Intelligent cutter replacement robot device and system

Abstract

An intelligent cutter changing robot device and a system. The device comprises a robot base (1); a displacement unit (2), a left-right translation mechanism (3) connected to the displacement unit, and a multi-stage telescopic arm (4) connected to the left-right translation mechanism; a cutter changing actuator (5) connected to the multi-stage telescopic arm, removing and installing bolts between a shield machine and a disc cutter, and grabbing and transporting a disc cutter to complete the replacement of the disc cutter; and a cutter storage unit (8) located in the shield machine, and internally provided with two storage spaces for placing an unused new disc cutter and a used disc cutter dismounted by means of the cutter changing actuator. The displacement unit is connected to the robot base. The bolts are removed by means of the provided cutter changing actuator, and the dismounted disc cutter is placed in the cutter storage unit; an unused disc cutter is selected by means of the cutter changing actuator, and the disc cutter is placed on the shield machine; the cutter changing actuator operates in reverse; and the disc cutter is fixed by means of the bolts, so as to complete the replacement of the disc cutter.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cutter replacement of shield tunneling machines, in particular to an intelligent cutter replacement robot device and a system. BACKGROUND

[0002] A shield tunneling machine is a large mechanical device that integrates tunnel excavation, deslagging, and supporting. According to the shield tunneling machine, soil or rock is cut by cutters on a cutter head, and surrounding formations are supported through a shield shell. It is widely applied to tunneling engineering of subways, municipal pipes, etc. due to its high degree of automation, fast construction speed, small construction impact, and other characteristics, and the shield tunneling machine causes cutter wear during cutting of geological bodies, so that cutter replacement is required. Among them, hobbing cutters are main cutters for rock breaking and are replaced with the highest frequency. Currently, cutter replacement mainly relies on manual work, and due to the high-pressure, high-humidity environment in front of a tunnel face, the high danger of manual cutter replacement and low efficiency are caused. Therefore, the development of an intelligent cutter replacement robot has become a direction of development of the shield industry.

[0003] The Chinese Patent Application with Publication No. CN116464465A discloses a cutter head of a shield tunneling machine, a cutter replacement method and a shield tunneling machine, including a main beam extending from a center of the cutter head towards a radial direction of the cutter head; a cutter disposed on the main beam; a first slide rail disposed within the main beam and extending along an extending direction of the main beam, where the first slide rail is configured to be located at a top or a bottom of the main beam in a state that the extending direction of the main beam is substantially parallel to a horizontal direction; and a conveying member movably disposed on the first slide rail, where the conveying member is configured to move along the first slide rail to convey a cutter replacement executor.

[0004] However, there are some problems during the cutter replacement process in the prior art. In the above prior art, when hobbing cutter replacement work is performed, an operator does not require to climb to a different height, but the cutter replacement work is still performed in a manual cutter replacement mode. Therefore, how to complete automatic cutter replacement work is a problem that needs to be solved at present. SUMMARY

[0005] The present application provides an intelligent cutter replacement robot device and a system to solve the above problems in the prior art.

[0006] An intelligent cutter replacement robot device, including:

[0007] a robot base disposed within a robot pod of a shield tunneling machine;

[0008] a displacement unit, a left-right translation mechanism connected with the displacement unit, and a multi-stage telescopic arm connected with the left-right translation mechanism;

[0009] a cutter replacement executor (end executor) connected with the multi-stage telescopic arm to be used for disassembling and assembling bolts between the shield tunneling machine and a hobbing cutter and grabbing and transporting the hobbing cutter to complete replacement of the hobbing cutter;

[0010] vision positioning devices disposed on the cutter replacement executor to be used for positioning bolt locations and making the cutter replacement executor disassembly and assembly the bolts, grab the hobbing cutter and conduct placement positioning;

[0011] a cutter storage unit located within the shield tunneling machine, internally provided with two storage spaces, and used for placement of hobbing cutters which are not used and old hobbing cutters which are disassembled down with the cutter replacement executor, where

[0012] the displacement unit is connected to the robot base.

[0013] Further, the displacement unit includes a driving rack and a fixed slide rail fixedly mounted in a length direction of the robot base, an adjusting slider slidably connected with the fixed slide rail, a moving seat for connecting the adjusting slider, four first hydraulic motors disposed on the moving seat, motor gears disposed at output ends of the first hydraulic motors and engaged with the driving rack, a weight block disposed on the moving seat, a lifting frame movably connected with the moving seat, a mounting frame for connecting the other end of the lifting frame, and a lifting hydraulic cylinder movably connected with the mounting frame and the moving seat, respectively.

[0014] Further, the left-right translation mechanism includes a transverse fine adjustment oil cylinder and a transverse slide rail fixedly mounted on the mounting frame, a driving block connected with an output end of the transverse fine adjustment oil cylinder, a sliding plate connected with the driving block, a first swing oil cylinder disposed on the sliding plate, a supporting plate connected with the first swing oil cylinder, a second swing oil cylinder disposed on the supporting plate, and a right-angle arm movably connected with the second swing oil cylinder;

[0015] the multi-stage telescopic arm is connected with the right-angle arm;

[0016] a telescopic oil cylinder is mounted within the multi-stage telescopic arm;

[0017] the multi-stage telescopic arm includes a plurality of multi-stage arms, and a longitudinal wear strip is provided between adjacent multi-stage arms for reducing friction between the respective multi-stage arms;

[0018] the sliding plate is provided with a transverse slider, and the transverse slider is slidably connected with the transverse slide rail.

[0019] Further, the cutter replacement executor includes a third swing oil cylinder disposed on the multi-stage telescopic arm, an execution plate connected with the third swing oil cylinder, a fourth swing oil cylinder disposed on the execution plate, an end executor seat movably connected with the fourth swing oil cylinder, a wrench hydraulic motor fixedly mounted on the end executor seat, a main gear connected with an output end of the wrench hydraulic motor, two sub gears engaged with the main gear and disposed on the end executor seat, and torque wrenches disposed on the sub gears.

[0020] Further, the cutter replacement executor further includes two second telescopic arms symmetrically disposed on the end executor seat, clamping jaw connecting plates connected with output ends of the second telescopic arms, two clamping jaws movably connected with the clamping jaw connecting plates, and driving oil cylinders for connecting the clamping jaws with the clamping jaw connecting plates;

[0021] the vision collecting devices are two in number and are a first vision collector and a second vision collector, respectively, the first vision collector and the second vision collector are respectively located on the end executor seat, and collecting areas of the first vision collector and the second vision collector are opposite.

[0022] Further, the cutter storage unit includes a rotating assembly connected with the shield tunneling machine, two first limiting assemblies uniformly disposed on the rotating assembly, and a plurality of second limiting assemblies uniformly disposed on the first limiting assemblies;

[0023] the rotating assembly includes a connecting frame connected with the shield tunneling machine, a supporting slide rail disposed on the connecting frame, a movable slider movably connected with the supporting slide rail, a movable seat for connecting the movable slider, a rotary motor fixedly mounted on the movable seat, a rotary wheel connected with an output end of the rotary motor, a movable shaft disposed on the movable seat, a driven wheel sleeved on the movable shaft, a protective cover connected with the movable shaft, and a transmission belt for connecting the rotary wheel with the driven wheel;

[0024] the supporting slide rail is further provided with a displacement air cylinder, and an output end of the displacement air cylinder is connected with the movable seat.

[0025] Further, each first limiting assembly includes a limiting seat located within the protective cover, the limiting seat is internally provided with an accommodating cavity, a plurality of connection air cylinders movably connected with the limiting seat disposed in the accommodating cavity, a first gear connected with an output end of the connection air cylinder, a second gear engaged with the first gear, a connecting shaft disposed on the second gear, a limiting frame fixedly mounted on the limiting seat, double-sided racks located within the limiting frame, limiting gears engaged with the double-sided racks and located on the limiting seat, and a ring gear disposed within the accommodating cavity and engaged with the second gear;

[0026] the connecting shaft is connected with one of the limiting gears, and the second limiting assemblies are connected with the double-sided racks;

[0027] the output end of the connection air cylinder is at a non-center location of the first gear;

[0028] the limiting seat is of a tubular structure and is provided with a through hole, and the accommodating cavity is located in a region between an outer wall of the limiting seat and an inner wall of the through hole.

[0029] Further, each second limiting assembly includes two fixed plates, two pull plates symmetrically disposed on one of the fixed plates, lifting air cylinders fixedly mounted on the pull plates, two guide seats diagonally disposed on the fixed plates, and a guide shaft penetrating through the guide seats and used for connecting the two fixed plates;

[0030] the pull plates are provided with square holes, and output ends of the lifting air cylinders are connected with the other fixed plate through the square holes;

[0031] one of the fixed plates is connected with the double-sided racks in a toothed-surface-free manner, the other fixed plate is movable in an axial direction of the guide shaft, connecting projections are provided between the double-sided racks and the fixed plates, and connecting projections between adjacent double-sided racks are different in height.

[0032] Further, each second limiting assembly includes adjusting air cylinders and a plurality of adjusting slide rails disposed on the fixed plates, adjusting seats connected with output ends of the adjusting air cylinders, a plurality of driving wheels disposed on the adjusting seats, adjusting plates connected with the driving wheels, limiting air cylinders disposed on the adjusting plates, abutting blocks connected with output ends of the limiting air cylinders, and driven sliders for connecting the adjusting plates with the adjusting slide rails;

[0033] the adjusting seats are provided with a plurality of limiting waist holes, and there are certain included angles between length directions of the limiting waist holes and the adjusting slide rails.

[0034] A system for an intelligent cutter replacement robot device, including:

[0035] a multi-source information perception system collecting different types of data information of a cutter replacement robot under a working environment by using various types of sensors, and then aggregating collected multi-type information to form a data source of multiple data;

[0036] a digital twin system for receiving, processing, converting and storing the data source of multiple data, and performing three-dimensional reconstruction of a working space of the cutter replacement robot according to processed data;

[0037] a main control system, based on a three-dimensional reconstruction model, performing real-time positioning of locations of bolts and obstacles, respectively, and planning a traveling route of the cutter replacement robot according to the locations of the bolts and the obstacles;

[0038] a power unit connected with the main control system, making the main control system control a working pressure of hydraulic oil in the power unit according to a processing result of the main control system, and meanwhile, making a hydraulic oil medium perform filtering and energy storage;

[0039] a plurality of joint units connected with the power unit respectively, supplying hydraulic oil to the joint units through the power unit, and adjusting locations between various joint units according to processing information processed by the main control system, so that a cutter replacement executor can complete positioning and obstacle avoidance functions of locations of hobbing cutters during replacement of the hobbing cutters and realize intelligent control of the cutter replacement robot.

[0040] Further, the power unit includes an oil return pipe T1, an oil return pipe T2, an oil inlet pipe P1, an oil inlet pipe P2, a self-sealing quick-replacement joint K1, a selfsealing quick-replacement joint K2, a self-sealing quick-replacement joint K3, a selfsealing quick-replacement joint K4, a ball valve Q1, a ball valve Q2, a temperature sensor TS, a pressure sensor T1, a pressure sensor T2, a pressure sensor T3, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an energy accumulator AC, and an energy accumulator valve group E;

[0041] the power unit includes the self-sealing quick-replacement joint K1, the selfsealing quick-replacement joint K2, and the self-sealing quick-replacement joint K3 respectively connected with an energy source pump station; the self-sealing quickreplacement joint K4 connected with the self-sealing quick-replacement joint K1; the ball valve Q2 connected with the other end of the self-sealing quick-replacement joint K3; the temperature sensor TS, the pressure sensor T1, the pipeline filter F1 and the energy accumulator valve group E which are connected with the other end of the ball valve Q2, where the other end of the energy accumulator valve group E is connected with the energy accumulator AC, and the other end of the pipeline filter F1 is respectively connected with the throttle valve L1 and the throttle valve L2; the pressure reducing valve A1 and the pressure reducing valve A2 respectively connected with the throttle valve L1 and the throttle valve L2, where an outlet end of the pressure reducing valve A1 is respectively connected with the pressure sensor T2, the safety valve RV1 and one end of the pipeline filter F2, and an outlet end of the pressure reducing valve A2 is respectively connected with the pressure sensor T3, the safety valve RV2 and the oil inlet pipe P2;

[0042] the other end of the self-sealing quick-replacement joint K2 is connected with the ball valve Q1;

[0043] the pipeline filter F2 is connected with the oil inlet pipe P1, the other end of the safety valve RV1, the other end of the safety valve RV2 and the other end of the ball valve Q1 are respectively connected with the oil return pipe T2,

[0044] where oil drains of the pressure reducing valve A1 and the pressure reducing valve A2 and the self-sealing quick-replacement joint K4 respectively communicate with the oil return pipe T1.

[0045] Beneficial Effects: The present application discloses an intelligent cutter replacement robot device and a system, in order to complete the automatic cutter replacement work of the shield tunneling machine, the device is further provided with a displacement unit, a cutter replacement executor, vision collecting devices, and a cutter storage unit, where the displacement unit includes therein first hydraulic motors, lifting hydraulic cylinders, a transverse fine adjustment oil cylinder, a first swing oil cylinder, a second swing oil cylinder, a multi-stage telescopic arm, a third swing oil cylinder, a fourth swing oil cylinder, second telescopic arms, driving oil cylinders, and wrench hydraulic motors which are matched with each other, so that the degree of freedom of the entire device can be increased, thereby enabling the vision collecting devices to be capable of collecting locations of bolts between the shield tunneling machine and the hobbing cutter; then through the cutter replacement executor provided, disassembly of the bolts is completed, and the disassembled-down hobbing cutter is placed within the cutter storage unit, and an unused hobbing cutter is selected through the cutter replacement executor and placed at a predetermined location on the shield tunneling machine; then the cutter replacement executor works reversely, the hobbing cutter is fixed through bolts, thereby completing the replacement work of the hobbing cutter; the entire process does not require manual intervention, and replacement of the hobbing cutter can be completed automatically. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG. 1 is a structural schematic diagram of an intelligent cutter replacement robot device of the present application;

[0047] FIG. 2 is a schematic diagram of a displacement unit of the present application;

[0048] FIG. 3 is a perspective view of the displacement unit of the present application;

[0049] FIG. 4 is a front view of a left-right translation mechanism of the present application;

[0050] FIG. 5 is a schematic diagram of the left-right translation mechanism of the present application;

[0051] FIG. 6 is a schematic diagram of a cutter replacement executor of the present application;

[0052] FIG. 7 is a cross-sectional view of the cutter replacement executor of the present application;

[0053] FIG. 8 is a schematic diagram of a vision collecting device of the present application;

[0054] FIG. 9 is a schematic diagram of a wrench hydraulic motor of the present application;

[0055] FIG. 10 is a bottom view of a cutter storage unit of the present application;

[0056] FIG. 11 is a schematic diagram of a rotating assembly of the present application;

[0057] FIG. 12 is a schematic diagram of a first limiting assembly of the present application;

[0058] FIG. 13 is a perspective view of the first limiting assembly of the present application;

[0059] FIG. 14 is a schematic diagram of a second limiting assembly of the present application;

[0060] FIG. 15 is a schematic diagram of an adjusting seat of the present application;

[0061] FIG. 16 is a structural schematic diagram of the first limiting assembly of the present application;

[0062] FIG. 17 is a schematic diagram of a system for an intelligent cutter replacement robot device of the present application;

[0063] FIG. 18 is a schematic diagram of a power unit of the present application;

[0064] FIG. 19 is a schematic diagram of a fourth joint unit of the present application;

[0065] FIG. 20 is a flow diagram of the system of the present application.

[0066] Description of reference numerals: 1. robot base; 2. displacement unit; 21. moving seat; 22. weight block; 23. first hydraulic motor; 24. motor gear; 25. driving rack; 26. fixed slide rail; 27. adjusting slider; 28. lifting hydraulic cylinder; 29. mounting frame; 210. lifting frame; 3. left-right translation mechanism; 31. transverse fine adjustment oil cylinder; 32. driving block; 33. sliding plate; 34. first swing oil cylinder; 35. supporting plate; 36. second swing oil cylinder; 37. right-angle arm; 38. transverse slide rail; 39. transverse slider; 4. multi-stage telescopic arm; 41. telescopic oil cylinder; 5. cutter replacement executor; 51. third swing oil cylinder; 52. fourth swing oil cylinder; 53. end executor seat; 54. second telescopic arm; 55. clamping jaw connecting plate; 56. clamping jaw; 57. driving oil cylinder; 58. main gear; 59. sub gear; 510. torque wrench; 511. wrench hydraulic motor; 6. vision collecting device; 8. cutter storage unit; 81. rotating assembly; 811. protective cover; 812. connecting frame; 813. displacement air cylinder; 814. movable seat; 815. movable slider; 816. rotary motor; 817. rotary wheel; 818. driven wheel; 819. transmission belt; 820. movable shaft; 821. supporting slide rail; 82. first limiting assembly; 822. first gear; 823. second gear; 824. ring gear; 825. limiting seat; 826. limiting frame; 827. limiting gear; 828. double-sided rack; 829. connecting shaft; 8211. connection air cylinder; 83. second limiting assembly; 831. fixed plate; 832. pull plate; 833. stretching air cylinder; 834. guide seat; 835. guide shaft; 836. adjusting air cylinder; 837. adjusting seat; 838. driving wheel; 839. adjusting slide rail; 8310. driven slider; 8311. adjusting plate; 8312. limiting air cylinder; 8313. abutting block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0067] To make the above-mentioned objectives, features, and advantages of the present application clearer and more comprehensible, the implementation manners of the present application will be further described in detail below with reference to the accompanying drawings of the Specification.

[0068] Many specific details are elaborated in the following description to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. A person skilled in the art may make similar generalizations without departing from the content of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0069] Secondly, the term "one embodiment" or "an embodiment" referred to herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present application. "In one embodiment" appearing in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0070] The present application discloses an intelligent cutter replacement robot device, with reference to FIGs. 1-16, including:

[0071] a robot base 1 disposed within a robot pod of a shield tunneling machine; a displacement unit 2, a left-right translation mechanism 3 connected with the displacement unit 2, and a multi-stage telescopic arm 4 connected with the left-right translation mechanism 3; a cutter replacement executor 5 connected with the multi-stage telescopic arm 4 to be used for disassembling and assembling bolts between the shield tunneling machine and a hobbing cutter and grabbing and transporting the hobbing cutter to complete replacement of the hobbing cutter; vision collecting devices 6 disposed on the cutter replacement executor 5 to be used for positioning bolt locations and making the cutter replacement executor 5 disassembly and assembly the bolts, grab the hobbing cutter and conduct placement positioning; a cutter storage unit 8 located within the shield tunneling machine, internally provided with two storage spaces, and used for placement of new hobbing cutters which are not used and old hobbing cutters which are disassembled down with the cutter replacement executor 5, where the displacement unit 2 is connected with the robot base 1; the degree of freedom of the entire device can be increased by the displacement unit 2 provided, thereby enabling the vision collecting devices 6 to collect the locations of the bolts between the shield tunneling machine and the hobbing cutter; then through the cutter replacement executor 5 provided, disassembly of the bolts is completed, and the disassembled-down hobbing cutter is placed within the cutter storage unit 8, and an unused hobbing cutter is selected through the cutter replacement executor 5 and placed at a pre-determined location on the shield tunneling machine; then the cutter replacement executor 5 works reversely, and the hobbing cutter is fixed through the bolts, thereby completing the replacement work of the hobbing cutter; the entire process does not require manual intervention, and the replacement of the hobbing cutter can be performed automatically.

[0072] The displacement unit 2 includes a driving rack 25 and a fixed slide rail 26 fixedly mounted in a length direction of the robot base 1, an adjusting slider 27 slidably connected with the fixed slide rail 26, a moving seat 21 for connecting the adjusting slider 27, four first hydraulic motors 23 disposed on the moving seat 21, motor gears 24 disposed at output ends of the first hydraulic motors 23 and engaged with the driving rack 25, a weight block 22 disposed on the moving seat 21, a lifting frame 210 movably connected with the moving seat 21, a mounting frame 29 for connecting the other end of the lifting frame 210, and a lifting hydraulic cylinder 28 movably connected with the mounting frame 29 and the moving seat 21, respectively; when the locations of the bolts require to be collected, at this time, the first hydraulic motors 23 start to work, the first hydraulic motors 23 in movement are capable of driving the motor gears 24 to rotate, and then the motor gears 24 in movement are capable of moving on the driving rack 25, thereby driving the moving seat 21 to move in the length direction of the robot base 1, so that the cutter replacement executor 5 is close to the hobbing cutter; then the lifting hydraulic cylinder 28 starts to work, the lifting hydraulic cylinder 28 in movement is capable of driving the mounting frame 29 to start to work to adjust a height of the mounting frame 29, thereby completing the lifting work of the cutter replacement executor 5 and completing the preliminary adjustment work of the cutter replacement executor 5.

[0073] The left-right translation mechanism 3 includes a transverse fine adjustment oil cylinder 31 and a transverse slide rail 38 fixedly mounted on the mounting frame 29, a driving block 32 connected with an output end of the transverse fine adjustment oil cylinder 31, a sliding plate 33 connected with the driving block 32, a first swing oil cylinder 34 disposed on the sliding plate 33, a supporting plate 35 connected with the first swing oil cylinder 34, a second swing oil cylinder 36 disposed on the supporting plate 35, and a right-angle arm 37 movably connected with the second swing oil cylinder 36; the multi-stage telescopic arm 4 is connected with the right-angle arm 37; a telescopic oil cylinder 41 is mounted within the multi-stage telescopic arm 4; a transverse slider 39 is disposed on the sliding plate 33, and the transverse slider 39 is slidably connected with the transverse sliding rail 38; when it is necessary to adjust a transverse location of the cutter replacement executor 5 on the robot base 1, at this time, the transverse fine adjustment oil cylinder 31 starts to work, the transverse fine adjustment oil cylinder 31 in movement is capable of driving the driving block 32 to move, so that the driving block 32 in movement is capable of moving the sliding plate 33 on the transverse slide rail 38, thereby enabling the vision collecting devices 6 to complete the collection work of the bolt locations; then according to the collected information, the location adjustment work for the cutter replacement executor 5 is completed by the left-right translation mechanism 3 provided, and the disassembly of the bolts is completed by the cutter replacement executor 5; then the first swing oil cylinder 34 and the second swing oil cylinder 36 start to work, thereby flipping the cutter replacement executor 5, so that an end with the clamping jaws 56 faces the hobbing cutter; then the left-right translation mechanism 3 and the multi-stage telescopic arm 4 start to move, in this process, the telescopic oil cylinder 41 in the multi-stage telescopic arm 4 starts to work, so that a location of each multi-stage arm in the multi-stage telescopic arm 4 can be adjusted, thereby performing extension and lifting work of the location of the cutter replacement executor 5, further adjusting the location of the cutter replacement executor 5, and enabling the clamping jaws 56 to be located in a gap between the hobbing cutter and the shield tunneling machine; then the driving oil cylinder 57 starts to work, the driving oil cylinder 57 in movement is capable of driving the clamping jaws 56 to move, and a distance between the two clamping jaws 56 is shortened, so that the clamping jaws 56 complete clamping and limiting work of the hobbing cutter, and further completing the disassembly of the hobbing cutter; then under cooperation of the left-right translation mechanism 3 and the multi-stage telescopic arm 4, the location of the cutter replacement executor 5 is adjusted, so that the cutter replacement executor 5 is capable of placing the disassembled-down hobbing cutter in the cutter storage unit 8, then the clamping jaws 56 pick up a new hobbing cutter from the cutter storage unit 8 and transport it to a predetermined location, and then the first swing oil cylinder 34 and the second swing oil cylinder 36 work again, thereby enabling the bolts to limit the locations of the shield tunneling machine and the hobbing cutter to complete the replacement work of the hobbing cutter.

[0074] The cutter replacement executor 5 includes a third swing oil cylinder 51 disposed on the multi-stage telescopic arm 4, an execution plate connected with the third swing oil cylinder 51, a fourth swing oil cylinder 52 disposed on the execution plate, an end executor seat 53 movably connected with the fourth swing oil cylinder 52, a wrench hydraulic motor 511 fixedly mounted on the end executor seat 53, a main gear 58 connected with an output end of the wrench hydraulic motor 511, two sub gears 59 engaged with the main gear 58 and disposed on the end executor seat 53, and torque wrenches 510 disposed on the sub gears 59; the cutter replacement executor 5 further includes two second telescopic arms 54 symmetrically disposed on the end executor seat 53, clamping jaw connecting plates 55 connected with output ends of the second telescopic arms 54, two clamping jaws 56 movably connected with the clamping jaw connecting plates 55, and driving oil cylinders 57 for connecting the clamping jaws 56 with the clamping jaw connecting plates 55; the vision collecting devices 6 are two in number and are a first vision collector and a second vision collector, respectively, the first vision collector and the second vision collector are respectively located on the end executor seat 53, and collecting areas of the first vision collector and the second vision collector are opposite;

[0075] when cutter replacement work is performed, by means of the vision collecting devices 6 provided, the locations of the bolts can be further collected, and collected data information can be transmitted to the main control system; the locations of the bolts can be positioned through processing by the main control system, and then according to the positioning result, preliminary adjustment of the location of the cutter replacement executor 5 is performed by the left-right translation mechanism 3; then the third swing oil cylinder 51 and the fourth swing oil cylinder 52 start to work, thereby adjusting the location of the end executor seat 53 to make the torque wrenches 510 abut against heads of the bolts; then through the rotation of the wrench hydraulic motor 511, the wrench hydraulic motor 511 in movement is capable of driving the main gear 58 to rotate, the main gear 58 in movement is capable of driving the sub gears 59 to rotate, thereby making the torque wrench 510 rotate to complete the disassembly work for the bolts; then through the matching of the first swing oil cylinder 34, the second swing oil cylinder 36, the third swing oil cylinder 51, and the fourth swing oil cylinder 52 provided, the end surface of the end executor seat 53 having the clamping jaws 56 is made to be directed to the hobbing cutter; then the locations of the clamping jaws 56 are adjusted by the second telescopic arms 54 provided, and then the driving oil cylinder 57 starts to work, thereby being capable of completing the grabbing work of the hobbing cutter, and being capable of completing the replacement work of the new and old hobbing cutters.

[0076] The cutter storage unit 8 includes a rotating assembly 81 connected with the shield tunneling machine, two first limiting assemblies 82 uniformly disposed on the rotating assembly 81, and a plurality of second limiting assemblies 83 uniformly disposed on the first limiting assemblies 82; the rotating assembly 81 includes a connecting frame 812 connected with the shield tunneling machine, a supporting slide rail 821 disposed on the connecting frame 812, a movable slider 815 movably connected with the supporting slide rail 821, a movable seat 814 for connecting the movable slider 815, a rotary motor 816 fixedly mounted on the movable base 814, a rotary wheel 817 connected with an output end of the rotary motor 816, a movable shaft 820 disposed on the movable base 814, a driven wheel 818 sleeved on the movable shaft 820, a protective cover 811 connected with the movable shaft 820, and a transmission belt 819 for connecting the rotary wheel 817 with the driven wheel 818; the supporting slide rail 821 is further provided with a displacement air cylinder 813, and an output end of the displacement air cylinder 813 is connected with the movable seat 814; after the clamping jaws 56 grab the old hobbing cutter and move to the cutter storage area of the cutter storage unit 8, at this time, the displacement air cylinder 813 starts to work, the displacement air cylinder 813 in movement is capable of moving the movable seat 814 in the length direction of the supporting slide rail 821, the location of the protective cover 811 is adjusted so that it can be close to the clamping jaws 56, then the rotary motor 816 starts to work, the protective cover 811 can be then driven to move through matching of the rotary wheel 817, the driven wheel 818, and the transmission belt 819 provided, thereby being capable of driving the limiting seat 825 within the protective cover 811 to move, so that the first limiting assemblies 82 without the hobbing cutter are located at predetermined locations, and the clamping jaws 56 can place a damaged hob cutter on the first limiting assemblies 82.

[0077] Each first limiting assembly 82 includes a limiting seat 825 located within the protective cover 811, the limiting seat 825 is internally provided with an accommodating cavity, a plurality of connection air cylinders 8211 movably connected with the limiting seat 825 disposed in the accommodating cavity, a first gear 822 connected with an output end of the connection air cylinder 8211, a second gear 823 engaged with the first gear 822, a connecting shaft 829 disposed on the second gear 823, a limiting frame 826 fixedly mounted on the limiting seat 825, double-sided racks 828 located within the limiting frame 826, limiting gears 827 engaged with the double-sided racks 828 and located on the limiting seat 825, and a ring gear 824 disposed within the accommodating cavity and engaged with the second gear 823; the connecting shaft 829 is connected with one of the limiting gears 827, and the second limiting assemblies 83 are connected with the doublesided racks 828; the output end of the connection air cylinder 8211 is at a non-center location of the first gear 822; the limiting seat 825 is of a tubular structure and is provided with a through hole, and the accommodating cavity is located in a region between an outer wall of the limiting seat 825 and an inner wall of the through hole;

[0078] when the worn hobbing cutter is located in placement areas of the first limiting assemblies 82, at this time, the connection air cylinder 8211 starts to work, the connection air cylinder 8211 in movement is capable of driving the first gear 822 to rotate, the first gear 822 in movement is then capable of driving the second gear 823 to rotate, the second gear 823 in movement is further capable of driving the connecting shaft 829 to rotate, the connecting shaft 829 in movement is further capable of driving the limiting gear 827 connected thereto to rotate, thereby moving the double-sided racks 828 in the length direction of the limiting frame 826; due to heights of connecting projections between adjacent double-sided racks 828 are different, whereby when the hobbing cutter is located within the through hole, planes where the contact areas of the second limiting assemblies 83 on the connecting projections of the same height with the hobbing cutter are located are the same; however, since the hobbing cutter is disc-shaped and is provided with at least one cutting edge thereon, as a result, according to a direction of axis of the hobbing cutter, a diameter of a middle region thereof is larger than diameters of both ends thereof; by making the heights of adjacent connecting projections different, the second limiting assemblies 83 can thus be located on two sides of the cutting edge of the hobbing cutter, thereby being capable of supporting the hobbing cutter in the axial direction while achieving limitation in a radial direction, and preventing damage to the shield tunneling machine due to the fact that the hobbing cutter moves inside the shield tunneling machine after separating from the cutter storage unit 8 in the moving process of the shield tunneling machine.

[0079] Each second limiting assembly 83 includes two fixed plates 831, two pull plates 832 symmetrically disposed on one of the fixed plates 831, lifting air cylinders fixedly mounted on the pull plates 832, two guide seats 834 diagonally disposed on the fixed plates 831, and a guide shaft 835 penetrating the guide seats 834 and used for connecting the two fixed plates 831; the pull plates 832 are provided with square holes, output ends of the lifting air cylinders are connected with the other one of the fixed plates 831 through the square holes; one of the fixed plates 831 is connected with the double-sided racks 828 in a toothed-surface-free manner, the other fixed plate 831 is movable in an axial direction of the guide shaft 835, connecting projections are provided between the double-sided racks 828 and the fixed plates 831, and connecting projections between adjacent doublesided racks 828 are different in height; each second limiting assembly 83 includes adjusting air cylinders 836 and a plurality of adjusting slide rails 839 disposed on the fixed plates 831, adjusting seats 837 connected with output ends of the adjusting air cylinders 836, a plurality of driving wheels 838 disposed on the adjusting seats 837, adjusting plates 8311 connected with the driving wheels 838, limiting air cylinders 8312 disposed on the adjusting plates 8311, abutting blocks 8313 connected with output ends of the limiting air cylinders 8312, and driven sliders 8310 for connecting the adjusting plates 8311 with the adjusting slide rails 839; the adjusting seats 837 are provided with a plurality of limiting waist holes, and there are certain included angles between length directions of the limiting waist holes and the adjusting slide rails 839;

[0080] when it is necessary to perform cutter storage work for the damaged hobbing cutter, due to the collision between the hobbing cutter and a rock mass, breakage of the hobbing cutter is caused, thereby giving the hobbing cutter an irregular shape, so that when it is necessary to perform limiting and clamping work for the damaged hobbing cutter, at this time, according to the collected information of the vision collecting devices 6, a stretching air cylinder 833 starts to work, the stretching air cylinder 833 in movement is capable of driving a fixed plate 831 connected to an output end thereof to move to adjust the distance between the two fixed plates 831, thereby adjusting the distances between the abutting blocks 8313 located on different fixed plates 831; then the adjusting air cylinder 836 starts to work, the adjusting air cylinder 836 in movement can drive the adjusting seat 837 to move, thereby making the driving wheel 838 move in the limiting waist holes on the adjusting seat 837, further being capable of driving the adjusting plates 8311 to move in the length direction of the adjusting slide rails 839 to adjust the distance between adjacent abutting blocks 8313 on the same fixed plate 831; then the limiting air cylinder 8312 starts to work, and the distances between the abutting blocks 8313 and the hobbing cutter can be adjusted, thereby completing limiting work for the hobbing cutter; by changing the contact location between the abutting blocks 8313 and the damaged hobbing cutter, limiting and clamping work for the damaged hobbing cutter can be completed, and it is ensured that the cutter replacement work is performed smoothly; for hobbing cutters that cannot be subjected to the clamping work, they can be transported by the left-right translation mechanism 3 to a predetermined unloading location, so that they can be transported out of the interior of the shield tunneling machine.

[0081] The present application discloses a system for an intelligent cutter replacement robot device, with reference to FIGs. 17-20, including the intelligent cutter replacement robot device, further including: a multi-source information perception system collecting different types of data information of a cutter replacement robot under a working environment by using various types of sensors, and then aggregating collected multi-type information to form a data source of multiple data; a digital twin system for receiving, processing, converting and storing the data source of multiple data, and performing threedimensional reconstruction of a working space of the cutter replacement robot according to processed data; a main control system, based on a three-dimensional reconstruction model, performing real-time positioning of locations of bolts and obstacles, respectively, and planning a traveling route of the cutter replacement robot according to the locations of the bolts and the obstacles; a power unit connected with the main control system, making the main control system control a working pressure of hydraulic oil in the power unit according to a processing result of the main control system, and meanwhile, making a hydraulic oil medium perform filtering and energy storage; a plurality of joint units connected with the power unit respectively, supplying hydraulic oil to the joint units through the power unit, and adjusting locations between various joint units according to processing information processed by the main control system, so that a cutter replacement executor 5 can complete positioning and obstacle avoidance functions of locations of hobbing cutters during replacement of the hobbing cutters and realize intelligent control of the cutter replacement robot;

[0082] in a further embodiment, the sensors include, but are not limited to, the vision collecting devices 6 for performing image collecting work for the cutter replacement robot, radar sensors, laser sensors, acoustic wave sensors, flexible perceptors, and the like;

[0083] the radar sensors are capable of continuously transmitting electromagnetic waves and receiving reflected waves. By analyzing parameters of time delay, frequency variation, etc. of the reflected waves, locations, distances and general shapes of obstacles around the cutter replacement robot can be acquired in real time; at the same time, after obstacle information acquired by the radar sensors is transmitted to the main control system of the cutter replacement robot, the system dynamically programs a travel path of the cutter replacement robot using these data in combination with a preset obstacle avoidance algorithm (prior art);

[0084] the laser sensors accurately calculate the distances of the cutter replacement robot from the surrounding objects by transmitting laser beams and measuring the time of reflected light. It can quickly construct a three-dimensional point cloud map of the surroundings within the shield tunneling machine, clearly present locations and contours of cutters, devices, walls and other objects, make the cutter replacement robot to accurately perceive the environment where it is located, and provide precise spatial information for obstacle avoidance; during the moving process of the cutter replacement robot, the laser sensors continuously scan the surrounding area to monitor in real time whether there is an obstacle entering its working range; a real-time monitoring function for the cutter replacement robot is achieved, damage to the cutter replacement robot due to collision between an accidentally dropped obstacle and the cutter replacement robot is avoided, in the traveling process of the cutter replacement robot, the laser sensors are capable of detecting in real time the presence of a new obstacle on the path or a change in location of the original obstacle, the robot is capable of adjusting the path in real time to bypass the obstacle, and it is ensured that the cutter replacement task is performed smoothly; at the same time, the laser sensors may also be used to set a safety area of the cutter replacement robot, by setting a virtual safety boundary around the robot, when there is an object entering the safety area, the laser sensors immediately issue an alarm, remind an operator to pay attention to safety, or automatically control the cutter replacement robot to stop moving, prevent a collision accident from occurring, and safeguard the safety of people and devices;

[0085] the acoustic wave sensors detect obstacles by transmitting and receiving acoustic wave signals, acoustic waves are reflected back when they encounter an obstacle, and the sensors calculate the distance from the obstacle based on the propagation time of the acoustic waves. When the cutter replacement robot gets close to obstacles to perform fine operations, such as preparing to replace cutters near the cutter head, the acoustic wave sensors can accurately detect obstacles at close distances, such as projection portions on the cutter head or small tools around, and avoid collision of the robot with these objects; at the same time: in the complex environment within the shield tunneling machine, there may be insufficient light, more dust, etc., which further leads to failure of work of vision sensors, whereas the acoustic wave sensors are less influenced by these factors, are capable of stably working under harsh environments, even in a space filled with dust, the acoustic waves can still be effectively propagated and reflected, provide reliable obstacle detection information for the cutter replacement robot, and ensure accurate obstacle avoidance by the robot under various complex working conditions; the plurality of acoustic wave sensors can be distributed at different portions on the cutter replacement robot to achieve obstacle perception at multiple angles around the cutter replacement robot. These sensors can work at the same time, covering a plurality of directions such as front, side and rear of the robot, thereby forming an omni-directional detection network; at the same time, the acoustic wave sensors have a high real-time property, are capable of quickly detecting changes in working environment of the cutter replacement robot, and timely feed back information to the main control system; then a plurality of joint units are controlled by the main control system provided, so that the cutter replacement robot realizes obstacle avoidance and bolt disassembly work;

[0086] The flexible perceptors described above include, but are not limited to, a plurality of sensors; by means of the plurality of sensors provided, a plurality of physical quantities such as force (pressure, strain, etc.), temperature, and humidity are detected; commonly used sensors include flexible tactile sensors, flexible pressure sensors, flexible strain sensors, etc., and have characteristics of being soft, bendable, stretchable, etc.; through these flexible perceptors, the cutter replacement robot is capable of more precisely perceiving the surroundings to achieve more intelligent and flexible obstacle avoidance operations; when the cutter replacement robot is close to the cutter head, flexible tactile sensors can be attached to the surface of the cutter head, accurately perceive structures such as projections, depressions and bolts on the surface, identify obstacles that may cause collisions in advance, and assist the cutter replacement robot in adjusting a traveling trajectory in time and avoiding the dangerous area; or in a narrow space, the cutter replacement robot inadvertently touches a wall of the shield tunneling machine while moving, the contact force can be immediately detected by the flexible perceptors, and the cutter replacement robot is stopped from approaching and re-planning the path; flexible strain sensors mounted at joints of the cutter replacement robot can sense changes in their attitude due to movement of surrounding objects, and monitor environmental dynamics omni-directionally in conjunction with external flexible tactile sensors. Once it is detected that a new obstacle occurs, the cutter replacement robot reacts quickly, re-plans an obstacle avoidance path, and ensures that the cutter replacement robot is not affected; when the laser sensors are affected within the shield tunneling machine where the light is dim, the flexible perceptors and the acoustic wave sensors can compensate for the shortcoming and synergistically judge the location and property of the obstacle, so that the cutter replacement robot can still safely avoid the obstacle under complex conditions, and it is ensured that the cutter replacement operation can be safely and orderly performed.

[0087] Through cooperation work of sensors such as the vision collecting devices 6 described above, the radar sensors, the laser sensors, the acoustic wave sensors and the flexible perceptors provided, environmental information of the working environment of the cutter replacement robot can be constructed, and through the cooperative work between the respective environmental information, the cutter replacement robot can still reliably avoid obstacles under complex conditions, or the walking path of the cutter replacement robot can be re-planned with respect to abruptly occurring obstacles during the cutter replacement process, the cutter replacement robot can be intelligently controlled, and the cutter replacement work can be safely performed.

[0088] In a further embodiment, the digital twin system acquires point cloud data of the working space of the cutter replacement robot according to sensors such as the laser sensors, the radar sensors and the vision collecting devices 6, where the vision collecting devices 6 take an image, then a method of extracting feature points with computer vision algorithms (prior art) is utilized, and three-dimensional coordinates of the cutter replacement robot are calculated; whereas the laser sensors, the radar sensors and the acoustic wave sensors can acquire distance information by transmitting laser beams (acoustic waves) and measuring the time of reflected light (reflected acoustic waves), thereby generating the point cloud data, where the flexible perceptors include, but are not limited to, flexible perceptors based on optical principles, flexible perceptors based on ultrasound principles, and flexible perceptors based on piezo-resistive effects, where the flexible perceptors based on optical principles are equivalent to the above vision collecting devices 6, which adopt computer vision algorithms to obtain three-dimensional coordinates of the cutter replacement robot to generate the point cloud data; the flexible perceptors based on ultrasound principles are similar to the acoustic wave sensors, which obtain distance information by transmitting the acoustic waves and measuring the time of the reflected acoustic waves to generate the point cloud data; the flexible perceptors based on piezo-resistive effects are made of a flexible piezo-resistive material, when subjected to an external force, the resistance of the material changes, making such material into an array format; when an object comes into contact with the sensors and generates pressure distribution, the pressure information of the contact surface of the object with the sensors can be obtained by measuring the resistance change, and the point cloud data is constructed after processing and conversion (amplification and filtering, analog-to-digital conversion, data acquisition and storage, feature extraction, and then calculation of the coordinates of the contact point of the surface of the object with the sensor according to the pressure data of each sensor unit according to the array form of the flexible perceptors);

[0089] among them, a measurement formula of a distance d for the laser sensors, the radar sensors and the acoustic wave sensor is as follows: d = c(t1 -12) / 2

[0090] in the formula, c is a speed of light, t1 is a laser or acoustic wave reception time, t2 is a laser or acoustic wave transmission time;

[0091] the point cloud data obtained according to the above manner is preprocessed, thereby obtaining point cloud data points of the cutter replacement robot after processing, where a preprocessing formula is as follows: .....1 — (X‘,Y / ,Z‘)=1SjeN(i)Wij(Xi,Yi,Zi)

[0092] where (X‘, Y / , Z‘) is a new coordinate value of the i-th point after preprocessing; (Xi, Yi, Zi) is a coordinate value of the i-th point obtained after processing with the sensors; K is a normalization constant used for performing normalization processing on results of weighted summation, ensuring that (X‘, Y‘, Z‘) is a weighted average value of a neighborhood point, and the sum of the weights is 1; N(i) is a set of neighborhood points of (Xi, Yi, Zi) and is a group of points closer to (Xi, Yi, Zi) in spatial locations, and Wij is a weight; j is an index variable.

[0093] The above processed coordinate information (X‘, Y‘, Z‘) is then converted so that it can be located under a unified coordinate system, where a homogeneous coordinate transformation equation from a base coordinate system to an end executor coordinate system is as follows:

[0094] where II=I Rt 0T 1 represents a homogeneous coordinate of a point under the base coordinate system, represents a homogeneous coordinate of a point under the end executor coordinate system, R represents a rotation matrix, t is a translation vector, and T is a homogeneous coordinate transformation matrix;

[0095] point cloud data is then segmented into different regions, and features such as shapes, sizes, locations, etc. of each region are then extracted;

[0096] finally, a triangulation algorithm is used for connecting the point cloud data into a triangular mesh, so as to construct a preliminary three-dimensional model of the working space and optimize the three-dimensional model through a surface fitting method;

[0097] where a formula for fitting the surface is as follows: Z = F(x, y)

[0098] where Z represents a height value of the point in a vertical direction when x and y coordinates are given; x and y represent location coordinates of a certain point in the working space of the cutter replacement robot in the horizontal direction; a function F() is a binary function that describes how to calculate a corresponding Z value according to values of x and y, which can be a polynomial function (such as a quadratic polynomial, a cubic polynomial, etc.), a spline function or other type of function, etc.;

[0099] then, according to the homogeneous coordinates of the points under the end executor coordinate system, by determining parameters of the surface equation through a calculation formula, and by finding a group of parameters, the error between the calculated Zi" and a value obtained by calculation of the function F(Xi",Yi") is averaged and minimized;

[0100] where the calculation formula is as follows: min N )    (Zi"- F(Xi",Yi")) i=1

[0101] According to the parameters resulting from solving, a final surface equation is determined, a smooth curved surface is generated, and the curved surface optimizes the preliminary triangular mesh model to more closely conform to the actual working space shape. By combining the curved surface with the triangular mesh, a more accurate and smooth three-dimensional model can be obtained, thereby completing three-dimensional reconstruction of the working space of the cutter replacement robot.

[0102] The power unit includes an oil return pipe T1, an oil return pipe T2, an oil inlet pipe P1, an oil inlet pipe P2, a self-sealing quick-replacement joint K1, a self-sealing quick-replacement joint K2, a self-sealing quick-replacement joint K3, a self-sealing quick-replacement joint K4, a ball valve Q1, a ball valve Q2, a temperature sensor TS, a pressure sensor T1, a pressure sensor T2, a pressure sensor T3, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an energy accumulator AC, and an energy accumulator valve group E;

[0103] the power unit includes the self-sealing quick-replacement joint K1, the selfsealing quick-replacement joint K2, and the self-sealing quick-replacement joint K3 respectively connected with an energy source pump station; the self-sealing quickreplacement joint K4 connected with the self-sealing quick-replacement joint K1; the ball valve Q2 connected with the other end of the self-sealing quick-replacement joint K3; the temperature sensor TS, the pressure sensor T1, the pipeline filter F1 and the energy accumulator valve group E which are connected with the other end of the ball valve Q2, where the other end of the energy accumulator valve group E is connected with the energy accumulator AC, and the other end of the pipeline filter F1 is respectively connected with the throttle valve L1 and the throttle valve L2; the pressure reducing valve A1 and the pressure reducing valve A2 respectively connected with the throttle valve L1 and the throttle valve L2, where an outlet end of the pressure reducing valve A1 is respectively connected with the pressure sensor T2, the safety valve RV1 and one end of the pipeline filter F2, and an outlet end of the pressure reducing valve A2 is respectively connected with the pressure sensor T3, the safety valve RV2 and the oil inlet pipe P2;

[0104] the other end of the self-sealing quick-replacement joint K2 is connected with the ball valve Q1;

[0105] the pipeline filter F2 is connected with the oil inlet pipe P1, the other end of the safety valve RV1, the other end of the safety valve RV2 and the other end of the ball valve Q1 are respectively connected with the oil return pipe T2,

[0106] where oil drains of the pressure reducing valve A1 and the pressure reducing valve A2 and the self-sealing quick-replacement joint K4 respectively communicate with the oil return pipe T1;

[0107] where the power unit adjusts the pressure of the main energy source within the pipe to a required working pressure, and supplies it to each joint unit after medium filtering and energy storage, the power unit is provided with two oil supply paths, the main energy source pressure is reduced to 20 MPa and 10 MPa through two pressure reducing valves A1 and A2, respectively, and then is supplied to the oil inlet pipe P1 and the oil inlet pipe P2 of the joint units, respectively, and each circuit is provided with a safety valve RV1 and a safety valve RV2 to prevent the pressure from exceeding the upper limit value; meanwhile, an alarm signal can be generated in the case of blockage by providing both the pipeline filter F1 and the pipeline filter F2 with false alarms; the energy accumulator valve group E is used for stabilizing the pressure and storing the energy, stabilizing system pressure pulsations, and compensating hydraulic oil for short time.

[0108] The high-pressure oil of the energy source pump station can be respectively supplied to the pressure reducing valve A1 and the pressure reducing valve A2 after filtering with a pipeline filter F1 having an accuracy better than 10 um and flow distribution with a throttle valve L1 and a throttle valve L2, where an outlet end pressure of the pressure reducing valve A1 is set to 20 MPa; and can be supplied to the oil inlet pipe P1 after filtering with a pipeline filter F2 having an accuracy better than 5 um, where the pressure on the circuit is subjected to pressure value detection by a pressure sensor T2, the pressure of the safety valve RV1 is set to 21 MPa, and it is ensured that the main circuit pressure does not exceed 21 MPa;

[0109] system pulsations are buffered through an energy accumulator AC, the hydraulic oil can also be compensated for short time, when the energy accumulator valve group E is used to service the energy accumulator AC, the circuit is cut off, and the hydraulic pressure inside the energy accumulator AC is released;

[0110] an outlet pressure of the pressure reducing valve A2 is set to 10 MPa and can be supplied to the oil inlet pipe P2, the pressure on the circuit is subjected to pressure value detection by a pressure sensor T3, the pressure of the safety valve RV2 is set to 14 MPa, and it is ensured that the main circuit pressure does not exceed 14 MPa.

[0111] The second telescopic arm 54 includes a telescopic arm hydraulic oil cylinder;

[0112] the joint units include a first joint unit, a second joint unit, a third joint unit, a fourth joint unit, a fifth joint unit, a sixth joint unit, a seventh joint unit, an eighth joint unit, a ninth joint unit, a tenth joint unit and an eleventh joint unit which are connected with the power unit;

[0113] the first joint unit, the second joint unit, the third joint unit, the fourth joint unit, the fifth joint unit, the sixth joint unit, the seventh joint unit, the eighth joint unit, the ninth joint unit, the tenth joint unit and the eleventh joint unit are each a hydraulic control oil path, and the first joint unit is used for controlling movement of the first hydraulic motor 23;

[0114] the second joint unit is used for controlling movement of the lifting hydraulic cylinder 28;

[0115] the third joint unit is used for controlling movement of the transverse fine adjustment oil cylinder 31;

[0116] the fourth joint unit is used for controlling movement of the first swing oil cylinder 34;

[0117] the fifth joint unit is used for controlling movement of the second swing oil cylinder 36;

[0118] the sixth joint unit is used for controlling movement of the telescopic oil cylinder 41;

[0119] the seventh joint unit is used for controlling movement of the third swing oil cylinder 51;

[0120] the eighth joint unit is used for controlling movement of the fourth swing oil cylinder 52;

[0121] the ninth joint unit is used for controlling movement of the telescopic arm hydraulic oil cylinder;

[0122] the tenth joint unit is used for controlling movement of the driving oil cylinder 57;

[0123] the eleventh joint unit is used for controlling movement of the wrench hydraulic motor 511;

[0124] the fourth joint unit, the fifth joint unit, the seventh joint unit and the eighth joint unit are structurally identical;

[0125] hydraulic diagrams of the first joint unit, the second joint unit, the third joint unit, the sixth joint unit, the ninth joint unit, the tenth joint unit, and the eleventh joint unit are the prior art and will not be repeated here.

[0126] Among them, the fourth joint unit includes: a fourth servo valve SV, an electromagnetic reversing valve EMV, a hydraulic control one-way valve PCV1, a hydraulic control one-way valve PCV2, a pressure sensor T4, a pressure sensor T5, a balance valve CBV1, a balance valve CBV2, a servo swing cylinder SSC, where the servo swing cylinder SSC includes a first swing oil cylinder 34, a second swing oil cylinder 36, a third swing oil cylinder 51, and a fourth swing oil cylinder 52;

[0127] the fourth joint unit includes the electromagnetic reversing valve EMV connected with the oil inlet pipe P2, where a B port of the electromagnetic reversing valve EMV is respectively connected with an oil return pipeline T2 and an oil return port of the fourth servo valve SV, an oil inlet of the fourth servo valve SV is connected with the oil inlet pipe P1, two working oil ports of the fourth servo valve SV are respectively connected with the hydraulic control one-way valve PCV1 and the hydraulic control oneway valve PCV2; the pressure sensor T4, the balance valve CBV1 and the servo swing cylinder SSC respectively connected with the other end of the hydraulic control one-way valve PCV1; and the pressure sensor T5, the balance valve CBV2 and the servo swing cylinder SSC connected with the other end of the hydraulic control one-way valve PCV2, where an A port of the electromagnetic reversing valve EMV is respectively connected with the fluid-controlled one-way valve PCV1 and the fluid-controlled one-way valve PCV2, where the oil outlet of the servo swing cylinder SSC is respectively connected with the balance valve CBV1 and the balance valve CBV2 and then is connected with the oil return pipe T1;

[0128] when working, the electromagnetic reversing valve EMV is energized firstly, hydraulic oil of the circuit is controlled by the power unit, the hydraulic control one-way valve PCV1 and the hydraulic control one-way valve PCV2 are all jacked open by the electromagnetic reversing valve EMV, the main circuit can work normally, the present structure is capable of collecting a swing angle of the swing cylinder in real time, the servo swing cylinder SSC is controlled to move through the fourth servo valve SV, after reaching the set location, the electromagnetic reversing valve EMV is de-energized, the hydraulic control one-way valve PCV1 and the hydraulic control one-way valve PCV2 are locked, the servo swing cylinder SSC is no longer rotated, and the control work for the cutter replacement device is completed.

[0129] In a further embodiment, the torque wrenches 510 are the prior art, where grooves matched with hex heads in the bolts are provided, the locations of the torque wrenches 510 are adjusted by means of a cutter replacement robot device, so that the hex heads of the bolts are located in the grooves in the torque wrenches 510; then the main gear 58 is driven by the wrench hydraulic motor 511 to rotate, thereby making the sub gears 59 rotate, thereby driving the torque wrenches 510 to rotate, making the bolts rotate, and completing the disassembly work of the bolts.

[0130] Statement of working principle: when the locations of the bolts require to be collected, at this time, the first hydraulic motors 23 start to work, the first hydraulic motors 23 in movement are capable of driving the motor gears 24 to rotate, and then the motor gears 24 in movement are capable of moving on the driving rack 25, thereby driving the moving seat 21 to move in the length direction of the robot base 1, so that the cutter replacement executor 5 is close to the hobbing cutter; then the lifting hydraulic cylinder 28 starts to work, the lifting hydraulic cylinder 28 in movement is capable of driving the mounting frame 29 to start to work to adjust a straight-line distance between the mounting frame 29 and the racks, thereby completing the lifting work of the cutter replacement executor 5 and completing the preliminary adjustment work of the cutter replacement executor 5;

[0131] when it is necessary to adjust a transverse location of the cutter replacement executor 5 on the robot base 1, at this time, the transverse fine adjustment oil cylinder 31 starts to work, the transverse fine adjustment oil cylinder 31 in movement is capable of driving the driving block 32 to move, so that the driving block 32 in movement is capable of moving the sliding plate 33 on the transverse slide rail 38, thereby enabling the vision collecting device 6 to complete the collection work of the bolt locations; then according to the collected information, the location adjustment work for the cutter replacement executor 5 is completed by the left-right translation mechanism 3 provided, and the disassembly of the bolts is completed by the cutter replacement executor 5; then the first swing oil cylinder 34 and the second swing oil cylinder 36 start to work, thereby flipping the cutter replacement executor 5, so that an end with the clamping jaws 56 faces the hobbing cutter; then the left-right translation mechanism 3 and the multi-stage telescopic arm 4 start to move, enabling the clamping jaws 56 to be located in a gap between the hobbing cutter and the shield tunneling machine; then the driving oil cylinder 57 completes clamping and limiting work of the hobbing cutter, thereby completing the disassembly of the hobbing cutter; then under working of the left-right translation mechanism 3, the disassembled-down hobbing cutter can be placed in the cutter storage unit 8, then the clamping jaws 56 pick up a new hobbing cutter from the cutter storage unit 8 and transport it to a predetermined location, and then the first swing oil cylinder 34 and the second swing oil cylinder 36 work again, thereby enabling the bolts to limit the locations of the shield tunneling machine and the hobbing cutter to complete replacement work of the hobbing cutter;

[0132] when cutter replacement work is performed, by means of the vision collecting devices 6 provided, the locations of the bolts can be further collected, and collected data information can be transmitted to the main control system; the locations of the bolts can be positioned through processing by the main control system, and then according to the positioning result, preliminary adjustment of the location of the cutter replacement executor 5 is performed by the left-right translation mechanism 3; then the third swing oil cylinder 51 and the fourth swing oil cylinder 52 start to work, thereby adjusting the location of the end executor seat 53 to make the torque wrenches 510 abut against heads of the bolts; then through the rotation of the wrench hydraulic motor 511, the wrench hydraulic motor 511 in movement is capable of driving the main gear 58 to rotate, the main gear 58 in movement is capable of driving the sub gears 59 to rotate, thereby making the torque wrench 510 rotate to complete the disassembly work for the bolts; then through the matching of the first swing oil cylinder 34, the second swing oil cylinder 36, the third swing oil cylinder 51, and the fourth swing oil cylinder 52 provided, the end surface of the end executor seat 53 having the clamping jaws 56 is made to be directed to the hobbing cutter; then the locations of the clamping jaws 56 are adjusted by the second telescopic arms 54 provided, and then the driving oil cylinder 57 starts to work, thereby being capable of completing the grabbing work of the hobbing cutter, and being capable of completing the replacement work of the new and old hobbing cutters;

[0133] when the clamping jaws 56 clamp the old hobbing cutter and move to the cutter storage area of the cutter storage unit 8, at this time, the displacement air cylinder 813 starts to work, the displacement air cylinder 813 in movement is capable of moving the movable seat 814 in the length direction of the supporting slide rail 821, the location of the protective cover 811 is adjusted so that it can be close to the clamping jaws 56, then the rotary motor 816 starts to work, then the protective cover 811 can be driven to move through matching of the rotary wheel 817, the driven wheel 818, and the transmission belt 819 provided, thereby being capable of moving the limiting seat 825 within the protective cover 811 to move, making the first limiting assemblies 82 without the hobbing cutter located at pre-determined locations, and allowing the clamping jaws 56 to be capable of placing the damaged hobbing cutter on the first limiting assemblies 82;

[0134] when the damaged hobbing cutter is located in placement areas of the first limiting assemblies 82, at this time, the connection air cylinder 8211 starts to work, the connection air cylinder 8211 in movement is capable of driving the first gear 822 to rotate, the first gear 822 in movement is then capable of driving the second gear 823 to rotate, the second gear 823 in movement is further capable of driving the connecting shaft 829 to rotate, the connecting shaft 829 in movement is further capable of driving the limiting gear 827 connected thereto to rotate, thereby moving the double-sided racks 828 in the length direction of the limiting frame 826; due to heights of connecting projections between adjacent double-sided racks 828 are different, whereby when the hobbing cutter is located within the through hole, planes where the contact areas of the second limiting assemblies 83 on the connecting projections of the same height with the hobbing cutter are located are the same; however, since the hobbing cutter is disc-shaped and is provided with at least one cutting edge thereon, as a result, according to a direction of axis of the hobbing cutter, a diameter of a middle region thereof is larger than diameters of both ends thereof; by making the heights of adjacent connecting projections different, the second limiting assemblies 83 can thus be located on two sides of the cutting edge of the hobbing cutter, thereby being capable of supporting the hobbing cutter in the axial direction while achieving limitation in a radial direction, and preventing damage to the shield tunneling machine due to the fact that the hobbing cutter moves inside the shield tunneling machine after separating from the cutter storage unit 8 in the moving process of the shield tunneling machine;

[0135] when it is necessary to perform cutter storage work for the damaged hobbing cutter, due to the collision between the hobbing cutter and a rock mass, breakage of the hobbing cutter is caused, thereby giving the hobbing cutter an irregular shape, so that when it is necessary to perform limiting and clamping work for the damaged hobbing cutter, at this time, according to the collected information of the vision collecting devices 6, a stretching air cylinder 833 starts to work, the stretching air cylinder 833 in movement is capable of driving a fixed plate 831 connected to an output end thereof to move to adjust the distance between the two fixed plates 831, thereby adjusting the distances between the abutting blocks 8313 located on different fixed plates 831; then the adjusting air cylinder 836 starts to work, the adjusting air cylinder 836 in movement can drive the adjusting seat 837 to move, thereby making the driving wheel 838 move in the limiting waist holes on the adjusting seat 837, further being capable of driving the adjusting plates 8311 to move in the length direction of the adjusting slide rails 839 to adjust the distance between adjacent abutting blocks 8313 on the same fixed plate 831; then the limiting air cylinder 8312 starts to work, and the distances between the abutting blocks 8313 and the hobbing cutter can be adjusted, thereby completing limiting work for the hobbing cutter; by changing the contact location between the abutting blocks 8313 and the damaged hobbing cutter, limiting and clamping work for the damaged hobbing cutter can be completed, and it is ensured that the cutter replacement work is performed smoothly; for hobbing cutters that cannot be subjected to the clamping work, they can be transported by the left-right translation mechanism 3 to a predetermined unloading location, so that they can be transported out of the interior of the shield tunneling machine.

[0136] The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings, however, the present application is not limited to the specific details in the above embodiments, within the scope of the technical idea of the present application, the technical solutions of the present application can be subjected to various equivalent variations, which all belong to the protection scope of the present application.

Claims

1. An intelligent cutter replacement robot device, comprising:a robot base disposed within a robot pod of a shield tunneling machine;a displacement unit, a left-right translation mechanism connected with the displacement unit, and a multi-stage telescopic arm connected with the left-right translation mechanism;a cutter replacement executor connected with the multi-stage telescopic arm to be used for disassembling and assembling bolts between the shield tunneling machine and a hobbing cutter and grabbing and transporting the hobbing cutter to complete replacement of the hobbing cutter;vision collecting devices disposed on the cutter replacement executor to be used for positioning bolt locations and making the cutter replacement executor disassembly and assembly the bolts, grab the hobbing cutter and conduct placement positioning;a cutter storage unit located within the shield tunneling machine, internally provided with two storage spaces, and used for placement of hobbing cutters which are not used and old hobbing cutters which are disassembled down with the cutter replacement executor, whereinthe displacement unit is connected to the robot base; the cutter storage unit comprises a rotating assembly connected with the shield tunneling machine, two first limiting assemblies uniformly disposed on the rotating assembly, and a plurality of second limiting assemblies uniformly disposed on the first limiting assemblies;the rotating assembly comprises a connecting frame connected with the shield tunneling machine, a supporting slide rail disposed on the connecting frame, a movable slider movably connected with the supporting slide rail, a movable seat for connecting the movable slider, a rotary motor fixedly mounted on the movable seat, a rotary wheel connected with an output end of the rotary motor, a movable shaft disposed on the movable seat, a driven wheel sleeved on the movable shaft, a protective cover connected with the movable shaft, and a transmission belt for connecting the rotary wheel with the driven wheel;the supporting slide rail is further provided with a displacement air cylinder, and an output end of the displacement air cylinder is connected with the movable seat;the first limiting assembly comprises a limiting seat located within the protective cover, the limiting seat is internally provided with an accommodating cavity, a pluralityof connection air cylinders movably connected with the limiting seat disposed in the accommodating cavity, a first gear connected with an output end of the connection air cylinder, a second gear engaged with the first gear, a connecting shaft disposed on the second gear, a limiting frame fixedly mounted on the limiting seat, double-sided racks located within the limiting frame, limiting gears engaged with the double-sided racks and located on the limiting seat, and a ring gear disposed within the accommodating cavity and engaged with the second gear;the connecting shaft is connected with one of the limiting gears, and the second limiting assemblies are connected with the double-sided racks; the output end of the connection air cylinder is at a non-center location of the first gear;the limiting seat is of a tubular structure and is provided with a through hole, and the accommodating cavity is located in a region between an outer wall of the limiting seat and an inner wall of the through hole;the second limiting assembly comprises two fixed plates, two pull plates symmetrically disposed on one of the fixed plates, lifting air cylinders fixedly mounted on the pull plates, two guide seats diagonally disposed on the fixed plates, and a guide shaft penetrating through the guide seats and used for connecting the two fixed plates;the pull plates are provided with square holes, and output ends of the lifting air cylinders are connected with the other fixed plate through the square holes; one of the fixed plates is connected with the double-sided racks in a toothed-surface-free manner, the other fixed plate is movable in an axial direction of the guide shaft, connecting projections are provided between the double-sided racks and the fixed plates, and connecting projections between adjacent double-sided racks are different in height;the second limiting assembly comprises adjusting air cylinders and a plurality of adjusting slide rails disposed on the fixed plates, adjusting seats connected with output ends of the adjusting air cylinders, a plurality of driving wheels disposed on the adjusting seats, adjusting plates connected with the driving wheels, limiting air cylinders disposed on the adjusting plates, abutting blocks connected with output ends of the limiting air cylinders, and driven sliders for connecting the adjusting plates with the adjusting slide rails;the adjusting seats are provided with a plurality of limiting waist holes, and there are included angles between length directions of the limiting waist holes and the adjusting slide rails.

2. The intelligent cutter replacement robot device according to claim 1, wherein the displacement unit comprises a driving rack and a fixed slide rail fixedly mounted in a length direction of the robot base, an adjusting slider slidably connected with the fixed slide rail, a moving seat for connecting the adjusting slider, four first hydraulic motors disposed on the moving seat, motor gears disposed at output ends of the first hydraulic motors and engaged with the driving rack, a weight block disposed on the moving seat, a lifting frame movably connected with the moving seat, a mounting frame for connecting the other end of the lifting frame, and a lifting hydraulic cylinder movably connected with the mounting frame and the moving seat, respectively.

3. The intelligent cutter replacement robot device according to claim 2, wherein the left-right translation mechanism comprises a transverse fine adjustment oil cylinder and a transverse slide rail fixedly mounted on the mounting frame, a driving block connected with an output end of the transverse fine adjustment oil cylinder, a sliding plate connected with the driving block, a first swing oil cylinder disposed on the sliding plate, a supporting plate connected with the first swing oil cylinder, a second swing oil cylinder disposed on the supporting plate, and a right-angle arm movably connected with the second swing oil cylinder;the multi-stage telescopic arm is connected with the right-angle arm;a telescopic oil cylinder is mounted within the multi-stage telescopic arm;the sliding plate is provided with a transverse slider, and the transverse slider is slidably connected with the transverse slide rail.

4. The intelligent cutter replacement robot device according to claim 1, wherein the cutter replacement executor comprises a third swing oil cylinder disposed on the multistage telescopic arm, an execution plate connected with the third swing oil cylinder, a fourth swing oil cylinder disposed on the execution plate, an end executor seat movably connected with the fourth swing oil cylinder, a wrench hydraulic motor fixedly mounted on the end executor seat, a main gear connected with an output end of the wrench hydraulic motor, two sub gears engaged with the main gear and disposed on the end executor seat, and torque wrenches disposed on the sub gears.

5. The intelligent cutter replacement robot device according to claim 4, wherein the cutter replacement executor further comprises two second telescopic arms symmetrically disposed on the end executor seat, clamping jaw connecting plates connected with output ends of the second telescopic arms, two clamping jaws movably connected with theclamping jaw connecting plates, and driving oil cylinders for connecting the clamping jaws with the clamping jaw connecting plates;the vision collecting devices are two in number and are a first vision collector and a second vision collector, respectively, the first vision collector and the second vision collector are respectively located on the end executor seat, and collecting areas of the first vision collector and the second vision collector are opposite.

6. A system for an intelligent cutter replacement robot device, comprising the intelligent cutter replacement robot device according to any one of claims 1-5, and further comprising:a multi-source information perception system collecting different types of data information of a cutter replacement robot under a working environment by using various types of sensors, and then aggregating collected multi-type information to form a data source of multiple data;a digital twin system for receiving, processing, converting and storing the data source of multiple data, and performing three-dimensional reconstruction of a working space of the cutter replacement robot according to processed data;a main control system, based on a three-dimensional reconstruction model, performing real-time positioning of locations of bolts and obstacles, respectively, and planning a traveling route of the cutter replacement robot according to the locations of the bolts and the obstacles;a power unit connected with the main control system, making the main control system control a working pressure of hydraulic oil in the power unit according to a processing result of the main control system, and meanwhile, making a hydraulic oil medium perform filtering and energy storage;a plurality of joint units connected with the power unit respectively, supplying hydraulic oil to the joint units through the power unit, and adjusting locations between various joint units according to processing information processed by the main control system, so that a cutter replacement executor can complete positioning and obstacle avoidance functions of locations of hobbing cutters during replacement of the hobbing cutters and realize intelligent control of the cutter replacement robot.

7. The system for an intelligent cutter replacement robot device according to claim 6, wherein the power unit comprises an oil return pipe T1, an oil return pipe T2, an oil inlet pipe P1, an oil inlet pipe P2, a self-sealing quick-replacement joint K1, a self-sealingquick-replacement joint K2, a self-sealing quick-replacement joint K3, a self-sealing quick-replacement joint K4, a ball valve Q1, a ball valve Q2, a temperature sensor TS, a pressure sensor T1, a pressure sensor T2, a pressure sensor T3, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an energy accumulator AC, and an energy accumulator valve group E;the power unit comprises the self-sealing quick-replacement joint K1, the selfsealing quick-replacement joint K2, and the self-sealing quick-replacement joint K3 respectively connected with an energy source pump station; the self-sealing quickreplacement joint K4 connected with the self-sealing quick-replacement joint K1; the ball valve Q2 connected with the other end of the self-sealing quick-replacement joint K3; the temperature sensor TS, the pressure sensor T1, the pipeline filter F1 and the energy accumulator valve group E which are connected with the other end of the ball valve Q2, wherein the other end of the energy accumulator valve group E is connected with the energy accumulator AC, and the other end of the pipeline filter F1 is respectively connected with the throttle valve L1 and the throttle valve L2; the pressure reducing valve A1 and the pressure reducing valve A2 respectively connected with the throttle valve L1 and the throttle valve L2, wherein an outlet end of the pressure reducing valve A1 is respectively connected with the pressure sensor T2, the safety valve RV1 and one end of the pipeline filter F2, and an outlet end of the pressure reducing valve A2 is respectively connected with the pressure sensor T3, the safety valve RV2 and the oil inlet pipe P2;the other end of the self-sealing quick-replacement joint K2 is connected with the ball valve Q1;the pipeline filter F2 is connected with the oil inlet pipe P1, the other end of the safety valve RV1, the other end of the safety valve RV2 and the other end of the ball valve Q1 are respectively connected with the oil return pipe T2,wherein oil drains of the pressure reducing valve A1 and the pressure reducing valve A2 and the self-sealing quick-replacement joint K4 respectively communicate with the oil return pipe T1.

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