A hydraulic control system and control method for hard rock tunnel boring machine gripper

Abstract

The present invention discloses a hydraulic control system and control method for the support shoes of a hard rock tunnel boring machine. The hydraulic control system includes a left support shoe cylinder and a right support shoe cylinder formed by N support shoe cylinders, N≥2; it also includes a first logic valve group and a second logic valve group, the first logic valve group is connected to a first electromagnetic reversing valve for controlling its on and off, and the second logic valve group is connected to a second electromagnetic reversing valve for controlling its on and off; during operation, a part of the combined oil source is connected to the rod chamber of the support shoe cylinder through the first logic valve group; a part of the combined oil source is connected to the rodless chamber of the support shoe cylinder through the first logic valve group and the second logic valve group, respectively, to control the support shoe cylinder to perform differential extension and retraction and independent extension and retraction actions. The present invention provides a hydraulic system that can enable differential and rapid extension of gripper cylinders and can independently control the extension of multiple gripper cylinders, thereby shortening the gripper extension time and meeting the independent extension requirements of gripper cylinders at different positions, thereby adapting to surrounding rock conditions of different geology. At the same time, by realizing the control of the extension and stop states of a single cylinder, the phenomenon of impact force on the TBM tunneling machine due to differences in the extension strokes of the gripper cylinders is avoided, thereby reducing safety hazards and improving the working efficiency of the hard rock tunneling machine and the safety of construction.

Description

Technical Field

[0001] The present invention relates to the technical field of hard rock tunnel boring machines, in particular to a gripper shoe system of a hard rock tunnel boring machine. Background Art

[0002] The gripper hydraulic system is a crucial hydraulic system in tunnel boring equipment. During tunneling, grippers clamp against the tunnel wall to provide a supporting reaction force for the TBM's forward movement. Control of the hydraulic system enables rapid gripper extension, rapid retraction, high-pressure clamping, and horizontal directional adjustment. However, conventional TBM rapid gripper extension methods rely on a high-flow converging oil source supplying oil to the large chamber of the gripper cylinder to achieve rapid gripper extension. Prior art, such as Chinese patent publication number CN 116181722 A, provides a hydraulic system that independently controls the rapid extension and retraction of the left and right gripper cylinders. This system also allows for flexible design of the gripper cylinder large and small chamber area ratios, unaffected by the pilot ratio of the small chamber hydraulically controlled check valve. However, the rapid extension achieved in this patent is achieved solely through the traditional extension method of supplying oil to the large chamber and returning it to the small chamber. This method requires a long time for cylinder extension, reducing the efficiency of TBM step changes during tunneling. Secondly, during the TBM excavation process, under limited geological conditions, the distance between the left and right grippers and the tunnel walls on both sides is quite different. At this time, if the left and right grippers are extended quickly at the same time, the gripper on the side with the closer distance will contact the tunnel wall first, thereby generating a side tilt force on the TBM excavation machine, posing a major safety hazard. Summary of the Invention

[0003] In response to the deficiencies in the above-mentioned background technology, the present invention proposes a hydraulic control system and control method for the support shoes of a hard rock tunnel boring machine, which can realize differential rapid extension and independently control the extension of four support shoe cylinders. The hydraulic system greatly shortens the extension time of the support shoes and at the same time satisfies the independent extension of the support shoe cylinders at different positions, thereby adapting to different geological surrounding rock conditions, improving work efficiency, and ensuring construction safety.

[0004] The technical solution of the present invention is implemented as follows: a hard rock tunnel boring machine support shoe hydraulic control system includes a left support shoe cylinder and a right support shoe cylinder formed by N support shoe cylinders, N≥2; also includes a first logic valve group and a second logic valve group, the first logic valve group is connected to a first electromagnetic reversing valve for controlling its on and off, and the second logic valve group is connected to a second electromagnetic reversing valve for controlling its on and off; during operation, a part of the combined oil source is connected to the rod chamber of the support shoe cylinder through the first logic valve group; a part of the combined oil source is connected to the rodless chamber of the support shoe cylinder through the first logic valve group and the second logic valve group, respectively, to control the support shoe cylinder to perform differential extension and retraction and independent extension and retraction actions.

[0005] Further preferably, the first electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve, the control oil source is connected to the A port of the three-position four-way electromagnetic reversing valve; the D port of the three-position four-way electromagnetic reversing valve is connected to the drain oil source.

[0006] Further preferably, the first logic valve group includes four logic valves, which are the first logic valve, the second logic valve, the third logic valve and the fourth logic valve; the combined oil source is connected to the A port of the first logic valve and the A port of the third logic valve, and the A port of the second logic valve is connected to the B port of the third logic valve and the B port of the fourth logic valve; the B port of the first logic valve is connected to the B port of the second logic valve, and the B port of the first logic valve is connected to the rod chamber of the left support shoe cylinder through an oil circuit, and the B port of the second logic valve is connected to the rod chamber of the right support shoe cylinder through an oil circuit; the C port of the first logic valve and the C port of the fourth logic valve are connected to the B port of the three-position four-way solenoid reversing valve; the C port of the second logic valve and the C port of the third logic valve are connected to the C port of the three-position four-way solenoid reversing valve; the A port of the fourth logic valve is connected to the return oil source.

[0007] Preferably, the second logic valve group includes four logic valves, and the second solenoid reversing valve is arranged in a one-to-one correspondence with the logic valve; the second solenoid reversing valve adopts a two-position three-way solenoid reversing valve, and the A port of the two-position three-way solenoid reversing valve is connected to the C port of the corresponding logic valve, and the C port of the two-position three-way solenoid reversing valve is connected to the oil drain source.

[0008] The four logic valves are the left first logic valve, the left second logic valve, the right first logic valve and the right second logic valve; the four second solenoid reversing valves corresponding to the four logic valves are the left first two-position three-way solenoid reversing valve, the left second two-position three-way solenoid reversing valve, the right first two-position three-way solenoid reversing valve and the right second two-position three-way solenoid reversing valve.

[0009] It is further preferred that the B port of the left first logic valve is connected to the B port of the left first two-position three-way solenoid reversing valve, and the C port of the left first logic valve is connected to the A port of the left first two-position three-way solenoid reversing valve; the B port of the right first logic valve is connected to the B port of the right first two-position three-way solenoid reversing valve, and the C port of the right first logic valve is connected to the A port of the right first two-position three-way solenoid reversing valve; the B port of the left second logic valve is connected to the B port of the left second two-position three-way solenoid reversing valve, and the C port of the left second logic valve is connected to the A port of the left second two-position three-way solenoid reversing valve; the B port of the right second logic valve is connected to the B port of the right second two-position three-way solenoid reversing valve, and the C port of the right second logic valve is connected to the A port of the right second two-position three-way solenoid reversing valve.

[0010] Further preferably, the B ports of the four logic valves of the second logic valve group are connected to the B ports of the third logic valve and the fourth logic valve. The A ports of the first left logic valve and the second left logic valve are respectively connected to the rodless chamber of the left gripper cylinder, and the A ports of the first right logic valve and the second right logic valve are respectively connected to the rodless chamber of the right gripper cylinder.

[0011] As a preferred embodiment, N=4, and the four gripper cylinders are the first left cylinder, the second left cylinder, the first right cylinder and the second right cylinder. The first left cylinder and the second left cylinder form the left gripper cylinder, and the first right cylinder and the second right cylinder form the right gripper cylinder.

[0012] A control method for the gripper hydraulic control system of a hard rock tunnel boring machine, including a gripper differential extension control method and a gripper independent extension control method;

[0013] The control method for differential extension of the support shoe is as follows: after the three-position four-way solenoid reversing valve is energized in the right position, the A and B ports of the three-position four-way solenoid reversing valve are connected, and the control oil source is connected to the C port of the first logic valve and the C port of the fourth logic valve through the A and B ports. At this time, the first logic valve and the fourth logic valve are in the closed state; at the same time, the C and D ports of the three-position four-way solenoid reversing valve are connected, and the C port of the second logic valve and the C port of the third logic valve are connected to the oil leakage source. At this time, the second logic valve and the third logic valve are in the open state; the combined oil source flows to the B port of the third logic valve through the A port of the third logic valve, and the oil coming out from the B port of the third logic valve The combined oil source is divided into two paths: one path flows through port B of the fourth logic valve to port B of the four logic valves of the second logic valve group, and the other path flows through ports A and B of the second logic valve to the rod chamber of the gripper cylinder. The four second solenoid reversing valves are energized and are in the right position. Port A of the four logic valves of the second logic valve group is connected to the oil drain source via port C, and the four logic valves of the second logic valve group are in the open state. The combined oil source flows through ports B and A of the four logic valves of the second logic valve group to the corresponding rodless chamber of the gripper cylinder. At this time, oil flows into both the rod chamber and the rodless chamber of the gripper cylinder, causing differential rapid extension of the gripper cylinder.

[0014] The control method for the independent extension of the gripper shoe is as follows: the three-position four-way solenoid reversing valve is energized in the right position, at which time the rod chambers of the left first cylinder, the left second cylinder, the right first cylinder and the right second cylinder are respectively filled with oil; then the left first two-position three-way solenoid reversing valve is in the right position, at this time, the A port of the left first two-position three-way solenoid reversing valve is connected to the C port, the right first two-position three-way solenoid reversing valve, the left second two-position three-way solenoid reversing valve and the right second two-position three-way solenoid reversing valve are in the left position, and the A port of the left first two-position three-way solenoid reversing valve is connected to the C port through The oil source is drained, the left logic valve is opened, and the combined oil source enters the rodless chamber of the left cylinder through the B port and the A port of the left logic valve, and the left cylinder is differentially extended; at this time, the right logic valve, the left second logic valve, and the right second logic valve are closed, and the left second cylinder, the right first cylinder and the right second cylinder achieve self-locking performance; the purpose of independent extension of the left cylinder and the self-locking of the other support shoe cylinders is achieved; similarly, the left second cylinder, the right first cylinder and the right second cylinder can also achieve independent extension action by adopting the above-mentioned support shoe independent extension control method.

[0015] The beneficial effects of the present invention are as follows: The hydraulic control system of the present invention combines a three-position, four-way electromagnetic reversing valve with a logic valve, allowing the large and small chambers of the gripper cylinder to be simultaneously connected to pressurized oil, forming a differential connection. This differential connection of the gripper cylinders significantly reduces the time required for gripper cylinder extension, thereby improving tunneling efficiency. By controlling the opening and closing of the logic valve using a two-position, three-way electromagnetic reversing valve, the oil inflow and return to the large chamber of the gripper cylinder are controlled, achieving independent control of the gripper cylinders. Under restricted geological conditions, where the distance between the left and right grippers and the tunnel walls differs significantly, the gripper stopping and extension actions can be adjusted to ensure that both grippers contact the tunnel wall simultaneously, preventing the grippers from contacting the tunnel wall one after another and generating lateral forces on the hard rock tunneling machine, thereby improving the equipment's tunneling safety.

[0016] The present invention provides a hydraulic system that can achieve differential and rapid extension of gripper cylinders and can independently control the extension of multiple gripper cylinders, thereby greatly shortening the gripper extension time and simultaneously meeting the independent extension of gripper cylinders at different positions, thereby adapting to surrounding rock conditions of different geology. At the same time, by realizing the control of the extension and stop state of a single cylinder, the phenomenon of impact force on the TBM tunneling machine due to differences in the extension stroke of the gripper cylinders is avoided, thereby greatly reducing safety hazards and further improving the working efficiency and construction safety of the hard rock tunneling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] Figure 1 The figure is a schematic structural diagram of a hydraulic system including four gripper cylinders of the present invention. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0020] like Figure 1As shown in Example 1, a gripper hydraulic control system for a hard rock tunnel boring machine includes N gripper cylinders forming a left gripper cylinder and a right gripper cylinder, where N ≥ 2. In actual construction, two grippers or one gripper cylinder can be installed on the left side of the tunnel boring machine, and two or one gripper cylinders can be installed on the right side of the tunnel boring machine. This ensures the gripper function of the tunnel boring machine. It is particularly important that the gripper hydraulic control system further includes a first logic valve group and a second logic valve group. The first logic valve group is connected to a first electromagnetic reversing valve for on / off control, and the second logic valve group is connected to a second electromagnetic reversing valve for on / off control. During operation, a portion of the combined oil source is connected to the rod chamber of the gripper cylinder through the first logic valve group, while a portion of the combined oil source is connected to the rodless chamber of the gripper cylinder through the first logic valve group and the second logic valve group, respectively, to control the gripper cylinders to perform differential and independent telescopic movements.

[0021] The hydraulic control system combines a three-position, four-way solenoid directional valve with a logic valve to simultaneously connect the large and small chambers of the gripper cylinder to pressurized oil, forming a differential connection and achieving rapid gripper movement, thereby improving the operating efficiency of the hard rock tunnel boring machine. Furthermore, the hydraulic control system can control the individual movement of the grippers. By controlling the opening and closing of the logic valve via a two-position, three-way solenoid directional valve, the oil inflow and return to the large chamber of the gripper cylinder can be controlled independently. Under restricted geological conditions, where the distances between the left and right grippers and the tunnel walls differ significantly, the gripper stop and extension movements can be adjusted to ensure that both grippers contact the tunnel wall simultaneously, preventing the grippers from contacting the tunnel wall one after another and generating lateral forces on the hard rock tunnel boring machine, thereby improving the safety of the equipment during excavation. This gripper hydraulic control system is a hydraulic system that enables rapid differential extension of the gripper cylinders and independently controls the extension of the four gripper cylinders, ensuring safe and rapid operation of the gripper system and improving the operating efficiency of the hard rock tunnel boring machine. It also allows gripper cylinders at different locations to independently extend, thus adapting to varying geological rock conditions.

[0022] Example 2 is a hydraulic control system for grippers on a hard rock tunnel boring machine. This example further optimizes Example 1. In this example, N=4, meaning four gripper cylinders are included. These four gripper cylinders are: left first cylinder 1, left second cylinder 2, right first cylinder 3, and right second cylinder 4. Left first cylinder 1 and left second cylinder 2 form the left gripper cylinders, while right first cylinder 3 and right second cylinder 4 form the right gripper cylinders.

[0023] In this embodiment, the first solenoid reversing valve is preferably a three-position, four-way solenoid reversing valve 5. The gripper hydraulic control system includes a three-position, four-way solenoid reversing valve 5. For ease of description, the A, B, C, and D oil ports of the three-position, four-way solenoid reversing valve 5 are defined as 5A, 5B, 5C, and 5D. A control oil source 20 is connected to port A of the three-position, four-way solenoid reversing valve 5; port D of the three-position, four-way solenoid reversing valve 5 is connected to a drain oil source 19. When no electrical signal is present, the three-position, four-way solenoid reversing valve 5 is in the neutral position, with ports 5A, 5B, and 5C interconnected. When power is supplied to the left side, the three-position, four-way solenoid reversing valve 5 is in the left position, with ports 5A and 5C connected and ports 5B and 5D connected. When power is supplied to the right side, the three-position, four-way solenoid reversing valve 5 is in the right position, with ports 5A and 5B connected and ports 5C and 5D connected.

[0024] In this embodiment, the first logic valve group includes four logic valves, namely a first logic valve 6, a second logic valve 7, a third logic valve 8, and a fourth logic valve 9. The A\B\C oil ports of the first logic valve 6 can be defined as 6A\6B\6C; the A\B\C oil ports of the second logic valve 7 can be defined as 7A\7B\7C; the A\B\C oil ports of the third logic valve 8 can be defined as 8A\8B\8C; and the A\B\C oil ports of the fourth logic valve 9 can be defined as 9A\9B\9C. It should be noted that when port C of the logic valve is connected to a control oil source or a pressure oil source, ports A and B are not connected, and the oil circuit in the logic valve is in a disconnected state. When port C of the logic valve is connected to the main drain oil source, ports A and B are connected, and the oil circuit in the logic valve is in an open state.

[0025] Specifically, the combined oil source is connected to port A of the first logic valve 6 and port A of the third logic valve 8. Port A of the second logic valve 7 is connected to port B of the third logic valve 8 and port B of the fourth logic valve 9. Port B of the first logic valve 6 is connected to port B of the second logic valve 7. Port B of the first logic valve 6 is connected via an oil circuit to the rod chambers of the left gripper cylinders, i.e., the first left cylinder 1 and the second left cylinder 2. Port B of the second logic valve 7 is connected via an oil circuit to the rod chambers of the right gripper cylinders, i.e., the first right cylinder 3 and the second right cylinder 4. Port C of the first logic valve 6 and port C of the fourth logic valve 9 are connected to port B of the three-position, four-way solenoid reversing valve 5. Port C of the second logic valve 7 and port C of the third logic valve 8 are connected to port C of the three-position, four-way solenoid reversing valve 5. Port A of the fourth logic valve 9 is connected to the return oil source 18.

[0026] As a preferred solution, in this embodiment, the second logic valve group includes four logic valves, and the second solenoid reversing valves are arranged in a one-to-one correspondence with the logic valves; that is, one logic valve corresponds to one second solenoid reversing valve. The second solenoid reversing valve adopts a two-position three-way solenoid reversing valve, and the A port of the two-position three-way solenoid reversing valve is connected to the C port of the corresponding logic valve, and the C port of the two-position three-way solenoid reversing valve is connected to the oil drain source 19. Similarly, it should be pointed out that when the C ports of the four logic valves of the above-mentioned second logic valve group are connected to the control oil source or the pressure oil source, the A ports are not connected to the B ports, and the oil circuit in the logic valve is in a disconnected state. When the C port of the logic valve is connected to the total oil drain, the A port is connected to the B port, and the oil circuit in the logic valve is in an open state.

[0027] The four logic valves are the left first logic valve 10, the left second logic valve 12, the right first logic valve 11 and the right second logic valve 13; the four second solenoid reversing valves corresponding to the four logic valves are the left first two-position three-way solenoid reversing valve 14, the left second two-position three-way solenoid reversing valve 16, the right first two-position three-way solenoid reversing valve 15 and the right second two-position three-way solenoid reversing valve 17. For the convenience of distinction and description, the A\B\C oil ports of the left first logic valve 10 can be defined as 10A\10B\10C, the A\B\C oil ports of the left second logic valve 12 can be defined as 12A\12B\12C, the A\B\C oil ports of the right first logic valve 11 can be defined as 11A\11B\11C, and the A\B\C oil ports of the right second logic valve 13 can be defined as 13A\13B\13C; similarly, the left first two-position three-way The A\B\C oil ports of the solenoid reversing valve 14 can be defined as 14A\14B\14C, the A\B\C oil ports of the right first two-position three-way solenoid reversing valve 15 can be defined as 15A\15B\15C, the A\B\C oil ports of the left second two-position three-way solenoid reversing valve 16 can be defined as 16A\16B\16C, and the A\B\C oil ports of the right second two-position three-way solenoid reversing valve 17 can be defined as 17A\17B\17C. The left first two-position three-way solenoid reversing valve 14, the left second two-position three-way solenoid reversing valve 16, the right first two-position three-way solenoid reversing valve 15, and the right second two-position three-way solenoid reversing valve 17 are in the left position when there is no electrical signal, port A is connected to port B, and port C is blocked; the two-position three-way solenoid reversing valve 14, the two-position three-way solenoid reversing valve 15, the two-position three-way solenoid reversing valve 16, and the two-position three-way solenoid reversing valve 17 are in the right position when they are energized, port A is connected to port C, and port B is blocked.

[0028] As a preferred solution, in this embodiment, the B port of the left first logic valve 10 is connected to the B port of the left first two-position three-way solenoid reversing valve 14, and the C port of the left first logic valve 10 is connected to the A port of the left first two-position three-way solenoid reversing valve 14; the B port of the right first logic valve 11 is connected to the B port of the right first two-position three-way solenoid reversing valve 15, and the C port of the right first logic valve 11 is connected to the A port of the right first two-position three-way solenoid reversing valve 15; the B port of the left second logic valve 12 is connected to the B port of the left second two-position three-way solenoid reversing valve 16, and the C port of the left second logic valve 12 is connected to the A port of the left second two-position three-way solenoid reversing valve 16; the B port of the right second logic valve 13 is connected to the B port of the right second two-position three-way solenoid reversing valve 17, and the C port of the right second logic valve 13 is connected to the A port of the right second two-position three-way solenoid reversing valve 17.

[0029] As a preferred embodiment, the B ports of the four logic valves in the second logic valve group are connected to the B ports of the third logic valve 8 and the fourth logic valve 9. Specifically, the B port of the first left logic valve 10 is connected to the B port of the fourth logic valve 9, the B port of the second left logic valve 12 is connected to the B port of the third logic valve 8; the B port of the first right logic valve 11 is connected to the B port of the third logic valve 8 or the B port of the fourth logic valve 9; and the B port of the second right logic valve 13 is connected to the B port of the third logic valve 8 or the B port of the fourth logic valve 9.

[0030] As a preferred solution, port A of the first left logic valve 10 and port A of the second left logic valve 12 are respectively connected to the rodless chamber of the left gripper cylinder, while port A of the first right logic valve 11 and port A of the second right logic valve 13 are respectively connected to the rodless chamber of the right gripper cylinder. Specifically, port 1B of the first left cylinder 1, i.e., the rodless chamber port, is connected to port 10A of the first left logic valve 10; port 2B of the second left cylinder 2, i.e., the rodless chamber port, is connected to port 12A of the second left logic valve 12; port 3B of the first right cylinder 3, i.e., the rodless chamber port, is connected to port 11A of the first right logic valve 11; and port 4B of the second right cylinder 4, i.e., the rodless chamber port, is connected to port 13A of the second right logic valve 13.

[0031] Example 3, a control method for the gripper hydraulic control system of a hard rock tunnel boring machine as described in Example 2, including a gripper differential extension control method and a gripper independent extension control method;

[0032] The control method for the differential extension of the support shoe is: in the first step, after the right position of the three-position four-way solenoid reversing valve 5 is energized, the A and B ports of the three-position four-way solenoid reversing valve 5 are connected, and the control oil source is connected to the C port of the first logic valve 6 and the C port of the fourth logic valve 9 through the A and B ports. At this time, the first logic valve 6 and the fourth logic valve 9 are in a closed state; at the same time, the C and D ports of the three-position four-way solenoid reversing valve 5 are connected, and the C port of the second logic valve 7 and the C port of the third logic valve 8 are connected to the oil leakage source 19. At this time, the second logic valve 7 and the third logic valve 8 are in an open state.

[0033] In the second step, the combined oil source flows to the B port of the third logic valve 8 through the A port of the third logic valve 8. The combined oil source coming out of the B port of the third logic valve 8 is divided into two paths. One path flows to the B port of the four logic valves of the second logic valve group through the B port of the fourth logic valve 9, and the other path flows to the rod chamber of the support shoe cylinder through the A port and B port of the second logic valve 7.

[0034] In the third step, the four second solenoid reversing valves are energized and are in the right position, and the A ports of the four logic valves of the second logic valve group are connected to the oil leakage source 19 via the C port, and the four logic valves of the second logic valve group are in the open state; specifically: the left first two-position three-way solenoid reversing valve 14, the right first two-position three-way solenoid reversing valve 15, the left second two-position three-way solenoid reversing valve 16, and the right second two-position three-way solenoid reversing valve 17 are in the right position. At this time, the logic valve oil port 10A is connected to the total oil leakage source 19 via 10C, the logic valve oil port 11A is connected to the total oil leakage 19 via 11C, the logic valve oil port 12A is connected to the total oil leakage 19 via 12C, and the logic valve oil port 13A is connected to the total oil leakage 19 via 13C. The left first logic valve 10, the right first logic valve 11, the left second logic valve 12, and the right second logic valve 13 are in the open state. Then the combined oil source flows to the corresponding rodless chamber of the gripper cylinder through the B port and A port of the four logic valves of the second logic valve group; at this time, oil flows into both the rod chamber and the rodless chamber of the gripper cylinder, forming a differential rapid extension of the gripper cylinder.

[0035] The control method for independent extension of the support shoe is as follows: the three-position four-way solenoid reversing valve 5 is energized in the right position, at which time the rod chambers of the left first oil cylinder 1, the left second oil cylinder 2, the right first oil cylinder 3 and the right second oil cylinder 4 are respectively filled with oil; then the left first two-position three-way solenoid reversing valve 14 is in the right position, at this time, the A port of the left first two-position three-way solenoid reversing valve 14 is connected to the C port, the right first two-position three-way solenoid reversing valve 15, the left second two-position three-way solenoid reversing valve 16, and the right second two-position three-way solenoid reversing valve 17 are in the left position, and the A port of the left first two-position three-way solenoid reversing valve 14 is connected to the C port The oil source 19 is drained, the left logic valve 10 is opened, and the combined oil source enters the rodless chamber of the left cylinder 1 through the B port and the A port of the left logic valve 10, and the left cylinder 1 is differentially extended; at this time, the right logic valve 11, the left second logic valve 12, and the right second logic valve 13 are closed, and the left second cylinder 2, the right first cylinder 3 and the right second cylinder 4 achieve self-locking performance; the purpose of independently extending the left cylinder 1 and maintaining self-locking of the other support shoe cylinders is achieved; the function of individual control of the support shoe cylinders is realized, so that the support shoe cylinders in different positions can simultaneously stick to the cave wall at different distances from the cave wall. At this point, although the combined oil source enters the left second cylinder 2A port (rod chamber oil port), the right first cylinder 3A port (rod chamber oil port), and the right second cylinder 4A port (rod chamber oil port), the rodless chamber oil of the left second cylinder 2, the right first cylinder 3, and the right second cylinder 4 remains closed by the left second logic valve 12, the right first logic valve 11, and the right second logic valve 13. Therefore, the left second cylinder 2, the right first cylinder 3, and the right second cylinder 4 remain stationary, achieving self-locking. Similarly, the left second cylinder 2, the right first cylinder 3, and the right second cylinder 4 can also achieve independent extension using the above-mentioned independent gripper extension control method.

[0036] It should be noted that the solenoid reversing valve of this invention is combined with multiple logic valves to achieve the differential extension function of the gripper cylinders. The two-position, three-way solenoid valve is combined with a logic valve, a shuttle valve, and a hydraulically controlled check valve to control a single gripper cylinder. Any design that, within the same application area as this structure, allows for changes in the type and number of valves in the hydraulic system, as well as the number and designation of cylinders, without altering the functional characteristics, is included within the scope of this invention.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gripper hydraulic control system for a hard rock tunnel boring machine, comprising a left gripper cylinder and a right gripper cylinder formed by N gripper cylinders, where N is greater than or equal to 2; characterized in that: The system further comprises a first logic valve group and a second logic valve group, wherein the first logic valve group is connected to a first electromagnetic reversing valve for controlling its on / off operation, and the second logic valve group is connected to a second electromagnetic reversing valve for controlling its on / off operation. During operation, a portion of the combined oil source is communicated with the rod chamber of the gripper cylinder through the first logic valve group; and a portion of the combined oil source is communicated with the rodless chamber of the gripper cylinder through the first logic valve group and the second logic valve group, respectively, to control the gripper cylinder to perform differential extension and retraction and independent extension and retraction. The first electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve (5), the control oil source (20) is connected to the A port of the three-position four-way electromagnetic reversing valve (5); the D port of the three-position four-way electromagnetic reversing valve (5) is connected to the oil drain source (19); The first logic valve group includes four logic valves, which are respectively a first logic valve (6), a second logic valve (7), a third logic valve (8) and a fourth logic valve (9); The combined oil source is connected to the A port of the first logic valve (6) and the A port of the third logic valve (8), and the A port of the second logic valve (7) is connected to the B port of the third logic valve (8) and the B port of the fourth logic valve (9); the B port of the first logic valve (6) is connected to the B port of the second logic valve (7), the B port of the first logic valve (6) is connected to the rod chamber of the left support shoe cylinder through an oil circuit, and the B port of the second logic valve (7) is connected to the rod chamber of the right support shoe cylinder through an oil circuit; the C port of the first logic valve (6) and the C port of the fourth logic valve (9) are connected to the B port of the three-position four-way electromagnetic reversing valve (5); the C port of the second logic valve (7) and the C port of the third logic valve (8) are connected to the C port of the three-position four-way electromagnetic reversing valve (5); the A port of the fourth logic valve (9) is connected to the return oil source (18); The second logic valve group includes four logic valves, and the second electromagnetic reversing valve is set in a one-to-one correspondence with the logic valve; the second electromagnetic reversing valve adopts a two-position three-way electromagnetic reversing valve, and the A port of the two-position three-way electromagnetic reversing valve is connected to the C port of the corresponding logic valve, and the C port of the two-position three-way electromagnetic reversing valve is connected to the oil drain source (19).

2. The hydraulic control system for the gripper of a hard rock tunnel boring machine according to claim 1, characterized in that: The four logic valves of the second logic valve group are respectively the first left logic valve (10), the second left logic valve (12), the first right logic valve (11) and the second right logic valve (13); the four second solenoid reversing valves corresponding to the four logic valves are respectively the first left two-position three-way solenoid reversing valve (14), the second left two-position three-way solenoid reversing valve (16), the first right two-position three-way solenoid reversing valve (15) and the second right two-position three-way solenoid reversing valve (17).

3. The hydraulic control system for the gripper of a hard rock tunnel boring machine according to claim 2, characterized in that: The B port of the left first logic valve (10) is connected to the B port of the left first two-position three-way electromagnetic reversing valve (14), and the C port of the left first logic valve (10) is connected to the A port of the left first two-position three-way electromagnetic reversing valve (14); the B port of the right first logic valve (11) is connected to the B port of the right first two-position three-way electromagnetic reversing valve (15), and the C port of the right first logic valve (11) is connected to the A port of the right first two-position three-way electromagnetic reversing valve (15); the B port of the left second logic valve (12) is connected to the B port of the left second two-position three-way electromagnetic reversing valve (16), and the C port of the left second logic valve (12) is connected to the A port of the left second two-position three-way electromagnetic reversing valve (16); the B port of the right second logic valve (13) is connected to the B port of the right second two-position three-way electromagnetic reversing valve (17), and the C port of the right second logic valve (13) is connected to the A port of the right second two-position three-way electromagnetic reversing valve (17).

4. The hydraulic control system for the gripper of a hard rock tunnel boring machine according to claim 2 or 3, characterized in that: The B ports of the four logic valves of the second logic valve group are connected to the B port of the third logic valve (8) and the B port of the fourth logic valve (9).

5. The hydraulic control system for the gripper of a hard rock tunnel boring machine according to claim 4, characterized in that: The A port of the left first logic valve (10) and the A port of the left second logic valve (12) are respectively connected to the rodless chamber of the left support shoe cylinder, and the A port of the right first logic valve (11) and the A port of the right second logic valve (13) are respectively connected to the rodless chamber of the right support shoe cylinder.

6. The hydraulic control system for grippers of a hard rock tunnel boring machine according to claim 1 or 5, characterized in that: N=4, the four shoe support cylinders are the first left cylinder (1), the second left cylinder (2), the first right cylinder (3) and the second right cylinder (4). The first left cylinder (1) and the second left cylinder (2) form the left shoe support cylinder, and the first right cylinder (3) and the second right cylinder (4) form the right shoe support cylinder.

7. A control method for a hydraulic control system for a hard rock tunnel boring machine gripper according to claim 6, characterized in that: It includes a gripper differential extension control method and a gripper independent extension control method; The control method for the differential extension of the support shoe is as follows: after the three-position four-way electromagnetic reversing valve (5) is energized in the right position, the A and B ports of the three-position four-way electromagnetic reversing valve (5) are connected, and the control oil source is connected to the C port of the first logic valve (6) and the C port of the fourth logic valve (9) through the A and B ports. At this time, the first logic valve (6) and the fourth logic valve (9) are in a closed state; at the same time, the C and D ports of the three-position four-way electromagnetic reversing valve (5) are connected, and the C port of the second logic valve (7) and the C port of the third logic valve (8) are connected to the oil drain source (19). At this time, the second logic valve (7) and the third logic valve (8) are in an open state. The combined oil source flows through the A port of the third logic valve (8) to the B port of the third logic valve (8). The combined oil source coming out of the B port of the third logic valve (8) is divided into two paths. One path flows through the B port of the fourth logic valve (9) to the B ports of the four logic valves of the second logic valve group, and the other path flows through the A port and the B port of the second logic valve (7) to the rod chamber of the shoe oil cylinder. The four second electromagnetic reversing valves are energized and are in the right position. The A ports of the four logic valves of the second logic valve group are connected to the oil drain source (19) via the C port, and the four logic valves of the second logic valve group are in the open state. The combined oil source flows to the rodless chamber of the corresponding shoe cylinder through the B ports and the A ports of the four logic valves of the second logic valve group. At this time, oil flows into both the rod chamber and the rodless chamber of the shoe cylinder, forming a differential rapid extension of the shoe cylinder. The control method for the independent extension of the support shoe is as follows: the three-position four-way solenoid reversing valve (5) is energized in the right position, at which time the rod chambers of the left first oil cylinder (1), the left second oil cylinder (2), the right first oil cylinder (3) and the right second oil cylinder (4) are respectively filled with oil; then the left first two-position three-way solenoid reversing valve (14) is in the right position, at which time the A port of the left first two-position three-way solenoid reversing valve (14) is connected to the C port, the right first two-position three-way solenoid reversing valve (15), the left second two-position three-way solenoid reversing valve (16) and the right second two-position three-way solenoid reversing valve (17) are in the left position, and the A port of the left first two-position three-way solenoid reversing valve (14) is connected to the oil drain source through the C port ( 19), the left first logic valve (10) is opened, and the combined oil source enters the rodless chamber of the left first oil cylinder (1) through the B port and the A port of the left first logic valve (10), and the left first oil cylinder (1) is differentially extended; at this time, the right first logic valve (11), the left second logic valve (12), and the right second logic valve (13) are closed, and the left second oil cylinder (2), the right first oil cylinder (3) and the right second oil cylinder (4) achieve self-locking performance; the purpose of the left first oil cylinder (1) being extended independently while the other support shoe oil cylinders remain self-locking is achieved; similarly, the left second oil cylinder (2), the right first oil cylinder (3) and the right second oil cylinder (4) can also achieve independent extension action by adopting the above-mentioned support shoe independent extension control method.

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