CN114087240A - Hydraulic control system of tool changing robot for heading machine - Google Patents

Hydraulic control system of tool changing robot for heading machine Download PDF

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Publication number
CN114087240A
CN114087240A CN202111321598.0A CN202111321598A CN114087240A CN 114087240 A CN114087240 A CN 114087240A CN 202111321598 A CN202111321598 A CN 202111321598A CN 114087240 A CN114087240 A CN 114087240A
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China
Prior art keywords
control valve
valve
main arm
arm
auxiliary arm
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CN202111321598.0A
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Chinese (zh)
Inventor
贾连辉
刘尚
许顺海
孙志洪
张军广
姜礼杰
白林迎
袁晓亮
李泽魁
王一博
张奎
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China Railway Engineering Equipment Group Co Ltd CREG
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China Railway Engineering Equipment Group Co Ltd CREG
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Priority to CN202111321598.0A priority Critical patent/CN114087240A/en
Publication of CN114087240A publication Critical patent/CN114087240A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention provides a hydraulic control system of a tool changing robot for a heading machine, which comprises a main arm action executing element, a main arm action control valve connected with the main arm action executing element, an auxiliary arm action control valve connected with the auxiliary arm action executing element, a grasping action control valve connected with the grasping action executing element, a bolt disassembling motor and a bolt disassembling control valve connected with the bolt disassembling motor, wherein the main arm action control valve, the auxiliary arm action control valve, the grasping action control valve and the bolt disassembling control valve are all proportional servo valves with integrated shaft clamps, the hydraulic control system also comprises a detection device for detecting the action quantity of the main arm action executing element, the auxiliary arm action executing element and the grasping action executing element, and the detection device is connected with the proportional servo valves. The integrated shaft clamp on the proportional servo valve can process signals and compare the processed signals with command signals, high-precision closed-loop control after difference amplification is achieved, position closed-loop control is not needed to be carried out by an upper computer controller, response is quicker, signals are more stable, and precision is higher.

Description

Hydraulic control system of tool changing robot for heading machine
Technical Field
The invention relates to the technical field of hydraulic control of a tool changing robot for a heading machine, in particular to a hydraulic control system of the tool changing robot for the heading machine.
Background
The cutter consumption is big, the change is frequent in full-face entry driving machine work progress, and cutter detects and the tool changing operating time accounts for more than 10% of tunnel cycle, and current cutter detects and tool changing work mainly relies on manual work, and operation potential safety hazard under construction environment such as big buried depth, high water pressure is big, very easily appears major incident such as casualties. Nearly 70% of tunnel construction safety accidents in China are directly related to manual tool changing operation, and the international industry problem of 'difficult detection and tool changing' becomes a bottleneck for restricting the tunnel construction safety and efficiency under complex geological conditions.
Therefore, some heading machines adopt a tool-changing robot, which should have more degrees of freedom and generally comprises a main arm, an auxiliary arm, a gripping mechanism and a bolt dismounting mechanism, wherein the main arm and the auxiliary arm can realize front-back expansion, left-right rotation and up-down swinging; the grasping mechanism can realize left-right rotation, tool clamping and front-back movement; the bolt dismounting mechanism should be capable of outputting 360-degree rotation motion to dismount the bolt.
When the tool changing robot is applied, the tool changing robot needs to have the requirements of short tool changing time, high tool changing precision and simple control, so that tool changing operation under high-precision, quick and multiple complex working conditions is completed, a control valve group element is needed to have quicker response and higher precision, and therefore how to design a matched hydraulic control system is the technical problem faced by technicians in the field at present.
Disclosure of Invention
The invention aims to provide a hydraulic control system of a tool changing robot for a heading machine, which is fast and high in accuracy.
In order to achieve the purpose, the hydraulic control system of the tool changing robot for the development machine adopts the following technical scheme:
the hydraulic control system of the tool changing robot for the development machine comprises a main arm action executing element for making the main arm act, an auxiliary arm action executing element for making the auxiliary arm act, a holding action executing element for making a holding mechanism act, and a bolt dismounting motor for dismounting a bolt, wherein the holding action executing element comprises a holding clamping oil cylinder for clamping a cutter, and the main arm action executing element or/and the auxiliary arm action executing element comprise a telescopic oil cylinder for stretching back and forth, a rotary motor for rotating left and right and a swing oil cylinder for swinging up and down; the hydraulic control system also comprises an oil inlet pipeline, an oil return pipeline, a main arm action control valve, an auxiliary arm action control valve, a grasping action control valve and a bolt dismounting control valve, wherein the main arm action control valve, the auxiliary arm action control valve, the grasping action control valve and the bolt dismounting control valve are connected with the oil inlet pipeline and the oil return pipeline; the hydraulic control system further comprises detection devices respectively used for detecting the action quantities of the main arm action executing element, the auxiliary arm action executing element and the grasping action executing element, and the detection devices are connected with the corresponding proportional servo valves with the integrated shaft clamps.
The beneficial effects of the above technical scheme are that: the main arm action executing element, the auxiliary arm action executing element and the holding action executing element can respectively make the main arm, the auxiliary arm and the holding mechanism operate, the bolt dismounting motor can carry out the operation of dismounting and mounting bolts, the main arm action control valve, the auxiliary arm action control valve, the holding action control valve and the bolt dismounting control valve can respectively control the actions of the main arm action executing element, the auxiliary arm action executing element, the holding action executing element and the bolt dismounting and mounting motor, and the main arm action control valve, the auxiliary arm action control valve and the holding action control valve are all proportional servo valves with integrated shaft cards, the hydraulic control system also comprises a detection device for respectively detecting the action amount of the main arm action executing element, the auxiliary arm action executing element and the holding action executing element, and the detection device is connected with the corresponding proportional servo valve with the integrated shaft cards, so that the main arm action executing element, the auxiliary arm and the holding mechanism can respectively operate, The motion amount of the auxiliary arm motion executing element and the grabbing motion executing element can be transmitted to the proportional servo valve in real time, an integrated shaft clamp on the proportional servo valve is used for signal processing and is compared with a command signal, high-precision closed-loop control after difference amplification is achieved, an upper computer controller is not needed to perform closed-loop control on the position, response is quicker, signals are more stable, and precision is higher.
The hydraulic control system further comprises pressure reducing valves respectively connected between the oil inlet pipeline and the main arm action control valve, between the oil inlet pipeline and the auxiliary arm action control valve, between the oil inlet pipeline and the grasping action control valve, and between the oil inlet pipeline and the bolt dismounting control valve, and further comprises shuttle valves respectively connected between the main arm action control valve and the main arm action executing element, between the auxiliary arm action control valve and the auxiliary arm action executing element, between the grasping action control valve and the grasping action executing element, and between the bolt dismounting control valve and the bolt dismounting motor, wherein the corresponding pressure reducing valves and the shuttle valves are connected to form a pressure compensator.
The beneficial effects of the above technical scheme are that: the proportional servo valve is matched with the pressure compensator for use, so that the front and rear pressure difference of the servo valve is a fixed value, and the speed of the actuating mechanism is not influenced by the load force.
The hydraulic control system further comprises balance valves respectively connected between the main arm action executing element and the corresponding shuttle valve, between the auxiliary arm action executing element and the corresponding shuttle valve, between the grasping action executing element and the corresponding shuttle valve, and between the bolt dismounting motor and the corresponding shuttle valve.
The beneficial effects of the above technical scheme are that: the balance valve ensures the stability of the action executing element and improves the safety.
Furthermore, the hydraulic control system also comprises overflow valves respectively connected between the corresponding shuttle valves and the oil return pipelines.
The beneficial effects of the above technical scheme are that: the overflow valve ensures system safety.
Further, the main arm operation actuator includes a main arm telescopic cylinder for extending and retracting the main arm forward and backward, a main arm swing motor for swinging the main arm left and right, and a main arm swing cylinder for swinging the main arm up and down; the auxiliary arm action executing element comprises an auxiliary arm telescopic oil cylinder for enabling the auxiliary arm to be telescopic back and forth, an auxiliary arm rotary motor for enabling the auxiliary arm to rotate left and right, and an auxiliary arm swing oil cylinder for enabling the auxiliary arm to swing up and down; the gripping action executing element also comprises a gripping rotary motor for rotating the gripping mechanism left and right, and a gripping moving oil cylinder for moving the gripping mechanism back and forth; the main arm action control valve comprises a main arm telescopic control valve connected with the main arm telescopic oil cylinder, a main arm rotary control valve connected with the main arm rotary motor and a main arm swing control valve connected with the main arm swing oil cylinder; the auxiliary arm action control valve comprises an auxiliary arm telescopic control valve connected with an auxiliary arm telescopic oil cylinder, an auxiliary arm swing control valve connected with an auxiliary arm swing oil cylinder and an auxiliary arm rotary control valve connected with an auxiliary arm rotary motor; the gripping action control valve includes a gripping rotation control valve connected to the gripping rotation motor, a gripping clamping control valve connected to the gripping clamping cylinder, and a gripping movement control valve connected to the gripping movement cylinder.
The beneficial effects of the above technical scheme are that: the tool changing robot can respectively control various actions such as front-back expansion of the main arm, left-right rotation of the main arm, up-down swinging of the main arm, front-back expansion of the auxiliary arm, left-right rotation of the auxiliary arm, up-down swinging of the auxiliary arm, front-back movement of the grasping mechanism, left-right rotation of the grasping mechanism and the like, can complete more complicated actions, and has greatly improved use flexibility.
Furthermore, the auxiliary arm swing control valve and the auxiliary arm rotation control valve belong to a valve group integrated block, and the grasping clamping control valve and the grasping moving control valve belong to a valve group integrated block.
The beneficial effects of the above technical scheme are that: the processing, manufacturing and installation are convenient.
Further, the oil inlet pipeline comprises a bolt dismounting oil inlet pipeline, an oil inlet main pipeline, a first oil inlet shunt, a second oil inlet shunt, a third oil inlet shunt and a fourth oil inlet shunt which are connected with the oil inlet main pipeline; the oil return pipeline comprises a bolt dismounting oil return pipeline, an oil return main pipeline, a first oil return shunt, a second oil return shunt, a third oil return shunt and a fourth oil return shunt which are connected with the oil return main pipeline; the bolt dismounting control valve is connected with the bolt dismounting oil inlet pipeline and the bolt dismounting oil return pipeline, the main arm telescopic control valve and the main arm rotary control valve are connected with the first oil inlet branch and the first oil return branch, the main arm swing control valve and the auxiliary arm telescopic control valve are connected with the second oil inlet branch and the second oil return branch, the auxiliary arm swing control valve, the auxiliary arm rotary control valve and the grasping rotary control valve are connected with the third oil inlet branch and the third oil return branch, and the grasping clamping control valve and the grasping movable control valve are connected with the fourth oil inlet branch and the fourth oil return branch.
The beneficial effects of the above technical scheme are that: the oil inlet, the oil return and the control are convenient, and the system pressure is ensured.
Furthermore, the hydraulic control system also comprises a brake for controlling the braking of the tool-changing robot and a brake control valve connected with the brake, and the brake control valve is connected with the first oil inlet branch and the first oil return branch.
The beneficial effects of the above technical scheme are that: the brake conveniently controls the braking of the tool changing robot, the brake control valve is connected with the first oil inlet shunt and the first oil return shunt, the oil inlet and the oil return are facilitated, and the system pressure is guaranteed.
Furthermore, the hydraulic control system also comprises a brake for controlling the brake of the tool changing robot and a brake control valve connected with the brake, and the brake control valve and the main arm telescopic control valve belong to a valve group integrated block.
The beneficial effects of the above technical scheme are that: the brake conveniently controls the braking of the tool changing robot, and the brake control valve and the main arm telescopic control valve belong to a valve bank integrated block, so that the processing, the manufacturing and the installation are convenient.
Further, the main arm action control valve, the auxiliary arm action control valve and the grasping action control valve are all four-position four-way electromagnetic reversing valves, and the four-position four-way electromagnetic reversing valves comprise a Y-type function and an H-type function.
The beneficial effects of the above technical scheme are that: the four-position four-way electromagnetic reversing valve comprises a Y-shaped function and an H-shaped function, and the Y-shaped function can be used as a power-off protection position to protect the safety of a system; the H-shaped oil port can communicate the four oil ports for pressure relief when the hydraulic system has an emergency situation, such as sudden pressure rise or pressure drop, and emergency pressure relief is needed, so that the safety of the system is ensured.
Drawings
FIG. 1 is a system schematic diagram of a hydraulic control system of a tool changing robot for a heading machine according to the present invention;
fig. 2 is a partially enlarged view of the main arm telescopic servo hydraulic system of fig. 1.
In the figure: 1. a first oil inlet branch; 2. a second oil inlet branch; 3. a third oil inlet branch; 4. a fourth oil inlet branch; 1-1, a first oil return shunt circuit; 2-1, a second oil return branch; 3-1, a third oil return branch; 4-1, a fourth oil return shunt circuit; 5. an oil inlet main pipeline; 6. an oil return main pipeline; 7. disassembling and assembling the oil inlet pipeline by using a bolt; 8. disassembling and assembling an oil return pipeline by using a bolt; 10. a main arm telescopic servo hydraulic system; 11. a main arm telescopic oil cylinder; 12. a main arm telescopic control valve; 13. a main arm telescopic pressure reducing valve; 14. a main arm telescopic shuttle valve; 15. a main arm telescopic balance valve; 16. a main arm telescopic overflow valve; 17. a displacement sensor; 18. a pressure sensor; 20. a main arm rotation servo hydraulic system; 21. a main arm turning motor; 22. a main arm rotation control valve; 23. a main arm rotary pressure reducing valve; 24. a main arm rotary shuttle valve; 25. a main arm rotary balance valve; 26. a main arm rotary overflow valve; 30. a main arm swinging servo hydraulic system; 31. a main arm swing oil cylinder; 32. a main arm swing control valve; 33. a main arm swing pressure reducing valve; 34. a main arm swing shuttle valve; 35. a main arm swing balance valve; 36. a main arm swing overflow valve; 40. the auxiliary arm stretches out and draws back the servo hydraulic system; 41. the auxiliary arm telescopic oil cylinder; 42. a secondary arm telescopic control valve; 43. a sub-boom telescopic reducing valve; 44. a secondary arm telescopic shuttle valve; 45. the auxiliary arm telescopic balance valve; 46. the auxiliary arm extends and retracts the overflow valve; 50. the auxiliary arm swings the servo hydraulic system; 51. the auxiliary arm swing oil cylinder; 52. the auxiliary arm swing control valve; 53. the auxiliary arm swing pressure reducing valve; 54. an auxiliary arm swing shuttle valve; 55. the auxiliary arm swings the balanced valve; 56. the auxiliary arm swings the overflow valve; 60. the auxiliary arm rotates to servo the hydraulic system; 61. an auxiliary arm rotary motor; 62. an auxiliary arm rotation control valve; 63. a sub-arm rotary pressure reducing valve; 64. an auxiliary arm rotary shuttle valve; 65. the auxiliary arm rotary balance valve; 66. the auxiliary arm rotary overflow valve; 70. a gripping rotary servo hydraulic system; 71. a grip rotary motor; 72. grasping a rotary control valve; 73. grasping a rotary pressure reducing valve; 74. grasping a rotary shuttle valve; 75. grasping a rotary balancing valve; 76. gripping the rotary overflow valve; 80. a gripping and clamping servo hydraulic system; 81. grasping a clamping oil cylinder; 82. grasping the pinch control valve; 83. grasping a clamping relief valve; 84. grasping a pinch shuttle valve; 85. grasping a pinch balanced valve; 86. gripping a pinch relief valve; 90. a gripping movement servo hydraulic system; 91. grasping a moving oil cylinder; 92. a grip movement control valve; 93. grasping a moving relief valve; 94. a grasping moving shuttle valve; 95. grasping a moving balancing valve; 96. a grip displacement relief valve; 100. a bolt disassembly and assembly system; 101. the motor is disassembled and assembled through the bolts; 102. the control valve is disassembled and assembled through the bolts; 103. the pressure reducing valve is disassembled and assembled through bolts; 104. the bolt is used for dismounting the shuttle valve; 105. disassembling and assembling the balance valve by using bolts; 200. a braking system; 201. a brake; 202. a brake control valve; 203. a brake pressure reducing valve; 204. and (4) hydraulic locking.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, which may be present, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …," or the like, does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
An embodiment of a hydraulic control system (hereinafter referred to as a hydraulic control system) of a tool-changing robot for a boring machine according to the present invention is shown in fig. 1, and includes an oil inlet line, an oil return line, a main arm telescopic servo hydraulic system 10, a main arm rotary servo hydraulic system 20, a main arm swing servo hydraulic system 30, an auxiliary arm telescopic servo hydraulic system 40, an auxiliary arm swing servo hydraulic system 50, an auxiliary arm rotary servo hydraulic system 60, a grasping rotary servo hydraulic system 70, a grasping clamping servo hydraulic system 80, a grasping movement servo hydraulic system 90, a bolt dismounting system 100, and a brake system 200.
The oil inlet pipeline comprises a bolt dismounting oil inlet pipeline 7, an oil inlet main pipeline 5, a first oil inlet shunt 1, a second oil inlet shunt 2, a third oil inlet shunt 3 and a fourth oil inlet shunt 4, wherein the first oil inlet shunt 1, the second oil inlet shunt 2, the third oil inlet shunt 3 and the fourth oil inlet shunt are connected with the oil inlet main pipeline 5. The oil return pipeline comprises an oil return pipeline 8 which is assembled and disassembled through bolts, an oil return main pipeline 6, a first oil return branch 1-1, a second oil return branch 2-1, a third oil return branch 3-1 and a fourth oil return branch 4-1 which are connected with the oil return main pipeline 6.
The main arm telescopic servo hydraulic system 10 comprises a main arm telescopic oil cylinder 11, a main arm telescopic control valve 12, a main arm telescopic reducing valve 13, a main arm telescopic shuttle valve 14, a main arm telescopic balance valve 15 and a main arm telescopic overflow valve 16. The main arm telescopic oil cylinder 11 is used for extending and retracting the main arm back and forth, as shown in fig. 2, an oil inlet of a main arm telescopic pressure reducing valve 13 is connected with a first oil inlet branch 1, an oil outlet of the main arm telescopic pressure reducing valve 13 is connected with a port P of a main arm telescopic control valve 12, a port a and a port B of the main arm telescopic control valve 12 are respectively connected with a first oil port and a second oil port of a main arm telescopic shuttle valve 14, the port a and the port B of the main arm telescopic control valve 12 are also simultaneously connected with a main arm telescopic balance valve 15, and the main arm telescopic balance valve 15 is connected with a rod cavity and a rodless cavity of the main arm telescopic oil cylinder 11. A third oil port of the main arm telescopic shuttle valve 14 is respectively connected with a third oil port of the main arm telescopic reducing valve 13 and an oil inlet of the main arm telescopic overflow valve 16, and a T port of the main arm telescopic control valve 12 and an oil outlet of the main arm telescopic overflow valve 16 are respectively connected with a first oil return shunt 1-1.
That is, the main arm telescopic control valve 12 is connected with the first oil inlet branch 1 and the first oil return branch 1-1, the main arm telescopic reducing valve 13 is connected between the first oil inlet branch 1 and the main arm telescopic control valve 12, the main arm telescopic shuttle valve 14 is connected between the main arm telescopic control valve 12 and the main arm telescopic oil cylinder 11, the main arm telescopic balance valve 15 is connected between the main arm telescopic oil cylinder 11 and the main arm telescopic shuttle valve 14, and the main arm telescopic overflow valve 16 is connected between the main arm telescopic shuttle valve 14 and the first oil return branch 1-1. And the main arm telescopic reducing valve 13 and the main arm telescopic shuttle valve 14 are connected to form a pressure compensator.
As shown in fig. 1, the master arm slewing servo hydraulic system 20 includes a master arm slewing motor 21 for slewing the master arm to the left and right, a master arm slewing control valve 22, a master arm slewing relief valve 23, the main arm rotary shuttle valve 24, the main arm rotary balance valve 25 and the main arm rotary overflow valve 26 are connected in the same manner as the main arm telescopic servo hydraulic system 10, namely, the main arm rotary control valve 22 is connected with the first oil inlet branch 1 and the first oil return branch 1-1, the main arm rotary pressure reducing valve 23 is connected between the first oil inlet branch 1 and the main arm rotary control valve 22, the main arm rotary shuttle valve 24 is connected between the main arm rotary control valve 22 and the main arm rotary motor 21, the main arm rotary balance valve 25 is connected between the main arm rotary motor 21 and the main arm rotary shuttle valve 24, and the main arm rotary overflow valve 26 is connected between the main arm rotary shuttle valve 24 and the first oil return branch 1-1. The main arm rotary pressure reducing valve 23 and the main arm rotary shuttle valve 24 are connected to form a pressure compensator, and the main arm rotary control valve 22, the main arm rotary pressure reducing valve 23, the main arm rotary shuttle valve 24, the main arm rotary balance valve 25 and the main arm rotary overflow valve 26 form a valve bank integrated block.
The main arm swing servo hydraulic system 30 includes a main arm swing cylinder 31, a main arm swing control valve 32, a main arm swing pressure reducing valve 33, a main arm swing shuttle valve 34, a main arm swing balance valve 35, and a main arm swing overflow valve 36 for swinging the main arm up and down, and the connection mode between them is the same as that of the main arm telescopic servo hydraulic system 10 or the main arm swing servo hydraulic system 20, in which the main arm swing pressure reducing valve 33 and the main arm swing shuttle valve 34 are connected to form a pressure compensator, except that: the first main arm swing control valve 32 is connected with the second oil inlet branch 2 and the second oil return branch 2-1, the main arm swing reducing valve 33 is connected between the second oil inlet branch 2 and the main arm swing control valve 32, the main arm swing shuttle valve 34 is connected between the main arm swing control valve 32 and the main arm swing oil cylinder 31, the main arm swing balance valve 35 is connected between the main arm swing oil cylinder 31 and the main arm swing shuttle valve 34, and the main arm swing overflow valve 36 is connected between the main arm swing shuttle valve 34 and the second oil return branch 2-1. And secondly, the main arm swing control valve 32, the main arm swing pressure reducing valve 33, the main arm swing shuttle valve 34 and the main arm swing overflow valve 36 form a valve bank integrated block, and the main arm swing balance valve 35 is positioned outside the valve bank integrated block.
The main arm telescopic cylinder 11, the main arm turning motor 21, and the main arm swing cylinder 31 described above constitute a main arm motion actuator, and the main arm telescopic control valve 12, the main arm turning control valve 22, and the main arm swing control valve 32 constitute a main arm motion control valve.
As shown in fig. 1, the sub boom telescopic servo hydraulic system 40 includes a sub boom telescopic cylinder 41 for extending and retracting the sub boom back and forth, a sub boom telescopic control valve 42, a sub boom telescopic pressure reducing valve 43, a sub boom telescopic shuttle valve 44, a sub boom telescopic balance valve 45, and a sub boom telescopic overflow valve 46, which are connected in the same manner as the main boom telescopic servo hydraulic system 10, wherein the sub boom telescopic pressure reducing valve 43 and the sub boom telescopic shuttle valve 44 are connected to form a pressure compensator, and the sub boom telescopic control valve 42, the sub boom telescopic pressure reducing valve 43, the sub boom telescopic shuttle valve 44, the sub boom telescopic balance valve 45, and the sub boom telescopic overflow valve 46 form a valve block integrated block. The difference is that: the sub-boom telescopic control valve 42 is connected with the second oil inlet branch 2 and the second oil return branch 2-1, the sub-boom telescopic reducing valve 43 is connected between the second oil inlet branch 2 and the sub-boom telescopic control valve 42, the sub-boom telescopic shuttle valve 44 is connected between the sub-boom telescopic control valve 42 and the sub-boom telescopic oil cylinder 41, the sub-boom telescopic balance valve 45 is connected between the sub-boom telescopic oil cylinder 41 and the sub-boom telescopic shuttle valve 44, and the sub-boom telescopic overflow valve 46 is connected between the sub-boom telescopic shuttle valve 44 and the second oil return branch 2-1.
The auxiliary arm swing servo hydraulic system 50 comprises an auxiliary arm swing oil cylinder 51, an auxiliary arm swing control valve 52, an auxiliary arm swing pressure reducing valve 53, an auxiliary arm swing shuttle valve 54, an auxiliary arm swing balance valve 55 and an auxiliary arm swing overflow valve 56, wherein the auxiliary arm swing pressure reducing valve 53 and the auxiliary arm swing shuttle valve 54 are connected to form a pressure compensator, the auxiliary arm swing control valve 52, the auxiliary arm swing pressure reducing valve 53, the auxiliary arm swing shuttle valve 54 and the auxiliary arm swing overflow valve 56 form a valve bank integrated block, and the auxiliary arm swing balance valve 55 is located outside the valve bank integrated block. In contrast, the arm swing control valve 52 connects the third oil feed line 3 and the third oil return line 3-1, the arm swing pressure reducing valve 53 connects between the third oil feed line 3 and the arm swing control valve 52, the arm swing shuttle valve 54 connects between the arm swing control valve 52 and the arm swing cylinder 51, the arm swing balance valve 55 connects between the arm swing cylinder 51 and the arm swing shuttle valve 54, and the arm swing relief valve 56 connects between the arm swing shuttle valve 54 and the third oil return line 3-1.
The sub-arm slewing servo hydraulic system 60 includes a sub-arm slewing motor 61 for slewing the sub-arm to the left and right, a sub-arm slewing control valve 62, a sub-arm slewing pressure reducing valve 63, a sub-arm slewing shuttle valve 64, a sub-arm slewing balance valve 65, and a sub-arm slewing relief valve 66, which are connected in the same manner as the main-arm slewing servo hydraulic system 20, wherein the sub-arm slewing pressure reducing valve 63 and the sub-arm slewing shuttle valve 64 are connected to form a pressure compensator, and the sub-arm slewing control valve 62, the sub-arm slewing pressure reducing valve 63, the sub-arm slewing shuttle valve 64, the sub-arm slewing balance valve 65, the sub-arm slewing relief valve 66, the sub-arm slewing control valve 52, the sub-arm slewing pressure reducing valve 53, the sub-arm slewing shuttle valve 54, and the sub-arm slewing relief valve 56 form a valve block integrated block. In contrast, the sub-arm swing control valve 62 is connected to the third oil feed line 3 and the third oil return line 3-1, the sub-arm swing pressure reducing valve 63 is connected between the third oil feed line 3 and the sub-arm swing control valve 62, the sub-arm swing shuttle valve 64 is connected between the sub-arm swing control valve 62 and the sub-arm swing motor 61, the sub-arm swing balance valve 65 is connected between the sub-arm swing motor 61 and the sub-arm swing shuttle valve 64, and the sub-arm swing relief valve 66 is connected between the sub-arm swing shuttle valve 64 and the third oil return line 3-1.
The above-described sub-boom extension/contraction cylinder 41, sub-boom swing cylinder 51, and sub-boom rotation motor 61 constitute a sub-boom operation actuator, and the sub-boom extension/contraction control valve 42, sub-boom swing control valve 52, and sub-boom rotation control valve 62 constitute a sub-boom operation control valve.
As shown in fig. 1, the grasping rotary servo hydraulic system 70 includes a grasping rotary motor 71 for rotating the grasping mechanism left and right, a grasping rotary control valve 72, a grasping rotary pressure reducing valve 73, a grasping rotary shuttle valve 74, a grasping rotary balance valve 75, and a grasping rotary overflow valve 76, which are connected in the same manner as the sub-arm rotary servo hydraulic system 60, wherein the grasping rotary pressure reducing valve 73 and the grasping rotary shuttle valve 74 are connected to form a pressure compensator, and the grasping rotary control valve 72, the grasping rotary pressure reducing valve 73, the grasping rotary shuttle valve 74, the grasping rotary balance valve 75, and the grasping rotary overflow valve 76 form a valve block. The grapple rotary control valve 72 connects the third oil feed line 3 and the third oil return line 3-1, the grapple rotary relief valve 73 is connected between the third oil feed line 3 and the grapple rotary control valve 72, the grapple rotary shuttle valve 74 is connected between the grapple rotary control valve 72 and the grapple rotary motor 71, the grapple rotary balance valve 75 is connected between the grapple rotary motor 71 and the grapple rotary shuttle valve 74, and the grapple rotary relief valve 76 is connected between the grapple rotary shuttle valve 74 and the third oil return line 3-1.
The gripping and clamping servo hydraulic system 80 comprises a gripping and clamping cylinder 81 for enabling the gripping mechanism to grip the cutter, a gripping and clamping control valve 82, a gripping and clamping pressure reducing valve 83, a gripping and clamping shuttle valve 84, a gripping and clamping balance valve 85 and a gripping and clamping overflow valve 86, which are connected in the same way as the auxiliary arm telescopic servo hydraulic system 40, wherein the gripping and clamping pressure reducing valve 83 and the gripping and clamping shuttle valve 84 are connected to form a pressure compensator. In contrast, the grapple pinch control valve 82 connects the fourth oil inlet branch 4 and the fourth oil return branch 4-1, the grapple pinch pressure relief valve 83 is connected between the fourth oil inlet branch 4 and the grapple pinch control valve 82, the grapple pinch shuttle valve 84 is connected between the grapple pinch control valve 82 and the grapple pinch cylinder 81, there are two grapple pinch cylinders 81, the grapple pinch balance valve 85 is connected between the grapple pinch cylinder 81 and the grapple pinch shuttle valve 84, and the grapple pinch relief valve 86 is connected between the grapple pinch shuttle valve 84 and the fourth oil return branch 4-1.
The grip movement servo hydraulic system 90 includes a grip movement cylinder 91 for moving the grip mechanism back and forth, a grip movement control valve 92, a grip movement relief valve 93, a grip movement shuttle valve 94, a grip movement balancing valve 95, and a grip movement relief valve 96, which are connected in the same manner as the grip clamping servo hydraulic system 80, wherein the grip movement relief valve 93 and the grip movement shuttle valve 94 are connected to constitute a pressure compensator, and the grip movement control valve 92, the grip movement relief valve 93, the grip movement shuttle valve 94, the grip movement balancing valve 95, the grip movement relief valve 96, the grip clamping control valve 82, the grip clamping relief valve 83, the grip clamping shuttle valve 84, the grip clamping balancing valve 85, and the grip clamping relief valve 86 constitute a valve block integrated block. The grapple movement control valve 92 connects the fourth oil inlet branch 4 and the fourth oil return branch 4-1, the grapple movement pressure reducing valve 93 connects between the fourth oil inlet branch 4 and the grapple movement control valve 92, the grapple movement shuttle valve 94 connects between the grapple movement control valve 92 and the grapple movement cylinder 91, the grapple movement balancing valve 95 connects between the grapple movement cylinder 91 and the grapple grip shuttle valve 94, and the grapple grip overflow valve 96 connects between the grapple grip shuttle valve 94 and the fourth oil return branch 4-1.
The grip rotation motor 71, the grip clamp cylinder 81, and the grip movement cylinder 91 described above constitute a grip operation actuator, and the grip rotation control valve 72, the grip clamp control valve 82, and the grip movement control valve 92 constitute a grip operation control valve.
The main arm motion control valves (the main arm telescopic control valve 12, the main arm rotation control valve 22, the main arm swing control valve 32), the auxiliary arm motion control valves (the auxiliary arm telescopic control valve 42, the auxiliary arm swing control valve 52, the auxiliary arm rotation control valve 62), and the holding motion control valves (the holding rotation control valve 72, the holding clamping control valve 82, and the holding moving control valve 92) are all proportional servo valves with integrated shaft clamps, and are all four-position four-way electromagnetic directional valves, taking the main arm telescopic control valve 12 as an example, as shown in fig. 2, the four-position four-way electromagnetic directional valve comprises a Y-type function and an H-type function, the Y-type function is a power-off protection position, when an emergency situation occurs in the hydraulic system, such as sudden pressure rise or drop, and emergency pressure relief is needed, the four-position four-way electromagnetic directional valve is operated to the H-type function, and P/T/a/B is communicated for pressure relief, the safety of the system is ensured.
The hydraulic control system further comprises a detection device for detecting the action amount of the main arm action executing elements (the main arm telescopic oil cylinder 11, the main arm rotary motor 21 and the main arm swing oil cylinder 31), the auxiliary arm action executing elements (the auxiliary arm telescopic oil cylinder 41, the auxiliary arm swing oil cylinder 51 and the auxiliary arm rotary motor 61) and the grabbing action executing elements (the grabbing rotary motor 71, the grabbing clamping oil cylinder 81 and the grabbing moving oil cylinder 91), wherein the detection device is connected with the corresponding proportional servo valve with the integrated shaft clamp and is used for transmitting a detection signal to the integrated shaft clamp of the proportional servo valve in real time. Taking the main arm telescopic cylinder 11 as an example, as shown in fig. 1, the detecting device includes a displacement sensor 17 and a pressure sensor 18, the displacement sensor 17 is used for detecting the displacement of the main arm telescopic cylinder 11, and the pressure sensor 18 is used for detecting the pressures of the rod cavity and the rodless cavity of the main arm telescopic cylinder 11. As for the main arm turning motor 21, the detection means includes a rotary encoder (not shown in the figure) for detecting the rotation angle. The displacement sensor, the pressure sensor and the rotary encoder of the executing element transmit displacement information to the proportional servo valve in real time, an integrated shaft clamp on the proportional servo valve performs signal processing, the signal processing is compared with a command signal, high-precision closed-loop control after difference amplification is achieved, an upper computer controller is not needed to perform closed-loop control of the position again, response is quicker, signals are more stable, and precision is higher.
As further shown in fig. 1, the brake system 200 comprises a brake 201 for controlling the braking of the tool changing robot, a brake control valve 202, a brake pressure reducing valve 203, a hydraulic lock 204. The brake control valve 202, the brake pressure reducing valve 203, the hydraulic lock 204, the main arm telescopic control valve 12, the main arm telescopic pressure reducing valve 13, the main arm telescopic shuttle valve 14, the main arm telescopic balance valve 15 and the main arm telescopic overflow valve 16 form a valve bank integrated block. An oil inlet of the brake pressure reducing valve 203 is connected with the first oil inlet branch 1, an oil outlet of the brake pressure reducing valve 203 is connected with an oil inlet of the brake control valve 202, and a third oil port of the brake pressure reducing valve 203 is connected with the first oil return branch 1-1. The brake control valve 202 is a two-position four-way electromagnetic valve and has a manual reversing function, an oil return port of the brake control valve 202 is connected with a first oil return branch 1-1, two working oil ports connected with the brake control valve 202 are connected with a hydraulic lock 204, two oil paths from the hydraulic lock 204 are not used, the other oil path is connected with the brake 201, the oil path of the brake 201 is opened in a normal state, when emergency braking is needed, oil passes through the hydraulic lock 204 to a lower cavity of the brake 201 after the reversing valve is electrified, the brake is locked, and the function of fixing a guide rail is achieved.
As shown in fig. 1, the bolt dismounting system 100 includes a bolt dismounting motor 101 for dismounting a bolt, a bolt dismounting control valve 102, a bolt dismounting pressure reducing valve 103, a bolt dismounting shuttle valve 104, and a bolt dismounting balance valve 105, an oil inlet of the bolt dismounting pressure reducing valve 103 is connected to the bolt dismounting oil inlet pipeline 7, an oil outlet of the bolt dismounting pressure reducing valve 103 is connected to an oil inlet of the bolt dismounting control valve 102, a third oil port of the bolt dismounting pressure reducing valve 103 is connected to a third oil port of the bolt dismounting shuttle valve 104, and the bolt dismounting pressure reducing valve 103 and the bolt dismounting shuttle valve 104 form a pressure compensator. The bolt dismounting control valve 102 is a three-position four-way electromagnetic valve, an oil return port of the bolt dismounting control valve 102 is connected with the bolt dismounting oil return pipeline 8, two working oil ports of the bolt dismounting control valve 102 are connected with a first oil port and a second oil port of the bolt dismounting shuttle valve 104, the two working oil ports of the bolt dismounting control valve 102 are simultaneously connected with a bolt dismounting balance valve 105, and the bolt dismounting balance valve 105 is connected with a bolt dismounting motor 101.
The hydraulic control system realizes high-precision control of linear motion, rotary drive and swing motion, adopts the proportional servo valve with the integrated shaft clamp and the pressure compensator, and the proportional servo valve with the integrated shaft clamp is provided with a pressure control mode and a displacement control mode. The pressure compensator ensures that the pressure difference of the oil inlet and the oil outlet of the proportional servo valve is a constant value, the opening degree of the valve port of the proportional servo valve is not influenced by load, and the speed of the actuating mechanism is only in direct proportion to the opening degree of the valve port.
Compared with the prior art, the invention has the advantages of faster response time and higher efficiency. The response time of the servo valve with the integrated shaft controller is 10ms, the response time of the digital valve is 70ms, and the response time of the ordinary proportional valve control is 100 ms. The servo valve with the integrated shaft controller is used on the tool changing robot, so that the robot with multiple degrees of freedom and multiple working conditions is simpler and more convenient to control and simpler to operate. The control mode has higher precision because each axial movement is controlled by a separate controller. From the whole view, the control mode improves the intelligent level and the automation degree of the full-face tunnel boring machine in China, has the advantages of simpler operation and quicker construction, can eliminate potential safety hazards in the construction process of the full-face tunnel boring machine to the maximum extent, reduces the labor intensity of workers, improves the construction efficiency and reduces the labor cost.
When the hydraulic control system is used with a tool changing robot, the hydraulic control system comprises the following steps:
the first step is as follows: the action of the tool changing robot comprises that the robot enters a bin through a sliding rail, and a brake is arranged on the sliding rail, so that the sliding rail can stop at any position. When the robot extends out of the cabin, the slide rail stretches to a specific position (the robot preferably grabs the hob);
the second step is that: the tool changing robot main arm starts to stretch, the stroke is 0-390mm, and the specific stretching displacement is based on the actual working condition; when the main arm of the tool changing robot stretches to a certain position, a main arm stretching control valve for controlling the stretching of the main arm is positioned at a power-off protection position (leftmost position), and a main arm stretching oil cylinder keeps pressure through a main arm stretching balance valve;
the third step: after the main arm is stretched, the main arm starts to rotate, the maximum rotation angle is clockwise rotation of 90 degrees and anticlockwise rotation of 90 degrees, the specific angle is based on the actual working condition, and the rotary drive is provided with an encoder, so that accurate closed-loop control can be realized;
the fourth step: after the main arm is rotated, the main arm starts to swing, the main arm swings to realize the upward swing and the downward swing of the auxiliary arm, and the swing amplitude is 90 degrees upwards and 90 degrees downwards;
the fifth step: when the rotation of the main arm and the swing of the main arm are finished, the telescopic action of the auxiliary arm is started, the stroke of a telescopic oil cylinder of the auxiliary arm is 0-460mm, and when the telescopic action is close to the tool changing position, the swing of the auxiliary arm is started;
and a sixth step: the swing of the auxiliary arm realizes the up-and-down swing of the tail end mechanism, the swing amplitude is limited by space to be 40 degrees in the upward swing amplitude, and 90 degrees in the downward swing amplitude;
the seventh step: after the swing of the auxiliary arm is finished, executing the swing action of the auxiliary arm to realize the upward swing and the downward swing of the auxiliary arm;
eighth step: after the rotation of the auxiliary arm is finished, a grabbing rotation action is executed, the grabbing rotation realizes the left-right rotation movement of the tail end grabbing mechanism, and the rotation amplitude is 90 degrees leftwards and 90 degrees rightwards;
the ninth step: after single action and linkage of the front path are completed, the clamping and the grasping movement realize the clamping of the cutter and the longitudinal movement adjustment of the cutter holder;
the tenth step: the bolt dismounting system realizes the dismounting and the assembling of the fixed cutter bolt so as to change the cutter better;
the eleventh step: and finishing tool changing.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the main arm action control valve, the auxiliary arm action control valve and the grasping action control valve can be three-position four-way electromagnetic reversing valves.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the brake control valve and the main arm telescopic control valve can belong to different valve group integrated blocks.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the brake control valve may also be connected in the second oil inlet branch and the second oil return branch, or in the third oil inlet branch and the third oil return branch, or in the fourth oil inlet branch and the fourth oil return branch.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the oil inlet pipeline can only comprise three oil inlet branches or two oil inlet branches or only one oil inlet branch, and the corresponding oil return pipelines are the same.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the grip clamping control valve and the grip movement control valve may belong to different valve block integrated blocks.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: only one of the main arm action executing element and the auxiliary arm action executing element is provided with a telescopic oil cylinder, only one of the main arm action executing element and the auxiliary arm action executing element is provided with a rotary motor, only one of the main arm action executing element and the auxiliary arm action executing element is provided with a swing oil cylinder, and the two parts are not required to be provided; the grasping action performing member may include only a grasping clamping cylinder, and the back-and-forth movement and the left-and-right swiveling are realized by the action of the main arm or the sub-arm.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the relief valve may not be provided.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the balancing valve may not be provided.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the pressure compensator may not be provided.
In other embodiments of the hydraulic control system of the tool changing robot for the heading machine: the detection means may comprise only a displacement sensor and a rotary encoder, but may of course also be other types of detection means, such as a photoelectric sensor and a proximity sensor.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all structural changes that can be made by using the contents of the description and the drawings of the present invention are intended to be embraced therein.

Claims (10)

1. Hydraulic control system of tool changing robot for entry driving machine, its characterized in that: the tool comprises a main arm action executing element for making the main arm act, an auxiliary arm action executing element for making the auxiliary arm act, a holding action executing element for making a holding mechanism act, and a bolt dismounting motor (101) for dismounting a bolt, wherein the holding action executing element comprises a holding clamping oil cylinder (81) for clamping a tool, and the main arm action executing element or/and the auxiliary arm action executing element comprises a telescopic oil cylinder for stretching back and forth, a rotary motor for rotating left and right and a swing oil cylinder for swinging up and down; the hydraulic control system also comprises an oil inlet pipeline, an oil return pipeline, a main arm action control valve, an auxiliary arm action control valve, a grasping action control valve and a bolt dismounting control valve (102), wherein the main arm action control valve, the auxiliary arm action control valve, the grasping action control valve and the bolt dismounting control valve (102) are connected with the oil inlet pipeline and the oil return pipeline; the hydraulic control system further comprises detection devices respectively used for detecting the action quantities of the main arm action executing element, the auxiliary arm action executing element and the grasping action executing element, and the detection devices are connected with the corresponding proportional servo valves with the integrated shaft clamps.
2. The hydraulic control system of a tool changing robot for a boring machine according to claim 1, characterized in that: the hydraulic control system also comprises pressure reducing valves respectively connected between the oil inlet pipeline and the main arm action control valve, between the oil inlet pipeline and the auxiliary arm action control valve, between the oil inlet pipeline and the grasping action control valve and between the oil inlet pipeline and the bolt disassembling control valve (102), and also comprises shuttle valves respectively connected between the main arm action control valve and the main arm action executing element, between the auxiliary arm action control valve and the auxiliary arm action executing element, between the grasping action control valve and the grasping action executing element and between the bolt disassembling control valve (102) and the bolt disassembling control valve (101), wherein the corresponding pressure reducing valves and the shuttle valves are connected to form a pressure compensator.
3. The hydraulic control system of a tool changing robot for a boring machine according to claim 2, characterized in that: the hydraulic control system further comprises balance valves respectively connected between the main arm action executing element and the corresponding shuttle valve, between the auxiliary arm action executing element and the corresponding shuttle valve, between the grasping action executing element and the corresponding shuttle valve, and between the bolt dismounting motor (101) and the corresponding shuttle valve.
4. The hydraulic control system of a tool changing robot for a boring machine according to claim 2, characterized in that: the hydraulic control system also comprises overflow valves respectively connected between the corresponding shuttle valves and the oil return pipelines.
5. The hydraulic control system of the tool changing robot for the boring machine according to any one of claims 1 to 4, characterized in that: the main arm operation actuator includes a main arm telescopic cylinder (11) for extending and retracting the main arm forward and backward, a main arm turning motor (21) for turning the main arm left and right, and a main arm swing cylinder (31) for swinging the main arm up and down; the auxiliary arm action executing element comprises an auxiliary arm telescopic oil cylinder (41) for enabling the auxiliary arm to be telescopic back and forth, an auxiliary arm rotary motor (61) for enabling the auxiliary arm to rotate left and right, and an auxiliary arm swinging oil cylinder (51) for enabling the auxiliary arm to swing up and down; the gripping action executing element further comprises a gripping rotary motor (71) for rotating the gripping mechanism left and right, and a gripping moving cylinder (91) for moving the gripping mechanism back and forth; the main arm action control valve comprises a main arm telescopic control valve (12) connected with a main arm telescopic oil cylinder (11), a main arm rotary control valve (22) connected with a main arm rotary motor (21), and a main arm swing control valve (32) connected with a main arm swing oil cylinder (31); the auxiliary arm action control valve comprises an auxiliary arm telescopic control valve (42) connected with an auxiliary arm telescopic oil cylinder (41), an auxiliary arm swing control valve (52) connected with an auxiliary arm swing oil cylinder (51), and an auxiliary arm rotary control valve (62) connected with an auxiliary arm rotary motor (61); the gripping action control valve includes a gripping rotation control valve (72) connected to a gripping rotation motor (71), a gripping clamp control valve (82) connected to a gripping clamp cylinder (81), and a gripping movement control valve (92) connected to a gripping movement cylinder (91).
6. The hydraulic control system of a tool changing robot for a boring machine according to claim 5, characterized in that: the jib slewing control valve (52) and the jib slewing control valve (62) belong to a valve block assembly, and the grip clamping control valve (82) and the grip movement control valve (92) belong to a valve block assembly.
7. The hydraulic control system of a tool changing robot for a boring machine according to claim 5, characterized in that: the oil inlet pipeline comprises a bolt dismounting oil inlet pipeline (7), an oil inlet main pipeline (5), a first oil inlet shunt (1), a second oil inlet shunt (2), a third oil inlet shunt (3) and a fourth oil inlet shunt (4) which are connected with the oil inlet main pipeline (5); the oil return pipeline comprises a bolt dismounting oil return pipeline (8), an oil return main pipeline (6), a first oil return branch (1-1), a second oil return branch (2-1), a third oil return branch (3-1) and a fourth oil return branch (4-1) which are connected with the oil return main pipeline (6); a bolt dismounting control valve (102) is connected with a bolt dismounting oil inlet pipeline (7) and a bolt dismounting oil return pipeline (8), a main arm telescopic control valve (12) and a main arm rotary control valve (22) are connected with a first oil inlet branch (1) and a first oil return branch (1-1), a main arm swing control valve (32) and an auxiliary arm telescopic control valve (42) are connected with a second oil inlet branch (2) and a second oil return branch (2-1), an auxiliary arm swing control valve (52), an auxiliary arm rotary control valve (62) and a grabbing rotary control valve (72) are connected with a third oil inlet branch (3) and a third oil return branch (3-1), and a grabbing clamping control valve (82) and a grabbing moving control valve (92) are connected with a fourth oil inlet branch (4) and a fourth oil return branch (4-1).
8. The hydraulic control system of a tool changing robot for a boring machine according to claim 7, characterized in that: the hydraulic control system further comprises a brake (201) used for controlling the braking of the tool changing robot and a brake control valve (202) connected with the brake (201), and the brake control valve (202) is connected with the first oil inlet branch (1) and the first oil return branch (1-1).
9. The hydraulic control system of a tool changing robot for a boring machine according to claim 5, characterized in that: the hydraulic control system also comprises a brake (201) used for controlling the brake of the tool changing robot and a brake control valve (202) connected with the brake (201), wherein the brake control valve (202) and the main arm telescopic control valve (12) belong to one valve bank integrated block.
10. The hydraulic control system of the tool changing robot for the boring machine according to any one of claims 1 to 4, characterized in that: the main arm action control valve, the auxiliary arm action control valve and the grasping action control valve are all four-position four-way electromagnetic reversing valves, and the four-position four-way electromagnetic reversing valves comprise Y-type functions and H-type functions.
CN202111321598.0A 2021-11-09 2021-11-09 Hydraulic control system of tool changing robot for heading machine Pending CN114087240A (en)

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CN110939613A (en) * 2019-12-30 2020-03-31 中铁工程装备集团有限公司 Novel flexible arm TBM (tunnel boring machine) propulsion hydraulic system and control method
CN211474552U (en) * 2020-01-17 2020-09-11 中铁工程装备集团有限公司 Hydraulic control system of automatic assembling machine for steel arch frame
CN111943099A (en) * 2020-09-22 2020-11-17 湖南杰希重工有限公司 Energy-saving hydraulic system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108081275A (en) * 2016-11-22 2018-05-29 祝凤娟 One kind is driven based on electrohydraulic servo proportional with controlling rotary kiln liner cleaning robot
CN106761794A (en) * 2017-03-06 2017-05-31 东北大学 A kind of shield machine disk cutter tool changing robot arm end effector
CN108953244A (en) * 2018-09-06 2018-12-07 浙江大学 Rock tunnel(ling) machine steel arch-shelf assembly hydraulic system
CN110587575A (en) * 2019-10-31 2019-12-20 中铁工程装备集团有限公司 Efficient tool changing robot for shield machine
CN110939613A (en) * 2019-12-30 2020-03-31 中铁工程装备集团有限公司 Novel flexible arm TBM (tunnel boring machine) propulsion hydraulic system and control method
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