Split type operation robot, shield tunneling machine and tool changing method

Abstract

The invention discloses a split type operation robot, a shield tunneling machine and a tool changing method. The problems that in the prior art, a large-arm-span operation robot is large in storage space, and rigidity and movement precision are difficult to guarantee are solved. The split type operation robot comprises a walking table, a walking mechanical arm and an end effector. The walking mechanical arm and the walking table are designed in a split mode, and the walking table is connected with the walking mechanical arm through a clamping jaw mechanism. And the end effector is arranged on the walking mechanical arm. According to the robot, the walking mechanical arm and the walking table are designed in a split mode, the tail end execution structure, namely the walking mechanical arm, the tail end executor and the walking table are designed in a split mode, modular design and operation are achieved, and the operation flexibility is improved; and the inherent contradiction that the larger the arm span is, the poorer the rigidity is and the lower the precision of a traditional long-arm-span robot is solved through the split type design, and the absolute precision of the tail end is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine (TBM) construction technology, and in particular to a cutterhead operating device. Background Technology

[0002] Full-face tunnel boring machine (MTBG) construction involves high cutter consumption and frequent replacements, with cutter inspection and replacement operations accounting for more than 10% of the tunnel construction cycle. Currently, cutter inspection and replacement mainly rely on manual labor. Workers face complex environments such as high temperature, high pressure, and high humidity during cutter replacement. Replacing a single cutter can take more than 3 hours, and 70% of safety accidents during tunnel construction are directly related to manual cutter replacement. The difficulty of inspection and the risks associated with cutter replacement are recognized international challenges and bottlenecks to safety and efficiency in tunnel construction under complex geological conditions.

[0003] In recent years, research on operational robots has gradually increased. Common operational robots typically consist of a body and an end effector. For example, Chinese Patent CN110587575B discloses a high-efficiency cutter changer robot for tunnel boring machines, but its short arm span and limited cutter change range cannot meet the actual needs of cutter change operations. Chinese Patent CN117565089B discloses a multi-degree-of-freedom cutter changer robot suitable for large-diameter tunnel boring machines, with a large arm span and a wide cutter change range. However, firstly, its structural rigidity and motion accuracy are difficult to guarantee. If motion accuracy cannot be guaranteed, the difficulty of disassembling and assembling the cutterhead fixing bolts on the end effector increases significantly. Secondly, while meeting the structural rigidity requirements of the large arm span, the size of the robot body will increase significantly, requiring extremely large storage and movement spaces. Therefore, meeting the cutter change operation requirements of a robot with a large arm span not only greatly increases the difficulty of cutter change but also requires specially designed storage and movement spaces for the robot, affecting the internal tunnel layout and segment assembly machine layout. The new sliding rail cutter changer system for tunnel boring machines disclosed in Chinese Patent No. CN110625357B and the single-degree-of-freedom cutter changer robot transport mechanism, cutter changer robot and tunnel boring machine disclosed in Chinese Patent No. CN211474120U also have the characteristics of large arm span and wide cutter change operation range. However, due to the large arm span, firstly, storage space needs to be designed specifically, and secondly, the rigidity and motion accuracy of the structure are difficult to guarantee.

[0004] Therefore, there is an urgent need to design a new inspection robot and a new cutter replacement method to meet the cutter replacement requirements of tunnel boring machines through small size and large-scale operation, and to improve the efficiency and safety of cutter replacement and other operations. Summary of the Invention

[0005] To address the shortcomings in the aforementioned background technology, this invention proposes a robot end effector structure, a split-type operating robot, a tunnel boring machine, and a cutter replacement method, which solves the problems of large storage space, rigidity, and motion accuracy that are difficult to guarantee in existing large-arm cutter replacement robots.

[0006] The technical solution of this invention is implemented as follows: This invention provides a split-type work robot, including a walking platform, a walking robotic arm, and an end effector; the walking robotic arm and the walking platform are designed separately, and the walking platform is connected to the walking robotic arm through a gripper mechanism; the end effector is mounted on the walking robotic arm; the walking robotic arm and the walking platform are designed separately. The walking robotic arm includes a boom and stepping mechanisms mounted on both sides of the boom, a second slide is slidably mounted on the boom, and an X-axis sliding drive mechanism is provided between the second slide and the boom; the robot's end effector structure realizes the split-type work robot's design, achieving an ultra-large working range without increasing the physical length of the robotic arm, while simultaneously balancing rigidity, accuracy, and compactness through functional decoupling.

[0007] Further optimized, the stepping mechanism includes a forward-moving cylinder mounted on the second slide and a rearward-moving cylinder mounted on the arm. Both the forward and rearward-moving cylinders are positioned along the Z-axis and have flushing nozzles at their ends. The X-axis sliding drive mechanism, along with the forward and rearward-moving cylinders, cooperate to enable the robotic arm to switch between different walking positions. This design enables the small-sized, large-area operation of the split-type robot.

[0008] Further preferably, the X-axis sliding drive mechanism includes a third hydraulic cylinder and a third linear guide rail mounted on the boom. The second slide is slidably engaged with the third linear guide rail. One end of the third hydraulic cylinder is connected to the second slide, and the other end is connected to the boom. The third hydraulic cylinder is positioned along the X-axis. The second slide is equipped with a rotary telescopic boom capable of extending and retracting along the Y-axis. The X-axis sliding drive mechanism provides stable X-axis movement for the second slide.

[0009] Further preferably, the rotary telescopic boom includes a telescopic rod with a rotary drive on it. The end effector is connected to the rotary drive and can rotate with it. The rotary telescopic boom has Y-axis telescopic and rotation functions for adjusting the end effector.

[0010] Further preferably, the end effector includes an end body, which is mounted on a second slide. The end body contains a saddle and a Y-axis sliding drive mechanism for moving the saddle. The saddle is equipped with a gripper assembly and a bolt removal / installation handle. The end body is equipped with a flushing nozzle that can flush the cutting tool and tool box.

[0011] In a further preferred embodiment, the Y-axis sliding drive mechanism includes a ball screw and a second motor reducer mounted on the end body. The second motor reducer is connected to the ball screw via a gear pair. The nut of the ball screw is connected to a saddle frame. The saddle frame is in sliding engagement with a fifth linear guide rail mounted on the end body, and the fifth linear guide rail is positioned along the Y-axis. The second motor reducer drives the ball screw to rotate via the gear pair, and the nut of the ball screw drives the saddle frame to move stably in the Y-axis direction.

[0012] Further preferably, the gripper assembly includes an upper gripper and a lower gripper disposed on the front end face of the saddle frame. Both the upper and lower grippers are slidably engaged with a fourth linear guide rail disposed on the saddle frame. A gripper opening and closing cylinder is provided between the upper and lower grippers, and a gripper sliding cylinder is provided between the upper or lower gripper and the saddle frame. The gripper sliding cylinder is used to adjust the vertical movement of the gripper; the gripper opening and closing cylinder is used to adjust the opening and closing of the gripper.

[0013] Further optimization involves positioning bolt removal / installation handles on both sides of the gripper assembly. Each handle includes a turntable and a motor mounted on the end body. The turntable is connected to the motor via a drive mechanism. A telescopic sleeve is mounted on the turntable, with a bolt sleeve at its end. The telescopic sleeve has a built-in hydraulic or electric actuator that applies axial pressure while rotating, simulating a manual "tightening and pressing" action, effectively preventing bolt misalignment or thread distortion. The telescopic sleeve can also extend and retract independently along the axial direction, adjusting the axial distance of the bolt sleeve.

[0014] As an optional solution, the walking platform includes a first slide, the front end of which is equipped with a gripper mechanism for holding the walking robotic arm; the gripper mechanism releases the walking robotic arm, and the robot's end effector separates from the walking platform. The walking platform can be separated from the walking robotic arm through the gripper mechanism, enabling small-space storage and large-area operation.

[0015] As an optional solution, the chuck mechanism includes chucks and a second linear guide rail mounted on a first slide. The second linear guide rail is positioned along the Z-axis, and the chucks are slidably mounted on the second linear guide rail. The chucks include an upper chuck and a lower chuck. The upper chuck is connected to a second hydraulic cylinder mounted on the first slide, and the lower chuck is connected to a first hydraulic cylinder mounted on the first slide. Both the second and first hydraulic cylinders are positioned along the Z-axis. The chuck mechanism employs independent drive for both upper and lower chucks. If one chuck fails, the other chuck can still maintain a certain clamping force, improving clamping reliability and safety.

[0016] As an optional solution, the split-type operation robot also includes a ground rail, with the walking platform sliding in conjunction with the ground rail, and a walking drive component is provided between the walking platform and the ground rail to drive the walking platform to move along the ground rail.

[0017] As an optional solution, the ground rail includes a track support, on which a first linear guide rail and a rack are mounted. Limiting blocks are located at both ends of the first linear guide rail. The travel drive assembly includes a first motor reducer mounted on a traveling platform. The output end of the first motor reducer has a drive gear that meshes with the rack. Through a four-in-one design of rigid support, precision guide rail, gear and rack, and intelligent limiters, the ground rail and drive assembly achieve ultra-high precision, ultra-high speed, ultra-long lifespan, and ultra-high safety operation with a minimalist mechanical structure.

[0018] This invention also provides a tunnel boring machine (TBM), including a storage compartment housed within the shield body and a split-type operating robot. The split-type operating robot is housed within the storage compartment. A stepping track formed by several walking supports is provided on the front partition of the shield body. When the cutterhead beam is parallel to the stepping track, the end effector of the split-type operating robot travels along the stepping track to the location where the cutterhead needs to be replaced. The stepping track is formed by splicing existing walking supports on the front partition, eliminating the need for a dedicated track. Each support serves as both a support point and a positioning tooth, utilizing the structural strength of the shield body to ensure track rigidity. The end effector achieves a theoretical cutter replacement coverage rate of up to 90% through a three-stage expansion of stepping track + autonomous movement + multiple sliding platforms. This TBM integration solution, through systematic innovation in "storage compartment storage - support track reuse - cutterhead rotation alignment - end effector autonomous movement," internalizes the split-type operating robot from an "external auxiliary device" into a "native functional module of the TBM," achieving a revolutionary breakthrough in terms of small space occupation, comprehensive operational coverage, and high safety factor. This represents a major innovation in tunnel construction equipment.

[0019] The present invention also provides a method for changing cutterheads in a tunnel boring machine. The specific method for changing cutterheads using the tunnel boring machine is as follows: S1. During tunneling operations, the split-type operation robot is stored in the storage compartment; when changing cutterheads, the cutter beam containing the cutter to be replaced is first rotated to a position parallel to the storage compartment via the cutterhead. S2. The robot's end effector is delivered to the storage compartment opening via the walking platform; the gripper of the walking platform extends to place the walking robotic arm onto the walking support of the stepping track. S3. The stepping mechanism of the walking robot arm extends to the walking support through the rear walking cylinder, and places the walking robot arm stably on the walking support; the chuck of the walking platform opens, completing the separation of the walking robot arm and the walking platform. S4. The third cylinder of the stepping mechanism extends to push the second slide and the forward travel cylinder forward. Then the forward travel cylinder extends to the next travel support, completing the first step change of the stepping mechanism and retracting the travel platform. Then the rear travel cylinder retracts, the third cylinder retracts and drives the arm and the rear travel cylinder forward. The rear travel cylinder extends and presses against the next travel support, completing the second step change of the stepping mechanism. Repeat the above actions to complete the step change of the walking robot arm along the stepping track. S5. After the walking robotic arm moves to the position where the corresponding tool needs to be replaced, the position of the end effector is adjusted by the rotation of the rotary drive and the extension and retraction of the third hydraulic cylinder, so that the end effector can enter the tool box where the tool is located. S6. The bolt removal and installation hand of the end effector is moved forward by the rotary telescopic arm and put into the tool fixing bolt. The saddle is slid forward along the fifth linear guide rail. The tool is clamped by the gripper assembly. Then the bolt removal and installation hand is rotated by the rotation of the motor to complete the removal of the tool fixing bolt. S7. Slide the saddle frame backward along the fifth linear guide rail, retract the bolt removal and installation hand, remove the end effector from the tool box where the tool is located, and complete the disassembly of the old tool. S8. The robotic arm returns to the door of the storage compartment, and then the robotic arm and the walking platform combine to return to the storage compartment, thus completing all the disassembly operations of the tool.

[0020] S9. Then, the end effector picks up the new tool and completes the installation of the new tool according to the action path of steps S2 to S8, thus completing the tool replacement.

[0021] As an optional solution, during the change of travel, the travel support can be flushed by the flushing nozzles at the ends of the forward and rear travel cylinders, which facilitates tool changing.

[0022] As an optional solution, the end effector is equipped with a flushing nozzle. During the tool change process, when the end effector is positioned to correspond to the tool and its toolbox, the flushing nozzle first flushes the tool and its toolbox before performing the tool change operation, thereby improving tool change efficiency.

[0023] The beneficial effects of this invention are as follows: The robot's walking arm and platform are designed separately, and the end effector structure (i.e., the walking arm, end effector, and platform) is also designed separately, achieving modular design and operation, and improving operational flexibility. Furthermore, the walking arm focuses on macroscopic support and stepping positioning, employing a short and sturdy structure to achieve high load-bearing capacity and high rigidity; the end effector focuses on fine-tuning and operation, achieving high-precision repeatability positioning through an XY slide table; the separable design of the robot's end effector structure and robot body solves the inherent contradiction of traditional long-arm robots where "the larger the arm span, the worse the rigidity and the lower the accuracy," significantly improving the absolute accuracy of the end effector. The robot's end effector structure achieves step-by-step movement through a stepping mechanism, greatly improving flexibility and achieving the maximum working range and highest positioning accuracy with minimal physical dimensions, making it one of the core components for efficient tool changing with full tool head coverage.

[0024] This invention relates to a modular robot platform that uses a gripper mechanism to separate from the robotic arm, enabling rapid separation and reassembly. After separation, the robot's end effector can independently perform tasks such as tool changing, thus achieving small-space storage and large-area operation. When reassembled, the modular robot can be easily stored in a storage compartment within the shield body, significantly reducing space occupation.

[0025] The present invention utilizes a split-type operation robot for tunnel boring machines. This robot solves two problems: firstly, the limited reach of existing cutter-changing robots does not meet the required cutter-changing range; and secondly, it addresses the issues of insufficient robot rigidity and precision due to large robot reach, which necessitates large storage space. While ensuring operational safety, this invention achieves a small robot reach and a wide-range cutter-changing operation, representing a significant innovation in tunnel boring machine cutterhead replacement, inspection, and cleaning operations.

[0026] This invention's shield tunneling machine cutterhead replacement method achieves fully automated cutterhead replacement for large-scale operations within tunnels through an innovative process of "storage-separation-stepping-reassembly." The split-type operation robot, in conjunction with the stepping track, enables rapid, fixed-point cutterhead replacement. This shield tunneling machine integration solution, through systematic innovation in "storage bin storage-support track reuse-cutterhead rotation alignment-end-end autonomous movement," internalizes the split-type operation robot from an "external auxiliary device" into a "native functional module of the shield tunneling machine." This represents a revolutionary breakthrough in terms of small space occupation, comprehensive operational coverage, and high safety, signifying a major innovation in tunnel construction equipment. Attached Figure Description

[0027] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the robot walking arm and end effector combination of the present invention; Figure 2 This is a schematic diagram of the walking robotic arm of the present invention; Figure 3 This is a front view schematic diagram of the end effector of the present invention; Figure 4 This is an isometric schematic diagram of the end effector of the present invention; Figure 5 This is a schematic diagram of the internal structure of the end effector of the present invention; Figure 6 This is a schematic diagram of the split-type operation robot of the present invention; Figure 7 This is a schematic diagram of the ground track of the present invention; Figure 8This is a schematic diagram of the walking platform of the present invention; Figure 9 A schematic diagram showing the deployment of a split-type operating robot on a tunnel boring machine; Figure 10 A schematic diagram showing how a split-type robot delivers its end effector to the storage bin opening; Figure 11 A schematic diagram showing a walking robotic arm supported on a walking bracket; Figure 12 A schematic diagram of the first stepper mechanism changing its walking direction; Figure 13 This is a schematic diagram of the stepper mechanism changing its path for the second time. Figure 14 A schematic diagram of the robot's end effector moving along the stepping track; Figure 15 This is a schematic diagram showing the tool and toolbox corresponding to the position of the end effector; Figure 16 Schematic diagram of the end effector retracting with the old tool. Figure 17 This is a schematic diagram of the robot's end effector and the retraction and reassembly of the walkway. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1, such as Figure 1As shown, a split-type work robot includes a walking platform 2 and a robot end effector structure. The robot end effector structure includes a walking robotic arm 3 and an end effector 4. The walking robotic arm 3 and the walking platform 2 are designed separately, and the walking platform 2 is connected to the walking robotic arm 3 through a gripper mechanism to achieve rapid separation and assembly. The end effector 4 is mounted on the walking robotic arm 3. The walking robotic arm 3 provides support for the end effector 4 and drives the end effector 4 to move. The split design allows the robotic arm to be quickly separated from or combined with the walking platform, facilitating maintenance, replacement, or reconfiguration according to task requirements. The walking platform 2 achieves a modular design with the robot end effector structure through the gripper mechanism. After separation, the robot end effector structure (including the walking robotic arm 3 and the end effector 4) can function as an independent work robot, and by changing the end effector, it can perform multiple tasks, not limited to tool changing operations, improving the adaptability and flexibility of the device. After assembly, the walking platform and the robot end effector structure can form a robot structure with more degrees of freedom. The walking platform focuses on high-precision positioning on straight / curved tracks, and the walking robotic arm focuses on 6-DOF posture adjustment, avoiding kinematic coupling interference and reducing the complexity of the controller algorithm.

[0031] In this embodiment, the walking robotic arm 3 includes a boom 301 and stepping mechanisms 302 disposed on both sides of the boom 301. Under the action of the stepping mechanisms, the walking robotic arm drives the end effector to step, achieving "small size, large range" operation. A second slide 305 is slidably disposed on the boom 301. An X-axis sliding drive mechanism is provided between the second slide 305 and the boom 301. Under the action of the X-axis sliding drive mechanism, the second slide 305 moves along the boom 301 in the X direction, thereby changing the position of the end effector 4 in the X-axis direction. The end effector 4 includes an end body 401, which is disposed on the second slide 305 and can move synchronously with the second slide 305. The end body 401 is provided with a saddle 404 and a Y-axis sliding drive mechanism for driving the saddle 404 to move. The saddle 404 is provided with a gripper assembly and a bolt removal / installation handle 403. The end body 401 is provided with a flushing nozzle 417 for flushing the cutting tool and tool box. Under the action of the Y-axis sliding drive mechanism, the saddle drives the gripper assembly and bolt removal / installation hand to move along the Y-axis. In the above structural design, the walking robotic arm focuses on macroscopic support and stepping positioning, adopting a short and thick structure to achieve high load-bearing capacity and high rigidity; the end effector focuses on fine-tuning and operation, achieving high-precision repeatable positioning through X and Y slides. The separation of both from the robot body completely solves the inherent contradiction of traditional long-arm robots where the larger the arm span, the worse the rigidity and the lower the accuracy, thus improving the absolute accuracy of the end effector.

[0032] In this embodiment, as a preferred solution, such as Figure 2As shown, the stepping mechanism 302 includes a forward travel cylinder 302-1 mounted on the second slide 305 and a rear travel cylinder 302-2 mounted on the boom 301. In this embodiment, two forward travel cylinders 302-1 and two rear travel cylinders 302-2 are used as examples. Both the forward travel cylinders 302-1 and the rear travel cylinders 302-2 are arranged along the Z-direction and their ends are equipped with flushing nozzles. The flushing nozzles can be used for high-pressure air blowing or high-pressure water flushing to clean the stepping track in a timely manner, ensuring that the two forward travel cylinders and the two rear travel cylinders can be stably supported on the stepping track to achieve stable step-changing movement. The X-direction sliding drive mechanism, the forward travel cylinders 302-1 and the rear travel cylinders 302-2 cooperate to realize the step-changing movement of the walking robotic arm 3. The two forward-moving cylinders 302-1 and the two rearward-moving cylinders 302-2 resemble the four legs of the robot's end effector. The forward and rearward-moving cylinders, together with the X-axis slide, form a closed loop of extension-sliding-fixed-point movement, achieving autonomous walking through alternating support. This design, through the original integration of "hydraulic stepping + water or pneumatic assistance," combines walking, cleaning, and fixed-point fixation into one, enabling the robot to achieve self-propelled capabilities and efficient tool changing over a small area.

[0033] Example 2: A split-type work robot, further optimized based on Example 1. In this example, the X-axis sliding drive mechanism includes a third hydraulic cylinder 303 and a third linear guide rail 304 mounted on the arm 301. The third linear guide rail 304 is fixed on the arm 301. The second slide 305 is slidably engaged with the third linear guide rail 304. One end of the third hydraulic cylinder 303 is connected to the second slide 305, and the other end is connected to the arm 301. The third hydraulic cylinder 303 is arranged along the X-axis. The slide can slide along the third linear guide rail 304 through the extension and retraction of the third hydraulic cylinder 303. Through the cooperation of the third hydraulic cylinder 303, the forward walking hydraulic cylinder 302-1, and the rearward walking hydraulic cylinder 302-2, the walking robot arm 3 can realize the walking movement of switching steps.

[0034] The second slide 305 is equipped with a rotary telescopic arm 306 that can extend and retract along the Y direction. Specifically, the rotary telescopic arm 306 includes a telescopic rod 306-1, on which a rotary drive 307 is mounted. The end body 401 is connected to the rotary drive 307 and can rotate with the rotary drive 307. One end of the telescopic rod is fixedly connected to the second slide 305, and the other end is fixedly connected to the rotary drive 307. The rotary drive 307 can move back and forth by extending and retracting the telescopic rod 306. The three degrees of freedom of X-axis sliding, Y-axis extension and retraction, and rotation are concentrated on the second slide, forming an integrated module of "mobile base + functional head". Compared with the traditional layered stacking design, the vertical dimension is compressed. The X-axis cylinder stroke and the Y-axis telescopic arm stroke are orthogonally superimposed, and together with the arm stepping, a discrete-continuous composite motion is formed, effectively covering the cutter head area with a radius of more than 2 meters, and the working range exceeds that of traditional fixed arm robots. The end effector 401 is connected to the rotary drive 307 by bolts. The end effector 4 can rotate around the axis of the telescopic arm 306 by the action of the rotary drive 307, and can move back and forth by the action of the telescopic arm 306.

[0035] As a preferred option, such as Figure 3 , 4 As shown in Figure 5, the Y-axis sliding drive mechanism in this embodiment includes a ball screw 411 and a second motor reducer 410 mounted on the end body 401. The ball screw 411 is rotatably connected to the end body via bearings. The second motor reducer is fixed to the end body 401. The second motor reducer 410 is connected to the ball screw 411 via a gear pair 413. The nut of the ball screw 411 is connected to the saddle 404. The saddle 404 is slidably engaged with a fifth linear guide rail 412 mounted on the end body 401. The fifth linear guide rail 412 is positioned along the Y-axis. Through the coordinated action of the second motor reducer 410 and the ball screw 411, the saddle 404 can slide back and forth along the fifth linear guide rail 412 within the end body 401. This Y-axis mechanism achieves a three-dimensional decoupling of speed, precision, and stability through the heterogeneous integration of electric precision transmission and X-axis hydraulic rapid large stroke, enabling the entire machine to accommodate a wide range, high precision, and high rigidity.

[0036] In this preferred embodiment, the gripper assembly includes an upper gripper 405 and a lower gripper 406 disposed on the front end face of the saddle 404. Both the upper gripper 405 and the lower gripper 406 are slidably engaged with a fourth linear guide rail 407 disposed on the saddle 404. A gripper opening and closing cylinder 408 is provided between the upper gripper 405 and the lower gripper 406, and a gripper sliding cylinder 409 is provided between the upper gripper 405 or the lower gripper 406 and the saddle 404. Under the action of the gripper sliding cylinder 409, the upper gripper 405 and the lower gripper 406 can slide up and down along the fourth linear guide rail 407. Two gripper opening and closing cylinders 408 are provided between the upper gripper 405 and the lower gripper 406, and the opening and closing of the upper and lower grippers are realized by the gripper opening and closing cylinders 408. As a preferred solution, one end of the gripper sliding cylinder 409 is hinged to the upper gripper 405, and the other end is connected to the saddle 404. The upper and lower jaws are symmetrically arranged, and the clamping force passes through the centerline of the hob, preventing hob slippage or jamming caused by uneven loading, thus improving clamping reliability under conditions of cutter head vibration and rock spatter splash. The jaw opening / closing cylinder is dedicated to clamping / releasing, while the jaw sliding cylinder is dedicated to fine-tuning the Y-axis position. These two are independently controlled, allowing for simultaneous clamping and fine-tuning, reducing centering time and significantly improving tool changing efficiency. The jaw assembly can be a separate module, which can be completely removed and replaced from the front of the saddle, allowing for the replacement of different jaw specifications to accommodate different tool models.

[0037] In this preferred embodiment, the bolt removal and installation handles 403 are located on both sides of the gripper assembly. Two sets of handles are positioned on the left and right sides of the gripper assembly, allowing simultaneous screwing in / out of two fixing bolts. Compared to sequential operation on one side, this significantly reduces bolt removal and installation time. The bolt removal and installation handles 403 include a turntable 416 and a motor 402 mounted on the end body 401. The turntable 416 is rotatably connected to the end body via bearings, and the turntable 416 is drive-connected to the motor 402; the motor drives the turntable to rotate. A telescopic sleeve 414 is provided on the turntable 416, and a bolt sleeve 415 is provided at the end of the telescopic sleeve 414. The telescopic sleeve has a built-in hydraulic or electric push rod, applying axial pressure while rotating, simulating manual "tightening and pressing" action, effectively preventing bolt misalignment and thread misalignment. The telescopic sleeve can also extend and retract axially independently, adjusting the axial distance of the bolt sleeve. The bolt sleeve has an internal hexagonal hole for matching with bolts / nuts, enabling quick bolt or nut removal and installation.

[0038] Example 3: A split-type work robot, further optimized based on Example 2. In this example, as... Figure 6 As shown, the walking platform 2 includes a first slide 201, and the front end of the first slide 201 is provided with a gripper mechanism for holding the walking robotic arm 3; when the gripper mechanism releases the walking robotic arm 3, the robot's end effector separates from the walking platform 2. The walking platform achieves separation from the walking robotic arm through the gripper mechanism, enabling rapid separation and reassembly. After separation, the robot's end effector can independently complete tool changing, thereby achieving small-space storage and large-area operation.

[0039] In this embodiment, as an optional solution, such as Figure 8 As shown, the gripper mechanism includes a gripper and a second linear guide rail 204 mounted on a first slide 201. The second linear guide rail 204 is positioned along the Z-axis, and the gripper slides on the second linear guide rail 204 to achieve Z-axis movement. The gripper includes an upper gripper 208 and a lower gripper 207. The upper gripper 208 is connected to a second hydraulic cylinder 206 mounted on the first slide 201; the second hydraulic cylinder 206 drives the upper gripper to move up and down. The lower gripper 207 is connected to a first hydraulic cylinder 205 mounted on the first slide 201; the first hydraulic cylinder drives the lower gripper to move up and down. Both the second hydraulic cylinder 206 and the first hydraulic cylinder 205 are positioned along the Z-axis and provide a stable Z-axis moving force for the gripper. The upper gripper 208 and the lower gripper 207 achieve the overall up-and-down sliding, assembly, and disassembly of the robotic arm along the second linear guide rail through the coordinated extension and retraction of the second and first hydraulic cylinders. Both the second linear guide rail and the dual hydraulic cylinders are arranged along the Z-axis, ensuring that the clamping force direction is completely collinear with the direction of gravity of the robotic arm. This avoids the bending moment load of traditional cantilever grippers, improving clamping stiffness and ensuring that the positioning accuracy of the end effector is not affected by the connecting links. Independent error compensation for the dual grippers is implemented, with the upper and lower grippers driven independently by the first and second hydraulic cylinders, reducing combination errors. Even if one gripper fails, the other gripper can still maintain a certain clamping force, improving clamping reliability and safety. This gripper mechanism, through a minimalist design of guide rail orientation, dual-cylinder drive, and coaxial layout, achieves three major functions—stable rigid clamping, millisecond-level rapid release, and dual redundancy safety backup—in an ultra-thin size. It represents a core technological breakthrough for detachable, modular robots, enabling quick assembly, disassembly, and retraction, and signifies a paradigm shift in tunnel robot connection mechanisms from complex and cumbersome to intelligent and lightweight.

[0040] Example 4: A split-type work robot, such as Figure 7 As shown, based on embodiment 3, this embodiment of the split-type robot further optimizes the design by including a ground rail 1, a walking platform 2 slidingly engaging with the ground rail 1, and a walking drive assembly between the walking platform 2 and the ground rail 1 to drive the walking platform 2 to move along the ground rail 1; the walking drive assembly drives the walking platform to move along the ground rail; the ground rail provides support for the walking platform. Specifically, the ground rail 1 includes a track support 101, on which a first linear guide rail 102 and a rack 103 are arranged in parallel; the first linear guide rail 102 provides guidance for the walking platform's movement. Limiting blocks 104 are provided at both ends of the first linear guide rail 102 to prevent the walking platform from derailing. The walking drive assembly includes a first motor reducer 202 mounted on the walking platform 2, with a drive gear 203 at the output end of the first motor reducer 202, which meshes with the rack 103. The first motor reducer 202 drives the drive gear to rotate, and under the action of the rack, drives the walking platform to move along the first linear guide rail.

[0041] Example 5, a tunnel boring machine, such as Figure 9 As shown, the system includes a storage compartment 5 housed within the shield body and the split-type operating robot described in Example 4. During non-tool changing operations, the split-type operating robot is housed within the storage compartment 5. A stepping track formed by several walking supports 601 is provided on the front partition 6 of the shield body. The walking supports can be equipped with fixing devices such as positioning holes or magnetic seats to further secure the walking cylinders, as needed. When the cutter beam 701 on the cutterhead 7 is parallel to the stepping track, the end effector of the split-type operating robot travels along the stepping track to the location where the tool is to be changed. The stepping track is formed by splicing existing walking supports on the front partition, eliminating the need for a dedicated track. Each support serves as both a support point and a positioning tooth, utilizing the structural strength and rigidity of the shield body itself to provide stable support for the robot's end effector. The stepping track is positioned between the front partition and the cutterhead, reducing space occupancy.

[0042] Example 6: A method for changing cutterheads in a tunnel boring machine (TBM). The TBM described in Example 5 is used. The specific method for changing cutterheads is as follows: S1: During tunneling operations, the split-type operating robot is stored in the storage compartment 5. When changing cutterheads, the cutter beam 701 containing the cutterhead 702 to be replaced is first rotated through the cutterhead 7 to a position parallel to the storage compartment 5. This allows the robot's end effector to travel in a straight line, resulting in a shorter route and improved safety and cutting efficiency.

[0043] S2. The split-type robot uses the walking platform 2 to deliver the robot's end effector to the opening of the storage compartment 5; the walking platform 2 continues to move forward, and its grippers extend to place the walking robotic arm 3 onto the walking support 601 of the stepping track, as shown. Figure 10 As shown.

[0044] S3, such as Figure 11 As shown, the stepping mechanism 302 of the walking robotic arm 3 extends to the walking support 601 via the rear walking cylinder 302-2, stably supporting the walking robotic arm 3 on the walking support 601; then the claws of the walking platform 2 open, completing the separation of the walking robotic arm 3 and the walking platform 2. The walking platform 2 can be retracted in this step or in the next step into the storage compartment.

[0045] S4, such as Figure 13 , 14As shown, the third cylinder 303 of the stepping mechanism 302 extends to push the second slide 305 and the forward travel cylinder 302-1 forward. Then, the forward travel cylinder 302-1 extends to the next travel support 601, completing the first forward step change of the stepping mechanism 302, and retracts the travel platform 2. Then, the rear travel cylinder 302-2 retracts, and the retraction of the third cylinder 303 drives the arm 301 and the rear travel cylinder 302-2 forward. The rear travel cylinder 302-2 extends and presses against the next travel support 601, completing the second forward step change of the stepping mechanism 302. The above actions are repeated to complete the step change of the walking robotic arm 3 along the stepping track. During the step change process, the travel support 601 can be flushed through the flushing nozzles at the ends of the forward travel cylinder 302-1 and the rear travel cylinder 302-2, keeping the support surface clean and preventing dirt from causing it to fail to connect.

[0046] S5, such as Figure 15 As shown, after the robotic arm 3 moves to the position corresponding to the tool 702 that needs to be replaced, the position of the end effector 4 is adjusted by the rotation of the rotary drive 307 and the extension and retraction of the third hydraulic cylinder 303, so that the end effector 4 can enter the tool box where the tool 702 is located. The end effector is equipped with a flushing nozzle. During the tool change process, when the position of the end effector 4 corresponds to the tool 702 and its tool box, the flushing nozzle first flushes the tool 702 and its tool box before the tool change operation is performed, thereby improving the tool change efficiency.

[0047] S6, such as Figure 16 As shown, the bolt removal and installation hand 403 of the end effector 4 is moved forward by the rotary telescopic arm 306 and put into the fixing bolt of the tool 702. The saddle 404 is slid forward along the fifth linear guide rail 412. The tool 702 is clamped by the gripper assembly. Then, the bolt removal and installation hand 403 is rotated by the rotation of the motor 402 to complete the removal of the fixing bolt of the tool 702.

[0048] S7. Slide the saddle 404 backward along the fifth linear guide 412, retract the bolt removal and installation hand 403, and remove the end effector 4 from the tool box where the tool 702 is located to complete the disassembly of the old tool.

[0049] S8, such as Figure 17 As shown, the robot arm 3 returns to the door of the storage compartment 5, and then the robot arm 3 combines with the walking platform 2 and returns to the storage compartment 5, thus completing all the disassembly operations of the tool 702.

[0050] S9. Lower the old tool, then the end effector 4 picks up the new tool and completes the installation of the new tool according to the action path of steps S2 to S8. This completes the tool replacement. It should be noted that the installation path of the new tool is the same as the disassembly path of the old tool, but the operation of the bolt removal and installation hand on the bolt is reversed. This is well known to those skilled in the art and will not be elaborated here.

[0051] Compared with existing technologies, the use of the aforementioned split-type robot for tool changing solves two main problems: first, the limited reach of existing robot tool changing mechanisms fails to meet the required tool changing range; and second, it addresses the issues of insufficient robot rigidity and precision, as well as the need for large storage space, caused by large robot reach. This solution achieves a small robot reach and a wide-range tool changing capability while ensuring operational safety.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A split-type work robot, characterized in that: It includes a walking platform (2), a walking robotic arm (3) and an end effector (4); the walking robotic arm (3) and the walking platform (2) are designed separately, and the walking platform (2) is connected to the walking robotic arm (3) through a claw mechanism; the end effector (4) is set on the walking robotic arm (3).

2. The split-type work robot according to claim 1, characterized in that: The walking robotic arm (3) includes a boom (301) and stepping mechanisms (302) arranged on both sides of the boom (301). A second slide (305) is slidably provided on the boom (301), and an X-axis sliding drive mechanism is provided between the second slide (305) and the boom (301).

3. The split-type work robot according to claim 2, characterized in that: The stepping mechanism (302) includes a forward walking cylinder (302-1) mounted on the second slide (305) and a rear walking cylinder (302-2) mounted on the arm (301). Both the forward walking cylinder (302-1) and the rear walking cylinder (302-2) are arranged along the Z direction and are equipped with flushing nozzles at their ends. The X-direction sliding drive mechanism, the forward walking cylinder (302-1) and the rear walking cylinder (302-2) work together to realize the walking robot arm (3) changing its walking direction.

4. The split-type work robot according to claim 3, characterized in that: The X-axis sliding drive mechanism includes a third hydraulic cylinder (303) and a third linear guide rail (304) mounted on the boom (301). The second slide (305) is slidably engaged with the third linear guide rail (304). One end of the third hydraulic cylinder (303) is connected to the second slide (305), and the other end is connected to the boom (301). The third hydraulic cylinder (303) is arranged along the X-axis. The second slide (305) is provided with a rotary telescopic boom (306) that can extend and retract along the Y-axis.

5. The split-type work robot according to claim 4, characterized in that: The rotary telescopic boom (306) includes a telescopic rod (306-1), a rotary drive (307) is provided on the telescopic rod (306-1), and an end effector (4) is connected to the rotary drive (307) and can rotate with the rotary drive (307).

6. The split-type work robot according to any one of claims 1 to 5, characterized in that: The end effector (4) includes an end body (401), which is mounted on a second slide (305). The end body (401) is provided with a saddle (404) and a Y-axis sliding drive mechanism for moving the saddle (404). The saddle (404) is provided with a gripper assembly and a bolt removal and installation hand (403). The end body (401) is provided with a flushing nozzle (417).

7. The split-type work robot according to claim 6, characterized in that: The Y-direction sliding drive mechanism includes a ball screw (411) and a second motor reducer (410) mounted on the end body (401). The second motor reducer (410) is connected to the ball screw (411) via a gear pair (413). The nut of the ball screw (411) is connected to the saddle frame (404). The saddle frame (404) is in sliding engagement with a fifth linear guide rail (412) mounted on the end body (401). The fifth linear guide rail (412) is mounted along the Y direction.

8. The split-type work robot according to claim 7, characterized in that: The gripper assembly includes an upper gripper (405) and a lower gripper (406) on the front end face of the saddle (404). Both the upper gripper (405) and the lower gripper (406) are slidably engaged with a fourth linear guide rail (407) on the saddle (404). A gripper opening and closing cylinder (408) is provided between the upper gripper (405) and the lower gripper (406). A gripper sliding cylinder (409) is provided between the upper gripper (405) or the lower gripper (406) and the saddle (404).

9. The split-type work robot according to claim 8, characterized in that: The bolt removal and installation hand (403) is set on both sides of the gripper assembly. The bolt removal and installation hand (403) includes a turntable (416) and a motor (402) set on the end body (401). The turntable (416) is connected to the motor (402) for transmission. The turntable (416) is provided with a telescopic sleeve (414), and the end of the telescopic sleeve (414) is provided with a bolt sleeve (415).

10. The split-type work robot according to any one of claims 1-5 and 7-9, characterized in that: The walking platform (2) includes a first slide (201), and the front end of the first slide (201) is provided with a gripper mechanism for holding the walking robot arm (3); the gripper mechanism releases the walking robot arm (3), and the walking robot arm (3) separates from the walking platform (2).

11. The split-type work robot according to claim 10, characterized in that: The chuck mechanism includes a chuck and a second linear guide rail (204) mounted on a first slide (201). The second linear guide rail (204) is mounted along the Z-direction, and the chuck is slidably mounted on the second linear guide rail (204). The chuck includes an upper chuck (208) and a lower chuck (207). The upper chuck (208) is connected to a second hydraulic cylinder (206) mounted on the first slide (201), and the lower chuck (207) is connected to a first hydraulic cylinder (205) mounted on the first slide (201). Both the second hydraulic cylinder (206) and the first hydraulic cylinder (205) are mounted along the Z-direction.

12. The split-type work robot according to claim 11, characterized in that: It also includes a ground rail (1), a walking platform (2) slidingly engaging with the ground rail (1), and a walking drive assembly for driving the walking platform (2) to move along the ground rail (1) is provided between the walking platform (2) and the ground rail (1).

13. The split-type work robot according to claim 12, characterized in that: The ground track (1) includes a track support (101), on which a first linear guide rail (102) and a rack (103) are provided. Limiting blocks (104) are provided at both the front and rear ends of the first linear guide rail (102). The walking drive assembly includes a first motor reducer (202) provided on the walking platform (2). The output end of the first motor reducer (202) is provided with a drive gear (203), which meshes with the rack (103).

14. A tunnel boring machine, characterized in that: It includes a storage compartment (5) set inside the shield body and a split-type operation robot as described in any one of claims 1 to 13; the split-type operation robot is set inside the storage compartment (5), and a stepping track formed by several walking supports (601) is provided on the front partition (6) of the shield body. When the cutter beam (701) on the cutter head (7) is parallel to the stepping track, the robot end effector of the split-type operation robot walks along the stepping track to the cutter to be replaced.

15. A method for changing cutterheads in a tunnel boring machine, characterized in that: Using the tunnel boring machine as described in claim 14, the specific cutter replacement method is as follows: S1. During tunneling operations, the split-type operation robot is stored in the storage bin (5); when performing cutter replacement operations, the cutter beam (701) where the cutter to be replaced (702) is located is first rotated through the cutter head (7) to a position parallel to the storage bin (5); S2. The robot end effector is delivered to the storage compartment (5) opening via the walking platform (2); the claw of the walking platform (2) extends to place the walking robot arm (3) at the walking support (601) of the stepping track; S3. The stepping mechanism (302) of the walking robot arm (3) extends to the walking support (601) through the rear walking cylinder (302-2) to stably place the walking robot arm (3) on the walking support (601); the claws of the walking platform (2) open to complete the separation of the walking robot arm (3) and the walking platform (2); S4. The third cylinder (303) of the stepping mechanism (302) extends to push the second slide (305) and the forward travel cylinder (302-1) forward. Then the forward travel cylinder (302-1) extends to the next travel support (601) to complete the first step change of the stepping mechanism (302) and retract the travel platform (2). Then the rear travel cylinder (302-2) retracts, and the third cylinder (303) retracts to drive the arm (301) and the rear travel cylinder (302-2) forward. The rear travel cylinder (302-2) extends and presses against the next travel support (601) to complete the second step change of the stepping mechanism (302). Repeat the above actions to complete the step change of the walking robot arm (3) along the stepping track. S5. After the walking robotic arm (3) walks to the position of the corresponding tool (702) that needs to be replaced, it adjusts the position of the end effector (4) by rotating the rotary drive (307) and extending the third oil cylinder (303) so that the end effector (4) can enter the tool box where the tool (702) is located. S6. The bolt removal and installation hand (403) of the end effector (4) is moved forward by the rotary telescopic arm (306) and put into the tool (702) fixing bolt. The saddle (404) is slid forward along the fifth linear guide rail (412). The tool (702) is clamped by the gripper assembly. Then the bolt removal and installation hand (403) is rotated by the rotation action of the motor (402) to complete the removal of the tool (702) fixing bolt. S7. Slide the saddle (404) backward along the fifth linear guide (412), retract the bolt removal and installation hand (403), and remove the end effector (4) from the tool box where the tool (702) is located to complete the disassembly of the old tool. S8. The robotic arm (3) returns to the door of the storage compartment (5), and the robotic arm (3) is combined with the walking platform (2) and then returns to the storage compartment (5), thus completing all disassembly operations of the tool (702); S9. Then the end effector (4) grabs the new tool and completes the installation of the new tool according to the action path of steps S2 to S8, thus completing the tool replacement.

16. The shield machine cutterhead replacement method according to claim 15, characterized in that: During the alternation of movement, the travel support (601) can be flushed by the flushing nozzles at the ends of the forward travel cylinder (302-1) and the rear travel cylinder (302-2).

17. The shield machine cutterhead replacement method according to claim 16, characterized in that: The end effector is equipped with a flushing nozzle. During the tool change process, when the end effector (4) is positioned to correspond to the tool (702) and the tool box, the flushing nozzle first flushes the tool (702) and the tool box before performing the tool change operation.

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