Roadway repairing machine

Abstract

The invention provides a roadway repairing machine which comprises a mechanical arm, a plurality of angle measuring devices and an adjusting device, the mechanical arm is provided with a plurality of arm sections connected in sequence, and every two adjacent arm sections are connected through a rotating shaft; at least one part of the angle measuring device is connected with the rotating shaft, the angle measuring device comprises a rotating speed sensor, and the rotating speed sensor is used for measuring an included angle between two adjacent arm sections in real time; at least one part of the adjusting device is electrically connected with the mechanical arm and the angle measuring device, and the adjusting device can adjust the rotating angle of the arm section according to the included angle. The problem that in the prior art, the real-time measurement effect of the mechanical arm angle of a roadway repairing machine is poor is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation, and in particular to a lane repairing machine. Background Art

[0002] At present, when the tunnel repair machine is performing repair work, the angle measurement of its mechanical arm depends on manual visual observation. This method is not only inefficient, but also due to the subjectivity and visual error of human observation, the measurement accuracy is very limited and cannot meet the accuracy requirements of automated production. Manual operation of the mechanical arm in tunnel repair is not only time-consuming and laborious, but also the shape of the sealing groove after excavation and milling is irregular, which directly affects the quality and effect of the repair work. In addition, the high labor intensity and complex tunnel environment increase the safety risks of operators.

[0003] In the prior art, angle measurement mainly relies on technologies such as inclination sensors and rotary encoders. The inclination measurement technology is mature and has high accuracy, but it is limited by the rotation angle. The rotary encoder has a stable output signal and high measurement accuracy, but it has high cost and structural complexity. These sensors have differences in output signals, measurement accuracy, and rotation angle range, which makes it difficult to fully meet the needs of the roadway repair machine for real-time and accurate measurement of the robot arm angle.

[0004] That is to say, the tunnel repair machine in the prior art has the problem of poor real-time measurement of the robot arm angle. Summary of the invention

[0005] The main purpose of the present invention is to provide a tunnel repair machine to solve the problem of poor real-time angle measurement of the mechanical arm of the tunnel repair machine in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a tunnel repair machine, including: a mechanical arm, the mechanical arm has a plurality of arm sections connected in series, and two adjacent arm sections are connected by a rotating shaft; a plurality of angle measuring devices, at least a part of the angle measuring devices is connected to the rotating shaft, the angle measuring devices include a speed sensor, and the speed sensor is used to measure the angle between two adjacent arm sections in real time; an adjusting device, at least a part of the adjusting device is electrically connected to the mechanical arm and the angle measuring device, and the adjusting device can adjust the rotation angle of the arm section according to the size of the angle.

[0007] Furthermore, the tunnel repairing machine also includes a vehicle body and a slewing base, the slewing base is connected to the vehicle body via a core shaft, and the speed sensor is connected to the core shaft via a first coupling.

[0008] Furthermore, a speed sensor is fixed to at least one of two adjacent arm sections, and the speed sensor is provided with a transmission gear. The angle measuring device also includes: a synchronous wheel, which is coaxially fixed on a rotating shaft connecting two adjacent arm sections; and a synchronous belt, which is sleeved on the synchronous wheel and the transmission gear so that the speed sensor can obtain the rotation angle of the rotating shaft.

[0009] Furthermore, the robotic arm also includes at least one hydraulic cylinder, and two ends of the hydraulic cylinder are respectively fixedly connected to two adjacent arm sections.

[0010] Furthermore, a motor is fixed to at least one of the two adjacent arm sections, and the motor has a rotating shaft, one end of the rotating shaft is connected to the other of the at least two adjacent arm sections, and the other end of the rotating shaft is connected to the speed sensor via a second coupling.

[0011] Furthermore, the speed sensor includes: an encoder having a rotating shaft; a mounting assembly used to fix the encoder; a transmission shaft connected to the rotating shaft; and a transmission gear sleeved on the transmission shaft.

[0012] Furthermore, the encoder has a photoelectric encoder disk, and the rotation speed sensor can output a pulse square wave signal to measure the rotation speed and angle of the rotating shaft.

[0013] Furthermore, the adjusting device includes a plurality of proximity sensors, and the proximity sensors are used to detect the zero point position of the robot arm.

[0014] Furthermore, the regulating device includes a plurality of pressure sensors, and the pressure sensors are used to detect the pressure of the boom section during operation.

[0015] Furthermore, the tunnel repair machine also includes an industrial computer, which is connected to the adjustment device to achieve remote monitoring and data transmission.

[0016] By applying the technical solution of the present invention, a tunnel repair machine includes a mechanical arm, a plurality of angle measuring devices and an adjusting device. The mechanical arm has a plurality of arm sections connected in sequence, and two adjacent arm sections are connected by a rotating shaft. At least a portion of the angle measuring device is connected to the rotating shaft, and the angle measuring device includes a speed sensor, which is used to measure the angle between two adjacent arm sections in real time. At least a portion of the adjusting device is electrically connected to the mechanical arm and the angle measuring device, and the adjusting device can adjust the rotation angle of the arm section according to the size of the angle.

[0017] The mechanical arm of the lane repair machine of the present application is composed of multiple arm sections connected in sequence. This multi-arm section structure allows the mechanical arm to perform complex and flexible movements in narrow lanes. Adjacent arm sections are connected by a rotating shaft, which is a key component for realizing relative rotation of the arm sections. At least a part of the angle measuring device is closely connected to the rotating shaft to ensure that the speed sensor can directly monitor the rotation of the rotating shaft, thereby accurately measuring the real-time angle between adjacent arm sections. The establishment of an electrical connection between the adjustment device, the mechanical arm and the angle measuring device means that the adjustment device can receive signals from the angle measuring device, and can also control the movement of the mechanical arm, and adjust the rotation angle of the arm section through electrical signals. In order to improve the angle measurement effect of the mechanical arm of the lane repair machine, the speed sensor is directly connected to the rotating shaft to measure the angle between the arm sections in real time and accurately, avoiding the subjective error and delay of manual measurement, and improving the accuracy and efficiency of the angle measurement of the lane repair machine. At the same time, the adjustment device can intelligently adjust the rotation angle of each arm section of the mechanical arm based on the angle information obtained in real time, ensuring that the mechanical arm performs repair operations according to the preset path and posture, and improving the coordination and quality of the operation. The combination of the angle measuring device and the adjusting device forms a closed-loop control, which can automatically adjust the movement of the robot arm according to the actual measured angle deviation, thereby achieving more accurate angle control and avoiding the poor real-time measurement effect of the tunnel repair machine due to angle deviation. In addition, through the automated measurement and control of the angle measuring device and the adjusting device, the dependence on manual operation is greatly reduced, the working time of operators in dangerous environments is reduced, and the safety of the entire repair operation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 A front view showing an angle measuring device of a tunnel repair machine according to an optional embodiment of the present invention;

[0020] Figure 2 Shows Figure 1 A side view of the angle measuring device in FIG.

[0021] Figure 3 Shows Figure 1 A top view of the angle measuring device in FIG.

[0022] Figure 4 A schematic structural diagram of a laneway repairing machine according to a first embodiment of the present invention is shown;

[0023] Figure 5 A pulse signal schematic diagram of a laneway repair machine according to the first embodiment of the present invention is shown;

[0024] Figure 6 A schematic diagram showing the working principle of the tunnel repairing machine according to the first embodiment of the present invention is shown.

[0025] The above drawings include the following reference numerals:

[0026] 20. Robotic arm; 21. First arm section; 22. Second arm section; 23. Third arm section; 24. Fourth arm section; 25. Fifth arm section; 26. Sixth arm section; 27. Power head; 28. Hydraulic cylinder; 30. Speed ​​sensor; 34. Transmission gear; 35. Encoder; 36. Third coupling; 37. Transmission shaft; 38. Mounting frame; 39. Bearing seat; 40. Mounting plate; 41. Gear cover; 50. Host computer; 51. Isolation plate. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0029] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0030] In order to solve the problem of poor real-time angle measurement effect of a mechanical arm of a tunnel repairing machine in the prior art, the present invention provides a tunnel repairing machine.

[0031] like Figures 1 to 6 As shown, the tunnel repair machine includes a mechanical arm 20, a plurality of angle measuring devices and an adjusting device. The mechanical arm 20 has a plurality of arm sections connected in series, and two adjacent arm sections are connected by a rotating shaft; at least a part of the angle measuring device is connected to the rotating shaft, and the angle measuring device includes a speed sensor 30, and the speed sensor 30 is used to measure the angle between two adjacent arm sections in real time; at least a part of the adjusting device is electrically connected to the mechanical arm 20 and the angle measuring device, and the adjusting device can adjust the rotation angle of the arm section according to the size of the angle.

[0032] The mechanical arm 20 of the tunnel repair machine of the present application is composed of multiple arm sections connected in sequence. This multi-arm section structure allows the mechanical arm 20 to perform complex and flexible movements in narrow tunnels. Adjacent arm sections are connected by a rotating shaft, which is a key component to achieve relative rotation of the arm sections. At least a part of the angle measuring device is tightly connected to the rotating shaft to ensure that the speed sensor 30 can directly monitor the rotation of the rotating shaft, thereby accurately measuring the real-time angle between adjacent arm sections. An electrical connection is established between the adjustment device, the mechanical arm 20 and the angle measuring device, that is, the adjustment device can receive signals from the angle measuring device, and can also control the movement of the mechanical arm 20, and transmit the adjustment information of the rotation angle of the arm section through electrical signals. In order to improve the angle measurement effect of the mechanical arm 20 of the tunnel repair machine, the speed sensor 30 is directly connected to the rotating shaft to measure the angle between the arm sections in real time and accurately, avoiding the subjective errors and delays of manual measurement, and improving the accuracy and efficiency of the angle measurement of the tunnel repair machine. At the same time, the adjustment device can intelligently adjust the rotation angle of each arm section of the robot arm 20 based on the angle information obtained in real time, ensuring that the robot arm 20 performs the repair operation according to the preset path and posture, thereby improving the coordination and quality of the operation. The combination of the angle measuring device and the adjustment device forms a closed-loop control, which can automatically adjust the movement of the robot arm 20 according to the actual measured angle deviation, thereby achieving more precise angle control and avoiding the poor real-time measurement effect of the tunnel repair machine due to angle deviation. In addition, through the automated measurement and control of the angle measuring device and the adjustment device, the dependence on manual operation is greatly reduced, the working time of operators in dangerous environments is reduced, and the safety of the entire repair operation is improved.

[0033] like Figures 1 to 3 As shown, the tunnel repair machine also includes a car body and a slewing base, the slewing base is connected to the car body through a mandrel, and the speed sensor 30 is connected to the mandrel through a first coupling. The car body carries the mechanical arm 20, and the slewing base is connected to the car body through the mandrel. The mandrel not only supports the slewing base, but also allows it to rotate relative to the car body, ensuring that the mechanical arm 20 can achieve full rotation around the mandrel in the horizontal and vertical directions, thereby performing complex spatial operations in the tunnel. The speed sensor 30 is connected to the mandrel through the first coupling, that is, the speed sensor 30 can rotate synchronously with the mandrel. The first coupling transmits rotational motion, ensuring that the speed sensor 30 can accurately detect the rotation speed and angle of the slewing base and then control the mechanical arm 20, reducing the gap and error during the movement, thereby improving the accuracy of angle measurement and the reliability of the tunnel repair machine.

[0034] like Figures 1 to 3As shown, a speed sensor 30 is fixed to at least one of two adjacent arm sections, and the speed sensor 30 is provided with a transmission gear 34. The angle measuring device also includes a synchronous wheel and a synchronous belt. The synchronous wheel is coaxially fixed on the rotating shaft connecting the two adjacent arm sections; the synchronous belt is sleeved on the synchronous wheel and the transmission gear 34, so that the speed sensor 30 can obtain the rotation angle of the rotating shaft. The speed sensor 30 is installed on at least one of the two adjacent arm sections, indicating that each rotating shaft that needs to measure the angle change has a speed sensor 30, ensuring the comprehensive monitoring of the movement of each part of the robot arm 20. The synchronous wheel is coaxially fixed on the rotating shaft connecting the two adjacent arm sections, that is, the rotation of the synchronous wheel directly reflects the relative rotation between the adjacent arm sections. By sleeved on the synchronous belt on the synchronous wheel and the transmission gear 34, the angle transmission of the rotating shaft-synchronous wheel-synchronous belt-transmission gear 34 is realized, so that the speed sensor 30 can obtain the rotation angle of the rotating shaft in real time, and the synchronous belt ensures the synchronous movement between the two, ensuring that the speed sensor 30 can accurately obtain the rotation angle of the rotating shaft, and providing key data for the precise control of the robot arm 20. At the same time, the output signal of the speed sensor 30 can be fed back in real time, so that the mechanical arm 20 can be adjusted according to the real-time measured angle, which enhances the adaptability and stability of the mechanical arm 20 of the tunnel repair machine in complex environments. In addition, the installation method of the synchronous wheel and the synchronous belt is flexible, making the installation and subsequent maintenance of the angle measuring device more convenient, greatly reducing the maintenance cost of the tunnel repair machine.

[0035] like Figures 1 to 3 As shown, the robot arm 20 also includes at least one hydraulic cylinder 28, and the two ends of the hydraulic cylinder 28 are fixedly connected to two adjacent arm sections. The hydraulic cylinder 28 is placed between two adjacent arm sections as a power source, one end of which is fixedly connected to the upper arm section, and the other end is connected to the lower arm section, ensuring that the hydraulic cylinder 28 can directly drive the lower arm section to rotate relative to the upper arm section when extending and retracting, thereby realizing the movement of the robot arm 20. The hydraulic cylinder 28 is fixedly connected to the two arm sections, ensuring that the hydraulic cylinder 28 can accurately and stably transmit force and movement, maintaining the structural stability and movement coordination of the robot arm 20. The hydraulic cylinder 28 combined with the angle measuring device can monitor and adjust the rotation angle of the arm section in real time, ensuring that the robot arm 20 operates according to the preset path and posture, improving the accuracy and efficiency of tunnel repair, and reducing the problem of poor repair effect caused by inaccurate angle control.

[0036] like Figures 1 to 3As shown, a motor is fixed to at least one of the two adjacent arm sections, and the motor has a rotating shaft, one end of the rotating shaft is connected to the other of the at least two adjacent arm sections, and the other end of the rotating shaft is connected to the speed sensor 30 through a second coupling. One end of the rotating shaft of the motor is connected to another arm section, which is conducive to allowing the lower arm section to move through the rotation of the rotating shaft, thereby realizing the telescopic or rotating action of the robot arm 20. The other end of the rotating shaft is connected to the speed sensor 30 through the second coupling, and the rotating shaft of the motor is tightly coupled with the measuring shaft of the speed sensor 30, ensuring the accurate transmission of the rotational motion, so that the speed sensor 30 can accurately measure the rotation speed and angle of the rotating shaft, reduce the deviation between the rotating shaft and the speed sensor 30, and improve the accuracy and stability of the speed sensor 30 measurement.

[0037] like Figures 1 to 3 As shown, the speed sensor 30 includes an encoder 35, a mounting assembly, a transmission shaft 37 and a transmission gear 34. The encoder 35 has a rotating shaft; the mounting assembly is used to fix the encoder 35; the transmission shaft 37 is connected to the rotating shaft; and the transmission gear 34 is sleeved on the transmission shaft 37. The encoder 35 is the core of the speed sensor 30, and it is fixed to the arm section of the robot 20 through the mounting assembly. In order to ensure the stability and protection of the encoder 35, the mounting assembly ensures that the encoder 35 will not be displaced or damaged due to vibration or collision when the robot 20 moves. The rotating shaft is located inside the encoder 35 as the rotation center of the encoder 35, reflecting the rotation angle of the rotating shaft of the robot 20. The transmission shaft 37 transmits the external rotational motion to the encoder 35 rotating shaft. The transmission gear 34 is sleeved on the transmission shaft 37 and is associated with the rotating shaft. When the rotating shaft rotates, the transmission gear 34 rotates accordingly, thereby driving the rotating shaft of the encoder 35 to rotate, ensuring that the rotational motion of the rotating shaft can be efficiently and accurately transmitted to the rotating shaft of the encoder 35, avoiding losses and errors in the motion transmission process, and improving the accuracy and real-time performance of the angle measurement device. In addition, the independent installation component not only makes the installation of the encoder 35 more convenient, but also does not require major changes to the structure of the robot arm 20 when maintaining and replacing the encoder 35, reducing maintenance costs and downtime.

[0038] Optionally, the mounting assembly further includes a mounting frame 38 , a bearing seat 39 , a mounting plate 40 and a gear cover 41 .

[0039] Optionally, the rotating shaft is connected to the transmission shaft 37 via a third coupling 36 .

[0040] like Figures 1 to 3As shown, the encoder 35 has a photoelectric encoder disk, and the speed sensor 30 can output a pulse square wave signal to measure the rotation speed and angle of the rotating shaft. The encoder 35 contains a photoelectric encoder disk inside, which is installed on the rotating shaft and has good anti-noise and anti-interference capabilities. The photoelectric encoder disk has an annular scale, which can provide high-precision angle measurement, and the pulse square wave signal is easy to process. The center of the photoelectric encoder disk is a rotating shaft connected to the transmission shaft 37. As the rotating shaft rotates, the photoelectric encoder disk also rotates synchronously. The speed sensor 30 is used to output a pulse square wave signal. The number of pulse square wave signals is directly related to the rotation angle of the rotating shaft, and the pulse frequency reflects the rotation speed of the rotating shaft. When the photoelectric encoder disk rotates, the speed sensor 30 can collect the rotation information of the rotating shaft in real time by monitoring the scale on the photoelectric encoder disk, including the rotation speed and angle, and can measure the rotation speed and angle of the rotating shaft in real time and accurately, providing key data for the control of the robot arm 20.

[0041] like Figures 1 to 3 As shown, the adjustment device includes a plurality of proximity sensors, and the proximity sensors are used to detect the zero position of the robot arm 20. The proximity sensors are installed on the arm sections of the robot arm 20 to detect the zero position of the robot arm 20, ensuring that the proximity sensors can monitor the initial fixed position of each arm section of the robot arm 20, that is, when the robot arm 20 is reset to the most natural or most commonly used starting state, the proximity sensors can be accurately triggered, providing a reference point for the calibration and position control of the robot arm 20. The proximity sensors can accurately detect the zero position of each arm section of the robot arm 20. By confirming the zero point, it can be ensured that the measurement of the encoder 35 starts from a unified starting point, avoiding cumulative errors and improving the accuracy of the angle measuring device. When the robot arm 20 needs to return to the initial position after movement, the proximity sensor can provide a real-time signal to promptly notify the controller to adjust the movement of the robot arm 20, ensuring that the robot arm 20 can be accurately reset and avoiding position deviations from affecting the quality of the repaired lane.

[0042] It should be noted that when the shaft rotates, a light-emitting element is irradiated, and the photosensitive element obtains a set of square waves with a phase difference of 90° and processed by the amplifier. The positive and negative values ​​of the two-phase difference represent the direction of rotation. In addition, there is a one-phase reference pulse. Every time the shaft rotates one circle, a pulse will be generated at a fixed position, which is the zero reference position of the speed sensor 30.

[0043] like Figures 1 to 3As shown, the regulating device includes a plurality of pressure sensors, and the pressure sensors are used to detect the pressure when the boom section is in operation. The pressure sensor is directly installed near the hydraulic cylinder 28 so that the pressure changes inside the hydraulic cylinder 28 during the operation of the boom section can be detected in a timely and accurate manner. The hydraulic cylinder 28 is the main power source for driving the movement of the mechanical arm 20, and the pressure sensor ensures that the pressure inside the hydraulic cylinder 28 can be monitored in real time when the boom section performs various actions. The pressure sensor enables the tunnel repair machine to monitor the pressure of the hydraulic cylinder 28 of each boom section of the mechanical arm 20 in real time during operation, which is very important to ensure the normal operation of the hydraulic cylinder 28 and the precise control of the boom section. By monitoring the pressure, it is ensured that the boom section can move according to the preset force and speed, which improves the accuracy and reliability of the hydraulic control, and can also detect abnormalities in the hydraulic cylinder 28 in a timely manner to avoid potential failures or safety risks.

[0044] like Figures 1 to 3 As shown, the tunnel repair machine also includes an industrial computer, which is connected to the adjustment device to achieve remote monitoring and data transmission. The connection between the industrial computer and the adjustment device enables the operator to monitor and control at a location far away from the work site, reducing the operation risk and improving the safety and convenience of the operation. The operator can view the working status of the robot arm 20, the pressure of the hydraulic cylinder 28, the angle of each rotating axis of the robot arm 20, etc. in real time through the industrial computer, and perform remote operations in real time to adjust the excavation depth and control the speed of the robot arm 20.

[0045] Embodiment 1

[0046] like Figures 4 to 6 As shown, what is described is the lane repair machine of embodiment 1 of the present application.

[0047] like Figure 4 As shown, in this embodiment, the mechanical arm 20 of the tunnel repair machine has six arm sections, and the first arm section 21, the second arm section 22, the third arm section 23, the fourth arm section 24, the fifth arm section 25, the sixth arm section 26 and the power head 27 are connected in sequence through a rotating shaft. The first arm section 21 and the slewing base are directly driven by a motor to achieve rotation, and the second arm section 22 to the sixth arm section 26 are driven by a hydraulic cylinder, among which the fourth arm section 24 can achieve rotation by being directly driven by a motor.

[0048] In this embodiment, the robot arm 20 is integrated with laser radar, industrial computer, camera, wireless Wi-Fi, Ethernet cable, and other equipment for remote industrial computer monitoring and data transmission. All sensors and controllers are electrically connected through Ethernet cables and switches to achieve data exchange.

[0049] In this embodiment, the controller is connected to the sound and light alarm and the remote controller via CAN communication, and is connected to the ultrasonic distance measurement via RS485 communication for comprehensive control and data transmission.

[0050] In this embodiment, the position and angle of the manipulator 20 are collected in real time through six speed sensors 30, and the pulse signal is transmitted to the controller for calculating the precise position of the manipulator 20. In this embodiment, the roadway repair machine first saves the partial length of the manipulator 20 and the power head 27, the data list of each angle between the manipulator 20, obtains the partial angle measurement value of the manipulator 20 and the power head 27 where the angle measuring device is located, and obtains the corresponding partial angle theoretical value of the manipulator 20 and the power head 27, which is used as the reference value for the calibration of the angle measuring device. Then, the obtained measurement value is compared and analyzed with its calibration reference value to calibrate the angle measuring device. After the calibration is completed, the corresponding square wave pulse generated by the mandrel of the angle measuring device when it rotates through the synchronous shaft and the synchronous belt is uploaded to the host computer 50, thereby realizing the measurement of the real-time angle of the manipulator 20.

[0051] In this embodiment, the photoelectric encoder disk of the mine intrinsically safe speed sensor 30 is installed on the rotating shaft to measure the speed change and angular position of the rotating shaft, and the output is an electrical pulse signal. When the mechanical arm 20 moves to the set initial angle, the zero line of the speed sensor 30 is connected to DC24V to zero. At this time, the number of pulses emitted by the speed sensor 30 is 0, so the speed sensor 30 can feedback the angle of each arm joint in real time in any state, which is used to solve the angle measurement of the existing tunnel repair machine.

[0052] In this embodiment, the parameters of the lane repair machine are as follows: rated voltage DC12V, working current is less than or equal to 50mA, maximum speed 6r / s, error is ±2.5%, repeatability is 1.5%, level signal is low level greater than or equal to 0.5V, high level is less than or equal to 3V, and intrinsic safety parameters are Ui: DC12.5V, LimA, Ci: 4.7μF. When the speed sensor 30 rotates with the synchronous shaft and the synchronous belt, the central shaft of the photoelectric encoder disk drives the photoelectric encoder disk to start rotating accordingly. Whenever the photoelectric encoder disk rotates a scale, that is, the light-emitting element irradiates the photosensitive element through the photoelectric encoder disk scale line, the photoelectric element will output two sine waves AB, which are processed by the shaping circuit into a square wave with a phase difference of 90° and then output. When phase A leads phase B by 90°, the angle sensor is judged to be forward, and when phase A lags phase B by 90°, the angle sensor is judged to be reversed. Each time the shaft rotates one circle, a C-phase pulse is generated at a fixed position. The C-phase pulse is a single-phase reference pulse, which represents the zero reference position of the speed sensor 30. The pulse signal is transmitted from the encoder 35 to the isolation board 51, and the isolation board 51 sends the pulse signal to the ECU for data processing. After the calibration of the angle sensor, the pulse number of the angle measuring device can proportionally reflect the current angle value of the robot arm 20.

[0053] In this embodiment, six proximity sensors are used to detect the zero position of the robot arm 20. When the lane repair machine is powered on for the first time, six encoders 35 are calibrated to zero and electrically connected to the controller via the I / O port. Then, twenty-four proportional solenoid valves are electrically connected to the controller via the I / O port, and the output of the proportional solenoid valves is controlled by the PWM of the controller to control the movement of each robot arm 20. The closed-loop control of the robot arm 20 is achieved through the feedback of the positions of the six encoders 35. In addition, six pressure sensors are electrically connected to the controller via the I / O port to detect the pressure of the six robot arms 20 in real time during operation. When the pressure is higher than the setting, the robot arm 20 stops running and an alarm is issued.

[0054] In this embodiment, the liquid level sensor monitors the oil level of the hydraulic cylinder, the temperature sensor is used to monitor the temperature of the hydraulic oil, and the tunnel repair machine is also provided with an emergency stop signal and various indicator lights to help the operator take timely measures to avoid failure of the tunnel repair machine, reduce safety hazards, and improve the efficiency and quality of tunnel repair operations.

[0055] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0056] 1. The mechanical arm 20 of the tunnel repair machine of the present application is composed of a plurality of arm sections connected in sequence. This multi-rotation axis structure allows the mechanical arm 20 to perform complex and flexible movements in narrow tunnels. Adjacent arm sections are connected by a rotation axis, which is a key component for realizing relative rotation of the arm sections. At least a part of the angle measuring device is tightly connected to the rotation axis to ensure that the speed sensor 30 can directly monitor the rotation of the rotation axis, thereby accurately measuring the real-time angle between adjacent arm sections.

[0057] 2. An electrical connection is established between the adjusting device, the robot arm 20 and the angle measuring device, which means that the adjusting device can receive signals from the angle measuring device and can also control the movement of the robot arm 20 to adjust the rotation angle of the arm section through electrical signals.

[0058] 3. In order to improve the angle measurement effect of the mechanical arm 20 of the tunnel repair machine, the speed sensor 30 is directly connected to the rotating shaft to measure the angle between the arm segments in real time and accurately, avoiding the subjective error and delay of manual measurement, and improving the accuracy and efficiency of the angle measurement of the tunnel repair machine. At the same time, the adjustment device can intelligently adjust the rotation angle of each arm segment of the mechanical arm 20 based on the angle information obtained in real time, ensuring that the mechanical arm 20 performs the repair operation according to the preset path and posture, improving the coordination and quality of the operation.

[0059] 4. The combination of the angle measuring device and the adjusting device forms a closed-loop control, which can automatically adjust the movement of the robot arm 20 according to the actual measured angle deviation, thereby achieving more accurate angle control and avoiding poor real-time measurement results of the tunnel repair machine due to angle deviation. In addition, through the automated measurement and control of the angle measuring device and the adjusting device, the dependence on manual operation is greatly reduced, the working time of operators in dangerous environments is reduced, and the safety of the entire repair operation is improved.

[0060] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0061] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0062] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tunnel repair machine, characterized in that: include: A mechanical arm (20), the mechanical arm (20) comprising a plurality of arm segments connected in series, wherein two adjacent arm segments are connected via a rotating shaft; A plurality of angle measuring devices, at least a portion of the angle measuring devices being connected to the rotating shaft, the angle measuring devices comprising a rotation speed sensor (30), the rotation speed sensor (30) being used to measure the angle between two adjacent arm sections in real time; An adjusting device, at least a part of which is electrically connected to the mechanical arm (20) and the angle measuring device, and the adjusting device can adjust the rotation angle of the arm section according to the size of the included angle.

2. The tunnel repair machine according to claim 1, characterized in that: The lane repairing machine also includes a vehicle body and a slewing base, wherein the slewing base is connected to the vehicle body via a core shaft, and the rotation speed sensor (30) is connected to the core shaft via a first coupling.

3. The tunnel repair machine according to claim 1, characterized in that: The rotation speed sensor (30) is fixed to at least one of two adjacent arm sections, the rotation speed sensor (30) is provided with a transmission gear (34), and the angle measuring device further comprises: A synchronous wheel, the synchronous wheel is coaxially fixed on the rotating shaft connecting two adjacent arm sections; A synchronous belt is sleeved on the synchronous wheel and the transmission gear (34) so ​​that the rotation speed sensor (30) can obtain the rotation angle of the rotating shaft.

4. The tunnel repair machine according to claim 3, characterized in that: The mechanical arm (20) further comprises at least one hydraulic cylinder (28), and two ends of the hydraulic cylinder (28) are respectively fixedly connected to two adjacent arm sections.

5. The tunnel repair machine according to claim 1, characterized in that: A motor is fixed to at least one of the two adjacent arm sections, the motor having the rotating shaft, one end of the rotating shaft being connected to the other of the at least two adjacent arm sections, and the other end of the rotating shaft being connected to the rotation speed sensor (30) via a second coupling.

6. The tunnel repair machine according to any one of claims 1 to 5, characterized in that: The rotation speed sensor (30) comprises: An encoder (35), wherein the encoder (35) has a rotating shaft; A mounting assembly, the mounting assembly being used to fix the encoder (35); A transmission shaft (37), wherein the transmission shaft (37) is connected to the rotating shaft; A transmission gear (34), wherein the transmission gear (34) is sleeved on the transmission shaft (37).

7. The tunnel repairing machine according to claim 6, characterized in that: The encoder (35) has a photoelectric encoder disk, and the rotation speed sensor (30) can output a pulse square wave signal to measure the rotation speed and angle of the rotating shaft.

8. The tunnel repair machine according to any one of claims 1 to 5, characterized in that: The adjusting device comprises a plurality of proximity sensors, and the proximity sensors are used to detect the zero point position of the mechanical arm (20).

9. The tunnel repair machine according to any one of claims 1 to 5, characterized in that: The regulating device comprises a plurality of pressure sensors, and the pressure sensors are used to detect the pressure when the boom section is in operation.

10. The tunnel repair machine according to any one of claims 1 to 5, characterized in that: The lane repair machine also includes an industrial computer, which is connected to the adjustment device to achieve remote monitoring and data transmission.

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