Auxiliary gripper shoe dragging oil cylinder hydraulic system, control method and inclined shaft TBM

Abstract

The invention discloses an auxiliary supporting shoe dragging oil cylinder hydraulic system, a control method and an inclined shaft TBM, and belongs to the technical field of hydraulics. The hydraulic system comprises an auxiliary supporting shoe dragging oil cylinder, a propelling main reversing valve, a hydraulic control switch valve and a hydraulic control gear shifting valve; a rod cavity of the auxiliary supporting shoe dragging oil cylinder is connected with a rod cavity balance valve, and a rodless cavity of the auxiliary supporting shoe dragging oil cylinder is connected with a rodless cavity balance valve. The propulsion main reversing valve comprises a port A connected to a rodless cavity of a main propulsion oil cylinder, a port B connected to a rod cavity of the main propulsion oil cylinder, a port P connected with a hydraulic pump set and a port T connected with an oil tank. The hydraulic control switch valve 2 comprises a port A connected with the rod cavity balance valve and a port X connected with a port B of the propulsion main reversing valve; the hydraulic control gear shifting valve 14 comprises a port A connected with the rodless cavity balance valve and a port X connected with a port B of the propelling main reversing valve. The TBM auxiliary gripper shoe dragging oil cylinder hydraulic system has the advantage that the operation is relatively simple during step changing of the TBM auxiliary gripper shoe dragging oil cylinder hydraulic system.

Description

Technical Field

[0001] The invention relates to the field of hydraulic technology, in particular to an auxiliary support shoe dragging cylinder hydraulic system and a inclined well TBM. Background Art

[0002] The full-face hard rock tunnel boring machine, abbreviated as TBM, is a heavy equipment used to excavate full-section rock strata tunnels. Its auxiliary support shoe dragging cylinder is connected to the TBM main support shoe and the rear matching. It is a device that assists the main propulsion cylinder to achieve rapid step change when the TBM changes steps (the main propulsion cylinder quickly retracts and pulls the main support shoe forward for a digging stroke displacement to prepare for the next digging).

[0003] With the development of pumped storage power stations, tunnel construction with ultra-small turns (curve radius less than 100 meters) and large slopes (slope greater than 35°) is increasing. Inclined shaft TBM is one of the preferred solutions for realizing automated, mechanized and unmanned construction of such tunnels. Inclined shaft TBM excavation will inevitably lead to large changes in the front pulling resistance of the main support shoe when changing steps because of the large slope and ultra-small turns. If the main propulsion cylinder is still retracted to achieve a step change, it will usually cause the front shield to be pulled back or the main support shoe cannot be pulled, resulting in step change failure.

[0004] At present, the existing TBM auxiliary support shoe drag cylinder hydraulic system is generally realized by the main driver manually switching modes and closing the oil circuit ball valve. For example, when the main propulsion cylinder retracts and changes steps, the driver will actively control the auxiliary support shoe cylinder to extend to assist in the step change when the front shield is pulled back. When the front shield is not pulled back, the extension of the auxiliary support shoe drag cylinder will be stopped. The driver constantly adjusts according to the actual situation. Such a system requires a high level of operation from the driver, and the process is complicated and difficult to control. The manual switching back and forth also affects the step-changing speed and sometimes causes the step-changing failure. Therefore, a hydraulic system that automatically switches the step-changing mode of the auxiliary support shoe drag cylinder according to the step-changing pressure of the TBM's main propulsion cylinder will greatly reduce the driver's operating difficulty and shorten the step-changing time. Summary of the invention

[0005] The present invention provides an auxiliary support shoe dragging cylinder hydraulic system, a control method and a inclined well TBM, so as to solve the technical problem that the existing TBM auxiliary support shoe dragging cylinder hydraulic system is difficult to operate when changing steps.

[0006] According to one aspect of the present invention, there is provided an auxiliary gripper dragging cylinder hydraulic system, comprising an auxiliary gripper dragging cylinder, a thrust main reversing valve, a hydraulically controlled on-off valve and a hydraulically controlled shift valve;

[0007] The rod chamber of the auxiliary support shoe pulling cylinder is connected to the rod chamber balance valve, and the rodless chamber of the auxiliary support shoe pulling cylinder is connected to the rodless chamber balance valve; the main propulsion reversing valve includes an A port connected to the rodless chamber of the main propulsion cylinder, a B port connected to the rod chamber of the main propulsion cylinder, a P port connected to the hydraulic pump group, and a T port connected to the oil tank; the hydraulically controlled switch valve includes an A port connected to the rod chamber balance valve, and an X port connected to the B port of the propulsion main reversing valve; the hydraulically controlled shift valve includes an A port connected to the rodless chamber balance valve, and an X port connected to the B port of the propulsion main reversing valve;

[0008] When the pressure at port B of the propulsion main reversing valve is lower than the first set value, the hydraulically controlled switch valve is kept in the left position, so that the rod chamber balancing valve connected thereto is kept in a locked state; when the pressure at port B of the propulsion main reversing valve is not lower than the first set value, the hydraulically controlled switch valve is kept switched to the right position, so that the rod chamber balancing valve is in a two-way conduction state;

[0009] When the pressure at port B of the thrust main reversing valve is lower than the second set value, the hydraulically controlled shift valve maintains the right position. When the pressure at port B of the thrust main reversing valve is not lower than the second set value, the hydraulically controlled shift valve switches to the left position, and the auxiliary support shoe dragging cylinder automatically extends. The second set value is greater than the first set value.

[0010] Optionally, the auxiliary support shoe pulling cylinder hydraulic system also includes a shuttle valve, which includes an A1 port connected to the B port of the propulsion main reversing valve, an A2 port connected to the A port of the hydraulically controlled shift valve, and a B port connected to the X port of the hydraulically controlled switch valve.

[0011] Optionally, the auxiliary support shoe pulling cylinder hydraulic system also includes a hydraulic pump group, and the P port of the hydraulic pump group is respectively connected to the P port of the hydraulically controlled switch valve, the hydraulically controlled shift valve, and the auxiliary support shoe pulling cylinder main reversing valve.

[0012] Optionally, the A port of the hydraulically controlled shift valve is connected to the V1 port of the rodless chamber balancing valve and the A2 port of the shuttle valve 3 through a one-way valve.

[0013] Optionally, the auxiliary shoe pulling cylinder includes auxiliary shoe pulling cylinder No. 1, auxiliary shoe pulling cylinder No. 2, auxiliary shoe pulling cylinder No. 3, and auxiliary shoe pulling cylinder No. 4; the rod cavity balancing valve corresponds to the auxiliary shoe pulling cylinders one by one, including rod cavity balancing valve No. 1, rod cavity balancing valve No. 2, rod cavity balancing valve No. 3, and rod cavity balancing valve No. 4; the C1 port of the rodless cavity balancing valve is respectively connected to the rodless cavity of auxiliary shoe pulling cylinder No. 1, auxiliary shoe pulling cylinder No. 2, auxiliary shoe pulling cylinder No. 3, and auxiliary shoe pulling cylinder No. 4.

[0014] According to another aspect of the present invention, a hydraulic control method for an auxiliary support shoe pulling cylinder is also provided, which includes selecting a working mode according to the step-changing pressure of the main propulsion cylinder; if the pressure is lower than a first set value, selecting a front-pull and rear-fixing mode; if the pressure is between the first set value and the second set value, selecting a front-pull and rear-floating mode; if the pressure exceeds the second set value, selecting a front-floating and rear-pushing mode; in the front-pull and rear-fixing mode, the hydraulically controlled switching valve remains in the left position and the auxiliary support shoe pulling cylinder is locked; in the front-pull and rear-floating mode, the hydraulically controlled switching valve switches to the right position and the auxiliary support shoe pulling cylinder enters a floating state; in the front-floating and rear-pushing mode, the hydraulically controlled shift valve and the hydraulically controlled switching valve switch at the same time, and the auxiliary support shoe cylinder actively extends.

[0015] Optionally, when the front shield of the TBM is in an area where the surrounding rock is broken and its front shield cannot provide sufficient reaction force to change the steps of the main propulsion cylinder, the manual operating system adopts a front floating and rear pushing mode. In the front floating and rear pushing mode, the auxiliary support shoe dragging cylinder actively extends and pushes the main support shoe to compress the main propulsion cylinder for step changing.

[0016] Optionally, in the front floating and rear pushing mode, after the main support shoe completes the forward step change, the auxiliary support shoe drag cylinder retracts and pulls the rear supporting shoe to change steps.

[0017] Optionally, the step-changing pressure of the main thrust cylinder is obtained by setting a pressure sensor in the rod chamber of the main thrust cylinder and using the pressure signal as a control condition.

[0018] According to another aspect of the present invention, there is also provided a deviated well TBM, which comprises the auxiliary support shoe dragging cylinder hydraulic system mentioned above.

[0019] In summary, the present application includes at least one of the following beneficial technical effects:

[0020] 1. The hydraulic pilot control is formed by setting the hydraulically controlled on / off valve and the hydraulically controlled shift valve, which is stable and reliable with strong adaptability;

[0021] 2. Using the step-changing pressure of the main propulsion cylinder as the pilot control pressure, that is, using the step-changing assistance of the main support shoe as the control condition, can automatically switch the working mode of the auxiliary support shoe dragging cylinder according to the size of the step-changing resistance, improve the step-changing speed, and increase the step-changing success rate. There is no need for manual operation to change the step, and the operation is relatively simple;

[0022] 3. The auxiliary support shoe dragging cylinder has an independent telescopic function. At this time, it is in the front floating and rear pushing mode, which can cope with the situation when the surrounding rock in the front shield area is broken and cannot provide step-changing reaction force for the main propulsion cylinder.

[0023] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 It is a schematic diagram of the hydraulic system of the auxiliary support shoe dragging cylinder of the present invention.

[0026] Legend:

[0027] 1. Propel main reversing valve; 2. Hydraulic control switch valve; 3. Shuttle valve; 4. Rodless chamber balancing valve; 5. No. 1 auxiliary support shoe pulling cylinder; 6. No. 1 rod chamber balancing valve; 7. No. 2 auxiliary support shoe pulling cylinder; 8. No. 2 rod chamber balancing valve; 9. No. 3 auxiliary support shoe pulling cylinder; 10. No. 3 rod chamber balancing valve; 11. No. 4 auxiliary support shoe pulling cylinder; 12. No. 4 rod chamber balancing valve; 13. Check valve; 14. Hydraulic control shift valve; 15. Check valve; 16. Auxiliary support shoe pulling cylinder main reversing valve; 17. Auxiliary support shoe pulling cylinder hydraulic pump group. DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0029] The following is combined with Figure 1 This application is described in further detail.

[0030] The embodiments of the present application disclose an auxiliary support shoe dragging cylinder hydraulic system, a control method and a deviated well TBM.

[0031] Reference Figure 1, the auxiliary support shoe dragging cylinder hydraulic system includes an auxiliary support shoe dragging cylinder, a propulsion main reversing valve 1, a hydraulically controlled switch valve 2 and a hydraulically controlled shift valve 14; the rod chamber of the auxiliary support shoe dragging cylinder is connected to a rod chamber balance valve, and the rodless chamber of the auxiliary support shoe dragging cylinder is connected to a rodless chamber balance valve 4; the propulsion main reversing valve 1 includes an A port connected to the rodless chamber of the main propulsion cylinder, a B port connected to the rod chamber of the main propulsion cylinder, a P port connected to the hydraulic pump group and a T port connected to the oil tank; the hydraulically controlled switch valve 2 includes an A port connected to the rod chamber balance valve, an X port connected to the B port of the propulsion main reversing valve 1; the hydraulically controlled shift valve 14 includes an A port connected to the rodless chamber balance valve 4, a P port connected to the hydraulic pump group and a T port connected to the oil tank. The B port of the propulsion main reversing valve 1 is connected to the X port; this setting connects the B port pressure of the propulsion main reversing valve 1 to the X port of the hydraulically controlled switching valve 2 and the hydraulically controlled shift valve 14, so that the auxiliary support shoe dragging cylinder hydraulic system of the TBM (full-section hard rock tunnel boring machine) can automatically switch the working mode according to the pressure change, thereby improving the system's automation level and operating efficiency, reducing dependence on manual operation by the driver, and at the same time ensuring the stability and safety of the system through the locking function of the rod chamber and the balance valve, being able to flexibly adapt to various construction conditions, improving step-changing efficiency and optimizing energy use, simplifying the operating process, and thus significantly improving the construction efficiency and safety of tunnel excavation.

[0032] When the pressure at port B of the thrust main reversing valve 1 is lower than the first set value, the hydraulically controlled switch valve 2 is kept in the left position, so that the rod chamber balancing valve connected thereto is kept in a locked state; when the pressure at port B of the thrust main reversing valve 1 is not lower than the first set value, the hydraulically controlled switch valve 2 is kept switched to the right position, so that the rod chamber balancing valve is in a two-way conducting state;

[0033] When the pressure at port B of the main reversing valve 1 is lower than the second set value, the hydraulically controlled shift valve 14 maintains the right position. When the pressure at port B of the main reversing valve 1 is not lower than the second set value, the hydraulically controlled shift valve 14 switches to the left position, and the auxiliary support shoe drag cylinder automatically extends. The second set value is greater than the first set value. In a specific implementation, the first set value is 100 bar and the second set value is 150 bar.

[0034] By utilizing the pressure change of port B of the thrust main reversing valve 1 to automatically control the states of the hydraulically controlled switch valve 2 and the hydraulically controlled shift valve 14, automatic adjustment of the auxiliary support shoe pulling cylinder is achieved: when the pressure of port B is lower than the first set value, the hydraulically controlled switch valve 2 remains in the left position, so that the rod chamber balance valve is locked to ensure the stability of the cylinder; and when the pressure of port B is not lower than the first set value, the hydraulically controlled switch valve 2 switches to the right position, so that the rod chamber balance valve is bidirectionally conductive, allowing the cylinder to float to cope with medium resistance; at the same time, when the pressure of port B is lower than the second set value, the hydraulically controlled shift valve 14 remains in the right position, but when the pressure is not lower than the second set value, the hydraulically controlled shift valve 14 switches to the left position, so that the auxiliary support shoe pulling cylinder is actively extended to adapt to high resistance conditions, thereby achieving system adaptability and efficiency. This design improves the automation level of the system, reduces manual intervention, improves the safety and efficiency of operations, and ensures flexible adaptation under different construction conditions.

[0035] The auxiliary support shoe dragging cylinder hydraulic system also includes a shuttle valve 3, which includes an A1 port connected to the B port of the propulsion main reversing valve 1, an A2 port connected to the A port of the hydraulic control shift valve 14, and a B port connected to the X port of the hydraulic control switch valve 2. By introducing the shuttle valve 3 into the hydraulic system, the selection and transmission of multiple pressure signals are realized, wherein the A1 port of the shuttle valve 3 is connected to the B port of the propulsion main reversing valve 1, the A2 port is connected to the A port of the hydraulic control shift valve 14, and the B port is connected to the X port of the hydraulic control switch valve 2, so that the system can automatically select signals from different pressure sources according to actual needs, thereby realizing accurate control of the hydraulic control switch valve 2 and the hydraulic control shift valve 14; when the pressure of the B port changes, the shuttle valve 3 is switched according to the maximum pressure signal, ensuring that the system automatically switches the working mode under different working conditions, optimizing the response speed and stability of the hydraulic system, reducing the complexity of manual operation, and improving the safety and efficiency of the step-changing process.

[0036] The auxiliary support shoe dragging cylinder hydraulic system also includes a hydraulic pump group, and the P port of the hydraulic pump group is respectively connected to the P port of the hydraulic control switch valve 2, the hydraulic control shift valve 14, and the auxiliary support shoe dragging cylinder main reversing valve 16. By connecting the P port of the hydraulic pump group to the P port of the hydraulic control switch valve 2, the hydraulic control shift valve 14, and the auxiliary support shoe dragging cylinder main reversing valve 16, it is ensured that the entire hydraulic system can continuously and stably obtain hydraulic power, support the normal operation of each valve and cylinder in different working modes, thereby improving the response speed and control accuracy of the system; this connection method not only provides sufficient hydraulic power source to meet the needs of the system under various working conditions, but also ensures the real-time supply of hydraulic pressure, so that the system can flexibly adjust the step-changing mode.

[0037] The A port of the hydraulically controlled shift valve 14 is connected to the V1 port of the rodless cavity balance valve 4 and the A2 port of the shuttle valve 33 through the one-way valve 1513. By connecting the A port of the hydraulically controlled shift valve 14 to the V1 port of the rodless cavity balance valve 4 and the A2 port of the shuttle valve 3 through the one-way valve 1513, it is ensured that the hydraulic flow can only flow in one direction, thereby effectively preventing backflow or pressure reflux, and improving the stability and safety of the system; this one-way connection design enables the hydraulically controlled shift valve 14 to quickly and reliably guide the hydraulic oil to the rodless cavity balance valve 4 when switching the working mode, ensuring that the rodless cavity of the auxiliary support shoe dragging cylinder obtains the necessary pressure support at the appropriate time, and optimizing the response speed and operation efficiency of the hydraulic system.

[0038] The auxiliary support shoe pulling cylinders include No. 1 auxiliary support shoe pulling cylinder 5, No. 2 auxiliary support shoe pulling cylinder 7, No. 3 auxiliary support shoe pulling cylinder 9, and No. 4 auxiliary support shoe pulling cylinder 11. The rod cavity balancing valves correspond one-to-one to the auxiliary support shoe pulling cylinders, including No. 1 rod cavity balancing valve, No. 2 rod cavity balancing valve, No. 3 rod cavity balancing valve, and No. 4 rod cavity balancing valve. The C1 port of the rodless cavity balancing valve 4 is respectively connected to the rodless cavity of No. 1 auxiliary support shoe pulling cylinder 5, No. 2 auxiliary support shoe pulling cylinder 7, No. 3 auxiliary support shoe pulling cylinder 9, and No. 4 auxiliary support shoe pulling cylinder 11. By equipping each auxiliary support shoe pulling cylinder with an independent rod chamber balancing valve and a rodless chamber balancing valve 4, precise control of each cylinder is achieved, ensuring that the system can be individually adjusted according to different construction needs and working conditions; specifically, the one-to-one configuration of the balancing valve and each cylinder enables each cylinder to independently adjust its state according to pressure feedback during the step-changing process to achieve synchronous or asynchronous action, thereby improving the flexibility and reliability of the system, while avoiding failure of the entire system due to failure of a single cylinder or abnormal operation, ensuring safety and step-changing efficiency under complex construction conditions.

[0039] According to another aspect of the present invention, a hydraulic control method for an auxiliary support shoe pulling cylinder is also provided, which includes the following steps: selecting a working mode according to the step-changing pressure of the main propulsion cylinder; if the pressure is lower than a first set value, selecting a front-pull and rear-fixing mode; if the pressure is between the first set value and the second set value, selecting a front-pull and rear-floating mode; if the pressure exceeds the second set value, selecting a front-floating and rear-pushing mode; in the front-pull and rear-fixing mode, the hydraulically controlled switching valve 2 remains in the left position, and the auxiliary support shoe pulling cylinder is locked; in the front-pull and rear-floating mode, the hydraulically controlled switching valve 2 switches to the right position, and the auxiliary support shoe pulling cylinder enters a floating state; in the front-floating and rear-pushing mode, the hydraulically controlled shift valve 14 and the hydraulically controlled switching valve 2 switch at the same time, and the auxiliary support shoe cylinder actively extends.

[0040] Front pull and rear solid mode: The spring setting pressure value of the hydraulic control switch valve 2 is a medium pressure value (such as 100bar), that is, it will switch to the right position only when the pilot pressure of the hydraulic control switch valve 2X port is greater than 100bar, otherwise it will always be in the left position. When the TBM starts to change steps, the main propulsion cylinder begins to retract. At this time, the right position of the propulsion main reversing valve 1 is energized. The pressure of the B port of the propulsion main reversing valve 1 is determined by the step-changing resistance. If the slope of the TBM is not large at this time or it is in a straight line section or the step-changing resistance caused by other reasons is very small, then the pressure of the B port of the propulsion main reversing valve 1 is a relatively low value (such as below 100bar), then the main support shoe and the rear matching can be completely pulled back. At this time, the hydraulic control switch valve 2 will be in the left position, and the four auxiliary support shoe dragging cylinders will be in a locked state because the balancing valve of the rod chamber is in a one-way flow state. At this time, the connection between the rear supporting shoe and the main supporting shoe through the auxiliary supporting shoe dragging cylinder is equivalent to a fixed connection. When the main propulsion cylinder retracts, the main supporting shoe and the rear supporting shoe will change steps into place at once, realizing fast step change.

[0041] Front-pull and rear-floating mode: When the front-pull and rear-fixing mode is switched as described above, when the switching resistance of the main support shoe of the TBM becomes larger, that is, when the pressure at the B port of the thrust main reversing valve 1 is a medium pressure value (for example, greater than 100 bar and less than 150 bar), the main support shoe can be pulled, and the hydraulic switch valve 2 will automatically switch to the right position, and the pressure oil from the auxiliary support shoe dragging cylinder hydraulic pump group 17 will enter the No. 1 rod cavity balance valve 6, No. 2 rod cavity balance valve 8, No. 3 rod cavity balance valve 10, and No. 4 rod cavity balance valve 12 through the A port of the hydraulic switch valve 2. At this time, the No. 1 rod cavity balance valve 6, No. 2 rod cavity balance valve 8, No. 3 rod cavity balance valve 10, and No. 4 rod cavity balance valve 12 will be closed. The rod chamber balance valve 8, the third rod chamber balance valve 10, and the fourth rod chamber balance valve 12 are in a two-way conductive state, so that the No. 1 auxiliary shoe dragging cylinder 5, the No. 2 auxiliary shoe dragging cylinder 7, the No. 3 auxiliary shoe dragging cylinder 9, and the No. 4 auxiliary shoe dragging cylinder 11 are in a floating state. The 4 auxiliary shoe cylinders will be pulled out when the main propulsion cylinder retracts, realizing the front pulling and rear floating working mode. After the main shoe completes the forward step change, the driver operates the auxiliary shoe dragging cylinder retraction button to make the auxiliary shoe dragging cylinder main reversing valve 16 right position energized, and the 4 auxiliary shoe cylinders will actively retract and pull the rear matching to change steps.

[0042] Front-pull and rear-push mode: The spring setting pressure value of the hydraulically controlled shift valve 14 is a relatively high pressure value (for example, 150bar), that is, it will switch to the left position only when the pilot pressure at the X port of the hydraulically controlled shift valve 14 is greater than 150bar, otherwise it will always be in the right position. When switching steps in the front-pull and rear-floating mode as described above, when the switching resistance of the main support shoe of the TBM continues to increase, that is, when the pressure at the B port of the push main reversing valve 1 is a relatively high pressure value (for example, greater than 150bar), the main support shoe can be pulled, the hydraulically controlled switch valve 2 will automatically switch to the right position, the hydraulically controlled shift valve 14 will automatically switch to the left position, and the pressure oil from the auxiliary support shoe dragging cylinder hydraulic pump group 17 will enter the No. 1 rod chamber balance valve 6 and the No. 2 rod chamber balance valve through the A port of the hydraulically controlled switch valve 2. 8. The X2 port of the No. 3 rod chamber balance valve 10 and the No. 4 rod chamber balance valve 12 will make the No. 1 rod chamber balance valve 6, the No. 2 rod chamber balance valve 8, the No. 3 rod chamber balance valve 10 and the No. 4 rod chamber balance valve 12 in a two-way conduction state, and the pressure oil from the auxiliary support shoe dragging cylinder hydraulic pump group 17 will enter the V1 port of the rodless chamber balance valve 4 through the A port of the hydraulic control shift valve 14 and then enter the rodless chamber of the four auxiliary support shoe dragging cylinders to actively extend the four auxiliary support shoe dragging cylinders. Since the one-way valve 13 and the one-way valve 15 are one-way conduction, the pressure oil from the A port of the hydraulic control shift valve 14 will not flow to the auxiliary support shoe dragging cylinder main reversing valve 16 and enter the oil tank. The front pull and rear push working mode of the auxiliary support shoe dragging cylinder is realized, and the retraction force of the main propulsion cylinder is reduced to prevent the front shield from being pulled back due to insufficient reaction force. After the main support shoe has completed the forward step change, the driver operates the auxiliary support shoe drag cylinder retraction button to make the auxiliary support shoe drag cylinder main reversing valve 16 right position energized, and the four auxiliary support shoe cylinders will actively retract and pull the rear matching to change steps.

[0043] When the front shield of the TBM is in an area with broken surrounding rocks and its front shield cannot provide enough reaction force to change the steps of the main propulsion cylinder, the manual operating system adopts the front floating and rear pushing mode. In the front floating and rear pushing mode, the auxiliary support shoe dragging cylinder actively extends and pushes the main support shoe to compress the main propulsion cylinder for step change. In the front floating and rear pushing mode, after the main support shoe completes the forward step change, the auxiliary support shoe dragging cylinder retracts and pulls the rear supporting part for step change. This setting is to provide additional thrust support to overcome the step change difficulty caused by the lack of reaction force of the front shield, ensure that the TBM can continue to advance under complex and unstable geological conditions, improve the continuity and safety of construction, and avoid excavation interruption or equipment damage caused by insufficient support of the front shield, thereby ensuring construction efficiency and equipment reliability.

[0044] Front floating and rear pushing mode: When the front shield of the TBM is in a zone with broken surrounding rocks, and its front shield cannot provide enough reaction force to change the steps of the main propulsion cylinder, the pressure of the B port of the main reversing valve 1 of the TBM will be kept at a low value (for example, below 100 bar) when the TBM changes steps. However, the main support shoe of the TBM does not move forward at this time, but the front shield is pulled back. At this time, the driver operates the auxiliary support shoe dragging cylinder extension button to make the auxiliary support shoe dragging cylinder main reversing valve 16 energized to the left position, and the four auxiliary support shoe cylinders will actively extend and push the main support shoe to compress the main propulsion cylinder for step change. The front floating and rear pushing working mode of the auxiliary support shoe dragging cylinder is realized to prevent the front shield from being unable to change steps due to insufficient reaction force. After the main support shoe has completed the forward step change, the driver operates the auxiliary support shoe dragging cylinder retraction button to make the auxiliary support shoe dragging cylinder main reversing valve 16 energized to the right position, and the four auxiliary support shoe cylinders will actively retract and pull the rear support for step change.

[0045] In one implementation, the step-changing pressure of the main propulsion cylinder is obtained by setting a pressure sensor in the rod chamber of the main propulsion cylinder and using the pressure signal as a control condition. Setting a pressure sensor in the rod chamber of the main propulsion cylinder and using its pressure signal as a control condition can monitor the step-changing pressure of the main propulsion cylinder in real time, provide accurate pressure data for the hydraulic system, and ensure that the system automatically selects and adjusts the appropriate working mode according to the actual pressure conditions. In one implementation, the step-changing pressure of the main propulsion cylinder can also be obtained by setting a pressure sensor in the rod chamber of the main propulsion cylinder and using the pressure signal as a control condition; in one method, the balancing valve of the rod chamber can also be a hydraulic lock.

[0046] According to another aspect of the present invention, there is also provided a deviated well TBM, which comprises the auxiliary support shoe dragging cylinder hydraulic system mentioned above.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Auxiliary support shoe dragging cylinder hydraulic system, characterized by: It comprises an auxiliary support shoe dragging oil cylinder, a propulsion main reversing valve (1), a hydraulically controlled on-off valve (2) and a hydraulically controlled shift valve (14); The rod chamber of the auxiliary support shoe pulling cylinder is connected to a rod chamber balance valve, and the rodless chamber of the auxiliary support shoe pulling cylinder is connected to a rodless chamber balance valve (4); the main propulsion reversing valve (1) includes an A port connected to the rodless chamber of the main propulsion cylinder, a B port connected to the rod chamber of the main propulsion cylinder, a P port connected to the hydraulic pump group, and a T port connected to the oil tank; the hydraulically controlled switch valve (2) includes an A port connected to the rod chamber balance valve, and an X port connected to the B port of the main propulsion reversing valve (1); the hydraulically controlled shift valve (14) includes an A port connected to the rodless chamber balance valve (4), and an X port connected to the B port of the main propulsion reversing valve (1); When the pressure at the port B of the propulsion main reversing valve (1) is lower than the first set value, the hydraulically controlled switch valve (2) is kept in the left position, so that the rod chamber balancing valve connected thereto is kept in a locked state; when the pressure at the port B of the propulsion main reversing valve (1) is not lower than the first set value, the hydraulically controlled switch valve (2) is kept switched to the right position, so that the rod chamber balancing valve is in a two-way conducting state; When the pressure at the port B of the propulsion main reversing valve (1) is lower than a second set value, the hydraulically controlled shift valve (14) maintains the right position; when the pressure at the port B of the propulsion main reversing valve (1) is not lower than the second set value, the hydraulically controlled shift valve (14) switches to the left position, and the auxiliary support shoe dragging cylinder automatically extends; the second set value is greater than the first set value.

2. The auxiliary gripper dragging cylinder hydraulic system according to claim 1, characterized in that: The auxiliary support shoe dragging cylinder hydraulic system also includes a shuttle valve (3), which includes an A1 port connected to the B port of the propulsion main reversing valve (1), an A2 port connected to the A port of the hydraulically controlled shift valve (14), and a B port connected to the X port of the hydraulically controlled switch valve (2).

3. The auxiliary gripper dragging cylinder hydraulic system according to claim 2, characterized in that: The auxiliary support shoe pulling cylinder hydraulic system also includes a hydraulic pump group, the P port of the hydraulic pump group is respectively connected to the P port of the hydraulically controlled switch valve (2), the hydraulically controlled shift valve (14), and the auxiliary support shoe pulling cylinder main reversing valve (16).

4. The auxiliary gripper dragging cylinder hydraulic system according to claim 3, characterized in that: The A port of the hydraulically controlled shift valve (14) is connected to the V1 port of the rodless chamber balance valve (4) and the A2 port of the shuttle valve (3) 3 through a one-way valve (15) (13).

5. The auxiliary gripper dragging cylinder hydraulic system according to claim 4, characterized in that: The auxiliary shoe pulling cylinders include a No. 1 auxiliary shoe pulling cylinder (5), a No. 2 auxiliary shoe pulling cylinder (7), a No. 3 auxiliary shoe pulling cylinder (9), and a No. 4 auxiliary shoe pulling cylinder (11); the rod cavity balancing valves correspond to the auxiliary shoe pulling cylinders one by one, including a No. 1 rod cavity balancing valve, a No. 2 rod cavity balancing valve, a No. 3 rod cavity balancing valve, and a No. 4 rod cavity balancing valve; the C1 port of the rodless cavity balancing valve (4) is respectively connected to the rodless cavities of the No. 1 auxiliary shoe pulling cylinder (5), the No. 2 auxiliary shoe pulling cylinder (7), the No. 3 auxiliary shoe pulling cylinder (9), and the No. 4 auxiliary shoe pulling cylinder (11).

6. A method for controlling the hydraulic pressure of an auxiliary gripper dragging cylinder, using the auxiliary gripper dragging cylinder hydraulic system according to any one of claims 1 to 5, characterized in that: The steps include: Select the working mode according to the step-change pressure of the main propulsion cylinder; If the pressure is lower than the first set value, the front-pull-back-solidification mode is selected; if the pressure is between the first set value and the second set value, the front-pull-back-floating mode is selected; if the pressure exceeds the second set value, the front-floating-back-push mode is selected; In the front-pull-and-rear-fix mode, the hydraulically controlled switch valve (2) is kept in the left position, and the auxiliary support shoe dragging cylinder is locked; In the front-pull and rear-floating mode, the hydraulically controlled switch valve (2) is switched to the right position, and the auxiliary support shoe dragging cylinder enters a floating state; in the front-floating and rear-pushing mode, the hydraulically controlled shift valve (14) and the hydraulically controlled switch valve (2) are switched simultaneously, and the auxiliary support shoe cylinder is actively extended.

7. The auxiliary gripper drag cylinder hydraulic control method according to claim 6, characterized in that: When the front shield of the TBM is in an area where the surrounding rock is broken and its front shield cannot provide sufficient reaction force to change the steps of the main propulsion cylinder, the manual operating system adopts a front floating and rear pushing mode. In the front floating and rear pushing mode, the auxiliary support shoe dragging cylinder actively extends and pushes the main support shoe to compress the main propulsion cylinder for step change.

8. The auxiliary gripper drag cylinder hydraulic control method according to claim 7, characterized in that: In the front floating and rear pushing mode, after the main support shoe completes the forward step change, the auxiliary support shoe drag cylinder retracts and pulls the rear supporting shoe to change steps.

9. The auxiliary gripper drag cylinder hydraulic control method according to claim 6, characterized in that: The step-changing pressure of the main thrust cylinder is obtained by setting a pressure sensor in the rod chamber of the main thrust cylinder and taking the pressure signal as a control condition.

10. A TBM for inclined shaft, characterized in that: A hydraulic system comprising the auxiliary support shoe pulling cylinder according to any one of claims 1 to 5.

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