阅读说明：本技术 推进油缸控制系统、方法、液压推进控制系统及其掘进机 (Propulsion oil cylinder control system and method, hydraulic propulsion control system and heading machine thereof ) 是由 刘伟 周赛群 曾定荣 郭涛 杨阳 左佳玉 李玉琴 于 2021-09-13 设计创作，主要内容包括：本发明公开了一种推进油缸控制系统、方法,液压推进控制系统及掘进机,其中推进油缸控制系统包括动力机构、推进机构、输油管路和控制器,动力机构包括液压泵、压力检测机构和流量检测机构；推进机构包括推进油缸；液压泵用于提供液压油；压力检测机构用于检测液压泵的压力；流量检测机构用于检测液压泵的流量；输油管路连通动力机构和推进机构,动力机构和推进机构分别电连接控制器；该系统所采用的是电动液压流量闭环控制和压力闭环控制的双闭环控制方法,同时各个闭环内部均具有控制信号反馈闭环,如此设置能够保证液压泵得到控制信号的准确度。该系统提高了液压泵的输出流量和输出压力的控制精度,提高了掘进机推进速度和推进压力的控制精度。(The invention discloses a propulsion oil cylinder control system and method, a hydraulic propulsion control system and a heading machine, wherein the propulsion oil cylinder control system comprises a power mechanism, a propulsion mechanism, an oil pipeline and a controller, and the power mechanism comprises a hydraulic pump, a pressure detection mechanism and a flow detection mechanism; the propelling mechanism comprises a propelling oil cylinder; the hydraulic pump is used for providing hydraulic oil; the pressure detection mechanism is used for detecting the pressure of the hydraulic pump; the flow detection mechanism is used for detecting the flow of the hydraulic pump; the oil conveying pipeline is communicated with the power mechanism and the propelling mechanism, and the power mechanism and the propelling mechanism are respectively and electrically connected with the controller; the system adopts a double closed-loop control method of electro-hydraulic flow closed-loop control and pressure closed-loop control, and meanwhile, control signal feedback closed loops are arranged in each closed loop, so that the accuracy of the hydraulic pump obtaining the control signals can be ensured. The system improves the control precision of the output flow and the output pressure of the hydraulic pump and improves the control precision of the propelling speed and the propelling pressure of the heading machine.)

1. A propulsion oil cylinder control system is characterized by comprising a power mechanism, a propulsion mechanism, an oil conveying pipeline and a controller, wherein the power mechanism comprises a hydraulic pump, a pressure detection mechanism and a flow detection mechanism; the propelling mechanism comprises a propelling oil cylinder;

the hydraulic pump is used for providing hydraulic oil;

the pressure detection mechanism is used for detecting the pressure of the hydraulic pump;

the flow detection mechanism is used for detecting the flow of the hydraulic pump;

the oil conveying pipeline is communicated with the power mechanism and the propelling mechanism, and the power mechanism and the propelling mechanism are respectively and electrically connected with the controller;

when the pressure of the hydraulic pump is smaller than the preset pressure, the controller outputs a flow regulation signal to the hydraulic pump; the hydraulic pump receives the flow adjusting signal, converts the flow adjusting signal into a first receiving signal, and feeds the first receiving signal back to the controller, and simultaneously adjusts a first output flow of the hydraulic pump according to the flow adjusting signal until the first output flow reaches a preset flow value, the hydraulic pump feeds the first output flow signal back to the controller, and the controller receives the first output flow signal, compares the first output flow with the preset flow value, and judges whether the first output flow is equal to the preset flow value; when the first output flow is equal to the preset flow value, controlling the first output flow to be kept unchanged; when the first output flow is not equal to the preset flow value, adjusting the first output flow until the first output flow is the preset flow value, and executing the hydraulic pump according to the first output flow meeting the condition so as to control the extension or retraction of the propulsion oil cylinder;

when the pressure of the hydraulic pump is equal to the preset pressure, the controller outputs a pressure adjusting signal to the hydraulic pump, the hydraulic pump receives the pressure adjusting signal, converts the pressure adjusting signal into a second receiving signal, and feeds the second receiving signal back to the controller, meanwhile, the hydraulic pump adjusts the output pressure of the hydraulic pump according to the pressure adjusting signal until the output pressure reaches a preset pressure value, the hydraulic pump feeds the output pressure signal back to the controller, and the controller receives the output pressure signal, compares the output pressure with the preset pressure value, and judges whether the output pressure is equal to the preset pressure value; when the output pressure is equal to the preset pressure value, controlling the output pressure to be unchanged; and when the output pressure is not equal to the preset pressure value, adjusting the output pressure until the output pressure is the preset pressure value, and executing the hydraulic pump according to a second output flow corresponding to the output pressure meeting the condition so as to control the extension or retraction of the propulsion oil cylinder.

2. The propulsion cylinder control system of claim 1, wherein the controller includes a preset flow storage port, a preset pressure storage port, a signal feedback port, first and second output flow receiving ports, an output pressure receiving port, and a control output port;

the hydraulic pump comprises a preset flow storage port, a preset pressure storage port, a feedback signal port, a first output flow port, a second output flow port, an output pressure receiving port and a control output port, wherein the preset flow storage port is used for storing the preset flow of the hydraulic pump, the preset pressure storage port is used for storing the preset pressure of the hydraulic pump, the feedback signal port is used for feeding back a first receiving signal and a second receiving signal to a controller, the first output flow port and the second output flow port are used for receiving the first output flow and the second output flow of the hydraulic pump, the output pressure receiving port is used for receiving the output pressure of the hydraulic pump, and the control output port is used for controlling the hydraulic pump to output according to the first output flow meeting the conditions or output according to the second output flow corresponding to the output pressure meeting the conditions.

3. A propulsion cylinder control system as claimed in claim 1, wherein the power mechanism further comprises an electric motor for powering the hydraulic pump, and a coupling connecting the electric motor and the hydraulic pump.

4. The propulsion cylinder control system of claim 1, wherein the power mechanism further comprises a check valve disposed on the oil delivery line for preventing backflow of hydraulic oil.

5. A propulsion cylinder control system as claimed in claim 1, characterized in that the power unit further comprises a first relief valve for limiting the outlet pressure of the hydraulic pump.

6. The propulsion cylinder control system of claim 1, wherein the propulsion mechanism further comprises a solenoid directional valve disposed on the oil delivery line, the solenoid directional valve being disposed between the hydraulic pump and the propulsion cylinder;

the electromagnetic reversing valve is a three-position four-way reversing valve, the three-position four-way reversing valve comprises a valve body, a reversing cavity communicated with a first oil port, a second oil port, a third oil port and a fourth oil port is formed in the valve body, and a valve core is arranged in the reversing cavity.

7. The propulsion cylinder control system of claim 6, wherein the propulsion mechanism further includes a pilot operated check valve for preventing the propulsion cylinder from being pressed back by a load in a shutdown state, the pilot operated check valve being disposed between the solenoid directional valve and the propulsion cylinder.

8. The propulsion cylinder control system of claim 1, wherein the propulsion mechanism further includes a second relief valve for limiting pressure within the rod chamber of the propulsion cylinder.

9. A hydraulic propulsion system comprising a plurality of hydraulic propulsion sections, any one of said sections comprising at least one propulsion cylinder control system according to any one of claims 1-8.

10. The hydraulic propulsion system of claim 9, wherein any one of the hydraulic propulsion subsections comprises one of the power mechanisms, one of the controllers, and a plurality of the propulsion mechanisms in the propulsion cylinder control system, and wherein the power mechanism and any one of the propulsion mechanisms are connected in series, and the plurality of the propulsion mechanisms are connected in parallel, and the controller is electrically connected to the power mechanism and the propulsion mechanism, respectively.

11. A heading machine comprising a hydraulic propulsion system as claimed in any one of claims 9 to 10.

12. A method of controlling a propulsion cylinder, comprising:

acquiring the pressure of a hydraulic pump;

acquiring the flow of a hydraulic pump;

when the pressure of the hydraulic pump is smaller than the preset pressure, the controller outputs a flow regulation signal to the hydraulic pump; the hydraulic pump receives the flow adjusting signal, converts the flow adjusting signal into a first receiving signal, and feeds the first receiving signal back to the controller, and simultaneously adjusts a first output flow of the hydraulic pump according to the flow adjusting signal until the first output flow reaches a preset flow value, the hydraulic pump feeds the first output flow signal back to the controller, and the controller receives the first output flow signal, compares the first output flow with the preset flow value, and judges whether the first output flow is equal to the preset flow value; when the first output flow is equal to the preset flow value, controlling the first output flow to be kept unchanged; when the first output flow is not equal to the preset flow value, adjusting the first output flow until the first output flow is the preset flow value, and executing the hydraulic pump according to the first output flow meeting the condition so as to control the extension or retraction of the propulsion oil cylinder;

when the pressure of the hydraulic pump is equal to the preset pressure, the controller outputs a pressure adjusting signal to the hydraulic pump, the hydraulic pump receives the pressure adjusting signal, converts the pressure adjusting signal into a second receiving signal, and feeds the second receiving signal back to the controller, meanwhile, the hydraulic pump adjusts the output pressure of the hydraulic pump according to the pressure adjusting signal until the output pressure reaches a preset pressure value, the hydraulic pump feeds the output pressure signal back to the controller, and the controller receives the output pressure signal, compares the output pressure with the preset pressure value, and judges whether the output pressure is equal to the preset pressure value; when the output pressure is equal to the preset pressure value, controlling the output pressure to be unchanged; and when the output pressure is not equal to the preset pressure value, adjusting the output pressure until the output pressure is the preset pressure value, and executing the hydraulic pump according to a second output flow corresponding to the output pressure meeting the condition so as to control the extension or retraction of the propulsion oil cylinder.

Technical Field

The invention relates to the technical field of heading machines, in particular to a propulsion oil cylinder control system and method, a hydraulic propulsion control system and a heading machine thereof.

Background

In China, basic projects such as subways, highways, railways, water diversion and the like need to build tunnels through a heading machine, and the heading machine needs to control the propelling speed and the propelling force of the heading machine through a propelling oil cylinder when heading forwards.

At present, the propelling speed and the propelling force of the heading machine are generally adjusted through a proportional speed regulating valve and a pressure regulating valve, the control of the propelling speed and the propelling force of the heading machine belongs to valve control adjustment, but the precision of the proportional valve is limited, and the control precision of the propelling speed and the propelling force of a propelling oil cylinder is low due to the valve control adjustment, so that the control of the attitude of the heading machine is not facilitated.

Therefore, how to improve the control accuracy of the propelling speed and the propelling force of the heading machine is a technical problem which needs to be solved urgently by the technical personnel in the field.

Disclosure of Invention

In view of the above, the present invention provides a control system for a propulsion cylinder, which can effectively improve the control accuracy of the propulsion speed and the propulsion force of the heading machine.

It is also an object of the invention to provide a control system for a hydraulic propulsion system.

The invention also aims to provide the heading machine.

The invention also aims to provide a control method of the propulsion oil cylinder.

In order to achieve the purpose, the invention provides the following technical scheme:

a propulsion oil cylinder control system comprises a power mechanism, a propulsion mechanism, an oil conveying pipeline and a controller, wherein the power mechanism comprises a hydraulic pump, a pressure detection mechanism and a flow detection mechanism; the propelling mechanism comprises a propelling oil cylinder;

the hydraulic pump is used for providing hydraulic oil;

the pressure detection mechanism is used for detecting the pressure of the hydraulic pump;

the flow detection mechanism is used for detecting the flow of the hydraulic pump;

the oil conveying pipeline is communicated with the power mechanism and the propelling mechanism, and the power mechanism and the propelling mechanism are respectively and electrically connected with the controller;

when the pressure of the hydraulic pump is smaller than the preset pressure, the controller outputs a flow regulation signal to the hydraulic pump; the hydraulic pump receives the flow adjusting signal, converts the flow adjusting signal into a first receiving signal, and feeds the first receiving signal back to the controller, and simultaneously adjusts a first output flow of the hydraulic pump according to the flow adjusting signal until the first output flow reaches a preset flow value, the hydraulic pump feeds the first output flow signal back to the controller, and the controller receives the first output flow signal, compares the first output flow with the preset flow value, and judges whether the first output flow is equal to the preset flow value; when the first output flow is equal to the preset flow value, controlling the first output flow to be kept unchanged; when the first output flow is not equal to the preset flow value, adjusting the first output flow until the first output flow is the preset flow value, and executing the hydraulic pump according to the first output flow meeting the condition so as to control the extension or retraction of the propulsion oil cylinder;

when the pressure of the hydraulic pump is equal to the preset pressure, the controller outputs a pressure adjusting signal to the hydraulic pump, the hydraulic pump receives the pressure adjusting signal, converts the pressure adjusting signal into a second receiving signal, and feeds the second receiving signal back to the controller, meanwhile, the hydraulic pump adjusts the output pressure of the hydraulic pump according to the pressure adjusting signal until the output pressure reaches a preset pressure value, the hydraulic pump feeds the output pressure signal back to the controller, and the controller receives the output pressure signal, compares the output pressure with the preset pressure value, and judges whether the output pressure is equal to the preset pressure value; when the output pressure is equal to the preset pressure value, controlling the output pressure to be unchanged; and when the output pressure is not equal to the preset pressure value, adjusting the output pressure until the output pressure is the preset pressure value, and executing the hydraulic pump according to a second output flow corresponding to the output pressure meeting the condition so as to control the extension or retraction of the propulsion oil cylinder.

Preferably, the controller comprises a preset flow storage port, a preset pressure storage port, a signal feedback port, a first output flow receiving port, a second output flow receiving port, an output pressure receiving port and a control output port;

the preset flow storage port is used for storing the preset flow of the hydraulic pump, the preset pressure storage port is used for storing the preset pressure of the hydraulic pump, the feedback signal port is used for feeding back a first receiving signal and a second receiving signal to a controller, the first output flow port and the second output flow port are used for receiving the first output flow and the second output flow of the hydraulic pump,

the output pressure receiving port is used for receiving the output pressure of the hydraulic pump, and the control output port is used for controlling the hydraulic pump to output according to a first output flow meeting the condition or a second output flow corresponding to the output pressure meeting the condition.

Preferably, the power mechanism further comprises a motor for providing power for the hydraulic pump, and a coupling for connecting the motor and the hydraulic pump.

Preferably, the power mechanism further comprises a check valve arranged on the oil conveying pipeline and used for preventing the hydraulic oil from flowing back.

Preferably, the power mechanism further comprises a first relief valve for limiting an outlet pressure of the hydraulic pump.

Preferably, the propulsion mechanism further comprises an electromagnetic directional valve arranged on the oil delivery pipeline, and the electromagnetic directional valve is arranged between the hydraulic pump and the propulsion oil cylinder;

the electromagnetic reversing valve is a three-position four-way reversing valve, the three-position four-way reversing valve comprises a valve body, a reversing cavity communicated with a first oil port, a second oil port, a third oil port and a fourth oil port is formed in the valve body, and a valve core is arranged in the reversing cavity.

Preferably, the propulsion mechanism further comprises a pilot operated check valve for preventing the propulsion cylinder from being pressed back by a load in a shutdown state, and the pilot operated check valve is arranged between the electromagnetic directional valve and the propulsion cylinder.

Preferably, the propulsion mechanism further comprises a second relief valve for limiting the pressure inside the rod chamber of the propulsion cylinder.

A hydraulic propulsion system comprises a plurality of hydraulic propulsion subareas, wherein any one of the hydraulic propulsion subareas comprises at least one propulsion cylinder control system.

Preferably, any one of the hydraulic propulsion subareas comprises one power mechanism, one controller and a plurality of propulsion mechanisms in the propulsion cylinder control system, the power mechanism and any one of the propulsion mechanisms are connected in series, the plurality of propulsion mechanisms are connected in parallel, and the controller is respectively electrically connected with the power mechanism and the propulsion mechanisms.

A heading machine comprising a hydraulic propulsion system as claimed in any preceding claim.

A method of controlling a propulsion cylinder, comprising:

acquiring the pressure of a hydraulic pump;

acquiring the flow of a hydraulic pump;

when the pressure of the hydraulic pump is smaller than the preset pressure, the controller outputs a flow regulation signal to the hydraulic pump; the hydraulic pump receives the flow adjusting signal, converts the flow adjusting signal into a first receiving signal, and feeds the first receiving signal back to the controller, and simultaneously adjusts a first output flow of the hydraulic pump according to the flow adjusting signal until the first output flow reaches a preset flow value, the hydraulic pump feeds the first output flow signal back to the controller, and the controller receives the first output flow signal, compares the first output flow with the preset flow value, and judges whether the first output flow is equal to the preset flow value; when the first output flow is equal to the preset flow value, controlling the first output flow to be kept unchanged; when the first output flow is not equal to the preset flow value, adjusting the first output flow until the first output flow is the preset flow value, and executing the hydraulic pump according to the first output flow meeting the condition so as to control the extension or retraction of the propulsion oil cylinder;

when the pressure of the hydraulic pump is equal to the preset pressure, the controller outputs a pressure adjusting signal to the hydraulic pump, the hydraulic pump receives the pressure adjusting signal, converts the pressure adjusting signal into a second receiving signal, and feeds the second receiving signal back to the controller, meanwhile, the hydraulic pump adjusts the output pressure of the hydraulic pump according to the pressure adjusting signal until the output pressure reaches a preset pressure value, the hydraulic pump feeds the output pressure signal back to the controller, and the controller receives the output pressure signal, compares the output pressure with the preset pressure value, and judges whether the output pressure is equal to the preset pressure value; when the output pressure is equal to the preset pressure value, controlling the output pressure to be unchanged; and when the output pressure is not equal to the preset pressure value, adjusting the output pressure until the output pressure is the preset pressure value, and executing the hydraulic pump according to a second output flow corresponding to the output pressure meeting the condition so as to control the extension or retraction of the propulsion oil cylinder.

According to the technical scheme, the control system of the propulsion oil cylinder adopts a double-closed-loop control method of electro-hydraulic flow closed-loop control and pressure closed-loop control, and meanwhile, a control signal feedback closed loop is arranged in each closed loop, so that the accuracy of the hydraulic pump for obtaining the control signal can be ensured. Compared with the prior art, the control system of the propelling oil cylinder effectively improves the control precision of the output flow and the output pressure of the hydraulic pump, thereby effectively improving the control precision of the propelling speed and the propelling pressure of the development machine.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art are briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic illustration of a hydraulic propulsion system according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a controller according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a solenoid directional valve according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an arrangement structure of a propulsion cylinder disclosed by the embodiment of the invention.

Wherein, each part name is as follows:

100 is a hydraulic propelling zone, 200 is a propelling cylinder control system, 201 is a hydraulic pump, 202 is an electric motor, 203 is a coupler, 204 is a pressure detection mechanism, 205 is an oil conveying pipeline, 206 is a one-way valve, 207 is a propelling cylinder, 208 is an electromagnetic directional valve, 2081 is a first oil port, 2082 is a second oil port, 2083 is a third oil port, 2084 is a fourth oil port, 209 is a controller, 2091 is a preset flow storage port, 2092 is a preset pressure storage port, 2093 is a signal feedback port, 2094 is a first output flow receiving port and a second output flow receiving port, 2095 is an output pressure receiving port, 2096 is a control output port, 210 is a hydraulic control one-way valve, 211 is a pressure sensor, 212 is a stroke sensor, 213 is a first safety valve, and 214 is a second safety valve.

Detailed Description

In view of the above, the core of the present invention is to provide a control system for a propulsion cylinder, which can effectively improve the control accuracy of the propulsion speed and the propulsion force of the heading machine.

Another core of the present invention is to provide a control system of a hydraulic propulsion system.

The invention also provides a heading machine.

The other core of the invention also provides a control method of the propulsion oil cylinder.

In order to make the technical field of the invention better understand, the invention is further described in detail with reference to the accompanying drawings and the detailed description, and please refer to fig. 1 to 2.

Referring to fig. 1, a propulsion cylinder control system disclosed in the embodiment of the present invention includes a power mechanism, a propulsion mechanism, an oil pipeline 205, and a controller 209, where the power mechanism includes a hydraulic pump 201, a pressure detection mechanism 204, and a flow detection mechanism, and the propulsion mechanism includes a propulsion cylinder 207; the hydraulic pump 201 is used for providing hydraulic oil; the pressure detection mechanism 204 is used for detecting the pressure of the hydraulic pump 201; the flow detection mechanism is used for detecting the flow of the hydraulic pump 201; the oil conveying pipeline 205 is communicated with a power mechanism and a propelling mechanism, and the power mechanism and the propelling mechanism are respectively and electrically connected with the controller;

when the pressure of the hydraulic pump 201 is less than the preset pressure, the controller 209 outputs a flow rate adjustment signal to the hydraulic pump 201; after receiving the flow rate adjusting signal, the hydraulic pump 201 converts the flow rate adjusting signal into a first receiving signal, and then feeds the first receiving signal back to the controller 209, meanwhile, the hydraulic pump 201 adjusts the first output flow rate of the hydraulic pump 201 according to the flow rate adjusting signal until the first output flow rate reaches the preset flow rate value, the hydraulic pump 201 feeds the first output flow rate signal back to the controller 209, and after receiving the first output flow rate signal, the controller 209 compares the first output flow rate with the preset flow rate value, and determines whether the first output flow rate is equal to the preset flow rate value; when the first output flow is equal to the preset flow value, controlling the first output flow to be kept unchanged; when the first output flow is not equal to the preset flow value, adjusting the first output flow until the first output flow is the preset flow value, and executing the hydraulic pump 201 according to the first output flow meeting the conditions to control the extension or retraction of the propulsion oil cylinder;

when the pressure of the hydraulic pump 201 is equal to the preset pressure, the controller 209 outputs a pressure adjusting signal to the hydraulic pump 201, the hydraulic pump 201 receives the pressure adjusting signal and converts the pressure adjusting signal into a second receiving signal, and then the second receiving signal is fed back to the controller 209, meanwhile, the hydraulic pump 201 adjusts the output pressure of the hydraulic pump 201 according to the pressure adjusting signal until the output pressure reaches the preset pressure value, the hydraulic pump 201 feeds back the output pressure signal to the controller 209, the controller 209 receives the output pressure signal and then compares the output pressure with the preset pressure value, and whether the output pressure is equal to the preset pressure value is judged; when the output pressure is equal to a preset pressure value, controlling the output pressure to be unchanged; when the output pressure is not equal to the preset pressure value, the output pressure is adjusted until the output pressure is the preset pressure value, and the hydraulic pump 201 executes according to a second output flow corresponding to the output pressure meeting the condition to control the extension or retraction of the propulsion cylinder.

Therefore, the propulsion oil cylinder control system disclosed by the invention adopts a double-closed-loop control method of electro-hydraulic flow closed-loop control and pressure closed-loop control, and meanwhile, each closed loop is internally provided with a control signal feedback closed loop, so that the accuracy of the hydraulic pump 201 for obtaining the control signal can be ensured. Compared with the prior art, the control system of the propulsion oil cylinder effectively improves the control precision of the output flow and the output pressure of the hydraulic pump 201, thereby effectively improving the control precision of the propulsion speed and the propulsion pressure of the development machine.

It should be noted that the controller 209 includes a preset flow storage port 2091, a preset pressure storage port 2092, a signal feedback port 2093, first and second output flow receiving ports 2094, an output pressure receiving port 2095, and a control output port 2096.

The preset flow storage port 2091 is configured to store a preset flow of the hydraulic pump 201, the preset pressure storage port 2092 is configured to store a preset pressure of the hydraulic pump 201, the signal feedback port 2093 is configured to feed back a first receiving signal and a second receiving signal to the controller 209, the first output flow port 2094 and the second output flow port 2094 are configured to receive a first output flow and a second output flow of the hydraulic pump 201, the output pressure receiving port 2095 is configured to receive an output pressure of the hydraulic pump 201, and the control output port is configured to control the hydraulic pump 201 to output according to the first output flow meeting a condition or output according to a second output flow corresponding to the output pressure meeting the condition.

Referring to fig. 1, in a propulsion cylinder control system 200 according to an embodiment of the present invention, the power mechanism further includes an electric motor 202 for supplying power to a hydraulic pump 201, and a coupling 203 for connecting the electric motor 202 and the hydraulic pump 201. Wherein the electric motor 202 is capable of powering the hydraulic pump 201 and the coupling 203 is capable of transmitting the power of the electric motor 202 to the hydraulic pump 201.

It should be noted that the hydraulic pump 201 is connected to an external oil source to provide hydraulic oil for the entire control system of the propulsion cylinder 207.

In order to further optimize the above embodiment, the power mechanism disclosed in the embodiment of the present invention further includes a check valve 206 disposed on the oil delivery pipe 205 for preventing the hydraulic oil from flowing back.

In order to further optimize the above embodiment, the power mechanism disclosed in the embodiment of the present invention further includes a first relief valve 213 for limiting the outlet pressure of the hydraulic pump.

In order to further optimize the above embodiment, in the propulsion cylinder control system 200 disclosed in the embodiment of the present invention, the propulsion mechanism further includes an electromagnetic directional valve 208 disposed on the oil pipeline 205, wherein the electromagnetic directional valve 208 is disposed between the hydraulic pump 201 and the propulsion cylinder 207, wherein the electromagnetic directional valve 208 is a three-position four-way directional valve, the three-position four-way directional valve includes a valve body, a directional cavity communicated with the first oil port, the second oil port, the third oil port, and the fourth oil port is disposed in the valve body, a valve core is disposed in the directional cavity, and oil path direction change of the electromagnetic directional valve is achieved by controlling the valve core.

The invention discloses a working state explanation of an electromagnetic directional valve when a heading machine normally works.

When the heading machine normally works, the thrust cylinder 207 is divided into a thrust mode extending state, a splicing mode retracting state and a splicing mode extending state.

As a first embodiment of the present invention, when the propulsion cylinder 207 is in the propulsion mode extending state, the right side of the electromagnetic directional valve 208 is powered, the spool is in the right position, at this time, after hydraulic oil of the hydraulic pump 201 passes through the check valve 206, hydraulic oil from the hydraulic pump 208 enters the second oil port 2082 from the first oil port of the electromagnetic directional valve 208 through the oil passage in the direction changing cavity, and enters the rodless cavity of the propulsion cylinder 207 through the hydraulic control check valve 210, while oil in the rod cavity of the propulsion cylinder 207 enters the third oil port 2083 from the fourth oil port 2084 through the oil passage in the direction changing cavity and flows back to the oil tank, at this time, the propulsion cylinder 207 extends out, and the extending length and the extending force of the propulsion cylinder 207 provide propulsion speed and propulsion force for the heading machine in the propulsion mode. The preset pressure and the preset flow in the control system of the propulsion cylinder 207 are adjusted in real time according to different road conditions, the propulsion speed and the propulsion force of the heading machine can be controlled in real time, and therefore the attitude of the heading machine is controlled.

As a second embodiment of the present invention, when the propulsion cylinder 207 is in the splicing retraction mode, the left side of the electromagnetic directional valve 208 is powered, the spool is in the left position, at this time, after hydraulic oil of the hydraulic pump 201 passes through the check valve 206, hydraulic oil of the electromagnetic directional valve 208 enters the fourth oil port 2084 from the first oil port 2081 of the electromagnetic directional valve 208 through an oil passage in the direction change chamber, and enters the rod chamber of the propulsion cylinder 207 through the hydraulic control check valve 210, while oil of the rodless chamber of the propulsion cylinder 207 enters the third oil port 2083 from the second oil port 2082 through an oil passage in the direction change chamber and flows back to the oil tank, at this time, the propulsion cylinder 207 is retracted, and the preset pressure and the preset flow rate in the control system of the propulsion cylinder 207 are constant values, so that the hydraulic pump 201 outputs pressure and flow rate according to the constant pressure pump.

As a third embodiment of the present invention, when the propulsion cylinder 207 is in the splicing extension mode, the right electric spool of the electromagnetic directional valve 208 is in the right position, at this time, after hydraulic oil of the hydraulic pump 201 passes through the check valve 206, hydraulic oil enters the second oil port 2082 from the first oil port of the electromagnetic directional valve 208 through an oil passage in the direction changing cavity, and enters the rodless cavity of the propulsion cylinder 207 through the hydraulic control check valve 210, while oil of the rod cavity of the propulsion cylinder 207 enters the third oil port 2083 from the fourth oil port 2084 through the oil passage in the direction changing cavity and flows back to the oil tank, at this time, the propulsion cylinder 207 extends out, and the preset pressure and the preset flow rate in the control system of the propulsion cylinder 207 are constant values, so that the hydraulic pump 201 outputs pressure and flow rate according to the constant pressure pump.

In order to prevent the propulsion cylinder 207 from being pressed back by a load in a shutdown state, the propulsion cylinder control system disclosed in the embodiment of the invention further includes a pilot-operated check valve 210, wherein the pilot-operated check valve 210 is disposed between the electromagnetic directional valve 208 and the propulsion cylinder 207.

In order to ensure that the propulsion cylinder control system is not damaged due to excessive pressure, the propulsion cylinder control system disclosed in the embodiment of the present invention further includes a second safety valve 214 for limiting the pressure inside the rod chamber of the propulsion cylinder 207.

The embodiment of the invention also discloses a hydraulic propulsion system, which comprises a plurality of hydraulic propulsion subareas 100, wherein any hydraulic propulsion subarea 100 comprises at least one propulsion oil cylinder control system according to any one of the above embodiments.

Any one of the hydraulic propulsion subareas 100 comprises a power mechanism in a propulsion oil cylinder control system, a controller 209 and a plurality of propulsion mechanisms, wherein the power mechanism and any one of the propulsion mechanisms are connected in series, the plurality of propulsion mechanisms are connected in parallel, and the controller is respectively electrically connected with the power mechanism and the propulsion mechanism.

Compared with the prior art, the whole hydraulic control system adopts a single-zone single-pump control mode, and avoids the pressure loss of a plurality of propulsion zones controlled by one pump in the traditional propulsion oil cylinder control system, thereby reducing the energy loss of the whole system and improving the energy saving performance of the system.

The embodiment of the invention also discloses a heading machine which comprises the hydraulic propulsion system disclosed by any one of the embodiments.

Since the heading machine adopts the hydraulic propulsion system disclosed in any one of the above embodiments, the heading machine has the technical advantages of the hydraulic propulsion system disclosed in the above embodiments, and the description of the present application is omitted.

The embodiment of the invention also discloses a control method of the propulsion oil cylinder, which comprises the following steps: acquiring the pressure of the hydraulic pump 201; acquiring the flow rate of the hydraulic pump 201;

when the pressure of the hydraulic pump 201 is less than the preset pressure, the controller 209 outputs a flow rate adjustment signal to the hydraulic pump 201; after receiving the flow rate adjusting signal, the hydraulic pump 201 converts the flow rate adjusting signal into a first receiving signal, and then feeds the first receiving signal back to the controller 209, meanwhile, the hydraulic pump 201 adjusts the first output flow rate of the hydraulic pump 201 according to the flow rate adjusting signal until the first output flow rate reaches the preset flow rate value, the hydraulic pump 201 feeds the first output flow rate signal back to the controller 209, and after receiving the first output flow rate signal, the controller 209 compares the first output flow rate with the preset flow rate value, and determines whether the first output flow rate is equal to the preset flow rate value; when the first output flow is equal to the preset flow value, controlling the first output flow to be kept unchanged; when the first output flow is not equal to the preset flow value, adjusting the first output flow until the first output flow is the preset flow value, and executing the hydraulic pump 201 according to the first output flow meeting the conditions to control the extension or retraction of the propulsion oil cylinder;

when the pressure of the hydraulic pump 201 is equal to the preset pressure, the controller 209 outputs a pressure adjusting signal to the hydraulic pump 201, the hydraulic pump 201 receives the pressure adjusting signal and converts the pressure adjusting signal into a second receiving signal, and then the second receiving signal is fed back to the controller 209, meanwhile, the hydraulic pump 201 adjusts the output pressure of the hydraulic pump 201 according to the pressure adjusting signal until the output pressure reaches the preset pressure value, the hydraulic pump 201 feeds back the output pressure signal to the controller 209, the controller 209 receives the output pressure signal and then compares the output pressure with the preset pressure value, and whether the output pressure is equal to the preset pressure value is judged; when the output pressure is equal to a preset pressure value, controlling the output pressure to be unchanged; when the output pressure is not equal to the preset pressure value, the output pressure is adjusted until the output pressure is the preset pressure value, and the hydraulic pump 201 executes according to a second output flow corresponding to the output pressure meeting the condition to control the extension or retraction of the propulsion cylinder.

Therefore, the control method of the propulsion oil cylinder disclosed by the invention adopts a double-closed-loop control method of electro-hydraulic flow closed-loop control and pressure closed-loop control, and meanwhile, a control signal feedback closed loop is arranged in each closed loop, so that the accuracy of the control signal obtained by the hydraulic pump 201 can be ensured. Compared with the prior art, the control method of the propulsion cylinder effectively improves the control precision of the output flow and the output pressure of the hydraulic pump 201, thereby effectively improving the control precision of the propulsion speed and the propulsion pressure of the development machine.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.