Auxiliary support shoe drag oil cylinder hydraulic system, control method and inclined shaft TBM

Abstract

The application discloses an auxiliary support shoe dragging oil cylinder hydraulic system, a control method and an inclined shaft TBM, and belongs to the technical field of hydraulic pressure. The hydraulic system comprises an auxiliary support shoe dragging oil cylinder, a propelling main reversing valve, a hydraulic control switch valve and a hydraulic control gear shifting valve. The rod cavity of the auxiliary support shoe dragging oil cylinder is connected with a rod cavity balance valve, and the rodless cavity of the auxiliary support shoe dragging oil cylinder is connected with a rodless cavity balance valve. The propelling main reversing valve comprises an A port connected to the rodless cavity of a main propelling oil cylinder, a B port connected to the rod cavity of the main propelling oil cylinder, a P port connected to a hydraulic pump group and a T port connected to an oil tank. The hydraulic control switch valve 2 comprises an A port connected to the rod cavity balance valve and an X port connected to the B port of the propelling main reversing valve. The hydraulic control gear shifting valve 14 comprises an A port connected to the rodless cavity balance valve and an X port connected to the B port of the propelling main reversing valve. The application has the advantages that the TBM auxiliary support shoe dragging oil cylinder hydraulic system is relatively simple to operate when changing steps.

Description

Technical Field

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

[0002] A full-face hard rock tunnel boring machine (TBM), abbreviated as TBM, is a heavy equipment used to excavate full-face tunnels in rock strata. Its auxiliary gripper drag cylinder is connected to the TBM's main grippers and the rear accessories. It assists the main propulsion cylinder in achieving rapid step changes when the TBM changes steps (the main propulsion cylinder quickly retracts, pulling the main gripper forward a certain distance in preparation for the next excavation).

[0003] With the development of pumped-storage power plants, tunnel construction with extremely tight turns (radius less than 100 meters) and steep slopes (slope greater than 35°) is increasing. Inclined TBMs are a preferred solution for automated, mechanized, and unmanned construction of these tunnels. The steep slopes and extremely tight turns inherent in inclined TBM excavation inevitably lead to significant variations in the front pull resistance of the main gripper during step changes. If step changes are still achieved by retracting the main propulsion cylinder, the front shield will often be pulled back or unable to pull the main gripper, resulting in step change failure.

[0004] Currently, existing TBM auxiliary gripper and drag cylinder hydraulic systems typically rely on the main operator manually switching modes and closing oil circuit ball valves. For example, when the main propulsion cylinder retracts and the front shield is pulled back during a shift, the operator will proactively control the auxiliary gripper cylinder to extend to assist in the shift. If the front shield is not pulled back, the operator will stop extending the auxiliary gripper and drag cylinder, continuously adjusting the system based on the actual situation. Such systems require a high level of operator skill and are complex and difficult to control. Manual switching also affects shift speed and can sometimes lead to shift failures. Therefore, a hydraulic system that automatically switches the shift mode of the auxiliary gripper and drag cylinder based on the shift pressure of the TBM's main propulsion cylinder would significantly reduce operator difficulty and shift time. Summary of the Invention

[0005] The present invention provides an auxiliary gripper dragging cylinder hydraulic system, a control method and a detent shaft TBM, so as to solve the technical problem that the existing TBM auxiliary gripper dragging cylinder hydraulic system is difficult to operate during step change.

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

[0007] The rod chamber of the auxiliary gripper dragging oil cylinder is connected to the rod chamber balancing valve, and the rodless chamber of the auxiliary gripper dragging oil cylinder is connected to the rodless chamber balancing valve; the propulsion main reversing valve includes an A port connected to the rodless chamber of the main propulsion oil cylinder, a B port connected to the rod chamber of the main propulsion oil cylinder, a P port connected to the hydraulic pump group, and a T port connected to the oil tank; the hydraulically controlled on-off valve includes an A port connected to the rod chamber balancing 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 balancing 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 on-off valve remains in the left position, so that the rod chamber balancing valve connected thereto remains 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 on-off valve remains in the right position, so that the rod chamber balancing valve is in a two-way conducting state.

[0009] When the pressure at port B of the propulsion main reversing valve is lower than the second set value, the hydraulically controlled shift valve remains in the right position. When the pressure at port B of the propulsion 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 dragging 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 gripper pulling cylinder hydraulic system further 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 gripper pulling cylinder main reversing valve.

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

[0013] Optionally, the auxiliary support shoe dragging cylinder includes auxiliary support shoe dragging cylinder No. 1, auxiliary support shoe dragging cylinder No. 2, auxiliary support shoe dragging cylinder No. 3, and auxiliary support shoe dragging cylinder No. 4, and the rod cavity balancing valve corresponds one-to-one to the auxiliary support shoe dragging cylinder, 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, and the C1 port of the rodless cavity balancing valve is respectively connected to the rodless cavity of auxiliary support shoe dragging cylinder No. 1, auxiliary support shoe dragging cylinder No. 2, auxiliary support shoe dragging cylinder No. 3, and auxiliary support shoe dragging cylinder No. 4.

[0014] According to another aspect of the present invention, a hydraulic control method for an auxiliary support shoe dragging 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 dragging 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 dragging 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 changing steps.

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

[0017] Optionally, 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.

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

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

[0020] 1. Hydraulic pilot control is achieved by setting up hydraulically controlled on / off valves and hydraulically controlled shift valves, which ensures stable and reliable control and strong adaptability.

[0021] 2. By using the main propulsion cylinder step-change pressure as the pilot control pressure, that is, the main gripper step-change assist as the control condition, the working mode of the auxiliary gripper drag cylinder can be automatically switched according to the size of the step-change resistance, thereby improving the step-change speed and the step-change success rate. Manual operation is no longer required for step-change, making the operation relatively simple.

[0022] 3. The auxiliary support shoe drag cylinder has an independent extension and retraction 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 the step-changing reaction force for the main propulsion cylinder.

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

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

[0025] Figure 1 Schematic diagram of the hydraulic system of the auxiliary gripper dragging cylinder of the present invention.

[0026] Legend:

[0027] 1. Propulsion main reversing valve; 2. Hydraulic control on-off valve; 3. Shuttle valve; 4. Rodless chamber balancing valve; 5. Auxiliary gripper dragging cylinder No. 1; 6. Rod chamber balancing valve No. 1; 7. Auxiliary gripper dragging cylinder No. 2; 8. Rod chamber balancing valve No. 2; 9. Auxiliary gripper dragging cylinder No. 3; 10. Rod chamber balancing valve No. 3; 11. Auxiliary gripper dragging cylinder No. 4; 12. Rod chamber balancing valve No. 4; 13. Check valve; 14. Hydraulic control shift valve; 15. Check valve; 16. Auxiliary gripper dragging cylinder main reversing valve; 17. Auxiliary gripper dragging 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 gripper dragging cylinder hydraulic system, a control method, and a deviated well TBM.

[0031] Reference Figure 1, the auxiliary shoe dragging cylinder hydraulic system includes an auxiliary 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 shoe dragging cylinder is connected to the rod chamber balancing valve, and the rodless chamber of the auxiliary shoe dragging cylinder is connected to the rodless chamber balancing 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 balancing 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 balancing valve 4, a 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 hydraulic system of the auxiliary shoe dragging cylinder 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 of 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, which can flexibly adapt to various construction conditions, improve step-changing efficiency and optimize energy use, simplify the operating process, and thus significantly improve the construction efficiency and safety of tunnel excavation.

[0032] When the pressure at port B of the propulsion main reversing valve 1 is lower than the first set value, the hydraulically controlled on-off valve 2 remains in the left position, so that the rod chamber balancing valve connected thereto remains in a locked state. When the pressure at port B of the propulsion main reversing valve 1 is not lower than the first set value, the hydraulically controlled on-off valve 2 remains 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 propulsion main reversing valve 1 is lower than a second set value, the hydraulically controlled shift valve 14 remains in the right position. When the pressure at port B of the propulsion main reversing valve 1 is higher than the second set value, the hydraulically controlled shift valve 14 switches to the left position, and the auxiliary gripper drag cylinder automatically extends. The second set value is greater than the first set value. In a specific embodiment, the first set value is 100 bar and the second set value is 150 bar.

[0034] By utilizing the pressure change of the B port of the propulsion main reversing valve 1 to automatically control the state of the hydraulically controlled switch valve 2 and the hydraulically controlled shift valve 14, automatic adjustment of the auxiliary support shoe dragging cylinder is achieved: when the pressure of the B port 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 the B port 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 the B port 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 dragging cylinder is actively extended to adapt to high resistance conditions, thereby achieving system adaptability and efficiency improvement. This design improves the automation level of the system, reduces manual intervention, improves the safety and efficiency of operation, and ensures flexible adaptation under different construction conditions.

[0035] The auxiliary gripper pulling cylinder hydraulic system also includes a shuttle valve 3, which includes port A1 connected to port B of the propulsion main reversing valve 1, port A2 connected to port A of the hydraulically controlled shift valve 14, and port B connected to port X of the hydraulically controlled on-off valve 2. By introducing shuttle valve 3 into the hydraulic system, the selection and transmission of multiple pressure signals are achieved. Port A1 of shuttle valve 3 is connected to port B of the propulsion main reversing valve 1, port A2 is connected to port A of the hydraulically controlled shift valve 14, and port B is connected to port X of the hydraulically controlled on-off valve 2. This enables the system to automatically select signals from different pressure sources based on actual needs, thereby achieving precise control of the hydraulically controlled on-off valve 2 and the hydraulically controlled shift valve 14. When the pressure at port B changes, shuttle valve 3 switches according to the maximum pressure signal, ensuring that the system automatically switches operating modes under different operating conditions. This optimizes the response speed and stability of the hydraulic system, reduces the complexity of manual operation, and improves the safety and efficiency of the step-changing process.

[0036] The auxiliary gripper pulling cylinder hydraulic system also includes a hydraulic pump assembly, whose P port is connected to the P ports of the hydraulically controlled on / off valve 2, the hydraulically controlled shift valve 14, and the auxiliary gripper pulling cylinder main reversing valve 16. By connecting the P port of the hydraulic pump assembly to the P ports of the hydraulically controlled on / off valve 2, the hydraulically controlled shift valve 14, and the auxiliary gripper pulling cylinder main reversing valve 16, the entire hydraulic system receives continuous and stable hydraulic power, supporting the normal operation of each valve and cylinder in different operating modes, thereby improving the system's response speed and control accuracy. This connection method not only provides an ample hydraulic power source to meet the system's needs under various operating conditions, but also ensures the real-time supply of hydraulic pressure, enabling the system to flexibly adjust step-changing modes.

[0037] Port A of the hydraulically controlled shift valve 14 is connected to port V1 of the rodless cavity balancing valve 4 and port A2 of the shuttle valve 33 via a one-way valve 1513. By connecting port A of the hydraulically controlled shift valve 14 to port V1 of the rodless cavity balancing valve 4 and port A2 of the shuttle valve 3 via the one-way valve 1513, hydraulic flow can only flow in one direction, effectively preventing reverse flow or pressure reflux and improving system stability and safety. This one-way connection design enables the hydraulically controlled shift valve 14 to quickly and reliably direct hydraulic oil to the rodless cavity balancing valve 4 when switching operating modes, ensuring that the rodless cavity of the auxiliary support shoe drag cylinder receives the necessary pressure support at the appropriate time, thereby optimizing the response speed and operating 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 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 dragging cylinder is also provided, which includes the following steps: selecting a working mode according to the step-by-step 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 dragging 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 dragging 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 section or the step-changing resistance caused by other reasons is very small, then when the B port pressure of the propulsion main reversing valve 1 is a relatively low value (such as below 100bar), the main support shoe and the rear accessory can be fully pulled back. At this time, the hydraulic control switch valve 2 will be in the left position, and the four auxiliary support shoe pulling cylinders will be in a locked state because the balancing valve in the rod chamber is in a one-way flow state. At this time, the connection between the rear support and the main support shoe through the auxiliary support shoe drag cylinder is equivalent to a fixed connection. When the main propulsion cylinder retracts, the main support shoe and the rear support will change steps into place at once, realizing rapid step change.

[0041] Front pull and rear float mode: When the front pull and rear fixed 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 of the B port of the propulsion 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 control switch valve 2 will automatically switch to the right position. The pressure oil from the auxiliary support shoe dragging cylinder hydraulic pump group 17 will enter the X2 port of the No. 1 rod cavity balancing valve 6, No. 2 rod cavity balancing valve 8, No. 3 rod cavity balancing valve 10, and No. 4 rod cavity balancing valve 12 through the A port of the hydraulic control switch valve 2. At this time, the No. 1 rod cavity balancing valve 6, No. 2 rod cavity balancing valve 8, No. 3 rod cavity balancing valve 10, and No. 4 rod cavity balancing valve 12 will be closed. The rod chamber balancing valve 8, the third rod chamber balancing valve 10, and the fourth rod chamber balancing 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 four auxiliary shoe cylinders will be pulled out when the main propulsion cylinder retracts, realizing a front-pull 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 four 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, 150 bar), that is, it will switch to the left position only when the pilot pressure of the hydraulically controlled shift valve 14X port is greater than 150 bar, otherwise it will always be in the right position. When switching in the front pull and rear float mode as described above, when the switching resistance of the main support shoe of the TBM continues to increase, that is, when the pressure of the B port of the push main reversing valve 1 is a relatively high pressure value (for example, greater than 150 bar), 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 balancing valve 6 and the No. 2 rod chamber balancing valve through the A port of the hydraulically controlled switch valve 2. At port X2 of the No. 3 rod chamber balancing valve 10 and the No. 4 rod chamber balancing valve 12, the No. 1 rod chamber balancing valve 6, the No. 2 rod chamber balancing valve 8, the No. 3 rod chamber balancing valve 10, and the No. 4 rod chamber balancing valve 12 are now bidirectionally open. Pressurized oil from the auxiliary gripper pulling cylinder hydraulic pump assembly 17 enters port V1 of the rodless chamber balancing valve 4 through port A of the hydraulically controlled shift valve 14, and then enters the rodless chambers of the four auxiliary gripper pulling cylinders, actively extending them. Because the check valves 13 and 15 are unidirectional, pressurized oil from port A of the hydraulically controlled shift valve 14 does not flow through the auxiliary gripper pulling cylinder main reversing valve 16 and into the oil tank. This achieves a forward-pull-backward push mode for the auxiliary gripper pulling cylinders, reducing the retraction force of the main propulsion cylinder and preventing 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 supporting unit to change steps.

[0043] When the TBM's front shield is in an area of ​​broken surrounding rock and cannot provide sufficient reaction force to shift the main thrust cylinder, the manual operating system adopts a forward-floating, backward-pushing mode. In this mode, the auxiliary support shoe pulling cylinder actively extends and pushes the main support shoe to compress the main thrust cylinder for shifting. In the forward-floating, backward-pushing mode, after the main support shoe completes the forward shift, the auxiliary support shoe pulling cylinder retracts and pulls the rear support shoe for shifting. This setting provides additional thrust support to overcome the difficulty of shifting due to the lack of reaction force in the front shield, ensuring that the TBM can continue to advance in complex and unstable geological conditions, improving construction continuity and safety, while avoiding excavation interruptions or equipment damage caused by insufficient front shield support, thereby ensuring construction efficiency and equipment reliability.

[0044] Floating-forward, pushing-backward mode: When the TBM's front shield is in a rock-fragmented area and lacks sufficient reaction force to shift the main thrust cylinder, the pressure at port B of the thrust main reversing valve 1 remains low (e.g., below 100 bar) during the TBM's shifting operation. However, the TBM's main grippers do not move forward, while the front shield is pulled back. At this point, the operator presses the auxiliary gripper drag cylinder extend button, energizing the auxiliary gripper drag cylinder main reversing valve 16 to the left. The four auxiliary gripper cylinders actively extend, pushing the main grippers and compressing the main thrust cylinder to shift the TBM's front shield. This achieves the floating-forward, pushing-back mode of the auxiliary gripper drag cylinders, preventing the front shield from shifting due to insufficient reaction force. After the main grippers complete their forward shifting operation, the operator presses the auxiliary gripper drag cylinder retract button, energizing the auxiliary gripper drag cylinder main reversing valve 16 to the right. The four auxiliary gripper cylinders actively retract, pulling the rear support for shifting.

[0045] In one embodiment, 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 embodiment, 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 includes the above-mentioned auxiliary gripper dragging cylinder hydraulic system.

[0047] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. Auxiliary gripper drag cylinder hydraulic system, characterized by: It includes 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 shoe dragging oil cylinder is connected to the rod chamber balance valve, and the rodless chamber of the auxiliary shoe dragging oil cylinder is connected to the rodless chamber balance valve (4); the propulsion main reversing valve (1) includes an A port connected to the rodless chamber of the main propulsion oil cylinder, a B port connected to the rod chamber of the main propulsion oil 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), and an X port connected to the B port of the propulsion main 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 the 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, and the second set value is greater than the first set value; 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 (3) through a one-way valve; The auxiliary shoe dragging cylinders include a No. 1 auxiliary shoe dragging cylinder (5), a No. 2 auxiliary shoe dragging cylinder (7), a No. 3 auxiliary shoe dragging cylinder (9), and a No. 4 auxiliary shoe dragging cylinder (11); the rod cavity balancing valves correspond to the auxiliary shoe dragging 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 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).

2. The auxiliary gripper pulling cylinder hydraulic system according to claim 1, characterized in that: The auxiliary shoe dragging cylinder hydraulic system further comprises a shuttle valve (3), wherein the shuttle valve (3) comprises 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 pulling cylinder hydraulic system according to claim 2, characterized in that: The auxiliary shoe dragging 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 hydraulic control switch valve (2), the hydraulic control shift valve (14), and the auxiliary shoe dragging cylinder main reversing valve (16).

4. A hydraulic control method for an auxiliary gripper dragging cylinder, using the auxiliary gripper dragging cylinder hydraulic system according to any one of claims 1 to 3, 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 and back solid mode is selected; if the pressure is between the first set value and the second set value, the front pull and back floating mode is selected; if the pressure exceeds the second set value, the front float and 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 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 shoe cylinder actively extends.

5. The hydraulic control method for the auxiliary gripper dragging cylinder according to claim 4, characterized in that: When the front shield of the TBM is in an area with broken surrounding rocks and cannot provide sufficient 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.

6. The hydraulic control method for the auxiliary gripper dragging cylinder according to claim 5, 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 support shoe to change steps.

7. The hydraulic control method for the auxiliary gripper dragging cylinder according to claim 4, characterized in that: To obtain the step-changing pressure of the main propulsion cylinder, a pressure sensor is set in the rod chamber of the main propulsion cylinder, and the pressure signal is used as a control condition.

8. A TBM for inclined shaft, characterized in that: The invention comprises the auxiliary gripper dragging cylinder hydraulic system according to any one of claims 1 to 3.

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