Heading machine

Abstract

The utility model provides a heading machine. The heading machine comprises a machine body; the first rotating part is arranged at the front end of the machine body; the cutting assembly is connected with the first rotating part and can swing up and down under the action of the first rotating part; the first detection assembly is connected with the first rotating part and is used for detecting the lifting amplitude of the cutting assembly; the control assembly is connected with the first detection assembly and used for determining the final lifting amplitude of the cutting assembly according to the detection result of the first detection assembly; wherein the first detection assembly comprises a first gear which is connected with the first rotating part and can synchronously rotate along with the first rotating part; the second gear is meshed with the first gear; the first angle sensor is connected with the second gear and used for converting the rotation angle of the second gear into an electric signal and sending the electric signal to the control assembly. The heading machine can stably measure the lifting amplitude of the cutting assembly of the heading machine with high precision.

Description

Technical Field

[0001] The present application relates to the technical field of tunnel boring machines, and in particular to a tunnel boring machine. Background Art

[0002] Intelligent coal mining is of great significance for promoting the upgrading and development of the coal mining industry. Intelligent roadheaders are a key component of intelligent coal mining. Their typical function is automatic cutting. To ensure the correct cross-section, repair the roadway roof, and reduce the number of machine moves, ensuring the correct positioning of the cutting arm is crucial.

[0003] In the related art, the following methods are mostly used to position the cutting arm:

[0004] (1) The sensor is directly placed on the cutting arm; during measurement, the sensor is easily affected by vibration, resulting in reduced accuracy and life.

[0005] (2) A displacement sensor is built into the lifting cylinder of the cutting arm, and a strain pulse signal is generated by the intersection of different magnetic fields to measure the lifting amplitude of the cutting arm. However, the sensitivity of this method is low. When the oil level inside the cylinder drops significantly, it is difficult to continue to measure the lifting cylinder value. In addition, it is easily affected by changes in the external environment and large vibrations of the cutting arm, resulting in a decrease in accuracy and life.

[0006] (2) Inertial navigation alignment is used in combination with the lifting cylinder value algorithm to measure the lifting range of the cutting arm. However, the inertial navigation system obtains navigation information through integral calculation. This calculation method will cause the error to gradually increase over time, which is not conducive to the use of equipment in long-term operations. The inertial navigation system will perform initial alignment before each use, and the alignment duration can be as short as half a minute or as long as more than five minutes. It is not only time-consuming and labor-intensive, but also not conducive to the use of repeated alignment requirements, and the cost is relatively high.

[0007] Therefore, there is an urgent need to design a tunnel boring machine that can measure the lifting amplitude of the tunnel boring machine cutting assembly with high precision, durability and stability. Utility Model Content

[0008] This application aims to solve at least one of the technical problems existing in the related art.

[0009] To this end, a first aspect of the present application is to provide a tunnel boring machine.

[0010] In view of this, according to the first aspect of the present application, a tunnel boring machine is proposed, including: a fuselage; a first rotating member, arranged at the front end of the fuselage; a cutting assembly, connected to the first rotating member, and capable of swinging up and down under the action of the first rotating member; a first detection assembly, connected to the first rotating member, for detecting the lifting and lowering amplitude of the cutting assembly; and a control assembly, connected to the first detection assembly, for determining the final lifting and lowering amplitude of the cutting assembly based on the detection result of the first detection assembly.

[0011] Among them, the first detection component includes: a first gear, which is connected to the first rotating part and can rotate synchronously with the first rotating part; a second gear, which is engaged with the first gear; a first angle sensor, which is connected to the second gear and is used to convert the rotation angle of the second gear into an electrical signal and send it to the control component.

[0012] During actual operation, when the first rotating member drives the cutting assembly to swing up and down, the first gear receives the rotation value of the first rotating member and transmits it to the second gear. The first angle sensor receives the rotation signal of the second gear, calculates the rotation angle of the second gear, and converts the rotation angle into an electrical signal and sends it to the control assembly for processing, thereby determining the final lifting and lowering amplitude of the cutting assembly.

[0013] In the above technical solution, the first detection component is connected to the first rotating part. Compared with the related technology of directly installing the sensor on the cutting arm, the impact of vibration on the first detection component is reduced, thereby extending the service life of the first detection component and improving the accuracy; at the same time, an angle sensor is used to convert the rotation angle of the first rotating part into an electrical signal and transmit it to the control component. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the cutting component can be measured more accurately.

[0014] In some technical solutions, optionally, the gear ratio between the first gear and the second gear is in the range of 3 to 10.

[0015] By designing a suitable meshing ratio, the rotation of the first gear can be smoothly transmitted to the second gear, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and improving the accuracy and stability of the detection results.

[0016] In some technical solutions, the first detection assembly optionally further includes a first shielding housing connected to the body to protect other components of the first detection assembly. This design prevents external dust and shields the first angle sensor from interference from external magnetic fields, thereby improving the measurement accuracy and service life of the first detection assembly.

[0017] In some technical solutions, optionally, the tunnel boring machine also includes: a second rotating member, which is arranged at the front end of the fuselage and is located below the first rotating member; a shovel assembly, which is connected to the second rotating member and can swing up and down under the action of the second rotating member; a second detection assembly, which is connected to the second rotating member and is used to detect the lifting and lowering amplitude of the shovel assembly; wherein the control assembly is also connected to the second detection assembly and can adjust the detection result of the first detection assembly according to the detection result of the second detection assembly to determine the final lifting and lowering amplitude of the cutting assembly.

[0018] In actual operation, when the blade assembly contacts the ground, if the ground is abnormal (such as uneven), it will affect the posture of the fuselage, thereby affecting the final lifting range of the cutting assembly. Therefore, the present application introduces a second detection component to detect the lifting range of the blade assembly, which can timely and accurately identify such changes and compensate the detection results of the first detection component, so as to accurately measure the final lifting range of the cutting assembly.

[0019] In some technical solutions, optionally, the second detection component includes: a third gear, which is connected to the second rotating member and can rotate synchronously with the second rotating member; a fourth gear, which is engaged with the third gear; and a second angle sensor, which is connected to the fourth gear and is used to convert the rotation angle of the fourth gear into an electrical signal and send it to the control component.

[0020] In some technical solutions, optionally, the meshing ratio of the third gear and the fourth gear is in the range of 3 to 10; and / or, the second detection assembly further includes a second shielding shell for protecting other components of the second detection assembly.

[0021] In some technical solutions, optionally, the tunnel boring machine also includes: a third rotating member, arranged at the rear end of the fuselage; a support assembly, connected to the third rotating member, and capable of swinging up and down under the action of the third rotating member; a third detection assembly, connected to the third rotating member, for detecting the lifting and lowering amplitude of the support assembly; wherein, the control assembly is also connected to the third detection assembly, and can adjust the detection result of the first detection assembly according to the detection result of the third detection assembly to determine the final lifting and lowering amplitude of the cutting assembly.

[0022] In some technical solutions, optionally, the third detection component includes: a fifth gear, connected to the third rotating member and capable of rotating synchronously with the third rotating member; a sixth gear, meshing with the fifth gear; and a third angle sensor, connected to the sixth gear, for converting the rotation angle of the sixth gear into an electrical signal and sending it to the control component.

[0023] In some technical solutions, optionally, the meshing ratio of the fifth gear and the sixth gear is in the range of 3 to 10; and / or, the third detection assembly further includes a third shielding shell for protecting other components of the third detection assembly.

[0024] In some technical solutions, the first angle sensor and the second gear are detachably connected, which facilitates maintenance or replacement.

[0025] Additional aspects and advantages of the present application will become apparent in the following description or may be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 A schematic structural diagram of a tunnel boring machine in an embodiment of the present application is shown;

[0028] Figure 2 shows a schematic structural diagram of a first detection component in an embodiment of the present application;

[0029] Figure 3 shows a schematic structural diagram of the second detection component in an embodiment of the present application;

[0030] Figure 4 shows a schematic structural diagram of the third detection component in an embodiment of the present application;

[0031] Figure 5 A schematic flow chart of a method for positioning a cutting assembly of a roadheader in an embodiment of the present application is shown.

[0032] in, Figures 1 to 4 The corresponding relationship between the reference numerals and component names is as follows:

[0033] 100-body; 110-first rotating member; 120-cutting assembly; 130-first detection assembly; 131-first gear; 132-second gear; 133-first angle sensor; 134-first shielding shell; 140-control assembly; 150-second rotating member; 160-shovel assembly; 170-second detection assembly; 171-third gear; 172-fourth gear; 173-second angle sensor; 174-second shielding shell; 180-third rotating member; 190-support assembly; 200-third detection assembly; 201-fifth gear; 202-sixth gear; 203-third angle sensor; 204-third shielding shell. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0036] The following combination Figures 1 to 5 , the tunnel boring machine provided in the embodiment of the present application is described in detail through specific embodiments and application scenarios.

[0037] Reference Figure 1 and Figure 2 Some embodiments of the present application disclose a roadheader, the structure of which includes: a body 100, a first rotating member 110, a cutting assembly 120, a first detection assembly 130 and a control assembly 140.

[0038] Specifically, the first rotating member 110 is arranged at the front end of the fuselage 100; the cutting assembly 120 is connected to the first rotating member 110, and can swing up and down under the action of the first rotating member 110; the first detection assembly 130 is connected to the first rotating member 110, and is used to detect the lifting and lowering amplitude of the cutting assembly 120; the control assembly 140 is connected to the first detection assembly 130, and can determine the final lifting and lowering amplitude of the cutting assembly 120 according to the detection result of the first detection assembly 130.

[0039] In the above embodiment, the first detection assembly 130 includes a first gear 131, a second gear 132, and a first angle sensor 133. The first gear 131 is connected to the first rotating member 110 and can rotate synchronously with the first rotating member 110; the second gear 132 is meshed with the first gear 131; and the first angle sensor 133 is connected to the second gear 132 and is used to convert the rotation angle of the second gear 132 into an electrical signal and transmit it to the control assembly 140.

[0040] In actual operation, the range of the cutting assembly 120's elevation is generally less than 80°, i.e., less than 30° downward and less than 50° upward. As the first rotating member 110 drives the cutting assembly 120 to swing up and down, the first gear 131 receives the rotation value of the first rotating member 110 and transmits it to the second gear 132. The first angle sensor 133 receives the rotation signal of the second gear 132, calculates the rotation angle of the second gear 132, and converts the rotation angle into an electrical signal that is sent to the control assembly 140 for processing, thereby determining the final elevation range of the cutting assembly 120.

[0041] In the above embodiment, the first detection component 130 is connected to the first rotating member 110. Compared with the related art of directly installing the sensor on the cutting arm, the impact of vibration on the first detection component 130 is reduced, thereby extending the service life of the first detection component 130 and improving the accuracy; at the same time, an angle sensor is used to convert the rotation angle of the first rotating member 110 into an electrical signal and transmit it to the control component 140. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the cutting component 120 can be measured more accurately.

[0042] In some embodiments, the gear ratio of the first gear 131 to the second gear 132 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the first gear 131 can be smoothly transmitted to the second gear 132, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and improving the accuracy and stability of the detection results.

[0043] In practical applications, considering the difficulty of processing and stability, the meshing ratio of the first gear 131 and the second gear 132 is 7:2.

[0044] In order to facilitate maintenance or replacement, the first angle sensor 133 and the second gear 132 are connected by a magnetic member. It is understandable that the first angle sensor 133 and the second gear 132 can also be detachably connected by bolts, buckles or other connection methods.

[0045] In some embodiments, the first detection assembly 130 further includes a first shielding shell 134. The first shielding shell 134 is connected to the body 100 and is disposed outside the first gear 131, the second gear 132, and the first angle sensor 133 to protect the first gear 131, the second gear 132, and the first angle sensor 133. This can prevent external dust and shield the first angle sensor 133 from interference from external magnetic fields, thereby helping to improve the measurement accuracy and service life of the first detection assembly 130.

[0046] Reference Figure 1 and Figure 3 In some embodiments, the tunnel boring machine further includes a second rotating member 150 , a blade assembly 160 and a second detection assembly 170 .

[0047] Specifically, the second rotating member 150 is arranged at the front end of the fuselage 100 and is located below the first rotating member 110; the shovel plate assembly 160 is connected to the second rotating member 150 and can swing up and down under the action of the second rotating member 150; the second detection assembly 170 is connected to the second rotating member 150, and is used to measure the lifting and lowering amplitude of the shovel plate assembly 160; wherein, the control assembly 140 is also connected to the second detection assembly 170, and can adjust the detection result of the first detection assembly 130 according to the detection result of the second detection assembly 170 to determine the final lifting and lowering amplitude of the cutting assembly 120.

[0048] In actual operation, when the blade assembly 160 contacts the ground, if the ground is abnormal (e.g., uneven), it will affect the posture of the fuselage 100, thereby affecting the final elevation of the cutting assembly 120. Therefore, by introducing the second detection assembly 170 to detect the elevation of the blade assembly 160, this application can promptly and accurately identify such changes and compensate for the detection results of the first detection assembly 130, thereby accurately measuring the final elevation of the cutting assembly 120.

[0049] In the above embodiment, the second detection assembly 170 includes a third gear 171, a fourth gear 172, and a second angle sensor 173. The third gear 171 is connected to the second rotating member 150 and can rotate synchronously with the second rotating member 150; the fourth gear 172 is meshed with the third gear 171; and the second angle sensor 173 is connected to the fourth gear 172 to convert the rotation angle of the fourth gear 172 into an electrical signal and transmit it to the control assembly 140.

[0050] During actual operation, when the second rotating member 150 drives the shovel assembly 160 to swing up and down, the third gear 171 receives the rotation value of the second rotating member 150 and transmits it to the fourth gear 172. The second angle sensor 173 receives the rotation signal of the fourth gear 172, calculates the rotation angle of the fourth gear 172, and converts the rotation angle into an electrical signal and sends it to the control assembly 140 for processing, thereby adjusting the detection result of the first detection assembly 130 to determine the final lifting and lowering amplitude of the cutting assembly 120.

[0051] In the above embodiment, the second detection component 170 is connected to the second rotating member 150. Compared with directly installing the sensor on the shovel plate, the impact of vibration on the second detection component 170 is reduced, thereby extending the service life of the second detection component 170 and improving the accuracy; at the same time, an angle sensor is used to convert the rotation angle of the second rotating member 150 into an electrical signal and transmit it to the control component 140. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the shovel plate component 160 can be measured more accurately.

[0052] In some embodiments, the gear ratio between the third gear 171 and the fourth gear 172 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the third gear 171 can be smoothly transmitted to the fourth gear 172, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and improving the accuracy and stability of the detection results.

[0053] In actual application, considering the difficulty of processing and stability, the meshing ratio of the third gear 171 and the fourth gear 172 is 7:2.

[0054] In order to facilitate maintenance or replacement, the second angle sensor 173 and the fourth gear 172 are connected by a magnetic member. It is understandable that the second angle sensor 173 and the fourth gear 172 can also be detachably connected by bolts, buckles or other connection methods.

[0055] In some embodiments, the second detection assembly 170 further includes a second shielding shell 174. The second shielding shell 174 is connected to the body 100 and is disposed outside the third gear 171, the fourth gear 172, and the second angle sensor 173 to protect the third gear 171, the fourth gear 172, and the second angle sensor 173. This can prevent external dust and shield the external magnetic field from interfering with the second angle sensor 173, thereby helping to improve the measurement accuracy and service life of the second detection assembly 170.

[0056] Reference Figure 1 and Figure 4 In some embodiments, the tunnel boring machine further includes a third rotating member 180 , a supporting assembly 190 and a third detection assembly 200 .

[0057] Specifically, the third rotating member 180 is arranged at the rear end of the fuselage 100; the supporting assembly 190 is connected to the third rotating member 180, and can swing up and down under the action of the third rotating member 180; the third detection assembly 200 is connected to the third rotating member 180, and is used to measure the lifting and lowering amplitude of the supporting assembly 190; wherein, the control assembly 140 is also connected to the third detection assembly 200, and can adjust the detection result of the first detection assembly 130 according to the detection result of the third detection assembly 200 to determine the final lifting and lowering amplitude of the cutting assembly 120.

[0058] In actual operation, when the support assembly 190 contacts the ground, if the ground is abnormal (such as uneven), it will affect the posture of the fuselage 100, thereby affecting the final lifting range of the cutting assembly 120. Therefore, by introducing the third detection assembly 200 to detect the lifting range of the support assembly 190, the present application can timely and accurately identify such changes and compensate the detection results of the first detection assembly 130, thereby accurately measuring the final lifting range of the cutting assembly 120.

[0059] In the above embodiment, the third detection assembly 200 includes a fifth gear 201, a sixth gear 202, and a third angle sensor 203. The fifth gear 201 is connected to the third rotating member 180 and can rotate synchronously with the third rotating member 180; the sixth gear 202 is meshed with the fifth gear 201; and the third angle sensor 203 is connected to the sixth gear 202 and is used to convert the rotation angle of the sixth gear 202 into an electrical signal and transmit it to the control assembly 140.

[0060] During actual operation, when the third rotating member 180 drives the supporting assembly 190 to swing up and down, the fifth gear 201 receives the rotation value of the third rotating member 180 and transmits it to the sixth gear 202. The third angle sensor 203 receives the rotation signal of the sixth gear 202, calculates the rotation angle of the sixth gear 202, and converts the rotation angle into an electrical signal and sends it to the control assembly 140 for processing, thereby adjusting the detection result of the first detection assembly 130 to determine the final lifting and lowering amplitude of the cutting assembly 120.

[0061] In the above embodiment, the third detection component 200 is connected to the third rotating member 180. Compared with directly installing the sensor on the support component, the impact of vibration on the third detection component 200 is reduced, thereby extending the service life of the third detection component 200 and improving the accuracy; at the same time, an angle sensor is used to convert the rotation angle of the third rotating member 180 into an electrical signal and transmit it to the control component 140. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the support component 190 can be measured more accurately.

[0062] In some embodiments, the gear ratio between the fifth gear 201 and the sixth gear 202 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the fifth gear 201 can be smoothly transmitted to the sixth gear 202, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and enhancing the accuracy and stability of the detection results.

[0063] In practical applications, considering the difficulty of processing and stability, the meshing ratio of the fifth gear 201 and the sixth gear 202 is 7:2.

[0064] In order to facilitate maintenance or replacement, the third angle sensor 203 and the sixth gear 202 are connected by a magnetic member. It is understandable that the third angle sensor 203 and the sixth gear 202 can also be detachably connected by bolts, buckles or other connection methods.

[0065] In some embodiments, the third detection assembly 200 further includes a third shielding shell 204. The third shielding shell 204 is connected to the body 100 and is disposed outside the fifth gear 201, the sixth gear 202, and the third angle sensor 203 to protect the fifth gear 201, the sixth gear 202, and the third angle sensor 203. This can prevent external dust and shield the third angle sensor 203 from interference from external magnetic fields, thereby helping to improve the measurement accuracy and service life of the third detection assembly 200.

[0066] In some embodiments, a length for mounting gears is reserved on the outer sides of the first rotating member 110, the second rotating member 150, and the third rotating member 180. This facilitates mounting gears on the rotating members.

[0067] At least one of the first angle sensor 133 , the second angle sensor 173 , and the third angle sensor 203 is a Hall sensor.

[0068] Reference Figure 5 In some embodiments, the present application further provides a method for positioning a cutting assembly of a roadheader, wherein the roadheader includes a cutting assembly, a blade assembly, and a support assembly. The method includes the following steps:

[0069] S100, obtaining the lifting range detection results of the cutting assembly, the lifting range detection results of the shovel assembly, and the lifting range detection results of the support assembly;

[0070] S102, obtaining the contact status between the shovel assembly and the support assembly and the ground;

[0071] S104, when both the blade assembly and the support assembly are in contact with the ground, determining a final lifting range of the cutting assembly based on the lifting range detection results of the cutting assembly, the blade assembly, and the support assembly;

[0072] S106, when the blade assembly is not in contact with the ground, determining a final lifting range of the cutting assembly according to a lifting range detection result of the support assembly and a lifting range detection result of the cutting assembly;

[0073] S108, when the support assembly is not in contact with the ground, determining a final lifting range of the cutting assembly according to a lifting range detection result of the blade assembly and a lifting range detection result of the cutting assembly;

[0074] S110 , when the blade assembly and the support assembly are not in contact with the ground, determining the lifting range detection result of the cutting assembly as the final lifting range of the cutting assembly.

[0075] In the above embodiment, by comprehensively considering the contact status of the shovel assembly and the support assembly with the ground and the detection results of their respective lifting amplitudes, the detection results of the lifting amplitude of the cutting assembly can be compensated, and the final lifting amplitude of the cutting assembly can be determined more accurately.

[0076] It should be clarified that in the claims, specification and drawings of this application, the term "plurality" refers to two or more. Unless otherwise clearly defined, the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the purpose of more conveniently describing this application and making the description process simpler, and is not intended to indicate or imply that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation. Therefore, these descriptions cannot be understood as limitations on this application. The terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.

[0077] In the claims, specification, and drawings of this application, the terms "one embodiment," "some embodiments," "a specific embodiment," and the like mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of this application. In the claims, specification, and drawings of this application, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0078] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A tunnel boring machine, characterized in that: include: body; A first rotating member is provided at the front end of the fuselage; a cutting assembly connected to the first rotating member and capable of swinging up and down under the action of the first rotating member; a first detection assembly connected to the first rotating member, for detecting the lifting and lowering amplitude of the cutting assembly; a control component connected to the first detection component, and configured to determine a final lifting range of the cutting component according to a detection result of the first detection component; Wherein, the first detection component includes: a first gear connected to the first rotating member and capable of rotating synchronously with the first rotating member; a second gear meshing with the first gear; The first angle sensor is connected to the second gear and is used to convert the rotation angle of the second gear into an electrical signal and send it to the control component.

2. The tunnel boring machine according to claim 1, characterized in that: The meshing ratio between the first gear and the second gear is in the range of 3 to 10.

3. The tunnel boring machine according to claim 1, characterized in that: The first detection assembly further includes a first shielding shell; the first shielding shell is connected to the fuselage to protect other components of the first detection assembly.

4. The tunnel boring machine according to claim 1, characterized in that: The roadheader further comprises: a second rotating member, disposed at the front end of the body and located below the first rotating member; a shovel plate assembly connected to the second rotating member and capable of swinging up and down under the action of the second rotating member; a second detection assembly connected to the second rotating member, for detecting the lifting range of the shovel assembly; The control component is also connected to the second detection component and can adjust the detection result of the first detection component according to the detection result of the second detection component to determine the final lifting and lowering amplitude of the cutting component.

5. The tunnel boring machine according to claim 4, characterized in that: The second detection component includes: a third gear connected to the second rotating member and capable of rotating synchronously with the second rotating member; a fourth gear meshing with the third gear; The second angle sensor is connected to the fourth gear and is used to convert the rotation angle of the fourth gear into an electrical signal and send it to the control component.

6. The tunnel boring machine according to claim 5, characterized in that: The meshing ratio of the third gear and the fourth gear is in the range of 3 to 10; and / or, the second detection assembly further includes a second shielding shell for protecting other components of the second detection assembly.

7. The tunnel boring machine according to any one of claims 1 to 6, characterized in that: The roadheader further comprises: a third rotating member, disposed at the rear end of the fuselage; a supporting assembly connected to the third rotating member and capable of swinging up and down under the action of the third rotating member; a third detection assembly connected to the third rotating member, for detecting the lifting amplitude of the support assembly; The control component is also connected to the third detection component and can adjust the detection result of the first detection component according to the detection result of the third detection component to determine the final lifting and lowering amplitude of the cutting component.

8. The tunnel boring machine according to claim 7, characterized in that: The third detection component includes: a fifth gear connected to the third rotating member and capable of rotating synchronously with the third rotating member; a sixth gear meshing with the fifth gear; The third angle sensor is connected to the sixth gear and is used to convert the rotation angle of the sixth gear into an electrical signal and send it to the control component.

9. The tunnel boring machine according to claim 8, characterized in that: The meshing ratio of the fifth gear and the sixth gear is in the range of 3 to 10; and / or, the third detection assembly further includes a third shielding shell for protecting other components of the third detection assembly.

10. The tunnel boring machine according to claim 1, characterized in that: The first angle sensor and the second gear are detachably connected.

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