A hydraulic system

Abstract

A hydraulic system can realize the mutual perpendicularity of the moving trajectories of the first telescopic rods of two first oil cylinders and the second telescopic rod of a second oil cylinder, and at the same time ensure the precise control of the moving strokes of the two first telescopic rods and the second telescopic rod, can smoothly switch between the extended / retracted / stationary states, and maintain stable locking, and at the same time the displacement trajectories of the first telescopic rods of the two first oil cylinders are synchronized.

Description

Technical Field

[0001] The invention relates to a hydraulic system. Background Art

[0002] The existing hydraulic system cannot simultaneously achieve precise control of the telescopic rod's active stroke, smooth switching between extension / retraction / stationary states, and ensure that the active stroke of the telescopic rod does not change when the cylinder is in a pressure-maintaining state for the two first cylinders and one second cylinder, and at the same time, the active stroke of the telescopic rod of the two first cylinders must be synchronized.

[0003] In view of this, the inventor conducted in-depth research on the above-mentioned defects in the prior art, and thus came up with this case. Summary of the invention

[0004] The first object of the present invention is to provide a hydraulic system, through which the movable trajectories of the first telescopic rods of the two first oil cylinders and the second telescopic rod of the second oil cylinder can be made perpendicular to each other, while ensuring that the movable strokes of the two first telescopic rods and the second telescopic rod are accurately controlled, can be smoothly switched between the extended / retracted / stationary states, and can maintain stable locking, and at the same time, the displacement trajectories of the first telescopic rods of the two first oil cylinders are synchronized.

[0005] The second purpose of the present invention is that the hydraulic system can be used to control the moving trajectory of the control end of the blind spot crushing device of the shield machine, ensuring that the working end of the blind spot crushing device of the shield machine can be accurately and stably moved to the area to be crushed for crushing construction operations.

[0006] To achieve the first objective of the present invention, the present invention discloses a hydraulic system, comprising: an oil supply passage, an oil return passage, two first oil cylinders and a second oil cylinder, wherein the two first oil cylinders are respectively arranged in parallel and spaced apart in a vertical direction, and the first telescopic rods of the two first oil cylinders are respectively hinged to the two ends of a first object, and are used to drive the first object to move in a first plane direction; the second telescopic rod of the second oil cylinder is hinged to the second object, and is used to drive the second object to move in a second plane direction, and the second plane is perpendicular to the first plane;

[0007] It also includes a first circuit for controlling two first oil cylinders and a second circuit for controlling a second oil cylinder;

[0008] The first circuit includes a first oil branch connected to the rod chambers of the two first oil cylinders and a second oil branch connected to the rodless chambers of the two first oil cylinders. The first oil branch and the second oil branch are respectively connected to a first electromagnetic reversing valve group, a first double-hydraulic one-way valve group, a first two-way brake valve group and a cylinder synchronization valve group. The oil supply passage is selectively connected to the first oil branch / second oil branch, and the oil return passage is connected to the corresponding second oil branch / first oil branch; at the same time, a first displacement sensor is also built in each of the two first oil cylinders to measure the displacement of the first telescopic rod through the first displacement sensor; the first electromagnetic reversing valve group realizes The first telescopic rods of the two first oil cylinders are switched between extension, retraction and pressure-maintaining states; the first double hydraulically controlled one-way valve group is used to ensure that the first telescopic rods of the two first oil cylinders can be kept in a pressure-maintaining state for a long time; the first two-way brake valve group is used to reduce the hydraulic shock generated by the first telescopic rods of the two first oil cylinders switching from extension to pressure-maintaining state, or from retraction to pressure-maintaining state, so as to achieve smooth braking; the cylinder synchronization valve group includes two proportional speed regulating valves and two bridge throttling circuits composed of a plurality of one-way valves, and the proportional speed regulating valves are installed in their respective bridge throttling circuits to achieve synchronous displacement of the first telescopic rods of the two first oil cylinders;

[0009] The second circuit includes a third oil branch connected to a rod chamber of a second oil cylinder and a fourth oil branch connected to a rodless chamber of a second oil cylinder. The third oil branch and the fourth oil branch are respectively connected to a second electromagnetic reversing valve group, a second double-hydraulic one-way valve group and a second two-way brake valve group. The oil supply passage is selectively connected to the third oil branch / fourth oil branch, and the oil return passage is connected to the corresponding fourth oil branch / third oil branch; at the same time, a second displacement sensor is also built in the second oil cylinder, and the displacement of the second telescopic rod is measured by the second displacement sensor; the second electromagnetic reversing valve group realizes the switching of the extension, retraction and pressure-maintaining state of the second telescopic rod of a second oil cylinder; the second double-hydraulic one-way valve group is used to realize that the second telescopic rod of a second oil cylinder is in a pressure-maintaining state for a long time; the second two-way brake valve group is used to reduce the hydraulic shock generated by the switching of the second telescopic rod of a second oil cylinder from the extension to the pressure-maintaining state, or from the retraction to the pressure-maintaining state, so as to realize smooth braking;

[0010] A PLC control unit receives a signal fed back by a first displacement sensor and issues a control instruction to a first electromagnetic reversing valve and a proportional speed regulating valve of a cylinder synchronization valve group, thereby realizing synchronous displacement of first telescopic rods of two first oil cylinders and accurately controlling the displacement amount thereof; at the same time, receives a signal fed back by a second displacement sensor and issues a control instruction to a second electromagnetic reversing valve, thereby realizing accurate control of the displacement amount of a second telescopic rod of a second oil cylinder.

[0011] The specific embodiment involving the use of the first solenoid reversing valve and the second solenoid reversing valve is as follows: a three-position four-way solenoid reversing valve is used to extend, retract and maintain pressure of the first telescopic rod of the first oil cylinder through the first solenoid reversing valve, and to extend, retract and maintain pressure of the second telescopic rod of the second oil cylinder through the second solenoid reversing valve.

[0012] The specific embodiment involving the first double hydraulically controlled one-way valve group and the second double hydraulically controlled one-way valve group is: an interlocking circuit composed of two hydraulically controlled one-way valves, which realizes that when the first oil cylinder is in a pressure-maintaining state, its first telescopic rod is in a long-term pressure-maintaining and locked state through the first double hydraulically controlled one-way valve group, and that when the second oil cylinder is in a pressure-maintaining state, its second telescopic rod is in a long-term pressure-maintaining and locked state through the second double hydraulically controlled one-way valve group.

[0013] The specific embodiment involving the first two-way brake valve group and the second two-way brake valve group is: a bridge circuit composed of four one-way valves plus a relief valve. The first two-way brake valve group ensures that when the first telescopic rod of the first oil cylinder switches from an extended state to a pressure-maintaining state, or switches from a retracted state to a pressure-maintaining state, stable braking of the first telescopic rod can be achieved. The second two-way brake valve group ensures that when the second telescopic rod of the second oil cylinder switches from an extended state to a pressure-maintaining state, or switches from a retracted state to a pressure-maintaining state, stable braking of the second telescopic rod can be achieved.

[0014] Furthermore, the first circuit also includes a first balancing valve group, and the second circuit also includes a second balancing valve group. The first balancing valve group and the second balancing valve group are respectively balancing circuits composed of two one-way valves and two overflow valves. By setting the pressure thresholds of the respective overflow valves, the two first oil cylinders maintain a certain back pressure value in the first circuit to ensure that the first telescopic rod can work smoothly when in the extended / retracted working state, and the second oil cylinder maintains a certain back pressure value in the second circuit to ensure that the second telescopic rod can work smoothly when in the extended / retracted working state.

[0015] Furthermore, a first pressure sensor is added to the first oil branch circuit and the second oil branch circuit respectively, and a second pressure sensor is added to the third oil branch circuit and the fourth oil branch circuit respectively. The first pressure sensor and the second pressure sensor feed back the measurement signal to the PLC control unit, so as to facilitate real-time adjustment of the first circuit and the hydraulic oil pressure required for the first circuit.

[0016] Furthermore, the first oil branch circuit and the second oil branch circuit are respectively provided with a first one-way air venting device for timely removing the air entering the first oil branch circuit and the second oil branch circuit; the third oil branch circuit and the fourth oil branch circuit are respectively provided with a second one-way air venting device for timely removing the air entering the third oil branch circuit and the fourth oil branch circuit.

[0017] Furthermore, the first circuit also includes a first speed regulating valve, and the second circuit also includes a second speed regulating valve, the first speed regulating valve controls the extension / retraction rate of the first telescopic rod of the first oil cylinder, and the second speed regulating valve controls the extension / retraction rate of the second telescopic rod of the second oil cylinder.

[0018] The most preferred connection circuit of the hydraulic system of the present invention is that the first oil branch and the second oil branch are respectively connected in sequence to a first speed regulating valve, a first electromagnetic reversing valve group, a first double hydraulically controlled one-way valve group, a first balancing valve group, a first two-way brake valve group and a cylinder synchronization valve group, a first speed regulating valve is added between the oil supply passage and the first electromagnetic reversing valve group, a first pressure sensor is added to the first oil branch and the second oil branch between the cylinder synchronization valve group and the first two-way brake valve group, and a first one-way air release device is added to the first oil branch and the second oil branch;

[0019] The third branch oil circuit and the fourth branch oil circuit are respectively connected in sequence to a second speed regulating valve, a second electromagnetic reversing valve group, a second double hydraulically controlled one-way valve group, a second balancing valve group and a second two-way brake valve group, a second speed regulating valve is added between the oil supply passage and the second electromagnetic reversing valve group, a second pressure sensor is added at a position close to the second oil cylinder in the third branch oil circuit and the fourth branch oil circuit, and a second one-way air release device is added in the third branch oil circuit and the fourth branch oil circuit;

[0020] The first balancing valve group and the second balancing valve group are respectively a balancing circuit composed of two one-way valves and two relief valves. By setting the pressure thresholds of the respective relief valves, the two first oil cylinders maintain a certain back pressure value in the first branch oil circuit and the second branch oil circuit to ensure that the first telescopic rod can work smoothly when in the extended / retracted working state, and the second oil cylinder maintains a certain back pressure value in the third branch oil circuit and the fourth branch oil circuit to ensure that the second telescopic rod can work smoothly when in the extended / retracted working state;

[0021] The first pressure sensor and the second pressure sensor feed back the measurement signals to the PLC control unit, so as to facilitate real-time adjustment of the first circuit and the hydraulic oil pressure required by the first circuit;

[0022] The first one-way air release device is used to timely remove the air entering the first oil branch circuit and the second oil branch circuit; the second one-way air release device is used to timely remove the air entering the third oil branch circuit and the fourth oil branch circuit;

[0023] The first speed regulating valve is used to control the extension / contraction rate of the first telescopic rod of the first oil cylinder, and the second speed regulating valve is used to control the extension / contraction rate of the second telescopic rod of the second oil cylinder.

[0024] The first circuit and the second circuit adopt the above-mentioned connection sequence. Taking the first circuit as an example, the first solenoid reversing valve is arranged before the first two-way brake valve group and the first double hydraulically controlled one-way valve group, which can better reduce the hydraulic shock caused by the first solenoid reversing valve switching to the middle position, and when the first solenoid reversing valve returns to the middle position, the control pressure of the first hydraulically controlled one-way valve can be immediately released, the first hydraulically controlled one-way valve is immediately closed, and the first telescopic rod of the first oil cylinder is immediately locked, so that it has good stability. The hydraulic connection sequence of the second circuit is consistent with that of the first circuit and will not be repeated.

[0025] In order to achieve the second invention purpose of the present invention, the present invention discloses the use of the hydraulic system to achieve accurate and stable control of the moving trajectory of the control end of the blind spot crushing device of the shield machine. The blind spot crushing device is a straight rod component, one end of which is the control end and the other end is the working end. At the same time, the middle part thereof has a hinged connection part, and a movable connection with the hinged connection part as the rotation center is realized through the hinged connection part and the corresponding external component. The control end of the blind spot crushing device is hinged to the second object, and the second object can be relatively displaced with the first object in the horizontal direction, but cannot be relatively displaced in the vertical direction. The two first oil cylinders act on the two ends of the first object to realize the displacement of the first object in the vertical direction and drive the displacement of the second object in the vertical direction at the same time. The second oil cylinder is used to drive the second object to swing in the horizontal direction, thereby realizing the control of the moving trajectory of the control end of the blind spot crushing device, and finally controlling the moving trajectory of the working end of the blind spot crushing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The detailed description given as non-limiting examples better explains what the invention consists of and how it can be implemented, and furthermore, refers to the accompanying drawings, in which:

[0027] Figure 1 It is a reference diagram of the state in which the first electromagnetic reversing valve group and the second electromagnetic reversing valve group of the hydraulic system of the present invention are in the middle position;

[0028] Figure 2 It is a reference diagram of the state in which the first electromagnetic reversing valve group and the second electromagnetic reversing valve group of the hydraulic system of the present invention are in the forward control position;

[0029] Figure 3 It is a schematic diagram of the flow direction of the hydraulic oil of the first two-way brake valve group of the hydraulic system of the present invention when the first electromagnetic reversing valve group is switched from the forward control position to the middle position;

[0030] Figure 4 It is a control principle diagram of the PLC control unit of the hydraulic system of the present invention;

[0031] Figure 5It is a reference diagram of the state in which the first electromagnetic reversing valve group and the second electromagnetic reversing valve group of the hydraulic system of the present invention are in the reverse control position;

[0032] Figure 6 It is a top view schematic diagram of the hydraulic system of the present invention applied to the blind zone crushing device of the shield machine;

[0033] Figure 7 It is a three-dimensional schematic diagram of the hydraulic system of the present invention applied to the blind zone crushing device of the shield machine. DETAILED DESCRIPTION

[0034] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] A hydraulic system such as Figure 1 , it comprises: an oil supply passage A, an oil return passage B, two first oil cylinders 1 and a second oil cylinder 2, the two first oil cylinders 1 are respectively arranged in parallel and spaced apart in the vertical direction, the first telescopic rods 11 of the two first oil cylinders 1 are respectively hinged to the two ends of the first object M, and are used to drive the first object M to move along the first plane direction; the second telescopic rod 21 of the second oil cylinder 2 is hinged to the second object N, and is used to drive the second object N to move along the second plane direction, the first plane defined in this embodiment is a vertical plane, the second plane is a horizontal plane, and the second plane is perpendicular to the first plane;

[0036] The oil supply passage A is connected to the oil tank a2, the oil pump a4 with the servo motor a3 and the safety valve group a5 in sequence through an oil inlet pipeline a1. Preferably, a filter a6 is provided between the oil tank a2 and the oil pump a4 to reduce the impurities in the hydraulic oil entering the oil pump a4. The servo motor a3 is connected to the PLC control unit 3 and adjusts the speed of the servo motor a3 by receiving the control command issued by the PLC control unit 3, thereby changing the output pressure of the oil pump a4. The safety valve group a5 can control the pressure in the whole system according to actual needs to ensure the safe operation of the system.

[0037] The oil return passage B is connected to the oil return tank b2 via an oil return pipeline b1.

[0038] It also includes a first circuit C for controlling two first oil cylinders 1 and a second circuit D for controlling a second oil cylinder 2; the first circuit C includes a first branch oil circuit I connected to the rod chambers of the two first oil cylinders 1 and a second branch oil circuit II connected to the rodless chambers of the two first oil cylinders 1, such as Figure 1As shown, the first oil branch circuit I and the second oil branch circuit II are respectively connected in sequence to a first speed regulating valve 12, a first electromagnetic reversing valve group 13, a first double-hydraulic one-way valve group 14, a first balancing valve group 15, a first two-way brake valve group 16 and a cylinder synchronization valve group 17, a first pressure sensor 18 is added to the first oil branch circuit I and the second oil branch circuit II between the cylinder synchronization valve group 17 and the first two-way brake valve group 16, and a first one-way air release device 19 is added to the first oil branch circuit I and the second oil branch circuit II; at the same time, a first displacement sensor E is also built in each of the two first oil cylinders 1, and the displacement of the first telescopic rod 11 is measured by the first displacement sensor E; the oil supply passage A is selectively connected to the first oil branch circuit I / the second oil branch circuit II, and the oil return passage B is connected to the corresponding second oil branch circuit II / the first oil branch circuit I.

[0039] The first speed regulating valve 12 is used to control the extension / retraction rate of the first telescopic rod 11 of the first oil cylinder 1; the first electromagnetic reversing valve group 13 is a three-position four-way electromagnetic reversing valve, and the extension, retraction and pressure maintenance of the first telescopic rod 11 of the first oil cylinder 1 are realized by the first electromagnetic reversing valve group 13; the first double hydraulically controlled one-way valve group 14 is an interlocking circuit composed of two hydraulically controlled one-way valves, and the first double hydraulically controlled one-way valve group 14 is used to realize that when the first electromagnetic reversing valve group 13 is switched to the middle pressure maintenance state, its first telescopic rod 11 can be in a long-term pressure maintenance locking state; the first balancing valve group 15 is a balancing circuit composed of two one-way valves and two relief valves, and by setting the pressure threshold of each relief valve, the two first oil cylinders 1 are in the first A certain back pressure value is maintained in the first circuit C to ensure that the first telescopic rod 11 can work smoothly when it is in the extended / retracted working state; the first two-way brake valve group 16 is composed of a bridge circuit composed of four one-way valves and a relief valve. The first two-way brake valve group 16 ensures that the first telescopic rod 11 of the first oil cylinder 1 can achieve stable braking when it switches from the extended state to the pressure-maintaining state, or from the retracted state to the pressure-maintaining state; the cylinder synchronization valve group 17 includes two proportional speed control valves 171 and two bridge throttling circuits composed of four one-way valves. The proportional speed control valves 171 are installed in their respective bridge throttling circuits to achieve synchronous displacement of the first telescopic rods 11 of the two first oil cylinders 1.

[0040] The second circuit D includes a third oil branch circuit III connected to a rod chamber of a second oil cylinder 2 and a fourth oil branch circuit IV connected to a rodless chamber of a second oil cylinder 2. The third oil branch circuit III and the fourth oil branch circuit IV are respectively connected to a second speed regulating valve 22, a second electromagnetic reversing valve group 23, a second double-hydraulic one-way valve group 24, a second balancing valve group 25 and a second two-way brake valve group 26 in sequence. A second pressure sensor 27 is added to the third oil branch circuit III and the fourth oil branch circuit IV near the second oil cylinder 2, and a second one-way air release device 28 is added to the third oil branch circuit III and the fourth oil branch circuit IV. At the same time, a second displacement sensor F is also built into the second oil cylinder 2, and the displacement of the second telescopic rod 21 is measured by the second displacement sensor F. The oil supply passage A is selectively connected to the third oil branch circuit III / the fourth oil branch circuit IV, and the oil return passage B is connected to the corresponding fourth oil branch circuit IV / the third oil branch circuit III.

[0041] The second speed regulating valve 22 is used to control the extension / retraction rate of the second telescopic rod 21 of the second oil cylinder 2; the second electromagnetic reversing valve group 23 is a three-position four-way electromagnetic reversing valve, through which the second telescopic rod 21 of the second oil cylinder 2 is extended, retracted and pressure-maintained; the second double hydraulically controlled one-way valve group 24 is an interlocking circuit composed of two hydraulically controlled one-way valves, through which the second double hydraulically controlled one-way valve group 24 is used to realize that when the second oil cylinder 2 is in a pressure-maintaining state, its second telescopic rod 21 is in a long-term pressure-maintaining locking state; the second balance valve group 25 is two one-way A balancing circuit composed of a valve and two overflow valves, by setting the pressure threshold values ​​of the respective overflow valves, allows a second oil cylinder 2 to maintain a certain back pressure value in the second circuit D to ensure that the second telescopic rod 21 can work smoothly when it is in the extended / retracted working state; the second two-way brake valve group 26 is composed of a bridge circuit composed of four one-way valves plus a overflow valve. The second two-way brake valve group 26 ensures that when the second telescopic rod 21 of the second oil cylinder 2 switches from the extended state to the pressure-maintaining state, or switches from the retracted state to the pressure-maintaining state, stable braking of the second telescopic rod 21 can be achieved.

[0042] A PLC control unit 3 receives the signal fed back by the first displacement sensor E and issues control instructions to the first electromagnetic reversing valve group 13 and the proportional speed regulating valve 171 of the cylinder synchronization valve group 17, thereby realizing the synchronous displacement of the first telescopic rods 11 of the two first oil cylinders 1 and accurately controlling their displacement; at the same time, it receives the signal fed back by the second displacement sensor F and issues control instructions to the second electromagnetic reversing valve group 23, thereby realizing the accurate control of the displacement of the second telescopic rod 21 of the second oil cylinder 2; it receives the pressure signals fed back by the first pressure sensor 18 and the second pressure sensor 27, and controls the opening size of the oil pump a4 of the oil supply passage A, so as to adjust the hydraulic oil pressure required by the first circuit C and the second circuit D in real time.

[0043] The first one-way air venting device 19 is used to promptly remove the air entering the first oil branch circuit I and the second oil branch circuit II; the second one-way air venting device 28 is used to promptly remove the air entering the third oil branch circuit III and the fourth oil branch circuit IV.

[0044] Specific working principle:

[0045] Taking the extension of the first telescopic rods 11 of the two first oil cylinders 1 as an example, the PLC control unit 3 sends a control instruction to the first electromagnetic reversing valve group 13, and the first electromagnetic reversing valve group 13 switches to the forward control position, such as Figure 2As shown, the first electromagnetic reversing valve group 13 is forwardly conducted, and the oil supply passage A supplies hydraulic oil to the second oil branch passage II. At this time, the second oil branch passage II is the oil inlet passage, and the hydraulic oil passes through the interlocking circuit of the first double hydraulically controlled one-way valve group 14. The left one-way valve is conducted under the action of the hydraulic oil pressure, and at the same time, the hydraulic oil pressure causes the right hydraulically controlled one-way valve to flow in the reverse direction; in the balancing circuit of the first balancing valve group 15 composed of two one-way valves and a relief valve, the left one-way valve is conducted under the action of the hydraulic oil pressure. At the same time, the hydraulic oil pressure provides a certain oil pressure to the pilot oil port of the right relief valve, and the hydraulic oil flows through the first two-way brake valve group 16 and passes through the overflow valve. The hydraulic oil is directly connected to the hydraulic cylinder synchronizing valve group 17 through the one-way valve and proportional speed regulating valve 171 of the throttling bridge of the hydraulic cylinder synchronizing valve group 17, and enters the two first hydraulic cylinders 1 respectively, pushing the two first telescopic rods 11 to extend synchronously. At the same time, the built-in first displacement sensors E of the two first hydraulic cylinders 1 immediately transmit the signals of the first displacement sensors E of the two first hydraulic cylinders 1 to the PLC control unit 3, and the signals are transmitted to the hydraulic cylinder synchronizing valve group 17 after processing. The proportional speed regulating valve 171 of the hydraulic cylinder synchronizing valve group 17 controls the hydraulic oil speed in real time, so that the displacement position error of the first telescopic rods 11 of the two first hydraulic cylinders 1 is always within the preset allowable range. After the hydraulic oil flows out from the rod chambers of the two first oil cylinders 1, it merges into the first oil branch circuit I. At this time, the first oil branch circuit I is the return oil circuit, and flows through the overflow bridge brake circuit of the first two-way brake valve group 16 to the first balancing valve group 15. At this time, the hydraulic oil pressure of the pilot port of the right overflow valve of the first balancing valve group 15 pushes the valve core to move, so that the overflow valve is turned on and flows to the interlocking circuit of the first double hydraulic control one-way valve group 14. At this time, the hydraulic control one-way valve on the right side can flow in the reverse direction under the action of the hydraulic oil pressure, and the hydraulic oil can flow to the return oil passage B through the first electromagnetic reversing valve group 13; when the first telescopic rod 11 of the first oil cylinder 1 is extended, when it is necessary to keep the first telescopic rod 11 in the current posture, the PLC control unit 3 sends a control signal to the first electromagnetic reversing valve group 13 to switch the first electromagnetic reversing valve group 13 to the neutral state, such as Figure 1 As shown, the oil inlet passage and the oil return passage B are interconnected, and the hydraulic oil in the first branch oil passage I and the second branch oil passage II no longer circulates. However, in the process of the first telescopic rod 11 switching from the extended state to the stationary state (holding state), the first telescopic rod 11 has the inertia to continue to maintain the original movement trend, as shown in FIG. Figure 3Therefore, at this time, the high-pressure oil discharged from the rod chamber of the first oil cylinder 1 enters the overflow valve for pressure limiting through the one-way valve V2 of the first two-way brake valve group 16. At this time, the hydraulic oil pressure of the pilot oil port of the overflow valve is greater than the spring pressure, and the other side of the overflow valve port is opened to absorb oil from the oil tank a2 of the oil inlet passage by the one-way valve V3, thereby limiting the hydraulic shock generated when the first electromagnetic reversing valve group 13 is switched to the middle position, and stable braking is achieved; at the same time, the two hydraulically controlled one-way valves in the interlocking circuit of the first double hydraulically controlled one-way valve group 14 are quickly closed, and the first double hydraulically controlled one-way valve group 14 does not take in oil in the forward direction and is also blocked in the reverse direction, is not affected by external loads, and is locked quickly, so that the first telescopic rod 11 can remain stationary for a long time.

[0046] When the first telescopic rods 11 of the two first oil cylinders 1 are retracted, Figure 5 As shown, the PLC control unit 3 only needs to transmit the control signal to the first electromagnetic reversing valve group 13, so that the first electromagnetic reversing valve group 13 switches to the reverse control position, so that the two first oil cylinders 1 retract. At this time, the first branch oil circuit I is the oil inlet circuit, and the second branch oil circuit II is the oil return circuit. The control principle is the same as the forward control and will not be repeated.

[0047] The present invention provides a specific use of the hydraulic system, namely, for controlling the moving trajectory of the control end O1 of the blind spot crushing device O of a shield machine. The blind spot crushing device O is a straight rod component, one end of which is the control end O1 and the other end is the working end O2. At the same time, the middle part thereof is provided with a hinged connection part O3, and a movable connection with the hinged connection part O3 as the rotation center is realized through the hinged connection part O3 and the corresponding external component. The control end O1 of the blind spot crushing device O is hinged to the second object N, and the second object N can be relatively displaced with the first object M in the horizontal direction, but cannot be relatively displaced in the vertical direction. The two first oil cylinders 1 act on the two ends of the first object M, and are used to realize the displacement of the first object M in the vertical direction, and at the same time drive the displacement of the second object N in the vertical direction. The second oil cylinder 2 is used to drive the second object N to swing in the horizontal direction, thereby realizing the control of the moving trajectory of the control end O1 of the blind spot crushing device O, and finally controlling the moving trajectory of the working end O2 of the blind spot crushing device O.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms should not be understood as necessarily being directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0051] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A hydraulic system comprising: An oil supply passage (A), an oil return passage (B), two first oil cylinders (1) and a second oil cylinder (2), wherein the two first oil cylinders (1) are arranged in parallel and spaced apart in a vertical direction, and the first telescopic rods (11) of the two first oil cylinders (1) are respectively hinged to the two ends of a first object (M) for driving the first object (M) to move in a first plane direction; the second telescopic rod (21) of the second oil cylinder (2) is hinged to the second object (N) for driving the second object (N) to move in a second plane direction, and the second plane is perpendicular to the first plane; The invention is characterized in that it further comprises a first circuit (C) for controlling two first oil cylinders (1) and a second circuit (D) for controlling a second oil cylinder (2); The first circuit (C) comprises a first oil branch circuit (I) connected to the rod chambers of the two first oil cylinders (1) and a second oil branch circuit (II) connected to the rodless chambers of the two first oil cylinders (1), the first oil branch circuit (I) and the second oil branch circuit (II) respectively connected to a first electromagnetic reversing valve group (13), a first double hydraulically controlled one-way valve group (14), a first bidirectional brake valve group (16) and a cylinder synchronization valve group (17), the oil supply passage (A) selectively connects the first oil branch circuit (I) and the second oil branch circuit (II) to form a first electromagnetic reversing valve group (13), a first double hydraulically controlled one-way valve group (14), a first bidirectional brake valve group (16) and a cylinder synchronization valve group (17). The oil return passage (B) is connected to the corresponding second branch oil passage (II) / first branch oil passage (I); at the same time, a first displacement sensor (E) is built into each of the two first oil cylinders (1); the oil cylinder synchronization valve group (17) comprises two proportional speed regulating valves (171) and two bridge throttling circuits composed of a plurality of one-way valves; the proportional speed regulating valves (171) are installed in the respective bridge throttling circuits to achieve synchronous displacement of the first telescopic rods (11) of the two first oil cylinders (1); The second circuit (D) comprises a third oil branch circuit (III) connected to a rod chamber of a second oil cylinder (2) and a fourth oil branch circuit (IV) connected to a rodless chamber of a second oil cylinder (2); the third oil branch circuit (III) and the fourth oil branch circuit (IV) are respectively connected to a second electromagnetic reversing valve group (23), a second double hydraulically controlled one-way valve group (24) and a second two-way brake valve group (26); the oil supply circuit (A) is selectively connected to the third oil branch circuit (III) / the fourth oil branch circuit (IV), and the oil return circuit (B) is connected to the corresponding fourth oil branch circuit (IV) / the third oil branch circuit (III); and a second displacement sensor (F) is also built in the second oil cylinder (2); A PLC control unit (3) receives a signal fed back by a first displacement sensor (E) and issues a control instruction to a first electromagnetic reversing valve and a proportional speed regulating valve (171) of a cylinder synchronization valve group (17), thereby achieving synchronous displacement of first telescopic rods (11) of two first cylinders (1) and accurately controlling the displacement amount thereof; and simultaneously receives a signal fed back by a second displacement sensor (F) and issues a control instruction to a second electromagnetic reversing valve, thereby accurately controlling the displacement amount of a second telescopic rod (21) of a second cylinder (2).

2. The hydraulic system according to claim 1, characterized in that: The first electromagnetic reversing valve and the second electromagnetic reversing valve are respectively three-position four-way electromagnetic reversing valves, and the first electromagnetic reversing valve is used to realize the extension, retraction and pressure maintenance of the first telescopic rod (11) of the first oil cylinder (1), and the second electromagnetic reversing valve is used to realize the extension, retraction and pressure maintenance of the second telescopic rod (21) of the second oil cylinder (2).

3. The hydraulic system according to claim 1, characterized in that: The first double hydraulically controlled one-way valve group (14) and the second double hydraulically controlled one-way valve group (24) are respectively interlocking circuits composed of two hydraulically controlled one-way valves. When the first oil cylinder (1) is in a pressure-maintaining state, the first telescopic rod (11) thereof is in a long-term pressure-maintaining locking state. When the second oil cylinder (2) is in a pressure-maintaining state, the second telescopic rod (21) thereof is in a long-term pressure-maintaining locking state.

4. The hydraulic system according to claim 1, characterized in that: The first two-way brake valve group (16) and the second two-way brake valve group (26) are composed of a bridge circuit composed of four one-way valves and a relief valve. The first two-way brake valve group (16) ensures that when the first telescopic rod (11) of the first oil cylinder (1) switches from an extended state to a pressure-maintaining state, or switches from a retracted state to a pressure-maintaining state, stable braking of the first telescopic rod (11) can be achieved. The second two-way brake valve group (26) ensures that when the second telescopic rod (21) of the second oil cylinder (2) switches from an extended state to a pressure-maintaining state, or switches from a retracted state to a pressure-maintaining state, stable braking of the second telescopic rod (21) can be achieved.

5. The hydraulic system according to claim 1, characterized in that: The first circuit (C) further comprises a first balancing valve group (15), and the second circuit (D) further comprises a second balancing valve group (25). The first balancing valve group (15) and the second balancing valve group (25) are balancing circuits respectively composed of two one-way valves and two overflow valves. By setting the pressure thresholds of the respective overflow valves, the two first oil cylinders (1) maintain a certain back pressure value in the first circuit (C) to ensure that the first telescopic rod (11) can work smoothly when in an extended / retracted working state, and the second oil cylinders (2) maintain a certain back pressure value in the second circuit (D) to ensure that the second telescopic rod (21) can work smoothly when in an extended / retracted working state.

6. The hydraulic system according to any one of claims 1 to 5, characterized in that: The hydraulic system is used to control the moving trajectory of the control end (O1) of the blind area crushing device (O) of the shield machine. The blind area crushing device (O) is a straight rod component, one end of which is the control end (O1) and the other end is the working end (O2). At the same time, the middle part thereof has a hinged connection part (O3). Through the hinged connection part (O3) and the corresponding external component, a movable connection with the hinged connection part (O3) as the rotation center is realized. The control end (O1) of the blind area crushing device (O) is hinged to a second object (N), and the second object (N) can be The first object (M) can be displaced relative to the first object (M) in the horizontal direction, but cannot be displaced relative to the first object (M) in the vertical direction. The two first oil cylinders (1) act on the two ends of the first object (M) to realize the displacement of the first object (M) in the vertical direction, and at the same time drive the displacement of the second object (N) in the vertical direction. The second oil cylinder (2) is used to drive the second object (N) to swing in the horizontal direction, thereby realizing the control of the activity trajectory of the control end (O1) of the blind spot crushing device (O), and finally controlling the activity trajectory of the working end (O2) of the blind spot crushing device (O).

7. The hydraulic system according to claim 1 or 5, characterized in that: The first oil branch circuit (I) and the second oil branch circuit (II) are each additionally provided with a first pressure sensor (18), and the third oil branch circuit (III) and the fourth oil branch circuit (IV) are each additionally provided with a second pressure sensor (27). The first pressure sensor (18) and the second pressure sensor (27) feed back measurement signals to the PLC control unit (3), so as to facilitate real-time adjustment of the hydraulic oil pressure required for the first circuit (C) and the second circuit (D).

8. The hydraulic system according to claim 7, characterized in that: The hydraulic system is used to control the moving trajectory of the control end (O1) of the blind area crushing device (O) of the shield machine. The blind area crushing device (O) is a straight rod component, one end of which is the control end (O1) and the other end is the working end (O2). At the same time, the middle part thereof has a hinged connection part (O3). Through the hinged connection part (O3) and the corresponding external component, a movable connection with the hinged connection part (O3) as the rotation center is realized. The control end (O1) of the blind area crushing device (O) is hinged to a second object (N), and the second object (N) can be The first object (M) can be displaced relative to the first object (M) in the horizontal direction, but cannot be displaced relative to the first object (M) in the vertical direction. The two first oil cylinders (1) act on the two ends of the first object (M) to realize the displacement of the first object (M) in the vertical direction, and at the same time drive the displacement of the second object (N) in the vertical direction. The second oil cylinder (2) is used to drive the second object (N) to swing in the horizontal direction, thereby realizing the control of the activity trajectory of the control end (O1) of the blind spot crushing device (O), and finally controlling the activity trajectory of the working end (O2) of the blind spot crushing device (O).

9. The hydraulic system according to claim 1 or 5, characterized in that: The first oil branch circuit (I) and the second oil branch circuit (II) are respectively provided with a first one-way air release device (19) for timely removing air entering the first oil branch circuit (I) and the second oil branch circuit (II); the third oil branch circuit (III) and the fourth oil branch circuit (IV) are respectively provided with a second one-way air release device (28) for timely removing air entering the third oil branch circuit (III) and the fourth oil branch circuit (IV).

10. The hydraulic system according to claim 9, characterized in that: The hydraulic system is used to control the moving trajectory of the control end (O1) of the blind area crushing device (O) of the shield machine. The blind area crushing device (O) is a straight rod component, one end of which is the control end (O1) and the other end is the working end (O2). At the same time, the middle part thereof has a hinged connection part (O3). Through the hinged connection part (O3) and the corresponding external component, a movable connection with the hinged connection part (O3) as the rotation center is realized. The control end (O1) of the blind area crushing device (O) is hinged to a second object (N), and the second object (N) can be The first object (M) can be displaced relative to the first object (M) in the horizontal direction, but cannot be displaced relative to the first object (M) in the vertical direction. The two first oil cylinders (1) act on the two ends of the first object (M) to realize the displacement of the first object (M) in the vertical direction, and at the same time drive the displacement of the second object (N) in the vertical direction. The second oil cylinder (2) is used to drive the second object (N) to swing in the horizontal direction, thereby realizing the control of the activity trajectory of the control end (O1) of the blind spot crushing device (O), and finally controlling the activity trajectory of the working end (O2) of the blind spot crushing device (O).

11. The hydraulic system according to claim 1 or 5, characterized in that: The first circuit (C) further comprises a first speed regulating valve (12), and the second circuit (D) further comprises a second speed regulating valve (22), wherein the first speed regulating valve (12) controls the extension / contraction rate of the first telescopic rod (11) of the first oil cylinder (1), and the second speed regulating valve (22) controls the extension / contraction rate of the second telescopic rod (21) of the second oil cylinder (2).

12. The hydraulic system according to claim 11, characterized in that: The hydraulic system is used to control the moving trajectory of the control end (O1) of the blind area crushing device (O) of the shield machine. The blind area crushing device (O) is a straight rod component, one end of which is the control end (O1) and the other end is the working end (O2). At the same time, the middle part thereof has a hinged connection part (O3). Through the hinged connection part (O3) and the corresponding external component, a movable connection with the hinged connection part (O3) as the rotation center is realized. The control end (O1) of the blind area crushing device (O) is hinged to a second object (N), and the second object (N) can be The first object (M) can be displaced relative to the first object (M) in the horizontal direction, but cannot be displaced relative to the first object (M) in the vertical direction. The two first oil cylinders (1) act on the two ends of the first object (M) to realize the displacement of the first object (M) in the vertical direction, and at the same time drive the displacement of the second object (N) in the vertical direction. The second oil cylinder (2) is used to drive the second object (N) to swing in the horizontal direction, thereby realizing the control of the activity trajectory of the control end (O1) of the blind spot crushing device (O), and finally controlling the activity trajectory of the working end (O2) of the blind spot crushing device (O).

13. The hydraulic system according to any one of claims 1 to 4, characterized in that: The first oil branch (I) and the second oil branch (II) are respectively connected in sequence to a first speed regulating valve (12), a first electromagnetic reversing valve group (13), a first double-hydraulic controlled one-way valve group (14), a first balancing valve group (15), a first two-way brake valve group (16) and a cylinder synchronization valve group (17); the first speed regulating valve (12) is additionally provided between the oil supply passage (A) and the first electromagnetic reversing valve group (13); a first pressure sensor (18) is additionally provided on the first oil branch (I) and the second oil branch (II) between the cylinder synchronization valve group (17) and the first two-way brake valve group (16); and a first one-way air release device (19) is additionally provided on the first oil branch (I) and the second oil branch (II); The third oil branch (III) and the fourth oil branch (IV) are respectively connected in sequence to a second speed regulating valve (22), a second electromagnetic reversing valve group (23), a second double-hydraulic controlled one-way valve group (24), a second balancing valve group (25) and a second two-way brake valve group (26); a second speed regulating valve (22) is added between the oil supply passage (A) and the second electromagnetic reversing valve group (23); a second pressure sensor (27) is added to the third oil branch (III) and the fourth oil branch (IV) at a position close to the second oil cylinder (2); and a second one-way air release device (28) is added to the third oil branch (III) and the fourth oil branch (IV); The first balancing valve group (15) and the second balancing valve group (25) are respectively balancing circuits composed of two one-way valves and two overflow valves. By setting the pressure thresholds of the respective overflow valves, the two first oil cylinders (1) maintain a certain back pressure value in the first branch oil circuit (I) and the second branch oil circuit (II) to ensure that the first telescopic rod (11) can work smoothly when in an extended / retracted working state, and the second oil cylinder (2) maintains a certain back pressure value in the third branch oil circuit (III) and the fourth branch oil circuit (IV) to ensure that the second telescopic rod (21) can work smoothly when in an extended / retracted working state; The first pressure sensor (18) and the second pressure sensor (27) feed back the measurement signals to the PLC control unit (3), so as to facilitate real-time adjustment of the hydraulic oil pressure required by the first circuit (C) and the second circuit (D); The first one-way air release device (19) is used to timely remove the air entering the first oil branch path (I) and the second oil branch path (II); the second one-way air release device (28) is used to timely remove the air entering the third oil branch path (III) and the fourth oil branch path (IV); The first speed regulating valve (12) is used to control the extension / contraction rate of the first telescopic rod (11) of the first oil cylinder (1), and the second speed regulating valve (22) is used to control the extension / contraction rate of the second telescopic rod (21) of the second oil cylinder (2).

14. The hydraulic system according to claim 13, characterized in that: The hydraulic system is used to control the moving trajectory of the control end (O1) of the blind area crushing device (O) of the shield machine. The blind area crushing device (O) is a straight rod component, one end of which is the control end (O1) and the other end is the working end (O2). At the same time, the middle part thereof has a hinged connection part (O3). Through the hinged connection part (O3) and the corresponding external component, a movable connection with the hinged connection part (O3) as the rotation center is realized. The control end (O1) of the blind area crushing device (O) is hinged to a second object (N), and the second object (N) can be The first object (M) can be displaced relative to the first object (M) in the horizontal direction, but cannot be displaced relative to the first object (M) in the vertical direction. The two first oil cylinders (1) act on the two ends of the first object (M) to realize the displacement of the first object (M) in the vertical direction, and at the same time drive the displacement of the second object (N) in the vertical direction. The second oil cylinder (2) is used to drive the second object (N) to swing in the horizontal direction, thereby realizing the control of the activity trajectory of the control end (O1) of the blind spot crushing device (O), and finally controlling the activity trajectory of the working end (O2) of the blind spot crushing device (O).

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