Methods for obtaining the movement position of robotic arm, arch frame assembly device, and robotic arm.

Abstract

This invention relates to a robotic arm, an arch frame assembly device, and a method for obtaining the robotic arm's motion position. The method includes the following steps: acquiring initial state data of a second connecting arm, a first swing arm, and a second swing arm; obtaining initial position data of the hinge point between the first and second connecting arms based on the initial state data; pre-setting desired position data for the hinge point between the first and second connecting arms; and obtaining motion data of the second connecting arm, the first swing arm, and the second swing arm based on the initial state data, initial position data, and desired position data of the hinge point. This invention solves the technical problem of accurately determining the robotic arm's motion position during the assembly of a steel arch frame.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and further to a robotic arm, an arch frame assembly device, and a method for obtaining the movement position of the robotic arm, particularly to a robotic arm capable of gripping and moving a steel arch frame, an arch frame assembly device, and a method for obtaining the movement position of the robotic arm. Background Technology

[0002] During TBM construction, steel arch frames are required for timely support of the excavated tunnel. Currently, the main support method is manual operation of mechanical equipment. The support process involves workers using a remote control to operate a steel arch frame assembly machine to assemble the steel arch frames into a ring. This assembled steel arch frame is then placed against the tunnel wall after the TBM has excavated the tunnel. Simultaneously, workers insert bolts to connect the various sections of the steel arch frame and tighten them to ensure a secure connection. This entire process requires a large number of personnel, and the speed and quality of assembly depend entirely on the workers' skill and experience. Furthermore, the workers spend long hours on-site, resulting in high labor intensity, significant safety hazards, and low support efficiency. The untimely or unstable support caused by manual methods is a major cause of TBM tunnel collapses, severely hindering the widespread adoption and application of TBMs.

[0003] To address the challenge of timely tunnel support and improve the safety and efficiency of TBM construction, the industry has conducted extensive research in recent years on the steel arch frame assembly problem in TBMs. The research direction is to transform the steel arch frame assembly from manual to robotic operation. Regardless of the assembly method used, achieving automated robotic operation requires meeting one condition: during the assembly process, the steel arch frame must be kept parallel to the circular rotating mechanism (at which point the two steel arch frames being assembled form concentric arcs) to ensure successful docking. Otherwise, the steel arch frames will not be securely connected, and in more serious cases, it may damage the steel arch frame structure, affect the quality of tunnel support, and lead to safety accidents.

[0004] To meet the above assembly conditions in a robot-operated environment, rigorous mathematical modeling and kinematic analysis of the robot are required, supported by intelligent algorithms. However, current research mostly focuses on mechanical structures and assembly methods, with little research on assembly algorithms for assembly robots, and no specific solutions to the above problems.

[0005] There is currently no effective solution to the problem of not being able to accurately determine the movement position of the robotic arm during the assembly of the steel arch frame.

[0006] Therefore, based on years of experience and practice in related industries, the inventor proposes a robotic arm, an arch frame assembly device, and a method for obtaining the movement position of the robotic arm to overcome the shortcomings of the prior art. Summary of the Invention

[0007] The purpose of this invention is to provide a robotic arm, an arch frame assembly device, and a method for obtaining the movement position of the robotic arm. The method is simple, has good real-time performance, and can accurately control the robotic arm so that the two steel arch frame sections are in the same center position during the assembly process, ensuring the smooth connection of the two steel arch frame sections, improving the support quality and efficiency of the tunnel, and improving the safety of tunnel construction.

[0008] The objective of this invention can be achieved using the following technical solutions:

[0009] This invention provides a robotic arm mounted on the slewing frame of a tunneling machine, the robotic arm comprising:

[0010] The first connecting arm is used to grab the arch frame and move it to a preset position for splicing;

[0011] The second connecting arm has its two ends hinged to the slewing frame and the first connecting arm, respectively. The extension and retraction of the second connecting arm is controlled to adjust the distance between the axis of the first connecting arm and the axis of the slewing frame.

[0012] The first swing arm has its two ends hinged to the rotary frame and the second connecting arm, respectively, to control the extension and retraction of the first swing arm and adjust the swing angle of the second connecting arm along the circumference of the rotary frame.

[0013] The second swing arm has its two ends hinged to the second connecting arm and the first connecting arm, respectively, and controls the extension and retraction of the second swing arm along the circumference of the slewing frame to adjust the swing angle of the first connecting arm.

[0014] In a preferred embodiment of the present invention, the hinge point between the first swing arm and the second connecting arm is located at the middle position of the second connecting arm.

[0015] In a preferred embodiment of the present invention, the hinge point between the second swing arm and the first connecting arm is located at or near the end of the first connecting arm.

[0016] The hinge point between the second swing arm and the second connecting arm is located at the middle position of the second connecting arm.

[0017] In a preferred embodiment of the present invention, the first connecting arm has an arc-shaped structure and is provided with a gripper for gripping the arch frame. When the gripper grips the arch frame, the arch frame is parallel to the first connecting arm.

[0018] In a preferred embodiment of the present invention, displacement sensors are respectively provided on the second connecting arm, the first swing arm and the second swing arm.

[0019] In a preferred embodiment of the present invention, the number of grippers is at least two, and the two grippers are respectively located at or near the two ends of the first connecting arm.

[0020] In a preferred embodiment of the present invention, the second connecting arm, the first swing arm, and the second swing arm are all telescopic rod-shaped structures.

[0021] The present invention provides an arch frame assembly device, which includes a rotary frame arranged along the circumference of the tunnel and the aforementioned mechanical arm, wherein the mechanical arm is mounted on the rotary frame.

[0022] In a preferred embodiment of the present invention, there are multiple robotic arms, and each robotic arm is distributed at circumferential intervals along the rotary frame.

[0023] In a preferred embodiment of the present invention, the arch frame assembly device further includes a frame disposed inside the tunnel, and the rotating frame is rotatably disposed on the frame along the circumference of the tunnel.

[0024] This invention provides a method for obtaining the motion position of a robotic arm, the method comprising the following steps:

[0025] Obtain the expected position data after the robotic arm's movement;

[0026] The positions of each hinge point in the robotic arm are located based on the expected position data, so that the first connecting arm in the robotic arm remains parallel to the rotary frame.

[0027] In a preferred embodiment of the present invention, a Cartesian coordinate system xO0y is established with the initial position of the hinge point between the second connecting arm and the rotary frame in the robotic arm as the origin O0. At the initial position, in the Cartesian coordinate system xO0y: the O0y axis and... The directions coincide, and the O0x axis is perpendicular to the O0y axis. Point O is the common center point of the outer ring C1 formed by the tunnel cross section and the inner ring C2 formed by the slewing frame.

[0028] In a preferred embodiment of the present invention, the expected position data after the robotic arm moves is the length of the second connecting arm and the first swing arm in the robotic arm.

[0029] Based on the lengths of the second connecting arm and the first swing arm after the action, the position of the end or near the end of the first connecting arm in the robotic arm is determined.

[0030] In a preferred embodiment of the present invention, the end or near the end of the first connecting arm is the position of the hinge point between the first connecting arm and the second swing arm in the robotic arm.

[0031] In a preferred embodiment of the present invention, determining the position of the end or near the end of the first connecting arm in the robotic arm based on the lengths of the second connecting arm and the first swing arm after the action includes:

[0032] Obtain the deflection angles of the first swing arm and the second swing arm in the robotic arm, respectively;

[0033] Based on the deflection angles of the first and second swing arms and the length of the second connecting arm at the desired position, the position coordinates (x1, y1) of the hinge point O1 between the first and second connecting arms in the plane rectangular coordinate system xO0y at the desired position are obtained.

[0034] A rectangular coordinate system x′O1y′ is established with the hinge point O1 between the first connecting arm and the second connecting arm as the origin, wherein the O1x′ axis is parallel to the O0x axis and the O1y′ axis is parallel to the O0y axis, and the position coordinates (x2, y2) of the second swing arm and the hinge point T between the first connecting arm and the first connecting arm in the plane rectangular coordinate system x′O1y′ are obtained.

[0035] Based on the position coordinates (x1, y1) of the hinge point O1 between the first and second connecting arms in the Cartesian coordinate system xO0y at the desired position, and the position coordinates (x2, y2) of the hinge point T between the second swing arm and the first connecting arm in the Cartesian coordinate system x′O1y′, the position coordinates (x1, y1) of the hinge point T between the second swing arm and the first connecting arm in the Cartesian coordinate system x′O1y′ are obtained. t ,y t ).

[0036] In a preferred embodiment of the present invention, the expected position data after the robotic arm moves is the position of the hinge point O1 between the first connecting arm and the second connecting arm in the robotic arm after the move.

[0037] Based on the position of the hinge point O1 between the first connecting arm and the second connecting arm in the robotic arm after the action, determine the lengths of the second connecting arm, the first swing arm, and the second swing arm in the robotic arm after the action.

[0038] In a preferred embodiment of the present invention, determining the lengths of the second connecting arm, the first swing arm, and the second swing arm in the robotic arm after the action, based on the position of the hinge point O1 between the first connecting arm and the second connecting arm in the robotic arm after the action, includes:

[0039] Obtain the deflection angles of the first swing arm and the second swing arm respectively;

[0040] Based on the deflection angles of the first and second swing arms and the length of the second connecting arm at the desired position, the position coordinates (x1, y1) of the hinge point O1 between the first and second connecting arms in the plane rectangular coordinate system xO0y at the desired position are obtained.

[0041] Obtain the deflection angle of the first swing arm in the Cartesian coordinate system xO0y, ​​and the lengths of the second connecting arm, the first swing arm, and the second swing arm at the desired position.

[0042] As described above, the features and advantages of the robotic arm, arch frame assembly device, and robotic arm movement position acquisition method of the present invention are as follows: the position of each hinge point in the robotic arm can be located according to the acquired expected position data to ensure that the arch frame and the rotating frame always maintain a parallel positional relationship in the grasping state. In turn, by driving the robotic arm, the arch frame can be accurately moved to the preset desired position, thereby achieving the technical effect of rapid and accurate assembly of the arch frame. Attached Figure Description

[0043] The accompanying drawings are intended only to illustrate and explain the present invention and do not limit the scope of the invention.

[0044] in:

[0045] Figure 1 : This is a schematic diagram of the structure of the robotic arm of the present invention.

[0046] Figure 2 : This is a structural schematic diagram of the arch frame assembly device of the present invention.

[0047] Figure 3 This is a partial schematic diagram of the docking position of two adjacent arch frame sections in the arch frame assembly device of the present invention.

[0048] Figure 4 : This is a flowchart of the method for obtaining the movement position of the robotic arm according to the present invention.

[0049] Figure 5 This is a schematic diagram of the coordinate system of the robotic arm in its initial position in the method for obtaining the movement position of the robotic arm according to the present invention.

[0050] Figure 6 :for Figure 5 A magnified view in the medium coordinate system.

[0051] Figure 7 This is a schematic diagram of the coordinate system in which the robotic arm is in its actual movement position in the method for obtaining the movement position of the robotic arm according to the present invention.

[0052] Figure 8 :for Figure 7 One of the magnified views in the medium coordinate system.

[0053] Figure 9 :for Figure 7 Part 2 of the enlarged view in the medium coordinate system.

[0054] The reference numerals in the accompanying drawings of this invention are:

[0055] 1. First connecting arm; 2. Second connecting arm;

[0056] 3. First swing arm; 4. Second swing arm;

[0057] 5. Gripper; 6. Support body;

[0058] 10. Robotic arm; 20. Rotary frame;

[0059] 30. Frame; 40. Arch frame;

[0060] 4001. Locking mechanism. Detailed Implementation

[0061] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0062] Implementation Method 1

[0063] like Figure 1 , Figure 2As shown, this invention provides a robotic arm mounted on the slewing frame 20 of a tunneling machine. The robotic arm includes a first connecting arm 1, a second connecting arm 2, a first swing arm 3, and a second swing arm 4. The first connecting arm 1 is used to grasp an arch frame 40 and move it to a preset position for splicing. Multiple arch frame segments 40 are spliced ​​at preset positions to form a complete ring. One end of the second connecting arm 2 is hinged to the slewing frame 20, and the other end is hinged to the first connecting arm 1. By controlling the extension and retraction of the second connecting arm 2, its length can be adjusted, thereby adjusting the distance between the first connecting arm 1 and the axis of the slewing frame 20 (during the splicing process, the distance between the arch frame 40 and the axis of the slewing frame 20 is adjusted). The first swing arm... One end of the first swing arm 3 is hinged to the rotating frame 20, and the other end of the first swing arm 3 is hinged to the second connecting arm 2. By controlling the extension and retraction of the first swing arm 3, the length of the first swing arm 3 can be adjusted, thereby adjusting the swing angle of the second connecting arm 2 relative to the rotating frame 20 along the circumference of the rotating frame 20 (adjusting the swing angle of the arch frame 40 relative to the rotating frame 20 during the splicing process); one end of the second swing arm 4 is hinged to the second connecting arm 2, and the other end of the second swing arm 4 is hinged to the first connecting arm 1. By controlling the extension and retraction of the second swing arm 4, the length of the second swing arm 4 can be adjusted, thereby adjusting the swing angle of the first connecting arm 1 relative to the second connecting arm 2 along the circumference of the rotating frame 20 (adjusting the swing angle of the arch frame 40 relative to the second connecting arm 2 during the splicing process). Throughout the assembly process, the arch frame 40 is gripped by the first connecting arm 1, and the position of the arch frame 40 is adjusted by the second connecting arm 2, the first swing arm 3, and the second swing arm 4 to ensure that the arch frame 40 is parallel to the rotating frame 20, thus ensuring that the connection between each section of the arch frame 40 can be completed smoothly.

[0064] Specifically, such as Figure 1 As shown, the hinge point between the first swing arm 3 and the second connecting arm 2 is located at the middle position of the second connecting arm 2; the hinge point between the second swing arm 4 and the first connecting arm 1 is located at or near the end of the first connecting arm 1; and the hinge point between the second swing arm 4 and the second connecting arm 2 is located at the middle position of the second connecting arm 2. The second swing arm 4 and the first swing arm 3 can be located on opposite sides of the second connecting arm 2, or on the same side of the second connecting arm 2.

[0065] In an optional embodiment of the present invention, such as Figure 1 As shown, the first connecting arm 1 has an arc-shaped structure and is equipped with a gripper 5 for gripping the arch frame 40. When the gripper 5 grips the arch frame 40, the arch frame 40 is parallel to the first connecting arm 1, ensuring that each section of the arch frame 40 can be accurately connected and that the arch frame 40 can have good stability after being spliced ​​into a ring.

[0066] Furthermore, the number of grippers 5 is at least two, with the two grippers 5 located at or near the two ends of the first connecting arm 1, respectively. Of course, the number of grippers 5 can also be more than two. The more grippers 5 there are, the better the stability of gripping the arch frame 40. In this invention, the specific number, distribution position, and specific structure of the grippers 5 are not limited. The structure and specific data of the grippers 5 are sufficient to meet the requirements for stable gripping of the arch frame 40.

[0067] In an optional embodiment of the present invention, such as Figure 1 As shown, multiple support bodies 6 are spaced apart on the first connecting arm 1. When the gripper 5 is gripping the arch frame 40, the support bodies 6 abut against the arch frame 40, thereby applying pressure to the arch frame 40 through each support body 6, thereby adjusting the posture of the arch frame 40 in the gripping state, so that the arch frame 40 is parallel to the first connecting arm 1.

[0068] Furthermore, the support body 6 can be, but is not limited to, a columnar structure or a block structure. There are at least two support bodies 6, located at or near the ends of the first connecting arm 1, thereby ensuring balanced force distribution on the arch frame 40. This invention does not limit the specific number or location of the support bodies 6, nor does it limit the structure, number, or distribution of the grippers 5, as long as the arch frame 40 remains parallel to the first connecting arm 1 under load.

[0069] In an optional embodiment of the present invention, such as Figure 1 As shown, the second connecting arm 2, the first swing arm 3, and the second swing arm 4 are all telescopic rod-shaped structures. The second connecting arm 2, the first swing arm 3, and the second swing arm 4 can be hydraulic cylinders, or hydraulic cylinders can be installed inside the second connecting arm 2, the first swing arm 3, and the second swing arm 4, forming a telescopic rod structure, thereby allowing for the linear extension and retraction of the second connecting arm 2, the first swing arm 3, and the second swing arm 4 respectively.

[0070] In an optional embodiment of the present invention, a first displacement sensor is provided on the second connecting arm, a second displacement sensor is provided on the first swing arm, and a third displacement sensor is provided on the second swing arm. The detection signal output terminals of the first displacement sensor, the second displacement sensor, and the third displacement sensor are respectively connected to the detection signal receiving terminal of the controller. The moving distances of the second connecting arm 2, the first swing arm 3, and the second swing arm 4 can be collected by the first displacement sensor, the second displacement sensor, and the third displacement sensor, and sent to the controller.

[0071] Furthermore, the arch frame 40 can be, but is not limited to, a steel arch frame.

[0072] In this invention, the gripper 5 grasps the arch frame 40 as follows: Driven by the second connecting arm 2, the first connecting arm 1 moves closer to the arch frame 40. The first swing arm 3 causes the second connecting arm 2 to swing relative to the rotating frame 20 at a first preset angle. The second swing arm 4 causes the first connecting arm 1 to swing relative to the second connecting arm 2 at a second preset angle, thereby adjusting the position of the gripper 5. When the gripper 5 approaches the arch frame 40, multiple support bodies 6 first contact and cooperate with the arch frame 40, forcibly adjusting the posture of the arch frame 40 so that the arch frame 40 is parallel to the first connecting arm 1. Subsequently, the gripper 5 is controlled to clamp the arch frame 40 for stable grasping. Similarly, by controlling the extension and retraction positions of the first connecting arm 1, the first swing arm 3, and the second swing arm 4, the arch frame 40 can be moved to a preset assembly position for assembly into a ring.

[0073] During the assembly of two adjacent arch frame sections 40, such as Figure 3 As shown, a locking mechanism 4001 is provided between two adjacent arch frame segments 40 to secure and connect them. The locking mechanism 4001 can be, but is not limited to, a snap-fit ​​structure, which includes a locking tongue and a slot. The locking tongue is located on one arch frame segment 40, and the slot is located on the adjacent arch frame segment 40. By inserting the locking tongue into the slot, the two adjacent arch frame segments 40 can be quickly joined. When joining two adjacent arch frame segments 40, it is necessary to ensure that the two segments are concentric to guarantee a smooth transition and a stable connection.

[0074] The features and advantages of the robotic arm of this invention are:

[0075] This robotic arm can replace manual labor to position, grasp, and lift the arch frame 40, realizing the automatic assembly of the arch frame 40. It can also position the arch frame 40, which is simple and easy to control. At the same time, it can grasp firmly, improving the safety and efficiency of steel arch frame assembly, and helping to provide safe, efficient, high-quality and timely support.

[0076] Implementation Method 2

[0077] like Figure 2 As shown, the present invention provides an arch frame assembly device, which includes a rotary frame 20 and a robotic arm 10 arranged along the circumference of the tunnel, with the robotic arm 10 mounted on the rotary frame 20.

[0078] Furthermore, such as Figure 2 As shown, there are multiple robotic arms 10, and each robotic arm 10 is spaced apart and evenly distributed along the circumference of the rotary frame 20.

[0079] In an optional embodiment of the present invention, such as Figure 2As shown, the arch frame assembly device also includes a frame 30, which is installed inside the tunnel, and the rotating frame 20 is mounted on the frame 30 and can rotate around the tunnel.

[0080] Specifically, the rotary frame 20 is rotatably connected to the frame 30 via an axial movement mechanism. The axial movement mechanism includes a drive device mounted on the rotary frame 20. A gear is mounted on the output shaft of the drive device, and the gear meshes with a rack fixed on the rotary frame 20. The output shaft of the drive device transmits power through the gear and rack, causing the rotary frame 20 to rotate around its central axis. Each robotic arm 10 located on the rotary frame 20 also rotates with the rotary frame 20. The drive device can be, but is not limited to, a hydraulic motor or an electric motor.

[0081] Implementation Method 3

[0082] like Figure 4 As shown, the present invention provides a method for obtaining the movement position of a robotic arm, which includes the following steps:

[0083] Step S1: Obtain the expected position data after the robotic arm's movement;

[0084] Step S2: Position each hinge point in the robotic arm according to the expected position data, so that the first connecting arm 1 in the robotic arm is parallel to the rotary frame 20.

[0085] Specifically, such as Figures 5 to 8 As shown, a Cartesian coordinate system xO0y is established with the initial position of the hinge point between the second connecting arm 2 and the rotating frame 20 as the origin O0. In the initial position, in the Cartesian coordinate system xO0y: the O0y axis and... The directions coincide, and the O0x axis is perpendicular to the O0y axis. The outer ring C1 represents the tunnel cross-section, and the inner ring C2 represents the rotating frame 20. Point O represents the common center of the outer ring C1 formed by the tunnel cross-section and the inner ring C2 formed by the rotating frame 20. Point O1 is the hinge point between the second connecting arm 2 and the first connecting arm 1. Point A is the hinge point between the first swing arm 3 and the rotating frame 20. Point B is the hinge point between the first swing arm 3 and the second connecting arm 2. Point T is the hinge point between the second swing arm 4 and the second connecting arm 2. Point C is the hinge point between the second swing arm 4 and the first connecting arm 1. In the initial position, the length values ​​of the second connecting arm 2, the first swing arm 3, and the second swing arm 4 can be detected by displacement sensors respectively installed on the second connecting arm 2, the first swing arm 3, and the second swing arm 4.

[0086] Furthermore, such as Figure 5 , Figure 6As shown, at the initial position, in the Cartesian coordinate system xO0y, ​​the angle between O0A and O0B is θ0, the angle between O0B and O0O1 is θ1, the angle between O1C and O1O0 is α1, and the angle between O1C and O1T is α0.

[0087] In an optional embodiment of the present invention, the expected position data after the robotic arm's movement in step S1 can be the lengths of the second connecting arm 2 and the first swing arm 3 in the robotic arm; then, in step S2, based on the lengths of the second connecting arm 2 and the first swing arm 3 after the movement, the position of the end or near the end of the first connecting arm 1 in the robotic arm can be determined. The position of the end or near the end of the first connecting arm 1 can also be considered as the position of the hinge point between the first connecting arm 1 and the second swing arm 4 in the robotic arm.

[0088] In this embodiment, step S2 includes:

[0089] Step S201: Obtain the deflection angles of the first swing arm 3 and the second swing arm 4 respectively;

[0090] Specifically, according to the requirements of the arch frame assembly operation, during the assembly process, it is necessary to keep the first connecting arm 1 of the robotic arm parallel to the rotary frame 20. For example... Figure 7 , Figure 8 As shown, after setting the desired position of the hinge point (i.e., point O1) between the first connecting arm 1 and the second connecting arm 2, the length of the first swing arm 3 is d1, and the length of the second connecting arm 2 is d2. At this point, the change in ∠AO0B compared to the initial position is Δθ (i.e., the deflection angle of the first swing arm 3), requiring the length of the second swing arm 4 to be adjusted to d3. At this point, the change in ∠CO1T compared to the initial position is Δα (i.e., the deflection angle of the second swing arm 4). Therefore, only when the length of the second swing arm 4 changes simultaneously with the lengths of the first swing arm 3 and the second connecting arm 2 can the first connecting arm 1 remain parallel to the rotating frame 20. The relationship that Δα must satisfy is:

[0091]

[0092] in: l0 is the distance between point O and point O0. t The distance between point O and point O1 is given by , and sign() is the sign function.

[0093] Step S202: Based on the deflection angles of the first swing arm 3 and the second swing arm 4, and the length of the second connecting arm 2 at the desired position, obtain the position coordinates (x1, y1) of the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 in the plane rectangular coordinate system xO0y at the desired position.

[0094] Specifically, such as Figures 7 to 9As shown, in the Cartesian coordinate system xO0y, ​​the position coordinates of point O1 are (x1, y1), where:

[0095]

[0096] Step S203: As Figure 9 As shown, a rectangular coordinate system x′O1y′ is established with the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 as the origin. The O1x′ axis is parallel to the O0x axis, and the O1y′ axis is parallel to the O0y axis. The position coordinates (x2, y2) of the hinge point T between the second swing arm 4 and the first connecting arm 1 in the plane rectangular coordinate system x′O1y′ are obtained.

[0097] Specifically, to keep the first connecting arm 1 of the robotic arm parallel to the rotary frame 20, the second swing arm 4 needs to move ∠CO1T by a change of Δα compared to its initial position, which must satisfy the above relationship (1). At this time, in the Cartesian coordinate system x′O1y′, the position coordinates (x2, y2) of T must satisfy the following relationship:

[0098]

[0099] Step S204: Based on the position coordinates (x1, y1) of the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 in the Cartesian coordinate system xO0y at the desired position, and the position coordinates (x2, y2) of the hinge point T between the second swing arm 4 and the first connecting arm 1 in the Cartesian coordinate system x′O1y′, obtain the position coordinates (x1, y1) of the hinge point T between the second swing arm 4 and the first connecting arm 1 in the Cartesian coordinate system x′O1y′. t ,y t ),in:

[0100]

[0101] The above relationship (4) is the positive motion equation of the robotic arm. That is, the position of the end or near the end of the first connecting arm 1 is known based on the length of the second connecting arm 2, the first swing arm 3 and the second swing arm 4 in the robotic arm at the desired position (i.e., the position of the hinge point T between the second swing arm 4 and the first connecting arm 1).

[0102] In another optional embodiment of the present invention, the expected position data after the robot arm moves in step S1 can be the position of the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 in the robot arm after the move; then in step S2, the lengths of the second connecting arm 2, the first swing arm 3 and the second swing arm 4 after the move can be determined based on the position of the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 in the robot arm after the move.

[0103] In this embodiment, step S2 includes:

[0104] Step S201': Obtain the deflection angles of the first swing arm 3 and the second swing arm 4 respectively;

[0105] Specifically, according to the requirements of the arch frame assembly operation, during the assembly process, it is necessary to keep the first connecting arm 1 of the robotic arm parallel to the rotary frame 20. For example... Figure 8 , Figure 9 As shown, after setting the desired position of the hinge point (i.e., point O1) between the first connecting arm 1 and the second connecting arm 2, the length of the first swing arm 3 is d1, and the length of the second connecting arm 2 is d2. At this point, the change in ∠AO0B compared to the initial position is Δθ (i.e., the deflection angle of the first swing arm 3), requiring the length of the second swing arm 4 to be adjusted to d3. At this point, the change in ∠CO1T compared to the initial position is Δα (i.e., the deflection angle of the second swing arm 4). Therefore, only when the length of the second swing arm 4 changes simultaneously with the lengths of the first swing arm 3 and the second connecting arm 2 can the first connecting arm 1 remain parallel to the rotating frame 20. The relationship that Δα must satisfy is:

[0106]

[0107] in: l0 is the distance between point O and point O0. t The distance between point O and point O1 is given by , and sign() is the sign function.

[0108] Step S202': Based on the deflection angles of the first swing arm 3 and the second swing arm 4, and the length of the second connecting arm 2 at the desired position, obtain the position coordinates (x1, y1) of the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 in the plane rectangular coordinate system xO0y at the desired position.

[0109] Specifically, such as Figures 7 to 9 As shown, in the Cartesian coordinate system xO0y, ​​the position coordinates of point O1 are (x1, y1), where:

[0110]

[0111] Step S203': Based on the deflection angles of the first swing arm 3 and the second swing arm 4, and the length of the second connecting arm 2 at the desired position, obtain the position coordinates (x1, y1) of the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 in the plane rectangular coordinate system xO0y at the desired position.

[0112] Specifically, when the hinge point O1 of the first connecting arm 1 and the second connecting arm 2 is located at coordinates (x1, y1) in the Cartesian coordinate system xO0y, ​​the following relationship can be obtained according to the above relationship (2):

[0113]

[0114] Where Δθ is the change of ∠AO0B compared to its initial position.

[0115] Step S204': Obtain the deflection angle of the first swing arm 3 in the Cartesian coordinate system xO0y, ​​and the lengths of the second connecting arm 2, the first swing arm 3, and the second swing arm 4 at the desired position;

[0116] Specifically, the length of the first swing arm 3 must satisfy the following relationship:

[0117]

[0118] Based on the above relation (1), the following relation can be obtained:

[0119]

[0120] Where Δα is the change in ∠CO1T compared to its initial position.

[0121] After integrating the above relations (5), (6), and (7), we can obtain the following relation:

[0122]

[0123] Wherein, d1 is the length of the first swing arm 3 (after the desired position of the preset point O1), d2 is the length of the second connecting arm 2 (after the desired position of the preset point O1), and d3 is the length of the second swing arm 4 (after the desired position of the preset point O1). The above relationship (8) is the inverse motion equation of the robotic arm, that is, the lengths of the second connecting arm 2, the first swing arm 3, and the second swing arm 4 when the desired position is known based on the position of the end or near the end of the first connecting arm 1 (i.e., the position of the hinge point O1 between the first connecting arm 1 and the second connecting arm 2 in the robotic arm after the action).

[0124] The features and advantages of the method for obtaining the movement position of the robotic arm in this invention are as follows:

[0125] The method for obtaining the movement position of the robotic arm provides a simple, fast, and efficient algorithm for solving forward and inverse kinematics. It can calculate the position of the robotic arm in the coordinate system in real time. Based on the preset desired position and combined with the forward and inverse kinematic relationship, it can always maintain the parallel relationship between the first connecting arm 1 and the rotary frame 20, thereby ensuring that the arch frame 40 and the rotary frame 20 are parallel. When the robotic arm assembles the arch frame 40, it ensures that the two adjacent arch frame segments 40 always keep the same center, so that the robotic arm can move accurately to the desired position to complete the simple and fast docking of the two adjacent arch frame segments 40. This solves the problem of not being able to accurately determine the movement position of the robotic arm and provides a theoretical basis for realizing fully automatic arch frame assembly.

[0126] The above description is merely an illustrative embodiment of the present invention and is not intended to limit the scope of the invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A method for obtaining the motion position of a robotic arm, characterized in that, The robotic arm is mounted on the slewing frame of the tunneling machine, and the robotic arm includes: The first connecting arm is used to grab the arch frame and move it to a preset position for splicing; The second connecting arm has its two ends hinged to the slewing frame and the first connecting arm, respectively. The extension and retraction of the second connecting arm is controlled to adjust the distance between the axis of the first connecting arm and the axis of the slewing frame. The first swing arm has its two ends hinged to the rotary frame and the second connecting arm, respectively, to control the extension and retraction of the first swing arm and adjust the swing angle of the second connecting arm along the circumference of the rotary frame. The second swing arm has its two ends hinged to the second connecting arm and the first connecting arm, respectively, to control the extension and retraction of the second swing arm along the circumference of the rotary frame, so as to adjust the swing angle of the first connecting arm. The method for obtaining the movement position of the robotic arm includes the following steps: Obtain the expected position data after the robotic arm's movement; The expected position data after the robotic arm moves is the length of the second connecting arm and the first swing arm in the robotic arm; The positions of each hinge point in the robotic arm are located according to the expected position data, so that the first connecting arm in the robotic arm remains parallel to the rotary frame; Based on the lengths of the second connecting arm and the first swing arm after the robotic arm has moved, determine the position of the end or near the end of the first connecting arm in the robotic arm; Obtain the deflection angles of the first swing arm and the second swing arm in the robotic arm, respectively; Based on the deflection angles of the first and second swing arms and the length of the second connecting arm at the desired position, the position coordinates (x1, y1) of the hinge point O1 between the first and second connecting arms in the plane rectangular coordinate system xO0y at the desired position are obtained. A rectangular coordinate system x′O1y′ is established with the hinge point O1 between the first connecting arm and the second connecting arm as the origin, wherein the O1x′ axis is parallel to the O0x axis and the O1y′ axis is parallel to the O0y axis, and the position coordinates (x2, y2) of the second swing arm and the hinge point T between the first connecting arm and the first connecting arm in the plane rectangular coordinate system x′O1y′ are obtained. Based on the position coordinates (x1, y1) of the hinge point O1 between the first and second connecting arms in the Cartesian coordinate system xO0y at the desired position, and the position coordinates (x2, y2) of the hinge point T between the second swing arm and the first connecting arm in the Cartesian coordinate system x′O1y′, the position coordinates (x1, y1) of the hinge point T between the second swing arm and the first connecting arm in the Cartesian coordinate system x′O1y′ are obtained. t ,y t ); Alternatively, the expected position data after the robotic arm's movement is the position of the hinge point O1 between the first connecting arm and the second connecting arm in the robotic arm after the movement; Based on the position of the hinge point O1 between the first connecting arm and the second connecting arm in the robotic arm after the action, determine the length of the second connecting arm, the first swing arm and the second swing arm in the robotic arm after the action. Obtain the deflection angles of the first swing arm and the second swing arm respectively; Based on the deflection angles of the first and second swing arms and the length of the second connecting arm at the desired position, the position coordinates (x1, y1) of the hinge point O1 between the first and second connecting arms in the plane rectangular coordinate system xO0y at the desired position are obtained. Obtain the deflection angle of the first swing arm in the Cartesian coordinate system xO0y, ​​and the lengths of the second connecting arm, the first swing arm, and the second swing arm at the desired position.

2. The method for obtaining the movement position of a robotic arm as described in claim 1, characterized in that, The hinge point between the first swing arm and the second connecting arm is located in the middle of the second connecting arm.

3. The method for obtaining the movement position of a robotic arm as described in claim 2, characterized in that, The hinge point between the second swing arm and the first connecting arm is located at or near the end of the first connecting arm; The hinge point between the second swing arm and the second connecting arm is located at the middle position of the second connecting arm.

4. The method for obtaining the movement position of a robotic arm as described in any one of claims 1 to 3, characterized in that, The first connecting arm has an arc-shaped structure and is equipped with grippers for gripping the arch frame. When the grippers are gripping the arch frame, the arch frame is parallel to the first connecting arm.

5. The method for obtaining the movement position of a robotic arm as described in claim 4, characterized in that, The number of grippers is at least two, and the two grippers are located at or near the two ends of the first connecting arm.

6. The method for obtaining the movement position of a robotic arm as described in claim 1, characterized in that, Displacement sensors are respectively installed on the second connecting arm, the first swing arm, and the second swing arm.

7. The method for obtaining the movement position of a robotic arm as described in claim 1, characterized in that, The second connecting arm, the first swing arm, and the second swing arm are all telescopic rod-shaped structures.

8. The method for obtaining the movement position of a robotic arm as described in claim 1, characterized in that, A Cartesian coordinate system xO0y is established with the initial position of the hinge point between the second connecting arm and the rotary frame in the robotic arm as the origin O0. At the initial position, in the Cartesian coordinate system xO0y: the O0y axis and... The directions coincide, and the O0x axis is perpendicular to the O0y axis. Point O is the common center point of the outer ring C1 formed by the tunnel cross section and the inner ring C2 formed by the slewing frame.

9. The method for obtaining the movement position of a robotic arm as described in claim 1, characterized in that, The position of the end of the first connecting arm or near the end is the position of the hinge point between the first connecting arm and the second swing arm in the robotic arm.

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