Inclined shaft hard rock tunneling machine with safety bracing function and its hydraulic control system

Abstract

This invention relates to a sloping shaft hard rock tunnel boring machine with a safety tensioning function and its hydraulic control system. The hydraulic control system utilizes multiple switching valves to achieve rapid differential movement and stable tensioning of the support shoe. Based on the real-time tunneling conditions and tunnel slope of the sloping shaft hard rock tunnel boring machine, the output pressure of the overflow valve and safety valve within the hydraulic control system is adjusted to control the tensioning force of the support shoe. Simultaneously, this invention possesses an emergency safety guarantee function. In the event of an unexpected power outage in the valve group of the sloping shaft hard rock tunnel boring machine or a failure in the hydraulic pump station, the accumulator in the hydraulic control system serves as a backup hydraulic source. Even when the system valve group is de-energized, the initial state of the valve group still enables rapid movement and stable tensioning of the support shoe, ensuring the normal operation of the support shoe system. This invention avoids safety accidents such as slippage during sloping shaft hard rock tunneling construction, improving the stability and safety of equipment operation.

Description

Technical Field

[0001] This invention relates to a safety-supporting hard rock tunnel boring machine with a safety-supporting function and its hydraulic control system, belonging to the field of tunnel construction technology, and particularly to a multi-functional safety-supporting hydraulic control system for a hard rock tunnel boring machine. Background Technology

[0002] The construction of major national infrastructure projects, such as gravity energy storage, has created significant demands for the construction of steep-slope inclined shaft tunnels. Hard rock TBMs, when undertaking steep-slope inclined shaft excavation, must overcome their own immense gravity to complete excavation and advancement, placing higher demands on their support hydraulic control systems. How to quickly and stably support the machine under varying gravity loads and maintain its position under various unforeseen circumstances to prevent slippage is a key core technology for inclined shaft hard rock TBMs.

[0003] Chinese patent application CN116181722A discloses a TBM (Tunnel Boring Machine) support shoe quick-acting hydraulic system and control method. This scheme uses only one support shoe hydraulic system to complete the support operation, providing an effective leverage point for the propulsion system, and relies on the rear support system to complete the step-changing operation. However, it does not consider the impact of slope conditions on the support shoe hydraulic system. When facing inclined shaft tunnel construction, it not only exhibits insufficient propulsion power but also cannot complete the step-changing action, lacking the capability for inclined shaft tunnel excavation and failing to cope with various emergencies, thus failing to guarantee the construction safety of hard rock tunnel boring machines. Therefore, there is an urgent need for a safe support hydraulic control system applicable to vertical / inclined tunneling and capable of handling unexpected power failures in valve groups, pump station malfunctions, and other situations. Summary of the Invention

[0004] The purpose of this invention is to provide a hard rock tunneling machine with a safety support function and its hydraulic control system, so as to solve the problem that the existing conventional support shoe hydraulic system cannot meet the needs of hard rock tunneling machine inclined shaft construction.

[0005] To achieve the above objectives, the present invention includes:

[0006] The present invention discloses a technical solution for a hydraulic control system of a hard rock tunneling machine in inclined shafts, comprising a rodless chamber interface for connecting the rodless chamber of a hydraulic cylinder, a rod chamber interface for connecting the rod chamber of a hydraulic cylinder, a high-pressure oil interface for connecting a high-pressure oil source, and a return oil pipeline for connecting a hydraulic oil tank. The hydraulic cylinder is a tunneling machine support shoe cylinder. The high-pressure oil interface is connected to a main oil circuit, which branches into a first branch equipped with a first switching valve and a second branch equipped with a second switching valve. The first branch is connected to the rodless chamber interface via a rodless chamber oil circuit and also to the rod chamber interface via a rod chamber oil circuit. A third switching valve and a first check valve facing the rodless chamber interface are sequentially arranged on the rodless chamber oil circuit. The second branch is connected to the rodless chamber oil circuit between the first check valve and the rodless chamber interface. The rodless chamber oil circuit between the third switching valve and the first check valve is also connected to the return oil pipeline via a fourth switching valve.

[0007] This invention is a pioneering invention. The hydraulic control system of the inclined shaft hard rock tunneling machine of this invention opens the first and third switch valves and closes the second and fourth switch valves, so that the high-pressure hydraulic oil source is connected to the rodless chamber through the main oil circuit, the first branch circuit and the rodless chamber oil circuit, and simultaneously connected to the rod chamber through the main oil circuit, the first branch circuit and the rod chamber oil circuit. The differential action of the hydraulic cylinder enables the support shoe of the inclined shaft hard rock tunneling machine to move rapidly towards the rock wall. After the support shoe contacts the rock wall, the second and fourth switch valves are further opened and the first switch valve is closed, so that the high-pressure hydraulic oil source is connected to the rodless chamber and the rod chamber is connected to the return oil tank, which greatly increases the thrust of the hydraulic rod and enables the support shoe to tighten and maintain the tightening force on the rock wall.

[0008] Furthermore, the rodless chamber oil passage between the first check valve and the rodless chamber interface is also connected to the return oil line via a fifth switching valve.

[0009] By opening the first and fifth switch valves and closing the second, third, and fourth switch valves, the support shoe of the inclined shaft hard rock tunneling machine can be quickly retracted and reset.

[0010] Furthermore, a second check valve facing the rodless cavity interface is also provided on the rodless cavity oil line between the connection point of the second branch and the rodless cavity oil line and the rodless cavity interface; the rodless cavity oil line between the second check valve and the rodless cavity interface is also connected to the return oil line through the first safety valve, and the tensioning force of the tunneling machine support shoe is set by the output pressure of the first safety valve; the branch of the return oil line connected through the fifth switching valve is connected to the rodless cavity oil line between the second check valve and the rodless cavity interface.

[0011] A safety valve is installed between the rodless chamber interface and the return oil line. By setting the opening pressure of the safety valve, the safety valve opens when the pressure in the rodless chamber reaches the set pressure, and hydraulic oil enters the return oil line. The rodless chamber maintaining pressure can be set to further set the clamping force of the support shoe to maintain the clamping of the rock wall.

[0012] Furthermore, the oil inlet pipe of the second branch connecting to the rodless chamber oil circuit is also connected to the return oil pipe via a second safety valve.

[0013] When the hydraulic oil flowing out of the second branch is higher than the set pressure of the second safety valve under the tensioned state, the pressure is released through the second safety valve, ensuring the stable and reliable operation of the hydraulic control system.

[0014] Furthermore, it also includes an accumulator interface for connecting an accumulator as an emergency backup hydraulic power source; the second branch is also connected to the accumulator interface via a sixth switching valve; a seventh switching valve is also provided downstream of the contact point on the oil inlet line that connects to the second safety valve.

[0015] The hydraulic control system of the present invention further adds an emergency energy storage function. It connects to the accumulator through a second branch. During the normal operation of the hydraulic system, such as when the support shoe is pressed, the accumulator stores energy. When a hydraulic failure occurs, the high-pressure oil stored in the accumulator can be used to extend the support shoe and press against the rock wall in an emergency, ensuring the safety of the inclined shaft shield machine. At the same time, the accumulator can also be used to perform basic controls such as the retraction of the support shoe.

[0016] Furthermore, a third safety valve is also provided between the accumulator interface and the return oil pipeline, and the energy storage pressure of the accumulator is set by the output pressure of the third safety valve.

[0017] The pressure of the hydraulic oil in the accumulator is controlled by setting the upper limit of the pressure of the third safety valve.

[0018] Furthermore, an eighth switching valve is also provided between the accumulator interface and the return oil line for quickly releasing the pressure inside the accumulator.

[0019] The eighth switching valve allows for the rapid release of high-pressure hydraulic oil from the accumulator during shutdown and maintenance.

[0020] Furthermore, the third, fourth, sixth, and seventh switching valves are normally open switching valves; the first, second, fifth, and eighth switching valves are normally closed switching valves.

[0021] The above scheme enables the high-pressure hydraulic oil stored in the accumulator to reach the rodless chamber oil circuit through the sixth and seventh switching valves when the valve group suddenly fails and loses power. Then, it reaches the rodless chamber through the second check valve, maintaining the clamping force of the support shoe on the rock wall, ensuring the stability of the inclined shaft tunneling machine in the event of a sudden abnormal failure, and ensuring construction safety.

[0022] Furthermore, a proportional speed control valve is also installed on the main oil line.

[0023] The speed regulation valve in the main oil circuit can easily adjust the extension and retraction speed of the support shoe cylinder, allowing the support shoe to extend at a suitable speed to ensure safety while quickly approaching the rock wall, and to retract quickly, thereby increasing the step change speed, tunneling speed, and construction efficiency.

[0024] Furthermore, a pressure sensor is also installed in the rodless chamber oil circuit between the rodless chamber interface and the second check valve.

[0025] The present invention provides a technical solution for an inclined shaft hard rock tunneling machine, comprising the hydraulic control system for the inclined shaft hard rock tunneling machine as described above. Attached Figure Description

[0026] Figure 1 This is a structural schematic diagram of the support shoe system of an inclined shaft hard rock tunnel boring machine;

[0027] Figure 2 This is a schematic diagram of the hydraulic control system structure of the present invention;

[0028] Figure 3 This is a schematic diagram illustrating the working principle of the rapid differential action of the support shoe of the inclined shaft hard rock tunneling machine of the present invention;

[0029] Figure 4 This is a schematic diagram illustrating the working principle of the inclined shaft hard rock tunneling machine in the tensioned state of the support shoe;

[0030] Figure 5 This is a schematic diagram illustrating the working principle of the rapid reset action of the support shoe in the inclined shaft hard rock tunneling machine of the present invention;

[0031] Figure 6 This is a schematic diagram illustrating the working principle of rapid reset of the support shoe in the event of a hydraulic station malfunction according to the present invention.

[0032] Figure 7 This is a schematic diagram illustrating the working principle of the emergency rapid differential movement and tensioning action of the support shoe of the inclined shaft hard rock tunneling machine of the present invention;

[0033] Figure 8 This is a schematic diagram illustrating the safe pressure-maintaining working principle of the accumulator of this invention;

[0034] Figure 9 This is a schematic diagram illustrating the working principle of the accumulator hydraulic oil rapid release in this invention.

[0035] Figure 1 includes: 100, tunneling machine body; 101, support shoe; 102, inner wall of surrounding rock; 103, support shoe cylinder; 104, support arm.

[0036] Items 2-9 in the diagram include: 1. Hydraulic cylinder; 2. Pressure sensor; 3. Two-position two-way solenoid valve; 4. Check valve; 5. Check valve; 6. Safety valve; 7. Two-position two-way solenoid valve; 8. Two-position two-way solenoid valve; 9. Two-position two-way solenoid valve; 10. Two-position two-way solenoid valve; 11. Proportional speed control valve; 12. Two-position two-way solenoid valve; 13. Relief valve; 14. Two-position two-way solenoid valve; 15. Two-position two-way solenoid valve; 16. Relief valve; 17. Accumulator. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0038] The purpose of this invention is to propose a multi-functional safety-supporting hydraulic control system that can adapt to the excavation conditions of inclined shaft hard rock tunnel boring machines (TBMs) and the corresponding inclined shaft hard rock TBM, thereby improving the stability and safety of TBM inclined shaft construction and operation.

[0039] To achieve the above objectives, this invention provides a hydraulic control system for an inclined shaft hard rock tunnel boring machine and the tunnel boring machine itself. The hydraulic control system of this invention achieves rapid movement and stable tension of the support shoe through the combined control of multiple switching valves. Based on the real-time tunneling conditions of the inclined shaft hard rock tunnel boring machine and the tunnel slope, the output pressure of the relief valve and safety valve within the hydraulic system is adjusted to control the tensioning force of the support shoe. Simultaneously, this invention possesses an emergency safety guarantee function. In the event of an unexpected power outage in the valve group of the inclined shaft hard rock tunnel boring machine or a malfunction in the hydraulic pump station, the accumulator in the hydraulic system will serve as a backup hydraulic source. Even when the system valve group is de-energized, the initial state of the valve group still enables rapid movement and stable tension of the support shoe, ensuring the normal operation of the support shoe system and preventing safety accidents such as slippage of the inclined shaft hard rock tunnel boring machine.

[0040] Example of a hard rock tunnel boring machine for inclined shafts:

[0041] The support shoe system structure of the inclined shaft hard rock tunneling machine of the present invention is as follows: Figure 1 As shown, the tunneling machine supports the inner rock wall 102 with four sets of support shoes 101 to achieve tight support. The support shoes 101 are hinged to the tunneling machine body 100 through support arms 104. The support shoe cylinders 103 extend and retract under the drive of the hydraulic control system of the inclined shaft hard rock tunneling machine provided by the present invention, so as to achieve the support shoes 101 to tighten the inner rock wall 102 and move forward step by step.

[0042] The support shoe cylinder 103 is controlled by a hydraulic control system, which will be described in detail in the following hydraulic control system embodiment, and will not be repeated in this embodiment.

[0043] Hydraulic control system example:

[0044] The schematic diagram of the hydraulic control system is as follows Figure 2 As shown in the figure, the double-acting single-rod hydraulic cylinder 1 is an embodiment of the inclined shaft hard rock tunneling machine (i.e., Figure 1 The hydraulic cylinder 103 in the ( ) has a rodless chamber inlet / outlet 1A and a rod chamber inlet / outlet 1B. The hydraulic control system is as follows: Figure 2 As shown in the dashed box, it includes a rodless cavity interface B1 and a rod cavity interface A1 for connecting the rodless cavity inlet / outlet 1A and the rod cavity inlet / outlet 1B of the hydraulic cylinder 1, respectively; a high-pressure oil interface P for connecting to an external high-pressure oil source; an oil tank interface T for connecting to an external oil tank; and an accumulator interface C1 for connecting to the accumulator 17. The accumulator interface C1 is connected to the accumulator 17 body through the accumulator input port 17A of the accumulator 17.

[0045] The hydraulic control system includes a pressure sensor 2, a two-position two-way solenoid valve 3, a check valve 4, a check valve 5, a safety valve 6, a two-position two-way solenoid valve 7, a two-position two-way solenoid valve 8, a two-position two-way solenoid valve 9, a two-position two-way solenoid valve 10, a proportional speed control valve 11, a two-position two-way solenoid valve 12, a relief valve 13, a two-position two-way solenoid valve 14, a two-position two-way solenoid valve 15, a relief valve 16, and an accumulator 17.

[0046] Hydraulic control system schematic diagram of shoe support 101 and shoe support cylinder 103 Figure 2 The hydraulic cylinder 1) is connected. When the support shoe cylinder 103 extends, it drives the support shoe 101 to extend and tighten the inner wall 102 of the surrounding rock; when the support shoe cylinder 103 retracts, it drives the support shoe 101 to retract and detach from the inner wall of the surrounding rock.

[0047] Two-position two-way solenoid valves 3, 8, 9, and 14 are normally open (conducting when de-energized), and the valve cores of the above valves are in the following position. Figure 2 When in the position shown (power off state), the A and B ports of each switch valve are in the conducting state; after the energized valve core is activated, the A and B ports of each switch valve are in the disconnected state.

[0048] Two-position two-way solenoid valves 7, 10, 12, and 15 are normally closed (open in the absence of power). The valve cores of these valves are in the following position: Figure 2 When in the position shown (power off state), the A and B ports of each switch valve are in the open state; after the valve core is energized and activated, the A and B ports of each switch valve are in the open state.

[0049] In the hydraulic control system, the high-pressure oil port P is connected to port 11A of the proportional speed control valve 11; port 11B of the proportional speed control valve 11 is connected to port 7A of the two-position two-way solenoid valve 7 and port 12B of the two-position two-way solenoid valve 12; port 7B of the two-position two-way solenoid valve 7 is connected to port A1 of the rod chamber interface and port 3A of the two-position two-way solenoid valve 3; port 3B of the two-position two-way solenoid valve 3 is connected to port 8B of the two-position two-way solenoid valve 8 and port 4A of the check valve 4; port 4B of the check valve 4 is connected to port 5A of the check valve 5 and port 9B of the two-position two-way solenoid valve 9; port 5B of the check valve 5 is connected to port B1 of the rodless chamber interface, pressure sensor 2, and port 6A of the safety valve 6. The following valves are connected: 10B port of two-position two-way solenoid valve 10; 6B port of safety valve 6, 8A port of two-position two-way solenoid valve 8, 15B port of two-position two-way solenoid valve 15, 13B port of relief valve 13, 10A port of two-position two-way solenoid valve 10, and 16B port of relief valve 16 are interconnected and then connected to the oil tank interface T; 12A port of two-position two-way solenoid valve 12, 14B port of two-position two-way solenoid valve 14, 9A port of two-position two-way solenoid valve 9, and 13A port of relief valve 13 are interconnected; 14A port of two-position two-way solenoid valve 14, 15A port of two-position two-way solenoid valve 15, and 16A port of relief valve 16 are interconnected and then connected to the accumulator interface C1.

[0050] To illustrate the working process of the present invention in detail, the following description, in conjunction with embodiments, further explains the multi-functional safety support hydraulic control system of the inclined shaft hard rock tunneling machine of the present invention.

[0051] Rapid differential movement of the support shoe of the inclined shaft hard rock tunneling machine:

[0052] Working principle diagram as follows Figure 3 As shown, during the step change process of the inclined shaft hard rock tunneling machine, the support shoe 101 needs to quickly tighten the inner wall 102 of the surrounding rock. First, the support shoe 101 is driven to quickly approach the inner wall 102 of the surrounding rock by the double-acting single-rod hydraulic cylinder 1. At this time, the two-position two-way solenoid valves 8, 9, 10, 12, 14 and 15 are controlled to be in the off state, and the two-position two-way solenoid valves 3 and 7 are controlled to be in the on state.

[0053] External high-pressure oil flows into port 11A of proportional speed control valve 11 through high-pressure oil interface P. After being regulated by the proportional speed control valve, the hydraulic oil flows out through port 11B. The hydraulic oil flowing out of port 11B flows into port 7A of two-position two-way solenoid valve 7. After passing through port 7, the hydraulic oil flows out through port 7B. The hydraulic oil flowing out of port 7B flows into port 3A of two-position two-way solenoid valve 3. After passing through port 3B, the hydraulic oil flows out through port 4A of check valve 4. The hydraulic oil then flows out through port 4A of check valve 4. Hydraulic oil flowing out from port B and port 4B flows into check valve 5 through port 5A. After passing through check valve 5, the hydraulic oil flows out from port 5B. The hydraulic oil flowing out from port 5B flows into pressure sensor 2 and simultaneously flows into the rodless chamber of double-acting single-rod hydraulic cylinder 1 through port B1 via port 1A. Under the action of the hydraulic oil in the rodless chamber, double-acting single-rod hydraulic cylinder 1 begins to extend rapidly. The hydraulic oil in the rod chamber of double-acting single-rod hydraulic cylinder 1 flows out through port 1B. The hydraulic oil flowing out from port 1B passes through port A1 and merges with the hydraulic oil flowing out from port 7B. It then flows through two-position two-way solenoid valve 3, check valve 4, and check valve 5 into the rodless chamber.

[0054] This process is achieved through the differential action of the hydraulic cylinder. During this process, high-pressure hydraulic oil from the high-pressure oil interface P acts on both the rod chamber and the rodless chamber of the hydraulic cylinder. Due to the difference in piston surface area between the rod chamber and the rodless chamber, the piston moves towards the rod chamber, causing the hydraulic rod to extend. At the same time, due to the extension of the hydraulic rod, the decrease in volume of the rod chamber, i.e., the volume of hydraulic oil discharged, is less than the increase in volume of the rodless chamber, i.e., the volume of high-pressure hydraulic oil entering the rodless chamber. The volume difference of the hydraulic oil during this process is supplemented by high-pressure hydraulic oil from the high-pressure oil interface P.

[0055] The double-acting single-rod hydraulic cylinder 1 extends rapidly, driving the connected support shoe 101 to quickly approach the inner wall of the surrounding rock. When the support shoe 101 comes into contact with the inner wall 102 of the surrounding rock, the support shoe 101 completes rapid differential movement. At this time, the inclined shaft hard rock tunneling machine switches to the support shoe tightening state.

[0056] Support shoe tensioning status of inclined shaft hard rock tunnel boring machine:

[0057] Working principle as follows Figure 4 As shown, after the support shoe 101 of the inclined shaft hard rock tunneling machine comes into contact with the inner wall 102 of the surrounding rock, the support shoe 101 begins to tighten the inner wall 102 of the surrounding rock, providing a point of leverage for the tunneling machine to break the rock or change steps. At this time, the two-position two-way solenoid valves 7, 10, and 15 are in the off state, while the two-position two-way solenoid valves 3, 8, 9, 12, and 14 are in the on state.

[0058] External high-pressure oil flows into port 11A of the proportional speed control valve 11 through the high-pressure oil interface P. After being regulated by the proportional speed control valve, the hydraulic oil flows out through port 11B. The hydraulic oil flowing out through port 11B flows into port 12B of the two-position two-way solenoid valve 12. After passing through port 12, the hydraulic oil flows out through port 12A. The hydraulic oil flowing out through port 12A flows into port 14B of the two-position two-way solenoid valve 14 and port 9A of the two-position two-way solenoid valve 9, respectively.

[0059] When the pressure of the hydraulic oil flowing out of port 12A is higher than the preset pressure of the relief valve 13, the hydraulic oil flowing out of port 12A also flows into the relief valve 13 through port 13A. After passing through the relief valve 13, the hydraulic oil flows out through port 13B. The hydraulic oil flowing out of port 13B flows into the external oil tank through the oil tank interface T.

[0060] Hydraulic oil flows out from port 14A after passing through two-position two-way solenoid valve 14. The hydraulic oil flowing out from port 14A flows into accumulator 17 through port 17A after passing through accumulator interface C1. During this process, high-pressure hydraulic oil is simultaneously stored in accumulator 17 by opening two-position two-way solenoid valve 14.

[0061] Hydraulic oil flows out from port 9B of the two-position two-way solenoid valve 9. The hydraulic oil flowing out from port 9B flows into check valve 5 through port 5A. After passing through check valve 5, the hydraulic oil flows out from port 5B. The hydraulic oil flowing out from port 5B flows into pressure sensor 2, and then through port B1 into the rodless chamber of double-acting single-rod hydraulic cylinder 1 through port 1A. The hydraulic oil in the rod chamber of double-acting single-rod hydraulic cylinder 1 flows out from port 1B. The hydraulic oil flowing out from port 1B flows into two-position two-way solenoid valve 3 through port A1 through port 3A. After passing through two-position two-way solenoid valve 3, the hydraulic oil flows out from port 3B. The hydraulic oil flowing out from port 3B flows into two-position two-way solenoid valve 8 through port 8B. After passing through two-position two-way solenoid valve 8, the hydraulic oil flows out from port 8A. The hydraulic oil flowing out from port 8A flows into the external oil tank through oil tank interface T.

[0062] During this process, the rod chamber is connected to the oil tank interface T, i.e., the return oil channel, through the two-position two-way solenoid valve 3 and the two-position two-way solenoid valve 8. At the same time, the support shoe begins to contact and press against the rock wall, and gives the hydraulic rod a reaction force in the opposite direction. Therefore, at this time, the pressure of the hydraulic oil flowing to the rodless chamber, i.e., the pressure at port 4B of the check valve 4, is much greater than the pressure at the outlet of the rod chamber, i.e., port 3B of the two-position two-way solenoid valve 3 (i.e., port 4A of the check valve 4). Therefore, the hydraulic oil flows directly to the oil tank through the return oil channel and will not open and pass through the check valve 4.

[0063] When the pressure of the hydraulic oil flowing into the rodless chamber of the double-acting single-rod hydraulic cylinder 1 is higher than the preset pressure of the safety valve 6, the hydraulic oil flowing out of port 5B flows into the safety valve 6 through port 6A, and then flows out of port 6B after passing through the safety valve 6. The hydraulic oil flowing out of port 6B flows into the external oil tank through the oil tank interface T.

[0064] By adjusting the preset pressure of safety valve 6, the output force of double-acting single-rod hydraulic cylinder 1 is controlled, thereby achieving stable output of the support shoe tensioning force of the inclined shaft hard rock tunneling machine. Under the action of high-pressure oil in its rodless chamber, double-acting single-rod hydraulic cylinder 1 continuously outputs tensioning force, and the support shoe 101 is in close contact with the inner wall 102 of the surrounding rock, thus realizing the tensioning function of the support shoe of the inclined shaft hard rock tunneling machine.

[0065] Quick reset action of the support shoe of the inclined shaft hard rock tunnel boring machine:

[0066] Working principle as follows Figure 5 As shown, during the step change process of hard rock excavation in the inclined shaft, the support shoe 101 needs to be released from the tension state and restored to the initial position. At this time, the two-position two-way solenoid valves 3, 8, 9, 12, 14 and 15 are controlled to be in the off state, while the two-position two-way solenoid valves 7 and 10 are controlled to be in the on state.

[0067] External high-pressure oil flows into port 11A of proportional speed control valve 11 through high-pressure oil interface P. After being regulated by the proportional speed control valve, the hydraulic oil flows out through port 11B. The hydraulic oil flowing out through port 11B flows into port 7A of two-position two-way solenoid valve 7. After passing through port 7, the hydraulic oil flows out through port 7B. The hydraulic oil flowing out through port 7B flows into port 1B of double-acting single-rod hydraulic cylinder 1 through port A1. The hydraulic oil flows into the rod chamber of double-acting single-rod hydraulic cylinder 1 through port 1B. The hydraulic oil in the rodless chamber of double-acting single-rod hydraulic cylinder 1 flows out through port 1A. The hydraulic oil flowing out through port 1A reaches pressure sensor 2 after passing through port B1. It also flows into two-position two-way solenoid valve 10 through port 10B. After passing through port 10, the hydraulic oil flows into oil tank interface T through port 10A. The hydraulic oil flows into the external oil tank after passing through oil tank interface T.

[0068] During the above process, the double-acting single-rod hydraulic cylinder 1 retracts rapidly under the action of high-pressure oil in its rod chamber, and the movement of the double-acting single-rod hydraulic cylinder 1 drives the support shoe 101 to retract rapidly.

[0069] Meanwhile, when the hydraulic station of the inclined shaft hard rock tunneling machine fails, the high-pressure oil source at the high-pressure oil interface P is lost. At this time, the accumulator 17, which has completed energy storage during the tightening process, can be used as an emergency oil source and can still achieve the rapid reset of the support shoe 101.

[0070] Specifically, such as Figure 6 As shown, the two-position two-way solenoid valves 3, 8, 9 and 15 are controlled to be in the off state, while the two-position two-way solenoid valves 7, 10, 12 and 14 are controlled to be in the on state.

[0071] The high-pressure oil in accumulator 17 flows out through port 17A. The hydraulic oil flowing out of port 17A flows into port 14A of two-position two-way solenoid valve 14 after passing through accumulator interface C1. The hydraulic oil then flows out through port 14B of two-position two-way solenoid valve 12. The hydraulic oil flowing out through port 14B flows into port 12A of two-position two-way solenoid valve 12. The hydraulic oil then flows out through port 12B of two-position two-way solenoid valve 12. The hydraulic oil flowing out through port 12B flows into port 7A of two-position two-way solenoid valve 7. The hydraulic oil flows out from port 7B of the two-way solenoid valve 7, and then flows through port A1 into port 1B of the double-acting single-rod hydraulic cylinder 1. The hydraulic oil flows through port 1B of the double-acting single-rod hydraulic cylinder 1 into its rod chamber. The hydraulic oil in the rodless chamber of the double-acting single-rod hydraulic cylinder 1 flows out through port 1A. The hydraulic oil flowing out through port 1A reaches the pressure sensor 2 after passing through port B1. At the same time, it also flows into the two-position two-way solenoid valve 10 through port 10B. After passing through the two-position two-way solenoid valve 10, the hydraulic oil flows through port 10A into the oil tank interface T. After passing through the oil tank interface T, the hydraulic oil flows into the external oil tank.

[0072] The double-acting single-rod hydraulic cylinder 1 retracts rapidly under the action of high-pressure oil in its rod chamber. The movement of the double-acting single-rod hydraulic cylinder 1 drives the support shoe 101 to retract rapidly, so that the inclined shaft hard rock tunneling machine can still perform the rapid reset action of the support shoe when the hydraulic pump station fails.

[0073] Emergency rapid differential action of the support shoe of the inclined shaft hard rock tunneling machine:

[0074] Working principle as follows Figure 7 As shown, in order to ensure that the support shoe system of the inclined shaft hard rock tunnel boring machine can still work normally when its valve group loses power unexpectedly (when the valve group is in the initial state), to prevent the inclined shaft hard rock tunnel boring machine from slipping, and to ensure the safe and stable operation of the inclined shaft hard rock tunnel boring machine.

[0075] Specifically, through the built-in accumulator 17, when the support shoe 101 loses power, the accumulator 17 will act as a backup pressure source to drive the support shoe 101 to quickly approach and tighten the inner wall 102 of the surrounding rock. At this time, due to the de-energization of the solenoid valve group, the two-position two-way solenoid valves 7, 10, 12, and 15 are in the off state (initial state), while the two-position two-way solenoid valves 3, 8, 9, and 14 are in the on state (initial state).

[0076] The high-pressure oil in the accumulator 17 flows out through its 17A port. The hydraulic oil flowing out of the 17A port flows into the two-position two-way solenoid valve 14 through the accumulator interface C1 and then into the two-position two-way solenoid valve 14 through its 14A port. The hydraulic oil flows out of the two-position two-way solenoid valve 14 through its 14B port. The hydraulic oil flowing out of the 14B port flows into the two-position two-way solenoid valve 9 through its 9A port and then into the two-position two-way solenoid valve 9 through its 9B port.

[0077] When the pressure of the hydraulic oil flowing out of port 14B is higher than the preset pressure of the relief valve 13, the hydraulic oil flowing out of port 14B flows into the relief valve 13 through port 13A. After the relief valve 13 overflows, the hydraulic oil flows out through port 13B. The hydraulic oil flowing out of port 13B flows into the external oil tank through the oil tank interface T.

[0078] When the hydraulic oil pressure flowing out of port 14B is lower than the overflow pressure of relief valve 13, the hydraulic oil flowing out of port 9B flows into check valve 5 through port 5A. After passing through check valve 5, the hydraulic oil flows out through port 5B. The hydraulic oil flowing out of port 5B reaches pressure sensor 2. At the same time, it also passes through port B1 and flows into the rodless chamber of double-acting single-rod hydraulic cylinder 1 through port 1A. Under the action of the hydraulic oil in the rodless chamber, double-acting single-rod hydraulic cylinder 1 begins to extend. The hydraulic oil in the rod chamber of double-acting single-rod hydraulic cylinder 1 flows out through port 1B. The hydraulic oil flowing out of port 1B flows into two-position two-way solenoid valve 3 through port A1 through port 3A. After passing through two-position two-way solenoid valve 3, the hydraulic oil flows out through port 3B. Part of the hydraulic oil flowing out of port 3B flows into check valve 4 through port 4A, and part flows into two-position two-way solenoid valve 8 through port 8B.

[0079] Hydraulic oil flows out through port 4B of check valve 4. The hydraulic oil flowing out of port 4B and port 9B flows together into the rodless chamber of double-acting single-rod hydraulic cylinder 1 through check valve 5. The hydraulic oil flows out through port 8A of two-position two-way solenoid valve 8. The hydraulic oil flowing out of port 8A flows into the external oil tank through oil tank interface T.

[0080] The above process enables the rapid differential movement of the double-acting single-rod hydraulic cylinder 1 under the high-pressure oil source of the accumulator 17, which has completed energy storage. The double-acting single-rod hydraulic cylinder 1 extends rapidly under the action of hydraulic oil in its rodless chamber. The movement of the double-acting single-rod hydraulic cylinder 1 drives the tunneling machine support shoe 101 connected to it to move rapidly. When the support shoe 101 of the inclined shaft hard rock tunneling machine comes into contact with the inner wall 102 of the surrounding rock, the rapid differential movement of the support shoe 101 is completed in the event of an accidental power failure of the valve group of the inclined shaft hard rock tunneling machine. At this time, the inclined shaft hard rock tunneling machine switches to the emergency tensioning state of the support shoe 101 to ensure the operational safety of the inclined shaft hard rock tunneling machine.

[0081] Emergency tensioning state of the support shoe for the inclined shaft hard rock tunnel boring machine:

[0082] To ensure the continued normal operation of the support shoe system of the inclined shaft hard rock tunnel boring machine (TBM) even when its valve assembly experiences an unexpected power failure (with all valve assemblies in their initial state), preventing slippage and ensuring safe and stable operation, this invention utilizes a built-in accumulator 17. When the TBM loses power, the accumulator 17 acts as a backup pressure source to drive the TBM support shoe 101 to maintain tight support against the surrounding rock inner wall 102. Since the valve assembly is in its initial state, the working principle remains the same. Figure 7 As shown,

[0083] At this time, due to the power failure of the solenoid valve group, the two-position two-way solenoid valves 7, 10, 12 and 15 are in the open state (initial state), while the two-position two-way solenoid valves 3, 8, 9 and 14 are in the closed state (initial state).

[0084] At this time, the high-pressure oil in the accumulator 17 flows out through its 17A port. The hydraulic oil flowing out of the 17A port flows into the two-position two-way solenoid valve 14 through the accumulator interface C1 and then through the 14A port of the two-position two-way solenoid valve 14. After passing through the two-position two-way solenoid valve 14, the hydraulic oil flows out through its 14B port. When the pressure of the hydraulic oil flowing out of the 14B port is higher than the preset pressure of the relief valve 13, the hydraulic oil flowing out of the 14B port flows into the relief valve 13 through its 13A port. After passing through the relief valve 13, the hydraulic oil flows out through its 13B port and then through the oil tank interface T into the external oil tank.

[0085] Hydraulic oil flowing from port 14B of the two-position two-way solenoid valve 14 also flows into the two-position two-way solenoid valve 9 through port 9A. After passing through the two-position two-way solenoid valve 9, the hydraulic oil flows out through port 9B. The hydraulic oil flowing out of port 9B flows into the one-way valve 5 through port 5A. After passing through the one-way valve 5, the hydraulic oil flows out through port 5B. The hydraulic oil flowing out of port 5B reaches the pressure sensor 2. At the same time, it also passes through port B1 and flows into the rodless chamber of the double-acting single-rod hydraulic cylinder 1 through port 1A. Under the action of the hydraulic oil in the rodless chamber, the double-acting single-rod hydraulic cylinder 1 maintains pressure against the rock wall. This process is similar to the emergency rapid differential action, the difference being that in the emergency rapid differential action, the double-acting single-rod hydraulic cylinder 1 quickly extends and contacts the rock wall under the action of the hydraulic oil in its rodless chamber. In this process, after the hydraulic cylinder extends, the hydraulic oil in its rodless chamber keeps the support shoe tight.

[0086] When the hydraulic oil pressure flowing into the rodless chamber of the double-acting single-rod hydraulic cylinder 1 is higher than the preset pressure of the safety valve 6, the hydraulic oil flowing out of port 5B flows into the safety valve 6 through port 6A. After passing through the safety valve 6, the hydraulic oil flows out through port 6B. The hydraulic oil flowing out of port 6B flows into the external oil tank through the oil tank interface T. By adjusting the preset pressure of the safety valve 6, the output force of the double-acting single-rod hydraulic cylinder 1 can be controlled, and the stable output of the support shoe tensioning force of the inclined shaft hard rock tunneling machine can be further realized. The double-acting single-rod hydraulic cylinder 1 drives the support shoe 101 connected to it to tighten the inner wall 102 of the surrounding rock.

[0087] In the event of an unexpected power outage in the valve group or a malfunction in the hydraulic station of the inclined shaft hard rock tunneling machine, the accumulator 17 drives the double-acting single-rod hydraulic cylinder 1 to ensure the normal function of the support shoe 101 of the inclined shaft hard rock tunneling machine. This enables the support shoe 101 of the tunneling machine to tighten the inner wall 102 of the surrounding rock when the hydraulic pump station fails, thus ensuring the stable operation of the inclined shaft hard rock tunneling machine.

[0088] Accumulator safety pressure holding process:

[0089] To ensure the continued normal operation of the support shoe system of the inclined shaft hard rock tunneling machine in the event of an unexpected power failure in its valve group or a malfunction in its hydraulic station, this invention includes an accumulator 17. When the support shoe 101 loses power, the accumulator 17 serves as a backup pressure source to drive the support shoe 101 to tighten the inner wall of the surrounding rock. To ensure sufficient high-pressure oil in the accumulator 17, this invention can actively replenish the accumulator 17 with hydraulic oil at a certain pressure while the hydraulic pump station is operating normally. For example, in the aforementioned condition where the support shoe is tightened, opening the two-position two-way solenoid valve 14 can simultaneously replenish or store energy in the accumulator 17.

[0090] The specific working principle of active oil replenishment and pressure maintenance is as follows: Figure 8As shown, at this time, at least two-position two-way solenoid valves 12 and 14 are controlled to open, and two-position two-way solenoid valve 15 is closed; at the same time, at least one of two-position two-way solenoid valves 7, 3, and 8 is closed, and at least one of two-position two-way solenoid valves 7, 3, and 10 is closed.

[0091] External high-pressure oil flows into port 11A of the proportional speed control valve 11 through high-pressure oil interface P. After being regulated by the proportional speed control valve, the hydraulic oil flows out through port 11B. The hydraulic oil flowing out of port 11B flows into the two-position two-way solenoid valve 12 through port 12B. The hydraulic oil then flows out through port 12A of the two-position two-way solenoid valve 14 through port 14B. The hydraulic oil then flows through the two-position two-way solenoid valve... The hydraulic oil flows out from port 14A of the electromagnetic switch valve 14. The hydraulic oil flowing out from port 14A flows into the accumulator 17 through port C1 and port 17A of the accumulator 17. When the hydraulic oil pressure in the accumulator 17 exceeds the preset pressure of the relief valve 16, the hydraulic oil flowing out from port 14A flows into the relief valve 16 through port 16A. The hydraulic oil flows out from port 16B of the relief valve 16 and flows into the external oil tank through port T, thus realizing the charging function of the accumulator 17.

[0092] When the inclined shaft hard rock tunneling machine needs to be stopped or repaired, and the hydraulic oil inside the accumulator 17 needs to be released quickly, such as... Figure 9 As shown, the two-position two-way solenoid valve 15 can be switched to the on state, and the two-position two-way solenoid valve 14 can be switched to the off state. The hydraulic oil in the accumulator 17 flows into the two-position two-way solenoid valve 15 through port A. After passing through the two-position two-way solenoid valve 15, the hydraulic oil flows out through port 15B. The hydraulic oil flowing out through port 15B flows into the external oil tank through the oil tank interface T, thus completing the rapid release of the hydraulic oil inside the accumulator 17.

[0093] This invention relates to a multi-functional safety tensioning hydraulic control system for inclined shaft hard rock tunneling machines. It mainly consists of a hydraulic cylinder, multiple switching valves, an overflow valve, a speed regulating valve, and an accumulator. It can achieve various control functions and is suitable for the hydraulic control system of the support shoe in inclined shaft hard rock tunneling machines. This system can achieve rapid movement and stable tensioning of the support shoe through the combined control of multiple switching valves. It can also control the tensioning force of the support shoe by adjusting the output pressure of the overflow valve and the safety valve according to real-time tunneling conditions and tunnel slope.

[0094] Meanwhile, the present invention has an emergency safety guarantee function. In the event of an unexpected power failure of the valve group of the inclined shaft hard rock tunneling machine or a failure of the hydraulic pump station, the accumulator set in the hydraulic system will serve as a backup hydraulic source. Even when the system valve group is in a power failure state, the initial state of the valve group can still achieve rapid movement and stable tension of the support shoe, ensuring the normal operation of the support shoe system and avoiding safety accidents such as the inclined shaft hard rock tunneling machine sliding down.

Claims

1. A hydraulic control system for an inclined shaft hard rock tunneling machine, characterized in that, The system includes a rodless chamber interface for connecting to the rodless chamber of a hydraulic cylinder, a rod chamber interface for connecting to the rod chamber of a hydraulic cylinder, a high-pressure oil interface for connecting to a high-pressure oil source, and a return oil line for connecting to a hydraulic oil tank. The hydraulic cylinder is a tunneling machine support shoe cylinder. The high-pressure oil interface is connected to a main oil circuit, which branches into a first branch equipped with a first switching valve and a second branch equipped with a second switching valve. The first branch connects to the rodless chamber interface via a rodless chamber oil circuit and also connects to the rod chamber interface via a rod chamber oil circuit. A third switching valve and a first check valve facing the rodless chamber interface are sequentially arranged on the rodless chamber oil circuit. The second branch connects to the rodless chamber oil circuit between the first check valve and the rodless chamber interface. The rodless chamber oil circuit between the third switching valve and the first check valve is also connected to the return oil line via a fourth switching valve. The rodless chamber oil circuit between the first check valve and the rodless chamber interface is also connected to the return oil line via a fifth switching valve.

2. The hydraulic control system for a hard rock tunneling machine in an inclined shaft according to claim 1, characterized in that, A second check valve facing the rodless cavity interface is also provided on the rodless cavity oil line between the connection point of the second branch and the rodless cavity oil line and the rodless cavity interface; the rodless cavity oil line between the second check valve and the rodless cavity interface is also connected to the return oil line through the first safety valve, and the tensioning force of the tunneling machine support shoe is set by the output pressure of the first safety valve; the branch line of the return oil line connected through the fifth switch valve is connected to the rodless cavity oil line between the second check valve and the rodless cavity interface.

3. The hydraulic control system for an inclined shaft hard rock tunneling machine according to claim 2, characterized in that, The second branch line, which connects to the oil inlet line of the rodless chamber oil circuit, is also connected to the oil return line via a second safety valve.

4. The hydraulic control system for an inclined shaft hard rock tunneling machine according to claim 3, characterized in that, It also includes an accumulator interface for connecting an accumulator as an emergency backup hydraulic power source; the second branch is also connected to the accumulator interface via a sixth switching valve; a seventh switching valve is also provided downstream of the contact point on the oil inlet line that connects to the second safety valve.

5. The hydraulic control system for an inclined shaft hard rock tunneling machine according to claim 4, characterized in that, A third safety valve is also installed between the accumulator interface and the return oil pipeline, and the energy storage pressure of the accumulator is set by the output pressure of the third safety valve.

6. The hydraulic control system for an inclined shaft hard rock tunneling machine according to claim 5, characterized in that, An eighth switching valve is also provided between the accumulator interface and the return oil line for quickly releasing the pressure inside the accumulator.

7. The hydraulic control system for an inclined shaft hard rock tunneling machine according to claim 6, characterized in that, The third, fourth, sixth, and seventh switching valves are normally open switching valves; the first, second, fifth, and eighth switching valves are normally closed switching valves.

8. The hydraulic control system for an inclined shaft hard rock tunneling machine according to claim 1, characterized in that, A proportional speed control valve is also installed on the main oil line; a pressure sensor is also installed on the rodless chamber oil line between the rodless chamber interface and the second check valve.

9. A tunnel boring machine for inclined shafts in hard rock, characterized in that, Includes the hydraulic control system for a hard rock tunnel boring machine in an inclined shaft as described in any one of claims 1 to 8.

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