CN105019909A - Support and steering hydraulic system for experiment table of rock tunnel boring machine - Google Patents
Support and steering hydraulic system for experiment table of rock tunnel boring machine Download PDFInfo
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- CN105019909A CN105019909A CN201510306250.2A CN201510306250A CN105019909A CN 105019909 A CN105019909 A CN 105019909A CN 201510306250 A CN201510306250 A CN 201510306250A CN 105019909 A CN105019909 A CN 105019909A
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Abstract
The invention discloses a support and steering hydraulic system for an experiment table of a rock tunnel boring machine. The support and steering hydraulic system comprises an oil source, a gripper shoe oil channel and a pitching oil channel. The oil source comprises an oil-conveying pipeline. One end of the oil-conveying pipeline is communicated with an oil tank and the other end of the oil-conveying pipeline is sequentially connected with a filter, a metering pump, a first check valve and an oil source cut-off valve. The gripper shoe oil channel comprises a first hydraulic cylinder and a second hydraulic cylinder. A saddletree is capable of performing movement with cylinder barrels of the first hydraulic cylinder and the second hydraulic cylinder along axial directions of the first hydraulic cylinder and the second hydraulic cylinder. The pitching oil channel comprises two identical pitching modules. The saddletree is driven by the two pitching modules to perform up-down motion. The support and steering hydraulic system for the experiment table of the rock tunnel boring machine has following beneficial effects: the system can be matched with a controller for design, correction and deviation load; when a cutter disc deviates, the controller receives a deviation load signal and automatically controls steering, pitching and rotation motion in a real-time manner so that flexibility and effectiveness of correction and deviation are greatly improved in order to enhance tunneling precision and efficiency of the rock tunnel boring machine.
Description
Technical field
The present invention relates to support steering hydraulic system, particularly hard rock mole experimental bench supports steering hydraulic system.
Background technology
Hard rock tunnel development machine (being called for short TBM), it is the key equipment of the field construction of underground tunnel such as railway, highway, water conservancy, urban construction, be a kind of integrate machinery, electrically, the tunneling equipment of the technology such as hydraulic pressure, information, there are wide market prospects, in recent years, along with the continuous follow-up of China's infrastructure construction, a large amount of traffic engineering, resource conveying engineering need to launch set of tunneling construction under extremely complicated geological conditions, and hard rock tunnel development machine is undoubtedly the first-selection of this kind of engineering.
Hard rock mole technical sophistication and added value high, reflect a national equipment manufacture level.It belongs to weight equipment, system bulky complex, researches and develops, manufacturing cost is high, the cycle is long.Hard rock mole working environment complex geologic conditions, operating mode is changeable, during research and development test, also very high to the requirement in supporting place.So in, the indefinite situation of working condition immature at equipment and technology, blindly developing large-scale hard rock mole both easily caused unnecessary waste, give again experiment, test brings difficulty, and simulation analysis can not draw precise characteristics.Thus, hard rock mole research and development first adopt small scale test platform to carry out testing, analyzing usually, after technology maturation, and regenerative ratio geometric ratio prototype.
In numerous core technologies of hard rock mole, hydraulic technique plays extremely important role with the feature that its power density is large.Thus, build all kinds of operating mode when can simulate hard rock mole operation, the experimental bench of integrated hydraulic control technology is a ring important in the exploitation of hard rock mole complete machine.China Patent No. 201310716992.3 gives the hard rock mole propulsion hydraulic system that a kind of pressure flow overall process adapts to; China Patent No. 201410246311.6 gives a kind of hard rock mole propulsion hydraulic system complying with sudden change load; China Patent No. 201410241399.2 gives a kind of hard rock mole propulsion hydraulic system of double mode switching; China Patent No. 201410615038.X gives the hard rock mole that a kind of thrust and support force be coupled in real time and advances support hydraulic pressure system.But the research hard rock mole experimental bench supporting, turn to, correct unbalance loading being supported to steering hydraulic system is less.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art existence, provide a kind of hard rock mole experimental bench that can realize supporting, turn to and correcting unbalance loading to support steering hydraulic system.
For the technical scheme realizing the object of the invention employing is as follows:
Hard rock mole experimental bench of the present invention supports steering hydraulic system, and it comprises oil sources, support boots oil circuit and pitching oil circuit;
Described oil sources comprises and send oil pipe line, described oil pipe line one end is sent to be communicated with fuel tank and the other end is connected strainer, constant displacement pump, the first one way valve and oil source globe in turn, described motor and constant displacement pump are rigidly connected, the oil-out of described constant displacement pump is connected with the oil-in of pilot operated electromagnetic relief valve, the pilot control hydraulic fluid port of described pilot operated electromagnetic relief valve is connected with the first of two-position four way change valve, and second mouthful of described two-position four way change valve and the oil-out of pilot operated electromagnetic relief valve are connected with fuel tank;
Described support boots oil circuit comprises: the first branch road being provided with the first stop valve, the entrance point of the first described branch road is connected with oil source globe oil-out, the port of export of the first described branch road is divided into the 3rd branch road and the 4th branch road, the 5th branch road and the 6th branch road is divided into after the 3rd described branch road connects proportional pressure-reducing valve, the 5th described branch road connects the first interface of three position four-way directional control valve in turn, two-way is divided into after 3rd interface of three position four-way directional control valve and the second one way valve, one tunnel connects the second hydraulic control one-way valve, the rodless cavity of the first hydraulic cylinder and another road connects the 3rd pressure sensor in turn, the rodless cavity of the 4th hydraulic control one-way valve and the second hydraulic cylinder, the 4th described branch road connects the first reducing valve in turn, four tunnels are divided into after the first interface of the first 3-position 4-way proportioning valve and the 3rd interface of the first 3-position 4-way proportioning valve, the wherein first via and the 5th hydraulic control one-way valve, the rod chamber of the first pressure sensor and the first hydraulic cylinder is connected, second tunnel in turn with the first counterbalance valve, the rod chamber of the first pressure sensor and the first hydraulic cylinder is connected, 3rd tunnel in turn with the 6th hydraulic control one-way valve, second pressure sensor and the second hydraulic cylinder rod chamber are connected, 4th tunnel in turn with the second counterbalance valve, second pressure sensor and the second hydraulic cylinder rod chamber are connected, the 6th described branch road connects the rod chamber of the first interface of the second 3-position 4-way proportioning valve, the 3rd interface of the second 3-position 4-way proportioning valve, the first pressure sensor and the first hydraulic cylinder in turn, the 7th branch road one end of the 3rd one way valve is housed and is connected with the 4th mouthful of three position four-way directional control valve and the other end is connected with the 4th branch road between the 5th hydraulic control one-way valve and the 3rd interface of the first 3-position 4-way proportioning valve, after the 4th pressure sensor, two pipelines are divided into the 4th mouthful of the 8th pipeline be connected of the first 3-position 4-way proportioning valve, one of them pipeline connects the rodless cavity of the first hydraulic control one-way valve and the first hydraulic cylinder in turn, and another pipeline connects the rodless cavity of the 3rd hydraulic control one-way valve and the second hydraulic cylinder in turn, 9th branch road one end is connected with the 4th hydraulic fluid port of the second 3-position 4-way proportioning valve, the other end is connected with the second pressure sensor and the second hydraulic cylinder rod chamber, with the first 3-position 4-way proportioning valve the 3rd mouthful of the control port of the first hydraulic control one-way valve and the control port of the 3rd hydraulic control one-way valve is connected, the control port of the second hydraulic control one-way valve control port and the 4th hydraulic control one-way valve and the 4th of three position four-way directional control valve the mouthful connect, with the first 3-position 4-way proportioning valve the 4th mouthful of the control port of the 5th hydraulic control one-way valve and the control port of the 6th hydraulic control one-way valve is connected, the oil return opening of the second 3-position 4-way proportioning valve, the oil return opening of the first 3-position 4-way proportioning valve, the oil return opening of three position four-way directional control valve, first reducing valve controls oily unloading port and proportional pressure-relief valve control oil unloading port is connected with fuel tank,
Described pitching oil circuit comprises: the second branch road that entrance point is connected with oil source globe oil-out, the second described branch road port of export connects the second stop valve pitching module identical with being divided into two after the second reducing valve in turn, each pitching module includes a 3rd 3-position 4-way proportioning valve, the first of the 3rd described 3-position 4-way proportioning valve exports with the second reducing valve and is connected, the 3rd mouthful of the 3rd described 3-position 4-way proportioning valve connects the rod chamber of the 7th hydraulic control one-way valve and the 3rd hydraulic cylinder successively by the tenth branch road, the rod chamber of the 3rd described hydraulic cylinder is connected with the rod chamber of the 4th hydraulic cylinder by the pipeline that the 5th pressure sensor is housed, the oil-out of the 7th described hydraulic control one-way valve is connected with the first safety valve oil-in, the 4th mouthful of the 3rd described 3-position 4-way proportioning valve connects the 8th hydraulic control one-way valve successively by the 11 branch road, the rodless cavity of the 6th pressure sensor and the 3rd hydraulic cylinder, the rodless cavity of the 3rd described hydraulic cylinder is connected with the rodless cavity of the 4th hydraulic cylinder, the oil-out of the 8th described hydraulic control one-way valve is connected with the second safety valve oil-in, the 8th described hydraulic control one-way valve oil-in is connected with the 7th hydraulic control one-way valve control port, the 7th described hydraulic control one-way valve oil-in is connected with the 8th hydraulic control one-way valve control port.The oil return opening of the 3rd 3-position 4-way proportioning valve is communicated with fuel tank.
Beneficial effect of the present invention is as follows:
1. can correct unbalance loading controller by Aided design, when cutterhead generation unbalance loading, controller receives unbalance loading signal, and automatically control in real time to turn to, pitching, spinning movement, greatly improve the flexibility and validity of correcting unbalance loading, to improve driving precision and the efficiency of hard rock mole.
2. hard rock mole experimental bench of the present invention support steering hydraulic system can realize stretching out fast of support boots and reset, high pressure stretching, both effectively improve the efficiency supportting boots, and support function can have been realized well again.
3. the pitching oil circuit of hard rock mole experimental bench support steering hydraulic system of the present invention can realize the actions such as the pitching of experimental bench cutterhead, rotation, has and improves driving precision, assist the function of getting rid of poverty.
4. hard rock mole experimental bench of the present invention supports steering hydraulic system for the hard rock mole development phase, can significantly reduce costs, and improves efficiency of research and development.
5. hard rock mole experimental bench support steering hydraulic system of the present invention can be used for the exploitation of hard rock mole control algolithm, by studying the effect of different control algolithm, draws optimum controling strategy.
6. hard rock mole experimental bench support steering hydraulic system of the present invention has the advantages such as simulation accuracy is high, occupied ground is little, testing expense is low.
Accompanying drawing explanation
Fig. 1 be hard rock mole experimental bench of the present invention support steering hydraulic system install and use schematic top plan view;
Fig. 2 be hard rock mole experimental bench of the present invention support steering hydraulic system install and use schematic side view;
Fig. 3 is the structural representation that hard rock mole experimental bench of the present invention supports steering hydraulic system.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.Specific embodiment described herein only for explaining the present invention, the protection domain be not intended to limit the present invention.
As depicted in figs. 1 and 2, what support steering hydraulic system for hard rock mole experimental bench of the present invention installs and uses schematic diagram, and cutterhead 9 is connected with girder 8, first and second hydraulic cylinder 201-1,201-2 are distributed in girder 8 both sides and are positioned under saddletree 11, the cylinder bar of first and second hydraulic cylinder 201-1,201-2 supports boots 10-1,10-2 with first and second respectively and is connected, be fixedly connected with by two Barrel of Hydraulic Cylinders between first and second hydraulic cylinder 201-1,201-2, and first and second Barrel of Hydraulic Cylinders is connected with saddletree 11 by cross bearing pin, girder 8 is a pitching module each side, two pitching modular structures are identical, first pitching module has the 3rd, four hydraulic cylinder 301-1, 301-2, second pitching module has the 5th, six hydraulic cylinder 301-3, 301-4, 3rd, the cylinder bar of four hydraulic cylinders is all connected with saddletree 11 side, 3rd, four Barrel of Hydraulic Cylinders are connected with hydraulic cylinder 201-1 cylinder barrel, 5th, the cylinder bar of six hydraulic cylinders is all connected with saddletree 11 opposite side, 5th, six Barrel of Hydraulic Cylinders are connected with hydraulic cylinder 201-2 cylinder barrel, therefore saddletree 11 can with first, two hydraulic cylinder 201-1, 201-2 cylinder barrel is along first, two hydraulic cylinder 201-1, 201-2 axis direction moves, can also move up and down under the drive of two pitching modules.
Hard rock mole experimental bench of the present invention supports steering hydraulic system, comprises oil sources, support boots oil circuit and pitching oil circuit.
Described oil sources comprises and send oil pipe line, described oil pipe line one end is sent to be communicated with fuel tank 1 and the other end is connected strainer 2, constant displacement pump 4, first one way valve 6 and oil source globe 7 in turn, described motor 3 is rigidly connected with constant displacement pump 4, the oil-out of described constant displacement pump 4 is connected with the oil-in of pilot operated electromagnetic relief valve 5, the pilot control hydraulic fluid port of described pilot operated electromagnetic relief valve 5 is connected with the first Y of its two-position four way change valve, and second mouthful of X of described two-position four way change valve and the oil-out of pilot operated electromagnetic relief valve are connected with fuel tank 1.Oil in fuel tank enters constant displacement pump 4 through filter 2, is then divided into two-way, and a road flows through the first one way valve 6 and oil source globe 7, and another road flows into pilot operated electromagnetic relief valve 5 through the oil-out of constant displacement pump 4, then flows back to fuel tank 1.
Described support boots oil circuit comprises: the first branch road being provided with the first stop valve 212, the entrance point of the first described branch road is connected with oil source globe 7 oil-out, the port of export of the first described branch road is divided into the 3rd branch road and the 4th branch road, the 5th branch road and the 6th branch road is divided into after the 3rd described branch road connects proportional pressure-reducing valve 209, the 5th described branch road connects the first interface P of three position four-way directional control valve 205 in turn, two-way is divided into after 3rd interface A of three position four-way directional control valve 205 and the second one way valve 208, one tunnel connects the second hydraulic control one-way valve 202-2, the rodless cavity of the first hydraulic cylinder 201-1 and another road connects the 3rd pressure sensor 211-3 in turn, the rodless cavity of the 4th hydraulic control one-way valve 202-4 and the second hydraulic cylinder 201-2, the 4th described branch road connects the first reducing valve 210 in turn, four tunnels are divided into after the first interface P1 of the first 3-position 4-way proportioning valve 207 and the 3rd interface A1 of the first 3-position 4-way proportioning valve 207, the wherein first via and the 5th hydraulic control one-way valve 202-5, the rod chamber of the first pressure sensor 211-1 and the first hydraulic cylinder 201-1 is connected, second tunnel in turn with the first counterbalance valve 203-1, the rod chamber of the first pressure sensor 211-1 and the first hydraulic cylinder 201-1 is connected, 3rd tunnel in turn with the 6th hydraulic control one-way valve 202-6, second pressure sensor 211-2 and the second hydraulic cylinder 201-2 rod chamber are connected, 4th tunnel in turn with the second counterbalance valve 203-2, second pressure sensor 211-2 and the second hydraulic cylinder 201-2 rod chamber are connected, the 6th described branch road connects the first interface P2 of the second 3-position 4-way proportioning valve 206, the 3rd interface A2, the first pressure sensor 211-1 of the second 3-position 4-way proportioning valve 206 and the first hydraulic cylinder 101-1 rod chamber in turn, and the 4th mouthful of B of the 7th branch road one end and three position four-way directional control valve 205 that the 3rd one way valve 204 is housed is connected and the other end is connected with the 4th branch road between the 5th hydraulic control one-way valve 202-5 and the 3rd interface A1 of the first 3-position 4-way proportioning valve 207, the 8th pipeline be connected with the 4th mouthful of B1 of the first 3-position 4-way proportioning valve 207 is divided into two pipelines after the 4th pressure sensor 211-4, one of them pipeline connects the rodless cavity of the first hydraulic control one-way valve 202-1 and the first hydraulic cylinder 201-1 in turn, and another pipeline connects the rodless cavity of the 3rd hydraulic control one-way valve 202-3 and the second hydraulic cylinder 201-2 in turn, 9th branch road one end is connected with the 4th hydraulic fluid port B2 of the second 3-position 4-way proportioning valve 206, the other end is connected with the second pressure sensor 211-2 and the second hydraulic cylinder 201-2 rod chamber, the control port of the first hydraulic control one-way valve 202-1 is connected with the 3rd mouthful of A1 of the first 3-position 4-way proportioning valve 207 with the control port of the 3rd hydraulic control one-way valve 202-3, second hydraulic control one-way valve 202-2 control port is connected with the 4th mouthful of B of three position four-way directional control valve 205 with the control port of the 4th hydraulic control one-way valve 202-4, 5th hydraulic control one-way valve 202-5 control port is connected with the 4th mouthful of B1 of the first 3-position 4-way proportioning valve 207 with the control port of the 6th hydraulic control one-way valve 202-6, the oil return inlet T 2 of the second 3-position 4-way proportioning valve 206, the oil return inlet T 1 of the first 3-position 4-way proportioning valve 207, the oil return inlet T of three position four-way directional control valve 205, first reducing valve 210 controls oily unloading port and proportional pressure-reducing valve 209 and controls oily unloading port and be connected with fuel tank 1.
Described pitching oil circuit comprises: the second branch road that entrance point is connected with oil source globe 7 oil-out, the second described branch road port of export connects the second stop valve 307 pitching module identical with being divided into two after the second reducing valve 305 in turn, each pitching module includes a 3rd 3-position 4-way proportioning valve 304, the first P3 of the 3rd described 3-position 4-way proportioning valve 304 exports with the second reducing valve 305 and is connected, 3rd mouthful of A3 of the 3rd described 3-position 4-way proportioning valve 304 connects the rod chamber of the 7th hydraulic control one-way valve 303-1 and the 3rd hydraulic cylinder 301-1 successively by the tenth branch road, the rod chamber of the 3rd described hydraulic cylinder 301-1 is connected with the rod chamber of the 4th hydraulic cylinder 301-2 by the pipeline that the 5th pressure sensor 306-1 is housed, the oil-out of the 7th described hydraulic control one-way valve 303-1 is connected with the first safety valve 302-1 oil-in, 4th mouthful of B3 of the 3rd described 3-position 4-way proportioning valve 304 connects the 8th hydraulic control one-way valve 303-2 successively by the 11 branch road, the rodless cavity of the 6th pressure sensor 306-2 and the 3rd hydraulic cylinder 301-1, the rodless cavity of the 3rd described hydraulic cylinder 301-1 is connected with the rodless cavity of the 4th hydraulic cylinder 301-2, the oil-out of the 8th described hydraulic control one-way valve 303-2 is connected with the second safety valve 302-2 oil-in, the 8th described hydraulic control one-way valve 303-2 oil-in is connected with the 7th hydraulic control one-way valve 303-1 control port, the 7th described hydraulic control one-way valve 303-1 oil-in is connected with the 8th hydraulic control one-way valve 303-2 control port.The oil return inlet T 3 of the 3rd 3-position 4-way proportioning valve 304 is communicated with fuel tank 1.
This device also comprises a controller, the laser-guided systems of described hard rock mole is connected with controller with the 4th pressure sensor 211-4, the horizontal unbalance loading signal of cutterhead that described controller sends according to this laser-guided systems, send control signal to described three position four-way directional control valve 205 and the second 3-position 4-way proportioning valve 206, control cutterhead horizontal correction unbalance loading.The vertical unbalance loading signal of cutterhead that described controller sends according to this laser-guided systems and rotate unbalance loading signal, the 3rd 3-position 4-way proportioning valve 304 to first and second described pitching module exports control signal, controls the reverse pitching of cutterhead or rotates to correct unbalance loading.Whether described controller reaches setting value according to the pressure signal value of the 4th pressure sensor 211-4, send control signal to described three position four-way directional control valve 205 and the first three position four-way directional control valve 207, controlling first and second hydraulic cylinder 201-1,201-2 by stretching out state transfer is fast that high pressure supports shoe-like state.And three position four-way directional control valve 205, the second 3-position 4-way proportioning valve 206 described in the active steering that described controller sends according to control panel, pitching and rotation control command control and the 3rd 3-position 4-way proportioning valve 304 of first and second pitching module, to realize active steering, pitching and spinning movement.
Hard rock mole experimental bench of the present invention supports steering hydraulic system can simulate several different operation condition of below actual hard rock mole.
Oil sources is the operating mode of system each oil circuit fuel feeding: charged the while of motor 3 and pilot operated electromagnetic relief valve 5, timer starts timing, the pilot stage oil circuit control of pilot operated electromagnetic relief valve 5 is connected with fuel tank 1, oil pump is made to be in unloading condition, motor 3 drives constant displacement pump 4 to rotate, constant displacement pump 4 through strainer 2 from fuel tank 1 oil suction, the fluid that constant displacement pump 4 is discharged is through pilot operated electromagnetic relief valve 5 off-load, after timer arrives setting-up time, pilot operated electromagnetic relief valve 5 dead electricity, play overflow effect, constant displacement pump 4 starts to load, through the first one way valve 6 and oil source globe 7 to other each oil circuit fuel feeding.
First hydraulic cylinder 201-1 and the second hydraulic cylinder 201-2 stretches out and reset operating mode fast as support boots hydraulic cylinder: when stretching out fast, in support boots oil circuit, only the first right position of 3-position 4-way proportioning valve 207 is connected, hydraulic oil is through the first stop valve 212, first reducing valve 210, the first right position of 3-position 4-way proportioning valve 207 enters the first hydraulic control one-way valve 202-1 respectively, 3rd hydraulic control one-way valve 202-3, 5th hydraulic control one-way valve 202-5 control port, 6th hydraulic control one-way valve 202-6 control port, the first hydraulic cylinder 201-1 rodless cavity is entered through the first hydraulic control one-way valve 202-1, the second hydraulic cylinder 201-2 rodless cavity is entered through the 3rd hydraulic control one-way valve 202-3, control oil and open the 5th hydraulic control one-way valve 202-5 and the 6th hydraulic control one-way valve 202-6, first hydraulic cylinder 201-1 rod chamber hydraulic oil is through the 5th hydraulic control one-way valve 202-5, the first right position of 3-position 4-way proportioning valve 207 enters fuel tank 1, second hydraulic cylinder 201-2 rod chamber hydraulic oil is through the 6th hydraulic control one-way valve 202-6, the first right position of 3-position 4-way proportioning valve 207 enters fuel tank 1, in this process, if the first hydraulic cylinder 201-1, second hydraulic cylinder 201-2 moves asynchronous, one of them support boots 10 first contacts country rock, the hydraulic cylinder load be connected is risen, the offside hydraulic cylinder that the load of oil meeting automatic stream is less, after two support boots 10 all contact country rock, the force value of the 4th pressure sensor 211-4 reaches the setting value of controller, stretch out end fast, proceed to high pressure stretching operating mode, support boots 10 Rapid reset is with similar when stretching out fast, in support boots oil circuit, only the first left position of 3-position 4-way proportioning valve 207 is connected, hydraulic oil is through the first stop valve 212, first reducing valve 210, the first left position of 3-position 4-way proportioning valve 207 enters the 5th hydraulic control one-way valve 202-5 respectively, 6th hydraulic control one-way valve 202-6, first hydraulic control one-way valve 202-1 control port and the 3rd hydraulic control one-way valve 202-3 control port, hydraulic oil through the 5th hydraulic control one-way valve 202-5 enters the first hydraulic cylinder 201-1 rod chamber, hydraulic oil through the 6th hydraulic control one-way valve 202-6 enters the second hydraulic cylinder 201-2 rod chamber, control oil and open the first hydraulic control one-way valve 202-1 and the 3rd hydraulic control one-way valve 202-3, first hydraulic cylinder 201-1 rodless cavity hydraulic oil is through the first hydraulic control one-way valve 202-1, the first left position of 3-position 4-way proportioning valve 207 enters fuel tank 1, second hydraulic cylinder 201-2 rodless cavity hydraulic oil is through the 3rd hydraulic control one-way valve 202-3, the first left position of 3-position 4-way proportioning valve 207 enters fuel tank 1.First reducing valve 210 makes system obtain low pressure and mass flow oil, accelerate the first hydraulic cylinder 201-1, the second hydraulic cylinder 201-2 speed, the first 3-position 4-way proportional reversing valve 207 can change oil circuit direction and oil mass size to change the first hydraulic cylinder 201-1, the second hydraulic cylinder 201-2 telescopic direction and speed.
First hydraulic cylinder 201-1 and the second hydraulic cylinder 201-2 is as support boots hydraulic cylinder high pressure stretching operating mode: controller receives the pressure signal of the 4th pressure sensor 211-4, when this signal value reaches setting pressure signal value, controller controls the left position of three position four-way directional control valve 205 in support boots oil circuit and connects, hydraulic oil is through the first stop valve 212, proportional pressure-reducing valve 209, the left position of three position four-way directional control valve 205, second one way valve 208 enters the second hydraulic control one-way valve 202-2 and the 4th hydraulic control one-way valve 202-4 respectively, hydraulic oil enters the first hydraulic cylinder 201-1 rodless cavity through the second hydraulic control one-way valve 202-2, hydraulic oil enters the second hydraulic cylinder 201-2 rodless cavity through the 4th hydraulic control one-way valve 202-4, first hydraulic cylinder 201-1 rod chamber hydraulic oil enters the 3rd one way valve 204 through the first counterbalance valve 203-1, second hydraulic cylinder 201-2 rod chamber hydraulic oil enters the 3rd one way valve 204 through the second counterbalance valve 203-2, fluid again from the 3rd one way valve 204 through three position four-way directional control valve 205 left oil sump tanks 1.The pressure of the first hydraulic cylinder 201-1 and the second hydraulic cylinder 201-2 during proportional pressure-reducing valve 209 adjustable high pressure stretching, in case pressure excessive conquassation country rock or pressure is too small is difficult to stretching.First counterbalance valve 203-1, the second counterbalance valve 203-2 provide back pressure when high pressure stretching, reduce the first hydraulic cylinder 201-1, impact when the second hydraulic cylinder 201-2 low pressure switches to high pressure.Three position four-way directional control valve 205 is for controlling high pressure stretching pattern and opening the second hydraulic control one-way valve 202-2 and the 4th hydraulic control one-way valve 202-4 so that horizontal tuning.
First hydraulic cylinder 201-1 and the second hydraulic cylinder 201-2 is as support boots hydraulic cylinder horizontal tuning operating mode: cutterhead to the right tuning time, the only right position of three position four-way directional control valve 205 in support boots oil circuit, the second left position of 3-position 4-way proportioning valve 206 is connected, the right position of three position four-way directional control valve 205 is connected and is made control oil open the second hydraulic control one-way valve 202-2, 4th hydraulic control one-way valve 202-4, the rodless cavity of the first hydraulic cylinder 201-1 is communicated with the rodless cavity of the second hydraulic cylinder 201-2, fluid is through the first stop valve 212, proportional pressure-reducing valve 209, the second left position of 3-position 4-way proportioning valve 206 enters the first hydraulic cylinder 201-1 rod chamber, now due to the first hydraulic cylinder 201-1, second hydraulic cylinder 201-2 cylinder bar stretching crag is motionless, and the first hydraulic cylinder 201-1 cylinder barrel and the second hydraulic cylinder 201-2 cylinder barrel drive saddletree 11 to move to left, and (cylinder bar is fixed motionless, can only cylinder barrel move), fluid is through the second hydraulic cylinder 201-2 rod chamber, the left bit stream oil sump tank 1 of second 3-position 4-way proportioning valve 206, now cylinder barrel moves to left and namely makes cutterhead tuning to the right, cutterhead left tuning time similar, only the right position of three position four-way directional control valve 205, the second right position of 3-position 4-way proportioning valve 206 are connected, and do not repeat them here.Second 3-position 4-way proportioning valve 206 can control the flow direction and the uninterrupted of fluid when the horizontal tuning of the first hydraulic cylinder 201-1 and the second hydraulic cylinder 201-2, and then controls tuning direction and speed.
Cutterhead 9 pitching, rotate, keep operating mode: when cutterhead 9 is bowed, in pitching oil circuit, two module action are identical, for the first pitching module, the 3rd right position of 3-position 4-way proportioning valve 304 is connected, fluid enters the 3rd hydraulic cylinder 301-1 rodless cavity through the 8th hydraulic control one-way valve 303-2, 4th hydraulic cylinder 301-2 rodless cavity, control fluid simultaneously and open the 7th hydraulic control one-way valve 303-1, fluid is through the 3rd hydraulic cylinder 301-1 rod chamber, 4th hydraulic cylinder 301-2 rod chamber, 7th hydraulic control one-way valve 303-1 flows back to fuel tank 1, 3rd hydraulic cylinder 301-1, 4th hydraulic cylinder 301-2 cylinder bar rises, first, two pitching modules drive saddletree 11 to rise, cutterhead 9 is bowed, contrary when cutterhead 9 is faced upward, just the 3rd left position of 3-position 4-way proportioning valve 304 of two modules is connected, and the 3rd hydraulic cylinder 301-1, the 4th hydraulic cylinder 301-2 cylinder bar decline, and first and second pitching module drives saddletree 11 to decline, and cutterhead 9 is faced upward, for from the visual angle viewed from hard rock mole experimental bench rear portion anteriorly cutterhead, when cutterhead 9 is rotated counterclockwise tuning, the 3rd left position of 3-position 4-way proportioning valve 304 of the first pitching module is connected, the 3rd right position of 3-position 4-way proportioning valve 304 of the second pitching module is connected, make the 3rd hydraulic cylinder 301-1 cylinder bar of the first pitching module, the 4th hydraulic cylinder 301-2 cylinder bar decline, 5th hydraulic cylinder 301-3 cylinder bar, the 6th hydraulic cylinder 301-4 cylinder bar of the second pitching module rise, drive saddletree 11 to be rotated counterclockwise, complete cutterhead 9 and be rotated counterclockwise tuning action, when 3rd hydraulic cylinder 301-1, the 4th hydraulic cylinder 301-2 keep, for the first module, 3rd 3-position 4-way proportioning valve 304 is in meta, the locked 3rd hydraulic cylinder 301-1 of 7th hydraulic control one-way valve 303-1, the 8th hydraulic control one-way valve 303-2, the 4th hydraulic cylinder 301-2, to balance the moment of torsion that cutterhead 9 circumgyration incision rock brings, cutterhead 9 is avoided to sidewinder.First safety valve 302-1, the second safety valve 302-2 protect the 3rd hydraulic cylinder 301-1, the 4th hydraulic cylinder 301-2 when oil pressure is excessive, the 3rd 3-position 4-way proportioning valve 304 can regulate pitching, spinning movement direction and speed thereof.
System corrects unbalance loading operating mode automatically: when cutterhead 9 left unbalance loading time, the unbalance loading signal that the laser-guided systems of hard rock mole sends is input to controller, controller controls the right position of three position four-way directional control valve 205 and connects, the second left position of 3-position 4-way proportioning valve 206 is connected, the cylinder barrel of the first hydraulic cylinder 201-1 cylinder barrel, the second hydraulic cylinder 201-2 is made to drive saddletree 11 tuning left, to correct unbalance loading, when cutterhead 9 to the right unbalance loading time contrary, when the downward unbalance loading of cutterhead 9, the unbalance loading signal that the laser-guided systems of hard rock mole sends is input to controller, the 3rd left position of 3-position 4-way proportioning valve 304 that controller controls first and second pitching module is connected, make the 5th hydraulic cylinder 301-3 cylinder bar of the 3rd hydraulic cylinder 301-1 cylinder bar of the first pitching module, the 4th hydraulic cylinder 301-2 cylinder bar and the second pitching module, the 6th hydraulic cylinder 301-4 cylinder bar decline, saddletree 11 is driven to decline, cutterhead 9 is made to increase, to correct unbalance loading, when cutterhead 9 upwards unbalance loading time contrary, for from the visual angle viewed from hard rock mole experimental bench rear portion anteriorly cutterhead, when cutterhead 9 deflects clockwise, the unbalance loading signal that the laser-guided systems of hard rock mole sends is input to controller, the 3rd left position of 3-position 4-way proportioning valve 304 that controller controls the first pitching module is connected, the 3rd right position of 3-position 4-way proportioning valve 304 of the second pitching module is connected, to make the 3rd hydraulic cylinder 301-1 cylinder bar of the first pitching module, 4th hydraulic cylinder 301-2 cylinder bar declines, 5th hydraulic cylinder 301-3 cylinder bar of the second pitching module, 6th hydraulic cylinder 301-4 cylinder bar rises, saddletree 11 is driven to rotate counterclockwise, namely unbalance loading is corrected with counter-rotation, contrary when cutterhead 9 deflects counterclockwise, therefore do not repeat them here.
Described system element existing procucts, concrete type selecting need be determined in conjunction with design parameters and requirement.
It should be noted that; above-described embodiment is only the preferred embodiment of the present invention; obviously; the invention is not restricted to above embodiment; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should think in protection scope of the present invention.
Claims (2)
1. hard rock mole experimental bench supports steering hydraulic system, it is characterized in that: it comprises oil sources, support boots oil circuit and pitching oil circuit;
Described oil sources comprises and send oil pipe line, described oil pipe line one end is sent to be communicated with fuel tank and the other end is connected strainer, constant displacement pump, the first one way valve and oil source globe in turn, described motor and constant displacement pump are rigidly connected, the oil-out of described constant displacement pump is connected with the oil-in of pilot operated electromagnetic relief valve, the pilot control hydraulic fluid port of described pilot operated electromagnetic relief valve is connected with the first of two-position four way change valve, and second mouthful of described two-position four way change valve and the oil-out of pilot operated electromagnetic relief valve are connected with fuel tank;
Described support boots oil circuit comprises: the first branch road being provided with the first stop valve, the entrance point of the first described branch road is connected with oil source globe oil-out, the port of export of the first described branch road is divided into the 3rd branch road and the 4th branch road, the 5th branch road and the 6th branch road is divided into after the 3rd described branch road connects proportional pressure-reducing valve, the 5th described branch road connects the first interface of three position four-way directional control valve in turn, two-way is divided into after 3rd interface of three position four-way directional control valve and the second one way valve, one tunnel connects the second hydraulic control one-way valve, the rodless cavity of the first hydraulic cylinder and another road connects the 3rd pressure sensor in turn, the rodless cavity of the 4th hydraulic control one-way valve and the second hydraulic cylinder, the 4th described branch road connects the first reducing valve in turn, four tunnels are divided into after the first interface of the first 3-position 4-way proportioning valve and the 3rd interface of the first 3-position 4-way proportioning valve, the wherein first via and the 5th hydraulic control one-way valve, the rod chamber of the first pressure sensor and the first hydraulic cylinder is connected, second tunnel in turn with the first counterbalance valve, the rod chamber of the first pressure sensor and the first hydraulic cylinder is connected, 3rd tunnel in turn with the 6th hydraulic control one-way valve, second pressure sensor and the second hydraulic cylinder rod chamber are connected, 4th tunnel in turn with the second counterbalance valve, second pressure sensor and the second hydraulic cylinder rod chamber are connected, the 6th described branch road connects the rod chamber of the first interface of the second 3-position 4-way proportioning valve, the 3rd interface of the second 3-position 4-way proportioning valve, the first pressure sensor and the first hydraulic cylinder in turn, the 7th branch road one end of the 3rd one way valve is housed and is connected with the 4th mouthful of three position four-way directional control valve and the other end is connected with the 4th branch road between the 5th hydraulic control one-way valve and the 3rd interface of the first 3-position 4-way proportioning valve, after the 4th pressure sensor, two pipelines are divided into the 4th mouthful of the 8th pipeline be connected of the first 3-position 4-way proportioning valve, one of them pipeline connects the rodless cavity of the first hydraulic control one-way valve and the first hydraulic cylinder in turn, and another pipeline connects the rodless cavity of the 3rd hydraulic control one-way valve and the second hydraulic cylinder in turn, 9th branch road one end is connected with the 4th hydraulic fluid port of the second 3-position 4-way proportioning valve, the other end is connected with the second pressure sensor and the second hydraulic cylinder rod chamber, with the first 3-position 4-way proportioning valve the 3rd mouthful of the control port of the first hydraulic control one-way valve and the control port of the 3rd hydraulic control one-way valve is connected, the control port of the second hydraulic control one-way valve control port and the 4th hydraulic control one-way valve and the 4th of three position four-way directional control valve the mouthful connect, with the first 3-position 4-way proportioning valve the 4th mouthful of the control port of the 5th hydraulic control one-way valve and the control port of the 6th hydraulic control one-way valve is connected, the oil return opening of the second 3-position 4-way proportioning valve, the oil return opening of the first 3-position 4-way proportioning valve, the oil return opening of three position four-way directional control valve, first reducing valve controls oily unloading port and proportional pressure-relief valve control oil unloading port is connected with fuel tank,
Described pitching oil circuit comprises: the second branch road that entrance point is connected with oil source globe oil-out, the second described branch road port of export connects the second stop valve pitching module identical with being divided into two after the second reducing valve in turn, each pitching module includes a 3rd 3-position 4-way proportioning valve, the first of the 3rd described 3-position 4-way proportioning valve exports with the second reducing valve and is connected, the 3rd mouthful of the 3rd described 3-position 4-way proportioning valve connects the rod chamber of the 7th hydraulic control one-way valve and the 3rd hydraulic cylinder successively by the tenth branch road, the rod chamber of the 3rd described hydraulic cylinder is connected with the rod chamber of the 4th hydraulic cylinder by the pipeline that the 5th pressure sensor is housed, the oil-out of the 7th described hydraulic control one-way valve is connected with the first safety valve oil-in, the 4th mouthful of the 3rd described 3-position 4-way proportioning valve connects the 8th hydraulic control one-way valve successively by the 11 branch road, the rodless cavity of the 6th pressure sensor and the 3rd hydraulic cylinder, the rodless cavity of the 3rd described hydraulic cylinder is connected with the rodless cavity of the 4th hydraulic cylinder, the oil-out of the 8th described hydraulic control one-way valve is connected with the second safety valve oil-in, the 8th described hydraulic control one-way valve oil-in is connected with the 7th hydraulic control one-way valve control port, the 7th described hydraulic control one-way valve oil-in is connected with the 8th hydraulic control one-way valve control port.The oil return opening of the 3rd 3-position 4-way proportioning valve is communicated with fuel tank.
2. hard rock mole experimental bench according to claim 1 supports steering hydraulic system, it is characterized in that: it comprises a controller, the laser-guided systems of described hard rock mole is connected with controller with the 4th pressure sensor, the horizontal unbalance loading signal of cutterhead that described controller sends according to laser-guided systems, control signal is sent to described three position four-way directional control valve and the second 3-position 4-way proportioning valve, control cutterhead horizontal correction unbalance loading, the vertical unbalance loading signal of cutterhead that described controller sends according to this laser-guided systems and rotate unbalance loading signal, to described first, 3rd 3-position 4-way proportioning valve of two pitching modules exports control signal, control the reverse pitching of cutterhead or rotate to correct unbalance loading, whether described controller reaches setting value according to the pressure signal value of the 4th pressure sensor, control signal is sent to described three position four-way directional control valve and the first three position four-way directional control valve, control first, two hydraulic cylinders are that high pressure supports shoe-like state by stretching out state transfer fast, and the control command active steering that described controller sends according to control panel, three position four-way directional control valve described in pitching and rotating signal control, second 3-position 4-way proportioning valve and first, 3rd 3-position 4-way proportioning valve of two pitching modules, to realize active steering, pitching and spinning movement.
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| CN201510306250.2A CN105019909B (en) | 2015-06-05 | 2015-06-05 | Support and steering hydraulic system for experiment table of rock tunnel boring machine |
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| CN108035728A (en) * | 2017-11-22 | 2018-05-15 | 天津大学 | Simulate the characteristics of surrounding rock simulator of TBM construction operation real working condition experimental benches |
| CN108167257A (en) * | 2017-12-30 | 2018-06-15 | 浙江大学 | The TBM support shoe hydraulic systems of Parallel Control |
| CN111828406A (en) * | 2020-06-19 | 2020-10-27 | 浙江大学 | Efficient and energy-saving TBM horizontal posture adjustment hydraulic system |
| CN112610543A (en) * | 2020-12-18 | 2021-04-06 | 中国矿业大学 | Vertical shaft construction stepping template system, hydraulic control system thereof and pipeline collecting/installing method |
| CN112943733A (en) * | 2021-03-23 | 2021-06-11 | 中铁工程装备集团有限公司 | Heading machine propulsion system and control method thereof |
| CN114046281A (en) * | 2021-11-29 | 2022-02-15 | 中铁隧道局集团有限公司 | Tunnel boring machine hobbing cutter rock breaking mechanism test bed hydraulic system |
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| CN114046281B (en) * | 2021-11-29 | 2023-09-08 | 中铁隧道局集团有限公司 | Hydraulic system of rock breaking mechanism test bed of hob of tunnel boring machine |
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