CN114542536A - Hydraulic direction-adjusting system for shaft boring machine and shaft boring machine - Google Patents

Hydraulic direction-adjusting system for shaft boring machine and shaft boring machine Download PDF

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Publication number
CN114542536A
CN114542536A CN202210138002.1A CN202210138002A CN114542536A CN 114542536 A CN114542536 A CN 114542536A CN 202210138002 A CN202210138002 A CN 202210138002A CN 114542536 A CN114542536 A CN 114542536A
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China
Prior art keywords
oil
adjusting
valve
cylinder
regulating
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CN202210138002.1A
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Chinese (zh)
Inventor
叶蕾
朱雷
吕展鹏
李东辉
周小磊
李胜玺
堵利宾
庞文卓
马志勇
丁银亭
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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 CN202210138002.1A priority Critical patent/CN114542536A/en
Publication of CN114542536A publication Critical patent/CN114542536A/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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D1/00—Sinking shafts
    • E21D1/03—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws
    • E21D1/06—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws with shaft-boring cutters
    • 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
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • 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)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The invention relates to a hydraulic direction-regulating system for a shaft boring machine and the shaft boring machine, wherein the hydraulic direction-regulating system for the shaft boring machine comprises a first direction-regulating oil cylinder and a second direction-regulating oil cylinder which are used for correcting and regulating a direction-regulating beam of the shaft boring machine, and a hydraulic subsystem which is used for controlling the working states of the first direction-regulating oil cylinder and the second direction-regulating oil cylinder respectively, the first direction-regulating oil cylinder and the second direction-regulating oil cylinder are symmetrically arranged at two sides of the direction-regulating beam along the radial direction of the direction-regulating beam, a piston rod of the first direction-regulating oil cylinder and a piston rod of the second direction-regulating oil cylinder are respectively hinged with the outer wall of the direction-regulating beam, and a hydraulic control end of the hydraulic subsystem is respectively connected with a rodless cavity of the first direction-regulating oil cylinder and a rodless cavity of the second direction-regulating oil cylinder so as to respectively control the extension amount of the piston rod of the first direction-regulating oil cylinder and the extension amount of the piston rod of the second direction-regulating oil cylinder through the hydraulic subsystem. The invention solves the technical problems that the vertical shaft heading machine is easy to have angle deviation and the deviation rectifying capability of the vertical shaft heading machine is insufficient.

Description

Hydraulic direction-adjusting system for shaft boring machine and shaft boring machine
Technical Field
The invention relates to the technical field of shaft tunneling, in particular to a hydraulic direction adjusting system for a shaft tunneling machine and the shaft tunneling machine.
Background
At present, a vertical shaft heading machine adopts a proportional flow pressure composite control technology to simultaneously control the propelling speed and the propelling force of a propelling oil cylinder so as to further realize the attitude control of the heading machine, but the hydraulic control system, the electric control system and the like adopted by the control mode have complex structures and high control difficulty; in addition, because the construction stratum of the vertical shaft tunneling machine is changed greatly, the direction adjusting force generated by the thrust difference of the propulsion oil cylinder is smaller, and when the counterforce generated by uneven geological conditions is larger than the direction adjusting force, the tunneling axis of the tunneling machine can further deviate from the preset axis, so that the tunneling angle is deviated greatly.
Aiming at the problems that the vertical shaft heading machine in the related technology is easy to generate angle deviation and the deviation rectifying capability of the vertical shaft heading machine is insufficient, an effective solution is not provided at present.
Therefore, the inventor provides a hydraulic direction regulating system for a vertical shaft heading machine and the vertical shaft heading machine by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.
Disclosure of Invention
The invention aims to provide a hydraulic direction adjusting system for a vertical shaft tunneling machine and the vertical shaft tunneling machine, which have the advantages of simple structure, small control difficulty and stronger deviation rectifying capability, and can adjust the tunneling posture of the tunneling machine in real time according to the deviation direction to ensure the smooth proceeding of vertical shaft tunneling.
The invention can be realized by adopting the following technical scheme:
the invention provides a hydraulic direction-regulating system for a shaft boring machine, which comprises a first direction-regulating oil cylinder and a second direction-regulating oil cylinder for correcting and regulating a direction-regulating beam of the shaft boring machine, and a hydraulic subsystem for respectively controlling the working states of the first direction-regulating oil cylinder and the second direction-regulating oil cylinder, the first direction-adjusting oil cylinder and the second direction-adjusting oil cylinder are symmetrically arranged at two sides of the direction-adjusting beam along the radial direction of the direction-adjusting beam, and the piston rod of the first direction-adjusting oil cylinder and the piston rod of the second direction-adjusting oil cylinder are respectively hinged with the outer wall of the direction-adjusting beam, the hydraulic control end of the hydraulic subsystem is respectively connected with the rodless cavity of the first direction-adjusting oil cylinder and the rodless cavity of the second direction-adjusting oil cylinder, the extension amount of a piston rod of the first direction-regulating oil cylinder and the extension amount of a piston rod of the second direction-regulating oil cylinder are controlled by the hydraulic subsystem respectively.
In a preferred embodiment of the present invention, the hydraulic subsystem includes a first directional control valve, a first check valve, a second directional control valve, and a second check valve, a first oil port of the first directional control valve is connected to a first oil inlet pipeline, a fourth oil port of the first directional control valve is connected to an inlet of the first check valve, an outlet of the first check valve is connected to a rodless cavity of the first direction-adjusting oil cylinder, a fourth oil port of the first directional control valve is connected to a control port of the second check valve, a rodless cavity of the second direction-adjusting oil cylinder is connected to an outlet of the second check valve, an inlet of the second check valve is connected to a fourth oil port of the second directional control valve, and a second oil port of the second directional control valve is connected to an oil return pipeline; the first oil port of the second reversing valve is connected with a first oil inlet pipeline, the fourth oil port of the second reversing valve is connected with the control port of the first one-way valve, and the second oil port of the first reversing valve is connected with the oil return pipeline.
In a preferred embodiment of the present invention, the oil return pipeline, the rod cavity of the first direction-adjusting oil cylinder, and the rod cavity of the second direction-adjusting oil cylinder are respectively connected to an oil tank.
In a preferred embodiment of the present invention, the first check valve and the second check valve are respectively pilot operated check valves.
In a preferred embodiment of the present invention, the hydraulic subsystem further includes a third directional control valve and a fourth directional control valve, a first oil port of the third directional control valve and a first oil port of the fourth directional control valve are respectively connected to a second oil inlet pipeline, a second oil port of the third directional control valve and a second oil port of the fourth directional control valve are respectively connected to the oil return pipeline, a third oil port of the third directional control valve is connected to the rodless cavity of the first direction-adjusting cylinder, and a third oil port of the fourth directional control valve is connected to the rodless cavity of the second direction-adjusting cylinder.
In a preferred embodiment of the present invention, a third check valve is disposed between the third directional valve and the second oil inlet pipeline, an inlet of the third check valve is connected to the second oil inlet pipeline, and an outlet of the third check valve is connected to the first oil port of the third directional valve;
and a fourth one-way valve is arranged between the fourth reversing valve and the second oil inlet pipeline, an inlet of the fourth one-way valve is connected with the second oil inlet pipeline, and an outlet of the fourth one-way valve is connected with a first oil port of the fourth reversing valve.
In a preferred embodiment of the present invention, a first overflow valve is disposed between the rodless cavity of the first direction-adjusting cylinder and the oil return line, between the outlet of the first check valve and the oil return line, and/or between a third port of the third direction-changing valve and the oil return line.
In a preferred embodiment of the present invention, a second overflow valve is disposed between the rodless cavity of the second direction-adjusting cylinder and the oil return line, between the outlet of the second check valve and the oil return line, and/or between a third oil port of the fourth direction-changing valve and the oil return line.
In a preferred embodiment of the present invention, the first relief valve and the second relief valve are both proportional relief valves.
In a preferred embodiment of the present invention, the first direction valve, the second direction valve, the third direction valve and the fourth direction valve are two-position four-way direction valves.
In a preferred embodiment of the present invention, the oil pressure in the first oil inlet line is greater than the oil pressure in the second oil inlet line.
In a preferred embodiment of the present invention, displacement sensors are respectively disposed on the first direction-adjusting cylinder and the second direction-adjusting cylinder.
In a preferred embodiment of the present invention, the first direction-adjusting cylinder and the second direction-adjusting cylinder are respectively provided with a pressure sensor.
In a preferred embodiment of the present invention, the number of the hydraulic subsystems is plural, and the first direction-adjusting cylinders connected to the hydraulic subsystems are staggered in the circumferential direction of the direction-adjusting beam.
The invention provides a shaft boring machine which comprises a direction adjusting beam and a hydraulic direction adjusting system for the shaft boring machine, wherein a first direction adjusting oil cylinder and a second direction adjusting oil cylinder of the hydraulic direction adjusting system for the shaft boring machine are symmetrically arranged on two sides of the direction adjusting beam along the radial direction of the direction adjusting beam, and a piston rod of the first direction adjusting oil cylinder and a piston rod of the second direction adjusting oil cylinder are respectively hinged with the outer wall of the direction adjusting beam.
In a preferred embodiment of the present invention, the shaft boring machine further includes a plurality of supporting shoes, and the cylinder body of the first direction-adjusting cylinder and the cylinder body of the second direction-adjusting cylinder are respectively hinged to the corresponding supporting shoes.
In a preferred embodiment of the present invention, the shaft boring machine further includes a cutter head, and the cutter head is disposed at an end of the direction-adjusting beam.
From the above, the hydraulic direction adjusting system for the shaft boring machine and the shaft boring machine of the invention have the characteristics and advantages that: the steering control system comprises a steering beam, a first steering oil cylinder and a second steering oil cylinder, wherein the first steering oil cylinder and the second steering oil cylinder are symmetrically arranged on two sides of the steering beam in the radial direction of the steering beam, a piston rod of the first steering oil cylinder and a piston rod of the second steering oil cylinder are respectively hinged with the outer wall of the steering beam, when the steering beam deflects, the extension amount of the piston rod of the first steering oil cylinder and the extension amount of the piston rod of the second steering oil cylinder can be respectively controlled through a hydraulic subsystem, so that the steering beam can be pushed to recover the original position, and the deviation rectification effect on the tunneling direction of the tunneling machine is achieved. In addition, in the process of straight-line tunneling of the vertical shaft tunneling machine, the direction-adjusting oil cylinder can also provide auxiliary thrust for the vertical shaft tunneling machine, so that the tunneling efficiency of the vertical shaft tunneling machine is improved, and the tunneling operation is guaranteed to be completed smoothly.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.
Wherein:
FIG. 1: the invention relates to a structural block diagram of a hydraulic direction-adjusting system for a shaft boring machine.
FIG. 2: the invention is a structural schematic diagram of a hydraulic subsystem in a hydraulic direction regulating system for a shaft boring machine.
FIG. 3: the invention discloses a position schematic diagram of a first direction-regulating oil cylinder and a second direction-regulating oil cylinder in a hydraulic direction-regulating system for a shaft boring machine.
FIG. 4: the invention discloses a position distribution schematic diagram of a plurality of hydraulic subsystems in a hydraulic direction regulating system for a shaft boring machine.
The reference numbers in the invention are:
1. a first direction changing valve; 2. A first check valve;
3. a third directional control valve; 4. A third check valve;
5. a first overflow valve; 6. A second directional control valve;
7. a second one-way valve; 8. A fourth directional control valve;
9. a fourth check valve; 10. A second overflow valve;
11. a first direction-adjusting oil cylinder; 12. A second direction-adjusting oil cylinder;
13. a first oil inlet pipeline; 14. A second oil inlet pipeline;
15. an oil return line; 16. Adjusting a beam;
17. a cutter head; 18. A supporting shoe;
19. an oil tank; 100. A hydraulic subsystem;
200. and (4) a hydraulic direction regulating system.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
Implementation mode one
As shown in fig. 1 to 3, the present invention provides a hydraulic direction-adjusting system for a shaft boring machine, which comprises a first direction-adjusting cylinder 11, a second direction-adjusting cylinder 12 and a hydraulic subsystem 100, wherein the first direction-adjusting cylinder 11 and the second direction-adjusting cylinder 12 are matched for correcting the deviation (correcting the deviation) of a direction-adjusting beam 16 of the shaft boring machine, the hydraulic subsystem 100 is used for controlling the working states of the first direction-adjusting cylinder 11 and the second direction-adjusting cylinder 12, the first direction-adjusting cylinder 11 and the second direction-adjusting cylinder 12 are symmetrically arranged at two sides of the direction-adjusting beam 16 along the radial direction of the direction-adjusting beam 16, the end of a piston rod of the first direction-adjusting cylinder 11 and the end of a piston rod of the second direction-adjusting cylinder 12 are hinged with the outer wall of the direction-adjusting beam 16, the hydraulic control end of the hydraulic subsystem 100 is connected with a rodless cavity of the first direction-adjusting cylinder 11 and a rodless cavity of the second direction-adjusting cylinder 12, the hydraulic subsystem 100 is used for respectively controlling the oil amount introduced into the rodless cavity of the first direction-regulating oil cylinder 11 and the rodless cavity of the second direction-regulating oil cylinder 12, and further respectively controlling the extension amount of the piston rod of the first direction-regulating oil cylinder 11 and the extension amount of the piston rod of the second direction-regulating oil cylinder 12.
The invention is provided with a first direction-adjusting oil cylinder 11 and a second direction-adjusting oil cylinder 12 at two sides of a direction-adjusting beam 16 and symmetrically along the radial direction of the direction-adjusting beam 16, a piston rod of the first direction-adjusting oil cylinder 11 and a piston rod of the second direction-adjusting oil cylinder 12 are respectively hinged with the outer wall of the direction-adjusting beam 16, when the direction-adjusting beam 16 deflects, the extension amount of the piston rod of the first direction-adjusting oil cylinder 11 and the extension amount of the piston rod of the second direction-adjusting oil cylinder 12 can be respectively controlled by a hydraulic subsystem 100 according to the deflection direction and the deflection amplitude of the direction-adjusting beam 16, so as to push the direction-adjusting beam 16 to restore the original position (namely, on a vertical digging route), and play a role in correcting the digging direction of the vertical shaft tunneling machine, compared with the prior art, the direction-adjusting oil cylinders (comprising the first direction-adjusting oil cylinder 11 and the second direction-adjusting oil cylinder 12) in the application can generate larger direction-adjusting moment and provide larger direction-adjusting force, thereby greatly improving the direction-adjusting capability of the vertical shaft tunneling machine, the vertical shaft heading machine has stronger adaptability to stratum changes; in addition, because the piston rod of the first direction-regulating cylinder 11 and the piston rod of the second direction-regulating cylinder 12 are respectively hinged with the direction-regulating beam 16, the included angle between the piston rod of the first direction-regulating cylinder 11 and the piston rod of the second direction-regulating cylinder 12 and the direction-regulating beam 16 can be respectively regulated, so that the piston rod of the first direction-regulating cylinder 11 and the piston rod of the second direction-regulating cylinder 12 and the direction-regulating beam 16 are in a non-vertical state, in the process of the vertical shaft tunneling machine tunneling along a straight line, the extension of the piston rod of the first direction-regulating cylinder 11 and the piston rod of the second direction-regulating cylinder 12 can be controlled to provide auxiliary thrust for the vertical shaft tunneling machine, thereby improving the tunneling efficiency of the vertical shaft tunneling machine and ensuring the smooth completion of tunneling operation.
In an alternative embodiment of the present invention, as shown in fig. 2, the hydraulic subsystem 100 includes a first directional valve 1, a first check valve 2, a second directional valve 6, and a second check valve 7, a first oil port of the first directional valve 1 is connected to a first oil inlet pipeline 13, a fourth oil port of the first directional valve 1 is connected to an inlet of the first check valve 2, an outlet of the first check valve 2 is connected to a rodless cavity of a first direction-adjusting oil cylinder 11, a fourth oil port of the first directional valve 1 is connected to a control port of the second check valve 7, a rodless cavity of a second direction-adjusting oil cylinder 12 is connected to an outlet of the second check valve 7, an inlet of the second check valve 7 is connected to a fourth oil port of the second directional valve 6, and a second oil port of the second directional valve 6 is connected to an oil return pipeline 15; the first oil port of the second reversing valve 6 is connected with the first oil inlet pipeline 13, the fourth oil port of the second reversing valve 6 is connected with the control port of the first one-way valve 2, and the second oil port of the first reversing valve 1 is connected with the oil return pipeline 15. When the center (namely, a direction-adjusting beam 16) of the vertical shaft heading machine deviates towards the direction of the first direction-adjusting oil cylinder 11, the first reversing valve 1 reverses (namely, the first oil port of the first reversing valve 1 is communicated with the fourth oil port thereof), the second reversing valve 6 does not reverse (namely, the second oil port of the second reversing valve 6 is communicated with the fourth oil port thereof), oil in the first oil inlet pipeline 13 sequentially passes through the first oil port of the first reversing valve 1, the fourth oil port of the first reversing valve 1, the inlet of the first one-way valve 2 and the outlet of the first one-way valve 2 and then enters the rodless cavity of the first direction-adjusting oil cylinder 11, so that a piston rod of the first direction-adjusting oil cylinder 11 is pushed to extend outwards; meanwhile, oil at the fourth oil port of the first reversing valve 1 can also enter the oil control port of the second one-way valve 7 and control the second one-way valve 7 to open (namely, the inlet and the outlet of the second one-way valve 7 are communicated), the oil in the rodless cavity of the second steering cylinder 12 is discharged into the oil return pipeline 15 through the outlet of the second one-way valve 7, the inlet of the second one-way valve 7, the fourth oil port of the second reversing valve 6 and the second oil port of the second reversing valve 6 in sequence, the piston rod of the second steering cylinder 12 is withdrawn under the thrust action of the first steering cylinder 11, the steering beam 16 is restored to the original position under the thrust action of the first steering cylinder 11, and the tunneling posture of the vertical shaft tunneling machine is restored to the normal position. Similarly, when the center of the shaft heading machine deviates to the direction of the second direction-adjusting cylinder 12, the second reversing valve 6 reverses (i.e. the first oil port of the second reversing valve 6 is communicated with the fourth oil port thereof), the first reversing valve 1 does not reverse (i.e. the second oil port of the first reversing valve 1 is communicated with the fourth oil port thereof), the piston rod of the second direction-adjusting cylinder 12 extends outwards, the piston rod of the first direction-adjusting cylinder 11 is retracted under the thrust action of the second direction-adjusting cylinder 12, the direction-adjusting beam 16 is restored to the original position under the thrust action of the second direction-adjusting cylinder 12, and the heading posture of the shaft heading machine is corrected.
Furthermore, the first reversing valve 1 and the second reversing valve 6 can be but not limited to proportional reversing valves, and the stretching speed of a piston rod of the first reversing valve 1 and the stretching speed of a piston rod of the second reversing valve 6 can be adjusted in real time during direction adjustment, so that the direction adjustment speed of the shaft boring machine can be controlled.
In the present embodiment, as shown in fig. 2, the oil return line 15, the rod chamber of the first direction-adjusting cylinder 11, and the rod chamber of the second direction-adjusting cylinder 12 are respectively connected to the oil tank 19, wherein the oil return line 15 is respectively connected to the rodless chamber of the first direction-adjusting cylinder 11 and the rodless chamber of the second direction-adjusting cylinder 12, so that the oil in the corresponding chamber can be discharged to the oil tank 19 for recovery according to the operating states of the first direction-adjusting cylinder 11 and the second direction-adjusting cylinder 12.
Furthermore, the first check valve 2 and the second check valve 7 are respectively hydraulic control check valves, and the on-off state of the first check valve 2 and the second check valve 7 can be controlled through oil.
In this embodiment, as shown in fig. 2, the hydraulic subsystem 100 further includes a third directional valve 3 and a fourth directional valve 8, a first oil port of the third directional valve 3 and a first oil port of the fourth directional valve 8 are respectively connected to the second oil inlet pipeline 14, a second oil port of the third directional valve 3 and a second oil port of the fourth directional valve 8 are respectively connected to the oil return pipeline 15, a third oil port of the third directional valve 3 is connected to the rodless cavity of the first direction-adjusting cylinder 11, a third oil port of the fourth directional valve 8 is connected to the rodless cavity of the second direction-adjusting cylinder 12, and a low-pressure auxiliary propulsion force can be provided for the shaft heading machine by the arrangement of the third directional valve 3 and the fourth directional valve 8. Specifically, in the process of straight-line excavation of the shaft boring machine, the first reversing valve 1, the second reversing valve 6, the third reversing valve 3 and the fourth reversing valve 8 are not reversed (i.e. the first oil port of the first reversing valve 1 is disconnected with the fourth oil port thereof, the first oil port of the second reversing valve 6 is disconnected with the fourth oil port thereof, the first oil port of the third reversing valve 3 is communicated with the third oil port thereof, and the first oil port of the fourth reversing valve 8 is communicated with the third oil port thereof), at this time, oil in the second oil inlet pipeline 14 sequentially passes through the first oil port of the third reversing valve 3 and the third oil port of the third reversing valve 3 and enters the rodless cavity of the first direction-adjusting oil cylinder 11, and simultaneously oil in the second oil inlet pipeline 14 sequentially passes through the first oil port of the fourth reversing valve 8 and the third oil port of the fourth reversing valve 8 and enters the rodless cavity of the second direction-adjusting oil cylinder 12, a piston rod of the first direction-adjusting oil cylinder 11 and a piston rod of the second direction-adjusting oil cylinder 12 extend out under the thrust action of the oil, thereby applying auxiliary thrust to the direction-adjusting beam 16 towards the tunneling direction of the shaft tunneling machine and achieving the purpose of providing auxiliary thrust for the shaft tunneling machine.
Further, the first direction valve 1, the second direction valve 6, the third direction valve 3 and the fourth direction valve 8 can be, but not limited to, two-position four-way direction valves. The two-position four-way reversing valve can be but is not limited to an electromagnetic reversing valve or a hydraulic control reversing valve.
Further, as shown in fig. 2, a third check valve 4 is arranged between the third directional valve 3 and the second oil inlet pipeline 14, an inlet of the third check valve 4 is connected with the second oil inlet pipeline 14, and an outlet of the third check valve 4 is connected with a first oil port of the third directional valve 3; a fourth check valve 9 is arranged between the fourth reversing valve 8 and the second oil inlet pipeline 14, an inlet of the fourth check valve 9 is connected with the second oil inlet pipeline 14, and an outlet of the fourth check valve 9 is connected with a first oil port of the fourth reversing valve 8. Through the arrangement of the third one-way valve 4 and the fourth one-way valve 9, oil can be guaranteed to be conveyed to the rodless cavity of the first direction-regulating oil cylinder 11 and the rodless cavity of the second direction-regulating oil cylinder 12 from the oil supply side, the backflow of the oil is prevented, and the stability of applying auxiliary thrust to the vertical shaft heading machine by the system is improved.
Further, as shown in fig. 2, a first overflow valve 5 is disposed between the rodless cavity of the first direction-adjusting cylinder 11 and the oil return line 15, between the outlet of the first check valve 2 and the oil return line 15, and/or between the third port of the third direction-changing valve 3 and the oil return line 15. Redundant oil can be conveyed to the oil return pipeline 15 to be recovered under the working state, the arrangement of the first overflow valve 5 can play the roles of pressure stabilization and unloading, and the safety of the system is improved.
Further, as shown in fig. 2, a second overflow valve 10 is disposed between the rodless cavity of the second direction-adjusting cylinder 12 and the oil return line 15, between the outlet of the second check valve 7 and the oil return line 15, and/or between the third port of the fourth directional control valve 8 and the oil return line 15. Redundant oil can be conveyed to the oil return pipeline 15 to be recovered under the working state, the second overflow valve 10 can play a role in stabilizing the pressure and unloading, and the safety of the system is improved.
Further, the first relief valve 5 and the second relief valve 10 may be, but not limited to, proportional relief valves.
In an optional embodiment of the present invention, the first oil inlet pipeline 13 is a high-pressure oil pipeline, and the oil delivered to the system by the first oil inlet pipeline 13 is high-pressure hydraulic oil; the second oil inlet pipeline 14 is a low-pressure oil way, and oil conveyed to the system by the second oil inlet pipeline 14 is low-pressure hydraulic oil. The oil pressure in the first oil inlet pipeline 13 needs to be ensured to be greater than the oil pressure in the second oil inlet pipeline 14, and the oil pressure in the first oil inlet pipeline 13 and the oil pressure in the second oil inlet pipeline 14 can be regulated according to actual working conditions, which is not limited herein.
In an alternative embodiment of the present invention, displacement sensors are respectively disposed between the cylinder body of the first direction-adjusting cylinder 11 and the piston rod thereof, and between the cylinder body of the second direction-adjusting cylinder 12 and the piston rod thereof. Through the arrangement of each displacement sensor, the extension amount of the piston rod of the first direction-adjusting oil cylinder 11 and the extension amount of the piston rod of the second direction-adjusting oil cylinder 12 can be detected in real time, and whether the posture of the direction-adjusting beam 16 is at the offset position or not can be further known as the basis of direction-adjusting control.
In an alternative embodiment of the present invention, the first direction-adjusting cylinder 11 and the second direction-adjusting cylinder 12 are respectively provided with a pressure sensor (which can be arranged in a rodless cavity or a rod cavity). Through the setting of each pressure sensor, the pressure of the first direction-adjusting oil cylinder 11 and the second direction-adjusting oil cylinder 12 can be detected in real time, so that the magnitude of the direction-adjusting torque can be known, the too large or too small direction-adjusting force provided by the first direction-adjusting oil cylinder 11 and the second direction-adjusting oil cylinder 12 can be avoided, and the direction-adjusting accuracy can be improved.
In an alternative embodiment of the present invention, as shown in fig. 4, the number of the hydraulic subsystems 100 is multiple, and the first direction-adjusting cylinders 11 connected to the hydraulic subsystems 100 are staggered in the circumferential direction of the direction-adjusting beam 16 (i.e., the hydraulic subsystems 100 are arranged at a certain angle in the circumferential direction of the direction-adjusting beam 16). The more the hydraulic subsystems 100 are arranged along the circumferential direction of the direction-adjusting beam 16, the denser the arrangement is, the stronger the deviation-correcting capability of the vertical shaft heading machine is, and when the number of the hydraulic subsystems 100 is enough, the 360-degree flexible direction adjustment of the vertical shaft heading machine can be realized; of course, the hydraulic subsystem 100 may also be provided according to the stratum condition or the direction in which the shaft boring machine has deviated, so as to ensure that the shaft boring machine can be restored to the original boring line after the shaft boring machine has deviated. When the center of the shaft boring machine deviates to a certain direction, the multiple hydraulic subsystems 100 can be controlled to jointly participate in direction adjustment according to the deviation direction, and the resultant force of the hydraulic subsystems 100 is the preset boring direction of the shaft boring machine by controlling different extending amounts of a piston rod of the first direction adjusting oil cylinder 11 and a piston rod of the second direction adjusting oil cylinder 12 in each hydraulic subsystem 100, so that the center of the boring machine can be recovered to the preset boring direction in the shortest time.
The hydraulic direction regulating system for the vertical shaft heading machine has three working modes:
firstly, a direction adjusting and deviation rectifying working mode: in the tunneling process of the vertical shaft tunneling machine, when the center of the vertical shaft tunneling machine deviates towards the direction of the first direction-adjusting oil cylinder 11, the first reversing valve 1 is controlled to reverse, and high-pressure hydraulic oil in the first oil inlet pipeline 13 enters a rodless cavity of the first direction-adjusting oil cylinder 11 after sequentially passing through a first oil port of the first reversing valve 1, a fourth oil port of the first reversing valve 1, an inlet of the first check valve 2 and an outlet of the first check valve 2, so that a piston rod of the first direction-adjusting oil cylinder 11 is pushed to extend outwards; meanwhile, high-pressure hydraulic oil at the fourth oil port of the first reversing valve 1 can also enter the oil control port of the second one-way valve 7 and control the second one-way valve 7 to be opened, oil in a rodless cavity of the second steering oil cylinder 12 sequentially passes through the outlet of the second one-way valve 7, the inlet of the second one-way valve 7, the fourth oil port of the second reversing valve 6 and the second oil port of the second reversing valve 6 and is discharged into the oil return pipeline 15, a piston rod of the second steering oil cylinder 12 is withdrawn under the thrust action of the first steering oil cylinder 11, the steering beam 16 is restored to the original position under the thrust action of the first steering oil cylinder 11, and the tunneling posture of the shaft tunneling machine is restored to be normal. Similarly, when the center of the vertical shaft heading machine deviates towards the direction of the second direction-adjusting oil cylinder 12, the second reversing valve 6 is controlled to reverse, and the high-pressure hydraulic oil in the first oil inlet pipeline 13 enters the rodless cavity of the second direction-adjusting oil cylinder 12 after sequentially passing through the first oil port of the second reversing valve 6, the fourth oil port of the second reversing valve 6, the inlet of the second one-way valve 7 and the outlet of the second one-way valve 7, so that the piston rod of the second direction-adjusting oil cylinder 12 is pushed to extend outwards; meanwhile, high-pressure hydraulic oil at a fourth oil port of the second reversing valve 6 can also enter an oil control port of the first one-way valve 2 and control the first one-way valve 2 to be opened, oil in a rodless cavity of the first steering oil cylinder 11 sequentially passes through an outlet of the first one-way valve 2, an inlet of the first one-way valve 2, a fourth oil port of the first reversing valve 1 and a second oil port of the first reversing valve 1 and is discharged into an oil return pipeline 15, a piston rod of the first steering oil cylinder 11 is withdrawn under the thrust action of the second steering oil cylinder 12, the steering beam 16 is restored to the original position under the thrust action of the second steering oil cylinder 12, and the tunneling posture of the vertical shaft tunneling machine is restored to the normal position
II, a low-pressure auxiliary propulsion working mode: during the tunneling process of the shaft heading machine, the piston rod of the first direction-adjusting oil cylinder 11 and the piston rod of the second direction-adjusting oil cylinder 12 can be adjusted to incline towards the direction opposite to the tunneling direction of the shaft heading machine, so that the piston rod of the first direction-adjusting oil cylinder 11 and the piston rod of the second direction-adjusting oil cylinder 12 have component force along the tunneling direction of the shaft heading machine during the extending process, at the moment, the first reversing valve 1, the second reversing valve 6, the third reversing valve 3 and the fourth reversing valve 8 are not reversed, low-pressure hydraulic oil in the second oil inlet pipeline 14 sequentially passes through an inlet of the third one-way valve 4, an outlet of the third one-way valve 4, a first hydraulic oil port of the third reversing valve 3 and a third oil port of the third reversing valve 3 and enters a rodless cavity of the first direction-adjusting oil cylinder 11, and simultaneously low pressure in the second oil inlet pipeline 14 sequentially passes through an inlet of the fourth one-way valve 9, an outlet of the fourth one-way valve 9, a component oil port of the fourth one-way valve 9, The first oil port of the fourth reversing valve 8 and the third oil port of the fourth reversing valve 8 enter the rodless cavity of the second direction-regulating oil cylinder 12, and the piston rod of the first direction-regulating oil cylinder 11 and the piston rod of the second direction-regulating oil cylinder 12 extend out under the thrust action of oil, so that auxiliary thrust is applied to the direction-regulating beam 16 in the tunneling direction of the vertical shaft tunneling machine, and the purpose of providing low-pressure auxiliary thrust for the vertical shaft tunneling machine is achieved. In addition, under the low-pressure auxiliary propulsion working mode, the first direction-adjusting oil cylinder 11 and the second direction-adjusting oil cylinder 12 can also play a role in buffering and damping, and the vibration of the shaft boring machine in the boring process is reduced.
Thirdly, a high-pressure auxiliary propulsion working mode: in the tunneling process of the shaft heading machine, a piston rod of the first direction regulating oil cylinder 11 and a piston rod of the second direction regulating oil cylinder 12 can be adjusted to incline towards the direction opposite to the tunneling direction of the shaft heading machine, so that the piston rod of the first direction regulating oil cylinder 11 and the piston rod of the second direction regulating oil cylinder 12 have component force along the tunneling direction of the shaft heading machine in the extending process, at the moment, the first reversing valve 1 and the second reversing valve 6 are controlled to simultaneously reverse, and high-pressure hydraulic oil in the first oil inlet pipeline 13 sequentially passes through a first oil port of the first reversing valve 1, a fourth oil port of the first reversing valve 1, an inlet of the first one-way valve 2 and an outlet of the first one-way valve 2 and then enters a rodless cavity of the first direction regulating oil cylinder 11, so that the piston rod of the first direction regulating oil cylinder 11 is pushed to extend outwards; meanwhile, after passing through the first oil port of the second reversing valve 6, the fourth oil port of the second reversing valve 6, the inlet of the second one-way valve 7 and the outlet of the second one-way valve 7 in sequence, the high-pressure hydraulic oil in the first oil inlet pipeline 13 enters the rodless cavity of the second direction-adjusting oil cylinder 12, so that the piston rod of the second direction-adjusting oil cylinder 12 is pushed to extend outwards, and the first direction-adjusting oil cylinder 11 and the second direction-adjusting oil cylinder 12 apply auxiliary thrust to the direction-adjusting beam 16 in the tunneling direction of the shaft tunneling machine together, so that the purpose of providing high-pressure auxiliary thrust for the shaft tunneling machine is achieved.
The hydraulic direction regulating system for the vertical shaft tunneling machine has the characteristics and advantages that:
in the hydraulic direction-adjusting system for the vertical shaft tunneling machine, a first direction-adjusting oil cylinder 11 and a second direction-adjusting oil cylinder 12 are symmetrically arranged on two sides of a direction-adjusting beam 16 along the radial direction of the direction-adjusting beam 16, the first direction-adjusting oil cylinder 11 and the second direction-adjusting oil cylinder 12 are independent from a propelling oil cylinder of the vertical shaft tunneling machine, and a piston rod of the first direction-adjusting oil cylinder 11 and a piston rod of the second direction-adjusting oil cylinder 12 are perpendicular to the axial direction of the direction-adjusting beam 16 or form a larger included angle with the axial direction of the direction-adjusting beam 16.
In the hydraulic direction-adjusting system for the vertical shaft heading machine, different numbers of hydraulic subsystems 100 can be set according to actual working conditions, and when one hydraulic subsystem 100 is set, the vertical shaft heading machine can be directionally adjusted; when a plurality of hydraulic subsystems 100 are arranged along the circumferential direction of the direction-adjusting beam 16, 360-degree flexible direction adjustment of the vertical shaft heading machine can be realized, the direction-adjusting time is shortened, and the well-completion quality is improved.
The hydraulic direction adjusting system for the vertical shaft heading machine can flexibly adjust the number of the hydraulic subsystems 100 (namely the first direction adjusting oil cylinder 11 and the second direction adjusting oil cylinder 12) according to actual working conditions, and the vertical shaft heading machine can have more stable and flexible direction adjusting capability through the arrangement of a plurality of direction adjusting oil cylinders.
In the hydraulic direction-regulating system for the vertical shaft heading machine, oil can be introduced into the rodless cavity of the first direction-regulating oil cylinder 11 and the rodless cavity of the second direction-regulating oil cylinder 12 through an included angle between the piston rod of the first direction-regulating oil cylinder 11 and the piston rod of the second direction-regulating oil cylinder 12 and the axis of the direction-regulating beam 16, and auxiliary thrust can be provided for the vertical shaft heading machine in the process of straight-line heading of the vertical shaft heading machine, so that the heading efficiency of the vertical shaft heading machine is improved.
Fifthly, the hydraulic direction adjusting system for the vertical shaft heading machine is simple in structure and convenient to control, and can realize real-time adjustment and control of the posture of the vertical shaft heading machine.
Second embodiment
As shown in fig. 1 to 4, the invention provides a shaft boring machine, which comprises a direction-adjusting beam 16 and the hydraulic direction-adjusting system 200 for the shaft boring machine, wherein a first direction-adjusting cylinder 11 and a second direction-adjusting cylinder 12 of the hydraulic direction-adjusting system 200 for the shaft boring machine are symmetrically arranged on two sides of the direction-adjusting beam 16 along the radial direction of the direction-adjusting beam 16, and a piston rod of the first direction-adjusting cylinder 11 and a piston rod of the second direction-adjusting cylinder 12 are respectively hinged with the outer wall of the direction-adjusting beam 16.
Specifically, as shown in fig. 3, the shaft boring machine further includes a plurality of supporting shoes 18, and the cylinder body of the first direction-adjusting cylinder 11 and the cylinder body of the second direction-adjusting cylinder 12 are respectively hinged to the corresponding supporting shoes 18.
Specifically, as shown in fig. 3, the shaft boring machine further includes a cutter head 17, and the cutter head 17 is disposed at an end of the direction-adjusting beam 16.
The vertical shaft heading machine has the characteristics and advantages that:
the vertical shaft heading machine has the advantages of simple structure, convenience in operation and control, small control difficulty, stronger deviation rectifying capability on the vertical shaft heading machine, and capability of adjusting the heading posture of the heading machine in real time according to the deviation direction, so that the vertical shaft heading machine can adapt to complicated and changeable strata, and the smooth proceeding of vertical shaft heading is ensured.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the invention should fall within the protection scope of the invention.

Claims (17)

1. A hydraulic direction-regulating system for a shaft boring machine is characterized by comprising a first direction-regulating oil cylinder and a second direction-regulating oil cylinder which are used for correcting and regulating a direction-regulating beam of the shaft boring machine, and a hydraulic subsystem which is used for respectively controlling the working states of the first direction-regulating oil cylinder and the second direction-regulating oil cylinder, the first direction-adjusting oil cylinder and the second direction-adjusting oil cylinder are symmetrically arranged at two sides of the direction-adjusting beam along the radial direction of the direction-adjusting beam, and the piston rod of the first direction-adjusting oil cylinder and the piston rod of the second direction-adjusting oil cylinder are respectively hinged with the outer wall of the direction-adjusting beam, the hydraulic control end of the hydraulic subsystem is respectively connected with the rodless cavity of the first direction-adjusting oil cylinder and the rodless cavity of the second direction-adjusting oil cylinder, the extension amount of a piston rod of the first direction-regulating oil cylinder and the extension amount of a piston rod of the second direction-regulating oil cylinder are controlled by the hydraulic subsystem respectively.
2. The hydraulic direction regulating system for the shaft boring machine according to claim 1, wherein the hydraulic subsystem comprises a first directional control valve, a first check valve, a second directional control valve and a second check valve, a first oil port of the first directional control valve is connected with a first oil inlet pipeline, a fourth oil port of the first directional control valve is connected with an inlet of the first check valve, an outlet of the first check valve is connected with a rodless cavity of the first directional control cylinder, a fourth oil port of the first directional control valve is connected with a control port of the second check valve, a rodless cavity of the second directional control cylinder is connected with an outlet of the second check valve, an inlet of the second check valve is connected with a fourth oil port of the second directional control valve, and a second oil port of the second directional control valve is connected with an oil return pipeline; the first oil port of the second reversing valve is connected with a first oil inlet pipeline, the fourth oil port of the second reversing valve is connected with the control port of the first one-way valve, and the second oil port of the first reversing valve is connected with the oil return pipeline.
3. The hydraulic direction-regulating system for a shaft boring machine according to claim 2, wherein the oil return line, the rod chamber of the first direction-regulating cylinder and the rod chamber of the second direction-regulating cylinder are connected to an oil tank, respectively.
4. A hydraulic direction control system for a shaft boring machine according to claim 2, wherein the first check valve and the second check valve are each a pilot operated check valve.
5. The hydraulic direction-regulating system for the shaft boring machine according to claim 2, wherein the hydraulic subsystem further comprises a third directional control valve and a fourth directional control valve, the first oil port of the third directional control valve and the first oil port of the fourth directional control valve are respectively connected to a second oil inlet pipeline, the second oil port of the third directional control valve and the second oil port of the fourth directional control valve are respectively connected to the oil return pipeline, the third oil port of the third directional control valve is connected to the rodless cavity of the first directional control cylinder, and the third oil port of the fourth directional control valve is connected to the rodless cavity of the second directional control cylinder.
6. The hydraulic direction-regulating system for a shaft boring machine according to claim 5, wherein a third check valve is provided between the third directional valve and the second oil inlet line, an inlet of the third check valve is connected to the second oil inlet line, and an outlet of the third check valve is connected to the first oil port of the third directional valve;
and a fourth one-way valve is arranged between the fourth reversing valve and the second oil inlet pipeline, an inlet of the fourth one-way valve is connected with the second oil inlet pipeline, and an outlet of the fourth one-way valve is connected with a first oil port of the fourth reversing valve.
7. The hydraulic direction-regulating system for a shaft boring machine according to claim 6, wherein a first overflow valve is provided between the rodless chamber of the first direction-regulating cylinder and the oil return line, between the outlet of the first check valve and the oil return line, and/or between the third port of the third direction-changing valve and the oil return line.
8. The hydraulic direction-regulating system for a shaft boring machine according to claim 7, wherein a second overflow valve is provided between the rodless chamber of the second direction-regulating cylinder and the oil return line, between the outlet of the second check valve and the oil return line, and/or between the third port of the fourth direction-changing valve and the oil return line.
9. A hydraulic direction regulating system for a shaft boring machine according to claim 8, wherein the first and second relief valves are proportional relief valves.
10. The hydraulic direction adjusting system for a shaft boring machine according to claim 5, wherein the first direction changing valve, the second direction changing valve, the third direction changing valve and the fourth direction changing valve are two-position four-way direction changing valves.
11. A hydraulic direction regulating system for a shaft boring machine according to claim 5, wherein the pressure of the oil in the first oil feed line is greater than the pressure of the oil in the second oil feed line.
12. The hydraulic direction-adjusting system for a shaft boring machine according to claim 1, wherein the first direction-adjusting cylinder and the second direction-adjusting cylinder are provided with displacement sensors, respectively.
13. The hydraulic direction-regulating system for a shaft boring machine according to claim 1, wherein the first direction-regulating cylinder and the second direction-regulating cylinder are provided with pressure sensors, respectively.
14. A hydraulic steering system for a shaft boring machine according to claim 1, wherein the number of the hydraulic subsystems is plural, and the first steering cylinders connected to the hydraulic subsystems are offset in the circumferential direction of the steering beam.
15. A shaft boring machine, characterized in that, the shaft boring machine includes a direction adjusting beam and the hydraulic direction adjusting system for the shaft boring machine of any one of claims 1 to 14, the first direction adjusting cylinder and the second direction adjusting cylinder of the hydraulic direction adjusting system for the shaft boring machine are symmetrically arranged at both sides of the direction adjusting beam along the radial direction of the direction adjusting beam, and the piston rod of the first direction adjusting cylinder and the piston rod of the second direction adjusting cylinder are respectively hinged with the outer wall of the direction adjusting beam.
16. A shaft boring machine as defined in claim 15, further comprising a plurality of shoe supports, the body of the first direction-adjusting cylinder and the body of the second direction-adjusting cylinder being hinged to the respective shoe supports.
17. A shaft boring machine as claimed in claim 15 further comprising a cutter head, the cutter head being located at an end of the steering beam.
CN202210138002.1A 2022-02-15 2022-02-15 Hydraulic direction-adjusting system for shaft boring machine and shaft boring machine Pending CN114542536A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210138002.1A CN114542536A (en) 2022-02-15 2022-02-15 Hydraulic direction-adjusting system for shaft boring machine and shaft boring machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210138002.1A CN114542536A (en) 2022-02-15 2022-02-15 Hydraulic direction-adjusting system for shaft boring machine and shaft boring machine

Publications (1)

Publication Number Publication Date
CN114542536A true CN114542536A (en) 2022-05-27

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Family Applications (1)

Application Number Title Priority Date Filing Date
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CN (1) CN114542536A (en)

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