Cutter conveying device suitable for cutter changing of heading machine, heading machine and moving method

Abstract

The invention discloses a cutter conveying device suitable for cutter changing of a heading machine, the heading machine and a moving method, and solves the problems that in the prior art, secondary transfer and adjustment are needed for cutter conveying, and conveying of a cutter from the tail of a shield body to a human bin section is difficult to complete. The cutter conveying device comprises a sliding rail arranged in the axial direction of the shield body, a sliding trolley is arranged on the sliding rail, a transverse moving mechanism is arranged at the bottom of the sliding trolley, a visual navigation device is arranged on the sliding trolley, a rotating mechanism is arranged on the transverse moving mechanism, and a fixed-axis lifting mechanism is arranged on the rotating mechanism. The fixed-axis lifting mechanism is provided with a cutter grabbing mechanism used for clamping a cutter. The cutter conveying device is provided with the lifting mechanism and the cutter grabbing mechanism, the height of the cutter is changed through the fixed-axis lifting mechanism, the center shaft of the cutter is kept perpendicular to the ground all the time in the adjusting process, and after the cutter conveying device rotates, the position of the center shaft of the cutter in the horizontal direction is changed; the center shaft of the tool can be still located at the position before rotation through adjustment of the sliding mechanism, automatic tool grabbing and tool changing device grabbing are facilitated, secondary positioning recognition is not needed, and the tool conveying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machines, in particular to a tool transporting device for changing tools of tunnel boring machines. Background Art

[0002] Full-face tunnel boring machines are currently widely used in tunnel construction. Their main structure mainly consists of a cutterhead, a shield, and a main drive. During the tunneling process, as the strength of the stratum rock increases, the wear on the cutter increases. When the wear reaches a certain level, the cutter needs to be replaced, affecting construction costs and efficiency. Currently, most cutter transportation is achieved by manual labor and a hand winch to achieve the lifting and transfer of the cutter. This process requires multiple workers to work together, and the operating space is small, which cannot fully fix the cutter. Careful operation is required to avoid collisions with the hand winch and other equipment, and the cutter falling, which may cause safety accidents. This has problems such as low efficiency and high safety risks, and does not meet the current construction requirements of safe and efficient tunneling. Therefore, it is very necessary to design a cutter transport device.

[0003] Existing technology, such as Chinese patent publication number CN 220536340 U, ​​designs a transport tool for replacing cutting tools within a shield machine chamber. The tool comprises a horizontal crossbeam, a vertical transport base, a horizontal transport base, and a transport trolley. The trolley is used to place and transport the cutting tools, and is provided with a groove to limit the cutting tools' position. However, the groove is small, posing a risk of mechanical impact due to vibration and impact during construction. Furthermore, the trolley lacks a slewing mechanism, and the cutting tools must be transported only to their extreme horizontal position, requiring secondary transport. This results in low cutting efficiency.

[0004] In the prior art, a Chinese patent with publication number CN 220056115 U designs a shield machine tool transfer device, which includes a support, a rotating bracket, a winch mechanism and a wire rope, and is equipped with a cantilever on the rotating bracket for transferring the tool. However, it only acts on the manhole position and cannot complete the tool transfer from the tail of the shield body to the manhole section.

[0005] In the prior art, a Chinese patent with publication number CN 210678701 U designs a lifting robot to assist manual tool changing. The robot realizes long-distance transportation and steering of tools by setting up a long horizontal slide rail and a sliding rotary platform. The robot also designs a foldable robotic arm connected to a transmission mechanism and a support column. However, the manned space is small, and the robot arm is prone to interference and collision with other equipment during the deployment process of lifting tools.

[0006] In the prior art, a Chinese patent with publication number CN 112324449 A provides a tool transport device for changing cutters of a shield machine. The tool is fixed by a linkage arm installed in a fixed frame, and the tool is transported by the tool transport device linked to an assembly machine, thereby achieving stable tool transportation. However, the center axis of the tool is perpendicular to the ground, and it needs to be rotated 90° before changing the tool, which reduces the tool changing efficiency.

[0007] There is currently no effective solution to the problems of low transportation efficiency of the above-mentioned tunnel boring machine cutters and easy interference with other components. Therefore, it is necessary to design a safe and efficient cutter transportation device. Summary of the Invention

[0008] In response to the deficiencies in the above-mentioned background technology, the present invention proposes a tool transport device, a tunneling machine and a movement method suitable for changing the tool of a tunneling machine, which solves the problem in the prior art that the tool transportation requires secondary transfer and adjustment and it is difficult to complete the transportation of the tool from the tail of the shield body to the manhole section.

[0009] The technical solution of the present invention is implemented as follows: a tool transport device suitable for changing tools in a tunnel boring machine includes a slide rail arranged along the axial direction of a shield body, the slide rail being laid from the rear end of the shield body to the manhole section, allowing the tool transport device to load a tool close to the cutterhead for tool replacement or away from the cutterhead for loading or removing a tool. A sliding trolley is provided on the slide rail, a transverse mechanism is provided at the bottom of the sliding trolley, and the transverse mechanism is used for lateral adjustment of the motion device. The sliding trolley is provided with a visual navigation device, and the transverse mechanism is provided with a rotary mechanism, which drives the tool clamping mechanism to rotate within a plane. The rotary mechanism is provided with a fixed axis lifting mechanism, and the fixed axis lifting mechanism is provided with a tool gripping mechanism for clamping the tool. During the process of adjusting the tool height by the fixed axis lifting mechanism, the center axis of the tool always remains perpendicular to the ground, and is convenient for automatic tool gripping and tool changing devices to grasp, without the need for secondary positioning and identification. In addition, the tool transport device of this structure can avoid the space below the tool after raising the tool height, allowing it to be transported in a narrow cabin.

[0010] Further preferably, the transverse movement mechanism includes a translational slide rail disposed at the bottom of the sliding carriage, a translational slider slidably mounted on the translational slide rail, and a support plate seat connected to the bottom of the translational slider; the slewing mechanism is disposed on the support plate seat. The translational slide rail is disposed longitudinally and is used to adjust the left-right position of the slewing mechanism, its fixed axis lifting mechanism, and the tool gripping mechanism.

[0011] Further preferably, the slewing mechanism includes a stator member connected to the support plate seat and a rotor member rotatably connected to the stator member. A fixed plate seat is provided at the bottom of the rotor member, and the fixed-axis lifting mechanism is disposed on the fixed plate seat. The slewing mechanism rotates relative to the support plate seat to achieve in-plane rotation of the fixed-axis lifting mechanism and the tool gripping mechanism.

[0012] Further preferably, the fixed-axis lifting mechanism includes a parallelogram mechanism connected to the slewing mechanism and a lifting cylinder that drives the parallelogram mechanism. The upper end of the parallelogram mechanism is connected to the slewing mechanism, and the tool gripping mechanism is disposed at the lower end of the parallelogram mechanism. The lifting cylinder serves as the power element of the parallelogram mechanism and drives the tool gripping mechanism and the tool held therein to adjust their height via the parallelogram mechanism.

[0013] Further preferably, the parallelogram mechanism includes a left rod group and a right rod group, the lifting cylinder is located between the left rod group and the right rod group and is hinged to the middle part of the tool gripping mechanism; the left rod group includes a left first rod and a left second rod, one end of the left first rod is connected to the rotary mechanism through a left first long ear seat, and the other end is connected to the inner side of the tool gripping mechanism; one end of the left second rod is connected to the rotary mechanism through a left second short ear seat, and the other end is hinged to the outside of the tool gripping mechanism; the right rod group includes a right first rod and a right second rod, one end of the right first rod is connected to the rotary mechanism through a right first long ear seat, and the other end is hinged to the inner side of the tool gripping mechanism, and one end of the right second rod is connected to the rotary mechanism through a right second short ear seat, and the other end is hinged to the outside of the tool gripping mechanism. The above structural design can change the tool height, and the tool center axis always remains perpendicular to the ground during the adjustment process. After the tool transport device rotates, the horizontal position of the tool center axis changes, and the sliding mechanism can be used to adjust the tool center axis so that it remains in the position before rotation.

[0014] Further preferably, the tool gripping mechanism includes a left profiling seat and a right profiling seat, which are connected by a connecting plate; the left profiling seat and the right profiling seat are both U-shaped seats, and both side walls of the U-shaped seat are provided with profiling grooves that match the tool shaft of the tool, ensuring stable and firm clamping of the tool.

[0015] Further preferably, the visual navigation device includes a binocular camera, a laser radar and an IMU sensor.

[0016] A tunnel boring machine adopts the above-mentioned tool transport device suitable for changing tools of the tunnel boring machine; the slide rail extends from the tail of the shield body to the man cabin.

[0017] A tool transport method based on the tunnel boring machine; the specific steps are as follows: S1, the tool transport device is located at the rear of the shield body, the sliding trolley is at the rear end of the slide rail, the rotary mechanism is at the 0° position, the fixed axis lifting mechanism and the transverse movement mechanism drive the tool gripping mechanism to the lowest position in the middle, and the tool gripping mechanism is facing the rear of the shield body;

[0018] S2. Place the tool on the tool gripping mechanism, then start the tool transporting device. The sliding carriage moves forward along the slide rail. During the tool transporting process, the visual navigation device performs obstacle avoidance navigation, and the fixed axis lifting mechanism and transverse movement mechanism adjust the position of the tool gripping mechanism and the tool.

[0019] S3. When the tool transport device moves to the manhole, the sliding trolley moves to the front of the slide rail and close to the cutter disc, the slewing mechanism rotates to 180 degrees, the tool gripping mechanism faces the cutter disc, and then the sliding trolley moves backward along the slide rail for a distance D. The distance D is the distance from the tool center axis before rotation to the tool center axis after rotation when the tool gripping mechanism is in the same position; ensure that the tool center axis is in the same position before and after the slewing mechanism drives the tool to rotate.

[0020] S4. The tool changing device removes the tool from the tool holding mechanism, and the tool transport device completes the movement from the tail of the shield to the manhole.

[0021] The visual navigation device uses a multimodal sensor fusion method of binocular camera, lidar and IMU for obstacle avoidance navigation. The specific algorithm is as follows: S2.1 Align sensor time data: align sensor timestamps, lidar timestamp is t LiDAR , the camera timestamp is t Camera , the time difference Δt is: Δt=t LiDAR -t Camera

[0022] The lidar velocity v is measured by the IMU sensor LiDAR , compensate for the displacement within Δt time, correct the position of the lidar point cloud, and the correction formula is: P′ LiDAR =R ext ·P LiDAR +T ext +v LiDAR ·△t

[0023] where P′ LiDAR is the coordinate of the laser radar point after compensation, R ext is the rotation matrix from the lidar to the camera, T ext is the translation vector from the laser radar to the camera, P LiDAR is the original lidar point coordinate;

[0024] S2.2 performs confidence weighted fusion calculation: calculates the binocular camera depth D camera

[0025]

[0026] Where f is the added focal length, B is the distance between the two cameras, and d is the pixel coordinates of the target point in the left and right camera images;

[0027] The binocular vision confidence weight is ω c ,

[0028] Among them, σ 2 is the local window variance of the disparity map, θ is the normalization parameter,

[0029] The lidar confidence weight is ω l ,

[0030] Among them, I intensity is the laser radar reflection intensity, k is the adjustment parameter,

[0031] The weighted fusion depth D LiDAR is the lidar depth;

[0032] S2.3 The visual navigation device (11) identifies the structure of the tool transport channel ahead and collects point cloud coordinates. It then converts the pixel coordinates (u, v) of the point cloud coordinates into three-dimensional coordinates (X, Y, Z). It determines whether the tool transport device can pass safely from the horizontal direction, vertical direction, and excavation direction. Specifically, the specific algorithm for converting the pixel coordinates (u, v) into three-dimensional coordinates (X, Y, Z) is:

[0033]

[0034] Among them, C x and C y is the camera internal parameter,

[0035] The specific process of judging whether the tool carrier can pass safely in the horizontal direction, vertical direction and excavation direction is as follows: the movable range of the tool carrier along the slide rail in the excavation direction is defined as [Z min ,Z max ], the safe distance in the excavation direction is Z safe ,

[0036]

[0037] in, is the maximum movement speed of the Z axis, is the Z-axis system response time, ε z is the Z-axis static safety margin,

[0038] When the cutter device moves along the excavation direction to Z≥Z max -Z safe or Z≤Z min -Z safe When the cutting device moves in the excavation direction,

[0039] Define the distance between the tool carrier and the obstacle in the horizontal direction as d x , the safety distance is X safe , in, is the maximum movement speed of the X axis, is the X-axis system response time, ε x is the X-axis static safety margin,

[0040] When the knife moving device is moving, the distance d between the knife moving device and the obstacle in the horizontal direction is x Need to meet d x <X safe Otherwise, the tool moving device needs to stop moving in that direction;

[0041] Define the distance between the tool carrier and the obstacle in the vertical direction as d y , the safety distance is Y safe ,

[0042] in, is the maximum movement speed of the Y axis, is the Y-axis system response time, ε y is the static safety margin of the Y axis.

[0043] When the knife moving device is moving, the distance d between the knife moving device and the obstacle in the vertical direction is y Need to meet d y <Y safe ,

[0044] Otherwise, the tool transport device needs to stop moving in that direction.

[0045] S2.4 According to the judgment of step S2.3, when the knife transport device can pass safely, the knife transport device continues to move in the current posture; when the knife transport device cannot pass safely, the height and lateral posture of the knife transport device are adjusted through the fixed-axis lifting mechanism and the transverse movement mechanism to avoid obstacles.

[0046] The beneficial effects of the present invention are as follows: the tool transport device of the present invention is equipped with a lifting mechanism and a tool gripping mechanism, and the tool height is changed by a fixed axis lifting mechanism. During the adjustment process, the tool center axis always remains perpendicular to the ground. After the tool transport device rotates, the horizontal position of the tool center axis changes, and the sliding mechanism can be used to adjust the tool center axis to remain in the position before rotation, which is convenient for automatic tool gripping and tool changing device gripping, without the need for secondary positioning and identification, thereby improving the tool transport efficiency. Moreover, the tool transport device of the present invention can avoid the space below the tool after raising the tool height, so that it can transport the tool in a narrow cabin.

[0047] On the basis of ensuring the transportation of the tool from the tail of the shield body to the manhole section, the present invention uses a visual navigation device to perform intelligent obstacle avoidance navigation to ensure the safety of the tool transportation process and avoid collisions. It solves the problems of cumbersome tool transportation procedures and unsafe factors such as unstable tools during lifting in the existing technology, further improves the intelligence and automation of the tool transportation process, and improves the tool changing efficiency of the tunnel boring machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 Schematic diagram of the structure of the knife moving device of the present invention;

[0050] Figure 2 This is a schematic diagram of the structure test of the knife moving device of the present invention;

[0051] Figure 3 This is a schematic diagram of the arrangement of the knife-carrying device structure on the shield;

[0052] Figure 4 This is a schematic diagram of the knife transport device structure before and after rotation;

[0053] Figure 5 Schematic diagram of the transverse movement mechanism;

[0054] Figure 6 It is a schematic diagram of the rotary mechanism;

[0055] Figure 7 Provide a schematic diagram for installing the visual navigation device;

[0056] Figure 8 Schematic diagram of the fixed axis lifting mechanism. DETAILED DESCRIPTION

[0057] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0058] Example 1, as Figure 1As shown, a tool transport device suitable for changing tools of a tunnel boring machine includes a slide rail 3 arranged axially along the shield body 12; the slide rail 3 is arranged in the shield body cabin for transporting the main body of the tool transport device along the tail of the shield body to the manhole section, avoiding multiple turns and lifting of the tool. A sliding trolley 4 is provided on the slide rail 3, and the sliding trolley moves along the slide rail to realize the movement of the tool transport device along the axial (depth) direction of the tunnel. A transverse mechanism 5 is provided at the bottom of the sliding trolley 4, and the transverse mechanism can realize the transverse movement of the main body of the tool transport device. The sliding trolley 4 is provided with a visual navigation device 11 for intelligent obstacle avoidance to ensure the safe tool transport of the main body of the tool transport device. A slewing mechanism 6 is provided on the slewing mechanism 5, and the slewing mechanism realizes the function of tool steering through slewing motion, and the tool clamp is used to hold the tool. A fixed axis lifting mechanism 7 is provided on the slewing mechanism 6, and a tool gripping mechanism 8 for clamping the tool 9 is provided on the fixed axis lifting mechanism 7. The axis lifting mechanism 7 adjusts the tool height, maintaining the tool axis perpendicular to the ground during adjustment. After the tool transport device rotates, the tool axis's horizontal position changes, but the sliding mechanism allows adjustment to maintain the tool axis's position before rotation. It should be noted that the tool transport device also includes a control system, which is divided into a remote control system and a remote controller, allowing for automated remote control as well as manual remote control.

[0059] The tool transport device in this embodiment has a slide rail installed in the shield body cabin, and the tool transport device is installed on the long slide rail to transport the tool from the tail of the shield body to the human cabin section. The rotary mechanism is installed on the main body of the tool transport device, which can rotate the main body of the tool transport device along its axis to facilitate the placement and removal of the tool. The tool gripping mechanism has a tool limit function to fix the tool, and the grip is more stable to avoid the risk of the tool falling. The fixed axis lifting mechanism can adjust the height of the tool clamp but does not change the angle of the tool center axis of the tool transport device. There is no need to adjust the tool height and angle when changing the tool. After the tool transport device rotates, it can slide a certain distance via the long slide rail so that the tool center axis remains in the position before rotation, which is convenient for automatic tool gripping and tool changing device to grab, without the need for tool identification and position calculation again. After the tool height is raised, the space occupied is reduced, which is convenient for working in a narrow cabin and prevents interference with other structures. The tool transport device in this embodiment is a tool transport device that is stable in lifting, occupies a small space, and does not require secondary transportation; it improves the safety and efficiency of tool transportation.

[0060] Example 2, as Figure 2 As shown, a tool transport device suitable for changing tools in a tunnel boring machine is shown. Based on the embodiment 1, the transverse movement mechanism 5 in this embodiment includes a translation slide rail 501 provided at the bottom of the sliding trolley 4; that is, the bottom of the sliding trolley is provided with a bottom plate, and the bottom plate is provided with two transverse translation slide rails to achieve the left and right position adjustment of the tool during the lifting. Figure 5As shown, a translation slider 502 is provided on the translation rail 501, and a support plate seat 102 is connected to the bottom of the translation slider 502; the support plate seat moves along the translation rail through the translation slider. The slewing mechanism 6 is provided on the support plate seat 102, and the slewing mechanism moves synchronously with the support plate seat. Figure 6 As shown, the slewing mechanism 6 in this embodiment includes a stator component 61 connected to a support plate seat 102 and a rotor component 62 rotatably connected to the stator component 61. The stator component can be rotatably connected to the support plate seat using a fixed ring gear, while the rotor component can be rotatably connected using a rotating ring gear that meshes with a fixed ring gear. The fixed ring gear can be driven by a motor to rotate 360 ​​degrees horizontally. A fixed plate seat 103 is provided at the bottom of the rotor component 62, and the fixed-axis lifting mechanism 7 is mounted on the fixed plate seat 103. The fixed plate seat 103 provides support for the fixed-axis lifting mechanism 7, which moves synchronously with the fixed plate seat.

[0061] The fixed-axis lifting mechanism 7 in this embodiment comprises a parallelogram connected to the slewing mechanism 6 and a lifting cylinder 79 that drives the parallelogram. The upper end of the parallelogram is connected to the slewing mechanism 6, and the tool gripping mechanism 8 is located at the lower end of the parallelogram. The lifting cylinder serves as the parallelogram's power element and, through the parallelogram, drives the tool gripping mechanism and its clamped tool for height adjustment. Furthermore, during the parallelogram's lifting process, the tool's central axis remains parallel to the ground.

[0062] Specifically, if Figure 8As shown, the parallelogram mechanism includes a left rod group and a right rod group. A lifting cylinder 79 is located between the left and right rod groups and is hinged to the middle of the tool gripping mechanism 8 to provide stable power to the left and right rod groups. The left rod group includes a first left rod 71 and a second left rod 72. The first left rod 71 has one end connected to the swivel mechanism 6 via a first left long lug seat 75 and the other end connected to the inside of the tool gripping mechanism 8. The second left rod 72 has one end connected to the swivel mechanism 6 via a second left short lug seat 76 and the other end hinged to the outside of the tool gripping mechanism 8. The right rod group includes a first right rod 73 and a second right rod 74. The first right rod 73 has one end connected to the swivel mechanism 6 via a first right long lug seat 77 and the other end hinged to the inside of the tool gripping mechanism 8. The second right rod 74 has one end connected to the swivel mechanism 6 via a second right short lug seat 78 and the other end hinged to the outside of the tool gripping mechanism 8. The left rod group and the right rod group have similar structures. Through the cooperation of the left rod group and the right rod group, not only the tool is lifted stably, but also the center axis of the tool is always parallel to the ground during the lifting process, so it is convenient for the automatic tool gripper and tool changing device to grip the tool, and the lifting height can be adjusted according to needs. The fixed lifting height can be used to facilitate the automatic tool gripper and tool changing device to grab, without the need to position the tool again, and the tool transport device can rotate, translate and slide through the rotary mechanism before and after the tool is lifted.

[0063] The tool gripping mechanism 8 in this embodiment comprises a left profiling seat 81 and a right profiling seat 82, connected by a connecting plate 83. Both profiling seats 81 and 82 are U-shaped, with profiling grooves 84 on either side of the U-shaped seat to mate with the cutter shaft of the cutter 9. The left and right profiling seats 81 and 82 are similar in structure and can be used to clamp both single and double hobs. The profiling grooves 84 utilize a profiling limiter design to stably hold the cutter 9, preventing it from swaying during lifting, colliding with other equipment, or falling. Furthermore, given the limited internal space within the shield and the numerous components, raising the height of the tool handling mechanism further reduces its occupied space, allowing for the structural components below to be cleared and prevent interference and collision. This allows for the placement of other components within the confined space while still allowing tool handling. After the tool transport device is loaded with the tool 9, it is transported from the inside of the shield body 2 to the man warehouse. The tool transport device body 10 is rotated 180° by the rotary mechanism 6. After the tool transport device body 10 is rotated, the tool can be directly disassembled or loaded on the rear side of the cutter disc without the need to disassemble and transport it again in the narrow space of the shield body.

[0064] As a preferred solution, Figure 7As shown, the visual navigation device 11 includes a binocular camera, a laser radar and an IMU sensor; that is, a multimodal sensor fusion method of a binocular camera, a laser radar and an IMU is used for obstacle avoidance navigation. Combined with the background control system, the knife moving device has two control modes, automatic and manual, and the control mode can be switched. The knife moving device can be remotely controlled in the main control room through the background controller to complete the remote knife moving task. Manual control can also be performed by remote control to complete the knife moving task. It should be noted that the present invention is an improvement on the equipment components and does not involve improvements to the circuits and control programs. The present invention only controls the operation and stop of each electronic device through the PLC control system. Since the PLC control system is a mature automatic control system in industry, the present invention will no longer repeat the circuit and control program contents.

[0065] Example 3: A tunnel boring machine, such as Figure 3 As shown, the tool transport device suitable for tool changing in a tunnel boring machine as described in Example 2 is used; the slide rail 3 extends from the rear of the shield body 12 to the manhole 13. From the rear of the shield body to the manhole, the internal structure of the shield body is complex and narrow. In the existing traditional method, multiple reverse transports are required to complete the tool lifting. The tool transport device of the present invention can complete the lifting of the tool 9 after loading, without the need for multiple reverse transports. On the basis of ensuring the transportation of the tool from the rear of the shield body to the manhole, this embodiment uses a transverse mechanism 5, a rotary mechanism 6, and a fixed axis lifting mechanism 7 to eliminate the need for secondary transportation during the lifting process. The tool is stable and the tool center axis angle remains unchanged, eliminating the need for tool adjustment. The front and rear positions of the tool transport device can be measured, thereby improving the safety and efficiency of tool transportation. During the lifting process, the tool height can be raised while avoiding the underlying structure to prevent collision with the underlying structure. The radial range of the cutter disc is large during tool changing. Therefore, the tool transport device is equipped with a translation slide rail and a translation slider to achieve lateral translation of the tool transport device to prevent interference with other structures during the tool transportation process. When changing the cutter disc tool, the lateral position of the tool can be adjusted according to the target tool replacement position, facilitating tool changing. The tool transport device is easily interfered with other structures during the process of lifting the tool in the shield body due to the narrow space and numerous parts in the shield body. The tool transport device is equipped with a visual navigation device, which uses a multi-modal sensor fusion method of binocular camera, lidar and IMU for obstacle avoidance navigation to improve the safety of tool transportation.

[0066] Furthermore, the tool transport device can be used in conjunction with an automated tool changer. After the tool transport device is transported to the designated location, the automated tool changer grabs the tool and, after the tool change is complete, places the damaged tool back on the tool transport device for transport. This process maintains the tool transport device's sliding, lateral movement distance, and rotation angle, eliminating the need for navigation and tool identification and positioning for automated tool change loading.

[0067] Example 4: A tool transporting method based on the tunnel boring machine described in Example 3; the specific steps are as follows: S1, the tool transporting device is located at the tail of the shield body, at this time the sliding trolley 4 is located at the rear end of the slide rail 3, the rotary mechanism 6 is in the 0° position, the fixed axis lifting mechanism 7 and the transverse movement mechanism 5 drive the tool gripping mechanism 8 to be located in the middle and lowest position, and the tool gripping mechanism 8 is facing the rear of the shield body; the opening of the tool gripping mechanism 8 is made to face the operator to facilitate the disassembly and assembly of the tool 9.

[0068] S2. Place the tool 9 on the tool gripping mechanism 8, then start the tool transporting device, and the sliding trolley 4 moves forward along the slide rail 3. During the tool transporting process, the visual navigation device 11 performs obstacle avoidance navigation, and adjusts the position of the tool gripping mechanism 8 and the tool 9 through the fixed axis lifting mechanism 7 and the transverse movement mechanism 5, effectively avoiding collisions.

[0069] S3. When the tool transport device moves to the manhole 13, the sliding carriage 4 moves to the front of the slide rail 3 and close to the cutter disc. The slewing mechanism 6 rotates to 180 degrees, and the tool gripping mechanism 8 faces the cutter disc. The sliding carriage 4 then moves backward along the slide rail 3 by a distance D. Distance D is the distance between the tool center axis before and after the rotation when the tool gripping mechanism 8 is in the same position. This ensures that the tool center axis is in the same position before and after the rotation driven by the slewing mechanism 6. The tool can be grasped by the automatic tool gripper and tool changer. Since the tool center axis position is determined, there is no need to re-position and identify the tool, thereby improving efficiency.

[0070] S4. The tool changing device removes the tool 9 from the tool holding mechanism 8, and the tool transporting device completes the movement from the tail of the shield to the man warehouse, thereby improving the safety and efficiency of the tool transport.

[0071] The visual navigation device 11 performs obstacle avoidance navigation using a multimodal sensor fusion method of binocular camera, laser radar and IMU. The specific algorithm is as follows: S2.1 Align sensor time data: Align sensor timestamps through hardware. The laser radar timestamp is t LiDAR , the camera timestamp is t Camera , the time difference Δt is: Δt=t LiDAR -t Camera

[0072] The lidar velocity v is measured by the IMU sensor LiDAR , compensate for the displacement within Δt time, correct the position of the lidar point cloud, and the correction formula is: P′ LiDAR =R ext ·P LiDAR +T ext +v LiDAR ·△t

[0073] where P′ LiDAR is the coordinate of the laser radar point after compensation, R extis the rotation matrix from the lidar to the camera, T ext is the translation vector from the laser radar to the camera, P LiDAR is the original lidar point coordinate;

[0074] S2.2 performs confidence weighted fusion calculation: calculates the binocular camera depth D camera

[0075]

[0076] Where f is the added focal length, B is the distance between the two cameras, and d is the pixel coordinates of the target point in the left and right camera images;

[0077] The binocular vision confidence weight is ω c ,

[0078] Among them, σ 2 is the local window variance of the disparity map, θ is the normalization parameter,

[0079] The lidar confidence weight is ω l ,

[0080] Among them, I intensity is the laser radar reflection intensity, k is the adjustment parameter,

[0081] The weighted fusion depth D LiDAR The laser radar depth S2.3 visual navigation device (11) identifies the structure of the tool transport channel ahead and collects point cloud coordinates. The pixel coordinates (u, v) of the point cloud coordinates are then converted into three-dimensional coordinates (X, Y, Z). From the horizontal direction, vertical direction, and excavation direction, it is determined whether the tool transport device can pass safely. Specifically, the specific algorithm for converting the pixel coordinates (u, v) into three-dimensional coordinates (X, Y, Z) is:

[0082]

[0083] Among them, C x and C y is the camera internal parameter,

[0084] The specific process of judging whether the tool carrier can pass safely in the horizontal direction, vertical direction and excavation direction is as follows: the movable range of the tool carrier along the slide rail in the excavation direction is defined as [Z min ,Z max ], the safe distance in the excavation direction is Z safe ,

[0085]

[0086] in, is the maximum movement speed of the Z axis, is the Z-axis system response time, ε z is the Z-axis static safety margin,

[0087] When the cutter device moves along the excavation direction to Z≥Z max -Z safe or Z≤Z min -Z safe When the cutting device moves in the excavation direction,

[0088] Define the distance between the tool carrier and the obstacle in the horizontal direction as d x , the safety distance is X safe ,

[0089] in, is the maximum movement speed of the X axis, is the X-axis system response time, ε x is the X-axis static safety margin,

[0090] When the knife moving device is moving, the distance d between the knife moving device and the obstacle in the horizontal direction is x Need to meet d x <X safe Otherwise, the tool moving device needs to stop moving in that direction;

[0091] Define the distance between the tool carrier and the obstacle in the vertical direction as d y , the safety distance is Y safe ,

[0092] in, is the maximum movement speed of the Y axis, is the Y-axis system response time, ε y is the static safety margin of the Y axis.

[0093] When the knife moving device is moving, the distance d between the knife moving device and the obstacle in the vertical direction is y Need to meet d y <Y safe ,

[0094] Otherwise, the tool transport device needs to stop moving in that direction.

[0095] S2.4 According to the judgment of step S2.3, when the knife transport device can pass safely, the knife transport device continues to move in the current posture; when the knife transport device cannot pass safely, the height and lateral posture of the knife transport device are adjusted through the fixed axis lifting mechanism 7 and the transverse movement mechanism 5 to avoid obstacles.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tool transport device suitable for changing tools of a roadheader, characterized by: The invention comprises a slide rail (3) arranged along the axial direction of a shield body (12), a sliding trolley (4) being provided on the slide rail (3), a transverse movement mechanism (5) being provided at the bottom of the sliding trolley (4), a visual navigation device (11) being provided on the sliding trolley (4), a slewing mechanism (6) being provided on the transverse movement mechanism (5), a fixed axis lifting mechanism (7) being provided on the slewing mechanism (6), and a tool holding mechanism (8) for clamping a tool (9) being provided on the fixed axis lifting mechanism (7).

2. The tool transport device for changing tools of a tunnel boring machine according to claim 1, characterized in that: The transverse movement mechanism (5) comprises a translation rail (501) arranged at the bottom of the sliding trolley (4); a translation slider (502) is slidably provided on the translation rail (501); and a support plate seat (102) is connected to the bottom of the translation slider (502); The rotary mechanism (6) is arranged on the support plate seat (102).

3. The tool transport device for changing tools of a tunnel boring machine according to claim 2, characterized in that: The rotary mechanism (6) comprises a stator component (61) connected to a support plate seat (102) and a rotor component (62) rotatably connected to the stator component (61); a fixed plate seat (103) is provided at the bottom of the rotor component (62); and a fixed axis lifting mechanism (7) is provided on the fixed plate seat (103).

4. The tool transport device for changing tools of a roadheader according to any one of claims 1 to 3, characterized in that: The fixed axis lifting mechanism (7) includes a parallelogram mechanism connected to the rotary mechanism (6) and a lifting cylinder (79) for driving the parallelogram mechanism to move. The upper end of the parallelogram mechanism is connected to the rotary mechanism (6), and the tool holding mechanism (8) is arranged at the lower end of the parallelogram mechanism.

5. The tool transport device for changing tools of a roadheader according to claim 4, characterized in that: The parallelogram mechanism comprises a left rod group and a right rod group, a lifting cylinder (79) is located between the left rod group and the right rod group and is hinged to the middle of the tool gripping mechanism (8); the left rod group comprises a left first rod (71) and a left second rod (72); one end of the left first rod (71) is connected to the rotary mechanism (6) through a left first long ear seat (75), and the other end is connected to the inner side of the tool gripping mechanism (8); one end of the left second rod (72) is connected to the rotary mechanism (6) through a left second short ear seat (76), and the other end is hinged to the outer side of the tool gripping mechanism (8).

6. The tool transport device for changing tools of a roadheader according to claim 5, characterized in that: The right rod assembly comprises a first right rod (73) and a second right rod (74); one end of the first right rod (73) is connected to the rotary mechanism (6) via a first right long ear seat (77), and the other end is hinged to the inner side of the tool gripping mechanism (8); one end of the second right rod (74) is connected to the rotary mechanism (6) via a second right short ear seat (78), and the other end is hinged to the outer side of the tool gripping mechanism (8).

7. The tool transport device for changing tools of a roadheader according to claim 5 or 6, characterized in that: The tool holding mechanism (8) comprises a left profiling seat (81) and a right profiling seat (82), which are connected by a connecting plate (83); the left profiling seat (81) and the right profiling seat (82) are both U-shaped seats, and both side walls of the U-shaped seat are provided with profiling grooves (84) that match the knife shaft of the tool (9).

8. The tool transport device for changing tools of a roadheader according to any one of claims 1 to 3 and 6, characterized in that: The visual navigation device (11) includes a binocular camera, a laser radar and an IMU sensor.

9. A roadheader, characterized in that: A tool transport device suitable for tool changing of a tunnel boring machine as described in any one of claims 1 to 8 is used; the slide rail (3) extends from the rear end of the shield body (12) to the man cabin (13).

10. A knife-moving method, characterized in that: Based on the tunnel boring machine according to claim 9; the specific steps are as follows: S1, the tool transport device is located at the rear of the shield body, at this time the sliding trolley (4) is located at the rear end of the slide rail (3), the rotary mechanism (6) is at the 0° position, the fixed axis lifting mechanism (7) and the transverse mechanism (5) drive the tool gripping mechanism (8) to be located at the lowest position in the middle, and the tool gripping mechanism (8) faces the rear of the shield body; S2, placing the tool (9) on the tool holding mechanism (8), then starting the tool transporting device, the sliding trolley (4) moves forward along the slide rail (3), and during the tool transporting process, the visual navigation device (11) performs obstacle avoidance navigation, and adjusts the posture of the tool holding mechanism (8) and the tool (9) through the fixed axis lifting mechanism (7) and the transverse movement mechanism (5); S3. When the tool transport device moves to the man warehouse (13), the sliding trolley (4) moves to the front of the slide rail (3) and close to the cutter disc, the rotary mechanism (6) rotates to 180 degrees, the tool gripping mechanism (8) faces the cutter disc, and then the sliding trolley (4) moves backward along the slide rail (3) by a distance D. The distance D is the distance from the center axis of the tool before the rotation to the center axis of the tool after the rotation when the tool gripping mechanism (8) is in the same position; it is ensured that the position of the center axis of the tool is the same before and after the rotary mechanism (6) drives the tool to rotate. S4, the tool changing device removes the tool (9) from the tool holding mechanism (8), and the tool transporting device completes the movement from the tail of the shield body to the human warehouse.

11. The knife operation method according to claim 9, characterized in that: The visual navigation device (11) performs obstacle avoidance navigation by using a multimodal sensor fusion method of a binocular camera, a laser radar, and an IMU sensor, specifically: S2.1 aligning time data of the binocular camera, the laser radar, and the IMU sensor; S2.2 performing confidence weighted fusion calculation on the binocular camera and the laser radar; S2.3 The visual navigation device (11) identifies the structure of the tool transport channel ahead and collects point cloud coordinates, then converts the pixel coordinates (u, v) of the point cloud coordinates into three-dimensional coordinates (X, Y, Z), and determines whether the tool transport device can pass safely from the horizontal direction, vertical direction and excavation direction; S2.4 According to the judgment of step S2.3, when the knife transport device can pass safely, the knife transport device continues to move in the current posture; when the knife transport device cannot pass safely, the height direction and lateral posture of the knife transport device are adjusted through the fixed axis lifting mechanism (7) and the transverse movement mechanism (5) to avoid obstacles.

12. The knife moving method according to claim 11, characterized in that: The specific algorithm of step S2.1 is: align the IMU sensor timestamp and the lidar timestamp to t LiDAR , the camera timestamp is t Camera , the time difference Δt is: Δt=t LiDAR -t Camera The lidar velocity v is measured by the IMU sensor LiDAR , compensate for the displacement within Δt time, correct the position of the lidar point cloud, and the correction formula is: P' LiDAR =R ext ·P LiDAR +T ext +v LiDAR ·△t where P' LiDAR is the coordinate of the laser radar point after compensation, R ext is the rotation matrix from the lidar to the camera, T ext is the translation vector from the laser radar to the camera, P LiDAR are the original lidar point coordinates.

13. The knife moving method according to claim 12, characterized in that: The specific algorithm of step S2.2 is: calculate the binocular camera depth D camera Where f is the added focal length, B is the binocular baseline distance, and d is the parallax value; The binocular vision confidence weight is ω c , Among them, σ 2 is the local window variance of the disparity map, θ is the normalization parameter, The lidar confidence weight is ω l , Among them, I intensity is the laser radar reflection intensity, k is the adjustment parameter, The weighted fusion depth D LiDAR is the lidar depth.

14. The knife moving method according to claim 13, wherein: The specific algorithm for converting the pixel coordinates (u, v) to three-dimensional coordinates (X, Y, Z) in step S2.3 is: Z=D fusion Among them, C x and C y is the camera internal parameter, The specific process of judging whether the tool carrier can pass safely in the horizontal direction, vertical direction and excavation direction is as follows: the movable range of the tool carrier along the slide rail in the excavation direction is defined as [Z min ,Z max ], the safe distance in the excavation direction is Z safe , in, is the maximum movement speed of the Z axis, is the Z-axis system response time, ε z is the Z-axis static safety margin, When the cutter device moves along the excavation direction to Z≥Z max -Z safe or Z≤Z min -Z safe When the cutting device moves in the excavation direction, Define the distance between the tool carrier and the obstacle in the horizontal direction as d x , the safety distance is X safe , in, is the maximum movement speed of the X axis, is the X-axis system response time, ε x is the X-axis static safety margin, When the knife moving device is moving, the distance d between the knife moving device and the obstacle in the horizontal direction is x Need to meet d x <X safe Otherwise, the tool moving device needs to stop moving in that direction; Define the distance between the tool carrier and the obstacle in the vertical direction as d y , the safety distance is Y safe , in, is the maximum movement speed of the Y axis, is the Y-axis system response time, ε y is the static safety margin of the Y axis. When the knife moving device is moving, the distance d between the knife moving device and the obstacle in the vertical direction is y Need to meet d y <Y safe Otherwise, the tool transport device needs to stop moving in this direction.

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