CN113983014B - Double-cutting-arm heading machine and cutting arm control method - Google Patents
Double-cutting-arm heading machine and cutting arm control method Download PDFInfo
- Publication number
- CN113983014B CN113983014B CN202111187864.5A CN202111187864A CN113983014B CN 113983014 B CN113983014 B CN 113983014B CN 202111187864 A CN202111187864 A CN 202111187864A CN 113983014 B CN113983014 B CN 113983014B
- Authority
- CN
- China
- Prior art keywords
- oil
- valve
- port
- control
- hydraulic control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 121
- 230000001360 synchronised effect Effects 0.000 claims abstract description 59
- 230000005641 tunneling Effects 0.000 claims abstract description 14
- 239000003921 oil Substances 0.000 claims description 218
- 230000000694 effects Effects 0.000 claims description 6
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 230000009977 dual effect Effects 0.000 claims 5
- 238000010276 construction Methods 0.000 abstract description 4
- 230000002079 cooperative effect Effects 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003245 coal Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
-
- 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
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/042—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure
- F15B13/0422—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by fluid pressure with manually-operated pilot valves, e.g. joysticks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K11/00—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves
- F16K11/10—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit
- F16K11/20—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit operated by separate actuating members
- F16K11/22—Multiple-way valves, e.g. mixing valves; Pipe fittings incorporating such valves with two or more closure members not moving as a unit operated by separate actuating members with an actuating member for each valve, e.g. interconnected to form multiple-way valves
-
- 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
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
- F15B2211/782—Concurrent control, e.g. synchronisation of two or more actuators
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides a double-cutting-arm tunneling machine and a cutting arm control method, and belongs to the technical field of tunneling machines; the left cutting arm and the right cutting arm are controlled by a cutting arm control system to lift and rotate; the cutting arm control system comprises an independent action control valve, a pilot hydraulic control handle I, a pilot hydraulic control handle II, a pilot hydraulic control handle III, a synchronous action control valve, a switching control valve, a hydraulic pump and a multi-way reversing valve. The invention can realize synchronous cooperative action of the two arms and independent action of each cutting arm, is flexible to switch, convenient to operate and reliable to interlock, and has important value for improving the construction efficiency and roadway adaptability of the double-arm heading machine.
Description
Technical Field
The invention belongs to the technical field of heading machines, and particularly discloses a double-cutting-arm heading machine and a cutting arm control method.
Background
At present, most cantilever heading machines only have one cutting arm, and the swing of the cutting arm is controlled through a hydraulic handle during cutting construction, so that coal and rock cutting is realized. Along with the rapid tunneling demand, a double-arm tunneling machine is continuously developed, but the action of the double cutting arms needs to be controlled by two groups of handles respectively, the two hands of an operator are occupied during production, the two cutting arms are controlled to swing at the same speed as much as possible, the requirement on the operator is high, and the forming quality of a cutting section is difficult to ensure particularly in the process of special-shaped roadway construction. Therefore, the existing double-cutting-arm heading machine has the problems of complex operation, poor section forming quality and poor roadway adaptability when controlling the cutting arms.
Disclosure of Invention
The invention aims to provide the double-cutting-arm heading machine and the cutting arm control method, which not only can realize synchronous and cooperative actions of two arms, but also can realize independent actions of each cutting arm, and are flexible to switch, convenient to operate and reliable to interlock, and have important values for improving the construction efficiency and roadway adaptability of the double-cutting-arm heading machine.
In order to achieve the above purpose, the invention provides a dual-cutting-arm tunneling machine, which comprises a tunneling machine main body, wherein a left cutting arm and a right cutting arm are arranged on the tunneling machine main body; the left cutting arm and the right cutting arm are controlled by a cutting arm control system to lift and rotate;
The cutting arm control system comprises an independent action control valve, a pilot hydraulic control handle I, a pilot hydraulic control handle II, a pilot hydraulic control handle III, a synchronous action control valve, a switching control valve, a hydraulic pump, a multi-way reversing valve, a right cutting arm lifting cylinder, a right cutting arm rotary cylinder, a left cutting arm rotary cylinder and a left cutting arm lifting cylinder;
The independent action control valve comprises a valve body I and 8 hydraulic control one-way valves, wherein an inlet of each hydraulic control one-way valve is communicated with an A11-A18 port of the valve body I, an outlet of each hydraulic control one-way valve is communicated with a B11-B18 port of the valve body I, and a control port of each hydraulic control one-way valve is communicated with an X1 port of the valve body I;
The synchronous action control valve comprises a valve body II and 8 hydraulic control one-way valves, wherein the inlets of every two hydraulic control one-way valves are combined and then communicated with four ports A21-A27 of the valve body II-, the outlets of the hydraulic control one-way valves are respectively communicated with ports B21-B28 of the valve body II, and the control port of the hydraulic control one-way valve is communicated with the port X2 of the valve body II;
The switching control valve comprises a two-position four-way valve, and the oil port comprises P, T, A, B four ports;
the port P of the switching control valve is connected with the pilot oil port Z of the multi-way reversing valve, the port A of the switching control valve is connected with the port X1 of the control valve of the independent action control valve, the oil inlet of the pilot hydraulic control handle I and the oil inlet of the pilot hydraulic control handle II, and the port B of the switching control valve is connected with the port X2 of the control valve of the synchronous action control valve and the oil inlet of the pilot hydraulic control handle III;
Four oil outlets of the pilot hydraulic control handle I are respectively connected with four oil outlets A11, A12, A13 and A14 of the independent action control valve;
Four oil outlets of the pilot hydraulic control handle II are respectively connected with four oil outlets A15, A16, A17 and A18 of the independent action control valve;
four oil outlets of the pilot hydraulic control handle III are respectively connected with four oil outlets A21, A23, A25 and A27 of the synchronous action control valve;
The ports B11 and B12 of the oil outlets of the independent action control valves are connected with a first pilot control port of the multi-way reversing valve, the ports B13 and B14 of the independent action control valves are connected with a second pilot control port of the multi-way reversing valve, the ports B15 and B16 of the independent action control valves are connected with a third pilot control port of the multi-way reversing valve, and the ports B17 and B18 of the independent action control valves are connected with a fourth pilot control port of the multi-way reversing valve;
the first oil outlet of the multi-way reversing valve is connected with the oil port of the left cutting arm lifting oil cylinder, the second oil outlet of the multi-way reversing valve is connected with the oil port of the left cutting arm rotary oil cylinder, the third oil outlet of the multi-way reversing valve is connected with the oil port of the right cutting arm rotary oil cylinder, and the fourth oil outlet of the multi-way reversing valve is connected with the oil port of the right cutting arm lifting oil cylinder;
The oil ports B21, B22, B23, B24, B25, B26, B27 and B28 of the synchronous operation control valves are respectively connected with the oil ports B11, B17, B13, B16, B12, B18, B14 and B15 of the independent operation control valves;
the hydraulic pump supplies hydraulic oil to the multiple directional control valve.
Further, a feedback oil port of the hydraulic pump is connected with a feedback oil port of the multi-way reversing valve.
Further, the T port of the switching control valve is connected with the oil drain port of the oil tank.
Further, the two-position four-way valve is a two-position four-way cartridge valve, and the two-position four-way cartridge valve is mounted on the valve body III.
The invention also provides a cutting arm control method which is implemented by the double-cutting-arm heading machine;
The control method for the independent actions of the left cutting arm and the right cutting arm comprises the following steps: the switching control valve is switched to be communicated with the port P and the port A, the port T is communicated with the port B, control oil enters a control oil port X1 of an independent action control valve through a switching control valve from a pilot oil port Z of a multi-way reversing valve through a pipeline, an oil inlet of a pilot hydraulic control handle I and an oil inlet of a pilot hydraulic control handle II, 8 hydraulic control check valves of the independent action control valve are opened, the pilot hydraulic control handle I and the pilot hydraulic control handle II are operated, the pilot control oil with pressure enters a pilot control oil port of the multi-way reversing valve through corresponding hydraulic control check valves, return oil returns to the pilot hydraulic control handle through corresponding hydraulic control check valves, a loop is formed among the pilot hydraulic control handle I, the pilot hydraulic control handle II and the multi-way reversing valve, the pilot hydraulic control handle I independently controls lifting and swinging actions of a left cutting arm, and the pilot hydraulic control handle II independently controls lifting and swinging actions of a right cutting arm; in the state, the oil inlet of the pilot hydraulic control handle III and the control oil port X2 of the synchronous action control valve are communicated with the oil return port of the oil tank, no pressure oil enters, and even if the pilot hydraulic control handle III is in misoperation, the action of a cutting arm is not caused, so that an interlocking effect is realized; meanwhile, the control oil port X1 of the independent action control valve is provided with pressure oil, the internal hydraulic control one-way valve of the independent action control valve is opened, the control oil of the pilot hydraulic control handle I and the pilot hydraulic control handle II is ensured to normally enter the multi-way reversing valve and return to the pilot hydraulic control handle I and the pilot hydraulic control handle II from the multi-way reversing valve to drain oil, the control oil port X2 of the synchronous action control valve is not provided with pressure oil, the internal hydraulic control one-way valve of the independent action control valve is in a reverse closing state, and the pressure oil of the pilot hydraulic control handle I and the pilot hydraulic control handle II is ensured not to drain oil through the oil return port of the pilot hydraulic control handle III.
The invention also provides a cutting arm control method which is implemented by the double-cutting-arm heading machine;
the control method for the synchronous action of the left cutting arm and the right cutting arm comprises the following steps: the switching control valve is switched to be communicated with the port P and the port B, the port T is communicated with the port A, control oil enters a control oil port X2 of the synchronous action control valve and an oil inlet of the pilot hydraulic control handle III through a switching control valve from a pilot oil port Z of the multi-way reversing valve through a pipeline, 8 hydraulic control check valves of the synchronous action control valve are opened, the pilot hydraulic control handle III is operated, and the pilot control oil with pressure enters a pilot control oil port of the multi-way reversing valve through 8 hydraulic control check valves of the synchronous action control valve, so that the lifting and rotation synchronous movement of left and right cutting arms of the excavator is controlled; in the state, an oil inlet of the pilot hydraulic control handle I, an oil inlet of the pilot hydraulic control handle II and a control oil port X1 of the independent action control valve are communicated with an oil return port of the oil tank, no pressure oil enters, and even if the pilot hydraulic control handle I and the pilot hydraulic control handle II are in misoperation, the action of a cutting arm is not caused, so that an interlocking effect is achieved; meanwhile, the control oil port X2 of the synchronous action control valve is provided with pressure oil, the internal hydraulic control one-way valve of the synchronous action control valve is opened, the control oil of the pilot hydraulic control handle III is ensured to normally enter the multi-way reversing valve and return to the pilot hydraulic control handle III from the multi-way reversing valve to drain, the control oil port X1 of the independent action control valve is not provided with pressure oil, the internal hydraulic control one-way valve of the independent action control valve is in a reverse closing state, and the pressure oil of the pilot hydraulic control handle III is ensured not to drain through the oil return port of the pilot hydraulic control handle I or the pilot hydraulic control handle II.
The invention has the following advantages:
1. The double-cutting-arm tunneling machine provided by the invention has the advantages that the left cutting arm and the right cutting arm are controlled to lift and rotate by the cutting arm control system, the cutting arm control system consists of the switching control valve, the independent action control valve, the synchronous action control valve, the pilot hydraulic control handle and the multi-way reversing valve, and the control, the switching and the interlocking of the independent action and the synchronous action of the double cutting arms are realized through the connection of the hydraulic pipelines, so that the problems of complex operation, incapability of switching, short-circuit oil return of pilot liquid and the like in the background technology are avoided, the labor force of workers is relieved, and the production efficiency is improved;
2. The synchronous action control valve and the independent action control valve consist of a hydraulic control one-way valve and a valve body, and the switching control valve consists of a two-position four-way cartridge valve and a valve body, so that the synchronous action control valve and the independent action control valve are simple in structure, low in cost and reliable in performance; the synchronous action control valve and the independent action control valve can be distributed at any position, the switching control valve is arranged near the operation table, the position is flexible, the occupied space is small, the valve is connected with the pilot control handle through a hydraulic pipeline, the whole structure of the existing heading machine is not required to be changed, the new cost is low, and the improvement and the upgrading of the existing heading machine are very convenient.
Drawings
FIG. 1 is a schematic diagram of a cutting arm control system;
FIG. 2 is a schematic diagram of an independent motion control valve;
FIG. 3 is a structural outline view of the independent operation control valve;
FIG. 4 is a schematic diagram of a synchronous motion control valve;
FIG. 5 is a structural outline view of the synchronous motion control valve;
FIG. 6 is a schematic diagram of a switching control valve;
Fig. 7 is a structural outline view of the switching control valve.
In the figure: 1-independent action control valve, 2-pilot hydraulic control handle I, 3-pilot hydraulic control handle II, 4-pilot hydraulic control handle III, 5-synchronous action control valve, 6-switching control valve, 7-hydraulic pump, 8-multi-way reversing valve, 9-right cutting arm lifting cylinder, 10-right cutting arm rotary cylinder, 11-left cutting arm rotary cylinder, 12-left cutting arm lifting cylinder, 13-valve body I, 14-hydraulic control one-way valve, 15-valve body II, 16-valve body III and 17-two-position four-way cartridge valve.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The embodiment provides a double-cutting-arm tunneling machine, which comprises a tunneling machine main body, wherein a left cutting arm and a right cutting arm are arranged on the tunneling machine main body; the left cutting arm and the right cutting arm are controlled to lift and rotate by a cutting arm control system.
The cutting arm control system comprises an independent action control valve 1, a pilot hydraulic control handle I2, a pilot hydraulic control handle II 3, a pilot hydraulic control handle III 4, a synchronous action control valve 5, a switching control valve 6, a hydraulic pump 7, a multi-way reversing valve 8, a right cutting arm lifting cylinder 9, a right cutting arm rotary cylinder 10, a left cutting arm rotary cylinder 11 and a left cutting arm lifting cylinder 12, wherein the pilot hydraulic control handle III 4 is connected with the synchronous action control valve 5 and the multi-way reversing valve 8 through pipelines, so that the synchronous actions of lifting and rotating of two cutting arms of the heading machine are realized. The pilot hydraulic control handle I2 and the pilot hydraulic control handle II 3 are connected with the independent action control valve 1 and the multi-way reversing valve 8 through pipelines, so that the independent actions of lifting and rotating of two cutting arms of the heading machine are realized, and the two pilot hydraulic control handles respectively control the lifting and rotating actions of the two cutting arms. The switching control valve 6 is connected with the three pilot hydraulic control handles, the independent action control valve 1 and the synchronous action control valve 5 through pipelines, so that the synchronous action and independent action of the two cutting arms of the heading machine can be switched at any time. The multi-way reversing valve 8 is an existing valve group.
The independent action control valve 1 comprises a valve body I13 and 8 hydraulic control check valves 14, wherein the inlet of each hydraulic control check valve 14 is communicated with the A11-A18 port of the valve body I13, the outlet of each hydraulic control check valve 14 is communicated with the B11-B18 port of the valve body I13, and the control port of each hydraulic control check valve 14 is communicated with the X1 port of the valve body I13;
The synchronous action control valve 5 comprises a valve body II 15 and 8 hydraulic control one-way valves 14, wherein the inlets of every two hydraulic control one-way valves 14 are combined and then are communicated with four ports A21-A27 of the valve body II 15, the outlets of the hydraulic control one-way valves 14 are respectively communicated with ports B21-B28 of the valve body II 15, and the control port of the hydraulic control one-way valve 14 is communicated with the port X2 of the valve body II 15;
The switching control valve 6 comprises a two-position four-way valve, and the oil port comprises P, T, A, B four ports;
The port P of the switching control valve 6 is connected with the pilot oil port Z of the multi-way reversing valve 8, the port A of the switching control valve 6 is connected with the control oil port X1 of the independent action control valve 1, the oil inlet of the pilot hydraulic control handle I2 and the oil inlet of the pilot hydraulic control handle II 3, and the port B of the switching control valve 6 is connected with the control oil port X2 of the synchronous action control valve 5 and the oil inlet of the pilot hydraulic control handle III 4;
four oil outlets of the pilot hydraulic control handle I2 are respectively connected with four oil outlets A11, A12, A13 and A14 of the independent action control valve 1;
The four oil outlets of the pilot hydraulic control handle II 3 are respectively connected with four oil outlets A15, A16, A17 and A18 of the independent action control valve 1;
Four oil outlets of the pilot hydraulic control handle III 4 are respectively connected with four oil outlets A21, A23, A25 and A27 of the synchronous action control valve 5;
The ports B11 and B12 of the oil outlets of the independent action control valve 1 are connected with a first pilot control oil port of the multi-way reversing valve 8, the ports B13 and B14 are connected with a second pilot control oil port of the multi-way reversing valve 8, the ports B15 and B16 are connected with a third pilot control oil port of the multi-way reversing valve 8, and the ports B17 and B18 are connected with a fourth pilot control oil port of the multi-way reversing valve 8;
the first oil outlet of the multi-way reversing valve 8 is connected with the oil port of the left cutting arm lifting oil cylinder 12, the second oil outlet is connected with the oil port of the left cutting arm rotary oil cylinder 11, the third oil outlet is connected with the oil port of the right cutting arm rotary oil cylinder 10, and the fourth oil outlet is connected with the oil port of the right cutting arm lifting oil cylinder 9;
the oil ports B21, B22, B23, B24, B25, B26, B27, B28 of the synchronous operation control valve 5 are respectively connected with the oil ports B11, B17, B13, B16, B12, B18, B14, B15 of the independent operation control valve 1;
The hydraulic pump 7 supplies hydraulic oil to the multiple directional control valve 8.
Further, a feedback oil port of the hydraulic pump 7 is connected with a feedback oil port of the multi-way reversing valve 8.
Further, the T port of the switching control valve 6 is connected to the tank drain port.
Further, the two-position four-way valve is a two-position four-way cartridge valve 17, and the two-position four-way cartridge valve 17 is mounted on the valve body III 16.
Example 2
The embodiment provides a cutting arm control method which is implemented by the double-cutting-arm heading machine;
The control method for the independent actions of the left cutting arm and the right cutting arm comprises the following steps: the switching control valve 6 is switched to the right position (the port P is communicated with the port A, the port T is communicated with the port B), control oil enters a control oil port X1 of the independent action control valve 1, an oil inlet of the pilot hydraulic control handle I2 and an oil inlet of the pilot hydraulic control handle II 3 through the switching control valve 6 from a pilot oil port Z of the multi-way reversing valve 8 through a pipeline, 8 hydraulic control check valves 14 of the independent action control valve 1 are opened, the pilot hydraulic control handle I2 and the pilot hydraulic control handle II 3 are operated, the pilot control oil with pressure enters a pilot control oil port of the multi-way reversing valve 8 through the corresponding hydraulic control check valves 14, return oil returns to the pilot hydraulic control handle through the corresponding hydraulic control check valves 14, a loop is formed among the pilot hydraulic control handle I2, the pilot hydraulic control handle II 3 and the multi-way reversing valve 8, the pilot hydraulic control handle I2 independently controls the lifting and swinging actions of the left cutting arm, and the pilot hydraulic control handle II 3 independently controls the lifting and swinging actions of the right cutting arm.
In this state, the oil inlet of the pilot hydraulic control handle III 4 and the control oil port X2 of the synchronous action control valve 5 are communicated with the oil return port of the oil tank, no pressure oil enters, and even if the pilot hydraulic control handle III 4 is in misoperation, the action of a cutting arm is not caused, so that an interlocking effect is realized; meanwhile, the control oil port X1 of the independent action control valve 1 is provided with pressure oil, the hydraulic control one-way valve 14 in the independent action control valve is opened, the control oil of the pilot hydraulic control handle I2 and the pilot hydraulic control handle II 3 is ensured to normally enter the multi-way reversing valve 8 and return to the pilot hydraulic control handle I2 and the pilot hydraulic control handle II 3 from the multi-way reversing valve 8 to drain, the control oil port X2 of the synchronous action control valve 5 is not provided with pressure oil, the hydraulic control one-way valve 14 in the independent action control valve is in a reverse closing state, and the pressure oil of the pilot hydraulic control handle I2 and the pilot hydraulic control handle II 3 is ensured not to drain through the oil return port of the pilot hydraulic control handle III 4.
In an independent control state, the operation mode of the pilot hydraulic control handle I2 and the pilot hydraulic control handle II 3 is that the cutting arm correspondingly controlled by the forward pushing handle is lifted, the cutting arm corresponding to the backward pushing handle is lowered, the cutting arm corresponding to the left pushing handle is swung leftwards, and the cutting arm corresponding to the right pushing handle is swung rightwards.
Example 3
The embodiment provides a cutting arm control method which is implemented by the double-cutting-arm heading machine;
the control method for the synchronous action of the left cutting arm and the right cutting arm comprises the following steps: the switching control valve 6 is switched to the left position (the port P is communicated with the port B, the port T is communicated with the port A), control oil enters the control oil port X2 of the synchronous action control valve 5 and the oil inlet of the pilot hydraulic control handle III 4 through the switching control valve 6 from the pilot oil port Z of the multi-way reversing valve 8 through pipelines, the 8 hydraulic control check valves 14 of the synchronous action control valve 5 are opened, the pilot hydraulic control handle III 4 is operated, and the pressurized pilot control oil enters the pilot control oil port of the multi-way reversing valve 8 through the 8 hydraulic control check valves 14 of the synchronous action control valve 5, so that the lifting and rotation synchronous movement of the left cutting arm and the right cutting arm of the development machine is controlled.
In the state, the oil inlet of the pilot hydraulic control handle I2, the oil inlet of the pilot hydraulic control handle II 3 and the control oil port X1 of the independent action control valve 1 are communicated with the oil return port of the oil tank, no pressure oil enters, and even if the pilot hydraulic control handle I2 and the pilot hydraulic control handle II 3 are in misoperation, the action of a cutting arm is not caused, so that an interlocking effect is realized; meanwhile, the control oil port X2 of the synchronous action control valve 5 is provided with pressure oil, the hydraulic control one-way valve 14 in the synchronous action control valve is opened, the control oil of the pilot hydraulic control handle III 4 is ensured to normally enter the multi-way reversing valve 8 and return to the pilot hydraulic control handle III 4 from the multi-way reversing valve 8 to drain, the control oil port X1 of the independent action control valve 1 is not provided with pressure oil, the hydraulic control one-way valve 14 in the synchronous action control valve is in a reverse closing state, and the pressure oil of the pilot hydraulic control handle III 4 is ensured not to drain through the oil return port of the pilot hydraulic control handle I2 or the pilot hydraulic control handle II 3.
In the synchronous control state, the operation method of the pilot hydraulic control handle III 4 is that the handle is pushed forward, the left cutting arm and the right cutting arm are simultaneously lifted, the handle is pushed backward, the left cutting arm and the right cutting arm are simultaneously lifted down, the handle is pushed leftwards, the left cutting arm and the right cutting arm are simultaneously swung to two sides, namely, the left cutting arm is swung leftwards, the right cutting arm is swung rightwards, the handle is pushed rightwards, and the left cutting arm and the right cutting arm are simultaneously swung to the middle, namely, the left cutting arm is swung rightwards, and the right cutting arm is swung leftwards.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. The double-cutting-arm tunneling machine comprises a tunneling machine main body, wherein a left cutting arm and a right cutting arm are arranged on the tunneling machine main body, and the left cutting arm and the right cutting arm are controlled to lift and rotate by a cutting arm control system; the cutting arm control system is characterized by comprising an independent action control valve (1), a pilot hydraulic control handle I (2), a pilot hydraulic control handle II (3), a pilot hydraulic control handle III (4), a synchronous action control valve (5), a switching control valve (6), a hydraulic pump (7), a multi-way reversing valve (8), a right cutting arm lifting cylinder (9), a right cutting arm rotary cylinder (10), a left cutting arm rotary cylinder (11) and a left cutting arm lifting cylinder (12);
The independent action control valve (1) comprises a valve body I (13) and 8 hydraulic control one-way valves (14), wherein the inlet of each hydraulic control one-way valve (14) is communicated with the A11-A18 port of the valve body I (13), the outlet of each hydraulic control one-way valve (14) is communicated with the B11-B18 port of the valve body I (13), and the control port of each hydraulic control one-way valve (14) is communicated with the X1 port of the valve body I (13);
The synchronous action control valve (5) comprises a valve body II (15) and 8 hydraulic control one-way valves (14), wherein the inlets of every two hydraulic control one-way valves (14) are combined and then communicated with four ports A21-A27 of the valve body II (15), the outlets of the hydraulic control one-way valves (14) are respectively communicated with ports B21-B28 of the valve body II (15), and the control port of the hydraulic control one-way valve (14) is communicated with the port X2 of the valve body II (15);
the switching control valve (6) comprises a two-position four-way valve, and the oil port comprises P, T, A, B four ports;
The port P of the switching control valve (6) is connected with the pilot oil port Z of the multi-way reversing valve (8), the port A of the switching control valve (6) is connected with the port X1 of the control oil port of the independent action control valve (1), the oil inlet of the pilot hydraulic control handle I (2) and the oil inlet of the pilot hydraulic control handle II (3), and the port B of the switching control valve (6) is connected with the port X2 of the control oil port of the synchronous action control valve (5) and the oil inlet of the pilot hydraulic control handle III (4);
four oil outlets of the pilot hydraulic control handle I (2) are respectively connected with four oil ports A11, A12, A13 and A14 of the independent action control valve (1);
four oil outlets of the pilot hydraulic control handle II (3) are respectively connected with four oil ports A15, A16, A17 and A18 of the independent action control valve (1);
four oil outlets of the pilot hydraulic control handle III (4) are respectively connected with four oil ports A21, A23, A25 and A27 of the synchronous action control valve (5);
The ports B11 and B12 of the oil outlets of the independent action control valve (1) are connected with a first pilot control oil port of the multi-way reversing valve (8), the ports B13 and B14 are connected with a second pilot control oil port of the multi-way reversing valve (8), the ports B15 and B16 are connected with a third pilot control oil port of the multi-way reversing valve (8), and the ports B17 and B18 are connected with a fourth pilot control oil port of the multi-way reversing valve (8);
the first oil outlet of the multi-way reversing valve (8) is connected with an oil port of the left cutting arm lifting oil cylinder (12), the second oil outlet is connected with an oil port of the left cutting arm rotary oil cylinder (11), the third oil outlet is connected with an oil port of the right cutting arm rotary oil cylinder (10), and the fourth oil outlet is connected with an oil port of the right cutting arm lifting oil cylinder (9);
The oil ports B21, B22, B23, B24, B25, B26, B27 and B28 of the synchronous operation control valve (5) are respectively connected with the oil ports B11, B17, B13, B16, B12, B18, B14 and B15 of the independent operation control valve (1);
The hydraulic pump (7) supplies hydraulic oil to the multiple directional control valve (8).
2. The dual cutting arm heading machine as claimed in claim 1, characterized in that the feedback port of the hydraulic pump (7) is connected to the feedback port of the multiple directional valve (8).
3. A dual cutting arm heading machine as claimed in claim 2 wherein the T port of the switching control valve (6) is connected to the tank drain port.
4. A dual cutting arm heading machine as claimed in claim 3 wherein the two-position four-way valve is a two-position four-way cartridge valve (17), the two-position four-way cartridge valve (17) being mounted to the valve body iii (16).
5. A method of cutting arm control, characterized by being implemented by a dual cutting arm heading machine as claimed in any one of claims 1-4;
The control method for the independent actions of the left cutting arm and the right cutting arm comprises the following steps: the switching control valve (6) is switched to be communicated with the port P and the port A, the port T is communicated with the port B, control oil enters the control oil port X1 of the independent action control valve (1), the oil inlet of the pilot hydraulic control handle I (2) and the oil inlet of the pilot hydraulic control handle II (3) from the pilot oil port Z of the multi-way reversing valve (8) through the switching control valve (6) through a pipeline, 8 hydraulic control check valves (14) of the independent action control valve (1) are opened, the pilot hydraulic control handle I (2) and the pilot hydraulic control handle II (3) are operated, the pressure pilot control oil enters the pilot control oil port of the multi-way reversing valve (8) through the corresponding hydraulic control check valve (14), return oil returns to the pilot hydraulic control handle through the corresponding hydraulic control check valve (14), a loop is formed among the pilot hydraulic control handle I (2), the pilot hydraulic control handle II (3) and the multi-way reversing valve (8), the pilot hydraulic control handle I (2) independently controls the lifting and swinging actions of the left cutting arm, and the right cutting arm is independently controlled by the pilot hydraulic control handle II (3); in the state, the oil inlet of the pilot hydraulic control handle III (4) and the control oil port X2 of the synchronous action control valve (5) are communicated with the oil return port of the oil tank, no pressure oil enters, and even if the pilot hydraulic control handle III (4) is in misoperation, the action of a cutting arm is not caused, so that an interlocking effect is realized; meanwhile, the control oil port X1 of the independent action control valve (1) is provided with pressure oil, the hydraulic control one-way valve (14) in the independent action control valve is opened, the control oil liquid of the pilot hydraulic control handle I (2) and the pilot hydraulic control handle II (3) is ensured to normally enter the multi-way reversing valve (8) and return to the pilot hydraulic control handle I (2) and the pilot hydraulic control handle II (3) from the multi-way reversing valve (8), the control oil port X2 of the synchronous action control valve (5) is not provided with pressure oil, the hydraulic control one-way valve (14) in the independent action control valve is in a reverse closing state, and the pressure oil of the pilot hydraulic control handle I (2) and the pilot hydraulic control handle II (3) is ensured not to drain through the oil return port of the pilot hydraulic control handle III (4).
6. A method of cutting arm control, characterized by being implemented by a dual cutting arm heading machine as claimed in any one of claims 1-4;
The control method for the synchronous action of the left cutting arm and the right cutting arm comprises the following steps: the switching control valve (6) is switched to be communicated with the port P and the port B, the port T is communicated with the port A, control oil enters a control oil port X2 of the synchronous action control valve (5) and an oil inlet of the pilot hydraulic control handle III (4) through a switching control valve (6) from a pilot oil port Z of the multi-way reversing valve (8) through a pipeline, 8 hydraulic control check valves (14) of the synchronous action control valve (5) are opened, the pilot hydraulic control handle III (4) is operated, and the pressurized pilot control oil enters a pilot control oil port of the multi-way reversing valve (8) through 8 hydraulic control check valves (14) of the synchronous action control valve (5) to realize the lifting and rotation synchronous movement of left and right cutting arms of the development machine; in the state, the oil inlet of the pilot hydraulic control handle I (2), the oil inlet of the pilot hydraulic control handle II (3) and the control oil port X1 of the independent action control valve (1) are communicated with the oil return port of the oil tank, no pressure oil enters, and even if the pilot hydraulic control handle I (2) and the pilot hydraulic control handle II (3) are in misoperation, the action of a cutting arm is not caused, and an interlocking effect is achieved; meanwhile, the control oil port X2 of the synchronous action control valve (5) is provided with pressure oil, the hydraulic control one-way valve (14) in the synchronous action control valve is opened, the control oil of the pilot hydraulic control handle III (4) normally enters the multi-way reversing valve (8) and returns to the pilot hydraulic control handle III (4) from the multi-way reversing valve (8) to drain oil, the control oil port X1 of the independent action control valve (1) is not provided with pressure oil, the hydraulic control one-way valve (14) in the synchronous action control valve is in a reverse closing state, and the pressure oil of the pilot hydraulic control handle III (4) is ensured not to drain oil through the oil return port of the pilot hydraulic control handle I (2) or the pilot hydraulic control handle II (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111187864.5A CN113983014B (en) | 2021-10-12 | 2021-10-12 | Double-cutting-arm heading machine and cutting arm control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111187864.5A CN113983014B (en) | 2021-10-12 | 2021-10-12 | Double-cutting-arm heading machine and cutting arm control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113983014A CN113983014A (en) | 2022-01-28 |
| CN113983014B true CN113983014B (en) | 2024-06-04 |
Family
ID=79738249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111187864.5A Active CN113983014B (en) | 2021-10-12 | 2021-10-12 | Double-cutting-arm heading machine and cutting arm control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113983014B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113983015B (en) * | 2021-10-12 | 2024-04-12 | 中国煤炭科工集团太原研究院有限公司 | Hydraulic control system and method for double cutting arms of heading machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5938288A (en) * | 1994-12-19 | 1999-08-17 | Hdrk Mining Research Limited | Automatic control system and method for a machine used for excavating drifts, tunnels, stopes, or caverns |
| JP2003120186A (en) * | 2001-10-05 | 2003-04-23 | Mitsubishi Heavy Ind Ltd | Cutter motor driving device for tunnel excavator and its method |
| CN203906420U (en) * | 2014-05-30 | 2014-10-29 | 中色科技股份有限公司 | Improved hydraulic clamping device for double cone heads in coiling machine |
| CN108930679A (en) * | 2017-05-27 | 2018-12-04 | 江苏沃得农业机械有限公司 | A kind of synchronous valve turned to for controlling harvester with taiwan cut off and landing |
| JP2019183529A (en) * | 2018-04-12 | 2019-10-24 | 日立造船株式会社 | Multiple shield machine |
| CN112065386A (en) * | 2020-09-28 | 2020-12-11 | 三一重型装备有限公司 | Anti-collision system and heading machine |
| CN113983015A (en) * | 2021-10-12 | 2022-01-28 | 中国煤炭科工集团太原研究院有限公司 | Hydraulic control system and method for double cutting arms of heading machine |
-
2021
- 2021-10-12 CN CN202111187864.5A patent/CN113983014B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5938288A (en) * | 1994-12-19 | 1999-08-17 | Hdrk Mining Research Limited | Automatic control system and method for a machine used for excavating drifts, tunnels, stopes, or caverns |
| JP2003120186A (en) * | 2001-10-05 | 2003-04-23 | Mitsubishi Heavy Ind Ltd | Cutter motor driving device for tunnel excavator and its method |
| CN203906420U (en) * | 2014-05-30 | 2014-10-29 | 中色科技股份有限公司 | Improved hydraulic clamping device for double cone heads in coiling machine |
| CN108930679A (en) * | 2017-05-27 | 2018-12-04 | 江苏沃得农业机械有限公司 | A kind of synchronous valve turned to for controlling harvester with taiwan cut off and landing |
| JP2019183529A (en) * | 2018-04-12 | 2019-10-24 | 日立造船株式会社 | Multiple shield machine |
| CN112065386A (en) * | 2020-09-28 | 2020-12-11 | 三一重型装备有限公司 | Anti-collision system and heading machine |
| CN113983015A (en) * | 2021-10-12 | 2022-01-28 | 中国煤炭科工集团太原研究院有限公司 | Hydraulic control system and method for double cutting arms of heading machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113983014A (en) | 2022-01-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102518170B (en) | Hydraulic system of loading machine working device | |
| CN204590113U (en) | Medium-sized multi-way valve of hydraulic excavator group | |
| CN103882897A (en) | Loader hydraulic system | |
| CN113983014B (en) | Double-cutting-arm heading machine and cutting arm control method | |
| CN113983015B (en) | Hydraulic control system and method for double cutting arms of heading machine | |
| CN209761417U (en) | Hydraulic control system for cutting arm of boom-type heading machine | |
| CN104763008A (en) | Multi-tandem valve group of middle-sized hydraulic excavator | |
| CN202577399U (en) | Movable arm lifting priority control system in medium-sized hydraulic excavator negative flow system | |
| CN203188273U (en) | Excavator hydraulic control system and hydraulic excavator | |
| CN112682380B (en) | Quick-change hydraulic system | |
| CN102535553B (en) | Variable bucket and control device thereof | |
| CN208219742U (en) | A kind of wheel excavator multi-way valve | |
| CN214061766U (en) | Hydraulic system for realizing electric control of loader work | |
| CN214007640U (en) | Hydraulic control system of directional drilling machine for coal mine | |
| CN210557946U (en) | Vacuum adsorption pressure release device | |
| CN219240661U (en) | Forward and reverse hand rapid switching structure | |
| CN102862605B (en) | A kind of automatic reversing apparatus and apply the excavating machine of this device of walking | |
| CN207750494U (en) | Integrated gearbox control valve with ratio control | |
| CN107806320B (en) | Main pump auxiliary pump confluence control system and control method of rotary drilling rig | |
| CN215762599U (en) | Hydraulic pilot control system for replacing accessories conveniently and quickly | |
| CN218440001U (en) | Multi-way reversing valve | |
| CN219101751U (en) | Bulldozing and telescopic switching device | |
| CN215926142U (en) | Hydraulic system and excavator | |
| CN217759049U (en) | Pilot signal valve group, full-variable hydraulic system and loader | |
| CN219953786U (en) | Double-speed hydraulic system of multi-motor driving rotary mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |