CN112943733B - Heading machine propulsion system and control method thereof - Google Patents
Heading machine propulsion system and control method thereof Download PDFInfo
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- CN112943733B CN112943733B CN202110305852.1A CN202110305852A CN112943733B CN 112943733 B CN112943733 B CN 112943733B CN 202110305852 A CN202110305852 A CN 202110305852A CN 112943733 B CN112943733 B CN 112943733B
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000003921 oil Substances 0.000 claims description 194
- 230000001105 regulatory effect Effects 0.000 claims description 51
- 238000005096 rolling process Methods 0.000 claims description 24
- 230000005641 tunneling Effects 0.000 claims description 24
- 230000001276 controlling effect Effects 0.000 claims description 14
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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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
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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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
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0807—Manifolds
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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
- F15B13/08—Assemblies of units, each for the control of a single servomotor only
- F15B13/0803—Modular units
- F15B13/0846—Electrical details
- F15B13/086—Sensing means, e.g. pressure sensors
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/665—Methods of control using electronic components
- F15B2211/6656—Closed loop control, i.e. control using feedback
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Analytical Chemistry (AREA)
- Environmental & Geological Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a heading machine propelling system and a control method thereof, which solve the technical problem that a heading machine V-shaped propelling system is complex to control. The invention comprises a propulsion pump source, the propulsion pump source is connected with a propulsion oil cylinder through a control valve group, the control valve group comprises a propulsion control valve group, a roll correction control valve group and a fixed value roll correction valve group, the propulsion oil cylinders are arranged in pairs, each pair of propulsion oil cylinders comprises an odd number cylinder and an even number cylinder which are adjacent, the paired propulsion oil cylinders are connected with the propulsion pump source and an oil return end through the respective propulsion control valve group and are connected with the propulsion pump source through the roll correction control valve group, and the fixed value roll correction valve group is arranged on the oil return end. The control method comprises a speed control mode, a pressure control mode, a low-pressure step changing mode, an independent bypass roll correction control mode and a fixed value roll correction mode.
Description
Technical Field
The invention relates to the technical field of heading machine propulsion, in particular to a heading machine propulsion system and a control method thereof.
Background
Since the 21 st century, the urban process speed is faster and faster, and projects such as subway construction, tunnel construction and the like are more and more. The development machine as the open-circuit pioneer for tunnel construction is more and more emphasized by the construction party, and the use frequency is higher and higher. In the normal construction process of the heading machine, the minimum turning radius of the whole machine is limited by the structural design of the whole machine. The torque generated by the rotation of the cutterhead is typically transmitted to the shoe and ultimately the hole arm by a torque arm or beam disposed in the main frame of the machine. The V-shaped propulsion system is a novel propulsion system of a novel heading machine, for example, a heading machine and a construction method disclosed in patent with application publication number of CN111520153A and application publication number of 2020.08.11, a torque arm or a torque beam of the traditional heading machine is cancelled, odd number oil cylinders and even number oil cylinders which are arranged in a V shape in pairs are adopted as propulsion oil cylinders to be connected between a front shield and a support shield, and the reaction torque is provided for normal propulsion of the heading machine by adjusting the thrust difference of the odd number oil cylinders and the even number oil cylinders, so that the small turning radius of the whole machine is realized. The above patent provides only an assembly structure of the propulsion cylinder and does not disclose a hydraulic control system of the propulsion cylinder. In the above patent, the propulsion oil cylinder is required to realize the construction modes of propulsion, turning, rolling correction and the like, and a hydraulic control system for realizing the modes is very complex, so that a hydraulic control system is urgently needed to be designed to realize various construction modes of the V-shaped propulsion system.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides a heading machine propelling system and a control method thereof, and solves the technical problem that the control of a heading machine V-shaped propelling system is complex.
The technical scheme of the invention is realized as follows: the utility model provides a entry driving machine advancing system, includes the propulsion pump source, and the propulsion pump source passes through the valve unit and connects thrust cylinder, the valve unit includes the propulsion valve unit, rectifies and rolls the valve unit, the definite value rectifies and rolls the valve unit, thrust cylinder sets up in pairs, and every pair of thrust cylinder includes adjacent odd number jar and even number jar, and mated thrust cylinder links to each other with the propulsion pump source and oil return end through respective propulsion valve unit, through rectifying and rolling the valve unit and link to each other with the propulsion pump source, the definite value rectifies and rolls the valve unit setting and serves at the oil return.
The propulsion control valve group comprises a propulsion proportional speed regulating valve, an electromagnetic directional valve and a balance valve which are respectively connected between a propulsion pump source and an odd cylinder and between the propulsion pump source and an even cylinder, proportional pressure reducing valves connected with the propulsion pump source and an oil return end are respectively arranged on oil paths between the propulsion proportional speed regulating valve and the odd cylinder and between the propulsion proportional speed regulating valve and the even cylinder, a one-way valve is arranged between the proportional pressure reducing valve and the propulsion cylinder, rod cavity overflow valves connected with the oil return end are respectively arranged on the oil paths between the electromagnetic directional valve and a rod cavity of the odd cylinder and between the electromagnetic directional valve and a rod cavity of the even cylinder, and rodless cavity overflow valves connected with the oil return end are respectively arranged on the oil paths between the electromagnetic directional valve and a rodless cavity of the odd cylinder and between a rodless cavity of the even cylinder.
The rolling correction control valve group comprises a rolling correction oil way connected between a propulsion pump source and a rodless cavity of a propulsion oil cylinder, an electromagnetic ball valve and a rolling correction proportional speed regulating valve are arranged on the rolling correction oil way, an odd cylinder rolling correction switch valve is arranged between the rolling correction proportional speed regulating valve and the rodless cavity of an odd cylinder, and an even cylinder rolling correction switch valve is arranged between the rolling correction proportional speed regulating valve and the rodless cavity of an even cylinder.
The push control valve group is provided with a push oil source oil way and an oil return oil way, the push proportional speed control valve is connected with the push pump source through the push oil source oil way, the proportional pressure reducing valve is connected with the push pump source through the push oil source oil way and is connected with the oil return end through the oil return oil way, and the rodless cavity overflow valve and the rod cavity overflow valve are connected with the oil return end through the oil return oil way.
The fixed value rolling correcting valve group comprises a speed regulating valve connected with a rodless cavity of the propulsion oil cylinder, the speed regulating valve connected with an odd cylinder is connected with an oil return end through an odd cylinder bypass oil return path, the speed regulating valve connected with an even cylinder is connected with the oil return end through an even cylinder bypass oil return path, an odd cylinder bypass oil return one-way valve is arranged on the odd cylinder bypass oil return path, and an even cylinder bypass oil return one-way valve is arranged on the even cylinder bypass oil return path.
The propulsion pump source comprises a variable pump, the variable pump is connected with an electric proportional remote pressure control module, the electric proportional remote pressure control module is connected with a proportional overflow valve and a pressure sensor, and the proportional overflow valve and the pressure sensor are connected with the PLC.
The propulsion oil cylinder is a single cylinder or a group of two cylinders or a group of three cylinders.
A control method of a heading machine propulsion system comprises a speed control mode, a pressure control mode, a low-pressure step changing mode, an independent bypass roll correction control mode and a fixed value roll correction mode.
The speed control mode is as follows: the pressure oil for controlling the propulsion pump source is pumped to a propulsion oil source oil way of each propulsion control valve group, the pressure oil enters a rodless cavity of a propulsion oil cylinder through a propulsion proportional speed regulating valve, a propulsion electromagnetic directional valve and a balance valve, the propulsion speed of each propulsion oil cylinder is output to a proportional speed regulating valve through a PLC (programmable logic controller) control proportional amplifier, and different current values of the propulsion proportional speed regulating valves of odd cylinders and even cylinders are given to enable the odd cylinders and the even cylinders to generate speed difference so as to form pressure difference, so that reactive torque is provided for the tunneling of the tunneling machine, and rolling correction under a speed control mode is realized.
The pressure control mode: the pressure oil for controlling the propulsion pump source is pumped to a propulsion oil source oil way of each propulsion control valve group, the pressure oil enters a rodless cavity of the propulsion oil cylinder through a proportional pressure reducing valve, a one-way valve, an electromagnetic directional valve and a balance valve, and the pressure of each propulsion oil cylinder is controlled by a PWM signal which is output to the proportional pressure reducing valve by a PLC control proportional amplifier.
The low-pressure step-changing mode comprises the following steps: the pressure oil for controlling the propulsion pump source is pumped to a propulsion oil source oil circuit of each propulsion control valve group, the pressure oil enters a rod cavity of the propulsion oil cylinder through a proportional speed regulating valve, a propulsion electromagnetic directional valve and a balance valve, the displacement of the propulsion pump source controls a given value, a proportional overflow valve gives a low-pressure fixed value to provide a low-pressure oil source for the system, and a PLC (programmable logic controller) uniformly outputs control signals to the proportional speed regulating valve of each oil cylinder to control all the propulsion oil cylinders to simultaneously recover in a low-pressure step-changing manner.
The independent bypass rolling correction control mode comprises the following steps: hydraulic oil for controlling a propulsion pump source enters a propulsion control valve group through an electromagnetic ball valve and a roll correction proportion speed regulating valve, pressure oil enters a rodless cavity of a corresponding propulsion oil cylinder through selecting an odd cylinder roll correction switch valve and an even cylinder roll correction switch valve, and the oil entering the rodless cavity is controlled by the roll correction proportion speed regulating valve, so that a speed difference is formed between the odd cylinder and the even cylinder, a pressure difference is further formed, and counter torque is provided for the tunneling machine to tunnel.
The fixed value rolling correction mode comprises the following steps: in the normal tunneling process of the tunneling machine, the flow rates of the odd cylinders and the even cylinders are different by adjusting the speed regulating valves of the fixed value roll correcting valve group, so that the odd cylinders and the even cylinders form fixed value pressure difference, and reactive torque is provided for tunneling of the tunneling machine.
The electric proportional displacement remote pressure control variable pump is adopted by the propulsion pump source, the speed of an execution element is controlled through the electric proportional displacement, a proportional overflow valve is externally connected to a remote pressure control port, a pressure signal of a pressure sensor of an execution element control valve block is acquired through a PLC, the PLC automatically adds a fixed pressure signal and feeds the fixed pressure signal back to the proportional overflow valve, the pressure of the outlet of the pump is always greater than the maximum pressure of the execution element by a fixed pressure value, and PID closed-loop control is formed.
The invention has the beneficial effects that: in the TBM tunneling process, the tunnel boring machine can realize propulsion in a pressure control mode and a speed control mode. In the pressure control mode, the propulsion oil cylinder is controlled in a subarea mode. The reaction torque is formed by acquiring the cutter torque in real time and performing preset pressure difference on the pressure of odd cylinders and even cylinders. Secondly, the design of the constant value roll correcting system can preset fixed reaction torque for the propulsion system, and control variables of a proportional speed regulating valve in the propulsion system are reduced; and thirdly, the independent bypass roll correction control system can constantly load the required reaction torque on the propulsion system, and the control variable of a proportional speed control valve in the propulsion system is reduced. The invention can simplify the TBM tunneling operation of the TBM driver operating hand.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic diagram of the control of a pair of thrust cylinders of FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 2;
wherein: 1-a variable pump, 2-an electric proportional remote pressure control module, 3-a pressure sensor, 4-a proportional overflow valve, 5-a speed regulating valve, 6-an even cylinder bypass return check valve, 7-a propulsion control valve group, 8-a proportional pressure reducing valve, 9-a check valve, 10-a propulsion proportional speed regulating valve, 11-an electromagnetic reversing valve, 12-an odd cylinder bypass return check valve, 13-an even cylinder roll correcting switch valve, 14-an odd cylinder roll correcting switch valve, 15-a rod cavity overflow valve, 16-a rodless cavity overflow valve, 17-a balance valve, 18-a propulsion oil cylinder, 19-a roll correcting proportional speed regulating valve and 20-an electromagnetic ball valve;
p1-propulsion oil source oil path, L1-odd cylinder bypass oil return path, L2-even cylinder bypass oil return path and T-oil return path.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Embodiment 1, a heading machine propulsion system, as shown in fig. 1, includes a propulsion pump source, the propulsion pump source is connected to a propulsion cylinder 18 through a control valve group, the propulsion pump source includes a variable pump 1, the variable pump 1 is connected to an electric proportional remote pressure control module 2, the electric proportional remote pressure control module 2 is connected to a proportional relief valve 4 and a pressure sensor 3, and the proportional relief valve 4 and the pressure sensor 3 are connected to a PLC.
The control valve group comprises a propelling control valve group 7, a rolling correction control valve group and a fixed value rolling correction valve group which can respectively and independently operate. The propulsion oil cylinders 18 are single cylinders or one group of double cylinders or one group of three cylinders, the propulsion oil cylinders 18 are arranged in pairs in one group in the embodiment, each pair of the propulsion oil cylinders 18 comprises an odd cylinder and an even cylinder which are adjacent, the paired propulsion oil cylinders 18 are connected with a propulsion pump source and an oil return end through respective propulsion control valve groups 7 and connected with the propulsion pump source through a roll correcting control valve group, and the fixed value roll correcting valve group is arranged at the oil return end. And each valve group is controlled under the control of the PLC, so that the propelling, the step changing and the roll correcting of the heading machine are realized.
Specifically, as shown in fig. 2, the propulsion control valve group 7 includes a propulsion proportional speed control valve 10, an electromagnetic directional valve 11, and a balance valve 17 respectively connected between a propulsion pump source and an odd-numbered cylinder, and between the propulsion pump source and an even-numbered cylinder, proportional pressure reducing valves 8 connected to the propulsion pump source and an oil return end are respectively disposed on oil paths between the propulsion proportional speed control valve 10 and the odd-numbered cylinder, and between the propulsion cylinder and the even-numbered cylinder, a check valve 9 is disposed between the proportional pressure reducing valves 8 and a propulsion cylinder 18, rod-chamber overflow valves 15 connected to the oil return end are respectively disposed on oil paths between the electromagnetic directional valve 11 and rod-chamber cavities of the odd-numbered cylinder, and between the electromagnetic directional valve 11 and rod-chamber cavities of the even-numbered cylinder, and rodless-chamber overflow valves 16 connected to the oil return end are respectively disposed on oil paths between the electromagnetic directional valve 11 and rodless-chamber of the odd-numbered cylinder, and rodless-chamber overflow valves 16 connected to the oil return end.
The roll correcting control valve group comprises a roll correcting oil path P2 connected between a propulsion pump source and a rodless cavity of a propulsion oil cylinder 18, an electromagnetic ball valve 20 and a roll correcting proportional speed regulating valve 19 are arranged on the roll correcting oil path P2, an odd cylinder roll correcting switch valve 14 is arranged between the roll correcting proportional speed regulating valve 19 and the rodless cavity of an odd cylinder, and an even cylinder roll correcting switch valve 13 is arranged between the roll correcting proportional speed regulating valve 19 and the rodless cavity of an even cylinder.
As shown in fig. 3, a propulsion oil source oil path P1 and an oil return path T are arranged on the propulsion control valve group 7, the propulsion proportional speed control valve 10 is connected with the propulsion pump source through the propulsion oil source oil path P1, the proportional pressure reducing valve 8 is connected with the propulsion pump source through the propulsion oil source oil path P1 and is connected with the oil return end through the oil return path T, and the rodless cavity overflow valve 16 and the rod cavity overflow valve 15 are both connected with the oil return end through the oil return path T.
The fixed value rolling correcting valve group comprises a speed regulating valve 5 connected with a rodless cavity of a propulsion oil cylinder 18, the speed regulating valve 5 connected with an odd cylinder is connected with an oil return end through an odd cylinder bypass oil return path L1, the speed regulating valve 5 connected with an even cylinder is connected with the oil return end through an even cylinder bypass oil return path L2, an odd cylinder bypass oil return one-way valve 12 is arranged on an odd cylinder bypass oil return path L1, and an even cylinder bypass oil return one-way valve 6 is arranged on an even cylinder bypass oil return path L2.
Embodiment 2, a control method of a heading machine propulsion system, comprising a speed control mode, a pressure control mode, a low-pressure step-changing mode, an independent bypass roll correction control mode, and a fixed value roll correction mode.
The speed control mode is as follows: the pressure oil for controlling the propulsion pump source is pumped to a propulsion oil source oil path P1 of each propulsion control valve group 7, the pressure oil enters a rodless cavity of a propulsion oil cylinder 18 through a propulsion proportional speed regulating valve 10, a propulsion electromagnetic directional valve 11 and a balance valve 17, the propulsion speed of each propulsion oil cylinder 18 is output to the proportional speed regulating valve 10 through a PLC control proportional amplifier, and different current values of the propulsion proportional speed regulating valves 10 of odd cylinders and even cylinders are given, so that speed difference is generated between the odd cylinders and the even cylinders, pressure difference is formed, anti-torque is provided for tunneling of the tunneling machine, and rolling correction under a speed control mode is achieved.
The pressure control mode: the pressure oil for controlling the propulsion pump source is pumped to a propulsion oil source oil path P1 of each propulsion control valve group 7, the pressure oil enters a rodless cavity of each propulsion oil cylinder 18 through a proportional pressure reducing valve 8, a one-way valve 9, an electromagnetic directional valve 11 and a balance valve 17, and the pressure of each propulsion oil cylinder 18 is controlled by PWM signals output to the proportional pressure reducing valve 8 by a PLC control proportional amplifier.
The low-pressure step-changing mode comprises the following steps: the pressure oil for controlling the propulsion pump source is pumped to a propulsion oil source oil path P1 of each propulsion control valve group 7, the pressure oil enters a rod cavity of the propulsion oil cylinder 18 through a proportional speed regulating valve 10, a propulsion electromagnetic directional valve 11 and a balance valve 17, the displacement of the propulsion pump source controls a given value, a proportional overflow valve 4 gives a low-pressure fixed value to provide a low-pressure oil source for the system, and a control signal is uniformly output to the proportional speed regulating valve 10 of each oil cylinder through a PLC (programmable logic controller) to control all the propulsion oil cylinders 18 to simultaneously recover in a low-pressure step-changing manner.
The independent bypass rolling correction control mode comprises the following steps: hydraulic oil for controlling a propulsion pump source enters a propulsion control valve group through an electromagnetic ball valve 20 and a roll correction proportion speed regulating valve 19, pressure oil enters a rodless cavity of a corresponding propulsion oil cylinder 18 by selecting an odd cylinder roll correction switch valve 14 and an even cylinder roll correction switch valve 13, the oil amount entering the rodless cavity is controlled by the roll correction proportion speed regulating valve 19, so that a speed difference is formed between the odd cylinder and the even cylinder, a pressure difference is formed, and a reaction torque is provided for tunneling by a tunneling machine.
The fixed value rolling correction mode comprises the following steps: in the normal tunneling process of the tunneling machine, the flow rates of the odd cylinders and the even cylinders are different by adjusting the speed regulating valve 5 of the fixed value roll correcting valve group, so that the odd cylinders and the even cylinders form fixed value pressure difference, and reactive torque is provided for tunneling of the tunneling machine.
The push pump source adopts an electric proportional displacement remote pressure control variable pump, the speed of an actuating element is controlled through the electric proportional displacement, a remote pressure control port is externally connected with a proportional overflow valve 4, a pressure signal of a pressure sensor 3 of an actuating element control valve block is collected through a PLC, the PLC automatically adds a fixed pressure signal and feeds the fixed pressure signal back to the proportional overflow valve 4, the pressure of the outlet of the pump is always greater than the maximum pressure of the actuating element by a fixed pressure value, and PID closed-loop control is formed.
The structure of this embodiment is the same as embodiment 1.
Nothing in this specification is intended to be exhaustive of all conventional and well known techniques.
Claims (9)
1. The utility model provides a entry driving machine advancing system, includes the propulsion pump source, and the propulsion pump source passes through the control valve group and connects propulsion cylinder (18), its characterized in that: the control valve group comprises a propulsion control valve group (7), a roll correction control valve group and a fixed value roll correction valve group, the propulsion oil cylinders (18) are arranged in pairs, each pair of propulsion oil cylinders comprises an odd cylinder and an even cylinder which are adjacent, the paired propulsion oil cylinders are connected with a propulsion pump source and an oil return end through the respective propulsion control valve group (7) and connected with the propulsion pump source through the roll correction control valve group, and the fixed value roll correction valve group is arranged on the oil return end;
the propulsion control valve group (7) comprises a propulsion proportional speed regulating valve (10), an electromagnetic directional valve (11) and a balance valve (17) which are respectively connected between a propulsion pump source and odd cylinders and between the propulsion pump source and even cylinders, a proportional pressure reducing valve (8) connected with a propulsion pump source and an oil return end is respectively arranged on an oil path between a propulsion proportional speed regulating valve (10) and the odd cylinders and between the even cylinders, a one-way valve (9) is arranged between the proportional pressure reducing valve (8) and a propulsion oil cylinder (18), an oil path between an electromagnetic directional valve (11) and the rod-shaped cavity of the odd cylinder and an oil path between the rod-shaped cavity of the even cylinder are respectively provided with a rod-shaped cavity overflow valve (15) connected with the oil return end, the oil path between the electromagnetic directional valve (11) and the rodless cavities of the odd cylinders and the oil path between the electromagnetic directional valve and the rodless cavities of the even cylinders are provided with a rodless cavity overflow valve (16) connected with an oil return end;
the roll correcting control valve group comprises a roll correcting oil way (P2) connected between a propulsion pump source and a rodless cavity of a propulsion oil cylinder (18), an electromagnetic ball valve (20) and a roll correcting proportional speed regulating valve (19) are arranged on the roll correcting oil way (P2), an odd cylinder roll correcting switch valve (14) is arranged between the roll correcting proportional speed regulating valve (19) and the rodless cavity of an odd cylinder, and an even cylinder roll correcting switch valve (13) is arranged between the roll correcting proportional speed regulating valve and the rodless cavity of an even cylinder;
the fixed value rolling correcting valve group comprises a speed regulating valve (5) connected with a rodless cavity of a propulsion oil cylinder (18), the speed regulating valve (5) connected with an odd cylinder is connected with an oil return end through an odd cylinder bypass oil return path (L1), the speed regulating valve (5) connected with an even cylinder is connected with the oil return end through an even cylinder bypass oil return path (L2), an odd cylinder bypass oil return one-way valve (12) is arranged on the odd cylinder bypass oil return path (L1), and an even cylinder bypass oil return one-way valve (6) is arranged on the even cylinder bypass oil return path (L2).
2. The roadheader propulsion system of claim 1, wherein: the push control valve group (7) is provided with a push oil source oil way (P1) and an oil return oil way (T), the push proportional speed control valve (10) is connected with a push pump source through a push oil source oil way (P1), the proportional pressure reducing valve (8) is connected with the push pump source through a push oil source oil way (P1), is connected with an oil return end through an oil return oil way (T), and the rodless cavity overflow valve (16) and the rod cavity overflow valve (15) are connected with the oil return end through the oil return oil way (T).
3. The heading machine propulsion system of claim 1 or 2, wherein: the propulsion pump source comprises a variable pump (1), the variable pump (1) is connected with an electric proportion remote pressure control module (2), the electric proportion remote pressure control module (2) is connected with a proportional overflow valve (4) and a pressure sensor (3), and the proportional overflow valve (4) and the pressure sensor (3) are connected with a PLC.
4. The heading machine propulsion system of claim 3, wherein: the propulsion oil cylinder (18) is a single cylinder or a double-cylinder group or a triple-cylinder group.
5. The control method of a heading machine propulsion system according to any one of claims 1 to 4, wherein: the system comprises a speed control mode, a pressure control mode, a low-pressure step changing mode, an independent bypass roll correction control mode and a fixed value roll correction mode;
the speed control mode is as follows: the method comprises the steps that pressure oil for controlling a propulsion pump source is pumped to a propulsion oil source oil way (P1) of each propulsion control valve group (7), the pressure oil enters a rodless cavity of a propulsion oil cylinder (18) through a propulsion proportional speed regulating valve (10), a propulsion electromagnetic directional valve (11) and a balance valve (17), the propulsion speed of each propulsion oil cylinder (18) is output to the proportional speed regulating valve (10) through a PLC control proportional amplifier, different current values of the propulsion proportional speed regulating valves (10) of odd cylinders and even cylinders are given, so that speed differences are generated between the odd cylinders and the even cylinders, pressure differences are further formed, reaction torque is provided for tunneling of the tunneling machine, and rolling correction under a speed control mode is achieved;
the pressure control mode: the pressure oil for controlling the propulsion pump source is pumped to a propulsion oil source oil way (P1) of each propulsion control valve group (7), the pressure oil enters a rodless cavity of each propulsion oil cylinder (18) through a proportional pressure reducing valve (8), a one-way valve (9), an electromagnetic reversing valve (11) and a balance valve (17), and the pressure of each propulsion oil cylinder (18) is controlled by a PWM signal output to the proportional pressure reducing valve (8) by a PLC control proportional amplifier.
6. The control method of a heading machine propulsion system according to claim 5, wherein: the low-pressure step-changing mode comprises the following steps: the control system comprises a propulsion oil source oil way (P1) for controlling the pressure oil of a propulsion pump source to be pumped to each propulsion control valve group (7), the pressure oil enters a rod cavity of a propulsion oil cylinder (18) through a proportional speed regulating valve (10), a propulsion electromagnetic directional valve (11) and a balance valve (17), the displacement of the propulsion pump source is controlled to be a given value, a proportional overflow valve (4) is endowed with a low-pressure fixed value to provide a low-pressure oil source for the system, a control signal is uniformly output to the proportional speed regulating valve (10) of each oil cylinder through a PLC (programmable logic controller), and all the propulsion oil cylinders (18) are controlled to be simultaneously recycled in a low-pressure step-changing manner.
7. The control method of a heading machine propulsion system according to claim 5 or 6, wherein: the independent bypass rolling correction control mode comprises the following steps: hydraulic oil for controlling a propulsion pump source enters a propulsion control valve group through an electromagnetic ball valve (20) and a roll correction proportion speed regulating valve (19), pressure oil enters a rodless cavity of a corresponding propulsion oil cylinder (18) through selecting an odd cylinder roll correction switch valve (14) and an even cylinder roll correction switch valve (13), oil entering the rodless cavity is controlled by the roll correction proportion speed regulating valve (19), so that speed differences are formed between the odd cylinder and the even cylinder, pressure differences are formed, and counter torque is provided for the tunneling machine to dig in.
8. The method of controlling a propulsion system of a heading machine according to claim 7, wherein: the fixed value rolling correction mode comprises the following steps: in the normal tunneling process of the tunneling machine, the flow rates of the odd cylinders and the even cylinders are different by adjusting the speed regulating valve (5) of the fixed value roll correcting valve group, so that the odd cylinders and the even cylinders form fixed value pressure difference, and reactive torque is provided for tunneling by the tunneling machine.
9. The method of controlling a propulsion system of a heading machine as claimed in any one of claims 5, 6 or 8 wherein: the electric proportional displacement remote pressure control variable pump is adopted as the propulsion pump source, the speed of an actuating element is controlled through the electric proportional displacement, a remote pressure control port is externally connected with a proportional overflow valve (4), a pressure signal of a pressure sensor (3) of an actuating element control valve block is collected through a PLC, the PLC automatically adds a fixed pressure signal to feed back to the proportional overflow valve (4), the pressure of the outlet of the pump is always greater than the maximum pressure of the actuating element by a fixed pressure value, and PID closed-loop control is formed.
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