关键词: 数字孪生, 盾构换刀机器人, BP神经网络, 机器人监控系统

Abstract: To address the lack of effective monitoring methods for shield tunneling tool changing robots,a digital twin based monitoring system for shield tunneling tool changing robots was designed.The twin model was constructed through Unity3D simulation platform and the movement state of physical entity driven by real-time data with robot kinematics model was mapped to realize visual monitoring of tool changing robot,and the virtual reality technology was used to improve system immersion and interactivity.At the same time,in response to the problem of time-consuming finite element simulation software to obtain mechanical data and difficulty in meeting the real-time requirements of the monitoring system,a mechanical data monitoring model for the tool changing robot was constructed based on BP neural network,which could quickly obtain stress and deformation data of the end-effector to ensure system safety.A prototype of the digital twin monitoring system for the shield tunneling machine tool changing robot was developed to verify the effectiveness and feasibility of the proposed monitoring system.

Key words: digital twin, shield cutter changing robot, BP neural network, robot monitoring system