CN105020187A - Experimental table propelling hydraulic system of hard rock boring machine - Google Patents
Experimental table propelling hydraulic system of hard rock boring machine Download PDFInfo
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- CN105020187A CN105020187A CN201510308437.6A CN201510308437A CN105020187A CN 105020187 A CN105020187 A CN 105020187A CN 201510308437 A CN201510308437 A CN 201510308437A CN 105020187 A CN105020187 A CN 105020187A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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Abstract
The invention discloses an experimental table propelling hydraulic system of a hard rock boring machine. The experimental table propelling hydraulic system comprises an oil feeding pipeline, wherein one end of the oil feeding pipeline is communicated with an oil tank; the other end of the oil feeding pipeline is sequentially connected with a filter, a constant delivery pump, a one-way valve and a stop valve; an oil outlet of the stop valve is connected with a first opening of a three-position four-way electro-hydraulic servo valve; a fourth opening of the three-position four-way electro-hydraulic servo valve is connected with inlets of first, second, third and fourth one-way proportional pressure reducing valves; each of oil outlets of the first, second, third and fourth one-way proportional pressure reducing valves is connected with a pressure sensor and a rodless cavity of a propelling cylinder; rod cavities of four propelling cylinders are connected with a third opening of the three-position four-way electro-hydraulic servo valve respectively; a displacement sensor is arranged in each of the four propelling cylinders; and a second opening of the three-position four-way electro-hydraulic servo valve is connected with the oil tank. With the adoption of the system, main beam constant-speed propelling can be realized, unbalance loading is restrained when the main beam is loaded in an unbalanced mode, and steering is matched when the main beam is steered.
Description
Technical field
The present invention relates to Laboratory Furniture propulsion hydraulic system, particularly hard rock mole Laboratory Furniture propulsion hydraulic system.
Background technique
Hard rock tunnel development machine (be called for short TBM), be a kind of integrate machinery, electrically, the tunneling equipment of the technology such as hydraulic pressure, information, in the infrastructure construction such as tunnel, water conservancy, play the part of extremely important role.
Hard rock tunnel development machine belongs to heavy equipment, system bulky complex, researches and develops, manufacture cost is high, the cycle is long.Hard rock tunnel development machine working environment complex geologic conditions, operating mode is changeable, during research and development test, also very high to the requirement in supporting place.Therefore when theoretical research and development in early stage, must computer simulation technique be introduced, carry out the emulation of hard rock tunnel development machine machine liquid system dynamic characteristic with this.But because by the way of emulation, accurately simulated solution pressing system difficulty is comparatively large, therefore hard rock tunnel development machine machinery and hydraulic simulation model has larger difference compared to real system.So in, the indefinite situation of working condition immature at equipment and technology, blindly developing large-scale hard rock tunnel development machine both easily caused unnecessary waste, give again experiment, test brings difficulty, and simulation analysis can not draw precise characteristics.Thus, the research and development of hard rock tunnel development machine 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 tunnel development machine, hydraulics plays extremely important role with the feature that its specific power is large.Thus, the Laboratory Furniture building all kinds of operating mode, integrated hydraulic control technique when can simulate the operation of hard rock tunnel development machine is a ring important in the exploitation of hard rock tunnel development machine complete machine.China Patent No. 201410246311.6 gives a kind of hard rock tunnel development machine propulsion hydraulic system complying with sudden change load; China Patent No. 201310716992.3 gives the hard rock tunnel development machine propulsion hydraulic system that a kind of pressure flow overall process adapts to; China Patent No. 201410241399.2 gives a kind of hard rock tunnel development machine propulsion hydraulic system of double mode switching; China Patent No. 201410615038.X gives the hard rock tunnel development machine that a kind of thrust and support force be coupled in real time and advances support hydraulic pressure system.But at the uniform velocity advance realizing, suppress the research of the hard rock mole Laboratory Furniture propulsion hydraulic system of unbalance loading, cooperation tuning less.
Summary of the invention
The object of the invention is to overcome the deficiency that prior art exists, provide a kind of at the uniform velocity control accuracy high, can unbalance loading be suppressed and coordinate the hard rock mole Laboratory Furniture propulsion hydraulic system of tuning.
For the technological scheme realizing the object of the invention employing is as follows:
Hard rock mole Laboratory Furniture propulsion hydraulic system of the present invention, it comprises send oil pipe line, described oil pipe line one end is sent to be communicated with fuel tank and the other end is connected filter, metering pump, one-way valve and stop valve in turn, motor and described metering pump are rigidly connected, the oil outlet of described metering pump is connected with the filler opening 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 pilot operated electromagnetic relief valve oil outlet are connected with fuel tank, the oil outlet of described stop valve is connected with the first of 3-position 4-way electrohydraulic control, the 4th mouthful of described 3-position 4-way electrohydraulic control respectively with first, second, 3rd, the import of the 4th unidirectional proportional pressure-reducing valve connects, described first, second, 3rd, the oil outlet of the 4th unidirectional proportional pressure-reducing valve connects the rodless cavity of a pressure transducer and a driving cylinder separately, the rod chamber of four driving cylinders is connected with the 3rd mouthful of 3-position 4-way electrohydraulic control respectively, four described driving cylinders built-in displacement transducer respectively, second mouthful of described 3-position 4-way electrohydraulic control is connected with fuel tank.
Beneficial effect of the present invention is as follows:
1. because propelling cylinder becomes an angle changed with girder, when girder at the uniform velocity advances, driving cylinder must speed change advance, therefore obtain shift value from driving cylinder displacement transducer, input to controller, controller according to can obtain the flow of corresponding shift value to correlation formula, and then send control signal and precisely control driving cylinder flow to 3-position 4-way electrohydraulic control, at the uniform velocity advance to realize girder.
2. when girder unbalance loading, traditional propulsion system can occur along with unbalance loading, produces larger unbalance loading gradually, and propulsion system of the present invention can the pressure of real-time monitoring four driving cylinder rodless cavities, suppresses unbalance loading during to realize girder unbalance loading.
3. when girder active steering, traditional propulsion system can suppress the tuning effect of girder, and propulsion system of the present invention can the pressure of real-time monitoring four driving cylinder rodless cavities, coordinates tuning during to realize girder tuning.
4. hydraulic system structure of the present invention is simple, for hard rock mole Laboratory Furniture, significantly can reduce costs, the various functions of Laboratory Furniture can be realized again efficiently, the actual operating mode of hard rock tunnel development machine can be simulated more exactly, improve efficiency of research and development.
5. propulsion system of the present invention can realize the function of the Rapid reset of propelling cylinder, can simulate hard rock tunnel development machine actual conditions, can improve again the efficiency of Laboratory Furniture.
6. propulsion hydraulic system of the present invention can be used for the exploitation of hard rock tunnel development machine control algorithm, by studying the effect of different control algorithm, draws optimum controling strategy.
7. propulsion hydraulic system of the present invention adopts 3-position 4-way electrohydraulic control, has dynamic response fast, the advantages such as simulation accuracy is high, occupied ground is little.
Accompanying drawing explanation
Fig. 1 is that the driving cylinder of hard rock mole Laboratory Furniture propulsion hydraulic system of the present invention is connected kinematic sketch with girder mechanism;
Fig. 2 is the installation and operation schematic top plan view of hard rock mole Laboratory Furniture propulsion hydraulic system of the present invention;
Fig. 3 is the structural representation of hard rock mole Laboratory Furniture propulsion hydraulic system of the present invention.
Embodiment
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.
Consult Fig. 1, the distance between setting initial time two hinge A, B is X
0, the displacement of driving cylinder cylinder bar is in S, figure: the perpendicular distance of hinge A to the rail axis C of girder 8 is a, and driving cylinder 101 and girder 8 angle are θ, and driving cylinder 101 rodless cavity diameter is D.
Consult Fig. 2, illustrate the annexation of driving cylinder 101 and girder 8, cutterhead 9 etc.In figure: girder 8 is connected with cutterhead 9, driving cylinder 101 piston rod is connected with girder 8.Driving cylinder 101 comprises 4 driving cylinders 101-1,101-2,101-3,101-4, at each 2 driving cylinders of girder about 8, become symmetry shape distribution, driving cylinder two ends with universal coupling respectively with girder 8 with support boots and connect (support boots relative ground static during propelling, be namely equivalent to driving cylinder and be connected with ground).
Investigate thrust cylinder piston bar and girder 8 articulating point B, velocities Vp is cutterhead 9 fltting speed, and speed Vc is the speed of piston rod opposing cylinder.Vc and Vp angle is θ, D is driving cylinder rodless cavity diameter, X
0for the distance between initial time two hinge A, B, S is the piston rod displacement of driving cylinder, and a is the perpendicular distance of hinge A to girder 8 rail axis C, and Q is four driving cylinder total discharges.According to geometrical relationship, have
Vpcosθ＝Vc
Simultaneous can obtain
Visible D, a, X
0be datum, Vp is setting cutterhead 9 velocity amplitude, controller receive four driving cylinder inbuilt displacement sensors 105 survey four shift values and the S that averages, total discharge Q value needed for four driving cylinders can be tried to achieve in real time, controller regulates 3-position 4-way electrohydraulic control to obtain exact flow rate Q, to realize the at the uniform velocity propelling of girder 8 and cutterhead 9 according to Q value again.
Consult Fig. 3, hard rock mole Laboratory Furniture propulsion hydraulic system of the present invention comprises: 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 filter 2 in turn, metering pump 4, one-way valve 6 and stop valve 7, motor 3 and described metering pump 4 are rigidly connected, the oil outlet of described metering pump 4 is connected with the filler opening 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 two-position four way change valve, second mouthful of X of described two-position four way change valve and pilot operated electromagnetic relief valve oil outlet are connected with fuel tank 1.Oil in fuel tank enters metering pump 4 through filter 2, is then divided into two-way, and a road flows through one-way valve 6 and stop valve 7, and another road flows into pilot operated electromagnetic relief valve 5 through the oil outlet of metering pump 4, then flows back to fuel tank.
The oil outlet of described stop valve 7 is connected with the first P of 3-position 4-way electrohydraulic control 104, 4th mouthful of B of 3-position 4-way electrohydraulic control 104 is respectively with first, second, 3rd, 4th unidirectional proportional pressure-reducing valve 102-1, 102-2, 102-3, the import of 102-4 connects, described first, second, 3rd, 4th unidirectional proportional pressure-reducing valve 102-1, 102-2, 102-3, the oil outlet of 102-4 connects a pressure transducer 103-1 separately, 103-2, 103-3, the rodless cavity of a 103-4 and driving cylinder, the rod chamber of four driving cylinders is connected with the 3rd mouthful of A of 3-position 4-way electrohydraulic control 104 respectively, four described driving cylinders built-in displacement transducer 105 respectively, because structure is identical, the displacement transducer of the first driving cylinder 101-1 is only denoted in figure, second mouthful of T of 3-position 4-way electrohydraulic control 104 is connected with fuel tank 1.
This device also comprises a controller, displacement transducer 105 described in four is connected with controller, described controller is according to the average displacement signal of four oil hydraulic cylinders, opening amount signal is exported to described 3-position 4-way electrohydraulic control, and the outlet pressure of the displacement signal of four oil hydraulic cylinders that exports according to displacement transducer 105 of described controller or active steering SC sigmal control four the unidirectional proportional pressure-reducing valves according to controller reception.
Hard rock mole Laboratory Furniture propulsion hydraulic system of the present invention can simulate various different operating conditions when actual hard rock tunnel development machine advances.
Oil sources is the operating mode of propulsion system fuel feeding: charged the while of motor 3 and pilot operated electromagnetic relief valve 5, the timer of controller 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 metering pump 4 to rotate, metering pump 4 through filter 2 from fuel tank 1 oil suction, the fluid that metering pump 4 is discharged is through pilot operated electromagnetic relief valve 5 off-load, after timer arrives set time, pilot operated electromagnetic relief valve 5 dead electricity, play overflow effect, metering pump 4 starts to load, through one-way valve 6 and stop valve 7 to propelling oil circuit fuel feeding.
Cutterhead 9 at the uniform velocity advances operating mode: the right position of 3-position 4-way electrohydraulic control 104 is connected, fluid enters the rodless cavity of first, second, third and fourth driving cylinder 101-1,101-2,101-3,101-4 of inbuilt displacement sensor through stop valve 7, the right position of 3-position 4-way electrohydraulic control 104, first, second, third and fourth unidirectional proportional pressure-reducing valve 102-1,102-2,102-3,102-4, and the rod chamber fluid of first, second, third and fourth driving cylinder 101-1,101-2,101-3,101-4 of inbuilt displacement sensor is through the right bit stream oil sump tank 1 of 3-position 4-way electrohydraulic control 104.Unidirectional proportional pressure-reducing valve can be set to a certain force value according to required thrust, and this force value is controlled in real time, to change driving cylinder thrust size.First, second, third and fourth pressure transducer 103-1,103-2,103-3,103-4 that each cylinder rodless cavity pressure can be arranged by correspondence obtain, and are convenient to monitoring.The S that the displacement transducer 105 measured displacement value of four driving cylinders 101 averaged is input to controller, and controller passes through derived formula
calculate total discharge Q needed for four driving cylinders, send control signal accordingly to 3-position 4-way electrohydraulic control 104, precisely control the object that flow at the uniform velocity advances to reach cutterhead 9.
Cutterhead 9 Rapid reset operating mode: the left position of 3-position 4-way electrohydraulic control 104 is connected, fluid enters the rod chamber of first, second, third and fourth driving cylinder 101-1,101-2,101-3,101-4 of inbuilt displacement sensor through stop valve 7, the left position of 3-position 4-way electrohydraulic control 104, the rodless cavity fluid of first, second, third and fourth driving cylinder 101-1,101-2,101-3,101-4 of inbuilt displacement sensor enters fuel tank 1 through first, second, third and fourth unidirectional proportional pressure-reducing valve 102-1,102-2,102-3,102-4 and the left position of 3-position 4-way electrohydraulic control 104 respectively.The speed of Rapid reset is regulated, to realize multiple different reset speed, to meet experiment demand better by 3-position 4-way electrohydraulic control 104.
When there is unbalance loading in advancing in cutterhead 9, suppress unbalance loading operating mode: if cutterhead 9 unbalance loading left, by the left side first measured by driving cylinder 101 inbuilt displacement sensor 105, second driving cylinder 101-1, 101-2 moving average S can be less than right side the 3rd, 4th driving cylinder 101-3, the moving average S of 101-4, measured displacement mean value is input to controller, control to increase left side first after controller calculates, second unidirectional proportional pressure-reducing valve 102-1, 102-2 outlet pressure, it is made to be greater than right side the 3rd, 4th unidirectional proportional pressure-reducing valve 102-3, 102-4 outlet pressure, until recover same pressure when left and right displacement value difference is very not little, to suppress cutterhead 9 unbalance loading left, keep correct driving posture, if cutterhead 9 to the right unbalance loading time contrary.If cutterhead 9 downwards unbalance loading time, by the downside second measured by each driving cylinder inbuilt displacement sensor 105, 4th driving cylinder 101-2, the moving average S of 101-4 can be less than upside first, 3rd driving cylinder 101-1, the moving average S of 101-3, measured displacement mean value is input to controller, controller controls to increase downside second after calculating, 4th unidirectional proportional pressure-reducing valve 102-2, 102-4 outlet pressure, it is made to be greater than upside first, 3rd unidirectional proportional pressure-reducing valve 102-1, 102-3 outlet pressure, until recover same pressure when upper and lower displacement value difference is very not little, to suppress cutterhead 9 unbalance loading downwards, keep correct driving posture, if cutterhead 9 upwards unbalance loading time contrary.
During cutterhead 9 advances during active steering, coordinate steering situation: if when cutterhead 9 initiatively turns left, controller controls first, second unidirectional proportional pressure-reducing valve 102-1,102-2 outlet pressure of left side according to the operating control signal of input, it is made to be less than right side the 3rd, the 4th unidirectional proportional pressure-reducing valve 102-3,102-4 outlet pressure, to coordinate left-hand rotation action; If cutterhead 9 is contrary when initiatively turning right.If when control cutterhead 9 initiatively rises, controller controls upside the first, the 3rd unidirectional proportional pressure-reducing valve 102-1,102-3 outlet pressure, makes it be less than downside the second, the 4th unidirectional proportional pressure-reducing valve 102-2,102-4 outlet pressure, to coordinate vertical motion; If cutterhead 9 is contrary when initiatively declining.
Described system element existing procucts, concrete type selecting need be determined in conjunction with design parameter 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 technological scheme of the present invention and improvement, all should think in protection scope of the present invention.
Claims (2)
1. hard rock mole Laboratory Furniture propulsion hydraulic system, it is characterized in that: it comprises send oil pipe line, described oil pipe line one end is sent to be communicated with fuel tank and the other end is connected filter in turn, metering pump, one-way valve and stop valve, motor and described metering pump are rigidly connected, the oil outlet of described metering pump is connected with the filler opening 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, second mouthful of described two-position four way change valve and pilot operated electromagnetic relief valve oil outlet are connected with fuel tank, the oil outlet of described stop valve is connected with the first of 3-position 4-way electrohydraulic control, the 4th mouthful of described 3-position 4-way electrohydraulic control respectively with first, second, 3rd, the import of the 4th unidirectional proportional pressure-reducing valve connects, described first, second, 3rd, the oil outlet of the 4th unidirectional proportional pressure-reducing valve connects the rodless cavity of a pressure transducer and a driving cylinder separately, the rod chamber of four driving cylinders is connected with the 3rd mouthful of 3-position 4-way electrohydraulic control respectively, four described driving cylinders built-in displacement transducer respectively, second mouthful of described 3-position 4-way electrohydraulic control is connected with fuel tank.
2. hard rock mole Laboratory Furniture propulsion hydraulic system according to claim 1, it is characterized in that: it comprises a controller, displacement transducer described in four is connected with controller, described controller is according to the average displacement signal of four oil hydraulic cylinders, opening amount signal is exported to described 3-position 4-way electrohydraulic control, and the outlet pressure of the displacement signal of four oil hydraulic cylinders that exports according to displacement transducer of described controller or active steering SC sigmal control four the unidirectional proportional pressure-reducing valves according to controller reception.
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Cited By (5)
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| CN106762884A (en) * | 2017-03-13 | 2017-05-31 | 浙江大学 | Based on the vertical tuning hydraulic systems of pressure compensated TBM |
| CN107269290A (en) * | 2017-07-14 | 2017-10-20 | 华东交通大学 | A kind of restructural be 1 to the stiffness variable of 6DOF TBM moles |
| CN109340202A (en) * | 2018-11-27 | 2019-02-15 | 安徽东海机床制造有限公司 | A kind of hydraulic system and its control technique of large-tonnage portal frame type hydraulic press |
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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106762884A (en) * | 2017-03-13 | 2017-05-31 | 浙江大学 | Based on the vertical tuning hydraulic systems of pressure compensated TBM |
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| CN109340202B (en) * | 2018-11-27 | 2024-03-15 | 安徽东海机床制造有限公司 | Hydraulic system of large-tonnage portal frame type hydraulic press and control process 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 |
| 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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