A hybrid type tool changing robot for slurry balance shield tunneling machine and a working method thereof

Abstract

The application discloses a kind of mixed-parallel type tool changing robot for slurry balance shield tunneling machine and working method thereof, the mixed-parallel type tool changing robot includes fixed base, the fixed base is fixed on central bin platform, slidingly connected with multistage telescopic track on the fixed base, mobile deflection platform is hingedly connected in the lower part of multistage telescopic track, mechanical arm for replacing cutter barrel is connected on the mobile deflection platform, central bin top plate is provided above the central bin platform, truss is fixed on the central bin top plate, and the truss is connected with multistage telescopic track and cutter barrel by cable.The mixed-parallel type tool changing robot for slurry balance shield tunneling machine and working method thereof provided by the application can solve the problems of large load, narrow space and cutter cavity separation when large-diameter slurry balance shield tunneling machine changes tool.

Description

Technical Field

[0001] This invention relates to a hybrid cutterhead changing robot for slurry balance shield tunneling machines and its working method, belonging to the field of shield tunneling machine cutterhead changing technology. Background Technology

[0002] With the acceleration of urbanization, my country's demand for transportation projects such as urban subways, utility tunnels, highway tunnels, and tunnels crossing rivers and seas has increased significantly. As a result, shield tunneling technology, which has advantages such as fast tunneling speed, minimal ecological damage, and high overall benefits, has been widely promoted and applied in my country.

[0003] During the tunneling process of a tunnel boring machine (TBM), cutter wear is unavoidable, and its performance and real-time wear status directly affect the quality and progress of the project. Currently, TBM cutter replacement technology requires manual entry into the TBM, which is costly and risky. For large-diameter slurry balance TBMs with a diameter of over 15m, there are hundreds of cutter rollers, each weighing 1300kg and distributed in multiple cutter chambers. The replacement time for each cutter roller is more than four hours, and the total cutter replacement time accounts for more than 30% of the entire construction cycle.

[0004] The shield cutterhead replacement robot disclosed in application number 201811538565.X, designed for the structural characteristics of TBMs, uses a scissor lift as the main lifting mechanism to overcome the narrow space of the TBM, and employs a hydraulic motor drive with double rails to overcome the weight of the cutterhead (250kg). However, since slurry balance shield TBMs have a larger diameter (up to 15m) and require replacing the entire cutterhead, this method not only occupies 1.2m of lateral space but also increases the load to 1300kg. Furthermore, the scissor lift occupies a large space, and the hydraulic drive control precision is not as high as that of electro-hydraulic servo control. Therefore, this method is not suitable for large-diameter slurry balance shield TBMs. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a hybrid cutter changer robot for slurry balance shield tunneling machines and its working method, which can solve the problems of large load, narrow space and cutter chamber separation when changing cutters in large-diameter slurry balance shield tunneling machines.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A hybrid cutterhead changing robot for a slurry balance shield tunneling machine includes a fixed base, which is fixed to a central storage platform. A multi-stage telescopic track is slidably connected to the fixed base. A movable deflection platform is hinged to the lower part of the multi-stage telescopic track. A robotic arm for changing the cutterhead is connected to the movable deflection platform. A central storage platform is provided above the central storage platform. A truss is fixed on the central storage platform. The truss is connected to the multi-stage telescopic track and the cutterhead by steel cables.

[0008] The fixed base has protrusions on both inner sides of its front end, and a track limiting plate is welded to the lower part of the front end of the fixed base. The multi-stage telescopic track includes a primary track and a secondary track. The secondary track is slidably disposed within the primary track. A U-shaped groove is welded to the outer side of the primary track. The U-shaped groove is slidably connected to the protrusions on the fixed base and can move and rotate relative to the fixed base. The tail of the primary track is provided with a lifting lug, which is used to connect with the truss. The multi-stage telescopic track can be moved and rotated with the assistance of the truss.

[0009] The primary track is provided with a first rack, the secondary track is provided with a second slider on the outer surface of the end, the secondary track is provided with a first servo motor at the end, the first servo motor is provided with a pinion gear through a first right-angle reducer, the pinion gear meshes with the first rack for transmission, the primary track is provided with a first slider and a limit block on the inner side, the limit block is provided with a proximity switch, and the primary track is provided with a bearing roller that cooperates with the fixed base on the back.

[0010] The outer surface of the secondary track is equipped with a second rack and a first cross hinge. A third slider is provided on the first cross hinge. A second servo motor is installed on the first cross hinge. The second servo motor is equipped with a large gear through a second right-angle reducer. The large gear meshes with the second rack on the secondary track for transmission. A second cross hinge is provided on the moving deflection platform to cooperate and be fixed with the first cross hinge.

[0011] The mobile deflection platform is equipped with a hydraulic push rod, a smooth rod, and a ball screw pair. The end of the hydraulic push rod is equipped with a hinge seat for connecting with the cutterhead of the tunnel boring machine. The left and right yaw of the mobile deflection platform is achieved by controlling the extension length of the hydraulic push rod. A third servo motor is installed on the mobile deflection platform, and the ball screw pair is driven by the third servo motor.

[0012] The robotic arm includes a lateral movement base. One side of the base has an interface for connecting to the guide rod and ball screw assembly, and the other side is connected to a swing arm. The swing arm is driven by a first helical swing cylinder. The end of the swing arm is connected to a telescopic arm. The telescopic arm adjusts its angle via a second helical swing cylinder. The telescopic arm contains a multi-stage telescopic cylinder. The end of the telescopic arm is connected to a rotating arm. The rotating arm contains a fourth servo motor and a harmonic reducer. The end of the rotating arm is connected to a self-aligning torsion joint, which is used to connect to the end of the cutter barrel.

[0013] A method for operating a hybrid cutterhead changing robot for a slurry balance tunnel boring machine, used to replace worn cutterhead rollers at the center of the cutterhead, includes the following steps:

[0014] The slurry balance shield machine rotates the cutterhead to be replaced to approximately the vertical centerline. The second servo motor drives the moving deflection platform to the vicinity of the cutterhead to be replaced. Then, the hydraulic push rod extends, and the hinge seat is electromagnetically attracted to the central storage platform. The third servo motor drives the ball screw pair to fine-tune the left and right positions of the robotic arm's lateral movement base. The robotic arm's swing arm and telescopic arm are hydraulically driven and, in conjunction with machine vision, begin to adjust the angle and length of the robotic arm. After reaching a predetermined position a certain distance behind the cutterhead to be replaced, the rotating arm is rotated to the appropriate angle by the fourth servo motor, and the telescopic arm is driven to extend again until the self-aligning torsion joint contacts the end of the cutterhead. Then, the rotating arm is driven to rotate by the servo motor, so that the self-aligning torsion joint is inserted into the preset slot through the guide groove set at the end of the cutterhead. Then, the telescopic arm retracts, the cutterhead is pulled out, and the disassembly of the cutterhead is completed with the help of the truss.

[0015] The truss hoists the cutter barrel to be replaced to the approximate position of the corresponding cutter hole. The first and second servo motors drive the moving deflection platform to the vicinity of the cutter barrel to be replaced. The hydraulic push rods on both sides of the platform are extended a specified distance by hydraulic drive control, so that the articulated seat can be electromagnetically attracted to the central storage platform. Then, the hydraulic push rods on both sides of the platform are extended by different lengths by hydraulic drive control, so that the platform is deflected at an appropriate angle. The self-aligning torsion joint is embedded into the end slot of the cutter barrel by machine vision and electro-hydraulic servo control, so that the robotic arm is connected to the cutter barrel. Then the robotic arm begins to work with the truss to adjust the position and posture of the cutter barrel.

[0016] Once the tool holder is positioned so that it can be inserted into the corresponding tool hole without obstruction, and the hob angle is adjusted to the appropriate cutting angle for the corresponding position, the telescopic arm and truss work together to extend and push the tool holder into the tool hole, completing the replacement of the hob at the center of the tool disc.

[0017] A method for operating a hybrid cutterhead changing robot for a slurry balance tunnel boring machine, used to replace the roller cutters except those in the middle of the cutterhead radius or at the edge of the cutterhead, includes the following steps:

[0018] The position of the cutter barrel to be replaced is roughly rotated to near the vertical center line. Then, the truss is used to lift the multi-stage telescopic track through the lugs on the primary track. The truss then moves forward. During this process, the multi-stage telescopic track will move and flip around the boss on the fixed base as the rotation center. The track limit plate will limit the maximum movement and flipping angle of the multi-stage telescopic track to ensure that the multi-stage telescopic track is placed vertically. Then, the truss lowers the multi-stage telescopic track until the boss contacts the end of the U-shaped chute, completing the vertical deployment of the multi-stage telescopic track.

[0019] The slurry balance shield machine rotates the cutterhead to be replaced to approximately the vertical centerline. The first and second servo motors drive the moving deflection platform to the vicinity of the cutterhead to be replaced. Then, the hydraulic push rod extends, and the hinge seat is electromagnetically attracted to the back plate of the cutterhead. The third servo motor drives the ball screw pair to finely adjust the left and right positions of the lateral movement platform of the robotic arm. The swing arm and telescopic arm of the robotic arm are hydraulically driven and, in conjunction with machine vision, begin to adjust the angle and length of the robotic arm. After reaching a predetermined position a certain distance behind the cutterhead to be replaced, the rotating arm is rotated to the appropriate angle by the fourth servo motor, and the telescopic arm is driven to extend again until the self-aligning torsion joint contacts the end of the cutterhead. Then, the rotating arm is driven to rotate by the servo motor, so that the self-aligning torsion joint is inserted into the preset slot through the guide groove set at the end of the cutterhead, so that the robotic arm is connected to the cutterhead. Then, the telescopic arm retracts, the cutterhead is pulled out, and the disassembly of the cutterhead is completed with the help of the truss.

[0020] The truss hoists the cutter barrel to be replaced to the approximate position of the designated cutter hole. The first and second servo motors drive the moving deflection platform to the vicinity of the cutter barrel to be replaced. The hydraulic push rods on both sides of the platform are extended a specified distance by hydraulic drive control, so that the hinge seat can be electromagnetically attracted to the vertical surface of the cutter head back plate. Then, the hydraulic push rods on both sides of the platform are extended by different lengths by hydraulic drive control, so that the platform is deflected at an appropriate angle. The self-aligning torsion joint is embedded into the end slot of the cutter barrel by machine vision and electro-hydraulic servo control. Then the robotic arm begins to adjust the position and posture of the cutter barrel.

[0021] Once the tool holder is positioned so that it can be inserted into the tool hole without obstruction, and the hob angle is adjusted to the appropriate cutting angle for the corresponding position, the telescopic arm and truss work together to extend and push the tool holder into the tool hole, completing the replacement of the hob except for the one at the center of the cutter head.

[0022] The beneficial effects of this invention are as follows: This invention provides a hybrid cutterhead changing robot for slurry balance shield tunneling machines and its working method. It employs a multi-stage telescopic track with movable and flip-out gear and rack transmission, which further reduces the space occupied in the lateral direction, overcoming the challenges of narrow longitudinal spaces and separate cutter chambers during cutterhead replacement. The robot's cooperation with the truss allows the truss to bear the heavy weight during cutterhead transport, reducing the robot's load and enabling more precise positioning and adjustment of the cutterhead's posture. Hydraulic push rods and adsorption-type hinged seats transmit the force of the robotic arm pushing and pulling the cutterhead to the cutterhead backplate or central storage platform, thereby reducing the stress on the multi-stage telescopic track and allowing for a lighter design. The electro-hydraulic servo control not only overcomes the heavy load but also ensures more precise positioning. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a hybrid tool-changing robot according to the present invention;

[0024] Figure 2 This is a schematic diagram of the main structure of a hybrid tool-changing robot according to the present invention;

[0025] Figure 3 This is a schematic diagram of the fixed base structure in this invention;

[0026] Figure 4 This is a front view of the primary track structure in this invention;

[0027] Figure 5 This is a schematic diagram of the rear structure of the primary track in this invention;

[0028] Figure 6 This is a front view of the secondary track structure in this invention;

[0029] Figure 7 This is a schematic diagram of the rear structure of the secondary track in this invention;

[0030] Figure 8 This is a schematic diagram of the structure of the moving deflection platform in this invention;

[0031] Figure 9 This is a schematic diagram of the robotic arm in this invention;

[0032] Figure 10 This is a schematic diagram of the pose of the hybrid tool-changing robot of the present invention in standby mode;

[0033] Figure 11 This is a schematic diagram of the pose of the hybrid tool changing robot of the present invention when it replaces the hobbing cylinder at the center of the tool head.

[0034] Figure 12 This is a schematic diagram of the pose of the hybrid tool-changing robot of the present invention when it replaces the hobbing cylinder in the middle of the tool head radius.

[0035] Figure 13 This is a schematic diagram of the pose of the hybrid tool-changing robot of the present invention when it replaces the hobbing cylinder on the edge of the tool turret.

[0036] Figure 14 This is a schematic diagram showing the position of the hybrid cutter-changing robot of the present invention during cutter changing inside a 1 / 4 shield machine.

[0037] The reference numerals in the diagram are as follows: 1-Fixed base; 1-1-Boss; 1-2-Rail limiting plate; 2-Multi-stage telescopic track; 2-1-Lifting lug; 2-2-U-shaped slide rail; 2-3-First slider; 2-4-Limiting block; 2-5-Proximity switch; 2-6-First rack; 2-7-Bearing roller; 2-8-Pin gear; 2-9-First servo motor; 2-10-First right-angle reducer; 2-11-Second rack; 2-12-Second slider; 2-13-First cross hinge; 2-14-Third slider; 2-15-Large gear; 2-16-Second servo motor; 2-17-Second straight... 3-Angle reducer; 4-Moving deflection platform; 5-Platform; 6-Hydraulic push rod; 7-Hinge seat; 8-Smooth rod; 9-Ball screw pair; 10-Third servo motor; 11-Second cross hinge; 2-Mechanical arm; 2-Mechanical arm transverse base; 2-Swing arm; 3-Telescopic arm; 4-4-Rotating arm; 5-Self-aligning torsion joint; 6-First helical swing cylinder; 7-Second helical swing cylinder; 8-Multi-stage hydraulic cylinder; 9-Fourth servo motor; 10-Harmonic reducer; 11-Cut barrel; 12-Central warehouse platform; 13-Truss. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, and should not be used to limit the scope of protection of the present invention.

[0039] like Figure 1 and Figure 2As shown, this invention discloses a hybrid cutter changer robot specifically designed for large-diameter slurry balance shield tunneling machines. It includes a fixed base 1, a multi-stage telescopic track 2 slidably connected to the fixed base 1, and the multi-stage telescopic track 2 satisfying both the large-stroke installation requirements and ensuring a relatively compact overall structure, balancing high speed with large stroke and precise positioning with low speed with small stroke. A movable deflection platform 3 is hinged to the multi-stage telescopic track 2, which can move and rotate relative to the fixed base 1. A robotic arm 4 is connected to the movable deflection platform 3, and a truss 7 assists the robotic arm 4 in cutter changing. The fixed base 1 is fixed to a central storage platform 6, bearing the weight of the multi-stage telescopic track 2, the movable deflection platform 3, and the robotic arm 4, and also serves as a guide when the multi-stage track 2 moves and rotates. The truss 7 is fixed to the top plate of the central storage area, can extend and retract forward and backward, and can also move left and right, enabling the lifting and moving / rotating of the multi-stage telescopic track 2. When adjusting the position of the cutter cylinder 5, it can cooperate with the robotic arm 4 for master-slave control to achieve different actions. Figure 14 This is a schematic diagram showing the position of the hybrid cutter-changing robot of the present invention during cutter changing inside a 1 / 4 shield machine.

[0040] like Figure 3 As shown, a boss 1-1 is welded to the side of the fixed base 1 near the cutterhead of the tunnel boring machine, and a track limiting plate 1-2 is welded to the front end. The track limiting plate 1-2 can limit the maximum movement and rotation angle of the multi-stage telescopic track 2. Figures 4 to 7 As shown, the multi-stage telescopic track 2 includes a primary track, in which a first rack 2-6 and a secondary track are embedded. A U-shaped groove 2-2 is welded to the outside, and a lifting lug 2-1 is provided at the tail. The U-shaped groove 2-2 forms a sliding connection with a boss 1-1 on the fixed base 1, allowing it to move and rotate relative to the fixed base 1. The lifting lug 2-1 is used to connect with the truss 7, enabling the multi-stage telescopic track 2 to move and rotate with the assistance of the truss 7. A first slider 2-3 and a limiting block 2-4 are mounted on the side of the primary track. The first slider 2-3 provides lubrication for the relative movement between the secondary and primary tracks. A proximity switch 2-5 is provided on the limiting block 2-4. The limiting block 2-4 limits the maximum extension length and minimum retraction length of the secondary track; the proximity switch 2-5 monitors and provides feedback on the relative distance between the secondary and primary tracks. Bearing rollers 2-7 on the back of the primary track contact the fixed base 1 when the multi-stage telescopic track 2 is placed horizontally, providing support for the multi-stage telescopic track 2.

[0041] A first servo motor 2-9 is installed at the end of the secondary track. The first servo motor 2-9 is equipped with a pinion 2-8 via a first right-angle reducer 2-10. The pinion 2-8 meshes with a first rack 2-6 on the primary track for transmission. A second rack 2-11 is mounted on the outer surface of the secondary track, and a first cross hinge 2-13 is embedded therein. A third slider 2-14 on the first cross hinge 2-13 provides lubrication for the relative movement between the first cross hinge 2-13 and the secondary track. A second servo motor 2-16 is mounted on the first cross hinge 2-13. The second servo motor 2-16 is equipped with a large gear 2-15 via a second right-angle reducer 2-17. The large gear 2-15 meshes with the first rack 2-11 on the secondary track for transmission. The first cross hinge 2-13 and the secondary track are connected by a rack and pinion transmission.

[0042] like Figure 8 As shown, the first cross hinge 2-13 and the second cross hinge 3-7 combine to form a complete cross hinge. The second cross hinge 3-7 is welded to the moving deflection platform 3. The second cross hinge 3-7 connects the secondary track to the moving deflection platform 3 and transmits the gear and rack transmission of the first cross hinge 2-13 to the moving deflection platform 3. The first cross hinge 2-13 and the second cross hinge 3-7 are hinged, ensuring that the left and right yaw of the moving deflection platform 3 does not affect the forward and backward or up and down translation of the multi-stage telescopic track 2. The moving deflection platform 3 is equipped with a hydraulic push rod 3-2, a smooth rod 3-4, and a roller screw pair 3-5. The end of the hydraulic push rod 3-2 is equipped with a hinge seat 3-3 for connecting to the cutterhead of the tunnel boring machine. The hinge seat 3-3, through electromagnetic adsorption or slot limiting, can counteract the tensile and compressive forces generated in the direction perpendicular to the multi-stage telescopic track 2 when the robotic arm pushes and pulls the cutterhead. Four hydraulic push rods 3-2 are symmetrically installed on both sides of the platform 3-1. The left and right yaw of the moving deflection platform 3 is achieved by controlling the extension length of the hydraulic push rods 3-2. The ball screw pair 3-5 is driven by the third servo motor 3-6 and establishes the connection between the moving deflection platform 3 and the robotic arm 4.

[0043] like Figure 9As shown, the robotic arm 4 has five degrees of freedom, enabling left and right translation, up and down pitch, forward and backward extension and axial rotation. It includes a robotic arm transverse base 4-1, a swing arm 4-2, a telescopic arm 4-3, a rotating arm 4-4, and a self-aligning torsion joint 4-5. The robotic arm transverse base 4-1 has an interface on one side that connects to the guide rod 3-4 and the ball screw pair 3-5, enabling the robotic arm 4 to translate left and right relative to the transverse offset platform 3. The other side is connected to the swing arm 4-2, which is driven by a first spiral swing cylinder 4-6. The first spiral swing cylinder 4-6 helps the swing arm 4-2 to pitch up and down. The end of the swing arm 4-2 is connected to the telescopic arm 4-3. The telescopic arm 4-3 can be adjusted in angle by the second spiral swing cylinder 4-7. It also contains a multi-stage telescopic cylinder 4-8, which can perform telescopic movements, enabling the telescopic arm 4-3 to extend and retract forward and backward. The end of the telescopic arm 4-3 is connected to the rotating arm 4-4. The rotating arm 4-4 contains a fourth servo motor 4-9 and a harmonic reducer 4-10, which enables the rotating arm 4-4 to rotate circumferentially and precisely adjust the circumferential roll angle. The end of the rotating arm 4-4 is connected to the self-aligning torsion joint 4-5, which can mate with the slot at the end of the tool cylinder 5, transmitting the motion of the robotic arm 4 to the tool cylinder 5.

[0044] When the slurry balance tunnel boring machine is operating normally, the cutterhead changing robot is parked in standby mode on the central storage platform 6, and the multi-stage telescopic track 2 is placed flat in the fixed base 1, such as... Figure 10 As shown, the steps for replacing a worn hob at the center of the cutter head include:

[0045] Step 1: The slurry balance shield machine roughly rotates the cutterhead 5 to be replaced to near the vertical centerline. The second servo motor 2-16 drives the moving deflection platform 3 to the vicinity of the cutterhead 5 to be replaced. Then, the hydraulic push rod 3-2 extends, and the hinge seat 3-3 is electromagnetically attracted to the central storage platform 6. The third servo motor 3-6 drives the ball screw pair 3-5 to fine-tune the left and right positions of the robotic arm's lateral movement base 4-1. The swing arm 4-2 and telescopic arm 4-3 of the robotic arm 4 are hydraulically driven, and adjustments are made in conjunction with machine vision. After the robotic arm 4 reaches a predetermined position a certain distance behind the tool barrel 5, the rotating arm 4-4 rotates to a suitable angle via the fourth servo motor 4-9, and drives the telescopic arm 4-3 to extend until the self-aligning torsion joint 4-5 contacts the end of the tool barrel 5. Then, the rotating arm 4-4 is driven to rotate via the servo motor 4, so that the self-aligning torsion joint 4-5 is inserted into the preset slot through the guide groove set at the end of the tool barrel 5. Then, the telescopic arm 4-3 retracts, pulls out the tool barrel 5, and completes the disassembly of the tool barrel 5 with the help of the truss 7.

[0046] Step two: The truss 7 hoists the tool cylinder 5 to be replaced to the approximate position of the corresponding tool hole. The first servo motor 2-9 and the second servo motor 2-16 drive the moving deflection platform 3 to the vicinity of the tool cylinder 5 to be replaced. The hydraulic push rods 3-2 on both sides of the hydraulic drive control platform 3-1 extend a specified distance, so that the hinge seat 3-3 can be electromagnetically attracted to the central storage platform. Then, the hydraulic push rods 3-2 on both sides of the hydraulic drive control platform 3-1 extend to different lengths, so that the platform 3-1 deflects at an appropriate angle. Through machine vision and electro-hydraulic servo control, the self-aligning torsion joint 4-5 is embedded into the end slot of the tool cylinder 5, so that the robotic arm 4 is connected to the tool cylinder 5. Then, the robotic arm 4 begins to work with the truss 7 to adjust the position and posture of the tool cylinder 5.

[0047] Specifically, by rotating the joint at the connection between the telescopic arm 4-3 and the swing arm 4-2, and coordinating with the extension and retraction of the truss 7, the pitch angle of the cutter barrel 5 can be adjusted; by adjusting the length of the hydraulic push rods 3-2 on both sides of the platform 3-1, the platform 3-1 can be deflected, which is then transmitted to the robotic arm 4, allowing for the adjustment of the yaw angle of the cutter barrel 5; by rotating the circumferential arm 4-4, the circumferential roll angle of the cutter barrel 5 can be adjusted; by moving the robotic arm lateral base 4-1 left and right relative to the moving deflection platform 3, and coordinating with the left and right movement of the truss 7, the left and right position of the cutter barrel 5 can be adjusted; by driving the large gear 2-15 through the second servo motor 2-16, the moving deflection platform 3 can be moved back and forth, i.e., the robotic arm lateral base 4-1 moves back and forth, and coordinating with the back and forth movement of the truss 7, the front and back position of the cutter barrel 5 can be adjusted.

[0048] Step 3: When the position of the tool cylinder 5 is adjusted so that it can be inserted into the corresponding tool hole without obstruction, and the angle of the hob is adjusted to the appropriate cutting angle for the corresponding position, the telescopic arm 4-3 and the truss 7 work together to extend and push the tool cylinder 5 into the tool hole, thus completing the replacement of the hob at the center of the tool disc.

[0049] The pose of the tool-changing robot is illustrated below when replacing the hobbing cutter with one that is either in the center of the cutter head radius or at the edge of the cutter head. Figure 12 , Figure 13 As shown, it includes the following steps:

[0050] Step 1: Rotate the position of the cutter barrel 5 to be replaced approximately to the vicinity of the vertical center line. Then, using the truss 7, lift the multi-stage telescopic track 2 through the lifting lug 2-1 on the primary track. Then, the truss 7 moves forward. During this process, the multi-stage telescopic track 2 will move and flip around the boss 1-1 on the fixed base 1 as the rotation center. The track limit plate 1-2 will limit the maximum movement and flipping angle of the multi-stage telescopic track 2 to ensure that the multi-stage telescopic track 2 is placed vertically. Then, the truss 7 lowers the multi-stage telescopic track 2 until the boss 1-1 contacts the end of the U-shaped slide 2-2, completing the vertical deployment of the multi-stage telescopic track 2.

[0051] Step two: The slurry balance shield machine rotates the cutterhead 5 to be replaced approximately to the vicinity of the vertical centerline. The first servo motor 2-9 and the second servo motor 2-16 drive the moving deflection platform 3 to the vicinity of the cutterhead 5. Then, the hydraulic push rod 3-2 extends, and the hinge seat 3-3 is electromagnetically attracted to the cutterhead back plate. The third servo motor 3-6 drives the ball screw pair 3-5 to fine-tune the left and right positions of the robotic arm's lateral movement base 4-1. The robotic arm's swing arm 4-2 and telescopic arm 4-3 are hydraulically driven, and the robotic arm 4 is adjusted in conjunction with machine vision. After reaching a predetermined position a certain distance behind the tool barrel 5, the rotating arm 4-4 rotates to a suitable angle via the fourth servo motor 4-9, and drives the telescopic arm 4-3 to extend until the self-aligning torsion joint 4-5 contacts the end of the tool barrel 5. Then, the rotating arm 4-4 is driven to rotate via the servo motor 4, so that the self-aligning torsion joint 4-5 is inserted into the preset slot through the guide groove set at the end of the tool barrel 5, so that the robotic arm 4 is connected to the tool barrel 5. Then, the telescopic arm 4-3 retracts, pulls out the tool barrel 5, and completes the disassembly of the tool barrel 5 with the help of the truss 7.

[0052] Step 3: The truss 7 hoists the tool barrel 5 to be replaced to the approximate position of the designated tool hole. The first servo motor 2-9 and the second servo motor 2-16 drive the moving deflection platform 3 to the vicinity of the tool barrel 5 to be replaced. The hydraulic push rods 3-2 on both sides of the hydraulic drive control platform 3-1 extend a specified distance, so that the hinge seat 3-3 can be electromagnetically attracted to the vertical surface of the tool disc back plate. Then, the hydraulic push rods 3-2 on both sides of the hydraulic drive control platform 3-1 extend to different lengths, so that the platform 3-1 deflects at an appropriate angle. Through machine vision and electro-hydraulic servo control, the self-aligning torsion joint 4-5 is embedded into the end slot of the tool barrel 5. Then, the robotic arm 4 begins to adjust the position and posture of the tool barrel.

[0053] Specifically, by rotating the joint at the connection between the telescopic arm 4-3 and the swing arm 4-2, and coordinating with the retraction and extension of the truss 7, the pitch angle of the cutter barrel 5 can be adjusted; by adjusting the length of the hydraulic push rods 3-2 on both sides of the platform 3-1, the platform 3-1 can be deflected, which is then transmitted to the robotic arm 4, allowing for the adjustment of the yaw angle of the cutter barrel 5; by rotating the circumferential arm 4-4, the circumferential roll angle of the cutter barrel 5 can be adjusted; by moving the robotic arm lateral base 4-1 left and right relative to the moving deflection platform 3, and coordinating with the left and right movement of the truss 7, the left and right position of the cutter barrel 5 can be adjusted; by driving the large gear 2-15 through the second servo motor 2-16, the moving deflection platform 3 moves up and down, i.e., the robotic arm lateral base 4-1 moves up and down, and coordinating with the retraction and extension of the truss 7, the up and down position of the cutter barrel 5 can be adjusted.

[0054] Step four: When the position of the cutter barrel 5 is adjusted so that it can be inserted into the cutter hole without obstruction, and the angle of the hob is adjusted to the appropriate cutting angle for the corresponding position, the telescopic arm 4-3 and the truss 7 work together to extend and push the cutter barrel 5 into the cutter hole, thus completing the replacement of the hob except for the center of the cutter head.

[0055] For those skilled in the art, various improvements and modifications can be made without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A hybrid cutterhead changing robot for a slurry balance shield tunneling machine, characterized in that: The system includes a fixed base (1) fixed on a central warehouse platform (6). A multi-stage telescopic track (2) is slidably connected to the fixed base (1). A movable deflection platform (3) is hinged to the lower part of the multi-stage telescopic track (2). A robotic arm (4) for changing the cutter barrel (5) is connected to the movable deflection platform (3). A central warehouse top plate is provided above the central warehouse platform (6). A truss (7) is fixed on the central warehouse top plate. The truss (7) is connected to the multi-stage telescopic track (2) and the cutter barrel (5) by steel cables. Bosses (1-1) are installed on both sides of the inner front end of the fixed base (1). The lower front end of the base (1) is welded with a track limiting plate (1-2). The multi-level telescopic track (2) includes a primary track and a secondary track. The secondary track is slidably disposed in the primary track. A U-shaped groove (2-2) is welded to the outside of the primary track. The U-shaped groove (2-2) is slidably connected to the boss (1-1) on the fixed base (1) and moves and flips relative to the fixed base (1). The tail end of the primary track is provided with a lifting lug (2-1). The lifting lug (2-1) is used to connect with the truss (7). The multi-level telescopic track (2) is moved and flipped with the assistance of the truss (7).

2. The hybrid cutterhead changing robot for a slurry balance shield tunneling machine according to claim 1, characterized in that: The first-level track is provided with a first rack (2-6), the second-level track is provided with a second slider (2-12) on the outer surface of the end, the second-level track is provided with a first servo motor (2-9) installed at the end, the first servo motor (2-9) is provided with a pinion (2-8) installed on the first servo motor (2-9) through a first right-angle reducer (2-10), the pinion (2-8) meshes with the first rack (2-6) for transmission, the inner side of the first-level track is provided with a first slider (2-3) and a limiting block (2-4), the limiting block (2-4) is provided with a proximity switch (2-5), and the back of the first-level track is provided with a bearing roller (2-7) that cooperates with the fixed base (1).

3. The hybrid cutterhead changing robot for a slurry balance shield tunneling machine according to claim 2, characterized in that: The outer surface of the secondary track is equipped with a second rack (2-11) and a first cross hinge (2-13) is embedded therein. A third slider (2-14) is provided on the first cross hinge (2-13). A second servo motor (2-16) is installed on the first cross hinge (2-13). The second servo motor (2-16) is equipped with a large gear (2-15) through a second right-angle reducer (2-17). The large gear (2-15) meshes with the second rack (2-11) on the secondary track for transmission. The moving deflection platform (3) is provided with a second cross hinge (3-7) that cooperates with and is fixed to the first cross hinge (2-13).

4. The hybrid cutterhead changing robot for a slurry balance shield tunneling machine according to claim 3, characterized in that: The mobile deflection platform (3) is equipped with a hydraulic push rod (3-2), a smooth rod (3-4), and a ball screw pair (3-5). The end of the hydraulic push rod (3-2) is equipped with a hinge seat (3-3) for connecting with the cutterhead of the tunnel boring machine. The left and right yaw of the mobile deflection platform (3) is achieved by controlling the extension length of the hydraulic push rod (3-2). The mobile deflection platform (3) is equipped with a third servo motor (3-6), and the ball screw pair (3-5) is driven by the third servo motor (3-6).

5. The hybrid cutterhead changing robot for a slurry balance shield tunneling machine according to claim 4, characterized in that: The robotic arm (4) includes a robotic arm transverse base (4-1). One side of the robotic arm transverse base (4-1) is provided with an interface that connects to the optical rod (3-4) and the ball screw pair (3-5), and the other side is connected to the swing arm (4-2). The swing arm (4-2) is driven by a first spiral swing cylinder (4-6). The end of the swing arm (4-2) is connected to a telescopic arm (4-3). The telescopic arm (4-3) is adjusted in angle by a second spiral swing cylinder (4-7). The telescopic arm (4-3) is equipped with a multi-stage telescopic cylinder (4-8). The end of the telescopic arm (4-3) is connected to a rotating arm (4-4). The rotating arm (4-4) is equipped with a fourth servo motor (4-9) and a harmonic reducer (4-10). The end of the rotating arm (4-4) is connected to a self-aligning torsion joint (4-5). The self-aligning torsion joint (4-5) is used to connect to the end of the cutter barrel (5).

6. A method for operating a hybrid cutterhead changing robot for a slurry balance shield tunneling machine as described in claim 5, characterized in that: The steps for replacing a worn hob at the center of the cutter head are as follows: The slurry balance shield machine rotates the cutterhead (5) to be replaced to approximately the vertical centerline. The second servo motor (2-16) drives the moving deflection platform (3) to the vicinity of the cutterhead (5). Then, the hydraulic push rod (3-2) extends, and the hinge seat (3-3) is electromagnetically attracted to the central storage platform (6). The third servo motor (3-6) drives the ball screw pair (3-5) to finely adjust the left and right positions of the lateral movement base (4-1) of the robotic arm. The swing arm (4-2) and telescopic arm (4-3) of the robotic arm (4) are hydraulically driven, and the robotic arm (4) begins to adjust its position in conjunction with machine vision. After reaching a predetermined position a certain distance behind the tool barrel (5), the rotating arm (4-4) rotates to a suitable angle through the fourth servo motor (4-9), and drives the telescopic arm (4-3) to extend until the self-aligning torsion joint (4-5) contacts the end of the tool barrel (5). Then the rotating arm (4-4) is driven to rotate through the fourth servo motor (4-9), so that the self-aligning torsion joint (4-5) is inserted into the preset slot through the guide groove set at the end of the tool barrel (5). Then the telescopic arm (4-3) retracts and pulls out the tool barrel (5), and completes the disassembly of the tool barrel (5) with the help of the truss (7). The truss (7) hoists the tool cylinder (5) to be replaced to the approximate position of the corresponding tool hole. The first servo motor (2-9) and the second servo motor (2-16) drive the moving deflection platform (3) to come near the tool cylinder to be replaced. The hydraulic push rods (3-2) on both sides of the hydraulic drive control platform (3-1) extend a specified distance, so that the hinge seat (3-3) can be attached to the central warehouse platform (6) by electromagnetic adsorption. Then, the hydraulic push rods (3-2) on both sides of the hydraulic drive control platform (3-1) extend to different lengths again, so that the platform (3-1) deflects at an appropriate angle. The self-aligning torsion joint (4-5) is embedded into the end slot of the tool cylinder (5) by machine vision and electro-hydraulic servo control, so that the robotic arm (4) is connected to the tool cylinder (5). Then the robotic arm (4) starts to work with the truss (7) to adjust the position of the tool cylinder (5). When the position of the cutter barrel is adjusted so that the cutter barrel (5) can be inserted into the corresponding cutter hole without obstruction, and the angle of the hob is adjusted to the appropriate cutting angle for the corresponding position, the telescopic arm (4-3) and the truss (7) work together to extend and push the cutter barrel (5) into the cutter hole to complete the replacement of the hob at the center of the cutter disc.

7. A method for operating a hybrid cutterhead changing robot for a slurry balance shield tunneling machine as described in claim 5, characterized in that: The following steps are included for replacing hobs that are located at the center of the cutter head radius or at the edge of the cutter head: The position of the cutter barrel (5) to be replaced is roughly rotated to near the vertical center line. Then, the truss (7) is used to lift the multi-level telescopic track (2) through the lug (2-1) on the first-level track. Then the truss (7) moves forward. During this period, the multi-level telescopic track (2) will move and flip around the boss (1-1) on the fixed base (1) as the rotation center. The track limit plate (1-2) will limit the maximum movement and flipping angle of the multi-level telescopic track (2) to ensure that the multi-level telescopic track (2) is placed vertically. Then the truss (7) lowers the multi-level telescopic track (2) until the boss (1-1) contacts the end of the U-shaped chute (2-2) to complete the vertical deployment of the multi-level telescopic track (2). The slurry balance shield machine rotates the cutterhead (5) to be replaced to approximately the vertical centerline. The first servo motor (2-9) and the second servo motor (2-16) drive the moving deflection platform (3) to the vicinity of the cutterhead (5). Then, the hydraulic push rod (3-2) extends, and the hinge seat (3-3) is electromagnetically attracted to the vertical surface of the cutterhead back plate. The third servo motor (3-6) drives the ball screw pair (3-5) to finely adjust the left and right positions of the lateral moving base (4-1) of the robotic arm. The swing arm (4-2) and telescopic arm (4-3) of the robotic arm are hydraulically driven and, in conjunction with machine vision, begin to adjust the angle and length of the robotic arm (4). After reaching a predetermined position a certain distance behind the tool barrel (5), the rotating arm (4-4) rotates to a suitable angle through the fourth servo motor (4-9) and drives the telescopic arm (4-3) to extend until the self-aligning torsion joint (4-5) contacts the end of the tool barrel (5). Then the rotating arm (4-4) is driven to rotate through the fourth servo motor (4-9), so that the self-aligning torsion joint (4-5) is inserted into the preset slot through the guide groove set at the end of the tool barrel (5), so that the mechanical arm (4) is connected to the tool barrel (5). Then the telescopic arm (4-3) retracts and pulls out the tool barrel (5), and completes the disassembly of the tool barrel (5) with the help of the truss (7). The truss (7) hoists the tool barrel (5) to be replaced to the approximate position of the designated tool hole. The first servo motor (2-9) and the second servo motor (2-16) drive the moving deflection platform (3) to come near the tool barrel (5) to be replaced. The hydraulic push rods (3-2) on both sides of the hydraulic drive control platform (3-1) extend a specified distance, so that the hinge seat (3-3) can be attached to the vertical surface of the back plate of the tool disc by electromagnetic adsorption. Then, the hydraulic push rods (3-2) on both sides of the hydraulic drive control platform (3-1) extend to different lengths again, so that the platform (3-1) deflects at an appropriate angle. The self-aligning torsion joint (4-5) is embedded into the end slot of the tool barrel (5) by machine vision and electro-hydraulic servo control. Then the robotic arm (4) starts to adjust the position of the tool barrel together with the truss (7). When the position of the cutter barrel (5) is adjusted so that the cutter barrel can be inserted into the cutter hole without obstruction, and the angle of the hob is adjusted to the appropriate cutting angle for the corresponding position, the telescopic arm (4-3) and the truss (7) work together to extend and push the cutter barrel (5) into the cutter hole, thus completing the replacement of the hob except for the center of the cutter disc.

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