A double-degree-of-freedom cylindrical cutterhead and its driving system

Abstract

The present invention discloses a double-degree-of-freedom cylindrical cutter disc and its driving system, including a cutter disc holder, the cutter disc holder is connected to at least one roller cutter disc unit, the roller cutter disc unit includes a hydraulic motor group connected to the cutter disc holder, the hydraulic motor group is drivingly connected to a gear ring, the gear ring is connected to an annular transmission support body, the inner wall of the transmission support body is rotatably arranged on a spindle, the outer wall is connected to a roller, a rock-breaking tool is arranged on the outer circumferential surface of the roller, the cutter disc holder is slidably matched with the main body of the tunnel boring machine through an axial driving mechanism, and the sliding direction of the cutter disc holder intersects with the axial direction of the spindle. The present invention is equipped with two independently driven cylindrical cutter discs on the left and right, each of which is jointly driven by a plurality of hydraulic motors, and can realize the independent decoupling of the cylindrical cutter discs on both sides to cut the rock wall, improve the rock breaking efficiency and geological adaptability, and can realize the cutting of the lateral rock wall by the cutter disc, eliminating the blind area of ​​the cutter disc cutting.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel boring machine cutter discs, in particular to a double-freedom cylindrical cutter disc and a driving system thereof. Background Art

[0002] With the increasing demand for rectangular underground spaces such as urban underground crossings and underground parking lots, rectangular shield technology has attracted widespread attention from researchers and has become one of the current research hotspots for tunnel boring machines. For rectangular shield machines, the design of the cutterhead system has always been a huge challenge. Traditional rectangular shield machines often use multiple sets of rotating cutterheads for combined cutting, semi-cylindrical cutterheads for reciprocating cutting, and other forms. Multiple sets of rotating cutterheads often have blind areas for excavation, which not only brings huge challenges to the design of the cutterhead drive system, but also affects the pressure stability of the sealed cabin and the geotechnical stability of the excavation face, which can easily cause geotechnical instability.

[0003] The Chinese invention patent application with an application publication date of 2022.03.04 and application publication number CN 114135309 A discloses a rectangular cross-section excavation cutter disc, comprising a plurality of axially arranged rollers, each of which has a roller cutter on its outer periphery; the plurality of rollers include two outer rollers located on the outside; the axis of the outer roller is inclined rearward in a direction pointing outward from the center of the cutter disc; the roller cutters of the outer roller include outer roller cutters, and at least one of the outer roller cutters extends outward to the outside of the end surface of the outer roller.

[0004] The technical solution disclosed in the above-mentioned invention patent application alleviates the technical problem of the difficulty in achieving full-section excavation of rectangular tunnels, but the width of the cutting section is limited, and the rock breaking efficiency and geological adaptability need to be improved. In addition, the power structure and drive system of the cutter head are not disclosed, and the driving power of the cutter head disclosed in the prior art needs to be improved. Summary of the invention

[0005] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a dual-degree-of-freedom cylindrical cutterhead and its drive system, which solves the technical problems of the existing rectangular tunnel boring machines with limited excavation section size, low excavation efficiency and need to improve power.

[0006] The technical solution of this application is:

[0007] A cylindrical cutter disc with two degrees of freedom comprises a cutter disc holder, the cutter disc holder is connected to at least one roller cutter disc unit, the roller cutter disc unit comprises a hydraulic motor group connected to the cutter disc holder, the hydraulic motor group is drivingly connected to a gear ring, the gear ring is connected to an annular transmission support body, the inner wall of the transmission support body is rotatably arranged on a spindle, the outer wall is connected to a roller, a rock breaking tool is arranged on the outer peripheral surface of the roller, the cutter disc holder is slidably matched with a tunnel boring machine body through an axial drive mechanism, and the sliding direction of the cutter disc holder intersects with the axial direction of the spindle.

[0008] Furthermore, two of the drum cutter disc units are provided, and the two drum cutter disc units are symmetrically arranged about the cutter disc retaining frame.

[0009] Furthermore, rock breaking cutters are arranged on the left and right end surfaces of the drum.

[0010] Furthermore, the rock breaking tools are roller cutters or picks, the rock breaking tools on the left and right end surfaces are arranged in a ring shape along the end surface of the drum, and the rock breaking tools on the outer peripheral surface are arranged in several rows along the axial direction of the drum.

[0011] Furthermore, when the rock breaking tool is a roller cutter, a plurality of rows of grooves are provided along the axial direction of the drum, and the roller cutter is obliquely installed in the groove and the top thereof protrudes out of the groove.

[0012] Furthermore, the axial drive mechanism includes a hydraulic cylinder arranged between the tunnel boring machine body and the cutter disc holder, and a sliding-fitting guide structure is arranged between the cutter disc holder and the tunnel boring machine body.

[0013] Furthermore, the hydraulic cylinder is a double-acting double-rod hydraulic cylinder, the cylinder barrel of the double-acting double-rod hydraulic cylinder is fixedly connected to the cutter disc retainer, and the piston rod of the double-acting double-rod hydraulic cylinder is connected to the tunnel boring machine body.

[0014] Furthermore, an annular driven support body is rotatably arranged on the spindle, the inner wall of the driven support body is rotatably arranged on the spindle, and the outer wall is connected to the inner wall of the drum.

[0015] Furthermore, the transmission support body and the driven support body are both spoke-plate annular support bodies, and the inner annular surface of the spoke-plate annular support body is rotatably matched with the spindle through a bearing.

[0016] Furthermore, the hydraulic motor group is connected to the cutter disc holder via a connecting bridge, the connecting bridge is a stepped structure, the smaller end of the connecting bridge is connected to the cutter disc holder, and the larger end of the connecting bridge is circumferentially arranged with the hydraulic motor group, and the output shaft of each hydraulic motor is connected to a gear, and the gear is meshed with the ring gear.

[0017] Furthermore, when two of the drum cutter units are provided, the cutting process is as follows: a coordinate system is established with the centroid O of the excavation section as the origin, wherein the x-axis represents the position of the symmetry center E of the left and right drum cutter units relative to the coordinate system, and the y-axis represents the position of the four end faces of the two drum cutter units relative to the coordinate system. In the process of the rectangular tunnel boring machine continuously excavating in the forward direction, the main cutting surfaces of the two drum cutter units continuously cut the rock wall in front, and the axial reciprocating cutting of the drum cutter units is controlled by the axial drive mechanism to clear the excavation blind area;

[0018] The distance between the two rollers of the two roller cutter heads is recorded as L3, and L1 and L5 are both greater than or equal to half of L3; when the axial drive mechanism drives the cutter head holder to move left relative to the tunnel boring machine body, the roller cutter head unit moves left along the axis of the spindle, and continuously cuts the rock wall under the action of the rock breaking tool; when the roller cutter head unit moves a distance L1 to the left relative to the origin O of the coordinate system, the axial drive mechanism drives the cutter head holder to move right, and the roller cutter head unit moves right along the axis of the spindle, and continuously cuts the rock wall under the action of the rock breaking tool; when the roller cutter head unit moves a distance L5 to the right relative to the origin O of the coordinate system, the two roller cutter head units complete an axial cutting stroke, achieve complete cutting of the rock wall, and eliminate blind spots in tunneling.

[0019] The driving system of the cylindrical cutter disc includes a first hydraulic system and a second hydraulic system for respectively controlling two hydraulic motor groups;

[0020] The first hydraulic system comprises a cartridge valve group 1 and a cartridge valve group 2, and each hydraulic motor is provided with a stop valve at both ends, wherein one stop valve is respectively connected to the B port of the first variable pump group, the B port of the flushing valve group 1, the safety relief valve 4, the B port of the check valve 13, and the B port of the cartridge valve group 1, and the other stop valve is respectively connected to the B port of the cartridge valve group 2, the safety relief valve 5, the B port of the check valve 12, the A port of the flushing valve group 1 and the A port of the first variable pump group, and the first variable pump group is connected to the first motor group;

[0021] The second hydraulic system includes a cartridge valve group three and a cartridge valve group four, and each of the two ends of each quantitative motor is provided with a stop valve, one of which is respectively connected to the B port of the second variable pump group, the B port of the flushing valve group two, the safety relief valve six, the B port of the check valve fifteen, and the B port of the cartridge valve group three, and the other stop valve is respectively connected to the B port of the cartridge valve group four, the safety relief valve seven, the B port of the check valve fourteen, the A port of the flushing valve group two, and the A port of the second variable pump group, and the second variable pump group is connected to the second motor group.

[0022] Furthermore, it also includes a third hydraulic system for controlling the axial drive mechanism, the third hydraulic system includes a displacement sensor for monitoring the displacement of the double-acting double-rod hydraulic cylinder, and also includes a one-way valve 1 and a one-way valve 2 respectively connected to the two oil chambers of the double-acting double-rod hydraulic cylinder, the one-way valve 1 is respectively connected to the one-way valve 2, the one-way valve 3, the safety overflow valve 2, the variable pump 1, and the one-way valve 5, the one-way valve 2 is respectively connected to the safety overflow valve 1, the one-way valve 4, the variable pump 1 and the one-way valve 6, the one-way valve 3 is connected to the safety overflow valve 1, the one-way valve 4 is connected to the safety overflow valve 2, and the one-way valve 5 is connected to the one-way valve 6.

[0023] Furthermore, it also includes an oil replenishment system, which includes a metering pump and an electric motor 2 connected thereto, one end of the metering pump is connected to the oil tank through a low-pressure oil filter, and the other end is connected to the accumulator through a one-way valve 11, and the accumulator is respectively connected to a one-way valve 5, a one-way valve 6, a one-way valve 7, a one-way valve 8, a one-way valve 9, and a one-way valve 10; the one-way valve 7 is connected to the B port of the first set of variable pump group, the one-way valve 8 is connected to the A port of the first set of variable pump group, the one-way valve 9 is connected to the A port of the second set of variable pump group, and the one-way valve 10 is connected to the B port of the second set of variable pump group.

[0024] Furthermore, it also includes a power assist system, which includes a variable pump four, which is connected to the motor five, the variable pump four A port is respectively connected to the second cartridge valve group A port and the third cartridge valve group A port, the variable pump four B port is respectively connected to the first cartridge valve group A port and the fourth cartridge assembly A port; the first cartridge valve group B port is connected to the one-way valve seven, the second cartridge valve group B port is connected to the one-way valve eight, the third cartridge valve group B port is connected to the one-way valve ten, and the fourth cartridge valve group B port is connected to the one-way valve nine.

[0025] The beneficial effects of the present invention include:

[0026] 1) The present invention has two independently driven cylindrical cutter discs on the left and right, each of which is jointly driven by multiple hydraulic motors, so that the cylindrical cutter discs on both sides can be independently decoupled to cut the rock wall, thereby improving the rock breaking efficiency and geological adaptability;

[0027] 2) The present invention is provided with a standby hydraulic pump (variable pump 4), which is in standby state under normal working conditions and is used to supplement hydraulic oil of a certain pressure into the hydraulic circuit when the cutter head is underpowered;

[0028] 3) The present invention uses a double-acting double-rod hydraulic cylinder to adjust the axial position of the cutterheads on both sides, which can enable the cutterheads to cut the lateral rock wall and eliminate the blind area of ​​the cutterhead cutting. Due to the high cutting linear speed, the cutterhead has an obvious advantage in rock breaking efficiency and can play an important role in rectangular shield machines;

[0029] 4) A system oil replenishment circuit is provided to provide the system with hydraulic oil replenishment at a certain pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 Partial principle of hydraulic control system for hydraulic motor group and axial drive mechanism Figure 1 ;

[0032] Figure 2 Partial principle of hydraulic control system for hydraulic motor group and axial drive mechanism Figure 2 ;

[0033] Figure 3 The exploded view of the double-degree-of-freedom cylindrical cutterhead and the main body of the tunnel boring machine;

[0034] Figure 4 for Figure 2 Rear view of

[0035] Figure 5 It is the front view of the cylindrical cutter head with two degrees of freedom;

[0036] Figure 6 It is a schematic diagram of the cutting end surface of the left and right drum cutter units;

[0037] Figure 7 for Figure 2 Right view of;

[0038] Figure 8 It is the cutting stroke diagram of the cutting section;

[0039] Numbers in the figure:

[0040] 1-Double-acting double-rod hydraulic cylinder, 2-Displacement sensor, 3-Hydraulic control one-way valve, 4-Hydraulic control one-way valve, 5-One-way valve, 6-Safety overflow valve, 7-Safety overflow valve, 8-One-way valve, 9-Variable pump, 10-Three-phase asynchronous motor, 11-One-way valve, 12-Accumulator, 13-One-way valve, 14-One-way valve, 15-One-way valve, 16-One-way valve, 17-One-way valve, 18-Safety overflow valve, 19-One-way valve, 20-Three-phase asynchronous motor, 21-Dosing pump, 22-Low-pressure oil filter , 23-three-phase asynchronous motor three, 24-three-phase asynchronous motor four, 25-variable pump two, 26 variable pump three, 27-flushing valve group one, 28-check valve twelve, 29-safety overflow valve four, 30-safety overflow valve five, 31-check valve thirteen, 32-stop valve one, 33-quantitative motor one, 34-stop valve two, 35-stop valve three, 36-quantitative motor two, 37-stop valve four, 38-stop valve five, 39-quantitative motor three, 40-stop valve six, 41-stop valve seven, 42-quantitative motor four, 43-stop valve 8, 44-two-way cartridge valve group 1, 45-two-way cartridge valve group 2, 46-three-phase asynchronous motor 5, 47-variable pump 4, 48-three-phase asynchronous motor 6, 49-three-phase asynchronous motor 7, 50-variable pump 5, 51-variable pump 6, 52-flushing valve group 2, 53-check valve 14, 54-safety relief valve 6, 55-safety relief valve 7, 56-check valve 15, 57-stop valve 9, 58-quantitative motor 5, 59-stop valve 10, 60-stop valve 11, 61-quantitative motor 6, 62-stop valve 12, 63- Stop valve 13, 64- quantitative motor 7, 65-stop valve 14, 66-stop valve 15, 67- quantitative motor 8, 68-stop valve 16, 69-two-way cartridge valve group 3, 70-two-way cartridge valve group 4, 71-oil tank, 72-slotted heavy hexagonal nut, 73-transmission support body, 74-bearing end cover, 75-double row tapered roller bearing, 76-gear ring, 77-spindle, 78-pinion, 79-connecting bridge, 80-hob, 81-drum, 82-cutter head retainer, 83-tunneling machine body, 84-hydraulic cylinder connecting block;

[0041] For ease of description and labeling, Figure 1 The various ports of the hydraulic components are marked in the form of "number plus port mark", such as port A of the two-way cartridge valve group 45, marked as 45A in the figure, port B of the two-way cartridge valve group 45, marked as 45B in the figure, and port C of the two-way cartridge valve group 45, marked as 45C in the figure. DETAILED DESCRIPTION

[0042] 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.

[0043] System mechanical structure:

[0044] A cylindrical cutterhead with two degrees of freedom, such as Figure 3 , Figure 4 and Figure 7 As shown, it includes a cutter disc holder 82, and the cutter disc holder 82 is connected to at least one roller cutter disc unit. The roller cutter disc unit includes a hydraulic motor group connected to the cutter disc holder 82, and the hydraulic motor group is drivingly connected to a gear ring 76, and the gear ring 76 is connected to an annular transmission support body 73, the inner wall of the transmission support body 73 is rotatably arranged on the spindle 77, and the outer wall is connected to a roller 81, and a rock breaking tool 80 is arranged on the outer peripheral surface of the roller 81. The cutter disc holder 82 is slidably matched with the tunnel boring machine body 83 through an axial drive mechanism, and the sliding direction of the cutter disc holder 82 intersects with the axial direction of the spindle 77.

[0045] It is preferred to use two drum cutter units, each of which includes a cylindrical drum 81, a spindle 77 and a double-row tapered roller bearing 75. The outer peripheral wall of the drum 81 is provided with multiple rows of rollers 80 for front and rear cutting, and the outer end surface of the drum 81 is provided with a roller 80 for axial cutting. The left and right end surfaces of the drum 81 are provided with rock-breaking tools, which are rollers or picks. The rock-breaking tools on the left and right end surfaces are arranged in a ring shape along the end surface of the drum 81, and the rock-breaking tools on the outer peripheral surface are arranged in several rows along the axial direction of the drum. When the rock-breaking tool is a roller, several rows of grooves are provided along the axial direction of the drum, and the roller is installed obliquely in the groove with the top extending out of the groove.

[0046] Two spoke-plate type supports are arranged in the drum 81, one of which is the transmission support 73 and the other is the driven support. The two spoke-plate type supports are respectively installed on the symmetrical sides of the drum 81 through interference fit. The outer ring of the double-row tapered roller bearing 75 is sleeved in the spoke-plate type support and the inner ring is sleeved on the outer periphery of the spindle 77.

[0047] The double-row tapered roller bearing 75 is provided with bearing end covers 74 on both sides, and the two ends of the spindle 77 are sleeved in the double-row tapered roller bearing 75. The outer rings of the two double-row tapered roller bearings 75 are connected to the two spoke-type support bodies through interference fit, and the double-row tapered roller bearings 75 are provided with bearing end covers 74 on both sides, and the slotted heavy hexagonal nuts 72 are used to axially locate and clamp the double-row tapered roller bearings 75; the two ends of the spindle 77 are provided with threads for installing the slotted heavy hexagonal nuts 72, and the middle of the spindle 77 is provided with four shaft shoulders for installing four double-row tapered roller bearings 75, wherein the inner ring of the double-row tapered roller bearing 75 and the spindle 77 are interference fit.

[0048] The drum 81 is provided with a connecting bridge 79, which is a stepped structure, and the smaller end of the connecting bridge 79 is connected to the cutter disc holder 82; the larger end of the connecting bridge 79 is provided with the hydraulic motor group, which is a quantitative motor group. The quantitative motor group of the drum cutter disc unit on the left is quantitative motor 1 33, quantitative motor 2 36, quantitative motor 39, quantitative motor 4 42, and the quantitative motor 5 58, quantitative motor 61, quantitative motor 7 64, quantitative motor 8 67 in the drum cutter disc unit on the right. Each quantitative motor is connected to a pinion 78 through a spline, and each pinion 78 is meshed with the outer ring gear 76; the ring gear 76 is an outer ring gear or an inner ring gear, and the ring gear 76 is connected to the spoke plate type support body through a key.

[0049] The cutter disc holder 82 is sleeved on the spindle 77. Preferably, the two roller cutter disc units share one spindle 77, and the rollers 81 of the two roller cutter disc units are symmetrical about the cutter disc holder 82. The axial drive mechanism includes a hydraulic cylinder arranged between the tunnel boring machine body 83 and the cutter disc holder 82. The hydraulic cylinder is a double-acting double-rod hydraulic cylinder 1. The cylinder barrel of the double-acting double-rod hydraulic cylinder 1 is fixedly connected to the cutter disc holder 82, and the piston rod of the double-acting double-rod hydraulic cylinder 1 is connected to the tunnel boring machine body 83.

[0050] Furthermore, the piston rod of the double-acting double-rod hydraulic cylinder 1 is connected to the tunnel boring machine body 83 through the hydraulic cylinder connecting block 84. A sliding guide structure is provided between the cutter disc holder 82 and the tunnel boring machine body 83, and the guide structure includes a slide rail provided on the tunnel boring machine body 83, and a slide groove is provided on the cutter disc holder 82 to slide with the slide rail.

[0051] Analysis of the cutting area of ​​the cutter head:

[0052] like Figure 5 and Figure 6 As shown, when the drum cutter disc unit is provided with two, the cutting process is as follows: the centroid O of the excavation section is used as the origin to establish the following Figure 4A coordinate system, in which the x-axis represents the position of the symmetry center E of the left and right drum cutter units relative to the coordinate system, and the y-axis represents the position of the four end faces of the drum cutter unit relative to the coordinate system. As the rectangular tunnel boring machine continues to advance in the forward direction, the main cutting surface continuously cuts the rock wall in front.

[0053] When the two main cutting surfaces are working, the axial reciprocating cutting of the roller cutter unit is realized by controlling the piston rod position of the double-acting double-rod hydraulic cylinder 1 to clear the excavation blind spot. When the piston rod of the double-acting double-rod hydraulic cylinder 1 moves to the left, the cutter holder 82 moves to the left under the action of the piston rod. Under the action of the cutter holder 82, the two roller cutter units move to the left along the axis of the spindle 77, and the rock wall is continuously cut under the action of the roller cutter 80.

[0054] When the cutter disc moves L1 to the left relative to the origin O of the coordinate system (moving a distance of 250 mm to the left), the piston rod of the double-acting double-rod hydraulic cylinder 1 begins to move to the right, and the cutter disc holder 82 moves to the right under the action of the piston rod. Under the action of the cutter disc holder 82, the two roller cutter disc units move to the right along the axis of the spindle 77, and the rock wall is continuously cut under the action of the roller cutter 80.

[0055] When the cutter head moves L5 to the right relative to the origin O of the coordinate system (moving distance 250mm to the right), the left and right roller cutter head units complete an axial cutting stroke. The distance between the two rollers of the two roller cutter head units is recorded as L3. L1 and L5 are both greater than or equal to half of L3 to achieve complete cutting of the rock wall and prevent the occurrence of blind spots in excavation.

[0056] By analyzing the position of the cutter head and the cutting end face, Figure 7 Cutting stroke diagram, Smax is the right limit cutting position, Smin is the left limit cutting position, S1 is the maximum axial cutting displacement of the drum cutter unit on the right, S2 is the maximum axial cutting displacement of the drum cutter unit on the left, L2 is the width of the left cutter, L4 is the width of the right cutter, according to Figure 7 It can be seen from the cutting stroke diagram that there is no blind area in the entire lateral excavation process.

[0057] The drive system of the cylindrical cutter disc is as follows Figure 1 and Figure 2 As shown, it includes a first hydraulic system and a second hydraulic system for controlling two hydraulic motor groups respectively, a third hydraulic system for controlling an axial drive mechanism, an oil replenishment system and a power auxiliary system.

[0058] The first hydraulic system includes a first variable pump group, which includes a variable pump 25 and a variable pump 3 26 ; the second hydraulic system includes a second variable pump group, which includes a variable pump 50 and a variable pump 6 51 .

[0059] The third hydraulic system includes a displacement sensor for monitoring the displacement of the double-acting double-rod hydraulic cylinder, and also includes a one-way valve 1 and a one-way valve 2 respectively connected to the two oil chambers of the double-acting double-rod hydraulic cylinder. The one-way valve 1 adopts a hydraulically controlled one-way valve 1 3, and the one-way valve 2 adopts a hydraulically controlled one-way valve 2 4.

[0060] The first hydraulic system includes a cartridge valve group 1 and a cartridge valve group 2, wherein the cartridge valve group 1 adopts a two-way cartridge valve group 1 44, the cartridge valve group 2 adopts a two-way cartridge valve group 2 45, the cartridge valve group 3 adopts a two-way cartridge valve group 3 69, and the cartridge valve group 4 adopts a two-way cartridge valve group 4 70.

[0061] System hydraulic circuit: oil tank 71 is respectively connected to C port 27C of flushing valve group 1 27, C port 52C of flushing valve group 2 52, C port 44C of two-way cartridge valve group 1 44, C port 45C of two-way cartridge valve group 2 45, C port 69C of two-way cartridge valve group 3 69, C port 70C of two-way cartridge valve group 4 70, A port 22A of low-pressure oil filter 22 and B port 18B of safety relief valve 3 18; B port 22B of low-pressure oil filter 22 is connected to A port 21A of metering pump 21; B port 21B of metering pump 21 is connected to A port 19A of check valve 11 19; B port 19B of check valve 11 19 is respectively connected to A port 18A of safety relief valve 3 18, A port 11A of check valve 5 11, The A port 13A of the valve six 13, the A port 14A of the check valve seven 14, the A port 15A of the check valve eight 15, the A port 16A of the check valve nine 16, the A port 17A of the check valve ten 17 and the A port 12A of the accumulator 12 are connected; the B port 11B of the check valve five 11 is respectively connected to the B port 9B of the variable pump one 9, the A port 7A of the safety relief valve two 7, the B port 5B of the check valve three 5, the A port 3A of the hydraulically controlled check valve one 3 and the C port 4C of the hydraulically controlled check valve two 4; the B port 13B of the check valve six 13 is respectively connected to the A port 9A of the variable pump one 9, the A port 6A of the safety relief valve one 6, the B port 8B of the check valve four 8, the C port 3C of the hydraulically controlled check valve one 3 and the A port 4A of the hydraulically controlled check valve two 4; the safety relief valve two The B port 7B of 7 is connected to the A port 8A of the check valve four 8; the B port 6B of the safety relief valve one 6 is connected to the A port 5A of the check valve three 5; the B port 3B of the hydraulic control check valve one 3 is connected to the A port 1A of the double-acting double-rod hydraulic cylinder 1; the B port 4B of the hydraulic control check valve two 4 is connected to the B port 1B of the double-acting double-rod hydraulic cylinder 1; the B port 14B of the check valve seven 14 is respectively connected to the B port 25B of the variable pump two 25, the B port 26B of the variable pump three 26, the B port 27B of the flushing valve group one 27, the A port 29A of the safety relief valve four 29, the B port 31B of the check valve thirteen 31, the A port 32A of the stop valve one 32, the A port 35A of the stop valve three 35, the A port 38A of the stop valve five 38, and the A port 41 of the stop valve seven The B port 41A of the one-way cartridge valve group 1 44 is connected to the B port 44B; the B port 29B of the safety relief valve 4 29 is connected to the A port 28A of the one-way valve 12 28; the B port 30B of the safety relief valve 5 30 is connected to the A port 31A of the one-way valve 13 31; the B port 15B of the one-way valve 8 15 is respectively connected to the A port 25A of the variable pump 25, the A port 26A of the variable pump 3 26, the A port 27A of the flushing valve group 1 27, the A port 30A of the safety relief valve 5 30, the B port 28B of the one-way valve 12 28, the B port 34B of the stop valve 2 34, the B port 37B of the stop valve 4 37, the B port 40B of the stop valve 6 40, the B port 43B of the stop valve 8 43, and the B port 45B of the two-way cartridge valve group 2 45;The B port 17B of the check valve 10 is respectively connected to the B port 50B of the variable pump 50, the B port 51B of the variable pump 6, the B port 52B of the flushing valve group 2, the A port 54A of the safety relief valve 6, the B port 56B of the check valve 15, the A port 57A of the stop valve 9, the A port 60A of the stop valve 11, the A port 63A of the stop valve 13, the A port 66A of the stop valve 15, and the B port 69B of the two-way cartridge valve group 3; the B port 54B of the safety relief valve 6 is connected to the A port 53A of the check valve 14, the B port 55B of the safety relief valve 7 is connected to the A port 56A of the check valve 15; the B port 16B of the check valve 9 is respectively connected to the variable pump 1 A port 50A of the fifth 50, A port 50A of the variable pump six 51, A port 52A of the flushing valve group two 52, A port 55A of the safety relief valve seven 55, B port 53B of the one-way valve fourteen 53, B port 59B of the stop valve ten 59, B port 62B of the stop valve twelve 62, B ​​port 65B of the stop valve fourteen 65, B port 68B of the stop valve sixteen 68, and B port 70B of the two-way cartridge valve group four 70 are connected; A port 69A of the two-way cartridge valve group three 69 is respectively connected to A port 47A of the variable pump four 47 and A port 45A of the two-way cartridge valve group two 45; A port 70A of the two-way cartridge valve group four 70 is respectively connected to B port 47B of the variable pump four 47 and A port 44A of the two-way cartridge valve group one 44. ;

[0062] Motor 1 uses three-phase asynchronous motor 10, motor 2 uses three-phase asynchronous motor 20, motor 3 uses three-phase asynchronous motor 3 23, motor 4 uses three-phase asynchronous motor 4 24, motor 5 uses three-phase asynchronous motor 5 46, motor 6 uses three-phase asynchronous motor 6 48, and motor 7 uses three-phase asynchronous motor 7 49.

[0063] The three-phase asynchronous motor 10 is connected to the variable pump 1 9; the three-phase asynchronous motor 20 is connected to the fixed displacement pump 21; the three-phase asynchronous motor 3 23 is connected to the variable pump 2 25; the three-phase asynchronous motor 4 24 is connected to the variable pump 3 26; the three-phase asynchronous motor 6 48 is connected to the variable pump 5 50; the three-phase asynchronous motor 7 49 is connected to the variable pump 6 51; the three-phase asynchronous motor 5 46 is connected to the variable pump 4 47.

[0064] The displacement sensor 2 measures the displacement of the piston rod of the double-acting double-rod hydraulic cylinder 1 .

[0065] Two-way cartridge valve group 1 44, two-way cartridge valve group 2 45, two-way cartridge valve group 3 69 and two-way cartridge valve group 4 70 are internally provided with two parallel one-way valves, a two-position four-way solenoid reversing valve and a two-way cartridge valve group, one end of the two one-way valves are respectively connected to the two working ports of the two-way cartridge valve group, the other end of the two one-way valves is connected to a valve port of the two-position four-way solenoid reversing valve, the two-position four-way solenoid reversing valve is respectively connected to the two-way cartridge valve group and the oil tank 71, when the two-position four-way solenoid reversing valve built into the two-way cartridge valve group is in the right position, the A port and the B port of the two-way cartridge valve group are in the conducting state, when the two-position four-way solenoid reversing valve built into the two-way cartridge valve group is in the left position, the A port and the B port of the two-way cartridge valve group are in the disconnected state.

[0066] A shuttle valve and a proportional throttle valve are arranged inside the flushing valve group 1 27 and the flushing valve group 2 52 in sequence. When the pressure at port A of the flushing valve group is higher than that at port B, the internal shuttle valve is in the left position, and ports B and C of the flushing valve group are in a conducting state. When the pressure at port B of the flushing valve group is higher than that at port A, the internal shuttle valve is in the right position, and ports A and C of the flushing valve group are in a conducting state.

[0067] When the pressure of port C of hydraulically controlled one-way valve 1 3 and hydraulically controlled one-way valve 2 4 is higher than the valve opening pressure, port A and port B are in a two-way conducting state; when the pressure of port C is lower than the valve opening pressure, port A and port B are in a one-way conducting state and port A to port B are connected.

[0068] The chamber connected to the A port of the double-acting double-rod hydraulic cylinder 1 is the left chamber, and the chamber connected to the B port 1B of the double-acting double-rod hydraulic cylinder 1 is the right chamber; when the double-acting double-rod hydraulic cylinder 1 moves to the left, the left chamber becomes smaller and the right chamber becomes larger; when the double-acting double-rod hydraulic cylinder 1 moves to the right, the left chamber becomes larger and the right chamber becomes smaller.

[0069] Forward cutting of the left and right cutter heads: When the cutter heads need to rotate forward (here only the left cutter head is used as an example), the built-in two-way four-way reversing valves of the two-way cartridge valve group 1 44, the two-way cartridge valve group 2 45, the two-way cartridge valve group 3 69 and the two-way cartridge valve group 4 70 are in the right position, the three-phase asynchronous motor 5 46 is in a stopped state, the three-phase asynchronous motor 3 23 and the three-phase asynchronous motor 4 24 are started, and high-pressure oil flows out of the A port 25A of the variable pump 2 25 and the A port 26A of the variable pump 3 26. By adjusting the first set of variable pump groups, its A port outputs the hydraulic oil of the pressure and flow required by the system. In the figure, the hydraulic oil flowing out of the 25A port and the 26A port respectively flows into the stop valve 8 43 through the B port 43B of the stop valve 8 43, and flows into the stop valve 8 43 through the stop valve 6 40 The hydraulic oil flows into the stop valve six 40 through the B port 40B, flows into the stop valve four 37 through the B port 37B of the stop valve four 37, flows into the stop valve two 34 through the B port 34B of the stop valve two 34, the hydraulic oil flows out from the A port 43A of the stop valve eight 43, the hydraulic oil flowing out of the 43A port flows into the quantitative motor four 42 through the B port 42B of the quantitative motor four 42, the hydraulic oil flows out from the A port 42A of the quantitative motor four 42, the hydraulic oil flows out from the A port 42A of the quantitative motor four 42, the hydraulic oil flows into the stop valve seven 41 through the B port 41B of the stop valve seven 41, the hydraulic oil flows out from the A port 41A of the stop valve seven 41, the hydraulic oil flows out from the A port 41A of the stop valve seven 41, the hydraulic oil flows out from the A port 40A of the stop valve six 40, and the hydraulic oil flowing out of the 40A port flows into the quantitative motor three 39 through the B port 39B The hydraulic oil flows out of the A port 39A of the quantitative motor 39 after passing through the quantitative motor 39. The hydraulic oil flowing out of the A port of the quantitative motor 39 flows into the shut-off valve 5 38 through the B port 38B of the shut-off valve 5 38. The hydraulic oil flows out of the A port 38A of the shut-off valve 5 38 after passing through the shut-off valve 5 38. The hydraulic oil flows out of the A port 37A of the shut-off valve 4 37. The hydraulic oil flowing out of the 37A port flows into the quantitative motor 2 36 through the B port 36B of the quantitative motor 2 36. The hydraulic oil flows out of the A port 36A of the quantitative motor 2 36 after passing through the quantitative motor 2 36. The hydraulic oil flows out of the A port 36A of the quantitative motor 2 36. The hydraulic oil flows out of the A port of the quantitative motor 2 36 through the B port 35B of the shut-off valve 35. The hydraulic oil flows out of the A port 35A of the shut-off valve 35 after passing through the shut-off valve 35. The hydraulic oil flows out of the A port 34A of the shut-off valve 2 34. A flows out, the hydraulic oil flowing out of port 34A flows into the quantitative motor 1 33 through the B port 33B of the quantitative motor 1 33, and the hydraulic oil flows out from its A port 33A after passing through the quantitative motor 1 33. The hydraulic oil flowing out of the A port of the quantitative motor 1 33 flows into the stop valve 1 32 through the B port 32B of the stop valve 1 32, and the hydraulic oil flows out from its A port 32A after passing through the stop valve 1 32. The hydraulic oil flowing out of ports 32A, 35A, 38A and 41A in the figure flows into the variable pump 2 25 through the B port 25B of the variable pump 2 25, flows into the variable pump 3 26 through the B port 26B of the variable pump 3 26, and flows into the flushing valve group 1 27 through the B port 27B of the flushing valve group 1 27. After passing through the flushing valve group 1 27, the hydraulic oil flows into the oil tank 71 through its C port 27C.The quantitative motor 1 33, quantitative motor 2 36, quantitative motor 3 39 and quantitative motor 4 42 start to rotate, and the output shafts of the quantitative motor group evenly distributed in the circumference on the left side drive the corresponding pinions 78 to rotate respectively. Under the meshing action of the pinion 78 and the gear ring 76, the gear ring 76 and the spoke plate type support body 73 rotate together around the spindle 77 through the double row tapered roller bearing 75. Under the action of the spoke plate type support body 73, the left roller 81 rotates, and under the rotation action of the right roller 81, the cutter head realizes the positive cutting of the rock wall.

[0070] Reverse cutting of the left and right cutter heads: When the cutter heads need to rotate in the reverse direction (here only the left cutter head is used as an example), the built-in two-way and four-way reversing valves of the two-way cartridge valve group 1 44, the two-way cartridge valve group 2 45, the two-way cartridge valve group 3 69 and the two-way cartridge valve group 4 70 are in the right position, the three-phase asynchronous motor 5 46 is in a stopped state, the three-phase asynchronous motor 3 23 and the three-phase asynchronous motor 4 24 are started, and the B port 25B of the variable pump 2 25 and the B port 26B of the variable pump 3 26 flow out high-pressure oil. By adjusting the first set of variable pump groups, its B port outputs the hydraulic oil of the pressure and flow required by the system. In the figure, the hydraulic oil flowing out of the 25B port and the 26B port respectively flows into the stop valve 1 32 through the A port 32A of the stop valve 1 32, and flows into the stop valve 1 32 through the stop valve 3 35 The hydraulic oil flows into the stop valve 35 through the A port 35A of the stop valve 35, flows into the stop valve 5 38 through the A port 38A of the stop valve 5 38, flows into the stop valve 7 41 through the A port 41A of the stop valve 7 41, the hydraulic oil flows out from the B port 32B of the stop valve 1 32, the hydraulic oil flowing out of the 32B port flows into the quantitative motor 1 33 through the A port 33A of the quantitative motor 1 33, the hydraulic oil flows out from the B port 33B of the quantitative motor 1 33, the hydraulic oil flows out from the B port 33B of the quantitative motor 1 33, the hydraulic oil flows out from the B port 34A of the stop valve 2 34, flows out from the B port 34B of the stop valve 2 34, the hydraulic oil flows out from the B port 34B of the stop valve 2 34, the hydraulic oil flows out from the B port 35B of the stop valve 35, and the hydraulic oil flows out from the 35B port flows into the quantitative motor 2 36 through the A port 36A The hydraulic oil flows out of the B port 36B of the quantitative motor 2 through the quantitative motor 2 36, and the hydraulic oil flowing out of the B port of the quantitative motor 2 36 flows into the cut-off valve 4 37 through the A port 37A of the stop valve 4 37, and the hydraulic oil flows out of the B port 37B of the cut-off valve 4 37 through the A port 37B of the cut-off valve 4 37, and the hydraulic oil flows out of the B port 38B of the cut-off valve 5 38, and the hydraulic oil flowing out of the 38B port flows into the quantitative motor 39 through the A port 39A of the quantitative motor 39, and the hydraulic oil flows out of the B port 39B of the quantitative motor 39 through the B port 39B, and the hydraulic oil flowing out of the B port of the quantitative motor 39 flows into the cut-off valve 6 40 through the A port 40A of the cut-off valve 6 40, and the hydraulic oil flows out of the B port 40B of the cut-off valve 6 40, and the hydraulic oil flows out of the B port 41 of the cut-off valve 7 41 B flows out, the hydraulic oil flowing out of port 41B flows into the quantitative motor four 42 through the A port 42A of the quantitative motor four 42, and the hydraulic oil flows out from the B port 42B of the quantitative motor four 42 after passing through the quantitative motor four 42, the hydraulic oil flowing out of the B port of the quantitative motor four 42 flows into the stop valve eight 43 through the A port 43A of the stop valve eight 43, and the hydraulic oil flows out from the B port 43B of the stop valve eight 43. The hydraulic oil flowing out of ports 34B, 37B, 40B and 43B in the figure flows into the variable pump two 25 through the A port 25A of the variable pump two 25, flows into the variable pump three 26 through the A port 26A of the variable pump three 26, and flows into the flushing valve group one 27 through the A port 27A of the flushing valve group one 27. After passing through the flushing valve group one 27, the hydraulic oil flows into the oil tank 71 through its C port 27C.The quantitative motor 1 33, quantitative motor 2 36, quantitative motor 3 39 and quantitative motor 4 42 start to rotate, and the output shafts of the quantitative motor groups evenly distributed in the left circumference drive the corresponding pinions 78 to rotate respectively. Under the meshing action of the pinion 78 and the gear ring 76, the gear ring 76 and the spoke plate type support body 73 rotate together around the spindle 77 through the double row tapered roller bearing 75. Under the action of the spoke plate type support body 73, the left roller 81 rotates, and the rotation of the left roller 81 realizes the reverse cutting of the rock wall by the cutter head.

[0071] Bidirectional cutting of left and right cutter heads: When the cutter heads on both sides are required to cut the rock wall in different directions (here only the left cutter head cutting forward and the right cutter head cutting reversely are used as examples), the built-in two-way four-way reversing valves of two-way cartridge valve group 1 44, two-way cartridge valve group 2 45, two-way cartridge valve group 3 69 and two-way cartridge valve group 4 70 are in the right position, the three-phase asynchronous motor 5 46 is in a stopped state, the three-phase asynchronous motor 3 23 and the three-phase asynchronous motor 4 24 are started, and high-pressure oil flows out of port A 25A of variable pump 2 25 and port A 26A of variable pump 3 26. By adjusting the first set of variable pump groups, its port A outputs hydraulic oil of the pressure and flow required by the system. The hydraulic oil flowing out of ports 25A and 26A in the figure passes through stop valve 8 4 respectively. The hydraulic oil flows into the stop valve eight 43 through the B port 43B of the stop valve eight 40, flows into the stop valve six 40 through the B port 40B of the stop valve six 40, flows into the stop valve four 37 through the B port 37B of the stop valve four 37, flows into the stop valve two 34 through the B port 34B of the stop valve two 34, the hydraulic oil flows out from the A port 43A of the stop valve eight 43, the hydraulic oil flowing out of the 43A port flows into the quantitative motor four 42 through the B port 42B of the quantitative motor four 42, the hydraulic oil flows out from the A port 42A of the quantitative motor four 42, the hydraulic oil flows out from the A port 42A of the quantitative motor four 42, the hydraulic oil flows into the stop valve seven 41 through the B port 41B of the stop valve seven 41, the hydraulic oil flows out from the A port 41A of the stop valve seven 41, the hydraulic oil flows out from the A port 41A of the stop valve seven 41, the hydraulic oil flows out from the A port 40A of the stop valve six 40, and the hydraulic oil flows out from the 40A port The oil flows into the quantitative motor three 39 through the B port 39B of the quantitative motor three 39, and the hydraulic oil flows out from the A port 39A of the quantitative motor three 39. The hydraulic oil flowing out of the 39A port flows into the stop valve five 38 through the B port 38B of the stop valve five 38, and the hydraulic oil flows out from the A port 38A of the stop valve five 38. The hydraulic oil flows out from the A port 37A of the stop valve four 37, and the hydraulic oil flows out from the A port 37A of the stop valve four 37. The hydraulic oil flows out from the 37A port into the quantitative motor two 36 through the B port 36B of the quantitative motor two 36, and the hydraulic oil flows out from the A port 36A of the quantitative motor two 36. The hydraulic oil flows out from the 36A port into the stop valve three 35 through the B port 35B of the stop valve three 35, and the hydraulic oil flows out from the A port 35A of the stop valve three 35. The hydraulic oil flows out from the A port 35A of the stop valve two 34 The hydraulic oil flows out from its A port 34A, and the hydraulic oil flowing out of the 34A port flows into the quantitative motor 1 33 through the B port 33B of the quantitative motor 1 33. After passing through the quantitative motor 1 33, the hydraulic oil flows out from its A port 33A. The hydraulic oil flowing out of the 33A port flows into the stop valve 1 32 through the B port 32B of the stop valve 1 32. After passing through the stop valve 1 32, the hydraulic oil flows out from its A port 32A. In the figure, the hydraulic oil flowing out of the 32A port, the 35A port, the 38A port and the 41A port respectively flows into the variable pump 2 25 through the B port 25B of the variable pump 2 25, flows into the variable pump 3 26 through the B port 26B of the variable pump 3 26, flows into the flushing valve group 1 27 through the B port 27B of the flushing valve group 1 27, and flows into the oil tank 71 through its C port 27C after passing through the flushing valve group 1 27.The quantitative motor 1 33, quantitative motor 2 36, quantitative motor 3 39 and quantitative motor 4 42 start to rotate, and the output shaft of the quantitative motor group on the left side drives the corresponding pinion 78 to rotate. Under the action of the pinion 78, the ring gear 76 and the spoke-type support body 73 rotate along the double-row tapered roller bearing 75, and the spoke-type support body 73 further drives the cutter head to rotate, so that the left cutter head cuts the rock wall in the forward direction; the three-phase asynchronous motor 6 48 and the three-phase asynchronous motor 7 49 are started, and the B port 50B of the variable pump 50 and the B port 51B of the variable pump 6 51 flow out high-pressure oil. By adjusting the second set of variable pump groups, the B port outputs the hydraulic oil of the pressure and flow required by the system, and the hydraulic oil flowing out of the 50B port and the 51B port is respectively passed through the stop valve The A port 57A of the nine 57 flows into the stop valve nine 57, flows into the stop valve eleven 60 through the A port 60A of the stop valve eleven 60, flows into the stop valve thirteen 63 through the A port 63A of the stop valve thirteen 63, flows into the stop valve fifteen 66 through the A port 66A of the stop valve fifteen 66, and the hydraulic oil flows out from the B port 57B of the stop valve nine 57. The hydraulic oil flowing out of the 57B port flows into the quantitative motor five 58 through the A port 58A of the quantitative motor five 58. The hydraulic oil flows out from the B port 58B of the quantitative motor five 58. The hydraulic oil flows out from the 58B port through the A port 59A of the stop valve ten 59. The hydraulic oil flows out from the B port 59B of the stop valve ten 59. The hydraulic oil flows out from the B port 60B of the stop valve eleven 60, and flows out from the 60B port The hydraulic oil flows into the quantitative motor six 61 through the A port 61A of the quantitative motor six 61, and the hydraulic oil flows out from the B port 61B after passing through the quantitative motor six 61. The hydraulic oil flowing out of the 61B port flows into the stop valve twelve 62 through the A port 62A of the stop valve twelve 62, and the hydraulic oil flows out from the B port 62B after passing through the stop valve twelve 62. The hydraulic oil flows out from the B port 63B after passing through the stop valve thirteen 63. The hydraulic oil flows out from the B port 63B through the A port 64A of the quantitative motor seven 64, and the hydraulic oil flows out from the B port 64B after passing through the quantitative motor seven 64. The hydraulic oil flows out from the 64B port into the stop valve fourteen 65 through the A port 65A of the stop valve fourteen 65, and the hydraulic oil flows out from the B port 65B after passing through the stop valve fourteen 65. The hydraulic oil flows out through the stop valve ten After the hydraulic oil flows out from the B port 66B of the five 66, the hydraulic oil flowing out of the 66B port flows into the quantitative motor eight 67 through the A port 67A of the quantitative motor eight 67, the hydraulic oil flows out from the B port 67B of the quantitative motor eight 67, the hydraulic oil flows out from the 67B port through the A port 68A of the stop valve sixteen 68 and flows into the stop valve sixteen 68. After the hydraulic oil flows out from the B port 68B of the stop valve sixteen 68, the hydraulic oil flows out from the B port 68B of the stop valve sixteen. The hydraulic oil flowing out of the 59B port, the 62B port, the 65B port and the 68B port in the figure respectively flows into the variable pump six 51 through the A port 51A of the variable pump six 51, flows into the variable pump five 50 through the A port 50A of the variable pump five 50, flows into the flushing valve group two 52 through the A port 52A of the flushing valve group two 52, and the hydraulic oil flows into the oil tank 71 through the C port 52C of the flushing valve group two 52.The quantitative motor 58, quantitative motor 61, quantitative motor 74 and quantitative motor 8 67 start to rotate, and the output shaft of the quantitative motor group on the right drives the corresponding pinion 78 to rotate. Under the action of the pinion 78, the gear ring 76 and the spoke-type support body 73 rotate along the double-row tapered roller bearing 75, and the spoke-type support body 73 further drives the cutter head to rotate, so that the right cutter head can cut the rock wall in the opposite direction.

[0072] Power auxiliary function of the cutter disc: When the power of the cutter disc is insufficient for forward rotation, only the left cutter disc is used as an example here to explain, the built-in directional valve of the two-way cartridge valve group 1 44 and the two-way cartridge valve group 2 45 is controlled to be in the left position, the A port and the B port of the two-way cartridge valve group 1 44 and the two-way cartridge valve group 2 45 are in a conducting state, the three-phase asynchronous motor 5 46 rotates, and the A port 47A of the variable pump 4 47 outputs a large displacement of high-pressure oil. The hydraulic oil output from the 47A port, the 25A port and the 26A port in the figure flows into the cut-off valve 8 43 through the B port 43B of the cut-off valve 8 43, flows into the cut-off valve 6 40 through the B port 40B of the cut-off valve 6 40, flows into the cut-off valve 4 37 through the B port 37B of the cut-off valve 4 37, and flows into the cut-off valve 2 34 through the B port 34B of the cut-off valve 2 34. The hydraulic oil flows out from the A port 43A through the stop valve eight 43, and the hydraulic oil flowing out from the 43A port flows into the quantitative motor four 42 through the B port 42B of the quantitative motor four 42. The hydraulic oil flows out from the A port 42A through the quantitative motor four 42, and the hydraulic oil flows out from the A port through the B port 41B of the stop valve seven 41 and flows into the stop valve seven 41. The hydraulic oil flows out from the A port 41A through the stop valve seven 41. The hydraulic oil flows out from the A port 40A through the stop valve six 40, and the hydraulic oil flows out from the A port through the B port 39B of the quantitative motor three 39 and flows into the quantitative motor three 39. The hydraulic oil flows out from the A port 39A through the B port 38B of the stop valve five 38 and flows into the stop valve five 38. The hydraulic oil flows out from the stop valve five 3 8 and then flows out from its A port 38A, the hydraulic oil flows out from its A port 37A after passing through the stop valve four 37, the hydraulic oil flowing out of the 37A port flows into the quantitative motor two 36 through the B port 36B of the quantitative motor two 36, the hydraulic oil flows out from its A port 36A after passing through the quantitative motor two 36, the hydraulic oil flows out from the 36A port flows into the stop valve three 35 through the B port 35B of the stop valve three 35, the hydraulic oil flows out from its A port 35A after passing through the stop valve three 35, the hydraulic oil flows out from its A port 34A after passing through the stop valve two 34, the hydraulic oil flows out from the 34A port through the B port 33B of the quantitative motor one 33 and flows into the quantitative motor one 33, the hydraulic oil flows out from its A port 33A after passing through the quantitative motor one 33, and the hydraulic oil flows out from the 33A port flows into the stop valve one 32 through the B port 32B Valve 1 32, the hydraulic oil flows out from its A port 32A after passing through the stop valve 1 32, and the hydraulic oil flowing out from the 32A port, 35A port, 38A port and 41A port in the figure flows into the variable pump 2 25 through the B port 25B of the variable pump 2 25, flows into the variable pump 3 26 through the B port 26B of the variable pump 3 26, and flows into the two-way cartridge valve group 1 44 through the B port 44B of the two-way cartridge valve group 1 44. The hydraulic oil flows out from the A port 44A after passing through the two-way cartridge valve group 1 44, and the hydraulic oil flowing out from the 44A port flows into the variable pump 4 47 through the B port 47B of the variable pump 4 47. Under the joint action of the variable pump 2 25, the variable pump 3 26 and the variable pump 4 47, the quantitative motor 1 33, the quantitative motor 2 36, the quantitative motor 3 39 and the quantitative motor 4 42 start to rotate,The output shafts of the quantitative motor 1 33, quantitative motor 2 36, quantitative motor 39 and quantitative motor 42 drive the corresponding pinion 78 to rotate. Under the action of the pinion 78, the ring gear 76 rotates along the double-row tapered roller bearing 75 together with the spoke-type support body 73. The spoke-type support body 73 further drives the cutter disc to rotate. When the reverse rotation power of the cutter disc is insufficient, only the left cutter disc is used as an example to control the built-in directional valve of the two-way cartridge valve group 1 44 and the two-way cartridge valve group 2 45 to be in the left position, the A port and the B port of the two-way cartridge valve group 1 44 and the two-way cartridge valve group 2 45 are in the conducting state, the three-phase asynchronous motor 5 46 rotates, and the B port 47B of the variable pump 474 outputs a large displacement of high-pressure oil. In the figure, the 47B port, the 25B port and the 2 The hydraulic oil output from port 6B flows into stop valve 1 32 through port A 32A of stop valve 1 32, flows into stop valve 3 35 through port A 35A of stop valve 35, flows into stop valve 5 38 through port A 38A of stop valve 5 38, flows into stop valve 7 41 through port A 41A of stop valve 7 41, the hydraulic oil flows out from port B 32B of stop valve 1 32, the hydraulic oil flowing out from port 32B flows into quantitative motor 1 33 through port A 33A of quantitative motor 1 33, the hydraulic oil flows out from port B 33B of quantitative motor 1 33, the hydraulic oil flows out from port 33B of stop valve 2 34 through port A 34A of stop valve 2 34, the hydraulic oil flows out from port B 34B of stop valve 2 34, the hydraulic oil flows out from port B 35B of stop valve 35, and the hydraulic oil flows out from port B 35B of stop valve 35. The hydraulic oil flowing out of its B port flows into the quantitative motor 2 36 through the A port 36A of the quantitative motor 2 36, and the hydraulic oil flows out from its B port 36B after passing through the quantitative motor 2 36. The hydraulic oil flowing out of the 36B port flows into the stop valve 4 37 through the A port 37A of the stop valve 4 37, and the hydraulic oil flows out from its B port 37B after passing through the stop valve 4 37. The hydraulic oil flows out from the B port 38B after passing through the stop valve 5 38. The hydraulic oil flowing out of the 38B port flows into the quantitative motor 3 39 through the A port 39A of the quantitative motor 39, and the hydraulic oil flows out from the B port 39B after passing through the quantitative motor 39. The hydraulic oil flowing out of the 39B port flows into the stop valve 6 40 through the A port 40A of the stop valve 6 40, and the hydraulic oil flows out from the B port 40B after passing through the stop valve 6 40. The hydraulic oil flows out through the stop valve After the hydraulic oil flows out from the B port 41B of the variable pump 2 25, the hydraulic oil flows out from the 41B port through the A port 42A of the quantitative motor 42, and the hydraulic oil flows out from the B port 42B of the quantitative motor 42. The hydraulic oil flows out from the 42B port through the A port 43A of the stop valve 8 43 and flows into the stop valve 8 43. After the hydraulic oil flows out from the B port 43B of the stop valve 8 43, the hydraulic oil flows out from the B port 43B of the stop valve 8 43. The hydraulic oil flows out from the 34B port, the 37B port, the 40B port and the 43B port in the figure respectively flows into the variable pump 2 25 through the A port 25A of the variable pump 2 25, flows into the variable pump 3 26 through the A port 26A of the variable pump 3 26, flows into the two-way cartridge valve group 2 45 through the B port 45B of the two-way cartridge valve group 2 45, and the hydraulic oil flows out from the A port 45A of the two-way cartridge valve group 2 45.The hydraulic oil flowing out of port 45A flows into variable pump 4 47 through port A 47A of variable pump 4 47. Under the joint action of variable pump 2 25, variable pump 3 26 and variable pump 4 47, quantitative motor 1 33, quantitative motor 2 36, quantitative motor 3 39 and quantitative motor 4 42 start to rotate. The output shafts of the quantitative motor groups evenly distributed in the left circumference each drive the corresponding pinion 78 to rotate. Under the meshing action of the pinion 78 and the gear ring 76, the gear ring 76 and the spoke plate type support body 73 rotate together around the spindle 77 through the double row tapered roller bearing 75. Under the action of the spoke plate type support body 73, the side roller 81 rotates to prevent the roller 81 from stopping due to insufficient power, so as to achieve synchronous cutting of the rock wall by the left and right cutter heads.

[0073] Hydraulic drive system for adjusting the axial position of the cutter disc: when the double-acting double-rod hydraulic cylinder 1 needs to move to the left, the three-phase asynchronous motor 10 is started, and high-pressure oil flows out of the A port 9A of the variable pump 19. By adjusting the variable pump 19, the hydraulic oil with the required pressure and displacement flows out of the A port 9A. The hydraulic oil flowing out of the 9A port flows into the hydraulic control check valve 24 through the A port 4A of the hydraulic control check valve 24, and flows into the hydraulic control check valve 13 through the C port 3C of the hydraulic control check valve 13. At this time, the hydraulic control check valve 13 is in a two-way conducting state, and the hydraulic oil flows out from the B port 4B after passing through the hydraulic control check valve 24. The hydraulic oil flowing out of the 4B port flows into the right chamber of the double-acting double-rod hydraulic cylinder 1 through the B port 1B, and the hydraulic oil in the left chamber of the double-acting double-rod hydraulic cylinder 1 flows out through the A port 1A The hydraulic oil flowing out of port 1A flows into hydraulic control check valve 13 through port 3B of hydraulic control check valve 13, and flows out from port 3A of hydraulic control check valve 13 after passing through port 3A of hydraulic control check valve 13. The hydraulic oil flowing out of port 3A flows into variable pump 19 through port 9B of variable pump 19. When the double-acting double-rod hydraulic cylinder 1 needs to move to the right, the three-phase asynchronous motor 10 starts, and high-pressure oil flows out of port 9B of variable pump 19. By adjusting the variable pump 19, the hydraulic oil with the required pressure and displacement flows out of port 9B. The hydraulic oil flowing out of port 9B flows into hydraulic control check valve 13 through port 3A of hydraulic control check valve 13, and flows into hydraulic control check valve 24 through port 4C of hydraulic control check valve 24. At this time, hydraulic control check valve 24 is in a two-way conduction state, and the hydraulic oil flows into the hydraulic control check valve 13 through port 4C of hydraulic control check valve 24. Then it flows out from its B port 3B, the hydraulic oil flowing out of the 3B port flows into its left chamber through the A port 1A of the double-acting double-rod hydraulic cylinder 1, the hydraulic oil in the right chamber of the double-acting double-rod hydraulic cylinder 1 flows out through its B port 1B, the hydraulic oil flowing out of the 1B port flows into the hydraulic control one-way valve 24 through the B port 4B of the hydraulic control one-way valve 24, the hydraulic oil flows out from its A port 4A after passing through the hydraulic control one-way valve 24, and the hydraulic oil flowing out of its A port flows into the variable pump 19 through the A port 9A of the variable pump 19. When the displacement sensor 2 detects that the piston rod of the double-acting double-rod hydraulic cylinder 1 moves to the specified position, the three-phase asynchronous motor 10 stops rotating, and the A port 9A and B port 9B of the variable pump 19 are both low pressure. At this time, the hydraulic control one-way valve 13 and the hydraulic control one-way valve 24 are in a one-way conduction state, and the double The double-rod hydraulic cylinder 1 is in static self-locking. When the hydraulic pressure of the hydraulic oil output from the A port 9A of the variable pump 9 is higher than the preset pressure of the safety relief valve 6, the hydraulic oil flowing out of the 9A port flows into the safety relief valve 6 through the A port 6A of the safety relief valve 6, and the hydraulic oil flows out from the B port 6B after passing through the safety relief valve 6. The hydraulic oil flowing out of the 6B port flows into the check valve 35 through the A port 5A of the check valve 35, and the hydraulic oil flows out from the B port 5B after passing through the check valve 35. The hydraulic oil flowing out of the 5B port flows into the variable pump 9 through the B port 9B of the variable pump 9. When the hydraulic pressure of the hydraulic oil output from the B port 9B of the variable pump 9 is higher than the preset pressure of the safety relief valve 27, the hydraulic oil flowing out of the 9B port flows into the safety relief valve 27 through the A port 7A of the safety relief valve 27.The hydraulic oil flows out from the B port 7B of the safety relief valve 27, and the hydraulic oil flowing out from the B port flows into the check valve 48 through the A port 8A of the check valve 48. The hydraulic oil flows out from the B port 8B of the check valve 48, and the hydraulic oil flowing out from the 8B port flows into the variable pump 19 through the A port 9A of the variable pump 19, thereby adjusting the axial position of the piston rod of the double-acting double-rod hydraulic cylinder 1.

[0074] The details not described in detail in the present invention are all conventional technical means known to those skilled in the art.

[0075] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cylindrical cutter head with two degrees of freedom, characterized in that: It includes a cutter disc holder, the cutter disc holder is connected to at least one roller cutter disc unit, the roller cutter disc unit includes a hydraulic motor group connected to the cutter disc holder, the hydraulic motor group is drivingly connected to a gear ring, the gear ring is connected to an annular transmission support body, the inner wall of the transmission support body is rotatably arranged on the spindle, the outer wall is connected to a roller, a rock breaking tool is arranged on the outer peripheral surface of the roller, the cutter disc holder is slidably matched with the tunnel boring machine body through an axial driving mechanism, and the sliding direction of the cutter disc holder intersects with the axial direction of the spindle; When two of the drum cutter units are provided, the cutting process is as follows: a coordinate system is established with the centroid O of the excavation section as the origin, wherein the x-axis represents the position of the symmetry center E of the left and right drum cutter units relative to the coordinate system, and the y-axis represents the position of the four end faces of the two drum cutter units relative to the coordinate system. In the process of the rectangular tunneling machine continuously excavating in the forward direction, the main cutting surfaces of the two drum cutter units continuously cut the rock wall in front, and the axial reciprocating cutting of the drum cutter units is controlled by the axial drive mechanism to clear the excavation blind area; The distance between the two rollers of the two roller cutter heads is recorded as L3, and L1 and L5 are both greater than or equal to half of L3; when the axial drive mechanism drives the cutter head holder to move left relative to the tunnel boring machine body, the roller cutter head unit moves left along the axis of the spindle, and continuously cuts the rock wall under the action of the rock breaking tool; when the roller cutter head unit moves a distance L1 to the left relative to the origin O of the coordinate system, the axial drive mechanism drives the cutter head holder to move right, and the roller cutter head unit moves right along the axis of the spindle, and continuously cuts the rock wall under the action of the rock breaking tool; when the roller cutter head unit moves a distance L5 to the right relative to the origin O of the coordinate system, the two roller cutter head units complete an axial cutting stroke, achieve complete cutting of the rock wall, and eliminate blind spots in tunneling.

2. The double-freedom cylindrical cutter head according to claim 1, characterized in that: The two roller cutter disc units are provided, and the two roller cutter disc units are symmetrically arranged about the cutter disc retaining frame.

3. The double-freedom cylindrical cutter head according to claim 2, characterized in that: Rock breaking cutters are arranged on the left and right end surfaces of the drum.

4. The double-freedom cylindrical cutter head according to claim 3, characterized in that: The rock breaking cutters are roller cutters or picks, the rock breaking cutters on the left and right end surfaces are arranged in a ring shape along the end surface of the drum, and the rock breaking cutters on the outer peripheral surface are arranged in a plurality of rows along the axial direction of the drum.

5. The double-freedom cylindrical cutter head according to claim 4, characterized in that: When the rock breaking tool is a roller cutter, a plurality of rows of grooves are arranged along the axial direction of the drum, and the roller cutter is installed obliquely in the groove with the top extending out of the groove.

6. The double-freedom cylindrical cutter disc according to any one of claims 1 to 5, characterized in that: The axial drive mechanism comprises a hydraulic cylinder arranged between the tunnel boring machine body and the cutter disc holder, and a slidingly matched guide structure is arranged between the cutter disc holder and the tunnel boring machine body.

7. The double-freedom cylindrical cutter head according to claim 6, characterized in that: The hydraulic cylinder is a double-acting double-rod hydraulic cylinder, the cylinder barrel of which is fixedly connected to the cutter disc holder, and the piston rod of which is connected to the main body of the tunnel boring machine.

8. The double-freedom cylindrical cutter disc according to any one of claims 1 to 5 and 7, characterized in that: An annular driven support body is rotatably arranged on the spindle, the inner wall of the driven support body is rotatably arranged on the spindle, and the outer wall is connected to the inner wall of the drum.

9. The double-freedom cylindrical cutter head according to claim 8, characterized in that: The transmission support body and the driven support body are both spoke-plate annular support bodies, and the inner annular surface of the spoke-plate annular support body is rotatably matched with the spindle through a bearing.

10. The double-freedom cylindrical cutter disc according to any one of claims 1-5, 7 and 9, characterized in that: The hydraulic motor group is connected to the cutter disc holder via a connecting bridge, and the connecting bridge is a stepped structure. The smaller end of the connecting bridge is connected to the cutter disc holder, and the larger end of the connecting bridge is circumferentially arranged with the hydraulic motor group. The output shaft of each hydraulic motor is connected to a gear, and the gear is meshed with the ring gear.

11. A driving system, characterized in that: A cylindrical cutter head with two degrees of freedom as claimed in any one of claims 2 to 10, comprising a first hydraulic system and a second hydraulic system respectively controlling two hydraulic motor groups; The first hydraulic system comprises a cartridge valve group 1 and a cartridge valve group 2, and each hydraulic motor is provided with a stop valve at both ends, wherein one stop valve is respectively connected to the B port of the first variable pump group, the B port of the flushing valve group 1, the safety relief valve 4, the B port of the check valve 13, and the B port of the cartridge valve group 1, and the other stop valve is respectively connected to the B port of the cartridge valve group 2, the safety relief valve 5, the B port of the check valve 12, the A port of the flushing valve group 1 and the A port of the first variable pump group, and the first variable pump group is connected to the first motor group; The second hydraulic system includes a cartridge valve group three and a cartridge valve group four, and each of the two ends of each quantitative motor is provided with a stop valve, one of which is respectively connected to the B port of the second variable pump group, the B port of the flushing valve group two, the safety relief valve six, the B port of the check valve fifteen, and the B port of the cartridge valve group three, and the other stop valve is respectively connected to the B port of the cartridge valve group four, the safety relief valve seven, the B port of the check valve fourteen, the A port of the flushing valve group two, and the A port of the second variable pump group, and the second variable pump group is connected to the second motor group.

12. The drive system according to claim 11, characterized in that: The invention comprises a third hydraulic system for controlling an axial drive mechanism, wherein the third hydraulic system comprises a displacement sensor for monitoring the displacement of a double-acting double-rod hydraulic cylinder, and further comprises a one-way valve 1 and a one-way valve 2 respectively connected to two oil chambers of the double-acting double-rod hydraulic cylinder, wherein the one-way valve 1 is respectively connected to the one-way valve 2, the one-way valve 3, the safety overflow valve 2, the variable pump 1, and the one-way valve 5, wherein the one-way valve 2 is respectively connected to the safety overflow valve 1, the one-way valve 4, the variable pump 1, and the one-way valve 6, wherein the one-way valve 3 is connected to the safety overflow valve 1, the one-way valve 4 is connected to the safety overflow valve 2, and the one-way valve 5 is connected to the one-way valve 6.

13. The drive system according to any one of claims 11-12, characterized in that: It includes an oil replenishment system, which includes a metering pump and an electric motor 2 connected thereto, one end of the metering pump is connected to the oil tank through a low-pressure oil filter, and the other end is connected to the accumulator through a one-way valve 11, and the accumulator is respectively connected to a one-way valve 5, a one-way valve 6, a one-way valve 7, a one-way valve 8, a one-way valve 9, and a one-way valve 10; the one-way valve 7 is connected to the B port of the first set of variable pump group, the one-way valve 8 is connected to the A port of the first set of variable pump group, the one-way valve 9 is connected to the A port of the second set of variable pump group, and the one-way valve 10 is connected to the B port of the second set of variable pump group.

14. The drive system according to claim 13, characterized in that: It includes a power assist system, which includes a variable pump four, which is connected to an electric motor five, wherein the variable pump four A port is respectively connected to the second cartridge valve group A port and the third cartridge valve group A port, and the variable pump four B port is respectively connected to the first cartridge valve group A port and the fourth cartridge valve group A port; the first cartridge valve group B port is connected to a check valve seven, the second cartridge valve group B port is connected to a check valve eight, the third cartridge valve group B port is connected to a check valve ten, and the fourth cartridge valve group B port is connected to a check valve nine.

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