Hydraulic driving system of multi-joint large shield intelligent tool changing robot

Abstract

The invention relates to the technical field of shield tunneling machine hydraulic driving, and discloses a multi-joint large shield intelligent tool changing robot hydraulic driving system which comprises an oil return pipe and an oil inlet pipe. The first joint hydraulic unit, the second joint hydraulic unit, the third joint hydraulic unit, the fourth joint hydraulic unit, the fifth joint hydraulic unit, the sixth joint hydraulic unit, the seventh joint hydraulic unit, the eighth joint hydraulic unit, the ninth joint hydraulic unit and the tenth joint hydraulic unit are respectively connected with the oil return pipe and the oil inlet pipe; an eleventh joint hydraulic unit and a driving hydraulic unit; by controlling flowing of hydraulic oil, control over all the hydraulic units is achieved, and all the hydraulic units can complete corresponding driving work; other joint hydraulic units can be controlled through the arranged driving hydraulic unit, so that the tool changing robot can be driven, the tool changing position of the tool changing robot is changed, and the tool changing work of the shield tunneling machine is completed.

Description

Technical Field

[0001] The present application relates to the technical field of hydraulic drive of shield machines, and specifically to a hydraulic drive system for a multi-joint large shield machine intelligent tool changing robot. Background Art

[0002] Shield machines are specialized equipment used for tunnel excavation. Due to their safety, speed, and efficiency, they are widely used in urban underground space development. With the rapid development of the domestic shield tunneling industry, tunnel construction is placing increasingly higher demands on the performance of shield machines.

[0003] For example, Chinese patent application publication number CN110701149A discloses a shield machine cutter stroke control hydraulic system, comprising a working circuit, the working circuit including an electromagnetic reversing valve, the electromagnetic reversing valve being connected to a high-pressure stop valve outlet and a high-pressure stop valve outlet respectively via pipelines, the high-pressure stop valve inlet being connected to a rod chamber of a profile cutter oil cylinder via a pipeline, the profile cutter oil cylinder also including a rodless chamber, the rodless chamber being connected to the outlet of the high-pressure stop valve via a pipeline, the high-pressure stop valve inlet being connected to a profile cutter flow meter outlet via a three-way pipeline, and the profile cutter flow meter inlet being connected in series with the high-pressure stop valve outlet via a pipeline, thereby forming a working circuit for driving the profile cutter oil cylinder to extend and retract. One end of the rod chamber of the profile cutter oil cylinder is connected to the profile cutter, and the profile cutter oil cylinder controls the extension and retraction of the profile cutter.

[0004] Although the above application can complete the excavation work of the shield machine, the cutters in the shield machine will be damaged during the excavation process. The existing tool replacement methods are mostly manual replacement, and a small part is mechanical replacement. In order to complete the tool replacement work and the removal of the cutter wheel, it is necessary to set up multiple joint hydraulic units. Through the mutual cooperation between the joint hydraulic units, the working area of ​​the tool changing device is adjusted to complete the replacement of the damaged tools on the shield machine.

[0005] Therefore, how to design a new joint hydraulic system to adjust the position of the tool changing robot and complete the tool replacement is a problem that needs to be solved at present. Summary of the Invention

[0006] The present application provides a hydraulic drive system for a multi-joint large shield intelligent tool changing robot to solve the above-mentioned problems existing in the prior art.

[0007] A hydraulic drive system for a multi-joint large shield machine intelligent tool-changing robot, comprising:

[0008] an oil return pipe and an oil inlet pipe, and a first joint hydraulic unit, a second joint hydraulic unit, a third joint hydraulic unit, a fourth joint hydraulic unit, a fifth joint hydraulic unit, a sixth joint hydraulic unit, a seventh joint hydraulic unit, an eighth joint hydraulic unit, a ninth joint hydraulic unit, a tenth joint hydraulic unit, an eleventh joint hydraulic unit, and a driving hydraulic unit connected to the oil return pipe and the oil inlet pipe, respectively;

[0009] By controlling the flow of hydraulic oil, each hydraulic unit can be controlled so that each hydraulic unit can complete the corresponding driving work;

[0010] The large shield machine mentioned here generally refers to a large-diameter shield machine, usually a shield machine with a diameter between 12-14 meters.

[0011] Furthermore, the oil return pipe includes an oil return pipe T1 and an oil return pipe T2, and the oil inlet pipe includes an oil inlet pipe P1 and an oil inlet pipe P2;

[0012] The fourth joint hydraulic unit, the fifth joint hydraulic unit, the seventh joint hydraulic unit and the eighth joint hydraulic unit have the same structure;

[0013] The third joint hydraulic unit and the sixth joint hydraulic unit have the same structure;

[0014] The ninth joint hydraulic unit and the tenth joint hydraulic unit have the same structure.

[0015] Furthermore, the driving hydraulic unit includes a self-sealing quick-change connector K1, a self-sealing quick-change connector K2, a self-sealing quick-change connector K3, a self-sealing quick-change connector K4, a ball valve Q1, a ball valve Q2, a temperature sensor TS, a pressure sensor T1, a pressure sensor T2, a pressure sensor T3, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an accumulator AC, and an accumulator valve group E.

[0016] Furthermore, the first joint hydraulic unit includes a one-way valve PCV3, a one-way valve PCV4, a servo proportional valve 4WRA1, a servo proportional valve 4WRA2, an electromagnetic reversing valve EMV2, an electromagnetic reversing valve EMV3, a hydraulically controlled one-way valve PCV5, a hydraulically controlled one-way valve PCV6, a hydraulically controlled one-way valve PCV7, a hydraulically controlled one-way valve PCV8, a pressure sensor T6, a pressure sensor T7, a pressure sensor T8, a pressure sensor T9, a pressure sensor T10, and a safety valve RV3.

[0017] Furthermore, the execution unit includes two first execution modules and a second execution module with the same structure;

[0018] The first execution module and the second execution module have the same structure;

[0019] The first execution module includes a balancing valve CBV3, a balancing valve CBV4, a motor M1, and a motor M2;

[0020] The second execution module includes a balancing valve CBV5, a balancing valve CBV6, a motor M3, and a motor M4;

[0021] The inlet of the balancing valve CBV3 is respectively connected to the oil outlet of the hydraulically controlled one-way valve PCV5, the A port of the motor M1 and the A port of the motor M2; the outlet of the balancing valve CBV3 is respectively connected to the outlet of the balancing valve CBV4, the D port of the motor M1, the D port of the motor M2 and the oil return pipe T2; the B port of the motor M1, the B port of the motor M2 and the inlet of the balancing valve CBV4 are connected and then connected to the oil outlet of the hydraulically controlled one-way valve PCV6; the C port of the motor M1 is connected to the C port of the motor M2 and then connected to the C port of the electromagnetic reversing valve EMV2.

[0022] Furthermore, the second joint hydraulic unit includes two third execution modules and a fourth execution module with the same structure;

[0023] The third execution module and the fourth execution module have the same structure;

[0024] The third execution module includes: servo proportional valve 4WRA3, pressure sensor T11, pressure sensor T12, hydraulic control one-way valve PCV9, electromagnetic reversing valve EMV4, servo cylinder C1;

[0025] The fourth execution module includes a servo proportional valve 4WRA4, a pressure sensor T13, a pressure sensor T14, a hydraulically controlled one-way valve PCV10, an electromagnetic reversing valve EMV5, and a servo cylinder C2.

[0026] Furthermore, the third joint hydraulic unit includes a servo proportional valve 4WRA5, a pressure sensor T15, a pressure sensor T16, a hydraulically controlled one-way valve PCV11, a hydraulically controlled one-way valve PCV12, an electromagnetic reversing valve EMV6, and a servo cylinder C3.

[0027] Furthermore, the fourth joint hydraulic unit includes: a fourth servo valve SV, an electromagnetic reversing valve EMV1, a hydraulically controlled one-way valve PCV1, a hydraulically controlled one-way valve PCV2, a pressure sensor T4, a pressure sensor T5, a balancing valve CBV1, a balancing valve CBV2, and a servo swing cylinder SSC;

[0028] The fourth joint hydraulic unit includes an electromagnetic reversing valve EMV1 connected to the oil inlet pipe P2, the B port of the electromagnetic reversing valve EMV1 is respectively connected to the return oil pipe T2 and the return oil port of the fourth servo valve SV, the oil inlet of the fourth servo valve SV is connected to the oil inlet pipe P1, the two working oil ports of the fourth servo valve SV are respectively connected to the hydraulically controlled one-way valve PCV1 and the hydraulically controlled one-way valve PCV2, the pressure sensor T4, the balancing valve CBV1 and the servo swing cylinder SSC connected to the other end of the hydraulically controlled one-way valve PCV1, and the pressure sensor T5, the balancing valve CBV2 and the servo swing cylinder SSC connected to the other end of the hydraulically controlled one-way valve PCV2; the A port of the electromagnetic reversing valve EMV1 is respectively connected to the hydraulically controlled one-way valve PCV1 and the hydraulically controlled one-way valve PCV2; wherein the oil outlet of the servo swing cylinder SSC is respectively connected to the balancing valve CBV1 and the balancing valve CBV2 and then to the return oil pipe T1.

[0029] Furthermore, the ninth joint hydraulic unit includes a stop-type electromagnetic reversing valve EMV7, a pressure sensor T17, a pressure sensor T18, an oil cylinder H1, and an oil cylinder H2;

[0030] The oil inlet of the stop-type electromagnetic reversing valve EMV7 is connected to the oil inlet pipeline P1, the oil outlet of the stop-type electromagnetic reversing valve EMV7 is connected to the oil outlet pipeline T2, one of the working oil ports of the stop-type electromagnetic reversing valve EMV7 is respectively connected to the pressure sensor T17, the A port of the cylinder H1 and the B port of the cylinder H2, and the B port of the cylinder H1 is respectively connected to the other working oil port of the stop-type electromagnetic reversing valve EMV7, the pressure sensor T18 and the A port of the cylinder H2.

[0031] Furthermore, the eleventh joint hydraulic unit includes a stop-type electromagnetic reversing valve EMV8, a pressure sensor T19, a pressure sensor T20, a balancing valve CBV7, a balancing valve CBV8, and a motor M5;

[0032] The oil inlet of the stop-type electromagnetic reversing valve EMV8 is connected to the oil inlet pipeline P2, the oil outlet of the stop-type electromagnetic reversing valve EMV8 is connected to the oil outlet pipeline T2, one of the working oil ports of the stop-type electromagnetic reversing valve EMV8 is connected to the pressure sensor T19, the inlet of the balancing valve CBV7 and the A port of the motor M5, the outlet of the balancing valve CBV7 is respectively connected to the C port of the motor M5, the return oil pipeline T2 and the outlet of the balancing valve CBV8, and the inlet of the balancing valve CBV8 is respectively connected to the B port of the motor M5, the other working oil port of the stop-type electromagnetic reversing valve EMV8 and the pressure sensor T20;

[0033] A first one-way throttle valve is further provided between the stop-type electromagnetic reversing valve EMV8 and the pressure sensors T19 and T20.

[0034] Beneficial effect: The present application discloses a hydraulic drive system for a multi-joint large shield intelligent tool changing robot. In order to design a new joint hydraulic system, the position of the tool changing robot can be adjusted, thereby completing the tool replacement work; the hydraulic drive system includes a return oil pipe and an oil inlet pipe, and a first joint hydraulic unit, a second joint hydraulic unit, a third joint hydraulic unit, a fourth joint hydraulic unit, a fifth joint hydraulic unit, a sixth joint hydraulic unit, a seventh joint hydraulic unit, an eighth joint hydraulic unit, a ninth joint hydraulic unit, a tenth joint hydraulic unit, an eleventh joint hydraulic unit and a driving hydraulic unit respectively connected to the return oil pipe and the oil inlet pipe; by controlling the flow of hydraulic oil, the control of each hydraulic unit is achieved, so that each hydraulic unit can complete the corresponding driving work; the driving hydraulic unit is set to control other joint hydraulic units, so that the tool changing robot can be driven, the tool changing position of the tool changing robot is changed, and the tool changing work of the shield machine is completed, and the eleven joint hydraulic units are set, and the degree of freedom of the tool changing robot can be increased, the moving accuracy of the tool changing robot is improved, and the smooth progress of the tool changing work is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the hydraulic drive system of a multi-joint large shield intelligent tool changing robot in this application;

[0036] Figure 2 is a schematic diagram of the drive hydraulic unit of the present application;

[0037] Figure 3 It is a schematic diagram of the first joint hydraulic unit of the present application;

[0038] Figure 4 is a schematic diagram of the second joint hydraulic unit of the present application;

[0039] Figure 5 It is a schematic diagram of the third joint hydraulic unit of the present application;

[0040] Figure 6 It is a schematic diagram of the fourth joint hydraulic unit of the present application;

[0041] Figure 7 It is a schematic diagram of the ninth joint hydraulic unit of the present application;

[0042] Figure 8 It is a schematic diagram of the tenth joint hydraulic unit of the present application;

[0043] Figure 9 It is a three-dimensional diagram of the tool changing robot of the present application;

[0044] Figure 10 It is a schematic diagram of the tool changing robot of this application.

[0045] Figure markings: 1. First joint hydraulic unit; 2. Second joint hydraulic unit; 3. Third joint hydraulic unit; 4. Fourth joint hydraulic unit; 5. Fifth joint hydraulic unit; 6. Sixth joint hydraulic unit; 7. Seventh joint hydraulic unit; 8. Eighth joint hydraulic unit; 9. Ninth joint hydraulic unit; 10. Tenth joint hydraulic unit; 11. Eleventh joint hydraulic unit. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the drawings in the specification.

[0047] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0048] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present application. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0049] This application discloses a hydraulic drive system for a multi-joint large shield intelligent tool-changing robot. Figures 1-10 ,include:

[0050] An oil return pipe and an oil inlet pipe, as well as a first joint hydraulic unit 1, a second joint hydraulic unit 2, a third joint hydraulic unit 3, a fourth joint hydraulic unit 4, a fifth joint hydraulic unit 5, a sixth joint hydraulic unit 6, a seventh joint hydraulic unit 7, an eighth joint hydraulic unit 8, a ninth joint hydraulic unit 9, a tenth joint hydraulic unit 10, an eleventh joint hydraulic unit 11 and a driving hydraulic unit respectively connected to the oil return pipe and the oil inlet pipe; by controlling the flow of hydraulic oil, control of each hydraulic unit is achieved so that each hydraulic unit can complete the corresponding driving work; by controlling the flow of hydraulic oil, control of each hydraulic unit is achieved so that each hydraulic unit can complete the corresponding driving work; the driving hydraulic unit is set to control other joint hydraulic units, so that the tool changing robot can be driven, the tool changing position of the tool changing robot can be changed, and the tool changing work of the shield machine can be completed, and by setting the eleven joint hydraulic units, the degree of freedom of the tool changing robot can be increased, the moving accuracy of the tool changing robot can be improved, and the smooth progress of the tool changing work can be ensured.

[0051] The return oil pipe includes a return oil pipe T1 and a return oil pipe T2, and the oil inlet pipe includes an oil inlet pipe P1 and an oil inlet pipe P2; wherein the fourth joint hydraulic unit 4, the fifth joint hydraulic unit 5, the seventh joint hydraulic unit 7 and the eighth joint hydraulic unit 8 have the same structure; the third joint hydraulic unit 3 and the sixth joint hydraulic unit 6 have the same structure; the ninth joint hydraulic unit 9 and the tenth joint hydraulic unit 10 have the same structure.

[0052] The driving hydraulic unit includes a self-sealing quick-change joint K1, a self-sealing quick-change joint K2, a self-sealing quick-change joint K3, a self-sealing quick-change joint K4, a ball valve Q1, a ball valve Q2, a temperature sensor TS, a pressure sensor T1, a pressure sensor T2, a pressure sensor T3, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an accumulator AC, and an accumulator valve group E; the driving hydraulic unit includes a self-sealing quick-change joint K1, a self-sealing quick-change joint K2, a self-sealing quick-change joint K3 connected to the energy pump station respectively, a self-sealing quick-change joint K4 connected to the self-sealing quick-change joint K1, a ball valve Q2 connected to the other end of the self-sealing quick-change joint K3, a temperature sensor TS, a pressure sensor T1, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an accumulator AC, and an accumulator valve group E. 1 and accumulator valve group E, the other end of the accumulator valve group E is connected to the accumulator AC, the other end of the pipeline filter F1 is respectively connected to the throttle valve L1 and the throttle valve L2, and the pressure reducing valve A1 and the pressure reducing valve A2 are respectively connected to the throttle valve L1 and the throttle valve L2, wherein the outlet end of the pressure reducing valve A1 is respectively connected to the pressure sensor T2, the safety valve RV1 and one end of the pipeline filter F2, and the outlet end of the pressure reducing valve A2 is respectively connected to the pressure sensor T3, the safety valve RV2 and the oil inlet pipeline P2; the other end of the self-sealing quick-change connector K2 is connected to the ball valve Q1; the pipeline filter F2 is connected to the oil inlet pipeline P1, and the other ends of the safety valve RV1, the other ends of the safety valve RV2 and the other end of the ball valve Q1 are respectively connected to the oil return pipeline T2; wherein the oil drain ports of the pressure reducing valve A1 and the pressure reducing valve A2 and the self-sealing quick-change connector K4 are respectively connected to the oil return pipeline T1;

[0053] The drive hydraulic unit adjusts the high pressure of the energy pump station to the required operating pressure, filters the medium, stores energy, and then supplies it to the various joint hydraulic units. The drive hydraulic unit features two oil supply lines. Pressure reducing valves A1 and A2 reduce the energy pump station pressure to 20 MPa and 10 MPa, respectively, to supply the joint unit's main circuit (P1) and control circuit (P2). Each circuit is equipped with safety valves RV1 and RV2 to prevent pressure from exceeding the upper limit. Two-stage filters, 10 μm and 5 μm, purify the hydraulic oil. The line filters (F1 and F2) feature differential alarms that signal blockage. The accumulator AC is used for pressure stabilization and energy storage, stabilizing system pressure pulsations and providing short-term hydraulic oil compensation.

[0054] The energy pump station's oil supply and return lines are connected to the drive hydraulic unit via quick-change connectors (K1, K2, K3, and K4). Once these connectors are connected, the high-pressure oil from the energy pump station is filtered through a line filter F1 with an accuracy better than 10 μm. After flow distribution through throttle valves L1 and L2, the oil is supplied to pressure reducing valves A1 and A2, respectively. The outlet pressure of main circuit pressure reducing valve A1 is set to 20 MPa. After filtering through a line filter F2 with an accuracy better than 5 μm, the oil is supplied to P1. Circuit pressure is monitored by pressure sensor T2, and safety valve RV1 is set to 21 MPa to ensure the main circuit pressure does not exceed 21 MPa. The main circuit uses accumulator AC to buffer system pulsations and provide short-term hydraulic oil compensation. Accumulator valve group E is used to disconnect the circuit and release the hydraulic pressure in accumulator AC during accumulator maintenance. The outlet pressure of control circuit pressure reducing valve A2 is set to 10 MPa, supplying P2. Pressure in the circuit is monitored by pressure sensor T3. Safety valve RV2 is set to 14 MPa to ensure the control circuit pressure does not exceed 14 MPa. All components in the unit, except for accumulator AC, are integrated into a single valve block. Once set, each valve in the system is locked and does not require further adjustment during operation.

[0055] The first joint hydraulic unit 1 includes a one-way valve PCV3, a one-way valve PCV4, a servo proportional valve 4WRA1, a servo proportional valve 4WRA2, an electromagnetic reversing valve EMV2, an electromagnetic reversing valve EMV3, a hydraulically controlled one-way valve PCV5, a hydraulically controlled one-way valve PCV6, a hydraulically controlled one-way valve PCV7, a hydraulically controlled one-way valve PCV8, a pressure sensor T6, a pressure sensor T7, a pressure sensor T8, a pressure sensor T9, a pressure sensor T10, and a safety valve RV3;

[0056] Among them, the oil inlets of the servo proportional valve 4WRA1 and the servo proportional valve 4WRA2 are respectively connected to the oil inlet pipeline P1, and the oil outlets of the servo proportional valve 4WRA1 and the servo proportional valve 4WRA2 are respectively connected to one end of the one-way valve PCV4 and the return oil pipeline T1. The two working oil ports of the servo proportional valve 4WRA1 are respectively connected to the oil inlets of the hydraulically controlled one-way valve PCV5 and the hydraulically controlled one-way valve PCV6, and the two working oil ports of the servo proportional valve 4WRA2 are respectively connected to the oil inlets of the hydraulically controlled one-way valve PCV7 and the hydraulically controlled one-way valve PCV8. The control oil ports of the hydraulically controlled one-way valve PCV5, the hydraulically controlled one-way valve PCV6, the hydraulically controlled one-way valve PCV7 and the hydraulically controlled one-way valve PCV8 are respectively connected to the A port of the electromagnetic reversing valve EMV3, the B port of the electromagnetic reversing valve EMV3 is connected to the oil inlet of the one-way valve PCV4, and the oil outlet of the one-way valve PCV4 is connected to the return oil pipeline T1. Then, the C port of the solenoid reversing valve EMV3 is connected to the oil inlet pipeline P2 and the A port of the solenoid reversing valve EMV2, the B port of the solenoid reversing valve EMV2 is connected to the oil inlet of the one-way valve PCV3, the oil outlet of the one-way valve PCV3 is connected to the return oil pipeline T2, one end of the safety valve RV3 and two actuators, the C port of the solenoid reversing valve EMV2 is respectively connected to the other end of the safety valve RV3, the pressure sensor T10 and the two actuators, wherein the oil outlet of the hydraulically controlled one-way valve PCV5 is respectively connected to one end of one of the actuators and the pressure sensor T6, the oil outlet of the hydraulically controlled one-way valve PCV6 is respectively connected to the other end of one of the actuators and the pressure sensor T7; the oil outlet of the hydraulically controlled one-way valve PCV7 is respectively connected to one end of the other actuator and the pressure sensor T8; the oil outlet of the hydraulically controlled one-way valve PCV8 is respectively connected to the other end of the other actuator and the pressure sensor T9;

[0057] The execution unit includes two first execution modules and a second execution module with the same structure;

[0058] The first execution module and the second execution module have the same structure;

[0059] The first execution module includes a balancing valve CBV3, a balancing valve CBV4, a motor M1, and a motor M2;

[0060] The second execution module includes a balancing valve CBV5, a balancing valve CBV6, a motor M3, and a motor M4;

[0061] The inlet of the balancing valve CBV3 is respectively connected to the oil outlet of the hydraulically controlled one-way valve PCV5, the A port of the motor M1 and the A port of the motor M2; the outlet of the balancing valve CBV3 is respectively connected to the outlet of the balancing valve CBV4, the D port of the motor M1, the D port of the motor M2 and the oil return pipe T2; the B port of the motor M1, the B port of the motor M2 and the inlet of the balancing valve CBV4 are connected and then connected to the oil outlet of the hydraulically controlled one-way valve PCV6; the C port of the motor M1 is connected to the C port of the motor M2 and then connected to the C port of the electromagnetic reversing valve EMV2;

[0062] The first joint hydraulic unit 1 uses motors (M1, M2, M3, and M4) to drive a rack and pinion transmission, converting rotational motion into horizontal platform movement. Motors M1 and M2 form one group, while motors M3 and M4 form another. Each motor (M1, M2, M3, and M4) is equipped with a brake. Each motor group (M1, M2, M3, and M4) is controlled by servo proportional valves 4WRA1 and 4WRA2. The motors (M1, M2, M3, and M4) are equipped with absolute resolvers. A computer can acquire the rotational position of the motors (M1, M2, M3, and M4) in real time, ensuring synchronized movement of the two motor groups (M1, M2, M3, and M4). The joint's travel position accuracy is controlled within ±1 mm. Balancing valves (CBV3, CBV4, CBV5, and CBV6) provide safety pressure relief for the motors (M1, M2, M3, and M4) and provide oil replenishment in the event of underpressure.

[0063] When the circuit is operating, solenoid directional valves EMV2 and EMV3 are energized, driving the hydraulic oil in the hydraulic unit control circuit. Solenoid directional valve EMV2 releases the brake pads on motors M1 and M2, and solenoid directional valve EMV3 opens all hydraulically controlled check valves (PCV5, PCV6, PCV7, and PCV8), allowing the main circuit to operate normally. Servo proportional valve 4WRA1 controls the rotation of motors M1 and M2. A computer collects the motor rotation angles in real time, and servo proportional valve 4WRA2 controls the tracking angles of motors M3 and M4. The mechanical structure and PID (proportional-integral-differential) control ensure the synchronization of the motors (M1, M2, M3, and M4). After reaching the set position, the solenoid reversing valve EMV3 loses power, the hydraulically controlled one-way valves (PCV5, PCV6, PCV7, PCV8) are locked, and the motor stops rotating. Then the solenoid reversing valve EMV2 loses power, the spring in the brake resets, and the rotating shaft is tightened to ensure that the motor (M1, M2, M3, M4) stops rotating.

[0064] The second joint hydraulic unit 2 includes two third execution modules and a fourth execution module with the same structure;

[0065] The third execution module and the fourth execution module have the same structure;

[0066] The third execution module includes: servo proportional valve 4WRA3, pressure sensor T11, pressure sensor T12, hydraulic control one-way valve PCV9, electromagnetic reversing valve EMV4, servo cylinder C1;

[0067] The fourth execution module includes a servo proportional valve 4WRA4, a pressure sensor T13, a pressure sensor T14, a hydraulically controlled one-way valve PCV10, an electromagnetic reversing valve EMV5, and a servo cylinder C2;

[0068] The oil inlet of the servo proportional valve 4WRA3 is connected to the oil inlet pipeline P1, the oil outlet of the servo proportional valve 4WRA3 is connected to the oil outlet pipeline T2, one of the working oil ports of the servo proportional valve 4WRA3 is connected to one end of the pressure sensor T11 and the oil inlet of the hydraulically controlled one-way valve PCV9, the oil outlet of the hydraulically controlled one-way valve PCV9 is connected to the A port of the servo cylinder C1, the control oil port of the hydraulically controlled one-way valve PCV9 is connected to the A port of the electromagnetic reversing valve EMV4, the B port of the electromagnetic reversing valve EMV4 is connected to the return oil pipeline T2, the C port of the electromagnetic reversing valve EMV4 is connected to the oil inlet pipeline P2, and the other working oil port of the servo proportional valve 4WRA4 is connected to the pressure sensor T12 and the B port of the servo cylinder C1 respectively;

[0069] The second joint hydraulic unit 2 can drive the servo cylinders (C1, C2) to move up and down. The tool changing robot can be raised and lowered through the movement of the servo cylinders (C1, C2). The movement position is controlled by the servo valves (C1, C2). Each servo cylinder (C1, C2) is equipped with a position sensor. The computer can collect the moving position of the servo cylinders (C1, C2) in real time and control the synchronous movement of the two servo cylinders (C1, C2) to ensure that the position accuracy is controlled within ±0.05mm. After the position is in place, the hydraulically controlled one-way valves (PCV9, PCV10) lock the servo cylinders (C1, C2) to prevent the servo cylinders (C1, C2) from descending.

[0070] When the circuit is operating, the solenoid directional valves (EMV4 and EMV5) are energized, driving the hydraulic oil in the hydraulic unit control circuit. This opens the hydraulically controlled check valves (PCV9 and PCV10) through the solenoid directional valves (EMV4 and EMV5), allowing the main circuit to function normally. Servo proportional valve 4WRA3 controls the movement of servo cylinder C1. The computer collects the displacement of servo cylinder C1 in real time, and servo proportional valve 4WRA4 controls the position of servo cylinder C2. The mechanical structure and PID control ensure synchronized movement of the two cylinders. Upon reaching the set position, the solenoid directional valves (EMV4 and EMV5) are de-energized, locking the hydraulically controlled check valves (PCV9 and PCV10), and the servo cylinders (C1 and C2) no longer move.

[0071] The third joint hydraulic unit 3 includes a servo proportional valve 4WRA5, a pressure sensor T15, a pressure sensor T16, a hydraulically controlled one-way valve PCV11, a hydraulically controlled one-way valve PCV12, an electromagnetic reversing valve EMV6, and a servo cylinder C3;

[0072] The oil inlet of the servo proportional valve 4WRA5 is connected to the oil inlet pipeline P1, the oil outlet of the servo proportional valve 4WRA5 is respectively connected to the oil outlet pipeline T2 and the B port of the electromagnetic reversing valve EMV6, the C port of the electromagnetic reversing valve EMV6 is connected to the oil inlet pipeline P2, one of the working oil ports of the electromagnetic reversing valve EMV6 is respectively connected to the pressure sensor T15 and the oil inlet of the hydraulically controlled one-way valve PCV11, the oil outlet of the hydraulically controlled one-way valve PCV11 is connected to the A port of the servo cylinder C3, the B port of the servo cylinder C3 is connected to the oil outlet of the hydraulically controlled one-way valve PCV12, the oil inlet of the hydraulically controlled one-way valve PCV12 is respectively connected to the other working oil port of the electromagnetic reversing valve EMV6 and the pressure sensor T16, the control oil port of the hydraulically controlled one-way valve PCV11 and the control oil port of the hydraulically controlled one-way valve PCV12 are respectively connected to the A port of the electromagnetic reversing valve EMV6;

[0073] The third joint hydraulic unit 3 propels the entire tool-changing robot in translation via servo cylinder C3. The servo cylinder C3's position is controlled by servo proportional valve 4WRA5, which incorporates a position sensor. This sensor allows the computer to capture the servo cylinder C3's position in real time and control its movement, with the unit's position accuracy controlled within ±0.05mm. Once the mobile unit is in place, hydraulically controlled check valves PCV11 and PCV12 lock the servo cylinder C3, preventing it from moving.

[0074] When the circuit is operating, electromagnetic directional valve EMV6 is energized, driving the hydraulic oil in the hydraulic unit control circuit. This opens all the hydraulically controlled check valves (PCV11 and PCV12) through electromagnetic directional valve EMV6, allowing the main circuit to function normally. The computer collects the displacement of servo cylinder C3 in real time and controls its movement through servo proportional valve 4WRA5. Upon reaching the set position, electromagnetic directional valve EMV6 is de-energized, locking the hydraulically controlled check valves (PCV11 and PCV12), and preventing servo cylinder C3 from moving.

[0075] The fourth joint hydraulic unit 4 includes: a fourth servo valve SV, an electromagnetic reversing valve EMV1, a hydraulically controlled one-way valve PCV1, a hydraulically controlled one-way valve PCV2, a pressure sensor T4, a pressure sensor T5, a balancing valve CBV1, a balancing valve CBV2, and a servo swing cylinder SSC;

[0076] The fourth joint hydraulic unit 4 includes an electromagnetic reversing valve EMV1 connected to the oil inlet pipeline P2, the B port of the electromagnetic reversing valve EMV1 is respectively connected to the return oil pipeline T2 and the return oil port of the fourth servo valve SV, the oil inlet of the fourth servo valve SV is connected to the oil inlet pipeline P1, the two working oil ports of the fourth servo valve SV are respectively connected to the hydraulically controlled one-way valve PCV1 and the hydraulically controlled one-way valve PCV2, the pressure sensor T4, the balancing valve CBV1 and the servo swing cylinder SSC connected to the other end of the hydraulically controlled one-way valve PCV1, and the pressure sensor T5, the balancing valve CBV2 and the servo swing cylinder SSC connected to the other end of the hydraulically controlled one-way valve PCV2; the A port of the electromagnetic reversing valve EMV1 is respectively connected to the hydraulically controlled one-way valve PCV1 and the hydraulically controlled one-way valve PCV2; wherein the oil outlet of the servo swing cylinder SSC is respectively connected to the balancing valve CBV1 and the balancing valve CBV2 and then connected to the oil return pipeline T1;

[0077] The fourth joint hydraulic unit 4 can drive the servo swing cylinder SSC to rotate, and the servo swing cylinder SSC swings within the range of 0 to 180 degrees, and can stop at any position within the range of 180 degrees. The servo swing cylinder SSC controls the movement position through the fourth servo valve SV. The servo swing cylinder SSC is equipped with an absolute value rotary sensor. The computer can collect the rotation angle of the servo swing cylinder SSC in real time and control the movement of the servo swing cylinder SSC. The unit position accuracy is controlled within ±0.01°. After reaching the predetermined position, the hydraulically controlled one-way valve PCV1 and the hydraulically controlled one-way valve PCV2 lock the servo swing cylinder SSC to prevent the servo swing cylinder SSC from moving. The balancing valve CBV1 and the balancing valve CBV2 are used for the safety pressure of the servo swing cylinder SSC and to replenish oil during underpressure;

[0078] During operation, the electromagnetic reversing valve EMV1 is first energized to drive the hydraulic oil in the hydraulic unit control circuit, and the hydraulic control one-way valve PCV1 and the hydraulic control one-way valve PCV2 are all pushed open through the electromagnetic reversing valve EMV1, and the main circuit can work normally. This structure can collect the swing angle of the swing cylinder in real time, and control the movement of the servo swing cylinder SSC through the fourth servo valve SV. After reaching the set position, the electromagnetic reversing valve EMV1 loses power, the hydraulic control one-way valve PCV1 and the hydraulic control one-way valve PCV2 are locked, and the servo swing cylinder SSC no longer rotates, completing the control of the tool changing robot.

[0079] The ninth joint hydraulic unit 9 includes a stop-type electromagnetic reversing valve EMV7, a pressure sensor T17, a pressure sensor T18, a cylinder H1, and a cylinder H2;

[0080] The oil inlet of the stop-type electromagnetic reversing valve EMV7 is connected to the oil inlet pipeline P1, and the oil outlet of the stop-type electromagnetic reversing valve EMV7 is connected to the oil outlet pipeline T2. One of the working oil ports of the stop-type electromagnetic reversing valve EMV7 is respectively connected to the pressure sensor T17, the A port of the oil cylinder H1, and the B port of the oil cylinder H2. The B port of the oil cylinder H1 is respectively connected to the other working oil port of the stop-type electromagnetic reversing valve EMV7, the pressure sensor T18, and the A port of the oil cylinder H2. A second one-way throttle valve is also provided between the working oil port of the stop-type electromagnetic reversing valve EMV7 and the pressure sensors T18 and T17.

[0081] The ninth joint hydraulic unit 9 can be extended and retracted by cylinders H1 and H2, and can be pushed by cylinders H1 and H2 to move to a fixed position with repeatability accuracy within ±1mm. Once in position, the second one-way throttle valve adjusts the appropriate speed. When the hydraulic lock is in the neutral position of the cut-off electromagnetic reversing valve EMV7, cylinders H1 and H2 are locked, preventing them from moving.

[0082] When the circuit is working, first, the right electromagnet of the stop-type electromagnetic reversing valve EMV7 is energized, pushing the oil cylinders (H1, H2) to extend simultaneously, and the second one-way throttle valve adjusts the movement speed of the oil cylinders (H1, H2). After it reaches the right position, the electromagnetic reversing valve EMV7 is de-energized, and the oil cylinders (H1, H2) are locked in position by the stop-type electromagnetic reversing valve EMV7. When the oil cylinders (H1, H2) retract, the left electromagnet of the stop-type electromagnetic reversing valve EMV7 is energized, and the oil cylinders (H1, H2) retract into place;

[0083] The eleventh joint hydraulic unit 11 includes a stop-type electromagnetic reversing valve EMV8, a pressure sensor T19, a pressure sensor T20, a balancing valve CBV7, a balancing valve CBV8, and a motor M5;

[0084] The oil inlet of the stop-type electromagnetic reversing valve EMV8 is connected to the oil inlet pipeline P2, the oil outlet of the stop-type electromagnetic reversing valve EMV8 is connected to the oil outlet pipeline T2, one of the working oil ports of the stop-type electromagnetic reversing valve EMV8 is connected to the pressure sensor T19, the inlet of the balancing valve CBV7 and the A port of the motor M5, the outlet of the balancing valve CBV7 is respectively connected to the C port of the motor M5, the return oil pipeline T2 and the outlet of the balancing valve CBV8, the inlet of the balancing valve CBV8 is respectively connected to the B port of the motor M5, the other working oil port of the stop-type electromagnetic reversing valve EMV8 and the pressure sensor T20; a third one-way throttle valve is respectively provided between the pressure sensor T19 and the pressure sensor T20 and the two working oil ports on the stop-type electromagnetic reversing valve EMV8;

[0085] The hydraulic unit 11 of the eleventh joint realizes direction selection and reversing through the stop-type electromagnetic reversing valve EMV8, and adjusts the appropriate speed through the third one-way throttle valve. When the hydraulic lock is in the middle position of the stop-type electromagnetic reversing valve EMV8, the motor M5 is locked to prevent the motor M5 from moving. The balancing valve (CBV7, CBV8) is used to ensure the safety pressure of the motor M5 and to replenish oil when it is under pressure;

[0086] When the circuit operates, the right electromagnet of the solenoid-operated directional control valve EMV81 is energized, driving motor M5 in the forward direction. A third one-way throttle valve regulates motor M5's rotational speed. To change the direction of rotation, the left electromagnet of the solenoid-operated directional control valve EMV81 is energized, causing motor M5 to rotate in the reverse direction. After the operation is complete, the solenoid-operated directional control valve EMV81 is de-energized, and motor M5 is locked in position by the solenoid-operated directional control valve EMV81.

[0087] In a further embodiment, the fourth joint hydraulic unit 4, the fifth joint hydraulic unit 5, the seventh joint hydraulic unit 7 and the eighth joint hydraulic unit 8 have the same structure and therefore the circuit working mode is also the same, which will not be elaborated here; the third joint hydraulic unit 3 and the sixth joint hydraulic unit 6 have the same structure and therefore the circuit working mode is also the same, which will not be elaborated here; the ninth joint hydraulic unit 9 and the tenth joint hydraulic unit 10 have the same structure and therefore the circuit working mode is also the same, which will not be elaborated here.

[0088] Working principle description: The oil supply and return oil pipelines of the energy pump station are connected to the drive hydraulic unit through quick-change connectors (K1, K2, K3, K4). After the quick-change connectors (K1, K2, K3, K4) are connected and conducted, the high-pressure oil of the energy pump station is filtered by the pipeline filter F1 with an accuracy better than 10um, and then distributed by the throttle valve L1 and the throttle valve L2. The flow is supplied to the two pressure reducing valves A1 and A2 respectively. The outlet pressure of the main circuit pressure reducing valve A1 is set to 20MPa. After filtering by the pipeline filter F2 with an accuracy better than 5um, the oil is supplied to P1. The pressure value of the circuit is detected by the pressure sensor T2. The pressure of the safety valve RV1 is set to 21MPa to ensure that the main circuit pressure does not exceed 21Mpa.

[0089] When the hydraulic unit 1 circuit of the first joint is operating, the solenoid directional valves EMV2 and EMV3 are energized, driving the hydraulic oil in the hydraulic unit control circuit. The brake pads on motors M1 and M2 are released via the solenoid directional valve EMV2, and all hydraulically controlled check valves (PCV5, PCV6, PCV7, and PCV8) are opened via the solenoid directional valve EMV3, allowing the main circuit to operate normally. The servo proportional valve 4WRA1 controls the rotation of motors M1 and M2. A computer collects the motor rotation angles in real time and controls the tracking angles of motors M3 and M4 via the servo proportional valve 4WRA2. The mechanical structure and PID (proportional-integral-differential) controller ensure synchronized motor motion. After reaching the set position, the electromagnetic reversing valve EMV3 loses power, the hydraulically controlled one-way valves (PCV5, PCV6, PCV7, PCV8) are locked, and the motor stops rotating. Then the electromagnetic reversing valve EMV2 loses power, the spring in the brake resets, and the shaft is tightened to ensure that the motors (M1, M2, M3, M4) stop rotating.

[0090] When the second joint hydraulic unit circuit 2 is working, the electromagnetic reversing valves (EMV4, EMV5) are first energized, driving the hydraulic oil in the hydraulic unit control circuit. The hydraulic control check valves (PCV9, PCV10) are all pushed open through the electromagnetic reversing valves (EMV4, EMV5), and the main circuit can operate normally. The servo proportional valve 4WRA3 controls the movement of the servo cylinder C1, and the computer collects the displacement of the servo cylinder C1 in real time. The servo proportional valve 4WRA4 controls the servo cylinder C2 to follow the position, and the mechanical structure and PID control ensure the synchronization of the dual-cylinder movement. After reaching the set position, the electromagnetic reversing valves (EMV4, EMV5) lose power, the hydraulic control check valves (PCV9, PCV10) are locked, and the servo cylinders (C1, C2) no longer move;

[0091] When the third joint's hydraulic unit's circuit 3 is operating, electromagnetic directional valve EMV6 first energizes, driving the hydraulic oil in the hydraulic unit's control circuit. This opens all the hydraulically controlled check valves (PCV11 and PCV12) through electromagnetic directional valve EMV6, allowing the main circuit to function normally. The computer collects the displacement of servo cylinder C3 in real time and controls its movement through servo proportional valve 4WRA5. Upon reaching the set position, electromagnetic directional valve EMV6 de-energizes, locking the hydraulically controlled check valves (PCV11 and PCV12), and preventing servo cylinder C3 from moving.

[0092] When the fourth joint hydraulic unit 4 is working, the electromagnetic reversing valve EMV1 is energized first, driving the hydraulic oil of the hydraulic unit control circuit, and the hydraulic control one-way valve PCV1 and the hydraulic control one-way valve PCV2 are all pushed open through the electromagnetic reversing valve EMV1, and the main circuit can work normally. This structure can collect the swing angle of the swing cylinder in real time, and control the movement of the servo swing cylinder SSC through the fourth servo valve SV. After reaching the set position, the electromagnetic reversing valve EMV1 loses power, the hydraulic control one-way valve PCV1 and the hydraulic control one-way valve PCV2 are locked, and the servo swing cylinder SSC no longer rotates, completing the control of the tool changing robot;

[0093] When the ninth joint hydraulic unit 9 circuit is working, first, the right electromagnet of the stop-type electromagnetic reversing valve EMV7 is energized, pushing the oil cylinders (H1, H2) to extend simultaneously, and the second one-way throttle valve adjusts the movement speed of the oil cylinders (H1, H2). After it is in place, the electromagnetic reversing valve EMV7 is de-energized, and the oil cylinders (H1, H2) are locked in position by the stop-type electromagnetic reversing valve EMV7. When the oil cylinders (H1, H2) retract, the left electromagnet of the stop-type electromagnetic reversing valve EMV7 is energized, and the oil cylinders (H1, H2) retract into place;

[0094] When the circuit of the eleventh joint hydraulic unit 11 is in operation, the right electromagnet of the solenoid-operated stop valve EMV81 is energized, driving motor M5 in the forward direction. A third one-way throttle valve regulates the speed of motor M5. To change the direction of rotation, the left electromagnet of the solenoid-operated stop valve EMV81 is energized, causing motor M5 to rotate in the reverse direction. After the operation is complete, the solenoid-operated stop valve EMV81 is de-energized, and motor M5 is locked in position by the solenoid-operated stop valve EMV81.

[0095] The preferred embodiments of the present application are described in detail above in conjunction with the accompanying drawings. However, the present application is not limited to the specific details of the above embodiments. Within the technical concept of the present application, various equivalent transformations can be made to the technical solutions of the present application, and these equivalent transformations all fall within the scope of protection of the present application.

Claims

1. A hydraulic drive system for a multi-joint large shield intelligent tool-changing robot, characterized in that: include: an oil return pipe and an oil inlet pipe, and a first joint hydraulic unit, a second joint hydraulic unit, a third joint hydraulic unit, a fourth joint hydraulic unit, a fifth joint hydraulic unit, a sixth joint hydraulic unit, a seventh joint hydraulic unit, an eighth joint hydraulic unit, a ninth joint hydraulic unit, a tenth joint hydraulic unit, an eleventh joint hydraulic unit, and a driving hydraulic unit connected to the oil return pipe and the oil inlet pipe, respectively; By controlling the flow of hydraulic oil, each hydraulic unit can be controlled so that each hydraulic unit can complete the corresponding driving work.

2. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 1 is characterized in that: The oil return pipe includes an oil return pipe T1 and an oil return pipe T2, and the oil inlet pipe includes an oil inlet pipe P1 and an oil inlet pipe P2; The fourth joint hydraulic unit, the fifth joint hydraulic unit, the seventh joint hydraulic unit and the eighth joint hydraulic unit have the same structure; The third joint hydraulic unit and the sixth joint hydraulic unit have the same structure; The ninth joint hydraulic unit and the tenth joint hydraulic unit have the same structure.

3. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 2 is characterized in that: The driving hydraulic unit includes a self-sealing quick-change connector K1, a self-sealing quick-change connector K2, a self-sealing quick-change connector K3, a self-sealing quick-change connector K4, a ball valve Q1, a ball valve Q2, a temperature sensor TS, a pressure sensor T1, a pressure sensor T2, a pressure sensor T3, a pipeline filter F1, a pipeline filter F2, a throttle valve L1, a throttle valve L2, a pressure reducing valve A1, a pressure reducing valve A2, a safety valve RV1, a safety valve RV2, an accumulator AC, and an accumulator valve group E.

4. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 2, characterized in that: The first joint hydraulic unit includes a one-way valve PCV3, a one-way valve PCV4, a servo proportional valve 4WRA1, a servo proportional valve 4WRA2, an electromagnetic reversing valve EMV2, an electromagnetic reversing valve EMV3, a hydraulically controlled one-way valve PCV5, a hydraulically controlled one-way valve PCV6, a hydraulically controlled one-way valve PCV7, a hydraulically controlled one-way valve PCV8, a pressure sensor T6, a pressure sensor T7, a pressure sensor T8, a pressure sensor T9, a pressure sensor T10, and a safety valve RV3.

5. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 4 is characterized in that: The execution unit includes two first execution modules and a second execution module with the same structure; The first execution module and the second execution module have the same structure; The first execution module includes a balancing valve CBV3, a balancing valve CBV4, a motor M1, and a motor M2; The second execution module includes a balancing valve CBV5, a balancing valve CBV6, a motor M3, and a motor M4; The inlet of the balancing valve CBV3 is respectively connected to the oil outlet of the hydraulically controlled one-way valve PCV5, the A port of the motor M1 and the A port of the motor M2; the outlet of the balancing valve CBV3 is respectively connected to the outlet of the balancing valve CBV4, the D port of the motor M1, the D port of the motor M2 and the oil return pipe T2; the B port of the motor M1, the B port of the motor M2 and the inlet of the balancing valve CBV4 are connected and then connected to the oil outlet of the hydraulically controlled one-way valve PCV6; the C port of the motor M1 is connected to the C port of the motor M2 and then connected to the C port of the electromagnetic reversing valve EMV2.

6. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 2, characterized in that: The second joint hydraulic unit includes two third execution modules and a fourth execution module with the same structure; The third execution module and the fourth execution module have the same structure; The third execution module includes: servo proportional valve 4WRA3, pressure sensor T11, pressure sensor T12, hydraulic control one-way valve PCV9, electromagnetic reversing valve EMV4, servo cylinder C1; The fourth execution module includes a servo proportional valve 4WRA4, a pressure sensor T13, a pressure sensor T14, a hydraulically controlled one-way valve PCV10, an electromagnetic reversing valve EMV5, and a servo cylinder C2.

7. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 2, characterized in that: The third joint hydraulic unit includes a servo proportional valve 4WRA5, a pressure sensor T15, a pressure sensor T16, a hydraulically controlled one-way valve PCV11, a hydraulically controlled one-way valve PCV12, an electromagnetic reversing valve EMV6, and a servo cylinder C3.

8. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 2, characterized in that: The fourth joint hydraulic unit includes: a fourth servo valve SV, an electromagnetic reversing valve EMV1, a hydraulically controlled one-way valve PCV1, a hydraulically controlled one-way valve PCV2, a pressure sensor T4, a pressure sensor T5, a balancing valve CBV1, a balancing valve CBV2, and a servo swing cylinder SSC; The fourth joint hydraulic unit includes an electromagnetic reversing valve EMV1 connected to the oil inlet pipe P2, the B port of the electromagnetic reversing valve EMV1 is respectively connected to the return oil pipe T2 and the return oil port of the fourth servo valve SV, the oil inlet of the fourth servo valve SV is connected to the oil inlet pipe P1, the two working oil ports of the fourth servo valve SV are respectively connected to the hydraulically controlled one-way valve PCV1 and the hydraulically controlled one-way valve PCV2, the pressure sensor T4, the balancing valve CBV1 and the servo swing cylinder SSC connected to the other end of the hydraulically controlled one-way valve PCV1, and the pressure sensor T5, the balancing valve CBV2 and the servo swing cylinder SSC connected to the other end of the hydraulically controlled one-way valve PCV2; the A port of the electromagnetic reversing valve EMV1 is respectively connected to the hydraulically controlled one-way valve PCV1 and the hydraulically controlled one-way valve PCV2; wherein the oil outlet of the servo swing cylinder SSC is respectively connected to the balancing valve CBV1 and the balancing valve CBV2 and then to the return oil pipe T1.

9. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 2, characterized in that: The ninth joint hydraulic unit includes a stop-type electromagnetic reversing valve EMV7, a pressure sensor T17, a pressure sensor T18, a cylinder H1, and a cylinder H2; The oil inlet of the stop-type electromagnetic reversing valve EMV7 is connected to the oil inlet pipeline P1, the oil outlet of the stop-type electromagnetic reversing valve EMV7 is connected to the oil outlet pipeline T2, one of the working oil ports of the stop-type electromagnetic reversing valve EMV7 is respectively connected to the pressure sensor T17, the A port of the cylinder H1 and the B port of the cylinder H2, and the B port of the cylinder H1 is respectively connected to the other working oil port of the stop-type electromagnetic reversing valve EMV7, the pressure sensor T18 and the A port of the cylinder H2.

10. The hydraulic drive system for a multi-joint large shield intelligent tool-changing robot according to claim 2, characterized in that: The eleventh joint hydraulic unit includes a stop-type electromagnetic reversing valve EMV8, a pressure sensor T19, a pressure sensor T20, a balancing valve CBV7, a balancing valve CBV8, and a motor M5; The oil inlet of the stop-type electromagnetic reversing valve EMV8 is connected to the oil inlet pipeline P2, the oil outlet of the stop-type electromagnetic reversing valve EMV8 is connected to the oil outlet pipeline T2, one of the working oil ports of the stop-type electromagnetic reversing valve EMV8 is connected to the pressure sensor T19, the inlet of the balancing valve CBV7 and the A port of the motor M5, the outlet of the balancing valve CBV7 is respectively connected to the C port of the motor M5, the return oil pipeline T2 and the outlet of the balancing valve CBV8, and the inlet of the balancing valve CBV8 is respectively connected to the B port of the motor M5, another working oil port of the stop-type electromagnetic reversing valve EMV8 and the pressure sensor T20.

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