A tunnel boring machine cutterhead cutter detection robot and a detection method thereof

Abstract

The application relates to a tunnel boring machine cutter detection robot and a detection method thereof. In view of the problem that the detection device motion path is limited and collision is prone to occur due to the narrow space in the soil bin of a shield machine and the dense arrangement of pipeline and other structural members, a trajectory planning and control calculation method of a series type cutter flushing and measuring robot system is designed, flexible motion of the detection robot in the narrow space of the shield machine can be realized, and the purpose of full cutter detection and flushing is achieved. The scheme of the application is composed of a 6+1 degree of freedom mechanical arm, a replaceable end (including a nozzle and a camera), a sensing system, a calculation method and a work flow, and a control system. The cutter detection robot of the application can replace workers to operate in the soil bin, realize full automation of in-cabin flushing of mud cake and detection and other operations, and achieve the goals of saving working hours, reducing costs, improving efficiency and intelligence.

Description

TECHNICAL FIELD

[0001] The present application relates to a tunnel boring machine cutter detection robot and its detection method, belonging to the technical field of program-controlled robots, and in particular to a multi-degree-of-freedom mechanical arm for cleaning a shield machine cutter head and a control method thereof. BACKGROUND

[0002] During the construction process of a full-face tunnel boring machine, the cutters are frequently replaced due to heavy wear, and the cutter replacement operation time accounts for more than 10% of the tunnel construction cycle. If the failed cutters (cutters with wear exceeding the design value) are not replaced in time, the cutter head body will be worn, the project will face the risk of shutdown for maintenance, and the project schedule will be severely restricted.

[0003] The cutter head of a tunnel boring machine is a vertical planar mechanical structure, and the detection operation space is narrow, high-pressure, humid, and dark. The surface structure of the cutter head is complex. Currently, the detection operation mainly involves the following steps: after the liquid level in the excavation chamber is lowered to an appropriate level, an operator wearing a miner's lamp climbs into the excavation chamber, uses high-pressure water to clean the cutter head, and then checks the wear of each cutter and records the results. This method is low in efficiency and high in risk. Some mechanical arm detection schemes also require manual assistance.

[0004] For example, Chinese patent publications CN108145718A and CN110053060A both disclose a cleaning mechanical arm for a shield machine cutter head. Both of the above-mentioned schemes require an operator to observe the mud cake on the cutter head through a camera and manually control the movement and alignment of the mechanical arm for cutter head cleaning. Even if an intelligent algorithm using machine learning image recognition is used to replace manual operation, the camera recognition will lose its effectiveness when the cutter seat is covered with mud cake.

[0005] In addition, the cleaning mechanical arm disclosed in document CN108145718A has three joints, and although its range of motion can cover the entire cutter head, its limited degrees of freedom and flexibility also make it impossible to achieve automatic control and trajectory planning. The cleaning and observation mechanical arm disclosed in document CN110053060A can predict the position of the cleaning nozzle itself, but it cannot control the angle in more detail. The reason is that it still lacks one degree of freedom in controlling the pose of the end. Trajectory planning for random positions of the cutter head is still difficult to achieve. If the cleaning coverage needs to be increased, there are only two options: to increase the distance or to adjust the entire mechanical arm. Both of these options increase the difficulty of automatic control, not only increasing the amount of calculation, but also increasing the working time, material consumption, and difficulty of achieving full-process automation. SUMMARY

[0006] The tunnel boring machine cutter detection robot and the detection method thereof provided by the application can solve the problem of low automation degree caused by manual control of the mechanical arm when the mechanical arm is used to flush the cutter head in the prior art.

[0007] To achieve the above object, the application provides the following scheme:

[0008] The tunnel boring machine cutter detection robot comprises a controller and a flushing detection mechanical arm arranged at the rear part of the cutter head, and a flushing nozzle is arranged at the end of the mechanical arm of the flushing detection mechanical arm.

[0009] 1) According to the positional relationship between the cutter head and the flushing detection mechanical arm and the current rotation angle of the cutter head, the position of the nearest cutter row on the cutter head closest to the flushing detection mechanical arm is determined, and the position information of the to-be-flushed cutter in the mechanical arm coordinate system is further determined in combination with the distribution position of the cutter on the cutter head.

[0010] 2) The end of the mechanical arm is controlled to reach the position of the set cutter in the nearest cutter row according to the position information, and the distance between the end of the mechanical arm and the corresponding cutter is set.

[0011] 3) The flushing nozzle is opened, and the end of the mechanical arm is controlled to flush along the corresponding cutter seat frame according to the preset path in the program or along the gradually narrowing spiral track.

[0012] 4) The end of the mechanical arm is controlled to advance to the position of the next cutter according to the cutter interval in the cutter row, and the flushing and detection of the corresponding cutter are repeated.

[0013] The tunnel boring machine cutter detection robot provided by the application can obtain the position information of the to-be-flushed cutter according to the arrangement and the current angle of the cutter head, automatically run to the position, flush the cutter seat according to the preset flushing track in the program, and the process does not depend on personnel operation, does not need image recognition, is not affected by the mud cake covering the cutter seat, and has high flushing efficiency.

[0014] The application adopts the design concept of automatic control, plans the track through mathematical calculation, and guides the joint movement of the mechanical arm.

[0015] Further, the flushing detection mechanical arm comprises an ejection joint and a flushing joint, the flushing joint comprises a terminal rotation joint for rotating the mechanical arm terminal around a terminal axis, and a terminal swing joint for swinging the mechanical arm terminal; in step 2), the mechanical arm terminal is controlled to reach a position facing the set cutter through the ejection joint; in step 3), the terminal rotation joint is first controlled to rotate, so that the cutter holder is vertical to the long side and horizontal to the short side of the mechanical arm terminal, and then the flushing nozzle is opened.

[0016] Before flushing, the cutter holder is turned to a position with a unified fixed long side vertical and short side horizontal, and then the automatic flushing is performed according to the programmed route, so that the flushing effect is ensured.

[0017] Further, in step 3), the method for flushing along the frame of the corresponding cutter holder is that the ejection joint is kept fixed, the terminal rotation joint is uniformly rotated, and the control of the terminal swing joint follows the function relationship between the value q6 of the terminal swing joint and the time t as follows:

[0018] When n = 0, 1, 2,...,

[0019]

[0020] When t does not satisfy and t-nt z <t z / 2, n = 0, 1, 2,...,

[0021]

[0022] When t does not satisfy and t-nt z >t z / 2, n = 0, 1, 2,...,

[0023]

[0024] wherein, is the rotation angular velocity of the terminal rotation joint, w is the width of the cutter holder, h is the height of the cutter holder, and d is the distance from the flushing nozzle to the cutter.

[0025] Further, after one circle of flushing of the frame of the cutter holder, the value q6 of the terminal swing joint is decreased by a fixed value every time until q6 is equal to 0, and the flushing of the corresponding cutter is completed.

[0026] The operation logic of the flushing detection mechanical arm control is based on the calculation of the geometry relationship of at most three connecting rods, compared with the inverse solution of the general serial mechanical arm, the operation amount is greatly reduced, the speed can be improved, and the efficiency and intelligence of the operation are improved.

[0027] Further, in step 3), during the uniform rotation of the end rotary joint, the rotary joint is reversed after reaching a set number of rotations.

[0028] The rotation of the rotary joint is reversed after reaching a set number of rotations, preventing damage to the cable.

[0029] Further, the flushing detection mechanical arm comprises a telescopic arm, a large arm and a small arm, the end of the mechanical arm is arranged at the end of the small arm; the ejection joint comprises a telescopic arm extension joint, a telescopic arm rotary joint, a large arm swing joint connecting the telescopic arm and the large arm, and a small arm swing joint connecting the large arm and the small arm; in step 2), the method for controlling the end of the mechanical arm to reach a position facing the set tool is that, according to the position information, the values of the telescopic arm extension joint, the telescopic arm rotary joint and the large arm swing joint are solved, so that the small arm swing joint reaches a position corresponding to the front of the set tool, the telescopic arm extension joint, the telescopic arm rotary joint and the large arm swing joint are controlled to act according to the solved values, and the small arm swing joint is controlled to act in the same direction opposite to the value of the large arm swing joint.

[0030] Further, in step 2), the value q1 of the telescopic arm extension joint, the value q2 of the telescopic arm rotary joint and the value q3 of the large arm swing joint are:

[0031] q1=x E -l3cosq3-l2

[0032]

[0033]

[0034] wherein (x E , y E , Z E ) T is the target position coordinate of the small arm swing joint, l2 is the rod length between the telescopic arm rotary joint and the large arm swing joint, and l3 is the rod length between the large arm swing joint and the small arm swing joint.

[0035] The mechanical arm disclosed in the application adopts a non-typical 6-axis mechanical arm structure, so that after the mechanical arm is extended in the axial direction, the mechanical arm has a larger working space in the radial direction, and when the mechanical arm is completely retracted, the mechanical arm is linear, and the mechanical arm is suitable for narrow installation space.

[0036] Further, in step 2), the set tool that is first cleaned in the nearest tool row is the outermost tool closest to the edge of the tool disc; in step 4), after flushing of one tool is completed, the end of the mechanical arm is controlled to move along the radial direction of the tool disc to the adjacent tool in the direction of the center of the tool disc in the nearest tool row for flushing.

[0037] The mechanical arm is arranged close to the axis of the cutter head, and the distance between the inner cutter and the mechanical arm gradually shortens in sequence from the edge of the cutter head to the center of the cutter head, so the moving joint needs to be constantly retracted to prevent the mechanical arm from interfering with the cutter head during the flushing process.

[0038] Further, the flushing detection mechanical arm end is also provided with a vision system, and in step 3), cutter holder image information is acquired through the vision system, and the long side of the cutter holder is adjusted to be vertical and the short side is adjusted to be horizontal according to the image information.

[0039] Further, the current size of the corresponding cutter is also identified through the vision system after the cutter flushing is completed, and the wear amount is judged by comparing with the reference cutter size, and the cutter is marked when the wear amount exceeds the set threshold.

[0040] After the flushing is completed, the image recognition is used to check the wear amount of the cutter, so that timely tool replacement can be reminded.

[0041] Further, the flushing detection mechanical arm is arranged on a moving platform, and the moving platform is slidingly arranged on a ground rail fixed to the shield body.

[0042] In this way, the working range of the mechanical arm is further increased, and the mechanical arm can be retracted into the chamber on the shield body through the ground rail, and the mechanical arm can be sent into the soil chamber as much as possible during work.

[0043] The tunnel boring machine cutter detection method of the application comprises the cutter flushing and wear state detection method of the tunnel boring machine cutter detection robot.

[0044] The method of the application is aimed at a 6+1 degree of freedom cutter flushing and wear state detection mechanical arm with illumination and high-pressure flushing functions, and a corresponding automatic detection process is designed, especially the flushing track calculation in the positioning flushing process, so that an unmanned intelligent scheme is realized. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 is a flushing detection mechanical arm structure schematic diagram of the tunnel boring machine cutter detection robot of the application;

[0046] Figure 2 is a ground rail structure schematic diagram of the tunnel boring machine cutter detection robot of the application;

[0047] Figure 3 is a moving platform structure schematic diagram of the flushing detection mechanical arm of the application;

[0048] Figure 4 is a monitoring mechanical arm structure schematic diagram of the flushing detection mechanical arm end of the application;

[0049] Figure 5is a flushing detection mechanical arm flushing detection system structural schematic diagram of the present application;

[0050] Figure 6 is a tunnel boring machine cutter detection method flow chart of the present application;

[0051] Figure 7 is a tunnel boring machine cutter detection robot flushing detection mechanical arm mechanism diagram of the present application;

[0052] Figure 8 is a tunnel boring machine cutter detection robot flushing detection mechanical arm extension state mechanism diagram of the present application;

[0053] Figure 9 is a tunnel boring machine cutter detection robot flushing detection mechanical arm detection cutter wear amount diagram of the present application Figure 1 ;

[0054] Figure 10 is a tunnel boring machine cutter detection robot flushing detection mechanical arm detection cutter wear amount diagram of the present application Figure 2 .

[0055] The figure includes: 1, ground rail; 2, moving platform; 3, end monitoring mechanical arm; 4, cutter; 101, support; 102, first guide rail sliding block; 103, dust cover; 104, adjusting pad; 105, rack; 106, proximity switch; 107, anti-collision block; 108, rack dust cover; 201, end monitoring mechanical arm mounting plate; 202, first swing joint; 203, first rotary joint; 204, rotary drive; 205, telescopic arm; 206, second guide rail sliding block; 207, sliding table; 208, drive motor; 301, large arm; 302, small arm; 303, adapter arm; 304, adapter plate; 305, monitoring mounting plate; 306, flushing detection system; 307, second swing joint; 308, second rotary joint; 309, third swing joint; 3061, miniature camera; 3062, straight flush nozzle; 3063, self-cleaning nozzle; 3064, lamp ring; 3065, shell; 3066, glass sealing plate. DETAILED DESCRIPTION

[0056] The present application will be further described in detail below in conjunction with the drawings.

[0057] Robot embodiment:

[0058] This invention discloses a tunnel boring machine cutterhead tool inspection robot, comprising a flushing and inspection robotic arm disposed at the rear of the cutterhead. The robotic arm can be housed in a specially designed chamber near the axis of the soil chamber's rear shield. Normally, the robotic arm is safely stored in the chamber; when cutterhead flushing is required, it is moved out of the chamber and into the soil chamber. To facilitate the robotic arm's entry and exit from the chamber, in this embodiment, the robotic arm is mounted on a ground rail within the chamber, allowing it to move back and forth along the rail.

[0059] like Figure 1 As shown, the rinsing and inspection robotic arm includes a mobile platform 2 and an end-effector monitoring robotic arm 3 mounted on the mobile platform 2. The mobile platform 2 is movably mounted on a ground track 1. Figure 2 As shown, the ground rail 1 consists of a bracket 101, a first guide rail slider 102, a dust cover 103, an adjusting pad 104, a rack 105, a proximity switch 106, a crash block 107, and a rack dust cover 108. The ground rail 1 is fixed to the shield inside the chamber by the bracket 101 through the adjusting pad 104. The moving platform 2 is guided and engaged with the ground rail 1 through the first guide rail slider 102. The crash block 107 and the proximity switch 106 provide limit and anti-detachment protection for the flushing and inspection robotic arm. The moving platform 2 is driven on the ground rail 1 by gears and a matching rack 105. The moving platform 2 moves along the ground rail 1 toward the cutter head, which can send the end monitoring robotic arm 3 out of the chamber door and into the soil chamber for flushing operations.

[0060] Mobile Platform 2, etc. Figure 3 As shown, the system includes a drive motor 208 for driving the mobile platform 2 to move along the ground rail 1, a slide table 207, a second guide rail slider 206, a telescopic arm 205, an end-effector monitoring robotic arm mounting plate 201, a first swing joint 202, a first rotary joint 203, and a rotary drive 204. The telescopic arm 205 extends and retracts within the slide table 207 via the second guide rail slider 206. A first swing joint 202 is located at the front end of the telescopic arm 205 via the first rotary joint 203, and the end-effector monitoring robotic arm mounting plate 201 is mounted on the first swing joint 202. The extension and retraction of the telescopic arm 205 constitutes the first degree of freedom (first joint q1) of the rinsing and detection robotic arm. The first rotary joint 203 enables the rotational movement of the first swing joint 202 and the end-effector monitoring robotic arm 3, constituting the second degree of freedom (second joint q2) of the rinsing and detection robotic arm. The first swing joint 202 enables the swinging movement of the end-effector monitoring robotic arm 3, constituting the third degree of freedom (third joint q3) of the rinsing and detection robotic arm.

[0061] End-effector monitoring robot 3 Figure 4As shown, it comprises a large arm 301, a small arm 302, an adapter arm 303, an adapter plate 304, a monitoring mounting plate 305, a flushing detection system 306, a second swing joint 307, a second rotary joint 308, and a third swing joint 309. The large arm 301 is arranged on the end monitoring mechanical arm mounting plate 201 of the driving mobile platform 2 through the adapter plate 304; the other end of the large arm 301 is connected to the small arm 302 through the second swing joint 307, the other end of the small arm 302 is connected to the adapter arm 303 through the second rotary joint 308, the other end of the adapter arm 303 is connected to the monitoring mounting plate 305 through the third swing joint 309, and the flushing detection system 306 is arranged on the monitoring mounting plate 305. The second swing joint 307 drives the small arm 302 and the subsequent flushing detection system 306 to swing, thereby constituting the fourth degree of freedom (the fourth joint q4) of the flushing detection mechanical arm; the second rotary joint 308 drives the third swing joint 309 and the flushing detection system 306 to rotate, thereby constituting the fifth degree of freedom (the fifth joint q5) of the flushing detection mechanical arm; and the third swing joint 309 drives the flushing detection system 306 to swing, thereby constituting the sixth degree of freedom (the sixth joint q6) of the flushing detection mechanical arm. In addition, the forward and backward movement of the mobile platform 2 on the ground rail 1 forms a flushing detection mechanical arm with 6+1 degrees of freedom.

[0062] The flushing detection system 306, as shown in Figure 5 comprises a miniature camera 3061, a straight flushing nozzle 3062, a self-cleaning nozzle 3063, a lamp ring 3064, a housing 3065, and a glass sealing plate 3066. The miniature camera 3061 constitutes a vision system, the straight flushing nozzle 3062 is used for flushing the cutter head, and during the flushing process, mud will splash on the glass sealing plate 3066, affecting the image acquisition of the vision system. The self-cleaning nozzle 3063 can be used to flush the glass sealing plate 3066. When the miniature camera 3061 is working, the lamp ring 3064 provides light. The flushing detection system 306 is designed with special packaging and fixing structure for the camera and the nozzle, which ensures that the camera is completely unaffected by the complex environment and has extremely high reliability.

[0063] The 6+1 degree of freedom flushing detection mechanical arm in this embodiment converges the six axis lines on the same line when fully retracted, has small installation size, occupies small space, and effectively reduces the volume of the installation chamber. The +1 movement joint is installed on the ground rail 1 through the ground rail slider 102. The second guide rail slider 206 of the first movement joint of the flushing detection mechanical arm is connected to the ground rail 1 through the sliding table 207, and the two joints jointly provide a large working space of the flushing detection mechanical arm in the axis direction, which can be regarded as one joint in subsequent calculation. The movement joint telescopic arm 205 is connected with the large arm 301 through the first rotary joint 203 and the first swing joint 202, and drives the two angle movements of the large arm 301. The small arm 302 is connected with the large arm 301 through the second swing joint 307, and adjusts the angle of the small arm 302. The monitoring mounting plate 305 is connected with the small arm 302 through the second rotary joint 308 and the third swing joint 309, and adjusts the orientation of the end of the mechanical arm. The flushing detection system 306, which is a monitoring camera protection and cleaning structure, is fixedly connected with the monitoring mounting plate 305, and the inside of the flushing detection system 306 is wrapped with a miniature camera 3061 body and a lamp ring 3064 adopting an LED lamp belt. An straight flushing nozzle 3062 and a pair of self-cleaning nozzles 3063 are fixed outside the flushing detection system 306, and the self-cleaning nozzles are used for cleaning the mud attached to the glass cover. The camera is placed at the axis position of the mechanical hand, and is used for observing the flushing condition.

[0064] In order to meet the requirements of automatic flushing detection, the control system of the robot plans the trajectory and synthesizes the motion of the end position of the mechanism. The motion of the multi-degree-of-freedom robot is divided into three main steps: 1) according to the angle of the cutter head, the position of any cutter in the nearest column of radial cutters relative to the reference coordinate system of the flushing detection mechanical arm is determined, the first four degrees of freedom (joints q1-q4) are adjusted, and the end monitoring mechanical arm 3 is extended to the corresponding position at a certain axial distance; according to the distance between the set nozzle and the cutter, the motion relationship of the last two joints (q5, q6) is set, so that the trajectory covers the cutter holder frame, so as to improve the spraying efficiency and save energy and reduce emissions; the relative coordinate motion from the current cutter to the next cutter is calculated, the first four joints and the ground rail platform (moving platform 2) are directly controlled to the position, and the distance from the cutter head is kept substantially constant, so that the motion trajectory is smoother, the walking time is reduced, and the efficiency is improved.

[0065] As shown in Figure 6 , the method for cleaning the cutter of a shield tunneling machine using the cutter detection robot of the tunnel boring machine according to the present application comprises the following steps:

[0066] 1. Determine the position of the cutter: as shown in Figure 7 , set the mechanical arm coordinate system (KS) ROn the robotic arm's ground track, the cutter head coordinate system (KS)0 is located at the center of the cutter head. The relative positions of the two coordinate systems are fixed. Based on the structural positional relationship between the robotic arm and the cutter head, the transformation matrix 0T from the cutter head coordinate system to the robotic arm coordinate system is obtained. R Then, based on the current angle information of the tool head, the position of the radial tool column closest to the robot is obtained. Then, based on the tool position distribution on the tool head, the position of a specific tool (e.g., the outermost tool) in the tool head coordinate system is obtained. (0) ri (a 4th-order homogeneous vector). The position of the tool relative to the robot. (R) r i From the above known quantities through (0) r i ·0T R = (R) r i Once obtained, the camera is then turned on. In this embodiment, each row of blades is set to start rinsing from the outermost blade. In other embodiments, it can also start from other blades, such as the innermost blade in the nearest row of blades excluding the center blade.

[0067] Figure 7 In the diagram, l1 to l6 represent the lengths of the links between the robotic arm joints, and EE is the end of the robotic arm (nozzle).

[0068] 2. Robot delivers goods to the warehouse: such as... Figure 8 As shown, the vector obtained in step 1 (R) r i The first three terms (x i y i , z i ) T This refers to the position information of the first tool to be flushed. After the forearm end (i.e., the second swing joint 307, also known as the fourth joint q4) reaches its position, there are other mechanisms between it and the tool; a distance should be reserved. This distance is set to a fixed value z0. The target position of the forearm end (x...) E y E , z E ) T Among them, z E =z i -z0. Based on geometric relationships, the target values ​​for the first three joints are solved: q1=x E -l3cos q3-l2. The value q4 of the fourth joint (second swing joint 307) is set to be the same in magnitude but opposite in direction to the value q4 of the third joint (first swing joint 202). These four joint values ​​are input into the motion controller to control the corresponding drive motors, hydraulic cylinder valves, and other drive mechanisms to reach their positions. At this point, the end effector and nozzle are both in position and facing the center of the cutter to be rinsed.

[0069] The values q1-q6 of each joint represent the relative zero position angle (swing joint and rotary joint) or displacement (extension joint) of the corresponding joint.

[0070] 3. Turn on the self-cleaning nozzle: Before cleaning the tool, clean the mud that may be attached to the lens to obtain clearer image information during operation.

[0071] 4. Turn on the nozzle: The deflection angle of the tool holder relative to the end obtained from the camera. By rotating the fifth joint (i.e., the second rotary joint 308), i.e., adjusting the value q5, the long side of the tool holder in the camera image is vertical and the short side is horizontal, so as to facilitate the calculation of the automatic cleaning sweep trajectory in the next step.

[0072] 5. Uniform rotation of the fifth joint: At this time, the first four joints (q1-q4) and the ground rail platform remain fixed. Set the fifth joint to rotate at a constant speed of Reverse rotation after each cycle to avoid damaging the line. The width and height of the tool holder are w and h, respectively, and the distance from the nozzle to the center of the tool holder is d=z0-l4-l5-l6.

[0073] 6. Set the approximate square trajectory along the edge of the tool holder for cleaning. Calculate the time-varying formula of the sixth joint:

[0074] Case one: Set the nozzle to sweep the short side using a circular arc approximation, and the long side to move in a straight line. The function relationship between the value q6 of the sixth joint and the time t can be calculated by the following formula:

[0075] When ,

[0076]

[0077] When t∈other, and ,

[0078]

[0079] When t∈other, and ,

[0080]

[0081] where is the time for one revolution of the end.

[0082] Case two: If the mud cake is not solid and does not need to be cleaned along the edge of the tool holder, it is not difficult, this step can also be simplified to clean along a gradually shrinking circular trajectory, reducing the amount of calculation.

[0083] 7、Flush the entire tool (case one): After the first circle, that is, the outermost circle of the tool holder is flushed, gradually reduce the square trajectory along the tool holder contour, complete the flushing of the entire tool holder. Specifically, the angle of the sixth joint swing motor every time after the time Reduce the fixed value until the value q6 of the sixth joint is reduced to 0, at which time the flushing of a tool holder is completed.

[0084] 8、Camera preliminary detection of tool wear: as shown in Figure 9 、 Figure 10 , move the end of the robot arm so that the micro camera 3061 of the flushing detection system 306 collects the image of the tool 4 that has completed flushing, and through simple image processing, the upper and lower edges of the tool 4 are outlined. By calculating the current size and comparing it with the reference tool size, the approximate wear amount is determined. When the wear amount exceeds a certain expected value set, the position or number of the tool is marked. Provide a reference for subsequent tool changing operation.

[0085] 9、Advance to the next tool position: get the position of the next tool inside the current tool according to the method of step 1. Then calculate the values of the first four joints (q1-q4) according to the formula of step 2. Directly control the joint drive to advance from the previous position to the current position. Since the distance between the inner tool and the robot gradually shortens, the moving joint needs to be constantly retracted. The ground rail platform can be moved in place first to ensure that the robot does not interfere with the tool holder.

[0086] 10、Repeat step 3 until the flushing and detection of the innermost tool in the column are completed.

[0087] 11、Robot back position: when all the tools in a column are flushed and detected, all the joint values are reset to zero and the robot returns to the warehouse. Then rotate the tool holder to flush and detect the next column of tools.

[0088] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0089] Method embodiment:

[0090] The tunnel boring machine tool holder detection method of the present application has been described in detail in the robot embodiment, and will not be repeated here.

Claims

1. A tunnel boring machine cutterhead cutter inspection robot, characterized by, The application relates to a cutter flushing detection method and device, and belongs to the field of cutter flushing detection. The device comprises a controller and a flushing detection mechanical arm arranged at the rear part of a cutter head, the flushing detection mechanical arm comprises an ejection joint and a flushing joint, the flushing joint comprises an end swing joint for swinging the mechanical arm end, and a terminal rotary joint for rotating the end swing joint and the mechanical arm end, the mechanical arm end is provided with a flushing nozzle and a camera; the controller executes instructions to realize the cutter flushing detection method in the following steps: 1) according to the positional relationship between the cutter head and the flushing detection mechanical arm and the current rotation angle of the cutter head, the position of the nearest cutter row closest to the flushing detection mechanical arm on the cutter head is determined, and then the position information of the to-be-flushed cutter in the mechanical arm coordinate system is further determined in combination with the cutter distribution position on the cutter head; the cutter row is a row of cutters arranged along the radial direction on the cutter head; 2) according to the position information, the mechanical arm end is controlled to reach the position where the flushing nozzle and the camera face the center of the to-be-flushed cutter in the nearest cutter row, and the flushing nozzle and the camera are separated from the cutter by a set distance; 3) the deflection angle of the to-be-flushed cutter seat relative to the mechanical arm end is obtained from the camera, the terminal rotary joint is controlled to rotate, the long side of the to-be-flushed cutter seat in the camera image is vertical, the short side is horizontal, the flushing nozzle is opened, the mechanical arm end is controlled to flush along the corresponding cutter seat frame, the flushing nozzle is approximated by a circular arc when sweeping the short side, and the flushing nozzle moves in a straight line when sweeping the long side; After flushing, cutter detection is carried out; 2. The tunnel boring machine cutterhead cutter inspection robot of claim 1, wherein, In step 3), the flushing nozzle is approximated by a circular arc when sweeping the short side and by a straight line when sweeping the long side by the following method: the outlet joint is kept fixed, the end rotation joint is controlled to rotate at a constant speed, and the control of the end swing joint follows the values of the end swing joint as a function of time t .​ When time, When , and , When , and , wherein, , is the end swivel joint swivel angle velocity, w is the tool holder short side length, h is the tool holder long side length, d is the set distance of the flushing nozzle to the tool to be flushed.

3. The TBM cutterhead cutter inspection robot of claim 2, wherein, After the flushing of the tool holder frame, the value of the end oscillation joint Every time interval is reduced by a fixed value until is equal to 0, the flushing of the corresponding tool is completed.

4. The TBM cutterhead cutter inspection robot of claim 2, wherein, 4) according to the cutter spacing in the cutter row, the mechanical arm end is controlled to advance to the next cutter position by the ejection joint, and the corresponding cutter flushing and detection are repeated in step 3).

5. The TBM cutterhead cutter inspection robot of claim 1, wherein, In step 3), the terminal rotary joint is reversely rotated at a uniform speed after every set number of rotations.

6. The TBM cutterhead cutter inspection robot of claim 5, wherein, In step 2), the value of the extension joint of the telescopic arm. Values ​​of the telescopic boom rotation joint And the value of the upper arm swing joint for: wherein, is a target position coordinate of the swing joint of the small arm, is a length of a rod between the swing joint of the large arm and the swing joint of the small arm, is a length of a rod between the swing joint of the large arm and the swing joint of the small arm.

7. The TBM cutterhead cutter inspection robot of claim 1, wherein, The flushing detection mechanical arm comprises a telescopic arm, a large arm and a small arm, and the mechanical arm end is arranged at the end of the small arm; the ejection joint comprises a telescopic arm extension joint, a telescopic arm rotary joint, a large arm swing joint connecting the telescopic arm and the large arm, and a small arm swing joint connecting the large arm and the small arm; in step 2), according to the position information, the values of the telescopic arm extension joint, the telescopic arm rotary joint and the large arm swing joint are solved, the small arm swing joint is controlled to reach the position in front of the corresponding to-be-cleaned cutter, the telescopic arm extension joint, the telescopic arm rotary joint and the large arm swing joint are controlled to move according to the solved values, and the small arm swing joint is controlled to move in the same direction and opposite to the large arm swing joint.

8. The TBM cutterhead cutter inspection robot of claim 1, wherein, In step 2), the to-be-cleaned cutter in the nearest cutter row which is first cleaned is the outermost cutter closest to the edge of the cutter head; in step 4), after flushing of a cutter is completed, the mechanical arm end is controlled to move along the radial direction of the cutter head to the cutter adjacent to the center of the cutter head in the nearest cutter row for flushing.

9. The TBM cutterhead cutter inspection robot of claim 8, wherein, The flushing detection mechanical arm is arranged on a moving platform, and the moving platform is slidingly arranged on a ground rail fixed to a shield body. The cutter detection is that the current size of the corresponding cutter is recognized by the camera, and the wear amount is judged by comparing with the reference cutter size; when the wear amount exceeds a set threshold, the cutter is marked.

10. The TBM cutterhead cutter inspection robot of claim 8, wherein, In step 4), when the end of the mechanical arm is controlled to move to the next tool position, the moving platform is first moved to the position to ensure that the mechanical arm does not interfere with the cutter head.

11. A method of detecting a tunneling machine cutter bit, the method comprising: The tunneling machine cutter head tool flushing detection method in the tunneling machine cutter head tool detection robot according to any one of claims 1-10 is included.

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