A TBM construction track joint adaptive crossing walking device and method

Abstract

The present invention discloses a TBM construction track gap adaptive crossing walking device and method, wherein the above-mentioned device includes a shell, a walking module, a guide module and a brake module. During use, the shell provided in the embodiment of the present application can be used as a connecting device of the device, and the walking module and the guide module can be connected to the shell. The walking module is used to drive the device forward. If the guide module encounters a track gap during the forward movement of the device, the guide module will enter a working state and rotate, thereby playing a guiding role. Under the guiding effect, the guide component will automatically cross the track gap and connect to the next track and drive the walking device to cross the track gap, which solves the problem of discontinuity of the guide rail at the place where the walking device passes through the cross-trailer, ensures the versatility of the automatic walking device, and improves work efficiency.

Description

Technical Field

[0001] The invention relates to the field of track construction, and in particular to a TBM construction track gap adaptive crossing walking device and method. Background Art

[0002] The full-face tunnel boring machine (TBM) is a highly integrated and mechanized rock tunnel excavation equipment. With the development of the economy and society, TBM construction has increasingly encountered engineering environments with poor rock quality, high burial depth, and high ground stress. Under such conditions, the surrounding rock is redistributed due to excavation, and the strain energy in the rock mass gradually accumulates and is suddenly released at a certain moment, resulting in rock burst disasters. Rock burst is one of the most important problems in tunnel construction. At the least, rock blocks will fall off and affect the lining effect. At the worst, flying rocks will injure people and damage equipment, and may even cause TBM jamming and local collapse, seriously affecting the safety of personnel and equipment and the normal progress of the project.

[0003] In order to effectively and reasonably prevent rock bursts, it is necessary to rely on microseismic monitoring technology to monitor the elastic waves released by rock fractures in the surrounding rock, analyze its time, space, energy level and other information, and achieve more accurate rock burst warning. In order to ensure that the microseismic monitoring system can always cover the area near the TBM excavation face, workers need to frequently disassemble and install sensors. At the same time, in order to ensure the normal operation of the TBM, a lot of automated equipment needs to be installed on the TBM, and the equipment to be installed is often distributed long in the TBM axial direction. Therefore, it is urgent to find a TBM construction track gap adaptive crossing walking device that can carry automated installation equipment and move freely on the TBM track for automated installation. However, the existing devices often get stuck when encountering TBM track gaps during driving, which seriously affects the construction progress and efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] To this end, the present invention provides a TBM construction track joint adaptive crossing walking device.

[0006] In view of this, a TBM construction track gap adaptive crossing walking device provided in an embodiment of the present application includes:

[0007] case;

[0008] A walking module connected to the housing, the walking module being used to cooperate with the TBM construction track;

[0009] A guide module connected to the housing, wherein the guide positioning width of the guide module is equal to the width of the middle groove of the TBM construction track, the guide module includes a guide positioning working state position and a non-working state position, and the guide module includes at least one guide assembly;

[0010] Wherein, when the walking module is walking in the TBM construction track, the projection of the shell on the track covers the projection of the walking module on the track, and at least a partial projection of at least one of the guide components on the track exceeds the projection of the shell on the track along the travel direction of the device.

[0011] In a feasible implementation manner, the device further includes:

[0012] A rail gap monitoring module, connected to the housing, and disposed between the walking module and the guide assembly;

[0013] A braking module is arranged on the housing, and is used for braking the device.

[0014] In a feasible implementation manner, the guide assembly includes:

[0015] Transverse guide wheel frame;

[0016] Two guide wheels, respectively arranged at two ends of the transverse guide wheel frame;

[0017] A guide wheel frame rotating shaft connected to the transverse guide wheel frame;

[0018] The first driving assembly is connected to the guide wheel frame shaft and is used to drive the guide module to switch between two states.

[0019] In a feasible implementation manner, the braking module includes:

[0020] The second driving assembly is used to drive the tensioning assembly to brake when the device is braked, so as to increase the friction between the driving tensioning assembly and the TBM construction track to achieve a braking effect.

[0021] In a feasible implementation manner, the rail gap monitoring module includes:

[0022] A front laser rangefinder is arranged at the front end above the housing;

[0023] The middle laser rangefinder is arranged in the middle position above the shell;

[0024] The rear laser rangefinder is arranged at the upper end of the shell body.

[0025] In a feasible implementation manner, the walking modules are at least two groups:

[0026] Each group of walking modules includes:

[0027] Two auxiliary shaft seats are arranged on the housing;

[0028] Two walking shafts are arranged on the auxiliary shaft seat, and walking wheels are arranged on the outer sides of the walking shafts.

[0029] In a feasible implementation manner, the device further includes:

[0030] A hydraulic station is arranged in the housing;

[0031] The control module is used to receive the monitoring data of the rail gap monitoring module and control the hydraulic station to provide power for the first drive assembly and the second drive assembly.

[0032] In a feasible implementation manner, the first driving component includes:

[0033] A linkage arm group, wherein the linkage arm group is connected to the hydraulic station and is used to drive the guide wheel frame shaft to rotate.

[0034] In a feasible implementation manner, the second driving component includes:

[0035] A vertically positioned rotating shaft seat is disposed in the housing;

[0036] A rocker arm shaft, arranged on the vertical positioning rotating shaft seat;

[0037] A brake cylinder telescopic arm, one end of which is connected to the housing;

[0038] A first vertical positioning rotating arm, one end of which is connected to the telescopic arm of the brake cylinder;

[0039] A second vertical positioning rotating arm, one end of which is connected to the rocker arm shaft;

[0040] A vertical tensioning wheel is connected between the first vertical positioning rotating arm and the second vertical positioning rotating arm.

[0041] In a feasible implementation manner, the guide module includes three guide components, wherein at least one guide component is disposed between two groups of walking modules.

[0042] The present invention also provides a method for adaptively crossing rail joints during TBM construction, which is used for the above-mentioned adaptively crossing rail joints during TBM construction.

[0043] Compared with the prior art, the present invention includes at least the following beneficial effects: a TBM construction track gap adaptive crossing walking device provided in the embodiment of the present application includes a shell, a walking module and a guide module. During use, the shell provided in the embodiment of the present application can be used as a connecting device of the device, and the walking module and the guide module can be connected to the shell. The walking module is used to drive the device forward. If the guide module encounters a track gap during the forward movement of the device, it will enter a working state and rotate, thereby playing a guiding role. Under the guiding effect, the guide assembly will automatically cross the track gap and connect to the next track and drive the walking device to cross the track gap, which solves the problem of discontinuity of the guide rail at the crossing trailer of the walking device, ensures the versatility of the automatic walking device, and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the exemplary embodiments below. The accompanying drawings are only for the purpose of illustrating exemplary embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0045] Figure 1 A schematic structural diagram of an angle of a TBM construction track gap adaptive spanning walking device according to an embodiment of the present application;

[0046] Figure 2 A schematic structural diagram from another angle of a TBM construction track gap adaptive spanning walking device according to an embodiment of the present application;

[0047] Figure 3 A schematic structural diagram from another angle of a TBM construction track gap adaptive spanning walking device according to an embodiment provided in the present application;

[0048] Figure 4 A schematic diagram of a guide module of a TBM construction track gap adaptive crossing walking device according to an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a braking module of a TBM construction track gap adaptive crossing walking device according to an embodiment provided in the present application.

[0050] in, Figures 1 to 5 The corresponding relationship between the reference numerals and the component names is as follows:

[0051] 100 shell, 101 triangular steel plate;

[0052] 110 walking module, 111 auxiliary shaft seat, 112 walking shaft, 113 first double sprocket, 114 walking wheel, 115 chain;

[0053] 120 guide module, 121 transverse guide wheel frame, 122 guide wheel, 123 guide wheel frame rotating shaft, 124 double cylinder seat, 125 guide cylinder telescopic arm, 126 horizontal rocker arm, 127 threaded hole gear, 128 vertical guide wheel frame;

[0054] 130 brake module, 131 vertical positioning shaft seat, 132 rocker shaft, 133 brake cylinder telescopic arm, 134 first vertical positioning rotating arm, 135 second vertical positioning rotating arm, 136 vertical tensioning wheel;

[0055] 140 hydraulic station;

[0056] 150 control module, 151 electric box I, 152 electric box II, 153 speed reducer, 154 motor, 155 intermediate shaft seat, 156 intermediate shaft, 157 second double sprocket;

[0057] 160 track gap monitoring module, 161 front laser rangefinder, 162 middle laser rangefinder, 163 rear laser rangefinder. DETAILED DESCRIPTION

[0058] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0059] like Figures 1 to 4 As shown, a TBM construction track gap adaptive spanning walking device proposed in an embodiment of the present application includes a shell 100; a walking module 110, which is connected to the shell 100, and the walking module 110 is used to cooperate with the TBM construction track; a guide module 120, which is connected to the shell 100, and the guide positioning width of the guide module 120 is equal to the middle groove width of the TBM construction track, the guide module 120 includes a guide positioning working state position and a non-working state position, and the guide module 120 includes at least one guide component; wherein, when the walking module 110 walks in the TBM construction track, the projection of the shell 100 on the track covers the projection of the walking module on the track, and at least part of the projection of at least one of the guide components 120 on the track exceeds the projection of the shell 100 on the track along the travel direction of the device.

[0060] A TBM construction track gap adaptive crossing walking device provided in the embodiment of the present application includes a shell 100, a walking module 110 and a guide module 120. During use, the shell 100 provided in the embodiment of the present application can be used as a connecting device of the device, and the walking module 110 and the guide module 120 can be connected to the shell. The walking module 110 is used to drive the device forward. If the guide module 120 encounters a track gap during the forward movement of the device, it will enter a working state and rotate, thereby playing a guiding role. Under the guiding effect, the guide component will automatically cross the track gap and connect to the next track and drive the walking device to cross the track gap, which solves the problem of discontinuity of the guide rail at the crossing trailer of the walking device, ensures the versatility of the automatic walking device, and improves work efficiency.

[0061] according to Figures 1 to 3 and Figure 5 As shown, in some examples, the TBM construction track joint adaptive spanning walking device also includes a track joint monitoring module 160 connected to the shell 100, and arranged between the walking module 110 and the guide assembly; the braking module 130 is arranged in the shell 100, and the braking module 130 is used to brake the device.

[0062] It is understandable that the rail gap monitoring module 160 will send information to the control module 160 when encountering a rail gap, so that the control module 160 controls the hydraulic station 150 to provide power to the brake module 150 to start decelerating the device, thereby preparing in advance and allowing the device to cross the rail gap.

[0063] according to Figures 1 to 4 As shown, in some examples, the guide assembly includes: a transverse guide wheel frame 121; two guide wheels 122, respectively arranged at the two ends of the transverse guide wheel frame 121; a guide wheel frame rotating shaft 123, connected to the transverse guide wheel frame 121; a first drive assembly, connected to the guide wheel frame rotating shaft 123, for driving the guide module 120 to switch between two states.

[0064] It can be understood that when the guide module 120 provided in the embodiment of the present application is in the normal forward state, the first drive component does not operate, and the line connecting the two guide wheels 122 is the axis direction of the walking device. At this time, the guide wheel 122 does not contact the C-shaped steel track to avoid collision during walking, and is in a non-working state; when guidance is required, the first drive component operates.

[0065] according to Figure 1 and Figure 2 and Figure 5As shown, in some examples, the braking module 130 includes: a second driving assembly, which is used to drive the tensioning assembly to brake when the device is braked, so as to increase the friction between the driving tensioning assembly and the TBM construction track to achieve a braking effect.

[0066] In this embodiment, when the track gap monitoring module 160 detects a track gap, the braking module 130 operates to drive the contact area between the tensioning assembly and the track to increase friction to achieve a deceleration or braking effect, thereby preparing the device to cross the track gap in advance.

[0067] like Figure 1 As shown, in some examples, the rail gap monitoring module 160 includes: a front laser rangefinder 161, arranged at the front end above the shell; a middle laser rangefinder 162, arranged at the middle position above the shell; and a rear laser rangefinder 163, arranged at the end above the shell.

[0068] It can be understood that the front guide wheel can be guided by the front laser rangefinder 161, the middle guide wheel can be guided by the middle laser rangefinder 162, and the rear laser rangefinder 163 is used to adjust all guide wheels into a non-working state, so as to achieve the purpose of crossing the track gap. Because the device can move forward and backward, the role of the guide wheel will also change. When the device moves backward, the rear guide wheel plays a guiding role, and the front guide wheel is used to adjust all guide wheels into a non-working state.

[0069] like Figures 1 to 3 As shown, in some examples, the walking modules are at least two groups: each group of the walking modules 110 includes: two auxiliary axle seats 111, which are arranged on the shell 100; two walking axles 112, which are arranged on the auxiliary axle seats 111, and walking wheels 114 are arranged on the outer sides of the walking axles 112.

[0070] In this embodiment, the walking module 110 in the embodiment of the present application also includes a chain 115 .

[0071] In this embodiment, the auxiliary shaft seat 111 is fixed on the threaded hole steel plate on the upper surface of the shell 100, the walking shaft 112 is installed on the auxiliary shaft seat 111, the first double sprocket 113 is installed and fixed on the walking wheel 114, and the walking wheel 114 is installed and fixed on both sides of the walking shaft 112, arranged symmetrically, and the walking wheel fits on the inner flange surface of the C-shaped steel track and can roll along the extension direction of the C-shaped steel track; the chain 115 is connected to the first double sprocket 113 on the two walking shafts 112 to form a walking device, which drives the device to walk.

[0072] like Figure 1 and Figure 2As shown, in some examples, the TBM construction track gap adaptive crossing walking device also includes:

[0073] The hydraulic station 140 is arranged in the middle of the shell; the control module 150 is used to receive the monitoring data of the rail gap monitoring module 160, and when the monitoring data indicates the existence of the rail gap, control the hydraulic station 140 to provide power to the first drive assembly and the second drive assembly.

[0074] In this embodiment, the control module also includes: an electric box I 151 connected to the lower right corner of the shell, the electric box I 151 is used to store control components such as computers and circuit boards, and is connected to the hydraulic station, motor 154, reducer 153, etc. through wires to control the walking of the TBM construction track gap adaptive crossing walking equipment; an electric box II 152 is connected to the lower left corner of the shell, the electric box II 152 is used to store control components of the automation equipment installed on the steel plate, etc., to control the operation of the automation equipment; the reducer 153 is installed below the threaded hole steel plate on the shell, and has transmission gears on both sides. The transmission gears on both sides can work separately, and the rotation speed of the transmission gears can be adjusted; the motor 154 is installed below the reducer 153 to provide power for the reducer 153; the intermediate shaft seat 155 is installed on the threaded hole steel plate on the shell, located above the hydraulic station 140; the intermediate shaft 156 is installed on the intermediate shaft seat 155; the second double sprocket 157 is installed on the intermediate shaft 156 to transmit power to the first double sprocket 113.

[0075] like Figures 1 to 4 As shown, in some examples, the first driving assembly includes: a linkage arm group, the linkage arm group is connected to the hydraulic station 140, and is used to drive the guide wheel frame shaft 123 to rotate.

[0076] In this embodiment, the linkage arm group also includes: a double cylinder seat 124, a guide cylinder telescopic arm 125, a horizontal rocker arm 126, a threaded hole gear 127, and a vertical guide wheel frame 128. The double cylinder seat 124 is installed and fixed on the threaded hole steel plate on the upper surface of the shell. One end of the guide cylinder telescopic arm 125 is fixed by the double cylinder seat 124, and the other end is connected to the circular hole on the steel plate of the horizontal rocker arm 126. The other end of the horizontal rocker arm 126 is a hollow cylinder, and the guide wheel frame shaft 123 is inserted into the hollow part. The outer side of the cylinder is installed on the threaded hole gear 127. The vertical guide wheel frame 128 is fixed on the shell 100, and the hollow part is inserted into the guide wheel frame shaft 123 and fixed.

[0077] In this technical solution, the computer in the electric box I 151 is connected to the hydraulic pressure through wires and sends commands, and the hydraulic station 140 is connected to the guide cylinder telescopic arm 125 through oil pipes, and the telescopic movement of the guide cylinder telescopic arm 125 is controlled according to the commands of the computer in the electric box I 151. When the length of the guide cylinder telescopic arm 125 changes, since one end of the horizontal rocker arm 126 is fixed to the guide cylinder telescopic arm 125, and the other end of the horizontal rocker arm 126 is fixed to the guide wheel frame shaft 123, and since the vertical guide wheel frame 128 is fixed to the housing 100, thereby fixing the entire guide wheel frame shaft 123 and related parts on the guide wheel frame shaft 123, one end of the horizontal rocker arm 126 is fixed. One end of the horizontal rocker arm 126 cannot move, while the other end moves forward and backward following the guide cylinder telescopic arm 125, causing the fixed end of the horizontal rocker arm 126 to maintain balance only by rotation. When the horizontal rocker arm 126 rotates, the guide wheel frame shaft 123 rotates along with it, further causing the transverse guide wheel frame 121 and the guide wheel on the guide wheel frame shaft 123 to rotate, thereby achieving the function of guide wheel rotation.

[0078] like Figure 1 and Figure 5 As shown, in some examples, the second drive assembly includes: a vertical positioning shaft seat 131, disposed in the housing 100; a rocker shaft 132, disposed on the vertical positioning shaft seat 131; a brake cylinder telescopic arm 133, one end of which is connected to the housing 100; a first vertical positioning rotating arm 134, one end of which is connected to the brake cylinder telescopic arm 133; a second vertical positioning rotating arm 135, one end of which is connected to the rocker shaft 132; and a vertical tensioning wheel 136, connected between the first vertical positioning rotating arm 134 and the second vertical positioning rotating arm 135.

[0079] In this embodiment, the computer in the electric box I 151 is connected to the hydraulic station 140 through wires and sends commands. The hydraulic station 140 is connected to the brake cylinder telescopic arm 133 through oil pipes, and the telescopic movement of the brake cylinder telescopic arm 133 is controlled according to the commands of the computer in the electric box I 151. When the brake cylinder 133 is extended and retracted, since one end of the vertical positioning shaft 131 is connected to the brake cylinder telescopic arm 133, this end must move upward together. The vertical positioning shaft seat 131 is fixed on the housing 100, so the rocker shaft 132 installed on the vertical positioning shaft seat 131 cannot move either. The other end of the second vertical positioning arm 135 is connected to the vertical positioning shaft seat 131 through the rocker shaft 132, so this end cannot move. One end of the second vertical positioning arm 135 is fixed, and the other end moves upward, so the angle between the two ends of the first vertical positioning arm and the second vertical positioning arm becomes smaller, and the vertical tensioning wheel 136 moves upward. When the moving distance reaches a certain extent, the vertical tension wheel 136 will squeeze the lower surface of the C-shaped steel track to achieve a braking effect. When the brake cylinder telescopic arm 133 is shortened, the vertical tension wheel 136 moves downward with the first vertical positioning rotating arm 134, leaving the C-shaped steel track, and the braking effect disappears.

[0080] like Figure 1 and Figure 2 As shown, in some examples, the guide module 120 includes three guide components, wherein at least one of the guide components is disposed between two groups of the walking modules.

[0081] In this embodiment, if the monitoring distance of the front laser rangefinder 161 suddenly increases, when the distance suddenly increases, it means that there is no guide rail above the front laser rangefinder 161, and the front guide wheel is located in the gap. The walking device continues to move forward until the detection distance of the front laser rangefinder 161 returns to the normal range. At this time, there is a C-shaped steel guide rail above the front laser rangefinder 161, indicating that the front guide wheel has passed the gap. At this time, the electric box I 151 sends a signal to control the hydraulic station 140, and the hydraulic station 140 controls the extension or shortening of the guide cylinder telescopic arm 125 to drive the horizontal rocker arm 126 to move, further causing the front guide wheel to rotate, and stop extending or shortening when the direction of the line connecting the two guide wheels is perpendicular to the axis of the C-shaped steel track. At this time, the front guide wheel plays a guiding role and enters the working state; if the monitoring distance of the middle laser rangefinder 162 suddenly increases, the middle guide wheel is located in the gap at this time, and the walking device continues to move forward until the detection distance of the middle laser rangefinder 162 returns to the normal range. At this time, the middle guide wheel has passed the gap, and the above steps are repeated to make the connecting direction of the middle guide wheel perpendicular to the axis of the C-shaped steel track. At this time, the middle guide wheel plays a guiding role and enters the working state; if the monitoring distance of the rear laser rangefinder 163 suddenly increases, the walking device continues to move forward until the detection distance of the rear laser rangefinder 163 returns to the normal range. At this time, the entire walking device passes through the gap and sends a signal again to control the movement of the guide cylinder telescopic arm 125, so that the front and middle guide wheels are reset to return to the normal forward state, enter the non-working state, and complete the walking across the track gap.

[0082] In summary, the embodiments of the present invention can carry the automated installation equipment and move freely across the track gap on the TBM track, thereby avoiding the problem of the equipment being stuck in the track gap and improving work efficiency.

[0083] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0085] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0086] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A TBM construction track joint adaptive crossing walking device, characterized in that: include: case; A walking module connected to the housing, the walking module being used to cooperate with the TBM construction track; A guide module connected to the housing, wherein the guide positioning width of the guide module is equal to the width of the middle groove of the TBM construction track, the guide module includes a guide positioning working state position and a non-working state position, and the guide module includes at least one guide assembly; Wherein, when the walking module walks in the TBM construction track, the projection of the shell on the track covers the projection of the walking module on the track, and at least part of the projection of at least one of the guide components on the track exceeds the projection of the shell on the track along the travel direction of the device; A rail gap monitoring module, connected to the housing, and disposed between the walking module and the guide assembly; A braking module, disposed on the housing, and used for braking the device; The guide assembly comprises: Transverse guide wheel frame; Two guide wheels, respectively arranged at two ends of the transverse guide wheel frame; A guide wheel frame rotating shaft connected to the transverse guide wheel frame; A first driving assembly is connected to the guide wheel frame shaft and is used to drive the guide module to switch between two states; The brake module comprises: The second driving assembly is used to drive the tensioning assembly to brake when the device is braked, so as to increase the friction between the driving tensioning assembly and the TBM construction track to achieve a braking effect.

2. The device according to claim 1, characterized in that: The rail gap monitoring module comprises: A front laser rangefinder is arranged at the front end above the housing; A middle laser rangefinder is arranged in the middle position above the housing; The rear laser rangefinder is arranged at the upper end of the shell.

3. The device according to claim 1, characterized in that: The walking modules are at least two groups: Each group of walking modules includes: Two auxiliary shaft seats are arranged on the housing; Two walking shafts are arranged on the auxiliary shaft seat, and walking wheels are arranged on the outer sides of the walking shafts; The guide module includes three guide components, wherein at least one guide component is arranged between two groups of walking modules.

4. The device according to claim 1, characterized in that: Also includes: A hydraulic station is arranged in the housing; The control module is used to receive the monitoring data of the rail gap monitoring module and control the hydraulic station to provide power for the first drive assembly and the second drive assembly.

5. The device according to claim 4, characterized in that: The first driving assembly comprises: A linkage arm group, wherein the linkage arm group is connected to the hydraulic station and is used to drive the guide wheel frame shaft to rotate.

6. The device according to claim 1, characterized in that: The second drive assembly includes: A vertically positioned rotating shaft seat is disposed in the housing; A rocker arm shaft, arranged on the vertical positioning rotating shaft seat; A brake cylinder telescopic arm, one end of which is connected to the housing; A first vertical positioning rotating arm, one end of which is connected to the telescopic arm of the brake cylinder; A second vertical positioning rotating arm, one end of which is connected to the rocker arm shaft; A vertical tensioning wheel is connected between the first vertical positioning rotating arm and the second vertical positioning rotating arm.

7. A TBM construction track joint adaptive crossing walking method, characterized in that: A TBM construction track joint adaptive crossing walking device used in any one of claims 1 to 6.

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