CN217435715U - Track detection equipment for construction of hard rock heading machine or shield machine - Google Patents

Abstract

The present disclosure relates to a track inspection apparatus for a hard rock tunnel boring machine or shield machine construction, which is used for a carrier vehicle. The track detection equipment comprises a telescopic device, a driving device, an angle detection device, a pressure detection device and a controller; the front end of the telescopic device is provided with a rolling part matched with the track; the rear end of the telescopic device is rotatably connected to the transport vehicle; one end of the driving device is hinged to the transport vehicle, and the other end of the driving device is rotatably connected to the telescopic device; the angle detection device is used for measuring the current included angle information of the current telescopic device relative to the horizontal plane; the pressure detection device is used for detecting the current pressure information of the rolling piece relative to the track; the transport vehicle, the driving device, the angle detection device and the pressure detection device are respectively in communication connection with the controller. Therefore, the problems that the position between the rails cannot be effectively detected in real time by the detection device and the correctness of the position of the rails is difficult to continuously ensure in the construction process are solved.

Description

Track detection equipment for construction of hard rock heading machine or shield machine

Technical Field

The utility model relates to a construction auxiliary detection equipment technical field, specifically relates to a track check out test set that is used for hard rock entry driving machine or shield structure machine to be under construction.

Background

In China, a hard rock tunneling machine (hard rock TBM) is generally referred to as a TBM for short, and a soft stratum tunneling machine is referred to as a shield machine. During construction of a hard rock heading machine or a shield machine, a transport vehicle is generally adopted to transfer materials. The transport vehicle can run along the track, so that the effective turnover of materials is realized. During the process of running along the track, the transport vehicle is easy to encounter the following problems:

1. the state of the front section track cannot be pre-checked, so that the driving state of the transport vehicle is difficult to be effectively controlled in the driving process, and the application environment has higher requirements, so that the application range is limited;

2. when the tracks are under high pressure, the two tracks may have height difference or be extruded towards the outer side, and when the transport vehicle runs, the problem of derailment or turnover easily occurs, so that the running safety is difficult to ensure. Once derailment or overturning occurs, more manpower and material resources are needed to clean the transport vehicle, and meanwhile, the track is also needed to be repaired, so that not only is the labor cost increased, but also the construction efficiency is reduced, and meanwhile, the risk that projects cannot be delivered on time exists;

3. the condition that a plurality of transport vehicles transport materials may exist on the same track, and the running state of the transport vehicles cannot be effectively controlled, so that once a front vehicle breaks down (the fault may be from the transport vehicles or the track), a rear vehicle is likely to have serious traffic accidents due to the fact that the rear vehicle cannot brake in time, and therefore great potential safety hazards exist;

4. after the track is put into use, the situation of deformation inevitably occurs due to large load borne by the track, the current detection means is limited, and the state of the track cannot be effectively detected in time, so that in the past, small problems are dragged into big problems, old problems are dragged into new problems, hidden problems are dragged into obvious problems, and when the track is found, large maintenance cost needs to be paid, and even the track is abandoned. This is a huge risk and risk for the whole project.

Therefore, a new and innovative technical scheme is to be proposed to solve the current technical problem.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a track check out test set for hard rock entry driving machine or shield constructs machine construction to solve prior art detection device and can't carry out real-time effective detection to the position between the track, and be difficult to guarantee the track position exactness problem with the continuity in the work progress.

In order to achieve the above objects, the present disclosure provides a track detection apparatus for hard rock tunneling or shielding machine construction for a transportation vehicle, wherein the track detection apparatus includes a driving device, an extensible or retractable telescopic device, an angle detection device, a pressure detection device, and a controller;

the transport vehicle is configured into a structure matched with the track so as to be capable of running along the extending direction of the track; the front end of the telescopic device is provided with a rolling piece matched with the track so that the rolling piece can be attached to the track to rotate, and the rear end of the telescopic device is rotatably connected to the transport vehicle; one end of the driving device is hinged to the transport vehicle, and the other end of the driving device is rotatably connected to the telescopic device, so that the telescopic device can be turned relative to the transport vehicle;

the angle detection device is arranged on the telescopic device and used for measuring the current included angle information of the telescopic device relative to a horizontal plane; the pressure detection device is arranged on the rolling piece and used for detecting the current pressure information of the rolling piece relative to the track;

the transport vehicle, the driving device, the angle detection device and the pressure detection device are respectively in communication connection with the controller, and the controller controls the transport vehicle and the driving device to execute corresponding actions according to the received current included angle information and the current pressure information.

In one possible design, the telescopic device comprises a plurality of groups of supports with different sizes, wherein each group of supports is provided with a limiting hole, and adjacent supports are sequentially inserted into the limiting holes of the corresponding supports in the order from small to large in size, so that the supports can move under the action of gravity;

wherein the end of the bracket with the largest size is rotatably connected to the transportation vehicle, and the end of the bracket with the smallest size is rotatably connected to the rolling member.

In a possible design, a flange is arranged at one end of the bracket, a limiting table is arranged in the limiting hole, and the bracket with the small size is inserted into the limiting hole of the bracket with the large size, so that the bracket with the small size is prevented from falling off through the matching of the limiting table and the flange.

In one possible design, a cross brace is provided on a bracket attached to the transporter.

In one possible embodiment, the drive is configured as a pneumatic cylinder, a hydraulic cylinder or a linear module.

In one possible design, the rolling elements are configured as rollers with high wear resistance; the inner side of the roller is provided with an annular stop table.

In one possible design, the pressure detection devices are arranged in multiple groups and are embedded at intervals on the circumferential surface of the rolling member.

In one possible design, a positioning plate is arranged at the front end of the telescopic device, and the angle detection device is arranged on the positioning plate.

In one possible embodiment, the transport carriage is provided with a brake device.

In one possible design, the angle detection device is configured as a tilt sensor and the pressure detection device is configured as a pressure sensor; the controller is configured as any one of a PLC logic controller, a central processing unit, a digital signal processor, an application specific integrated circuit, and a field programmable gate array.

Through above-mentioned technical scheme, can make the transport vechicle remove along the track. In the process, the driving device drives the telescopic device to overturn, so that the rolling piece can be placed on the track, and the rolling piece is further pushed to move together when the driving device drives forwards. In the process, when the rails have a certain height difference, the angle detection device can acquire current inclination angle information, namely current included angle information of the telescopic device relative to the horizontal plane, and the controller analyzes and judges the height difference between the two rails according to the value after receiving the included angle information. In this case, a height difference threshold may be preset in the controller. The height difference threshold is a value indicating that the difference between the heights of the two tracks is within an error range. In particular, it is understood that: the greater the height difference between the two rails, the greater the angle of inclination. Therefore, after the data are acquired, the constructor can make a corresponding scheme according to the acquired data so as to timely and effectively maintain and debug the current two tracks, and thus, the normal construction of the project can be ensured.

The pressure detection device can generate a certain pressure value when contacting the tracks, so that the pressure detection device can detect pressure information when contacting the tracks, and the distance between the tracks can be detected. After the controller receives the pressure information, whether partial tires of the transport vehicle have the derailment trend or not is analyzed and judged according to the value, so that timely and effective maintenance and debugging can be conveniently carried out on the current two rails in the later period. It should be noted that the controller is preset with a safety threshold, which is expressed as a pressure value when the transportation vehicle normally travels in contact with the rail. When there is no pressure information or the pressure information is small, the received pressure value exceeds the threshold value, that is, the current transportation vehicle may be derailed or has been partially derailed. Meanwhile, the controller can regulate and control the motion state of the transportation, so that the transportation vehicle can be decelerated, braked or backed up in time, and the transportation vehicle is prevented from being inclined or derailed. And constructors can make a scheme according to the pressure value information so as to timely repair and maintain the track.

And when the detection work is finished, namely the track detection equipment is in a non-detection state, the driving device acts to turn over the telescopic device, so that the rolling piece leaves the track. Therefore, the rail can be conveniently checked and maintained by constructors.

Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic structural view of a track inspection apparatus for hard rock tunnel boring or shield tunneling machine construction from one viewing angle, wherein the apparatus is in a non-inspection state;

fig. 2 is a schematic perspective view of a track inspection apparatus for hard rock tunnel boring or shield tunneling machine construction from another viewing angle, wherein the apparatus is in a non-inspection state;

fig. 3 is a schematic perspective view of a rail inspection apparatus for hard rock tunnel boring or shield tunneling construction, in another viewing angle, wherein the apparatus is in a non-inspection state;

fig. 4 is a schematic perspective view of a track inspection apparatus for hard rock tunnel boring or shield tunneling machine construction at a viewing angle, wherein the apparatus is in an inspection state and is located at a smooth section;

fig. 5 is a schematic structural view of a telescopic device in the track inspection equipment for hard rock tunnel boring machine or shield machine construction, wherein the equipment is in an inspection state;

fig. 6 is a schematic perspective view of a track inspection device for hard rock tunnel boring machine or shield machine construction from a perspective view, wherein the device is in an inspection state and is located on a downhill road section.

Description of the reference numerals

The method comprises the following steps of 1-a transport vehicle, 2-a driving device, 31-a support, 32-a cross support frame, 4-an angle detection device, 5-a pressure detection device, 6-rolling parts, 7-a positioning plate and 8-a track.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings.

According to the specific embodiment of the disclosure, the track detection equipment for the construction of the hard rock heading machine or the shield machine is provided and is used for a transport vehicle. Fig. 1 to 6 show one specific embodiment thereof.

Referring to fig. 1 to 6, the track sensing apparatus includes a driving device 2, an extendable or retractable telescopic device, an angle sensing device 4, a pressure sensing device 5, and a controller.

The transport vehicle 1 is configured in a structure adapted to the track 8 so as to be able to travel in the extending direction of the track 8; the front end of the telescopic device is provided with a rolling part 6 matched with the track 8 so that the rolling part 6 can be attached to the track 8 to rotate, and the rear end of the telescopic device is rotatably connected to the transport vehicle 1; one end of the driving device 2 is hinged to the transport vehicle 1, and the other end of the driving device is rotatably connected to the telescopic device so that the telescopic device can be turned over relative to the transport vehicle 1.

The angle detection device 4 is arranged on the telescopic device and used for measuring the current included angle information of the telescopic device relative to the horizontal plane; pressure detection means 5 are provided on the rolling member 6 for detecting current pressure information of the rolling member 6 with respect to the rail 8.

The transport vehicle 1, the driving device 2, the angle detection device 4 and the pressure detection device 5 are respectively in communication connection with the controller, and the controller controls the transport vehicle 1 and the driving device 2 to execute corresponding actions according to the received current included angle information and the received current pressure information.

Through the technical scheme, the transport vehicle 1 can move along the track 8. In the process, the driving device 2 drives the telescopic device to turn over, so that the rolling members 6 can be placed on the rails 8, and thus, when the driving device 2 is driven forwards, the rolling members 6 are pushed to move together. In the process, when the rails 8 have a certain height difference, the angle detection device 4 can acquire current inclination angle information, that is, current included angle information of the telescopic device relative to the horizontal plane, and the controller analyzes and judges the height difference between the two rails 8 according to the value after receiving the included angle information. In this case, a height difference threshold may be preset in the controller. The height difference threshold is a value indicating that the difference between the heights of the two tracks 8 is within an error range. In particular, it can be understood that: the greater the difference in height between the two rails 8, the greater the angle of inclination. Therefore, after the data are acquired, the constructor can make a corresponding scheme according to the acquired data so as to timely and effectively maintain and debug the two current rails 8, and thus, the normal construction of the project can be ensured.

The pressure detection device 5 can generate a certain pressure value when contacting the rail 8, so that the pressure detection device 5 detects the pressure information when contacting the rail 8, thereby judging the inclination of the rail 8. After receiving the pressure information, the controller can analyze and judge whether the tires of the transport vehicle 1 have the derailment trend according to the value, so that timely and effective maintenance and debugging can be conveniently carried out on the two current rails 8 in the later period. The controller is preset with a safety threshold, which is expressed as a pressure value when the transportation vehicle 1 normally travels in contact with the rail 8. When there is no pressure information or the pressure information is small, the received pressure value exceeds the threshold value, which means that the current transportation vehicle 1 has a tendency to derail or has partially derailed. Meanwhile, the controller can regulate and control the motion state of the transportation, so that the transportation vehicle can be decelerated, braked or backed up in time, and the transportation vehicle is prevented from being inclined or derailed. And constructors can make a scheme according to the pressure value information so as to timely repair and maintain the track.

When the detection is completed, i.e. the track detection device is in a non-detection state, the driving device 2 is actuated to turn the telescopic device, so that the rolling member 6 leaves the track 8.

This track check out test set can carry out effective control to the travel state of transport vechicle through carrying out the preliminary examination to anterior segment track state, has improved the adaptability of transport vechicle to application environment.

And through detecting the interval of the construction track and the elevation difference of the construction track, the current track condition can be effectively judged in time, so that the working personnel can just provide a correction construction scheme according to the acquired data and combining the position of the fault (or risk) track section according to local conditions, thereby carrying out timely and effective maintenance and trimming on the track, and enabling the interval between the tracks and the elevation difference between the tracks to meet the construction requirements of the current project. Therefore, accurate maintenance of the fault road section can be realized, the problem is solved with low maintenance cost, and the method has high economical efficiency. Meanwhile, the construction efficiency can be guaranteed, and project achievements can be delivered on time.

In addition, the track detection equipment can also feed the detection result back to a subsequent transport vehicle in time, so that the running state of the rear vehicle can be adjusted quickly, the running safety is ensured, and the occurrence of rear-end collision or rollover events of the transport vehicle is avoided.

In addition, the detection result of the track detection equipment is beneficial to constructors to solve problems in time, so that the problems are killed in the cradle, and risks and hidden dangers are reduced.

In an embodiment provided by the present disclosure, the telescopic device includes a plurality of sets of brackets 31 with different cross-sectional dimensions, wherein each set of brackets 31 is provided with a limiting hole, and according to the order from small to large in dimension, adjacent brackets 31 are sequentially inserted into the limiting holes of the corresponding brackets 31, so that the brackets 31 can move under the action of gravity. Wherein the end of the bracket 31 with the largest cross-sectional dimension is rotatably connected to the carriage 1 and the end of the bracket 31 with the smallest cross-sectional dimension is rotatably connected to the rolling member 6.

Thus, when the whole equipment runs on a downhill road, the support 31 can automatically slide downwards and extend step by step under the action of gravity, so that the telescopic device is in an extending state, at the moment, the rolling piece 6 is far away from the transport vehicle 1, the angle detection device 4 and the pressure detection device 5 can detect the condition of the front section track 8 in advance, and the controller analyzes and integrates the received data, so that whether the current track 8 meets the condition of continuing running or not is judged, and the running state of the transport vehicle 1 is controlled conveniently. Therefore, a certain prejudgment function is achieved through the design of the telescopic device.

When the whole equipment runs on an uphill road surface, the support 31 automatically retracts under the action of gravity, so that the telescopic device is in a telescopic state. At this time, the center of gravity of the entire apparatus can be moved downward, and the stability of the transport vehicle 1 during traveling can be improved.

It should be noted that the cross-sectional dimension described herein refers to the cross-sectional dimension of the stent. For example, when the stent is a round rod, the cross-sectional dimension can be characterized by a diameter, radius, or area; and when the stent is configured as a square rod, the cross-sectional dimensions can be characterized in terms of cross-sectional area, length, and width. In addition, in the present disclosure, the connection mode of the different supports can refer to the umbrella pole of the folding umbrella in the prior art. Any other suitable telescopic device capable of extending and folding is also within the scope of the present disclosure, given the technical idea of the present disclosure.

In another embodiment provided by the present disclosure, a flange is disposed at one end of the bracket 31, a limiting table is disposed in the limiting hole, and the bracket 31 with a small size is inserted into the limiting hole of the bracket 31 with a large size, so as to prevent the bracket 31 with a small size from coming off through the cooperation of the limiting table and the flange, thereby playing a certain limiting protection role. In this way, the adjacent stent 31 can be extended and retracted, and the position reliability of the adjacent stent 31 is ensured.

In another embodiment provided by the present disclosure, a cross brace 32 is provided on a bracket 31 attached to the transporter 1. Thus, the strength of the bracket 31 can be secured, thereby improving the impact resistance thereof.

In another embodiment provided by the present disclosure, the drive device 2 is configured as a hydraulic cylinder having a source of fluid, the hydraulic cylinder communicatively connected to the controller. In this way, the tilting angle of the telescopic device can be adjusted by the movement of the piston rod of the hydraulic cylinder. In particular, when the piston rod of the hydraulic cylinder is extended, the angle of deflection between the telescopic device and the carriage 1 can be increased, at which time the rolling elements 6 can gradually come close to the rail 8. When the piston rod of the hydraulic cylinder is retracted, the angle of deflection between the telescopic device and the carriage 1 is gradually reduced, and the rolling elements 6 can be disengaged or moved away from the rails 8. Therefore, the turnover angle of the telescopic device can be adjusted by stretching and retracting the hydraulic cylinder.

The driving device 2 may also be configured as any suitable driver such as an air cylinder, a linear module, etc., for which a person skilled in the art can flexibly set according to actual requirements.

In one embodiment provided by the present disclosure, the rolling elements 6 are configured as rollers having a high wear resistance, thereby reducing wear of the rollers in motion while ensuring their useful life. The inboard of gyro wheel is equipped with annular backstop platform, can play certain spacing and guide effect like this, improves the stationarity of gyro wheel in the motion process, and further, can reduce whole equipment and shake in the in-process of traveling, improve angle detection device 4 and pressure detection device 5 accuracy and reliability of testing result.

In the present disclosure, the pressure detection devices 5 are arranged in a plurality of groups and are embedded at intervals in the circumferential surface of the rolling member 6. In this way, the pressure detection device 5 can accurately obtain the current pressure information, so that the controller can judge whether the rolling member 6 is derailed according to the received data, so as to timely and effectively control the motion state of the transport vehicle 1.

In an embodiment provided by the present disclosure, a positioning plate 7 is disposed at a front end of the telescopic device, and the angle detection device 4 is disposed on the positioning plate 7. In this way, positioning and mounting of the angle detection device 4 can be facilitated.

In order to better control the motion state of the transport vehicle 1, a brake device is further arranged on the transport vehicle 1, so that the transport vehicle 1 can be effectively stopped in time when special conditions are met. In the present disclosure, the brake device is configured as a commercially available product, and those skilled in the art can make routine modifications based on the prior art.

Alternatively, the angle detection device 4 is configured as a tilt sensor and the pressure detection device 5 is configured as a pressure sensor. Since both the tilt sensor and the pressure sensor are prior art, they will not be described in detail.

Of course, the angle detection device may further include two sets of proximity switches, and also include a track transversely disposed and a ball embedded in the track, wherein the proximity switches are respectively disposed at two ends of the track. In this way, the ball in the track is enabled to move in the track according to the inclination direction of the track, and a signal can be generated when approaching the proximity switch, specifically, the closer the proximity switch is, the stronger the signal (or excitation) sensed by the proximity switch is, thereby indicating that the current inclination degree is larger. Therefore, the current inclination condition can be judged quickly, so that an instruction can be sent out timely, the transport vehicle can respond quickly and brake, and the conditions of inclination, side turning or derailment and the like are avoided.

Wherein the controller is configured as any one of a PLC logic controller, a central processing unit, a digital signal processor, an application specific integrated circuit, and a field programmable gate array.

In the present disclosure, the controller is configured as a Central Processing Unit (CPU). In yet other embodiments, the controller may be one configured as a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or a Field Programmable Gate Array (FPGA). In addition, the controller may also be a Network Processor (NP), other programmable logic device, discrete gate or transistor logic device, discrete hardware component. In this regard, those skilled in the art can flexibly configure the device according to the actual application environment.

Further, the transportation vehicle 1, the driving device 2, the angle detecting device 4, the pressure detecting device 5 and the controller may transmit data through various wireless transmission protocols known in the art, such as GPRS, Wi-Fi, bluetooth, etc., so as to reduce the number of signal lines. Of course, wired transmission of data may also be achieved through a communication cable or the like, which is not limited by the present disclosure.

In the present disclosure, the track detection device may further include a radar, a camera, a laser displacement sensor or a photoelectric displacement sensor, and one or more of them may be set by those skilled in the art according to actual needs. Specifically, radar, camera, laser displacement sensor or photoelectricity displacement sensor can detect the height between telescoping device and track 8, and the controller judges the difference in height between telescoping device and track 8 according to the height information that detects to estimate the inclination to track 8.

The pressure detecting means 5 may be configured as other contact sensors, so that the change of the signal is measured only by the contact between the media, thereby judging whether the rolling member 6 is derailed and the track pitch satisfies the construction requirement.

Finally, it should be noted that the present disclosure provides a track detection device, in which the transportation vehicle is configured as a track vehicle capable of moving along the track in the prior art. In a special application, the transport carriage can also be moved along the rail in the loaded state. The rail can generate larger pressure on the rail due to the gravity of the transport vehicle, so that the rail can present the maximum load-bearing state. And through this track check out test set, can judge orbital the biggest load-bearing load according to the state of transport vechicle under full load to in time repair and maintain unqualified track, so that follow-up construction effectively goes on.

The traveling mileage of the transport vehicle reflects the position of the current track, and the track which does not meet the use requirement can be positioned, so that construction personnel can conveniently transfer data for analysis, the track is maintained at fixed sections and fixed points, and the whole construction process can be smoothly carried out according to a plan.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

Claims (10)

1. A track detection device for construction of a hard rock heading machine or a shield machine is used for a transport vehicle (1), and is characterized by comprising a driving device (2), an extensible or retractable telescopic device, an angle detection device (4), a pressure detection device (5) and a controller;

the transport vehicle (1) is configured to be matched with a track (8) so as to be capable of running along the extending direction of the track (8); the front end of the telescopic device is provided with a rolling piece (6) matched with the track (8) so that the rolling piece (6) can rotate along with the track (8), and the rear end of the telescopic device is rotatably connected to the transport vehicle (1); one end of the driving device (2) is hinged to the transport vehicle (1), and the other end of the driving device is rotatably connected to the telescopic device, so that the telescopic device can turn relative to the transport vehicle (1);

the angle detection device (4) is arranged on the telescopic device and used for measuring the current included angle information of the telescopic device relative to the horizontal plane; the pressure detection device (5) is arranged on the rolling member (6) and is used for detecting the current pressure information of the rolling member (6) relative to the track (8);

the transport vehicle (1), the driving device (2), the angle detection device (4) and the pressure detection device (5) are respectively in communication connection with the controller, and the controller controls the transport vehicle (1) and the driving device (2) to execute corresponding actions according to received current included angle information and current pressure information.

2. The track detection equipment for the construction of the hard rock heading machine or the shield tunneling machine according to claim 1, wherein the telescopic device comprises a plurality of groups of supports (31) with different cross section sizes, wherein each group of supports (31) is provided with a limiting hole, and adjacent supports (31) are sequentially inserted into the limiting holes of the corresponding supports (31) so that the supports (31) can move under the action of gravity;

wherein the end of the bracket (31) with the largest cross-sectional dimension is rotatably connected to the transport carriage (1), and the end of the bracket (31) with the smallest cross-sectional dimension is rotatably connected to the rolling member (6).

3. The track inspection apparatus for hard rock roadheader or shield tunneling machine construction according to claim 2, wherein a flange is provided at one end of the bracket (31), a stopper table is provided in the stopper hole, and the bracket (31) having a small size is inserted into the stopper hole of the bracket (31) having a large size to prevent the bracket (31) having a small size from coming off by cooperation of the stopper table and the flange.

4. Track detection equipment for hard rock heading or shield tunneling machine construction according to claim 2, characterized in that a cross support frame (32) is provided on a bracket (31) connected to the transport vehicle (1).

5. Track detection equipment for hard rock heading or shield tunneling machine construction according to claim 1, characterized in that the driving device (2) is configured as a cylinder, a hydraulic cylinder or a linear module.

6. Track detection equipment for hard rock heading or shield tunneling machine construction according to claim 1, characterized in that the rolling elements (6) are configured as rollers with high wear resistance; the inner side of the roller is provided with an annular stop table.

7. Track detection equipment for hard rock heading or shield tunneling machine construction according to claim 1, characterized in that the pressure detection devices (5) are arranged in groups and embedded at intervals on the circumferential surface of the rolling member (6).

8. The track detection equipment for hard rock heading or shield tunneling machine construction according to claim 1, wherein a positioning plate (7) is arranged at the front end of the telescopic device, and the angle detection device (4) is arranged on the positioning plate (7).

9. Track detection equipment for hard rock heading or shield tunneling machine construction according to claim 1, characterized in that the transport vehicle (1) is provided with a brake device.

10. Track detection equipment for hard rock heading or shield tunneling machine construction according to claim 1, characterized in that the angle detection device (4) is configured as an inclination sensor and the pressure detection device (5) is configured as a pressure sensor; the controller is configured as any one of a PLC logic controller, a central processing unit, a digital signal processor, an application specific integrated circuit, and a field programmable gate array.

Images