Hydraulic control system and control method for supporting shoe of hard rock heading machine

Abstract

The invention discloses a hydraulic control system and control method for a hard rock heading machine gripper shoe, the hydraulic control system comprises a left gripper shoe oil cylinder and a right gripper shoe oil cylinder which are formed by N gripper shoe oil cylinders, and N is greater than or equal to 2; the system further comprises a first logic valve group and a second logic valve group, the first logic valve group is connected with a first electromagnetic directional valve for controlling on-off of the first logic valve group, and the second logic valve group is connected with a second electromagnetic directional valve for controlling on-off of the second logic valve group. During working, a part of confluence oil sources are respectively communicated with rod cavities of the gripper oil cylinders through the first logic valve group; a part of the confluence oil source communicates with rodless cavities of the gripper oil cylinders through the first logic valve set and the second logic valve set, and the gripper oil cylinders are controlled to conduct differential telescopic motion and independent telescopic motion. According to the hydraulic system, the gripper oil cylinders can differentially and rapidly stretch out, the multiple gripper oil cylinders can be independently controlled to stretch out, the stretching-out time of the gripper is shortened, meanwhile, the gripper oil cylinders at different positions can independently stretch out, and therefore the hydraulic system adapts to surrounding rock conditions of different geologies, and meanwhile by achieving control over the stretching-out and stopping states of the single oil cylinder, the working efficiency is improved. The phenomenon that impact force is generated on the TBM due to the extending stroke difference of the supporting shoe oil cylinder is avoided, potential safety hazards are reduced, and the working efficiency and construction safety of the hard rock tunneling machine are improved.

Description

Technical Field

[0001] The invention relates to the technical field of hard rock tunneling machines, in particular to a support shoe system of a hard rock tunneling machine. Background Art

[0002] As one of the important hydraulic systems in tunnel excavation equipment, the hydraulic system of the support shoe provides a supporting reaction force for the forward excavation of the tunnel boring machine by tightening the tunnel wall with the support shoe during the excavation process. Through the control of the hydraulic system, the functions of rapid extension, rapid recovery, high-pressure tightening, and horizontal adjustment of the support shoe can be realized. However, the traditional TBM rapid extension is to supply oil to the large chamber of the support shoe cylinder through a large-flow confluent oil source to achieve rapid extension of the support shoe. In the prior art, the Chinese patent with announcement number CN 116181722 A provides a hydraulic system that can independently control the rapid extension and recovery of the left support shoe cylinder and the right support shoe cylinder, and at the same time realizes a flexible design of the area ratio of the large and small chambers of the support shoe cylinder, which is not affected by the pilot ratio of the small chamber hydraulic control one-way valve. However, the rapid extension achieved by the above patent is only through the traditional extension method of large chamber oil supply and small chamber oil return. This method takes a long time when the cylinder is extended, which reduces the working efficiency of TBM excavation step change. Secondly, during the TBM excavation process, when geological conditions are limited, the distance between the left and right support shoes and the two side walls of the tunnel is quite different. At this time, if the left and right support shoes are extended quickly at the same time, the support shoe on the side with a closer distance will contact the tunnel wall first, thereby generating a side tilt force on the TBM excavation machine, posing a major safety hazard. Summary of the invention

[0003] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a hydraulic control system and control method for the support shoes of a hard rock tunnel boring machine, which can realize differential rapid extension and can independently control the extension of four support shoe cylinders. The hydraulic system greatly shortens the extension time of the support shoes and at the same time satisfies the independent extension of the support shoe cylinders at different positions, thereby adapting to the surrounding rock conditions of different geology, improving work efficiency and ensuring construction safety.

[0004] The technical solution of the present invention is implemented as follows: a hard rock tunnel boring machine support shoe hydraulic control system, including a left support shoe cylinder and a right support shoe cylinder formed by N support shoe cylinders, N≥2; also including a first logic valve group and a second logic valve group, the first logic valve group is connected to a first electromagnetic reversing valve for controlling its on and off, and the second logic valve group is connected to a second electromagnetic reversing valve for controlling its on and off; when working, a part of the combined oil source is connected to the rod chamber of the support shoe cylinder through the first logic valve group; a part of the combined oil source is connected to the rodless chamber of the support shoe cylinder through the first logic valve group and the second logic valve group, respectively, to control the support shoe cylinder to perform differential extension and retraction and independent extension and retraction actions.

[0005] Further preferably, the first solenoid reversing valve is a three-position four-way solenoid reversing valve, the control oil source is connected to the A port of the three-position four-way solenoid reversing valve; the D port of the three-position four-way solenoid reversing valve is connected to the oil drain source.

[0006] Further preferably, the first logic valve group includes four logic valves, which are the first logic valve, the second logic valve, the third logic valve and the fourth logic valve; the combined oil source is connected to the A port of the first logic valve and the A port of the third logic valve, and the A port of the second logic valve is connected to the B port of the third logic valve and the B port of the fourth logic valve; the B port of the first logic valve is connected to the B port of the second logic valve, and the B port of the first logic valve is connected to the rod chamber of the left support shoe cylinder through the oil circuit, and the B port of the second logic valve is connected to the rod chamber of the right support shoe cylinder through the oil circuit; the C port of the first logic valve and the C port of the fourth logic valve are connected to the B port of the three-position four-way solenoid reversing valve; the C port of the second logic valve and the C port of the third logic valve are connected to the C port of the three-position four-way solenoid reversing valve; the A port of the fourth logic valve is connected to the return oil source.

[0007] Preferably, the second logic valve group includes four logic valves, and the second solenoid reversing valve is arranged in one-to-one correspondence with the logic valve; the second solenoid reversing valve adopts a two-position three-way solenoid reversing valve, and the A port of the two-position three-way solenoid reversing valve is connected to the C port of the corresponding logic valve, and the C port of the two-position three-way solenoid reversing valve is connected to the oil leakage source.

[0008] The four logic valves are respectively the left first logic valve, the left second logic valve, the right first logic valve and the right second logic valve; the four second solenoid reversing valves corresponding to the four logic valves are respectively the left first two-position three-way solenoid reversing valve, the left second two-position three-way solenoid reversing valve, the right first two-position three-way solenoid reversing valve and the right second two-position three-way solenoid reversing valve.

[0009] Further preferably, the B port of the left first logic valve is connected to the B port of the left first two-position three-way solenoid reversing valve, and the C port of the left first logic valve is connected to the A port of the left first two-position three-way solenoid reversing valve; the B port of the right first logic valve is connected to the B port of the right first two-position three-way solenoid reversing valve, and the C port of the right first logic valve is connected to the A port of the right first two-position three-way solenoid reversing valve; the B port of the left second logic valve is connected to the B port of the left second two-position three-way solenoid reversing valve, and the C port of the left second logic valve is connected to the A port of the left second two-position three-way solenoid reversing valve; the B port of the right second logic valve is connected to the B port of the right second two-position three-way solenoid reversing valve, and the C port of the right second logic valve is connected to the A port of the right second two-position three-way solenoid reversing valve.

[0010] Further preferably, the B ports of the four logic valves of the second logic valve group are connected to the B ports of the third logic valve and the B ports of the fourth logic valve. The A ports of the left first logic valve and the A ports of the left second logic valve are respectively connected to the rodless chamber of the left gripper cylinder, and the A ports of the right first logic valve and the A ports of the right second logic valve are respectively connected to the rodless chamber of the right gripper cylinder.

[0011] As a preferred embodiment, N=4, and the four shoe support cylinders are respectively the first left cylinder, the second left cylinder, the first right cylinder and the second right cylinder. The first left cylinder and the second left cylinder form the left shoe support cylinder, and the first right cylinder and the second right cylinder form the right shoe support cylinder.

[0012] A control method for the hydraulic control system of the gripper shoe of a hard rock tunnel boring machine, including a gripper shoe differential extension control method and a gripper shoe independent extension control method; The control method for differential extension of the support shoe is as follows: after the right position of the three-position four-way solenoid reversing valve is energized, the A and B ports of the three-position four-way solenoid reversing valve are connected, and the control oil source is connected to the C port of the first logic valve and the C port of the fourth logic valve through the A and B ports. At this time, the first logic valve and the fourth logic valve are in a closed state; at the same time, the C and D ports of the three-position four-way solenoid reversing valve are connected, and the C port of the second logic valve and the C port of the third logic valve are connected to the oil leakage source. At this time, the second logic valve and the third logic valve are in an open state; the combined oil source flows to the B port of the third logic valve through the A port of the third logic valve, and the oil coming out from the B port of the third logic valve The combined oil source is divided into two paths, one path flows to the B port of the four logic valves of the second logic valve group through the B port of the fourth logic valve, and the other path flows to the rod chamber of the shoe support cylinder through the A port and the B port of the second logic valve; the four second solenoid reversing valves are energized in the right position, the A port of the four logic valves of the second logic valve group is connected to the oil leakage source through the C port, and the four logic valves of the second logic valve group are in the open state; the combined oil source flows to the corresponding rodless chamber of the shoe support cylinder through the B port and the A port of the four logic valves of the second logic valve group; at this time, oil flows into both the rod chamber and the rodless chamber of the shoe support cylinder, forming a differential rapid extension of the shoe support cylinder; The control method for the independent extension of the support shoe is as follows: the three-position four-way solenoid reversing valve is energized in the right position, at which time the rod chambers of the left first cylinder, the left second cylinder, the right first cylinder and the right second cylinder are respectively filled with oil; then the left first two-position three-way solenoid reversing valve is in the right position, at which time the A port of the left first two-position three-way solenoid reversing valve is connected to the C port, the right first two-position three-way solenoid reversing valve, the left second two-position three-way solenoid reversing valve and the right second two-position three-way solenoid reversing valve are in the left position, and the A port of the left first two-position three-way solenoid reversing valve is connected to the C port through the C port. The oil source is drained, the left logic valve is opened, and the combined oil source enters the rodless chamber of the left cylinder through the B port and the A port of the left logic valve, and the left cylinder is differentially extended; at this time, the right logic valve, the left second logic valve, and the right second logic valve are closed, and the left second cylinder, the right first cylinder and the right second cylinder achieve self-locking performance; the purpose of independently extending the left cylinder while the other support shoe cylinders remain self-locking is achieved; similarly, the left second cylinder, the right first cylinder and the right second cylinder can also achieve independent extension action by adopting the above-mentioned support shoe independent extension control method.

[0013] The beneficial effects of the present invention are as follows: the hydraulic control system of the present invention combines a three-position four-way electromagnetic reversing valve with a logic valve, so that the large and small chambers of the shoe cylinder can be connected to the pressure oil at the same time to form a differential connection; through the differential connection of the shoe cylinder, the time required for the shoe cylinder to extend is greatly reduced, and the working efficiency of excavation is improved. The switch of the logic valve is controlled in the form of a two-position three-way electromagnetic reversing valve, thereby controlling the oil inlet and oil return of the large chamber of the shoe cylinder, and realizing the separate control of the shoe cylinder. Under limited geological conditions, the distance between the left and right shoes and the two sides of the tunnel wall is quite different. By adjusting the stop and extension of the shoe, the shoes on both sides can contact the tunnel wall at the same time, avoiding the shoe contacting the tunnel wall successively to generate lateral force on the hard rock tunnel boring machine, and improving the safety of equipment excavation.

[0014] The present invention is a hydraulic system which can make the support shoe cylinders extend differentially and quickly and can independently control the extension of multiple support shoe cylinders, which greatly shortens the extension time of the support shoes and satisfies the independent extension of the support shoe cylinders at different positions, thereby adapting to surrounding rock conditions of different geology. At the same time, by realizing the control of the extension and stop state of a single cylinder, the phenomenon of impact force on the TBM tunneling machine caused by the difference in the extension stroke of the support shoe cylinders is avoided, which greatly reduces the safety hazard and further improves the working efficiency and construction safety of the hard rock tunneling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0016] Figure 1 The present invention is a schematic diagram of the structure of a hydraulic system including four support shoe cylinders. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] like Figure 1As shown, in Example 1, a hydraulic control system for the shoe support of a hard rock tunnel boring machine includes a left shoe support cylinder and a right shoe support cylinder formed by N shoe support cylinders, N≥2; in actual construction, two shoe support cylinders or one shoe support cylinder can be set on the left side of the tunnel boring machine, and two or one shoe support cylinders can be set on the right side of the tunnel boring machine; the shoe support function of the tunnel boring machine can be guaranteed. What needs to be special is that the shoe support hydraulic control system also includes a first logic valve group and a second logic valve group, the first logic valve group is connected to a first electromagnetic reversing valve for controlling its on-off, and the second logic valve group is connected to a second electromagnetic reversing valve for controlling its on-off; when working, a part of the combined oil source is connected to the rod chamber of the shoe support cylinder through the first logic valve group; a part of the combined oil source is connected to the rodless chamber of the shoe support cylinder through the first logic valve group and the second logic valve group, respectively, to control the shoe support cylinder to perform differential telescopic and independent telescopic actions.

[0019] The hydraulic control system is combined with a three-position four-way electromagnetic reversing valve and a logic valve, so that the large and small chambers of the shoe cylinder can be connected to the pressure oil at the same time, forming a differential connection, realizing the rapid movement of the shoe, and improving the working efficiency of the hard rock tunnel boring machine; at the same time, the hydraulic control system has the function of controlling the individual movement of the shoe, and controls the switch of the logic valve in the form of a two-position three-way electromagnetic reversing valve, thereby controlling the oil inlet and oil return of the large chamber of the shoe cylinder, and realizing the individual control of the shoe cylinder. Under the condition of limited geological conditions, the distance between the left and right shoe and the two sides of the tunnel wall is quite different. The shoe stop and extension action can be adjusted to make the shoe on both sides contact the tunnel wall at the same time, avoiding the shoe contacting the tunnel wall successively to generate lateral force on the hard rock tunnel boring machine, and improving the safety of equipment excavation. The shoe hydraulic control system is a hydraulic system that can make the shoe cylinder differentially extend quickly and can independently control the extension of four shoe cylinders, ensuring the safe and rapid operation of the shoe system, improving the working efficiency of the hard rock tunnel boring machine, and at the same time meeting the independent extension of shoe cylinders at different positions, so as to adapt to different geological surrounding rock conditions.

[0020] Embodiment 2, a hydraulic control system for a gripper of a hard rock tunnel boring machine, this embodiment is further optimized on the basis of embodiment 1, in this embodiment, N=4 is taken as an example, that is, it includes four gripper cylinders. The four gripper cylinders are respectively a left first cylinder 1, a left second cylinder 2, a right first cylinder 3 and a right second cylinder 4, the left first cylinder 1 and the left second cylinder 2 form a left gripper cylinder, and the right first cylinder 3 and the right second cylinder 4 form a right gripper cylinder.

[0021] In this embodiment, as a preference, the first electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve 5. The support shoe hydraulic control system includes a three-position four-way electromagnetic reversing valve 5. For convenience of description, the A\B\C\D oil ports of the three-position four-way electromagnetic reversing valve 5 are defined as 5A, 5B, 5C and 5D. The control oil source 20 is connected to the A port of the three-position four-way electromagnetic reversing valve 5; the D port of the three-position four-way electromagnetic reversing valve 5 is connected to the oil drain source 19. The three-position four-way electromagnetic reversing valve 5 is in the middle position when there is no electrical signal, and 5A is connected with 5B and 5C; when the left side is energized, the three-position four-way electromagnetic reversing valve 5 is in the left position, at which time 5A is connected with 5C, and 5B is connected with 5D; when the right side is energized, the three-position four-way electromagnetic reversing valve 5 is in the right position, at which time 5A is connected with 5B, and 5C is connected with 5D.

[0022] In this embodiment, the first logic valve group includes four logic valves, which are the first logic valve 6, the second logic valve 7, the third logic valve 8 and the fourth logic valve 9; the A\B\C oil port of the first logic valve 6 can be defined as 6A\6B\6C; the A\B\C oil port of the second logic valve 7 can be defined as 7A\7B\7C; the A\B\C oil port of the third logic valve 8 can be defined as 8A\8B\8C; the A\B\C oil port of the fourth logic valve 9 can be defined as 9A\9B\9C. It should be pointed out that when the C port of the logic valve is connected to the control oil source or the pressure oil source, the A port is not connected to the B port, and the oil circuit in the logic valve is in a disconnected state. When the C port of the logic valve is connected to the total oil drain, the A port is connected to the B port, and the oil circuit in the logic valve is in an open state.

[0023] Specifically, the combined oil source is connected to the A port of the first logic valve 6 and the A port of the third logic valve 8, and the A port of the second logic valve 7 is connected to the B port of the third logic valve 8 and the B port of the fourth logic valve 9; the B port of the first logic valve 6 is connected to the B port of the second logic valve 7, and the B port of the first logic valve 6 is connected to the rod chamber of the left side support shoe cylinder, i.e., the first left cylinder 1 and the second left cylinder 2, through the oil circuit, and the B port of the second logic valve 7 is connected to the rod chamber of the right side support shoe cylinder, i.e., the first right cylinder 3 and the second right cylinder 4, through the oil circuit. The C port of the first logic valve 6 and the C port of the fourth logic valve 9 are connected to the B port of the three-position four-way electromagnetic reversing valve 5; the C port of the second logic valve 7 and the C port of the third logic valve 8 are connected to the C port of the three-position four-way electromagnetic reversing valve 5; the A port of the fourth logic valve 9 is connected to the return oil source 18.

[0024] As a preferred solution, in this embodiment, the second logic valve group includes four logic valves, and the second solenoid reversing valves are arranged in a one-to-one correspondence with the logic valves; that is, one logic valve corresponds to one second solenoid reversing valve. The second solenoid reversing valve adopts a two-position three-way solenoid reversing valve, and the A port of the two-position three-way solenoid reversing valve is connected to the C port of the corresponding logic valve, and the C port of the two-position three-way solenoid reversing valve is connected to the oil leakage source 19. Similarly, it should be pointed out that when the C ports of the four logic valves of the above-mentioned second logic valve group are connected to the control oil source or the pressure oil source, the A ports are not connected to the B ports, and the oil circuit in the logic valve is in a disconnected state. When the C port of the logic valve is connected to the total oil leakage, the A port is connected to the B port, and the oil circuit in the logic valve is in an open state.

[0025] The four logic valves are respectively the first left logic valve 10, the second left logic valve 12, the first right logic valve 11 and the second right logic valve 13; the four second solenoid reversing valves corresponding to the four logic valves are respectively the first left two-position three-way solenoid reversing valve 14, the second left two-position three-way solenoid reversing valve 16, the first right two-position three-way solenoid reversing valve 15 and the second right two-position three-way solenoid reversing valve 17. For the convenience of distinction and description, the A\B\C oil ports of the first left logic valve 10 can be defined as 10A\10B\10C, the A\B\C oil ports of the second left logic valve 12 can be defined as 12A\12B\12C, the A\B\C oil ports of the first right logic valve 11 can be defined as 11A\11B\11C, and the A\B\C oil ports of the second right logic valve 13 can be defined as 13A\13B\13C; similarly, the first left two-position three-way The A\B\C oil ports of the solenoid reversing valve 14 can be defined as 14A\14B\14C, the A\B\C oil ports of the right first two-position three-way solenoid reversing valve 15 can be defined as 15A\15B\15C, the A\B\C oil ports of the left second two-position three-way solenoid reversing valve 16 can be defined as 16A\16B\16C, and the A\B\C oil ports of the right second two-position three-way solenoid reversing valve 17 can be defined as 17A\17B\17C. The first left two-position three-way solenoid reversing valve 14, the second left two-position three-way solenoid reversing valve 16, the first right two-position three-way solenoid reversing valve 15, and the second right two-position three-way solenoid reversing valve 17 are in the left position when there is no electrical signal, port A is connected to port B, and port C is blocked; the second two-position three-way solenoid reversing valve 14, the second two-position three-way solenoid reversing valve 15, the second two-position three-way solenoid reversing valve 16, and the second two-position three-way solenoid reversing valve 17 are in the right position when energized, port A is connected to port C, and port B is blocked.

[0026] As a preferred solution, in this embodiment, the B port of the left first logic valve 10 is connected to the B port of the left first two-position three-way solenoid reversing valve 14, and the C port of the left first logic valve 10 is connected to the A port of the left first two-position three-way solenoid reversing valve 14; the B port of the right first logic valve 11 is connected to the B port of the right first two-position three-way solenoid reversing valve 15, and the C port of the right first logic valve 11 is connected to the A port of the right first two-position three-way solenoid reversing valve 15; the B port of the left second logic valve 12 is connected to the B port of the left second two-position three-way solenoid reversing valve 16, and the C port of the left second logic valve 12 is connected to the A port of the left second two-position three-way solenoid reversing valve 16; the B port of the right second logic valve 13 is connected to the B port of the right second two-position three-way solenoid reversing valve 17, and the C port of the right second logic valve 13 is connected to the A port of the right second two-position three-way solenoid reversing valve 17.

[0027] As a preferred solution, the B ports of the four logic valves of the second logic valve group are connected to the B port of the third logic valve 8 and the B port of the fourth logic valve 9. Specifically, the B port of the left first logic valve 10 is connected to the B port of the fourth logic valve 9, the B port of the left second logic valve 12 is connected to the B port of the third logic valve 8; the B port of the right first logic valve 11 is connected to the B port of the third logic valve 8 or the B port of the fourth logic valve 9; the B port of the right second logic valve 13 is connected to the B port of the third logic valve 8 or the B port of the fourth logic valve 9.

[0028] As a preferred solution, the A port of the left first logic valve 10 and the A port of the left second logic valve 12 are respectively connected to the rodless chamber of the left support shoe cylinder, and the A port of the right first logic valve 11 and the A port of the right second logic valve 13 are respectively connected to the rodless chamber of the right support shoe cylinder. Specifically: the 1B oil port of the left first cylinder 1, i.e., the rodless chamber oil port, is connected to the 10A port of the left first logic valve 10; the 2B oil port of the left second cylinder 2, i.e., the rodless chamber oil port, is connected to the 12A port of the left second logic valve 12; the 3B oil port of the right first cylinder 3, i.e., the rodless chamber oil port, is connected to the 11A port of the right first logic valve 11; the 4B oil port of the right second cylinder 4, i.e., the rodless chamber oil port, is connected to the 13A port of the right second logic valve 13.

[0029] Embodiment 3, a control method of a hydraulic control system of a gripper shoe of a hard rock tunnel boring machine as described in Embodiment 2, including a gripper shoe differential extension control method and a gripper shoe independent extension control method; The control method for differential extension of the support shoe is as follows: in the first step, after the right position of the three-position four-way solenoid reversing valve 5 is energized, the A and B ports of the three-position four-way solenoid reversing valve 5 are connected, and the control oil source is connected to the C port of the first logic valve 6 and the C port of the fourth logic valve 9 through the A and B ports. At this time, the first logic valve 6 and the fourth logic valve 9 are in a closed state; at the same time, the C and D ports of the three-position four-way solenoid reversing valve 5 are connected, and the C port of the second logic valve 7 and the C port of the third logic valve 8 are connected to the oil leakage source 19. At this time, the second logic valve 7 and the third logic valve 8 are in an open state.

[0030] In the second step, the combined oil source flows to the B port of the third logic valve 8 through the A port of the third logic valve 8, and the combined oil source coming out of the B port of the third logic valve 8 is divided into two paths, one path flows to the B port of the four logic valves of the second logic valve group through the B port of the fourth logic valve 9, and the other path flows to the rod chamber of the support shoe cylinder through the A port and the B port of the second logic valve 7.

[0031] In the third step, the four second solenoid reversing valves are energized and are in the right position, the A ports of the four logic valves of the second logic valve group are connected to the oil leakage source 19 via the C port, and the four logic valves of the second logic valve group are in the open state; specifically: the left first two-position three-way solenoid reversing valve 14, the right first two-position three-way solenoid reversing valve 15, the left second two-position three-way solenoid reversing valve 16, and the right second two-position three-way solenoid reversing valve 17 are in the right position, at which time the logic valve oil port 10A is connected to the total oil leakage source 19 via 10C, the logic valve oil port 11A is connected to the total oil leakage 19 via 11C, the logic valve oil port 12A is connected to the total oil leakage 19 via 12C, and the logic valve oil port 13A is connected to the total oil leakage 19 via 13C, and the left first logic valve 10, the right first logic valve 11, the left second logic valve 12, and the right second logic valve 13 are in the open state. Then the combined oil source flows to the corresponding rodless chamber of the shoe cylinder through the B port and A port of the four logic valves of the second logic valve group; at this time, oil flows into both the rod chamber and the rodless chamber of the shoe cylinder, forming a differential rapid extension of the shoe cylinder.

[0032] The control method for the independent extension of the support shoe is as follows: the three-position four-way solenoid reversing valve 5 is energized in the right position, at which time the rod chambers of the left first cylinder 1, the left second cylinder 2, the right first cylinder 3 and the right second cylinder 4 are respectively filled with oil; then the left first two-position three-way solenoid reversing valve 14 is in the right position, at which time the A port of the left first two-position three-way solenoid reversing valve 14 is connected to the C port, the right first two-position three-way solenoid reversing valve 15, the left second two-position three-way solenoid reversing valve 16, and the right second two-position three-way solenoid reversing valve 17 are in the left position, and the A port of the left first two-position three-way solenoid reversing valve 14 is connected to the C port The oil source 19 is drained, the left logic valve 10 is opened, and the combined oil source enters the rodless chamber of the left cylinder 1 through the B port and the A port of the left logic valve 10, and the left cylinder 1 is differentially extended; at this time, the right logic valve 11, the left second logic valve 12, and the right second logic valve 13 are closed, and the left second cylinder 2, the right first cylinder 3 and the right second cylinder 4 achieve self-locking performance; the purpose of the left cylinder 1 being extended independently while the other support shoe cylinders remain self-locking is achieved; the function of individual control of the support shoe cylinders is realized, so that the support shoe cylinders in different positions can be simultaneously close to the cave wall at different distances from the cave wall. At this time, although the oil from the combined oil source enters the left second oil cylinder 2A port, i.e., the rod chamber oil port of the left second oil cylinder, the right first oil cylinder 3A port, i.e., the rod chamber oil port of the right first oil cylinder, and the right second oil cylinder 4A port, i.e., the rod chamber oil port of the right second oil cylinder, the rodless chamber oil of the left second oil cylinder 2, the right first oil cylinder 3, and the right second oil cylinder 4 is kept closed by the left second logic valve 12, the right first logic valve 11, and the right second logic valve 13. Therefore, at this time, the left second oil cylinder 2, the right first oil cylinder 3, and the right second oil cylinder 4 remain motionless, realizing self-locking. Similarly, the left second oil cylinder 2, the right first oil cylinder 3, and the right second oil cylinder 4 can also realize independent extension action by using the above-mentioned support shoe independent extension control method.

[0033] It should be pointed out that the electromagnetic reversing valve of the present invention is combined with multiple groups of logic valves to form the differential extension function of the gripper cylinder, and the two-position three-way electromagnetic valve is combined with the logic valve, shuttle valve and hydraulic control check valve to form the control function of a single gripper cylinder. Any design that changes the type of valves, the number of valves and the number and name of cylinders in the hydraulic system without changing its functional characteristics in the same application field as the present structure is included in the protection scope of the present invention.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hydraulic control system for a gripper of a hard rock tunnel boring machine, comprising a left gripper cylinder and a right gripper cylinder formed by N gripper cylinders, N ≥ 2; Features: It also includes a first logic valve group and a second logic valve group, the first logic valve group is connected to a first electromagnetic reversing valve for controlling its on and off, and the second logic valve group is connected to a second electromagnetic reversing valve for controlling its on and off; when working, a part of the combined oil source is connected to the rod chamber of the shoe cylinder through the first logic valve group; a part of the combined oil source is connected to the rodless chamber of the shoe cylinder through the first logic valve group and the second logic valve group, so as to control the shoe cylinder to perform differential extension and independent extension.

2. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 1, Features: The first electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve (5); the control oil source (20) is connected to the A port of the three-position four-way electromagnetic reversing valve (5); and the D port of the three-position four-way electromagnetic reversing valve (5) is connected to the oil drain source (19).

3. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 2, Features: The first logic valve group comprises four logic valves, the four logic valves being respectively a first logic valve (6), a second logic valve (7), a third logic valve (8) and a fourth logic valve (9); The combined oil source is connected to the A port of the first logic valve (6) and the A port of the third logic valve (8); the A port of the second logic valve (7) is connected to the B port of the third logic valve (8) and the B port of the fourth logic valve (9); the B port of the first logic valve (6) is connected to the B port of the second logic valve (7); the B port of the first logic valve (6) is connected to the rod chamber of the left-side support shoe cylinder through an oil circuit; the B port of the second logic valve (7) is connected to the rod chamber of the right-side support shoe cylinder through an oil circuit; the C port of the first logic valve (6) and the C port of the fourth logic valve (9) are connected to the B port of the three-position four-way electromagnetic reversing valve (5); the C port of the second logic valve (7) and the C port of the third logic valve (8) are connected to the C port of the three-position four-way electromagnetic reversing valve (5); the A port of the fourth logic valve (9) is connected to the return oil source (18).

4. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 3, Features: The second logic valve group includes four logic valves, and the second electromagnetic reversing valves are arranged in a one-to-one correspondence with the logic valves; the second electromagnetic reversing valve adopts a two-position three-way electromagnetic reversing valve, and the A port of the two-position three-way electromagnetic reversing valve is connected to the C port of the corresponding logic valve, and the C port of the two-position three-way electromagnetic reversing valve is connected to the oil drain source (19).

5. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 4, Features: The four logic valves are respectively a left first logic valve (10), a left second logic valve (12), a right first logic valve (11) and a right second logic valve (13); and the four second solenoid directional control valves corresponding to the four logic valves are respectively a left first two-position three-way solenoid directional control valve (14), a left second two-position three-way solenoid directional control valve (16), a right first two-position three-way solenoid directional control valve (15) and a right second two-position three-way solenoid directional control valve (17).

6. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 5, Features: The B port of the left first logic valve (10) is connected to the B port of the left first two-position three-way electromagnetic reversing valve (14), and the C port of the left first logic valve (10) is connected to the A port of the left first two-position three-way electromagnetic reversing valve (14); the B port of the right first logic valve (11) is connected to the B port of the right first two-position three-way electromagnetic reversing valve (15), and the C port of the right first logic valve (11) is connected to the A port of the right first two-position three-way electromagnetic reversing valve (15); the B port of the left second logic valve (12) is connected to the B port of the left second two-position three-way electromagnetic reversing valve (16), and the C port of the left second logic valve (12) is connected to the A port of the left second two-position three-way electromagnetic reversing valve (16); the B port of the right second logic valve (13) is connected to the B port of the right second two-position three-way electromagnetic reversing valve (17), and the C port of the right second logic valve (13) is connected to the A port of the right second two-position three-way electromagnetic reversing valve (17).

7. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 4, 5 or 6, Features: The B ports of the four logic valves of the second logic valve group are connected to the B port of the third logic valve (8) and the B port of the fourth logic valve (9).

8. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 7, Features: The A port of the first left logic valve (10) and the A port of the second left logic valve (12) are respectively connected to the rodless chamber of the left support shoe cylinder, and the A port of the first right logic valve (11) and the A port of the second right logic valve (13) are respectively connected to the rodless chamber of the right support shoe cylinder.

9. The hydraulic control system for the gripper shoe of a hard rock tunnel boring machine according to claim 1 or 8, Features: N=4. The four support shoe cylinders are the first left cylinder (1), the second left cylinder (2), the first right cylinder (3) and the second right cylinder (4). The first left cylinder (1) and the second left cylinder (2) form the left support shoe cylinder, and the first right cylinder (3) and the second right cylinder (4) form the right support shoe cylinder.

10. A control method for a hydraulic control system of a hard rock tunnel boring machine gripper according to any one of claims 1 to 9, Features: It includes a gripper differential extension control method and a gripper independent extension control method; The control method for differential extension of the support shoe is as follows: after the three-position four-way electromagnetic reversing valve (5) is energized in the right position, the A and B ports of the three-position four-way electromagnetic reversing valve (5) are connected, and the control oil source is connected to the C port of the first logic valve (6) and the C port of the fourth logic valve (9) through the A and B ports. At this time, the first logic valve (6) and the fourth logic valve (9) are in a closed state; at the same time, the C and D ports of the three-position four-way electromagnetic reversing valve (5) are connected, and the C port of the second logic valve (7) and the C port of the third logic valve (8) are connected to the oil drain source (19). At this time, the second logic valve (7) and the third logic valve (8) are in an open state; The combined oil source flows through the A port of the third logic valve (8) to the B port of the third logic valve (8), and the combined oil source flowing out of the B port of the third logic valve (8) is divided into two paths, one path flows through the B port of the fourth logic valve (9) to the B ports of the four logic valves of the second logic valve group, and the other path flows through the A port and the B port of the second logic valve (7) to the rod chamber of the gripper oil cylinder; The four second electromagnetic reversing valves are energized and in the right position, the A ports of the four logic valves of the second logic valve group are connected to the oil drain source (19) via the C port, and the four logic valves of the second logic valve group are in the open state; the combined oil source flows to the corresponding rodless chamber of the shoe support cylinder via the B ports and the A ports of the four logic valves of the second logic valve group; at this time, oil flows into both the rod chamber and the rodless chamber of the shoe support cylinder, forming a differential rapid extension of the shoe support cylinder; The control method for the independent extension of the support shoe is as follows: the three-position four-way solenoid reversing valve (5) is energized in the right position, and at this time, the rod chambers of the left first oil cylinder (1), the left second oil cylinder (2), the right first oil cylinder (3) and the right second oil cylinder (4) are respectively filled with oil; then the left first two-position three-way solenoid reversing valve (14) is in the right position, and at this time, the A port of the left first two-position three-way solenoid reversing valve (14) is connected to the C port, the right first two-position three-way solenoid reversing valve (15), the left second two-position three-way solenoid reversing valve (16) and the right second two-position three-way solenoid reversing valve (17) are in the left position, and the A port of the left first two-position three-way solenoid reversing valve (14) is connected to the oil drain source through the C port ( 19), the left first logic valve (10) is opened, and the combined oil source enters the rodless chamber of the left first cylinder (1) through the B port and the A port of the left first logic valve (10), and the left first cylinder (1) is differentially extended; at this time, the right first logic valve (11), the left second logic valve (12), and the right second logic valve (13) are closed, and the left second cylinder (2), the right first cylinder (3) and the right second cylinder (4) achieve self-locking performance; the purpose of the left first cylinder (1) being independently extended while the other support shoe cylinders remain self-locking is achieved; similarly, the left second cylinder (2), the right first cylinder (3) and the right second cylinder (4) can also achieve independent extension action by adopting the above-mentioned support shoe independent extension control method.

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