A hydraulic control system for an anti-twist device of a caisson-type tunnel boring machine

Abstract

After derrick hoists and puts in place, stamp fixedly derrick of derrick pin, make hydraulic oil lead to the base hydraulic oil cylinder, hoist that base puts in place and fixing with same control mode.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machines, and in particular to a hydraulic control system for an anti-twist device of a caisson type tunnel boring machine. Background Art

[0002] In the existing technology, due to the special circumstances of the application scenarios of caisson-type tunnel boring machines, the telescopic arm of the caisson-type tunnel boring machine is anti-twisting, and a mechanical compression anti-twisting structure is usually adopted on all sides, so that the telescopic arm needs to overcome a large friction force when performing the telescopic action, resulting in the selection of a larger specification of the telescopic cylinder; at the same time, the structure of the telescopic arm and the telescopic channel will be designed to be relatively large and not light enough, which will increase the material and processing costs. Summary of the Invention

[0003] The present invention provides a hydraulic control system for an anti-twist device of a caisson-type tunnel boring machine, which adopts a clamping cylinder clamping and cylinder anti-twist design for the telescopic arm and has the following functions: when the telescopic cylinder is extended, the spring built into the clamping cylinder clamps the telescopic arm to disengage the anti-twist cylinder, can simultaneously control the left and right anti-twist cylinders and has the functions of low-pressure clamping, high-pressure tightening, pressure maintenance in emergencies, and simultaneous failure of the cylinders on the symmetrical surface when any cylinder fails, and when the telescopic cylinder retracts, the friction between the clamping cylinder and the telescopic arm is minimized and the clamping force of the clamping cylinder is adjustable.

[0004] The present invention provides a hydraulic control system for an anti-twist device of a caisson-type roadheader. The anti-twist device of the caisson-type roadheader includes a telescopic arm for driving a cutting head for displacement, a clamping cylinder for clamping the telescopic arm, and an anti-twist cylinder for limiting and fixing the telescopic arm to prevent the telescopic arm from twisting. The hydraulic control system includes a main oil circuit and a drive oil circuit connected to the main oil circuit.

[0005] The main oil circuit is used to connect to the external oil source, and the main oil circuit includes a hydraulic pump and a proportional pressure reducing valve connected in sequence. The oil enters the drive oil circuit after being pumped by the hydraulic pump and pressure-regulated by the proportional pressure reducing valve;

[0006] The driving oil circuit includes a first driving branch oil circuit for driving the clamping oil cylinder and a second driving branch oil circuit for driving the anti-twist oil cylinder; a throttle valve is provided on the first driving branch oil circuit, and the oil after pressure regulation by the proportional pressure reducing valve enters the rodless cavity of the clamping oil cylinder through the throttle valve;

[0007] An electromagnetic reversing valve and a one-way valve are provided on the second drive branch oil circuit. The oil after pressure regulation by the proportional pressure reducing valve is transported to the rodless chamber of the anti-twist cylinder through the P port of the electromagnetic reversing valve. The oil in the rod chamber of the anti-twist cylinder is collected and reaches the B port of the electromagnetic reversing valve. The one-way valve is opened to return the oil through the BT oil circuit of the electromagnetic reversing valve.

[0008] Optionally, a pressure regulating oil circuit for regulating the oil pressure output by the hydraulic pump is further provided on the main oil circuit, and the pressure regulating oil circuit includes a relief valve arranged between the hydraulic pump and the proportional pressure reducing valve.

[0009] Optionally, the anti-twist cylinder includes a first anti-twist cylinder, a second anti-twist cylinder, a third anti-twist cylinder and a fourth anti-twist cylinder, wherein the first anti-twist cylinder and the fourth anti-twist cylinder are arranged as a first group of anti-twist cylinders symmetrically arranged along the telescopic arm, the second anti-twist cylinder and the third anti-twist cylinder are arranged as a second group of anti-twist cylinders symmetrically arranged along the telescopic arm, the first group of anti-twist cylinders and the second group of anti-twist cylinders are arranged in parallel with each other, and the driving directions of the first group of anti-twist cylinders and the second group of anti-twist cylinders are arranged perpendicular to the driving directions of the first clamping cylinder and the second clamping cylinder; the second driving branch oil circuit includes a driving branch oil circuit 1 and a driving branch oil circuit 2 arranged in parallel with each other, the driving branch oil circuit 1 is used to drive the first group of anti-twist cylinders, and the driving branch oil circuit 2 is used to drive the second group of anti-twist cylinders.

[0010] Optionally, the driving branch oil circuit 1 includes a second solenoid reversing valve and a second one-way valve. The oil after pressure regulation by the proportional pressure reducing valve is transported to the rodless cavity of the first group of anti-twist cylinders through the P port of the second solenoid reversing valve, and the oil in the rod cavity of the first group of anti-twist cylinders is aggregated and reaches the B port of the second solenoid reversing valve, and the second one-way valve is opened through the BT oil circuit of the second solenoid reversing valve to return the oil; the driving branch oil circuit 2 includes a first solenoid reversing valve and a first one-way valve. The oil after pressure regulation by the proportional pressure reducing valve is transported to the rodless cavity of the second group of anti-twist cylinders through the P port of the first solenoid reversing valve, and the oil in the rod cavity of the second group of anti-twist cylinders is aggregated and reaches the B port of the first solenoid reversing valve, and the first one-way valve is opened through the BT oil circuit of the first solenoid reversing valve to return the oil.

[0011] Optionally, a second electromagnetic ball valve is further provided on the first drive branch oil circuit, and the second electromagnetic ball valve is arranged between the second electromagnetic reversing valve and the second group of anti-twist oil cylinders.

[0012] Optionally, a first electromagnetic ball valve is further provided on the second drive branch oil circuit, and the first electromagnetic ball valve is arranged between the first electromagnetic reversing valve and the second group of anti-twist cylinders.

[0013] Optionally, a first balancing valve is further provided on the second drive branch oil circuit, and a second balancing valve is further provided on the first drive branch oil circuit.

[0014] Optionally, a first damper is provided on the second drive branch oil circuit, and a second damper is provided on the first drive branch oil circuit.

[0015] Optionally, a second pressure sensor is provided on the second drive branch oil circuit, and a third pressure sensor is provided on the first drive branch oil circuit.

[0016] In addition to the above structure, the hydraulic control system also includes a first stroke sensor connected to the first anti-twist cylinder, a second stroke sensor connected to the second anti-twist cylinder, a third stroke sensor connected to the third anti-twist cylinder, and a fourth stroke sensor connected to the fourth anti-twist cylinder.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The present invention is applied to the anti-twist of the telescopic arm of a caisson-type tunnel boring machine. The fixed end of the telescopic cylinder is fixed to the telescopic cylinder by a pin, and the movable end is connected to the telescopic arm by a pin. The cutting head is fixed to the telescopic arm. The telescopic cylinder extends to push the telescopic arm along the telescopic cylinder, and drives the cutting head to cut rock and soil. The part of the telescopic arm extending along the guide of the telescopic cylinder is designed as a circular structure. The cutting head will be subjected to lateral loads when cutting rock and soil, resulting in a torsional tendency. Therefore, the telescopic arm should be designed with an anti-twist device and a hydraulic control system. The anti-twist structure of the telescopic arm is designed as a square structure. The anti-twist adopts two clamping cylinders arranged symmetrically to provide basic anti-twist force for the extension and retraction of the telescopic arm along the telescopic arm. Under the working condition that the swing arm cylinder extends and drives the telescopic arm to swing and excavate rock and soil, two groups of anti-twist cylinders are designed as backup for each other. The left and right anti-twist cylinders are symmetrically arranged, the anti-twist force of the telescopic arm is balanced, and the anti-twist safety is improved. Aiming at the layout of the clamping cylinder and the anti-twist cylinder of the telescopic arm anti-twist device, and the anti-twist of the telescopic arm is relatively critical, the present invention describes an anti-twist device and control system for a caisson type tunnel boring machine.

[0019] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 The figure is a schematic diagram of the principle of a hydraulic control system for an anti-twist device of a caisson-type tunnel boring machine according to an embodiment of the present invention.

[0022] Figure 2 yes Figure 1 Schematic diagram of the front view of the anti-twist device of the mid-caisson tunnel boring machine.

[0023] in:

[0024] 1. Motor, 2. Hydraulic pump, 3. Overflow valve, 4. Proportional pressure reducing valve, 5. First pressure sensor, 6. First solenoid reversing valve, 7. Second solenoid reversing valve, 8. First anti-twist cylinder, 9. Second anti-twist cylinder, 10. Third anti-twist cylinder, 11. Fourth anti-twist cylinder, 12. First solenoid ball valve, 13. Second solenoid ball valve, 14. First balancing valve, 15. Second balancing valve, 16. Second pressure sensor, 17. First stroke sensor, 18. Second stroke sensor, 19. Third pressure sensor, 20. Third stroke sensor, 21. Fourth stroke sensor, 22. First check valve, 23. Second check valve, 24. Pressure gauge, 25. First damper, 26. Second damper, 27. First clamping cylinder, 28. Second clamping cylinder, 29. Throttle valve, 30. Third solenoid ball valve, 31. Fourth pressure sensor;

[0025] 101. Cutting head, 102. Telescopic arm, 103. Telescopic tube, 104. Telescopic cylinder. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned purposes, features and advantages of the present invention more clear and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be noted that the drawings of the present invention are all simplified and non-precisely scaled, and are only used to conveniently and clearly assist in explaining the implementation of the present invention; the "numbers" mentioned in the present invention are not limited to the specific quantities in the examples in the accompanying drawings; the directions or positional relationships indicated by "front", "middle", "back", "left", "right", "up", "down", "top", "bottom", "middle", etc. mentioned in the present invention are based on the directions or positional relationships shown in the drawings of the present invention, and do not indicate or imply that the devices or components referred to must have a specific direction, nor can they be understood as limitations on the present invention.

[0027] Example:

[0028] See also Figure 1 and Figure 2 As shown, the present invention provides a hydraulic control system for an anti-twist device of a caisson type roadheader, wherein the anti-twist device of the caisson type roadheader comprises a telescopic arm 102 for driving a cutting head 101 to move, a clamping oil cylinder for clamping the telescopic arm (102), and an anti-twist oil cylinder for preventing the telescopic arm 102 from twisting by limiting and fixing the telescopic arm 102;

[0029] The hydraulic control system includes a main oil circuit and a drive oil circuit connected to the main oil circuit. The main oil circuit is used to connect to an external oil source and includes a hydraulic pump 2 and a proportional pressure reducing valve 4 connected in sequence. Oil is pumped by the hydraulic pump 2 and pressure-regulated by the proportional pressure reducing valve 4 before entering the drive oil circuit. The drive oil circuit includes a first drive branch oil circuit for driving the clamping cylinder and a second drive branch oil circuit for driving the anti-twist cylinder. A throttle valve 29 is provided on the first drive branch oil circuit. Oil pressure-regulated by the proportional pressure reducing valve 4 enters the rodless cavity of the clamping cylinder through the throttle valve 29. The second drive branch oil circuit is provided with an electromagnetic reversing valve and a check valve. Oil pressure-regulated by the proportional pressure reducing valve 4 is delivered to the rodless cavity of the anti-twist cylinder through port P of the electromagnetic reversing valve. Oil in the rod cavity of the anti-twist cylinder is then collected and delivered to port B of the electromagnetic reversing valve. The oil is then returned through the BT oil circuit of the electromagnetic reversing valve by opening the check valve. Preferably, the hydraulic pump 2 is driven by the motor 1 and converts mechanical energy into hydraulic energy.

[0030] Optionally, in order to detect the oil pressure after being adjusted by the proportional pressure reducing valve 4, a first pressure sensor 5 is further provided in the main oil circuit. The first pressure sensor 5 is connected in parallel between the proportional pressure reducing valve 4 and the drive oil circuit.

[0031] Optionally, a pressure regulating oil circuit is provided on the main oil circuit for regulating the pressure of the oil output by the hydraulic pump 2. The pressure regulating oil circuit includes a relief valve 3 disposed between the hydraulic pump 2 and the proportional pressure reducing valve 4. Preferably, a pressure gauge 24 is connected to the pressure regulating oil circuit to detect the pressure of the oil regulated by the relief valve 3.

[0032] Optionally, a third electromagnetic ball valve 30 is provided on the first drive branch oil circuit. The third electromagnetic ball valve 30 is disposed between the throttle valve 29 and the clamping cylinder to control the connection or disconnection between the first drive branch oil circuit and the clamping cylinder. Preferably, to detect the pressure of the oil delivered to the clamping cylinder by the first drive branch oil circuit, a fourth pressure sensor 31 is provided on the first drive branch oil circuit. The fourth pressure sensor 31 is connected in parallel between the third electromagnetic ball valve 30 and the clamping cylinder.

[0033] Optionally, in order to achieve clamping of the telescopic arm 102, the clamping cylinder includes a first clamping cylinder 27 and a second clamping cylinder 28 which are symmetrically arranged with the telescopic arm 102, and the oil circuit between the first clamping cylinder 27 and the second clamping cylinder 28 is connected in parallel with each other and is connected to the third electromagnetic ball valve 30 at the same time.

[0034] Optionally, in order to achieve effective anti-twist of the telescopic arm 102, the anti-twist cylinder includes a first anti-twist cylinder 8, a second anti-twist cylinder 9, a third anti-twist cylinder 10 and a fourth anti-twist cylinder 11, wherein the first anti-twist cylinder 8 and the fourth anti-twist cylinder 11 are arranged as a first group of anti-twist cylinders symmetrically arranged along the telescopic arm 102, the second anti-twist cylinder 9 and the third anti-twist cylinder 10 are arranged as a second group of anti-twist cylinders symmetrically arranged along the telescopic arm 102, the first group of anti-twist cylinders and the second group of anti-twist cylinders are arranged in parallel with each other, and the driving directions of the first group of anti-twist cylinders and the second group of anti-twist cylinders are arranged perpendicular to the driving directions of the first clamping cylinder 27 and the second clamping cylinder 28. It is preferred here that: in order to achieve separate control of the first group of anti-twist cylinders and the second group of anti-twist cylinders, the second drive branch oil circuit includes a drive branch oil circuit 1 and a drive branch oil circuit 2 arranged in parallel with each other, the drive branch oil circuit 1 is used to drive the first group of anti-twist cylinders, and the drive branch oil circuit 2 is used to drive the second group of anti-twist cylinders.

[0035] Optionally, the driving branch oil circuit 1 includes a second electromagnetic reversing valve 7 and a second one-way valve 23. The oil after pressure regulation by the proportional pressure reducing valve 4 is delivered to the rodless cavity of the first group of anti-twist cylinders (specifically, the oil circuits of the first anti-twist cylinder 8 and the fourth anti-twist cylinder 11 are connected in series) through the P port of the second electromagnetic reversing valve 7, and the oil in the rod cavity of the first group of anti-twist cylinders is collected and reaches the B port of the second electromagnetic reversing valve 7, and the second one-way valve 23 is opened through the BT oil circuit of the second electromagnetic reversing valve 7 to return the oil. Preferably here: in order to realize the control of opening or closing the oil delivered to the rodless cavity of the first group of anti-twist cylinders, a second electromagnetic ball valve 13 is further provided on the driving branch oil circuit 1, and the second electromagnetic ball valve 13 is arranged between the second electromagnetic reversing valve 7 and the second group of anti-twist cylinders.

[0036] Similarly, the second drive branch oil circuit includes a first electromagnetic reversing valve 6 and a first non-return valve 22. The oil after pressure regulation by the proportional pressure reducing valve 4 is delivered to the rodless chamber of the second group of anti-twist oil cylinders (specifically, the oil circuits of the second anti-twist oil cylinder 9 and the third anti-twist oil cylinder 10 are connected in series) through the P port of the first electromagnetic reversing valve 6, and the oil in the rod chamber of the second group of anti-twist oil cylinders is collected and reaches the B port of the first electromagnetic reversing valve 6. The first non-return valve 22 is opened through the BT oil circuit of the first electromagnetic reversing valve 6 to return the oil. Preferably here: in order to realize the control of opening or closing the oil delivered to the rodless chamber of the second group of anti-twist oil cylinders, a first electromagnetic ball valve 12 is further provided on the second drive branch oil circuit. The first electromagnetic ball valve 12 is arranged between the first electromagnetic reversing valve 6 and the second group of anti-twist oil cylinders.

[0037] Optionally, in order to prevent the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 from extending and tightening under high pressure, a first balancing valve 14 is provided on the second drive branch oil circuit, and a second balancing valve 15 is provided on the first drive branch oil circuit.

[0038] Optionally, in order to relieve pressure on the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11, a first damper 25 is provided on the second drive branch oil circuit and a second damper 26 is provided on the first drive branch oil circuit.

[0039] Optionally, in order to detect the oil pressure delivered to the first group of anti-twist cylinders and the second group of anti-twist cylinders, a second pressure sensor 16 is provided on the second drive branch oil circuit, and a third pressure sensor 19 is provided on the first drive branch oil circuit.

[0040] Optionally, in order to detect the stroke position of the piston rods in the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11, the hydraulic control system also includes a first stroke sensor 20 connected to the first anti-twist cylinder 8, a second stroke sensor 17 connected to the second anti-twist cylinder 9, a third stroke sensor 18 connected to the third anti-twist cylinder 10, and a fourth stroke sensor 21 connected to the fourth anti-twist cylinder 11.

[0041] As a further embodiment of the present invention, the control process of applying the above-mentioned hydraulic control system to the anti-twist device of a caisson-type roadheader for underwater swing excavation is as follows:

[0042] Drive the first clamping cylinder 27 and the second clamping cylinder 28 to clamp the telescopic arm 102;

[0043] The telescopic cylinder 104 is driven (the telescopic cylinder 104 is extended) to drive the telescopic arm 102 to push the cutting head 101 along the direction of the telescopic tube 103 to cut the rock and soil by one feed amount.

[0044] As a further embodiment of the present invention, the hydraulic control system described above is applied to the swing arm cylinder of the caisson type tunnel boring machine for swinging and excavating, considering the balance between the anti-torsion torque of the telescopic arm 103 and the anti-torsion torque it receives and the safety factor of the anti-torsion force, the first anti-torsion cylinder 8 and the fourth anti-torsion cylinder 11 are set to be a first group of anti-torsion cylinders with a left-right symmetrical arrangement, the second anti-torsion cylinder 9 and the third anti-torsion cylinder 10 are set to be a second group of anti-torsion cylinders with a left-right symmetrical arrangement, and the first group of anti-torsion cylinders and the second group of anti-torsion cylinders are distributed at intervals along the forward direction of the caisson type tunnel boring machine; at the same time, the first anti-torsion cylinder 8, the second anti-torsion cylinder 9, the third anti-torsion cylinder 10 and the fourth anti-torsion cylinder 11 are first extended with low pressure to close the telescopic arm 102, and then the swing arm cylinder is used to swing the telescopic arm 102 with high pressure to prevent twisting during the entire excavation process; the hydraulic control process of this method is specifically as follows:

[0045] The motor 1 drives the hydraulic pump 2 to work. The hydraulic oil from the hydraulic pump 2 is pressure-regulated by the relief valve 3 (preferably, the pressure of the pressure oil after pressure regulation by the relief valve 3 is detected and displayed by the pressure gauge 24). Then, the pressure oil after low pressure regulation enters the A port of the proportional pressure reducing valve 4. At the same time, the regulated pressure of the proportional pressure reducing valve 4 is detected by the first pressure sensor 5.

[0046] The pressure oil enters the P port of the first solenoid reversing valve 6 and the second solenoid reversing valve 7 respectively, so as to simultaneously drive the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 to extend at low pressure. When the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 are extended in place at low pressure, the first solenoid ball valve 12 and the second solenoid ball valve 13 are closed. At this time, the first solenoid reversing valve 6 and the second solenoid reversing valve 7 are in the right position;

[0047] The pressure oil passes through the PA oil circuit of the first solenoid reversing valve 6 and the second solenoid reversing valve 7, respectively opening the first balancing valve 14 and the second balancing valve 15, and the pressure oil enters the rodless chamber of the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11, and the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 extend, and the anti-twist force and position status of the second anti-twist oil cylinder 9 and the third anti-twist oil cylinder 10 are judged by the detection values ​​of the second pressure sensor 16, the first stroke sensor 17 and the second stroke sensor 18, and the anti-twist force and position status of the first anti-twist oil cylinder 8 and the fourth anti-twist oil cylinder 11 are judged by the detection values ​​of the third pressure sensor 19, the third stroke sensor 20 and the fourth stroke sensor 21;

[0048] At the same time, the oil in the rod chambers of the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 is collected and reaches the B port of the first solenoid reversing valve 6 and the second solenoid reversing valve 7, and passes through the BT oil circuit of the first solenoid reversing valve 6 and the second solenoid reversing valve 7 to open the first one-way valve 22 and the second one-way valve 23 respectively for oil return.

[0049] As a further embodiment of the present invention, the specific control process of applying the above-mentioned hydraulic control system to the swing arm cylinder of the caisson roadheader to perform high-pressure tightening and anti-twist during the whole swing excavation process is as follows:

[0050] The motor 1 drives the hydraulic pump 2 to work. The hydraulic oil from the hydraulic pump 2 is pressure-regulated by the relief valve 3 (preferably, the pressure of the pressure oil after pressure regulation by the relief valve 3 is detected and displayed by the pressure gauge 24). Then, the hydraulic oil enters the P port of the proportional pressure reducing valve 4. The pressure oil after high pressure regulation enters the A port of the proportional pressure reducing valve 4. At the same time, the regulated pressure of the proportional pressure reducing valve 4 is detected by the first pressure sensor 5.

[0051] The pressure oil enters the P port of the first solenoid reversing valve 6 and the second solenoid reversing valve 7 respectively, so as to simultaneously drive the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 to perform high-pressure tightening. When the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 are tightened under high pressure, the first solenoid ball valve 12 and the second solenoid ball valve 13 are closed. At this time, the first solenoid reversing valve 6 and the second solenoid reversing valve 7 are in the right position;

[0052] The pressure oil passes through the PA oil circuit of the first solenoid reversing valve 6 and the second solenoid reversing valve 7 to open the first balancing valve 14 and the second balancing valve 15 respectively, and the pressure oil enters the rodless chamber of the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11. The first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 are stretched out and tightened at high pressure, and the anti-twist force and position status of the second anti-twist oil cylinder 9 and the third anti-twist oil cylinder 10 are judged by the detection values ​​of the second pressure sensor 16, the first stroke sensor 17 and the second stroke sensor 18, and the anti-twist force and position status of the first anti-twist oil cylinder 8 and the fourth anti-twist oil cylinder 11 are judged by the detection values ​​of the third pressure sensor 19, the third stroke sensor 20 and the fourth stroke sensor 21;

[0053] At the same time, the oil in the rod chambers of the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 is collected and reaches the B port of the first solenoid reversing valve 6 and the second solenoid reversing valve 7, and opens the first one-way valve 22 and the second one-way valve 23 through the BT oil circuit of the first solenoid reversing valve 6 and the second solenoid reversing valve 7 to return the oil.

[0054] Optionally, considering the underwater swing excavation of the caisson tunnel boring machine, if any of the anti-twist cylinders fails, the telescopic arm 102 will be torsionally unbalanced. The anti-twist cylinders are symmetrically arranged on the left and right, and the anti-twist cylinders in the symmetrical positions fail at the same time. Through the detection value status of the second pressure sensor 16 or the third pressure sensor 19, the working status of the first electromagnetic reversing valve 6 and the second electromagnetic reversing valve 7 are adjusted and closed in time, and the first one-way valve 22 and the second one-way valve 23 can prevent the oil from flowing back.

[0055] Optionally, taking into account sudden situations underwater, after the rodless chambers of the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 lose high-pressure oil, the first balancing valve 14 and the second balancing valve 15 can effectively maintain pressure in the rodless chambers of the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 to prevent the telescopic arm 102 from torsionally unbalanced.

[0056] Optionally, when the telescopic cylinder 104 of the caisson roadheader enters the retracted step-changing state after the effective extension stroke is exhausted, in order to prevent the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 from causing the anti-twist force fluctuation due to excessive pressure relief, the following operations should be performed:

[0057] First, the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 are slowly depressurized, and then retracted. By detecting the first stroke sensor 17, the second stroke sensor 18, the third stroke sensor 20 and the fourth stroke sensor 21, the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 are all in a state of being disengaged but not completely close to the telescopic arm 102.

[0058] Optionally, the specific process of depressurizing the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10, and the fourth anti-twist oil cylinder 11 is as follows:

[0059] The first electromagnetic ball valve 12 is opened, and the second anti-twist cylinder 9 and the third anti-twist cylinder 10 are respectively depressurized through the first damper 25. At the same time, the detection value of the second pressure sensor 16 is used to determine whether the pressure relief is completed. When it is determined that the pressure relief is completed, the first electromagnetic ball valve 12 is closed;

[0060] Open the second electromagnetic ball valve 13, and relieve the pressure of the first anti-twist cylinder 8 and the fourth anti-twist cylinder 11 respectively through the second damper 26. At the same time, judge whether the pressure relief is completed by the detection value of the third pressure sensor 19. When it is judged that the pressure relief is completed, close the second electromagnetic ball valve 13.

[0061] Optionally, the specific process of retracting the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 is as follows:

[0062] The hydraulic oil from the hydraulic pump 2 enters the P port of the proportional pressure reducing valve 4 after pressure regulation by the relief valve 3. The pressure oil after pressure regulation enters the A port of the proportional pressure reducing valve 4. At the same time, the regulated pressure of the proportional pressure reducing valve 4 is detected by the first pressure sensor 5.

[0063] The pressure oil enters the P port of the first solenoid reversing valve 6 and the second solenoid reversing valve 7 respectively. When the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 are compressed and returned, the first solenoid ball valve 12 and the second solenoid ball valve 13 are closed, and the first solenoid reversing valve 6 and the second solenoid reversing valve 7 are in the left position;

[0064] The pressure oil enters the rod chambers of the first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 through the PB oil circuit of the first solenoid reversing valve 6 and the second solenoid reversing valve 7. The first anti-twist oil cylinder 8, the second anti-twist oil cylinder 9, the third anti-twist oil cylinder 10 and the fourth anti-twist oil cylinder 11 are compressed and returned. At the same time, the pressure and position status of the second anti-twist oil cylinder 9 and the third anti-twist oil cylinder 10 are determined by the detection values ​​of the second pressure sensor 16, the first stroke sensor 17 and the second stroke sensor 18, and the pressure and position status of the first anti-twist oil cylinder 8 and the fourth anti-twist oil cylinder 11 are determined by the detection values ​​of the third pressure sensor 19, the third stroke sensor 20 and the fourth stroke sensor 21;

[0065] The oil in the rod chambers of the first anti-twist cylinder 8, the second anti-twist cylinder 9, the third anti-twist cylinder 10 and the fourth anti-twist cylinder 11 is collected and reaches the A port of the first solenoid reversing valve 6 and the second solenoid reversing valve 7, and opens the first one-way valve 22 and the second one-way valve 23 through the AT oil circuit of the first solenoid reversing valve 6 and the second solenoid reversing valve 7 to return the oil.

[0066] As a further embodiment of the present invention, when the telescopic cylinder 104 of the caisson-type roadheader retracts with the telescopic arm 102 and cutting head 101, the springs built into the first clamping cylinder 27 and the second clamping cylinder 28 compress the telescopic arm 102 via their built-in piston rods. Since the retraction of the telescopic cylinder 104 requires overcoming the clamping friction of the first and second clamping cylinders 27 and 28 on the telescopic arm 102, pressurized oil is input into the rod chambers of the first and second clamping cylinders 27 and 28 to slightly retract the built-in springs. The specific operation process is as follows:

[0067] The hydraulic oil coming out of the hydraulic pump 2 is regulated by the relief valve 3 and then enters the P port of the proportional pressure reducing valve 4;

[0068] After pressure regulation, the pressure oil enters the A port of the proportional pressure reducing valve 4, and is detected by the first pressure sensor 5 to adjust the pressure of the proportional pressure reducing valve 4. At the same time, the pressure oil enters the P port of the third electromagnetic ball valve 30 through the throttle valve 29.

[0069] When the first clamping cylinder 27 and the second clamping cylinder 28 are slightly retracted, the third electromagnetic ball valve 30 is in the right position, and the pressure oil enters the rod chamber of the first clamping cylinder 27 and the second clamping cylinder 28 through the PA oil circuit of the third electromagnetic ball valve 30 to overcome the built-in spring force of the first clamping cylinder 27 and the second clamping cylinder 28 and retract slightly. At the same time, the clamping force and position status of the first clamping cylinder 27 and the second clamping cylinder 28 are inferred through the detection value of the fourth pressure sensor 31, thereby reducing the clamping friction of the first clamping cylinder 27 and the second clamping cylinder 28 on the telescopic arm 102, so that the telescopic cylinder 104 retracts with the telescopic arm 102 and the cutting head 101.

[0070] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A hydraulic control system for an anti-twist device of a caisson-type roadheader, the anti-twist device of the caisson-type roadheader comprising a telescopic arm (102) for driving a cutting head (101) to move, a clamping oil cylinder for clamping the telescopic arm (102), and an anti-twist oil cylinder for preventing the telescopic arm (102) from twisting by limiting and fixing the telescopic arm (102); characterized in that: The hydraulic control system includes a main oil circuit and a drive oil circuit connected to the main oil circuit; The main oil circuit is used to connect to an external oil source, and the main oil circuit includes a hydraulic pump (2) and a proportional pressure reducing valve (4) connected in sequence. The oil enters the drive oil circuit after being pumped by the hydraulic pump (2) and pressure-regulated by the proportional pressure reducing valve (4). The driving oil circuit includes a first driving branch oil circuit for driving the clamping oil cylinder and a second driving branch oil circuit for driving the anti-twist oil cylinder; a throttle valve (29) is provided on the first driving branch oil circuit, and the oil after pressure regulation by the proportional pressure reducing valve (4) enters the rodless cavity of the clamping oil cylinder through the throttle valve (29); The second drive branch oil circuit is provided with an electromagnetic reversing valve and a one-way valve. The oil after pressure regulation by the proportional pressure reducing valve (4) is transported to the rodless cavity of the anti-twist oil cylinder through the P port of the electromagnetic reversing valve. The oil in the rod cavity of the anti-twist oil cylinder is collected and reaches the B port of the electromagnetic reversing valve. The one-way valve is opened to return the oil through the BT oil circuit of the electromagnetic reversing valve.

2. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 1, characterized in that: The main oil circuit is also provided with a pressure regulating oil circuit for regulating the oil pressure output by the hydraulic pump. The pressure regulating oil circuit includes a relief valve arranged between the hydraulic pump and the proportional pressure reducing valve.

3. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 1, characterized in that: The anti-twist oil cylinder comprises a first anti-twist oil cylinder (8), a second anti-twist oil cylinder (9), a third anti-twist oil cylinder (10) and a fourth anti-twist oil cylinder (11), wherein the first anti-twist oil cylinder (8) and the fourth anti-twist oil cylinder (11) are arranged as a first group of anti-twist oil cylinders symmetrically arranged along the telescopic arm (102), the second anti-twist oil cylinder (9) and the third anti-twist oil cylinder (10) are arranged as a second group of anti-twist oil cylinders symmetrically arranged along the telescopic arm (102), the first group of anti-twist oil cylinders and the second group of anti-twist oil cylinders are arranged in parallel with each other at intervals, and the driving directions of the first group of anti-twist oil cylinders and the second group of anti-twist oil cylinders are arranged perpendicular to the driving directions of the first clamping oil cylinder (27) and the second clamping oil cylinder (28); The second drive branch oil circuit includes a drive branch oil circuit 1 and a drive branch oil circuit 2 arranged in parallel with each other. The drive branch oil circuit 1 is used to drive the first group of anti-twist cylinders, and the drive branch oil circuit 2 is used to drive the second group of anti-twist cylinders.

4. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 3, characterized in that: The driving branch oil circuit 1 includes a second electromagnetic reversing valve (7) and a second one-way valve (23). The oil after pressure regulation by the proportional pressure reducing valve (4) is transported to the rodless cavity of the first group of anti-twist oil cylinders through the P port of the second electromagnetic reversing valve (7), and the oil in the rod cavity of the first group of anti-twist oil cylinders is collected and reaches the B port of the second electromagnetic reversing valve (7), and opens the second one-way valve (23) for oil return through the BT oil circuit of the second electromagnetic reversing valve (7); The second driving branch oil circuit includes a first electromagnetic reversing valve (6) and a first non-return valve (22). The oil after pressure regulation by the proportional pressure reducing valve (4) is transported to the rodless cavity of the second group of anti-twist oil cylinders through the P port of the first electromagnetic reversing valve (6), and the oil in the rod cavity of the second group of anti-twist oil cylinders is collected and reaches the B port of the first electromagnetic reversing valve (6). The first non-return valve (22) is opened to return the oil through the BT oil circuit of the first electromagnetic reversing valve (6).

5. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 4, characterized in that: A second electromagnetic ball valve (13) is also provided on the first drive branch oil circuit, and the second electromagnetic ball valve (13) is provided between the second electromagnetic reversing valve (7) and the second group of anti-twist oil cylinders; A first electromagnetic ball valve (12) is also provided on the second drive branch oil circuit. The first electromagnetic ball valve (12) is arranged between the first electromagnetic reversing valve (6) and the second group of anti-twist oil cylinders.

6. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 4 or 5, characterized in that: A first balancing valve (14) is also provided on the second drive branch oil circuit, and a second balancing valve (15) is also provided on the first drive branch oil circuit.

7. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 6, characterized in that: A first damper (25) is also provided on the second drive branch oil circuit, and a second damper (26) is also provided on the first drive branch oil circuit.

8. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 7, characterized in that: A second pressure sensor (16) is also provided on the second drive branch oil circuit, and a third pressure sensor (19) is also provided on the first drive branch oil circuit.

9. The hydraulic control system for the anti-twist device of the caisson type roadheader according to claim 8, characterized in that: The hydraulic control system further comprises a first stroke sensor (20) connected to the first anti-twist oil cylinder (8), a second stroke sensor (17) connected to the second anti-twist oil cylinder (9), a third stroke sensor (18) connected to the third anti-twist oil cylinder (10), and a fourth stroke sensor (21) connected to the fourth anti-twist oil cylinder (11).

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