CN101403309B - Tunnel shielding blade disc hydraulic control system with widened timing range - Google Patents
Tunnel shielding blade disc hydraulic control system with widened timing range Download PDFInfo
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- CN101403309B CN101403309B CN2008101223707A CN200810122370A CN101403309B CN 101403309 B CN101403309 B CN 101403309B CN 2008101223707 A CN2008101223707 A CN 2008101223707A CN 200810122370 A CN200810122370 A CN 200810122370A CN 101403309 B CN101403309 B CN 101403309B
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Abstract
The invention discloses a shield cutter head hydraulic control system with widened speed-adjusting range. A motor is rigidly connected with a constant voltage variable pump by a coupler, the oil outlet of the constant voltage variable pump is connected with the oil inlet of a main one-way valve, the oil outlet of the main one-way valve is respectively connected with the oil inlet of an energy accumulator, the oil inlet of an overflow valve, and four groups of motor/pump parts with the same structure. The hydraulic motor/pump is connected in a loop in parallel, and power is supplied by a constant voltage source consisting of the constant voltage variable pump and the energy accumulator. Independent control is applied to the hydraulic motor/pump, the delivery capacity and the working condition of each hydraulic motor/pump can be adjusted in real time according to different geological conditions so as to control the rotating speed and the torque of a cutter head. The invention adopts the hydraulic motor/pump as an executive element so as to realize the switch of the working condition of the motor and the pump, causes the system to realize the interchange of the working condition with high or low rotating speed under the condition that the delivery capacity of the hydraulic oil-supply pump is not changed by controlling the number of the executive elements working at different status simultaneously, thus widening the speed-adjusting range and enhancing the adaptability of the cutter head drive system to different geological conditions.
Description
Technical field
The present invention relates to fluid pressure actuator, relate in particular to a kind of shield cutter hydraulic control system of widening speed adjustable range.
Background technology
Shield excavation machine is a kind of modernized high-tech digging device that is exclusively used in the subterranean tunnel engineering construction, is widely used in the construction of tunnel construction that various geological conditionss are complicated and changeable and construction environment is abominable.Shield driving is being brought into play the irreplaceable effect of other driving form at underground space development with in utilizing.Along with development in science and technology and social progress, shield driving will progressively replace conventional method.
Cutterhead is one of critical component of shield excavation machine, and its major function has excavation, stable and stirring.Because the soil property changed condition scope of excavated section is very big in the whole construction course, the tunnelling footage difference, cutting moment that cutterhead is required and rotating speed have very big difference, cause the operating mode of cutter plate driver very complicated, and driving power is big and excursion is wide.
Since the shield structure when in soft stratum, tunnel the typical condition of cutterhead be low-speed big, and the operating mode when tunneling in hardpan is the little moment of torsion of high speed.Tradition cutter plate driver hydraulic system is taken into account this two kinds of operating modes in design, make that system's total installed capacity power is very huge.Capacity usage ratio is not high under low load behavior that the entire system performance is had extremely important influence for the so big system of energy consumption.Therefore, to make system can adapt to various stratum driving needs with less total installed capacity power are key technical problems in the cutter plate driver to speed adjustable range how to widen cutter-devices system.
Summary of the invention
Take into account the requirement of entire system performance in order to overcome the problem that exists in the shield-tunneling construction process, the object of the present invention is to provide a kind of shield cutter of widening speed adjustable range to drive hydraulic control system.Each hydraulic motor that drives cutterhead can be realized the switching of duty separately, the executive component number that is operated in the motor state by minimizing when low load behavior reaches with the high-revolving purpose of less displacement pump realization cutterhead, be operated in executive component under the pump state simultaneously and also can be used as power source and drive the executive component that is operated in the motor state, increased the speed adjustable range of system greatly with hydraulic pump.Cutterhead also can be realized stepless speed regulation by the discharge capacity of regulator solution press pump and executive component.
The technical scheme that technical solution problem of the present invention is adopted is:
Motor is rigidly connected through shaft coupling and constant pressure variable displacement pump, the constant pressure variable displacement pump inlet port is connected with fuel tank, the constant pressure variable displacement pump oil-out is connected with total one way valve oil-in, the motor/pump parts that total one way valve oil-out is identical with four groups of structures with accumulator oil-in, overflow valve oil-in respectively are connected overflow valve oil-out connected tank; Now wherein first group motor/pump structure is described as follows: total one way valve oil-out, accumulator oil-in and overflow valve oil-in meet the P of first three position four-way directional control valve respectively
1The oil-out of the mouth and first one way valve; After linking to each other, the oil-out of second one way valve and the 3rd one way valve connects the oil-in of first one way valve, the oil-in of the 4th one way valve and the 5th one way valve back connected tank that links to each other meets the B of first three position four-way directional control valve respectively after the oil-out of the oil-in of second one way valve and the 4th one way valve links to each other
1Mouthful and a port of first hydraulic motor/pump, meet the A of first three position four-way directional control valve after the oil-out of the oil-in of the 3rd one way valve and the 5th one way valve links to each other respectively
1The another port of the mouth and first hydraulic motor/pump, the T of first three position four-way directional control valve
1Mouthful with the T of second, third and the 4th three position four-way directional control valve
2Mouth, T
3Mouth and T
4Mouth links to each other, and the output shaft of first hydraulic motor/pump drives cutterhead by the first gear reduction unit G and rotates.
The beneficial effect that the present invention has is:
The actuator element motor of hydraulic system/pump is carried out control separately, driving cutterhead when each executive component is operated in the motor state rotates, replenish hydraulic oil to system when being operated in the pump state, duty by each executive component of Combinatorial Optimization, can make the cutterhead rotating speed under the situation that does not increase the hydraulic pump specification, have bigger adjustable range, adapt to complicated geological environment better.
Description of drawings
Accompanying drawing is a structural principle schematic diagram of the present invention.
Among the figure: 1, fuel tank, 2, motor, 3, shaft coupling, 4, constant pressure variable displacement pump, 5, one way valve, 6, overflow valve, 7, accumulator, 8.1,8.2,8.3,8.4, three position four-way directional control valve, 9.1,9.2,9.3,9.4,10.1,10.2,10.3,10.4,11.1,11.2,11.3,11.4,12.1,12.2,12.3,12.4,13.1,13.2,13.3,13.4 be one way valve, 14.1,14.2,14.3,14.4 be hydraulic motor/pump, 15, cutterhead, 16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67 is pipeline.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.
As shown in drawings, motor 2 of the present invention is rigidly connected through shaft coupling 3 and constant pressure variable displacement pump 4, constant pressure variable displacement pump 4 inlet ports 18 are connected with fuel tank 1 by the road, constant pressure variable displacement pump 4 oil-outs 19 are connected with total one way valve 5 oil-ins by the road, total one way valve 5 oil-outs 17 identical with four groups of structures with accumulator 7 oil-ins, overflow valve 6 oil-ins respectively motor/pump parts by the road are connected, and overflow valve 6 oil-outs are 16 connected tanks by the road; Now will be wherein first group motor/pump structure be described as follows: total one way valve 5 oil-outs, accumulator 7 oil-ins and overflow valve 6 oil-ins are 20 P that connect first three position four-way directional control valve by the road respectively
1Mouthful and 21 oil-outs that connect first one way valve 9.1 by the road; The oil-out of second one way valve 11.1 and the 3rd one way valve 10.1 by the road 38 link to each other after 39 oil-ins that connect first one way valve 9.1 by the road, 40 connected tanks by the road after the oil-in of the 4th one way valve 13.1 and the 5th one way valve 12.1 links to each other, the oil-in of second one way valve 11.1 by the road 36 with the oil-out of the 4th one way valve 13.1 by the road 37 link to each other after 35 B that connect first three position four-way directional control valve by the road respectively
1Mouthful and a port of first hydraulic motor/pump 14.1, the oil-in of the 3rd one way valve 10.1 by the road 33 with the oil-out of the 5th one way valve 12.1 by the road 34 link to each other after 32 A that connect first three position four-way directional control valve by the road respectively
1The another port of the mouth and first hydraulic motor/pump 14.1, the T of first three position four-way directional control valve
1The mouth by the road 28 and T of the pipeline 29 and second three position four-way directional control valve
2Mouth links to each other, the T of second three position four-way directional control valve
2The mouth by the road 29 and T of pipeline 30 and the 3rd three position four-way directional control valve
3Mouth links to each other, the T of the 3rd three position four-way directional control valve
3The mouth by the road 30 and T of pipeline 31 and the 4th three position four-way directional control valve
4Mouth links to each other, and the output shaft of first hydraulic motor/pump 14.1 drives cutterhead 15 by the first gear reduction unit G and rotates.
Second group motor/pump structure is described as follows: total one way valve 5 oil-outs, accumulator 7 oil-ins and overflow valve 6 oil-ins are 22 P that connect second three position four-way directional control valve by the road respectively
2Mouthful and 23 oil-outs that connect the 6th one way valve 9.2 by the road; The oil-out of the 7th one way valve 11.2 and the 8th one way valve 10.2 by the road 48 link to each other after 44 oil-ins that connect the 6th one way valve 9.2 by the road, 49 connected tanks by the road after the oil-in of the 9th one way valve 13.2 and the tenth one way valve 12.2 links to each other, the oil-in of the 7th one way valve 11.2 by the road 46 with the oil-out of the 9th one way valve 13.2 by the road 47 link to each other after 45 B that connect second three position four-way directional control valve by the road respectively
2Mouthful and a port of second hydraulic motor/pump 14.2, the oil-in of the 8th one way valve 10.2 by the road 42 with the oil-out of the tenth one way valve 12.2 by the road 43 link to each other after 41 A that connect second three position four-way directional control valve by the road respectively
2The another port of the mouth and second hydraulic motor/pump 14.2, the output shaft of second hydraulic motor/pump 14.2 drives cutterhead 15 by the second gear reduction unit G and rotates.
The 3rd group motor/pump structure is described as follows: total one way valve 5 oil-outs, accumulator 7 oil-ins and overflow valve 6 oil-ins are 24 P that connect the 3rd three position four-way directional control valve by the road respectively
3Mouthful and 25 oil-outs that connect the 11 one way valve 9.3 by the road; The oil-out of the 12 one way valve 11.3 and the 13 one way valve 10.3 by the road 57 link to each other after 55 oil-ins that connect the 11 one way valve 9.3 by the road, 58 connected tanks by the road after the oil-in of the 14 one way valve 13.3 and the 15 one way valve 12.3 links to each other, the oil-in of the 12 one way valve 11.3 by the road 54 with the oil-out of the 14 one way valve 13.3 by the road 53 link to each other after 56 B that connect the 3rd three position four-way directional control valve by the road respectively
3Mouthful and a port of the 3rd hydraulic motor/pump 14.3, the oil-in of the 13 one way valve 10.3 by the road 51 with the oil-out of the 15 one way valve 12.3 by the road 52 link to each other after 50 A that connect the 3rd three position four-way directional control valve by the road respectively
3The another port of mouth and the 3rd hydraulic motor/pump 14.3, the output shaft of the 3rd hydraulic motor/pump 14.3 drives cutterhead 15 by the 3rd gear reduction unit G and rotates.
The 4th group motor/pump structure is described as follows: total one way valve 5 oil-outs, accumulator 7 oil-ins and overflow valve 6 oil-ins are 26 P that connect the 4th three position four-way directional control valve by the road respectively
4Mouthful and 27 oil-outs that connect the 16 one way valve 9.4 by the road; The oil-out of the 17 one way valve 11.4 and the 18 one way valve 10.4 by the road 67 link to each other after 65 oil-ins that connect the 16 one way valve 9.4 by the road, 66 connected tanks by the road after the oil-in of the 19 one way valve 13.4 and the 20 one way valve 12.4 links to each other, the oil-in of the 17 one way valve 11.4 by the road 63 with the oil-out of the 19 one way valve 13.4 by the road 62 link to each other after 64 B that connect the 4th three position four-way directional control valve by the road respectively
4Mouthful and a port of the 4th hydraulic motor/pump 14.4, the oil-in of the 18 one way valve 10.4 by the road 60 with the oil-out of the 20 one way valve 12.4 by the road 61 link to each other after 59 A that connect the 4th three position four-way directional control valve by the road respectively
4The another port of mouth and the 4th hydraulic motor/pump 14.4, the output shaft of the 3rd hydraulic motor/pump 14.4 drives cutterhead 15 by the 4th gear reduction unit G and rotates.
Operating principle of the present invention is as follows:
During shield driving, if run into the soft soil layer condition then the operating mode of cutterhead is a low-speed big, this moment, four groups of motor/pump were worked simultaneously, made system's output high pulling torque.Because four groups of motor/pump operating principles are identical, existing is that example describes with first group.
Three position four-way directional control valve 8.1 left side electromagnet get, hydraulic oil in the pipeline 27 flows to motor/pump 14.1 one end hydraulic fluid ports through three position four-way directional control valve 8.1P1 mouth, three position four-way directional control valve 8.1A1 mouth, pipeline 32, and motor/pump 14.1 other end hydraulic fluid port hydraulic oil by the road 35, three position four-way directional control valve 8.1B1 mouth, three position four-way directional control valve 8.1T1 mouth, pipeline 28 flow back to fuel tank.A part of hydraulic oil in the pipeline 32 passes through one way valve 10.1, pipeline 38, pipeline 39 to one way valve 9.1 oil-ins.Because the hydraulic oil in the pipeline 27 is by the road 21 to one way valve 9.1 oil-outs, its pressure is a little more than the pressure of hydraulic oil in the pipeline 38 after the restriction loss of commutation valve port, so one way valve 9.1 is not opened.This moment the cutterhead forward rotation.
Three position four-way directional control valve 8.1 a right electromagnet get, hydraulic oil in the pipeline 27 flows to motor/pump 14.1 other end hydraulic fluid ports through three position four-way directional control valve 8.1P1 mouth, three position four-way directional control valve 8.1B1 mouth, pipeline 35, and motor/pump 14.1 one end hydraulic fluid port hydraulic oil by the road 32, three position four-way directional control valve 8.1A1 mouth, three position four-way directional control valve 8.1T1 mouth, pipeline 28 flow back to fuel tank.A part of hydraulic oil in the pipeline 35 passes through one way valve 11.1, pipeline 38, pipeline 39 to one way valve 9.1 oil-ins.Because the hydraulic oil in the pipeline 27 is by the road 21 to one way valve 9.1 oil-outs, its pressure is a little more than the pressure of hydraulic oil in the pipeline 38 after the restriction loss of commutation valve port, so one way valve 9.1 is not opened.This moment the cutterhead backward rotation.
When shield driving ran into the ground consisting of hard rock condition, cutterhead was operated in the little moment of torsion operating mode of high speed.By changing the duty of motor/pump, increase system's output speed this moment under the situation that does not increase the constant-pressure variable pumpage.Can determine that the motor/pump executive component is operated in the number of elements of pump state and motor state according to working condition in the real work, and make driving element hold circumferentially even the layout as far as possible to reduce eccentricity effect along cutter spindle.The switching of motor/pump duty realizes by control three position four-way directional control valve magnet switching electricity.Be operated in the pump state with second group of motor/pump below, other respectively organizes motor/pump, and to be operated in the motor state be that example describes, and the system principle that is operated under the motor state is identical with above-mentioned situation.
When motor/pump 14.1,14.3,14.4 forward rotation, drive cutterhead 15 forward rotation by gear reduction unit, because motor/pump 14.2 and cutterhead 15 are rigidly connected by reducer gear, motor/pump 14.2 is forced to forward rotation under the drive of rotary head 15.Three position four-way directional control valve 8.2 electromagnet outage this moment, pipeline 41 and pipeline 45 are cut off, and form certain negative pressure in the short time in the pipeline 41.Hydraulic oil in the fuel tank is by the road 49, one way valve 12.2, pipeline 43 arrive motor/pump 14.2 one end hydraulic fluid ports, and from motor/pump 14.2 other end hydraulic fluid ports by the road 46, one way valve 11.2, pipeline 48, pipeline 44, one way valve 9.2, pipeline 23 flow back into the working connection 27.The increase of hydraulic fluid flow rate and the minimizing that works in the actuator motor/pump number of elements of motor state make system under the prerequisite that does not increase main driving pump discharge capacity in the working connection 27, can realize speed governing on a large scale.
When motor/pump 14.1,14.3,14.4 backward rotation, drive cutterhead 15 backward rotation by gear reduction unit, because motor/pump 14.2 and cutterhead 15 are rigidly connected by reducer gear, motor/pump 14.2 is forced to backward rotation under the drive of rotary head 15.Three position four-way directional control valve 8.2 electromagnet outage this moment, pipeline 41 and pipeline 45 are cut off, and form certain negative pressure in the short time in the pipeline 45.Hydraulic oil in the fuel tank is by the road 49, one way valve 13.2, pipeline 47 arrive motor/pump 14.2 other end hydraulic fluid ports, and from motor/pump 14.2 one end hydraulic fluid ports by the road 42, one way valve 10.2, pipeline 48, pipeline 44, one way valve 9.2, pipeline 23 flow back into the working connection 27.
When shield cutter need stop operating, the outage of three position four-way directional control valve 8.1,8.2,8.3,8.4 electromagnet, the all hydraulic motor/pump was rotated further in effect of inertia following moment of rotation shield cutter, then according to finishing braking procedure, and with braking energy feedback with above-mentioned hydraulic motor/pump 14.2 identical operating principle under three position four-way directional control valve 8.2 electromagnet powering-off states in working connection 27.
The above-mentioned specific embodiment is used for the present invention that explains, rather than limits the invention, and in the protection domain of spirit of the present invention and claim, any modification and change to the present invention makes all fall into protection scope of the present invention.
Claims (1)
1. shield cutter hydraulic control system of widening speed adjustable range, it is characterized in that: motor (2) is rigidly connected through shaft coupling (3) and constant pressure variable displacement pump (4), constant pressure variable displacement pump (4) inlet port is connected with fuel tank (1), constant pressure variable displacement pump (4) oil-out is connected with total one way valve (5) oil-in, the motor/pump parts that total one way valve (5) oil-out is identical with four groups of structures with accumulator (7) oil-in, overflow valve (6) oil-in respectively are connected overflow valve (6) oil-out connected tank; Wherein:
1) first group of motor/pump modular construction is described as follows: total one way valve (5) oil-out, accumulator (7) oil-in and overflow valve (6) oil-in meet the P of first three position four-way directional control valve (8.1) respectively
1The oil-out of mouth and first one way valve (9.1); After linking to each other, the oil-out of second one way valve (11.1) and the 3rd one way valve (10.1) connects the oil-in of first one way valve (9.1), the oil-in of the 4th one way valve (13.1) and the 5th one way valve (12.1) the back connected tank that links to each other meets the B of first three position four-way directional control valve (8.1) respectively after the oil-out of the oil-in of second one way valve (11.1) and the 4th one way valve (13.1) links to each other
1Mouthful and a port of first hydraulic motor/pump (14.1), meet the A of first three position four-way directional control valve (8.1) after the oil-out of the oil-in of the 3rd one way valve (10.1) and the 5th one way valve (12.1) links to each other respectively
1The another port of mouth and first hydraulic motor/pump (14.1), the output shaft of first hydraulic motor/pump (14.1) drives cutterhead (15) by the first gear reduction unit G and rotates;
2) second group of motor/pump modular construction is described as follows: total one way valve (5) oil-out, accumulator (7) oil-in and overflow valve (6) oil-in meet the P of second three position four-way directional control valve (8.2) respectively
2The oil-out of mouth and the 6th one way valve (9.2); After linking to each other, the oil-out of the 7th one way valve (11.2) and the 8th one way valve (10.2) connects the oil-in of the 6th one way valve (9.2), the oil-in of the 9th one way valve (13.2) and the tenth one way valve (12.2) the back connected tank that links to each other meets the B of second three position four-way directional control valve (8.2) respectively after the oil-out of the oil-in of the 7th one way valve (11.2) and the 9th one way valve (13.2) links to each other
2Mouthful and a port of second hydraulic motor/pump (14.2), meet the A of second three position four-way directional control valve (8.2) after the oil-out of the oil-in of the 8th one way valve (10.2) and the tenth one way valve (12.2) links to each other respectively
2The another port of mouth and second hydraulic motor/pump (14.2), the output shaft of second hydraulic motor/pump (14.2) drives cutterhead (15) by the second gear reduction unit G and rotates;
3) the 3rd group of motor/pump modular construction is described as follows: total one way valve (5) oil-out, accumulator (7) oil-in and overflow valve (6) oil-in meet the P of the 3rd three position four-way directional control valve (8.3) respectively
3The oil-out of mouth and the 11 one way valve (9.3); After linking to each other, the oil-out of the 12 one way valve (11.3) and the 13 one way valve (10.3) connects the 11 one way valve (9.3 oil-in, the oil-in of the 14 one way valve (13.3) and the 15 one way valve (12.3) the back connected tank that links to each other, the oil-in of the 12 one way valve (11.3) and the B that connects the 3rd three position four-way directional control valve (8.3) after the oil-out of the 14 one way valve (13.3) links to each other respectively
3Mouthful and a port of the 3rd hydraulic motor/pump (14.3), the oil-in of the 13 one way valve (10.3) and the A that connects the 3rd three position four-way directional control valve (8.3) after the oil-out of the 15 one way valve (12.3) links to each other respectively
3The another port of mouth and the 3rd hydraulic motor/pump (14.3), the output shaft of the 3rd hydraulic motor/pump (14.3) drives cutterhead (15) by the 3rd gear reduction unit G and rotates;
4) the 4th group of motor/pump modular construction is described as follows: total one way valve (5) oil-out, accumulator (7) oil-in and overflow valve (6) oil-in meet the P of the 4th three position four-way directional control valve (8.4) respectively
4The oil-out of mouth and the 16 one way valve (9.4); After linking to each other, the oil-out of the 17 one way valve (11.4) and the 18 one way valve (10.4) connects the oil-in of the 16 one way valve (9.4), the oil-in of the 19 one way valve (13.4) and the 20 one way valve (12.4) the back connected tank that links to each other, the oil-in of the 17 one way valve (11.4) and the B that connects the 4th three position four-way directional control valve (8.4) after the oil-out of the 19 one way valve (13.4) links to each other respectively
4Mouthful and a port of the 4th hydraulic motor/pump (14.4), the oil-in of the 18 one way valve (10.4) and the A that connects the 4th three position four-way directional control valve (8.4) after the oil-out of the 20 one way valve (12.4) links to each other respectively
4The another port of mouth and the 4th hydraulic motor/pump (14.4), the output shaft of the 3rd hydraulic motor/pump (14.4) drives cutterhead (15) by the 4th gear reduction unit G and rotates;
The T of the three position four-way directional control valve of first group of motor/pump parts (8.1)
1Mouthful with the T of the three position four-way directional control valve (8.2) of second group of motor/pump parts
2The T of the three position four-way directional control valve (8.3) of mouth, the 3rd group of motor/pump parts
3The T of the three position four-way directional control valve (8.4) of mouth and the 4th group of motor/pump parts
4Mouth links to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101223707A CN101403309B (en) | 2008-11-11 | 2008-11-11 | Tunnel shielding blade disc hydraulic control system with widened timing range |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101223707A CN101403309B (en) | 2008-11-11 | 2008-11-11 | Tunnel shielding blade disc hydraulic control system with widened timing range |
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| Publication Number | Publication Date |
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| CN101403309A CN101403309A (en) | 2009-04-08 |
| CN101403309B true CN101403309B (en) | 2010-12-01 |
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| CN2008101223707A Expired - Fee Related CN101403309B (en) | 2008-11-11 | 2008-11-11 | Tunnel shielding blade disc hydraulic control system with widened timing range |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101550830B (en) * | 2009-05-18 | 2012-08-29 | 浙江大学 | Energy-efficient shield cutterhead closed loop hydraulic control system adopting ganged accumulators |
| CN103016017B (en) * | 2012-12-21 | 2014-08-13 | 浙江大学 | Variable frequency drive shield thrust hydraulic system |
| CN104153786B (en) * | 2014-07-22 | 2016-03-30 | 西安交通大学 | A kind of energy-saving type shield propulsion hydraulic system adopting coaxial motor |
| CN107701524B (en) * | 2017-11-10 | 2019-01-18 | 浙江大学 | A kind of energy feedback system of TBM hybrid-driven cutterhead |
| CN107781241A (en) * | 2017-11-22 | 2018-03-09 | 中铁工程装备集团技术服务有限公司 | A kind of automatic control system of overlarge-diameter soil pressure balance shield machine stirring device |
| CN108895043B (en) * | 2018-08-09 | 2020-07-31 | 江苏大学 | Constant pressure control device and method for hydraulic pump |
| CN113879097B (en) * | 2021-09-15 | 2023-04-18 | 浙江大学 | Multi-mode electro-hydraulic hybrid power system |
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