Intelligent heading machine split collaborative robot and method

Abstract

The invention relates to the technical field of coal mine underground tunneling, and discloses an intelligent tunneling machine split collaborative robot which comprises a collaborative operation robot, a telescopic mechanical arm, a tunneling machine intelligent system and an intrinsically safe power supply system for supplying power to the collaborative operation robot. The intrinsically safe power supply system comprises a multi-loop intrinsically safe power supply arranged on the heading machine intelligent system, and the multi-loop intrinsically safe power supply is connected to the power receiving power supply end of the cooperative operation robot through a trailing cable in a rapid plugging mode. And power supply loops are divided according to areas, functions and tasks of electrical parts of the cooperative operation robot, and intrinsically safe power supply is provided for the robot. In combination with low-power-consumption electrical parts, the multi-loop intrinsic safety power supply is divided for model selection according to areas, functions and tasks of the electrical parts of the cooperative operation robot, so that the underground intrinsic safety requirement of a coal mine is met, the capacity and the volume of an explosion-proof battery are reduced, and the explosion-proof robot is adaptive to an underground narrow installation space.

Description

Technical Field

[0001] This invention relates to the field of underground tunneling technology in coal mines, specifically to a split-type collaborative robot and method for intelligent tunneling machines. Background Technology

[0002] In the field of underground tunneling operations in coal mines, intelligent tunneling machines are core equipment. To improve the automation and intelligence level of tunneling operations, they are often used in conjunction with split collaborative robots to assist in completing tasks such as operation and monitoring of the tunneling machine.

[0003] In the existing technology, when intelligent tunneling machines cooperate with split collaborative robots, conventional power supply methods are usually used to power the collaborative robots. The power supply system is not designed with the characteristics of different electrical components of the collaborative robots in a refined manner, and the selection of electrical components of the collaborative robots does not fully consider the confined space and inherent safety requirements underground. The overall operation of the collaborative robots is achieved by simple power supply connection and basic mechanical arm movement control.

[0004] However, existing power supply solutions are insufficient to meet the inherent safety requirements of underground coal mines. They cannot rationally divide power supply circuits according to the area, function, and task of each electrical component of the collaborative robot to ensure power supply safety. Furthermore, the lack of targeted selection of low-power components results in large capacity and volume of explosion-proof batteries, making them difficult to adapt to the confined installation space underground. At the same time, the lack of flexible management capabilities for power supply and charging affects the endurance stability of the collaborative robot and poses potential power supply safety hazards, thus restricting the continuity and safety of tunneling operations. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a split-type collaborative robot and method for intelligent tunneling machines, which solves the problems of inherently safe power supply and collaborative adaptation.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: a split-type collaborative robot for intelligent tunneling machines, characterized in that it includes a collaborative operation robot, a telescopic robotic arm, and an intelligent system for tunneling machines installed on the tunneling machine; It also includes an intrinsically safe power supply system for powering the collaborative robot; The intrinsically safe power supply system includes a multi-circuit intrinsically safe power supply installed on the intelligent system of the tunneling machine. The multi-circuit intrinsically safe power supply is connected to the collaborative operation robot through a tow cable, and the power supply circuit is divided according to the area, function or task of the electrical components of the collaborative operation robot to provide intrinsically safe power supply to each electrical component. The retractable robotic arm is a three-degree-of-freedom robotic arm, used to drive the collaborative robot to complete pose adjustment or retraction and folding. The tunneling machine is equipped with a support platform for supporting the collaborative operation robot.

[0007] Preferably, the intrinsically safe power supply system further includes an electrical component classification and adaptation module, which is used to collect electrical parameters of each electrical component of the collaborative operation robot, and determine the explosion-proof type and divide the power supply circuit based on the parameters.

[0008] Preferably, the intrinsically safe power supply system further includes a power management unit for managing the output of the multi-loop intrinsically safe power supply and the charging of the collaborative robot.

[0009] Preferably, the collaborative operation robot includes: Sensing components include lighting, 360-degree cameras, fisheye cameras, infrared cameras, microphones, olfactory sensors, and antennas; The control unit is a controller and processor used to process the acquired data. The actuators, including the neck joint module, arm joint module, and hand joint module, integrate force sensors to achieve force feedback control, which is used to execute the tunneling machine's operating actions in response to control commands; It also includes a voice system and a display.

[0010] Preferably, the retractable robotic arm is equipped with a displacement sensor, an angle sensor, and a pressure sensor to collect data and achieve closed-loop control of the collaborative robot's working posture.

[0011] Preferably, the retractable robotic arm is also equipped with a collision sensor to detect accidental collisions during movement and trigger an emergency stop.

[0012] Preferably, the intrinsically safe power supply system further includes a load adapter unit, used to limit the use of low-power components in the electrical parts of the collaborative robot, so as to reduce the capacity and volume of the robot's built-in explosion-proof battery.

[0013] Preferably, the control component is equipped with a high-performance computing controller, which is structurally disassembled into multiple intrinsically safe computing controllers, and the multi-loop intrinsically safe power supply allocates an independent power supply circuit to each intrinsically safe computing controller.

[0014] Preferably, the tunneling machine intelligent system and the collaborative operation robot are connected by a power supply and charging network and a communication system; The power supply and charging network is used to realize power supply and charging management, and the communication system is used to realize wired or wireless data interaction.

[0015] Preferably, the tunneling machine is equipped with a sensing sensor for collecting its own status and environmental data; the control and processor is used to fuse and process the data from the tunneling machine's sensing sensor and the visual information collected by the sensing components of the collaborative operation robot to form a full-scene perception.

[0016] The collaborative method of the intelligent tunneling machine's split-type collaborative robot includes the following steps: S1. Start the multi-circuit intrinsically safe power supply and provide intrinsically safe power to the collaborative robot according to the divided power supply circuits; S2. Drive the collaborative robot to the work position using a retractable robotic arm and adjust its work posture; S3. The collaborative operation robot collects and integrates sensory data, generates and executes operation commands to control the tunneling machine; S4. After the task is completed, the collaborative robot is retrieved using a telescopic robotic arm and charged via a power supply network.

[0017] This invention provides a collaborative robot and method for intelligent tunneling machines. It offers the following advantages: 1. This invention divides the power supply circuits according to the area, function and task of the electrical components of the collaborative operation robot through a multi-circuit intrinsically safe power supply. Combined with the selection of low-power electrical components, it not only meets the intrinsic safety requirements of underground coal mines, but also reduces the capacity and volume of explosion-proof batteries, making it suitable for the narrow installation space underground. At the same time, it realizes flexible management of power supply and charging, ensuring power supply safety and battery life.

[0018] 2. This invention enables the telescopic robotic arm to automatically adjust the working posture of the collaborative operation robot according to the working needs of the tunneling machine. Combined with the full-scene visual acquisition of 360-degree cameras and fisheye cameras, and the data sharing of the tunneling machine's perception sensors, it realizes full-scene blind-spot monitoring of tunneling operations and precise control of the operation panel, thereby improving the level of intelligence and continuous operation efficiency of tunneling operations.

[0019] 3. This invention constructs a complete closed-loop intelligent system of perception-decision-execution through multi-sensor data fusion, collaborative decision-making by a high-computing-power controller, and precise operation of a biomimetic mechanical structure. It realizes autonomous, precise, and safe tunneling operations in complex and harsh underground environments, fundamentally replacing manual operations and ensuring the safety and health of personnel. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the tunneling operation process of the present invention; Figure 2 This is a schematic diagram illustrating the interaction process between the collaborative robot and the tunneling machine according to the present invention; Figure 3 This is a system architecture diagram of the present invention; Figure 4 This is a schematic diagram of power distribution according to the present invention; Figure 5 This is a schematic diagram of the robotic arm structure of the present invention; Figure 6 This is a layout diagram of the collaborative robot components of the present invention; Figure 7 This is a schematic diagram of the operation panel of the present invention; Figure 8 This is a schematic diagram of the installation position of the collaborative robot of the present invention; Figure 9 This is a schematic diagram showing the connection between the tunneling equipment and the collaborative robot of the present invention.

[0021] In the diagram: 1. 360° camera; 2. Lighting light; 3. Infrared camera; 4. Fisheye camera; 5. Olfactory sensor; 6. Antenna; 7. Voice system; 8. Neck joint module; 9. Arm joint module; 10. Hand joint module; 11. Microphone; 12. Display; 13. Control and processor; 14. Control panel; 111. Collaborative robot; 112. Rotary stage 2; 112.1. Housing; 112.2. Output end; 113. Telescopic forearm; 11 4. Telescopic boom; 114.1. Base; 114.2. Main boom; 114.3. Secondary boom; 114.4. Collaborative robot mounting base; 114.5. Link-I; 114.6. Link-II; 114.7. Link-III; 114.8. Link-IV; 114.9. Link-V; 115. Rotary table No. 1; 115.1. Housing; 115.2. Output shaft; 116. Lifting device; 116.1. Fixing frame; 116.2. Telescopic rod. Detailed Implementation

[0022] The technical solutions in 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.

[0023] Please see the appendix Figure 1-2 This invention provides a smart tunneling machine split-type collaborative robot and method, including: I. Specific Implementation of Intrinsically Safe Power Supply System (1) Division of multi-circuit intrinsically safe power supply and power supply circuit Please see Figure 4The tunneling machine's intelligent system is equipped with a multi-circuit intrinsically safe power supply and a UPS power supply box. These are connected to the power supply terminal of the collaborative robot via a tow cable and an explosion-proof quick-plug interface. The UPS power supply box outputs multiple uninterrupted 12V intrinsically safe power supplies. Power supply circuits are divided according to the area, function, and task of the collaborative robot's electrical components. Circuit parameters are designed to match the power of the electrical components with the power of each intrinsically safe power supply, providing intrinsically safe power to the collaborative robot. Each power supply circuit meets intrinsically safe requirements through designs that limit circuit capacity and reduce circuit power.

[0024] (2) Classification and explosion-proof adaptation of electrical components The electrical components of the collaborative robot are classified according to electrical technical parameters such as voltage, current, and power. First, the rated voltage, current, and power parameters of each component are collected, and then the parameter ranges are divided to determine the explosion-proof type (intrinsically safe or explosion-proof) of each component. Then, by limiting circuit capacity and reducing circuit power, the collaborative robot as a whole meets the intrinsic safety requirements and is adapted to the explosive environment of underground coal mines. Furthermore, voltage, current, and spark tests are conducted on each power supply circuit and the final power supply system to ensure that it meets the intrinsic safety requirements stipulated in the national explosion-proof standards.

[0025] (3) Power management and load adaptation The intrinsically safe power supply system includes a power management unit and a load adapter unit. It can complete the power charging and flexible power supply management between the tunneling machine and the collaborative robot during working intervals or when the power is insufficient. At the same time, it monitors the voltage and current in real time during the power supply process. The load adapter unit limits the collaborative robot to use low-power electrical components (such as low-power cameras, high-efficiency servo motors, etc.).

[0026] To reduce the capacity and size of the explosion-proof battery, the collaborative robot's load uses low-power electrical components, reducing the explosion-proof battery capacity from the conventional 30Ah to 20Ah and shrinking its size by 30%. This allows the collaborative robot to simultaneously meet intrinsic safety requirements and installation adaptation requirements in the confined spaces of underground coal mines. Furthermore, the explosion-proof battery works in conjunction with multi-circuit intrinsically safe power supplies and UPS power boxes to achieve stable power supply.

[0027] II. Specific Implementation of Collaborative Robots and Extendable Robotic Arms (1) Components and operation of collaborative operation robots The collaborative robot includes sensing components, control components, actuation components, a voice system 7, and a display 12. Please see Figure 6 Sensing components include a 360-degree camera 1, a lighting lamp 2, an infrared camera 3, a fisheye camera 4, an olfactory sensor 5, an antenna 6, and a microphone 11.

[0028] Among them, lighting lamp 2 is used for lighting in the tunneling operation scene; The 360° camera 1, fisheye camera 4, and infrared camera 3 are used to collect full-scene visual information of the tunneling operation scene; Antenna 6 is used for wireless signal transmission and reception.

[0029] Control components: namely, the controller and processor 13, which includes a power isolation processing unit, an arithmetic processor and a high computing power controller. The power isolation processing unit is used to achieve intrinsically safe isolation for power supply of the collaborative robot. The controller and processor 13 is used to receive and process the collected data transmitted by the sensing components and the tunneling machine's sensing sensors. Its internal high-performance computing controller is divided into multiple intrinsically safe computing controllers according to the data processing function, which work together.

[0030] The actuators include a neck joint module 8, an arm joint module 9, and a hand joint module 10. The actuators are driven by motors and electric cylinders. The neck joint module 8 is a two-degree-of-freedom pitch and yaw rotation joint. The arm joint module 9 and the hand joint module 10 together form a humanoid arm structure with a built-in six-dimensional force sensor to support dual-arm collaborative operation. They are used to complete fine operation actions such as pressing buttons and adjusting handles on the control panel 14.

[0031] Voice system 7: Used for early warning when various loads of the tunneling equipment are started, and for communicating with remote control personnel.

[0032] Display 12: Displays the collaborative robot's battery level, wireless signal, status of each mechanism, sensor status, and working status, and supports external parameter input.

[0033] Please see Figure 3 The collaborative operation robot also integrates a communication system, which consists of a wireless module and a wired network switch. It supports both wireless and wired transmission methods and is used to interact with the tunneling machine and the remote control center.

[0034] (2) Structure and posture adjustment of the telescopic robotic arm Please see Figure 5 In this embodiment, the telescopic robotic arm is a three-degree-of-freedom robotic arm, and its specific structure includes a lifting device 116, a first rotating platform 115, a telescopic upper arm 114, a telescopic lower arm 113, and a second rotating platform 112.

[0035] Among them, the fixed frame 116.1 of the lifting device 116 is fixedly connected to the tunneling machine, and the telescopic rod 116.2 is fixedly connected to the housing 115.1 of the No. 1 rotary table 115; the output shaft 115.2 of the No. 1 rotary table 115 is fixedly connected to the base 114.1 of the telescopic boom, the main boom 114.2 is hinged to the base 114.1 at point A, and the drive motor drives the main boom 114.2 to rotate relative to the base 114.1. The auxiliary boom 114.3 intersects with the main boom 114.2 at point B. One end of the connecting rod-I 114.5 is hinged to the base 114.1, and the other end is hinged to the connecting rod-II 114.6. The other end of the connecting rod-II is hinged to the auxiliary boom 114.3. The drive motor drives the connecting rod-I 114.5 to rotate relative to the base 114.1, and the connecting rod... Links -Ⅰ114.5 and -Ⅱ114.6 drive the auxiliary arm 114.3 to rotate relative to the main arm 114.2. The collaborative robot mounting base 114.4 is hinged to the auxiliary arm 114.3 at point C. One end of link -Ⅲ114.7 is hinged to the base 114.1, and the other end is hinged to link -Ⅳ114.8 at point D. Link -Ⅳ114.8 is hinged to the main arm 114.2 at point B. One end of link -Ⅴ114.9 is hinged to link -Ⅳ114.8 at point E, and the other end is hinged to the collaborative robot mounting base 114.4. Through link -Ⅲ114.7, link -Ⅳ114.8, and link -Ⅴ114.9, the mounting surface of the collaborative robot mounting base 114.4 is always kept parallel to the mounting surface of the rotary table 115. The housing 112.1 of the No. 2 rotary table 112 is fixedly connected to the collaborative robot mounting base 114.4, and the output end 112.2 of the No. 2 rotary table 112 is fixedly connected to the collaborative robot 111, driving the collaborative robot 111 to rotate relative to the collaborative robot mounting base 114.4.

[0036] By coordinating the control of the lifting device, the rotating platform and the telescopic arm, the collaborative robot 111 can be driven to complete the position adjustment of lifting up and down, telescopic forward and backward, and rotating left and right, so as to ensure that the robot is aligned with the operation panel 14 or the key work area.

[0037] The telescopic robotic arm is equipped with displacement sensors, angle sensors, and pressure sensors: the displacement sensors collect data on the telescopic arm's extension and retraction displacement, the angle sensors collect data on the rotation angle of the rotary table, and the pressure sensors collect data on the load pressure on the robotic arm, enabling closed-loop control for posture adjustment. In addition, collision sensors are installed on the outside of the robotic arm to detect accidental collisions during its movement and trigger an emergency stop.

[0038] The displacement sensor is integrated inside the hydraulic cylinder to monitor its extension length; the angle sensor is installed at the hinge of the rotary table to monitor the rotation angle of the extendable arm; the extendable robotic arm is hydraulically driven, and pressure sensors monitor the pressure at the inlet of each drive cylinder. The pressure, displacement, and angle sensors are integrated to achieve trajectory control of the extendable robotic arm, ensuring that the collaborative robot on the extendable robotic arm can adjust its posture and position according to the cutting operation and its working environment requirements, and that the collaborative robot can retract back into the frame after the operation is completed to prevent collisions caused by equipment movement.

[0039] III. Specific Implementation of the Power Supply and Distribution Network The tunneling machine's intelligent system and the collaborative operation robot are connected by a power supply and charging network, which enables the tunneling machine to quickly plug and unplug multiple circuits to supply power to the collaborative operation robot. It can also complete the power charging and flexible power supply management between the tunneling machine and the collaborative operation robot during the operation intervals or when the power is insufficient. At the same time, the voltage and current during the power supply process are monitored in real time to ensure the stable coordination of the charging process and the multi-circuit power supply.

[0040] The communication system consists of wireless modules and wired network switches. The wireless modules receive signals from the remote control system and transmit them to the network switch. The switch then aggregates the signals and transmits them to the collaborative robot control system. The control system serves as the central control hub for all equipment and systems at the tunneling face, responsible for centralized monitoring. The collaborative robot operates near the tunneling equipment. Control commands from the control system can intervene and control the collaborative robot, optimizing and improving its control precision. The collaborative robot interacts with the remote control system wirelessly, while using wired transmission to interact with the tunneling machine when operating it locally, ensuring the stability and security of data transmission.

[0041] IV. Specific Implementation of the Intelligent Tunneling Machine Split-Unit Collaboration Method Please see the appendix Figure 1 This includes the following steps: S1. Power supply startup and preparation The multi-circuit intrinsically safe power supply and UPS power supply box of the tunneling machine's intelligent system are activated. Power supply circuits are divided according to the area, function, and task of the collaborative robot's electrical components. The collaborative robot's electrical components are categorized according to electrical technical parameters such as voltage, current, and power. First, the rated voltage, rated current, rated power, distributed inductance, and distributed capacitance of each electrical component are collected. Then, considering the component's function, electrical principle, and connection relationship, and given the limitations of the intrinsically safe power supply capacity, the collaborative robot's electrical system is divided into multiple intrinsically safe power supplies based on different functions and circuits. This ensures that each electrical component meets both the power requirements for operation and explosion-proof requirements. Intrinsically safe power is provided to the collaborative robot via a quick-plugging cable (see [reference]). Figure 4 ).

[0042] S2. Deployment and pose adjustment of the collaborative operation robot The retractable robotic arm receives control commands and drives the collaborative robot to extend from a pre-defined, inaccessible area of ​​the tunneling machine to a pre-defined work position. The collaborative robot, mounted on the retractable robotic arm, controls the tunneling machine's operations via a control panel using visual and olfactory sensors. Due to the complex underground conditions, limited space, and blind spots in the cutting operation, the collaborative robot needs to adjust its position based on the relative positions of the cutting drum and the roof and floor plates to ensure it can clearly see the entire work environment. For example, when the tunneling machine's cutting drum is cutting downwards, or when the cutting drum is below the machine body, or when the tunneling machine is descending, the collaborative robot uses the retractable robotic arm to raise its overall position and tilt its body forward to see the work ahead. When the tunneling machine's cutting drum is cutting upwards, the retractable robotic arm needs to tilt the collaborative robot upwards to clearly see the cutting operation touching the roof and walls and to precisely control it.

[0043] The cutting trajectory of the telescopic robotic arm, the position of the collaborative robot, and the tunneling machine's operating process, operating procedures, and motion structure and environmental position are closely related.

[0044] The control program establishes a one-to-one correspondence between the cutting trajectory, the position of the collaborative robot, and the cutting operation environment. A positional correspondence table for the tunneling operation is created within the program, and the program automatically adjusts the position and attitude of the collaborative robot based on this table (see [reference]). Figure 5 ).

[0045] S3, Tunneling Operation Execution The collaborative robot collects visual information through its sensing components, combines it with the sensor data transmitted from the tunneling machine's sensors, and generates operating commands after processing by the control and processor 13 and the high-performance controller. These commands drive the execution components to perform tunneling machine operations, while simultaneously transmitting work data to the remote centralized control system via a communication system (see [reference]). Figure 7).

[0046] S4, Retraction and Charging After the task is completed, the telescopic robotic arm retracts and folds the collaborative robot, placing it in a pre-designated, inaccessible area on the tunneling machine. Simultaneously, the robot is charged via the power supply network until the explosion-proof battery reaches the preset charge level. The voice system then provides remote personnel with feedback on task completion and charging status (see [reference]). Figure 3 ).

[0047] Please see the appendix Figure 2 During tunneling operations, a collaborative robot controls the tunneling work, the tunneling machine's various actuators perform actions, and the tunneling machine's working status is fed back to the collaborative robot. This involves an interactive loop where the collaborative robot collects environmental perception data, the tunneling machine's control system analyzes and makes decisions, and the collaborative robot processes the system's responses. This ensures the coordination and continuity of the tunneling operation. The collaborative robot, acting as a flexible visual, auditory, and olfactory perception system and operating system that can move flexibly with the equipment's working environment and scenario, does not have its own internal decision-making and analysis system. The tunneling equipment integrates a control system, an equipment perception system, and a spatial perception system. The collaborative robot collects the visual, auditory, and olfactory information and sends it to the tunneling equipment's perception and analysis system. The tunneling equipment and its own perception systems then integrate and process this information before sending it to the collaborative robot. The collaborative robot executes corresponding commands based on the action requirements, such as start, stop, rise, fall, accelerate, decelerate, move forward, move backward, and turn.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0049] S5. Establishment of the kinematic model The collaborative robot's posture moves with the cutting drum as it rises, extends, and retracts, allowing it to clearly see the cutting bottom plate, cutting top plate, and the contact area between the cutting drum and the coal and rock. To simplify the model, a three-joint robotic arm with base rotation (R), upper arm extension (P), and lower arm pitch (R) is established using the improved DH method.

[0050] The robotic arm consists of 3 joints, with the following degrees of freedom: Joint 1 (J1): Rotary joint (R1), controls the base to rotate around the vertical axis (Z axis) by an angle of θ1.

[0051] Joint 2 (J2): The movable joint (P) controls the extension and retraction of the upper arm along its own axis, with a displacement of... (The length of the upper arm is variable).

[0052] Joint 3 (J3): Rotational joint (R2), controls the pitch of the forearm around the horizontal axis at the end of the upper arm, at an angle of θ3.

[0053] Geometric parameter definitions: h: Base height (vertical distance from the axis of joint 1 to the axis of joint 1).

[0054] L2: Fixed length of the forearm (distance from the axis of joint 3 to the end effector).

[0055] Range of motion of joint 2: .

[0056] Base coordinate system: Axis: along the axis of rotation of joint 1 (vertically upward).

[0057] Axis: Horizontal to the right (perpendicular to the axis of joint 2).

[0058] origin : The intersection of the axis of joint 1 and the bottom surface of the base.

[0059] Joint 1 Coordinate System: Axis: with Axis coincidence (axis of joint 1).

[0060] Axis: Perpendicular to and , pointing in the direction of the axis of joint 2 (horizontally forward).

[0061] origin : The intersection of the axis and the axis of joint 2 (height h).

[0062] Joint 2 coordinate system: Axis: Along the extension axis of joint 2 (horizontally forward).

[0063] Axis: Perpendicular to and , pointing in the direction of the axis of joint 3 (upward).

[0064] origin The starting point of joint 2 extension and contraction (and) overlap, when =0).

[0065] Joint 3-coordinate system: Axis: Along the rotation axis of joint 3 (perpendicular to) (i.e., the vertical direction).

[0066] Axis: Along the axis of the forearm (and) The included angle is ).

[0067] origin The endpoint of joint 2's extension and contraction (the intersection with the axis of joint 3, at a distance of...) for ).

[0068] End coordinate system: Attached to the end of the forearm, The axis coincides with the forearm axis, origin. distance for .

[0069] According to the MDH transformation matrix formula: Base to Joint 1 ( ) , Joint 1 to Joint 2 ( ) , Joint 2 to Joint 3 ( ) , The pose matrix of the end coordinate system {4} relative to the base {0} is: Extract the position (x, y, z) and orientation (Eulerian angles or rotation matrix) of the end effector from the pose matrix T04: , Given joint variables, calculate the distal end position. Using inverse kinematics, given the distal end position... Solve , , .

[0070] , ,

Claims

1. A smart tunneling machine split-type collaborative robot, characterized in that, This includes collaborative operation robots, telescopic robotic arms, and intelligent systems for tunneling machines installed on them; It also includes an intrinsically safe power supply system for powering the collaborative robot; The intrinsically safe power supply system includes a multi-circuit intrinsically safe power supply installed on the intelligent system of the tunneling machine. The multi-circuit intrinsically safe power supply is connected to the collaborative operation robot through a tow cable, and the power supply circuit is divided according to the area, function or task of the electrical components of the collaborative operation robot to provide intrinsically safe power supply to each electrical component. The retractable robotic arm is a three-degree-of-freedom robotic arm, used to drive the collaborative robot to complete pose adjustment or retraction and folding. The tunneling machine is equipped with a support platform for supporting the collaborative operation robot.

2. The intelligent tunneling machine split-type collaborative robot according to claim 1, characterized in that, The intrinsically safe power supply system also includes an electrical component classification and adaptation module, which is used to collect electrical parameters of each electrical component of the collaborative operation robot, and determine the explosion-proof type and divide the power supply circuit based on the parameters.

3. The intelligent tunneling machine split-type collaborative robot according to claim 1, characterized in that, The intrinsically safe power supply system also includes a power management unit for managing the output of the multi-loop intrinsically safe power supply and the charging of the collaborative robot.

4. The intelligent tunneling machine split-type collaborative robot according to claim 1, characterized in that, The collaborative operation robot includes: Sensing components include: a 360 camera (1), an infrared camera (3), a fisheye camera (4), an olfactory sensor (5), an antenna (6), and a microphone (11). The control unit is a controller and processor (13) used to process the acquired data. The actuators, including the neck joint module (8), arm joint module (9) and hand joint module (10), are used to perform operation actions on the operation panel (14) in response to control commands.

5. The intelligent tunneling machine split-type collaborative robot according to claim 1, characterized in that, The retractable robotic arm includes a lifting device (116), a rotating platform (115), a telescopic upper arm (114), and a telescopic lower arm (113); and the retractable robotic arm is equipped with a displacement sensor, an angle sensor, and a pressure sensor to collect data to achieve closed-loop control of the cooperative operation robot's working posture.

6. The intelligent tunneling machine split-type collaborative robot according to claim 1, characterized in that, The intrinsically safe power supply system also includes a load adapter unit, which limits the use of low-power components in the electrical parts of the collaborative robot to reduce the capacity and size of the robot's built-in explosion-proof battery.

7. The intelligent tunneling machine split-type collaborative robot according to claim 4, characterized in that, The control component is equipped with a high-performance computing controller, which is structurally disassembled into multiple intrinsically safe computing controllers. The multi-loop intrinsically safe power supply provides an independent power supply circuit for each intrinsically safe computing controller.

8. The intelligent tunneling machine split-type collaborative robot according to claim 1, characterized in that, The intelligent system of the tunneling machine and the collaborative operation robot are connected by a power supply and charging network and a communication system. The power supply and charging network is used to realize power supply and charging management, and the communication system is used to realize wired or wireless data interaction.

9. The intelligent tunneling machine split-type collaborative robot according to claim 4, characterized in that, The tunneling machine is equipped with sensing sensors for collecting its own status and environmental data; the control unit is used to fuse and process the data from the tunneling machine's sensing sensors with the visual information collected by the sensing unit of the collaborative operation robot to form a full-scene perception.

10. A collaborative method for a split-type collaborative robot of an intelligent tunneling machine, applied to the split-type collaborative robot of any one of claims 1-9, characterized in that, Includes the following steps: S1. Start the multi-circuit intrinsically safe power supply and provide intrinsically safe power to the collaborative robot according to the divided power supply circuits; S2. Drive the collaborative robot to the work position using a retractable robotic arm and adjust its work posture; S3. The collaborative operation robot collects and integrates sensory data, generates and executes operation commands to control the tunneling machine; S4. After the task is completed, the collaborative robot is retrieved using a telescopic robotic arm and charged via a power supply network.

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