Data acquisition structure based on small space arm span and construction method of digital twinborn model

Abstract

The invention relates to the technical field of mechanical arm control, and discloses a data acquisition structure based on small space arm span and a construction method of a digital twinning model, the data acquisition structure comprises a robot body, a mechanical arm arranged on the robot body, and a second data acquisition device arranged in the mechanical arm; the mechanical arm comprises a tail end execution seat connected with the robot body, two first data acquisition devices symmetrically arranged on the tail end execution seat, two multi-stage telescopic arms symmetrically arranged on the tail end execution seat, and a clamping jaw used for connecting the two multi-stage telescopic arms; through data acquisition equipment and basic information of a robot body, a geometric model and a physical model of the robot can be constructed, and the geometric model and the physical model are integrated to form a digital twin model; according to the digital twinborn model, real-time monitoring, early warning, maintenance path optimization, construction risk early warning and remote monitoring functions can be performed on the position of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robotic arm control technology, and specifically to a data acquisition structure based on a small-space arm span and a method for constructing a digital twin model. Background Art

[0002] A telescopic arm is a type of robotic arm that can be extended and retracted in confined environments. It typically consists of multiple nested arms that are driven by hydraulic, pneumatic, or electric forces, allowing for flexible adjustments to the working range within confined spaces. In the industrial sector, it can be used for equipment maintenance and pipeline installation; in building renovation, it can assist with wall spraying and ceiling work; and in rescue scenarios, it facilitates exploration and rescue operations within rubble crevices. This telescopic arm has the advantages of taking up little space, being flexible, and being able to precisely reach the target location.

[0003] For example, the Chinese patent with authorization announcement number CN117565089B discloses a multi-degree-of-freedom tool-changing robot suitable for large-diameter shield machines, including a robot base, a fuselage and an end effector; the robot base is used to be set in the manhole of the shield machine, and the robot base extends from the entrance of the manhole of the shield machine toward the cutter head of the shield machine; the fuselage is set on the robot base, and the fuselage includes a translation mechanism, a lifting mechanism, a fine-tuning mechanism, a two-way rotation mechanism and a wrist mechanism; the translation mechanism can drive the fuselage to move along the length direction of the robot base, and the translation mechanism is connected to the end effector through the lifting mechanism, the fine-tuning mechanism, the two-way rotation mechanism and the wrist mechanism, and the lifting mechanism, the fine-tuning mechanism, the two-way rotation mechanism, the wrist mechanism and the end effector are arranged in sequence along the length direction of the robot base.

[0004] However, there are still some problems with the above-mentioned prior art. The robot mechanisms in the above-mentioned prior art are mostly used in a relatively small space. Then, according to the information collected by the first data acquisition device set therein, the position of the clamp is planned, and the position of the clamp is indirectly controlled, so that the bolt removal unit located on the clamp can remove the bolt. However, the position of the above-mentioned first data acquisition device is relatively fixed. Since it is located in a relatively small space, when visual inspection is required in other directions, the entire clamp needs to be flipped. During the flipping process, the clamp will collide with other steel structures in the shield machine, which may easily cause damage to the shield machine. At the same time, when the above-mentioned device is performing data collection, the data collected is too single, and it is impossible to construct a three-dimensional posture of the position of the shield machine itself, and it is impossible to collect and measure the position of the obstacle, which will cause a collision between the device and the obstacle, causing damage to the device.

[0005] Therefore, how to prevent the robotic arm from colliding with other structures when moving in a small space is a problem that needs to be solved at present. Summary of the Invention

[0006] The present invention provides a small-space multi-degree-of-freedom arm span multi-sensory data acquisition structure based on digital twins to solve the above-mentioned problems existing in the prior art.

[0007] The data acquisition structure based on small space arm span includes: A robot body, a robotic arm disposed on the robot body, and a second data acquisition device built into the robotic arm; The robotic arm includes an end effector connected to the robot body, two first data acquisition devices symmetrically arranged on the end effector, two multi-stage telescopic arms symmetrically arranged on the end effector, and a clamp for connecting the two multi-stage telescopic arms; Based on the information collected by the two data acquisition devices, not only can the position and angle of the gripper be adjusted to realize the obstacle avoidance and gripping work of the robot arm, so that the robot arm can complete the gripping and transportation of the hob, but the three-dimensional posture model of the robot arm can also be constructed. By integrating the collected information with the three-dimensional posture model, the construction of the digital twin model is completed; among them, the collection areas of the two first data acquisition devices are opposite.

[0008] Furthermore, the second data acquisition device includes a mounting base built into the end effector, a driving component arranged in the mounting base, and two acquisition components symmetrically arranged on the driving component; The initial collection areas of the two collection components are opposite.

[0009] Furthermore, the driving assembly includes a driving portion, two supports symmetrically arranged on the mounting seat, a first arm movably connected to the supports, a second arm movably connected to the first arm, and a connecting rod for connecting the first arm and the driving portion; The first extension arm is provided with a driving member movably connected thereto, and a steel ball arranged on the driving member; A fisheye bearing is provided on one end of the connecting rod, and the steel ball is located in the fisheye bearing and movably connected to the fisheye bearing; a certain preload force is preset between the first extension arm and the second extension arm.

[0010] Furthermore, the driving part includes two second bevel gears provided on the mounting seat, a first bevel gear meshing with the second bevel gears, and a driving motor connected to the first bevel gears and located on the mounting seat; The other end of the connecting rod is connected to the eccentric point of the second bevel gear.

[0011] Furthermore, the driving assembly includes a rotating motor built into the mounting base, a first gear connected to the output end of the rotating motor, and two execution parts connected to the first gear; the execution parts are connected to the collection assembly; The execution part includes two rotating disks, a second gear provided on one of the rotating disks and meshing with the first gear, a rotating rod for connecting the two rotating disks, two connecting rods movably connected to the rotating rods, a first movable plate movably connected to one of the connecting rods, a second movable plate movably connected to the other connecting rod, and an extension plate provided on the second movable plate; The first movable plate and the second movable plate are both L-shaped structures, and the connection between the second movable plate and the extension plate passes through the first movable plate and is movably connected to the first movable plate.

[0012] Furthermore, the acquisition assembly includes a housing, a fixed frame built into the housing, a telescopic cylinder fixedly connected to the fixed frame, a driving rod provided at the output end of the telescopic cylinder, a connecting sleeve sleeved on the driving rod, a plurality of supporting parts evenly arranged on the connecting sleeve, an adjusting part connected to the driving rod, and a visual acquisition part provided on the adjusting part; The housing is connected to the drive assembly.

[0013] Furthermore, the support portion includes a working motor arranged in the connecting sleeve, a rotating frame connected to the output end of the working motor, a supporting cylinder and a supporting rod respectively fixed to the rotating frame, an adjusting rod sleeved on the supporting rod, a driving block and a moving seat connected to the adjusting rod, two fine-tuning motors symmetrically arranged on the moving seat, a supporting arm connected to the output end of the fine-tuning motor, and two abutting blocks arranged on the supporting arm; The output end of the supporting cylinder is connected to the driving block.

[0014] Furthermore, the adjustment portion includes two support seats, a plurality of limiting tubes for connecting the two support seats, a support plate sleeved on the limiting tubes, an expansion motor fixedly connected to the support plate, a screw connected to the output end of the expansion motor, a drive plate connected to the screw and sleeved on the limiting tubes, and an expansion member connected to the drive plate; One of the support seats is connected to the driving rod.

[0015] Furthermore, the unfolding member includes a plurality of movable rods movably connected to the driving plate, and a plurality of movable shafts movably connected to the supporting plate; The visual acquisition part is connected to the movable shaft; The movable rod is movably connected to the movable shaft; the visual collection part includes a connecting block provided on the movable shaft, a transmission shaft passing through the connecting block, two rotating rods symmetrically provided on the transmission shaft, an adjustment block for connecting the two rotating rods, two movable seats mounted on the connecting block, a rotation shaft for connecting the movable seats and movably connected to the movable seats, a movable block sleeved on the rotation shaft, and a collector movably connected to the adjustment block and the movable block; One end of the transmission shaft is also provided with an adjusting motor.

[0016] The method for constructing a digital twin model includes the following steps: S1: Collect the real-time data of the robot body according to the collector and pre-process the collected data information; S2: Based on the basic information of the tool changing robot, namely the number and mass of each joint in the robot body, the relevant connection method, the size, length and diameter of the parts in the acquisition structure, the relative installation relationship between the various parts, the overall size and hardware configuration information; Then, based on the dimensional parameters of the parts, the technology defines the parametric model of each component in the 3D modeling software, and determines the assembly relationship of each part through coordinate constraints according to the position relationship of the components, ensuring the dimensional consistency of the model with the actual physical structure, thereby establishing an accurate geometric model of the tool changing robot. According to the physical characteristics and behavior laws of the tool changing robot, namely the joint motion parameters and the motion range limitations of each joint, inertia parameters, force and torque characteristics, mechanical transmission efficiency and friction characteristics, as well as the motion trajectory of the tool changing process, motion control logic, tool changing action timing, prohibited areas in the workspace and emergency stop response when the tool is stuck, etc., a corresponding physical model is established. Finally, various parameters in the tool changing robot model are associated with the data collected by the sensor. S3: Integrate the above geometric model with the physical model, that is, by establishing a global coordinate system with the robot as the origin, and mapping the relevant parameters of the geometric model into the kinematic equations of the physical model; At the same time, the physical properties of the geometric model, such as mass and inertia, are transferred to the physical model; The force and deformation results calculated by the physical model are fed back to the geometric model to drive its shape adjustment; And by using the kinematic constraints of the geometric model as the boundary conditions of the physical model; the dynamic limits calculated by the physical model react to the motion planning of the geometric model; thus forming a complete digital twin model, and then by fusing the collected data information with the above digital twin model, and using the model's prediction results to verify and supplement the sensor data, mutual optimization of data and model is achieved.

[0017] Beneficial effects: The present invention discloses a data acquisition structure based on small space arm span and a method for constructing a digital twin model, so as to prevent the robot arm from colliding with other structures when moving in a small space; and then a second data acquisition device is provided in the device, and the second data acquisition device includes multiple collectors, wherein the collector includes a lidar sensor for collecting the position of obstacles to realize the obstacle avoidance function, a laser ranging sensor for measuring the distance between the robot arm and the target, and an inclination sensor or gyroscope for constructing the three-dimensional posture of the tool changing robot and collecting data before grasping requirements; and also includes an image sensor for image acquisition; through the setting of the lidar sensor, laser ranging sensor and inclination sensor or gyroscope, data can be collected on obstacles on the tool changing robot's path, thereby realizing the tool changing robot's avoidance function. Obstacles and the three-dimensional posture of the tool-changing robot are constructed to avoid collisions with obstacles during its movement and damage to the device; at the same time, the collector can perform image acquisition, and the second data acquisition device can adjust the acquisition area of ​​the collector under the premise that the clamp does not move, thereby avoiding the traditional clamp movement. During the movement of the clamp, the lack of acquisition information of the first data acquisition device causes a collision between the clamp and the shield machine, resulting in damage to the clamp. At the same time, during the movement of the clamp, the driving component of the device can drive the acquisition component to move, so that the acquisition device can be close to the clamp, avoiding damage to the acquisition component during the movement of the clamp, thereby being able to collect multiple sets of image data, and adjusting the position and adjustment method of the clamp according to the collected image information, thereby realizing indirect control of the telescopic arm and avoiding collisions between it and other structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural diagram of the data acquisition structure based on small space arm span of the present invention; Figure 2 yes Figure 1 Schematic diagram of the structure of part A; Figure 3 is a schematic diagram of a drive assembly of the present invention; Figure 4 It is a schematic diagram of the structure of the drive assembly of the present invention; Figure 5 is a schematic structural diagram of another embodiment of the drive assembly of the present invention; Figure 6 It is a schematic diagram of the connecting rod structure of the present invention; Figure 7 It is a schematic diagram of the structure of the acquisition component of the present invention; Figure 8 is a bottom view of the collection assembly of the present invention; Figure 9 It is a schematic structural diagram of the support portion of the present invention; Figure 10 It is a schematic structural diagram of the regulating portion of the present invention; Figure 11 It is a structural schematic diagram of the visual acquisition unit of the present invention; Figure 12 It is a flow chart of establishing the digital twin model of the present invention.

[0019] 1. Robot body; 2. Robotic arm; 21. End effector; 22. Gripper; 23. Multi-stage telescopic arm; 24. First data acquisition device; 3. Second data acquisition device; 31. Mounting base; 32. Driving assembly; 321. Driving motor; 322. First bevel gear; 323. Second bevel gear; 324. Connecting rod; 325. Support; 326. First extension arm; 327. Driving member; 328. Steel ball; 329. Second extension arm; 3210. First gear; 3211. Second gear; 3212. Rotating disk; 3213. Rotating rod; 3214. Connecting rod; 3215. First movable plate; 3216. Second movable plate; 3217. Extension plate; 3218. Rotating motor; 33. Acquisition assembly; 331. Housing; 332. Fixing frame; 333. Telescopic cylinder; 3 34. Visual acquisition unit; 3341. Connecting block; 3342. Transmission shaft; 3343. Adjustment motor; 3344. Adjustment block; 3345. Collector; 3346. Movable seat; 3347. Rotation shaft; 3348. Movable block; 3349. Rotation rod; 335. Support unit; 3351. Working motor; 3352. Rotating frame; 3353. Support cylinder; 3354. Support rod; 335 5. Adjustment rod; 3356. Drive block; 3357. Moving seat; 3358. Fine-tuning motor; 3359. Support arm; 33510. Abutment block; 336. Adjustment part; 3361. Support seat; 3362. Expanding motor; 3363. Screw rod; 3364. Drive plate; 3365. Movable rod; 3366. Support plate; 3367. Movable shaft; 3368. Limiting tube; 337. Connecting sleeve. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention 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 invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] 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 invention. 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 of other embodiments.

[0023] The present invention discloses a data acquisition structure based on a small space arm span, referring to Figures 1-12 ,include: A robot body 1, a robotic arm 2 arranged on the robot body 1, and a second data acquisition device 3 built into the robotic arm 2; the robotic arm 2 includes an end effector 21 connected to the robot body 1, two first data acquisition devices 24 symmetrically arranged on the end effector 21, two multi-stage telescopic arms 23 symmetrically arranged on the end effector 21, and a clamp 22 for connecting the two multi-stage telescopic arms 23; according to the information collected by the two data acquisition devices, not only can the position and angle of the clamp 22 be adjusted to achieve obstacle avoidance and grasping of the robotic arm 2, but also the robotic arm 2 can complete the grasping and transportation of the hob. At the same time, it is also possible to construct a three-dimensional posture model of the robotic arm 2, and complete the construction of the digital twin model by integrating the collected information with the three-dimensional posture model of the robot body 1; the obstacles in the small space area are visually collected by the set first data acquisition device 24 and the second data acquisition device 3, and the collected information is transmitted to the main control system, and the position of the clamp 22 is planned and controlled according to the collected information to avoid collision between the clamp 22 and the shield machine during the position adjustment process, thereby causing damage to the shield machine or the clamp 22; the three-dimensional posture model includes but is not limited to the geometric model and physical model of the robot body 1.

[0024] The second data acquisition device 3 includes a mounting base 31 built into the end effector 21, a driving component 32 arranged in the mounting base 31, and two acquisition components 33 symmetrically arranged on the driving component 32; the initial acquisition areas of the two acquisition components 33 are opposite.

[0025] The driving assembly 32 includes a driving portion, two supports 325 symmetrically arranged on the mounting seat 31, a first extension arm 326 movably connected to the support 325, a second extension arm 329 movably connected to the first extension arm 326, and a connecting rod 324 for connecting the first extension arm 326 and the driving portion; the first extension arm 326 is provided with a driving member 327 movably connected thereto, and a steel ball 328 arranged on the driving member 327; a fisheye bearing is provided at one end of the connecting rod 324, the steel ball 328 is located in the fisheye bearing and movably connected to the fisheye bearing; the driving portion includes two second bevel gears 323 arranged on the mounting seat 31 , a first bevel gear 322 that meshes with the second bevel gear 323, and a driving motor 321 connected to the first bevel gear 322 and located on the mounting seat 31; the other end of the connecting rod 324 is connected to the eccentric point of the second bevel gear 323; when the driving assembly 32 starts working, the driving motor 321 in the driving assembly 32 starts working, and the moving driving motor 321 can drive the first bevel gear 322 to rotate, so that the moving first bevel gear 322 can drive the second bevel gear 323 to rotate, and the moving second bevel gear 323 can drive the connecting rod 324 to move, and the moving connecting rod 324 can drive the fisheye bearing to move, so that the steel ball 328 can rotate in the fisheye bearing, thereby driving the driving member 327 to move. Since the first arm 326 is movably connected to the support 325 and the driving member 327 respectively, when the driving member 327 starts to work, the first arm 326 can be moved around the support 325. At the same time, since the first arm 326 and the second arm 329 are movably connected, the second arm 329 can be driven to move, thereby adjusting the collection position of the collection assembly 33 located on the second arm 329. Through the above-mentioned structure, first, when the collection is not in progress, the first arm 326 can be moved close to the outer wall of the mounting seat 31 by the operation of the driving motor 321 to shorten the distance between the first arm 326 and the second arm 329. The distance between the first and second arms 326 and 329 and the end effector 21 can avoid damage to the arm or the collection component 33 when the device moves in a small space; at the same time, by dividing the integrated arm into two movably connected first arms 326 and second arms 329, when the collection component 33 is damaged, it is only necessary to disassemble the second arm 329 to complete the replacement of the collection component 33, and there is no need to disassemble the end effector 21. At the same time, when the drive motor 321 is working, the connection between the first arm 326 and the second arm 329 is located outside the end effector 21, thereby improving the work efficiency of the maintenance personnel and avoiding occupying a large space, so that it can also perform detection work in a small space.

[0026] The driving assembly 32 includes a rotating motor 3218 built into the mounting base 31, a first gear 3210 connected to the output end of the rotating motor 3218, and two executing parts connected to the first gear 3210; the executing part is connected to the collecting assembly 33; the executing part includes two rotating disks 3212, a second gear 3211 provided on one of the rotating disks 3212 and meshing with the first gear 3210, a rotating rod 3213 for connecting the two rotating disks 3212, two connecting rods 3214 movably connected to the rotating rods 3213, a first movable plate 3215 movably connected to one of the connecting rods 3214, a second movable plate 3216 movably connected to the other connecting rod 3214, and an extension plate 3217 provided on the second movable plate 3216; wherein the first movable plate 3215 and the second movable plate 3216 are both L-shaped structures, and the second movable plate 3217 is L-shaped. The connection between the plate 3216 and the extension plate 3217 passes through the first movable plate 3215 and is movably connected to the first movable plate 3215; when the driving component 32 needs to start working, the rotating motor 3218 starts working, and the moving rotating motor 3218 can drive the first gear 3210 to rotate. At this time, the moving first gear 3210 can drive the two second gears 3211 to rotate, and then the moving second gear 3211 can drive the rotating disk 3212 connected thereto to move, and then the set rotating rod 3213 can drive the other rotating disk 3212 to rotate, and then the moving rotating rod 3213 can drive the connecting rod 3214 to move, and then the first movable plate 3215 and the second movable plate 3216 can be driven to move, and then the extension plate 3217 can be moved, thereby adjusting the collection area of ​​the collector 3345 located on the extension plate 3217, thereby completing the collection work.

[0027] In a further embodiment, the free ends of the two connecting rods 3214 and one end of the rotating rod 3213 away from the hinged connection between the connecting rod 3214 and the rotating rod 3213 are connected in sequence, thereby forming two planes, one of which includes the axis of one of the connecting rods 3214 and the rotating rod 3213, and the other plane includes the axis of the other connecting rod 3214 and the rotating rod 3213, wherein there is a predetermined inclination angle between the two planes, and rotating seats are provided at both ends of the rotating rod 3213, wherein there is a predetermined angle between the length directions of the rotating seats located at the free ends of different rotating rods 3213, so that the extension plate 3217 can rotate around the connection between the second movable plate 3216 and the extension plate 3217, and at the same time by Since the connection is located on the first movable plate 3215, the first movable plate 3215 can drive the extension plate 3217 to move when it moves. Since the two connecting rods 3214 are arranged on the same rotating rod 3213, the extension plate 3217 can not only change the position of the collection component 33 thereon, but also change the collection angle of the collection component 33, thereby obtaining a larger collection range, avoiding collision between the clamp 22 and other equipment in the shield machine when moving in a small space, causing damage to the device. At the same time, by changing the position of the collection component 33, the position of the equipment in the shield machine can be obtained, so that the position of the clamp 22 can be better planned and adjusted through the existing robot body 1.

[0028] The collection component 33 includes a shell 331, a fixed frame 332 built into the shell 331, a telescopic cylinder 333 fixedly connected to the fixed frame 332, a driving rod provided at the output end of the telescopic cylinder 333, a connecting sleeve 337 sleeved on the driving rod, a plurality of supporting parts 335 evenly arranged on the connecting sleeve 337, an adjusting part 336 connected to the driving rod, and a visual collection part 334 provided on the adjusting part 336; the shell 331 is connected to the driving component 32; the telescopic cylinder 333 is used to move the driving component 32; the visual collection part 334 ... The movement can drive the driving rod to move, so that the collector 3345 can be pushed out of the shell 331, ensuring that the collector 3345 can smoothly carry out the collection work; the support part 335 provided can complete the support work of the driving rod and can change the support position at the same time, ensuring the smooth progress of the support work, and the adjustment part 336 provided can adjust the distance between the collectors 3345 in adjacent visual collection parts 334, and the visual collection part 334 provided can adjust the collection angle of the collector 3345, thereby completing the collection work.

[0029] The supporting portion 335 includes a working motor 3351 arranged in the connecting sleeve 337, a rotating frame 3352 connected to the output end of the working motor 3351, a supporting cylinder 3353 and a supporting rod 3354 respectively fixed on the rotating frame 3352, an adjusting rod 3355 sleeved on the supporting rod 3354, a driving block 3356 and a moving seat 3357 connected to the adjusting rod 3355, two fine-tuning motors 3358 symmetrically arranged on the moving seat 3357, a supporting arm 3359 connected to the output end of the fine-tuning motor 3358, and two abutting blocks 33510 arranged on the supporting arm 3359; the output end of the supporting cylinder 3353 is connected to the driving block 3356; the rotating frame 3352 has a predetermined length; when supporting work is required, the supporting cylinder 3353 starts to work, and the moving supporting cylinder 3353 can drive the driving block 3356 to move, and then move The driving block 3356 can drive the adjusting rod 3355 to move, and then the adjusting rod 3355 moves on the supporting rod 3354 to adjust the distance between the movable seat 3357 and the inner wall of the shell 331. Then the fine-tuning motor 3358 starts to work, and drives the supporting arm 3359 to make the abutment block 33510 abut against the inner wall of the shell 331, thereby completing the support work for the driving rod. When the driving rod is extended a certain distance under the drive of the telescopic cylinder 333, the abutment block 33510 is located outside the shell 331. At this time, since the extension distance of the telescopic cylinder 333 is too large and the abutment block 33510 is located outside the shell 331, it is difficult to perform the supporting work. At this time, the working motor 3351 starts to work, and then can drive the movable seat 3357 to rotate, so that the movable seat 3357 is located inside the shell 331. Then the fine-tuning motor 3358 starts to work, so that the abutment block 33510 abuts against the inner wall of the shell 331, thereby completing the support work for the driving rod.

[0030] The adjusting portion 336 includes two support seats 3361, a plurality of limiting tubes 3368 for connecting the two support seats 3361, a support plate 3366 sleeved on the limiting tubes 3368, an expansion motor 3362 fixedly connected to the support plate 3366, a screw rod 3363 connected to the output end of the expansion motor 3362, a driving plate 3364 connected to the screw rod 3363 and sleeved on the limiting tubes 3368, and an expansion member connected to the driving plate 3364; one of the support seats 3361 is connected to the driving rod; the expansion member includes a plurality of movable rods 3365 movably connected to the driving plate 3364, And multiple movable shafts 3367 movably connected to the support plate 3366; the visual acquisition part 334 is connected to the movable shaft 3367; the movable rod 3365 is movably connected to the movable shaft 3367; when the unfolding work is required, the unfolding motor 3362 starts to work, and the moving unfolding motor 3362 can drive the screw rod 3363 to rotate, so as to adjust the position of the driving plate 3364 on the screw rod 3363, and then drive the movable rod 3365 to move, so as to adjust the angle between the movable shaft 3367 and the support plate 3366, so as to adjust the unfolding angle according to needs and adjust according to the actual space.

[0031] The visual acquisition unit 334 includes a connecting block 3341 provided on the movable shaft 3367, a transmission shaft 3342 passing through the connecting block 3341, two rotating rods 3349 symmetrically provided on the transmission shaft 3342, an adjusting block 3344 for connecting the two rotating rods 3349, two movable seats 3346 installed on the connecting block 3341, a rotating shaft 3347 for connecting the movable seats 3346 and movably connected to the movable seats 3346, and a movable block sleeved on the rotating shaft 3347. 3348, and a collector 3345 movably connected to the adjustment block 3344 and the movable block 3348; wherein an adjustment motor 3343 is also provided on one end of the transmission shaft 3342; when it is necessary to adjust the position of the collector 3345, the adjustment motor 3343 starts to work, and the moving adjustment motor 3343 drives the transmission shaft 3342 to rotate, and then the collector 3345 can be driven to move through the set adjustment block 3344 and the rotating rod 3349, thereby adjusting the collection area of ​​the collector 3345.

[0032] In a further embodiment, the device is further provided with a robot body 1, wherein the robot body 1 is prior art, and the specific structure can refer to the technical content recorded in the prior art in the background technology.

[0033] The method for constructing a digital twin model includes the following steps: S1: Collecting real-time data of the robot body 1 according to the collector 3345 and preprocessing the collected data information; S2: According to the basic information of the tool changing robot, namely the number and quality of each joint in the robot body 1, the relevant connection method, the size, length and diameter of the parts in the acquisition structure, the relative installation relationship between the various parts, the overall size and hardware configuration information; Then, based on the dimensional parameters of the parts, the technology defines the parametric model of each component in the 3D modeling software, and determines the assembly relationship of each part through coordinate constraints according to the position relationship of the components, ensuring the dimensional consistency of the model with the actual physical structure, thereby establishing an accurate geometric model of the tool changing robot. In addition, according to the physical characteristics and behavior laws of the tool changing robot, namely the joint motion parameters and the motion range limit of each joint, inertia parameters, force and torque characteristics, mechanical transmission efficiency and friction characteristics, as well as the motion trajectory of the tool changing process, motion control logic, tool changing action timing, prohibited areas in the workspace and emergency stop response when the tool is stuck, etc., a corresponding physical model is established. Finally, various parameters in the tool changing robot model are associated with the data collected by the sensor. S3: Integrate the above geometric model with the physical model, that is, by establishing a global coordinate system with the robot as the origin, and mapping the relevant parameters of the geometric model into the kinematic equations of the physical model; At the same time, the physical properties of the geometric model, such as mass and inertia, are transferred to the physical model; The force and deformation results calculated by the physical model are fed back to the geometric model to drive its shape adjustment; The kinematic constraints of the geometric model are used as boundary conditions for the physical model; the dynamic limits calculated by the physical model react to the motion planning of the geometric model; thus forming a complete digital twin model. Then, by fusing the collected data information with the above digital twin model, and using the model's prediction results to verify and supplement the sensor data, the mutual optimization of data and model is achieved. In a further embodiment, the position and collection direction of the laser radar sensor, laser ranging sensor, image sensor and tilt sensor or gyroscope are adjusted according to the above mechanism, so as to collect real-time data of the tool changing robot, where such data includes but is not limited to information on the status, behavior or environment of the tool changing robot itself, and then the collected data information is pre-processed by denoising, filtering, normalization and other operations; Based on the tool-changing robot's design drawings, 3D scanning data, or other relevant information, a precise geometric model of the tool-changing robot is established. The physical characteristics and behavior patterns of the tool-changing robot are then analyzed to establish a corresponding physical model. Specifically, a dynamic model or kinematic model can be established to describe the tool-changing robot's physical behavior under different conditions. Finally, various parameters in the tool-changing robot model are associated with the data collected by the sensor. Integrate the different types of models established above, such as geometric models and physical models, to form a complete digital twin model. By establishing associations and data interaction mechanisms between models, collaborative work between models is achieved. By fusing the collected data information with the digital twin model, and using the model's prediction results to verify and supplement the sensor data, mutual optimization of data and model is achieved. The above-mentioned sensors continuously collect real-time data of the tool-changing robot and its environment, and transmit it to the digital twin model. By real-time monitoring of the data, the state changes and abnormal conditions of the physical entity can be discovered in time. Then, based on the real-time collected data, the digital twin model is updated and adjusted. The update of the model can be the adjustment of parameters, modification of structure or retraining of the model to ensure that the model can accurately reflect the latest status of the physical entity. Through the analysis and prediction results of the model, feedback information is provided to the control system or operator of the physical entity to guide them to perform optimized control, fault diagnosis and maintenance decisions, etc. At the same time, the actual operation of the physical entity can also verify and improve the digital twin model in turn, forming a closed-loop interactive feedback system; thereby ensuring the safety and stability of the tool-changing robot during movement, and achieving the obstacle avoidance and safe operation of the tool-changing robot.

[0034] Working principle: When it is necessary to remove the bolts on the shield cutter head, the first data acquisition device 24 and the second data acquisition device 3 can cooperate to collect the position of the bolts, and then the collected data is fed back to move the multi-stage telescopic arm 23. The coordinated movement of the multi-stage telescopic arm 23 and the robot body 1 can drive the clamping claw 22 to move, control the position of the clamping claw 22, and complete the clamping and limiting work of the bolts; When the driving assembly 32 starts to work, the driving motor 321 in the driving assembly 32 starts to work, and the moving driving motor 321 can drive the first bevel gear 322 to rotate, so that the moving first bevel gear 322 can drive the second bevel gear 323 to rotate, and the moving second bevel gear 323 can drive the connecting rod 324 to move, and the moving connecting rod 324 can drive the fisheye bearing to move, so that the steel ball 328 can rotate in the fisheye bearing, thereby driving the driving member 327 to move. Since the first expansion arm 326 is movably connected to the support and the driving member 327 respectively, when the driving member 327 starts to work, the first expansion arm 326 can move around the support 325. At the same time, since the first expansion arm 326 and the second expansion arm 329 are movably connected, the second expansion arm 329 can be driven to move, so that the position of the second expansion arm 32 can be adjusted. 9, the collection position of the collection assembly 33 on the first can be adjusted by the above-mentioned structure. First, when the collection is not in progress, the first arm 326 can be moved close to the outer wall of the mounting seat 31 by the operation of the driving motor 321, thereby shortening the distance between the first arm 326 and the end effector seat 21, thereby avoiding damage to the arm or the collection assembly 33 when the device moves in a small space; at the same time, by dividing the integrated arm into two movably connected first arm 326 and second arm 329, when the collection device is damaged, only the second arm 329 needs to be disassembled to complete the replacement of the collection assembly 33, without the need to disassemble the end effector seat 21. At the same time, when the driving motor 321 is working, the connection between the first arm 326 and the second arm 329 is located outside the end effector seat 21, thereby improving the work efficiency of the maintenance personnel and avoiding occupying a large space, so that the detection work can also be carried out in a small space. When the driving assembly 32 needs to start working, the rotating motor 3218 starts working. The moving rotating motor 3218 can drive the first gear 3210 to rotate. At this time, the moving first gear 3210 can drive the two second gears 3211 to rotate. Then, the moving second gear 3211 can drive the rotating disk 3212 connected thereto to move. Then, the rotating rod 3213 provided can drive the other rotating disk 3212 to rotate. Then, the moving rotating rod 3213 can drive the connecting rod 3214 to move, thereby driving the first movable plate 3215 and the second movable plate 3216 to move, thereby enabling the extension plate 3217 to move, thereby adjusting the collection area of ​​the collector 3345 located on the extension plate 3217, thereby completing the collection work; through the movement of the telescopic cylinder 333, the driving rod can be driven to move, so that the collector 3345 can be pushed out of the shell 331, ensuring the smooth collection work of the collector 3345; When supporting work is needed, the supporting cylinder 3353 starts to work, and the moving supporting cylinder 3353 can drive the driving block 3356 to move, and then the moving driving block 3356 can drive the adjusting rod 3355 to move, and then the adjusting rod 3355 moves on the supporting rod 3354 to adjust the distance between the moving seat 3357 and the inner wall of the shell 331, and then the fine-tuning motor 3358 starts to work, and drives the supporting arm 3359 to make the abutment block 33510 abut against the inner wall of the shell 331, thereby completing the supporting work of the driving rod. After the driving rod is extended a certain distance by the telescopic cylinder 333, the abutment block 33510 is located outside the shell 331. At this time, since the telescopic cylinder 333 is extended too far and the abutment block 33510 is located outside the shell 331, it is difficult to support the rod. At this time, the working motor 3351 starts to work, thereby driving the movable seat 3357 to rotate, so that the movable seat 3357 is located inside the shell 331. Then the fine-tuning motor 3358 starts to work, so that the abutment block 33510 abuts against the inner wall of the shell 331, completing the support work for the driving rod. When the unfolding work is required, the unfolding motor 3362 starts working, and the moving unfolding motor 3362 can drive the screw rod 3363 to rotate, thereby adjusting the position of the driving plate 3364 on the screw rod 3363, and then drive the movable rod 3365 to move, thereby adjusting the angle between the movable shaft 3367 and the support plate 3366, so as to adjust the unfolding angle according to needs and adjust according to the actual space; when the position of the collector 3345 needs to be adjusted, the adjustment motor 3343 starts working, and the moving adjustment motor 3343 drives the transmission shaft 3342 to rotate, and then the collector 3345 can be driven to move through the set adjustment block 3344 and the rotating rod 3349, thereby adjusting the collection area of ​​the collector 3345.

[0035] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. The data acquisition structure based on small space arm span is characterized by: include: A robot body (1), a robot arm (2) arranged on the robot body (1), and a second data acquisition device (3) built into the robot arm (2); The robot arm (2) includes an end effector seat (21) connected to the robot body (1), two first data acquisition devices (24) symmetrically arranged on the end effector seat (21), two multi-stage telescopic arms (23) symmetrically arranged on the end effector seat (21), and a clamping claw (22) for connecting the two multi-stage telescopic arms (23); According to the information collected by the two data acquisition devices, not only can the position and angle of the gripper (22) be adjusted to realize the obstacle avoidance of the robot arm (2) and the grasping of the gripper (22), so that the robot arm (2) can complete the grasping and transportation of the hob, but also a three-dimensional posture model of the robot arm (2) can be constructed. By integrating the collected information with the three-dimensional posture model, the construction of the digital twin model is completed.

2. The data acquisition structure based on small space arm span according to claim 1, characterized in that: The second data acquisition device (3) comprises a mounting seat (31) built into the end effector seat (21), a drive assembly (32) arranged in the mounting seat (31), and two acquisition assemblies (33) symmetrically arranged on the drive assembly (32); The initial collection areas of the two collection components (33) are opposite.

3. The data acquisition structure based on small space arm span according to claim 2, characterized in that: The driving assembly (32) includes a driving portion, two supports (325) symmetrically arranged on the mounting seat (31), a first extension arm (326) movably connected to the supports (325), a second extension arm (329) movably connected to the first extension arm (326), and a connecting rod (324) for connecting the first extension arm (326) and the driving portion; The first extension arm (326) is provided with a driving member (327) movably connected thereto, and a steel ball (328) arranged on the driving member (327); A fisheye bearing is provided on one end of the connecting rod (324), and the steel ball (328) is located in the fisheye bearing and is movably connected to the fisheye bearing.

4. The data acquisition structure based on small space arm span according to claim 3, characterized in that: The driving portion comprises two second bevel gears (323) arranged on the mounting seat (31), a first bevel gear (322) meshing with the second bevel gears (323), and a driving motor (321) connected to the first bevel gear (322) and located on the mounting seat (31); The other end of the connecting rod (324) is connected to the eccentric point of the second bevel gear (323).

5. The data acquisition structure based on small space arm span according to claim 2, characterized in that: The driving assembly (32) comprises a rotating motor (3218) built into the mounting seat (31), a first gear (3210) connected to the output end of the rotating motor (3218), and two execution units connected to the first gear (3210); the execution units are connected to the collection assembly (33); The execution unit comprises two rotating disks (3212), a second gear (3211) disposed on one of the rotating disks (3212) and meshing with the first gear (3210), a rotating rod (3213) for connecting the two rotating disks (3212), two connecting rods (3214) movably connected to the rotating rods (3213), a first movable plate (3215) movably connected to one of the connecting rods (3214), a second movable plate (3216) movably connected to the other connecting rod (3214), and an extension plate (3217) disposed on the second movable plate (3216); The first movable plate (3215) and the second movable plate (3216) are both L-shaped structures, and the connection between the second movable plate (3216) and the extension plate (3217) passes through the first movable plate (3215) and is movably connected to the first movable plate (3215).

6. The data acquisition structure based on small space arm span according to any one of claims 3 or 5, characterized in that: The acquisition component (33) includes a housing (331), a fixed frame (332) built into the housing (331), a telescopic cylinder (333) fixedly connected to the fixed frame (332), a driving rod provided at the output end of the telescopic cylinder (333), a connecting sleeve (337) sleeved on the driving rod, a plurality of supporting portions (335) uniformly arranged on the connecting sleeve (337), an adjusting portion (336) connected to the driving rod, and a visual acquisition portion (334) provided on the adjusting portion (336); The housing (331) is connected to the drive assembly (32).

7. The data acquisition structure based on small space arm span according to claim 6, characterized in that: The support portion (335) includes a working motor (3351) arranged in the connecting sleeve (337), a rotating frame (3352) connected to the output end of the working motor (3351), a supporting cylinder (3353) and a supporting rod (3354) respectively fixed on the rotating frame (3352), an adjusting rod (3355) sleeved on the supporting rod (3354), a driving block (3356) and a moving seat (3357) connected to the adjusting rod (3355), two fine-tuning motors (3358) symmetrically arranged on the moving seat (3357), a supporting arm (3359) connected to the output end of the fine-tuning motor (3358), and two abutting blocks (33510) arranged on the supporting arm (3359); The output end of the supporting cylinder (3353) is connected to the driving block (3356).

8. The data acquisition structure based on small space arm span according to claim 7, characterized in that: The regulating portion (336) includes two supporting seats (3361), a plurality of limiting tubes (3368) for connecting the two supporting seats (3361), a supporting plate (3366) sleeved on the limiting tubes (3368), an unfolding motor (3362) fixedly connected to the supporting plate (3366), a screw rod (3363) connected to the output end of the unfolding motor (3362), a driving plate (3364) connected to the screw rod (3363) and sleeved on the limiting tubes (3368), and an unfolding member connected to the driving plate (3364); One of the support seats (3361) is connected to the drive rod.

9. The data acquisition structure based on small space arm span according to claim 8, characterized in that: The unfolding member includes a plurality of movable rods (3365) movably connected to the driving plate (3364), and a plurality of movable shafts (3367) movably connected to the supporting plate (3366); The visual acquisition portion (334) is connected to the movable shaft (3367); The movable rod (3365) is movably connected to the movable shaft (3367); the visual collection part (334) includes a connecting block (3341) arranged on the movable shaft (3367), a transmission shaft (3342) penetrating the connecting block (3341), two rotating rods (3349) symmetrically arranged on the transmission shaft (3342), an adjustment block (3344) for connecting the two rotating rods (3349), two movable seats (3346) mounted on the connecting block (3341), a rotating shaft (3347) for connecting the movable seats (3346) and movably connected to the movable seats (3346), a movable block (3348) sleeved on the rotating shaft (3347), and a collector (3345) movably connected to the adjustment block (3344) and the movable block (3348); An adjustment motor (3343) is further provided on one end of the transmission shaft (3342).

10. A method for constructing a digital twin model using data collected by the small space arm span-based data acquisition structure according to claim 9, characterized in that: The steps include: S1: collecting real-time data of the robot body (1) according to the collector (3345), and pre-processing the collected data information; S2: Based on the basic information of the tool changing robot, i.e. the number and mass of each joint in the robot body (1), the relevant connection mode, the size, length and diameter of the parts in the acquisition structure, the relative installation relationship between the parts, the size of the whole machine and the hardware configuration information; Then, based on the dimensional parameters of the parts, the parametric models of each component are defined in the 3D modeling software. According to the positional relationship of the components, the assembly relationship of the parts is determined through coordinate constraints to ensure the dimensional consistency of the model with the actual physical structure, thereby establishing an accurate geometric model of the tool changing robot. In addition, according to the physical characteristics and behavior laws of the tool changing robot, namely, the joint motion parameters and the motion range limitations of each joint, inertia parameters, force and torque characteristics, mechanical transmission efficiency and friction characteristics, etc., as well as the motion trajectory of the tool changing process, motion control logic, tool changing action timing, prohibited areas in the workspace and emergency stop response when the tool is stuck, etc., a corresponding physical model is established. Finally, the various parameters in the tool changing robot model are associated with the data collected by the sensor. S3: Integrate the above geometric model with the physical model, that is, by establishing a global coordinate system with the robot as the origin, and mapping the relevant parameters of the geometric model into the kinematic equations of the physical model; At the same time, the physical properties of the geometric model, such as mass and inertia, are transferred to the physical model; The force and deformation results calculated by the physical model are fed back to the geometric model to drive its shape adjustment; And by using the kinematic constraints of the geometric model as the boundary conditions of the physical model; the dynamic limits calculated by the physical model react to the motion planning of the geometric model; thus forming a complete digital twin model, and then by fusing the collected data information with the above digital twin model, and using the model's prediction results to verify and supplement the sensor data, mutual optimization of data and model is achieved.

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