CN114263470A - Automatic access method for hob of shield machine - Google Patents
Automatic access method for hob of shield machine Download PDFInfo
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- CN114263470A CN114263470A CN202111621657.6A CN202111621657A CN114263470A CN 114263470 A CN114263470 A CN 114263470A CN 202111621657 A CN202111621657 A CN 202111621657A CN 114263470 A CN114263470 A CN 114263470A
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Abstract
The invention discloses an automatic access method for a hob of a shield machine, which uses an automatic hob head and comprises the following steps: step one, replacing a new cutter with an old cutter; and step two, manually feeding the cutter and warehousing. The automatic knife rest is pre-stored with a certain number of new knives, and when the knives are automatically changed, the old knives are taken down from the knife disc one by one and placed on the automatic knife rest; simultaneously, new knives on the automatic knife rest are placed at designated positions on the knife disc one by one; after all the new cutters are replaced, the automatic cutter rest sends the old cutters out of the cabin and takes the old cutters down manually; after all the old knives are taken out, the new knives are manually loaded, and the automatic knife rest sends the new knives into the cabin. After the method provided by the invention is adopted, a certain number of new and old hobbing cutters can be stored on the automatic cutter frame, and can be automatically stored and taken according to the system requirements, thereby replacing the heavy manual transfer operation in the narrow space of the shield machine. Therefore, the cutter changing operation of the shield machine is safer, more efficient and more economical.
Description
Technical Field
The invention relates to an automatic access method for a hob of a shield machine, and belongs to the technical field of shield machines.
Background
When the shield machine is used, the cutter (hob) is easy to be passivated and damaged, and the cutter is easy to be abraded when the shield machine meets the environment with hard soil. In consideration of construction progress and practical conditions, the replacement of the cutter is often required to be completed underground.
When manual tool changing operation is carried out, a group of 5 persons are usually used, wherein 2 persons complete tool checking, dismounting and mounting in the muddy water cabin, the other 2 persons are in the personnel gate and are responsible for tool conveying, and the rest 1 person is in charge of other auxiliary operations outside the personnel gate. The weight of a single cutter is close to 200kg, and the transferring operation of the cutter consumes great physical force, so that the whole cutter changing efficiency is influenced. On site, 2 groups of people are often arranged to exchange tools alternately, one group finishes tool exchange, withdraws for rest, and the other group starts operation.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to automatically store and take the hobbing cutter inside the shield machine.
In order to solve the technical problems, the technical scheme of the invention provides an automatic access method for a shield machine hob, which is characterized in that an automatic hob head is used, the automatic hob head comprises a cabin body and an automatic hob head, the automatic hob head is arranged in the cabin body, and the automatic hob head comprises a transverse moving platform structure, a conveying platform structure and a lifting platform structure which are sequentially connected in a transmission manner from left to right; the transverse moving platform structure consists of a bottom layer translation mechanism, a top layer translation mechanism and a first conveying platform, wherein the top layer translation mechanism is arranged on the bottom layer translation mechanism in a sliding mode, and the first conveying platform is arranged on the top layer translation mechanism in a sliding mode; the structure of the conveying platform comprises a top layer conveying platform and a bottom layer conveying platform, the top layer conveying platform and the bottom layer conveying platform are identical in structure, and the top layer conveying platform is arranged above the bottom layer conveying platform; the lifting platform structure comprises a second conveying platform and a mounting plate, the bottom of the second conveying platform is connected with the mounting plate through a lifting structure, and the second conveying platform is arranged above the mounting plate; the cabin body comprises a shell, a front cabin door and a rear cabin door, the front cabin door and the rear cabin door are arranged on two sides of the shell, the front cabin door is arranged at a position close to the muddy water cabin, and the rear cabin door is arranged opposite to the front cabin door; when the tool needs to be taken out of the cabin for tool changing, the front cabin door is opened, and the rear cabin door is closed; when a new knife is manually placed in the cabin body or an old knife is dismounted, the front cabin door is closed, and the rear cabin door is opened; the automatic access method of the hob comprises the following steps:
step one, replacing a new cutter with an old cutter:
1.1, pre-storing n new hobs on a top layer conveying platform of a conveying platform structure, placing each hob on the top layer conveying platform through a jig frame for loading the hobs, placing the jig frame on a second conveying platform of a lifting platform structure, and enabling the second conveying platform to be parallel to the top layer conveying platform; n is greater than 1;
1.2, grabbing an old hob from the outside of the cabin body, and then placing the old hob on a jig frame of a lifting platform structure;
1.3, the lifting platform structure reduces the height until the second conveying platform is flush with the bottom layer conveying platform, and then the second conveying platform and the bottom layer conveying platform move leftwards in a coordinated mode to transfer the old hob to the bottom layer conveying platform;
1.4, raising the lifting platform structure to a height that the second conveying platform is flush with the top layer conveying platform, then enabling the second conveying platform and the top layer conveying platform to move rightwards in a coordinated mode, transferring the new hob to the second conveying platform of the lifting platform structure, moving the new hob integrally rightwards by n at the moment, and leaving n-1 new hobs on the top layer conveying platform;
1.5, the robot moves to the upper part of the lifting platform structure, and after a new hob is taken away, only a jig frame is left on the lifting platform structure;
1.6, repeating the steps 1.1-1.5 until n new hobs are replaced, wherein n old hobs are transferred to a bottom layer conveying platform, and a jig frame is stored on a lifting platform structure and is flush with a top layer conveying platform in height;
step two, manually feeding the cutter and warehousing:
2.1, the second conveying platform and the top layer conveying platform move leftwards in a coordinated mode, and the jig frame on the second conveying platform is transferred to the top layer conveying platform;
2.2, the lifting platform structure reduces the height to be flush with the bottom layer conveying platform, then the second conveying platform and the bottom layer conveying platform move rightwards in a coordinated mode, the old hob with the jig frame is transferred onto the second conveying platform, at the moment, n integrally moves the old hob rightwards to a position, and n-1 old hobs are left on the bottom layer conveying platform;
2.3, lifting the lifting platform to a height level with the top layer conveying platform, moving the second conveying platform and the top layer conveying platform to the left in a coordinated mode, transferring the old hob to the top layer conveying platform, moving the old hob and the jig frame integrally to the left on the top layer conveying platform at the moment, and enabling 1 old hob to be arranged on the top layer conveying platform;
2.4, repeating the steps 2.2-2.3 until n-1 on the bottom layer conveying platform transfers the old hob to the top layer conveying platform anticlockwise, and finally 1 places the old hob on the lifting platform;
2.5, the first conveying platform moves leftwards in coordination with the top layer conveying platform and the second conveying platform, the jig frame on the top layer conveying platform is transferred onto the first conveying platform, meanwhile, the old hob cutter on the second conveying platform is transferred onto the top layer conveying platform, and at the moment, n old hob cutters are stored on the top layer conveying platform;
2.6, moving the bottom layer translation mechanism and the top layer translation mechanism leftwards, opening a rear cabin door, and manually taking down the jig frame;
2.7, moving the bottom layer translation mechanism and the top layer translation mechanism rightwards until the first conveying platform approaches the top layer conveying platform and then stopping;
2.8, repeating the steps 2.5-2.7 until all the old hobs and the jig frame are taken down, and at the moment, extending the first conveying platform out of the rear cabin door;
2.9, manually placing a new hob and the jig frame on the first conveying platform, and moving the bottom layer translation mechanism and the top layer translation mechanism to the right until the first conveying platform approaches the top layer conveying platform and then stopping;
2.10, the first conveying platform and the top layer conveying platform move rightwards in a coordinated mode, and the new hob cutter is transferred to the top layer conveying platform, and at the moment, 1 new hob cutter is stored on the top layer conveying platform;
2.11, moving the bottom layer translation mechanism and the top layer translation mechanism to the left to a specified position, and extending the first conveying platform out of the rear cabin door;
2.12, repeating the steps 2.9-2.11 until n transfers all the new hobs to the top layer conveying platform, and closing the rear hatch door.
Preferably, the shell is formed by roll bending and welding high-strength steel plates; the front hatch and the rear hatch are both opened outwards.
Preferably, the bottom layer translation mechanism comprises a first bottom plate, a first linear guide rail and a motor support are fixed on the first bottom plate, a sliding block is arranged on the first linear guide rail in a sliding manner, the sliding block is fixedly connected with a first mounting plate, and the first bottom plate is in driving connection with the first mounting plate through a first driving device; the top layer translation mechanism comprises a second linear guide rail, the second linear guide rail is fixed to the top of the first mounting plate, a sliding block is arranged on the second linear guide rail in a sliding mode, the sliding block on the second linear guide rail is fixed to the bottom of the second mounting plate, and the first mounting plate and the second mounting plate are in driving connection through a second driving device.
Preferably, the first driving device comprises a motor support, a second speed reducing motor is fixed on the motor support, a synchronous pulley is fixed on a driving end of the second speed reducing motor, the synchronous pulley is rotatably connected with one end of a first ball screw through a synchronous belt, two ends of the first ball screw are respectively rotatably arranged on a fixed end of the screw and a floating end of the screw, a first connecting block is fixed at the bottom of the first mounting plate, a nut is fixed on the first connecting block, and the nut is in threaded connection with the first ball screw; the motor support, the lead screw fixed end and the lead screw floating end are all fixed on the first bottom plate.
Preferably, the structure of the first driving device is the same as that of the second driving device; the second driving device comprises a second connecting block, the bottom of the second mounting plate is also fixedly provided with the second connecting block, a nut is fixed on the second connecting block, a second ball screw is connected with the nut through threads, two ends of the second ball screw are respectively rotatably arranged on a screw fixing end and a screw floating end, a second speed reducing motor is fixed on the motor support, a synchronous pulley is fixed at the driving end of the second speed reducing motor, and the synchronous pulley is rotatably connected with one end of the second ball screw through a synchronous belt; the motor support, the lead screw fixed end and the lead screw floating end are all fixed on the top of the first mounting plate.
Preferably, the first conveying platform comprises at least one first power roller and a plurality of unpowered rollers, the first power rollers and the unpowered rollers are sequentially arranged on the first frame, and the first power rollers and the unpowered rollers are connected through a first conveying chain.
Preferably, the top layer conveying platform and the bottom layer conveying platform respectively comprise a second power roller and a second unpowered roller, the second power roller and the second unpowered roller are connected through a second conveying chain, and jig frames for loading hobs are arranged on the second power roller and the second unpowered roller;
the second power roller and the second unpowered roller on the top layer conveying platform are both arranged on the top layer frame, and the second power roller and the second unpowered roller on the bottom layer conveying platform are both arranged on the bottom layer frame; the top layer frame is arranged above the bottom layer frame.
Preferably, a first speed reducing motor is fixed on the mounting plate, a driving end of the first speed reducing motor is connected with one end of a rigid chain, and the other end of the rigid chain is connected with the bottom of the second conveying platform; the second conveying platform has the same structure as the first conveying platform.
The invention provides an automatic access method for a hob of a shield machine, wherein a certain number of new knives are stored in advance on an automatic knife rest, and when the knives are automatically changed, the old knives are taken down from a cutter head one by one and placed on the automatic knife rest; simultaneously, new knives on the automatic knife rest are placed at designated positions on the knife disc one by one; after all the new cutters are replaced, the automatic cutter rest sends the old cutters out of the cabin and takes the old cutters down manually; after all the old knives are taken out, the new knives are manually loaded, and the automatic knife rest sends the new knives into the cabin. The invention can realize the quick circulation of new and old hobbing cutters in the shield machine, and an operator can realize the automatic feeding and discharging of the hobbing cutters under the normal pressure state, thereby solving the problem of automatic storage and taking of the cutters.
Compared with the prior art, the invention has the following beneficial effects:
after the method provided by the invention is adopted, a certain number of new and old cutters can be stored on the automatic cutter rest by the hob of the shield machine, and the new and old cutters can be automatically stored and taken out according to the system requirements, so that the heavy manual transferring operation in the narrow space of the shield machine is replaced. Therefore, the cutter changing operation of the shield machine is safer, more efficient and more economical.
Drawings
FIG. 1 is a schematic view of the overall structure of an automatic hob head inside a shield machine;
FIG. 2 is a schematic structural view of the cabin;
FIG. 3 is a schematic view of the construction of an automatic tool post;
FIG. 4 is a schematic structural view of a traverse platform configuration;
FIG. 5 is a left side view of the traverse platform configuration;
FIG. 6 is a schematic structural diagram of a structure of a transfer platform;
fig. 7 is a schematic structural view of the lifting platform structure.
FIG. 8 is a flow chart of automatic tool holder tool change;
fig. 9 is a flow chart of manual feeding and warehousing.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
The invention provides an automatic access method for a shield machine hob, which requires an automatic hob head, as shown in figure 1, the automatic hob head comprises a cabin body 1 and an automatic hob head 3. The automatic tool rest 3 is arranged inside the cabin body 1, the cabin body 1 is of a columnar structure, and the cabin body 1 is connected with the shield tunneling machine body through screws.
As shown in fig. 2, the cabin body 1 is composed of a shell 11, a front cabin door 12 and a rear cabin door 13, the front cabin door 12 and the rear cabin door 13 are both arranged on the shell 11, the front cabin door 12 is close to a muddy water cabin (or a cutter head), the rear cabin door 13 is opposite to the front cabin door 12, and the shell 11 is formed by roll bending and welding high-strength steel plates. The front cabin door 12 and the rear cabin door 13 are both in an outward opening state, and when the cabin needs to be taken out for tool changing, the front cabin door 12 is opened, and the rear cabin door 13 is closed; when a new hob 2 is manually placed into the cabin 1 or an old hob 2 is removed, the front door 12 is closed and the rear door 13 is opened.
As shown in fig. 3, the automatic blade carrier 3 includes a traverse platform structure 31, a transfer platform structure 32, and a lifting platform structure 33, which are sequentially connected in a conveying manner.
As shown in fig. 4 and 5, the traverse platform structure 31 is composed of a bottom layer translation mechanism 31A, a top layer translation mechanism 31B and a first conveying platform 31C, the three modules are stacked, that is, the top layer translation mechanism 31B is slidably disposed on the bottom layer translation mechanism 31A, and the first conveying platform 31C is slidably disposed on the top layer translation mechanism 31B. The double-layer translation mechanism (i.e. the bottom translation mechanism 31A and the top translation mechanism 31B) aims to provide a large moving space for the first conveying platform 31C, so that the operator 4 can conveniently get on and off the knife.
The floor translation mechanism 31A includes a first base plate 3101, a first linear guide 3102, a slider 3103, a first ball screw 3104, a second reduction motor 3105, a motor mount 3106, a timing pulley 3107, a timing belt 3108, a screw fixing end 3109, a screw floating end 3110, a nut 3111, a first link 3112, and a first mounting plate 3113, the first linear guide 3102 is fixed to the first base plate 3101, the slider 3103 is slidably provided on the first linear guide 3102, the slider 3103 on the first linear guide 3102 is fixed to the bottom of the first mounting plate 3113, the motor mount 3106 is fixed to the first base plate 3101, the second reduction motor 3105 is fixed to the motor mount 3106, the timing pulley 3107 is fixed to a driving end of the second reduction motor 3105, the timing pulley 3107 is rotatably connected to one end of the first ball screw 3104 through the timing belt 3108, one end of the first ball screw 3104 is provided on the first ball screw fixing end 3109, the first ball screw fixing end 3104 is rotatable in the screw 3109, the other end of the first ball screw 3104 is disposed on the floating end 3110 of the screw, the first ball screw 3104 is rotatable in the floating end 3110 of the screw, the fixed end 3109 and the floating end 3110 of the screw are both fixed on the first base plate 3101, the bottom of the first mounting plate 3113 is fixed with a first connecting block 3112, the first connecting block 3112 is fixed with a nut 3111, and the nut 3111 is in threaded connection with the first ball screw 3104.
The top translation mechanism 31B includes a second linear guide 3114, a slider 3103, a second ball screw 3115, a second speed reduction motor 3105, a motor support 3106, a synchronous pulley 3107, a synchronous belt 3108, a screw fixing end 3109, a screw floating end 3110, a nut 3111, a second connecting block 3116, a second mounting plate 3117, the second linear guide 3114, the motor support 3106, the screw fixing end 3109, and the screw floating end 3110 are all fixed on the top of the first mounting plate 3113, the slider 3103 is slidingly arranged on the second linear guide 3114, the slider 3103 on the second linear guide 3114 is fixed on the bottom of the second mounting plate 3117, the second connecting block 3116 is further fixed on the bottom of the second mounting plate 3117, the nut 3111 is fixed on the second connecting block 3116, the second ball screw 3115 is in threaded connection with the nut 3111, two ends of the second ball screw 3115 are respectively rotatably arranged on the screw fixing end 3109 and the screw floating end 3110, the second speed reduction motor 3115 is fixed on the motor support 3106, a timing pulley 3107 is fixed to a drive end of the second reduction motor 3105, and the timing pulley 3107 is rotatably connected to one end of the second ball screw 3115 through a timing belt 3108.
The first conveying platform 31C includes at least one first power roller 3118, a plurality of unpowered rollers 3119, a first conveying chain 3120 and a first frame 3121, the at least one first power roller 3118 and the plurality of unpowered rollers 3119 are sequentially arranged on the first frame 3121, and the first power roller 3118 and the unpowered rollers 3119 are connected through the first conveying chain 3120, so that the first power roller 3118 drives the unpowered rollers 3119 to synchronously rotate.
As shown in fig. 6, the transfer platform structure 32 includes a top layer transfer platform 32A and a bottom layer transfer platform 32B. The top and bottom transport platforms 32A and 32B are identical in construction and are powered by powered rollers, a plurality of unpowered rollers being connected in series by chains, the number of powered rollers being dependent upon the particular application. The top transport platform 32A is placed on top of the bottom transport platform 32B and secured by screws.
The topping conveyor platform 32A includes a second power roller 3201, a second unpowered roller 3202, a second conveyor chain 3203, a jig frame 3204 and a topping frame 3205, the second power roller 3201 and the second unpowered roller 3202 are both disposed on the topping frame 3205, the second power roller 3201 and the second unpowered roller 3202 are connected through the second conveyor chain 3203, the jig frame 3204 for loading the hob 2 is disposed on the second power roller 3201 and the second unpowered roller 3202, and the jig frame 3204 can convey on the second power roller 3201 and the second unpowered roller 3202.
The bottom layer conveying platform 32B comprises a second power roller 3201, a second unpowered roller 3202, a second conveying chain 3203, a jig frame 3204 and a bottom layer frame 3206, wherein the second power roller 3201 and the second unpowered roller 3202 are arranged on the bottom layer frame 3206, the second power roller 3201 and the second unpowered roller 3202 are connected through the second conveying chain 3203, the jig frame 3204 for loading the hob 2 is arranged on the second power roller 3201 and the second unpowered roller 3202, and the jig frame 3204 can convey on the second power roller 3201 and the second unpowered roller 3202.
As shown in fig. 7, the lifting platform structure 33 includes a second conveying platform 33A, a connecting rod 3301, a pin 3302, a guide wheel 3303, a guide groove 3304, a mounting plate 3305, a first speed reduction motor 3306 and a rigid chain 3307, the bottom of the second conveying platform 33A is connected with the mounting plate 3305 through a lifting structure, the second conveying platform 33A is arranged above the mounting plate 3305, the lifting structure includes two sets of link mechanisms, one side of the upper end of the link mechanism is fixedly connected with the bottom of the second conveying platform 33A, the other side of the upper end of the link mechanism is movably connected with the bottom of the second conveying platform 33A, one side of the lower end of the link mechanism is fixedly connected with the top of the mounting plate 3305, and the other side of the upper end of the link mechanism is movably connected with the top of the mounting plate 3305. The mounting plate 3305 is fixed with a first gear motor 3306, the drive end of the first gear motor 3306 is connected with one end of the rigid chain 3307, and the other end of the rigid chain 3307 is connected with the bottom of the second conveying platform 33A. The movable connecting position of the link mechanism and the mounting plate 3305 and the movable connecting position of the link mechanism and the second conveying platform 33A are respectively provided with a guide wheel 3303, the guide wheels 3303 are arranged in a guide groove 3304, and the guide groove 3304 is fixed on the second conveying platform 33A and the mounting plate 3305.
Each group of link mechanisms comprises a plurality of groups of crossed link structures, each crossed link structure is composed of two connecting rods 3301 which are in crossed connection, the connecting rods 3301 which are in crossed connection are connected through a pin 3302, and any two adjacent groups of crossed link structures are connected through a pin 3302.
The second transfer stage 33A has the same structure as the first transfer stage 31C. The second transfer platform 33A includes at least a first powered roller 3118, a plurality of first unpowered rollers 3119, a first transfer chain 3120, and a second frame 3308. At least one first power roller 3118 and a plurality of unpowered roller 3119 are arranged in sequence on second frame 3308, are connected through first transfer link 3120 between first power roller 3118 and the unpowered roller 3119 for first power roller 3118 drives unpowered roller 3119 synchronous rotation.
According to the automatic access method for the hob of the shield machine, the transmission platform structure 32 and the lifting platform structure 33 are matched to realize the ordered storage and automatic operation matching of the new hob 2 and the old hob 2. The transverse moving platform mainly achieves the purpose of manually replacing the new hob 2 and the old hob 2. Specifically, after the new hob is replaced, the old hob 2 is firstly conveyed to the outside of the nacelle through the lifting platform structure 33, the conveying platform structure 32 and the traverse platform structure 31 in sequence, and then the new hob 2 is conveyed to the temporary storage position on the conveying platform structure 32 through the traverse platform structure 31. The method specifically comprises the following steps:
step one, the new knife is replaced by the old knife, as shown in fig. 1 and 8:
1.1, n new hobs 2 are pre-stored on a top layer conveying platform 32A of the conveying platform structure 32, each hob 2 is arranged on the top layer conveying platform 32A through a jig frame 3204, the jig frame 3204 is arranged on a second conveying platform 33A of the lifting platform structure 33, and at the moment, the second conveying platform 33A is flush with the top layer conveying platform 32A; n is greater than 1;
1.2, grabbing an old hob 2 from the outside of the cabin 1, and then placing the old hob 2 on a jig frame 3204 of the lifting platform structure 33;
1.3, the lifting platform structure 33 is lowered to a height that the second conveying platform 33A is flush with the bottom layer conveying platform 32B, and then the second conveying platform 33A and the bottom layer conveying platform 32B cooperatively move leftwards to transfer the old hob 2 to the bottom layer conveying platform 32B;
1.4, the lifting platform structure 33 is lifted until the second conveying platform 33A is flush with the top layer conveying platform 32A, then the second conveying platform 33A and the top layer conveying platform 32A cooperatively move rightwards, the new hob 2 is transferred onto the second conveying platform 33A of the lifting platform structure 33, at the moment, n moves the new hob 2 integrally rightwards by one position, and n-1 new hobs 2 are left on the top layer conveying platform 32A;
1.5, the robot moves to the upper part of the lifting platform structure 33, and after a new hob 2 is taken away, only a jig frame 3204 is left on the lifting platform structure 33;
1.6, repeating the steps 1.1-1.5 until n replaces the new hob 2, at which time n transfers the old hob 2 to the bottom layer transfer platform 32B, and the lifting platform structure 33 stores the jig frame 3204, which is at the same height as the top layer transfer platform 32A.
Step two, manually feeding the cutter and warehousing, as shown in fig. 1 and fig. 9:
2.1, the second transfer platform 33A and the top transfer platform 32A move leftwards in cooperation to transfer the jig 3204 on the second transfer platform 33A to the top transfer platform 32A;
2.2, the lifting platform structure 33 is lowered to be level with the bottom layer conveying platform 32B, then the second conveying platform 33A and the bottom layer conveying platform 32B move rightwards in a coordinated mode, the old hob 2 with the jig 3204 is transferred onto the second conveying platform 33A, at the moment, n integrally moves the old hob 2 rightwards to a position, and n-1 old hobs 2 are left on the bottom layer conveying platform 32B;
2.3, the lifting platform structure 33 is lifted to be flush with the top layer conveying platform 32A, then the second conveying platform 33A and the top layer conveying platform 32A cooperatively move leftwards, the old hob 2 is transferred onto the top layer conveying platform 32A, at the moment, on the top layer conveying platform 32A, the old hob 2 and the jig frame 3204 integrally move leftwards to a position, and the top layer conveying platform 32A has 1 old hob 2;
2.4, repeating the steps 2.2-2.3 until n-1 on the bottom conveying platform 32B transfers the old hob 2 to the top conveying platform 32A anticlockwise (and 1 places the old hob 2 on the lifting platform 33);
2.5, the first conveying platform 31C moves leftwards in coordination with the top conveying platform 32A and the second conveying platform 33A, the jig 3204 on the top conveying platform 32A is transferred onto the first conveying platform 31C, and the old hob 2 on the second conveying platform 33A is transferred onto the top conveying platform 32A, at the same time, n pairs of old hobs 2 are stored on the top conveying platform 32A;
2.6, the bottom layer translation mechanism 31A and the top layer translation mechanism 31B move leftwards, the rear cabin door 13 is opened, and the jig frame 3204 is manually taken down;
2.7, moving the bottom layer translation mechanism 31A and the top layer translation mechanism 31B rightwards until the first conveying platform 31C approaches the top layer conveying platform 32A and then stopping;
2.8, repeating the steps 2.5-2.7 until all the old hobs 2 and the jig frame 3204 are taken down, and the first conveying platform 31C extends out of the rear cabin door 13;
2.9, manually placing the new hob 2 and the jig frame 3204 on the first conveying platform 31C, and moving the bottom layer translation mechanism 31A and the top layer translation mechanism 31B to the right until the first conveying platform 31C approaches the top layer conveying platform 32A and then stopping;
2.10, the first conveying platform 31C and the top conveying platform 32A move rightwards in a coordinated manner, and the new hob 2 is transferred onto the top conveying platform 32A, and at the moment, 1 new hob 2 is stored on the top conveying platform 32A;
2.11, the bottom layer translation mechanism 31A and the top layer translation mechanism 31B move leftwards to the designated positions, and the first conveying platform 31C extends out of the rear cabin door 13;
2.12, repeating steps 2.9-2.11 until n transfers all the new roller cutters 2 to the top layer transfer platform 32A, and closing the rear hatch 13.
Claims (8)
1. An automatic access method for a shield machine hob is characterized in that an automatic hob head is used, the automatic hob head comprises a cabin body (1) and an automatic hob head (3), the automatic hob head (3) is arranged in the cabin body (1), and the automatic hob head (3) comprises a transverse moving platform structure (31), a conveying platform structure (32) and a lifting platform structure (33) which are sequentially connected in a transmission mode from left to right; the transverse moving platform structure (31) consists of a bottom layer translation mechanism (31A), a top layer translation mechanism (31B) and a first conveying platform (31C), the top layer translation mechanism (31B) is arranged on the bottom layer translation mechanism (31A) in a sliding mode, and the first conveying platform (31C) is arranged on the top layer translation mechanism (31B) in a sliding mode; the conveying platform structure (32) comprises a top layer conveying platform (32A) and a bottom layer conveying platform (32B), the top layer conveying platform (32A) and the bottom layer conveying platform (32B) are identical in structure, and the top layer conveying platform (32A) is arranged above the bottom layer conveying platform (32B); the lifting platform structure (33) comprises a second conveying platform (33A) and a mounting plate (3305), the bottom of the second conveying platform (33A) is connected with the mounting plate (3305) through the lifting structure, and the second conveying platform (33A) is arranged above the mounting plate (3305); the cabin body (1) comprises a shell (11), a front cabin door (12) and a rear cabin door (13), wherein the front cabin door (12) and the rear cabin door (13) are arranged on two sides of the shell (11), the front cabin door (12) is arranged at a position close to the muddy water cabin, and the rear cabin door (13) is arranged opposite to the front cabin door (12); when the tool needs to be taken out of the cabin for tool changing, the front cabin door (12) is opened, and the rear cabin door (13) is closed; when a new knife is manually placed in the cabin body (1) or an old knife is removed, the front cabin door (12) is closed, and the rear cabin door (13) is opened; the automatic access method of the hob comprises the following steps:
step one, replacing a new cutter with an old cutter:
1.1, n new hobs (2) are prestored on a top layer conveying platform (32A) of a conveying platform structure (32), each hob (2) is placed on the top layer conveying platform (32A) through a jig frame (3204) for loading the hob (2), the jig frame (3204) is placed on a second conveying platform (33A) of a lifting platform structure (33), and the second conveying platform (33A) is flush with the top layer conveying platform (32A); n is greater than 1;
1.2, grabbing an old hob (2) from the outside of the cabin body (1), and then placing the old hob (2) on a jig frame (3204) of the lifting platform structure (33);
1.3, lowering the height of the lifting platform structure (33) until the second conveying platform (33A) is flush with the bottom layer conveying platform (32B), and moving the second conveying platform (33A) and the bottom layer conveying platform (32B) to the left in a coordinated manner to transfer the old hob (2) to the bottom layer conveying platform (32B);
1.4, the lifting platform structure (33) is lifted to a height that the second conveying platform (33A) is flush with the top layer conveying platform (32A), then the second conveying platform (33A) and the top layer conveying platform (32A) move rightwards in a coordinated mode, a new hob (2) is transferred onto the second conveying platform (33A) of the lifting platform structure (33), at the moment, n enables the new hob (2) to integrally move rightwards to a position, and n-1 new hobs (2) are left on the top layer conveying platform (32A);
1.5, the robot moves to the upper part of the lifting platform structure (33), and after a new hob (2) is taken away, only a jig frame (3204) is left on the lifting platform structure (33);
1.6, repeating the steps 1.1-1.5 until n replaces the new hob (2), wherein n transfers the old hob (2) to the bottom layer conveying platform (32B), and the lifting platform structure (33) is stored with a jig frame (3204) which is level to the top layer conveying platform (32A);
step two, manually feeding the cutter and warehousing:
2.1, the second transfer platform (33A) and the top transfer platform (32A) move leftwards cooperatively to transfer the moulding bed (3204) on the second transfer platform (33A) to the top transfer platform (32A);
2.2, the lifting platform structure (33) is lowered to be level with the bottom layer conveying platform (32B), the second conveying platform (33A) and the bottom layer conveying platform (32B) move rightwards in a coordinated mode, the old hob (2) with the jig frame (3204) is transferred onto the second conveying platform (33A), at the moment, n enables the old hob (2) to move rightwards integrally to one position, and n-1 is left on the bottom layer conveying platform (32B) to enable the old hob (2) to move rightwards;
2.3, the lifting platform structure (33) is lifted to be level with the top layer conveying platform (32A), then the second conveying platform (33A) and the top layer conveying platform (32A) move leftwards in a coordinated mode, the old hob (2) is transferred onto the top layer conveying platform (32A), at the moment, on the top layer conveying platform (32A), the old hob (2) and the jig frame (3204) integrally move leftwards to a position, and 1 old hob (2) is arranged on the top layer conveying platform (32A);
2.4, repeating the steps 2.2-2.3 until n-1 on the bottom layer conveying platform (32B) transfers the old hob (2) to the top layer conveying platform (32A) anticlockwise, and finally 1, placing the old hob (2) on the lifting platform (33);
2.5, the first conveying platform (31C) moves leftwards in coordination with the top layer conveying platform (32A) and the second conveying platform (33A), a jig frame (3204) on the top layer conveying platform (32A) is transferred onto the first conveying platform (31C), meanwhile, an old hob (2) on the second conveying platform (33A) is transferred onto the top layer conveying platform (32A), and at the moment, n pairs of old hobs (2) are stored on the top layer conveying platform (32A);
2.6, moving the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) leftwards, opening the rear cabin door (13), and manually taking down the jig frame (3204);
2.7, moving the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) to the right until the first conveying platform (31C) approaches the top layer conveying platform (32A) and then stopping;
2.8, repeating the steps 2.5-2.7 until all the old hobs (2) and the jig frame (3204) are removed, and the first conveying platform (31C) extends out of the rear cabin door (13);
2.9, manually placing the new hob (2) and the jig frame (3204) on the first conveying platform (31C), and moving the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) to the right until the first conveying platform (31C) approaches the top layer conveying platform (32A) and then stopping;
2.10, the first conveying platform (31C) and the top layer conveying platform (32A) move rightwards in a coordinated mode, the new hob (2) is transferred onto the top layer conveying platform (32A), and at the moment, 1 new hob (2) is stored on the top layer conveying platform (32A);
2.11, moving the bottom layer translation mechanism (31A) and the top layer translation mechanism (31B) to the left to a designated position, and extending the first conveying platform (31C) out of the rear cabin door (13);
2.12, repeating the steps 2.9-2.11 until n transfers the new hob (2) to the top layer conveying platform (32A) completely, and closing the rear hatch (13).
2. The automatic shield tunneling machine hob storing and taking method according to claim 1, characterized in that the shell (11) is formed by roll bending and welding high-strength steel plates; the front hatch (12) and the rear hatch (13) are both opened outwards.
3. The shield machine hob automatic access method according to claim 1, characterized in that the bottom layer translation mechanism (31A) comprises a first bottom plate (3101), a first linear guide rail (3102) and a motor support (3106) are fixed on the first bottom plate (3101), a slider (3103) is slidably arranged on the first linear guide rail (3102), the slider (3103) is fixedly connected with a first mounting plate (3113), and the first bottom plate (3101) is drivingly connected with the first mounting plate (3113) through a first driving device; the top layer translation mechanism (31B) comprises a second linear guide rail (3114), the second linear guide rail (3114) is fixed to the top of the first mounting plate (3113), a sliding block (3103) is arranged on the second linear guide rail (3114) in a sliding manner, the sliding block (3103) on the second linear guide rail (3114) is fixed to the bottom of the second mounting plate (3117), and the first mounting plate (3113) is in driving connection with the second mounting plate (3117) through a second driving device.
4. The automatic shield tunneling machine hob storing and taking method according to claim 3, wherein the first driving device comprises a motor support (3106), a second speed reducing motor (3105) is fixed on the motor support (3106), a synchronous pulley (3107) is fixed on a driving end of the second speed reducing motor (3105), the synchronous pulley (3107) is rotatably connected with one end of a first ball screw (3104) through a synchronous belt (3108), two ends of the first ball screw (3104) are respectively rotatably arranged on a screw fixing end (3109) and a screw floating end (3110), a first connecting block (3112) is fixed on the bottom of a first mounting plate (3113), a nut (3111) is fixed on the first connecting block (3112), and the nut (3111) is in threaded connection with the first ball screw (3104); the motor support (3106), the lead screw fixing end (3109) and the lead screw floating end (3110) are all fixed on the first base plate (3101).
5. The automatic shield tunneling machine hob access method according to claim 4, wherein the structure of the first driving device is the same as the structure of the second driving device; the second driving device comprises a second connecting block (3116), the bottom of the second mounting plate (3117) is further fixed with the second connecting block (3116), a nut (3111) is fixed on the second connecting block (3116), the second ball screw (3115) is in threaded connection with the nut (3111), two ends of the second ball screw (3115) are respectively rotatably arranged on a screw fixing end (3109) and a screw floating end (3110), the second speed reducing motor (3105) is fixed on a motor support (3106), a synchronous pulley (3107) is fixed at a driving end of the second speed reducing motor (3105), and the synchronous pulley (3107) is rotatably connected with one end of the second ball screw (3115) through a synchronous belt (3108); the motor support (3106), the lead screw fixing end (3109) and the lead screw floating end (3110) are all fixed on the top of the first mounting plate (3113).
6. The shield machine hob automatic access method according to claim 1, characterized in that, the first transfer platform (31C) comprises at least one first power roller (3118) and a plurality of unpowered rollers (3119), the first power roller (3118) and the unpowered rollers (3119) are arranged in sequence on the first frame (3121), and the first power roller (3118) and the unpowered rollers (3119) are connected by a first transfer chain (3120).
7. The automatic shield machine hob storing and taking method according to claim 1, characterized in that the top layer conveying platform (32A) and the bottom layer conveying platform (32B) both comprise a second power roller (3201) and a second unpowered roller (3202), the second power roller (3201) and the second unpowered roller (3202) are connected through a second conveyor chain (3203), and a jig frame (3204) for loading the hob (2) is arranged on the second power roller (3201) and the second unpowered roller (3202);
a second power roller 3201 and a second unpowered roller 3202 on the top layer conveying platform 32A are arranged on a top layer frame 3205, and a second power roller 3201 and a second unpowered roller 3202 on the bottom layer conveying platform 32B are arranged on a bottom layer frame 3206; the top layer frame (3205) is arranged above the bottom layer frame (3206).
8. The automatic shield machine hob storing and taking method according to claim 1, characterized in that a first speed reducing motor (3306) is fixed on the mounting plate (3305), the driving end of the first speed reducing motor (3306) is connected with one end of a rigid chain (3307), and the other end of the rigid chain (3307) is connected with the bottom of the second conveying platform (33A); the second transfer platform (33A) has the same structure as the first transfer platform (31C).
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| CN202111621657.6A CN114263470B (en) | 2021-12-28 | 2021-12-28 | Automatic access method for hob of shield machine |
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| CN202111621657.6A CN114263470B (en) | 2021-12-28 | 2021-12-28 | Automatic access method for hob of shield machine |
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| CN114263470B CN114263470B (en) | 2023-06-13 |
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|---|---|
| CN114263470B (en) | 2023-06-13 |
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