Balance oil cylinder, hydraulic system and gripper shoe

Abstract

The invention provides a balance oil cylinder, a hydraulic system and a gripper shoe. The balance oil cylinder comprises a cylinder barrel, a first end cover, a second end cover, a piston rod and a piston. The first end cover is provided with a switch valve used for detecting the stroke overrun of the piston rod. The hydraulic system comprises a balance oil cylinder, a power loop, a detection loop and a main control unit. The supporting shoe comprises a supporting shoe body, a supporting shoe flange, a supporting shoe hemisphere seat, a concave ball disc, a supporting shoe oil cylinder and a balance oil cylinder. A balance oil cylinder is adopted in the supporting shoe, so that the supporting shoe can swing in a self-adaptive mode according to the concave-convex change condition of the tunnel surrounding rock, and it is guaranteed that the supporting shoe and the surrounding rock have a better contact area; once the swing amplitude of the gripper shoe exceeds the pre-warning set stroke limit, the gripper shoe is interlocked with a control system and stops immediately, so that the inclination angle of the gripper shoe is prevented from exceeding the maximum allowable swing angle of the ball joint.

Description

Technical Field

[0001] This invention relates to the field of TBM tunneling machine technology, specifically to a balance cylinder, hydraulic system, and support shoe. Background Technology

[0002] The support shoe is a core component of the TBM (Tunnel Boring Machine) support system. On one hand, the friction between the support shoe and the tunnel wall secures the TBM to the tunnel wall. On the other hand, the support shoe acts as a reaction fulcrum, transferring the thrust of the propulsion cylinders to the wall, thus moving the TBM as a whole. Due to the unevenness of the surrounding rock in the tunnel, the support shoe may flip outwards or buckle inwards under external forces. Current technology often uses a horizontal and vertical cross arrangement or an oblique cross arrangement with a single-acting cylinder for unidirectional pushing or a double-acting cylinder for pushing and pulling to address this issue. However, existing support shoes lack limit protection measures. If the support shoe experiences overtravel and swaying, it can cause serious safety accidents such as broken flange bolts or the support shoe falling off. Summary of the Invention

[0003] In view of this, the present invention provides a balancing cylinder, a hydraulic system, and a support shoe, thereby solving one or more problems mentioned in the background art.

[0004] To solve the above problems, the present invention provides a balancing cylinder, characterized in that the balancing cylinder comprises: Cylinder barrel, having an internal cavity; The first end cap is a sealed connection to one end of the cylinder barrel and is used to close the internal cavity. The first end cap is provided with an oil inlet, an oil detection port and a switch valve. The second end cap seals the other end of the cylinder, and the second end cap has a through hole for the piston rod to pass through. The piston rod passes through the through hole and forms a seal with the second end cover. It can reciprocate relative to the second end cover, and one end of it extends into the internal cavity of the cylinder. A piston is fixedly disposed at one end of the piston rod located in the internal cavity of the cylinder. The piston is sealed to the inner wall of the cylinder, dividing the internal cavity of the cylinder into a rodless cavity located on the side of the first end cap and a rod cavity located on the side of the second end cap.

[0005] In the aforementioned balance cylinder, optionally, the oil inlet is connected to the rodless chamber for inputting hydraulic oil into the rodless chamber; the detection port is connected to the rodless chamber for detecting the pressure of the hydraulic oil output from the rodless chamber; the switching valve is located inside the first end cover and corresponds to the end of the piston rod, and the switching valve has two states: open and closed. When the piston rod moves to a preset position, the switching valve opens, allowing the hydraulic oil in the rodless chamber to enter the detection circuit through the detection port, thereby providing feedback on the position of the piston rod.

[0006] In the aforementioned balance cylinder, optionally, the switching valve includes: A valve core cavity is provided through the first end cover along the piston rod axial direction to accommodate the valve core. The valve core cavity includes a first channel, a second channel, and a third channel that are connected in sequence. The first channel is connected to the rodless cavity. The diameter of the first channel is smaller than the diameter of the second channel and the diameter of the third channel. The valve core is movably disposed within the valve core cavity, one end of which can contact the piston rod. When squeezed by the piston rod, it moves axially. The valve core includes a valve core contact, a driving section, and a sealing section arranged sequentially along the axial direction, which respectively cooperate with the first channel, the second channel, and the third channel. The diameters of the valve core contact, the driving section, and the sealing section increase sequentially. The connection between the valve core contact and the drive section forms a flow guide cone, and an oil inlet hole for hydraulic oil to pass through is formed between the valve core contact and the first channel. A valve core plug is fixedly connected to one end of the valve core cavity to close the valve core cavity and limit the axial movement range of the valve core. The sealing section is interference-fitted with the inner wall of the third channel. The third channel, the sealing section and the valve core plug form a balance cavity. The valve core return spring is located in the balance chamber, with one end abutting against the sealing section and the other end abutting against the valve core plug.

[0007] In the aforementioned balance cylinder, optionally, a detection channel is provided inside the first end cover. The detection channel connects the second channel and the detection port, and is used to guide hydraulic oil to flow to the detection port. The valve core has a first working position and a second working position. When the valve core is in the first working position, the guide cone contacts the end of the first channel, sealing the communication path between the oil inlet orifice and the second channel. When the valve core is in the second working position, the guide cone moves away from the end of the first channel, and the hydraulic oil in the rodless chamber sequentially passes through the oil inlet orifice, the second channel, and the detection channel, and enters the detection circuit through the detection port.

[0008] In the aforementioned balance cylinder, optionally, the sealing section is provided with a through oil hole, and the first end cover is provided with a guide channel connecting the oil inlet and the through oil hole, so that hydraulic oil enters the balance chamber sequentially through the oil inlet, the guide channel and the through oil hole.

[0009] In the aforementioned balance cylinder, optionally, the piston is provided with a differential oil hole for connecting the rodless chamber and the rod chamber.

[0010] The present invention also provides a hydraulic system, comprising: As described above, the balance cylinder; The power circuit includes a hydraulic power source, a first directional valve, a first check valve, a pressure reducing valve, and a relief valve connected in sequence. Hydraulic oil passes through the first directional valve, and after being pressure reduced by the pressure reducing valve, it enters the rodless chamber from the oil inlet through the first check valve. The inlet end of the overflow valve is connected to the oil inlet of the balance cylinder, and the outlet end is connected to the oil tank. It is used to overflow and unload when the pressure in the rodless chamber exceeds the threshold, thereby protecting the balance cylinder. The detection circuit includes: A pressure sensor is connected to the detection port via a bidirectional hydraulic check valve to collect the hydraulic oil pressure of the detection circuit in real time. The second reversing valve is connected in parallel between the detection port and the oil tank. The second reversing valve is normally closed and opens when the pressure in the detection circuit exceeds the threshold to relieve pressure in the detection circuit. The control unit is electrically connected to the first reversing valve, the second reversing valve, and the pressure sensor. It is used to control the opening and closing of the first reversing valve and the second reversing valve, and to collect the pressure value of the pressure sensor. When the pressure value exceeds the alarm threshold, it controls the TBM to stop.

[0011] In the hydraulic system described above, optionally, the detection port is connected to the inlet of the relief valve via a second check valve, for overflow unloading when the detection circuit pressure exceeds a threshold, thereby protecting the balance cylinder.

[0012] The present invention also provides a support boot, the support boot comprising: The boot itself is in direct contact with the rock wall; The support flange is fixedly installed on the support body; A support shoe hemispherical seat is disposed inside the support shoe flange; The concave spherical disk, which cooperates with the support shoe hemispherical seat to form a spherical hinge connection, is nested in the support shoe flange and can swing three-dimensionally around the support shoe hemispherical seat. The boot support cylinder includes a boot support cylinder rod and a boot support cylinder barrel. The boot support cylinder rod is fixedly connected to the concave ball plate and is used to drive the concave ball plate to swing relative to the boot support body. The aforementioned balancing cylinder is fixedly installed on the support shoe body, with the piston rod extending toward the concave spherical plate. When the support shoe body swings around the support shoe hemispherical seat, the balancing cylinder moves closer to or away from the concave spherical plate along with the support shoe body, and the piston rod triggers the switching valve to open or close.

[0013] In the support boot described above, optionally, there are at least two balance cylinders, symmetrically arranged on the support boot body.

[0014] The support shoe provided by this invention, by incorporating a balancing cylinder with a switching valve on the support shoe body, converts the control of the support shoe's swing posture into the detection of the piston rod position of the balancing cylinder. This allows the support shoe's swing amplitude to exceed a pre-set travel limit, triggering a TBM shutdown and preventing damage caused by excessive swing amplitude. When the support shoe's swing amplitude remains within the excessive swing range, it can adaptively swing according to the unevenness of the surrounding rock in the tunnel, ensuring a better contact area between the support shoe and the surrounding rock, thus achieving the adaptive swing function of the support shoe. Attached Figure Description

[0015] The disclosure of this invention will become more apparent from the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings: Figure 1 This is a schematic diagram of a balance cylinder structure according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a switching valve structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the valve core cavity and valve core structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a hydraulic system according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a boot support structure according to an embodiment of the present invention.

[0016] Reference numerals: 100-Cylinder; 200-First end cap; 300-Second end cap; 500-Piston rod; 600-Piston; 101-Rodless chamber; 102-Rod chamber; 400-Switch valve; 401-Valve core chamber; 401a-First channel; 401b-Second channel; 401c-Third channel; 402-Valve core; 402a-Valve core contact; 402b-Drive section; 402c-Sealing section; 402d-Guide cone; 402e-Through oil hole; 406-Oil inlet; 404-Valve core plug; 405-Balance chamber; 403-Valve core return spring; 201-Oil inlet; 202-Detection port; 203-Detection channel; 204-Flow guide channel; 601-Differential oil hole; 801-Hydraulic power source; 802-Oil tank; 803-First directional valve; 804-Pressure reducing valve; 805-Relief valve; 806-Pressure sensor; 807-Second directional valve; 808-First check valve; 809-Second check valve; 810-Two-way hydraulic check valve; 900-Control unit; 110-Balance cylinder; 120-Shoe body; 130-Shoe flange; 140-Shoe hemispherical seat; 150-Concave ball plate; 160-Shoe cylinder barrel; 170-Shoe cylinder rod. Detailed Implementation

[0017] Referring to the accompanying drawings and specific embodiments, the structure, working principle, features and advantages of the balance cylinder, hydraulic system and support shoe of the present invention will be described by way of example below. However, all descriptions should not be construed as limiting the present invention in any way.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0019] Furthermore, for any single technical feature described or implied in the embodiments described herein, or any single technical feature shown or implied in the accompanying drawings, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle. Therefore, these further embodiments according to the present invention should also be considered within the scope of this description.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0021] The core of this invention is to provide a hydraulic cylinder with stroke detection capability. Another core aspect of this invention is to provide a hydraulic system including the aforementioned hydraulic cylinder. A third core aspect of this invention is to provide a TBM support shoe including the aforementioned hydraulic system.

[0022] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Please refer to Figures 1 to 5 , Figure 1 This is a schematic diagram of a balance cylinder structure according to an embodiment of the present invention; Figure 2 for; Figure 3 for; Figure 2 This is a schematic diagram of a switching valve structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the valve core cavity and valve core structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a hydraulic system according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a boot support structure according to an embodiment of the present invention.

[0024] In one specific embodiment, the present invention provides a hydraulic cylinder, wherein the overall balance cylinder has an axisymmetric cylindrical structure, including a cylinder barrel 100, a first end cap 200, a second end cap 300, a piston rod 500, and a piston 600. The first end cap 200 is fixedly installed at one end of the cylinder barrel 100, and the second end cap 300 is fixedly installed at the other end.

[0025] A piston rod through-hole is provided at the center of the second end cap 300, through which the piston rod 500 extends into the cylinder 100. To ensure sealing and smooth movement, a wear-resistant dynamic sealing component (such as a step seal or a combination seal ring) is provided between the piston rod 500 and the through-hole of the second end cap 300, allowing the piston rod 500 to reciprocate linearly in the axial direction while preventing hydraulic oil from leaking out of the rod chamber 102.

[0026] A piston 600 is fixedly mounted on one end of the piston rod 500 inside the cylinder 100. The outer diameter of the piston 600 is precisely matched with the inner diameter of the cylinder 100, and it is tightly fitted to the inner wall of the cylinder through a lip seal (such as a Y-ring). The piston 600 divides the internal cavity of the cylinder 100 into two independent spaces: the side near the first end cover 200, which does not contain the piston rod 500, is called the rodless cavity 101; the side near the second end cover 300, where the piston rod 500 passes through, is called the rod cavity 102. The piston 600 has a differential oil hole 601, which connects the rodless cavity 101 and the rod cavity 102. When hydraulic oil is injected into the rodless cavity 101 through the oil inlet 201 of the first end cover 200, some oil flows into the rod cavity 102 through the differential oil hole 601, keeping the hydraulic oil pressure in the two cavities consistent. Since the effective working area (complete circular area) of piston 600 facing rodless cavity 101 is greater than the effective working area facing rod cavity 102 (excluding the area occupied by piston rod 500), under the same pressure, the thrust of rodless cavity 101 on piston 600 is greater than the reverse resistance of rod cavity 102, thereby pushing piston 600 to drive piston rod 500 to move axially towards rod cavity 102, realizing the extension action of hydraulic cylinder.

[0027] When piston rod 500 needs to retract, the hydraulic oil in rodless chamber 101 flows back through inlet 201, and the pressure is rapidly released. At this time, piston 600 moves in the opposite direction under the action of external load, driving piston rod 500 to retract towards the rodless chamber 101. During the retraction process, hydraulic oil in rod chamber 102 flows back to rodless chamber 101 through differential oil hole 601, replenishing the pressure relief space of rodless chamber 101 and preventing the formation of a vacuum. Since the pressure in rodless chamber 101 is lower than that in rod chamber 102 after pressure relief, the pressure difference on both sides of piston 600 and the external load jointly drive the retraction action, eliminating the need to inject additional high-pressure oil into rod chamber 102, thus simplifying the hydraulic system's oil circuit control logic.

[0028] This design, through the connection of the differential oil hole 601, enables the cylinder to achieve efficient thrust by utilizing the area difference when it extends, and relies on the differential control mode formed by the pressure relief of the rodless chamber and the external load when it retracts. This reduces the configuration of hydraulic valve groups and improves the response efficiency and reliability of the system in heavy-duty scenarios such as engineering machinery (e.g., TBM support shoes).

[0029] The first end cap 200 is equipped with a switching valve 400, which is arranged axially along the piston rod 500, and its structure is as follows: Figure 2 and Figure 3As shown. The switching valve 400 includes a valve core cavity 401 and a valve core 402. The valve core cavity 401 includes a first channel 401a, a second channel 401b, and a third channel 401c connected in sequence. The first channel 401a is directly connected to the rodless cavity 101, and the diameter of the first channel 401a is smaller than the diameters of the second channel 401b and the third channel 401c. The valve core 402 is a three-stage coaxial cylindrical structure, including a valve core contact 402a with the smallest diameter, a driving section 402b in the middle, and a sealing section 402c with the largest diameter, which respectively cooperate with the three channels of the valve core cavity. The diameter of the first channel 401a is larger than the diameter of the valve core contact 402a, and an oil inlet orifice 406 is formed between the first channel 401a and the valve core contact 402a. The sealing section 402c is interference-fitted with the inner wall of the third channel 401c, and its end is sealed by a valve core plug 404, forming an independent balance cavity 405. A through-hole 402e is provided on the sealing section 402c. The guide channel 204 in the first end cover 200 introduces the hydraulic oil flowing in from the oil inlet 201 into the balance chamber 405, so that the balance chamber 405 and the rodless chamber 101 are kept in hydraulic communication.

[0030] The balance chamber 405 is connected to the rodless chamber 101 through the through oil hole 402e of the sealing section 402c, so that the hydraulic oil pressure in both chambers is equal (both are p). Since the diameter of the valve core contact 402a (corresponding to the first channel 401a, cross-sectional area S1) is smaller than the diameter of the sealing section 402c (corresponding to the third channel 401c, cross-sectional area S3), the axial force generated by the hydraulic oil on the valve core 402 satisfies F=p·(S3-S1), and the direction is towards the valve core contact 402a (i.e., pushing the valve core forward).

[0031] Meanwhile, the valve core return spring 403 is located between the sealing section 402c and the valve core plug, with one end abutting against the valve core plug 404 and the other end abutting against the end face of the sealing section 402c, providing a spring force F toward the valve core contact. 弹簧 In the initial state, the hydraulic thrust F 液压 With spring force F 弹簧 The combined action pushes the valve core 402 forward, causing the guide cone 402d of the valve core contact 402a to fit tightly against the outlet of the first channel 401a, forming a seal. At this time, the oil passage between the rodless chamber 101 and the detection port 202 is blocked, and the detection circuit is in an open state. The valve core is now in the first working position.

[0032] When the piston rod 500 is driven by an external force to move to the end of its preset stroke, its end presses against the valve core contact 402a, overcoming the hydraulic pressure difference and spring force, causing the valve core 402 to move backward. At this time, the guide cone 402d disengages from the first channel 401a, and the oil inlet orifice 406 connects with the first channel 401a. The hydraulic oil in the rodless chamber 101 flows into the detection circuit from the detection port 202 through the oil inlet orifice 406, the second channel 401b, and the detection channel 203. At this time, the valve core is in the second working position.

[0033] The present invention also provides a hydraulic system, comprising the aforementioned balance cylinder 110, power circuit, detection circuit, and control unit 900, all interconnected via oil pipes to form a complete hydraulic control system. The power circuit includes a hydraulic power source, a first directional valve, a pressure reducing valve, a first check valve, and a relief valve connected in sequence. The pressure reducing valve adjusts the high-pressure oil output from the hydraulic power source 801 to a first preset pressure and delivers it to the oil inlet 201 of the balance cylinder via the first check valve 808, thereby driving the rodless chamber 101 to push the piston rod 500 out. The relief valve 805 automatically opens when the pressure in the rodless chamber 101 exceeds the relief pressure, draining excess oil back to the oil tank 802 to prevent system damage due to overload.

[0034] The detection circuit includes a pressure sensor 806 and a second directional valve 807, which is directly connected to the rodless chamber 101 of the balance cylinder through the detection oil port 202. The pressure sensor 806 collects the pressure value of the detection circuit in real time. The second directional valve 817 is normally closed and only opens under specific conditions.

[0035] During operation, hydraulic oil flows from the hydraulic power source 801, through the first directional valve 803 to the pressure reducing valve 804. After being reduced to a first preset pressure by the pressure reducing valve 804, it enters the rodless chamber 101 of the balance cylinder, pushing the piston rod 500 to extend. At this time, the valve core 402 of the switching valve 400 maintains the first working position under the combined action of hydraulic pressure and the elasticity of the valve core return spring 403, blocking the connection between the rodless chamber 101 and the detection circuit. When the piston rod 500 retracts under the action of an external load, driving the valve core 402 to move to the second working position, the hydraulic oil in the rodless chamber 101 can enter the detection circuit. At this time, the second directional valve 807 is still in the closed state, and the pressure sensor 806 collects the pressure value of the detection circuit in real time. When the pressure value exceeds the preset alarm threshold pressure, the control unit 900 controls the second directional valve 807 to open, so as to release the pressure in the detection circuit and avoid damage to the system due to excessive pressure.

[0036] In addition, the detection port 202 is also connected to the first relief valve 805 through the second check valve 809. This design allows both circuits to be depressurized through the first relief valve 805 in extreme cases (such as abnormal pressure rise in the detection circuit or power circuit), forming a dual safety protection mechanism.

[0037] This invention also provides a support shoe for a TBM (tunnel boring machine), including a support shoe body 120, a support shoe flange 130 fixedly installed on the support shoe body 120, a support shoe hemispherical seat 140 installed inside the support shoe flange 130, a concave ball plate 150 that cooperates with the support shoe hemispherical seat 140 to form a ball joint connection, a support shoe cylinder installed outside the concave ball plate 150, and the aforementioned balance cylinder 110.

[0038] The front end of the support shoe body 120 directly contacts the tunnel rock wall, and the rear support shoe flange 130 provides an installation base for the support shoe hemispherical seat 140. The concave spherical plate 150 is nested in the support shoe flange 130 and is connected by a ball joint to swing around the support shoe hemispherical seat 140 in three dimensions to adapt to the uneven surface of the rock wall. The support shoe cylinder rod 170 is fixed on the concave spherical plate 150, and the support shoe cylinder barrel 160 is installed on the TBM vehicle. The extension and retraction of the support shoe cylinder pushes the support shoe body 120 to contact the rock wall.

[0039] At least two balance cylinders 110 are symmetrically mounted on the support shoe body 120. The piston rod 500 extends towards the concave ball plate 150. Under normal conditions, the end of the piston rod 500 is in contact with the outer surface of the concave ball plate 150. The valve core 402 of the internal switching valve 400 is in the first working position under the action of spring force, and the detection circuit is in the open state. When the support shoe body 120 swings due to the undulation of the rock wall, the support shoe body 120 drives the balance cylinders 110 to move synchronously closer to or away from the concave ball plate 150. When the balance cylinder 110 approaches the concave ball plate 150, the hydraulic oil pressure in the rodless chamber 101 increases. When the hydraulic oil pressure is greater than the overflow pressure, the first overflow valve 805 releases pressure, keeping the hydraulic oil pressure in the rodless chamber 101 at the overflow pressure. When the balance cylinder 110 moves away from the concave ball plate 150, the hydraulic oil pressure in the rodless chamber 101 decreases. Since the hydraulic power source 801 continuously inputs hydraulic oil into the rodless chamber, the hydraulic oil pressure in the rodless chamber remains at the overflow pressure, thereby achieving the adaptive swing of the support shoe.

[0040] When the swing amplitude of the support shoe body 120 continues to increase beyond the limit swing range, the piston rod 500 of the balance cylinder 110 squeezes the valve core 402 of the switch valve 400 to the second working position. The hydraulic oil in the rodless chamber 101 of the balance cylinder 110 flows into the detection circuit through the detection port 202. The hydraulic oil in the detection circuit enters the pressure sensor 806 through the bidirectional hydraulic control check valve 810. The pressure sensor 806 collects the pressure signal in real time and transmits it to the control unit 900. The control unit 900 determines that the pressure in the detection circuit exceeds the alarm threshold and determines that the support shoe body 120 swings beyond the limit. It then issues an alarm command to trigger the TBM to stop to avoid damage to the equipment due to excessive swing.

[0041] When the alarm needs to be cleared, the support shoe body 120 is returned to within the over-limit swing range. The control unit 900 controls the second directional valve 807 to open, the detection circuit is depressurized, and the valve core 402 of the balance cylinder 110 returns to the first working position under the action of the valve core return spring 403. The pressure measured by the pressure sensor 806 is less than the alarm threshold, and the alarm fault is cleared. After the alarm fault is cleared, the control unit 900 controls the second directional valve 807 to close, and then controls the hydraulic power source 801 to replenish the pressure in the power circuit, so that the hydraulic system returns to the initial state.

[0042] The support shoe provided in this embodiment of the invention, by incorporating a balance cylinder with a switching valve on the support shoe body, converts the control of the support shoe's swing posture into the detection of the position of the balance cylinder piston rod. This ensures that if the support shoe's swing amplitude exceeds a pre-set stroke limit, the TBM is triggered to stop, preventing damage caused by excessive swing amplitude. When the support shoe's swing amplitude is within the excessive swing range, the support shoe can adaptively swing according to the unevenness of the surrounding rock in the tunnel, ensuring a better contact area between the support shoe and the surrounding rock, thus achieving the adaptive swing function of the support shoe.

[0043] The technical scope of this invention is not limited to the contents of the above specification. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the scope of this invention.

Claims

1. A balancing hydraulic cylinder, characterized in that, The balancing cylinder includes: Cylinder (100) has an internal cavity; The first end cap (200) is sealed to one end of the cylinder (100) and is used to close the internal cavity. The first end cap (200) is provided with an oil inlet (201), an oil detection port (202) and a switch valve (400). The second end cap (300) seals the other end of the cylinder (100), and the second end cap (300) is provided with a through hole for the piston rod (500) to pass through; The piston rod (500) passes through the through hole and forms a seal with the second end cap (300), and can reciprocate relative to the second end cap (300), with one end extending into the internal cavity of the cylinder (100); A piston (600) is fixedly disposed at one end of the piston rod (500) located in the internal cavity of the cylinder (100). The piston (600) is sealed to the inner wall of the cylinder (100), dividing the internal cavity of the cylinder (100) into a rodless cavity (101) located on the side of the first end cap (200) and a rod cavity (102) located on the side of the second end cap (300).

2. The balance cylinder as described in claim 1, characterized in that, The oil inlet (201) is connected to the rodless chamber (101) and is used to input hydraulic oil into the rodless chamber (101); the detection port (202) is connected to the rodless chamber (101) and is used to detect the pressure of the hydraulic oil in the rodless chamber (101); the switch valve (400) is located inside the first end cover (200) and corresponds to the end of the piston rod (500). The switch valve (400) has two states: open and closed. When the piston rod (500) moves to a preset position, the switch valve (400) opens, allowing the hydraulic oil in the rodless chamber (101) to enter the detection circuit through the detection port (202), thereby providing feedback on the position of the piston rod (500).

3. The balance cylinder as described in claim 2, characterized in that, The switching valve (400) includes: A valve core cavity (401) is axially disposed on the first end cap (200) along the piston rod (500) to accommodate a valve core (402). The valve core cavity (401) includes a first channel (401a), a second channel (401b), and a third channel (401c) connected in sequence. The first channel (401a) is connected to the rodless cavity (101). The diameter of the first channel (401a) is smaller than the diameter of the second channel (401b) and the diameter of the third channel (401c). A valve core (402) is movably disposed within the valve core cavity (401), one end of which can contact the piston rod (500). When squeezed by the piston rod (500), it moves axially. The valve core (402) includes a valve core contact (402a), a driving section (402b), and a sealing section (402c) arranged sequentially along the axial direction, which respectively cooperate with the first channel (401a), the second channel (401b), and the third channel (401c). The diameters of the valve core contact (402a), the driving section (402b), and the sealing section (402c) increase sequentially. A guide cone (402d) is formed at the connection between the valve core contact (402a) and the drive section (402b), and an oil inlet hole (406) for hydraulic oil to pass through is formed between the valve core contact (402a) and the first channel (401a). A valve core plug (404) is fixedly connected to one end of the valve core cavity (401) to close the valve core cavity (401) and limit the axial movement range of the valve core (402). The sealing section (402c) is interference-fitted with the inner wall of the third channel (401c). The third channel (401c), the sealing section (402c) and the valve core plug (404) form a balance cavity (405). The valve core return spring (403) is located in the balance chamber (405), with one end abutting the sealing section (402c) and the other end abutting the valve core plug (404).

4. The balance cylinder as described in claim 3, characterized in that, The first end cap (200) is provided with a detection channel (203), which connects the second channel (401b) and the detection port (202) to guide hydraulic oil to flow to the detection port (202). The valve core (402) has a first working position and a second working position. When the valve core (402) is in the first working position, the guide cone (402d) contacts the end of the first channel (401a) to close the connection path between the oil inlet hole (406) and the second channel (401b). When the valve core (402) is in the second working position, the guide cone (402d) is away from the end of the first channel (401a), and the hydraulic oil in the rodless chamber (101) passes through the oil inlet hole (406), the second channel (401b) and the detection channel (203) in sequence, and enters the detection circuit through the detection port (202).

5. The balance cylinder as described in claim 3, characterized in that, The sealing section (402c) is provided with a through oil hole (402e), and the first end cap (200) is provided with a guide channel (204) that connects the oil inlet (201) and the through oil hole (402e). The hydraulic oil enters the balance chamber (405) in sequence through the oil inlet (201), the guide channel (204) and the through oil hole (402e).

6. The balance cylinder as described in claim 1, characterized in that, The piston is provided with a differential oil hole (601) for connecting the rodless chamber (101) and the rod chamber (102).

7. A hydraulic system, characterized in that, The system includes: The balance cylinder as described in any one of claims 1 to 6; The power circuit includes a hydraulic power source (801), a first directional valve (803), a first check valve (808), a pressure reducing valve (804), and a relief valve (805) connected in sequence. The hydraulic oil passes through the first directional valve (803), and after being pressure reduced by the pressure reducing valve (804), it enters the rodless chamber (101) from the oil inlet (201) through the first check valve (808). The inlet end of the overflow valve (805) is connected to the oil inlet (201) of the balance cylinder, and the outlet end is connected to the oil tank (802). It is used to overflow and unload when the pressure in the rodless chamber (101) exceeds the threshold, so as to protect the balance cylinder. The detection circuit includes: The pressure sensor (806) is connected to the detection port (202) via a two-way hydraulic check valve (810) and is used to collect the hydraulic oil pressure of the detection circuit in real time. The second reversing valve (807) is connected in parallel between the detection port (202) and the oil tank (802). The second reversing valve (807) is normally closed and opens when the pressure of the detection circuit exceeds the threshold to relieve pressure in the detection circuit. The control unit (900) is electrically connected to the first reversing valve (803), the second reversing valve (807) and the pressure sensor (806), and is used to control the opening and closing of the first reversing valve (803) and the second reversing valve (807), and to collect the pressure value of the pressure sensor (806). When the pressure value exceeds the alarm threshold, the control unit controls the TBM to stop.

8. The hydraulic system as described in claim 7, characterized in that, The detection port (202) is connected to the inlet of the overflow valve (805) via the second check valve (809) to overflow and unload when the pressure in the detection circuit exceeds the threshold, thereby protecting the balance cylinder.

9. A type of boot support, characterized in that, The support boots include: The support boot body (120) is in direct contact with the rock wall; The support shoe flange (130) is fixedly installed on the support shoe body (120); A support shoe hemispherical seat (140) is disposed inside the support shoe flange (130); The concave spherical disk (150) is connected to the support shoe hemispherical seat (140) to form a ball joint connection. It is nested in the support shoe flange (130) and can swing three-dimensionally around the support shoe hemispherical seat (140). The boot support cylinder includes a boot support cylinder rod (170) and a boot support cylinder barrel (160). The boot support cylinder rod (170) is fixedly connected to the concave ball plate (150) and is used to drive the concave ball plate (150) to swing relative to the boot support body (120). The balancing cylinder (110) as described in any one of claims 1 to 6 is fixedly mounted on the support shoe body (120), and the piston rod (500) extends toward the concave ball plate (150); when the support shoe body (120) swings around the support shoe hemispherical seat (140), the balancing cylinder (110) moves closer to or further away from the concave ball plate (150) along with the support shoe body (120), and the piston rod (500) triggers the switching valve (400) to open or close.

10. The support boot as described in claim 9, characterized in that, There are at least two balance cylinders (110), which are symmetrically arranged on the support shoe body (120).

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