CN107143340A - A kind of major diameter slurry shield machine knife disc tool cleaning and outward appearance monitoring arrangement - Google Patents
A kind of major diameter slurry shield machine knife disc tool cleaning and outward appearance monitoring arrangement Download PDFInfo
- Publication number
- CN107143340A CN107143340A CN201710280639.3A CN201710280639A CN107143340A CN 107143340 A CN107143340 A CN 107143340A CN 201710280639 A CN201710280639 A CN 201710280639A CN 107143340 A CN107143340 A CN 107143340A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- linking arm
- shield machine
- knife disc
- disc tool
- 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.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 36
- 239000002002 slurry Substances 0.000 title claims abstract description 27
- 238000004140 cleaning Methods 0.000 title claims abstract description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 26
- 239000000523 sample Substances 0.000 claims abstract description 21
- 238000005299 abrasion Methods 0.000 claims abstract description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 35
- 238000005286 illumination Methods 0.000 claims description 16
- 239000000463 material Substances 0.000 claims description 14
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000010926 purge Methods 0.000 claims description 5
- 230000005641 tunneling Effects 0.000 claims description 5
- 239000004927 clay Substances 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 235000006506 Brasenia schreberi Nutrition 0.000 description 1
- 244000267222 Brasenia schreberi Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a kind of cleaning of major diameter slurry shield machine knife disc tool and outward appearance monitoring arrangement, including：Pedestal；First linking arm, its one end is rotated with the pedestal by first rotating shaft and is connected；Second linking arm, its one end is rotated with the other end of first linking arm by the second rotating shaft and is connected；3rd linking arm, its one end is rotated with the other end of second linking arm by the 3rd rotating shaft and is connected；First rotating driving device, it applies driving force to the first rotating shaft；Second rotating driving device, it applies driving force to second rotating shaft；3rd rotating driving device, it applies driving force to the 3rd rotating shaft；First monitoring probe, it is arranged on the 3rd linking arm free end top, for monitoring knife disc tool abrasion condition in real time.The present invention can be realized to knife disc tool surface clean and outward appearance monitoring, greatlyd save the time expended needed for artificial detection, improved slurry shield machine efficiency of construction, ensure manual security, reduce construction risk.
Description
Technical field
The present invention relates to a kind of monitoring of knife disc tool outward appearance and cleaning device, more particularly to a kind of major diameter slurry shield machine
Knife disc tool is cleaned and outward appearance monitoring arrangement.
Background technology
Domestic and international shield manufacturing technology had obtained larger development in recent years, and the application of shield machine also constantly expands
Greatly, current shield machine construction method has been widely deployed in domestic and international urban underground space engineering, such as underground utilities arrangement,
In terms of subway line is excavated.The stratum that shield machine runs into during the underground construction of different cities stratum also becomes increasingly complex,
Often same tunnel will not only pass through sandy soil layer, while also to pass through the bad grounds such as boulder and cobble, hard rock.By existing
A large amount of engineering practices prove that the cutter consumption of shield machine shield machine in hard rock or compound stratum geology tunneling process is very
Greatly, often there is different degrees of damage in terms of cutter ring, bearing, sealing in the cutter of shield machine.When cutter is damaged, need
Want workmen to enter cutterhead dorsal area and carry out cutter changing operation, workmen is needed in certain air pressure, or even hydraulic pressure
Effect is lower to carry out tool changing operation, proposes higher requirement to tool changing personnel's technical ability under the conditions of this kind, and it is hidden to there is safety
Suffer from, and need first to check the cutter for needing to change manually in exchanging knives process, this operation not only has a strong impact on construction speed, and
Operating expenses can be substantially increased.
The content of the invention
, should it is an object of the invention to provide a kind of cleaning of major diameter slurry shield machine knife disc tool and outward appearance monitoring arrangement
Device can be effectively reduced during replacing shield cutter because of the time expended needed for artificial detection, improve shield machine construction efficiency,
Reduce construction risk.
In order to solve the above technical problems, major diameter slurry shield machine knife disc tool cleaning provided by the present invention is supervised with outward appearance
View apparatus, including：Pedestal；First linking arm, its one end is connected by first rotating shaft with the pedestal, and passes through described first turn
The drive of axle is with around the rotation of the axis of the first rotating shaft；Second linking arm, its one end passes through the second rotating shaft and described first
The other end connection of linking arm, and by the drive of second rotating shaft to be rotated around the axis of second rotating shaft；3rd
Linking arm, its one end is connected by the 3rd rotating shaft with the other end of second linking arm, and passes through the band of the 3rd rotating shaft
Move to rotate around the axis of the 3rd rotating shaft；First driving means, it applies driving force to the first rotating shaft；Second drives
Dynamic device, it applies driving force to second rotating shaft；3rd drive device, it applies driving force to the 3rd rotating shaft；The
One monitoring probe, it is arranged on the top of the 3rd linking arm free end, for monitoring knife disc tool abrasion condition in real time；The
One illumination probe, it is installed on the front portion of the 3rd linking arm free end, for providing illumination.Second monitoring probe, it is pacified
At the top of the material bin, it is capable of the state of real-time monitored mechanical arm, for flexible modulation mechanical arm position.Second illumination is visited
Head, it is arranged at the top of the material bin, the illumination dead angle for detecting the first illumination probe, is provided and is regarded for the second monitoring probe
It is wild.
Further, the monitoring arrangement includes purging system, the purging system be used for the mud that cleans on cutter or
Clay；The purging system includes being installed on the anterior shower nozzle in the 3rd linking arm free end；The shower nozzle by pipeline with
Water pump is connected, and the water pump is connected with water source in shield machine.
Further, the monitoring arrangement includes linear drive system, and the linear drive system includes pedestal, guide rail, cunning
Block and translation motor, the pedestal are arranged in slurry shield machine material bin, and the guide rail is installed on the pedestal, the cunning
Block is fixed on the base bottom, and is slidably matched with the guide rail, and the translation motor is fixedly mounted on the pedestal, and
By the gear of output end and the rack engaged transmission being fixedly mounted on the pedestal, so as to drive the pedestal along muddy water shield
Structure machine tunneling direction is moved.
Further, the first rotating shaft, the second rotating shaft, the axis of the 3rd rotating shaft are parallel to each other.
Further, first rotating driving device includes shell, servomotor, decelerator, first rotating shaft, the axis of rolling
Hold and the first sleeve.The output shaft of the servomotor is connected with the input shaft of the decelerator, the reducer output shaft with
First rotating shaft connection, the rolling bearing is arranged in the first rotating shaft, the housing washer interference connection the
One sleeve.
Further, second rotating driving device and the 3rd rotating driving device are filled with first rotation driving
Put structure identical.
Further, the water pipe is connected by material bin rear bulkhead with the water pump being placed on behind rear bulkhead, the water
Pump is connected with water pot；The water in water pot can be led at shower nozzle from water pipe by water pump, realize the cleaning to cutterhead and cutter.
The beneficial effects of the invention are as follows：
By the control acted to each first linking arm, rotation control at any angle can be carried out, passes through the slow of cutterhead
Slow rotation, realizes the monitoring to knife disc tool, greatlys save the time because being expended needed for artificial detection, improves slurry shield machine and applies
Work efficiency rate, ensures manual security, reduces construction risk.
Brief description of the drawings
Fig. 1 is a kind of major diameter slurry shield machine knife disc tool cleaning of the invention and the structural representation of outward appearance monitoring arrangement
Figure；
Fig. 2 is a kind of major diameter slurry shield machine knife disc tool cleaning of the invention and the working condition knot of outward appearance monitoring arrangement
Structure schematic diagram；
Fig. 3 is a kind of major diameter slurry shield machine knife disc tool cleaning of the invention and the halted state knot of outward appearance monitoring arrangement
Structure schematic diagram；
Fig. 4 is that a kind of major diameter slurry shield machine knife disc tool cleaning of the invention and the first rotation of outward appearance monitoring arrangement are driven
The longitudinal profile schematic diagram of dynamic device and the first linking arm connection；
Wherein：The linking arms of 1- first；The linking arms of 2- second；The linking arms of 3- the 3rd；4- pedestals；5- first rotating shafts；6- second
Rotating shaft；The rotating shafts of 7- the 3rd；The monitoring probes of 8- first；The illumination probes of 9- first；10- shower nozzles；11- translation motors；12- sliding blocks；13-
Guide rail；14- water pumps；15- water pots；16- water pipes；17- air pipe lines；Dividing plate before 18-；19- rear bulkheads；The sleeves of 20- first；21-
Rolling bearing；22- servomotors；23- shells；24- decelerators；The rotating driving devices of 25- first；The rotation drivings of 26- second are filled
Put；The rotating driving devices of 27- the 3rd；The illumination probes of 28- second；The monitoring probes of 29- second；30- material bins；31- air cushions storehouse；
32- muddy water storehouse；33- cutterheads；34- cutters
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
As shown in figure 1, a kind of major diameter slurry shield machine knife disc tool cleaning provided by the present invention is monitored with outward appearance and filled
Put, including：Pedestal 4, the first linking arm 1, the second linking arm 2, the 3rd linking arm 3, first driving means 25, the second drive device
26th, the 3rd drive device 27, the first linking arm 1 is connected with first rotating driving device 25 by first rotating shaft 5, is made described
First linking arm 1 and the synchronous rotary of first rotating shaft 5；Second linking arm 2 leads to second rotating driving device 26
Cross the second rotating shaft 6 to connect, make second linking arm 2 and the synchronous rotary of the second rotating shaft 6；3rd linking arm 3 and institute
State the 3rd rotating driving device 27 to connect by the 3rd rotating shaft 7, make the 3rd linking arm 3 rotation synchronous with the 3rd rotating shaft 7
Turn, the first rotating shaft 5, the second rotating shaft 6, the axis of the 3rd rotating shaft 7 are parallel to each other, in the free end of the 3rd linking arm 3
Front portion is provided with the first illumination probe 9 and shower nozzle 10, and the shower nozzle 10 is connected by pipeline with water pump 14, and the water pump 14 is with consolidating
Water pot 15 of the Dingan County in slurry shield machine is connected；First prison is installed on the free end top of the 3rd linking arm 3
Control probe 8, for monitoring knife disc tool abrasion condition in real time.
As shown in figure 1, the monitoring arrangement includes linear drive system, the linear drive system includes pedestal 4, guide rail
13rd, sliding block 12 and translation motor 11, the pedestal 4 are arranged in slurry shield machine air cushion storehouse 31, and in air cushion storehouse 31
On heart axis；The guide rail 13 is installed in material bin, and the sliding block 12 is fixed on the bottom of pedestal 4, and with the guide rail
13 are slidably matched, and the translation motor 11 is fixedly mounted on the pedestal 4, and by the gear of output end with being fixedly mounted on
Rack engaged transmission on the pedestal 4, so as to drive the pedestal 4 to be moved along slurry shield machine tunneling direction.
The guide rail 13 is fixed in slurry shield machine material bin 30, and the sliding block 12 is fixed on the bottom of pedestal 4, and
Be slidably matched with the guide rail 13, the translation motor 11 is fixedly mounted on the pedestal 4, and the gear by output end with
Rack engaged transmission, so as to drive the pedestal 4 to be moved along slurry shield machine tunneling direction.
Further, the rotating driving device includes shell 23, servomotor 22, decelerator 24, first rotating shaft 5, rolling
The sleeve 20 of dynamic bearing 21 and first.The output shaft of the servomotor 22 is connected with the input shaft of the decelerator 24, described to subtract
The fast output shaft of device 24 is connected with the first rotating shaft 5, and the rolling bearing 21 is arranged in the first rotating shaft 5, described to roll
The outer ring interference of bearing 21 connects the first sleeve 20.
The operation principle of the present invention is that in air cushion storehouse, the position corresponding position of 31 upper rail 13 is provided with door, out of air cushion storehouse 31
Air is injected in the top of material bin 30 toward muddy water storehouse 32 by air pipe line, by level control in muddy water storehouse 32 under material bin 30
Square 0.3m；Door is opened, starts translation motor 11 so that gear rotates, and gear is along rack transverse shifting, so as to drive entirety
Moved on guide rail 13, until the first linking arm 1 is moved at door position, be sequentially adjusted in the first linking arm 1 and the second connection
The position of arm 2, makes the 3rd linking arm 3 reach suitable position, and knife is checked by the first illumination probe 9 of the 3rd linking arm front end
Disk 33 is fixed a cutting tool 34 abrasion conditions, if running at cutter 34 has mud or splicing clay situation, can be by water pump 14 by water pot
Water in 15 is drawn from water pipe 16, is evacuated to by pipeline at the front end shower nozzle 10 of the 3rd linking arm 3, utilizes the water sprayed in shower nozzle 10
The mud or clay cleaned on cutter 34；The failure conditions of each cutter can be checked one by one by the slow rotation of cutterhead 33,
And record the number for the cutter for needing to change.
After whole abrasion condition inspections of cutter 34 terminate and recorded 34 number of cutter accordingly to be changed, switch off the pump
14, keep shower nozzle 10 to be in open mode for a period of time, until there is no water ejection at shower nozzle 10.Shower nozzle 10 is closed, keeps described
First illumination probe 9 and the second illumination probe 28 are in open mode, and first linking arm 1, the second linking arm the 2, the 3rd connect
Arm 3 is connect rotating around each axis of rotation rotating shrinking into zigzag；Start translation motor 11 so that the first linking arm 1 is moved into material bin 30
Inside, dividing plate 18 before shutting.
Claims (6)
1. a kind of major diameter slurry shield machine knife disc tool cleaning and outward appearance monitoring arrangement, the device are installed on slurry shield machine thing
In feed bin, it is characterised in that including：
Pedestal；
First linking arm, its one end is connected by first rotating shaft with the pedestal, and by the drive of the first rotating shaft to enclose
Axis around the first rotating shaft rotates；
Second linking arm, its one end is connected by the second rotating shaft with the other end of first linking arm, and passes through described second
The drive of rotating shaft is with around the rotation of the axis of second rotating shaft；
3rd linking arm, its one end is connected by the 3rd rotating shaft with the other end of second linking arm, and passes through the described 3rd
The drive of rotating shaft is with around the rotation of the axis of the 3rd rotating shaft；
First rotating driving device, it applies driving force to the first rotating shaft；
Second rotating driving device, it applies driving force to second rotating shaft；
3rd rotating driving device, it applies driving force to the 3rd rotating shaft；
First monitoring probe, it is arranged on the top of the 3rd linking arm free end, for monitoring knife disc tool abrasion in real time
Situation；
First illumination probe, it is installed on the front portion of the 3rd linking arm free end, for providing illumination；
Second monitoring probe, it is arranged at the top of the material bin, is capable of the state of real-time monitored mechanical arm, for flexible modulation
Mechanical arm position；
Second illumination probe, it is arranged at the top of the material bin, and the illumination dead angle for detecting the first illumination probe, is second
Monitoring probe provides the visual field；
Shower nozzle, it is arranged on the front portion of the 3rd linking arm free end, for realizing the cleaning to knife disc tool.
2. major diameter slurry shield machine knife disc tool cleaning according to claim 1 and outward appearance monitoring arrangement, its feature exist
In：The monitoring arrangement includes purging system, and the purging system is used for the mud or clay cleaned on cutter；The cleaning system
System includes being installed on the anterior shower nozzle in the 3rd linking arm free end；The shower nozzle is connected by water source in pipeline and shield machine
Connect.
3. major diameter slurry shield machine knife disc tool cleaning according to claim 1 and outward appearance monitoring arrangement, its feature exist
In：The monitoring arrangement includes linear drive system, and the linear drive system includes pedestal, guide rail, sliding block and translation motor, institute
State guide rail to be installed in material bin, the sliding block is fixed on the base bottom, and is slidably matched with the guide rail, the translation
Motor is fixedly mounted on the pedestal, and the gear by output end engages biography with the rack being fixedly mounted on the pedestal
It is dynamic, so as to drive the pedestal to be moved along slurry shield machine tunneling direction.
4. major diameter slurry shield machine knife disc tool cleaning according to claim 1 and outward appearance monitoring arrangement, its feature exist
In：The first rotating shaft, the second rotating shaft, the axis of the 3rd rotating shaft are parallel to each other.
5. major diameter slurry shield machine knife disc tool cleaning according to claim 1 and outward appearance monitoring arrangement, its feature exist
In first rotating driving device includes shell, servomotor, decelerator, first rotating shaft, rolling bearing and the first sleeve.
The output shaft of the servomotor is connected with the input shaft of the decelerator, and the reducer output shaft connects with the first rotating shaft
Connect, the rolling bearing is arranged in the first rotating shaft, the housing washer interference connects the first sleeve.
6. major diameter slurry shield machine knife disc tool cleaning according to claim 1 and outward appearance monitoring arrangement, its feature exist
In the water pipe is connected by material bin rear bulkhead with the water pump being placed on behind rear bulkhead, and the water pump is connected with water pot；Can
The water in water pot is led at shower nozzle from water pipe by water pump, the cleaning to cutterhead and cutter is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280639.3A CN107143340A (en) | 2017-04-26 | 2017-04-26 | A kind of major diameter slurry shield machine knife disc tool cleaning and outward appearance monitoring arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710280639.3A CN107143340A (en) | 2017-04-26 | 2017-04-26 | A kind of major diameter slurry shield machine knife disc tool cleaning and outward appearance monitoring arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107143340A true CN107143340A (en) | 2017-09-08 |
Family
ID=59773766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710280639.3A Pending CN107143340A (en) | 2017-04-26 | 2017-04-26 | A kind of major diameter slurry shield machine knife disc tool cleaning and outward appearance monitoring arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107143340A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108176568A (en) * | 2018-02-07 | 2018-06-19 | 重庆新渝湘实业有限公司 | A kind of bumper spray painting Pretreatment Line device |
| CN109458186A (en) * | 2018-12-25 | 2019-03-12 | 中铁隧道局集团有限公司 | A kind of mechanical device for the detection of shield tunneling storehouse |
| CN109738221A (en) * | 2019-01-22 | 2019-05-10 | 安徽建筑大学 | A kind of laboratory test simulation system of jacking construction |
| CN109932170A (en) * | 2019-04-12 | 2019-06-25 | 青岛科技大学 | A kind of mechanical device for shield machine cutter detection |
| CN110868522A (en) * | 2019-10-31 | 2020-03-06 | 桂林长海发展有限责任公司 | Monitoring equipment device in cleaning soil pressing bin |
| CN112547636A (en) * | 2020-11-19 | 2021-03-26 | 张家港三能机电设备有限公司 | Cleaning mechanical arm for ultrasonic cleaning machine |
| CN113958328A (en) * | 2021-10-26 | 2022-01-21 | 深圳市地铁集团有限公司 | Shield machine and cutter head face detection device |
| CN115870945A (en) * | 2022-10-27 | 2023-03-31 | 山东大学 | Shield intelligent identification maintenance tool changing robot and method |
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| CN105781563A (en) * | 2016-03-22 | 2016-07-20 | 东北大学 | Auxiliary tool changing device of slurry balance shield tunneling machine and application method of auxiliary tool changing device |
| CN105965114A (en) * | 2015-03-13 | 2016-09-28 | 发那科株式会社 | Wire electric discharge machine having function of cleaning inside of machining tank |
| CN205887618U (en) * | 2016-06-20 | 2017-01-18 | 河南环宇玻璃科技股份有限公司 | Window cleaner washs booster unit |
| CN207194901U (en) * | 2017-04-26 | 2018-04-06 | 中南大学 | A kind of major diameter slurry shield machine knife disc tool cleaning and outward appearance monitoring arrangement |
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| US5193405A (en) * | 1990-06-05 | 1993-03-16 | Mitsubishi Jukogyo Kabushiki Kaisha | Underwater mobile type inspection system |
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| CN105965114A (en) * | 2015-03-13 | 2016-09-28 | 发那科株式会社 | Wire electric discharge machine having function of cleaning inside of machining tank |
| CN105781563A (en) * | 2016-03-22 | 2016-07-20 | 东北大学 | Auxiliary tool changing device of slurry balance shield tunneling machine and application method of auxiliary tool changing device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108176568A (en) * | 2018-02-07 | 2018-06-19 | 重庆新渝湘实业有限公司 | A kind of bumper spray painting Pretreatment Line device |
| CN109458186A (en) * | 2018-12-25 | 2019-03-12 | 中铁隧道局集团有限公司 | A kind of mechanical device for the detection of shield tunneling storehouse |
| CN109458186B (en) * | 2018-12-25 | 2024-03-19 | 中铁隧道局集团有限公司 | Mechanical device for shield excavation bin detection |
| CN109738221A (en) * | 2019-01-22 | 2019-05-10 | 安徽建筑大学 | A kind of laboratory test simulation system of jacking construction |
| CN109932170A (en) * | 2019-04-12 | 2019-06-25 | 青岛科技大学 | A kind of mechanical device for shield machine cutter detection |
| CN110868522A (en) * | 2019-10-31 | 2020-03-06 | 桂林长海发展有限责任公司 | Monitoring equipment device in cleaning soil pressing bin |
| CN112547636A (en) * | 2020-11-19 | 2021-03-26 | 张家港三能机电设备有限公司 | Cleaning mechanical arm for ultrasonic cleaning machine |
| CN113958328A (en) * | 2021-10-26 | 2022-01-21 | 深圳市地铁集团有限公司 | Shield machine and cutter head face detection device |
| CN115870945A (en) * | 2022-10-27 | 2023-03-31 | 山东大学 | Shield intelligent identification maintenance tool changing robot and method |
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Inventor after: Cheng Yongliang Inventor after: Li Maosong Inventor after: Mei Yongbing Inventor after: Ji Zhiyong Inventor after: Shen Feng Inventor after: Xia Yimin Inventor after: Chen Peng Inventor after: Yao Jing Inventor after: Li Zhengguang Inventor after: Wu Dun Inventor after: Liu Yujiang Inventor after: Yang Mingjin Inventor before: Xia Yimin Inventor before: Li Maosong Inventor before: Mei Yongbing Inventor before: Ji Zhiyong Inventor before: Wang Yang Inventor before: Chen Peng Inventor before: Shen Feng Inventor before: Yao Jing Inventor before: Li Zhengguang Inventor before: Wu Dun Inventor before: Liu Yujiang Inventor before: Yang Mingjin |
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Application publication date: 20170908 |
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