Auxiliary tool changing robot for shield tunneling machine and tool changing method

Abstract

The invention belongs to the technical field of shield tunneling machine tool replacement, and particularly relates to a shield tunneling machine auxiliary tool replacement robot and a tool replacement method. According to the auxiliary tool changing robot for the shield tunneling machine, the laser scanner is utilized, and accurate coordinate information of a tool hole with a certain distance can be positioned within a short time; through the design of each structure, the mechanical arm can reach the position of each cutter cylinder within the radius of the cutter head; through cooperation of the auxiliary lifting device, the winch and the telescopic arm bear the large weight when the cutter cylinder is carried, the load of the mechanical arm is reduced, and therefore the position and posture of the cutter cylinder can be more accurately positioned and adjusted. A gyroscope and an accelerometer are matched with each other to form an inertial navigation system, and coordinate information of the cutter cylinder is accurately calculated in real time; therefore, the machine tool changing operation in the shield narrow space is achieved, the tool changing efficiency and the overall shield construction efficiency are improved, and the safety of shield construction is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of tool replacement for shield machines, and in particular relates to an auxiliary tool-changing robot and a tool-changing method for shield machines. Background Art

[0002] With the acceleration of the development and utilization of underground space, the shield method has been increasingly widely used in the construction of major tunnel projects in China due to its advantages such as small impact on the surrounding environment, high construction efficiency, and green environmental protection.

[0003] During the construction of the shield machine, complex and changeable geological conditions will be faced. The cutterhead of the shield machine needs to adapt to the characteristics of the stratum. The shield machine will produce cutter wear during the advancement process, and it needs to be checked and replaced frequently. At present, there are two technologies for replacing shield machine cutters: one is the traditional pressurized cutter change, and the other is the normal pressure cutter change. Among them, pressurized cutter change means that the operator enters the pressure man-gate, pressurizes the man-gate and enters the mud and water tank to change the cutter. After the cutter change is completed, the operator enters the pressure man-gate from the mud and water tank. After the man-gate gradually depressurizes, the operator returns to the cabin. Compressed air is used for pressurized cutter change, which is not good for the health of construction workers, and the operation time is limited and the efficiency is not high. Normal pressure cutter change means that the operator uses the cutter change tool to check and replace in a normal pressure environment. Compared with pressurized cutter change, normal pressure cutter change omits the process of pressurizing the cabin and depressurizing the cabin, which improves the efficiency of cutter change.

[0004] However, whether it is pressure-driven or normal pressure-driven cutting, workers need to enter the soil bin of the shield machine to change the cutter. The soil bin is small, and both single-edged and double-edged rollers are very heavy, which brings great workload to the workers and makes the cutting efficiency of the shield machine extremely low. Under normal circumstances, it takes 3 to 4 hours to replace each roller (from removal to installation). For some cutterheads with larger diameters, 50 to 60 rollers need to be installed, which makes the total time for cutting tool replacement account for more than 30% of the entire construction period. Not only is the replacement efficiency low, but the operation is difficult and dangerous, which is extremely inconsistent with the requirements of safe, efficient and intelligent tunnel construction. Summary of the invention

[0005] In view of the above problems existing in the prior art, the present invention provides a shield machine auxiliary tool changing robot and a tool changing method, which can solve the problems of great difficulty and high risk factor in tool changing of the shield machine.

[0006] To achieve the above object, the technical solution provided by the present invention is as follows:

[0007] In a first aspect, the present application provides a shield machine auxiliary tool-changing robot, comprising a mechanical arm, a knife barrel, an auxiliary lifting device, an action execution component and a controller; the controller is connected to the mechanical arm, the auxiliary lifting device and the action execution component; the action execution component is used to drive the mechanical arm to move in the upper, lower, left and right directions, the mechanical arm comprises a pitch arm and a yaw arm, the pitch arm is hinged to the action execution component, the other end of the pitch arm is hinged to the yaw arm, the end of the yaw arm away from the pitch arm is connected to the knife barrel through an end effector, and a roller is installed on the knife barrel;

[0008] The auxiliary lifting device includes a transverse guide rail, a winch is slidably connected to the transverse guide rail, one end of the wire rope of the winch is sleeved on the knife drum through a ring, a telescopic arm is provided on the transverse guide rail, the telescopic arm is used to drive the transverse guide rail to extend and retract in the horizontal direction, and a laser scanner is provided on the transverse guide rail. The laser scanner is used to obtain the position information of the knife drum and the knife hole position on the knife disc, and the controller plans the moving path of the knife drum according to the information fed back by the laser scanner.

[0009] Optionally, the action execution component includes a sliding platform, a fixed guide rail and a movable guide rail, the fixed guide rail is slidably connected to the movable guide rail, the movable guide rails are arranged at both ends of the sliding platform, the movable guide rail is provided with a third driving member for driving the movable guide rail to slide along the fixed guide rail, the sliding platform is slidably connected to the base slide, and the pitch arm is hinged to the base slide.

[0010] Optionally, the sliding platform includes a base, a positioning slide rod and a transmission screw, the two ends of the positioning slide rod are respectively connected to a base, the bases at both ends are respectively connected to the movable guide rails on the corresponding sides, the two ends of the transmission screw are rotatably connected to the bases on both sides, the base slide is threadedly connected to the transmission screw and slidably connected to the positioning slide rod, and the transmission screw is driven to rotate by a fourth driving member.

[0011] Optionally, the base is driven to slide and connect to the movable guide rail through a fifth driving member.

[0012] Optionally, the yaw arm is connected to the pitch arm via a spirally swinging first hydraulic motor.

[0013] Optionally, a gyroscope and an accelerometer are provided on the end effector.

[0014] Optionally, a torque sensor is provided on the yaw arm, and the torque sensor is connected to a controller signal, and the sensor controls the auxiliary lifting device through a signal transmitted by the torque sensor.

[0015] Optionally, the end effector is connected to the yaw arm via a roll kinematic joint.

[0016] Optionally, the fixed guide rail is vertically arranged on the wall of the working space of the shield machine, and the telescopic arm is horizontally arranged on the inner wall of the working space of the shield machine.

[0017] In a second aspect, the present application further provides a tool changing method of the shield machine assisted tool changing robot based on the first aspect, comprising the following steps:

[0018] When it is necessary to change, one end of the wire rope is wound on the winding roller of the winch, the other end is connected to the sleeve and the sleeve is sleeved on the outer wall of the cutter;

[0019] Use a laser scanner to scan the surrounding environment, obtain the position information of the knife barrel and the knife hole on the knife disc, and feed the information back to the controller, which plans the movement route of the knife barrel;

[0020] According to the planned route, the controller controls the action execution component to drive the cutter barrel to move up and down and left and right; then the controller controls the rotation of the yaw arm and the pitch arm to correct the pitch angle and yaw angle; during the process, the controller controls the winch on the auxiliary lifting device to move synchronously until the roller cutter is connected to the cutter hole on the cutter disc to perform the cutter changing operation.

[0021] Compared with the prior art, this application has at least the following beneficial effects:

[0022] The shield machine-assisted tool-changing robot of the present invention utilizes a laser scanner to locate the precise coordinate information of tool holes at a certain distance in a relatively short time; through the design of the various structures in the present invention, the mechanical arm is able to reach the positions of various tool barrels within the radius of the cutter disc; through the cooperation of the auxiliary lifting device, the winch and the telescopic arm are allowed to bear the heavy weight when carrying the tool barrel, reducing the load of the mechanical arm for more accurate positioning and adjustment of the position and posture of the tool barrel; the gyroscope and the accelerometer are used to cooperate with each other to form an inertial navigation system, and the coordinate information of the tool barrel is accurately calculated in real time; thereby realizing the machine tool changing operation in the narrow space of the shield machine, improving the tool changing efficiency and the overall construction efficiency of the shield machine, and ensuring the safety of the shield machine construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the structure of a shield machine auxiliary tool changing robot in an embodiment of the present application;

[0025] Figure 2Schematic diagram of the structure of the mechanical arm in the embodiment of the present application;

[0026] Figure 3 This is a schematic diagram of the knife barrel structure in an embodiment of the present application;

[0027] Figure 4 It is a structural schematic diagram of the back side of the knife cylinder in the embodiment of the present application;

[0028] Figure 5 This is a schematic diagram of the structure of the auxiliary lifting device in the embodiment of the present application;

[0029] Figure 6 This is a schematic diagram of the structure of the action execution component in the embodiment of the present application;

[0030] Figure 7 Schematic diagram of the fixed guide rail structure in the embodiment of the present application;

[0031] Figure 8 This is a schematic diagram of the sliding platform structure in an embodiment of the present application;

[0032] Fig. 9 This is a schematic diagram of the tool changing robot in use in this application;

[0033] Description of reference numerals:

[0034] 1. Mechanical arm; 11. Pitch arm; 111. Second hydraulic motor for spiral swing; 12. Yaw arm; 121. First hydraulic motor for spiral swing; 122. Torque sensor; 13. End effector; 131. Clamping claw; 132. Gyroscope; 133. Accelerometer; 2. Cylinder; 21. Clamping hole; 22. Hoist; 3. Auxiliary lifting device; 31. Transverse guide rail; 311. Laser scanner; 32. Winch; 33. Wire rope; 34. Telescopic arm; 4. Action execution component; 41. Sliding platform; 411. Base; 412. Positioning slide rod; 413. Drive screw; 414. Fourth hydraulic motor; 42. Fixed guide rail; 422. First sliding rack; 43. Moving guide rail; 432. First hydraulic motor; 44. Base slide. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use.

[0036] Example 1

[0037] like Figure 1-Figure 5As shown, a shield machine auxiliary tool changing robot includes a mechanical arm 1, a knife barrel 2, an auxiliary lifting device 3, an action execution component 4 and a controller; the controller is connected to the mechanical arm 1, the auxiliary lifting device 3 and the action execution component 4; the action execution component 4 is used to drive the mechanical arm 1 to move in the upper, lower, left and right directions, the mechanical arm 1 includes a pitch arm 11 and a yaw arm 12, the pitch arm 11 is hinged to the action execution component 4, the other end of the pitch arm 11 is hinged to the yaw arm 12, the end of the yaw arm 12 away from the pitch arm 11 is connected to the knife barrel 2 through the end effector 13, and the knife barrel 2 is installed with a roller 22;

[0038] The auxiliary lifting device 3 includes a transverse guide rail 31, on which a winch 32 is slidably connected. One end of the steel wire rope 33 of the winch 32 is sleeved on the knife barrel 2 through a collar. Telescopic arms 34 are provided at both ends of the transverse guide rail 31. The telescopic arms 34 are used to drive the transverse guide rail 31 to extend and retract in the horizontal direction. There are multiple ways to extend and retract the telescopic arms 34. In this embodiment, a hydraulic telescopic rod is used. The telescopic arms 34 are horizontally arranged on the inner wall of the shield machine working space bin. A laser scanner 311 is provided on the transverse guide rail 31. The laser scanner 311 is used to obtain the position information of the knife barrel 2 and the knife hole position information on the cutter disc, so as to facilitate the connection of the knife barrel 2 into the knife hole. The controller plans the moving path of the knife barrel 2 through the information fed back by the laser scanner 311. In order to stabilize the winch 32, two transverse guide rails 31 can be arranged side by side, and the winch 32 is connected to both transverse guide rails 31. The knife barrel 2 is suspended and stabilized by the winch 32, so as to achieve the smooth movement of the knife barrel 2.

[0039] When it is necessary to change, one end of the wire rope 33 is wound on the winding roller of the winch 32, and the other end is connected to the sleeve and the sleeve is sleeved on the outer wall of the tool;

[0040] The laser scanner 311 is used to scan the surrounding environment, obtain the position information of the knife barrel 2 and the knife hole on the knife disc, and the information is fed back to the controller, and the controller plans the moving route of the knife barrel 2;

[0041] According to the planned route, the controller controls the action execution component 4 to drive the knife barrel 2 to move up and down and left and right; then the controller controls the yaw arm 12 and the pitch arm 11 to rotate, and correct the pitch angle and yaw angle; during the process, the controller controls the winch 32 on the auxiliary lifting device 3 to move synchronously until the hoist 22 is connected to the knife hole on the cutter disc to perform the knife change operation. The auxiliary lifting device 3 bears most of the weight of the knife barrel 2, reducing the load borne by the robot arm 1 when adjusting the position of the knife barrel 2, and improving the positioning accuracy of the knife barrel 2. The knife barrel 2 is suspended by the hoisting machine, and then the knife barrel 2 is stabilized, so that the knife barrel 2 can be smoothly lifted and lowered in the hoisting state.

[0042] Example 2

[0043] like Figure 6-Figure 9 As shown, the difference between this embodiment and embodiment 1 is that the action execution component 4 includes a sliding platform 41, a fixed guide rail 42 and a movable guide rail 43, the fixed guide rail 42 is slidably connected to the movable guide rail 43, both ends of the sliding platform 41 are arranged with movable guide rails 43, and the movable guide rail 43 is provided with a third driving member for driving the movable guide rail 43 to slide along the fixed guide rail 42, the sliding platform 41 is slidably connected to the base 411 slide, and the pitch arm 11 is hinged to the base 411 slide. The fixed guide rail 42 is vertically arranged on the inner wall of the shield machine working space bin.

[0044] There are many ways to choose between the fixed guide rail 42 and the movable guide rail 43 in sliding connection, as long as stable lifting can be achieved. In this embodiment, a first slide groove is provided on the opposite side of the two fixed guide rails 42, a first sliding rack 422 is fixedly provided on the side wall of the first slide groove, a first gear corresponding to the third gear rack is provided on the movable guide rail 43, the first gear is meshed with the first sliding rack 422, and a first hydraulic motor 432 (third driving member) is provided on the movable guide rail 43. The first hydraulic motor 432 is used to drive the first gear to rotate. The first gear slides along the first sliding rack 422 to drive the movable guide rail 43 to move up and down along the fixed guide rail 42, thereby driving the mechanical arm 1 to move up and down. In order to ensure the stability of the connection between the fixed guide rail 42 and the movable guide rail 43, a slider in the same direction as the first slide groove is provided on the surface of the fixed guide rail 42 opposite to the first sliding rack 422, and a slide rail is correspondingly provided on the movable guide rail 43, and the slider is connected to the slide rail in sliding. The first hydraulic motor 432 is driven by the controller.

[0045] There are also multiple sliding connection modes between the sliding platform 41 and the base 411 slide. In this embodiment, the sliding platform 41 includes a base 411, a positioning slide rod 412 and a transmission screw 413. The two ends of the positioning slide rod 412 are respectively connected to a base 411, and the bases 411 at both ends are respectively connected to the movable guide rails 43 on the corresponding sides. The two ends of the transmission screw 413 are rotatably connected to the bases 411 on both sides. The base 411 slide is threadedly connected to the transmission screw 413 and slidingly connected to the positioning slide rod 412. The transmission screw 413 is driven to rotate by a fourth driving member. In this embodiment, the fourth driving member includes a fourth hydraulic motor 414 and two bevel gears. The output shaft of the fourth hydraulic motor 414 is connected to one of the bevel gears, and the other bevel gear is connected to the transmission screw 413. The two bevel gears are vertically distributed, and the inclined surfaces of the bevel gears are meshed with each other. The fourth hydraulic motor 414 rotates to drive the transmission screw 413 to rotate, and the base 411 slideway is driven to move left and right through the thread feed between the base 411 slideway and the transmission screw 413, thereby driving the robot arm 1 to move left and right. The fourth hydraulic motor 414 is connected to the controller.

[0046] In order to increase the accessible position of the robot arm 1 in the vertical direction, the base 411 is driven to slide on the movable guide rail 43 by a fifth driving member, so that the base 411 can slide up and down along the movable guide rail 43. The sliding method is not repeated here.

[0047] The end of the yaw arm 12 away from the end effector 13 is connected to the pitch arm 11 through the spiral swing first hydraulic motor 121. The vertically mounted spiral swing first hydraulic motor 121 can drive the yaw arm 12 to move, thereby adjusting the yaw angle. The pitch arm 11 is hinged to the slide of the base 411 through the spiral swing second hydraulic motor 111, and is driven by the vertically mounted spiral swing second hydraulic motor 111 to correct the pitch deflection angle. The pitch arm 11 is preferably configured as a hydraulic telescopic column, and the distance between the cutter barrel 2 and the shield machine is adjusted by telescoping the pitch arm 11.

[0048] The end effector 13 is connected to the yaw arm 12 through a rolling kinematic pair, so that the end effector 13 has a certain degree of rolling freedom, and its rolling condition can be controlled by the controller. A torque sensor 122 is provided on the yaw arm 12 and the pitch arm 11. The torque sensor 122 is connected to the controller signal, and the sliding of the winch 32 on the transverse guide rail 31 is driven by the spiral swing third hydraulic motor. The controller controls the third hydraulic motor on the auxiliary lifting device 3 through the signal transmitted by the torque sensor 122. The torque sensor 122 can measure the torque size and direction at the two joints of the mechanical arm 1 and feel its movement trend. When the torque reaches a certain value, it will drive the winch 32 to move left and right under the control of the output signal of the torque controller to cooperate with the yaw of the mechanical arm 1.

[0049] One end of the end effector 13 is fixedly connected with a claw 131, and there are multiple claws 131. The knife barrel 2 is correspondingly provided with a clamping hole 21. The claw 131 is threadedly connected in the clamping hole 21, so that the knife barrel 2 is fixed on the end effector 13. The front end of the knife barrel 2 is installed with a hob 22 for cutting and advancing the shield machine. The end effector 13 is provided with a gyroscope 132 and an accelerometer 133. The gyroscope 132 and the accelerometer 133 are connected to the end effector 13 by threads. The gyroscope 132, the accelerometer 133, and the knife barrel 2 connected to the end effector 13 are relatively stationary. When the mechanical arm 1 drives the knife barrel 2 to move, the gyroscope 132 will form a navigation coordinate system, so that the measuring axis of the accelerometer 133 is stable in the coordinate system, and the heading and attitude angle of the knife barrel 2 are given. The accelerometer 133 can measure the acceleration of the moving body in the inertial reference system. The accelerometer 133 can obtain the speed by integrating the time once; the speed can be integrated again with the time to obtain the position change of the knife barrel 2, which can be monitored in real time and synchronously fed back to the controller for real-time correction.

[0050] In order to ensure that it can scan all the cutter holes on the shield machine cutter head, the laser scanner 311 needs to use a medium-range laser scanner 311, and the swing of its lens can also be manually controlled.

[0051] The structural design of the present invention can realize free movement in all directions with good flexibility, and in combination with the auxiliary lifting device 3, the bearing capacity of the structure is improved while the movement is precisely controlled, thereby improving the durability.

[0052] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0053] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A shield machine auxiliary tool changing robot, characterized in that: It includes a mechanical arm, a knife drum, an auxiliary lifting device, an action execution component and a controller; the controller is connected to the mechanical arm, the auxiliary lifting device and the action execution component; the action execution component is used to drive the mechanical arm to move in the upward, downward, left and right directions, the mechanical arm includes a pitch arm and a yaw arm, the pitch arm is hinged to the action execution component, the other end of the pitch arm is hinged to the yaw arm, the end of the yaw arm away from the pitch arm is connected to the knife drum through the end effector, and a hob is installed on the knife drum; The auxiliary lifting device includes a transverse guide rail, a winch is slidably connected to the transverse guide rail, one end of the wire rope of the winch is sleeved on the knife drum through a ring, a telescopic arm is provided on the transverse guide rail, the telescopic arm is used to drive the transverse guide rail to extend and retract in the horizontal direction, and a laser scanner is provided on the transverse guide rail. The laser scanner is used to obtain the position information of the knife drum and the knife hole position on the knife disc, and the controller plans the moving path of the knife drum according to the information fed back by the laser scanner.

2. The shield machine-assisted tool-changing robot according to claim 1, characterized in that: The action execution component includes a sliding platform, a fixed guide rail and a movable guide rail. The fixed guide rail is slidably connected to the movable guide rail. The movable guide rails are arranged at both ends of the sliding platform. The movable guide rail is provided with a third driving member for driving the movable guide rail to slide along the fixed guide rail. The sliding platform is slidably connected to the base slide, and the pitch arm is hinged to the base slide.

3. The shield machine-assisted tool-changing robot according to claim 2, characterized in that: The sliding platform includes a base, a positioning slide rod and a transmission screw. The two ends of the positioning slide rod are respectively connected to a base, and the bases at both ends are respectively connected to the movable guide rails on the corresponding sides. The two ends of the transmission screw are rotatably connected to the bases on both sides. The base slide is threadedly connected to the transmission screw and slidably connected to the positioning slide rod. The transmission screw is driven to rotate by a fourth driving member.

4. The shield machine-assisted tool-changing robot according to claim 1, characterized in that: The base is driven and slidably connected to the moving guide rail by a fifth driving member.

5. The shield machine-assisted tool-changing robot according to claim 1, characterized in that: The yaw arm is connected to the pitch arm through a spiral swing first hydraulic motor.

6. The shield machine-assisted tool-changing robot according to claim 1, characterized in that: The end effector is provided with a gyroscope and an accelerometer.

7. The shield machine-assisted tool-changing robot according to claim 1, characterized in that: The yaw arm and the pitch arm are both provided with torque sensors, and the torque sensors are connected to the controller signals. The controller controls the auxiliary lifting device through the signals transmitted by the torque sensors.

8. The shield machine-assisted tool-changing robot according to claim 1, characterized in that: The end effector is connected to the yaw arm through a rolling kinematic pair.

9. The shield machine-assisted tool-changing robot according to claim 2, characterized in that: The fixed guide rail is vertically arranged on the wall of the shield machine working space bin, and the telescopic arm is horizontally arranged on the inner wall of the shield machine working space bin.

10. A tool changing method of a shield machine-assisted tool changing robot based on any one of claims 1 to 9, characterized in that: The steps include: When it is necessary to change, one end of the wire rope is wound on the winding roller of the winch, the other end is connected to the sleeve and the sleeve is sleeved on the outer wall of the cutter; Use a laser scanner to scan the surrounding environment, obtain the position information of the knife barrel and the knife hole on the knife disc, and feed the information back to the controller, which plans the movement route of the knife barrel; According to the planned route, the controller controls the action execution component to drive the cutter barrel to move up and down and left and right; then the controller controls the rotation of the yaw arm and the pitch arm to correct the pitch angle and yaw angle; during the process, the controller controls the winch on the auxiliary lifting device to move synchronously until the roller cutter is connected to the cutter hole on the cutter disc to perform the cutter changing operation.

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