CN212399599U - Inspection robot system for shield machine - Google Patents
Inspection robot system for shield machine Download PDFInfo
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- CN212399599U CN212399599U CN202020950324.2U CN202020950324U CN212399599U CN 212399599 U CN212399599 U CN 212399599U CN 202020950324 U CN202020950324 U CN 202020950324U CN 212399599 U CN212399599 U CN 212399599U
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- 238000007689 inspection Methods 0.000 title claims abstract description 131
- 238000009412 basement excavation Methods 0.000 claims abstract description 41
- 238000011010 flushing procedure Methods 0.000 claims abstract description 35
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 49
- 238000004140 cleaning Methods 0.000 claims description 33
- 238000005406 washing Methods 0.000 claims description 28
- 230000005641 tunneling Effects 0.000 claims description 22
- 210000002310 elbow joint Anatomy 0.000 claims description 19
- 210000000323 shoulder joint Anatomy 0.000 claims description 19
- 238000005192 partition Methods 0.000 claims description 17
- 230000000007 visual effect Effects 0.000 claims description 15
- 230000001681 protective effect Effects 0.000 claims description 10
- 238000012800 visualization Methods 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 9
- 108010066114 cabin-2 Proteins 0.000 description 24
- 238000000034 method Methods 0.000 description 15
- 238000005286 illumination Methods 0.000 description 10
- 239000011521 glass Substances 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000000861 blow drying Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- VVQNEPGJFQJSBK-UHFFFAOYSA-N Methyl methacrylate Chemical compound COC(=O)C(C)=C VVQNEPGJFQJSBK-UHFFFAOYSA-N 0.000 description 1
- 229920005372 Plexiglas® Polymers 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004162 soil erosion Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
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Abstract
The utility model discloses a shield constructs machine inspection robot system, include: the robot storage cabin is fixed on a shield machine host, and comprises a cabin body and a gate movably connected with the cabin body to close a hatch of the cabin body; the inspection robot is movably arranged in the robot storage cabin and can extend and retract from the hatch, and a first flushing device for flushing a cutter head is arranged at the front end of the inspection robot; the first vision device is arranged at the front end of the inspection robot and used for acquiring image information; and the control system is electrically connected with the inspection robot, the gate and the first vision device. Use the utility model provides a shield constructs machine inspection robot system can replace the manual work to operate in the excavation storehouse, realizes observing, cleaing away the unmanned of operations such as mud cake in the excavation storehouse. The construction efficiency can be improved, the cost is saved, and the safety of constructors can be improved.
Description
Technical Field
The utility model relates to a shield constructs quick-witted technical field, more specifically says, relates to a shield constructs machine inspection robot system.
Background
In the construction process of the tunnel shield method, the excavation cabin of the shield machine is sealed with the rear part, the interior of the shield machine is under high pressure in the construction process and has a large amount of muck, and people are very difficult and dangerous to enter the excavation cabin. In the tunneling process, in order to ensure the stable and reliable operation of the shield tunneling machine, the inspection of the cutter head and the cutter must be carried out frequently.
At present, the inspection of a cutter head cutter in the construction process is realized by entering an excavation cabin by a person through a diving method. This method has many disadvantages such as long time, high cost, and limited application pressure range. Meanwhile, due to the fact that the difficulty of entering of personnel is high, various monitoring and observation works such as the face state and the cutter abrasion condition in the excavation bin in the construction process can only be indirectly inferred through the propelling torque, the propelling pressure and the muck state, and the difficulty of tunneling parameter judgment is increased.
To sum up, how to effectively solve the problems of long manual inspection time, low efficiency, poor safety and the like of the cutter head cutter is a problem to be solved by the technical personnel in the field at present.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a shield constructs machine inspection robot system, this shield constructs machine inspection robot system's structural design can solve the problem that the manual inspection of cutter head cutter is long, inefficiency, security are poor effectively.
In order to achieve the above object, the utility model provides a following technical scheme:
an inspection robot system for a shield machine, comprising:
the robot storage cabin is fixed on a shield machine host, and comprises a cabin body and a gate movably connected with the cabin body to close a hatch of the cabin body;
the inspection robot is movably arranged in the robot storage cabin and can extend and retract from the hatch, and a first flushing device for flushing a cutter head is arranged at the front end of the inspection robot;
the first vision device is arranged at the front end of the inspection robot and used for acquiring image information;
and the control system is electrically connected with the inspection robot, the gate and the first vision device.
Preferably, in the inspection robot system for a shield machine, a cleaning head for cleaning the first vision device is provided in front of the first vision device.
Preferably, in the inspection robot system for the shield machine, the cleaning head can be optionally communicated with high-pressure water or high-pressure gas.
Preferably, in the inspection robot system for the shield machine, the robot storage cabin is connected with an external air compressor through an air inlet valve, so that when the gate is opened, the air in the storage cabin is replaced with the air in the excavation cabin through the external air compressor.
Preferably, the inspection robot system for the shield machine further comprises an outer washing head arranged in the excavation bin and used for washing the space between the gate and the partition plate.
Preferably, the inspection robot system for the shield machine further comprises an absolute value encoder mounted on a central rotary joint of the shield machine main body, and the absolute value encoder is electrically connected with the control system.
Preferably, among the above-mentioned inspection robot system for shield machine, still including install in visual system of excavation storehouse on the baffle of shield machine host computer, visual system of excavation storehouse is including the lighting device that is used for acquireing image information's second vision device and is used for the illumination, just the second vision device with lighting device's the place ahead cover is equipped with transparent protection casing, transparent protection casing with the baffle is sealed fixed connection.
Preferably, in the inspection robot system for the shield machine, the excavation cabin visualization system further includes a second flushing device installed in front of the transparent protective cover and used for flushing the transparent protective cover.
Preferably, in the inspection robot system for the shield machine, the inspection robot includes a base installed in the robot storage cabin in a front-back sliding manner, and a mechanical arm connected to the base, and the first flushing device and the first vision device are fixed to the front end of the mechanical arm;
the mechanical arm comprises a waist joint, a shoulder joint, an elbow joint and a tail end leveling joint which are sequentially connected in series, one end of the waist joint is hinged to the base, the other end of the waist joint is hinged to one end of the shoulder joint, the other end of the shoulder joint is hinged to one end of the elbow joint, and the other end of the elbow joint is hinged to the tail end leveling joint; the waist joint is driven by hydraulic swing motor, and the shoulder joint is driven by hydraulic swing motor, the elbow joint is driven by electronic jar of doublestage, end leveling joint is driven by harmonic servo reducer ware.
The utility model provides a shield constructs machine inspection robot system, including robot storage cabin, inspection robot, first vision device and control system. The robot storage cabin is fixed on a shield machine host, the bag body cabin body and a gate movably connected with the cabin body to close a hatch of the cabin body; the inspection robot is movably arranged in the robot storage cabin and can extend out and retract from the hatch, and a first flushing device for flushing a cutter head is arranged at the front end of the inspection robot; the first vision device is arranged at the front end of the inspection robot and used for acquiring image information; and the control system is electrically connected with the inspection robot, the gate and the first vision device.
When the inspection robot system for the shield machine provided by the utility model is used, when the cutter head and the cutter are required to be cleaned and inspected, the control system can control the gate of the robot storage cabin to be opened, and the inspection robot extends outwards from the gate of the robot storage cabin and moves to the position in front of the cutter to be inspected; then a first washing device on the inspection robot is controlled to be communicated with high-pressure water to spray water for cleaning the cutter; and further viewing the tool by a first vision means on the inspection robot; and after the inspection is finished, the inspection robot returns to the storage cabin along the original path, and the gate is closed. In conclusion, the inspection robot system for the shield machine can replace manual work to operate in the excavation bin, and unmanned operation of observation, mud cake removal and the like in the excavation bin is achieved. The construction efficiency can be improved, the cost is saved, the safety of constructors can be improved, and great economic and social benefits are achieved. The state of the cutter can be checked through the first vision device, the problems that various monitoring and observation works in an excavation bin, such as the face state, the cutter abrasion condition and the like, can only be indirectly inferred through the propelling torque, the propelling pressure and the muck state, and direct data and images cannot be obtained are solved, and the difficulty in judging tunneling parameters is further reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an inspection robot system for a shield machine according to an embodiment of the present invention;
FIG. 2 is a schematic view of the inspection robot and the robot storage bay;
FIG. 3 is a partial schematic view of the front end of the inspection robot;
FIG. 4 is a schematic structural diagram of a visual system of an excavation cabin;
fig. 5 is a schematic structural view of a second vision device and an illumination device.
The drawings are numbered as follows:
the method comprises the following steps that (1) an inspection robot, a robot storage cabin 2, a rotary joint 3, a partition plate 4, an excavation cabin visualization system 5, a cutter head 6 and an excavation cabin 7 are arranged; a base 101, a waist joint 102, a shoulder joint 103, an elbow joint 104, a tip leveling joint 105, an end effector 106, a first vision device 1061, a first irrigation device 1062, a cleaning head 1063, a helix 107; a sliding platform 201, a track 202, a double-stage hydraulic oil cylinder 203, a gate 204, an air inlet valve 205 and an external flushing valve 206; an absolute value encoder 301; transparent plexiglass 501, a second washing device 502, a second vision device 503, and an illumination device 504; a cutter 601.
Detailed Description
The embodiment of the utility model discloses shield constructs machine inspection robot system and inspection method to realize the unmanned of operations such as observing, cleaing away mud cake in the excavation storehouse.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an inspection robot system for a shield tunneling machine according to an embodiment of the present invention.
In a specific embodiment, the utility model provides a shield constructs machine inspection robot system, including robot storage cabin 2, inspection robot 1, first vision device 1061 and control system.
The robot storage cabin 2 is fixed on a shield machine host, and the bag body and a gate 204 movably connected with the cabin body to close a hatch of the cabin body. The robot storage cabin 2 is used for reliably storing the inspection robot 1 when the inspection robot does not work, and meanwhile, the normal operation of the shield machine can be guaranteed. Specifically, when the shield tunneling machine works, the inspection robot 1 retracts into the robot storage cabin 2, the gate 204 is closed, and the robot storage cabin 2 is in a sealed state at the moment so as to protect the inspection robot 1 therein. When the shield tunneling machine cutterhead 6 needs to be cleaned and inspected, the control gate 204 is opened, the inspection robot 1 extends out of the robot storage cabin 2, and then inspection operation is carried out.
The robot storage compartment 2 may be a hollow cylindrical structure, or may have other shapes. The gate 204 is movably connected with the cabin, and specifically, the gate 204 may be rotatably or slidably connected with the cabin, or may be detachably and fixedly connected, so as to satisfy that the gate 204 opens or closes the hatch of the cabin. The robot storage cabin 2 is specifically and fixedly arranged behind a partition plate 4 of an excavation cabin of the shield tunneling machine, and the gate 204 is located in the excavation cabin 7, so that after the gate 204 is opened, the inspection robot 1 enters the excavation cabin 7 to operate. The gate 204 is arranged at one side of the cabin body close to the shield tunneling machine cutterhead 6.
The inspection robot 1 is movably arranged in the robot storage cabin 2, the inspection robot 1 can extend out and retract from the hatch, and the front end of the inspection robot 1 is provided with a first washing device 1062 for washing a tool bit. That is, after the gate 204 of the robot storage cabin 2 is opened, the inspection robot 1 can be controlled by the control system to extend from the cabin through the hatch to inspect the cutter head 6, or retract into the cabin for storage. Specifically, the inspection robot 1 may be slidably mounted in the cabin by a slide rail, a slider, or the like.
The front end of the inspection robot 1 is provided with a first washing device 1062, and the first washing device 1062 is used for washing the cutter disc 6 after the inspection robot 1 extends out of the hatch. It may specifically comprise a high-pressure water nozzle which is switched on to water-jet clean the cutter disc 6.
The first vision device 1061 is disposed at the front end of the inspection robot 1 and is configured to acquire image information. That is, the front end of the inspection robot 1 is provided with not only the first washing device 1062 but also the first vision device 1061. The first vision device 1061 may specifically include a camera, which is capable of acquiring image information. So that the state of the cutter head 6 can be acquired by the first vision device 1061 in the state where the inspection robot 1 is extended to check whether it is washed clean. If necessary, during the process of the inspection robot 1 extending, the first vision device 1061 may also be used to observe whether the position of the inspection robot 1 moves in place, so as to adjust the position.
And a control system electrically connected to the inspection robot 1, the gate 204, and the first vision device 1061. On-off control of the first vision device 1061 can be achieved by the control system. Specifically, the control system is electrically connected to the first flushing device 1062 on the inspection robot 1, and the on-off control of the first flushing device 1062 is realized. The control system may also be used for control of the movement of the inspection robot 1, as required. The control system may specifically include a control cabinet, and switches for respectively controlling the gate 204, the first vision device 1061, and the first flushing device 1062 may be disposed on the control cabinet as required, so as to respectively control the actions of the components through the switches. Or, the control cabinet can also realize automatic control of each part through a preset program. According to the needs, the control system can include the host computer, specifically can set up in the shield constructs the quick-witted control chamber to in the control to each part.
By applying the inspection robot system for the shield machine, when the cutter 601 of the cutter head 6 needs to be cleaned and inspected, the control system can control the gate 204 of the robot storage cabin 2 to be opened, and the inspection robot 1 extends outwards from the gate 204 of the robot storage cabin 2 and moves to the position in front of the cutter 601 needing to be inspected; then, a first washing device 1062 on the inspection robot 1 is controlled to be communicated with high-pressure water to spray water for cleaning the tool 601; and the tool 601 is further viewed by a first vision device 1061 on the inspection robot 1; after the inspection is finished, the inspection robot 1 returns to the storage compartment along the original path, and the gate 204 is closed. To sum up, adopt this shield structure machine inspection robot system, can replace artifical and operate in excavation storehouse 7, realize the unmanned of operation such as excavation storehouse 7 interior observation, clear away mud cake. The construction efficiency can be improved, the cost is saved, the safety of constructors can be improved, and great economic and social benefits are achieved. The state of the cutter 601 can be checked through the first vision device 1061, the problems that various monitoring and observation works in the excavation bin 7, such as the tunnel face state, the cutter 601 abrasion condition and the like, can only be indirectly inferred through the propelling torque, pressure and the muck state, and direct data and images cannot be obtained are solved, and the difficulty in judging tunneling parameters is further reduced.
In one embodiment, the robot storage compartment 2 is provided with a rail 202 and a sliding platform 201 slidably mounted on the rail 202, and the inspection robot 1 is fixed on the sliding platform 201. Specifically, the sliding platform 201 is driven by a two-stage hydraulic oil cylinder 203, and the two-stage hydraulic oil cylinder 203 is electrically connected with the control system so as to push the sliding platform 201 under the control of the control system to drive the inspection robot 1 thereon to slide back and forth along the rail 202, so as to extend or retract from the hatch when the gate 204 is opened. The sliding platform 201 is driven by a double-stage oil cylinder, and is small in size and long in stroke.
Further, as shown in fig. 3, a cleaning head 1063 for cleaning the first vision device 1061 is provided in front of the first vision device 1061. The first vision device 1061 may be cleaned by communicating the cleaning head 1063 with high pressure water in case the image captured by the first vision device 1061 is unclear, such as the camera is dirty. Of course, since the cleaning head 1063 is used to clean the camera of the first vision device 1061, the cleaning head 1063 that is fixed and cannot rotate or the like can meet the requirement of cleaning the first vision device 1061 by the installation angle of the cleaning head 1063. The cleaning head 1063 may be connected to a high-pressure water source through a pipeline, and the cleaning head 1063 may be connected to the high-pressure water source through a high-pressure water switch valve disposed in the pipeline. The high-pressure water switch valve can be electrically connected with the control system, and then the control system can realize on-off control of the high-pressure water switch valve.
Still further, the cleaning head 1063 can optionally be in communication with high pressure water or gas. Specifically, the cleaning head 1063 is connected to a high-pressure water source and a high-pressure air source through a pipeline, and a high-pressure water switch valve and a high-pressure air switch valve are respectively arranged in the pipeline to connect and disconnect the cleaning head 1063 to the high-pressure water source and the high-pressure air source. The high-pressure water switch valve and the high-pressure air switch valve can be electrically connected with the control system, and then the control system can realize on-off control of the high-pressure water switch valve and the high-pressure air switch valve. With the above arrangement, when the first vision device 1061 needs to be cleaned, the cleaning head 1063 may be first connected to a high-pressure water source to clean the first vision device 1061, and then connected to a high-pressure air source to dry the first vision device 1061. High-pressure water is communicated for cleaning, and then high-pressure air is communicated for blow-drying, so that the cleaning effect of the first vision device 1061 is improved, and the acquired image is clearer. Under the condition that the high-pressure water switch valve and the high-pressure gas switch valve are electrically connected with the control system, the control can be realized through the control system.
In one embodiment, as shown in fig. 2, the robot storage cabin 2 is connected with an external air compressor through an air inlet valve 205 to provide fresh air through the external air compressor to replace the excavated space 7 with air that may contain high gas content in the robot storage cabin 2 when the gate 204 is opened. Specifically, the air inlet valve 205 may be disposed on a side of the robot storage compartment 2 away from the gate 204, and the gate 204 is disposed on a side of the compartment close to the shield tunneling machine cutterhead 6. Before the inspection robot 1 works, the gate 204 is firstly opened, the air inlet valve 205 is opened, the external air compressor sends fresh air, namely the robot storage cabin 2 and the excavation cabin 7 are communicated with high-pressure air, air replacement is carried out, the concentration of gas possibly existing is reduced, and the operation safety is improved.
In one embodiment, as shown in fig. 2, the robot storage cabin 2 is connected with an external air compressor through an air inlet valve 205 to provide fresh air through the external air compressor to replace the excavated space 7 with air that may contain high gas content in the robot storage cabin 2 when the gate 204 is opened. Specifically, the air inlet valve 205 may be disposed on a side of the robot storage compartment 2 away from the gate 204, and the gate 204 is disposed on a side of the compartment close to the shield tunneling machine cutterhead 6. Before the inspection robot 1 works, the gate 204 is firstly opened, the air inlet valve 205 is opened, the external air compressor sends fresh air, namely the robot storage cabin 2 and the excavation cabin 7 are communicated with high-pressure air, air replacement is carried out, the concentration of gas possibly existing is reduced, and the operation safety is improved.
In one embodiment, as shown in fig. 2, an external flushing head is further included in the excavation chamber 7 for flushing the space between the gate 204 and the partition 4. The partition plate 4 is positioned behind the cutter head 6 and plays a role in sealing, and an excavation bin 7 is formed between the partition plate and an excavation surface. Specifically, the outer flushing head is connected to a high pressure water source through a pipeline, and an outer flushing valve 206 is arranged in the pipeline to control the on-off of the outer flushing head and the high pressure water source. Before the gate 204 is opened, the outer flushing valve 206 is opened, and soil between the gate 204 and the partition 4 section is flushed through the outer flushing head, so that the pollution to the cabin interior caused by the soil when the gate 204 is opened and the obstruction to the opening of the gate 204 are prevented. Specifically, the outer flush valve 206 is electrically connected to the control system, and the control system controls the on/off of the outer flush valve 206.
On the basis of the above embodiments, the shield machine further comprises an absolute value encoder 301 installed on the central rotary joint 3 of the shield machine main body, and the absolute value encoder 301 is electrically connected with the control system. The angle of the cutter head 6 is monitored in real time by setting the absolute value encoder 301. When the cutter head 6 needs to be inspected, the cutter 601 to be inspected is selected while the heading machine is stopped, the angle of the cutter head 6 is determined by the absolute value encoder 301, and the cutter head 6 is automatically rotated and positioned to the position of the robot storage compartment 2. That is, through the setting of the absolute value encoder 301, in combination with the control function of the control system, the automatic alignment of the inspection tool 601 with the robot storage compartment 2 can be realized.
In the above embodiments, please refer to fig. 1 and 5, the shield tunneling machine further includes a visualization system 5 for tunneling chamber installed on the partition plate 4 of the shield tunneling machine host, the visualization system 5 for tunneling chamber includes a second vision device 503 for acquiring image information and an illumination device 504 for illumination, and the second vision device 503 and the illumination device 504 are covered with a transparent protective cover, and the transparent protective cover is fixedly connected to the partition plate 4 in a sealing manner. The second vision device 503 may specifically include a camera, and can acquire image information. So that the conditions in the excavation 7 can be obtained by the second vision device 503. The illumination device 504 can provide illumination to facilitate the second vision device 503 to obtain a clearer image. The second vision device 503 and the illumination device 504 are in particular electrically connected to the control system. The control system may effect control of the operation of the second vision device 503 and the illumination device 504. The transparent protective cover is fixedly connected with the partition plate 4, and covers the part of the second visual device 503 and the lighting device 504 which are positioned in front of the partition plate 4, so that the second visual device 503 and the lighting device 504 are protected, and the influence on normal work caused by soil erosion is prevented. It should be noted that, the transparent protective cover means that at least the portion of the transparent protective cover facing the second vision device 503 is made of transparent material to avoid the influence on the second vision device 503 to acquire the graphics. Specifically, the transparent protective cover can be transparent organic glass. Through the arrangement, in the process of checking the cutter 601, the working condition of the checking robot 1 in the excavation bin 7 can be acquired in real time through the second vision device 503, and the monitoring signal is transmitted to the control system, so that the monitoring signal can be transmitted to the display terminal through the control system, such as an operation room monitoring screen.
Further, referring to fig. 4, the visual system 5 for excavating the cabin further includes a second washing device 502 installed in front of the transparent shield for washing the transparent shield. The transparent shield can be cleaned by communicating the second washing device 502 with high pressure water in case the image captured by the second vision device 503 is unclear, such as the transparent shield is dirty. Of course, since the second washing device 502 is used for washing the transparent shield, the second washing device 502 which is fixed in a non-rotatable manner can meet the washing requirement of the transparent shield through the installation angle of the second washing device 502. The second flushing device 502 can be specifically connected with a high-pressure water source through a pipeline, and the second flushing device 502 and the high-pressure water source are switched on and off by arranging a high-pressure water switch valve in the pipeline. The high-pressure water switch valve can be electrically connected with the control system, and then the control system can realize on-off control of the high-pressure water switch valve.
Still further, the second flushing device 502 can optionally be in communication with high pressure water or high pressure gas. Specifically, the second flushing device 502 is connected to the high-pressure water source and the high-pressure air source through a pipeline, and a high-pressure water switch valve and a high-pressure air switch valve are respectively arranged in the pipeline to enable the second flushing device 502 to be connected to and disconnected from the high-pressure water source and the high-pressure air source. The high-pressure water switch valve and the high-pressure air switch valve can be electrically connected with the control system, and then the control system can realize on-off control of the high-pressure water switch valve and the high-pressure air switch valve. Through setting up as above, when needs rinse transparent protection casing, the accessible communicates high-pressure water source earlier with second washing unit 502 in order to rinse transparent protection casing, communicates high-pressure air source again and weathers transparent protection casing. High-pressure water is communicated for cleaning, and then high-pressure air is communicated for blow-drying, so that the cleaning effect on the transparent protective cover is improved, and the image acquired by the second vision device 503 is clearer. Under the condition that the high-pressure water switch valve and the high-pressure gas switch valve are electrically connected with the control system, the control can be realized through the control system.
In the above embodiments, the inspection robot 1 includes the base 101 installed in the robot storage compartment 2 in a front-back sliding manner, and the robot arm connected to the base 101, and the first flushing device 1062 and the first vision device 1061 are fixed to the front end of the robot arm; the mechanical arm comprises a waist joint 102, a shoulder joint 103, an elbow joint 104 and a tail end leveling joint 105 which are sequentially connected in series, one end of the waist joint 102 is hinged to the base 101, the other end of the waist joint is hinged to one end of the shoulder joint 103, the other end of the shoulder joint 103 is hinged to one end of the elbow joint 104, and the other end of the elbow joint 104 is hinged to the tail end leveling joint 105; waist joint 102 is driven by a hydraulic swing motor, shoulder joint 103 is driven by a hydraulic swing motor, elbow joint 104 is driven by a two-stage electric cylinder, and end leveling joint 105 is driven by a harmonic servo reducer. With the above configuration, the joints of the robot arm can be driven by the respective driving means, and the first flushing device 1062 and the first vision device 1061 attached to the tip leveling joint 105 are moved to positions in front of the tool 601 to be inspected. The elbow joint 104 adopts a two-stage electric cylinder, and has small size, long stroke and large bearing capacity.
Specifically, a spiral line 107 is installed on a mechanical arm of the inspection robot 1, a high-pressure water pipe, an air pipe and a connecting line are wound on the spiral line 107, and the connecting line comprises a power supply and a signal cable.
When the inspection robot system for the shield machine is adopted to inspect the cutter, the method comprises the following steps:
s1: opening a gate of the robot storage cabin, and extending the inspection robot out of the gate of the robot storage cabin;
s2: the inspection robot moves to the position in front of the cutter to be inspected;
s3: a first flushing device on the inspection robot is communicated with high-pressure water to spray water for cleaning the cutter;
s4: further viewing of the tool by a first vision device on the inspection robot;
s5: and after the inspection is finished, the inspection robot returns to the storage cabin along the original path, and the gate is closed.
Use the utility model provides a shield constructs machine inspection robot system can replace the manual work to operate in the excavation storehouse, realizes observing, cleaing away the unmanned of operations such as mud cake in the excavation storehouse. The construction efficiency can be improved, the cost is saved, the safety of constructors can be improved, and great economic and social benefits are achieved.
For better illustration, the inspection robot system for shield machine according to the present invention is described below with a preferred embodiment.
In the embodiment, the inspection robot system for the shield machine comprises a robot storage cabin 2 arranged on a shield machine host, wherein an inspection robot 1 is arranged in the robot storage cabin 2; the inspection robot 1 comprises a base 101, a mechanical arm is connected with the base 101, an end effector 106 is arranged at the forefront end of the mechanical arm, the end effector 106 comprises a first vision device 1061, a first washing device 1062 and a cleaning head 1063, the first washing device 1062 comprises a high-pressure water nozzle for washing the cutter 601, and the cleaning head 1063 is used for cleaning a camera of the first vision device 1061; an absolute value encoder 301 is arranged on a central rotary joint 3 of the shield machine main machine; an excavation cabin visualization system 5 is arranged above a partition plate 4 of the shield machine host, and the excavation cabin visualization system 5 comprises transparent organic glass 501 arranged on the partition plate 4, a second flushing device 502 arranged in front of the transparent organic glass 501, a second vision device 503 arranged behind the transparent organic glass 501 and an illuminating device 504; a sliding platform 201 and a track 202 are arranged in the robot storage cabin 2, a base 101 of the inspection robot 1 is arranged on the sliding platform 201, and the sliding platform 201 is driven by a two-stage hydraulic oil cylinder 203; a gate 204 is arranged on one side of the storage cabin close to the cutter head 6 of the shield tunneling machine; the mechanical arm of the inspection robot 1 comprises a waist joint 102, a shoulder joint 103, an elbow joint 104 and a tail end leveling joint 105 which are sequentially connected in series, wherein the waist joint 102 is driven by a hydraulic swing motor, one end of the waist joint is hinged to the base 101, the other end of the waist joint is hinged to the shoulder joint 103, the shoulder joint 103 is driven by the hydraulic swing motor, one end of the shoulder joint is hinged to the waist joint 102, the other end of the shoulder joint is hinged to the elbow joint 104, the elbow joint 104 is driven by a two-stage electric cylinder, one end of the elbow joint is hinged to the shoulder joint 103, and the other end of the. The tail end leveling joint 105 is driven by a harmonic servo reducer and is hinged with the elbow joint 104; the spiral line 107 is installed on the mechanical arm of the inspection robot 1, the high-pressure water pipe, the air pipe and the connecting wire are wound on the spiral line 107, and the connecting wire comprises a power supply and a signal cable.
When the inspection robot system for the shield machine is adopted for inspection, the method comprises the following steps:
in the state that the heading machine is stopped, a cutter 601 needing to be checked is selected on an upper computer of an operation room of the heading machine, the angle of a cutter head 6 is determined through an absolute value encoder 301 arranged on a rotary joint 3, the cutter head 6 automatically rotates and is positioned to the position of a robot storage cabin 2;
the outer flushing valve 206 is opened, so that the inner flushing head and the outer flushing head which are arranged in the excavation bin 7 flush soil from the gate 204 to the partition plate 4;
the gate 204 of the robot storage cabin 2 is opened, the air inlet valve 205 is opened, and high-pressure air is communicated with the inside of the robot storage cabin 2 and the excavation cabin 7 for air replacement;
the inspection robot 1 slides along the rail 202 and protrudes outward from the gate 204 of the robot storage compartment 2;
each joint of the mechanical arm of the inspection robot 1 automatically moves to the front position of the tool 601 to be inspected;
a high-pressure water nozzle on the end effector 106 on the inspection robot 1 is communicated with high-pressure water to spray water for cleaning the cutter 601;
the first visual device 1061 on the end effector 106 is used for further observing the cutter 601, and under the condition that the first visual device 1061 is unclear, high-pressure water is communicated firstly to wash the first visual device 1061 through a cleaning head 1063, and then the first visual device 1061 is communicated with high-pressure air to blow dry;
after the inspection is finished, giving a warehouse returning command by the upper computer, returning the inspection robot 1 to the storage cabin along the original path, and closing the gate 204;
above-mentioned inspection robot 1 inspection cutter 601's in-process obtains the behavior of inspection robot 1 in excavation storehouse 7 and sends monitored control signal to control system through second vision device 503, and at the initial stage of robot inspection cutter 601, excavation storehouse visual system 5's second washing unit 502 communicates high-pressure water earlier and washes transparent organic glass 501, communicates high-pressure air blow dry transparent organic glass 501 again.
To sum up, adopt the utility model provides a shield constructs machine inspection robot system has realized self-cleaning and inspection to the blade disc cutter. The potential safety hazard of manual inspection cutter has been solved, inspection efficiency has been improved, construction cost is reduced.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a shield constructs machine inspection robot system which characterized in that includes:
the robot storage cabin is fixed on a shield machine host, and comprises a cabin body and a gate movably connected with the cabin body to close a hatch of the cabin body;
the inspection robot is movably arranged in the robot storage cabin and can extend and retract from the hatch, and a first flushing device for flushing a cutter head is arranged at the front end of the inspection robot;
the first vision device is arranged at the front end of the inspection robot and used for acquiring image information;
and the control system is electrically connected with the inspection robot, the gate and the first vision device.
2. The inspection robot system for a shield machine according to claim 1, wherein a cleaning head for cleaning the first vision device is provided in front of the first vision device.
3. The inspection robot system for a shield machine according to claim 2, wherein the cleaning head can be optionally communicated with high pressure water or high pressure gas.
4. The inspection robot system for the shield tunneling machine according to claim 1, wherein an external air compressor is connected to the robot storage compartment through an air inlet valve, so that an excavation chamber is replaced with air in the storage compartment by the external air compressor when the gate is opened.
5. The inspection robot system for the shield machine according to claim 1, further comprising an outer washing head disposed in the excavation chamber for washing between the gate and a partition plate of the shield machine main body.
6. The inspection robot system for the shield machine according to any one of claims 1 to 5, further comprising an absolute value encoder mounted on a central swivel joint of the shield machine main body, the absolute value encoder being electrically connected to the control system.
7. The inspection robot system for the shield tunneling machine according to any one of claims 1 to 5, further comprising a visual system for a excavated chamber installed on a partition board of the shield tunneling machine host, wherein the visual system for an excavated chamber comprises a second visual device for acquiring image information and a lighting device for lighting, and a transparent protective cover is covered in front of the second visual device and the lighting device and is fixedly connected with the partition board in a sealing manner.
8. The inspection robot system for a shield tunneling machine according to claim 7, wherein the excavated chamber visualization system further comprises a second washing device installed in front of the transparent shield for washing the transparent shield.
9. The inspection robot system for the shield tunneling machine according to any one of claims 1 to 5, wherein the inspection robot comprises a base mounted in the robot storage compartment in a front-back sliding manner, a mechanical arm connected with the base, and the first flushing device and the first vision device are fixed at the front end of the mechanical arm;
the mechanical arm comprises a waist joint, a shoulder joint, an elbow joint and a tail end leveling joint which are sequentially connected in series, one end of the waist joint is hinged to the base, the other end of the waist joint is hinged to one end of the shoulder joint, the other end of the shoulder joint is hinged to one end of the elbow joint, and the other end of the elbow joint is hinged to the tail end leveling joint; the waist joint is driven by hydraulic swing motor, the shoulder joint is driven by hydraulic swing motor, the elbow joint is driven by electronic jar of doublestage, end leveling joint is driven by harmonic servo reducer ware.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111496816A (en) * | 2020-05-29 | 2020-08-07 | 中国铁建重工集团股份有限公司 | Inspection robot system for shield tunneling machine and inspection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111496816A (en) * | 2020-05-29 | 2020-08-07 | 中国铁建重工集团股份有限公司 | Inspection robot system for shield tunneling machine and inspection method thereof |
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