Multi-degree-of-freedom large-magnification-ratio visual carrying motion protection platform suitable for long and narrow space in TBM

Abstract

The invention belongs to the field of tunnel boring machine internal equipment, and discloses a multi-degree-of-freedom large-magnification-ratio visual carrying motion protection platform suitable for a long and narrow space in a TBM (Tunnel Boring Machine), which comprises a guide rail, a loading platform, a horizontal telescopic mechanism, a rotating mechanism, a vertical telescopic mechanism, a visual protection system and a front-back swinging mechanism. According to the multi-degree-of-freedom large-magnification-ratio vision carrying motion protection platform, the flexibility and coverage range of TBM internal vision monitoring are improved, and the requirements of different monitoring positions can be met; through multi-degree-of-freedom motion and a large magnification ratio, comprehensive monitoring of a complex environment in the TBM is realized; the visual protection system effectively protects visual equipment, and durability and stability of the equipment are improved; the structure design is compact, deployment and operation in a long and narrow space in the TBM are suitable, and the space utilization rate is increased; and through automatic and intelligent design, the requirement of manual operation is reduced, the operation risk is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the field of internal equipment of a tunnel boring machine (TBM), and in particular relates to a vision-carrying motion platform capable of providing multi-degree-of-freedom motion and a large telescopic ratio in a narrow and long space inside a TBM. Background Art

[0002] The Tunnel Boring Machine (TBM) is a highly efficient machine used for tunnel excavation, and its application in tunneling projects is becoming increasingly widespread. TBMs primarily rely on a dense system of tools within the cutterhead to cut the rock and soil ahead, completing the rock-breaking process. However, tool inspection and tool changing are primarily manual tasks. The harsh construction environment, characterized by cramped spaces, high humidity, and high dust levels, poses safety risks to manual tool changes and restricts efficiency. Therefore, a safe and efficient machine-to-machine (MTM) replacement operation for tool inspection and tool changing is imperative. Developing razor-sharp visual measurement capabilities in tool-changing robots is a fundamental prerequisite for achieving efficient TBM tool changing. To achieve unmanned and intelligent tunneling equipment, a visual measurement system coupled with code is required to enable intelligent inspection in both standby and standby states. To implement wear detection, a multi-degree-of-freedom, high-scaling-ratio vision-based motion platform tailored to the specific internal space of the TBM is required.

[0003] The narrow, long, and complex space inside a TBM places high demands on internal equipment, particularly visual monitoring equipment. Existing visual monitoring equipment often suffers from limited degrees of freedom, making it difficult to cover the entire TBM interior; insufficient telescoping ratios, making it inadequate for monitoring at varying distances; and vulnerability to damage in harsh environments. Therefore, a vision-based motion protection platform capable of multi-degree-of-freedom movement and a high telescoping ratio within the narrow, long spaces of a TBM is needed to enhance the flexibility and reliability of visual monitoring. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-degree-of-freedom, large-scaling-ratio vision-mounted motion protection platform suitable for the narrow and long space inside a TBM, so as to realize unmanned observation of relevant vision systems inside the TBM.

[0005] The technical solution of the present invention includes:

[0006] A multi-degree-of-freedom, high-scaling-ratio vision-mounted motion protection platform suitable for narrow and long spaces within TBMs, comprising:

[0007] The guide rail and load-bearing platform 1 are used to carry other mechanisms on the multi-degree-of-freedom, large-telescopic-ratio visual-mounted motion protection platform and provide a motion trajectory; the guide rail and load-bearing platform 1 includes a guide rail 1-1, a servo motor 1-2, load-bearing wheels 1-3 and a load-bearing platform 1-4, the load-bearing platform 1-4 includes a horizontal plate and multiple vertical plates on the horizontal plate, the load-bearing wheels 1-3 are installed on the outer surface of the vertical plate, and the load-bearing wheels 1-3 cooperate with the guide rail 1-1 installed on the vertical plate; the servo motor 1-2 is installed on the load-bearing platform 1-4, and its output end is connected to the gear that cooperates with the rack on the guide rail 1-1 and provides power;

[0008] The horizontal telescopic mechanism 2 realizes the telescopic movement of the multi-degree-of-freedom and large telescopic ratio visual carrying motion protection platform in the horizontal direction; the horizontal telescopic mechanism 2 includes an upper fork body 2-1, a middle fork body A2-2, a middle fork body B2-3 and a lower fork body 2-4, and the upper fork body 2-1, the middle fork body A2-2, the middle fork body B2-3 and the lower fork body 2-4 realize relative movement in sequence through internal chains; and the servo motor 1-2 drives the uniform relative movement between the upper fork body 2-1, the middle fork body A2-2, the middle fork body B2-3 and the lower fork body 2-4 to realize synchronous contraction and extension; the horizontal telescopic mechanism 2 is fixed to the horizontal plate of the load-bearing platform 1-4 through the lower fork body 2-4, and the horizontal telescopic mechanism 2 is connected to the rotating mechanism 3 through the upper fork body 2-1;

[0009] The rotating mechanism 3 realizes the rotational movement of the multi-degree-of-freedom and large-telescopic ratio visual carrying motion protection platform in the vertical plane; the rotating mechanism 3 includes a connecting box 3-5, a servo motor 3-4, a harmonic reducer 3-3, a reducer bracket 3-2 and a connecting flange 3-1; the connecting box 3-5 is fixed to the upper fork body 2-1 of the horizontal telescopic mechanism 2, and a servo motor 3-4 is installed inside it. The output shaft of the servo motor 3-4 is connected to the harmonic reducer 3-3, and the formed whole is fixed to the reducer bracket 3-2 through the outer ring connecting flange of the harmonic reducer 3-3, and the reducer bracket 3-2 is fixed to the connecting box 3-5 through its outer ring through hole by bolts, and the connecting box 3-5, the servo motor 3-4, the reducer bracket 3-2 and the harmonic reducer 3-3 are combined into a whole; a connecting flange 3-5 is installed at the front end of the harmonic reducer 3-4 for connection with the vertical telescopic mechanism 4 as a whole;

[0010] The vertical telescopic mechanism 4 realizes the telescopic movement of the multi-degree-of-freedom large telescopic ratio visual carrying motion protection platform in the vertical direction; the vertical telescopic mechanism 4 includes an upper base connector 4-1, a scissor-type cross rod 4-2, a telescopic electric cylinder 4-3, a connecting pin 4-4 and a lower base connector 4-5; the upper base connector 4-1 is bolted to the connecting flange 3-1 of the rotating mechanism 3 to realize the overall rotation of the vertical telescopic mechanism 4; the interior of the vertical telescopic mechanism 4 is composed of a scissor-type cross rod 4-2 and a connecting pin 4-4 that are staggered and connected to each other; the vertical telescopic mechanism One end of the two telescopic electric cylinders 4-3 inside the structure 4 is fixed by a connecting pin 4-4, and the other end pushes the connecting pin 4-4 to realize the extension and contraction of the entire mechanism; the vertical telescopic mechanism 4 can be adjusted to any length within the stroke by adjusting the extension length of the telescopic electric cylinder 4-3; the whole formed by the scissor-type cross rod 4-2, the telescopic electric cylinder 4-3, and the connecting pin 4-4 is fixed to the lower base connector 4-5 by the connecting pin 4-4, and the end of the lower base connector 4-5 extends out a roof-like structure for connection to the visual protection system 5;

[0011] The visual protection system 5 protects the visual equipment from the influence of the external environment; the visual protection system 5 includes an upper end cover 5-1, a main box 5-2, an industrial camera 5-3, a cleaning wiper 5-4 and a connecting lug 5-5. The upper end cover 5-1 is installed on the top of the main box 5-2, and the industrial camera 5-3 is installed inside for realizing the wear identification of the hob cutter and the tunnel face monitoring; the front end of the main box 5-2 is provided with a protective glass, and the outer surface of the protective glass is sprayed with a hydrophobic layer; the cleaning wiper 5-4 is installed under the protective glass, and the cleaning glass ensures clear imaging; the visual protection system 5 is connected to the vertical telescopic mechanism 4 through the connecting lugs 5-5 on both sides of the upper side of the main box 5-2, and a connecting shaft extends from the lower side of the main box 5-2 for connection with the front and rear swing mechanism 6;

[0012] The front-to-back swing mechanism 6 realizes the swinging movement of the platform in the front-to-back direction; the front-to-back swing mechanism 6 includes a servo electric cylinder 6-1 and a rotating pin 6-2. One end of the servo electric cylinder 6-1 is fixed to the connecting shaft extending from the bottom of the main box 5-2, and the other end is connected to the rotating pin 6-2 extending from the side of the eaves-like structure at the end of the lower base connector 4-5 of the vertical telescopic mechanism 4. The servo electric cylinder 6-1 changes the relative distance between the connecting shaft extending from the bottom of the main box 5-2 and the rotating pin 6-2 by extending and shortening, thereby realizing the front-to-back swing of the visual protection system 5 relative to the base connector 4-5;

[0013] The visual protection system 5 realizes the movement detection of the visual protection system 5 in the TBM through the coordinated movement of the guide rail and the load-bearing platform 1, the horizontal telescopic mechanism 2, the rotating mechanism 3, the vertical telescopic mechanism 4, and the front-back swing mechanism 6.

[0014] The beneficial effects of the present invention are as follows: the present invention realizes unmanned monitoring of different cutter wear states and the construction cutterhead face in the narrow space of the shield machine, thereby ensuring the personal safety of personnel and improving the efficiency of tunnel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the sports protection platform.

[0016] Figure 2 Schematic diagram of the guide rail and load-bearing platform structure.

[0017] Figure 3 It is a schematic diagram of the horizontal telescopic mechanism structure.

[0018] Figure 4 It is a schematic diagram of the rotating mechanism structure.

[0019] Figure 5 It is a schematic diagram of the vertical telescopic mechanism structure.

[0020] Figure 6 It is a schematic diagram of the visual protection system and the front and rear swing mechanism structure.

[0021] In the figure: 1. Guide rail and load-bearing platform; 2. Horizontal telescopic mechanism; 3. Rotating mechanism; 4. Vertical telescopic mechanism; 5. Visual protection system; 6. Forward and backward swing mechanism; 1-1. Guide rail; 1-2. Servo motor; 1-3. Load-bearing wheel; 1-4. Load-bearing platform; 2-1. Upper fork body; 2-2. Middle fork body A; 2-3. Middle fork body B; 2-4. Lower fork body; 3-1. Connecting bracket A; 3-2. Harmonic reducer; 3-3. Connecting bracket B; 4-1. Upper base connector; 4-2. Scissor-type cross rod; 4-3. Telescopic electric cylinder; 4-4. Lower base connector; 5-1. Upper end cover; 5-2. Main box; 5-3. Industrial camera; 5-4. Cleaning wiper; 5-5. Connecting lug; 6-1. Servo electric cylinder; 6-2. Rotating pin. DETAILED DESCRIPTION

[0022] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0023] Example

[0024] When the TBM is stopped or in standby mode:

[0025] Step 1: Standby state. In the initial state, the motion mechanism is in the standby position, and all telescopic mechanisms and the front and rear swing mechanisms 6 are in the retracted state. The platform is at the starting position of the track, ready for subsequent operations;

[0026] Step 2: Move along the track. Activate the horizontal telescopic mechanism 2, causing the load platform 1-4 to move along the guide rail 1-1 toward the interior of the TBM. In this step, the telescopic electric cylinder pushes the upper fork 2-1, middle fork A2-2, middle fork B2-3, and lower fork 2-4 to move synchronously, achieving horizontal telescopic movement of the platform. During this process, the guide rail 1-1 provides a stable motion trajectory, ensuring smooth movement of the platform.

[0027] Step 3: Extend to the back of the cutterhead. When the load platform moves to the predetermined position, the vertical telescopic mechanism 4 is activated to extend the platform vertically to the back of the TBM cutterhead. The telescopic cylinder 4-3 drives the scissor-type crossbar 4-2 to extend and retract, achieving vertical extension of the platform.

[0028] Step 4: Move to the observation position. After reaching the back of the cutter head, start the rotating mechanism 3 to rotate the platform to the observation position in the vertical plane. The servo motor 1-2 drives the connecting bracket A3-3 to rotate through the harmonic reducer 3-2 to realize the rotational movement of the platform. At the same time, start the front and rear swing mechanism 6 to swing the platform in the front and rear directions to the optimal observation position. The servo electric cylinder 6-1 drives the rotating pin 6-2 to move relative to each other, so that the visual protection system 5 uses the pin at the connecting ear 5-5 as the axis to realize the swinging movement of the industrial camera 5-3 in the front and rear directions;

[0029] Step 5: Reset. After completing the observation task, retract the mechanisms in reverse order, returning the platform to its standby state. First, the forward and backward swing mechanism 6 returns the platform to its neutral position, and then the rotation mechanism 3 rotates the platform back to its initial position. Next, the vertical telescopic mechanism 4 retracts the platform to its initial height, and finally, the horizontal telescopic mechanism 2 returns the platform along the guide rail 1-1 to its starting position.

[0030] During the whole process, the vision protection system 5 is always in working state to protect the visual equipment from the influence of the external environment.

[0031] Through the above-mentioned structural design, the present invention realizes a visual carrying motion platform suitable for the narrow and long space inside the TBM, which can meet the visual monitoring needs under different working conditions and has broad application prospects and significant practical value.

Claims

1. A multi-degree-of-freedom, high-scaling-ratio visual-mounted motion protection platform suitable for narrow and long spaces within TBMs, characterized by: The multi-degree-of-freedom, large-telescopic-ratio visual-carrying motion protection platform comprises a guide rail and a load-bearing platform (1), a horizontal telescopic mechanism (2), a rotating mechanism (3), a vertical telescopic mechanism (4), a visual protection system (5), and a front-and-rear swing mechanism (6); the visual protection system (5) realizes movement detection of the visual protection system (5) in a TBM through the coordinated movement of the guide rail and the load-bearing platform (1), the horizontal telescopic mechanism (2), the rotating mechanism (3), the vertical telescopic mechanism (4), and the front-and-rear swing mechanism (6).

2. The multi-degree-of-freedom, high-scaling-ratio visual-mounted motion protection platform suitable for narrow and long spaces within a TBM according to claim 1 is characterized in that: The guide rail and load-bearing platform (1) are used to carry other mechanisms on a multi-degree-of-freedom, large-telescopic-ratio visual-carrying motion protection platform and provide a motion trajectory; the guide rail and load-bearing platform (1) include a guide rail (1-1), a servo motor (1-2), load-bearing wheels (1-3) and a load-bearing platform (1-4); the load-bearing platform (1-4) includes a horizontal plate and a plurality of vertical plates on the horizontal plate; the load-bearing wheels (1-3) are mounted on the outer surfaces of the vertical plates, and the load-bearing wheels (1-3) cooperate with the guide rail (1-1) mounted on the vertical plates; the servo motor (1-2) is mounted on the load-bearing platform (1-4), and its output end is connected to a gear that cooperates with a rack on the guide rail (1-1) and provides power.

3. The multi-degree-of-freedom, high-scaling-ratio visual-mounted motion protection platform suitable for narrow and long spaces within a TBM according to claim 1 is characterized in that: The horizontal telescopic mechanism (2) realizes the telescopic movement of the multi-degree-of-freedom and large telescopic ratio visual carrying motion protection platform in the horizontal direction; the horizontal telescopic mechanism (2) comprises an upper fork body (2-1), a middle fork body A (2-2), a middle fork body B (2-3) and a lower fork body (2-4); the upper fork body (2-1), the middle fork body A (2-2), the middle fork body B (2-3) and the lower fork body (2-4) realize relative movement in sequence through internal chains; and the servo motor (1-2) drives the uniform relative movement between the upper fork body (2-1), the middle fork body A (2-2), the middle fork body B (2-3) and the lower fork body (2-4) to realize synchronous contraction and extension; the horizontal telescopic mechanism (2) is fixed to the horizontal plate of the load-bearing platform (1-4) through the lower fork body (2-4), and the horizontal telescopic mechanism (2) is connected to the rotating mechanism (3) through the upper fork body (2-1).

4. The multi-degree-of-freedom, high-scaling-ratio visual-mounted motion protection platform suitable for narrow and long spaces within a TBM according to claim 1 is characterized in that: The rotating mechanism (3) realizes the rotating motion of the multi-degree-of-freedom large telescopic ratio visual carrying motion protection platform in a vertical plane; the rotating mechanism (3) comprises a connecting box (3-5), a servo motor (3-4), a harmonic reducer (3-3), a reducer bracket (3-2) and a connecting flange (3-1); the connecting box (3-5) is fixed to the upper fork body (2-1) of the horizontal telescopic mechanism (2), the servo motor (3-4) is installed inside the connecting box, and the output shaft of the servo motor (3-4) is connected to the harmonic reducer (3-3). ), the formed whole is fixed to the reducer bracket (3-2) through the outer ring connecting flange of the harmonic reducer (3-3), the reducer bracket (3-2) is fixed to the connecting box (3-5) through the outer ring through-hole thereof by bolts, and the connecting box (3-5), the servo motor (3-4), the reducer bracket (3-2), and the harmonic reducer (3-3) are combined into a whole; a connecting flange (3-5) is installed at the front end of the harmonic reducer (3-4) for connecting to the vertical telescopic mechanism (4) as a whole.

5. The multi-degree-of-freedom, high-scaling-ratio visual-mounted motion protection platform suitable for narrow and long spaces within a TBM according to claim 1 is characterized in that: The vertical telescopic mechanism (4) realizes the telescopic movement of the multi-degree-of-freedom and large telescopic ratio visual carrying motion protection platform in the vertical direction; the vertical telescopic mechanism (4) comprises an upper base connector (4-1), a scissor-type cross rod (4-2), a telescopic electric cylinder (4-3), a connecting pin (4-4) and a lower base connector (4-5); the upper base connector (4-1) is bolted to the connecting flange (3-1) of the rotating mechanism (3) to realize the overall rotation of the vertical telescopic mechanism (4); the interior of the vertical telescopic mechanism (4) is composed of the scissor-type cross rod (4-2) and the connecting pin (4-4) which are interlaced and connected with each other; the vertical telescopic mechanism (4) is composed of the scissor-type cross rod (4-2) and the connecting pin (4-4) which are interlaced and connected with each other; the vertical telescopic mechanism (4) is composed of the upper base connector (4-1), a ... One end of the two telescopic electric cylinders (4-3) inside the mechanism (4) is fixed by a connecting pin (4-4), and the other end pushes the connecting pin (4-4) to realize the telescopic movement of the entire mechanism; the adjustment of any length within the stroke of the vertical telescopic mechanism (4) is realized by adjusting the extension length of the telescopic electric cylinder (4-3); the whole formed by the combination of the scissor-type cross rod (4-2), the telescopic electric cylinder (4-3), and the connecting pin (4-4) is fixed to the lower base connector (4-5) by the connecting pin (4-4); the end of the lower base connector (4-5) extends to form an eaves-like structure for connection with the visual protection system (5).

6. The multi-degree-of-freedom, high-scaling-ratio visual-mounted motion protection platform suitable for narrow and long spaces within a TBM according to claim 1 is characterized in that: The visual protection system (5) protects the visual equipment from the influence of the external environment; the visual protection system (5) comprises an upper end cover (5-1), a main box (5-2), an industrial camera (5-3), a cleaning wiper (5-4) and a connecting lug (5-5); the upper end cover (5-1) is installed on the top of the main box (5-2), and the industrial camera (5-3) is installed therein for realizing the identification of hob wear and the monitoring of the face; the front end of the main box (5-2) is provided with a protective glass, and the outer surface of the protective glass is sprayed with a hydrophobic layer; the cleaning wiper (5-4) is installed below the protective glass, and the cleaning glass ensures clear imaging; the visual protection system (5) is connected to the vertical telescopic mechanism (4) through the connecting lugs (5-5) on both sides above the main box (5-2); a connecting shaft extends from the bottom of the main box (5-2) for connection with the front and rear swing mechanism (6).

7. The multi-degree-of-freedom, high-scaling-ratio visual-mounted motion protection platform suitable for narrow and long spaces within a TBM according to claim 1 is characterized in that: The front-to-back swing mechanism (6) realizes the swinging movement of the platform in the front-to-back direction; the front-to-back swing mechanism (6) includes a servo electric cylinder (6-1) and a rotating pin (6-2); one end of the servo electric cylinder (6-1) is fixed to a connecting shaft extending from the bottom of the main box (5-2), and the other end is connected to a rotating pin (6-2) extending from the end of the lower base connector (4-5) of the vertical telescopic mechanism (4) and extending from the side of the eaves-like structure; the servo electric cylinder (6-1) changes the relative distance between the connecting shaft extending from the bottom of the main box (5-2) and the rotating pin (6-2) by extending and shortening, thereby realizing the front-to-back swinging of the visual protection system (5) relative to the base connector (4-5).

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