A multi-degree-of-freedom large-stretch-ratio visual carrying motion protection platform suitable for narrow space in TBM

Abstract

The application belongs to the field of tunnel boring machine internal equipment, and discloses a multi-degree-of-freedom large-stretching-ratio visual carrying motion protection platform suitable for narrow and long space in TBM, which comprises a guide rail and a load platform, a horizontal stretching mechanism, a rotating mechanism, a vertical stretching mechanism, a visual protection system and a front and rear swing mechanism. The multi-degree-of-freedom large-stretching-ratio visual carrying motion protection platform improves the flexibility and coverage range of visual monitoring in TBM, and can adapt to the needs of different monitoring positions. Through multi-degree-of-freedom motion and large stretching ratio, comprehensive monitoring of the complex environment in TBM is realized. The visual protection system effectively protects the visual equipment, improves the durability and stability of the equipment. The compact structure design is suitable for deployment and operation in the narrow and long space in TBM, improves the space utilization rate. Through automation and intelligent design, the demand for manual operation is reduced, the operation risk is reduced, and the work efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of internal equipment of tunnel boring machines (TBMs), and in particular relates to a vision-mounted motion platform that can provide multi-degree-of-freedom motion and a large scaling ratio in the narrow space inside a TBM. Background Technology

[0002] Tunnel Boring Machines (TBMs) are high-efficiency equipment used for tunnel excavation, and their application in tunnel engineering is becoming increasingly widespread. TBMs primarily rely on a densely packed cutter system within their cutterhead to cut the rock and soil ahead, performing rock-breaking functions. However, cutter inspection and replacement mainly depend on manual labor. The confined spaces, high humidity, and dusty environments present safety hazards for manual cutter replacement and also limit work efficiency. Therefore, a safe and efficient machine-to-human operation mode for cutter inspection and replacement is imperative. Developing a visual measurement system with the keen eye of a cutter-changing robot is a fundamental prerequisite for achieving efficient machine cutter replacement in TBMs. To meet the requirements for unmanned and intelligent tunnel boring equipment, a visual measurement system coupled with code is needed to achieve intelligent inspection in standby mode; to achieve wear detection, a multi-degree-of-freedom, high-extension-ratio vision-mounted motion platform tailored to the internal space characteristics of the TBM is required.

[0003] Inside a TBM (Tunnel Boring Machine), the long, narrow, and complex space places high demands on the internal equipment, especially visual monitoring devices. Existing visual monitoring equipment typically suffers from limited degrees of freedom, making it difficult to cover all areas inside the TBM; insufficient scaling ratio, failing to adapt to visual monitoring needs at different distances; and susceptibility to damage in harsh environments. Therefore, a visual-mounted motion protection platform capable of providing multi-degree-of-freedom movement and a large scaling ratio within the narrow space of a TBM is needed to improve the flexibility and reliability of visual monitoring. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-degree-of-freedom, high-scalability vision-mounted motion protection platform suitable for narrow spaces within a TBM, so as to realize unmanned observation of related vision systems within the TBM.

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

[0006] A multi-degree-of-freedom, high-scalability vision-mounted motion protection platform suitable for narrow spaces within a TBM includes:

[0007] The guide rail and load-bearing platform 1 are used to support other mechanisms on the multi-degree-of-freedom, high-extension-ratio vision-mounted motion protection platform and provide motion trajectories. The guide rail and load-bearing platform 1 includes a guide rail 1-1, a servo motor 1-2, a load-bearing wheel 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 wheel 1-3 is mounted on the outer surface of the vertical plates and cooperates 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 the rack on the guide rail 1-1 to provide power.

[0008] The horizontal telescopic mechanism 2 enables the horizontal telescopic movement of the multi-degree-of-freedom, high-extension-ratio vision-mounted motion protection platform. The horizontal telescopic mechanism 2 includes an upper fork 2-1, a middle fork A2-2, a middle fork B2-3, and a lower fork 2-4. These components are sequentially connected by internal chains to achieve relative movement. A servo motor 1-2 drives the uniform relative movement between the upper fork 2-1, middle fork A2-2, middle fork B2-3, and lower fork 2-4, achieving synchronous contraction and extension. The horizontal telescopic mechanism 2 is fixed to the horizontal plate of the load-bearing platform 1-4 via the lower fork 2-4, and is connected to the rotating mechanism 3 via the upper fork 2-1.

[0009] The rotating mechanism 3 enables the multi-degree-of-freedom, high-extension-ratio vision-mounted motion protection platform to rotate in the vertical plane. The rotating mechanism 3 includes a connecting housing 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 housing 3-5 is fixed to the upper fork 2-1 of the horizontal telescopic mechanism 2. The servo motor 3-4 is installed inside the housing, and its output shaft is connected to the harmonic reducer 3-3. The entire assembly is fixed to the reducer bracket 3-2 via the outer ring connecting flange of the harmonic reducer 3-3. The reducer bracket 3-2 is bolted to the connecting housing 3-5 through its outer ring through-hole, thus assembling the connecting housing 3-5, servo motor 3-4, reducer bracket 3-2, and harmonic reducer 3-3 into a single unit. A connecting flange 3-5 is installed at the front end of the harmonic reducer 3-4 for connection to the vertical telescopic mechanism 4.

[0010] The vertical telescopic mechanism 4 enables the vertical telescopic movement of the multi-degree-of-freedom, high-extension-ratio vision-mounted motion protection platform. The vertical telescopic mechanism 4 includes an upper base connector 4-1, scissor-type crossbars 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, enabling the overall rotation of the vertical telescopic mechanism 4. The internal structure of the vertical telescopic mechanism 4 consists of scissor-type crossbars 4-2 and connecting pins 4-4 interlocked. The two telescopic electric cylinders 4-3 inside the structure 4 are fixed at one end by a connecting pin 4-4, and the other end pushes the connecting pin 4-4 to realize the extension and retraction of the entire mechanism; the extension length of the telescopic electric cylinders 4-3 can be adjusted to any length within the stroke of the vertical telescopic mechanism 4; the scissor cross bar 4-2, telescopic electric cylinders 4-3, and connecting pin 4-4 are combined to form a whole, which is fixed to the lower base connecting body 4-5 by the connecting pin 4-4. The lower base connecting body 4-5 extends out of the end with an eave-like structure for connection with the visual protection system 5;

[0011] The vision protection system 5 protects the vision equipment from external environmental influences. The vision protection system 5 includes an upper cover 5-1, a main housing 5-2, an industrial camera 5-3, a cleaning wiper 5-4, and connecting lugs 5-5. The upper cover 5-1 is installed on the top of the main housing 5-2, which houses the industrial camera 5-3 for identifying hob wear and monitoring the machine face. The front of the main housing 5-2 is equipped with protective glass, the outer surface of which is coated with a hydrophobic layer. The cleaning wiper 5-4 is installed below the protective glass, ensuring clear imaging. The vision protection system 5 is connected to the vertical telescopic mechanism 4 via the connecting lugs 5-5 on both sides of the upper part of the main housing 5-2. A connecting shaft extends from the lower part of the main housing 5-2 for connection with the front and rear swing mechanism 6.

[0012] The front and rear swing mechanism 6 realizes the swinging motion of the platform in the front and rear direction. The front and rear swing mechanism 6 includes a servo cylinder 6-1 and a rotating pin 6-2. One end of the servo cylinder 6-1 is fixed to the connecting shaft extending from the bottom of the main housing 5-2, and the other end is connected to the rotating pin 6-2 extending from the end of the lower base connecting body 4-5 of the vertical telescopic mechanism 4, which is similar to the side of the eaves-like structure. The servo cylinder 6-1 changes the relative distance between the connecting shaft extending from the bottom of the main housing 5-2 and the rotating pin 6-2 by extending and shortening, so as to realize the front and rear swinging of the visual protection system 5 relative to the base connecting body 4-5.

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

[0014] The beneficial effects of this invention are: This invention enables unmanned monitoring of different cutter wear states and the working face of the cutterhead within the confined space of a tunnel boring machine, ensuring the personal safety of personnel and improving the efficiency of tunnel construction. Attached Figure Description

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

[0016] Figure 2 This is a schematic diagram of the guide rail and load-bearing platform structure.

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

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

[0019] Figure 5 This is a schematic diagram of a vertical telescopic mechanism.

[0020] Figure 6 This is a schematic diagram of the visual protection system and the forward and backward swing mechanism.

[0021] In the diagram: 1. Guide rail and load-bearing platform; 2. Horizontal telescopic mechanism; 3. Rotating mechanism; 4. Vertical telescopic mechanism; 5. Vision 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; 2-2. Middle fork A; 2-3. Middle fork B; 2-4. Lower fork; 3-1. Connecting bracket A; 3-2. Harmonic reducer; 3-3. Connecting bracket B; 4-1. Upper base connector; 4-2. Scissor crossbar; 4-3. Telescopic electric cylinder; 4-4. Lower base connector; 5-1. Upper end cover; 5-2. Main housing; 5-3. Industrial camera; 5-4. Cleaning wiper; 5-5. Connecting lug; 6-1. Servo electric cylinder; 6-2. Rotating pin. Detailed Implementation

[0022] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and technical solutions.

[0023] Example

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

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

[0026] Step Two: Movement along the track. Activate the horizontal telescopic mechanism 2, causing the load-bearing platform 1-4 to move along guide rail 1-1 into 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, guide rail 1-1 provides a stable motion trajectory, ensuring smooth platform movement.

[0027] Step 3: Extend to the back of the cutterhead. After the load-bearing platform moves to the predetermined position, activate the vertical telescopic mechanism 4 to extend the platform vertically to the back of the TBM cutterhead. The telescopic electric cylinder 4-3 drives the scissor-type crossbar 4-2 to extend and retract, realizing the vertical extension and retraction of the platform;

[0028] Step 4: Move to the observation position. After reaching the back of the cutter head, activate the rotation mechanism 3 to rotate the platform in the vertical plane to the observation position. Servo motor 1-2 drives the connecting bracket A3-3 to rotate via harmonic reducer 3-2, realizing the rotational movement of the platform. Simultaneously, activate the forward and backward swing mechanism 6 to swing the platform in the forward and backward direction to the optimal observation position. Servo electric cylinder 6-1 drives the rotating pin 6-2 to move relative to each other, so that the vision protection system 5 uses the pin at the connecting lug 5-5 as the axis to realize the swinging movement of the industrial camera 5-3 in the forward and backward direction;

[0029] Step 5: Reset. After completing the observation task, retract the mechanisms in reverse order to reset the platform to standby mode. First, the forward and backward swing mechanism 6 returns the platform to the center position, 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 to its starting position along guide rail 1-1.

[0030] Throughout the process, the vision protection system 5 remains operational, protecting the vision equipment from external environmental influences.

[0031] Through the above structural design, this invention realizes a vision-mounted motion platform suitable for narrow spaces inside a TBM, which can meet the vision monitoring needs under different working conditions and has broad application prospects and significant practical value.

Claims

1. A multi-degree-of-freedom, high-extensibility vision-mounted motion protection platform suitable for narrow spaces within a TBM, characterized in that, The multi-degree-of-freedom, high-extension-ratio vision-equipped motion protection platform includes a guide rail and load-bearing platform (1), a horizontal telescopic mechanism (2), a rotating mechanism (3), a vertical telescopic mechanism (4), a vision protection system (5), and a front-to-back swing mechanism (6). The vision protection system (5) achieves motion detection within the TBM through the coordinated movement of the guide rail and load-bearing platform (1), the horizontal telescopic mechanism (2), the rotating mechanism (3), the vertical telescopic mechanism (4), and the front-to-back swing mechanism (6). The guide rail and load-bearing platform (1) are used to support other mechanisms on the multi-degree-of-freedom, high-extension-ratio vision-mounted motion protection platform and provide motion trajectories. The guide rail and load-bearing platform (1) includes a guide rail (1-1), a servo motor (1-2), a load-bearing wheel (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 wheel (1-3) is installed on the outer surface of the vertical plate and cooperates 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 a gear that cooperates with the rack on the guide rail (1-1) and provides power. The horizontal telescopic mechanism (2) enables the multi-degree-of-freedom, high-extension-ratio vision-mounted motion protection platform to telescopically move in the horizontal direction. The horizontal telescopic mechanism (2) includes an upper fork (2-1), a middle fork A (2-2), a middle fork B (2-3), and a lower fork (2-4). The upper fork (2-1), middle fork A (2-2), middle fork B (2-3), and lower fork (2-4) move relative to each other sequentially via internal chains. The upper fork (2-1), middle fork A (2-2), middle fork B (2-3), and lower fork (2-4) are driven by a servo motor (1-2) to achieve uniform relative movement, thus achieving synchronous contraction and extension. The horizontal telescopic mechanism (2) is fixed to the horizontal plate of the load-bearing platform (1-4) via the lower fork (2-4). The horizontal telescopic mechanism (2) is connected to the rotating mechanism (3) via the upper fork (2-1). The vertical telescopic mechanism (4) enables the multi-degree-of-freedom, high-extension-ratio visual-mounted motion protection platform to extend and retract in the vertical direction. The vertical telescopic mechanism (4) includes an upper base connector (4-1), a scissor-type crossbar (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), enabling the overall rotation of the vertical telescopic mechanism (4). The internal structure of the vertical telescopic mechanism (4) is composed of scissor-type crossbars (4-2) and connecting pins (4-4) that are interlocked. The two telescopic electric cylinders (4-3) inside the mechanism (4) are fixed at one end 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 extension length of the telescopic electric cylinder (4-3) can be adjusted to adjust any length within the stroke of the vertical telescopic mechanism (4); the whole formed by the combination of the scissor cross bar (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 lower base connector (4-5) extends out a roof-like structure at the end for connection with the visual protection system (5); The front and rear swing mechanism (6) realizes the swinging motion of the platform in the front and rear direction. The front and rear swing mechanism (6) includes a servo cylinder (6-1) and a rotating pin (6-2). One end of the servo cylinder (6-1) is fixed to the connecting shaft extending from the bottom of the main housing (5-2), and the other end is connected to the rotating pin (6-2) extending from the end of the lower base connecting body (4-5) of the vertical telescopic mechanism (4) to the side of the roof-like structure. The servo cylinder (6-1) changes the relative distance between the connecting shaft extending from the bottom of the main housing (5-2) and the rotating pin (6-2) by extending and shortening, so as to realize the front and rear swing of the visual protection system (5) relative to the lower base connecting body (4-5).

2. The multi-degree-of-freedom, high-extensibility visual motion protection platform suitable for narrow spaces within a TBM, as described in claim 1, is characterized in that... The rotating mechanism (3) enables the multi-degree-of-freedom, high-extension-ratio vision-mounted motion protection platform to rotate in the vertical plane. The rotating mechanism (3) includes a connecting housing (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 housing (3-5) is fixed to the upper fork (2-1) of the horizontal telescopic mechanism (2), and the 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). The components (3-3) are connected together, and the 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 its outer ring through hole by bolts. The connecting box (3-5), servo motor (3-4), reducer bracket (3-2) and harmonic reducer (3-3) are assembled into a whole. A connecting flange is installed at the front end of the harmonic reducer (3-3) for connection with the vertical telescopic mechanism (4).

3. The multi-degree-of-freedom, high-extensibility visual motion protection platform suitable for narrow spaces within a TBM, as described in claim 1, is characterized in that... The vision protection system (5) protects the vision equipment from the influence of the external environment. The vision protection system (5) includes an upper cover (5-1), a main body (5-2), an industrial camera (5-3), a cleaning wiper (5-4), and connecting lugs (5-5). The upper cover (5-1) is installed on the top of the main body (5-2), and the industrial camera (5-3) is installed inside to realize the identification of hob wear and the monitoring of the working face. The front end of the main body (5-2) is provided with protective glass, and the outer surface of the protective glass is coated with a hydrophobic coating. The cleaning wiper (5-4) is installed below the protective glass, and the cleaning glass ensures clear imaging. The vision protection system (5) is connected to the vertical telescopic mechanism (4) through the connecting lugs (5-5) on both sides of the upper part of the main body (5-2). The connecting shaft extends from the lower part of the main body (5-2) for connection with the front and rear swing mechanism (6).

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