Positioning method for cutting assembly of heading machine and heading machine

Abstract

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

Description

Technical Field

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

[0002] Coal is one of the main energy sources in my country and plays an important role in ensuring the country's energy supply and security. The intelligentization of coal mines is of great significance to promoting the upgrading and development of the coal mining industry. The intelligent roadheader is the most important component of the intelligentization of coal mines. Its typical function is automatic cutting. In order to ensure the automatic cutting of the formed section, repair the top of the tunnel and reduce the number of machine moves, it is very important to ensure the positioning of the cutting arm.

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

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

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

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

[0007] Therefore, it is urgent to design a positioning method that can measure the lifting range of the cutting assembly of the tunnel boring machine with high precision, durability and stability. Summary of the invention

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

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

[0010] The second aspect of the present application is to provide a positioning method for a cutting assembly of a roadheader.

[0011] In view of this, according to the first aspect of the present application, a tunnel boring machine is proposed, comprising: a fuselage; a first rotating member, arranged at the front end of the fuselage; a cutting assembly, connected to the first rotating member and capable of swinging up and down under the action of the first rotating member; a first detection assembly, connected to the first rotating member, for detecting the lifting and lowering amplitude of the cutting assembly; and a control assembly, connected to the first detection assembly, for determining the final lifting and lowering amplitude of the cutting assembly based on the detection result of the first detection assembly.

[0012] Among them, the first detection component includes: a first gear, which is connected to the first rotating member and can rotate synchronously with the first rotating member; a second gear, which is meshed with the first gear; a first angle sensor, which is connected to the second gear and is used to convert the rotation angle of the second gear into an electrical signal and send it to the control component.

[0013] During actual operation, when the first rotating member drives the cutting assembly to swing up and down, the first gear receives the rotation value of the first rotating member and transmits it to the second gear. The first angle sensor receives the rotation signal of the second gear, calculates the rotation angle of the second gear, and converts the rotation angle into an electrical signal and sends it to the control assembly for processing, thereby determining the final lifting and lowering amplitude of the cutting assembly.

[0014] In the above technical solution, the first detection component is connected to the first rotating part. Compared with the related technology of directly installing the sensor on the cutting arm, the influence of vibration on the first detection component is reduced, thereby extending the service life of the first detection component and improving the accuracy; at the same time, an angle sensor is used to convert the rotation angle of the first rotating part into an electrical signal and transmit it to the control component. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the cutting component can be measured more accurately.

[0015] In some technical solutions, optionally, the gear ratio between the first gear and the second gear is in the range of 3-10.

[0016] By designing a suitable meshing ratio, the rotation of the first gear can be smoothly transmitted to the second gear, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and improving the accuracy and stability of the detection results.

[0017] In some technical solutions, optionally, the first detection assembly further includes a first shielding shell; the first shielding shell is connected to the body to protect other components of the first detection assembly. This design can prevent external dust and shield the external magnetic field from interfering with the first angle sensor, thereby helping to improve the measurement accuracy and service life of the first detection assembly.

[0018] In some technical schemes, optionally, the tunnel boring machine also includes: a second rotating member, arranged at the front end of the fuselage and located below the first rotating member; a shovel plate assembly, connected to the second rotating member and capable of swinging up and down under the action of the second rotating member; a second detection assembly, connected to the second rotating member and used to detect the lifting and lowering amplitude of the shovel plate assembly; wherein the control assembly is also connected to the second detection assembly and can adjust the detection result of the first detection assembly according to the detection result of the second detection assembly to determine the final lifting and lowering amplitude of the cutting assembly.

[0019] In actual work, when the shovel assembly contacts the ground, if the ground is abnormal (such as uneven), it will affect the posture of the fuselage, thereby affecting the final lifting range of the cutting assembly. Therefore, the present application introduces a second detection component to detect the lifting range of the shovel assembly, which can timely and accurately identify such changes and compensate for the detection result of the first detection component, so as to accurately measure the final lifting range of the cutting assembly.

[0020] In some technical schemes, optionally, the second detection component includes: a third gear, connected to the second rotating member and capable of rotating synchronously with the second rotating member; a fourth gear, meshing with the third gear; a second angle sensor, connected to the fourth gear, for converting the rotation angle of the fourth gear into an electrical signal and sending it to the control component.

[0021] In some technical solutions, optionally, the meshing ratio of the third gear and the fourth gear is in the range of 3 to 10; and / or, the second detection assembly further includes a second shielding shell for protecting other components of the second detection assembly.

[0022] In some technical schemes, optionally, the tunnel boring machine also includes: a third rotating member, arranged at the rear end of the fuselage; a supporting assembly, connected to the third rotating member, and capable of swinging up and down under the action of the third rotating member; a third detection assembly, connected to the third rotating member, and used to detect the lifting and lowering amplitude of the supporting assembly; wherein the control assembly is also connected to the third detection assembly, and can adjust the detection result of the first detection assembly according to the detection result of the third detection assembly to determine the final lifting and lowering amplitude of the cutting assembly.

[0023] In some technical schemes, optionally, the third detection component includes: a fifth gear, connected to the third rotating member and capable of rotating synchronously with the third rotating member; a sixth gear, meshing with the fifth gear; and a third angle sensor, connected to the sixth gear, for converting the rotation angle of the sixth gear into an electrical signal and sending it to the control component.

[0024] In some technical solutions, optionally, the meshing ratio of the fifth gear and the sixth gear is in the range of 3 to 10; and / or, the third detection assembly further includes a third shielding shell for protecting other components of the third detection assembly.

[0025] According to the second aspect of the present application, the present application also proposes a positioning method for a cutting assembly of a tunnel boring machine, the tunnel boring machine comprising a cutting assembly, a shovel assembly and a support assembly, the positioning method comprising:

[0026] Obtaining the lifting range detection result of the cutting assembly, the lifting range detection result of the shovel assembly and the lifting range detection result of the support assembly;

[0027] Acquiring the contact status between the shovel blade assembly and the support assembly and the ground;

[0028] When both the shovel blade assembly and the support assembly are in contact with the ground, the final lifting amplitude of the cutting assembly is determined according to the lifting amplitude detection result of the cutting assembly, the lifting amplitude detection result of the shovel blade assembly and the lifting amplitude detection result of the support assembly;

[0029] When the shovel blade assembly is not in contact with the ground, determining the final lifting range of the cutting assembly according to the lifting range detection result of the support assembly and the lifting range detection result of the cutting assembly;

[0030] When the support assembly is not in contact with the ground, the final lifting range of the cutting assembly is determined according to the lifting range detection result of the shovel assembly and the lifting range detection result of the cutting assembly;

[0031] In the case that neither the shovel blade assembly nor the support assembly is in contact with the ground, the lifting and lowering amplitude detection result of the cutting assembly is determined as the final lifting and lowering amplitude of the cutting assembly.

[0032] In the above technical scheme, by comprehensively considering the contact status of the shovel assembly and the support assembly with the ground and the detection results of their respective lifting amplitudes, the detection results of the lifting amplitude of the cutting assembly can be compensated, so that the final lifting amplitude of the cutting assembly can be determined more accurately.

[0033] Additional aspects and advantages of the present application will become apparent in the following description or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0035] Figure 1 A schematic structural diagram of a tunnel boring machine in an embodiment of the present application is shown;

[0036] Figure 2 A schematic diagram showing the structure of a first detection component in an embodiment of the present application is shown;

[0037] Figure 3 A schematic diagram showing the structure of a second detection component in an embodiment of the present application is shown;

[0038] Figure 4 A schematic diagram showing the structure of a third detection component in an embodiment of the present application is shown;

[0039] Figure 5 A schematic flow chart of a method for positioning a cutting assembly of a roadheader in an embodiment of the present application is shown.

[0040] in, Figures 1 to 4 The corresponding relationship between the reference numerals and the component names is as follows:

[0041] 100-body; 110-first rotating member; 120-cutting assembly; 130-first detection assembly; 131-first gear; 132-second gear; 133-first angle sensor; 134-first shielding shell; 140-control assembly; 150-second rotating member; 160-shovel assembly; 170-second detection assembly; 171-third gear; 172-fourth gear; 173-second angle sensor; 174-second shielding shell; 180-third rotating member; 190-support assembly; 200-third detection assembly; 201-fifth gear; 202-sixth gear; 203-third angle sensor; 204-third shielding shell. DETAILED DESCRIPTION

[0042] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0043] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0044] Combine the following Figures 1 to 5 , the positioning method of the cutting assembly of the tunnel boring machine and the tunnel boring machine provided in the embodiment of the present application are described in detail through specific embodiments and their application scenarios.

[0045] Reference Figure 1 and Figure 2 Some embodiments of the present application disclose a tunnel boring machine, the structure of which includes: a body 100, a first rotating member 110, a cutting assembly 120, a first detection assembly 130 and a control assembly 140.

[0046] Specifically, the first rotating member 110 is arranged at the front end of the fuselage 100; the cutting assembly 120 is connected to the first rotating member 110, and can swing up and down under the action of the first rotating member 110; the first detection assembly 130 is connected to the first rotating member 110, and is used to detect the lifting and lowering amplitude of the cutting assembly 120; the control assembly 140 is connected to the first detection assembly 130, and can determine the final lifting and lowering amplitude of the cutting assembly 120 according to the detection result of the first detection assembly 130.

[0047] In the above embodiment, the first detection component 130 includes a first gear 131, a second gear 132 and a first angle sensor 133. The first gear 131 is connected to the first rotating member 110 and can rotate synchronously with the first rotating member 110; the second gear 132 is meshed with the first gear 131; the first angle sensor 133 is connected to the second gear 132, and is used to convert the rotation angle of the second gear 132 into an electrical signal and send it to the control component 140.

[0048] In actual operation, the lifting range of the cutting assembly 120 is generally less than 80°, that is, less than 30° downward and less than 50° upward. When the first rotating member 110 drives the cutting assembly 120 to swing up and down, the first gear 131 receives the rotation value of the first rotating member 110 and transmits it to the second gear 132. The first angle sensor 133 receives the rotation signal of the second gear 132, calculates the rotation angle of the second gear 132, and converts the rotation angle into an electrical signal and sends it to the control assembly 140 for processing, thereby determining the final lifting range of the cutting assembly 120.

[0049] In the above embodiment, the first detection component 130 is connected to the first rotating member 110. Compared with the related art in which the sensor is directly installed on the cutting arm, the influence of vibration on the first detection component 130 is reduced, thereby extending the service life of the first detection component 130 and improving the accuracy. At the same time, an angle sensor is used to convert the rotation angle of the first rotating member 110 into an electrical signal and transmit it to the control component 140. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the cutting component 120 can be measured more accurately.

[0050] In some embodiments, the meshing ratio of the first gear 131 and the second gear 132 is in the range of 3 to 10. By designing a suitable meshing ratio, the rotation of the first gear 131 can be smoothly transmitted to the second gear 132, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and improving the accuracy and stability of the detection results.

[0051] In practical applications, considering the difficulty and stability of processing, the meshing ratio of the first gear 131 and the second gear 132 is 7:2.

[0052] In order to facilitate maintenance or replacement, the first angle sensor 133 and the second gear 132 are connected by a magnetic attraction member. It is understandable that the first angle sensor 133 and the second gear 132 can also be detachably connected by bolts, buckles or other connection methods.

[0053] In some embodiments, the first detection component 130 further includes a first shielding shell 134. The first shielding shell 134 is connected to the body 100 and is disposed outside the first gear 131, the second gear 132 and the first angle sensor 133 to protect the first gear 131, the second gear 132 and the first angle sensor 133; thereby preventing external dust and shielding the external magnetic field from interfering with the first angle sensor 133, thereby helping to improve the measurement accuracy and service life of the first detection component 130.

[0054] Reference Figure 1 and Figure 3 In some embodiments, the tunnel boring machine further includes a second rotating member 150 , a blade assembly 160 and a second detection assembly 170 .

[0055] Specifically, the second rotating member 150 is arranged at the front end of the fuselage 100 and is located below the first rotating member 110; the shovel plate assembly 160 is connected to the second rotating member 150 and can swing up and down under the action of the second rotating member 150; the second detection assembly 170 is connected to the second rotating member 150, and is used to measure the lifting and lowering amplitude of the shovel plate assembly 160; wherein, the control assembly 140 is also connected to the second detection assembly 170, and can adjust the detection result of the first detection assembly 130 according to the detection result of the second detection assembly 170 to determine the final lifting and lowering amplitude of the cutting assembly 120.

[0056] In actual work, when the shovel assembly 160 contacts the ground, if the ground is abnormal (such as uneven), it will affect the posture of the fuselage 100, thereby affecting the final lifting range of the cutting assembly 120. Therefore, the present application introduces the second detection assembly 170 to detect the lifting range of the shovel assembly 160, so as to timely and accurately identify such changes and compensate the detection result of the first detection assembly 130, so as to accurately measure the final lifting range of the cutting assembly 120.

[0057] In the above embodiment, the second detection component 170 includes a third gear 171, a fourth gear 172 and a second angle sensor 173. The third gear 171 is connected to the second rotating member 150 and can rotate synchronously with the second rotating member 150; the fourth gear 172 is meshed with the third gear 171; the second angle sensor 173 is connected to the fourth gear 172, and is used to convert the rotation angle of the fourth gear 172 into an electrical signal and send it to the control component 140.

[0058] During actual operation, when the second rotating member 150 drives the shovel assembly 160 to swing up and down, the third gear 171 receives the rotation value of the second rotating member 150 and transmits it to the fourth gear 172. The second angle sensor 173 receives the rotation signal of the fourth gear 172, calculates the rotation angle of the fourth gear 172, and converts the rotation angle into an electrical signal and sends it to the control component 140 for processing, thereby adjusting the detection result of the first detection component 130 to determine the final lifting and lowering amplitude of the cutting component 120.

[0059] In the above embodiment, the second detection component 170 is connected to the second rotating member 150. Compared with directly installing the sensor on the shovel plate, the influence of vibration on the second detection component 170 is reduced, thereby extending the service life of the second detection component 170 and improving the accuracy; at the same time, an angle sensor is used to convert the rotation angle of the second rotating member 150 into an electrical signal to transmit to the control component 140. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the shovel plate assembly 160 can be measured more accurately.

[0060] In some embodiments, the gear ratio of the third gear 171 and the fourth gear 172 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the third gear 171 can be smoothly transmitted to the fourth gear 172, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and improving the accuracy and stability of the detection results.

[0061] In practical applications, considering the difficulty and stability of processing, the meshing ratio of the third gear 171 and the fourth gear 172 is 7:2.

[0062] In order to facilitate maintenance or replacement, the second angle sensor 173 and the fourth gear 172 are connected by a magnetic attraction member. It is understandable that the second angle sensor 173 and the fourth gear 172 can also be detachably connected by bolts, buckles or other connection methods.

[0063] In some embodiments, the second detection component 170 further includes a second shielding shell 174. The second shielding shell 174 is connected to the body 100 and is disposed outside the third gear 171, the fourth gear 172, and the second angle sensor 173 to protect the third gear 171, the fourth gear 172, and the second angle sensor 173; thereby preventing external dust and shielding the interference of the external magnetic field on the second angle sensor 173, thereby helping to improve the measurement accuracy and service life of the second detection component 170.

[0064] Reference Figure 1 and Figure 4In some embodiments, the tunnel boring machine further includes a third rotating member 180 , a supporting assembly 190 and a third detecting assembly 200 .

[0065] Specifically, the third rotating member 180 is arranged at the rear end of the fuselage 100; the supporting assembly 190 is connected to the third rotating member 180 and can swing up and down under the action of the third rotating member 180; the third detection assembly 200 is connected to the third rotating member 180, and is used to measure the lifting and lowering amplitude of the supporting assembly 190; wherein, the control assembly 140 is also connected to the third detection assembly 200, and can adjust the detection result of the first detection assembly 130 according to the detection result of the third detection assembly 200, so as to determine the final lifting and lowering amplitude of the cutting assembly 120.

[0066] In actual work, when the support assembly 190 contacts the ground, if the ground is abnormal (such as uneven), it will affect the posture of the fuselage 100, thereby affecting the final lifting range of the cutting assembly 120. Therefore, the present application introduces the third detection assembly 200 to detect the lifting range of the support assembly 190, so as to timely and accurately identify such changes and compensate the detection result of the first detection assembly 130, so as to accurately measure the final lifting range of the cutting assembly 120.

[0067] In the above embodiment, the third detection component 200 includes a fifth gear 201, a sixth gear 202 and a third angle sensor 203. The fifth gear 201 is connected to the third rotating member 180 and can rotate synchronously with the third rotating member 180; the sixth gear 202 is meshed with the fifth gear 201; the third angle sensor 203 is connected to the sixth gear 202, and is used to convert the rotation angle of the sixth gear 202 into an electrical signal and send it to the control component 140.

[0068] During actual operation, when the third rotating member 180 drives the supporting assembly 190 to swing up and down, the fifth gear 201 receives the rotation value of the third rotating member 180 and transmits it to the sixth gear 202. The third angle sensor 203 receives the rotation signal of the sixth gear 202, calculates the rotation angle of the sixth gear 202, and converts the rotation angle into an electrical signal and sends it to the control assembly 140 for processing, thereby adjusting the detection result of the first detection assembly 130 to determine the final lifting and lowering amplitude of the cutting assembly 120.

[0069] In the above embodiment, the third detection component 200 is connected to the third rotating member 180. Compared with directly installing the sensor on the support component, the influence of vibration on the third detection component 200 is reduced, thereby extending the service life of the third detection component 200 and improving the accuracy; at the same time, an angle sensor is used to convert the rotation angle of the third rotating member 180 into an electrical signal to transmit to the control component 140. Compared with the displacement sensor, it can detect the angle more intuitively and will not be limited by the amount of oil, so that the lifting and lowering amplitude of the support component 190 can be measured more accurately.

[0070] In some embodiments, the gear ratio of the fifth gear 201 and the sixth gear 202 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the fifth gear 201 can be smoothly transmitted to the sixth gear 202, and the error accumulation caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and improving the accuracy and stability of the detection results.

[0071] In practical applications, considering the difficulty and stability of processing, the meshing ratio of the fifth gear 201 and the sixth gear 202 is 7:2.

[0072] In order to facilitate maintenance or replacement, the third angle sensor 203 and the sixth gear 202 are connected via a magnetic attraction member. It is understandable that the third angle sensor 203 and the sixth gear 202 can also be detachably connected via bolts, buckles or other connection methods.

[0073] In some embodiments, the third detection component 200 further includes a third shielding shell 204. The third shielding shell 204 is connected to the body 100 and is disposed outside the fifth gear 201, the sixth gear 202 and the third angle sensor 203 to protect the fifth gear 201, the sixth gear 202 and the third angle sensor 203; thereby preventing external dust and shielding the interference of the external magnetic field on the third angle sensor 203, thereby helping to improve the measurement accuracy and service life of the third detection component 200.

[0074] In some embodiments, the outer sides of the first rotating member 110, the second rotating member 150 and the third rotating member 180 are reserved with a length for installing gears, so as to facilitate the installation of gears on the rotating members.

[0075] At least one of the first angle sensor 133 , the second angle sensor 173 , and the third angle sensor 203 is a Hall sensor.

[0076] Reference Figure 5 In some embodiments, the present application further provides a method for positioning a cutting assembly of a roadheader, the roadheader comprising a cutting assembly, a shovel assembly and a support assembly, the method comprising the following steps:

[0077] S100, obtaining a lifting range detection result of a cutting assembly, a lifting range detection result of a shovel assembly, and a lifting range detection result of a support assembly;

[0078] S102, obtaining the contact status between the shovel blade assembly and the support assembly and the ground;

[0079] S104, when both the blade assembly and the support assembly are in contact with the ground, determining a final lifting range of the cutting assembly according to a lifting range detection result of the cutting assembly, a lifting range detection result of the blade assembly, and a lifting range detection result of the support assembly;

[0080] S106, when the blade assembly is not in contact with the ground, determining a final lifting range of the cutting assembly according to a lifting range detection result of the support assembly and a lifting range detection result of the cutting assembly;

[0081] S108, when the support assembly is not in contact with the ground, determining the final lifting range of the cutting assembly according to the lifting range detection result of the shovel assembly and the lifting range detection result of the cutting assembly;

[0082] S110, when the blade assembly and the support assembly are not in contact with the ground, determining the lifting and lowering range detection result of the cutting assembly as the final lifting and lowering range of the cutting assembly.

[0083] In the above embodiment, by comprehensively considering the contact status of the shovel blade assembly and the support assembly with the ground and the detection results of their respective lifting amplitudes, the detection results of the lifting amplitude of the cutting assembly can be compensated, so that the final lifting amplitude of the cutting assembly can be determined more accurately.

[0084] It should be clarified that in the claims, specification and drawings of the present application, the term "multiple" refers to two or more than two. Unless otherwise clearly defined, the orientation or position relationship indicated by the terms "upper" and "lower" is based on the orientation or position relationship shown in the drawings, which is only for the purpose of more conveniently describing the present application and making the description process easier, rather than indicating or implying that the device or element referred to must have the specific orientation described, be constructed and operated in a specific orientation, so these descriptions cannot be understood as limitations on the present application; the terms "connect", "install", "fix" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, or a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood based on the specific circumstances of the above data.

[0085] In the claims, specification and drawings of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like 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 application. In the claims, specification and drawings of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

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

Claims

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

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

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

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

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

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

7. The tunnel boring machine according to any one of claims 1 to 6, characterized in that: The tunnel boring machine also includes: A third rotating member is disposed at the rear end of the fuselage; A supporting assembly connected to the third rotating member and capable of swinging up and down under the action of the third rotating member; A third detection component, connected to the third rotating member, and used to detect the lifting range of the supporting component; Wherein, the control component is also connected to the third detection component, and can adjust the detection result of the first detection component according to the detection result of the third detection component to determine the final lifting and lowering range of the cutting component.

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

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

10. A method for positioning a cutting assembly of a roadheader, characterized in that: The tunnel boring machine comprises a cutting assembly, a shovel assembly and a support assembly, and the positioning method of the tunnel boring machine cutting assembly comprises: Obtaining the lifting range detection result of the cutting assembly, the lifting range detection result of the shovel assembly and the lifting range detection result of the support assembly; Acquiring the contact status between the shovel blade assembly and the support assembly and the ground; When both the shovel blade assembly and the support assembly are in contact with the ground, the final lifting amplitude of the cutting assembly is determined according to the lifting amplitude detection result of the cutting assembly, the lifting amplitude detection result of the shovel blade assembly and the lifting amplitude detection result of the support assembly; When the shovel blade assembly is not in contact with the ground, determining the final lifting range of the cutting assembly according to the lifting range detection result of the support assembly and the lifting range detection result of the cutting assembly; When the support assembly is not in contact with the ground, the final lifting range of the cutting assembly is determined according to the lifting range detection result of the shovel assembly and the lifting range detection result of the cutting assembly; In the case that neither the shovel blade assembly nor the support assembly is in contact with the ground, the lifting and lowering amplitude detection result of the cutting assembly is determined as the final lifting and lowering amplitude of the cutting assembly.

Images