Positioning method for cutting assembly of tunnel boring machine, and tunnel boring machine

Abstract

The present application proposes a positioning method for a cutting assembly of a tunnel boring machine, and a tunnel boring machine. The tunnel boring machine comprises: a machine body; a first rotating member provided at a front end of the machine body; 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 measurement assembly connected to the first rotating member and used for measuring a lifting amplitude of the cutting assembly; and a control assembly connected to the first measurement assembly and used for determining, on the basis of a measurement result of the first measurement assembly, a final lifting amplitude of the cutting assembly. The first measurement assembly comprises: a first gear connected to the first rotating member and capable of rotating synchronously with the first rotating member; a second gear meshed with the first gear; and a first angle sensor connected to the second gear and used for converting a rotation angle of the second gear into an electrical signal and sending the electrical signal to the control assembly. The tunnel boring machine can measure the lifting amplitude of the cutting assembly of the tunnel boring machine with high precision and stability.

Description

Positioning method of cutting component of tunneling machine and tunneling machine

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411600319.8, filed on November 11, 2024, entitled "Positioning Method for Cutting Component of Tunnel Boring Machine and Tunnel Boring Machine", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of tunneling machine technology, and more specifically, to a positioning method for a cutting component of a tunneling machine and a tunneling machine. Background Technology

[0004] Coal is one of my country's main energy sources, playing a vital role in ensuring national energy supply and security. Intelligent coal mining is of great significance for promoting the upgrading and development of the coal mining industry. Intelligent tunneling machines are the most important component of intelligent coal mining, with their typical function being automatic cutting. To ensure the formed cross-section of the automatic cutting, the repair of the roadway roof and walls, and to reduce the number of machine relocations, ensuring the positioning of the cutting arm is crucial.

[0005] In related technologies, the following methods are generally used for positioning the cutting arm:

[0006] (1) The sensor is directly placed on the cutting arm; during measurement, the sensor is easily affected by vibration, which leads to a decrease in accuracy and lifespan.

[0007] (2) The lifting amplitude of the cutting arm is measured by a displacement sensor built into the lifting cylinder of the cutting arm and a strain pulse signal generated by the intersection of different magnetic fields. However, the sensitivity of this method is low. When the oil level inside the cylinder drops significantly, it is difficult to continue to measure the lifting cylinder value. It is also easily affected by changes in the external environment and large vibration of the cutting arm, which leads to a decrease in the accuracy and life of use.

[0008] (2) The lifting amplitude of the cutting arm is measured by combining inertial navigation alignment with the lifting cylinder value algorithm. 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 time is as short as half a minute or as long as more than five minutes. This is not only time-consuming and labor-intensive, but also not conducive to the use of equipment with repeated alignment requirements, and the cost is high.

[0009] Therefore, there is an urgent need to design a positioning method that can measure the lifting amplitude of the cutting component of a tunneling machine with high precision and long-term stability. Summary of the Invention

[0010] This application aims to address at least one of the technical problems existing in the related art.

[0011] Therefore, the first aspect of this application is to propose a tunneling machine.

[0012] The second aspect of this application is to propose a positioning method for a cutting component of a tunneling machine.

[0013] In view of the above, according to the first aspect of this application, a tunneling machine is proposed, comprising: a machine body; a first rotating component disposed at the front end of the machine body; a cutting assembly connected to the first rotating component and capable of swinging up and down under the action of the first rotating component; a first detection assembly connected to the first rotating component 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.

[0014] The first detection component includes: a first gear connected to a first rotating member and capable of rotating synchronously with the first rotating member; a second gear meshing with the first gear; and a first angle sensor connected to the second gear, used to convert the rotation angle of the second gear into an electrical signal and send it to the control component.

[0015] In actual operation, when the first rotating component drives the cutting assembly to swing up and down, the first gear receives the rotation value of the first rotating component 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 component for processing, thereby determining the final lifting and lowering amplitude of the cutting assembly.

[0016] In the above technical solution, the first detection component and the first rotating component are connected. Compared with the related technology of directly mounting the sensor on the cutting arm, the impact of vibration on the first detection component is reduced, thereby extending the service life of the first detection component and improving the accuracy. At the same time, the rotation angle of the first rotating component is converted into an electrical signal and transmitted to the control component by using an angle sensor. Compared with the displacement sensor, the angle can be detected more intuitively and is not limited by the oil volume, thereby enabling more accurate measurement of the lifting amplitude of the cutting component.

[0017] In some technical solutions, the meshing ratio of the first gear and the second gear can optionally be in the range of 3 to 10.

[0018] By designing a suitable meshing ratio, the rotation of the first gear can be smoothly transmitted to the second gear, and the accumulation of errors caused by gear transmission can be reduced, thereby improving the accuracy of the entire transmission system and enhancing the precision and stability of the test results.

[0019] In some technical solutions, the first detection component may optionally include a first shielding housing; the first shielding housing is connected to the main body to protect other components of the first detection component. This design can prevent external dust from interfering with the first angle sensor while shielding it from external magnetic fields, thereby helping to improve the measurement accuracy and service life of the first detection component.

[0020] In some technical solutions, the tunneling machine may optionally include: a second rotating component, disposed at the front end of the machine body and located below the first rotating component; a shovel assembly, connected to the second rotating component, and capable of swinging up and down under the action of the second rotating component; a second detection component, connected to the second rotating component, for detecting the lifting and lowering amplitude of the shovel assembly; wherein, 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, so as to determine the final lifting and lowering amplitude of the cutting component.

[0021] In practical operation, when the shovel assembly contacts the ground, any ground anomalies (such as unevenness) can affect the machine's posture, thus causing deviations in the final lifting and lowering amplitude of the cutting assembly. Therefore, this application introduces a second detection component to detect the lifting and lowering amplitude of the shovel assembly. This allows for timely and accurate identification of such changes and compensation for the detection results of the first detection component, thereby enabling accurate measurement of the final lifting and lowering amplitude of the cutting assembly.

[0022] In some technical solutions, 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; and a second angle sensor connected to the fourth gear, used to convert the rotation angle of the fourth gear into an electrical signal and send it to the control component.

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

[0024] In some technical solutions, the tunneling machine may optionally include: a third rotating component, located at the rear end of the machine body; a support component, connected to the third rotating component, and capable of swinging up and down under the action of the third rotating component; a third detection component, connected to the third rotating component, for detecting the lifting and lowering amplitude of the support 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, so as to determine the final lifting and lowering amplitude of the cutting component.

[0025] In some technical solutions, optionally, the third detection component includes: a fifth gear, connected to the third rotating member and capable of rotating synchronously with the third rotating member; a sixth gear, meshing with the fifth gear; and a third angle sensor, connected to the sixth gear, for converting the rotation angle of the sixth gear into an electrical signal and sending it to the control component.

[0026] In some technical solutions, the meshing ratio of the fifth gear and the sixth gear is optionally in the range of 3 to 10; and / or, the third detection assembly also includes a third shielding housing for protecting other components of the third detection assembly.

[0027] According to a second aspect of this application, this application also proposes a positioning method for a cutting assembly of a tunneling machine, the tunneling machine including a cutting assembly, a shovel assembly, and a support assembly, the positioning method comprising:

[0028] Obtain the lifting amplitude detection results of the cutting component, the lifting amplitude detection results of the shovel plate component, and the lifting amplitude detection results of the support component;

[0029] Obtain the contact state between the shovel assembly and the support assembly and the ground;

[0030] When both the shovel assembly and the support assembly are in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the cutting assembly, the lifting amplitude detection results of the shovel assembly, and the lifting amplitude detection results of the support assembly.

[0031] When the shovel assembly is not in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the support assembly and the lifting amplitude detection results of the cutting assembly.

[0032] When the support assembly is not in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the shovel assembly and the lifting amplitude detection results of the cutting assembly.

[0033] When neither the shovel assembly nor the support assembly is in contact with the ground, the detection result of the lifting amplitude of the cutting assembly is determined as the final lifting amplitude of the cutting assembly.

[0034] In the above technical solution, by comprehensively considering the contact state between the shovel plate assembly and the support assembly and the ground, as well as the detection results of their respective lifting and lowering amplitudes, the detection results of the lifting and lowering amplitude of the cutting assembly can be compensated, and the final lifting and lowering amplitude of the cutting assembly can be determined more accurately.

[0035] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0036] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0037] Figure 1 shows a schematic diagram of the structure of the tunneling machine in an embodiment of this application;

[0038] Figure 2 shows a schematic diagram of the structure of the first detection component in an embodiment of this application;

[0039] Figure 3 shows a schematic diagram of the structure of the second detection component in an embodiment of this application;

[0040] Figure 4 shows a schematic diagram of the structure of the third detection component in an embodiment of this application;

[0041] Figure 5 shows a flowchart illustrating the positioning method of the tunneling machine cutting component in an embodiment of this application.

[0042] The correspondence between the reference numerals and component names in Figures 1 to 4 is as follows: 100-Body; 110-First rotating component; 120-Cutting assembly; 130-First detection assembly; 131-First gear; 132-Second gear; 133-First angle sensor; 134-First shielding housing; 140-Control assembly; 150-Second rotating component; 160-Shovel assembly; 170-Second detection assembly; 171-Third gear; 172-Fourth gear; 173-Second angle sensor; 174-Second shielding housing; 180-Third rotating component; 190-Support assembly; 200-Third detection assembly; 201-Fifth gear; 202-Sixth gear; 203-Third angle sensor; 204-Third shielding housing. Detailed Implementation

[0043] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0044] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0045] The positioning method of the tunneling machine cutting component and the tunneling machine provided in this application will be described in detail below with reference to Figures 1 to 5, through specific embodiments and application scenarios.

[0046] Referring to Figures 1 and 2, some embodiments of this application disclose a tunneling machine, the structure of which includes: a body 100, a first rotating component 110, a cutting component 120, a first detection component 130, and a control component 140.

[0047] Specifically, the first rotating component 110 is disposed at the front end of the machine body 100; the cutting component 120 is connected to the first rotating component 110 and can swing up and down under the action of the first rotating component 110; the first detection component 130 is connected to the first rotating component 110 and is used to detect the lifting and lowering amplitude of the cutting component 120; the control component 140 is connected to the first detection component 130 and can determine the final lifting and lowering amplitude of the cutting component 120 based on the detection result of the first detection component 130.

[0048] 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 meshes 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.

[0049] In actual operation, the lifting range of the cutting assembly 120 is generally less than 80°, that is, less than 30° downwards and less than 50° upwards. 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.

[0050] In the above embodiment, the first detection component 130 and the first rotating component 110 are connected. Compared with the related technology of directly mounting the sensor on the cutting arm, the impact of vibration on the first detection component 130 is reduced, thereby extending the service life of the first detection component 130 and improving its accuracy. At the same time, the rotation angle of the first rotating component 110 is converted into an electrical signal and transmitted to the control component 140 by using an angle sensor. Compared with the displacement sensor, the angle can be detected more intuitively and is not limited by the amount of oil, thereby enabling more accurate measurement of the lifting amplitude of the cutting component 120.

[0051] In some embodiments, the gear ratio of the first gear 131 and the second gear 132 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the first gear 131 can be smoothly transmitted to the second gear 132, and the accumulation of errors 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.

[0052] In practical applications, considering the difficulty of machining and the smoothness, the meshing ratio of the first gear 131 and the second gear 132 is 7:2.

[0053] For ease of maintenance or replacement, the first angle sensor 133 and the second gear 132 are connected by a magnetic connector. It is understood that the first angle sensor 133 and the second gear 132 can also be detachably connected via bolts, clips, or other connection methods.

[0054] In some embodiments, the first detection component 130 further includes a first shielding housing 134. The first shielding housing 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 while shielding the first angle sensor 133 from interference from external magnetic fields, thus helping to improve the measurement accuracy and service life of the first detection component 130.

[0055] Referring to Figures 1 and 3, in some embodiments, the tunneling machine further includes a second rotating component 150, a shovel assembly 160, and a second detection assembly 170.

[0056] Specifically, the second rotating component 150 is disposed at the front end of the machine body 100 and located below the first rotating component 110; the shovel assembly 160 is connected to the second rotating component 150 and can swing up and down under the action of the second rotating component 150; the second detection component 170 is connected to the second rotating component 150 and is used to measure the lifting and lowering amplitude of the shovel assembly 160; wherein, the control component 140 is also connected to the second detection component 170 and can adjust the detection result of the first detection component 130 according to the detection result of the second detection component 170 to determine the final lifting and lowering amplitude of the cutting component 120.

[0057] In practical operation, when the shovel assembly 160 contacts the ground, any ground abnormalities (such as unevenness) can affect the attitude of the machine body 100, thus causing deviations in the final lifting and lowering amplitude of the cutting assembly 120. Therefore, this application introduces a second detection assembly 170 to detect the lifting and lowering amplitude of the shovel assembly 160, enabling timely and accurate identification of such changes and compensating for the detection results of the first detection assembly 130, thereby allowing for accurate measurement of the final lifting and lowering amplitude of the cutting assembly 120.

[0058] 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 meshes 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, which is then sent to the control component 140.

[0059] In actual operation, when the second rotating component 150 drives the shovel assembly 160 to swing up and down, the third gear 171 receives the rotation value of the second rotating component 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.

[0060] In the above embodiment, the second detection component 170 is connected to the second rotating component 150. Compared with directly mounting the sensor on the shovel plate, the impact of vibration on the second detection component 170 is reduced, thereby extending the service life of the second detection component 170 and improving its accuracy. At the same time, the rotation angle of the second rotating component 150 is converted into an electrical signal and transmitted to the control component 140 by using an angle sensor. Compared with a displacement sensor, the angle can be detected more intuitively and is not limited by the amount of oil, thereby enabling more accurate measurement of the lifting amplitude of the shovel plate assembly 160.

[0061] In some embodiments, the gear ratio between the third gear 171 and the fourth gear 172 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the third gear 171 can be smoothly transmitted to the fourth gear 172, and the accumulation of errors 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.

[0062] In practical applications, considering the difficulty of machining and the smoothness, the meshing ratio of the third gear 171 and the fourth gear 172 is 7:2.

[0063] For ease of maintenance or replacement, the second angle sensor 173 and the fourth gear 172 are connected by a magnetic connector. It is understood that the second angle sensor 173 and the fourth gear 172 can also be detachably connected using bolts, clips, or other connection methods.

[0064] In some embodiments, the second detection assembly 170 further includes a second shielding housing 174. The second shielding housing 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 while shielding the second angle sensor 173 from interference by external magnetic fields, thus helping to improve the measurement accuracy and service life of the second detection assembly 170.

[0065] Referring to Figures 1 and 4, in some embodiments, the tunneling machine further includes a third rotating component 180, a support assembly 190, and a third detection assembly 200.

[0066] Specifically, the third rotating component 180 is located at the rear end of the machine body 100; the support component 190 is connected to the third rotating component 180 and can swing up and down under the action of the third rotating component 180; the third detection component 200 is connected to the third rotating component 180 and is used to measure the lifting and lowering amplitude of the support component 190; wherein, the control component 140 is also connected to the third detection component 200 and can adjust the detection result of the first detection component 130 according to the detection result of the third detection component 200 to determine the final lifting and lowering amplitude of the cutting component 120.

[0067] In practical operation, when the support component 190 contacts the ground, any ground anomalies (such as unevenness) can affect the attitude of the fuselage 100, thus causing deviations in the final lifting amplitude of the cutting component 120. Therefore, this application introduces a third detection component 200 to detect the lifting amplitude of the support component 190, enabling timely and accurate identification of such changes and compensating for the detection results of the first detection component 130, thereby allowing for accurate measurement of the final lifting amplitude of the cutting component 120.

[0068] In the above embodiments, 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 rotates synchronously with it; the sixth gear 202 meshes 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, which is then sent to the control component 140.

[0069] In actual operation, when the third rotating component 180 drives the support component 190 to swing up and down, the fifth gear 201 receives the rotation value of the third rotating component 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 component 140 for processing, thereby adjusting the detection result of the first detection component 130 to determine the final lifting amplitude of the cutting component 120.

[0070] In the above embodiment, the third detection component 200 and the third rotating component 180 are connected. Compared with directly mounting the sensor on the support component, the impact of vibration on the third detection component 200 is reduced, thereby extending the service life of the third detection component 200 and improving its accuracy. At the same time, the rotation angle of the third rotating component 180 is converted into an electrical signal by an angle sensor and transmitted to the control component 140. Compared with a displacement sensor, the angle can be detected more intuitively and is not limited by the amount of oil, thereby enabling more accurate measurement of the lifting amplitude of the support component 190.

[0071] In some embodiments, the gear ratio between the fifth gear 201 and the sixth gear 202 is in the range of 3 to 10. By designing a suitable gear ratio, the rotation of the fifth gear 201 can be smoothly transmitted to the sixth gear 202, and the accumulation of errors 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.

[0072] In practical applications, considering the difficulty of machining and the smoothness, the meshing ratio of the fifth gear 201 and the sixth gear 202 is 7:2.

[0073] For ease of maintenance or replacement, the third angle sensor 203 and the sixth gear 202 are connected by a magnetic connector. It is understood that the third angle sensor 203 and the sixth gear 202 can also be detachably connected using bolts, clips, or other connection methods.

[0074] In some embodiments, the third detection component 200 further includes a third shielding housing 204. The third shielding housing 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 while shielding the third angle sensor 203 from interference from external magnetic fields, thus helping to improve the measurement accuracy and service life of the third detection component 200.

[0075] In some embodiments, the outer sides of the first rotating member 110, the second rotating member 150, and the third rotating member 180 are provided with lengths sufficient for mounting gears. This facilitates the mounting of gears on the rotating members.

[0076] At least one of the first angle sensor 133, the second angle sensor 173, and the third angle sensor 203 is a Hall sensor.

[0077] Referring to Figure 5, in some embodiments, this application also provides a method for positioning a cutting assembly of a tunneling machine, the tunneling machine including a cutting assembly, a shovel assembly, and a support assembly, the method including the following steps:

[0078] S100, obtain the lifting amplitude detection results of the cutting component, the lifting amplitude detection results of the shovel component, and the lifting amplitude detection results of the support component;

[0079] S102, Obtain the contact status between the shovel plate assembly and the support assembly and the ground;

[0080] S104, with both the shovel assembly and the support assembly in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the cutting assembly, the lifting amplitude detection results of the shovel assembly, and the lifting amplitude detection results of the support assembly.

[0081] S106, when the shovel assembly is not in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the support assembly and the lifting amplitude detection results of the cutting assembly.

[0082] S108, when the support component is not in contact with the ground, the final lifting amplitude of the cutting component is determined based on the lifting amplitude detection results of the shovel plate component and the lifting amplitude detection results of the cutting component.

[0083] S110, when neither the shovel assembly nor the support assembly is in contact with the ground, the detection result of the lifting amplitude of the cutting assembly is determined as the final lifting amplitude of the cutting assembly.

[0084] In the above embodiments, by comprehensively considering the contact state between the shovel assembly and the support assembly and the ground, as well as the detection results of their respective lifting and lowering amplitudes, the detection results of the lifting and lowering amplitude of the cutting assembly can be compensated, and the final lifting and lowering amplitude of the cutting assembly can be determined more accurately.

[0085] It should be clarified that in the claims, description, and accompanying drawings of this application, the term "multiple" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, 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 those skilled in the art, the specific meaning of the above terms in this application can be understood based on the specific circumstances of the above data.

[0086] In the claims, description, and accompanying drawings of this application, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In the claims, description, and accompanying drawings of this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0087] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tunneling machine, characterized in that, include: body; The first rotating component is located at the front end of the fuselage; The cutting component is connected to the first rotating member and can swing up and down under the action of the first rotating member; The first detection component is connected to the first rotating component and is used to detect the lifting and lowering amplitude of the cutting component; A control component, connected to the first detection component, is used to determine the final lifting and lowering amplitude of the cutting component based on the detection result of the first detection component; The first detection component includes: The first gear is connected to the first rotating component and can rotate synchronously with the first rotating component; The second gear meshes with the first gear; A first angle sensor is connected to the second gear and is used to convert the rotation angle of the second gear into an electrical signal and send it to the control component.

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

3. The tunneling machine according to claim 1, characterized in that, The first detection component further includes a first shielding housing; the first shielding housing is connected to the body to protect other components of the first detection component.

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

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

6. The tunneling 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 housing for protecting other components of the second detection assembly.

7. The tunneling machine according to any one of claims 1 to 6, characterized in that, The tunneling machine also includes: The third rotating component is located at the rear end of the fuselage; The support assembly is connected to the third rotating member and can swing up and down under the action of the third rotating member; The third detection component is connected to the third rotating component and is used to detect the lifting range of the support component; The control component is also connected to the third detection component and can adjust the detection result of the first detection component based on the detection result of the third detection component to determine the final lifting and lowering range of the cutting component.

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

9. The tunneling 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 component further includes a third shielding housing for protecting other components of the third detection component.

10. A method for positioning a cutting component of a tunneling machine, characterized in that, The tunneling machine includes a cutting assembly, a shovel assembly, and a support assembly. The positioning method of the cutting assembly of the tunneling machine includes: Obtain the lifting amplitude detection results of the cutting component, the lifting amplitude detection results of the shovel plate component, and the lifting amplitude detection results of the support component; Obtain the contact state between the shovel assembly and the support assembly and the ground; When both the shovel assembly and the support assembly are in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the cutting assembly, the lifting amplitude detection results of the shovel assembly, and the lifting amplitude detection results of the support assembly. When the shovel assembly is not in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the support assembly and the lifting amplitude detection results of the cutting assembly. When the support assembly is not in contact with the ground, the final lifting amplitude of the cutting assembly is determined based on the lifting amplitude detection results of the shovel assembly and the lifting amplitude detection results of the cutting assembly. When neither the shovel assembly nor the support assembly is in contact with the ground, the detection result of the lifting amplitude of the cutting assembly is determined as the final lifting amplitude of the cutting assembly.

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