Multifunctional collaborative operation robot suitable for in-situ repair of shield cutter

Abstract

The invention discloses a multifunctional collaborative operation robot suitable for in-situ repair of a shield cutter, which comprises a liftable base, wheels connected below the liftable base and a walking motor for driving the wheels to rotate, a rotating mechanism connected above the liftable base, and a rotary folding mechanical arm connected to the rotating mechanism. The tail end of the rotary folding mechanical arm is connected with a telescopic mechanical arm, and the tail end of the telescopic mechanical arm is connected with a multifunctional execution module; the rotary folding mechanical arm comprises a plurality of folding arms which are sequentially and rotatably stored, and each folding arm is provided with a driving motor for driving the folding arm to rotate; the end face of the multifunctional execution module is connected with a visual detection module, and the peripheral face of the multifunctional execution module is connected with a laser cladding module, a polishing module and a cleaning module. The cutter repairing robot can be suitable for the high-risk narrow space environment, the integrated automatic operation of recognition, cleaning, repairing and calibration of the shield cutter is achieved, the cutter repairing efficiency and quality are effectively improved, and the casualty risk is reduced.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel boring machine (TBM) construction equipment, specifically relating to a multi-functional collaborative operation robot suitable for in-situ repair of TBM cutters. Background Technology

[0002] During shield tunnel construction, the cutting tools, as key components directly breaking rock and soil, will fail due to continuous wear and tear, requiring timely repair or replacement to ensure construction efficiency and safety. Currently, the mainstream method for repairing shield cutting tools involves manual entry into a sealed soil chamber in front of the cutterhead. This method has significant drawbacks: 1. Extremely high safety risks: The confined and enclosed working space within the soil chamber easily accumulates oxygen-deficient air and toxic gases. Even with continuous ventilation and gas monitoring, there are still risks of suffocation, poisoning, and collapse, seriously threatening the lives of construction personnel. 2. Low repair efficiency: The process of manually entering and exiting the soil chamber is cumbersome (requiring decompression, ventilation, equipment inspection, etc.), resulting in short effective working time per session. Furthermore, manual welding / grinding operations are slow, leading to prolonged shield machine downtime and severely impacting project progress. 3. Unstable repair quality: Manual welding, reliant on worker experience, is prone to defects such as porosity, slag inclusions, and incomplete fusion. The repair layer exhibits uneven hardness and insufficient bonding strength, leading to rapid secondary wear of the cutting tools. Frequent repairs further exacerbate downtime losses.

[0003] While some auxiliary repair equipment exists in the existing technology, most still require close-range manual operation or cannot stably perform high-precision cladding operations in the complex environment of the soil chamber (muddy water, high humidity, and confined space). Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional collaborative operation robot suitable for in-situ repair of tunnel boring machine (TBM) cutters. This robot is applicable to high-risk, confined space environments and can achieve integrated automatic operation of "identification, cleaning, repair, and calibration" of TBM cutters, effectively improving the efficiency and quality of cutter repair and reducing the risk of personnel injury.

[0005] To achieve the above objectives, the present invention provides a multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters, including a liftable base, wheels and a walking motor for driving the wheels to rotate connected below the liftable base, a rotating mechanism connected above the liftable base, a rotating and folding mechanical arm connected to the rotating mechanism, a telescopic mechanical arm connected to the end of the rotating and folding mechanical arm, and a multi-functional execution module connected to the end of the telescopic mechanical arm.

[0006] The rotary folding robotic arm includes several folding arms that rotate and retract sequentially, and each folding arm is equipped with a drive motor that drives its rotation.

[0007] The multi-functional execution module is connected to a vision inspection module on its end face and to a laser cladding module, a polishing module, and a cleaning module on its peripheral face.

[0008] As a further aspect of the present invention: the rotary folding robotic arm includes at least three folding arms: a first folding arm, a second folding arm, and a third folding arm. The dimensions of the first folding arm, the second folding arm, and the third folding arm decrease sequentially and are connected end to end in sequence. The head of the first folding arm, the second folding arm, and the third folding arm are respectively connected to a first drive motor, a second drive motor, and a third drive motor for driving the rotation adjustment of the first folding arm, the second folding arm, and the third folding arm.

[0009] As a further aspect of the present invention: the end of the rotating folding robotic arm is provided with a telescopic arm drive motor that drives the telescopic robotic arm to rotate.

[0010] As a further aspect of the present invention: the telescopic robotic arm includes a first telescopic arm and a second telescopic arm that are slidably connected. The first telescopic arm is provided with a telescopic electric cylinder that drives the second telescopic arm to telescopically move. The first telescopic arm has a guide groove on its side, and the second telescopic arm has a guide protrusion that matches the guide groove on its side.

[0011] As a further aspect of the present invention: the end of the telescopic robotic arm is provided with an end drive motor that is connected to drive the multi-functional execution module to rotate.

[0012] As a further aspect of the present invention: the rotating mechanism includes a fixed base connected to the upper surface of the liftable base, the fixed base has a groove in the center, a rotating drive motor is provided in the groove, the power output end of the rotating drive motor is connected to a rotating disk, and the edge of the rotating disk is slidably mounted on the fixed base.

[0013] As a further aspect of the present invention: the inner side of the bottom of the rotating disk is provided with a limiting device that fits the inner wall of the groove, and the upper surface of the rotating disk is provided with a base for connecting the rotating and folding robotic arm.

[0014] As a further aspect of the present invention: the multifunctional collaborative robot also includes a control system with data recording and remote control functions. The control system has preset linkage logic, including: 1) visually identifying worn parts; 2) calling the cleaning module to remove surface impurities; 3) calling the laser cladding module to perform fixed-point repair; 4) calling the grinding module to perform surface smoothing.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. The combination of the rotating and folding robotic arm and the telescopic robotic arm can combine the capabilities of telescopic, rotating and positioning, making it convenient for robots to operate in high-risk and confined spaces.

[0017] 2. The multi-functional execution module integrates a vision inspection module, a laser cladding module, a grinding module, and a cleaning module, realizing integrated automatic operation of "identification-cleaning-repair-calibration", effectively improving the efficiency and quality of tool repair and reducing the risk of personnel injury;

[0018] 3. The control system enables the robot to operate remotely in the enclosed environment of the tunnel boring machine, improving safety. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of the multifunctional collaborative operation robot applicable to in-situ repair of tunnel boring machine cutters according to the present invention;

[0020] Figure 2 This is a schematic diagram of the height-adjustable base structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the rotating mechanism structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the rotating folding robotic arm structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the telescopic robotic arm structure of the present invention;

[0024] Figure 6 This is a schematic diagram of the structure of the multifunctional execution module of the present invention.

[0025] Figure 7 This is a control flowchart for the multifunctional collaborative robot of the present invention.

[0026] In the diagram: 1. Wheel, 2. Liftable base, 3. Counterweight, 4. Rotary disc, 5. Base, 6. First drive motor, 7. Flange 1, 8. Deep groove ball bearing, 9. First folding arm, 10. Second folding arm, 11. Third drive motor, 12. Third folding arm, 13. First telescopic arm, 14. Second telescopic arm, 15. Multifunctional execution module, 16. Cleaning module, 17. Vision inspection module, 18. Laser cladding module, 19. Flange 2, 20. Telescopic electric cylinder, 21. Lifting electric cylinder, 22. Connecting rod, 23. Rotary mechanism drive motor, 24. Flange 3, 25. Grinding module, 26. Fixed base, 27. Telescopic arm drive motor, 28. Second drive motor, 29. Flange 4, 30. End drive motor, 31. Walking motor. Detailed Implementation

[0027] The invention will now be further described with reference to the accompanying drawings.

[0028] like Figure 1 and Figure 2As shown, a multi-functional collaborative operation robot suitable for in-situ repair of shield tunneling cutters includes a liftable base 2, with wheels 1 and a walking motor 31 for driving the wheels 1 to rotate connected below the liftable base 2, a rotating mechanism connected above the liftable base 2, a rotating and folding mechanical arm connected to the rotating mechanism, a telescopic mechanical arm connected to the end of the rotating and folding mechanical arm, and a multi-functional execution module 15 connected to the end of the telescopic mechanical arm.

[0029] The liftable base 2 is a scissor lift. The liftable base 2 has a slot for the connecting rod 22 to move inside the slot. The lifting electric push cylinder 21 is fixed to the lower half of the liftable base 2. The lifting is completed by pushing and pulling the lifting electric push cylinder 21 in conjunction with the connecting rod 22 moving inside the slot.

[0030] To improve the robot's walking stability, a counterweight 3 is provided on top of the height-adjustable base 2;

[0031] The rotary folding robotic arm includes several folding arms that rotate and retract sequentially, and each folding arm is equipped with a drive motor that drives its rotation.

[0032] like Figure 6 As shown, the multi-functional execution module 15 has a vision inspection module 17 connected to its end face, and a laser cladding module 18, a polishing module 25, and a cleaning module 16 connected to its peripheral face.

[0033] Visual inspection module 17: includes an industrial camera and an image processing chip, which can identify the wear area of ​​the tunnel boring machine cutter and perform position calibration.

[0034] Laser cladding module 18: includes a laser head, powder delivery pipe, and cooling system, used for directional cladding of metal coatings.

[0035] Cleaning module 16: Uses a high-pressure air nozzle or water spray device to remove debris and surface contaminants.

[0036] Grinding module 25: Uses a small motor to drive the grinding wheel for fine finishing of the fused area.

[0037] In order to adapt to working in confined spaces, such as Figure 1 and Figure 4 As shown, the rotating folding robotic arm further includes at least three folding arms: a first folding arm 9, a second folding arm 10, and a third folding arm 12. The dimensions of the first folding arm 9, the second folding arm 10, and the third folding arm 12 decrease sequentially and are connected end to end in sequence. The head of the first folding arm 9, the second folding arm 10, and the third folding arm 12 are respectively connected to a first drive motor 6, a second drive motor 28, and a third drive motor 11 for driving the rotation and adjustment of the first folding arm 9, the second folding arm 10, and the third folding arm 12.

[0038] The first folding arm 9, the second folding arm 10, and the third folding arm 12, whose dimensions decrease sequentially, can retract and fold under the drive of the first drive motor 6, the second drive motor 28, and the third drive motor 11, so that the third folding arm 12 folds into the interior of the second folding arm 10, and the second folding arm 10 folds into the interior of the first folding arm 9, thereby facilitating movement in confined spaces. Combined with their rotation and unfolding, they can meet the repair needs of tunnel boring machine cutters.

[0039] Furthermore, the end of the rotating folding robotic arm is equipped with a telescopic arm drive motor 27, which is connected to drive the telescopic robotic arm to rotate. This allows the telescopic robotic arm to work well with the rotating folding robotic arm.

[0040] To achieve stable extension and retraction control of the telescopic robotic arm, such as Figure 1 and Figure 5 As shown, the telescopic robotic arm further includes a first telescopic arm 13 and a second telescopic arm 14 that are slidably connected. The first telescopic arm 13 is provided with a telescopic electric cylinder 20 that drives the second telescopic arm 14 to telescopically move. The first telescopic arm 13 is provided with a guide groove on its side, and the second telescopic arm 14 is provided with a guide protrusion that matches the guide groove on its side.

[0041] To fully utilize the functional features of the multi-functional execution module 15, the telescopic robotic arm is further equipped with an end effector motor 30 that drives the multi-functional execution module 15 to rotate. The end effector motor 30 can drive the multi-functional execution module 15 to rotate, thereby allowing adjustment and use of the various functional modules connected to the multi-functional execution module 15 via flange 2 19 according to repair needs.

[0042] Furthermore, such as Figure 1 and 3 As shown, the rotating mechanism includes a fixed base 26 connected to the upper surface of the liftable base 2. The fixed base 26 has a groove in the center, and a rotary drive motor is installed in the groove. The power output end of the rotary drive motor is connected to the rotating disk 4. The stator end of the rotary drive motor is fixed to the fixed base 26 along with the main body of the rotary drive motor, and the rotor end is fixed to the rotating disk through the flange 24, so that the rotary drive motor can drive the rotating disk 4 to rotate. The edge of the rotating disk 4 is slidably mounted on the fixed base 26, which can provide support for the rotating disk 4 without affecting the rotation of the rotating disk 4.

[0043] The rotary drive motor drives the rotary disk 4 to rotate, which in turn drives the rotary folding robotic arm mounted on the rotary disk 4 to rotate, thus facilitating the robot to perform repair work.

[0044] To improve the stability of the rotating disk 4 during rotation, a limiting device is further provided on the inner side of the bottom of the rotating disk 4 to fit the inner wall of the groove, and a base 5 for connecting the rotating and folding robotic arm is provided on the upper surface of the rotating disk 4. The first drive motor 6 is fixed to one side of the base 5 through flange 7, and the rotor end of the first drive motor 6 is fixedly connected to one side of the first folding arm 9 through the flange. The other side of the first folding arm 9 is connected to a deep groove ball bearing 8, which is connected to the base 5 through flange 29, so that the first drive motor 6 can drive the first folding arm 9 to rotate.

[0045] Furthermore, the multi-functional collaborative robot also includes a control system with data recording and remote control functions. The control system has preset linkage logic, including: 1) visually identifying worn parts; 2) calling the cleaning module 16 to remove surface impurities; 3) calling the laser cladding module 18 to perform fixed-point repair; 4) calling the polishing module 25 to perform surface smoothing.

[0046] In specific implementation of this invention, such as Figure 7 As shown, the control flow is as follows:

[0047] 1. Deployment begins: Move the robot to the vicinity of the target tool and scan the tool surface using the vision inspection module 17;

[0048] 2. Visual recognition of wear areas: Image recognition algorithms automatically extract damaged areas and complete spatial localization;

[0049] 3. Clean surface impurities: Use the air nozzle module for pre-cleaning to remove dust and debris;

[0050] 4. Laser cladding repair: The laser cladding head performs targeted repairs along the path and automatically retracts upon completion;

[0051] 5. Grinding and smoothing: Based on the cladding thickness, call grinding module 25 to perform surface smoothing.

[0052] 6. Determine if the repair quality meets the standards: After the work is completed, the repair area is inspected by the visual inspection module 17. If it meets the standards, return to step 4 for laser cladding repair.

[0053] 7. Record data and reset: After confirming that the repair quality meets the standards, record the working condition data and return to the initial position;

[0054] 8. End of assignment.

Claims

1. A multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters, comprising a liftable base (2), with wheels (1) and a walking motor (31) for driving the wheels (1) to rotate connected below the liftable base (2), characterized in that, A rotating mechanism is connected above the liftable base (2), a rotating folding mechanical arm is connected to the rotating mechanism, a telescopic mechanical arm is connected to the end of the rotating folding mechanical arm, and a multi-functional execution module (15) is connected to the end of the telescopic mechanical arm. The rotary folding robotic arm includes several folding arms that rotate and retract sequentially, and each folding arm is equipped with a drive motor that drives its rotation. The multi-functional execution module (15) is connected to a vision inspection module (17) on its end face and to a laser cladding module (18), a polishing module (25), and a cleaning module (16) on its peripheral face.

2. The multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters according to claim 1, characterized in that, The rotating folding robotic arm includes at least three folding arms: a first folding arm (9), a second folding arm (10), and a third folding arm (12). The dimensions of the first folding arm (9), the second folding arm (10), and the third folding arm (12) decrease sequentially and are connected end to end in sequence. The head of the first folding arm (9), the second folding arm (10), and the third folding arm (12) are respectively connected to a first drive motor (6), a second drive motor (28), and a third drive motor (11) for driving the rotation adjustment of the first folding arm (9), the second folding arm (10), and the third folding arm (12).

3. A multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters according to claim 1, characterized in that, The end of the rotating folding robotic arm is equipped with a telescopic arm drive motor (27) that drives the telescopic robotic arm to rotate.

4. A multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters according to claim 1 or 3, characterized in that, The telescopic robotic arm includes a first telescopic arm (13) and a second telescopic arm (14) that are slidably connected. The first telescopic arm (13) is provided with a telescopic electric cylinder (20) that drives the second telescopic arm (14) to telescopically move. The first telescopic arm (13) has a guide groove on its side, and the second telescopic arm (14) has a guide protrusion on its side that matches the guide groove.

5. A multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters according to claim 4, characterized in that, The telescopic robotic arm is equipped with an end drive motor (30) that connects to drive the multi-functional execution module (15) to rotate.

6. A multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters according to claim 1, characterized in that, The rotating mechanism includes a fixed base (26) connected to the upper surface of the liftable base (2). The fixed base (26) has a groove in the center, and a rotating drive motor is provided in the groove. The power output end of the rotating drive motor is connected to a rotating disk (4), and the edge of the rotating disk (4) is slidably mounted on the fixed base (26).

7. A multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters according to claim 6, characterized in that, The bottom inner side of the rotating disk (4) is provided with a limiter that fits the inner wall of the groove, and the upper surface of the rotating disk (4) is provided with a base (5) for connecting the rotating and folding robotic arm.

8. A multi-functional collaborative operation robot suitable for in-situ repair of tunnel boring machine cutters according to claim 1, characterized in that, The multi-functional collaborative robot also includes a control system with data recording and remote control functions. The control system has preset linkage logic, including: 1) visually identifying worn parts; 2) calling the cleaning module (16) to remove surface impurities; 3) calling the laser cladding module (18) to perform fixed-point repair; 4) calling the polishing module (25) to perform surface smoothing.

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