Abstract: A surgical robot navigation and positioning system, and a measurement viewing angle multi-objective optimization method includes a surgical operation planning system, a control host for data processing and robot control, a series robot having any degree of freedom, a positioning sensor and its adaptive positioning tools (4), and an environmental perception sensor. The measurement viewing angle multi-objective optimization method comprises: obtaining information on and positions of all positioning tools (4) of each link in a surgery process, and establishing a multi-objective minimization problem based on a decision variable; establishing a three-dimensional Cartesian coordinate system for each positioning tool (4); defining a non-interference margin function between the positioning tools (4), and at least two objective functions of minimization optimization; and setting constraint conditions to minimize the at least two objective functions at the same time.

Abstract: A circuit design method includes: obtaining a first circuit diagram constructed based on a plurality of first components, where each first component includes a first parameter, and the first parameters are parameters that are used in a plurality of processes and that have normalized names; then obtaining indicators of electrical parameters of the plurality of first components based on the first circuit diagram; determining a plurality of second parameters based on the indicators of the electrical parameters of the plurality of first components, where the second parameters are in a one-to-one correspondence with the first parameters; then replacing the first parameters included in the first components with the second parameters, to obtain second components; and outputting a second circuit diagram constructed by the plurality of second components.

Abstract: A vibration reduction optimization method for host system of a tunnel boring machine to reduce the vibration of the host and prevent fatigue damage at the critical weak position of the TBM host system. Vibration reduction optimization of the TBM host system is achieved by using a damping alloy material to replace the cutterhead system's material and the connecting flange's material and adding a magnetorheological damper at the support system and the propulsion system. This prevents sudden incidents in the TBM host system and ensures that the TBM works safely and reliably.

Abstract: The present invention relates to a cutter replacement robot and its adaptive cutter system for tunnel boring machine and belongs to the field of tunnel construction equipment design. Traditional cutter system adopts multi-wedge fastening mode, and the fasteners are many and separate from each other. It is only suitable for manual disassembly and assembly. So, robot can not disassemble and assemble cutter quickly. For the current cutter weight, the current load-weight ratio of industrial robots can not meet the narrow space inside the cutter head of the TBM, so mature industrial robots can not change the all of cutters. Based on the above situation, according to the internal space structure of the cutter head of the TBM, the invention designs a new type of cutter-changing robot and three type cutter systems to realize the rapid disassembly and assembly of the cutter.

Abstract: The present invention provides a vibration and strain monitoring method for key positions of a tunnel boring machine (TBM), and belongs to the technical field of real-time monitoring for underground construction of the TBM. The present invention aims to provide a monitoring device and an all-weather monitoring and forecasting system thereof. The present invention acquires monitoring data through vibration and strain sensors and a wireless data transmission system, thereby realizing long-term real-time monitoring for vibration and strain states of key positions of a main machine system of the TBM during operation, reminding operators in time for maintenance and repair, preventing fatigue breakage on key weak positions of the main machine system of the TBM and ensuring safe and reliable operation of the TBM. The present invention further provides an evaluation method for strain states of positions which cannot be measured, i.e.

Abstract: The present invention provides a vibration and strain monitoring method for key positions of a tunnel boring machine (TBM), and belongs to the technical field of real-time monitoring for underground construction of the TBM. The present invention aims to provide a monitoring device and an all-weather monitoring and forecasting system thereof. The present invention acquires monitoring data through vibration and strain sensors and a wireless data transmission system, thereby realizing long-term real-time monitoring for vibration and strain states of key positions of a main machine system of the TBM during operation, reminding operators in time for maintenance and repair, preventing fatigue breakage on key weak positions of the main machine system of the TBM and ensuring safe and reliable operation of the TBM. The present invention further provides an evaluation method for strain states of positions which cannot be measured, i.e.