A TBM tunnel construction rail transport equipment anti-collision device and its working method

Abstract

The present invention provides a collision avoidance device for rail transport equipment in TBM tunnel construction and a working method thereof, belonging to the technical field of collision avoidance devices. The device comprises a mounting plate; a camera frame, wherein the camera frame is arranged on one side of the mounting plate, a mounting groove is formed at a side end of the camera frame, the mounting groove is communicated with an inner wall of the camera frame, a glass cover is rotatably connected in the mounting groove, a camera is arranged in the glass cover, the camera is connected to the inner wall of the camera frame, and a cleaning mechanism is provided between the inner walls of the camera frame for removing dust from the surface of the glass cover. When a turn is encountered, a laser rangefinder is finely adjusted left and right by a second motor, so that a laser point projected by the laser rangefinder moves left and right and is within a standard circle range, so that the laser emitted by the laser rangefinder can accurately track the rail transport equipment in front, thereby realizing real-time distance measurement between the collision avoidance device and the transport equipment in the same direction as the front, realizing early braking and deceleration of the rail transport equipment, and preventing collisions between the rail transport equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of anti-collision devices, and in particular relates to an anti-collision device for rail transport equipment in TBM tunnel construction and a working method thereof. Background Art

[0002] TBMs are tunnel boring machines, which can be divided into open tunnel boring machines and shield machines. Tunneling machines (TBMs) perform tunneling, support, and mucking operations simultaneously and continuously. They are factory-based, assembly-line tunnel construction equipment that integrates mechanical, electrical, hydraulic, optical, and pneumatic systems. They offer advantages such as high tunneling speed, environmental friendliness, and high overall efficiency. They can construct long, deep tunnels in complex terrains, where traditional drilling and blasting methods are difficult. Their application is rapidly increasing in tunnel projects in China's railway, hydropower, transportation, mining, and municipal engineering sectors.

[0003] Tunnels are engineering structures buried in the ground, a form of human use of underground space. Tunnels can be categorized as transportation tunnels, hydraulic tunnels, municipal tunnels, mining tunnels, and military tunnels.

[0004] When conducting tunnel excavation mainly using TBM, prefabricated curved cement blocks are required to provide auxiliary support for the tunnel, and rail transportation is used to transport the curved cement blocks. During the rail transportation operation, the rail transportation equipment has a long braking distance during transportation because the curved cement blocks are heavy structural parts. The tunnel is not straight throughout, resulting in local tunnel curvature, so that the laser emitted by the anti-collision device manufactured based on the laser ranging principle is blocked by the inner wall of the tunnel, and the rail transportation equipment cannot perform real-time distance measurement with the transportation equipment in the same direction as the front, resulting in the rail transportation equipment being unable to brake and slow down in advance, and unable to prevent collisions between rail transportation equipment. For this reason, we propose an anti-collision device for rail transportation equipment in TBM tunnel construction and a working method thereof. Summary of the Invention

[0005] The purpose of the present invention is to provide a TBM tunnel construction rail transport equipment anti-collision device and a working method thereof, aiming to solve the problem that due to the curvature of the tunnel itself, the laser emitted by the anti-collision device manufactured based on the laser ranging principle is blocked by the inner wall of the tunnel, making it impossible for the rail transport equipment to perform real-time distance measurement with the transport equipment in the same direction as the front, resulting in the rail transport equipment being unable to brake and decelerate in advance, and unable to prevent collisions between rail transport equipment.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An anti-collision device for rail transport equipment for TBM tunnel construction, comprising a mounting plate;

[0008] A camera frame, the camera frame being arranged on one side of the mounting plate, a mounting slot being provided at a side end of the camera frame, the mounting slot being connected to an inner wall of the camera frame, a glass cover being rotatably connected in the mounting slot, a camera being arranged in the glass cover, the camera being connected to the inner wall of the camera frame, and a cleaning mechanism being provided between the inner walls of the camera frame for removing dust from the surface of the glass cover;

[0009] A laser rangefinder is provided on one side of the mounting plate, and a swing frame is provided on the outer cover of the laser rangefinder;

[0010] The adjusting mechanism is arranged between the mounting plate and the swing frame, and the adjusting mechanism is connected with the camera frame and the laser rangefinder to move the laser rangefinder.

[0011] As a preferred solution of the present invention, the adjustment mechanism includes a lifting assembly, a driving assembly, a limiting assembly and a swinging assembly, the lifting assembly is arranged between the mounting plate and the swinging frame, the lifting assembly is connected to the camera frame, the swinging assembly is arranged in the swinging frame, the swinging assembly is connected to the laser rangefinder, the driving assembly is arranged at the side end of the swinging frame, the driving assembly is connected to the swinging assembly, the limiting assembly is arranged at the side end of the swinging frame, and the limiting assembly is connected to the swinging assembly.

[0012] As a preferred solution of the present invention, the lifting assembly includes a lifting box, a limiting slot, a screw rod, an extension rod, a limiting block, a slide rail, a telescopic rod, a guide block, a slider and a fourth motor, the lifting box is fixedly connected to the side end of the mounting plate, the limiting slots are provided with two, the two limiting slots are opened on the inner wall of the lifting box, the screw rod is rotatably connected between the inner walls of the lifting box, the fourth motor is fixedly connected to the top of the lifting box, the output end of the fourth motor is connected to the screw rod, the slider is sleeved on the circumferential surface of the screw rod, the limiting blocks are provided with two, the two limiting blocks slide between the inner walls of the two limiting slots, the two limiting blocks are both connected to the slider, the extension rod is fixed and movably inserted at the bottom of the lifting box, the top of the extension rod extends into the lifting box, and the extending end of the extension rod is connected to the slider, the slide rail is fixedly connected to the side end of the lifting box, the telescopic rod is sleeved on the surface of the slide rail, the telescopic rod is fixedly connected to the swing frame, the guide block slides between the inner walls of the slide rail, and the guide block is connected to the telescopic rod.

[0013] As a preferred solution of the present invention, the swing assembly includes a swing groove, a swing frame, a rotating frame, a second motor, a brush block and a swing rod, the swing frame is sleeved on the circumferential surface of the laser rangefinder, and the swing frame is rotatably connected between the inner walls of the swing frame through a rotating shaft, the rotating shafts on both sides of the swing frame extend to the two side ends of the swing frame, the rotating frame is rotatably connected between the inner walls of the swing frame, and the rotating frame is connected to the laser rangefinder, the second motor is fixedly connected to the top of the swing frame, the output end of the second motor extends into the swing frame, and the output end of the second motor is connected to the rotating frame, two swing grooves are provided, and the two swing grooves are opened at the two side ends of the swing frame, the swing rod is fixedly connected to the side ends of the swing frame, and the swing rod slides in the two swing grooves, and the brush block is fixedly connected between the inner walls of the swing frame.

[0014] As a preferred solution of the present invention, the driving assembly includes a gear cover, a third motor, a third driving gear and a third driven gear, the gear cover is fixedly connected to the side end of the swing frame, the third driven gear is arranged in the gear cover, the third driven gear is fixedly connected to a rotating shaft, the third driving gear is arranged between the inner walls of the gear cover, the third driving gear is meshed with the third driven gear, the third motor is fixedly connected to the side end of the gear cover, the output end of the third motor extends into the gear cover, and the output end of the third motor is connected to the third driving gear.

[0015] As a preferred solution of the present invention, the limiting assembly includes a ratchet cover, a ratchet, a pawl, an arc-shaped groove and a second electric push rod, the ratchet cover is fixedly connected to the side end of the swing frame, the ratchet is arranged in the ratchet cover, the ratchet is connected to another rotating shaft, the pawl is rotatably connected to the side end of the swing frame, and the pawl is engaged with the ratchet, the arc-shaped groove is opened at the side end of the ratchet cover, the second electric push rod is fixedly connected to the side end of the ratchet cover, the output end of the second electric push rod slides in the arc-shaped groove, and the output end of the second electric push rod is rotatably connected to the pawl.

[0016] As a preferred solution of the present invention, the cleaning mechanism includes a first motor, a first driving gear, a first driven gear, a dust removal sleeve, a linear groove, an electrostatic dust removal brush and a first electric push rod, the first driven gear is rotatably connected between the inner walls of the camera frame, the first driven gear is connected to the glass cover, the first driving gear is arranged between the inner walls of the camera frame, the first motor is fixedly connected to the top of the camera frame, the output end of the first motor extends into the camera frame, and the output end of the first motor is connected to the first driving gear, the dust removal sleeve is fixedly connected to the inner wall of the camera frame, and the dust removal sleeve is communicated with the mounting groove, the electrostatic dust removal brush is rotatably connected between the inner walls of the dust removal sleeve, the linear groove is opened at the side end of the dust removal sleeve, the first electric push rod is fixedly connected to the side end of the dust removal sleeve, the output end of the first electric push rod slides between the inner walls of the dust removal sleeve, and the output end of the first electric push rod is rotatably connected to the electrostatic dust removal brush.

[0017] As a preferred solution of the present invention, an operation terminal is fixedly mounted on the side end of the lifting box.

[0018] As a preferred solution of the present invention, a plurality of bolt holes are provided on the side end of the mounting plate.

[0019] A method for using a collision prevention device for rail-mounted transport equipment in TBM tunnel construction comprises the following steps:

[0020] S1. Installation:

[0021] The device is installed on the rear rail transport equipment of two rail transport equipment running in the same direction on the same track by bolts, so that the laser rangefinder can measure the distance between the two rail transport equipment in real time, completing the installation of the anti-collision device for rail transport equipment in TBM tunnel construction.

[0022] S2. Trigger program:

[0023] When two rail transport equipment are moving in the same tunnel, the camera takes a photo of the vehicle in front every 30 seconds. Multiple photos are arranged in time. When the two rail transport equipment encounter a turn, downhill or climb, the photos taken show that the laser rangefinder's laser point is not within the standard circle of the rail transport equipment in front. The distance between the two rail transport equipment cannot be measured in real time. When maintaining a safe distance between the two rail transport equipment, the operation terminal triggers the adjustment program of the laser rangefinder to implement the triggering program.

[0024] S3. Altitude calibration:

[0025] When encountering a downhill slope or a climb of less than 35 degrees, the operation terminal starts the fourth motor, and the output end of the fourth motor drives the screw to rotate, and the screw drives the slider to move by sliding with the slider, and the slider drives the extension rod to move up and down, and the extension rod drives the telescopic rod to move up and down, and the telescopic rod drives the swing frame to move up and down, and the swing frame drives the laser rangefinder to move up and down through the swing assembly, so that the laser rangefinder is raised and lowered, so that the laser of the laser rangefinder is irradiated onto the rail transport equipment in front, so that the laser emitted by the laser rangefinder is conveniently adjusted, so that the laser point emitted by the laser rangefinder moves up and down within the range of the standard circle, thereby realizing the height calibration of the laser rangefinder;

[0026] S4, swing up and down:

[0027] When the slope encountered when going downhill or climbing is greater than 35 degrees, the operation terminal is powered on and starts the third motor, the third motor drives the third driving gear to rotate, the engagement drives the third driven gear to rotate, the third driven gear drives the swing frame to rotate, the swing frame drives the rotating frame to swing, and then swings the laser rangefinder. At the same time, during the swinging process of the swing frame, the two swing slots and the swing rod slide and cooperate to lock the swing of the swing frame to the extreme swing angle. When the swing frame swings to the required angle, the second electric push rod pushes the pawl close to the ratchet, and the pawl engages with the ratchet to lock the swing of the swing frame. When the swing frame needs to be swung, the second electric push rod pulls the pawl to move, releases the lock on the pawl, and adopts a large swing, so that the laser point emitted by the laser rangefinder moves up and down within the range of the standard circle, thereby realizing the up and down swing of the laser rangefinder;

[0028] S5, left and right fine adjustment:

[0029] When encountering a turn, the laser point emitted by the laser rangefinder is not within the standard circle range of the rail transport equipment in front, the second motor is started, and the output end of the second motor drives the rotating frame to rotate, and the rotating frame drives the laser rangefinder to rotate at a micro angle, so that the laser point emitted by the laser rangefinder moves left and right, ensuring that the laser point is within the standard circle range, and realizing left and right fine adjustment of the laser rangefinder;

[0030] S6. Remove dust:

[0031] Dust in the tunnel is very easy to adhere to the surface of the glass cover and the lens of the laser rangefinder. When dust adheres to the surface of the glass cover and the picture taken by the camera is blurred, the first motor is started, and the output end of the first motor drives the first driving gear to rotate, and the first driving gear drives the glass cover to rotate. The electrostatic dust removal brush is energized to generate static electricity, and the first electric push rod is energized and started. The output end of the second motor pushes the dust removal sleeve close to the rotating glass cover to remove the static dust on the surface of the glass cover, and the brushed dust is discharged from the bottom of the dust removal sleeve. When the laser emitted by the laser rangefinder is blurred, the second motor is started, and the output end of the second motor drives the rotating frame to rotate. The rotating frame drives the laser rangefinder to contact the brush block, and the brush block brushes the dust off the lens of the laser rangefinder, thereby removing dust from the laser rangefinder and the glass cover.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. In this solution, the laser rangefinder is moved by the lifting assembly, driving assembly, limiting assembly and swinging assembly in the adjustment mechanism, so that when the two rail transport equipment encounters a turn, a downhill slope and a climb, when the downhill slope and the climb are less than 35 degrees, the lifting assembly is used to calibrate the height of the laser rangefinder so that the laser point emitted by the laser rangefinder moves up and down within the standard circle. When the slope encountered in the downhill slope and the climb is greater than 35 degrees, the driving assembly, the swinging assembly and the limiting assembly are used to swing the laser rangefinder significantly so that the laser point emitted by the laser rangefinder moves up and down within the standard circle. When encountering a turn, the second motor is used to fine-tune the laser rangefinder left and right so that the laser point emitted by the laser rangefinder moves left and right within the standard circle. This facilitates the laser emitted by the laser rangefinder to accurately track the rail transport equipment in front, realizes real-time distance measurement between the anti-collision device and the transport equipment in the same direction, realizes the rail transport equipment to brake and slow down in advance, and prevents collisions between rail transport equipment.

[0034] 2. In this solution, dust in the tunnel is very easy to adhere to the surface of the glass cover and the laser rangefinder lens. When dust adheres to the surface of the glass cover and the image captured by the camera is blurred, the first motor is started, and the output end of the first motor drives the first driving gear to rotate. The first driving gear drives the glass cover to rotate, the electrostatic dust removal brush is energized to generate static electricity, the first electric push rod is energized and started, and the output end of the second motor pushes the dust removal sleeve close to the rotating glass cover, electrostatic dust removal on the surface of the glass cover is carried out, and the brushed dust is discharged from the bottom of the dust removal sleeve. When the laser emitted by the laser rangefinder is blurred, the second motor is started, and the output end of the second motor drives the rotating frame to rotate. The rotating frame drives the laser rangefinder to contact the brush block, and the brush block brushes dust off the lens of the laser rangefinder, thereby removing dust from the laser rangefinder and the glass cover, preventing dust from adhering to the surface of the glass cover and the laser rangefinder lens, improving the clarity of the image captured by the camera and the laser emitted by the laser rangefinder, reducing the possibility of device failure due to dust interference, and avoiding collisions due to dust interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 This is a first-perspective perspective view of an anti-collision device for rail-mounted transport equipment for TBM tunnel construction according to the present invention;

[0037] Figure 2 This is a second perspective view of a collision prevention device for rail transport equipment for TBM tunnel construction according to the present invention;

[0038] Figure 3 This is a first half cross-sectional view of a collision prevention device for rail transport equipment for TBM tunnel construction according to the present invention;

[0039] Figure 4 This is a second half cross-sectional view of an anti-collision device for rail transport equipment for TBM tunnel construction according to the present invention;

[0040] Figure 5 This is an exploded view of the structure of a collision prevention device for rail transport equipment for TBM tunnel construction according to the present invention;

[0041] Figure 6 A half-section diagram of an adjustment mechanism of an anti-collision device for rail-mounted transport equipment for TBM tunnel construction according to the present invention;

[0042] Figure 7 This is an exploded view of the adjustment mechanism of an anti-collision device for rail transport equipment for TBM tunnel construction according to the present invention;

[0043] Figure 8A half-section diagram of a dust removal mechanism of an anti-collision device for rail transport equipment for TBM tunnel construction according to the present invention;

[0044] Figure 9 This is an exploded view of the dust removal mechanism of the anti-collision device for rail transport equipment for TBM tunnel construction according to the present invention;

[0045] Figure 10 This is an exploded view of the lifting mechanism of an anti-collision device for rail-mounted transport equipment for TBM tunnel construction according to the present invention.

[0046] Figure: 1, mounting plate; 2, lifting box; 3, limit slot; 4, screw; 5, extension rod; 6, limit block; 7, slide rail; 8, telescopic rod; 9, guide block; 10, slider; 11, camera frame; 12, mounting slot; 13, glass cover; 14, camera; 15, first motor; 16, first driving gear; 17, first driven gear; 18, dust cover; 19, linear slot; 20, electrostatic dust removal brush; 21, first motor Push rod; 22. Swing frame; 23. Swing slot; 24. Swing frame; 25. Rotating frame; 26. Second motor; 27. Laser rangefinder; 28. Gear cover; 29. ​​Third motor; 30. Third driving gear; 31. Third driven gear; 32. Swing lever; 33. Ratchet cover; 34. Ratchet; 35. Pawl; 36. Arc slot; 37. Second electric push rod; 38. Brush block; 39. Fourth motor; 40. Operation terminal. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] Example 1

[0049] Reference Figure 1 - Figure 10 , a TBM tunnel construction rail transport equipment anti-collision device, comprising:

[0050] Mounting plate 1;

[0051] A camera frame 11 is provided on one side of the mounting plate 1. A mounting slot 12 is provided at a side end of the camera frame 11. The mounting slot 12 is connected to the inner wall of the camera frame 11. A glass cover 13 is rotatably connected to the mounting slot 12. A camera 14 is provided in the glass cover 13. The camera 14 is connected to the inner wall of the camera frame 11. A cleaning mechanism is provided between the inner walls of the camera frame 11 to remove dust from the surface of the glass cover 13.

[0052] Laser rangefinder 27, laser rangefinder 27 is arranged on one side of the mounting plate 1, and the outer cover of laser rangefinder 27 is provided with a swing frame 22;

[0053] The adjusting mechanism is arranged between the mounting plate 1 and the swing frame 22 . The adjusting mechanism is connected to the camera frame 11 and the laser rangefinder 27 to move the laser rangefinder 27 .

[0054] In the present invention, the mounting plate 1 is used to support and fix the lifting box 2, the camera frame 11 is used to support and fix the glass cover 13, the camera 14 and the cleaning mechanism, the glass cover 13 is used to seal and protect the camera 14, and the transparent material of the glass cover 13 does not affect the shooting of the camera 14, the camera 14 is fixedly connected to the inner wall of the camera frame 11, the camera 14 is used to take pictures, the cleaning mechanism is used to brush off the dust attached to the surface of the glass cover 13, the laser rangefinder 27 is used to emit laser, the swing frame 22 is used to support the swing mechanism, and the adjustment mechanism is connected to the camera frame 11 and the laser rangefinder 27 to move the laser rangefinder 27.

[0055] The adjustment mechanism includes a lifting assembly, a driving assembly, a limiting assembly and a swinging assembly. The lifting assembly is arranged between the mounting plate 1 and the swinging frame 22, the lifting assembly is connected to the camera frame 11, the swinging assembly is arranged in the swinging frame 22, the swinging assembly is connected to the laser rangefinder 27, the driving assembly is arranged at the side end of the swinging frame 22, the driving assembly is connected to the swinging assembly, the limiting assembly is arranged at the side end of the swinging frame 22, and the limiting assembly is connected to the swinging assembly.

[0056] In the present invention, the lifting mechanism is used to adjust the height of the laser rangefinder 27, the driving assembly is used to provide power for the swing of the laser rangefinder 27, the swing assembly is used to limit the swing distance of the laser rangefinder 27, and the limit assembly is used to lock the swing of the laser rangefinder 27.

[0057] The lifting assembly includes a lifting box 2, a limiting groove 3, a screw rod 4, an extension rod 5, a limiting block 6, a slide rail 7, a telescopic rod 8, a guide block 9, a slider 10 and a fourth motor 39. The lifting box 2 is fixedly connected to the side end of the mounting plate 1. There are two limiting grooves 3. The two limiting grooves 3 are opened on the inner wall of the lifting box 2. The screw rod 4 is rotatably connected between the inner walls of the lifting box 2. The fourth motor 39 is fixedly connected to the top of the lifting box 2. The output end of the fourth motor 39 is connected to the screw rod 4. The slider 10 is sleeved on the circumferential surface of the screw rod 4. The limiting Two positioning blocks 6 are provided, and the two limiting blocks 6 slide between the inner walls of the two limiting grooves 3. The two limiting blocks 6 are both connected to the slider 10. The extension rod 5 is fixedly and movably inserted at the bottom of the lifting box 2. The top of the extension rod 5 extends into the lifting box 2, and the extended end of the extension rod 5 is connected to the slider 10. The slide rail 7 is fixedly connected to the side end of the lifting box 2. The telescopic rod 8 is sleeved on the surface of the slide rail 7. The telescopic rod 8 is fixedly connected to the swing frame 22. The guide block 9 slides between the inner walls of the slide rail 7, and the guide block 9 is connected to the telescopic rod 8.

[0058] In the present invention, the lifting box 2 is used to support the fixed camera frame 11, the operating terminal 40 and the fourth motor 39. At the same time, the lifting box 2 is used to accommodate the slider 10 and the screw rod 4. The two limit grooves 3 are opened to accommodate the sliding of the two limit blocks 6. The screw rod 4 drives the slider 10 to lift and lower by sliding with the slider 10. The fourth motor 39 is used to drive the screw rod 4 to rotate, and then provide power for the lifting of the slider 10. The slider 10 is used to drive the extension rod 5 to lift and lower. The two limit blocks 6 slide with the two limit grooves 3 to guide and limit the movement of the slider 10. The extension rod 5 is used to drive the telescopic rod 8 to lift and lower. The telescopic rod 8 is used to support the fixed swing frame 22. At the same time, the telescopic rod 8 is used to drive the swing frame 22 to lift and lower. The guide block 9 guides and locks the movement of the telescopic rod 8 by sliding with the slide rail 7. At the same time, the swing frame 22 is auxiliary supported by the sliding cooperation of the slide rail 7 and the telescopic rod 8. When the rangefinder 27 is raised and lowered, the operation terminal 40 is powered on to start the fourth motor 39. The output end of the fourth motor 39 drives the screw rod 4 to rotate. The screw rod 4 drives the slider 10 to move by sliding with the slider 10. The slider 10 drives the extension rod 5 to rise and fall. The extension rod 5 drives the telescopic rod 8 to rise and fall. The telescopic rod 8 drives the swing frame 22 to rise and fall. The swing frame 22 drives the laser rangefinder 27 to rise and fall through the swing assembly, so that the laser rangefinder 27 is raised and lowered, so that the laser of the laser rangefinder 27 is irradiated onto the rail transport equipment in front, so that the laser emitted by the laser rangefinder 27 is conveniently adjusted so that the laser point emitted by the laser rangefinder 27 moves up and down within the standard circle range, thereby realizing the height calibration of the laser rangefinder 27, avoiding the laser rangefinder 27 being unable to measure the distance between the two rail transport equipment in real time when descending or climbing less than 35 degrees, and maintaining a safe distance between the two rail transport equipment.

[0059] The swing assembly includes a swing groove 23, a swing frame 24, a rotating frame 25, a second motor 26, a brush block 38 and a swing rod 32. The swing frame 24 is sleeved on the circumferential surface of the laser rangefinder 27, and the swing frame 24 is rotatably connected to the inner walls of the swing frame 22 through a rotating shaft. The rotating shafts on both sides of the swing frame 24 extend to the two side ends of the swing frame 22. The rotating frame 25 is rotatably connected to the inner walls of the swing frame 24, and the rotating frame 25 is connected to the laser rangefinder 27. The second motor 26 is fixedly connected to the top of the swing frame 24, and the output end of the second motor 26 extends into the swing frame 24, and the output end of the second motor 26 is connected to the rotating frame 25. There are two swing grooves 23, and the two swing grooves 23 are opened at the two side ends of the swing frame 22. The swing rod 32 is fixedly connected to the side ends of the swing frame 24, and the swing rod 32 slides in the two swing grooves 23. The brush block 38 is fixedly connected between the inner walls of the swing frame 24.

[0060] In the present invention, the swing frame 24 is rotatably connected to the swing frame 22 via a rotating shaft. The swing frame 24 is used to accommodate the rotation of the rotating frame 25. At the same time, the swing frame 24 is used to support and fix the second motor 26. The rotating frame 25 is used to accommodate and fix the laser rangefinder 27. The second motor 26 is used to drive the rotating frame 25 to rotate. The two swing grooves 23 are opened to accommodate the sliding of the swing rod 32. The swing rod 32 limits the swing limit of the swing frame 24 by sliding with the two swing grooves 23. The brush block 38 is used to brush away dust on the surface of the laser rangefinder 27. When encountering a turn, the laser point emitted by the laser rangefinder 27 is not within the standard circle range of the rail transport equipment in front, and the second motor 26 is started. The output end of the second motor 26 drives the rotating frame 25 to rotate, and the rotating frame 25 drives the laser rangefinder 27 to rotate at a micro-angle, so that the laser point emitted by the laser rangefinder 27 moves left and right, ensuring that the laser point moves left and right within the standard circle range, thereby achieving left and right fine-tuning of the laser rangefinder 27. At the same time, by rotating the laser rangefinder 27, the brush block 38 clears the dust on the surface of the laser rangefinder 27.

[0061] The driving assembly includes a gear cover 28, a third motor 29, a third driving gear 30 and a third driven gear 31. The gear cover 28 is fixedly connected to the side end of the swing frame 22. The third driven gear 31 is arranged in the gear cover 28. The third driven gear 31 is fixedly connected to a rotating shaft. The third driving gear 30 is arranged between the inner walls of the gear cover 28. The third driving gear 30 is meshed with the third driven gear 31. The third motor 29 is fixedly connected to the side end of the gear cover 28. The output end of the third motor 29 extends into the gear cover 28, and the output end of the third motor 29 is connected to the third driving gear 30.

[0062] In the present invention, the gear cover 28 is used to accommodate the third driving gear 30 and the third driven gear 31. The third driven gear 31 drives the third driving gear 30 to rotate by meshing with the third driving gear 30. The third driven gear 31 drives the swing frame 24 to rotate through a rotating shaft. The third motor 29 is used to drive the third driving gear 30 to rotate. During the up and down swinging of the laser rangefinder 27, the operation terminal 40 is powered on and started on the third motor 29. The third motor 29 drives the third driving gear 30 to rotate. 30 is driven by the third driven gear 31. The meshing drives the third driven gear 31 to rotate, the third driven gear 31 drives the swing frame 24 to rotate, the swing frame 24 drives the rotating frame 25 to swing, and then swings the laser rangefinder 27, so that the driving component provides power for the up and down swing of the laser rangefinder 27. The large-scale swing is used so that the laser point emitted by the laser rangefinder 27 moves up and down within the range of the standard circle, avoiding the laser rangefinder 27 from being unable to measure the distance between the two rail transport equipment when the slope is greater than 35 degrees. When going downhill or climbing, the distance between the two rail transport equipment is maintained at a safe distance.

[0063] The limiting assembly includes a ratchet cover 33, a ratchet 34, a pawl 35, an arc groove 36 and a second electric push rod 37. The ratchet cover 33 is fixedly connected to the side end of the swing frame 22. The ratchet 34 is arranged in the ratchet cover 33. The ratchet 34 is connected to another rotating shaft. The pawl 35 is rotatably connected to the side end of the swing frame 22, and the pawl 35 is engaged with the ratchet 34. The arc groove 36 is opened at the side end of the ratchet cover 33. The second electric push rod 37 is fixedly connected to the side end of the ratchet cover 33. The output end of the second electric push rod 37 slides in the arc groove 36, and the output end of the second electric push rod 37 is rotatably connected to the pawl 35.

[0064] In the present invention, the ratchet cover 33 is used to shield the ratchet 34 and the pawl 35 from dust. The ratchet 34 is used to be connected to another rotating shaft to realize the synchronous swing of the ratchet 34 and the swing frame 24. The pawl 35 is used to engage with the ratchet 34. The arc groove 36 is used to accommodate the sliding of the output end of the second electric push rod 37. The second electric push rod 37 is used to push the pawl 35 to swing. When the second electric push rod 37 pushes the pawl 35 to engage with the ratchet 34, the laser rangefinder 27 is locked from swinging up and down. When the second electric push rod 37 pulls the pawl 35 away from the ratchet 34, the lock on the laser rangefinder 27 is released from the swing frame 24. When the swing frame 24 is swung to the required angle, the second electric push rod 37 pushes the pawl 35 close to the ratchet 34, and the pawl 35 engages with the ratchet 34 to lock the swing of the swing frame 24. When the swing frame 24 needs to be swung, the second electric push rod 37 pulls the pawl 35 to move, releasing the lock on the pawl 35. By locking the swing frame 24, the laser rangefinder 27 is prevented from swinging again, so that the laser emitted by the laser rangefinder 27 can accurately track the rail transport equipment in front, realize the real-time distance measurement of the anti-collision device and the transport equipment in the same direction, realize the early braking and deceleration of the rail transport equipment, and prevent collisions between rail transport equipment.

[0065] The cleaning mechanism includes a first motor 15, a first driving gear 16, a first driven gear 17, a dust removal sleeve 18, a linear groove 19, an electrostatic dust removal brush 20 and a first electric push rod 21. The first driven gear 17 is rotatably connected between the inner walls of the camera frame 11. The first driven gear 17 is connected to the glass cover 13. The first driving gear 16 is set between the inner walls of the camera frame 11. The first motor 15 is fixedly connected to the top of the camera frame 11. The output end of the first motor 15 extends into the camera frame 11, and the first motor The output end of 15 is connected to the first driving gear 16, the dust removal sleeve 18 is fixedly connected to the inner wall of the camera frame 11, and the dust removal sleeve 18 is communicated with the mounting groove 12, the electrostatic dust removal brush 20 is rotatably connected between the inner walls of the dust removal sleeve 18, the linear groove 19 is opened at the side end of the dust removal sleeve 18, the first electric push rod 21 is fixedly connected to the side end of the dust removal sleeve 18, the output end of the first electric push rod 21 slides between the inner walls of the dust removal sleeve 18, and the output end of the first electric push rod 21 is rotatably connected to the electrostatic dust removal brush 20.

[0066] In the present invention, the first driven gear 17 is used to drive the glass cover 13 to rotate, the first driving gear 16 drives the first driven gear 17 to rotate by meshing with the first driven gear 17, the first motor 15 is used to drive the first driving gear 16 to rotate, the dust removal sleeve 18 is used to support and fix the electrostatic dust removal brush 20 and the first electric push rod 21, the electrostatic dust removal brush 20 is powered on and started to perform electrostatic dust removal on the spherical surface of the glass cover 13, the linear groove 19 is used to accommodate the sliding of the output end of the first electric push rod 21, and the first electric push rod 21 is used to push the electrostatic dust removal brush 20 by a small amplitude. The dust in the tunnel is very easy to adhere to the surface of the glass cover 13 and the lens of the laser rangefinder 27 When dust adheres to the surface of the glass cover 13 and the image captured by the camera 14 is blurred, the first motor 15 is started, and the output end of the first motor 15 drives the first driving gear 16 to rotate, and the first driving gear 16 drives the glass cover 13 to rotate, the electrostatic dust removal brush 20 is energized to generate static electricity, the first electric push rod 21 is energized and started, and the output end of the second motor 26 pushes the dust removal sleeve 18 close to the rotating glass cover 13, and the electrostatic dust on the surface of the glass cover 13 is removed. The dust brushed out is discharged from the bottom of the dust removal sleeve 18, thereby removing the dust on the surface of the glass cover 13, avoiding the interference of dust on the captured image, improving the clarity of the captured image, and increasing the practicality of the device.

[0067] An operation terminal 40 is fixedly mounted on the side end of the lifting box 2 .

[0068] In the present invention, the operation terminal 40 is electrically connected to the camera 14, the first motor 15, the electrostatic dust removal brush 20, the first electric push rod 21, the second motor 26, the laser rangefinder 27, the third motor 29, the second electric push rod 37, the fourth motor 39 and the operation terminal 40. The operation terminal 40 is assembled using electronic components purchased from the market according to actual needs. It has a built-in storage unit for storing operation programs, a built-in computing unit for supporting the operation of the device, and a built-in signal exchange unit for exchanging data with the braking system. By adjusting the speed of the rail transport equipment, a safe distance between the two rail transport equipment is maintained.

[0069] A plurality of bolt holes are formed on the side end of the mounting plate 1 .

[0070] In the present invention, a plurality of bolt holes are used to facilitate the insertion of bolts, thereby facilitating the installation of the device.

[0071] A method for using a collision prevention device for rail-mounted transport equipment in TBM tunnel construction comprises the following steps:

[0072] S1. Installation:

[0073] The device is installed on the rear rail transport equipment of two rail transport equipment running in the same direction on the same track by bolts, so that the laser rangefinder 27 can measure the distance between the two rail transport equipment in real time, completing the installation of the anti-collision device for rail transport equipment in TBM tunnel construction;

[0074] S2. Trigger program:

[0075] When two rail transport equipment are moving in the same tunnel, the camera 14 takes a photo of the leading vehicle every 30 seconds, and the multiple photos are arranged according to the time axis. When the two rail transport equipment encounter a turn, a downhill slope, or a climb, the photos taken show that the laser point emitted by the laser rangefinder 27 is not within the standard circle range of the leading rail transport equipment. The distance between the two rail transport equipment cannot be measured in real time. When a safe distance is maintained between the two rail transport equipment, the adjustment program of the laser rangefinder 27 in the operation terminal 40 is triggered to implement the triggering program;

[0076] S3. Altitude calibration:

[0077] When encountering a downhill slope or a climb of less than 35 degrees, the operation terminal 40 starts the fourth motor 39, and the output end of the fourth motor 39 drives the screw rod 4 to rotate, and the screw rod 4 drives the slider 10 to move by sliding with the slider 10, and the slider 10 drives the extension rod 5 to move up and down, and the extension rod 5 drives the telescopic rod 8 to move up and down, and the telescopic rod 8 drives the swing frame 22 to move up and down, and the swing frame 22 drives the laser rangefinder 27 to move up and down through the swing assembly, so that the laser rangefinder 27 is moved up and down, so that the laser of the laser rangefinder 27 is irradiated onto the rail transport equipment in front, so that the laser emitted by the laser rangefinder 27 is conveniently adjusted, so that the laser point emitted by the laser rangefinder 27 moves up and down within the standard circle range, thereby realizing the height calibration of the laser rangefinder 27;

[0078] S4, swing up and down:

[0079] When the slope of downhill and climbing is greater than 35 degrees, the operation terminal 40 is powered on and starts the third motor 29, the third motor 29 drives the third driving gear 30 to rotate, 30 drives the third driven gear 31 to rotate by meshing with the third driven gear 31, the third driven gear 31 drives the swing frame 24 to rotate, the swing frame 24 drives the rotating frame 25 to swing, and then the laser rangefinder 27 is swung. At the same time, during the swinging process of the swing frame 24, the two swing slots 23 and the swing rod 32 slide in cooperation with the swing The swing of the movable frame 24 is locked at an extreme swing angle. When the swing frame 24 swings to a required angle, the second electric push rod 37 pushes the pawl 35 close to the ratchet 34. The pawl 35 engages with the ratchet 34 to lock the swing of the swing frame 24. When the swing frame 24 needs to be swung, the second electric push rod 37 pulls the pawl 35 to move, releasing the lock on the pawl 35. A large swing is adopted so that the laser point emitted by the laser rangefinder 27 moves up and down within the standard circle, thereby realizing the up and down swing of the laser rangefinder 27.

[0080] S5, left and right fine adjustment:

[0081] When encountering a turn, the laser point emitted by the laser rangefinder 27 is not within the standard circle range of the rail transport equipment in front, and the second motor 26 is started. The output end of the second motor 26 drives the rotating frame 25 to rotate, and the rotating frame 25 drives the laser rangefinder 27 to rotate at a micro angle, so that the laser point emitted by the laser rangefinder 27 moves left and right to ensure that the laser point is within the standard circle range, thereby achieving fine-tuning of the laser rangefinder 27 left and right;

[0082] S6. Remove dust:

[0083] Dust in the tunnel easily adheres to the surface of the glass cover 13 and the lens of the laser rangefinder 27. When dust adheres to the surface of the glass cover 13 and the image captured by the camera 14 is blurred, the first motor 15 is started, and the output end of the first motor 15 drives the first driving gear 16 to rotate. The first driving gear 16 drives the glass cover 13 to rotate, and the electrostatic dust removal brush 20 is energized to generate static electricity. The first electric push rod 21 is energized and started, and the output end of the second motor 26 pushes the dust removal sleeve 18 close to the rotating glass cover 13, removing the static dust on the surface of the glass cover 13. The brushed dust is discharged from the bottom of the dust removal sleeve 18. When the laser emitted by the laser rangefinder 27 is blurred, the second motor 26 is started, and the output end of the second motor 26 drives the rotating frame 25 to rotate. The rotating frame 25 drives the laser rangefinder 27 to contact the brush block 38. The brush block 38 brushes dust off the lens of the laser rangefinder 27, thereby removing dust from the laser rangefinder 27 and the glass cover 13.

[0084] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A method for operating a collision avoidance device for rail transport equipment in TBM tunnel construction, characterized in that: include; Mounting plate (1); A camera frame (11), the camera frame (11) is arranged on one side of the mounting plate (1), a mounting groove (12) is provided at a side end of the camera frame (11), the mounting groove (12) is communicated with an inner wall of the camera frame (11), a glass cover (13) is rotatably connected in the mounting groove (12), a camera (14) is arranged in the glass cover (13), the camera (14) is connected to the inner wall of the camera frame (11), and a cleaning mechanism is provided between the inner walls of the camera frame (11) for removing dust from the surface of the glass cover (13); A laser rangefinder (27), the laser rangefinder (27) being arranged on one side of the mounting plate (1), and a swing frame (22) being provided on the outer cover of the laser rangefinder (27); An adjusting mechanism, the adjusting mechanism being arranged between the mounting plate (1) and the swing frame (22), the adjusting mechanism being connected to the camera frame (11) and the laser rangefinder (27) and being used to move the laser rangefinder (27); The regulating mechanism comprises a lifting assembly, a driving assembly, a limiting assembly and a swinging assembly, wherein the lifting assembly is arranged between the mounting plate (1) and the swinging frame (22), the lifting assembly is connected to the camera frame (11), the swinging assembly is arranged in the swinging frame (22), the swinging assembly is connected to the laser rangefinder (27), the driving assembly is arranged at the side end of the swinging frame (22), the driving assembly is connected to the swinging assembly, the limiting assembly is arranged at the side end of the swinging frame (22), and the limiting assembly is connected to the swinging assembly; The following steps are also included: S1. Installation: The device is installed on the rear rail transport equipment of two rail transport equipments running in the same direction on the same track by bolts, so that the laser rangefinder (27) can measure the distance between the two rail transport equipments in real time, thereby completing the installation of the anti-collision device for the rail transport equipment of the TBM tunnel construction; S2. Trigger program: When two rail transport equipments are moving in the same tunnel, the camera (14) takes a photo of the front vehicle every 30 seconds, and the multiple photos are arranged according to the time axis. When the two rail transport equipments encounter a turn, a downhill slope, or a climb, the photos taken show that the laser rangefinder (27) emits a laser point that is not within the standard circle range of the front rail transport equipment, and the distance between the two rail transport equipments cannot be measured in real time. When a safe distance is maintained between the two rail transport equipments, the adjustment program of the laser rangefinder (27) in the operation terminal (40) is triggered to realize the triggering program; S3. Altitude calibration: When encountering a downhill slope and a climb angle less than 35 degrees, the operation terminal (40) starts the fourth motor (39), and the output end of the fourth motor (39) drives the screw rod (4) to rotate, and the screw rod (4) drives the slider (10) to move by sliding with the slider (10), and the slider (10) drives the extension rod (5) to move up and down, and the extension rod (5) drives the telescopic rod (8) to move up and down, and the telescopic rod (8) drives the swing frame (22) to move up and down, and the swing frame (22) drives the laser rangefinder (27) to move up and down through the swing assembly, so that the laser rangefinder (27) is moved up and down, so that the laser of the laser rangefinder (27) is irradiated onto the rail transport equipment in front, and the laser emitted by the laser rangefinder (27) is conveniently adjusted, so that the laser point emitted by the laser rangefinder (27) moves up and down within the standard circle range, thereby achieving height calibration of the laser rangefinder (27); S4, swing up and down: When the slope of the downhill and climbing slope is greater than 35 degrees, the operation terminal (40) is powered on to start the third motor (29), and the third motor (29) drives the third driving gear (30) to rotate. The third driving gear (30) drives the third driven gear (31) to rotate by meshing with the third driven gear (31). The third driven gear (31) drives the swing frame (24) to rotate. The swing frame (24) drives the rotating frame (25) to swing, and then swings the laser rangefinder (27). At the same time, during the swinging process of the swing frame (24), the two swing slots (23) and the swing rod (32) slide. Cooperating with the locking of the swinging frame (24) to the extreme swinging angle, when the swinging frame (24) swings to the required angle, the second electric push rod (37) pushes the pawl (35) close to the ratchet (34), and the pawl (35) and the ratchet (34) engage to lock the swinging of the swinging frame (24). When the swinging frame (24) needs to be swung, the second electric push rod (37) pulls the pawl (35) to move, releases the lock of the pawl (35), and adopts a large swing, so that the laser point emitted by the laser rangefinder (27) moves up and down within the range of the standard circle, thereby realizing the up and down swinging of the laser rangefinder (27); S5, left and right fine adjustment: When a turn is encountered, the laser point emitted by the laser rangefinder (27) is not within the standard circle range of the rail transport equipment in front, and the second motor (26) is started. The output end of the second motor (26) drives the rotating frame (25) to rotate, and the rotating frame (25) drives the laser rangefinder (27) to rotate at a micro angle, so that the laser point emitted by the laser rangefinder (27) moves left and right, ensuring that the laser point is within the standard circle range, and realizing left and right fine adjustment of the laser rangefinder (27); S6. Remove dust: Dust in the tunnel is very easy to adhere to the surface of the glass cover (13) and the lens of the laser rangefinder (27). When dust adheres to the surface of the glass cover (13) and the image captured by the camera (14) is blurred, the first motor (15) is started, the output end of the first motor (15) drives the first driving gear (16) to rotate, the first driving gear (16) drives the glass cover (13) to rotate, the electrostatic dust removal brush (20) is energized to generate static electricity, the first electric push rod (21) is energized and started, and the output end of the second motor (26) pushes the dust removal sleeve (18) against the The glass cover (13) is nearly rotated, and electrostatic dust is removed from the surface of the glass cover (13). The dust brushed out is discharged from the bottom of the dust removal sleeve (18). When the laser emitted by the laser rangefinder (27) is blurred, the second motor (26) is started, and the output end of the second motor (26) drives the rotating frame (25) to rotate. The rotating frame (25) drives the laser rangefinder (27) to contact the brush block (38). The brush block (38) brushes the dust off the lens of the laser rangefinder (27), thereby removing dust from the laser rangefinder (27) and the glass cover (13).

2. The working method of a TBM tunnel construction rail transport equipment anti-collision device according to claim 1, characterized in that: The lifting assembly includes a lifting box (2), a limiting groove (3), a screw rod (4), an extension rod (5), a limiting block (6), a slide rail (7), a telescopic rod (8), a guide block (9), a slider (10) and a fourth motor (39), wherein the lifting box (2) is fixedly connected to the side end of the mounting plate (1), two limiting grooves (3) are provided, and the two limiting grooves (3) are opened on the inner wall of the lifting box (2), the screw rod (4) is rotatably connected between the inner walls of the lifting box (2), the fourth motor (39) is fixedly connected to the top of the lifting box (2), the output end of the fourth motor (39) is connected to the screw rod (4), the slider (10) is sleeved on the circumferential surface of the screw rod (4), and the Two limit blocks (6) are provided, and the two limit blocks (6) slide between the inner walls of the two limit grooves (3). The two limit blocks (6) are connected to the slider (10). The extension rod (5) is fixedly and movably inserted into the bottom of the lifting box (2). The top of the extension rod (5) extends into the lifting box (2), and the extension end of the extension rod (5) is connected to the slider (10). The slide rail (7) is fixedly connected to the side end of the lifting box (2). The telescopic rod (8) is sleeved on the surface of the slide rail (7). The telescopic rod (8) is fixedly connected to the swing frame (22). The guide block (9) slides between the inner walls of the slide rail (7), and the guide block (9) is connected to the telescopic rod (8).

3. The working method of a TBM tunnel construction rail transport equipment anti-collision device according to claim 2, characterized in that: The swing assembly includes a swing groove (23), a swing frame (24), a rotating frame (25), a second motor (26), a brush block (38) and a swing rod (32). The swing frame (24) is sleeved on the circumferential surface of the laser rangefinder (27), and the swing frame (24) is rotatably connected to the inner wall of the swing frame (22) through a rotating shaft. The rotating shafts on both sides of the swing frame (24) extend to the two side ends of the swing frame (22). The rotating frame (25) is rotatably connected to the inner wall of the swing frame (24), and the rotating frame (25) is connected to the laser rangefinder (27). The second motor (26) is fixedly connected to the top of the swing frame (24), the output end of the second motor (26) extends into the swing frame (24), and the output end of the second motor (26) is connected to the rotating frame (25), two swing grooves (23) are provided, and the two swing grooves (23) are opened at two side ends of the swing frame (22), the swing rod (32) is fixedly connected to the side end of the swing frame (24), and the swing rod (32) slides in the two swing grooves (23), and the brush block (38) is fixedly connected between the inner walls of the swing frame (24).

4. The operating method of the anti-collision device for rail transport equipment for TBM tunnel construction according to claim 3 is characterized in that: The driving assembly includes a gear cover (28), a third motor (29), a third driving gear (30) and a third driven gear (31), wherein the gear cover (28) is fixedly connected to the side end of the swing frame (22), the third driven gear (31) is arranged in the gear cover (28), the third driven gear (31) is fixedly connected to a rotating shaft, the third driving gear (30) is arranged between the inner walls of the gear cover (28), the third driving gear (30) is meshed with the third driven gear (31), the third motor (29) is fixedly connected to the side end of the gear cover (28), the output end of the third motor (29) extends into the gear cover (28), and the output end of the third motor (29) is connected to the third driving gear (30).

5. The operating method of the anti-collision device for rail transport equipment for TBM tunnel construction according to claim 4 is characterized in that: The limiting assembly includes a ratchet cover (33), a ratchet (34), a pawl (35), an arc groove (36) and a second electric push rod (37), wherein the ratchet cover (33) is fixedly connected to the side end of the swing frame (22), the ratchet (34) is arranged in the ratchet cover (33), the ratchet (34) is connected to another rotating shaft, the pawl (35) is rotatably connected to the side end of the swing frame (22), and the pawl (35) is engaged with the ratchet (34), the arc groove (36) is opened at the side end of the ratchet cover (33), the second electric push rod (37) is fixedly connected to the side end of the ratchet cover (33), the output end of the second electric push rod (37) slides in the arc groove (36), and the output end of the second electric push rod (37) is rotatably connected to the pawl (35).

6. The operating method of the anti-collision device for rail transport equipment for TBM tunnel construction according to claim 5, characterized in that: The cleaning mechanism comprises a first motor (15), a first driving gear (16), a first driven gear (17), a dust removal sleeve (18), a linear groove (19), an electrostatic dust removal brush (20) and a first electric push rod (21), wherein the first driven gear (17) is rotatably connected between the inner walls of the camera frame (11), the first driven gear (17) is connected to the glass cover (13), the first driving gear (16) is arranged between the inner walls of the camera frame (11), the first motor (15) is fixedly connected to the top of the camera frame (11), the output end of the first motor (15) extends into the camera frame (11), and the first motor (15) is connected to the inner wall of the camera frame (11). The output end of the machine (15) is connected to the first driving gear (16), the dust removal sleeve (18) is fixedly connected to the inner wall of the camera frame (11), and the dust removal sleeve (18) is communicated with the mounting groove (12), the electrostatic dust removal brush (20) is rotatably connected between the inner walls of the dust removal sleeve (18), the linear groove (19) is opened at the side end of the dust removal sleeve (18), the first electric push rod (21) is fixedly connected to the side end of the dust removal sleeve (18), the output end of the first electric push rod (21) slides between the inner walls of the dust removal sleeve (18), and the output end of the first electric push rod (21) is rotatably connected to the electrostatic dust removal brush (20).

7. The operating method of the anti-collision device for rail transport equipment for TBM tunnel construction according to claim 6, characterized in that: An operating terminal (40) is fixedly mounted on the side end of the lifting box (2).

8. The operating method of the anti-collision device for rail transport equipment for TBM tunnel construction according to claim 5, characterized in that: A plurality of bolt holes are provided on the side end of the mounting plate (1).

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