An intelligent tool-changing robot device and system

Abstract

This application relates to the technical field of cutter changing for shield machines, and discloses an intelligent cutter changing robot device and system. This device includes a robot base; 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; a cutter changing actuator connected to the multi-stage telescopic arm, which disassembles and installs bolts between the shield machine and the hob, and grabs and transports the hob to complete the replacement of the hob; the tool storage unit is located inside the shield machine and has two storage spaces for placing unused new hobs and the old hobs removed by the cutter changing actuator; the displacement unit is connected to the robot base; by means of the provided cutter changing actuator, the bolts are disassembled and the removed hob is placed in the tool storage unit, and then an unused hob is selected by the cutter changing actuator and placed on the shield machine. The cutter changing actuator works in reverse and fixes the hob with bolts to complete the cutter changing work.

Description

Technical Field

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

[0002] A shield machine is a large-scale mechanical equipment that integrates tunnel excavation, muck removal, and support. It cuts soil or rock with cutters on the cutter head 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. During the process of cutting rock and soil, the cutters of the shield machine will wear, so the cutters need to be replaced. Among them, the rolling cutter is the main cutter for rock breaking, and its replacement frequency is the highest. At present, cutter changing mainly relies on manual labor. Due to the high-pressure and high-humidity environment in front of the heading face, manual cutter changing is dangerous and inefficient. Therefore, the development of an intelligent cutter changing robot has become a direction for the development of the shield industry.

[0003] For example, Chinese Patent Application No. CN116464465A discloses a cutter head of a shield machine, a cutter changing method, and a shield machine, including a main beam extending radially from the center of the cutter head to the cutter head; cutters provided on the main beam; a first slide rail provided in the main beam and extending along the extension direction of the main beam, and the first slide rail is configured to be located at the top or bottom of the main beam in a state where the extension direction of the main beam is substantially parallel to the horizontal direction; and a conveying member movably provided on the first slide rail, and the conveying member is configured to move along the first slide rail to convey a cutter changing actuator.

[0004] However, there are still some problems in the above prior art during the cutter changing process. When performing the rolling cutter replacement work in the above prior art, although the operator does not need to climb to different heights, the cutter changing work is still carried out in the way of manual cutter changing. Therefore, how to complete the automated cutter changing work is a problem to be solved at present. Summary of the Invention

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

[0006] An intelligent cutter changing robot device includes:

[0007] A robot base provided 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 changing actuator is connected to the multi-stage telescopic arm, and is used for disassembling and assembling the bolts between the shield machine and the hob, and grasping and transporting the hob to complete the replacement of the hob;

[0010] The vision positioning device is arranged on the tool changing actuator and is used for positioning the position of the bolt, so that the tool changing actuator can disassemble and assemble the bolt, and position the grasping and placing of the hob;

[0011] The tool storage unit is located inside the shield machine and has two storage spaces for placing unused new hobs and old hobs removed by the tool changing actuator;

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

[0013] Further, 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 for connecting the other end of the lifting frame, and a lifting hydraulic cylinder respectively movably connected to the mounting frame and the moving seat.

[0014] Further, the left and right translation mechanism includes a horizontal fine-tuning oil cylinder and a horizontal slide rail fixedly installed on the mounting frame, a driving block connected to the output end of the horizontal 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 oil cylinder is installed inside the multi-stage telescopic arm;

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

[0018] A horizontal slider is arranged on the slide plate, and the horizontal slider is slidably connected to the horizontal slide rail.

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

[0020] Further, the tool changing actuator further includes two second telescopic arms symmetrically disposed on the terminal actuator seat, a jaw connecting plate connected to the output end of the second telescopic arm, two jaws movably connected to the jaw connecting plate, and a driving oil cylinder for connecting the jaws and the jaw connecting plate;

[0021] The number of the vision acquisition devices is two, namely a first vision acquirer and a second vision acquirer. The first vision acquirer and the second vision acquirer are respectively located on the terminal actuator seat and the acquisition areas of the first vision acquirer and the second vision acquirer are opposite.

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

[0023] The rotating assembly includes a connecting frame connected to the shield machine, a support slide rail disposed on the connecting frame, a movable slider movably connected to the support slide rail, a movable seat for connecting the movable slider, a rotating motor fixedly installed on the movable seat, a rotating wheel connected to the output end of the rotating motor, a movable shaft disposed 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 further disposed on the support slide rail, and the output end of the displacement cylinder is connected to the movable seat.

[0025] Further, the first limiting assembly includes a limiting seat located inside the protective cover. An accommodation cavity is provided in the limiting seat. A plurality of connecting cylinders movably connected to the limiting seat are disposed in the accommodation cavity. A first gear connected to the output end of the connecting cylinder, a second gear meshing with the first gear, a connecting shaft disposed on the second gear, a limiting frame fixedly installed on the limiting seat, a double-sided rack located inside the limiting frame, a limiting gear meshing with the double-sided rack and located on the limiting seat, and a toothed ring disposed in the accommodation 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 double-sided rack;

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

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

[0029] Further, the second limit assembly includes two fixing plates, two pulling plates symmetrically arranged on one of the fixing plates, a lifting cylinder fixedly installed on the pulling plates, two guiding seats diagonally arranged on the fixing plates, and a guiding shaft passing through the guiding seats and used to connect the two fixing plates;

[0030] A square hole is provided on the pulling plate, and the output end of the lifting cylinder is connected to the other fixing plate through the square hole;

[0031] One of the fixing plates is connected to the toothless surface of the double-sided rack, and the other fixing plate can move axially along the guiding shaft. There are connecting protrusions between the double-sided rack and the fixing plate, and the heights of the connecting protrusions between adjacent double-sided racks are different.

[0032] Further, the second limit assembly includes an adjusting cylinder and a plurality of adjusting slide rails arranged on the fixing plate, an adjusting seat connected to the output end of the adjusting cylinder, a plurality of driving wheels arranged on the adjusting seat, an adjusting plate connected to the driving wheels, a limiting cylinder arranged on the adjusting plate, a contact block connected to the output end of the limiting cylinder, and a driven slider used to connect the adjusting plate and the adjusting slide rails;

[0033] A plurality of limiting waist holes are provided on the adjusting seat, and there is a certain included angle between the length direction of the limiting waist holes and the adjusting slide rails.

[0034] A system for an intelligent tool-changing robot device includes:

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

[0036] A digital twin system, which is used for receiving, processing, converting and storing the data source of multi-data, and performing three-dimensional reconstruction on the working space of the tool-changing robot according to the processed data;

[0037] A main control system, which based on the three-dimensional reconstructed model, respectively performs real-time positioning on the positions of the bolts and obstacles, and plans the traveling route 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. 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 filters and stores energy for the hydraulic oil medium.

[0039] There are multiple joint units, which are respectively connected to the power unit. The power unit supplies hydraulic oil to the joint units and adjusts the positions between the joint units according to the processed information of the main control system, enabling the tool changer actuator to complete the positioning of the hob position and the obstacle avoidance function during the process of changing the hob, and realizing the intelligent control of the tool-changing robot.

[0040] Further, 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;

[0041] The power unit includes self-sealing quick-change joints K1, K2, and K3 that are respectively connected to the energy pumping station, a self-sealing quick-change joint K4 connected to the self-sealing quick-change joint K1, a ball valve Q2 connected to the other end of the self-sealing quick-change joint 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, and the pressure reducing valve A1 and the pressure reducing valve A2 that are respectively connected to the throttle valve L1 and the throttle valve L2. 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. 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 pipe P2;

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

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

[0044] The drain ports of the pressure reducing valves A1 and A2 and the self-sealing quick-change joint K4 are respectively communicated with the oil return pipe T1.

[0045] Beneficial effects: The present application discloses an intelligent tool-changing robot device and system. In order to complete the automatic tool-changing work of a shield machine, a displacement unit, a tool-changing actuator, a vision acquisition device, and a tool storage unit are provided in this device. Among them, the displacement unit contains the mutual cooperation among a first hydraulic motor, a lifting hydraulic cylinder, a lateral fine-tuning hydraulic 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 hydraulic cylinder, and a wrench hydraulic motor, which can increase the degree of freedom of the entire device, so that the vision acquisition device can collect the bolt position between the shield machine and the hob. Then, the tool-changing actuator is set to complete the disassembly of the bolt and place the disassembled hob in the tool storage unit, and the tool-changing actuator selects an unused hob and places the hob at a predetermined position on the shield machine. Then, the tool-changing actuator works in reverse and fixes the hob with bolts, thus completing the tool-changing work. The entire process does not require manual intervention and can automatically complete the tool-changing of the hob. Description of the Drawings

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

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

[0048] Figure 3 is a three-dimensional diagram of the displacement unit of the present application;

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

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

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

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

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

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

[0055] Figure 10 is a bottom view of the tool storage unit of the present application;

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

[0057] Figure 12It is a schematic diagram of the first limiting component of this application;

[0058] Figure 13 It is a perspective view of the first limiting component of this application;

[0059] Figure 14 It is a schematic diagram of the second limiting component of this application;

[0060] Figure 15 It is a schematic diagram of the adjusting seat of this application;

[0061] Figure 16 It is a schematic structural diagram of the first limiting component of this application;

[0062] Figure 17 It is a schematic diagram of a system for an intelligent tool-changing robot device of this application;

[0063] Figure 18 It is a schematic diagram of the power unit of this application;

[0064] Figure 19 It is a schematic diagram of the fourth joint unit of this application;

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

[0066] Description of reference numerals in the drawings: 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 bracket; 210. Lifting frame; 3. Left - right translation mechanism; 31. Lateral fine - tuning oil cylinder; 32. Driving block; 33. Slide plate; 34. First swing oil cylinder; 35. Support plate; 36. Second swing oil cylinder; 37. Right - angle arm; 38. Lateral slide rail; 39. Lateral slider; 4. Multi - stage telescopic arm; 41. Telescopic oil cylinder; 5. Tool - changing actuator; 51. Third swing oil cylinder; 52. Fourth swing oil cylinder; 53. End - effector seat; 54. Second telescopic arm; 55. Jaw connecting plate; 56. Jaw; 57. Driving oil cylinder; 58. Main gear; 59. Sub - gear; 510. Torque wrench; 511. Wrench hydraulic motor; 6. Vision acquisition device; 8. Tool storage unit; 81. Rotating assembly; 811. Protective cover; 812. Connecting frame; 813. Displacement cylinder; 814. Moving seat; 815. Moving slider; 816. Rotating motor; 817. Rotating wheel; 818. Driven wheel; 819. Transmission belt; 820. Moving shaft; 821. Support slide rail; 82. First limit component; 822. First gear; 823. Second gear; 824. Tooth ring; 825. Limit seat; 826. Limit frame; 827. Limit gear; 828. Double - side rack; 829. Connecting shaft; 8211. Connecting cylinder; 83. Second limit component; 831. Fixed plate; 832. Pulling plate; 833. Tensile 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. Limit cylinder; 8313. Contact block. Detailed implementation manners

[0067] In order to make the above - mentioned objects, features and advantages of the present application more obvious and understandable, the following will give a detailed description of the specific implementation manners of the present application with reference to the drawings in the specification.

[0068] In the following description, many specific details are set forth in order to fully understand the present application. However, the present application can also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0069] Secondly, the so - called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation manner of the present application. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or selectively exclusive embodiments from other embodiments.

[0070] This application discloses an intelligent tool-changing robot device. Referring to Figures 1 - 16 , it includes:

[0071] A robot base 1, which is arranged in the robot cabin of the shield machine; 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 tool-changing actuator 5, connected to the multi-stage telescopic arm 4, used for disassembling and assembling the bolts between the shield machine and the hob, and grasping and transporting the hob to complete the replacement of the hob; a visual acquisition device 6, arranged on the tool-changing actuator 5, used for positioning the bolt position, so that the tool-changing actuator 5 disassembles and assembles the bolts, grasps and places the hob for positioning; a tool storage unit 8, located inside the shield machine, with two storage spaces built-in, used for placing unused new hobs and the old hobs removed by the tool-changing actuator 5; the displacement unit 2 is connected to the robot base 1; by setting the displacement unit 2, the degree of freedom of the whole device can be increased, so that the visual acquisition device 6 can collect the bolt position between the shield machine and the hob, and then the tool-changing actuator 5 is used to complete the disassembly of the bolts and place the disassembled hob in the tool storage unit 8, and a unused hob is selected by the tool-changing actuator 5 and placed at the established position on the shield machine, and then the tool-changing actuator 5 works in reverse and fixes the hob with bolts, so as to complete the replacement work of the hob. The whole process does not require manual intervention and can automatically complete the replacement of the hob.

[0072] The displacement unit 2 includes a driving rack 25 fixedly installed in the length direction of the robot base 1 and a fixed slide rail 26, an adjustment slider 27 slidably connected to the fixed slide rail 26, a moving seat 21 for connecting the adjustment 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 respectively movably connected to the mounting frame 29 and the moving seat 21; when it is necessary to collect the position of the bolt, at this time 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, so as to drive the moving seat 21 to move in the length direction of the robot base 1, making the tool-changing actuator 5 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, adjusting the height of the mounting frame 29, so as to complete the lifting work of the tool-changing actuator 5 and complete the preliminary adjustment work of the tool-changing actuator 5.

[0073] The left - right translation mechanism 3 includes a lateral fine - tuning oil cylinder 31 and a lateral slide rail 38 fixedly installed on the mounting frame 29, a driving block 32 connected to the output end of the lateral fine - tuning oil cylinder 31, a sliding plate 33 connected to the driving block 32, a first swing oil cylinder 34 arranged on the sliding 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 lateral slider 39 is provided on the sliding plate 33, and the lateral slider 39 is slidably connected to the lateral slide rail 38; when it is necessary to adjust the lateral position of the tool - changing actuator 5 on the robot base 1, at this time, the lateral fine - tuning oil cylinder 31 starts to work. The moving lateral fine - tuning oil cylinder 31 can drive the driving block 32 to move, so that the moving driving block 32 can make the sliding plate 33 move on the lateral slide rail 38, so that the vision acquisition device 6 can complete the acquisition work of the bolt position. Then, according to the acquired information, the position of the tool - changing actuator 5 is adjusted through the set left - right translation mechanism 3, and the bolt is disassembled through the tool - changing actuator 5. Then, the first swing oil cylinder 34 and the second swing oil cylinder 36 start to work, so that the tool - changing actuator 5 is flipped, and the end with the jaw 56 faces the hob. Then, the left - right translation mechanism 3 and the multi - stage telescopic arm 4 start to move. During this process, the telescopic oil cylinder 41 in the multi - stage telescopic arm 4 starts to work, so that the positions of the multi - stage arms in the multi - stage telescopic arm 4 can be adjusted, so as to perform the elongation and lifting work on the position of the tool - changing actuator 5, and further adjust the position of the tool - changing actuator 5, so that the jaw 56 is located in the gap between the hob and the shield machine. Then, the driving oil cylinder 57 starts to work. The moving driving oil cylinder 57 can drive the jaw 56 to move, shortening the distance between the two jaws 56, so that the jaw 56 completes the clamping and limiting work on the hob, and further completes the disassembly of the hob. Then, under the cooperation of the left - right translation mechanism 3 and the multi - stage telescopic arm 4, the position of the tool - changing actuator 5 is adjusted, so that the tool - changing actuator 5 can place the replaced hob in the tool storage unit 8. Then, the jaw 56 grabs a new hob from the tool storage unit 8 and transports it to the designated position. Then, the first swing oil cylinder 34 and the second swing oil cylinder 36 work again, so that the bolt can limit the positions of the shield machine and the hob, and complete the replacement work of the hob.

[0074] The tool changing actuator 5 includes a third swing oil cylinder 51 arranged on the multi-stage telescopic arm 4, an actuator plate connected to the third swing oil cylinder 51, a fourth swing oil cylinder 52 arranged on the actuator plate, a terminal actuator seat 53 movably connected to the fourth swing oil cylinder 52, a wrench hydraulic motor 511 fixedly installed on the terminal 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 terminal actuator seat 53, and a torque wrench 510 arranged on the sub-gear 59; the tool changing actuator 5 further includes two second telescopic arms 54 symmetrically arranged on the terminal actuator seat 53, a jaw connecting plate 55 connected to the output end of the second telescopic arm 54, two jaws 56 movably connected to the jaw connecting plate 55, and a driving oil cylinder 57 for connecting the jaw 56 and the jaw connecting plate 55; the number of the visual acquisition devices 6 is two, 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 terminal actuator seat 53 and the acquisition areas of the first visual acquisition device and the second visual acquisition device are opposite;

[0075] When the tool changing operation is carried out, through the set visual acquisition device 6, the position of the bolt can be acquired and the acquired data information can be transmitted to the main control system. Through the processing of the main control system, the position of the bolt is located. Then, according to the positioning result, the position of the tool changing actuator 5 is preliminarily adjusted through the left and right translation mechanism 3. Then, the third swing oil cylinder 51 and the fourth swing oil cylinder 52 start to work, so as to adjust the position of the terminal actuator seat 53 to make the torque wrench 510 abut against the bolt head. Then, through the rotation of the wrench hydraulic motor 511, the moving wrench hydraulic motor 511 can drive the main gear 58 to rotate, 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 work of the bolt. Then, through the cooperation of the set first swing oil cylinder 34, second swing oil cylinder 36, third swing oil cylinder 51 and fourth swing oil cylinder 52, the end face of the terminal actuator seat 53 with the jaws 56 is aimed at the hob. Then, the position of the jaws 56 is adjusted through the set second telescopic arm 54, and then the driving oil cylinder 57 starts to work, so as to complete the grasping work of the hob and complete the replacement work of the old and new hobs.

[0076] The tool storage unit 8 includes a rotating assembly 81 connected to the shield machine, two first limiting assemblies 82 uniformly arranged on the rotating assembly 81, and a plurality of second limiting assemblies 83 uniformly arranged on the first limiting assemblies 82; the rotating assembly 81 includes a connecting frame 812 connected to the shield machine, a support slide rail 821 arranged on the connecting frame 812, a movable slider 815 movably connected to the support slide rail 821, a movable seat 814 for connecting the movable slider 815, a rotating motor 816 fixedly installed 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 further arranged on the support slide rail 821, and the output end of the displacement cylinder 813 is connected to the movable seat 814; when the jaw 56 grabs the old cutter and moves to the tool storage area of the tool storage unit 8, at this time 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 to adjust the position of the protective cover 811 so that it can be close to the jaw 56, then the rotating motor 816 starts to work, and then through the cooperation of the arranged rotating wheel 817, driven wheel 818 and transmission belt 819, the protective cover 811 can be driven to move, so that the limiting seat 825 in the protective cover 811 can be driven to move, and the first limiting assembly 82 without a cutter is located at a predetermined position, facilitating the jaw 56 to place the damaged cutter on the first limiting assembly 82.

[0077] The first limiting assembly 82 includes a limiting seat 825 located in the protective cover 811. An accommodating cavity is arranged in the limiting seat 825, and a plurality of connecting cylinders 8211 movably connected to the limiting seat 825 are arranged in the accommodating cavity, 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, 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 toothed ring 824 arranged in the accommodating 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 rack 828; the output end of the connecting cylinder 8211 is at a non-central position of the first gear 822; the limiting seat 825 is of a tubular structure, and through holes are formed in it, 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;

[0078] When the worn hob is located in the placement area of the first limiting component 82, the connecting cylinder 8211 starts to work at this time. 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. Furthermore, 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, thereby enabling the double-sided rack 828 to move in the length direction of the limiting frame 826. Since the heights of the connecting protrusions between adjacent double-sided racks 828 are different, when the hob is located in the through hole, the planes where the second limiting components 83 on the connecting protrusions of the same height contact the hob are the same. And because the hob is disc-shaped and has at least one cutting edge, in the axial direction of the hob, the diameter of the middle area is larger than that of its two ends. By making the heights of adjacent connecting protrusions different, the second limiting components 83 can be located on both sides of the cutting edge of the hob, which can not only limit the hob in the radial direction but also support the hob in the axial direction, preventing the hob from moving inside the shield machine after detaching from the tool storage unit 8 during the movement of the shield machine and causing damage to the shield machine.

[0079] The second limiting component 83 includes two fixing plates 831, two pulling plates 832 symmetrically arranged on one of the fixing plates 831, a lifting cylinder fixedly installed on the pulling plate 832, two guiding seats 834 diagonally arranged on the fixing plate 831, and a guiding shaft 835 passing through the guiding seats 834 and used to connect the two fixing plates 831; a square hole is formed on the pulling plate 832, and the output end of the lifting cylinder is connected to the other fixing plate 831 through the square hole; one of the fixing plates 831 is connected to the toothless surface of the double-sided rack 828, and the other fixing plate 831 can move axially along the guiding shaft 835. There are connecting protrusions between the double-sided rack 828 and the fixing plate 831, and the heights of the connecting protrusions between adjacent double-sided racks 828 are different; the second limiting component 83 includes an adjusting cylinder 836 and multiple adjusting slide rails 839 arranged on the fixing plate 831, an adjusting seat 837 connected to the output end of the adjusting cylinder 836, multiple 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 used to connect the adjusting plate 8311 and the adjusting slide rail 839; multiple limiting waist holes are formed on the adjusting seat 837, and there is a certain included angle between the length direction of the limiting waist holes and the adjusting slide rail 839;

[0080] When the storage of damaged hob is required, due to the collision between the hob and the rock mass, the hob will be fractured, resulting in an irregular shape of the hob. Therefore, when the limiting clamping work of the damaged hob is required, according to the acquisition information of the visual acquisition device 6, the stretching cylinder 833 starts to work. The moving stretching cylinder 833 can drive the fixing plate 831 connected to its output end to move, adjust the distance between the two fixing plates 831, and thus adjust the distance between the abutting blocks 8313 located on different fixing plates 831. Then the adjusting cylinder 836 starts to work. 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 adjusting seat 837, and then can drive the adjusting plate 8311 to move in the length direction of the adjusting slide rail 839, and adjust the distance between the adjacent abutting blocks 8313 on the same fixing plate 831. Then the limiting cylinder 8312 starts to work, and then can adjust the distance between the abutting block 8313 and the hob, and then complete the limiting work of the hob. By changing the contact position between the abutting block 8313 and the damaged hob, the limiting clamping work of the damaged hob is completed, ensuring the smooth progress of the tool changing work. For the hob that cannot be clamped, it can be transported to the established blanking position through the left and right translation mechanism 3, so that it can be transported out of the shield machine.

[0081] This application discloses a system for an intelligent tool-changing robot device. Referring to Figures 17 - 20 , it includes an intelligent tool-changing robot device, and also includes a multi-source information perception system, which collects different types of data information of the tool-changing robot in the working environment by using a variety of sensors, and then summarizes the collected multi-type information to form a data source of multi-data; a digital twin system, which is used for receiving, processing, converting and storing the data source of multi-data, and based on the processed data, performs three-dimensional reconstruction on the working space of the tool-changing robot; a main control system, which based on the three-dimensional reconstructed model, respectively performs real-time positioning on the positions of bolts and obstacles, and plans the traveling route of the tool-changing robot according to the positions of bolts and obstacles; a power unit, which is connected to the main control system. 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 filters and stores energy for the hydraulic oil medium; there are multiple joint units, which are respectively connected to the power unit. The power unit supplies hydraulic oil to the joint units and adjusts the positions between the joint units according to the processed information processed by the main control system, so that during the process of replacing the hob by the tool-changing actuator 5, it can complete the positioning and obstacle avoidance functions of the hob position, and realize the intelligent control of the tool-changing robot.

[0082] In a further embodiment, the sensor includes, but is not limited to, a vision acquisition device 6 for image acquisition of the tool changing robot, a radar sensor, a laser sensor, an acoustic wave sensor, a flexible sensor, etc.;

[0083] The radar sensor can continuously emit electromagnetic waves and receive the reflected waves. By analyzing parameters such as the time delay and frequency change of the reflected waves, the position, distance and approximate shape of the 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 these data combined with a preset obstacle avoidance algorithm (prior art) to dynamically plan the travel path of the tool changing robot;

[0084] The laser sensor accurately calculates the distance between the tool changing robot and the surrounding objects by emitting a laser beam and measuring the time of the reflected light. Inside the shield machine, it can quickly construct a three-dimensional point cloud map of the surrounding environment, clearly presenting the positions and contours of objects such as tools, equipment, and walls, enabling the tool changing robot to accurately perceive its own environment and providing accurate spatial information for obstacle avoidance; during the movement of the tool changing robot, the laser sensor continuously scans the surrounding area to monitor in real time whether there are obstacles entering its working range; realizing the real-time monitoring function of the tool changing robot, avoiding collisions between accidentally dropped obstacles and the tool changing robot, resulting in damage to the tool changing robot. During the travel of the tool changing robot, the laser sensor can detect in real time that new obstacles appear on the path or the positions of the original obstacles change, and the robot can adjust the path in real time to bypass the obstacles to ensure the smooth progress of the tool changing task; at the same time, the laser sensor can also be used to set the safety area of the tool changing robot. By setting a virtual safety boundary around the robot, when an object enters this safety area, the laser sensor will immediately issue an alarm to remind the operator to pay attention to safety, or automatically control the tool changing robot to stop moving to prevent collision accidents and ensure the safety of personnel and equipment;

[0085] The acoustic wave sensor detects obstacles by emitting and receiving acoustic wave signals. When the acoustic wave encounters an obstacle, it will be reflected back, and the sensor calculates the distance to the obstacle based on the propagation time of the acoustic wave. When the tool-changing robot approaches an obstacle for fine operations, such as preparing to change tools near the tool disc, the acoustic wave sensor can accurately detect obstacles at close range, such as the raised parts on the tool disc or small tools around it, to avoid collisions between the robot and these objects. At the same time, in the complex environment inside the shield machine, there may be situations such as insufficient light and more dust, which may lead to the failure of the vision sensor to work. However, the acoustic wave 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 reliable obstacle detection information for the tool-changing robot to ensure that the robot can accurately avoid obstacles under various complex working conditions. The number of these acoustic wave sensors is multiple, and they can be distributed in different parts of the tool-changing robot to realize the perception of obstacles at multiple angles around the tool-changing robot. These sensors can work simultaneously, covering multiple directions such as 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, can quickly detect changes in the working environment of the tool-changing robot, and promptly feedback the information to the main control system. Then, the main control system is set to control multiple joint units to enable the tool-changing robot to achieve obstacle avoidance and bolt disassembly operations.

[0086] The above flexible sensor includes but is not limited to multiple sensors. Through the set multiple sensors, it is used to detect various physical quantities such as force (pressure and strain force, etc.), temperature, and humidity. Commonly used sensors include flexible tactile sensors, flexible pressure sensors, flexible strain sensors, etc., which have characteristics such as softness, bendability, and stretchability. Through these flexible sensors, the tool-changing robot can more accurately perceive the surrounding environment and achieve more intelligent and flexible obstacle avoidance operations. When the tool-changing robot approaches the tool disc, the flexible tactile sensor can fit the surface of the tool disc and accurately detect structures such as protrusions, depressions, and bolts on the surface, and identify in advance the obstacles that may cause collisions, helping the tool-changing robot adjust the traveling trajectory in time and avoid dangerous areas. Or in a narrow space, when the tool-changing robot accidentally touches the shield machine wall during movement, 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 sensor installed at the joints of the tool-changing robot can sense the change in its own posture caused by the movement of surrounding objects, and cooperate with the external flexible tactile sensor to monitor the environmental dynamics comprehensively. Once a new obstacle is detected, the tool-changing robot quickly responds and re-plans the obstacle avoidance path to ensure that the tool-changing operation is not affected. Inside the shield machine with dim light, when the laser sensor is affected, the flexible sensor and the acoustic wave sensor can make up for the deficiency and jointly judge the position and nature of the obstacle, enabling the tool-changing robot to still reliably avoid obstacles under complex working conditions and ensuring the safe and orderly progress of the tool-changing operation.

[0087] Through the collaborative work among the above-mentioned sensors such as the visual acquisition device 6, radar sensor, laser sensor, acoustic wave sensor, and flexible sensor, the environmental information of the tool-changing robot's working environment can be constructed. And through the collaborative work among the various environmental information, the tool-changing robot can still reliably avoid obstacles under complex working conditions, or can re-plan the walking path of the tool-changing robot for the suddenly emerging obstacles during the tool-changing process, realizing the 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 the point cloud data of the working space of the tool-changing robot according to sensors such as the laser sensor, radar sensor, and visual acquisition device 6. Among them, the visual acquisition device 6 calculates the three-dimensional coordinates of the tool-changing robot by taking pictures and then using the method of extracting feature points by computer vision algorithms (prior art). The laser sensor, radar sensor, and acoustic wave sensor can obtain distance information by emitting laser beams (acoustic waves) and measuring the time of the reflected light (reflected acoustic waves), thereby generating point cloud data. The flexible sensor includes, but is not limited to, a flexible sensor based on the optical principle, a flexible sensor based on the ultrasonic principle, and a flexible sensor based on the piezoresistive effect. Among them, the flexible sensor based on the optical principle is equivalent to the above-mentioned visual acquisition device 6, and obtains the three-dimensional coordinates of the tool-changing robot by using computer vision algorithms to generate point cloud data. The flexible sensor based on the ultrasonic principle is similar to the acoustic wave sensor, and obtains distance information by emitting acoustic waves and measuring the time of the reflected acoustic waves to generate point cloud data. The flexible sensor based on the piezoresistive effect is made of flexible piezoresistive materials. When an external force acts, the resistance of the material will change. This material is made into an array form. When an object contacts the sensor and generates a pressure distribution, the pressure information on 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, according to the pressure data of each sensor unit, calculate the coordinates of the contact points between the object surface and the sensor), point cloud data is thus constructed.

[0089] Among them: The distance d measurement formula for the 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 acoustic wave, and t2 is the time of emitting the laser or acoustic wave;

[0091] Preprocess the point cloud data obtained in the above manner to obtain the point cloud data points of the processed tool-changing robot. The preprocessing formula is:

[0092] = Wherein 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, K is a normalization constant used to normalize the result of weighted summation to ensure that is the weighted average of the neighborhood points, and the sum of the weights is 1; is the set of neighborhood points of, which is a group of points that are relatively close to in terms of spatial position, is the weight; j is an index variable.

[0093] Then the processed coordinate information above is transformed so that it can be located in a unified coordinate system. The homogeneous coordinate transformation equation from the base coordinate system to the end effector coordinate system is

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

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

[0096] Finally, the triangulation algorithm is used to connect the point cloud data into a triangular mesh, construct a preliminary three-dimensional model of the workspace, and optimize the three-dimensional model through the surface fitting method;

[0097] Where the formula for the fitting surface is:

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

[0099] Then, according to the homogeneous coordinate of the point in the end effector coordinate system, and by using the calculation formula to determine the parameters of the surface equation, by finding a set of parameters to make the error mean and between the calculated and the value calculated by the function the smallest;

[0100] Where the calculation formula is:

[0101] According to the obtained parameters, determine the final surface equation, generate a smooth surface, which will optimize the preliminary triangular mesh model to make it more conform to the actual working space shape. By combining the surface with the triangular mesh, a more accurate and smooth 3D model can be obtained, thus completing the 3D reconstruction of the tool-changing robot's working space.

[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 self-sealing quick-change joints K1, K2, and K3 respectively connected to the energy pumping station, a self-sealing quick-change joint K4 connected to the self-sealing quick-change joint K1, a ball valve Q2 connected to the other end of the self-sealing quick-change joint 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 a throttle valve L1 and a 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. The outlet end of the pressure reducing valve A1 is respectively connected to a pressure sensor T2, a safety valve RV1, and one end of a pipeline filter F2. The outlet end of the pressure reducing valve A2 is respectively connected to a pressure sensor T3, a safety valve RV2, and an oil inlet pipeline P2;

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

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

[0106] The drain ports of the pressure reducing valves A1 and A2 and the self-sealing quick-change joint K4 are respectively communicated with the oil return pipeline T1;

[0107] Among them, the power unit adjusts the pressure of the main energy source in the pipeline to the required working pressure, filters and stores energy for the medium, and then supplies each joint unit. The power unit is provided with two oil supply circuits. The main energy source pressure is reduced to 20 MPa and 10 MPa respectively through two pressure reducing valves A1 and A2, and then supplied to the oil inlet pipeline P1 and the 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 filters F1 and F2 are provided with differential alarm, and an alarm signal can be issued when blocked; the accumulator valve group E is used for voltage stabilization and energy storage, stabilizing the system pressure pulsation and compensating the hydraulic oil in a short time.

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

[0109] Among them, the accumulator AC buffers the system pulsation, and at the same time can also compensate the hydraulic oil in 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 the accumulator AC is being repaired;

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

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

[0112] Among them, the joint unit includes 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. 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 oil cylinder 31;

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

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

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

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

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

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

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

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

[0124] Wherein 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] Wherein the fourth joint unit includes: a fourth servo valve SV, an electromagnetic reversing valve EMV, a pilot-operated check valve PCV1, a pilot-operated check valve PCV2, a pressure sensor T4, a pressure sensor T5, a balance valve CBV1, a balance valve CBV2, and a servo swing cylinder SSC, and the servo swing cylinder SSC includes a first swing oil cylinder 34, a second swing oil cylinder 36, a third swing oil cylinder 51, and a fourth swing oil cylinder 52;

[0127] The fourth joint unit includes an electromagnetic directional control valve EMV connected to the oil inlet pipe P2. The B port of the electromagnetic directional control valve EMV is respectively connected to the oil return pipe T2 and the oil return port of the fourth servo valve SV. The oil inlet port of the fourth servo valve SV is connected to the oil inlet pipe P1. The two working oil ports of the fourth servo valve SV are respectively connected to a pilot-operated check valve PCV1 and a pilot-operated check valve PCV2. A pressure sensor T4, a balance valve CBV1, and a servo swing cylinder SSC connected to the other end of the pilot-operated check valve PCV1 respectively, and a pressure sensor T5, a balance valve CBV2, and a servo swing cylinder SSC connected to the other end of the pilot-operated check valve PCV2; The A port of the electromagnetic directional control valve EMV is respectively connected to the pilot-operated check valve PCV1 and the pilot-operated check valve PCV2; wherein the oil outlet of the servo swing cylinder SSC is respectively connected to the balance valve CBV1 and the balance valve CBV2 and then connected to the oil return pipe T1;

[0128] During operation, first, the electromagnetic directional control valve EMV is energized. The hydraulic oil in the power unit control circuit pushes open both the pilot-operated check valve PCV1 and the pilot-operated check valve PCV2 through the electromagnetic directional control valve EMV, and the main circuit can work normally. This structure can collect the swing angle of the swing cylinder in real time, control the movement of the servo swing cylinder SSC through the fourth servo valve SV. After reaching the set position, the electromagnetic directional control valve EMV is de-energized, the pilot-operated check valve PCV1 and the pilot-operated check valve PCV2 are locked, and the servo swing cylinder SSC stops rotating, completing the control work of the tool changing device.

[0129] In a further embodiment, the torque wrench 510 is a prior art, which is provided with a groove adapted to the hexagonal head of the bolt. By adjusting the position of the torque wrench 510 in the tool changing robot device, the hexagonal head of the bolt is located in the groove of the torque wrench 510. Then, the main gear 58 is driven by the wrench hydraulic motor 511, so that the secondary gear 59 can rotate, thereby driving the torque wrench 510 to rotate and making the bolt rotate, completing the disassembly and assembly work of the bolt.

[0130] Working principle description: When it is necessary to collect the position of the bolt, at this time, the first hydraulic motor 23 starts to work. The moving first hydraulic motor 23 can drive the motor gear 24 to rotate. 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, making the tool changing actuator 5 close to the hob. Then, the lifting hydraulic cylinder 28 starts to work. The moving lifting hydraulic cylinder 28 can drive the mounting frame 29 to work, adjusting the linear distance between the mounting frame 29 and the rack, thereby completing the lifting work of the tool changing actuator 5 and completing the preliminary adjustment work of the tool changing actuator 5;

[0131] When it is necessary to adjust the lateral position of the tool changer actuator 5 on the robot base 1, the lateral fine-tuning oil cylinder 31 starts to work at this time. The moving lateral fine-tuning oil cylinder 31 can drive the driving block 32 to move, so that the moving driving block 32 can make the slide plate 33 move on the lateral slide rail 38, so that the vision acquisition device 6 can complete the acquisition of the bolt position. Then, according to the acquired information, the position adjustment of the tool changer actuator 5 is completed through the left-right translation mechanism 3 provided, and the bolt is disassembled through the tool changer actuator 5. Then, the first swing oil cylinder 34 and the second swing oil cylinder 36 start to work, so that the tool changer actuator 5 is flipped, and the end with the jaw 56 faces the hob. Then, the left-right translation mechanism 3 and the multi-stage telescopic arm 4 start to move, so that the jaw 56 is located in the gap between the hob and the shield machine. Then, the clamping and limiting of the hob is completed through the driving oil cylinder 57, and then the disassembly of the hob is completed. Then, under the action of the left-right translation mechanism 3, the replaced hob can be placed in the tool storage unit 8. Then, the jaw 56 grabs a new hob from the tool storage unit 8 and transports it to the predetermined position. Then, the first swing oil cylinder 34 and the second swing oil cylinder 36 work again, so that the bolt can limit the positions of the shield machine and the hob, and the replacement of the hob is completed;

[0132] When carrying out the tool change work, through the vision acquisition device 6 provided, the position of the bolt can be acquired and the acquired 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 changer actuator 5 is preliminarily adjusted through the left-right translation mechanism 3. Then, the third swing oil cylinder 51 and the fourth swing oil cylinder 52 start to work, so as to adjust the position of the end effector seat 53, so that the torque wrench 510 abuts against the bolt head. Then, through the rotation of the wrench hydraulic motor 511, the moving wrench hydraulic motor 511 can drive the main gear 58 to rotate, and the moving main gear 58 can drive the sub-gear 59 to rotate, so that the torque wrench 510 rotates, and the disassembly of the bolt is completed. Then, through the cooperation of the first swing oil cylinder 34, the second swing oil cylinder 36, the third swing oil cylinder 51 and the fourth swing oil cylinder 52 provided, the end face of the end effector seat 53 with the jaw 56 faces the hob. Then, the position of the jaw 56 is adjusted through the second telescopic arm 54 provided. Then, the driving oil cylinder 57 starts to work, and then the grasping of the hob can be completed, and the replacement of the new and old hobs can be completed;

[0133] After the gripper 56 grips the old hob and moves to the tool storage area of the tool storage unit 8, the displacement cylinder 813 starts to work at this time. The moving displacement cylinder 813 can move the movable seat 814 in the length direction of the support slide rail 821 to adjust the position of the protective cover 811 so that it can approach the gripper 56. Then the rotation motor 816 starts to work, and then through the cooperation of the set rotating wheel 817, driven wheel 818 and transmission belt 819, the protective cover 811 can be driven to move, so that the limit seat 825 in the protective cover 811 can be driven to move, making the first limit component 82 without a hob located at a predetermined position, facilitating the gripper 56 to place the damaged hob on the first limit component 82;

[0134] When the damaged hob is located in the placement area of the first limit component 82, the connecting cylinder 8211 starts to work at this time. 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. Furthermore, the moving second gear 823 can drive the connecting shaft 829 to rotate, and then the moving connecting shaft 829 can drive the limit gear 827 connected to it to rotate, so that the double-sided rack 828 moves in the length direction of the limit frame 826. Since the height of the connecting protrusions between adjacent double-sided racks 828 is different, when the hob is located in the through hole, the plane where the contact area between the second limit component 83 on the connecting protrusions of the same height and the hob is the same. And because the hob is disc-shaped and has at least one cutting edge, in the axial direction of the hob, the diameter of the middle area is larger than that of its two ends. By making the height of adjacent connecting protrusions different, the second limit component 83 can be located on both sides of the cutting edge of the hob, which can not only limit the hob in the radial direction but also support the hob in the axial direction, preventing the hob from moving inside the shield machine after detaching from the tool storage unit 8 during the movement of the shield machine and causing damage to the shield machine;

[0135] When the damaged hob needs to be stored, due to the collision between the hob and the rock mass, the hob will break, resulting in an irregular shape of the hob. Therefore, when the damaged hob needs to be clamped and limited, according to the acquisition information of the visual acquisition device 6, the stretching cylinder 833 starts to work. 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 abutting blocks 8313 located on different fixed plates 831. Then the adjusting cylinder 836 starts to work. The moving adjusting cylinder 836 can drive the adjusting seat 837 to move, so that the driving wheel 838 moves in the limit waist hole on the adjusting seat 837, and then can drive the adjusting plate 8311 to move in the length direction of the adjusting slide rail 839, and adjust the distance between the adjacent abutting blocks 8313 on the same fixed plate 831. Then the limiting cylinder 8312 starts to work, and can adjust the distance between the abutting block 8313 and the hob, and then complete the limiting work of the hob. By changing the contact position between the abutting block 8313 and the damaged hob, the limiting clamping work of the damaged hob is completed, ensuring the smooth progress of the tool change work. For the hob that cannot be clamped, it can be transported to the established blanking 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 have been described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details in the above embodiments. Within the scope of 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, Comprising: A robot base, arranged inside the robot cabin of the shield machine; 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; A tool changing actuator, connected to the multi - stage telescopic arm, for disassembling and assembling the bolts between the shield machine and the hob, and grasping and transporting the hob to complete the replacement of the hob; A vision acquisition device, arranged on the tool changing actuator, for positioning the bolt position, enabling the tool changing actuator to disassemble and assemble the bolts, and position the grasping and placing of the hob; A tool storage unit, located inside the shield machine, with two storage spaces built - in, for placing unused new hobs and old hobs removed by the tool changing actuator; The displacement unit is connected to the robot base; the tool storage unit includes a rotating assembly connected to the shield machine, two first limiting components evenly arranged on the rotating assembly, and a plurality of second limiting components evenly arranged on the first limiting components; The rotating assembly includes a connecting frame connected to the shield machine, a support slide rail arranged on the connecting frame, a movable slider movably connected to the support slide rail, a movable seat for connecting the movable slider, a rotating motor fixedly installed 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; A displacement cylinder is further arranged on the support slide rail, and the output end of the displacement cylinder is connected to the movable seat; The first limiting component includes a limiting seat located inside the protective cover, an accommodating cavity arranged inside the limiting seat, a plurality of connecting cylinders movably connected to the limiting seat arranged in the accommodating cavity, a first gear connected to the 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 installed on the limiting seat, a double - side rack located inside the limiting frame, a limiting gear meshing with the double - side rack and arranged on the limiting seat, and a tooth ring arranged in the accommodating cavity and meshing with the second gear; The connecting shaft is connected to one of the limiting gears, and the second limiting component is connected to the double - side rack; the output end of the connecting cylinder is at a non - central position of the first gear; The limiting seat is a tubular structure, with through - holes opened 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; The second limiting component includes two fixing plates, two pulling plates symmetrically arranged on one of the fixing plates, a lifting cylinder fixedly installed on the pulling plate, two guiding seats diagonally arranged on the fixing plate, and a guiding shaft passing through the guiding seats and used for connecting the two fixing plates; Square holes are opened on the pulling plate, and the output end of the lifting cylinder is connected to the other fixing plate through the square hole; one of the fixing plates is connected to the toothless surface of the double - side rack, the other fixing plate can move axially along the guiding shaft, there are connecting protrusions between the double - side rack and the fixing plate, and the heights of the connecting protrusions between adjacent double - side racks are different; The second limiting assembly includes an adjusting cylinder and a plurality of adjusting slide rails arranged on the fixing plate, an adjusting seat connected to the output end of the adjusting cylinder, a plurality of driving wheels arranged on the adjusting seat, an adjusting plate connected to the driving wheels, a limiting cylinder arranged on the adjusting plate, an abutting block connected to the output end of the limiting cylinder, and a driven slider for connecting the adjusting plate and the adjusting slide rail; The adjusting seat 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 adjusting slide rail.

2. An intelligent tool-changing robot device according to claim 1, characterized in that: 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 used to connect 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 used to connect the other end of the lifting frame, and a lifting hydraulic cylinder movably connected to the mounting frame and the moving seat respectively.

3. An intelligent tool-changing robot device according to claim 2, characterized in that: The left-right translation mechanism comprises a transverse fine-tuning oil cylinder and a transverse slide rail fixedly mounted on the mounting frame, a driving block connected to the output end of the transverse fine-tuning oil cylinder, a slide plate connected to the driving block, a first swing oil cylinder arranged on the slide plate, a supporting plate connected to the first swing oil cylinder, a second swing oil cylinder arranged on the supporting plate, and a right-angle arm movably connected to the second swing oil cylinder; The multi-stage telescopic arm is connected to the right-angle arm; A telescopic cylinder is installed inside the multi-stage telescopic arm; The slide plate is provided with a transverse sliding block, and the transverse sliding block is slidably connected with the transverse sliding rail.

4. An intelligent tool-changing robot device according to claim 1, characterized in that: 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 installed 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.

5. An intelligent tool-changing robot device according to claim 4, characterized in that: 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; 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.

6. A system for an intelligent tool-changing robot device, comprising the intelligent tool-changing robot device according to any one of claims 1-5, characterized in that, Also includes: 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; A digital twin system for receiving, processing, converting, and storing data sources of multiple data, and performing three-dimensional reconstruction on the working space of a tool-changing robot according to the processed data; A main control system that, based on the three-dimensional reconstructed model, real-time locates the positions of bolts and obstacles respectively, and plans the traveling route of the tool-changing robot according to the positions of bolts and obstacles; A power unit connected to the main control system. 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 filters and stores energy for the hydraulic oil medium; There are multiple joint units, which are respectively connected to the power unit. The power unit supplies hydraulic oil to the joint units and adjusts the positions between the joint units 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 the obstacle avoidance function during the process of replacing the hob, realizing the intelligent control of the tool-changing robot.

7. The system for an intelligent tool-changing robot device according to claim 6, characterized in that: 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; The power unit includes a self-sealing quick-change joint K1, a self-sealing quick-change joint K2, and a self-sealing quick-change joint K3 that are respectively connected to an energy pumping station, a self-sealing quick-change joint K4 connected to the self-sealing quick-change joint K1, a ball valve Q2 connected to the other end of the self-sealing quick-change joint 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 a throttle valve L1 and a 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. The outlet end of the pressure reducing valve A1 is respectively connected to a pressure sensor T2, a safety valve RV1, and one end of a pipeline filter F2. The outlet end of the pressure reducing valve A2 is respectively connected to a pressure sensor T3, a safety valve RV2, and an oil inlet pipeline P2; The other end of the self-sealing quick-change joint K2 is connected to the ball valve Q1; The pipeline filter F2 is connected to the oil inlet pipeline P1, and the other ends of the safety valve RV1, the safety valve RV2, and the ball valve Q1 are respectively connected to the oil return pipeline T2; The drain ports of the pressure reducing valves A1 and A2 and the self-sealing quick-change joint K4 are respectively communicated with the oil return pipeline T1.

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