CN111691891B

CN111691891B - Tool changing device for replacing hob of shield machine

Info

Publication number: CN111691891B
Application number: CN202010614557.XA
Authority: CN
Inventors: 刘飞香; 程永亮; 彭正阳; 暨智勇; 任勇; 阳旭; 刘龙
Original assignee: China Railway Construction Heavy Industry Group Co Ltd
Current assignee: China Railway Construction Heavy Industry Group Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2022-04-29
Anticipated expiration: 2040-06-30
Also published as: CN111691891A

Abstract

The invention discloses a cutter changing device for replacing a shield machine hob, wherein two cutter locking frames are respectively fixed on two sides of the hob, a holder comprises a clamping claw and a driving assembly, the clamping claw is used for clamping the cutter locking frames, the driving assembly is connected with the clamping claw, the driving assembly drives each cutter locking frame to be propped open in a cutter storage groove, so that the cutter locking frames are matched with the cutter storage groove, the hob is stably locked in the cutter storage groove by the cutter locking frames, the hob is prevented from rolling randomly, the hob is prevented from being mistakenly assembled, the misoperation risk is reduced, and the reliability is improved accordingly. Therefore, the reliability of the cutter changing device for changing the hob of the shield machine is improved.

Description

Tool changing device for replacing hob of shield machine

Technical Field

The invention relates to the technical field of cutter changing of shield machines, in particular to a cutter changing device for changing a hob of a shield machine.

Background

The shield machine is widely applied to the field of heavy engineering such as urban subways, highway tunnels, hydraulic engineering and the like, and a hob arranged on a cutterhead of the shield machine usually has large loss and needs to be frequently replaced. In view of the fact that the shield machine is usually constructed under severe working conditions such as large burial depth and high water pressure, great potential safety hazards exist, and constructors need to replace the hob regularly with the help of the hob changing device.

However, the tool changer includes a robot arm and a holder, and the holder is mounted at the end of the robot arm so that the robot arm drives the holder to hold the hob. However, the existing holder is difficult to stably place the hob in the hob holder, and after the holder loosens the hob, the hob is very easy to roll in the hob holder, so that the hob swinging sequence is disordered, the risk of mistakenly installing the hob exists, and the reliability is relatively low.

Therefore, how to improve the reliability of the existing tool changer is an urgent technical problem to be solved by those skilled in the art.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a cutter changing device for changing a hob of a shield machine, in which a driving assembly drives a locking tool rest to be expanded in a cutter storage slot so as to stably lock the hob in the cutter storage slot, thereby avoiding the installation of a wrong hob and reducing the risk of malfunction, so that the reliability is improved.

The specific scheme is as follows:

the invention provides a cutter changing device for replacing a hob of a shield machine, which comprises two cutter locking frames fixedly arranged on two sides of the hob respectively and a holder connected with the two cutter locking frames in an inserting manner, wherein the holder comprises:

the clamping claw is used for clamping the lock tool rest;

and the driving component is connected with the clamping claw and is used for driving the cutter locking frame to be expanded in the cutter storage groove so as to lock the hobbing cutter in the cutter storage groove.

Preferably, the drive assembly comprises:

the translation assembly is connected with the clamping claw and is used for driving the clamping claw to translate vertically to the axial direction;

the rotating assembly is connected with the translation assembly and is used for driving the clamping jaws to rotate around the axial direction;

and the swinging component is connected with the rotating component and is used for driving the clamping claw to swing perpendicular to the axial direction.

Preferably, the blade locking holder comprises:

the fixed block is fixedly connected with the hob;

the guide shaft is fixed at the top of the fixed block;

the adjusting block is slidably sleeved on the guide shaft;

the adjusting shaft is arranged at the top of the adjusting block and can be rotatably sleeved on the guide shaft;

the two limiting blocks are symmetrically arranged on two sides of the guide shaft and provided with limiting convex edges, the first end of each limiting block is hinged with the fixed block, and the second end of each limiting block is connected with the adjusting block in a sliding manner;

when the adjusting shaft rotates clockwise relative to the guide shaft, the guide shaft drives the fixed block to be close to the adjusting block, so that the limiting convex edges of the two limiting blocks are expanded until the limiting convex edges are abutted against the cutter storage groove to realize locking;

when the adjusting shaft rotates anticlockwise relative to the guide shaft, the guide shaft drives the fixing block to be far away from the adjusting block, so that the limiting convex ridges of the two limiting blocks are folded until the limiting convex ridges are separated from the cutter storage groove to release locking.

Preferably, the holder still includes the support base, and the locking frame includes the centre gripping axle of locating two stopper sides perpendicularly, and the gripper jaw includes:

the fixed clamping jaw is fixedly arranged at the bottom of the supporting base;

the movable clamping jaw is rotationally connected with the fixed clamping jaw;

and the clamping driving part is fixedly arranged on the supporting base, is connected with the movable clamping jaw and is used for driving the movable clamping jaw to rotate relative to the fixed clamping jaw until the clamping shaft is clamped.

Preferably, the clamping device further comprises a locking driving member fixedly arranged on the supporting base and used for clamping the adjusting shaft penetrating through the supporting base so as to drive the adjusting shaft to rotate.

Preferably, the holder further comprises a sliding support slidably mounted on top of the support base, and the translation assembly comprises:

the sliding track and the sliding groove are matched with each other and arranged between the support base and the sliding support;

and the sliding driving piece is arranged between the sliding support and the supporting base and is used for driving the supporting base to slide relative to the sliding support in a direction perpendicular to the axial direction.

Preferably, the rotating assembly is a rotating speed reducer arranged at the top of the sliding support.

Preferably, the swing assembly is a swing cylinder, and the clamp further comprises a rotary support which is arranged between the swing cylinder and the rotary speed reducer to be fixedly connected with the swing cylinder and the rotary speed reducer.

Preferably, the device further comprises a mechanical arm connected with the gripper to drive the gripper to act.

Preferably, the robot arm includes:

the hoisting sliding seat is used for hoisting the storage bin sliding rail;

the first rotating arm is hinged with the hoisting sliding seat;

the second rotating arm is hinged with the first rotating arm;

the telescopic arm is arranged at one end of the second rotating arm, far away from the first rotating arm, and is connected with the clamp holder.

Compared with the background art, the cutter changing device for replacing the hob of the shield machine comprises two cutter locking frames and a holder, wherein the holder comprises a clamping claw and a driving assembly, the driving assembly is connected with the clamping claw, and the driving assembly drives each cutter locking frame to be opened in the cutter storage groove, so that the cutter locking frames are matched with the cutter storage groove, the hob is stably locked in the cutter storage groove by the cutter locking frames, the hob is prevented from rolling randomly, the phenomenon that the hob is mistakenly installed is avoided, the misoperation risk is reduced, and the reliability is improved accordingly. Therefore, the reliability of the cutter changing device for changing the hob of the shield machine is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a tool changer for changing a hob of a shield machine according to an embodiment of the present invention;

FIG. 2 is a block diagram of the holder of FIG. 1;

FIG. 3 is an exploded view of FIG. 2;

FIG. 4 is a partial assembled view of the holder, locking block and hob;

FIG. 5 is an assembled view of the locking tool holder and hob of FIG. 4;

FIG. 6 is a block diagram of the locking blade carrier of FIG. 4 in a closed position;

FIG. 7 is a view of the locking blade holder of FIG. 4 in an expanded state;

FIG. 8 is a view showing the structure of the tool holder;

FIG. 9 is a diagram illustrating the state that the knife locking frame enters the knife storage groove in a furled state;

fig. 10 is a state diagram in which the lock blade holder is locked to the pocket in the expanded state.

The reference numbers are as follows:

a hob 01, a tool apron 02 and a storage bin slide rail 03;

a tool storage groove 021;

the mechanical arm 1, the cutter locking frame 2 and the clamp holder 3;

the hoisting device comprises a hoisting slide 11, a first rotating arm 12, a second rotating arm 13, a telescopic arm 14, a first driving piece 15 and a second driving piece 16;

the device comprises a fixed block 21, a guide shaft 22, an adjusting block 23, an adjusting shaft 24 and a limiting block 25;

a clamp shaft 251;

swing assembly 31, swivel support 32, swivel assembly 33, sliding support 34, support base 35, translation assembly 36, lock drive 37, and gripper jaw 38;

a slide rail 361, a slide groove 362 and a slide driving piece 363;

a fixed jaw 381, a movable jaw 382 and a clamp drive 383.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific examples.

Referring to fig. 1 to 7, fig. 1 is a tool changer for changing a hob of a shield machine according to an embodiment of the present invention; FIG. 2 is a block diagram of the holder of FIG. 1; FIG. 3 is an exploded view of FIG. 2; FIG. 4 is a partial assembled view of the holder, locking block and hob; FIG. 5 is an assembled view of the locking tool holder and hob of FIG. 4; FIG. 6 is a block diagram of the locking blade carrier of FIG. 4 in a closed position; fig. 7 is a view showing the lock blade holder of fig. 4 in an expanded state.

First, it should be noted that the axial direction in this context refers to a direction parallel to the central axis of the holder, and in particular to the vertical direction as currently shown in fig. 1.

The embodiment of the invention discloses a cutter changing device for replacing a hob of a shield machine, which comprises two locking cutter holders 2 and a holder 3, wherein the two locking cutter holders 2 are fixedly arranged on two sides of the hob 01 respectively, and the holder 3 is connected with the two locking cutter holders 2 in an inserting manner, so that the holder 3 holds the hob 01 through the two locking cutter holders 2.

The holder 3 comprises a clamping claw 38 and a driving assembly, the clamping claw 38 is used for clamping the cutter locking frame 2, the driving assembly can drive the cutter locking frame 2 to be unfolded in the cutter storage groove 021, the cutter locking frame 2 is matched with the cutter storage groove 021, and therefore the hob 01 is stably locked in the cutter storage groove 021 by the cutter locking frame 2, the hob 01 is prevented from rolling randomly, the mistaken installation of the hob 01 is avoided, the misoperation risk is reduced, and the reliability is improved accordingly.

In this embodiment, two opposite sides of the knife holder 02 are respectively provided with a knife storage groove 021, and each knife storage groove 021 is correspondingly matched with the opened knife locking frame 2 one by one to limit the position of the hob 01 in the knife holder 02. Specifically, the tool pocket 021 includes a rectangular groove and a triangular groove provided with two opposite sides of the rectangular groove.

In conclusion, the cutter changing device for changing the hob of the shield machine provided by the invention has improved reliability.

The driving assembly comprises a clamping jaw 38, a translation assembly 36, a rotation assembly 33 and a swinging assembly 31, wherein the translation assembly 36 is connected with the clamping jaw 38 and is used for driving the clamping jaw 38 to translate perpendicularly to the axial direction. Swivel assembly 33 is coupled to translation assembly 36 for driving gripper jaw 38 in axial rotation via translation assembly 36. Swing assembly 31 is coupled to swing assembly 33 to indirectly drive jaws 38 to swing perpendicular to the axial direction via translation assembly 36 and swing assembly 33. Of course, the connection relationship of the translation assembly 36, the rotation assembly 33 and the swing assembly 31 is not limited thereto.

The setting of translation subassembly 36, gyration subassembly 33 and swing subassembly 31 promotes the degree of freedom of holder 3 self to a certain extent, and the degree of freedom of holder 3 self increases, makes holder 3 can rely on self to realize the location, reduces the produced external error of external devices such as arm 1 to the influence of positioning accuracy, and positioning accuracy promotes to some extent naturally.

The key point is that the holder 3 can drive the cutter locking frame 2 to be unfolded in the cutter storage groove 021, so that the cutter locking frame 2 is matched with the cutter storage groove 021, the hob 01 is stably locked in the cutter storage groove 021 by the cutter locking frame 2, the hob 01 is prevented from rolling randomly, the hob 01 is prevented from being mistakenly installed, the misoperation risk is reduced, and the reliability is improved accordingly.

Each locking tool rest 2 comprises a fixing block 21, a guide shaft 22, an adjusting block 23, an adjusting shaft 24 and two limiting blocks 25, wherein the fixing block 21 is fixedly connected with the hob 01, the fixing block 21 is specifically sleeved on tool posts at two ends of the hob 01 and is fixed on the side surface of the hob 01 through bolts.

The guide shaft 22 is vertically fixed to the top of the fixing block 21, and the guide shaft 22 is a threaded shaft.

The adjusting block 23 is slidably fitted over the guide shaft 22, so that the guide shaft 22 is slid in the axial direction relative to the adjusting shaft 24.

The adjusting shaft 24 is arranged on the top of the adjusting block 23 and is rotatably sleeved on the guide shaft 22. In this embodiment, the top of the adjusting block 23 is provided with a mounting groove, and the adjusting shaft 24 is vertically mounted in the mounting groove. The groove edge of mounting groove is equipped with the spacing lid that passes regulating spindle 24, and spacing lid is fixed in the groove edge of mounting groove through fastening screw, and spacing lid offsets with the backstop post that the regulating spindle 24 bottom was established, and spacing lid is injectd regulating spindle 24 and is 23 axle axial displacement for the regulating block. It should be supplemented that the mounting groove at the top of the adjusting block 23 and the stop column at the bottom of the adjusting shaft 24 are both cylindrical, and the mounting groove and the stop column are mutually matched, so that the adjusting shaft 24 can rotate circumferentially relative to the adjusting block 23.

The center of the adjusting shaft 24 is provided with an internal thread matched with the external thread of the guide shaft 22, namely, the adjusting shaft 24 is in threaded connection with the guide shaft 22.

Two limiting blocks 25 are symmetrically arranged at two sides of the guide shaft 22, and each limiting block 25 is provided with a limiting convex rib. The first end of each limiting block 25 is hinged with the fixed block 21, and the second end of each limiting block is rotatably connected with the adjusting block 23. Specifically, the limiting block 25 is L-shaped, and the limiting protruding edge is a protruding edge with an L-shaped structure. The bilateral symmetry of regulating block 23 is equipped with the guide way, and the guide way specifically is circular-arc, and the second end of stopper 25 is equipped with the uide pin, and the uide pin cooperatees with the guide way, makes spacing bead realize gathering together each other or mutual dispersion.

When the adjusting shaft 24 rotates clockwise relative to the guide shaft 22, the adjusting shaft 24 and the adjusting block 23 are not moved, the guide shaft 22 drives the fixed block 21 to be close to the adjusting block 23, the axial distance between the guide block and the adjusting block 23 is shortened, and the limiting convex ridges of the two limiting blocks 25 are spread until the limiting convex ridges abut against the tool storage groove 021, so that locking is realized.

When the adjusting shaft 24 rotates counterclockwise relative to the guide shaft 22, the adjusting shaft 24 and the adjusting block 23 are not moved, the guide shaft 22 drives the fixed block 21 to be far away from the adjusting block 23, the axial distance between the guide block and the adjusting block 23 is increased, the limiting convex ridges of the two limiting blocks 25 are folded until the limiting convex ridges are separated from the tool storage groove 021, and therefore locking is released.

The holder 3 further comprises a supporting base 35, wherein the supporting base 35 is U-shaped and comprises a left side plate, a right side plate and a bottom side plate which is vertically and fixedly connected to the bottoms of the left side plate and the right side plate.

The locking frame further comprises a clamping shaft 251 vertically arranged on the side surfaces of the two limit blocks 25 for clamping the clamping claws 38.

The clamping jaw 38 comprises a fixed jaw 381, a movable jaw 382 and a clamping driving member 383, wherein the fixed jaw 381 is fixed at the bottom of the support base 35. Specifically, the connecting sleeve disposed on the top of the fixing claw 381 and the connecting sleeve disposed on the bottom of the supporting base 35 are fixedly connected by a fixing pin. The movable jaw 382 is rotatably connected to the fixed jaw 381 by a rotation pin. The clamping driving member 383 is fixedly arranged at the bottom of the supporting base 35, and the clamping driving member 383 is fixedly connected with the movable jaw 382 and is used for driving the movable jaw 382 to rotate relative to the fixed jaw 381, so that the movable jaw 382 and the fixed jaw 381 are mutually gathered or separated, and the clamping shaft 251 is correspondingly clamped or loosened by the clamping jaws 38. The clamping actuator 383 may be a hydraulic cylinder, the cylinder being fixedly connected to the bottom side plate of the support base 35, and the piston rod being connected to the movable jaw 382.

The driving assembly further comprises a locking driving member 37 fixedly arranged on the supporting base 35, when the clamping claw 38 moves to be aligned with the tool locking frame 2 under the combined action of the clamp 3 and the mechanical arm 1, the clamp 3 moves downwards to be close to the tool locking frame 2, the adjusting shaft 24 of the tool locking frame 2 penetrates through the bottom side plate of the supporting base 35 and then is inserted into the locking driving member 37, the locking driving member 37 clamps the adjusting shaft 24, and the locking driving member 37 drives the adjusting shaft 24 to rotate clockwise or anticlockwise relative to the guide shaft 22, so that the tool locking frame 2 is correspondingly unfolded or folded, and locking or unlocking is correspondingly realized. To prevent the adjustment shaft 24 from slipping, the adjustment shaft 24 has a regular hexagonal cross-section and correspondingly the lock actuator 37 has a hexagonal clamping hole. In this embodiment, two locking driving members 37 are symmetrically arranged at the bottom of the supporting base 35, and the rotation directions of the two locking driving members 37 are opposite, so as to ensure the synchronous action of the two locking tool holders 2. The lock actuator 37 is preferably a hydraulic wrench, but is not limited thereto.

In the present invention, the clamper 3 further comprises a sliding support 34 slidably mounted on the top of the supporting base 35, and the sliding support 34 is mainly used for connecting the translation assembly 36 and the rotation assembly 33.

The translating assembly 36 includes a sliding track 361 and a sliding groove 362 disposed between the support base 35 and the sliding support 34, and the sliding track 361 and the sliding groove 362 are mutually matched to enable the support base 35 and the sliding support 34 to slide relatively in the vertical axial direction. In this embodiment, the cross-sections of the sliding track 361 and the sliding groove 362 are dovetail-shaped, the sliding groove 362 can be disposed on two opposite sides of the supporting base plate, the sliding track 361 can be disposed on two opposite sides of the sliding support 34, and the arrangement positions of the sliding track 361 and the sliding groove 362 can be interchanged without affecting the achievement of the object of the present invention.

The translation assembly 36 further includes a slide driver 363 disposed between the support base 35 and the slide support 34, the slide driver 363 driving the support base 35 to move relative to the slide support 34 perpendicular to the axial direction. The sliding driving member 363 is preferably a hydraulic cylinder, the cylinder is fixedly connected with the sliding support 34, and the piston rod is fixedly connected with the supporting base 35, but the type and the installation manner of the sliding driving member 363 are not limited thereto.

The rotating assembly 33 is embodied as a rotating speed reducer provided on the top of the sliding support 34. The rotation reducer can rotate around the axial direction, and the structure and the working principle of the rotation reducer can refer to the prior art in particular, and are not detailed here. Of course, the structure of the swing assembly 33 is not limited thereto.

The swing assembly 31 is embodied as a swing cylinder, and the structure and the working principle of the swing cylinder can refer to the prior art. Correspondingly, the gripper 3 of the present invention further comprises a slewing bearing 32 between the swing cylinder and the slewing reducer, and the slewing bearing 32 is used for connecting the swing cylinder and the slewing reducer. In this particular embodiment, the swivel support 32 comprises a swivel post passing through a swivel reducer, the swivel post being fixedly attached to the shoe 34. The rotary support 32 further comprises a U-shaped channel plate fixedly connected with the rotary column, and the swing cylinder is installed in the U-shaped channel plate.

The invention also comprises a mechanical arm 1 connected with the clamp 3, wherein the mechanical arm 1 also has freedom degree and can drive the clamp 3 to move close to the hob 01.

In this embodiment, the robot arm 1 includes a hoisting slide 11, a first rotating arm 12, a second rotating arm 13 and a telescopic arm 14, the hoisting slide 11 is slidably hoisted on a storage bin slide rail 03, and the storage bin slide rail 03 extends in a horizontal direction. The first rotating arm 12 is hinged with the hoisting sliding base 11, and two ends of the second rotating arm 13 are respectively hinged with the first rotating arm 12 and the telescopic arm 14. The telescopic arm 14 is connected at both ends to the second rotating arm 13 and the clamper 3, respectively. The mechanical arm 1 further comprises a first driving piece 15 and a second driving piece 16, wherein two ends of the first driving piece 15 are respectively connected with the hoisting sliding seat 11 and the first rotating arm 12, two ends of the second driving piece 16 are respectively connected with the first rotating arm 12 and the second rotating arm 13, and the first driving piece 15 is used for driving the first rotating arm 12 to rotate relative to the hoisting sliding seat 11 so that the first rotating arm 12 can realize pitching; the second driving element 16 is used for driving the second rotating arm 13 to rotate relative to the first rotating arm 12, so that the second rotating arm 13 can realize pitching. The first drive member 15 and the second drive member 16 may each be a hydraulic cylinder, but are not limited thereto. A telescopic oil cylinder is arranged in the second rotating arm 13, so that the telescopic arm 14 can be telescopic. Of course, the structure of the robot arm 1 is not limited thereto.

Referring to fig. 8 to 10, fig. 8 is a structural view of the tool holder; FIG. 9 is a diagram illustrating the state that the knife locking frame enters the knife storage groove in a furled state; fig. 10 is a state diagram in which the lock blade holder is locked to the pocket in the expanded state.

The working principle of the cutter changing device for changing the hob of the shield machine provided by the invention is as follows:

when a tool is installed, the mechanical arm 1 is started, the first rotating arm 12 and the second rotating arm 13 rotate by a certain angle, and the telescopic arm 14 is stretched and contracted to adjust the pose of the mechanical arm 1;

then the clamp 3 is started, the swinging component 31, the rotating component 33 and the translation component 36 act as required, and the pose of the clamp 3 is adjusted until the clamp 3 is aligned with the tool locking frame 2;

starting the clamping drive 383, the movable jaw 382 rotates relative to the fixed jaw 381, and the clamping jaws 38 are opened;

the clamping claw 38 moves downwards to be close to the tool locking frame 2 under the combined action of the clamp 3 and the mechanical arm 1, and the adjusting shaft 24 of the tool locking frame 2 penetrates through the bottom side plate of the supporting base 35 and then is inserted into the locking driving piece 37;

when the clamping claw 38 abuts against the clamping shaft 251, the clamping driving piece 383 is started again, the movable clamping claw 382 rotates relative to the fixed clamping claw 381, and the clamping claw 38 clamps the clamping shaft 251;

starting the mechanical arm 1 and the clamp holder 3 again, and adjusting the pose of the clamp holder 3 until the clamp holder 3 is aligned with the tool apron 02;

then, the clamping driving piece 383 is started, the movable clamping jaw 382 rotates relative to the fixed clamping jaw 381, the clamping jaw 38 is opened, and the cutter locking frame 2 drives the hob 01 to fall into the cutter holder 02;

starting the locking driving part 37, clamping the adjusting shaft 24 by the locking driving part 37, enabling the adjusting shaft 24 and the adjusting block 23 to be fixed when the locking driving part 37 drives the adjusting shaft 24 to rotate clockwise relative to the guide shaft 22, enabling the guide shaft 22 to drive the fixed block 21 to be close to the adjusting block 23, shortening the axial distance between the guide block and the adjusting block 23, and enabling the limiting convex ribs of the two limiting blocks 25 to be spread until the limiting convex ribs are abutted against the tool storage groove 021 to realize locking;

the process of removing the tool is the reverse of the process of installing the tool and will not be described in detail herein.

The cutter changing device for changing the hob of the shield machine provided by the invention is described in detail above, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the above embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

1. The utility model provides a tool changing device for changing shield constructs quick-witted hobbing cutter, its characterized in that includes two and is used for setting firmly in lock knife rest (2) of hobbing cutter (01) both sides and with two lock knife rest (2) are pegged graft holder (3) that link to each other, holder (3) include:

a support base (35);

a clamping jaw (38) for clamping the lockknife holder (2);

a driving assembly connected with the clamping claw (38) and used for driving the cutter locking frame (2) to be expanded in the cutter storage groove (021) so as to lock the hob (01) in the cutter storage groove (021);

the drive assembly includes:

a translation assembly (36) coupled to the gripper jaw (38) and configured to drive the gripper jaw (38) to translate perpendicular to the axial direction;

a rotating assembly (33) connected with the translation assembly (36) and used for driving the clamping claw (38) to rotate around the axial direction;

a swinging component (31) which is connected with the rotating component (33) and is used for driving the clamping claw (38) to swing perpendicular to the axial direction;

the locking driving piece (37) is fixedly arranged on the supporting base (35) and used for clamping the adjusting shaft (24) penetrating through the supporting base (35) so as to drive the adjusting shaft (24) to rotate; the locking driving piece (37) can drive the adjusting shaft (24) to rotate in situ so as to lock the hob (01).

2. The tool changer for changing a shield tunneling machine hob according to claim 1, characterized in that the locking tool holder (2) comprises:

a fixed block (21) fixedly connected with the hob (01);

a guide shaft (22) fixed on the top of the fixed block (21);

an adjusting block (23) which is slidably sleeved on the guide shaft (22);

the adjusting shaft (24) is arranged at the top of the adjusting block (23) and can be rotatably sleeved on the guide shaft (22);

the two limiting blocks (25) are symmetrically arranged on two sides of the guide shaft (22) and provided with limiting convex edges, the first end of each limiting block (25) is hinged with the fixed block (21), and the second end of each limiting block is connected with the adjusting block (23) in a sliding mode;

when the adjusting shaft (24) rotates clockwise relative to the guide shaft (22), the guide shaft (22) drives the fixed block (21) to approach the adjusting block (23) so that the limiting convex ribs of the two limiting blocks (25) are expanded until the limiting convex ribs abut against the tool storage groove (021) to realize locking;

when the adjusting shaft (24) rotates anticlockwise relative to the guide shaft (22), the guide shaft (22) drives the fixed block (21) to be far away from the adjusting block (23) so that the limiting convex ribs of the two limiting blocks (25) are folded until the limiting convex ribs are separated from the cutter storage groove (021) to release locking.

3. The tool changer for changing a shield machine hob according to claim 2, characterized in that the locking frame comprises a clamping shaft (251) arranged perpendicularly to the side of the two stop blocks (25), and the clamping jaw (38) comprises:

a fixed claw (381) fixedly arranged at the bottom of the supporting base (35);

a movable jaw (382) rotatably connected with the fixed jaw (381);

and the clamping driving piece (383) is fixedly arranged on the support base (35), is connected with the movable clamping jaw (382), and is used for driving the movable clamping jaw (382) to rotate relative to the fixed clamping jaw (381) until the clamping shaft (251) is clamped.

4. The tool changer for changing a shield machine hob according to claim 3, characterized in that the holder (3) further comprises a sliding seat (34) slidably mounted on top of the support base (35), the translation assembly (36) comprising:

a sliding track (361) and a sliding groove (362) which are matched with each other and arranged between the supporting base (35) and the sliding support (34);

and the sliding driving piece (363) is arranged between the sliding support (34) and the supporting base (35) and is used for driving the supporting base (35) to slide relative to the sliding support (34) in a direction perpendicular to the axial direction.

5. The tool changing device for replacing a shield machine hob according to claim 4, characterized in that the swivel assembly (33) is embodied as a swivel reducer arranged on top of the sliding support (34).

6. The tool changing device for replacing a hob of a shield tunneling machine according to claim 5, wherein the swing assembly (31) is embodied as a swing cylinder, and the holder (3) further comprises a swivel support (32) disposed between the swing cylinder and the swivel reducer so as to be fixedly connected therewith.

7. The cutter changing device for replacing a hob of a shield machine according to any one of claims 2 to 6, characterized by further comprising a mechanical arm (1) connected with the holder (3) for driving the holder (3) to act.

8. The tool changing device for changing a shield machine hob according to claim 7, characterized in that the robot arm (1) comprises:

a hoisting slide seat (11) for hoisting the storage bin slide rail (03);

a first rotating arm (12) hinged with the hoisting sliding seat (11);

a second rotating arm (13) hinged with the first rotating arm (12);

and the telescopic arm (14) is arranged at one end of the second rotating arm (13) far away from the first rotating arm (12) and is connected with the clamp holder (3).