Heading machine hydraulic control system and method capable of achieving hydraulic control-electric control pilot level switching

Abstract

The invention belongs to the technical field of hydraulic control of coal mining equipment, and provides a heading machine hydraulic control system and method capable of achieving hydraulic control-electric control pilot level switchover. Pilot control oil is led out through a first tail plate of a six-linkage multi-way reversing valve and then divided into two ways, one way reaches a control oil inlet P of an electro-hydraulic pilot proportional valve, and the other way reaches a control oil outlet P of an electric control pilot proportional valve; the electronic control pilot is realized; the other path is connected with a manual four-way handle and an oil inlet of a proportional pressure reducing valve through an electromagnetic reversing ball valve and is used for realizing hydraulic control pilot; the electromagnetic reversing ball valve is used for controlling electric control and hydraulic control locking of pilot control oil; a port A1 and a port B1 of each link in the electro-hydraulic pilot proportional valve are connected with an oil liquid connector of a corresponding four-way handle or a proportional pressure reducing valve, a port A0 and a port B0 are connected with a control oil port of a corresponding link in the six-link multi-way reversing valve, and a working oil port of each link in the six-link multi-way reversing valve is connected with a corresponding hydraulic execution assembly. The multi-way electro-hydraulic pilot proportional valve is additionally arranged on a hydraulic system framework of a traditional heading machine, the design is flexible, and the applicability is high.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic control technology for coal mining equipment, specifically relating to a hydraulic control system and method for tunneling machines that can achieve switching between hydraulic and electrical control pilot stages. Background Technology

[0002] As large-scale coal mining equipment, tunneling machines have complex mechanical structures and numerous control objects. Traditional technical solutions mainly adopt a typical hydraulic control system architecture of "pilot control handle + hydraulically controlled multi-way directional valve + hydraulic actuator" to control the actions of each actuator. At present, with the increasing demand for automation and intelligent upgrading of tunneling machines, the hydraulic control system architecture is gradually being upgraded to "pilot control handle + electromagnetic multi-way directional valve + hydraulic actuator".

[0003] The current technical solutions face the following problems: 1. Upgrading the hydraulic system electrical control of new, operational tunneling equipment requires selecting a new electromagnetic multi-way directional valve and conducting a comprehensive analysis and calculation of the hydraulic system, increasing design costs and lengthening the equipment commissioning cycle. 2. Upgrading the hydraulic system electrical control of underground tunneling equipment requires removing the original hydraulically controlled multi-way directional valve and reinstalling an electromagnetic multi-way directional valve. This results in low compatibility and poor replaceability of valve assemblies from different brands, cumbersome operation, and high labor intensity.

[0004] Therefore, there is an urgent need to develop a hydraulic system electrical control upgrade system that is simple in design, low in upgrade cost, and easy to install, based on the traditional hydraulic control system architecture of tunneling machines consisting of "pilot control handle + hydraulic multi-way directional valve + hydraulic actuator". Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a hydraulic control system and method for tunneling machines that can realize the switching between hydraulic and electronic pilot stages.

[0006] The present invention is achieved by the following technical solution: a hydraulic control system for a tunneling machine that can realize the switching between hydraulic and electro-hydraulic pilot stages, including a pump station oil tank hydraulic assembly, an electromagnetic reversing ball valve, a four-way handle, a proportional pressure reducing valve, an electro-hydraulic pilot proportional valve, a six-way multi-way reversing valve, and several hydraulic actuators. The outlet of the hydraulic assembly of the pump station oil tank is connected to the inlet of the six-way directional valve. The return port of the six-way directional valve is connected to the oil tank of the hydraulic assembly of the pump station oil tank. The pilot control oil is led out through the first tail plate of the six-way directional valve and divided into two paths. One path goes to the control oil inlet P of the electro-hydraulic pilot proportional valve, and the other path goes to the inlet of the solenoid directional ball valve. The outlet of the solenoid directional ball valve is connected to the inlet of the four-way handle and the proportional pressure reducing valve. The proportional pressure reducing valve includes a first proportional pressure reducing valve, a second proportional pressure reducing valve, a third proportional pressure reducing valve, and a fourth proportional pressure reducing valve. Ports A1 and B1 of each section of the electro-hydraulic pilot proportional valve are connected to the corresponding hydraulic interface of the four-way handle or the proportional pressure reducing valve. Ports A0 and B0 are connected to the control ports of the corresponding section of the six-way directional valve. The working port of each section of the six-way directional valve is connected to the corresponding hydraulic actuator.

[0007] Preferably, the electro-hydraulic pilot proportional valve is a six-unit electro-hydraulic pilot proportional valve, including a dual-head solenoid module and an electro-hydraulic pilot proportional valve main body. The electro-hydraulic pilot proportional valve main body includes a connecting block, a second tail plate, and an intermediate block connected between the two. Each dual-head solenoid module is electrically connected to a set of two-position three-way solenoid valves I and II integrated in the intermediate block. The connecting block, the second tail plate, and the intermediate block are combined together by a pull rod. The connecting block is used to introduce different pilot oil sources into the electro-hydraulic pilot proportional valve. The intermediate block is used to control the pilot stage of the main valve by electronic or hydraulic control. The second tail plate is used to fix the pull rod. The dual-head solenoid module is fixed at the intermediate block.

[0008] Preferably, the intermediate block integrates a two-position three-way solenoid valve I, a two-position three-way solenoid valve II, a shuttle valve I, a shuttle valve II, and a filter. The oil inlet of the filter is connected to the control oil inlet P of the electro-hydraulic pilot proportional valve, and the oil outlet of the filter is connected to the oil inlet of the two-position three-way solenoid valve I and the two-position three-way solenoid valve II. The oil return ports of the two-position three-way solenoid valve I and the two-position three-way solenoid valve II are connected to the control oil return port T of the electro-hydraulic pilot proportional valve. The working oil ports of the two-position three-way solenoid valve I and the two-position three-way solenoid valve II are respectively connected to port a of shuttle valve I and shuttle valve II. The port b of shuttle valve I and shuttle valve II are respectively connected to ports A0 and B0 of the electro-hydraulic pilot proportional valve. The port c of shuttle valve I and shuttle valve II are respectively connected to ports A1 and B1 of the electro-hydraulic pilot proportional valve.

[0009] Preferably, when the four-way handle and the proportional pressure reducing valve control handle operate the tunneling machine, the solenoid reversing ball valve is in the normally open conducting state, the valve cores of the two-position three-way solenoid valve I and the two-position three-way solenoid valve II are in the right position and the left position respectively, and the pilot stage of the corresponding six-way multi-way reversing valve is hydraulically controlled. When the remote control operates the tunneling machine, the solenoid directional ball valve is in the normally closed state. The dual-head solenoid module controls its corresponding set of two-position three-way solenoid valves I and II to switch directions based on the remote control command. The valve cores of the two-position three-way solenoid valves I and II switch to the left and right positions respectively. The pilot stage of the corresponding six-way multi-way directional valve is electrically controlled.

[0010] Preferably, the first proportional pressure reducing valve, the second proportional pressure reducing valve, the third proportional pressure reducing valve and the fourth proportional pressure reducing valve are respectively connected to the sixth, fifth, second and first links of the electro-hydraulic pilot proportional valve, and the four-way handle is respectively connected to the fourth and third links of the electro-hydraulic pilot proportional valve. When the pilot stage of the six-way directional valve is hydraulically controlled, the pilot control oil coming out of the first tail plate of the six-way directional valve passes through the solenoid directional ball valve, reaches the four-way handle or proportional pressure reducing valve, and then passes through the A1 and B1 ports of the electro-hydraulic pilot proportional valve, shuttle valve I and shuttle valve II, and A0 and B0 ports to reach the control oil port of the six-way directional valve, thereby controlling the six-way directional valve to switch directions; When the pilot stage of the six-way directional control valve is electrically controlled, the pilot control oil coming out of the first tail plate of the six-way directional control valve enters the electro-hydraulic pilot proportional valve through the P port of the electro-hydraulic pilot proportional valve, and then passes through the filter, two-position three-way solenoid valve I and two-position three-way solenoid valve II, shuttle valve I and shuttle valve II, and A0 and B0 ports to reach the control oil port of the six-way directional control valve, thereby controlling the six-way directional control valve to switch directions.

[0011] Preferably, the hydraulic components of the pump station oil tank include a driver, a plunger pump, a high-pressure filter, a relief valve III, a plate water cooler, a return oil filter, and a check valve; the plunger pump is connected to the output end of the driver, the oil outlet of the plunger pump is connected to the pressure inlet of a six-way directional valve via the high-pressure filter, the return oil port of the six-way directional valve is connected to the inlet of the plate water cooler, the oil outlet of the plate water cooler is connected to the inlet of the return oil filter, a check valve is connected in parallel at both ends of the return oil filter, and the oil outlet of the return oil filter is connected to the oil tank.

[0012] Preferably, the hydraulic actuator includes a rear support cylinder, a shovel cylinder, a cutting rotation cylinder, a cutting lifting cylinder, a left travel motor, and a right travel motor. The working ports of the first, second, third, fourth, fifth, and sixth ports of the six-way multi-way directional valve are respectively connected to the rear support cylinder, the shovel cylinder, the cutting rotation cylinder, the cutting lifting cylinder, the left travel motor, and the right travel motor.

[0013] In a second aspect, the present invention provides a hydraulic control method for a tunneling machine capable of switching between hydraulic and electronic pilot stages, comprising the following steps: When manual operation of the tunneling machine is required, the solenoid directional ball valve switches to the normally open state. The tunneling machine is operated by the control handle of the four-way handle or the proportional pressure reducing valve. The pilot control oil from the first tail plate of the six-way multi-way directional valve passes through the solenoid directional ball valve to the activated four-way handle or proportional pressure reducing valve, and then passes through the A1 and B1 ports of the electro-hydraulic pilot proportional valve, shuttle valve I and shuttle valve II, and A0 and B0 ports to the control oil port of the link in the six-way multi-way directional valve corresponding to the activated four-way handle or proportional pressure reducing valve. This controls the directional valve of that link to switch, and in turn controls the hydraulic actuator connected to that link to operate. When remote control of the tunneling machine is required, the solenoid directional ball valve switches to the normally closed state. The dual-head solenoid module in the electro-hydraulic pilot proportional valve corresponding to the remote control command controls a set of two-position three-way solenoid valves I and II in that connection to switch directions based on the remote control command. The valve cores of two-position three-way solenoid valves I and II switch to the left and right positions respectively. The pilot control oil from the first tail plate of the six-way multi-way directional valve enters the electro-hydraulic pilot proportional valve through the P port of the electro-hydraulic pilot proportional valve, and then passes through the filter, the two-position three-way solenoid valves I and II corresponding to the remote control command, shuttle valve I and shuttle valve II, and ports A0 and B0 to reach the control oil port of the six-way multi-way directional valve corresponding to the remote control command, and controls the directional valve of that connection to switch directions, thereby controlling the hydraulic actuator connected to that connection to operate.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This patent designs a hydraulic control system architecture and control method for a tunneling machine consisting of a pilot control handle, a multi-way electro-hydraulic pilot proportional valve, a hydraulically controlled multi-way directional valve, and a hydraulic actuator, which has the following technical advantages: 1. Based on the parameters required by the original hydraulic control multi-way valve of the tunneling equipment, the electro-hydraulic pilot proportional valve is selected. The number of electro-hydraulic pilot proportional valve plates can be freely combined and can be used with hydraulic control main valves of different brands, offering flexible design and high cost performance. 2. The electro-hydraulic pilot proportional valve uses an electromagnet to control a proportional pressure reducing valve, which in turn controls a secondary proportional pressure reducing valve. This control method gives the multi-way pilot proportional valve greater flow capacity, reduces the delay in the tunneling machine's hydraulic system, and improves operational response. 3. The electro-hydraulic pilot proportional valve adopts a double-headed electromagnetic structure. Each valve plate can control a three-position six-way hydraulic control directional valve group, reducing the number of cables and wiring harnesses compared to existing electromagnetic directional valves. 4. Each electro-hydraulic pilot proportional valve plate integrates a filter to ensure filtration accuracy and prevent valve core jamming. The product is small in size and easy to install, making it particularly suitable for underground tunneling equipment in coal mines with poor oil cleanliness and high space utilization requirements. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the hydraulic system of the present invention; Figure 2 This is a schematic diagram of the hydraulic principle of the electro-hydraulic pilot proportional valve of the present invention. Figure 3 This is a schematic diagram of the electro-hydraulic pilot proportional valve structure of the present invention; Figure 4 This is a diagram illustrating an embodiment of the present invention.

[0017] In the diagram: 1.1-Driver; 1.2-Double plunger pump; 1.3-High pressure filter; 1.4-Relief valve III; 1.5-Plate water cooler; 1.6-Return oil filter; 1.7-Check valve; 2-Solenoid directional ball valve; 3-Four-way handle; 4.1-First proportional pressure reducing valve; 4.2-Second proportional pressure reducing valve; 4.3-Third proportional pressure reducing valve; 4.4-Fourth proportional pressure reducing valve; 5.1-Connecting block; 5.2-Second tailplate; 5.3-Intermediate block; 5.31-Two-position three-way solenoid valve 5.32-Two-position three-way solenoid valve II; 5.33-Shuttle valve I; 5.34-Shuttle valve II; 5.35-Filter; 5.4-Dual-head solenoid module; 6-Six-way directional valve; 6.1-First tailplate; 7.1-Rear support cylinder; 7.2-Shovel cylinder; 7.3-Cutting rotary cylinder; 7.4-Cutting lifting cylinder; 7.5-Left travel motor; 7.6-Right travel motor; 7.7-Balance valve; 7.8-Shuttle valve III; 7.9-Pressure reducing valve; 7.10-Brake cylinder. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0020] This invention provides an embodiment: like Figures 1 to 4 As shown, a hydraulic control system for a tunneling machine that can switch between hydraulic and electro-hydraulic pilot stages includes a pump station oil tank hydraulic assembly, an electromagnetic reversing ball valve 2, a four-way handle 3, a proportional pressure reducing valve, an electro-hydraulic pilot proportional valve, a six-way multi-way reversing valve 6, and several hydraulic actuators. The outlet of the hydraulic assembly of the pump station oil tank is connected to the inlet of the six-way directional valve 6. The return port of the six-way directional valve 6 is connected to the oil tank of the hydraulic assembly of the pump station oil tank. The pilot control oil is led out through the first tail plate 6.1 of the six-way directional valve 6 and divided into two paths. One path goes to the control oil inlet P of the electro-hydraulic pilot proportional valve, and the other path goes to the inlet of the solenoid directional ball valve 2. The outlet of the solenoid directional ball valve 2 is connected to the four-way handle 3 and the inlet of the proportional pressure reducing valve. The proportional pressure reducing valve includes a first proportional pressure reducing valve 4.1, a second proportional pressure reducing valve 4.2, a third proportional pressure reducing valve 4.3, and a fourth proportional pressure reducing valve 4.4. Pressure valve 4.4, first proportional pressure reducing valve 4.1, second proportional pressure reducing valve 4.2, third proportional pressure reducing valve 4.3 and fourth proportional pressure reducing valve 4.4 are respectively connected to the first, second and fifth, and sixth links of the electro-hydraulic pilot proportional valve. Four-way handle 3 is connected to the third and fourth links of the electro-hydraulic pilot proportional valve. Ports A1 and B1 of each link of the electro-hydraulic pilot proportional valve are connected to the corresponding hydraulic ports of the four-way handle 3 or the proportional pressure reducing valve. Ports A0 and B0 are connected to the control ports of the corresponding links in the six-way multi-way directional valve 6. The working ports of each link in the six-way multi-way directional valve 6 are connected to the corresponding hydraulic actuators.

[0021] In this embodiment, the hydraulic system is composed of power components (swashplate variable axial piston pump), actuators (hydraulic cylinders, hydraulic motors), control components (various valves), and auxiliary components (coolers, filters, pressure gauges, etc.) connected by pipelines in a specific manner. This hydraulic system converts mechanical energy into hydraulic energy using oil as a medium for transmission, and then converts it back into mechanical energy through the actuators to realize various actions of the tunneling machine. The hydraulic system consists of a water-cooled motor driving a constant power variable piston pump, and controlling the hydraulic actuators such as hydraulic cylinders and motors of the cutting mechanism, rear support, and traveling mechanism through a proportional pressure reducing valve (operating handle), a multi-way electro-hydraulic pilot proportional valve, and a hydraulically controlled multi-way directional valve group.

[0022] The hydraulic components of the pump station's oil tank include a driver 1.1, a piston pump 1.2, a high-pressure filter 1.3, a relief valve III 1.4, a plate water cooler 1.5, a return oil filter 1.6, and a check valve 1.7. The piston pump 1.2 is connected to the output end of the driver 1.1. The outlet of the piston pump 1.2 is connected to the pressure inlet of a six-way directional valve 6 via the high-pressure filter 1.3. The return oil port of the six-way directional valve 6 is connected to the inlet of the plate water cooler 1.5. The outlet of the plate water cooler 1.5 is connected to the inlet of the return oil filter 1.6. Check valves 1.7 are connected in parallel across both ends of the return oil filter 1.6. The outlet of the return oil filter 1.6 is connected to the oil tank. The piston pump 1.2 is a swashplate variable displacement axial piston pump.

[0023] The hydraulic schematic diagram of the electro-hydraulic pilot proportional valve of the present invention is as follows: Figure 2 As shown, the main valve group interfaces are: P: control oil inlet, T: control oil return, M: pressure gauge interface, A1, B1: proportional pressure reducing valve oil interface, A0, B0: hydraulic control multi-way directional valve oil interface.

[0024] The electro-hydraulic pilot proportional valve is a six-unit electro-hydraulic pilot proportional valve, including a dual-head solenoid module 5.4 and an electro-hydraulic pilot proportional valve main body. The electro-hydraulic pilot proportional valve main body includes a connecting block 5.1, a second tail plate 5.2, and an intermediate block 5.3 connecting the two. Each dual-head solenoid module 5.4 is electrically connected to a set of two-position three-way solenoid valves I 5.31 and II 5.32 integrated in the intermediate block 5.3. The connecting block 5.1, the second tail plate 5.2, and the intermediate block 5.3 are combined together by a pull rod. The connecting block 5.1 is used to introduce different pilot oil sources into the electro-hydraulic pilot proportional valve. The intermediate block 5.3 is used to control the pilot stage of the main valve by electronic or hydraulic control. The second tail plate 5.2 is used to fix the pull rod. The dual-head solenoid module 5.4 is fixed at the intermediate block 5.3.

[0025] The intermediate block 5.3 integrates a 2-position 3-way solenoid valve I5.31, a 2-position 3-way solenoid valve II5.32, a shuttle valve I5.33, a shuttle valve II5.34, and a filter 5.35. The oil inlet of filter 5.35 is connected to the control oil inlet P of the electro-hydraulic pilot proportional valve, and the oil outlet of filter 5.35 is connected to the oil inlets of 2-position 3-way solenoid valves I5.31 and II5.32. The return port of 5.32 is connected to the control oil return port T of the electro-hydraulic pilot proportional valve. The working ports of the two-position three-way solenoid valve I5.31 and the two-position three-way solenoid valve II5.32 are connected to port a of shuttle valve I5.33 and shuttle valve II5.34, respectively. Port b of shuttle valve I5.33 and shuttle valve II5.34 are connected to ports A0 and B0 of the electro-hydraulic pilot proportional valve, respectively. Port c of shuttle valve I5.33 and shuttle valve II5.34 are connected to ports A1 and B1 of the electro-hydraulic pilot proportional valve, respectively.

[0026] In this embodiment, the electromagnetic reversing ball valve 2, the two-position three-way solenoid valve I5.31, and the two-position three-way solenoid valve II5.32 are all two-position three-way two-position three-way solenoid valves. When the tunneling machine is operated by the control handle of the four-way handle 3 and the proportional pressure reducing valve, the corresponding electromagnetic reversing ball valve 2 is in the normally open conducting state, the valve cores of the two-position three-way solenoid valve I5.31 and the two-position three-way solenoid valve II5.32 are in the right position and the left position, respectively, and the pilot stage of the corresponding six-way multi-way reversing valve 6 is hydraulically controlled. When the remote control operates the tunneling machine, the electromagnetic reversing ball valve 2 switches to the normally closed state. The dual-head electromagnetic module 5.4 controls its corresponding set of two-position three-way solenoid valves I5.31 and II5.32 to switch directions based on the remote control command. The valve cores of the two-position three-way solenoid valves I5.31 and II5.32 switch to the left and right positions respectively. The pilot stage of the corresponding six-way multi-way reversing valve 6 is electrically controlled.

[0027] Working principle of the electro-hydraulic pilot proportional valve: When the tunneling machine is operated by the handle, the valve cores of the two-position three-way solenoid valves I5.31 and II5.32 are in the right and left positions respectively, the electro-hydraulic control oil circuit is closed, and the control oil from the proportional pressure reducing valve reaches the six-way directional valve 6 via shuttle valves I5.33 and II5.34, controlling the operation of the tunneling machine's hydraulic actuators. When the tunneling machine is operated remotely, the manual control oil circuit is closed, and the valve cores of the two-position three-way solenoid valves I5.31 and II5.32 are in the left and right positions respectively. The control oil enters the electro-hydraulic pilot proportional valve through port P, and then passes sequentially through filter 5.35, the left and right positions of the two-position three-way solenoid valves I5.31 and II5.32, shuttle valves I5.33 and II5.34, reaching the six-way directional valve 6, controlling the operation of the tunneling machine's hydraulic actuators.

[0028] Specifically, when the pilot stage of the six-way directional valve 6 is hydraulically controlled, the pilot control oil coming out of the first tail plate 6.1 of the six-way directional valve 6 passes through the solenoid directional ball valve 2, reaches the four-way handle 3 or the proportional pressure reducing valve, and then passes through the A1 and B1 ports of the electro-hydraulic pilot proportional valve, the shuttle valve I 5.33 and the shuttle valve II 5.34, and the A0 and B0 ports to reach the control oil port of the six-way directional valve 6, thereby controlling the six-way directional valve 6 to switch directions; When the pilot stage of the six-way directional control valve 6 is electrically controlled, the pilot control oil coming out of the first tail plate 6.1 of the six-way directional control valve 6 enters the electro-hydraulic pilot proportional valve through the P port of the electro-hydraulic pilot proportional valve, and then passes through the filter 5.35, the two-position three-way solenoid valve I 5.31 and the two-position three-way solenoid valve II 5.32, the shuttle valve I 5.33 and the shuttle valve II 5.34, and the A0 and B0 ports to reach the control oil port of the six-way directional control valve 6, thereby controlling the six-way directional control valve 6 to switch directions.

[0029] The hydraulic actuators include a rear support cylinder 7.1, a shovel cylinder 7.2, a cutting rotation cylinder 7.3, a cutting lifting cylinder 7.4, a left travel motor 7.5, and a right travel motor 7.6. The working ports of the first, second, third, fourth, fifth, and sixth ports of the six-way multi-port directional valve 6 are respectively connected to the rear support cylinder 7.1, shovel cylinder 7.2, cutting rotation cylinder 7.3, cutting lifting cylinder 7.4, left travel motor 7.5, and right travel motor 7.6. The main actions performed by each actuator are: lifting and rotating the tunneling machine's cutting head, lifting the loading mechanism, lifting the rear support mechanism, and forward (forward) and reverse (backward) rotation of the travel motors.

[0030] In this embodiment, the hydraulic circuit mainly includes four parts: an inlet circuit, a return circuit, a control circuit, and a load feedback circuit. Inlet circuit: After the tunneling machine starts, the proportional pressure reducing valve, four-way handle 3, and remote control do not transmit operation signals, and the six-way directional valve 6 is in the closed / neutral position. The two-stage piston pump is driven, and the pump output oil quickly fills the pipeline and accessories through the high-pressure filter 1.3, increasing the pump's outlet pressure. The load signal pressure LS is returned to the pump through the shuttle valve network of the six-way directional valve 6, overcoming the spring force of the LS valve and causing the LS valve to move, putting the pump in the minimum displacement state (standby). The piston pump integrates a displacement regulator, which adjusts the pump's displacement according to the load pressure to meet the actuator's requirements. The entire hydraulic system features constant power, pressure cut-off, and load-sensitive control.

[0031] Oil return circuit: The oil from the six-way directional valve 6 flows back to the oil tank via the plate water cooler 1.5 and the oil return filter 1.6. The oil leaking from other control elements and actuators is connected to the oil return manifold via pipelines and flows back to the oil tank via the plate water cooler 1.5 and the oil return filter 1.6.

[0032] Control oil circuit: Control oil is led out from the first tail plate 6.1 of the six-way multi-way directional valve 6. The first tail plate 6.1 integrates a pressure reducing valve to reduce the pressure of the control oil to the design pressure. The control oil is divided into two paths: one path goes to the P port of the six-way electro-hydraulic pilot proportional valve; the other path passes through the right position of the solenoid directional ball valve 2 (normally, the solenoid directional ball valve 2 is open) and then sequentially to the proportional pressure reducing valve and the four-way handle 3.

[0033] Load feedback loop: The load feedback oil is connected back to the load control port X of the plunger pump through the shuttle valve network inside the six-way multi-way directional valve 6.

[0034] In a second aspect, the present invention provides a hydraulic control method for a tunneling machine capable of switching between hydraulic and electronic pilot stages, comprising the following steps: When the remote control does not issue a remote control command, the tunneling machine is operated by the control handle of the four-way handle 3 or the proportional pressure reducing valve. The pilot control oil coming out of the first tail plate 6.1 of the six-way multi-way directional valve passes through the solenoid directional ball valve 2 to the activated four-way handle 3 or the proportional pressure reducing valve, and then passes through the A1 and B1 ports of the electro-hydraulic pilot proportional valve, the shuttle valve I 5.33 and the shuttle valve II 5.34, and the A0 and B0 ports to the control oil port of the six-way multi-way directional valve 6 corresponding to the activated four-way handle 3 or the proportional pressure reducing valve, and controls the directional valve of that link to switch, thereby controlling the hydraulic actuator connected to that link to operate. When the remote control issues a remote control command, the electromagnetic directional ball valve 2 switches to the normally closed state. The dual-head electromagnetic module 5.4 in the electro-hydraulic pilot proportional valve, corresponding to the remote control command, controls a set of two-position three-way solenoid valves I5.31 and II5.32 in that set to switch positions based on the remote control command. The valve cores of two-position three-way solenoid valves I5.31 and II5.32 switch to the left and right positions respectively, from the first tail plate 6.1 of the six-way multi-port directional valve 6. The pilot control oil exiting the valve enters the electro-hydraulic pilot proportional valve through port P, and then passes sequentially through filter 5.35, two-position three-way solenoid valves I5.31 and II5.32 corresponding to the remote control command, shuttle valves I5.33 and II5.34, and ports A0 and B0 to reach the control oil port of the six-way multi-way directional valve 6 corresponding to the remote control command, and controls the directional valve of that line to switch, thereby controlling the hydraulic actuator connected to that line to operate.

[0035] Figure 1 In the middle, the electro-hydraulic pilot proportional valve and the six-way multi-way directional valve 6 are arranged from bottom to top as the sixth, fifth, fourth, third, second, and first links respectively.

[0036] Specifically, for the tunneling machine's travel / steering: Under normal conditions, the fifth and sixth ports of the six-way directional control valve 6 are in the neutral position, the brake cylinder 7.10 remains in a braking state, and the travel motor is braked. When the operator operates the control handle or remote control of the first proportional pressure reducing valve 4.1 and the second proportional pressure reducing valve 4.2, the control oil is connected, acting on the valve cores of the fifth and sixth ports of the six-way directional control valve 6. The oil passage between the pump and the travel motor is opened, resulting in the following actions: 1) Pressurized oil passes through shuttle valve III 7.8 and pressure reducing valve 7.9, entering the rod chamber of brake cylinder 7.10, overcoming the spring force and releasing the brake cylinder; 2) Pressurized oil enters the travel motor, the travel motor starts to rotate, and the motor pressure is established and released. 3) The time difference between braking depends on the pressure and flow settings of the pressure reducing valve; 4) The travel motor integrates a balance valve. When the machine is going downhill, the balance valve automatically closes the motor's return oil channel, generating sufficient back pressure to reduce the motor speed and ensure safety on the downhill slope; 5) When the driver operates the control handle or remote control of the first proportional pressure reducing valve 4.1 and the second proportional pressure reducing valve 4.2 to increase the stroke of the valve core of the fifth and sixth ports of the six-port multi-way directional valve 6, the valve opening increases, the plunger pump provides a larger flow, and the motor's rotation speed increases. Similarly, the driver can reverse the travel motor by operating the above methods to achieve forward, backward, and turning movements of the tunneling machine.

[0037] Cutting by the tunneling machine: When the operator operates the four-way handle 3 or remote control of the tunneling machine, the control oil is connected, acting on the valve cores of the third and fourth ports of the six-way multi-way directional valve 6, opening the oil passage between the pump and the cutting rotary cylinder 7.3 and the cutting lifting cylinder 7.4. At this time, the following actions will occur: 1) Pressurized oil enters the rodless chamber of the cutting lifting cylinder 7.4 (two cylinders) through the balance valve 7.7, pushing the cutting mechanism to rise. Similarly, the operator can lower the cutting mechanism by operating the above operation; 2) Pressurized oil enters the rodless and rod chambers of the cutting rotary cylinder 7.3 (two cylinders) through the balance valve respectively, pushing the cutting mechanism to swing to the right. Similarly, the operator can swing the cutting mechanism to the left by operating the above operation.

[0038] Tunneling machine shovel lifting: When the operator operates the control handle of the third proportional pressure reducing valve 4.3 or the remote control, the control oil is connected and acts on the valve core of the second port of the six-way multi-way reversing valve 6. The oil passage between the pump and the shovel cylinder 7.2 is opened, and the pressurized oil enters the rodless chamber of the shovel cylinder 7.2 (two cylinders) through the balance valve, pushing the shovel to rise. Similarly, the operator can lower the shovel by operating as described above.

[0039] Tunneling machine rear support lifting: When the operator operates the control handle of the fourth proportional pressure reducing valve 4.4 or remote control, the control oil is connected and acts on the valve core of the first port of the six-way multi-way reversing valve 6. The oil passage between the pump and the rear support cylinder 7.1 is opened, and the pressurized oil enters the rodless chamber of the rear support cylinder 7.1 (two cylinders) through the balance valve, pushing the rear support to descend. Similarly, the operator can raise the rear support by operating as described above.

[0040] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages, characterized in that... :include The pump station oil tank hydraulic components, electromagnetic reversing ball valve (2), four-way handle (3), proportional pressure reducing valve, electro-hydraulic pilot proportional valve, six-way multi-way reversing valve (6) and several hydraulic actuators; The outlet of the hydraulic assembly of the pump station oil tank is connected to the inlet of the six-way directional valve (6), and the return port of the six-way directional valve (6) is connected to the oil tank of the hydraulic assembly of the pump station oil tank. The pilot control oil is led out through the first tail plate (6.1) of the six-way directional valve (6) and then divided into two paths. One path goes to the control oil inlet P of the electro-hydraulic pilot proportional valve, and the other path goes to the inlet of the solenoid directional ball valve (2). The outlet of the solenoid directional ball valve (2) is connected to the inlet of the four-way handle (3) and the proportional pressure reducing valve. The proportional pressure reducing valves include a first proportional pressure reducing valve (4.1), a second proportional pressure reducing valve (4.2), a third proportional pressure reducing valve (4.3), and a fourth proportional pressure reducing valve (4.4). The A1 and B1 ports of each section of the electro-hydraulic pilot proportional valve are connected to the corresponding four-way handle (3) or the oil interface of the proportional pressure reducing valve. The A0 and B0 ports are connected to the corresponding control ports of the six-way directional valve (6). The working ports of each section of the six-way directional valve (6) are connected to the corresponding hydraulic actuators.

2. The hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages according to claim 1, characterized in that... The electro-hydraulic pilot proportional valve is a six-unit electro-hydraulic pilot proportional valve, including a dual-head solenoid module (5.4) and an electro-hydraulic pilot proportional valve main body. The electro-hydraulic pilot proportional valve main body includes a connecting block (5.1), a second tail plate (5.2), and an intermediate block (5.3) connecting the two. Each dual-head solenoid module (5.4) is electrically connected to a set of two-position three-way solenoid valves I (5.31) and II (5.32) integrated in the intermediate block (5.3). The connecting block (5.1), the second tail plate (5.2), and the intermediate block (5.3) are combined together by a pull rod. The connecting block (5.1) is used to introduce different pilot oil sources into the electro-hydraulic pilot proportional valve. The intermediate block (5.3) is used to control the pilot stage of the main valve by electric or hydraulic control. The second tail plate (5.2) is used to fix the pull rod. The dual-head solenoid module (5.4) is fixed at the intermediate block (5.3).

3. A hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages according to claim 2, characterized in that... The intermediate block (5.3) integrates a two-position three-way solenoid valve I (5.31), a two-position three-way solenoid valve II (5.32), a shuttle valve I (5.33), a shuttle valve II (5.34), and a filter (5.35). The oil inlet of the filter (5.35) is connected to the control oil inlet P of the electro-hydraulic pilot proportional valve, and the oil outlet of the filter (5.35) is connected to the oil inlets of the two-position three-way solenoid valve I (5.31) and the two-position three-way solenoid valve II (5.32). The return port of II (5.32) is connected to the control oil return port T of the electro-hydraulic pilot proportional valve. The working ports of the two-position three-way solenoid valve I (5.31) and the two-position three-way solenoid valve II (5.32) are connected to the a port of shuttle valve I (5.33) and shuttle valve II (5.34) respectively. The b port of shuttle valve I (5.33) and shuttle valve II (5.34) are connected to the A0 and B0 ports of the electro-hydraulic pilot proportional valve respectively. The c port of shuttle valve I (5.33) and shuttle valve II (5.34) are connected to the A1 and B1 ports of the electro-hydraulic pilot proportional valve respectively.

4. A hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages according to claim 3, characterized in that... When the four-way handle (3) and the control handle of the proportional pressure reducing valve operate the tunneling machine, the electromagnetic reversing ball valve (2) is normally open and conducting, the valve cores of the two-position three-way solenoid valve I (5.31) and the two-position three-way solenoid valve II (5.32) are in the right position and the left position respectively, and the pilot stage of the corresponding six-way multi-way reversing valve (6) is hydraulically controlled. When the remote control operates the tunneling machine, the electromagnetic reversing ball valve (2) switches to the normally closed cut-off state. The dual-head electromagnetic module (5.4) controls its corresponding set of two-position three-way solenoid valves I (5.31) and II (5.32) to switch directions based on the remote control command. The valve cores of the two-position three-way solenoid valves I (5.31) and II (5.32) switch to the left and right positions respectively. The pilot stage of the corresponding six-way multi-way reversing valve (6) is electrically controlled.

5. A hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages according to claim 4, characterized in that... The first proportional pressure reducing valve (4.1), the second proportional pressure reducing valve (4.2), the third proportional pressure reducing valve (4.3) and the fourth proportional pressure reducing valve (4.4) are respectively connected to the sixth, fifth, second and first links of the electro-hydraulic pilot proportional valve, and the four-way handle (3) is respectively connected to the fourth and third links of the electro-hydraulic pilot proportional valve. When the pilot stage of the six-way directional valve (6) is hydraulically controlled, the pilot control oil coming out of the first tail plate (6.1) of the six-way directional valve (6) passes through the solenoid directional ball valve (2), reaches the four-way handle (3) or the proportional pressure reducing valve, and then passes through the A1 and B1 ports of the electro-hydraulic pilot proportional valve, shuttle valve I (5.33) and shuttle valve II (5.34), and the A0 and B0 ports to reach the control oil port of the six-way directional valve (6), thereby controlling the six-way directional valve (6) to switch directions; When the pilot stage of the six-way directional control valve (6) is electrically controlled, the pilot control oil coming out from the first tail plate (6.1) of the six-way directional control valve (6) enters the electro-hydraulic pilot proportional valve through the P port of the electro-hydraulic pilot proportional valve, and then passes through the filter (5.35), the two-position three-way solenoid valve I (5.31) and the two-position three-way solenoid valve II (5.32), the shuttle valve I (5.33) and the shuttle valve II (5.34), and the A0 and B0 ports to reach the control oil port of the six-way directional control valve (6), thereby controlling the six-way directional control valve (6) to switch directions.

6. A hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages according to claim 1, characterized in that... The hydraulic components of the pump station oil tank include a driver (1.1), a plunger pump (1.2), a high-pressure filter (1.3), a relief valve III (1.4), a plate water cooler (1.5), a return oil filter (1.6), and a check valve (1.7). The plunger pump (1.2) is connected to the output end of the driver (1.1). The oil outlet of the plunger pump (1.2) is connected to the pressure inlet of the six-way directional valve (6) via the high-pressure filter (1.3). The return oil port of the six-way directional valve (6) is connected to the inlet of the plate water cooler (1.5). The oil outlet of the plate water cooler (1.5) is connected to the inlet of the return oil filter (1.6). The return oil filter (1.6) has check valves (1.7) connected in parallel at both ends. The oil outlet of the return oil filter (1.6) is connected to the oil tank.

7. A hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages according to claim 1, characterized in that... The hydraulic actuator includes a rear support cylinder (7.1), a shovel cylinder (7.2), a cutting rotation cylinder (7.3), a cutting lifting cylinder (7.4), a left travel motor (7.5), and a right travel motor (7.6). The working ports of the first, second, third, fourth, fifth, and sixth ports of the six-way multi-way directional valve (6) are respectively connected to the rear support cylinder (7.1), the shovel cylinder (7.2), the cutting rotation cylinder (7.3), the cutting lifting cylinder (7.4), the left travel motor (7.5), and the right travel motor (7.6).

8. A hydraulic control method for a tunneling machine capable of switching between hydraulic and electronic pilot stages, based on the hydraulic control system for a tunneling machine capable of switching between hydraulic and electronic pilot stages as described in any one of claims 1 to 7, characterized in that, Includes the following steps: When manual operation of the tunneling machine is required, the solenoid directional ball valve (2) is switched to the normally open conduction state. The tunneling machine is operated by operating the control handle of the four-way handle (3) or the proportional pressure reducing valve. The pilot control oil from the first tail plate (6.1) of the six-way multi-way directional valve passes through the solenoid directional ball valve (2) to the activated four-way handle (3) or the proportional pressure reducing valve, and then passes through the A1 and B1 ports of the electro-hydraulic pilot proportional valve, shuttle valve I (5.33) and shuttle valve II (5.34), and A0 and B0 ports to the control oil port of the six-way multi-way directional valve (6) corresponding to the activated four-way handle (3) or the proportional pressure reducing valve, and controls the directional valve of that link to switch, thereby controlling the hydraulic actuator connected to that link to operate. When remote control of the tunneling machine is required, the electromagnetic reversing ball valve (2) switches to the normally closed cut-off state. The dual-head electromagnetic module (5.4) in the electro-hydraulic pilot proportional valve corresponding to the remote control command controls a set of two-position three-way solenoid valves I (5.31) and II (5.32) in the same line to switch directions based on the remote control command. The valve cores of the two-position three-way solenoid valves I (5.31) and II (5.32) switch to the left and right positions respectively, from the first tail plate (6) of the six-way multi-way reversing valve (6). 1) The pilot control oil comes out through the P port of the electro-hydraulic pilot proportional valve and enters the electro-hydraulic pilot proportional valve in sequence. It passes through the filter (5.35), the two-position three-way solenoid valve I (5.31) and the two-position three-way solenoid valve II (5.32) corresponding to the remote control command, the shuttle valve I (5.33) and the shuttle valve II (5.34), and the A0 and B0 ports reach the control oil port of the six-way multi-way directional valve (6) corresponding to the remote control command, and controls the directional valve of the link to switch, thereby controlling the hydraulic actuator connected to the link to move.

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