Tunnel drilling device and hydraulic control system and control method thereof

Abstract

The present application relates to the technical field of tunnel drilling operation equipment, and particularly discloses a tunnel drilling device, a hydraulic control system thereof and a control method. The hydraulic control system comprises a first hydraulic pump, a second hydraulic pump, a rotary motor, a propelling oil cylinder and an electric proportional pressure-reducing valve. The first hydraulic pump is in communication with the rotary motor to drive the hydraulic motor to output torque, and the second hydraulic pump is in communication with the propelling oil cylinder and an impact pipeline respectively. The tunnel drilling device, the hydraulic control system thereof and the control method provided by the present application are more energy-saving and efficient. The tunnel drilling device adopts pump constant pressure control in low pressure and low impact mode and high pressure and high impact mode. When air drilling or drill jamming occurs, the impact pressure, the propelling pressure and the propelling speed can be adjusted in time, so that accurate and effective control is realized, and the damage of the tunnel drilling device and the drilling tool during air drilling or drill jamming is reduced.

Description

Technical Field

[0001] This invention relates to the field of tunnel drilling equipment technology, and more specifically, to a tunnel drilling device and its hydraulic control system and control method. Background Technology

[0002] By the end of 2020, China's railway operating mileage reached 145,000 km, including 16,798 railway tunnels with a total length of approximately 19,630 km. With the increase in railway tunnels, the workload of tunnel maintenance has increased dramatically. Voids and cavities in the tunnel lining require drilling and grouting, but tunnel maintenance work is mostly carried out manually using scaffolding.

[0003] Rock drills are commonly used machines in tunnel maintenance and construction. They operate on the principle of impact crushing. Specifically, during operation, the piston performs high-frequency reciprocating motion, continuously impacting the drill bit. Under the impact force, the wedge-shaped drill bit crushes the rock and drills to a certain depth, forming a groove. After the piston retracts, the drill bit rotates at a certain angle, and the piston moves forward, impacting the drill bit again, forming a new groove. The fan-shaped rock block between the two grooves is sheared by the horizontal component force generated by the drill bit. The piston continuously impacts the drill bit, and compressed air or pressurized water is continuously introduced through the central hole of the drill bit to expel rock debris from the hole, thus forming a circular borehole of a certain depth.

[0004] Currently, most tunnel drilling equipment control systems use hydraulic valves. Low thrust corresponds to low impact, and high thrust corresponds to high impact. The high and low impact pressure control valves are integrated into a single drilling control valve, which cannot achieve precise control over low and high impact pressures. In particular, the time frame for jamming in karst caves and cracks is very short, and traditional anti-jamming systems are too complex to react in time.

[0005] In summary, how to effectively solve the problem of untimely response to jamming in tunnel drilling equipment is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a tunnel drilling device and its hydraulic control system and control method, which can effectively solve the problem of untimely anti-jamming response of the tunnel drilling device.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A hydraulic control system for a tunnel drilling device includes a first hydraulic pump, a second hydraulic pump, a rotary motor, a propulsion cylinder, and an electro-proportional pressure reducing valve. The first hydraulic pump is connected to the rotary motor to drive the rotary motor to output torque. The second hydraulic pump is connected to the propulsion cylinder and an impact pipeline to drive the propulsion cylinder to extend and retract and to provide impact pressure for the rock drill. An electro-proportional pressure reducing valve is connected between the second hydraulic pump and the impact pipeline.

[0009] The electro-proportional pressure reducing valve is used to reduce the impact pressure of the impact pipeline when the rotation pressure of the rotary motor reaches a first preset pressure, and to reduce the impact pressure of the impact pipeline when the propulsion speed of the propulsion cylinder reaches a first preset speed and / or the propulsion pressure of the propulsion cylinder is less than a second preset pressure.

[0010] Optionally, the hydraulic control system of the aforementioned tunnel drilling device further includes a hydraulically controlled directional valve and a solenoid directional valve. The inlet of the hydraulically controlled directional valve is connected to the outlet of the electro-proportional pressure reducing valve, and the working port of the hydraulically controlled directional valve is connected to the impact pipeline. The inlet of the solenoid directional valve is connected to the outlet of the electro-proportional pressure reducing valve. When the solenoid directional valve is in its first position, the control oil circuit of the hydraulically controlled directional valve returns to the oil tank, and the hydraulically controlled directional valve is not conducting. When the solenoid directional valve is in its second position, the outlet of the solenoid directional valve is connected to the control oil port of the hydraulically controlled directional valve, and the hydraulically controlled directional valve is conducting.

[0011] Optionally, in the hydraulic control system of the above-mentioned tunnel drilling device, the electromagnetic directional valve is used to control the hydraulic directional valve to open when energized, otherwise the hydraulic directional valve will not open.

[0012] Optionally, in the hydraulic control system of the aforementioned tunnel drilling device, the first hydraulic pump is a constant pressure variable pump.

[0013] Optionally, in the hydraulic control system of the above-mentioned tunnel drilling device, the second hydraulic pump is a load-sensitive pump. The load-sensitive pump includes a load-sensitive valve, which is connected to a control valve. When the control valve is in the first position, the load-sensitive pump operates in a load-sensitive mode. When the control valve is in the second position, the load-sensitive pump operates in a constant pressure mode.

[0014] Optionally, the hydraulic control system of the above-mentioned tunnel drilling device further includes an overflow valve group, wherein the oil inlet of the overflow valve group is connected to the oil outlet of the second hydraulic pump, and the oil return port of the overflow valve group is connected to the oil tank.

[0015] Optionally, the hydraulic control system of the aforementioned tunnel drilling device further includes a first pressure sensor for detecting the rotation pressure of the rotary motor.

[0016] Optionally, the hydraulic control system of the tunnel drilling device described above also includes a flow meter for detecting the flow rate entering the propulsion cylinder and a second pressure sensor for detecting the propulsion pressure of the propulsion cylinder.

[0017] The hydraulic control system of the tunnel drilling device provided by this invention includes a first hydraulic pump, a second hydraulic pump, a rotary motor, a propulsion cylinder, and an electro-proportional pressure reducing valve. The first hydraulic pump is connected to the rotary motor to drive it and output torque. The second hydraulic pump is connected to both the propulsion cylinder and the impact pipeline to drive the propulsion cylinder's extension and retraction and to provide impact pressure for the rock drill. An electro-proportional pressure reducing valve is connected between the second hydraulic pump and the impact pipeline. The electro-proportional pressure reducing valve reduces the impact pressure in the impact pipeline when the rotary motor's rotational pressure reaches a first preset pressure, and reduces the impact pressure in the impact pipeline when the propulsion cylinder's propulsion speed reaches a first preset speed and / or the propulsion cylinder's propulsion pressure is less than a second preset pressure.

[0018] The hydraulic control system of the tunnel drilling device provided by this invention controls the rotation, propulsion, and impact of the drilling device using different hydraulic pumps, resulting in a more energy-efficient and higher-performance system. The drilling device employs constant pressure control in both low-pressure / low-impact and high-pressure / high-impact modes. Furthermore, the impact pressure is unaffected by the propulsion force, maintaining a consistently high-pressure / high-impact state for even greater efficiency. Moreover, in the event of dry drilling or drill bit jamming, the impact pressure, propulsion pressure, and propulsion speed can be promptly adjusted via electro-proportional pressure reducing valves, electro-proportional relief valves, and electro-proportional multi-way valves, achieving precise and effective control and reducing damage to the drilling device and drill bits during dry drilling or drill bit jamming.

[0019] To achieve the above objectives, the present invention also provides a tunnel drilling apparatus, which includes any of the aforementioned hydraulic control systems. Since the aforementioned hydraulic control systems possess the above-described technical effects, the tunnel drilling apparatus having such a hydraulic control system should also possess the corresponding technical effects.

[0020] To achieve the above objectives, the present invention also provides the following technical solution:

[0021] A control method for a tunnel drilling device, employing any of the aforementioned hydraulic control systems, the control method comprising:

[0022] Obtain the rotational pressure of the rotary motor and the propulsion speed or propulsion pressure of the propulsion cylinder;

[0023] If the rotational pressure reaches the first preset pressure, adjust the electro-proportional pressure reducing valve, electro-proportional relief valve, and electro-proportional multi-way valve to reduce the impact pressure, propulsion pressure, and propulsion speed.

[0024] If the propulsion speed of the propulsion cylinder reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder is less than the second preset pressure, the electro-proportional pressure reducing valve, electro-proportional relief valve, and electro-proportional multi-way valve are adjusted to reduce the impact pressure, propulsion pressure, and propulsion speed.

[0025] The hydraulic control method for the tunnel drilling device provided by this invention controls the rotation, propulsion, and impact of the drilling device using different hydraulic pumps, resulting in a more energy-efficient and higher-performing system. Furthermore, through the adjustment of the electro-proportional pressure reducing valve, electro-proportional relief valve, and electro-proportional multi-way valve, the tunnel drilling device employs constant pressure control in both low-pressure / low-impact and high-pressure / high-impact modes. Additionally, the impact pressure is unaffected by the propulsion force, maintaining a consistently high-pressure / high-impact state, further enhancing work efficiency. Moreover, in the event of dry drilling or drill bit jamming, the electro-proportional pressure reducing valve, electro-proportional relief valve, and electro-proportional multi-way valve can promptly adjust the impact pressure, propulsion pressure, and propulsion speed, achieving precise and effective control and reducing damage to the tunnel drilling device and drilling tools during dry drilling or drill bit jamming. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the hydraulic control system of a tunnel drilling device according to a specific embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the impact propulsion control loop of a hydraulic control system.

[0029] Figure 3 This is a schematic diagram of the rotation control loop of a hydraulic control system.

[0030] Figure 4 This is a flowchart of the anti-jamming control process for the hydraulic control system.

[0031] The following labels are shown in the attached diagram:

[0032] First hydraulic pump 1, second hydraulic pump 2, rotary motor 3, propulsion cylinder 4, impact pipeline 5, electro-proportional pressure reducing valve 6, hydraulic control directional valve 7, solenoid directional valve 8, pump mode control directional valve 9, relief valve assembly 10, first pressure sensor 11, flow sensor 12, second pressure sensor 13, relief valve 14, speed control valve 15, fourth directional valve 16, electro-proportional multi-way valve 17, electro-proportional relief valve 18, third pressure sensor 19. Detailed Implementation

[0033] This invention discloses a tunnel drilling device and its hydraulic control system and control method to respond promptly to working conditions such as drill bit jamming and dry drilling.

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The control system of a tunnel drilling rig generally includes a power mechanism, an actuator, and control valves. The power mechanism includes an engine, a transfer case, and a hydraulic pump. The hydraulic pump obtains power through the power take-off port of the transfer case mounted on the engine, providing a power source for the tunnel drilling rig. The actuator includes a propulsion mechanism, an impact mechanism, and a rotation mechanism, controlling the drill rod to impact and rotate simultaneously during propulsion, drilling holes in the tunnel wall. This application mainly improves the hydraulic control system of the tunnel drilling rig to respond promptly to conditions such as drill bit jamming and dry drilling.

[0036] Please see Figure 1 , Figure 1 This is a schematic diagram of the hydraulic control system of a tunnel drilling device according to a specific embodiment of the present invention.

[0037] In one specific embodiment, the hydraulic control system of the tunnel drilling device provided by the present invention includes a first hydraulic pump 1, a second hydraulic pump 2, a rotary motor 3, a propulsion cylinder 4, and an electro-proportional pressure reducing valve 6. The first hydraulic pump 1 provides pressurized oil to the rotary motor 3, driving the rotary motor 3 to output torque; that is, the first hydraulic pump 1 provides power to the rotary motor 3. The second hydraulic pump 2 is connected to both the propulsion cylinder 4 and the impact pipeline 5, driving the propulsion cylinder 4 to extend and retract and providing impact pressure for the rock drill. The propulsion cylinder 4 and the impact pipeline 5 are connected in parallel, with the second hydraulic pump 2 providing power to both. An electro-proportional pressure reducing valve 6 connects the second hydraulic pump 2 to the impact pipeline 5. Through the electro-proportional pressure reducing valve 6, the pressure input to the impact pipeline 5 can be adjusted, thereby achieving real-time adjustment of the drill rod's impact pressure, i.e., rapid switching between a high-pressure, high-impact mode and a low-pressure, low-impact mode. An electro-proportional multi-way valve 17 and an electro-proportional relief valve 18 are provided in conjunction with the propulsion cylinder 4; their specific connections can be found in existing technology. The electro-proportional relief valve 18 is used to regulate the feed pressure. The electro-proportional multi-way valve 17 is used to regulate the feed and retraction speed of the drill bit. That is, the feed pressure and feed speed are regulated by the electro-proportional multi-way valve 17 and the electro-proportional relief valve 18.

[0038] The electro-proportional pressure reducing valve 6 is used to reduce the impact pressure of the impact pipeline when the rotation pressure of the rotary motor 3 reaches the first preset pressure, and to reduce the impact pressure of the impact pipeline when the propulsion speed of the propulsion cylinder 4 reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder 4 is less than the second preset pressure.

[0039] The electro-proportional multi-way valve 17 is used to reduce the propulsion speed when the rotation pressure of the rotary motor 3 reaches the first preset pressure, and when the propulsion speed of the propulsion cylinder 4 reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder 4 is less than the second preset pressure.

[0040] The electro-proportional relief valve 18 is used to reduce the propulsion pressure when the rotation pressure of the rotary motor 3 reaches the first preset pressure, and to reduce the propulsion pressure when the propulsion speed of the propulsion cylinder 4 reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder 4 is less than the second preset pressure.

[0041] The hydraulic control system of the tunnel drilling device provided by this invention controls the rotation, propulsion, and impact of the drilling device using different hydraulic pumps, resulting in a more energy-efficient and higher-performing system. The drilling device employs constant pressure pump control in both low-pressure / low-impact and high-pressure / high-impact modes. Furthermore, the impact pressure is unaffected by the propulsion force, maintaining a consistently high-pressure / high-impact state for even greater efficiency. Moreover, in the event of dry drilling or drill bit jamming, the electro-proportional pressure reducing valve 6, electro-proportional relief valve 18, and electro-proportional multi-way valve 17 can promptly adjust the impact pressure, propulsion pressure, and propulsion speed, achieving precise and effective control and reducing damage to the drilling device and drill bit during dry drilling or drill bit jamming.

[0042] In one embodiment, the hydraulic control system further includes a hydraulically controlled directional valve 7 and a solenoid directional valve 8. The inlet of the hydraulically controlled directional valve 7 is connected to the outlet of the electro-proportional pressure reducing valve 6, and the working port of the hydraulically controlled directional valve 7 is connected to the impact pipeline 5. The inlet of the solenoid directional valve 8 is connected to the outlet of the electro-proportional pressure reducing valve 6. When the solenoid directional valve 8 is in its first position, the control oil circuit of the hydraulically controlled directional valve 7 returns to the oil tank, and the hydraulically controlled directional valve 7 is not conducting. When the solenoid directional valve 8 is in its second position, the outlet of the solenoid directional valve 8 is connected to the control oil port of the hydraulically controlled directional valve 7, that is, the outlet of the electro-proportional pressure reducing valve 6 is connected to the control oil port of the hydraulically controlled directional valve 7 through the inlet and outlet of the solenoid directional valve 8, and the hydraulically controlled directional valve 7 is conducting. Specifically, the first position of the solenoid directional valve 8 can be a cross position, and the second position can be a parallel position.

[0043] Specifically, the solenoid directional valve 8 is used to control the hydraulic directional valve 7 to open when energized, otherwise the hydraulic directional valve 7 will not open. That is, by setting the solenoid directional valve 8, the on / off control between the electro-proportional pressure reducing valve 6 and the impact pipeline 5 can be realized. That is, when energized, the electro-proportional pressure reducing valve 6 is connected to the impact pipeline 5, otherwise it remains disconnected.

[0044] In one embodiment, the first hydraulic pump 1 is a constant-pressure variable pump. That is, the first hydraulic pump 1 is a constant-pressure pump and its displacement is adjustable. Therefore, the displacement of the first hydraulic pump 1 can be adjusted according to conditions such as the load requirements of the rotary motor 3, so as not to cause waste of system energy compared with a fixed-displacement pump, making the system more energy-efficient.

[0045] In one embodiment, the second hydraulic pump 2 is a load-sensitive pump, which includes a load-sensitive valve connected to a control valve. When the control valve is in the first position, the load-sensitive pump operates in a load-sensitive mode; when the control valve is in the second position, the load-sensitive pump operates in a constant-pressure mode. For the specific structure of the load-sensitive pump, please refer to the prior art, which will not be elaborated here. By connecting the load-sensitive valve to the control valve, the load-sensitive pump can be adjusted to operate in either a load-sensitive mode or a constant-pressure mode. Thus, when the tunnel drilling device is used for drilling, the control valve adjusts the load-sensitive pump to operate in a constant-pressure mode, and when the tunnel drilling device is used for boom extension, etc., the control valve adjusts the load-sensitive pump to operate in a load-sensitive mode. With the above configuration, separate hydraulic pumps are not required for drilling and other operations such as boom extension, simplifying the structure and saving costs. Specifically, the first position of the control valve can be a cross position, and the second position can be a parallel position.

[0046] In one embodiment, the hydraulic control system of the tunnel drilling device further includes a relief valve assembly 10. The inlet of the relief valve assembly 10 is connected to the outlet of the second hydraulic pump 2, and the return port of the relief valve assembly 10 is connected to the oil tank. The relief valve assembly 10 limits the maximum pressure in the outlet pipeline of the second hydraulic pump 2, thereby improving system safety. Specifically, the relief valve assembly 10 may include an electro-proportional relief valve for electrical control.

[0047] In one embodiment, the control valve is a pump-mode control directional valve 9. When the pump-mode control directional valve 9 is in the second position, the oil inlet of the pump-mode control directional valve 9 is connected to the first working port of the pump-mode control directional valve 9, and the pressure set by the second hydraulic pump 2 through the relief valve group 10 becomes a constant pressure pump. When the pump-mode control directional valve 9 is working in the first position, the oil inlet of the pump-mode control directional valve 9 is connected to the oil return port of the pump-mode control directional valve 9, and the second hydraulic pump 2 is a load-sensitive pump.

[0048] In one embodiment, a relief valve 14, a speed control valve 15, and a fourth directional control valve 16 are further provided between the first hydraulic pump 1 and the rotary motor 3. Specifically, the fourth directional control valve 16 can be a solenoid directional control valve. The fourth directional control valve 16 is used to switch the rotary motor 3 between forward and reverse directions. The relief valve 14 is used to regulate the pressure input to the rotary motor 3. The speed control valve 15 is used to regulate the rotational speed of the rotary motor 3. Hydraulic oil enters the rotary motor 3 via the first hydraulic pump 1, the speed control valve 15, and the fourth directional control valve 16. The rotational speed is set by the speed control valve 15. Since the rotational speed of the same drill bit is constant, the speed of the rotary motor 3 for the same drill bit remains unchanged. When the drill bit is changed, the speed can be adjusted by adjusting the speed control valve 15.

[0049] In one embodiment, a flow sensor 12 is provided in communication with the propulsion cylinder 4 to detect the flow rate.

[0050] When the tunnel drilling device is drilling, the second hydraulic pump 2 operates in constant pressure mode. The hydraulic fluid passes through the electro-proportional pressure reducing valve 6, the solenoid directional valve 8, and the hydraulically controlled directional valve 7 into the impact oil circuit. The pressure of the electro-proportional pressure reducing valve 6 is adjusted according to low pressure during low impact and high pressure during high impact, thereby controlling the impact pressure. The pressure of the electro-proportional pressure reducing valve 6 is also adjusted based on the impact pressure monitored by the third pressure sensor 19. Simultaneously, the hydraulic fluid passes through the electro-proportional multi-way valve 17 and the flow sensor 12 into the propulsion cylinder 4. The propulsion speed is monitored by the flow sensor 12, and the propulsion pressure is adjusted by the electro-proportional relief valve 18. Additionally, the hydraulic fluid passes through the first hydraulic pump 1, the speed control valve 15, and the fourth directional valve 16 into the rotary motor 3.

[0051] In one embodiment, the hydraulic control system of the tunnel drilling device further includes a first pressure sensor 11 for detecting the rotational pressure of the rotary motor 3. By detecting the rotational pressure of the rotary motor 3 through the first pressure sensor 11, if the rotational pressure reaches a first preset pressure, the electro-proportional pressure reducing valve 6 is adjusted to reduce the impact pressure of the impact pipeline 5, and the electro-proportional multi-way valve 17 and electro-proportional relief valve 18 are adjusted to reduce the propulsion speed and propulsion pressure, thereby preventing the drill bit from jamming.

[0052] In one embodiment, the hydraulic control system of the tunnel boring machine further includes a flow sensor 12 for detecting the flow rate into the propulsion cylinder 4 and / or a second pressure sensor 13 for detecting the propulsion pressure of the propulsion cylinder 4. See also... Figure 1 and Figure 2The second hydraulic pump 2 is connected to an electro-proportional pressure reducing valve 6 and an electro-proportional multi-way valve 17. The electro-proportional pressure reducing valve 6 is connected to the impact circuit, and the electro-proportional multi-way valve 17 is connected to the propulsion circuit. The impact circuit is equipped with a third pressure sensor, and the propulsion circuit is equipped with a flow sensor 12 and / or a second pressure sensor 13. If the propulsion speed of the propulsion cylinder 4 reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder 4 is less than the second preset pressure, the electro-proportional pressure reducing valve 6 is adjusted to reduce the impact pressure of the impact pipeline 5, and the electro-proportional multi-way valve 17 and the electro-proportional relief valve 18 are adjusted to reduce the propulsion speed and propulsion pressure, thereby preventing dry firing. Please refer to [link to relevant documentation]. Figure 1 and Figure 3 The first liquid pump 1 is connected to the speed control valve 15, which is connected to the rotary motor 3. The rotary motor 3 is connected to the first pressure sensor 11. By setting the first pressure sensor 11, the flow sensor 12, and / or the second pressure sensor 13, the drilling status of the drill rod can be monitored in real time, thereby judging the state of drill rod jamming and dry drilling, and adjusting the corresponding electro-proportional overflow valve 18, electro-proportional multi-way valve 17, and electro-proportional pressure reducing valve 6 to achieve the functions of preventing drill rod jamming and preventing dry drilling.

[0053] This invention also provides the following technical solutions:

[0054] A control method for a tunnel drilling device, employing any one of the hydraulic control systems described in the above embodiments, the control method comprising:

[0055] Obtain the rotational pressure of the rotary motor and the propulsion speed or propulsion pressure of the propulsion cylinder;

[0056] If the rotary pressure reaches the first preset pressure, adjust the electro-proportional pressure reducing valve to reduce the impact pressure in the impact pipeline.

[0057] If the propulsion speed of the propulsion cylinder reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder is less than the second preset pressure, adjust the electro-proportional pressure reducing valve to reduce the impact pressure of the impact pipeline 5.

[0058] In one embodiment, the first preset speed ranges from 6 to 7 m / s, specifically 6.5 m / s. When the flow sensor detects that the propulsion speed reaches 6.5 m / s or the second pressure sensor detects that the propulsion pressure is less than the second preset pressure "b", it indicates that the system has entered the dry-drilling mode. After entering the dry-drilling mode, the system advances using a leading-hole mode. If the propulsion pressure reaches the third preset pressure "c" within a third preset time (e.g., 30 seconds), the system advances a fourth preset distance (e.g., 0.1 m) before entering normal drilling mode.

[0059] In one embodiment, the control method includes:

[0060] Obtain the rotational pressure of the rotary motor and the propulsion speed and propulsion pressure of the propulsion cylinder;

[0061] If the slewing pressure reaches the first preset pressure, adjust the electro-proportional pressure reducing valve, electro-proportional multi-way valve, and electro-proportional relief valve to reduce the impact pressure, propulsion speed, and propulsion pressure of the impact pipeline;

[0062] If the propulsion speed of the propulsion cylinder reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder is less than the second preset pressure, adjust the electro-proportional pressure reducing valve, electro-proportional multi-way valve, and electro-proportional relief valve to reduce the impact pressure, propulsion speed, and propulsion pressure of the impact pipeline.

[0063] The hydraulic control method for the tunnel drilling device provided by this invention controls the rotation, propulsion, and impact of the drilling device using different hydraulic pumps, resulting in a more energy-efficient and higher-performing system. Furthermore, through the adjustment of the electro-proportional pressure reducing valve, the drilling device employs constant pump pressure control in both low-pressure / low-impact and high-pressure / high-impact modes. Additionally, the impact pressure is unaffected by the propulsion force, maintaining a consistently high-pressure / high-impact state, further enhancing work efficiency. Moreover, in the event of dry drilling or drill bit jamming, the electro-proportional pressure reducing valve can promptly adjust the impact pressure, and regulate the electro-proportional multi-way valve 17 and electro-proportional relief valve 18 to reduce propulsion speed and pressure, thereby achieving precise and effective control and minimizing damage to the tunnel drilling device and drilling tools during dry drilling or drill bit jamming.

[0064] The hydraulic control method for the tunnel drilling device provided by this invention can achieve anti-jamming control and anti-dry drilling control. For details, please refer to... Figure 4 The anti-jamming control method is as follows:

[0065] S11: Low-pressure, low-impact drilling of the lead hole. When drilling begins, the tunnel drilling device is in the low-pressure, low-impact stage of the lead hole. The first hydraulic pump 1 supplies oil to the rotary circuit, and the second hydraulic pump 2 supplies oil to the impact propulsion circuit. The impact pressure is set by the electro-proportional pressure reducing valve 6, the propulsion flow rate is set by the electro-proportional multi-way valve 17 and the flow sensor 12, and the propulsion pressure is set by the electro-proportional relief valve 18.

[0066] S12: If the rotation pressure of the rotary motor 3 reaches the normal pressure, high-pressure high-impact drilling will be performed. When the first preset distance of the drill hole, such as 0.4m, is reached, the first pressure sensor 11 detects that the rotation pressure of the rotary motor 3 has reached the normal pressure. Specifically, when the rotation pressure rises from "a" to "a+10", normal drilling state, i.e., high-pressure high-impact mode, will be performed. At this time, the propulsion pressure, propulsion flow rate, and impact pressure will all increase. The pressure of the electro-proportional pressure reducing valve 6, the opening of the electro-proportional multi-way valve 17, and the pressure of the electro-proportional overflow valve 18 will be adjusted in real time based on the detection data of the third pressure sensor 19, the second pressure sensor 13, and the flow sensor 12.

[0067] S13: If the rotation pressure of the rotary motor 3 reaches the first preset pressure, the drill leader will operate at low pressure and low pressure. During drilling, when the first pressure sensor 11 detects that the rotation pressure has reached the first preset pressure, i.e., the pressure that triggers the stuck drill mode, the drill leader will enter the drilling leader mode. When the rotation pressure reaches the stuck drill pressure, the drill leader will enter the stuck drill mode within a first preset time, such as 1 second, and the drill rod will retract. After the rotation pressure drops to the pressure that triggers the stuck drill mode, the drill rod will retract a second preset distance, such as 0.2m, then be flushed with water for 2 seconds, and then drill forward a third preset distance, such as 0.2 + 0.1m. If the drill leader mode advances for a second preset time, and the rotation pressure is normal within 30 seconds, the drill leader will return to the normal drilling state. The stuck drill pressure must be greater than the first preset pressure, i.e., the stuck drill pressure must be greater than the pressure that triggers the stuck drill mode, specifically 10-20 bar greater.

[0068] S14: The rotation pressure of the rotary motor 3 reaches the limit pressure, and the drill pipe retracts. The limit pressure is greater than the first preset pressure.

[0069] This control method allows the tunnel drilling device to switch between a leader drilling mode and a normal drilling mode. The leader drilling mode, also known as the low-pressure, low-impact drilling mode, has the same rotational pressure, propulsion pressure, propulsion flow rate, and impact pressure as the low-pressure, low-impact drilling mode. The normal drilling mode, also known as the high-pressure, high-impact drilling mode, has the same rotational pressure as the low-pressure, low-impact drilling mode, but higher propulsion pressure, propulsion flow rate, and impact pressure.

[0070] Specifically, the air defense control methods are as follows:

[0071] If the propulsion speed of the propulsion cylinder reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder is less than the second preset pressure, it can be determined that dry drilling has occurred, and the drilling will enter the low-pressure low-impact mode.

[0072] Based on the hydraulic control system provided in the above embodiments, the present invention also provides a tunnel drilling device, which includes any one of the hydraulic control systems described in the above embodiments. Since this tunnel drilling device employs the hydraulic control system described in the above embodiments, the beneficial effects of this tunnel drilling device can be found in the above embodiments.

[0073] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0074] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A hydraulic control system for a tunnel drilling device, characterized in that, The system includes a first hydraulic pump (1), a second hydraulic pump (2), a rotary motor (3), a propulsion cylinder (4), and an electro-proportional pressure reducing valve (6). The first hydraulic pump (1) is connected to the rotary motor (3) to drive the rotary motor (3) to output torque. The second hydraulic pump (2) is connected to the propulsion cylinder (4) and the impact pipeline (5) to drive the propulsion cylinder (4) to extend and retract and to provide impact pressure for the rock drill impact. An electro-proportional pressure reducing valve (6) is connected between the second hydraulic pump (2) and the impact pipeline (5). The electro-proportional pressure reducing valve (6) is used to reduce the impact pressure of the impact pipeline when the rotation pressure of the rotary motor (3) reaches the first preset pressure, and to reduce the impact pressure of the impact pipeline when the propulsion speed of the propulsion cylinder (4) reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder (4) is less than the second preset pressure. An electro-proportional multi-way valve (17) and an electro-proportional relief valve (18) are provided in conjunction with the propulsion cylinder (4); the electro-proportional multi-way valve (17) is used to reduce the propulsion speed when the rotation pressure of the rotary motor (3) reaches the first preset pressure, and to reduce the propulsion speed when the propulsion speed of the propulsion cylinder (4) reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder (4) is less than the second preset pressure; the electro-proportional relief valve (18) is used to reduce the propulsion pressure when the rotation pressure of the rotary motor (3) reaches the first preset pressure, and to reduce the propulsion pressure when the propulsion speed of the propulsion cylinder (4) reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder (4) is less than the second preset pressure; It also includes a hydraulic directional valve (7) and a solenoid directional valve (8). The oil inlet of the hydraulic directional valve (7) is connected to the oil outlet of the electro-proportional pressure reducing valve (6). The working port of the hydraulic directional valve (7) is connected to the impact pipeline (5). The oil inlet of the solenoid directional valve (8) is connected to the oil outlet of the electro-proportional pressure reducing valve (6). When the solenoid directional valve (8) is working in the first position, the control oil circuit of the hydraulic directional valve (7) returns to the oil tank. At this time, the hydraulic directional valve (7) is not conducting. When the solenoid directional valve (8) is working in the second position, the oil outlet of the solenoid directional valve (8) is connected to the control oil port of the hydraulic directional valve (7). At this time, the hydraulic directional valve (7) is conducting. It also includes an overflow valve assembly (10), the oil inlet of which is connected to the oil outlet of the second hydraulic pump (2), the first hydraulic pump (1) is a constant pressure variable pump; the second hydraulic pump (2) is a load-sensitive pump, the load-sensitive pump includes a load-sensitive valve, and the load-sensitive valve is connected to a control valve; The control valve is a pump mode control directional valve (9). When the pump mode control directional valve (9) is in the second position, the oil inlet of the pump mode control directional valve (9) is connected to the first working port of the pump mode control directional valve (9). The oil inlet is connected to the second hydraulic pump (2) through the shuttle valve. The pressure set by the relief valve group (10) of the second hydraulic pump (2) becomes a constant pressure pump. When the pump mode control directional valve (9) is working in the first position, the oil inlet of the pump mode control directional valve (9) is connected to the oil return port of the pump mode control directional valve (9). The load feedback oil circuit is connected to the second hydraulic pump (2) through the shuttle valve. The second hydraulic pump (2) is a load sensitive pump.

2. The hydraulic control system of the tunnel drilling device according to claim 1, characterized in that, The electromagnetic directional valve (8) is used to control the hydraulic directional valve (7) to open when energized, otherwise the hydraulic directional valve (7) will not open.

3. The hydraulic control system of the tunnel drilling device according to claim 1, characterized in that, The return port of the overflow valve assembly (10) is connected to the oil tank.

4. The hydraulic control system of the tunnel drilling apparatus according to any one of claims 1-3, characterized in that, It also includes a first pressure sensor (11) for detecting the rotation pressure of the rotary motor (3).

5. The hydraulic control system of the tunnel drilling apparatus according to any one of claims 1-3, characterized in that, It also includes a flow sensor (12) for detecting the flow rate entering the propulsion cylinder (4) and a second pressure sensor (13) for detecting the propulsion pressure of the propulsion cylinder (4).

6. A tunnel drilling device, characterized in that, Includes the hydraulic control system as described in any one of claims 1-5.

7. A control method for a tunnel drilling device, characterized in that, The hydraulic control system described in any one of claims 1-5 is used, and the control method includes: The rotational pressure of the rotary motor and the propulsion speed and propulsion pressure of the propulsion cylinder are obtained; If the rotational pressure reaches the first preset pressure, adjust the electro-proportional pressure reducing valve, electro-proportional multi-way valve, and electro-proportional relief valve to reduce the impact pressure, propulsion speed, and propulsion pressure of the impact pipeline; If the propulsion speed of the propulsion cylinder reaches the first preset speed and / or the propulsion pressure of the propulsion cylinder is less than the second preset pressure, the electro-proportional pressure reducing valve, electro-proportional multi-way valve, and electro-proportional relief valve are adjusted to reduce the impact pressure, propulsion speed, and propulsion pressure of the impact pipeline.

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