CN110131227A - Open type TBM tunnel bottom slag cleaning device electrohydraulic control system - Google Patents
Open type TBM tunnel bottom slag cleaning device electrohydraulic control system Download PDFInfo
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- CN110131227A CN110131227A CN201910478150.6A CN201910478150A CN110131227A CN 110131227 A CN110131227 A CN 110131227A CN 201910478150 A CN201910478150 A CN 201910478150A CN 110131227 A CN110131227 A CN 110131227A
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- valve
- hydraulic fluid
- fluid port
- pressure
- proportional servo
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Classifications
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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
- F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
- F15B1/02—Installations or systems with accumulators
-
- 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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
-
- 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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
Abstract
The invention discloses a kind of open type TBM tunnel bottom slag cleaning device electrohydraulic control systems, this system drives the hydraulic cylinder and hydraulic motor movement velocity of slag cleaning device joint motions using the 3-position 4-way proportional servo valve control with pressure-compensated valve, the operating pressure of pressure sensor real-time detecting system major loop pressure and each actuator, motion controller adjusts variable-frequency motor revolving speed according to each actuator pressure signal intensity in real time changes quantitative pump discharge according to load variation, the movement velocity of displacement sensor and torque rotary speed sensor real-time detection actuator, when loading mutation, motion controller guarantees each actuator coordinated movement of various economic factors according to the aperture of actuator rate signal control pressure-compensated valve.Open type TBM tunnel bottom slag cleaning device electrohydraulic control system can under proof load catastrophe each actuator the coordinated movement of various economic factors, while with the effectively save energy and the working efficiency of slag cleaning device can be improved.
Description
Technical field
The present invention relates to a kind of tunnel bottom slag cleaning device electrohydraulic control system more particularly to a kind of tunnels open type TBM
Bottom slag cleaning device electrohydraulic control system.
Background technique
Open type TBM is current constructing tunnel equipment state-of-the-art in the world, it generates powerful by fro hydraulic driving machinery
Thrust and shearing force fractured rock, make tunnel piercing, slag tap, the processes such as lining cutting can carry out realizing continuous sharp work simultaneously,
Have many advantages, such as that speed is fast, quality, expense is low, construction safety.
In work progress, since wall damage and the cleaning of cutterhead scraper bowl are not thorough, tunnel bottom has a large amount of accumulated slags, accumulated slag
The scale of construction, position and particle diameter distribution have stochastic behaviour, postpone mating trolley to be laid with track, installation steel arch-shelf, cloth, and most
The requirement of whole cavitation, it is necessary to which accumulated slag is cleared up in time.Due to limited space in tunnel, can not using large-scale excavator,
Loading machine clears up tunnel bottom accumulated slag, now mostly uses the mode of manual cleaning, when tunnel bottom generates a large amount of accumulated slags,
It needs to shut down operation, to prevent falling rocks from injuring worker by a crashing object, after wall rock condition is stablized, accumulated slag concentration is transported to host rear, under
The belt feeder in Backup system is put, accumulated slag is transported to outside hole by the way of belt transport.Some companies use smoothing machine
Tool arm scarfing cinder, but manual operation is needed, accumulated slag is cleaned to designated position by way of remote control.
The current cleaning of Open TBM tunnel bottom accumulated slag both at home and abroad not yet realizes machinery certainly by the way of manual cleaning
Dynamic to be turned into industry, existing some slag cleaning devices need manual operation mostly, high to working space and operator's skill requirement, labor
Fatigue resistance is big, and construction risk is big, low efficiency, the serious all-round popularization for restricting open type TBM.
Summary of the invention
In order to overcome, to operator's skill requirement, high, low efficiency is asked existing for existing tunnel bottom slag cleaning device
Topic, the present invention proposes a kind of open type TBM tunnel bottom slag cleaning device electrohydraulic control system, simultaneously using variable-frequency motor and constant displacement pump
Combination pressure sensor realizes the real-time adjusting to flow system flow, is combined using 3-position 4-way proportional servo valve and pressure-compensated valve
Displacement sensor realizes the coordinated movement of various economic factors of each actuator, the effectively save energy and the working efficiency for improving slag cleaning device, and
It ensure that the adaptability of slag cleaning device scarfing cinder operation under different load conditions.
The technical solution adopted by the present invention to solve the technical problems is:
The present invention include variable-frequency motor, constant displacement pump, safety valve, first pressure sensor, unloading valve, check valve, filter,
Accumulator, pressure switch, the first 3-position 4-way proportional servo valve, the first hydraulic lock, second pressure sensor, third pressure pass
Sensor, sliding rail hydraulic cylinder, the first displacement sensor, the second 3-position 4-way proportional servo valve, first pressure recuperation valve, the second pressure
Force compensating valve, the first high-speed switch valve, the second high-speed switch valve, the 4th pressure sensor, the 5th pressure sensor, pedestal revolution
Hydraulic motor, torque rotary speed sensor, third 3-position 4-way proportional servo valve, third pressure-compensated valve, the 4th pressure-compensated valve,
Third high-speed switch valve, the 4th high-speed switch valve, the 6th pressure sensor, the 7th pressure sensor, shoulder joint pitching oil cylinder,
Two displacement sensors, the 4th 3-position 4-way proportional servo valve, the 5th pressure-compensated valve, the 6th pressure-compensated valve, the 5th high speed are opened
Close valve, the 6th high-speed switch valve, the 8th pressure sensor, the 9th pressure sensor, elbow joint pitching oil cylinder, third displacement sensing
It is device, the 5th 3-position 4-way proportional servo valve, the 7th pressure-compensated valve, the 8th pressure-compensated valve, the 7th high-speed switch valve, the 8th high
Fast switch valve, the tenth pressure sensor, the 11st pressure sensor, wrist joint pitching oil cylinder, the 4th displacement sensor, the six or three
Position four-way proportional servo valve, the second hydraulic lock, quick disconnecting joint, the 12nd pressure sensor, the 13rd pressure sensor, end are held
Row device oil cylinder, the 5th displacement sensor and fuel tank；
Variable-frequency motor and constant displacement pump are rigidly connected by shaft coupling, and the inlet port of constant displacement pump is connected to fuel tank, constant displacement pump
Oil outlet is connected with the oil inlet of the oil inlet of safety valve, the oil inlet of unloading valve, check valve simultaneously, the oil outlet of safety valve and
The oil outlet of unloading valve is connected to fuel tank, and the oil outlet of check valve is connected to the oil inlet of filter, and the oil outlet of filter is same
When and the oil inlet of accumulator, the oil inlet of pressure switch, the first hydraulic fluid port of the first 3-position 4-way proportional servo valve, the two or three
Position the first hydraulic fluid port of four-way proportional servo valve, the first hydraulic fluid port of third 3-position 4-way proportional servo valve, the 4th 3-position 4-way ratio
First hydraulic fluid port of servo valve, the first hydraulic fluid port of the 5th 3-position 4-way proportional servo valve, the 6th 3-position 4-way proportional servo valve
The connection of one hydraulic fluid port；
Second hydraulic fluid port of the first 3-position 4-way proportional servo valve connects the first hydraulic fluid port of the first hydraulic lock, the first hydraulic lock
The rod chamber hydraulic fluid port of the rodless cavity hydraulic fluid port of second hydraulic fluid port connecting sliding rail hydraulic cylinder, sliding rail hydraulic cylinder connects the first hydraulic lock
Third hydraulic fluid port, the third hydraulic fluid port of the 4th hydraulic fluid port the first 3-position 4-way proportional servo valve of connection of the first hydraulic lock, the one or three four
4th hydraulic fluid port of logical proportional servo valve is connected to fuel tank；Second hydraulic fluid port of the second 3-position 4-way proportional servo valve connects first pressure
The oil inlet of recuperation valve, the oil outlet of first pressure recuperation valve connect the oil inlet of the first high-speed switch valve, the first high-speed switch
First hydraulic fluid port of the oil outlet connection pedestal rotary fluid motor of valve, the second hydraulic fluid port connection second of pedestal rotary fluid motor are high
The oil outlet of fast switch valve, the oil outlet of the oil inlet connection second pressure recuperation valve of the second high-speed switch valve, second pressure are mended
Repay valve oil inlet connect the second 3-position 4-way proportional servo valve third hydraulic fluid port, the 4th of the second 3-position 4-way proportional servo valve the
Hydraulic fluid port is connected to fuel tank；The oil inlet of the second hydraulic fluid port connection second pressure recuperation valve of third 3-position 4-way proportional servo valve, the
The oil inlet of the oil outlet connection third high-speed switch valve of two pressure-compensated valves, the oil outlet of third high-speed switch valve connect shoulder joint
The rodless cavity hydraulic fluid port of pitching oil cylinder is saved, the rod chamber hydraulic fluid port of shoulder joint pitching oil cylinder connects the oil outlet of the 4th high-speed switch valve,
The oil inlet of 4th high-speed switch valve connects the oil outlet of the 4th pressure-compensated valve, the oil inlet connection of the 4th pressure-compensated valve the
4th hydraulic fluid port of the third hydraulic fluid port of three 3-position 4-way proportional servo valves, third 3-position 4-way proportional servo valve is connected to fuel tank；The
Second hydraulic fluid port of four 3-position 4-way proportional servo valves connects the oil inlet of the 5th pressure-compensated valve, the 5th pressure-compensated valve it is fuel-displaced
The oil inlet of mouth the 5th high-speed switch valve of connection, the rodless cavity of the oil outlet connection elbow joint pitching oil cylinder of the 5th high-speed switch valve
Hydraulic fluid port, the rod chamber hydraulic fluid port of elbow joint pitching oil cylinder connect the oil outlet of the 6th high-speed switch valve, the 6th high-speed switch valve into
Hydraulic fluid port connects the oil outlet of the 6th pressure-compensated valve, and the oil inlet of the 6th pressure-compensated valve connects the 4th 3-position 4-way proportional servo
The third hydraulic fluid port of valve, the 4th hydraulic fluid port of the 4th 3-position 4-way proportional servo valve are connected to fuel tank；5th 3-position 4-way proportional servo
Second hydraulic fluid port of valve connects the oil inlet of the 7th pressure-compensated valve, and the oil outlet of the 7th pressure-compensated valve connects the 7th high-speed switch
The oil inlet of valve, the rodless cavity hydraulic fluid port of the oil outlet connection wrist joint pitching oil cylinder of the 7th high-speed switch valve, wrist joint pitching oil
The rod chamber hydraulic fluid port of cylinder connects the oil outlet of the 8th high-speed switch valve, and the oil inlet of the 8th high-speed switch valve connects the 8th pressure and mends
Repay the oil outlet of valve, the oil inlet of the 8th pressure-compensated valve connects the third hydraulic fluid port of the 5th 3-position 4-way proportional servo valve, and the 5th
4th hydraulic fluid port of 3-position 4-way proportional servo valve is connected to fuel tank；The second hydraulic fluid port connection the of 6th 3-position 4-way proportional servo valve
First hydraulic fluid port of two hydraulic locks, the first hydraulic fluid port of the second hydraulic fluid port connection quick disconnecting joint of the second hydraulic lock, the second of quick disconnecting joint
Hydraulic fluid port connects the rodless cavity hydraulic fluid port of end effector oil cylinder, and the of the rod chamber hydraulic fluid port connection quick disconnecting joint of end effector oil cylinder
Three hydraulic fluid ports, the 4th hydraulic fluid port of quick disconnecting joint connect the third hydraulic fluid port of the second hydraulic lock, the 4th hydraulic fluid port connection of the second hydraulic lock the
The third hydraulic fluid port of six 3-position 4-way proportional servo valves, the 4th hydraulic fluid port of the 6th 3-position 4-way proportional servo valve are connected to fuel tank.
Further, first pressure sensor is mounted on the oil outlet of constant displacement pump, second pressure sensor and third pressure
Sensor is separately mounted to the rodless cavity hydraulic fluid port and rod chamber hydraulic fluid port of sliding rail hydraulic cylinder, the 4th pressure sensor and the 5th pressure
Sensor is separately mounted to the first hydraulic fluid port and the second hydraulic fluid port of pedestal rotary fluid motor, the 6th pressure sensor and the 7th pressure
Sensor is separately mounted to the rodless cavity hydraulic fluid port and rod chamber hydraulic fluid port of shoulder joint pitching oil cylinder, the 8th pressure sensor and the 9th pressure
Force snesor is separately mounted to the rodless cavity hydraulic fluid port and rod chamber hydraulic fluid port of elbow joint pitching oil cylinder, the tenth pressure sensor and the tenth
One pressure sensor is separately mounted to the rodless cavity hydraulic fluid port and rod chamber hydraulic fluid port of wrist joint pitching oil cylinder, the 12nd pressure sensor
The rodless cavity hydraulic fluid port and rod chamber hydraulic fluid port of end effector oil cylinder are separately mounted to the 13rd pressure sensor.
Preferably, in conjunction with the 4th pressure sensor, the 5th pressure sensor, the 6th pressure sensor, the 7th pressure sensing
Device, the 8th pressure sensor, the 9th pressure sensor, the tenth pressure sensor, the 11st pressure sensor measured value, movement
The revolving speed that controller adjusts variable-frequency motor in real time makes the output flow of constant displacement pump change with load and change.
Preferably, combined torque speed probe, second displacement sensor, third displacement sensor, the 4th displacement sensing
The measured value of device, motion controller give first pressure recuperation valve, second pressure recuperation valve, third pressure-compensated valve, the 4th pressure
The spool position of force compensating valve, the 5th pressure-compensated valve, the 6th pressure-compensated valve, the 7th pressure-compensated valve, the 8th pressure-compensated valve
Pedestal rotary fluid motor and shoulder joint pitching oil cylinder, elbow joint pitching oil cylinder, wrist joint pitching oil cylinder are stretched in shifting signal, realization
Out and retract real-time control, to control each actuator coordinated movement of various economic factors.
Compared with the background technology, the present invention, it has the beneficial effect that
Open type TBM tunnel bottom slag cleaning device electrohydraulic control system proposed by the present invention, using variable-frequency motor and quantitatively
Simultaneously real-time adjusting of the combination pressure sensor realization to flow system flow is pumped, motion controller is according to each actuator pressure signal intensity
Adjusting variable-frequency motor revolving speed in real time makes quantitative pump discharge be changed according to load and be changed, using 3-position 4-way proportional servo valve and pressure
The hydraulic cylinder and hydraulic motor movement velocity of force compensating valve combination displacement sensor control driving slag cleaning device joint motions, position
The movement velocity of displacement sensor and torque rotary speed sensor real-time detection actuator, the motion controller root when loading mutation
Guarantee each actuator coordinated movement of various economic factors according to the aperture of actuator rate signal control pressure-compensated valve, the effectively save energy simultaneously improves
The working efficiency of slag cleaning device, and ensure that the adaptability of slag cleaning device scarfing cinder operation under different load conditions.
Detailed description of the invention
Fig. 1 is the schematic illustration that the present invention is embodied；
In figure: 1, variable-frequency motor, 2, constant displacement pump, 3, safety valve, 4, first pressure sensor, 5, unloading valve, 6, check valve,
7, filter, 8, accumulator, 9, pressure switch, the 10, first 3-position 4-way proportional servo valve, the 11, first hydraulic lock, 12,
Two pressure sensors, 13, third pressure sensor, 14, sliding rail hydraulic cylinder, the 15, first displacement sensor, 16, the 2nd 3
Four-way proportional servo valve, 17, first pressure recuperation valve, 18, second pressure recuperation valve, the 19, first high-speed switch valve, 20, second
High-speed switch valve, the 21, the 4th pressure sensor, the 22, the 5th pressure sensor, 23, pedestal rotary fluid motor, 24, torque turn
Fast sensor, 25, third 3-position 4-way proportional servo valve, 26, third pressure-compensated valve, the 27, the 4th pressure-compensated valve, 28,
Three high-speed switch valves, the 29, the 4th high-speed switch valve, the 30, the 6th pressure sensor, the 31, the 7th pressure sensor, 32, shoulder joint
Pitching oil cylinder, 33, second displacement sensor, the 34, the 4th 3-position 4-way proportional servo valve, the 35, the 5th pressure-compensated valve, 36,
Six pressure-compensated valves, the 37, the 5th high-speed switch valve, the 38, the 6th high-speed switch valve, the 39, the 8th pressure sensor, the 40, the 9th pressure
Force snesor, 41, elbow joint pitching oil cylinder, 42, third displacement sensor, the 43, the 5th 3-position 4-way proportional servo valve, 44,
Seven pressure-compensated valves, the 45, the 8th pressure-compensated valve, the 46, the 7th high-speed switch valve, the 47, the 8th high-speed switch valve, the 48, the tenth pressure
Force snesor, the 49, the 11st pressure sensor, 50, wrist joint pitching oil cylinder, the 51, the 4th displacement sensor, 52, the 6th 3
Four-way proportional servo valve, the 53, second hydraulic lock, 54, quick disconnecting joint, the 55, the 12nd pressure sensor, the 56, the 13rd pressure pass
Sensor, 57, end effector oil cylinder, the 58, the 5th displacement sensor, 59, fuel tank.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Figure 1, the present invention includes variable-frequency motor 1, constant displacement pump 2, safety valve 3, first pressure sensor 4, unloading valve
5, check valve 6, filter 7, accumulator 8, pressure switch 9, the first 3-position 4-way proportional servo valve 10, the first hydraulic lock 11,
Second pressure sensor 12, third pressure sensor 13, sliding rail hydraulic cylinder 14, the first displacement sensor 15, the 2nd 3 four
Logical proportional servo valve 16, first pressure recuperation valve 17, second pressure recuperation valve 18, the first high-speed switch valve 19, the second high speed are opened
Close valve 20, the 4th pressure sensor 21, the 5th pressure sensor 22, pedestal rotary fluid motor 23, torque rotary speed sensor 24,
Third 3-position 4-way proportional servo valve 25, third pressure-compensated valve 26, the 4th pressure-compensated valve 27, third high-speed switch valve 28,
4th high-speed switch valve 29, the 6th pressure sensor 30, the 7th pressure sensor 31, shoulder joint pitching oil cylinder 32, second displacement
Sensor 33, the 4th 3-position 4-way proportional servo valve 34, the 5th pressure-compensated valve 35, the 36, the 5th high speed of the 6th pressure-compensated valve
Switch valve 37, the 6th high-speed switch valve 38, the 8th pressure sensor 39, the 9th pressure sensor 40, elbow joint pitching oil cylinder 41,
Third displacement sensor 42, the 5th 3-position 4-way proportional servo valve 43, the 7th pressure-compensated valve 44, the 8th pressure-compensated valve 45,
7th high-speed switch valve 46, the 8th high-speed switch valve 47, the tenth pressure sensor 48, the 11st pressure sensor 49, wrist joint
Pitching oil cylinder 50, the 4th displacement sensor 51, the 6th 3-position 4-way proportional servo valve 52, the second hydraulic lock 53, quick disconnecting joint 54,
12nd pressure sensor 55, the 13rd pressure sensor 56, end effector oil cylinder 57, the 5th displacement sensor 58 and fuel tank
59；
Variable-frequency motor 1 and constant displacement pump 2 are rigidly connected by shaft coupling, and the inlet port P2 of constant displacement pump 2 is connected to fuel tank 59, fixed
Amount pump 2 oil outlet T2 respectively with the oil inlet P 3 of safety valve 3, the oil inlet P 5 of unloading valve 5,6 phase of oil inlet P of check valve 6
Even, the oil outlet T3 of safety valve 3 and the oil outlet T5 of unloading valve 5 are connected to fuel tank 59 respectively, the oil outlet T6 and mistake of check valve 6
The oil inlet P 7 of filter 7 is connected to, the oil outlet T7 of filter 7 respectively with the oil inlet P 8 of accumulator 8, pressure switch 9 into
Hydraulic fluid port P9, the first hydraulic fluid port A10 of the first 3-position 4-way proportional servo valve 10, the second 3-position 4-way proportional servo valve 16 first oil
Mouthful A16, the first hydraulic fluid port A25 of third 3-position 4-way proportional servo valve 25, the 4th 3-position 4-way proportional servo valve 34 the first oil
Mouthful A34, the first hydraulic fluid port A43 of the 5th 3-position 4-way proportional servo valve 43, the 6th 3-position 4-way proportional servo valve 52 the first oil
Mouth A52 connection；First hydraulic fluid port A11 of second the first hydraulic lock of hydraulic fluid port B10 connection 11 of the first 3-position 4-way proportional servo valve 10,
The rodless cavity hydraulic fluid port A14 of second hydraulic fluid port B11 connecting sliding rail hydraulic cylinder 14 of the first hydraulic lock 11, sliding rail hydraulic cylinder 14 have
The third hydraulic fluid port C11 of the first hydraulic lock of rod cavity hydraulic fluid port B14 connection 11, the 4th hydraulic fluid port D11 connection the one or three of the first hydraulic lock 11
The third hydraulic fluid port C10 of position four-way proportional servo valve 10, the 4th hydraulic fluid port D10 and fuel tank 59 of the first 3-position 4-way proportional servo valve 10
Connection；The oil inlet P 17 of second hydraulic fluid port B16 connection first pressure recuperation valve 17 of the second 3-position 4-way proportional servo valve 16, the
The oil inlet P 19 of the first high-speed switch valve of oil outlet T17 connection 19 of one pressure-compensated valve 17, the first high-speed switch valve 19 go out
The second hydraulic fluid port B23 of first hydraulic fluid port A23 of hydraulic fluid port T19 connection pedestal rotary fluid motor 23, pedestal rotary fluid motor 23 connect
The oil outlet T20 of the second high-speed switch valve 20 is met, the oil inlet P 20 of the second high-speed switch valve 20 connects second pressure recuperation valve 18
Oil outlet T18, the oil inlet P 18 of second pressure recuperation valve 18 connects the third hydraulic fluid port of the second 3-position 4-way proportional servo valve 16
The 4th hydraulic fluid port D16 of C16, the second 3-position 4-way proportional servo valve 16 are connected to fuel tank 59；Third 3-position 4-way proportional servo valve
The oil outlet T26 of the oil inlet P 26 of 25 the second hydraulic fluid port B25 connection second pressure recuperation valve 26, second pressure recuperation valve 26 connects
Connect the oil inlet P 28 of third high-speed switch valve 28, the oil outlet T28 connection shoulder joint pitching oil cylinder 32 of third high-speed switch valve 28
Rodless cavity hydraulic fluid port A32, the oil outlet of the 4th high-speed switch valve 29 of rod chamber hydraulic fluid port B32 connection of shoulder joint pitching oil cylinder 32
T29, the oil inlet P 29 of the 4th high-speed switch valve 29 connect the oil outlet T27 of the 4th pressure-compensated valve 27, the 4th pressure-compensated valve
27 oil inlet P 27 connects the third hydraulic fluid port C25 of third 3-position 4-way proportional servo valve 25, third 3-position 4-way proportional servo valve
25 the 4th hydraulic fluid port D25 is connected to fuel tank 59；The 5th pressure of the second hydraulic fluid port B34 connection of 4th 3-position 4-way proportional servo valve 34
The oil inlet P 35 of recuperation valve 35, the oil inlet of the 5th high-speed switch valve 37 of oil outlet T35 connection of the 5th pressure-compensated valve 35
P37, the rodless cavity hydraulic fluid port A41 of the oil outlet T37 connection elbow joint pitching oil cylinder 41 of the 5th high-speed switch valve 37, elbow joint pitching
The oil outlet T38 of the 6th high-speed switch valve 38 of rod chamber hydraulic fluid port B41 connection of oil cylinder 41, the oil inlet of the 6th high-speed switch valve 38
The oil inlet P 36 of the oil outlet T36 of the 6th pressure-compensated valve 36 of P38 connection, the 6th pressure-compensated valve 36 connect the four or three four
The third hydraulic fluid port C34 of logical proportional servo valve 34, the 4th hydraulic fluid port D34 and fuel tank 59 of the 4th 3-position 4-way proportional servo valve 34 connect
It is logical；The oil inlet P 44 of the 7th pressure-compensated valve 44 of the second hydraulic fluid port B43 connection of 5th 3-position 4-way proportional servo valve 43, the 7th
The oil inlet P 46 of the 7th high-speed switch valve 46 of oil outlet T44 connection of pressure-compensated valve 44, the 7th high-speed switch valve 46 it is fuel-displaced
The rodless cavity hydraulic fluid port A50 of mouth T46 connection wrist joint pitching oil cylinder 50, the rod chamber hydraulic fluid port B50 connection of wrist joint pitching oil cylinder 50
The oil inlet P 47 of the oil outlet T47 of 8th high-speed switch valve 47, the 8th high-speed switch valve 47 connect the 8th pressure-compensated valve 45
Oil outlet T45, the oil inlet P 45 of the 8th pressure-compensated valve 45 connect the third hydraulic fluid port of the 5th 3-position 4-way proportional servo valve 43
The 4th hydraulic fluid port D43 of C43, the 5th 3-position 4-way proportional servo valve 43 are connected to fuel tank 59；6th 3-position 4-way proportional servo valve
The second hydraulic fluid port B53 connection of first hydraulic fluid port A53 of 52 second the second hydraulic lock of hydraulic fluid port B52 connection 53, the second hydraulic lock 53 are fast
Disconnect first 54 the first hydraulic fluid port A54, the rodless cavity hydraulic fluid port of the second hydraulic fluid port B54 connection end effector oil cylinder 57 of quick disconnecting joint 54
A57, the third hydraulic fluid port C54 of the rod chamber hydraulic fluid port B57 connection quick disconnecting joint 54 of end effector oil cylinder 57, the of quick disconnecting joint 54
The third hydraulic fluid port C53, the 4th hydraulic fluid port D53 connection the six or three of the second hydraulic lock 53 of four the second hydraulic locks of hydraulic fluid port D54 connection 53
The third hydraulic fluid port C52 of four-way proportional servo valve 52, the 4th hydraulic fluid port D52 and fuel tank 59 of the 6th 3-position 4-way proportional servo valve 52 connect
It is logical.
First pressure sensor 4 is mounted on the oil outlet of constant displacement pump 2, second pressure sensor 12 and third pressure sensor
13 are separately mounted to the rodless cavity hydraulic fluid port A14 of sliding rail hydraulic cylinder 14 and rod chamber hydraulic fluid port B14, the 4th pressure sensor 21 and
Five pressure sensors 22 are separately mounted to the first hydraulic fluid port A23 and the second hydraulic fluid port B23 of pedestal rotary fluid motor 23, the 6th pressure
Sensor 30 and the 7th pressure sensor 31 are separately mounted to the rodless cavity hydraulic fluid port A32 and rod chamber oil of shoulder joint pitching oil cylinder 32
Mouth B32, the 8th pressure sensor 39 and the 9th pressure sensor 40 are separately mounted to the rodless cavity oil of elbow joint pitching oil cylinder 41
Mouth A41 and rod chamber hydraulic fluid port B41, the tenth pressure sensor 48 and the 11st pressure sensor 49 are separately mounted to wrist joint pitching
The rodless cavity hydraulic fluid port A50 and rod chamber hydraulic fluid port B50, the 12nd pressure sensor 55 and the 13rd pressure sensor 56 of oil cylinder 50 divide
It is not mounted on the rodless cavity hydraulic fluid port A57 and rod chamber hydraulic fluid port B57 of end effector oil cylinder 57.
In conjunction with the 4th pressure sensor 21, the 5th pressure sensor 22, the 6th pressure sensor 30, the 7th pressure sensor
31, the survey of the 8th pressure sensor 39, the 9th pressure sensor 40, the tenth pressure sensor 48, the 11st pressure sensor 49
Magnitude, the revolving speed that motion controller adjusts variable-frequency motor 1 in real time make the output flow of constant displacement pump 2 change with load and change.
Combined torque speed probe 24, second displacement sensor 33, third displacement sensor 42, the 4th displacement sensor
51 measured value, motion controller give first pressure recuperation valve 17, second pressure recuperation valve 18, third pressure-compensated valve 26,
4th pressure-compensated valve 27, the 5th pressure-compensated valve 35, the 6th pressure-compensated valve 36, the 7th pressure-compensated valve 44, the 8th pressure
The spool displacement signal of recuperation valve 45 is to control each actuator coordinated movement of various economic factors.
Working principle of the present invention is as follows:
Variable-frequency motor 1 must electrically activate, and driving constant displacement pump 2 rotates, and constant displacement pump 2 passes through inlet port P2 oil suction from fuel tank 59,
The pressure oil of output respectively enters the oil inlet P 3 of safety valve 3, the oil inlet P 5 of unloading valve 5, check valve 6 by oil outlet T2
Oil inlet P 6, the high-pressure oil flow flowed out from the oil outlet T6 of check valve 6 divide after the oil inlet P 7 of filter 7 and oil outlet T7
Do not flow to the oil inlet P 8 of accumulator 8, the oil inlet P 9 of pressure switch 9, the first 3-position 4-way proportional servo valve 10 first
Hydraulic fluid port A10, the first hydraulic fluid port A16 of the second 3-position 4-way proportional servo valve 16, third 3-position 4-way proportional servo valve 25 first
Hydraulic fluid port A25, the first hydraulic fluid port A34 of the 4th 3-position 4-way proportional servo valve 34, the 5th 3-position 4-way proportional servo valve 43 first
The first hydraulic fluid port A52 of hydraulic fluid port A43, the 6th 3-position 4-way proportional servo valve 52.
First pressure sensor is used to measure the pressure value of constant displacement pump oil outlet, abnormal when occurring in system work process
When situation causes system pressure to be more than 3 setting value of safety valve, 3 valve port of safety valve is opened, the high pressure of 2 oil outlet T2 of constant displacement pump outflow
Oil inlet P 3 and oil outlet T3 of the oil stream through safety valve 3 flow back to fuel tank 59, prevent damage fluid pressure line and hydraulic valve.When system is stopped
When only working, unloading valve 5 can also be opened by motion controller, the high-pressure oil flow of 2 oil outlet T2 of constant displacement pump outflow is through off-load
The oil inlet P 5 and oil outlet T5 of valve 5, which flow back to fuel tank 59, realizes pressure release.What system generated in starting or stopped process
If compression shock is more than the setting value of pressure switch 9, the oil inlet of accumulator P8 is opened, and can slow down the pressure punching of working connection
It hits and flow pulsation.
By taking the sliding rail hydraulic cylinder 14 for driving tunnel bottom slag cleaning device level to slide moves to right as an example, rodless cavity hydraulic fluid port A14
For high pressure oil port, rod chamber hydraulic fluid port B14 is low pressure hydraulic fluid port, at this time the pilot valve electromagnet of the first 3-position 4-way proportional servo valve 10
B10 obtains electric, and the work of the first 3-position 4-way proportional servo valve 10 is in right position, the system control flowed out from the oil outlet T7 of filter 7
Oil is flowed by the first hydraulic fluid port A10 of the first 3-position 4-way proportional servo valve 10, from the of the first 3-position 4-way proportional servo valve 10
The the first hydraulic fluid port A11 and the second hydraulic fluid port B11 that the first hydraulic lock 11 is flowed through after two hydraulic fluid port B10 outflow flow to sliding rail hydraulic cylinder 14
Rodless cavity hydraulic fluid port A14, sliding rail hydraulic cylinder 14 move right, and hydraulic oil passes through the rod chamber hydraulic fluid port B14 of sliding rail hydraulic cylinder 14
Outflow enters the third hydraulic fluid port C11 of the first hydraulic lock 11, then enters first from the 4th hydraulic fluid port D11 of the first hydraulic lock 11 outflow
The third hydraulic fluid port C10 of 3-position 4-way proportional servo valve 10, then from the 4th hydraulic fluid port D10 of the first 3-position 4-way proportional servo valve 10
Flow back to fuel tank 59.In 14 motion process of sliding rail hydraulic cylinder, motion controller acquires first by A/D data collecting card in real time
The measured value of displacement sensor 15, after sliding rail hydraulic cylinder 14 moves to predetermined position, the first 3-position 4-way proportional servo valve 10
Pilot valve electromagnet b10 power loss, the first 3-position 4-way proportional servo valve 10 work in middle position, the left and right two of the first hydraulic lock 11
Road is turned off, and tunnel bottom slag cleaning device is locked in target position.
By taking one duty cycle of tunnel bottom slag cleaning device as an example, the pilot valve electricity of the second 3-position 4-way proportional servo valve 16
Magnet b16, the pilot valve electromagnet b25 of third 3-position 4-way proportional servo valve 25, the 4th 3-position 4-way proportional servo valve 34
Pilot valve electromagnet b34, the pilot valve electromagnet b43 of the 5th 3-position 4-way proportional servo valve 43, the 6th 3-position 4-way ratio are watched
The pilot valve electromagnet b52 for taking valve 52 obtains electric, the second 3-position 4-way proportional servo valve 16, third 3-position 4-way proportional servo valve
25, the 4th 3-position 4-way proportional servo valve 34, the 5th 3-position 4-way proportional servo valve 43, the 6th 3-position 4-way proportional servo valve 52
Work is in right position, electromagnet, the 6th high-speed switch valve 38 of the electromagnet of the second high-speed switch valve 20, the 4th high-speed switch valve 29
Electromagnet, the 8th high-speed switch valve 47 electromagnet obtain electric, the second high-speed switch valve 20, the 4th high-speed switch valve the 29, the 6th
High-speed switch valve 38, the work of the 8th high-speed switch valve 47 are in right position.The system flowed out from the oil outlet T7 of filter 7 controls oil stream
The first hydraulic fluid port A16 and the second hydraulic fluid port B16 through the second 3-position 4-way proportional servo valve 16, flow to first pressure recuperation valve 17 into
Hydraulic fluid port P17, the hydraulic oil flowed out from the oil outlet T17 of first pressure recuperation valve 17 flow through the oil inlet of the first high-speed switch valve 19
P19 and oil outlet T19, into the first hydraulic fluid port A23 of pedestal rotary fluid motor 23, pedestal rotary fluid motor 23 revolves clockwise
Turn, hydraulic oil flows through the oil outlet of the second high-speed switch valve 20 by the second hydraulic fluid port B23 of pedestal rotary fluid motor 23
T20 and oil inlet P 20, the oil outlet T18 of second pressure recuperation valve 18 and oil inlet P 18, the second 3-position 4-way proportional servo valve
Fuel tank 59 is flowed back to after 16 third hydraulic fluid port C16 and the 4th hydraulic fluid port D16；System controls oil stream through third 3-position 4-way proportional servo valve
25 the first hydraulic fluid port A25 and the second hydraulic fluid port B25, the oil inlet P 26 of third pressure-compensated valve 26 and oil outlet T26, third high speed
The oil inlet P 28 and oil outlet T28 of switch valve 28, into the rodless cavity hydraulic fluid port A32 of shoulder joint pitching oil cylinder 32, shoulder joint pitching
Oil cylinder 32 moves right, and hydraulic oil flows through the 4th high-speed switch by the rod chamber hydraulic fluid port B32 of shoulder joint pitching oil cylinder 32
The oil outlet T29 and oil inlet P 29 of valve 29, the oil outlet T27 of the 4th pressure-compensated valve 27 and oil inlet P 27, the 3rd 3 four
Fuel tank 59 is flowed back to after the third hydraulic fluid port C25 and the 4th hydraulic fluid port D25 of logical proportional servo valve 25；System controls oil stream through the four or three four
First hydraulic fluid port A34 of logical proportional servo valve 34 and the oil inlet P 35 and oil outlet of the second hydraulic fluid port B34, the 5th pressure-compensated valve 35
T35, the oil inlet P 37 of the 5th high-speed switch valve 37 and oil outlet T37, into the rodless cavity hydraulic fluid port of elbow joint pitching oil cylinder 41
A41, elbow joint pitching oil cylinder 41 move right, and hydraulic oil passes through the rod chamber hydraulic fluid port B41 flowing out stream of elbow joint pitching oil cylinder 41
The oil outlet T36 and oil inlet of oil outlet T38 and oil inlet P 38, the 6th pressure-compensated valve 36 through the 6th high-speed switch valve 38
P36, the 4th 3-position 4-way proportional servo valve 34 third hydraulic fluid port C34 and the 4th hydraulic fluid port D34 after flow back to fuel tank 59；System control oil
Flow through the oil inlet of the first hydraulic fluid port A43 and the second hydraulic fluid port B43, the 7th pressure-compensated valve 44 of the 5th 3-position 4-way proportional servo valve 43
Mouth P44 and oil outlet T44, the oil inlet P 46 of the 7th high-speed switch valve 46 and oil outlet T46, into wrist joint pitching oil cylinder 50
Rodless cavity hydraulic fluid port A50, wrist joint pitching oil cylinder 50 moves right, the rod chamber oil that hydraulic oil passes through wrist joint pitching oil cylinder 50
Mouth B50 flows through the oil outlet T47 of the 8th high-speed switch valve 47 and the oil outlet of oil inlet P 47, the 8th pressure-compensated valve 45
T45 and oil inlet P 45, the 5th 3-position 4-way proportional servo valve 43 third hydraulic fluid port C43 and the 4th hydraulic fluid port D43 after flow back to fuel tank
59；System controls first hydraulic fluid port A52 and second hydraulic fluid port B52 of the oil stream through the 6th 3-position 4-way proportional servo valve 52, second hydraulic
53 the first hydraulic fluid port A53 and the second hydraulic fluid port B53, the first hydraulic fluid port A54 and the second hydraulic fluid port B54 of quick disconnecting joint 54 are locked, into end
The rodless cavity hydraulic fluid port A57 of actuator cylinder 57, drives end effector motion, and hydraulic oil has by end effector oil cylinder 57
Rod cavity hydraulic fluid port B57 flows through the third oil of the third hydraulic fluid port C54 and the 4th hydraulic fluid port D54 of quick disconnecting joint 54, the second hydraulic lock 53
The third hydraulic fluid port C52 and the 4th hydraulic fluid port D52 of mouth C53 and the 4th hydraulic fluid port D53, the 6th 3-position 4-way proportional servo valve 52 flow back to fuel tank
59.In 57 motion process of end effector oil cylinder, motion controller acquires the 5th displacement by A/D data collecting card in real time and passes
The measured value of sensor 58, when end effector oil cylinder 55 reaches target position, the elder generation of the 6th 3-position 4-way proportional servo valve 52
Pilot valve electromagnet b25 power loss, the 6th 3-position 4-way proportional servo valve 52 work in middle position, and the left and right two-way of the second hydraulic lock 53 is equal
It closes, end effector oil cylinder 57 is locked in target position.Motion controller acquires the by A/D data collecting card in real time at this time
Four pressure sensors 21, the 6th pressure sensor 30, the 8th pressure sensor 39, the tenth pressure sensor 48 measured value, lead to
Cross the revolving speed that D/A converter and proportional amplifier adjust variable-frequency motor 1 so that the output flow of constant displacement pump 2 with load variation and
Variation, and adjust first pressure recuperation valve 17, third pressure-compensated valve 26, the 5th pressure-compensated valve 35, the 7th pressure-compensated valve
44 valve port opening, so that each actuator cylinder coordinated movement of various economic factors；Torque rotary speed sensing is acquired in real time by A/D data collecting card
Device 24, second displacement sensor 33, third displacement sensor 42, the 4th displacement sensor 51 measured value, when each actuator oil
When cylinder reaches target position, similarly, the pilot valve electromagnet a16 of the second 3-position 4-way proportional servo valve 16, the three or three four
The pilot valve electromagnet a25 of logical proportional servo valve 25, the pilot valve electromagnet a34 of the 4th 3-position 4-way proportional servo valve 34, the
The pilot valve electromagnetism of the pilot valve electromagnet a43 of five 3-position 4-way proportional servo valves 43, the 6th 3-position 4-way proportional servo valve 52
Iron a52 obtains electric, the rod chamber hydraulic fluid port of the second hydraulic fluid port B23 of pedestal rotary fluid motor 23, shoulder joint pitching oil cylinder 32 at this time
B32, the rod chamber hydraulic fluid port B41 of elbow joint pitching oil cylinder 41, wrist joint pitching oil cylinder 50 rod chamber hydraulic fluid port B50 be high pressure oil
Mouthful.When the equal power loss of all valves, slag cleaning device can be locked at fixed position.It can according to need replacement by quick disconnecting joint 54
End effector.
Claims (5)
1. a kind of open type TBM tunnel bottom slag cleaning device electrohydraulic control system, it is characterised in that: including variable-frequency motor (1), determine
Amount pump (2), safety valve (3), unloading valve (5), check valve (6), filter (7), accumulator (8), pressure switch (9), first
3-position 4-way proportional servo valve (10), the first hydraulic lock (11), sliding rail hydraulic cylinder (14), the second 3-position 4-way proportional servo valve
(16), first pressure recuperation valve (17), second pressure recuperation valve (18), the first high-speed switch valve (19), the second high-speed switch valve
(20), pedestal rotary fluid motor (23), third 3-position 4-way proportional servo valve (25), third pressure-compensated valve (26), the 4th
Pressure-compensated valve (27), third high-speed switch valve (28), the 4th high-speed switch valve (29), shoulder joint pitching oil cylinder (32), the 4th
3-position 4-way proportional servo valve (34), the 5th pressure-compensated valve (35), the 6th pressure-compensated valve (36), the 5th high-speed switch valve
(37), the 6th high-speed switch valve (38), elbow joint pitching oil cylinder (41), the 5th 3-position 4-way proportional servo valve (43), the 7th pressure
Force compensating valve (44), the 8th pressure-compensated valve (45), the 7th high-speed switch valve (46), the 8th high-speed switch valve (47), wrist joint
Pitching oil cylinder (50), the 6th 3-position 4-way proportional servo valve (52), the second hydraulic lock (53), quick disconnecting joint (54), end execute
Device oil cylinder (57), the 5th displacement sensor (58) and fuel tank (59)；
Variable-frequency motor (1) and constant displacement pump (2) are rigidly connected by shaft coupling, the inlet port (P2) of constant displacement pump (2) and fuel tank (59)
Connection, the oil outlet (T2) of constant displacement pump (2) respectively with the oil inlet (P3) of safety valve (3), unloading valve (5) oil inlet (P5),
The oil inlet (P6) of check valve (6) is connected, the oil outlet (T3) of safety valve (3) and the oil outlet (T5) and fuel tank of unloading valve (5)
(59) it is connected to, the oil outlet (T6) of check valve (6) is connected to the oil inlet (P7) of filter (7), the oil outlet of filter (7)
(T7) it is watched respectively with the oil inlet (P8) of accumulator (8), the oil inlet (P9) of pressure switch (9), the first 3-position 4-way ratio
Take the first hydraulic fluid port (A10) of valve (10), the first hydraulic fluid port (A16) of the second 3-position 4-way proportional servo valve (16), the three or three four
First hydraulic fluid port (A25) of logical proportional servo valve (25), the first hydraulic fluid port (A34) of the 4th 3-position 4-way proportional servo valve (34), the
First hydraulic fluid port of the first hydraulic fluid ports (A43) of five 3-position 4-way proportional servo valves (43), the 6th 3-position 4-way proportional servo valve (52)
(A52) it is connected to；
First hydraulic fluid port of the second hydraulic fluid port (B10) connection the first hydraulic lock (11) of the first 3-position 4-way proportional servo valve (10)
(A11), the rodless cavity hydraulic fluid port (A14) of the second hydraulic fluid port (B11) connecting sliding rail hydraulic cylinder (14) of the first hydraulic lock (11), sliding rail
The third hydraulic fluid port (C11) of rod chamber hydraulic fluid port (B14) connection the first hydraulic lock (11) of hydraulic cylinder (14), the first hydraulic lock (11)
The 4th hydraulic fluid port (D11) connect the first 3-position 4-way proportional servo valve (10) third hydraulic fluid port (C10), the first 3-position 4-way ratio
4th hydraulic fluid port (D10) of servo valve (10) is connected to fuel tank (59)；Second hydraulic fluid port of the second 3-position 4-way proportional servo valve (16)
(B16) oil inlet (P17) of first pressure recuperation valve (17), oil outlet (T17) connection of first pressure recuperation valve (17) are connected
Oil outlet (T19) the connection pedestal of the oil inlet (P19) of first high-speed switch valve (19), the first high-speed switch valve (19) turns round liquid
The second hydraulic fluid port (B23) of the first hydraulic fluid port (A23) of pressure motor (23), pedestal rotary fluid motor (23) connects the second high-speed switch
The oil outlet (T20) of valve (20), oil inlet (P20) connection second pressure recuperation valve (18) of the second high-speed switch valve (20) go out
Hydraulic fluid port (T18), the oil inlet (P18) of second pressure recuperation valve (18) connect the third of the second 3-position 4-way proportional servo valve (16)
4th hydraulic fluid port (D16) of hydraulic fluid port (C16), the second 3-position 4-way proportional servo valve (16) is connected to fuel tank (59)；Three or three four
The oil inlet (P26) of second hydraulic fluid port (B25) connection second pressure recuperation valve (26) of logical proportional servo valve (25), second pressure are mended
The oil inlet (P28) of oil outlet (T26) connection third high-speed switch valve (28) of valve (26) is repaid, third high-speed switch valve (28)
Oil outlet (T28) connects the rodless cavity hydraulic fluid port (A32) of shoulder joint pitching oil cylinder (32), the rod chamber of shoulder joint pitching oil cylinder (32)
Hydraulic fluid port (B32) connects the oil outlet (T29) of the 4th high-speed switch valve (29), the oil inlet (P29) of the 4th high-speed switch valve (29)
Connect the oil outlet (T27) of the 4th pressure-compensated valve (27), oil inlet (P27) connection the three or three of the 4th pressure-compensated valve (27)
The third hydraulic fluid port (C25) of position four-way proportional servo valve (25), the 4th hydraulic fluid port (D25) of third 3-position 4-way proportional servo valve (25)
It is connected to fuel tank (59)；The second hydraulic fluid port (B34) of 4th 3-position 4-way proportional servo valve (34) connects the 5th pressure-compensated valve
(35) oil inlet (P35), the oil outlet (T35) of the 5th pressure-compensated valve (35) connect the oil inlet of the 5th high-speed switch valve (37)
Mouth (P37), the rodless cavity hydraulic fluid port of oil outlet (T37) connection elbow joint pitching oil cylinder (41) of the 5th high-speed switch valve (37)
(A41), the rod chamber hydraulic fluid port (B41) of elbow joint pitching oil cylinder (41) connects the oil outlet (T38) of the 6th high-speed switch valve (38),
The oil inlet (P38) of 6th high-speed switch valve (38) connects the oil outlet (T36) of the 6th pressure-compensated valve (36), and the 6th pressure is mended
Repay valve (36) oil inlet (P36) connect the 4th 3-position 4-way proportional servo valve (34) third hydraulic fluid port (C34), the four or three four
4th hydraulic fluid port (D34) of logical proportional servo valve (34) is connected to fuel tank (59)；The of 5th 3-position 4-way proportional servo valve (43)
Two hydraulic fluid ports (B43) connect the oil inlet (P44) of the 7th pressure-compensated valve (44), the oil outlet of the 7th pressure-compensated valve (44)
(T44) oil inlet (P46) of the 7th high-speed switch valve (46), oil outlet (T46) connection of the 7th high-speed switch valve (46) are connected
The rodless cavity hydraulic fluid port (A50) of wrist joint pitching oil cylinder (50), rod chamber hydraulic fluid port (B50) connection the of wrist joint pitching oil cylinder (50)
The oil inlet (P47) of the oil outlet (T47) of eight high-speed switch valves (47), the 8th high-speed switch valve (47) connects the 8th pressure compensation
The oil inlet (P45) of the oil outlet (T45) of valve (45), the 8th pressure-compensated valve (45) connects the 5th 3-position 4-way proportional servo valve
(43) third hydraulic fluid port (C43), the 4th hydraulic fluid port (D43) of the 5th 3-position 4-way proportional servo valve (43) are connected to fuel tank (59)；
The first hydraulic fluid port (A53) of the second hydraulic fluid port (B52) connection the second hydraulic lock (53) of 6th 3-position 4-way proportional servo valve (52), the
The first hydraulic fluid port (A54) of the second hydraulic fluid port (B53) connection quick disconnecting joint (54) of two hydraulic locks (53), the second of quick disconnecting joint (54)
Hydraulic fluid port (B54) connects the rodless cavity hydraulic fluid port (A57) of end effector oil cylinder (57), the rod chamber oil of end effector oil cylinder (57)
4th hydraulic fluid port (D54) of the third hydraulic fluid port (C54) of mouth (B57) connection quick disconnecting joint (54), quick disconnecting joint (54) connects the second liquid
4th hydraulic fluid port (D53) of the third hydraulic fluid port (C53) of pressure lock (53), the second hydraulic lock (53) connects the 6th 3-position 4-way proportional servo
The third hydraulic fluid port (C52) of valve (52), the 4th hydraulic fluid port (D52) of the 6th 3-position 4-way proportional servo valve (52) and fuel tank (59) are even
It is logical.
2. a kind of open type TBM tunnel bottom slag cleaning device electrohydraulic control system according to claim 1, feature exist
In: it further include first pressure sensor (4), second pressure sensor (12), third pressure sensor (13), the 4th pressure sensing
Device (21), the 5th pressure sensor (22), the 6th pressure sensor (30), the 7th pressure sensor (31), the 8th pressure sensing
Device (39), the 9th pressure sensor (40), the tenth pressure sensor (48), the 11st pressure sensor (49), the 12nd pressure
Sensor (55), the 13rd pressure sensor (56)；
First pressure sensor (4) is mounted on the oil outlet of constant displacement pump (2), second pressure sensor (12) and third pressure sensing
Device (13) is separately mounted to the rodless cavity hydraulic fluid port (A14) and rod chamber hydraulic fluid port (B14) of sliding rail hydraulic cylinder (14), and the 4th pressure passes
Sensor (21) and the 5th pressure sensor (22) are separately mounted to the first hydraulic fluid port (A23) and of pedestal rotary fluid motor (23)
Two hydraulic fluid ports (B23), the 6th pressure sensor (30) and the 7th pressure sensor (31) are separately mounted to shoulder joint pitching oil cylinder
(32) rodless cavity hydraulic fluid port (A32) and rod chamber hydraulic fluid port (B32), the 8th pressure sensor (39) and the 9th pressure sensor (40)
It is separately mounted to the rodless cavity hydraulic fluid port (A41) and rod chamber hydraulic fluid port (B41) of elbow joint pitching oil cylinder (41), the tenth pressure sensor
(48) it is separately mounted to the rodless cavity hydraulic fluid port (A50) of wrist joint pitching oil cylinder (50) with the 11st pressure sensor (49) and has bar
Chamber hydraulic fluid port (B50), the 12nd pressure sensor (55) and the 13rd pressure sensor (56) are separately mounted to end effector oil
The rodless cavity hydraulic fluid port (A57) and rod chamber hydraulic fluid port (B57) of cylinder (57).
3. a kind of open type TBM tunnel bottom slag cleaning device electrohydraulic control system according to claim 1, feature exist
In: it further include the first displacement sensor (15), torque rotary speed sensor (24), second displacement sensor (33), third displacement biography
Sensor (42), the 4th displacement sensor (51), the 5th displacement sensor (58)；First displacement sensor (15) is mounted on sliding rail liquid
On compressing cylinder (14), torque rotary speed sensor (24) is mounted on pedestal rotary fluid motor (23), second displacement sensor
(33) it being mounted on shoulder joint pitching oil cylinder (32), third displacement sensor (42) is mounted on elbow joint pitching oil cylinder (41),
4th displacement sensor (51) is mounted on wrist joint pitching oil cylinder (50), and the 5th displacement sensor (58) is mounted on end execution
On device oil cylinder (57).
4. a kind of open type TBM tunnel bottom slag cleaning device electrohydraulic control system according to claim 1, feature exist
In: in conjunction with the 4th pressure sensor (21), the 5th pressure sensor (22), the 6th pressure sensor (30), the 7th pressure sensing
Device (31), the 8th pressure sensor (39), the 9th pressure sensor (40), the tenth pressure sensor (48), the 11st pressure pass
The measured value of sensor (49) adjusts the revolving speed of variable-frequency motor (1) by motion controller in real time, realizes to the defeated of constant displacement pump (2)
The control of outflow.
5. a kind of open type TBM tunnel bottom slag cleaning device electrohydraulic control system according to claim 1, feature exist
In: combined torque speed probe (24), second displacement sensor (33), third displacement sensor (42), the 4th displacement sensing
The measured value of device (51), motion controller give first pressure recuperation valve (17), second pressure recuperation valve (18), third pressure benefit
Valve (26), the 4th pressure-compensated valve (27), the 5th pressure-compensated valve (35), the 6th pressure-compensated valve (36), the 7th pressure is repaid to mend
The spool displacement signal of valve (44), the 8th pressure-compensated valve (45) is repaid, is realized to pedestal rotary fluid motor (23) and shoulder joint
The real-time control that pitching oil cylinder (32), elbow joint pitching oil cylinder (41), wrist joint pitching oil cylinder (50) extend and retract.
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| CN201910478150.6A CN110131227B (en) | 2019-06-03 | 2019-06-03 | Electro-hydraulic control system of open type TBM tunnel bottom slag removal device |
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|---|---|---|---|
| CN201910478150.6A CN110131227B (en) | 2019-06-03 | 2019-06-03 | Electro-hydraulic control system of open type TBM tunnel bottom slag removal device |
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| CN110131227B CN110131227B (en) | 2020-08-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486027A (en) * | 2019-09-06 | 2019-11-22 | 盾构及掘进技术国家重点实验室 | A kind of shield machine hydraulic propelling system using Redundant Control |
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| JPH04194405A (en) * | 1990-11-27 | 1992-07-14 | Komatsu Ltd | Separation/confluence selecting device for plural pump in load sensing system |
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| CN110131227B (en) | 2020-08-04 |
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