878.9U patent/CN210460668U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110259470A (en) * | 2019-07-19 | 2019-09-20 | 宏润建设集团股份有限公司 | Cutter head of shield machine system and its cutter replacing method |
| CN111577307A (en) * | 2020-06-02 | 2020-08-25 | 盾构及掘进技术国家重点实验室 | Shield machine and tunneling method thereof |
| CN111577307B (en) * | 2020-06-02 | 2021-07-20 | 盾构及掘进技术国家重点实验室 | Shield machine and tunneling method thereof |
| CN113464152A (en) * | 2021-07-14 | 2021-10-01 | 中铁工程装备集团有限公司 | Normal pressure tool changing shield machine based on telescopic mannequin |
| CN113464152B (en) * | 2021-07-14 | 2022-03-22 | 中铁工程装备集团有限公司 | Normal pressure tool changing shield machine based on telescopic mannequin |
| CN114263470A (en) * | 2021-12-28 | 2022-04-01 | 上海机器人产业技术研究院有限公司 | Automatic access method for hob of shield machine |
| CN114263470B (en) * | 2021-12-28 | 2023-06-13 | 上海机器人产业技术研究院有限公司 | Automatic access method for hob of shield machine |
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Effective date of registration: 20240329 Address after: Room 1130, 1st Floor, Building 7, No. 489 Wenchuan Road, Baoshan District, Shanghai, 2019 Patentee after: Dundijia robot technology (Shanghai) Co.,Ltd. Country or region after: China Address before: 315700, No. 262, Jianshe East Road, Dan Town, Xiangshan County, Ningbo, Zhejiang Patentee before: HONGRUN CONSTRUCTION GROUP Co.,Ltd. Country or region before: China Patentee before: Shanghai University |
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