Intelligent tool changing robot equipment and system

Abstract

The invention relates to the technical field of shield tunneling machine tool changing, and discloses intelligent tool changing robot equipment and system. The left-right translation mechanism is connected with the displacement unit, and the multi-stage telescopic arm is connected with the left-right translation mechanism; the cutter changing executor is connected with the multi-stage telescopic arm, and is used for disassembling and assembling a bolt between the shield tunneling machine and the hobbing cutter and grabbing and transporting the hobbing cutter so as to complete the replacement of the hobbing cutter; the cutter storage unit is located in the shield tunneling machine, and two storage spaces are arranged in the cutter storage unit and used for containing unused new hobs and old hobs detached by a cutter changing actuator. The displacement unit is connected with the robot base; according to the hobbing cutter replacing device, bolts are detached through the arranged cutter replacing executor, the detached hobbing cutter is placed in the cutter storage unit, an unused hobbing cutter is selected through the cutter replacing executor, the hobbing cutter is placed on the shield tunneling machine, the cutter replacing executor works reversely, the hobbing cutter is fixed through the bolts, and the hobbing cutter replacing work is completed.

Description

Technical Field

[0001] The present application relates to the technical field of tool changing of shield machines, and specifically to an intelligent tool changing robot device and system. Background Art

[0002] The shield machine is a large-scale mechanical equipment that integrates tunnel excavation, slag removal, and support. It uses the cutter on the cutterhead to cut soil or rock, and supports the surrounding strata through the shield shell. Due to its high degree of automation, fast construction speed, and small construction impact range, it is widely used in tunnel projects such as subways and municipal pipelines. The shield machine will cause tool wear during the process of cutting rock and soil, so the tool needs to be replaced. Among them, the roller cutter is the main tool for breaking rock, and its replacement frequency is the highest. At present, it mainly relies on manual tool change, and due to the high pressure and high humidity environment in front of the face, manual tool change is dangerous and inefficient. Therefore, the development of an intelligent tool changing robot has become a development direction of the shield industry.

[0003] For example, a Chinese patent application with publication number CN116464465A discloses a shield machine cutterhead, a cutter changing method and a shield machine, including a main beam extending from the center of the cutterhead to the radial direction of the cutterhead; a cutter disposed on the main beam; a first slide rail disposed in the main beam and extending along the extension direction of the main beam, the first slide rail being configured to be located at the top or bottom of the main beam when the extension direction of the main beam is roughly parallel to the horizontal direction; and a conveying member movably disposed on the first slide rail, the conveying member being configured to move along the first slide rail to convey a tool changing actuator.

[0004] However, there are still some problems in the above prior art during the tool changing process. Although the above prior art does not require the operator to climb to different heights when replacing the hob cutter, the tool changing work is still carried out by manual tool changing. Therefore, how to complete the automatic tool changing work is a problem to be solved at present. Summary of the invention

[0005] The present application provides an intelligent tool changing robot device and system to solve the above-mentioned problems existing in the prior art.

[0006] An intelligent tool changing robot device, comprising:

[0007] A robot base is arranged in the robot cabin of the shield machine;

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

[0009] The end effector of the tool change actuator is connected to the multi-stage telescopic arm and is used to disassemble and assemble the bolts between the shield machine and the roller cutter, and to grab and transport the roller cutter to complete the replacement of the roller cutter;

[0010] A visual positioning device is arranged on the tool change actuator and is used to locate the position of the bolt, so that the tool change actuator can disassemble and assemble the bolt, grab and position the hob;

[0011] The cutter storage unit is located inside the shield machine and has two built-in storage spaces for placing unused new cutters and old cutters removed by the cutter change actuator;

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

[0013] Furthermore, the displacement unit includes a driving rack and a fixed slide rail fixedly installed in the length direction of the robot base, an adjusting slider slidably connected to the fixed slide rail, a moving seat for connecting the adjusting slider, four first hydraulic motors arranged on the moving seat, a motor gear arranged at the output end of the first hydraulic motor and meshing with the driving rack, a counterweight block arranged on the moving seat, a lifting frame movably connected to the moving seat, a mounting frame connected to the other end of the lifting frame, and a lifting hydraulic cylinder movably connected to the mounting frame and the moving seat respectively.

[0014] Further, the left-right translation mechanism includes a lateral fine-tuning oil cylinder and a lateral slide rail fixedly mounted on the mounting frame, a driving block connected to the output end of the lateral fine-tuning oil cylinder, a slide plate connected to the driving block, a first swing oil cylinder arranged on the slide plate, a support plate connected to the first swing oil cylinder, a second swing oil cylinder arranged on the support plate, and a right-angle arm movably connected to the second swing oil cylinder;

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

[0016] A telescopic cylinder is installed inside the multi-stage telescopic arm;

[0017] The multi-stage telescopic arm comprises a plurality of multi-stage arms, and longitudinal wear-resistant strips are arranged between adjacent multi-stage arms to reduce friction between the multi-stage arms;

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

[0019] Furthermore, the tool changing actuator includes a third swing cylinder arranged on the multi-stage telescopic arm, an actuator plate connected to the third swing cylinder, a fourth swing cylinder arranged on the actuator plate, an end actuator seat movably connected to the fourth swing cylinder, a wrench hydraulic motor fixedly mounted on the end actuator seat, a main gear connected to the output end of the wrench hydraulic motor, two sub-gears meshing with the main gear and arranged on the end actuator seat, and a torque wrench arranged on the sub-gear.

[0020] Furthermore, the tool changing actuator further comprises two second telescopic arms symmetrically arranged on the end actuator seat, a clamping claw connecting plate connected to the output end of the second telescopic arm, two clamping claws movably connected to the clamping claw connecting plate, and a driving cylinder for connecting the clamping claws and the clamping claw connecting plate;

[0021] There are two visual acquisition devices, namely a first visual acquisition device and a second visual acquisition device. The first visual acquisition device and the second visual acquisition device are respectively located on the end effector seat and the acquisition areas of the first visual acquisition device and the second visual acquisition device are opposite.

[0022] Further, the tool storage unit includes a rotating assembly connected to the shield machine, two first limit assemblies evenly arranged on the rotating assembly, and a plurality of second limit assemblies evenly arranged on the first limit assemblies;

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

[0024] A displacement cylinder is also provided on the supporting slide rail, and an output end of the displacement cylinder is connected to the movable seat.

[0025] Further, the first limiting assembly includes a limiting seat located in the protective cover, a containing cavity provided in the limiting seat, a plurality of connecting cylinders arranged in the containing cavity and movably connected to the limiting seat, a first gear connected to an output end of the connecting cylinder, a second gear meshing with the first gear, a connecting shaft arranged on the second gear, a limiting frame fixedly mounted on the limiting seat, a double-sided rack located in the limiting frame, a limiting gear meshing with the double-sided rack and located on the limiting seat, and a gear ring arranged in the containing cavity and meshing with the second gear;

[0026] The connecting shaft is connected to one of the limit gears, and the second limit assembly is connected to the racks on both sides;

[0027] The connecting cylinder output end is at a non-center position of the first gear;

[0028] The limiting seat is a tubular structure with a through hole formed thereon, and the accommodating cavity is located in the area between the outer wall of the limiting seat and the inner wall of the through hole.

[0029] Further, the second limit assembly includes two fixed plates, two pulling plates symmetrically arranged on one of the fixed plates, a pulling cylinder fixedly installed on the pulling plate, two guide seats diagonally arranged on the fixed plates, and a guide shaft penetrating the guide seats and used to connect the two fixed plates;

[0030] The pulling plate is provided with a square hole, and the output end of the pulling cylinder is connected to another fixed plate through the square hole;

[0031] One of the fixed plates is connected to the double-sided racks without toothed surfaces, and the other fixed plate can move in the axial direction of the guide shaft. A connecting protrusion is provided between the double-sided racks and the fixed plate, and the connecting protrusions between adjacent double-sided racks have different heights.

[0032] Further, the second limit assembly includes an adjustment cylinder and a plurality of adjustment slide rails arranged on the fixed plate, an adjustment seat connected to the output end of the adjustment cylinder, a plurality of driving wheels arranged on the adjustment seat, an adjustment plate connected to the driving wheels, a limit cylinder arranged on the adjustment plate, an abutment block connected to the output end of the limit cylinder, and a driven slider for connecting the adjustment plate and the adjustment slide rail;

[0033] The adjusting seat is provided with a plurality of limiting waist holes, and a certain angle exists between the length direction of the limiting waist holes and the adjusting slide rail.

[0034] A system for intelligent tool changing robot equipment, comprising:

[0035] The multi-source information perception system uses a variety of sensors to collect different types of data information of the tool changing robot in the working environment, and then summarizes the collected multi-type information to form a multi-data data source;

[0036] The digital twin system is used to receive, process, convert and store multiple data sources, and to perform three-dimensional reconstruction of the tool-changing robot workspace based on the processed data;

[0037] The main control system locates the positions of bolts and obstacles in real time based on the 3D reconstructed model, and plans the path of the tool-changing robot according to the positions of the bolts and obstacles.

[0038] The power unit is connected to the main control system, and according to the processing result of the main control system, the main control system controls the working pressure of the hydraulic oil in the power unit, and at the same time makes the hydraulic oil medium filter and store energy;

[0039] There are multiple joint units, which are connected to the power units respectively. Hydraulic oil is supplied to the joint units through the power units and the positions of the joint units are adjusted according to the processing information processed by the main control system, so that the tool changing actuator can complete the positioning of the hob position and obstacle avoidance function during the process of replacing the hob, thereby realizing intelligent control of the tool changing robot.

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

[0041] The power unit includes a self-sealing quick-change connector K1, a self-sealing quick-change connector K2, and a self-sealing quick-change connector K3 respectively connected to the energy pump station, a self-sealing quick-change connector K4 connected to the self-sealing quick-change connector K1, a ball valve Q2 connected to the other end of the self-sealing quick-change connector K3, a temperature sensor TS, a pressure sensor T1, a pipeline filter F1 and an accumulator valve group E connected to the other end of the ball valve Q2, the other end of the accumulator valve group E is connected to the accumulator AC, the other end of the pipeline filter F1 is respectively connected to the throttle valve L1 and the throttle valve L2, a pressure reducing valve A1 and a pressure reducing valve A2 respectively connected to the throttle valve L1 and the throttle valve L2, wherein the outlet end of the pressure reducing valve A1 is respectively connected to the pressure sensor T2, the safety valve RV1 and one end of the pipeline filter F2, and the outlet end of the pressure reducing valve A2 is respectively connected to the pressure sensor T3, the safety valve RV2 and the oil inlet pipeline P2;

[0042] The other end of the self-sealing quick-change connector K2 is connected to the ball valve Q1;

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

[0044] The oil drain ports of the pressure reducing valve A1 and the pressure reducing valve A2 and the self-sealing quick-change connector K4 are respectively connected to the oil return pipeline T1.

[0045] Beneficial effect: The present application discloses an intelligent tool-changing robot device and system. In order to complete the automatic tool-changing work of the shield machine, the device is provided with a displacement unit, a tool-changing actuator, a visual acquisition device and a tool storage unit. The displacement unit contains a first hydraulic motor, a lifting hydraulic cylinder, a lateral fine-tuning cylinder, a first swing cylinder, a second swing cylinder, a multi-stage telescopic arm, a third swing cylinder, a fourth swing cylinder, a second telescopic arm, a driving cylinder and a wrench hydraulic motor. The mutual cooperation between them can increase the degree of freedom of the entire device, so that the visual acquisition device can collect the bolt position between the shield machine and the cutter, and then complete the disassembly of the bolts through the set tool-changing actuator and place the disassembled cutter in the cutter storage unit, and select an unused cutter through the tool-changing actuator and place the cutter in a predetermined position on the shield machine, and then the tool-changing actuator works in reverse to fix the cutter through bolts to complete the replacement of the cutter. The whole process does not require manual intervention and can automatically complete the replacement of the cutter. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a structural schematic diagram of an intelligent tool changing robot device of the present application;

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

[0048] Figure 3 is a stereogram of the displacement unit of the present application;

[0049] Figure 4 This is the front view of the left-right translation mechanism of the present application;

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

[0051] Figure 6 is a schematic diagram of a tool changing actuator of the present application;

[0052] Figure 7 is a cross-sectional view of the tool changing actuator of the present application;

[0053] Figure 8 is a schematic diagram of the visual acquisition device of the present application;

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

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

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

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

[0058] Fig.13 is a three-dimensional diagram of the first position limiting component of the present application;

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

[0060] Fig.15 It is a schematic diagram of the adjustment seat of the present application;

[0061] Fig.16 It is a schematic diagram of the structure of the first limit assembly of the present application;

[0062] Fig.17 It is a system schematic diagram of an intelligent tool changing robot device of the present application;

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

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

[0065] Fig. 20 It is a system flow chart of this application.

[0066] Explanation of the reference numerals: 1. robot base; 2. displacement unit; 21. moving seat; 22. counterweight; 23. first hydraulic motor; 24. motor gear; 25. driving rack; 26. fixed slide rail; 27. adjusting slider; 28. lifting hydraulic cylinder; 29. ​​mounting frame; 210. lifting frame; 3. left and right translation mechanism; 31. lateral fine-tuning cylinder; 32. driving block; 33. slide plate; 34. first swing cylinder; 35. support plate; 36. second swing Cylinder; 37, right-angle arm; 38, horizontal slide rail; 39, horizontal slide block; 4, multi-stage telescopic arm; 41, telescopic cylinder; 5, tool change actuator; 51, third swing cylinder; 52, fourth swing cylinder; 53, end actuator seat; 54, second telescopic arm; 55, clamping claw connecting plate; 56, clamping claw; 57, driving cylinder; 58, main gear; 59, auxiliary gear; 510, torque wrench; 511, wrench hydraulic motor; 6, visual acquisition equipment; 8, storage knife unit; 81, rotating assembly; 811, protective cover; 812, connecting frame; 813, displacement cylinder; 814, movable seat; 815, movable slider; 816, rotating motor; 817, rotating wheel; 818, driven wheel; 819, transmission belt; 820, movable shaft; 821, supporting slide rail; 82, first limit assembly; 822, first gear; 823, second gear; 824, gear ring; 825, limit seat; 826, limit frame; 8 27. Limiting gear; 828. Double-sided rack; 829. Connecting shaft; 8211. Connecting cylinder; 83. Second limiting assembly; 831. Fixed plate; 832. Pull plate; 833. Stretching cylinder; 834. Guide seat; 835. Guide shaft; 836. Adjusting cylinder; 837. Adjusting seat; 838. Driving wheel; 839. Adjusting slide rail; 8310. Driven slider; 8311. Adjusting plate; 8312. Limiting cylinder; 8313. Abutment block. DETAILED DESCRIPTION

[0067] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the drawings in the specification.

[0068] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

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

[0070] This application discloses an intelligent tool changing robot device, referring to Figure 1-Figure 16 ,include:

[0071] A robot base 1 is arranged in the robot cabin of the shield machine; a displacement unit 2, a left and right translation mechanism 3 connected to the displacement unit 2, and a multi-stage telescopic arm 4 connected to the left and right translation mechanism 3; a tool change actuator 5 is connected to the multi-stage telescopic arm 4, and is used to disassemble and assemble the bolts between the shield machine and the roller cutter, and to grab and transport the roller cutter to complete the replacement of the roller cutter; a visual acquisition device 6 is arranged on the tool change actuator 5, and is used to locate the bolt position, so that the tool change actuator 5 can disassemble and assemble the bolts, grab and place the roller cutter; a tool storage unit 8 is located in the shield machine, and has two built-in storage spaces for storing unused new roller cutters and roller cutters that have been replaced. The old roller cutter is removed by the actuator 5; the displacement unit 2 is connected to the robot base 1; the displacement unit 2 is set to increase the degree of freedom of the entire device, so that the visual acquisition device 6 can collect the bolt position between the shield machine and the roller cutter, and then the bolts are removed by the set tool change actuator 5 and the removed roller cutter is placed in the tool storage unit 8, and an unused roller cutter is selected by the tool change actuator 5 and placed at a predetermined position on the shield machine, and then the tool change actuator 5 works in reverse and fixes the roller cutter by bolts, thereby completing the replacement of the roller cutter. The whole process does not require human intervention and the replacement of the roller cutter can be completed automatically.

[0072] The displacement unit 2 includes a driving rack 25 and a fixed slide rail 26 fixedly installed in the length direction of the robot base 1, an adjusting slider 27 slidably connected to the fixed slide rail 26, a moving seat 21 for connecting the adjusting slider 27, four first hydraulic motors 23 arranged on the moving seat 21, a motor gear 24 arranged at the output end of the first hydraulic motor 23 and meshing with the driving rack 25, a counterweight 22 arranged on the moving seat 21, a lifting frame 210 movably connected to the moving seat 21, a mounting frame 29 for connecting the other end of the lifting frame 210, and a mounting frame 29 respectively connected to the mounting frame 29 and the moving seat 21 is movably connected to the lifting hydraulic cylinder 28; when the position of the bolt needs to be collected, the first hydraulic motor 23 starts to work, and the moving first hydraulic motor 23 can drive the motor gear 24 to rotate, and then the moving motor gear 24 can move on the driving rack 25, thereby driving the moving seat 21 to move in the length direction of the robot base 1, so that the tool changing actuator 5 is close to the hob, and then the lifting hydraulic cylinder 28 starts to work, and the moving lifting hydraulic cylinder 28 can drive the mounting frame 29 to start working, adjust the height of the mounting frame 29, thereby completing the lifting work of the tool changing actuator 5, and completing the preliminary adjustment work of the tool changing actuator 5.

[0073] The left-right translation mechanism 3 includes a lateral fine-tuning cylinder 31 and a lateral slide rail 38 fixedly mounted on the mounting frame 29, a driving block 32 connected to the output end of the lateral fine-tuning cylinder 31, a slide plate 33 connected to the driving block 32, a first swing cylinder 34 arranged on the slide plate 33, a support plate 35 connected to the first swing cylinder 34, a second swing cylinder 36 arranged on the support plate 35, and a right-angle arm 37 movably connected to the second swing cylinder 36; the multi-stage telescopic arm 4 is connected to the right-angle arm 37; a telescopic cylinder 41 is installed inside the multi-stage telescopic arm 4; the A transverse slider 39 is provided on the slide plate 33, and the transverse slider 39 is slidably connected to the transverse slide rail 38; when it is necessary to adjust the transverse position of the tool change actuator 5 on the robot base 1, the transverse fine-tuning cylinder 31 starts to work, and the moving transverse fine-tuning cylinder 31 can drive the driving block 32 to move, so that the moving driving block 32 can move the slide plate 33 on the transverse slide rail 38, so that the visual acquisition device 6 can complete the acquisition of the bolt position, and then according to the collected information, the position adjustment of the tool change actuator 5 is completed by the set left and right translation mechanism 3, and the bolt is completed by the tool change actuator 5 The first swing cylinder 34 and the second swing cylinder 36 start to work, so that the tool change actuator 5 is turned over, so that the end with the clamping claw 56 faces the roller cutter, and then the left and right translation mechanism 3 and the multi-stage telescopic arm 4 start to move. During this process, the telescopic cylinder 41 in the multi-stage telescopic arm 4 starts to work, so that the position of each multi-stage arm in the multi-stage telescopic arm 4 can be adjusted, so that the position of the tool change actuator 5 is extended and lifted, and then the position of the tool change actuator 5 is adjusted, so that the clamping claw 56 is located in the gap between the roller cutter and the shield machine, and then the driving cylinder 57 starts to work, and the moving driving cylinder 57 It can drive the clamping jaws 56 to move and shorten the distance between the two clamping jaws 56, so that the clamping jaws 56 can complete the clamping and limiting work of the roller cutter, and then complete the disassembly of the roller cutter, and then, with the cooperation of the left and right translation mechanisms 3 and the multi-stage telescopic arms 4, adjust the position of the tool changing actuator 5 so that the tool changing actuator 5 can place the replaced roller cutter in the tool storage unit 8, and then the clamping jaws 56 clamp the new roller cutter from the tool storage unit 8 and transport it to the predetermined position, and then the first swing cylinder 34 and the second swing cylinder 36 work again, so that the bolts can limit the position of the shield machine and the roller cutter, and complete the replacement of the roller cutter.

[0074] The tool changing actuator 5 includes a third swing cylinder 51 arranged on the multi-stage telescopic arm 4, an actuator plate connected to the third swing cylinder 51, a fourth swing cylinder 52 arranged on the actuator plate, an end actuator seat 53 movably connected to the fourth swing cylinder 52, a wrench hydraulic motor 511 fixedly mounted on the end actuator seat 53, a main gear 58 connected to the output end of the wrench hydraulic motor 511, two sub-gears 59 meshing with the main gear 58 and arranged on the end actuator seat 53, and a torque wrench 510 arranged on the sub-gear 59 ; The tool changing actuator 5 also includes two second telescopic arms 54 symmetrically arranged on the end actuator seat 53, a clamping claw connecting plate 55 connected to the output end of the second telescopic arm 54, two clamping claws 56 movably connected to the clamping claw connecting plate 55, and a driving cylinder 57 for connecting the clamping claws 56 and the clamping claw connecting plate 55; The number of the visual acquisition devices 6 is two, namely the first visual acquisition device and the second visual acquisition device, which are respectively located on the end actuator seat 53 and the acquisition areas of the first visual acquisition device and the second visual acquisition device are opposite;

[0075] When changing the tool, the position of the bolt can be collected through the visual acquisition device 6 and the collected data information can be transmitted to the main control system. The position of the bolt is located through the processing of the main control system. Then, according to the positioning result, the position of the tool change actuator 5 is preliminarily adjusted through the left and right translation mechanism 3. Then the third swing cylinder 51 and the fourth swing cylinder 52 start to work, thereby adjusting the position of the end actuator seat 53, so that the torque wrench 510 is in contact with the bolt head, and then through the rotation of the wrench hydraulic motor 511, the moving wrench hydraulic motor 511 can bring The moving main gear 58 rotates, and the moving main gear 58 can drive the sub-gear 59 to rotate, thereby rotating the torque wrench 510 to complete the disassembly of the bolts, and then through the cooperation of the first swing cylinder 34, the second swing cylinder 36, the third swing cylinder 51 and the fourth swing cylinder 52, the end face of the end actuator 53 with the clamping claw 56 is aligned with the roller, and then the position of the clamping claw 56 is adjusted through the second telescopic arm 54, and then the cylinder 57 is driven to start working, so as to complete the grabbing of the roller and the replacement of the old and new rollers.

[0076] The knife storage unit 8 includes a rotating component 81 connected to the shield machine, two first limiting components 82 evenly arranged on the rotating component 81, and a plurality of second limiting components 83 evenly arranged on the first limiting component 82; the rotating component 81 includes a connecting frame 812 connected to the shield machine, a supporting slide rail 821 arranged on the connecting frame 812, a movable slider 815 movably connected to the supporting slide rail 821, a movable seat 814 for connecting the movable slider 815, a rotating motor 816 fixedly mounted on the movable seat 814, a rotating wheel 817 connected to the output end of the rotating motor 816, a movable shaft 820 arranged on the movable seat 814, a driven wheel 818 sleeved on the movable shaft 820, a protective cover 811 connected to the movable shaft 820, and a driven wheel 818 for connecting the rotating wheel 817 and the driven wheel 818. The transmission belt 819 of the moving wheel 818; the support slide rail 821 is also provided with a displacement cylinder 813, and the output end of the displacement cylinder 813 is connected to the movable seat 814; when the clamp 56 clamps the old roller and moves to the knife storage area of ​​the knife storage unit 8, the displacement cylinder 813 starts to work, and the moving displacement cylinder 813 can make the movable seat 814 move in the length direction of the support slide rail 821, adjust the position of the protective cover 811 so that it can be close to the clamp 56, and then the rotating motor 816 starts to work, and then through the cooperation of the set rotating wheel 817, the driven wheel 818 and the transmission belt 819, the protective cover 811 can be driven to move, thereby driving the limit seat 825 in the protective cover 811 to move, so that the first limit assembly 82 without the roller is located at a predetermined position, so that the clamp 56 can place the damaged roller on the first limit assembly 82.

[0077] The first limiting assembly 82 includes a limiting seat 825 located in the protective cover 811, a receiving cavity is provided in the limiting seat 825, a plurality of connecting cylinders 8211 arranged in the receiving cavity and movably connected to the limiting seat 825, a first gear 822 connected to the output end of the connecting cylinder 8211, a second gear 823 meshing with the first gear 822, a connecting shaft 829 arranged on the second gear 823, a limiting frame 826 fixedly installed on the limiting seat 825, and double-sided racks 826 located in the limiting frame 826. 8, a limit gear 827 meshing with the double-sided racks 828 and located on the limit seat 825, and a gear ring 824 arranged in the accommodating cavity and meshing with the second gear 823; the connecting shaft 829 is connected to one of the limit gears 827, and the second limit assembly 83 is connected to the double-sided racks 828; the output end of the connecting cylinder 8211 is at a non-center position of the first gear 822; the limit seat 825 is a tubular structure with a through hole opened thereon, and the accommodating cavity is located in the area between the outer wall of the limit seat 825 and the inner wall of the through hole;

[0078] When the worn roller is located in the placement area of ​​the first limiting assembly 82, the connecting cylinder 8211 starts to work, and the moving connecting cylinder 8211 can drive the first gear 822 to rotate, and then the moving first gear 822 can drive the second gear 823 to rotate, and then the moving second gear 823 can drive the connecting shaft 829 to rotate, and then the moving connecting shaft 829 can drive the limiting gear 827 connected thereto to rotate, so that the double-sided rack 828 moves in the length direction of the limiting frame 826. Due to the different heights of the connecting protrusions between the adjacent double-sided racks 828, when the roller is When the cutter is located in the through hole, the second limiting component 83 on the connecting protrusions of the same height is in the same plane as the contact area of ​​the roller cutter. Since the roller cutter is disc-shaped and has at least one cutting edge, the diameter of the middle area is greater than the diameter of its two ends along the axial direction of the roller cutter. By making the heights of adjacent connecting protrusions different, the second limiting component 83 can be located on both sides of the roller cutter cutting edge, thereby not only limiting the radial direction of the roller cutter but also supporting the roller cutter in the axial direction, thereby preventing the roller cutter from detaching from the cutter storage unit 8 and moving inside the shield machine during the movement of the shield machine, causing damage to the shield machine.

[0079] The second limit assembly 83 includes two fixed plates 831, two pulling plates 832 symmetrically arranged on one of the fixed plates 831, a pulling cylinder fixedly installed on the pulling plate 832, two guide seats 834 diagonally arranged on the fixed plate 831, and a guide shaft 835 that penetrates the guide seat 834 and is used to connect the two fixed plates 831; a square hole is opened on the pulling plate 832, and the output end of the pulling cylinder is connected to the other fixed plate 831 through the square hole; one of the fixed plates 831 is connected to the double-sided rack 828 without a tooth surface, and the other fixed plate 831 can move in the axial direction of the guide shaft 835, and a connecting protrusion is provided between the double-sided rack 828 and the fixed plate 831, and the space between adjacent double-sided racks 828 The heights of the connecting protrusions are different; the second limiting assembly 83 includes an adjusting cylinder 836 and a plurality of adjusting slide rails 839 arranged on the fixing plate 831, an adjusting seat 837 connected to the output end of the adjusting cylinder 836, a plurality of driving wheels 838 arranged on the adjusting seat 837, an adjusting plate 8311 connected to the driving wheel 838, a limiting cylinder 8312 arranged on the adjusting plate 8311, an abutment block 8313 connected to the output end of the limiting cylinder 8312, and a driven slider 8310 for connecting the adjusting plate 8311 and the adjusting slide rail 839; a plurality of limiting waist holes are provided on the adjusting seat 837, and there is a certain angle between the length direction of the limiting waist holes and the adjusting slide rail 839;

[0080] When the damaged roller cutter needs to be stored, the roller cutter will be broken due to the collision between the roller cutter and the rock mass, so that the roller cutter presents an irregular shape. Therefore, when the damaged roller cutter needs to be limited and clamped, at this time, according to the collected information of the visual collection device 6, the stretching cylinder 833 starts to work, and the moving stretching cylinder 833 can drive the fixed plate 831 connected to its output end to move, adjust the distance between the two fixed plates 831, and thus adjust the distance between the abutment blocks 8313 located on different fixed plates 831, and then the adjusting cylinder 836 starts to work, and the moving adjusting cylinder 836 can drive the adjusting seat 837 to move, so that the driving wheel 838 moves in the limiting waist hole on the adjustment seat 837, and then can drive the adjustment plate 8311 to move in the length direction of the adjustment slide rail 839, adjust the distance between adjacent abutment blocks 8313 on the same fixed plate 831, and then the limiting cylinder 8312 starts to work, and then can adjust the distance between the abutment block 8313 and the roller, and then complete the limiting work of the roller, by changing the contact position between the abutment block 8313 and the damaged roller, thereby completing the limiting clamping work of the damaged roller, ensuring the smooth progress of the tool changing work, and for the roller that cannot be clamped, it can be transported to the predetermined unloading position through the left and right translation mechanism 3, so that it can be transported out of the shield machine.

[0081] The present application discloses a system for an intelligent tool changing robot device, referring to Figure 17-Figure 20 , including an intelligent tool-changing robot device, and also including a multi-source information perception system, which uses a variety of sensors to collect different types of data information of the tool-changing robot in the working environment, and then summarizes the collected multi-type information to form a multi-data data source; a digital twin system, which is used to receive, process, convert and store the multi-data data source, and reconstruct the tool-changing robot workspace in three dimensions based on the processed data; a main control system, which locates the positions of bolts and obstacles in real time based on the three-dimensional reconstructed model, and plans the travel route of the tool-changing robot according to the positions of the bolts and obstacles; a power unit, which is connected to the main control system, and controls the working pressure of the hydraulic oil in the power unit according to the processing result of the main control system, and filters and stores the hydraulic oil medium at the same time; a plurality of joint units, which are respectively connected to the power unit, supply hydraulic oil to the joint unit through the power unit, and adjust the positions between the joint units according to the processing information processed by the main control system, so that the tool-changing actuator 5 can complete the positioning of the hob position and the obstacle avoidance function in the process of replacing the hob, thereby realizing the intelligent control of the tool-changing robot;

[0082] In a further embodiment, the sensor includes but is not limited to a visual acquisition device 6, a radar sensor, a laser sensor, an acoustic wave sensor, and a flexible sensor for performing image acquisition work on the tool changing robot;

[0083] The radar sensor can continuously emit electromagnetic waves and receive reflected waves. By analyzing the time delay, frequency change and other parameters of the reflected waves, the position, distance and general shape of obstacles around the tool changing robot can be obtained in real time. At the same time, after the obstacle information obtained by the radar sensor is transmitted to the main control system of the tool changing robot, the system uses this data combined with the preset obstacle avoidance algorithm (existing technology) to dynamically plan the travel path of the tool changing robot.

[0084] The laser sensor can accurately calculate the distance between the tool change robot and surrounding objects by emitting a laser beam and measuring the time of reflected light. Inside the shield machine, it can quickly construct a three-dimensional point cloud map of the surrounding environment, clearly showing the position and outline of objects such as tools, equipment, and walls, allowing the tool change robot to accurately perceive its own environment and provide accurate spatial information for obstacle avoidance. During the movement of the tool change robot, the laser sensor continuously scans the surrounding area and monitors in real time whether there are obstacles entering its working range. It realizes the real-time monitoring function of the tool change robot to avoid collisions between accidentally dropped obstacles and the tool change robot, which may cause damage to the tool change robot. During the movement of the tool change robot, the laser sensor can detect in real time the appearance of new obstacles on the path or changes in the position of the original obstacles. The robot can adjust the path in real time to bypass the obstacles and ensure the smooth progress of the tool change task. At the same time, the laser sensor can also be used to set the safety area of ​​the tool change robot. By setting a virtual safety boundary around the robot, when an object enters the safety area, the laser sensor will immediately issue an alarm to remind the operator to pay attention to safety, or automatically control the tool change robot to stop moving to prevent collision accidents and ensure the safety of personnel and equipment.

[0085] The acoustic sensor detects obstacles by emitting and receiving acoustic signals. When the acoustic wave encounters an obstacle, it will be reflected back. The sensor calculates the distance to the obstacle based on the propagation time of the acoustic wave. When the tool changer robot approaches an obstacle for fine operations, such as preparing to change a tool near the cutter disc, the acoustic sensor can accurately detect obstacles at close range, such as the raised parts on the cutter disc or small tools around it, to prevent the robot from colliding with these objects. At the same time, in the complex environment inside the shield machine, there may be insufficient light and a lot of dust, which may lead to the failure of the visual sensor. The acoustic sensor is less affected by these factors and can work stably in harsh environments. Even in a dusty space, the acoustic wave can still effectively propagate and reflect, providing the tool changer robot with reliable obstacle detection information, ensuring that the robot can accurately avoid obstacles under various complex working conditions. There are multiple acoustic sensors, which can be distributed in different parts of the tool changer robot to realize the perception of obstacles at multiple angles around the tool changer robot. These sensors can work simultaneously, covering the front, side and rear of the robot, forming an all-round detection network. At the same time, the acoustic wave sensor has high real-time performance, which can quickly detect changes in the working environment of the tool changing robot and feed back the information to the main control system in time. Then, the main control system is set to control multiple joint units, so that the tool changing robot can avoid obstacles and remove bolts.

[0086] The above-mentioned flexible sensors include but are not limited to a variety of sensors. Through the setting of a variety of sensors, they are further used to detect various physical quantities such as force (pressure and strain, etc.), temperature, humidity, etc.; commonly used sensors include flexible tactile sensors, flexible pressure sensors, flexible strain sensors, etc., which have the characteristics of softness, bendability, stretchability, etc.; through these flexible sensors, the tool changing robot can perceive the surrounding environment more accurately and achieve more intelligent and flexible obstacle avoidance operations; when the tool changing robot approaches the cutter disc, the flexible tactile sensor can fit the surface of the cutter disc, accurately detect the protrusions, depressions and bolts on the surface, and identify obstacles that may cause collisions in advance, helping the tool changing robot to adjust its trajectory in time and avoid dangerous areas; or in a small space, the tool changing robot accidentally touches the shield machine wall while moving, and the flexible sensor can immediately detect the contact force, causing the tool changing robot to stop approaching and re-plan the path; the flexible strain sensors installed at the joints of the tool changing robot can perceive the changes in its own posture caused by the movement of surrounding objects, and cooperate with external flexible tactile sensors to monitor environmental dynamics in all directions. Once a new obstacle is detected, the tool changing robot responds quickly and replans the obstacle avoidance path to ensure that the tool changing operation is not affected; in the dimly lit environment inside the shield machine, when the laser sensor is affected, the flexible sensing and acoustic wave sensors can make up for the shortcoming and jointly determine the location and nature of the obstacle, so that the tool changing robot can still reliably avoid obstacles under complex working conditions and ensure that the tool changing operation is carried out safely and orderly.

[0087] By coordinating the above-mentioned visual acquisition equipment 6, radar sensors, laser sensors, acoustic wave sensors, flexible sensors and other sensors, the environmental information of the working environment of the tool changing robot can be constructed. By coordinating the various environmental information, the tool changing robot can still reliably avoid obstacles under complex working conditions, or the walking path of the tool changing robot can be replanned in response to sudden obstacles during the tool changing process, thereby realizing intelligent control of the tool changing robot and ensuring the smooth progress of the tool changing work.

[0088] In a further embodiment, the digital twin system obtains point cloud data of the working space of the tool changing robot based on sensors such as laser sensors, radar sensors and visual acquisition devices 6, wherein the visual acquisition device 6 calculates the three-dimensional coordinates of the tool changing robot by taking images and then extracting feature points using a computer vision algorithm (existing technology), while the laser sensor, radar sensor and acoustic wave sensor can obtain distance information by emitting a laser beam (sound wave) and measuring the time of reflected light (reflected sound wave), thereby generating point cloud data, wherein the flexible sensor includes but is not limited to a flexible sensor based on optical principles, a flexible sensor based on ultrasonic principles and a flexible sensor based on piezoresistive effect; wherein the flexible sensor based on optical principles is equivalent to the above-mentioned visual acquisition device 6, which uses a computer vision algorithm The three-dimensional coordinates of the tool-changing robot are obtained to generate point cloud data. The flexible sensor based on the ultrasonic principle is similar to an acoustic wave sensor. It obtains distance information by emitting acoustic waves and measuring the time of reflected acoustic waves to generate point cloud data. The flexible sensor based on the piezoresistive effect is made of flexible piezoresistive material. When subjected to external force, the resistance of the material changes. This material is made into an array form. When an object contacts the sensor and generates pressure distribution, the pressure information of the contact surface between the object and the sensor can be obtained by measuring the resistance change. After processing and conversion (amplification and filtering, analog-to-digital conversion, data acquisition and storage, feature extraction, and then according to the array form of the flexible sensor and the pressure data of each sensor unit, the coordinates of the contact point between the object surface and the sensor are calculated) to construct point cloud data.

[0089] Among them: The distance d measurement formula of laser sensor, radar sensor and acoustic wave sensor is:

[0090] Where c is the speed of light, t1 is the time of receiving the laser or sound wave, and t2 is the time of emitting the laser or sound wave;

[0091] The point cloud data obtained according to the above method is preprocessed to obtain the processed point cloud data points of the tool changing robot, wherein the preprocessing formula is:

[0092] = in is the new coordinate value corresponding to the i-th point after preprocessing, is the coordinate value of the i-th point obtained after sensor processing, and K is the normalization constant, which is used to normalize the weighted summation result to ensure is the weighted average of the neighborhood points, and the sum of the weights is 1; yes The set of domain points is the spatial position of A group of points that are close to each other. is the weight; j is the index variable.

[0093] Then the processed coordinate information Transform it so that it can be located in a unified coordinate system, where the homogeneous coordinate transformation equation from the base coordinate system to the end effector coordinate system is

[0094] in represents the homogeneous coordinates of a point in the base coordinate system, represents the homogeneous coordinates of the point in the end effector coordinate system, R represents the rotation matrix, t represents the translation vector, and T represents the homogeneous coordinate transformation matrix;

[0095] Then the point cloud data is segmented into different regions, and the features of each region, such as shape, size, position, etc., are extracted;

[0096] Finally, the point cloud data is connected into a triangular mesh using a triangulation algorithm to construct a preliminary 3D model of the workspace and the 3D model is optimized using a surface fitting method.

[0097] The formula for fitting the surface is:

[0098] Where Z represents the height value of the point in the vertical direction when the x and y coordinates are given; x and y represent the horizontal position coordinates of a point in the workspace of the tool changing robot; the function F() is a binary function, which describes how to calculate the corresponding Z value based on the values ​​of x and y. It can be a polynomial function (such as a quadratic polynomial, a cubic polynomial, etc.), a spline function or other types of functions, etc.;

[0099] Then, according to the homogeneous coordinates of the point in the end effector coordinate system, the parameters of the surface equation are determined by the calculation formula, and a set of parameters is found to make the calculated With function The errors between the calculated values ​​are averaged and minimized;

[0100] The calculation formula is:

[0101] Based on the solved parameters, the final surface equation is determined to generate a smooth surface. This surface will optimize the preliminary triangular mesh model to make it more consistent with the actual workspace shape. By combining the surface with the triangular mesh, a more accurate and smooth three-dimensional model can be obtained, thereby completing the three-dimensional reconstruction of the tool changing robot's workspace.

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

[0103] The power unit includes a self-sealing quick-change connector K1, a self-sealing quick-change connector K2, and a self-sealing quick-change connector K3 respectively connected to the energy pump station, a self-sealing quick-change connector K4 connected to the self-sealing quick-change connector K1, a ball valve Q2 connected to the other end of the self-sealing quick-change connector K3, a temperature sensor TS, a pressure sensor T1, a pipeline filter F1 and an accumulator valve group E connected to the other end of the ball valve Q2, the other end of the accumulator valve group E is connected to the accumulator AC, the other end of the pipeline filter F1 is respectively connected to the throttle valve L1 and the throttle valve L2, a pressure reducing valve A1 and a pressure reducing valve A2 respectively connected to the throttle valve L1 and the throttle valve L2, wherein the outlet end of the pressure reducing valve A1 is respectively connected to the pressure sensor T2, the safety valve RV1 and one end of the pipeline filter F2, and the outlet end of the pressure reducing valve A2 is respectively connected to the pressure sensor T3, the safety valve RV2 and the oil inlet pipeline P2;

[0104] The other end of the self-sealing quick-change connector K2 is connected to the ball valve Q1;

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

[0106] The oil drain ports of the pressure reducing valve A1 and the pressure reducing valve A2 and the self-sealing quick-change connector K4 are respectively connected to the oil return pipeline T1;

[0107] Among them, the power unit adjusts the pressure of the main energy in the pipeline to the required working pressure, and supplies the medium to each joint unit after filtering and storing energy. The power unit is equipped with two oil supply routes. The main energy pressure is reduced to 20MPa and 10Mpa respectively through two pressure reducing valves A1 and pressure reducing valve A2, and then supplied to the oil inlet pipeline P1 and oil inlet pipeline P2 of the joint unit respectively, and each circuit is provided with a safety valve RV1 and a safety valve RV2 to prevent the pressure from exceeding the upper limit value; at the same time, the pipeline filter F1 and the pipeline filter F2 are provided with a differential alarm, and an alarm signal can be issued when blocked; the accumulator valve group E is used for pressure stabilization and energy storage, stabilizes the system pressure pulsation, and compensates the hydraulic oil for a short time.

[0108] Among them, the high-pressure oil of the energy pump station can be supplied to the pressure reducing valve A1 and the pressure reducing valve A2 respectively after being filtered by the pipeline filter F1 with an accuracy better than 10um and the flow rate is distributed by the throttle valve L1 and the throttle valve L2. The outlet pressure of the pressure reducing valve A1 is set to 20MPa, and then filtered by the pipeline filter F2 with an accuracy better than 5um, and then supplied to the oil inlet pipeline P1. The pressure on the loop is detected by the pressure sensor T2, and the pressure of the safety valve RV1 is set to 21MPa to ensure that the main loop pressure does not exceed 21MPa;

[0109] The accumulator AC is used to buffer the system pulsation and also to compensate the hydraulic oil for a short time. The accumulator valve group E is used to cut off the circuit and release the hydraulic pressure in the accumulator AC when repairing the accumulator AC.

[0110] The outlet pressure of the pressure reducing valve A2 is set to 10MPa, which is supplied to the oil inlet pipe P2. The pressure in the circuit is detected by the pressure sensor T3. The pressure of the safety valve RV2 is set to 14MPa to ensure that the control circuit pressure does not exceed 14Mpa.

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

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

[0113] The first joint unit, the second joint unit, the third joint unit, the fourth joint unit, the fifth joint unit, the sixth joint unit, the seventh joint unit, the eighth joint unit, the ninth joint unit, the tenth joint unit and the eleventh joint unit are all hydraulic control oil circuits, and the first joint unit is used to control the movement of the first hydraulic motor 23;

[0114] The second joint unit is used to control the movement of the lifting hydraulic cylinder 28;

[0115] The third joint unit is used to control the movement of the lateral fine-tuning cylinder 31;

[0116] The fourth joint unit is used to control the movement of the first swing cylinder 34;

[0117] The fifth joint unit is used to control the movement of the second swing cylinder 36;

[0118] The sixth joint unit is used to control the movement of the telescopic cylinder 41;

[0119] The seventh joint unit is used to control the movement of the third swing cylinder 51;

[0120] The eighth joint unit is used to control the movement of the fourth swing cylinder 52;

[0121] The ninth joint unit is used to control the movement of the telescopic arm hydraulic cylinder;

[0122] The tenth joint unit is used to control the movement of the driving cylinder 57;

[0123] The eleventh joint unit is used to control the movement of the wrench hydraulic motor 511;

[0124] The fourth joint unit, the fifth joint unit, the seventh joint unit and the eighth joint unit have the same structure;

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

[0126] The fourth joint unit includes: a fourth servo valve SV, an electromagnetic reversing valve EMV, a hydraulically controlled one-way valve PCV1, a hydraulically controlled one-way valve PCV2, a pressure sensor T4, a pressure sensor T5, a balancing valve CBV1, a balancing valve CBV2, and a servo swing cylinder SSC, wherein the servo swing cylinder SSC includes a first swing cylinder 34, a second swing cylinder 36, a third swing cylinder 51 and a fourth swing cylinder 52;

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

[0128] During operation, the electromagnetic reversing valve EMV is energized first, and the hydraulic oil in the power unit control circuit pushes open the hydraulic control check valve PCV1 and the hydraulic control check valve PCV2 through the electromagnetic reversing valve EMV, and the main circuit can work normally. This structure can collect the swing angle of the swing cylinder in real time, and control the movement of the servo swing cylinder SSC through the fourth servo valve SV. After reaching the set position, the electromagnetic reversing valve EMV loses power, the hydraulic control check valve PCV1 and the hydraulic control check valve PCV2 are locked, and the servo swing cylinder SSC no longer rotates, completing the control of the tool changing device.

[0129] In a further embodiment, the torque wrench 510 is a prior art, in which a groove adapted to the hexagonal head in the bolt is provided. The position of the torque wrench 510 is adjusted by being arranged on a tool changing robot device so that the hexagonal head in the bolt is located in the groove in the torque wrench 510. Then, the main gear 58 is driven to move by the wrench hydraulic motor 511, so that the secondary gear 59 can be rotated, thereby driving the torque wrench 510 to rotate, causing the bolt to rotate, and completing the disassembly and assembly of the bolt.

[0130] Working principle description: When the position of the bolt needs to be collected, the first hydraulic motor 23 starts to work, and the moving first hydraulic motor 23 can drive the motor gear 24 to rotate, and then the moving motor gear 24 can move on the driving rack 25, thereby driving the moving seat 21 to move in the length direction of the robot base 1, so that the tool change actuator 5 is close to the hob, and then the lifting hydraulic cylinder 28 starts to work, and the moving lifting hydraulic cylinder 28 can drive the mounting frame 29 to start working, and adjust the straight-line distance between the mounting frame 29 and the rack, thereby completing the lifting work of the tool change actuator 5, and completing the preliminary adjustment work of the tool change actuator 5;

[0131] When it is necessary to adjust the lateral position of the tool change actuator 5 on the robot base 1, the lateral fine-tuning cylinder 31 starts to work, and the moving lateral fine-tuning cylinder 31 can drive the driving block 32 to move, so that the moving driving block 32 can move the slide plate 33 on the lateral slide rail 38, so that the visual acquisition device 6 can complete the acquisition of the bolt position, and then according to the collected information, the position adjustment of the tool change actuator 5 is completed through the set left and right translation mechanism 3, and the bolt is removed through the tool change actuator 5, and then the first swing cylinder 34 and the second swing cylinder 36 start to work, so that the tool change actuator 5 is flipped , so that one end with the clamping claw 56 faces the roller cutter, and then the left and right translation mechanism 3 and the multi-stage telescopic arm 4 start to move, so that the clamping claw 56 is located in the gap between the roller cutter and the shield machine, and then the roller cutter is clamped and limited by driving the oil cylinder 57, and then the roller cutter is disassembled, and then the replaced roller cutter can be placed in the cutter storage unit 8 under the operation of the left and right translation mechanism 3, and then the clamping claw 56 clamps the new roller cutter from the cutter storage unit 8 and transports it to the predetermined position, and then the first swing oil cylinder 34 and the second swing oil cylinder 36 work again, so that the bolts can limit the position of the shield machine and the roller cutter, and the replacement of the roller cutter is completed;

[0132] When changing the tool, the position of the bolt can be collected through the visual acquisition device 6 and the collected data information can be transmitted to the main control system. The position of the bolt is located through the processing of the main control system. Then, according to the positioning result, the position of the tool change actuator 5 is preliminarily adjusted through the left and right translation mechanism 3. Then the third swing cylinder 51 and the fourth swing cylinder 52 start to work, thereby adjusting the position of the end actuator seat 53, so that the torque wrench 510 is in contact with the bolt head, and then through the rotation of the wrench hydraulic motor 511, the moving wrench hydraulic motor 511 can bring The moving main gear 58 rotates, and the moving main gear 58 can drive the sub-gear 59 to rotate, so that the torque wrench 510 rotates to complete the disassembly of the bolts, and then the first swing cylinder 34, the second swing cylinder 36, the third swing cylinder 51 and the fourth swing cylinder 52 cooperate to make the end surface of the end actuator 53 with the clamping claw 56 face the roller, and then the position of the clamping claw 56 is adjusted by the second telescopic arm 54, and then the cylinder 57 is driven to start working, so as to complete the grabbing of the roller and the replacement of the old roller with the new roller;

[0133] When the clamping jaws 56 clamp the old roller cutter and move to the blade storage area of ​​the blade storage unit 8, the displacement cylinder 813 starts to work. The moving displacement cylinder 813 can make the movable seat 814 move in the length direction of the supporting slide rail 821, adjust the position of the protective cover 811 so that it can be close to the clamping jaws 56, and then the rotating motor 816 starts to work, and then through the cooperation of the set rotating wheel 817, the driven wheel 818 and the transmission belt 819, it can drive the protective cover 811 to move, thereby driving the limiting seat 825 in the protective cover 811 to move, so that the first limiting assembly 82 without the roller cutter is located at a predetermined position, so that the clamping jaws 56 can place the damaged roller cutter on the first limiting assembly 82;

[0134] When the damaged roller is located in the placement area of ​​the first limiting assembly 82, the connecting cylinder 8211 starts to work, and the moving connecting cylinder 8211 can drive the first gear 822 to rotate, and then the moving first gear 822 can drive the second gear 823 to rotate, and then the moving second gear 823 can drive the connecting shaft 829 to rotate, and then the moving connecting shaft 829 can drive the limiting gear 827 connected thereto to rotate, so that the double-sided rack 828 moves in the length direction of the limiting frame 826. Due to the different heights of the connecting protrusions between the adjacent double-sided racks 828, when the roller is When the cutter is located in the through hole, the contact area of ​​the second limiting component 83 and the roller cutter on the same height connection protrusion is located in the same plane, and because the roller cutter is disc-shaped and has at least one cutting edge, the diameter of the middle area is greater than the diameter of the two ends thereof according to the axial direction of the roller cutter. By making the heights of adjacent connection protrusions different, the second limiting component 83 can be located on both sides of the roller cutter cutting edge, thereby not only limiting the radial direction of the roller cutter but also supporting the roller cutter in the axial direction, thereby preventing the roller cutter from moving inside the shield machine after detaching from the cutter storage unit 8 during the movement of the shield machine, causing damage to the shield machine;

[0135] When the damaged roller cutter needs to be stored, the roller cutter will be broken due to the collision between the roller cutter and the rock mass, so that the roller cutter presents an irregular shape. Therefore, when the damaged roller cutter needs to be limited and clamped, at this time, according to the collected information of the visual collection device 6, the stretching cylinder 833 starts to work, and the moving stretching cylinder 833 can drive the fixed plate 831 connected to its output end to move, adjust the distance between the two fixed plates 831, and thus adjust the distance between the abutment blocks 8313 located on different fixed plates 831, and then the adjusting cylinder 836 starts to work, and the moving adjusting cylinder 836 can drive the adjusting seat 837 to move, so that the driving wheel 838 moves in the limiting waist hole on the adjustment seat 837, and then can drive the adjustment plate 8311 to move in the length direction of the adjustment slide rail 839, adjust the distance between adjacent abutment blocks 8313 on the same fixed plate 831, and then the limiting cylinder 8312 starts to work, and then can adjust the distance between the abutment block 8313 and the roller, and then complete the limiting work of the roller, by changing the contact position between the abutment block 8313 and the damaged roller, thereby completing the limiting clamping work of the damaged roller, ensuring the smooth progress of the tool changing work, and for the roller that cannot be clamped, it can be transported to the predetermined unloading position through the left and right translation mechanism 3, so that it can be transported out of the shield machine.

[0136] The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings; however, the present application is not limited to the specific details of the above embodiments. Within the technical concept of the present application, various equivalent transformations can be made to the technical solutions of the present application, and these equivalent transformations all belong to the protection scope of the present application.

Claims

1. An intelligent tool changing robot device, characterized in that: include: A robot base (1) is arranged in the shield machine robot cabin; A displacement unit (2), a left-right translation mechanism (3) connected to the displacement unit (2), and a multi-stage telescopic arm (4) connected to the left-right translation mechanism (3); A cutter change actuator (5) is connected to the multi-stage telescopic arm (4) and is used to disassemble and assemble the bolts between the shield machine and the cutter, and to grab and transport the cutter to complete the replacement of the cutter; A visual acquisition device (6) is provided on the tool change actuator (5) and is used to locate the position of the bolt, so that the tool change actuator (5) can disassemble and assemble the bolt, and grab and position the hob; A cutter storage unit (8) is located in the shield machine and has two built-in storage spaces for storing unused new cutters and old cutters removed by the cutter change actuator (5); The displacement unit (2) is connected to the robot base (1).

2. The intelligent tool-changing robot device according to claim 1, characterized in that: The displacement unit (2) includes a driving rack (25) and a fixed slide rail (26) fixedly mounted on the length direction of the robot base (1), an adjusting slider (27) slidably connected to the fixed slide rail (26), a moving seat (21) for connecting the adjusting slider (27), four first hydraulic motors (23) arranged on the moving seat (21), a motor gear (24) arranged at the output end of the first hydraulic motor (23) and meshing with the driving rack (25), a counterweight (22) arranged on the moving seat (21), a lifting frame (210) movably connected to the moving seat (21), a mounting frame (29) for connecting the other end of the lifting frame (210), and a lifting hydraulic cylinder (28) movably connected to the mounting frame (29) and the moving seat (21), respectively.

3. The intelligent tool-changing robot device according to claim 2, characterized in that: The left-right translation mechanism (3) comprises a transverse fine-tuning oil cylinder (31) and a transverse slide rail (38) fixedly mounted on the mounting frame (29), a driving block (32) connected to the output end of the transverse fine-tuning oil cylinder (31), a slide plate (33) connected to the driving block (32), a first swing oil cylinder (34) arranged on the slide plate (33), a support plate (35) connected to the first swing oil cylinder (34), a second swing oil cylinder (36) arranged on the support plate (35), and a right-angle arm (37) movably connected to the second swing oil cylinder (36); The multi-stage telescopic arm (4) is connected to the right-angle arm (37); A telescopic oil cylinder (41) is installed inside the multi-stage telescopic arm (4); A transverse slider (39) is provided on the slide plate (33), and the transverse slider (39) is slidably connected to the transverse slide rail (38).

4. The intelligent tool-changing robot device according to claim 1, characterized in that: The tool-changing actuator (5) comprises a third swing cylinder (51) arranged on the multi-stage telescopic arm (4), an actuator plate connected to the third swing cylinder (51), a fourth swing cylinder (52) arranged on the actuator plate, an end actuator seat (53) movably connected to the fourth swing cylinder (52), a wrench hydraulic motor (511) fixedly mounted on the end actuator seat (53), a main gear (58) connected to the output end of the wrench hydraulic motor (511), two sub-gears (59) meshing with the main gear (58) and arranged on the end actuator seat (53), and a torque wrench (510) arranged on the sub-gear (59).

5. The intelligent tool-changing robot device according to claim 4, characterized in that: The tool-changing actuator (5) further comprises two second telescopic arms (54) symmetrically arranged on the end actuator seat (53), a clamping claw connecting plate (55) connected to the output end of the second telescopic arm (54), two clamping claws (56) movably connected to the clamping claw connecting plate (55), and a driving oil cylinder (57) for connecting the clamping claws (56) and the clamping claw connecting plate (55); There are two visual acquisition devices (6), namely a first visual acquisition device and a second visual acquisition device. The first visual acquisition device and the second visual acquisition device are respectively located on the end execution seat (53), and the acquisition areas of the first visual acquisition device and the second visual acquisition device are opposite.

6. The intelligent tool-changing robot device according to claim 5, characterized in that: The tool storage unit (8) comprises a rotating assembly (81) connected to the shield machine, two first position-limiting assemblies (82) evenly arranged on the rotating assembly (81), and a plurality of second position-limiting assemblies (83) evenly arranged on the first position-limiting assembly (82); The rotating assembly (81) includes a connecting frame (812) connected to the shield machine, a supporting slide rail (821) arranged on the connecting frame (812), a movable slider (815) movably connected to the supporting slide rail (821), a movable seat (814) for connecting the movable slider (815), a rotating motor (816) fixedly mounted on the movable seat (814), a rotating wheel (817) connected to the output end of the rotating motor (816), a movable shaft (820) arranged on the movable seat (814), a driven wheel (818) sleeved on the movable shaft (820), a protective cover (811) connected to the movable shaft (820), and a transmission belt (819) for connecting the rotating wheel (817) and the driven wheel (818); A displacement cylinder (813) is also provided on the supporting slide rail (821), and an output end of the displacement cylinder (813) is connected to the movable seat (814).

7. The intelligent tool-changing robot device according to claim 6, characterized in that: The first limiting assembly (82) includes a limiting seat (825) located in the protective cover (811), a receiving cavity provided in the limiting seat (825), a plurality of connecting cylinders (8211) arranged in the receiving cavity and movably connected to the limiting seat (825), a first gear (822) connected to the output end of the connecting cylinder (8211), a second gear (823) meshing with the first gear (822), a connecting shaft (829) provided on the second gear (823), a limiting frame (826) fixedly mounted on the limiting seat (825), a double-sided rack (828) located in the limiting frame (826), a limiting gear (827) meshing with the double-sided rack (828) and located on the limiting seat (825), and a gear ring (824) arranged in the receiving cavity and meshing with the second gear (823); The connecting shaft (829) is connected to one of the limiting gears (827), and the second limiting assembly (83) is connected to the double-sided racks (828); The output end of the connecting cylinder (8211) is located at a non-center position of the first gear (822); The limiting seat (825) is a tubular structure with a through hole formed thereon, and the accommodating cavity is located in the area between the outer wall of the limiting seat (825) and the inner wall of the through hole.

8. The intelligent tool-changing robot device according to claim 6, characterized in that: The second limiting assembly (83) includes two fixed plates (831), two pulling plates (832) symmetrically arranged on one of the fixed plates (831), a pulling cylinder fixedly mounted on the pulling plate (832), two guide seats (834) diagonally arranged on the fixed plate (831), and a guide shaft (835) passing through the guide seats (834) and used to connect the two fixed plates (831); The pulling plate (832) is provided with a square hole, and the output end of the pulling cylinder is connected to another fixed plate (831) through the square hole; One of the fixed plates (831) is connected to the double-sided racks (828) without a toothed surface, and the other fixed plate (831) is movable in the axial direction of the guide shaft (835). A connecting protrusion is provided between the double-sided racks (828) and the fixed plate (831), and the connecting protrusions between adjacent double-sided racks (828) have different heights.

9. The intelligent tool-changing robot device according to claim 8, characterized in that: The second limiting assembly (83) includes an adjusting cylinder (836) and a plurality of adjusting slide rails (839) arranged on the fixing plate (831), an adjusting seat (837) connected to the output end of the adjusting cylinder (836), a plurality of driving wheels (838) arranged on the adjusting seat (837), an adjusting plate (8311) connected to the driving wheels (838), a limiting cylinder (8312) arranged on the adjusting plate (8311), an abutting block (8313) connected to the output end of the limiting cylinder (8312), and a driven slider (8310) for connecting the adjusting plate (8311) and the adjusting slide rail (839); The adjustment seat (837) is provided with a plurality of limiting waist holes, and an angle is formed between the length direction of the limiting waist holes and the adjustment slide rail (839).

10. A system for an intelligent tool-changing robot device, comprising an intelligent tool-changing robot device according to any one of claims 1 to 9, characterized in that: Also includes: The multi-source information perception system uses multiple sensors to collect different types of data information about the tool changing robot in its working environment, and then aggregates the collected multi-type information to form a multi-data data source; The digital twin system is used to receive, process, convert, and store multiple data sources, and to perform three-dimensional reconstruction of the tool-changing robot's workspace based on the processed data; The main control system locates the bolts and obstacles in real time based on the 3D reconstructed model, and plans the tool-changing robot's route based on the bolts and obstacles' positions. The power unit is connected to the main control system, and according to the processing results of the main control system, the main control system controls the working pressure of the hydraulic oil in the power unit, and at the same time filters and stores energy in the hydraulic oil medium; There are multiple joint units, each connected to the power unit. The power unit supplies hydraulic oil to the joint units and adjusts the positions of the joint units according to the processing information processed by the main control system, so that the tool change actuator (5) can complete the positioning of the hob position and the obstacle avoidance function during the process of changing the hob, thereby realizing intelligent control of the tool change robot.

11. The system for an intelligent tool-changing robot according to claim 10, characterized in that: The power unit includes an oil return pipe T1, an oil return pipe T2, an oil inlet pipe P1, an oil inlet pipe P2, a self-sealing quick-change joint K1, a self-sealing quick-change joint K2, a self-sealing quick-change joint K3, a self-sealing quick-change joint K4, a ball valve Q1, a ball valve Q2, a temperature sensor TS, a pressure sensor T1, a pressure sensor T2, a pressure sensor T3, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an accumulator AC, and an accumulator valve group E; The power unit includes self-sealing quick-change connectors K1, K2 and K3, which are respectively connected to the energy pump station, a self-sealing quick-change connector K4 connected to the self-sealing quick-change connector K1, a ball valve Q2 connected to the other end of the self-sealing quick-change connector K3, a temperature sensor TS, a pressure sensor T1, a pipeline filter F1 and an accumulator valve group E connected to the other end of the ball valve Q2, the other end of the accumulator valve group E is connected to the accumulator AC, the other end of the pipeline filter F1 is respectively connected to the throttle valve L1 and the throttle valve L2, a pressure reducing valve A1 and a pressure reducing valve A2 are respectively connected to the throttle valve L1 and the throttle valve L2, wherein the outlet end of the pressure reducing valve A1 is respectively connected to the pressure sensor T2, the safety valve RV1 and one end of the pipeline filter F2, and the outlet end of the pressure reducing valve A2 is respectively connected to the pressure sensor T3, the safety valve RV2 and the oil inlet pipeline P2; The other end of the self-sealing quick-change connector K2 is connected to the ball valve Q1; The pipeline filter F2 is connected to the oil inlet pipeline P1, and the other end of the safety valve RV1, the other end of the safety valve RV2 and the other end of the ball valve Q1 are respectively connected to the oil return pipeline T2; The oil drain ports of the pressure reducing valve A1 and the pressure reducing valve A2 and the self-sealing quick-change connector K4 are respectively connected to the oil return pipeline T1.

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