Intelligent cutter changing robot device and system

Abstract

An intelligent cutter changing robot device and a system. The device comprises a robot base (1); a displacement unit (2), a left-right translation mechanism (3) connected to the displacement unit, and a multi-stage telescopic arm (4) connected to the left-right translation mechanism; a cutter changing actuator (5) connected to the multi-stage telescopic arm, removing and installing bolts between a shield machine and a disc cutter, and grabbing and transporting a disc cutter to complete the replacement of the disc cutter; and a cutter storage unit (8) located in the shield machine, and internally provided with two storage spaces for placing an unused new disc cutter and a used disc cutter dismounted by means of the cutter changing actuator. The displacement unit is connected to the robot base. The bolts are removed by means of the provided cutter changing actuator, and the dismounted disc cutter is placed in the cutter storage unit; an unused disc cutter is selected by means of the cutter changing actuator, and the disc cutter is placed on the shield machine; the cutter changing actuator operates in reverse; and the disc cutter is fixed by means of the bolts, so as to complete the replacement of the disc cutter.

Description

A smart tool-changing robot device and system Technical Field

[0001] This application relates to the technical field of cutterhead replacement for tunnel boring machines, specifically an intelligent cutterhead replacement robot device and system. Background Technology

[0002] A tunnel boring machine (TBM) is a large-scale mechanical device that integrates tunnel excavation, muck removal, and support. It uses cutters on a cutterhead to cut through soil or rock, supporting the surrounding strata through the shield shell. Due to its high degree of automation, fast construction speed, and small impact area, it is widely used in tunnel projects such as subways and municipal pipelines. However, during the cutting process, the cutters wear out, necessitating replacement. The roller cutter, used for rock breaking, is the primary cutter and has the highest replacement frequency. Currently, cutter replacement is mainly done manually, but the high pressure and humidity environment in front of the tunnel face makes manual cutter replacement dangerous and inefficient. Therefore, developing an intelligent cutter-changing robot has become a direction for the development of the TBM industry.

[0003] For example, Chinese patent application CN116464465A discloses a tunnel boring machine cutterhead, a cutter replacement method, and a tunnel boring machine, including a main beam extending radially from the center of the cutterhead; a cutter disposed on the main beam; a first slide rail disposed within the main beam and extending along the extension direction of the main beam, the first slide rail being configured to be located at the top or bottom of the main beam in a state where the extension direction of the main beam is substantially parallel to the horizontal direction; and a conveying member movably disposed on the first slide rail, the conveying member being configured to move along the first slide rail to convey a cutter replacement actuator.

[0004] However, the existing technology still has some problems in the tool changing process. Although the existing technology does not require operators to climb to different heights when changing hobs, it still relies on manual tool changing. Therefore, how to automate tool changing is a problem that needs to be solved. Summary of the Invention

[0005] This application provides an intelligent tool-changing robot device and system to solve the above-mentioned problems existing in the prior art.

[0006] An intelligent tool-changing robot device includes:

[0007] The robot base is installed inside the tunnel boring machine's robot cabin.

[0008] The displacement unit, the left and right translation mechanism connected to the displacement unit, and the multi-stage telescopic arm connected to the left and right translation mechanism;

[0009] The cutter changer end effector is connected to the multi-stage telescopic arm and is used to disassemble and assemble the bolts between the tunnel boring machine and the cutter head, and to grab and transport the cutter head to complete the cutter head replacement.

[0010] A visual positioning device is installed on the tool changer to locate the bolt position, enabling the tool changer to disassemble and assemble the bolt, grip the hob, and position it.

[0011] The cutter storage unit, located inside the tunnel boring machine, has two built-in storage spaces for storing unused new cutters and old cutters removed by the cutter changer.

[0012] The displacement unit is connected to the robot base.

[0013] Furthermore, the displacement unit includes a drive rack and a fixed slide rail fixedly installed along the length of the robot base, an adjusting slider slidably connected to the fixed slide rail, a movable seat for connecting the adjusting slider, four first hydraulic motors mounted on the movable seat, motor gears located at the output ends of the first hydraulic motors and meshing with the drive rack, a counterweight on the movable seat, a lifting frame movably connected to the movable seat, a mounting frame for connecting the other end of the lifting frame, and lifting hydraulic cylinders movably connected to the mounting frame and the movable seat respectively.

[0014] Furthermore, the left and right translation mechanism includes a horizontal fine-tuning cylinder and a horizontal slide rail fixedly mounted on the mounting frame, a drive block connected to the output end of the horizontal fine-tuning cylinder, a slide plate connected to the drive block, a first swing cylinder disposed on the slide plate, a support plate connected to the first swing cylinder, a second swing cylinder disposed on the support plate, and a right-angle arm movably connected to the second swing cylinder.

[0015] The multi-stage telescopic arm is connected to the right-angle arm;

[0016] The multi-stage telescopic boom is equipped with a telescopic hydraulic cylinder.

[0017] The multi-stage telescopic boom includes multiple multi-stage booms, and longitudinal wear-resistant strips are provided between adjacent multi-stage booms to reduce friction between the multi-stage booms;

[0018] The skateboard is equipped with a horizontal slider, which is slidably connected to a horizontal slide rail.

[0019] Furthermore, the tool changer includes a third swing cylinder mounted on the multi-stage telescopic arm, an execution plate connected to the third swing cylinder, a fourth swing cylinder mounted on the execution plate, an end effector seat movably connected to the fourth swing cylinder, a wrench hydraulic motor fixedly mounted on the end effector seat, a main gear connected to the output end of the wrench hydraulic motor, two auxiliary gears meshing with the main gear and mounted on the end effector seat, and a torque wrench mounted on the auxiliary gears.

[0020] Furthermore, the tool changer also includes two second telescopic arms symmetrically arranged on the end effector, a gripper connecting plate connected to the output end of the second telescopic arms, two grippers movably connected to the gripper connecting plate, and a drive cylinder for connecting the grippers and the gripper connecting plate.

[0021] The number of vision acquisition devices is two, namely a first vision acquisition device and a second vision acquisition device. The first vision acquisition device and the second vision acquisition device are located on the end effector and their acquisition areas are opposite.

[0022] Furthermore, the cutter storage unit includes a rotating assembly connected to the tunnel boring machine, two first limiting assemblies evenly arranged on the rotating assembly, and a plurality of second limiting assemblies evenly arranged on the first limiting assemblies;

[0023] The rotating assembly includes a connecting frame connected to the tunnel boring machine, a support slide rail disposed on the connecting frame, a movable slider movably connected to the support slide rail, a movable seat for connecting the movable slider, a rotary motor fixedly mounted on the movable seat, a rotating wheel connected to the output end of the rotary motor, a movable shaft disposed on the movable seat, a driven wheel sleeved on the movable shaft, a protective cover connected to the movable shaft, and a transmission belt for connecting the rotating wheel and the driven wheel;

[0024] The support slide rail is also equipped with a displacement cylinder, and the output end of the displacement cylinder is connected to the movable seat.

[0025] Furthermore, the first limiting component includes a limiting seat located within the protective cover, the limiting seat having a receiving cavity, a plurality of connecting cylinders movably connected to the limiting seat and disposed in the receiving cavity, a first gear connected to the output end of the connecting cylinders, a second gear meshing with the first gear, a connecting shaft disposed on the second gear, a limiting frame fixedly mounted on the limiting seat, a double-sided rack located within the limiting frame, a limiting gear meshing with the double-sided rack and located on the limiting seat, and a gear ring disposed within the receiving cavity and meshing with the second gear;

[0026] The connecting shaft is connected to one of the limiting gears, and the second limiting component is connected to the double-sided rack;

[0027] The output end of the connecting cylinder is located at the non-center position of the first gear;

[0028] The limiting seat is a tubular structure with a through hole, and the receiving cavity is located in the area between the outer wall of the limiting seat and the inner wall of the through hole.

[0029] Furthermore, the second limiting component includes two fixing plates, two pull plates symmetrically arranged on one of the fixing plates, a lifting cylinder fixedly installed on the pull plates, two guide seats diagonally arranged on the fixing plates, and a guide shaft passing through the guide seats and used to connect the two fixing plates;

[0030] The pull plate has a square hole, and the output end of the lifting cylinder is connected to another fixed plate through the square hole;

[0031] One of the fixing plates is connected to the toothless surface of the double racks, and the other fixing plate can move upward along the guide shaft. There is a connecting protrusion between the double racks and the fixing plate, and the height of the connecting protrusion between adjacent double racks is different.

[0032] Furthermore, the second limiting component includes an adjusting cylinder and multiple adjusting slide rails disposed on the fixed plate, an adjusting seat connected to the output end of the adjusting cylinder, multiple drive wheels disposed on the adjusting seat, an adjusting plate connected to the drive wheels, a limiting cylinder disposed on the adjusting plate, an abutment block connected to the output end of the limiting cylinder, and a driven slider for connecting the adjusting plate and the adjusting slide rails.

[0033] The adjusting seat is provided with multiple limiting waist holes, and there is a certain angle between the length direction of the limiting waist holes and the adjusting slide rail.

[0034] A system for an intelligent tool-changing robot includes:

[0035] The multi-source information sensing system uses multiple sensors to collect different types of data information of the tool changing robot in the working environment, and then summarizes the collected multi-type information to form a multi-data source.

[0036] A digital twin system is used to receive, process, transform, and store multiple data sources, and to reconstruct the workspace of a tool-changing robot in three dimensions based on the processed data.

[0037] The main control system, based on the 3D reconstructed model, locates the bolts and obstacles in real time and plans the travel path of the tool-changing robot according to the positions of the bolts and obstacles.

[0038] The power unit is connected to the main control system. Based on the processing results of the main control system, the main control system controls the working pressure of the hydraulic oil in the power unit, and at the same time filters and stores energy in the hydraulic oil medium.

[0039] Multiple joint units are connected to the power unit. The power unit supplies hydraulic oil to the joint units and adjusts the position between each joint unit according to the processing information processed by the main control system. This enables the tool changer to locate the position of the hob and avoid obstacles during the tool change process, thus realizing intelligent control of the tool changer robot.

[0040] Furthermore, the power unit includes return oil pipe T1, return oil pipe T2, inlet oil pipe P1, inlet oil pipe P2, self-sealing quick-connect coupling K1, self-sealing quick-connect coupling K2, self-sealing quick-connect coupling K3, self-sealing quick-connect coupling K4, ball valve Q1, ball valve Q2, temperature sensor TS, pressure sensor T1, pressure sensor T2, pressure sensor T3, pipeline filter F1, pipeline filter F2, throttle valve L1, throttle valve L2, pressure reducing valve A1, pressure reducing valve A2, safety valve RV1, safety valve RV2, accumulator AC, and accumulator valve group E;

[0041] The power unit includes self-sealing quick-connect couplings K1, K2, and K3, which are respectively connected to the energy pump station; a self-sealing quick-connect coupling K4 connected to the self-sealing quick-connect coupling K1; a ball valve Q2 connected to the other end of the self-sealing quick-connect coupling K3; a temperature sensor TS, a pressure sensor T1, a pipeline filter F1, and an accumulator valve group E connected to the other end of the ball valve Q2; the other end of the accumulator valve group E is connected to the accumulator AC; the other end of the pipeline filter F1 is connected to throttle valves L1 and L2 respectively; and pressure reducing valves A1 and A2 are respectively connected to throttle valves L1 and L2. The outlet end of the pressure reducing valve A1 is connected to one end of the pressure sensor T2, the safety valve RV1, and the pipeline filter F2 respectively; and the outlet end of the pressure reducing valve A2 is connected to the pressure sensor T3, the safety valve RV2, and the oil inlet pipe P2 respectively.

[0042] The other end of the self-sealing quick-connect coupling K2 is connected to the ball valve Q1;

[0043] The pipeline filter F2 is connected to the oil inlet pipeline P1, and the other ends of the safety valve RV1, the safety valve RV2, and the ball valve Q1 are respectively connected to the oil return pipeline T2.

[0044] The drain ports of pressure reducing valves A1 and A2 and the self-sealing quick-connect fitting K4 are connected to the return oil pipeline T1.

[0045] Beneficial Effects: This application discloses an intelligent cutter-changing robot device and system. To automate the cutter-changing process of a tunnel boring machine (TBM), the device includes a displacement unit, a cutter-changing actuator, a vision acquisition device, and a cutter storage unit. The displacement unit comprises a first hydraulic motor, a lifting hydraulic cylinder, a lateral fine-tuning cylinder, a first swing cylinder, a second swing cylinder, a multi-stage telescopic arm, a third swing cylinder, a fourth swing cylinder, a second telescopic arm, a drive cylinder, and a wrench hydraulic motor. The interaction between these components increases the overall freedom of the device, allowing the vision acquisition device to capture the bolt positions between the TBM and the cutter head. The cutter-changing actuator then disassembles the bolts and places the disassembled cutter head into the storage unit. The actuator selects an unused cutter head and places it in a predetermined position on the TBM. The actuator then reverses its operation, securing the cutter head with bolts, thus completing the cutter head replacement. The entire process requires no manual intervention and is fully automated. Attached Figure Description

[0046] Figure 1 is a structural schematic diagram of an intelligent tool-changing robot device according to this application;

[0047] Figure 2 is a schematic diagram of the displacement element of this application;

[0048] Figure 3 is a three-dimensional view of the displacement element of this application;

[0049] Figure 4 is a front view of the left and right translation mechanism of this application;

[0050] Figure 5 is a schematic diagram of the left and right translation mechanism of this application;

[0051] Figure 6 is a schematic diagram of the tool changer actuator of this application;

[0052] Figure 7 is a cross-sectional view of the tool changer actuator of this application;

[0053] Figure 8 is a schematic diagram of the visual acquisition device of this application;

[0054] Figure 9 is a schematic diagram of the hydraulic motor for the wrench in this application;

[0055] Figure 10 is a bottom view of the tool storage unit of this application;

[0056] Figure 11 is a schematic diagram of the rotating component of this application;

[0057] Figure 12 is a schematic diagram of the first limiting component of this application;

[0058] Figure 13 is a perspective view of the first limiting component of this application;

[0059] Figure 14 is a schematic diagram of the second limiting component of this application;

[0060] Figure 15 is a schematic diagram of the adjustment seat of this application;

[0061] Figure 16 is a schematic diagram of the first limiting component structure of this application;

[0062] Figure 17 is a schematic diagram of a system for an intelligent tool-changing robot device according to this application;

[0063] Figure 18 is a schematic diagram of the power unit of this application;

[0064] Figure 19 is a schematic diagram of the fourth joint unit of this application;

[0065] Figure 20 is a system flowchart of this application.

[0066] Explanation of reference numerals in the attached drawings: 1. Robot base; 2. Displacement unit; 21. Movable seat; 22. Counterweight; 23. First hydraulic motor; 24. Motor gear; 25. Drive rack; 26. Fixed slide rail; 27. Adjustable slider; 28. Lifting hydraulic cylinder; 29. ​​Mounting frame; 210. Lifting frame; 3. Left and right translation mechanism; 31. Lateral fine-tuning cylinder; 32. Drive block; 33. Slide plate; 34. First swing cylinder; 35. Support plate; 36. Second swing cylinder 37. Hydraulic cylinder; 38. Right-angle arm; 39. Lateral slide rail; 4. Lateral slider; 5. Multi-stage telescopic arm; 41. Telescopic hydraulic cylinder; 5. Tool changer actuator; 51. Third swing hydraulic cylinder; 52. Fourth swing hydraulic cylinder; 53. End effector; 54. Second telescopic arm; 55. Gripper connecting plate; 56. Gripper; 57. Drive cylinder; 58. Main gear; 59. Secondary gear; 510. Torque wrench; 511. Wrench hydraulic motor; 6. Vision acquisition device; 8. Storage 81. Blade unit; 812. Rotating assembly; 813. Protective cover; 814. Connecting frame; 815. Displacement cylinder; 816. Movable seat; 817. Movable slider; 818. Rotary motor; 819. Rotating wheel; 820. Driven wheel; 821. Transmission belt; 822. Movable shaft; 823. Support slide rail; 824. First limit assembly; 825. First gear; 826. Second gear; 827. Gear ring; 828. Limit seat; 829. Limit frame; 27. Limiting gear; 828. Double-sided rack; 829. Connecting shaft; 8211. Connecting cylinder; 83. Second limiting assembly; 831. Fixing plate; 832. Pulling plate; 833. Tensioning cylinder; 834. Guide seat; 835. Guide shaft; 836. Adjusting cylinder; 837. Adjusting seat; 838. Drive wheel; 839. Adjusting slide rail; 8310. Driven slider; 8311. Adjusting plate; 8312. Limiting cylinder; 8313. Abutment block. Detailed Implementation

[0067] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0068] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0069] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of this application. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0070] This application discloses an intelligent tool-changing robot device, as shown in Figures 1-16, including:

[0071] The system includes: a robot base 1, installed inside the tunnel boring machine (TBM) robot cabin; a displacement unit 2, a left-right translation mechanism 3 connected to the displacement unit 2, and a multi-stage telescopic arm 4 connected to the left-right translation mechanism 3; a cutter changer 5, connected to the multi-stage telescopic arm 4, used to disassemble and assemble the bolts between the TBM and the cutter head, and to grab and transport the cutter head to complete the cutter head replacement; a vision acquisition device 6, installed on the cutter changer 5, used to locate the bolt position, enabling the cutter changer 5 to disassemble and assemble the bolts, grab and position the cutter head; and a cutter storage unit 8, located inside the TBM, with two built-in storage spaces for storing unused new cutter heads and cutter heads that have been replaced. The old cutter head removed by actuator 5; the displacement unit 2 is connected to the robot base 1; the displacement unit 2 increases the degree of freedom of the entire device, enabling the vision acquisition device 6 to acquire the bolt position between the tunnel boring machine and the cutter head. Then, the cutter head replacement actuator 5 removes the bolt and places the removed cutter head into the cutter storage unit 8. The cutter head replacement actuator 5 selects an unused cutter head and places it in a predetermined position on the tunnel boring machine. Then, the cutter head replacement actuator 5 reverses its operation and fixes the cutter head with bolts, thus completing the cutter head replacement. The entire process does not require manual intervention and can automatically complete the cutter head replacement.

[0072] The displacement unit 2 includes a drive rack 25 and a fixed slide rail 26 fixedly installed along the length of the robot base 1, an adjusting slider 27 slidably connected to the fixed slide rail 26, a movable seat 21 for connecting the adjusting slider 27, four first hydraulic motors 23 mounted on the movable seat 21, a motor gear 24 located at the output end of the first hydraulic motors 23 and meshing with the drive rack 25, a counterweight 22 mounted on the movable seat 21, a lifting frame 210 movably connected to the movable seat 21, a mounting frame 29 for connecting the other end of the lifting frame 210, and a mounting frame 29 connected to the movable seat 210. 21. The lifting hydraulic cylinder 28 is connected to the robot base 1. When it is necessary to collect the position of the bolt, the first hydraulic motor 23 starts to work. The moving first hydraulic motor 23 can drive the motor gear 24 to rotate. Then the moving motor gear 24 can move on the drive rack 25, thereby driving the moving seat 21 to move in the length direction of the robot base 1, so that the tool changer 5 is close to the hob. Then the lifting hydraulic cylinder 28 starts to work. The moving lifting hydraulic cylinder 28 can drive the mounting frame 29 to start working, adjust the height of the mounting frame 29, thereby completing the lifting work of the tool changer 5 and completing the initial adjustment work of the tool changer 5.

[0073] The left and right translation mechanism 3 includes a lateral fine-tuning cylinder 31 and a lateral slide rail 38 fixedly mounted on the mounting frame 29, a drive block 32 connected to the output end of the lateral fine-tuning cylinder 31, a slide plate 33 connected to the drive block 32, a first swing cylinder 34 disposed on the slide plate 33, a support plate 35 connected to the first swing cylinder 34, a second swing cylinder 36 disposed on the support plate 35, and a right-angle arm 37 movably connected to the second swing cylinder 36; the multi-stage telescopic arm 4 is connected to the right-angle arm 37; a telescopic cylinder 41 is installed inside the multi-stage telescopic arm 4; the... A horizontal slider 39 is provided on the slide plate 33, and the horizontal slider 39 is slidably connected to the horizontal slide rail 38. When it is necessary to adjust the horizontal position of the tool changer 5 on the robot base 1, the horizontal fine-tuning cylinder 31 starts to work. The moving horizontal fine-tuning cylinder 31 can drive the drive block 32 to move, so that the moving drive block 32 can make the slide plate 33 move on the horizontal slide rail 38, thereby enabling the vision acquisition device 6 to complete the acquisition of the bolt position. Then, based on the acquired information, the position of the tool changer 5 is adjusted by the set left and right translation mechanism 3, and the tool changer 5 completes the bolt adjustment. After disassembly, the first swing cylinder 34 and the second swing cylinder 36 begin to operate, causing the cutter changer 5 to flip so that the end with the gripper 56 faces the cutter head. Then, the left-right translation mechanism 3 and the multi-stage telescopic arm 4 begin to move. During this process, the telescopic cylinder 41 in the multi-stage telescopic arm 4 starts to operate, thereby adjusting the position of each stage arm in the multi-stage telescopic arm 4, thus extending and lifting the cutter changer 5. This adjusts the position of the cutter changer 5 so that the gripper 56 is positioned in the gap between the cutter head and the tunnel boring machine. Then, the drive cylinder 57 starts to operate, and the drive cylinder 57 moves... The mechanism can move the gripper 56, shortening the distance between the two grippers 56, thereby enabling the gripper 56 to perform the clamping and limiting work on the cutter head, and thus complete the disassembly of the cutter head. Then, with the cooperation of the left and right translation mechanism 3 and the multi-stage telescopic arm 4, the position of the cutter changer 5 is adjusted so that the cutter changer 5 can place the replaced cutter head in the cutter storage unit 8. Then, the gripper 56 picks up the new cutter head from the cutter storage unit 8 and transports it to the predetermined position. Then, the first swing cylinder 34 and the second swing cylinder 36 work again, thereby enabling the bolt to limit the position of the tunnel boring machine and the cutter head, completing the cutter head replacement work.

[0074] The tool changer 5 includes a third swing cylinder 51 mounted on the multi-stage telescopic arm 4, an actuator plate connected to the third swing cylinder 51, a fourth swing cylinder 52 mounted on the actuator plate, an end effector 53 movably connected to the fourth swing cylinder 52, a wrench hydraulic motor 511 fixedly mounted on the end effector 53, a main gear 58 connected to the output end of the wrench hydraulic motor 511, two secondary gears 59 meshing with the main gear 58 and mounted on the end effector 53, and a torque wrench 510 mounted on the secondary gears 59. The tool changer 5 also includes two second telescopic arms 54 symmetrically arranged on the end effector 53, a gripper connecting plate 55 connected to the output end of the second telescopic arms 54, two grippers 56 movably connected to the gripper connecting plate 55, and a drive cylinder 57 for connecting the grippers 56 and the gripper connecting plate 55; the vision acquisition device 6 consists of two devices, namely a first vision acquisition device and a second vision acquisition device, which are located on the end effector 53 and have opposite acquisition areas.

[0075] During tool changing, the visual acquisition device 6 collects the bolt's position and transmits the data to the main control system. The main control system then processes the data to locate the bolt. Based on the location, the left-right translation mechanism 3 initially adjusts the position of the tool changer 5. Then, the third and fourth swing cylinders 51 and 52 activate, adjusting the position of the end effector 53 so that the torque wrench 510 contacts the bolt head. The rotation of the wrench hydraulic motor 511 then drives the... The main gear 58 rotates, which drives the secondary gear 59 to rotate, thereby causing the torque wrench 510 to rotate and complete the bolt removal work. Then, through the cooperation of the first swing cylinder 34, the second swing cylinder 36, the third swing cylinder 51 and the fourth swing cylinder 52, the end face of the end actuator 53 with the gripper 56 is aligned with the hob. Then, the position of the gripper 56 is adjusted by the second telescopic arm 54, and then the drive cylinder 57 starts to work, thereby completing the gripping work of the hob and the replacement of the old hob with the new one.

[0076] The cutterhead storage unit 8 includes a rotating assembly 81 connected to the tunnel boring machine, two first limiting assemblies 82 evenly arranged on the rotating assembly 81, and a plurality of second limiting assemblies 83 evenly arranged on the first limiting assemblies 82. The rotating assembly 81 includes a connecting frame 812 connected to the tunnel boring machine, a support slide rail 821 arranged on the connecting frame 812, a movable slider 815 movably connected to the support slide rail 821, a movable seat 814 for connecting the movable slider 815, a rotary motor 816 fixedly mounted on the movable seat 814, a rotating wheel 817 connected to the output end of the rotary motor 816, a movable shaft 820 arranged on the movable seat 814, a driven wheel 818 sleeved on the movable shaft 820, a protective cover 811 connected to the movable shaft 820, and a drive wheel 818 for connecting the rotating wheel 817 and the driven wheel 818. The drive belt 819 of the drive wheel 818; the support slide rail 821 is also provided with a displacement cylinder 813, the output end of the displacement cylinder 813 is connected to the movable seat 814; when the gripper 56 picks up the old hob and moves to the storage area of ​​the storage unit 8, the displacement cylinder 813 starts to work. The moving displacement cylinder 813 can make the movable seat 814 move in the length direction of the support slide rail 821, adjust the position of the protective cover 811 so that it can get close to the gripper 56, and then the rotary motor 816 starts to work. Then, through the cooperation of the set rotating wheel 817, driven wheel 818 and drive belt 819, the protective cover 811 can be moved, thereby driving the limiting seat 825 inside the protective cover 811 to move, so that the first limiting component 82 without the hob is in a predetermined position, so that the gripper 56 can place the damaged hob on the first limiting component 82.

[0077] The first limiting component 82 includes a limiting seat 825 located within the protective cover 811. The limiting seat 825 has a receiving cavity, a plurality of connecting cylinders 8211 movably connected to the limiting seat 825 and disposed within the receiving cavity, a first gear 822 connected to the output end of the connecting cylinders 8211, a second gear 823 meshing with the first gear 822, a connecting shaft 829 disposed on the second gear 823, a limiting frame 826 fixedly mounted on the limiting seat 825, and a double-sided rack 82 located within the limiting frame 826. 8. A limiting gear 827 meshing with the double-sided rack 828 and located on the limiting seat 825, and a gear ring 824 disposed in the receiving cavity and meshing with the second gear 823; the connecting shaft 829 is connected to one of the limiting gears 827, and the second limiting assembly 83 is connected to the double-sided rack 828; the output end of the connecting cylinder 8211 is located at the non-center position of the first gear 822; the limiting seat 825 is a tubular structure with a through hole, and the receiving cavity is located in the area between the outer wall of the limiting seat 825 and the inner wall of the through hole;

[0078] When the worn hob is located in the placement area of ​​the first limiting component 82, the connecting cylinder 8211 starts to work. The moving connecting cylinder 8211 can drive the first gear 822 to rotate, and then the moving first gear 822 can drive the second gear 823 to rotate. In turn, the moving second gear 823 can drive the connecting shaft 829 to rotate, and then the moving connecting shaft 829 can drive the limiting gear 827 connected to it to rotate, thereby causing the double-sided racks 828 to move in the length direction of the limiting frame 826. Because the height of the connecting protrusions between adjacent double-sided racks 828 is different, when the hob... When the cutter is located in the through hole, the plane of the contact area between the second limiting component 83 on the connecting protrusion of the same height and the cutter is the same. Since the cutter is disc-shaped and has at least one cutting edge, the diameter of its middle region is larger than the diameter of its two ends along the axial direction of the cutter. By making the heights of adjacent connecting protrusions different, the second limiting component 83 can be located on both sides of the cutting edge of the cutter. This not only limits the cutter radially but also supports it axially, preventing the cutter from moving inside the tunnel boring machine after detaching from the cutter storage unit 8 during the tunnel boring machine's movement, thus avoiding damage to the tunnel boring machine.

[0079] The second limiting component 83 includes two fixing plates 831, two pull plates 832 symmetrically arranged on one of the fixing plates 831, a lifting cylinder fixedly installed on the pull plate 832, two guide seats 834 diagonally arranged on the fixing plate 831, and a guide shaft 835 passing through the guide seats 834 and used to connect the two fixing plates 831; the pull plate 832 has a square hole, and the output end of the lifting cylinder is connected to the other fixing plate 831 through the square hole; one fixing plate 831 is connected to the toothless surface of the double-sided rack 828, the other fixing plate 831 can move axially upward on the guide shaft 835, and a connecting protrusion is provided between the double-sided rack 828 and the fixing plate 831, and the adjacent double-sided rack 828... The connecting protrusions have different heights; the second limiting component 83 includes an adjusting cylinder 836 and multiple adjusting slide rails 839 disposed on the fixed plate 831, an adjusting seat 837 connected to the output end of the adjusting cylinder 836, multiple drive wheels 838 disposed on the adjusting seat 837, an adjusting plate 8311 connected to the drive wheels 838, a limiting cylinder 8312 disposed on the adjusting plate 8311, an abutment block 8313 connected to the output end of the limiting cylinder 8312, and a driven slider 8310 for connecting the adjusting plate 8311 and the adjusting slide rails 839; the adjusting seat 837 is provided with multiple limiting waist holes, and there is a certain angle between the length direction of the limiting waist holes and the adjusting slide rails 839;

[0080] When storing a damaged cutter, the cutter may break due to collision with the rock mass, resulting in an irregular shape. Therefore, when clamping the damaged cutter, the tension cylinder 833 activates based on information from the vision acquisition device 6. The moving tension cylinder 833 moves the fixed plate 831 connected to its output end, adjusting the distance between the two fixed plates 831, thereby adjusting the distance between the abutment blocks 8313 located on different fixed plates 831. Then, the adjusting cylinder 836 activates, moving the adjusting seat 837, thus adjusting the drive wheel... 838 moves in the limiting hole on the adjusting seat 837, which in turn drives the adjusting plate 8311 to move in the length direction of the adjusting slide rail 839, adjusting the distance between adjacent abutting blocks 8313 on the same fixed plate 831. Then the limiting cylinder 8312 starts to work, which can adjust the distance between the abutting block 8313 and the cutter, thereby completing the limiting work of the cutter. By changing the contact position between the abutting block 8313 and the damaged cutter, the limiting clamping work of the damaged cutter is completed, ensuring the smooth progress of the cutter replacement work. For cutters that cannot be clamped, they can be transported to the predetermined unloading position by the left and right translation mechanism 3, so that they can be transported out of the tunnel boring machine.

[0081] This application discloses a system for an intelligent tool-changing robot device. Referring to Figures 17-20, it includes an intelligent tool-changing robot device, and further includes: a multi-source information sensing system, which collects different types of data information of the tool-changing robot in the working environment using multiple sensors, and then summarizes the collected multi-type information to form a multi-data source; a digital twin system, which is used to receive, process, convert, and store the multi-data source, and performs three-dimensional reconstruction of the tool-changing robot's workspace based on the processed data; and a main control system, which, based on the three-dimensional reconstruction model, performs real-time positioning of bolts and obstacles, and... The travel path of the tool changing robot is planned according to the position of the bolts and obstacles; the power unit is connected to the main control system, and according to the processing results of the main control system, the main control system controls the working pressure of the hydraulic oil in the power unit, and at the same time filters and stores energy in the hydraulic oil medium; there are multiple joint units, each connected to the power unit, which supplies hydraulic oil to the joint units and adjusts the position between each joint unit according to the processing information after processing by the main control system, so that the tool changing actuator 5 can complete the positioning of the hob and obstacle avoidance function during the process of changing the hob, realizing intelligent control of the tool changing robot;

[0082] In a further embodiment, the sensors include, but are not limited to, a vision acquisition device 6 for acquiring images of the tool-changing robot, a radar sensor, a laser sensor, an acoustic sensor, and a flexible sensor.

[0083] Radar sensors can continuously emit electromagnetic waves and receive reflected waves. By analyzing parameters such as the time delay and frequency changes of the reflected waves, the position, distance, and approximate shape of obstacles around the tool-changing robot can be obtained in real time. At the same time, after the obstacle information obtained by the radar sensor is transmitted to the main control system of the tool-changing robot, the system uses this data in combination with a preset obstacle avoidance algorithm (existing technology) to dynamically plan the travel path of the tool-changing robot.

[0084] The laser sensor accurately calculates the distance between the tool-changing robot and surrounding objects by emitting a laser beam and measuring the time of reflection. Inside the tunnel boring machine, it can quickly construct a 3D point cloud map of the surrounding environment, clearly showing the position and outline of objects such as cutting tools, equipment, and walls. This allows the tool-changing robot to accurately perceive its environment and provides precise spatial information for obstacle avoidance. During the movement of the tool-changing robot, the laser sensor continuously scans the surrounding area, monitoring in real time whether obstacles enter its working range. This enables real-time monitoring of the tool-changing robot, preventing collisions with accidentally falling obstacles that could damage it. As the robot moves, the laser sensor can detect new obstacles or changes in the position of existing obstacles in real time. The robot can adjust its path in real time to avoid obstacles, ensuring the smooth progress of the tool-changing task. Simultaneously, the laser sensor can also be used to set a safe zone for the tool-changing robot. By setting a virtual safety boundary around the robot, when an object enters this safe zone, the laser sensor will immediately issue an alarm to remind operators to pay attention to safety, or automatically control the tool-changing robot to stop moving, preventing collisions and ensuring the safety of personnel and equipment.

[0085] Acoustic sensors detect obstacles by emitting and receiving sound wave signals. When a sound wave encounters an obstacle, it is reflected back, and the sensor calculates the distance to the obstacle based on the sound wave's propagation time. When the tool-changing robot is performing delicate operations near obstacles, such as preparing to change tools near the cutterhead, the acoustic sensors can accurately detect nearby obstacles, such as protrusions on the cutterhead or small tools in the vicinity, preventing the robot from colliding with these objects. Furthermore, in the complex environment inside a tunnel boring machine, there may be insufficient light or excessive dust, which can cause visual sensors to fail. Acoustic sensors are less affected by these factors and can operate stably in harsh environments. Even in dusty spaces, sound waves can still propagate and reflect effectively, providing reliable obstacle detection information for the tool-changing robot and ensuring accurate obstacle avoidance under various complex working conditions. Multiple acoustic sensors can be distributed in different parts of the tool-changing robot to perceive obstacles from multiple angles around it. These sensors can work simultaneously, covering multiple directions such as the front, sides, and rear of the robot, forming an all-round detection network. At the same time, the acoustic sensor has high real-time performance, which can quickly detect changes in the working environment of the tool changing robot and promptly feed the information back to the main control system. Then, the main control system controls multiple joint units to enable the tool changing robot to perform obstacle avoidance and bolt removal.

[0086] The aforementioned flexible sensors include, but are not limited to, various sensors. These sensors detect a variety of physical quantities, such as force (pressure and strain), temperature, and humidity. Commonly used sensors include flexible tactile sensors, flexible pressure sensors, and flexible strain sensors, which possess characteristics such as softness, flexibility, and stretchability. Through these flexible sensors, the tool-changing robot can more accurately perceive its surrounding environment, enabling more intelligent and flexible obstacle avoidance. When the tool-changing robot approaches the cutterhead, the flexible tactile sensor can adhere to the cutterhead surface, accurately detecting protrusions, depressions, and bolts, identifying potential collision obstacles in advance and helping the robot adjust its trajectory to avoid dangerous areas. Alternatively, in confined spaces, if the tool-changing robot accidentally touches the tunnel boring machine wall while moving, the flexible sensor can immediately detect the contact force, causing the robot to stop approaching and replan its path. Flexible strain sensors installed at the joints of the tool-changing robot can sense changes in its posture caused by the movement of surrounding objects, working in conjunction with external flexible tactile sensors to monitor environmental dynamics from all angles. Once a new obstacle is detected, the tool-changing robot reacts quickly and replans its obstacle avoidance path to ensure that the tool-changing operation is not affected. Inside the dimly lit tunnel boring machine, when the laser sensor is affected, the flexible sensing and acoustic sensors can make up for the deficiency and work together to determine the location and nature of the obstacle. This allows the tool-changing robot to reliably avoid obstacles in complex working conditions and ensures that the tool-changing operation is carried out safely and orderly.

[0087] By coordinating the aforementioned visual acquisition device 6, radar sensor, laser sensor, acoustic sensor, and flexible sensor, the working environment information of the tool changing robot can be constructed. Through the collaborative work of various environmental information sources, the tool changing robot can reliably avoid obstacles in complex working conditions, or replan its walking path in the event of a sudden obstacle during the tool changing process. This enables intelligent control of the tool changing robot and ensures the smooth operation of the tool changing task.

[0088] In a further embodiment, the digital twin system acquires point cloud data of the tool-changing robot's workspace using sensors such as laser sensors, radar sensors, and vision acquisition device 6. Vision acquisition device 6 calculates the robot's three-dimensional coordinates by capturing images and then using computer vision algorithms (existing technology) to extract feature points. Laser sensors, radar sensors, and acoustic sensors acquire distance information by emitting laser beams (sound waves) and measuring the time it takes for the reflected light (reflected sound waves) to travel, thereby generating point cloud data. The flexible sensor includes, but is not limited to, flexible sensors based on optical principles, flexible sensors based on ultrasonic principles, and flexible sensors based on piezoresistive effects. The flexible sensor based on optical principles is equivalent to the aforementioned vision acquisition device 6 and employs computer vision algorithms. The three-dimensional coordinates of the tool-changing robot are obtained to generate point cloud data. The flexible sensor based on the ultrasonic principle is similar to a sound wave sensor. It obtains distance information by emitting sound waves and measuring the time of reflection of the sound waves, and generates point cloud data. The flexible sensor based on the piezoresistive effect is made of flexible piezoresistive material. When subjected to external force, the resistance of the material changes. This material is made into an array. When an object comes into contact with the sensor and a pressure distribution is generated, the pressure information of the contact surface between the object and the sensor can be obtained by measuring the change in resistance. After processing and conversion (amplification and filtering, analog-to-digital conversion, data acquisition and storage, feature extraction, and then, according to the array form of the flexible sensor, the coordinates of the contact point between the object surface and the sensor are calculated based on the pressure data of each sensor unit) to construct point cloud data.

[0089] Among them, the distance d measurement formulas for laser sensors, radar sensors, and acoustic sensors are:

[0090]

[0091] Where c is the speed of light, t1 is the time for receiving the laser or sound wave, and t2 is the time for emitting the laser or sound wave.

[0092] The point cloud data obtained in the above manner is preprocessed to obtain the processed point cloud data points of the tool-changing robot. The preprocessing formula is as follows:

[0093] =

[0094] in These are the new coordinates of the i-th point after preprocessing. Let K be the coordinate value of the i-th point obtained after processing by the sensor, and K be a normalization constant used to normalize the result of the weighted summation to ensure... ) is the weighted average of the neighborhood points, and the sum of the weights is 1; yes The set of domain points, which are spatially related to A group of points that are relatively close to each other is the weight; j is the index variable.

[0095] Then the processed coordinate information The coordinates are transformed to fit within a unified coordinate system. The homogeneous coordinate transformation equation from the base coordinate system to the end effector coordinate system is:

[0096]

[0097] in This represents the homogeneous coordinates of a point in the base coordinate system. R represents the homogeneous coordinates of the point in the end effector coordinate system, t is the translation vector, and T is the homogeneous coordinate transformation matrix.

[0098] Then the point cloud data is divided into different regions, and features of each region are extracted, such as shape, size, and location.

[0099] Finally, the point cloud data is connected into a triangular mesh using the triangulation algorithm to construct a preliminary 3D model of the workspace, and the 3D model is optimized using the surface fitting method.

[0100] The formula for fitting the surface is:

[0101]

[0102] Where Z represents the vertical height of the point given x and y coordinates; x and y represent the horizontal coordinates of a point in the workspace of the tool-changing robot; and the function F() is a binary function that describes how to calculate the corresponding Z value based on the values ​​of x and y. It can be a polynomial function (such as a quadratic polynomial, a cubic polynomial, etc.), a spline function, or other types of functions.

[0103] Then, based on the homogeneous coordinates of the point in the end effector coordinate system, the parameters of the surface equation are determined using calculation formulas. By finding a set of parameters, the calculated... AND function The average sum of the errors among the calculated values ​​is minimized;

[0104] The calculation formula is as follows:

[0105]

[0106] Based on the parameters obtained from the solution, the final surface equation is determined, and a smooth surface is generated. This surface optimizes the initial triangular mesh model to make it more closely match the actual shape of the workspace. By combining the surface with the triangular mesh, a more accurate and smooth 3D model can be obtained, thereby completing the 3D reconstruction of the tool-changing robot's workspace.

[0107] The power unit includes return oil pipe T1, return oil pipe T2, inlet oil pipe P1, inlet oil pipe P2, self-sealing quick-connect coupling K1, self-sealing quick-connect coupling K2, self-sealing quick-connect coupling K3, self-sealing quick-connect coupling K4, ball valve Q1, ball valve Q2, temperature sensor TS, pressure sensor T1, pressure sensor T2, pressure sensor T3, pipeline filter F1, pipeline filter F2, throttle valve L1, throttle valve L2, pressure reducing valve A1, pressure reducing valve A2, safety valve RV1, safety valve RV2, accumulator AC, and accumulator valve group E;

[0108] The power unit includes self-sealing quick-connect couplings K1, K2, and K3, which are respectively connected to the energy pump station; a self-sealing quick-connect coupling K4 connected to the self-sealing quick-connect coupling K1; a ball valve Q2 connected to the other end of the self-sealing quick-connect coupling K3; a temperature sensor TS, a pressure sensor T1, a pipeline filter F1, and an accumulator valve group E connected to the other end of the ball valve Q2; the other end of the accumulator valve group E is connected to the accumulator AC; the other end of the pipeline filter F1 is connected to throttle valves L1 and L2 respectively; and pressure reducing valves A1 and A2 are respectively connected to throttle valves L1 and L2. The outlet end of the pressure reducing valve A1 is connected to one end of the pressure sensor T2, the safety valve RV1, and the pipeline filter F2 respectively; and the outlet end of the pressure reducing valve A2 is connected to the pressure sensor T3, the safety valve RV2, and the oil inlet pipe P2 respectively.

[0109] The other end of the self-sealing quick-connect coupling K2 is connected to the ball valve Q1;

[0110] The pipeline filter F2 is connected to the oil inlet pipeline P1, and the other ends of the safety valve RV1, the safety valve RV2, and the ball valve Q1 are respectively connected to the oil return pipeline T2.

[0111] The drain ports of pressure reducing valves A1 and A2 and the self-sealing quick-connect fitting K4 are respectively connected to the return oil pipeline T1;

[0112] The power unit adjusts the pressure of the main energy source in the pipeline to the required working pressure, filters and stores the medium, and then supplies it to each joint unit. The power unit has two oil supply lines. Through two pressure reducing valves A1 and A2, the pressure of the main energy source is reduced to 20MPa and 10MPa respectively, and then supplied to the oil inlet pipes P1 and P2 of the joint units respectively. Each circuit is equipped with safety valves RV1 and RV2 to prevent the pressure from exceeding the upper limit. At the same time, the pipeline filters F1 and F2 are equipped with differential alarms, which can issue an alarm signal when blocked. The accumulator valve group E is used for pressure stabilization and energy storage, stabilizing system pressure pulsation and short-term compensation of hydraulic oil.

[0113] The high-pressure oil from the energy pump station is filtered by a pipeline filter F1 with an accuracy better than 10µm and the flow is distributed by throttle valves L1 and L2. It can then be supplied to pressure reducing valves A1 and A2 respectively. The outlet pressure of pressure reducing valve A1 is set to 20MPa. After being filtered by a pipeline filter F2 with an accuracy better than 5µm, it is supplied to the oil inlet pipeline P1. The pressure in the circuit is detected by pressure sensor T2. The pressure of safety valve RV1 is set to 21MPa to ensure that the pressure in the main circuit does not exceed 21MPa.

[0114] The accumulator AC buffer system can buffer the pulsation and can also compensate the hydraulic oil for a short time. The accumulator valve group E is used to cut off the circuit and release the hydraulic pressure in the accumulator AC when the accumulator AC is being repaired.

[0115] The outlet pressure of pressure reducing valve A2 is set to 10MPa, which supplies oil to the inlet pipe P2. The pressure in the circuit is detected by pressure sensor T3. The pressure of safety valve RV2 is set to 14MPa to ensure that the pressure in the control circuit does not exceed 14MPa.

[0116] The second telescopic boom 54 includes a telescopic boom hydraulic cylinder;

[0117] The joint unit includes a first joint unit, a second joint unit, a third joint unit, a fourth joint unit, a fifth joint unit, a sixth joint unit, a seventh joint unit, an eighth joint unit, a ninth joint unit, a tenth joint unit, and an eleventh joint unit connected to the power unit.

[0118] The first joint unit, the second joint unit, the third joint unit, the fourth joint unit, the fifth joint unit, the sixth joint unit, the seventh joint unit, the eighth joint unit, the ninth joint unit, the tenth joint unit, and the eleventh joint unit are all hydraulic control circuits. The first joint unit is used to control the movement of the first hydraulic motor 23.

[0119] The second joint unit is used to control the movement of the lifting hydraulic cylinder 28;

[0120] The third joint unit is used to control the movement of the lateral fine-tuning cylinder 31;

[0121] The fourth joint unit is used to control the movement of the first swing cylinder 34;

[0122] The fifth joint unit is used to control the movement of the second swing cylinder 36;

[0123] The sixth joint unit is used to control the movement of the telescopic cylinder 41;

[0124] The seventh joint unit is used to control the movement of the third swing cylinder 51;

[0125] The eighth joint unit is used to control the movement of the fourth swing cylinder 52;

[0126] The ninth joint unit is used to control the movement of the telescopic boom hydraulic cylinder;

[0127] The tenth joint unit is used to control the movement of the drive cylinder 57;

[0128] The eleventh joint unit is used to control the movement of the wrench hydraulic motor 511;

[0129] The fourth joint unit, fifth joint unit, seventh joint unit and eighth joint unit have the same structure;

[0130] The hydraulic diagrams of the first joint unit, the second joint unit, the third joint unit, the sixth joint unit, the ninth joint unit, the tenth joint unit, and the eleventh joint unit are existing technologies and will not be described in detail here.

[0131] The fourth joint unit includes: a fourth servo valve SV, an electromagnetic reversing valve EMV, a hydraulic check valve PCV1, a hydraulic check valve PCV2, a pressure sensor T4, a pressure sensor T5, a balance valve CBV1, a balance valve CBV2, and a servo swing cylinder SSC, wherein the servo swing cylinder SSC includes a first swing cylinder 34, a second swing cylinder 36, a third swing cylinder 51, and a fourth swing cylinder 52;

[0132] The fourth joint unit includes an electromagnetic directional valve EMV connected to the oil inlet pipe P2. Port B of the electromagnetic directional valve EMV is connected to the return oil pipe T2 and the return oil port of the fourth servo valve SV. The inlet of the fourth servo valve SV is connected to the oil inlet pipe P1. The two working ports of the fourth servo valve SV are connected to hydraulic check valves PCV1 and PCV2, respectively. Pressure sensor T4, balance valve CBV1, and servo swing cylinder SSC are connected to the other end of hydraulic check valve PCV1, and pressure sensor T5, balance valve CBV2, and servo swing cylinder SSC are connected to the other end of hydraulic check valve PCV2. Port A of the electromagnetic directional valve EMV is connected to both hydraulic check valves PCV1 and PCV2. The outlet of the servo swing cylinder SSC is connected to both balance valves CBV1 and CBV2 before being connected to the return oil pipe T1.

[0133] During operation, the electromagnetic directional valve EMV is first energized, and the hydraulic oil in the power unit control circuit opens the hydraulic control check valves PCV1 and PCV2 through the electromagnetic directional valve EMV, allowing the main circuit to operate normally. This structure can collect the swing angle of the swing cylinder in real time and control the movement of the servo swing cylinder SSC through the fourth servo valve SV. After reaching the set position, the electromagnetic directional valve EMV is de-energized, and the hydraulic control check valves PCV1 and PCV2 are locked, and the servo swing cylinder SSC stops rotating, thus completing the control of the tool changing device.

[0134] In a further embodiment, the torque wrench 510 is prior art, which has a groove adapted to the hexagonal head of the bolt. By adjusting the position of the torque wrench 510 on the tool changing robot device, the hexagonal head of the bolt is positioned in the groove of the torque wrench 510. Then, the hydraulic motor 511 of the wrench drives the main gear 58 to move, thereby enabling the secondary gear 59 to rotate, which in turn drives the torque wrench 510 to rotate, causing the bolt to rotate and completing the bolt disassembly and assembly work.

[0135] Working principle description: When it is necessary to collect the position of the bolt, the first hydraulic motor 23 starts to work. The moving first hydraulic motor 23 can drive the motor gear 24 to rotate. Then the moving motor gear 24 can move on the drive rack 25, thereby driving the moving seat 21 to move in the length direction of the robot base 1, so that the tool changer 5 is close to the hob. Then the lifting hydraulic cylinder 28 starts to work. The moving lifting hydraulic cylinder 28 can drive the mounting frame 29 to work, adjusting the linear distance between the mounting frame 29 and the rack, thereby completing the lifting work of the tool changer 5 and completing the initial adjustment work of the tool changer 5.

[0136] When the tool changer 5 needs to be adjusted to the lateral position of the robot base 1, the lateral fine-tuning cylinder 31 starts working. The moving lateral fine-tuning cylinder 31 can drive the drive block 32 to move, so that the moving drive block 32 can move the slide plate 33 on the lateral slide rail 38, so that the vision acquisition device 6 can complete the acquisition of the bolt position. Then, according to the acquired information, the position of the tool changer 5 is adjusted by the set left and right translation mechanism 3, and the tool changer 5 is used to disassemble the bolt. Then, the first swing cylinder 34 and the second swing cylinder 36 start working, so that the tool changer 5 is flipped. The end with the gripper 56 is aligned with the cutter head. Then, the left and right translation mechanism 3 and the multi-stage telescopic arm 4 start to move, so that the gripper 56 is positioned in the gap between the cutter head and the tunnel boring machine. Then, the hydraulic cylinder 57 completes the clamping and limiting work of the cutter head, thereby completing the disassembly of the cutter head. Then, under the operation of the left and right translation mechanism 3, the removed cutter head can be placed in the cutter storage unit 8. Then, the gripper 56 picks up the new cutter head from the cutter storage unit 8 and transports it to the predetermined position. Then, the first swing cylinder 34 and the second swing cylinder 36 work again, thereby enabling the bolt to limit the position of the tunnel boring machine and the cutter head, completing the cutter head replacement work.

[0137] During tool changing, the visual acquisition device 6 collects the bolt's position and transmits the data to the main control system. The main control system then processes the data to locate the bolt. Based on the location, the left-right translation mechanism 3 initially adjusts the position of the tool changer 5. Then, the third and fourth swing cylinders 51 and 52 activate, adjusting the position of the end effector 53 so that the torque wrench 510 contacts the bolt head. The rotation of the wrench hydraulic motor 511 then drives the... The main gear 58 rotates, which drives the secondary gear 59 to rotate, thereby causing the torque wrench 510 to rotate and complete the bolt removal work. Then, through the cooperation of the first swing cylinder 34, the second swing cylinder 36, the third swing cylinder 51 and the fourth swing cylinder 52, the end face of the end actuator 53 with the gripper 56 is aligned with the hob. Then, the position of the gripper 56 is adjusted by the second telescopic arm 54, and then the drive cylinder 57 starts to work, thereby completing the gripping work of the hob and the replacement of the old hob with the new one.

[0138] When the gripper 56 picks up the old hob and moves to the storage area of ​​the storage unit 8, the displacement cylinder 813 starts to work. The moving displacement cylinder 813 can move the movable seat 814 in the length direction of the support slide rail 821, adjust the position of the protective cover 811 so that it can get close to the gripper 56, and then the rotary motor 816 starts to work. Then, through the cooperation of the set rotating wheel 817, driven wheel 818 and transmission belt 819, the protective cover 811 can be moved, which can drive the limit seat 825 inside the protective cover 811 to move, so that the first limit component 82 without the hob is in a predetermined position, so that the gripper 56 can place the damaged hob on the first limit component 82.

[0139] When the damaged hob is located in the placement area of ​​the first limiting component 82, the connecting cylinder 8211 starts to work. The moving connecting cylinder 8211 can drive the first gear 822 to rotate, and then the moving first gear 822 can drive the second gear 823 to rotate. In turn, the moving second gear 823 can drive the connecting shaft 829 to rotate, and then the moving connecting shaft 829 can drive the limiting gear 827 connected to it to rotate, thereby causing the double-sided racks 828 to move in the length direction of the limiting frame 826. Because the height of the connecting protrusions between adjacent double-sided racks 828 is different, when the hob... When the cutter is located in the through hole, the plane of the contact area between the second limiting component 83 on the connecting protrusion of the same height and the cutter is the same. Since the cutter is disc-shaped and has at least one cutting edge, the diameter of its middle area is larger than the diameter of its two ends along the axial direction of the cutter. By making the heights of adjacent connecting protrusions different, the second limiting component 83 can be located on both sides of the cutting edge of the cutter. This not only limits the cutter radially but also supports it axially, preventing the cutter from moving inside the tunnel boring machine after detaching from the cutter storage unit 8 during the tunnel boring machine's movement, thus preventing damage to the tunnel boring machine.

[0140] When storing a damaged cutter, the cutter may break due to collision with the rock mass, resulting in an irregular shape. Therefore, when clamping the damaged cutter, the tension cylinder 833 activates based on information from the vision acquisition device 6. The moving tension cylinder 833 moves the fixed plate 831 connected to its output end, adjusting the distance between the two fixed plates 831, thereby adjusting the distance between the abutment blocks 8313 located on different fixed plates 831. Then, the adjusting cylinder 836 activates, moving the adjusting seat 837, thus adjusting the drive wheel... 838 moves in the limiting hole on the adjusting seat 837, which in turn drives the adjusting plate 8311 to move in the length direction of the adjusting slide rail 839, adjusting the distance between adjacent abutting blocks 8313 on the same fixed plate 831. Then the limiting cylinder 8312 starts to work, which can adjust the distance between the abutting block 8313 and the cutter, thereby completing the limiting work of the cutter. By changing the contact position between the abutting block 8313 and the damaged cutter, the limiting clamping work of the damaged cutter is completed, ensuring the smooth progress of the cutter replacement work. For cutters that cannot be clamped, they can be transported to the predetermined unloading position by the left and right translation mechanism 3, so that they can be transported out of the tunnel boring machine.

[0141] The preferred embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this application, various equivalent transformations can be made to the technical solutions of this application, and all such equivalent transformations fall within the protection scope of this application.

Claims

1. An intelligent tool changer robot apparatus, characterized by, include: The robot base is installed inside the tunnel boring machine's robot cabin. The displacement unit, the left and right translation mechanism connected to the displacement unit, and the multi-stage telescopic arm connected to the left and right translation mechanism; The cutter changer actuator, connected to the multi-stage telescopic arm, is used to disassemble and assemble the bolts between the tunnel boring machine and the cutter head, and to grab and transport the cutter head to complete the cutter head replacement. A vision acquisition device is installed on the tool changer to locate the bolt position, enabling the tool changer to disassemble and assemble the bolt, grip the hob, and position it. The cutter storage unit, located inside the tunnel boring machine, has two built-in storage spaces for storing unused new cutters and old cutters removed by the cutter changer. The displacement unit is connected to the robot base; the cutter storage unit includes a rotating component connected to the tunnel boring machine, two first limiting components evenly arranged on the rotating component, and a plurality of second limiting components evenly arranged on the first limiting components; The rotating assembly includes a connecting frame connected to the tunnel boring machine, a support slide rail disposed on the connecting frame, a movable slider movably connected to the support slide rail, a movable seat for connecting the movable slider, a rotary motor fixedly mounted on the movable seat, a rotating wheel connected to the output end of the rotary motor, a movable shaft disposed on the movable seat, a driven wheel sleeved on the movable shaft, a protective cover connected to the movable shaft, and a transmission belt for connecting the rotating wheel and the driven wheel; The support slide rail is also equipped with a displacement cylinder, and the output end of the displacement cylinder is connected to the movable seat. The first limiting component includes a limiting seat located inside the protective cover, the limiting seat having a receiving cavity, a plurality of connecting cylinders movably connected to the limiting seat and disposed in the receiving cavity, a first gear connected to the output end of the connecting cylinders, a second gear meshing with the first gear, a connecting shaft disposed on the second gear, a limiting frame fixedly mounted on the limiting seat, a double-sided rack located inside the limiting frame, a limiting gear meshing with the double-sided rack and located on the limiting seat, and a gear ring disposed in the receiving cavity and meshing with the second gear; The connecting shaft is connected to one of the limiting gears, and the second limiting component is connected to the double-sided rack; the output end of the connecting cylinder is located at the non-center position of the first gear. The limiting seat is a tubular structure with a through hole, and the receiving cavity is located in the area between the outer wall of the limiting seat and the inner wall of the through hole; The second limiting component includes two fixed plates, two pull plates symmetrically arranged on one of the fixed plates, a lifting cylinder fixedly installed on the pull plate, two guide seats diagonally arranged on the fixed plates, and a guide shaft passing through the guide seats and used to connect the two fixed plates; The pull plate has a square hole, and the output end of the lifting cylinder is connected to another fixed plate through the square hole; one of the fixed plates is connected to the toothless surface of the double rack, and the other fixed plate can move upward along the guide shaft axis; there is a connecting protrusion between the double rack and the fixed plate, and the height of the connecting protrusion between adjacent double racks is different. The second limiting component includes an adjusting cylinder and multiple adjusting slide rails disposed on the fixed plate, an adjusting seat connected to the output end of the adjusting cylinder, multiple drive wheels disposed on the adjusting seat, an adjusting plate connected to the drive wheels, a limiting cylinder disposed on the adjusting plate, an abutment block connected to the output end of the limiting cylinder, and a driven slider for connecting the adjusting plate and the adjusting slide rails. The adjusting seat is provided with multiple limiting waist holes, and there is an angle between the length direction of the limiting waist holes and the adjusting slide rail.

2. The intelligent tool changer robot apparatus of claim 1, wherein: The displacement unit includes a drive rack and a fixed slide rail fixedly installed along the length of the robot base, an adjusting slider slidably connected to the fixed slide rail, a movable seat for connecting the adjusting slider, four first hydraulic motors mounted on the movable seat, motor gears located at the output ends of the first hydraulic motors and meshing with the drive rack, a counterweight mounted on the movable seat, a lifting frame movably connected to the movable seat, a mounting frame for connecting the other end of the lifting frame, and lifting hydraulic cylinders movably connected to the mounting frame and the movable seat respectively.

3. The intelligent tool changer robot apparatus of claim 2, wherein: The left and right translation mechanism includes a horizontal fine-tuning cylinder and a horizontal slide rail fixedly installed on the mounting frame, a drive block connected to the output end of the horizontal fine-tuning cylinder, a slide plate connected to the drive block, a first swing cylinder set on the slide plate, a support plate connected to the first swing cylinder, a second swing cylinder set on the support plate, and a right-angle arm movably connected to the second swing cylinder. The multi-stage telescopic arm is connected to the right-angle arm; The multi-stage telescopic boom is equipped with a telescopic hydraulic cylinder. The skateboard is equipped with a horizontal slider, which is slidably connected to a horizontal slide rail.

4. The intelligent tool changer robot apparatus of claim 1, wherein: The tool changer includes a third swing cylinder mounted on the multi-stage telescopic arm, an actuator plate connected to the third swing cylinder, a fourth swing cylinder mounted on the actuator plate, an end effector seat movably connected to the fourth swing cylinder, a wrench hydraulic motor fixedly mounted on the end effector seat, a main gear connected to the output end of the wrench hydraulic motor, two auxiliary gears meshing with the main gear and mounted on the end effector seat, and a torque wrench mounted on the auxiliary gears.

5. The intelligent tool changer robot apparatus of claim 4, wherein: The tool changer also includes two second telescopic arms symmetrically arranged on the end effector, a gripper connecting plate connected to the output end of the second telescopic arms, two grippers movably connected to the gripper connecting plate, and a drive cylinder for connecting the grippers and the gripper connecting plate. The number of vision acquisition devices is two, namely a first vision acquisition device and a second vision acquisition device. The first vision acquisition device and the second vision acquisition device are located on the end effector and their acquisition areas are opposite.

6. A system for an intelligent tool changer robot apparatus, comprising an intelligent tool changer robot apparatus according to any one of claims 1 to 5, characterized in that, Also includes: The multi-source information sensing system uses multiple sensors to collect different types of data information of the tool changing robot in the working environment, and then summarizes the collected multi-type information to form a multi-data source. A digital twin system is used to receive, process, transform, and store multiple data sources, and to reconstruct the workspace of a tool-changing robot in three dimensions based on the processed data. The main control system, based on the 3D reconstructed model, locates the bolts and obstacles in real time and plans the travel path of the tool-changing robot according to the positions of the bolts and obstacles. The power unit is connected to the main control system. Based on the processing results of the main control system, the main control system controls the working pressure of the hydraulic oil in the power unit, and at the same time filters and stores energy in the hydraulic oil medium. Multiple joint units are connected to the power unit. The power unit supplies hydraulic oil to the joint units and adjusts the position between each joint unit according to the processing information processed by the main control system. This enables the tool changer to locate the position of the hob and avoid obstacles during the tool change process, thus realizing intelligent control of the tool changer robot.

7. The system for an intelligent tool changer robot apparatus according to claim 6, wherein: The power unit includes return oil pipe T1, return oil pipe T2, inlet oil pipe P1, inlet oil pipe P2, self-sealing quick-connect coupling K1, self-sealing quick-connect coupling K2, self-sealing quick-connect coupling K3, self-sealing quick-connect coupling K4, ball valve Q1, ball valve Q2, temperature sensor TS, pressure sensor T1, pressure sensor T2, pressure sensor T3, pipeline filter F1, pipeline filter F2, throttle valve L1, throttle valve L2, pressure reducing valve A1, pressure reducing valve A2, safety valve RV1, safety valve RV2, accumulator AC, and accumulator valve group E; The power unit includes self-sealing quick-connect couplings K1, K2, and K3, which are respectively connected to the energy pump station; a self-sealing quick-connect coupling K4 connected to the self-sealing quick-connect coupling K1; a ball valve Q2 connected to the other end of the self-sealing quick-connect coupling K3; a temperature sensor TS, a pressure sensor T1, a pipeline filter F1, and an accumulator valve group E connected to the other end of the ball valve Q2; the other end of the accumulator valve group E is connected to the accumulator AC; the other end of the pipeline filter F1 is connected to throttle valves L1 and L2 respectively; and pressure reducing valves A1 and A2 are respectively connected to throttle valves L1 and L2. The outlet end of the pressure reducing valve A1 is connected to one end of the pressure sensor T2, the safety valve RV1, and the pipeline filter F2 respectively; and the outlet end of the pressure reducing valve A2 is connected to the pressure sensor T3, the safety valve RV2, and the oil inlet pipe P2 respectively. The other end of the self-sealing quick-connect coupling K2 is connected to the ball valve Q1; The pipeline filter F2 is connected to the oil inlet pipeline P1, and the other ends of the safety valve RV1, the safety valve RV2, and the ball valve Q1 are respectively connected to the oil return pipeline T2. The drain ports of pressure reducing valves A1 and A2 and the self-sealing quick-connect fitting K4 are connected to the return oil pipeline T1.

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