Drive system with both fixed-displacement hydraulic motors and variable-displacement hydraulic motors for cutter head of boring machine and control method thereof

Abstract

A drive system with both fixed-displacement hydraulic motors and variable-displacement hydraulic motors for a cutter head of a boring machine and a control method thereof are provided. The drive system includes a variable-displacement hydraulic motor group, a fixed-displacement hydraulic motor group and a variable-displacement hydraulic pump group. The variable-displacement hydraulic motor group, the fixed-displacement hydraulic motor group, and the variable-displacement hydraulic pump group are all connected to a main oil circuit of a cutter head system of the boring machine. The variable-displacement hydraulic pump group inputs flow to the main oil circuit; and, the variable-displacement hydraulic motor group and the fixed-displacement hydraulic motor group acquire flow from the main oil circuit. Displacements of the fixed-displacement hydraulic motor group and the variable-displacement hydraulic motor group are set in a way of specific displacement combination. The present invention decreases an engineering cost, and improves system reliability and efficiency.

Claims

1. A drive system with both fixed-displacement hydraulic motors and variable-displacement hydraulic motors for a cutter head of a boring machine, comprising a variable-displacement hydraulic motor group, a fixed-displacement hydraulic motor group, and a variable-displacement hydraulic pump group, wherein: the variable-displacement hydraulic motor group, the fixed-displacement hydraulic motor group, and the variable-displacement hydraulic pump group are all connected to a main oil circuit of a cutter head system of the boring machine; the variable-displacement hydraulic pump group inputs flow to the main oil circuit; and, the variable-displacement hydraulic motor group and the fixed-displacement hydraulic motor group acquire flow from the main oil circuit.

2. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 1, wherein: the drive system is constructed with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors; displacements of the fixed-displacement hydraulic motor group and the variable-displacement hydraulic motor group are set in a way of displacement combination; and a rotational speed of the cutter head of the boring machine is determined by the displacements of the two motor groups and a displacement of the pump group.

3. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 2, wherein: the variable-displacement hydraulic motor group comprises multiple variable-displacement hydraulic motors which are connected to the main oil circuit in parallel; two ends of each variable-displacement hydraulic motor are respectively connected to two circuits of the main oil circuit; the variable-displacement hydraulic motors in the variable-displacement hydraulic motor group are controlled simultaneously or respectively.

4. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 3, wherein: the number of the fixed-displacement hydraulic motors in the fixed-displacement hydraulic motor group is determined by taking an integer portion m of a motor number x obtained through calculating a formula of $x=\frac{V}{V_{g\max }};$ in the formula of $x=\frac{V}{V_{g\max }},$ V.sub.g max represents a maximum displacement of each fixed-displacement hydraulic motor, and V represents a required motor displacement for reaching a highest designed rotational speed, which is determined according to an actual engineering load; and the number of the variable-displacement hydraulic motors in the variable-displacement hydraulic motor group is n−m; n is a design motor number of the cutter head of the boring machine; a designed minimum value of displacement of each variable-displacement hydraulic motor is $\frac{x-m}{n-m}.Math.V_{g\max },$ and a designed maximum value is V.sub.g max′; V.sub.g max′ represents the maximum displacement of each variable-displacement hydraulic motor.

5. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 4, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with a stepless displacement setting, particularly a hydraulic-proportion-controlled variable-displacement hydraulic motor or an electric-proportion-controlled variable-displacement hydraulic motor.

6. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 4, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with two displacements of V.sub.g min and V.sub.g max, particularly a two-point hydraulically controlled variable-displacement hydraulic motor or a two-point electrically controlled variable-displacement hydraulic motor.

7. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 2, wherein: the fixed-displacement hydraulic motor group comprises multiple fixed-displacement hydraulic motors which are connected to the main oil circuit in parallel; two ends of each fixed-displacement hydraulic motor are respectively connected to two circuits of the main oil circuit.

8. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 7, wherein: the number of the fixed-displacement hydraulic motors in the fixed-displacement hydraulic motor group is determined by taking an integer portion m of a motor number x obtained through calculating a formula of $x=\frac{V}{V_{g\max }};$ in the formula of $x=\frac{V}{V_{g\max }},$ V.sub.g max represents a maximum displacement of each fixed-displacement hydraulic motor, and V represents a required motor displacement for reaching a highest designed rotational speed, which is determined according to an actual engineering load; and the number of the variable-displacement hydraulic motors in the variable-displacement hydraulic motor group is n−m; n is a design motor number of the cutter head of the boring machine; a designed minimum value of displacement of each variable-displacement hydraulic motor is $\frac{x-m}{n-m}.Math.V_{g\max },$ and a designed maximum value is V.sub.g max′; V.sub.g max′ represents the maximum displacement of each variable-displacement hydraulic motor.

9. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 8, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with a stepless displacement setting, particularly a hydraulic-proportion-controlled variable-displacement hydraulic motor or an electric-proportion-controlled variable-displacement hydraulic motor.

10. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 8, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with two displacements of V.sub.g min and V.sub.g max, particularly a two-point hydraulically controlled variable-displacement hydraulic motor or a two-point electrically controlled variable-displacement hydraulic motor.

11. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 1, wherein: the variable-displacement hydraulic motor group comprises multiple variable-displacement hydraulic motors which are connected to the main oil circuit in parallel; two ends of each variable-displacement hydraulic motor are respectively connected to two circuits of the main oil circuit; the variable-displacement hydraulic motors in the variable-displacement hydraulic motor group are controlled simultaneously or respectively.

12. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 1, wherein: the fixed-displacement hydraulic motor group comprises multiple fixed-displacement hydraulic motors which are connected to the main oil circuit in parallel; two ends of each fixed-displacement hydraulic motor are respectively connected to two circuits of the main oil circuit.

13. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 1, wherein: the number of the fixed-displacement hydraulic motors in the fixed-displacement hydraulic motor group is determined by taking an integer portion m of a motor number x obtained through calculating a formula of $x=\frac{V}{V_{g\max }};$ in the formula of $x=\frac{V}{V_{g\max }},$ V.sub.g max represents a maximum displacement of each fixed-displacement hydraulic motor, and V represents a required motor displacement for reaching a highest designed rotational speed, which is determined according to an actual engineering load; and the number of the variable-displacement hydraulic motors in the variable-displacement hydraulic motor group is n−m; n is a design motor number of the cutter head of the boring machine; a designed minimum value of displacement of each variable-displacement hydraulic motor is $\frac{x-m}{n-m}.Math.V_{g\max },$ and a designed maximum value is V.sub.g max′; V.sub.g max′ represents the maximum displacement of each variable-displacement hydraulic motor.

14. The drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 1, further comprising a motor concentrated flushing device which is connected between the variable-displacement hydraulic motor group, the fixed-displacement hydraulic motor group and the main oil circuit, wherein: the motor concentrated flushing device comprises a speed regulation valve (2), an energy accumulator (3) and a two-position three-way valve (4); a P port of the two-position three-way valve (4) is connected to a second oil circuit B of the main oil circuit; a T port of the two-position three-way valve (4) is connected to a first oil circuit A of the main oil circuit; an A port of the two-position three-way valve (4) is connected to the energy accumulator (3) through the speed regulation valve (2); a flow speed of oil is regulated through the speed regulation valve (2); the oil after passing through the speed regulation valve (2) flows into motor housings of the variable-displacement hydraulic motor group and the fixed-displacement hydraulic motor group through a throttle value (1), so as to flush and cool motor bearings; and the oil after flushing and cooling flows back to an oil tank.

15. A method for controlling a drive system with both fixed-displacement hydraulic motors and variable-displacement hydraulic motors for a cutter head of a boring machine, comprising steps of: connecting both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors to a main oil circuit of a cutter head system of the boring machine, so as to construct the hydraulic drive system for the cutter head of the boring machine; setting displacements of the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors in a way of specific displacement combination; and controlling a rotational speed of the cutter head of the boring machine with the displacements of the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors and displacements of variable-displacement hydraulic pumps.

16. The method for controlling the drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 15, wherein “setting displacements of the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors in a way of specific displacement combination” particularly comprises steps of: determining a required motor displacement V for reaching a highest designed rotational speed according to an actual engineering load; and calculating a required motor number x when the cutter head system of the boring machine works at a maximum displacement through a formula of $x=\frac{V}{V_{g\max }},$ wherein V.sub.g max represents a maximum displacement of each fixed-displacement hydraulic motor; taking an integer portion m of the required motor number x as a total number of the fixed-displacement hydraulic motors in a fixed-displacement hydraulic motor group; and taking n−m as a total number of the variable-displacement hydraulic motors in a variable-displacement hydraulic motor group; wherein: n is the design motor number of the boring machine; and, n represents a total number of all motors in the variable-displacement hydraulic motor group and the fixed-displacement hydraulic motor group; and for the variable-displacement hydraulic motor group, setting a displacement range of each variable-displacement hydraulic motor to be $\frac{x-m}{n-m}.Math.V_{g\max }\sim V_{g\max }^{\prime },$ namely setting a designed minimum value of displacement of each variable-displacement hydraulic motor to be $\frac{x-m}{n-m}.Math.V_{g\max },$ wherein V.sub.g max′ represents a maximum displacement of each variable-displacement hydraulic motor.

17. The method for controlling the drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 16, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with a stepless displacement setting, particularly a hydraulic-proportion-controlled variable-displacement hydraulic motor or an electric-proportion-controlled variable-displacement hydraulic motor.

18. The method for controlling the drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 16, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with two displacements of V.sub.g and V.sub.g, particularly a two-point hydraulically controlled variable-displacement hydraulic motor or a two-point electrically controlled variable-displacement hydraulic motor.

19. The method for controlling the drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 15, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with a stepless displacement setting, particularly a hydraulic-proportion-controlled variable-displacement hydraulic motor or an electric-proportion-controlled variable-displacement hydraulic motor.

20. The method for controlling the drive system with both the fixed-displacement hydraulic motors and the variable-displacement hydraulic motors for the cutter head of the boring machine, as recited in claim 15, wherein: each variable-displacement hydraulic motor adopts a variable-displacement hydraulic motor with two displacements of V.sub.g min and V.sub.g max, particularly a two-point hydraulically controlled variable-displacement hydraulic motor or a two-point electrically controlled variable-displacement hydraulic motor.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a principle sketch view of a combined system of variable-displacement hydraulic motors and fixed-displacement hydraulic motors according to the present invention.

(2) FIG. 2 is a principle sketch view of the combined system of the variable-displacement hydraulic motors and the fixed-displacement hydraulic motors with adding a motor concentrated flushing device according to the present invention.

(3) In figures: E1, E2, . . . , and Ee are all variable-displacement hydraulic motors; F1, F2, . . . , and Ff are all fixed-displacement hydraulic motors; G1, . . . , and Gg are all variable-displacement hydraulic pumps; “1” represents a throttle value; “2” represents a speed regulation valve; “3” represents an energy accumulator; and “4” represents a two-position three-way valve.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

(4) The present invention is further illustrated with accompanying drawings and preferred embodiments as follows.

(5) As shown in FIG. 1, a system comprises e variable-displacement hydraulic motors, respectively E1, E2, . . . , and Ee, f fixed-displacement hydraulic motors, respectively F1, F2, . . . , and Ff, g variable-displacement hydraulic pumps, respectively G1, . . . , and Gg, and main oil circuits, respectively A and B, wherein: an oil port B11 of a first variable-displacement hydraulic motor E1 is connected to a second main oil circuit B, and an oil port A11 of the first variable-displacement hydraulic motor E1 is connected to a first main oil circuit A; an oil port B12 of a second variable-displacement hydraulic motor E2 is connected to the second main oil circuit B, and an oil port A12 of the second variable-displacement hydraulic motor E2 is connected to the first main oil circuit A; an oil port B1e of an e.sup.th variable-displacement hydraulic motor Ee is connected to the second main oil circuit B, and an oil port A1e of the e.sup.th variable-displacement hydraulic motor Ee is connected to the first main oil circuit A. It should be illustrated that: the number e of the variable-displacement hydraulic motors herein is determined by the above method; in figures, the variable-displacement hydraulic motors are briefly showed; and subscripts of B11 to B1e are used to represent the number e of the variable-displacement hydraulic motors, which is not a determined value; and all the variable-displacement hydraulic motors are connected to both of the main oil circuits A and B. An oil port B21 of a first fixed-displacement hydraulic motor F1 is connected to the second main oil circuit B, and an oil port A21 of the first fixed-displacement hydraulic motor F1 is connected to the first main oil circuit A; an oil port B22 of a second fixed-displacement hydraulic motor F2 is connected to the second main oil circuit B, and an oil port A22 of the second fixed-displacement hydraulic motor F2 is connected to the first main oil circuit A; an oil port B2f of an f.sup.th fixed-displacement hydraulic motor Ff is connected to the second main oil circuit B, and an oil port A2f of the f.sup.th fixed-displacement hydraulic motor Ff is connected to the first main oil circuit A. It should be illustrated that: the number f of the fixed-displacement hydraulic motors herein is determined by the above method; in figures, the fixed-displacement hydraulic motors are briefly showed; and subscripts of B21 to B2f are used to represent the number f of the fixed-displacement hydraulic motors, which is not a determined value; and all the fixed-displacement hydraulic motors are connected to both of the main oil circuits A and B. An oil port PB1 of a first variable-displacement hydraulic pump G1 is connected to the second main oil circuit B, and an oil port PA1 of the first variable-displacement hydraulic pump G1 is connected to the first main oil circuit A; an oil port PBg of a g.sup.th variable-displacement hydraulic pump Gg is connected to the second main oil circuit B, and an oil port PAg of the g.sup.th variable-displacement hydraulic pump Gg is connected to the first main oil circuit A. It should be illustrated that: the number g of the variable-displacement hydraulic pumps herein is determined according to actual requirements; in figures, the variable-displacement hydraulic pumps are briefly showed; and subscripts of PB1 to PBg are used to represent the number g of the variable-displacement hydraulic pumps, which is not a determined value; and all the variable-displacement hydraulic pumps are connected to both of the main oil circuits A and B.

(6) The variable-displacement hydraulic motors, E1, E2, . . . , and Ee, have various types, for example, HD-type hydraulic-proportion-controlled variable-displacement hydraulic motor, HD.D-type hydraulic-proportion-controlled variable-displacement hydraulic motor with fixed setting pressure control, EP-type electric-proportion-controlled variable-displacement hydraulic motor, EP.D-type electric-proportion-controlled variable-displacement hydraulic motor with fixed pressure control, HZ-type two-point hydraulically controlled variable-displacement hydraulic motor, and EZ-type two-point electrically controlled variable-displacement hydraulic motor. It should be noted that: the above-described variable-displacement hydraulic motors are merely some types in the various variable-displacement hydraulic motors, and the present invention is also related to other types of variable-displacement hydraulic motors.

(7) FIG. 2 is a principle sketch view of the combined system of the variable-displacement hydraulic motors and the fixed-displacement hydraulic motors with adding a motor concentrated flushing device. The motor concentrated flushing device is connected between the variable-displacement hydraulic motor group, the fixed-displacement hydraulic motor group and the main oil circuits, comprising a speed regulation valve 2, an energy accumulator 3 and a two-position three-way valve 4, wherein: a P port of the two-position three-way valve 4 is connected to the second main oil circuit B; a T port of the two-position three-way valve 4 is connected to the first main oil circuit A; an A port of the two-position three-way valve 4 is connected to the energy accumulator 3 through the speed regulation valve 2; a flow speed of oil is regulated through the speed regulation valve 2; the energy accumulator 3 is respectively connected to motor housings of the variable-displacement hydraulic motor group and the fixed-displacement hydraulic motor group through a throttle value 1, so as to flush and cool the motor bearings; and the oil after flushing and cooling flows back to an oil tank. In order to avoid a peak occurrence of a flushing flow caused by a large oil pressure at a backpressure side during a braking process of the cutter head, the energy accumulator 3 is connected to an oil circuit at a position before the oil enters the motors.

(8) Preferred embodiments of the present invention are described as follows.

First Preferred Embodiment

(9) For the system shown in FIG. 1, according to the actual engineering load and other limit conditions, the required motor total number n is determined to be n=8, the required motor displacement is V=2200 cm.sup.3, and the maximum displacement of each fixed-displacement hydraulic motor and each variable-displacement hydraulic motor is V.sub.g max=500 cm.sup.3. Thus, the required number of the motors at the maximum displacement is

(10) $x=\frac{V}{V_{gm\mathrm{ax}}}=\frac{2200}{500}=4.4,$
and the number of the fixed-displacement hydraulic motors should be smaller than or equal to 4. With the principle of optimality, the fixed-displacement hydraulic motors should be adopted as much as possible, and the number of the variable-displacement hydraulic motors should be decreased as far as possible, so that the maximum value 4 is taken; that is to say, the number of the fixed-displacement hydraulic motors is m=4, and the number of the variable-displacement hydraulic motors is n−m=8−4=4; the total displacement required to be provided by the variable-displacement hydraulic motors is (x−m).Math.V.sub.g max=(4.4−4).Math.V.sub.g max=0.4.Math.V.sub.g max=200 cm.sup.3; and the minimum displacement of each variable-displacement hydraulic motor is

(11) $V_{gmin}=\frac{x-m}{n-m}.Math.V_{gm\mathrm{ax}}=\frac{4.4-4}{8-4}\times 500=50{\mathrm{cm}}^3.$
Therefore, it is determined that: the number of the fixed-displacement hydraulic motors is 4; the number of the variable-displacement hydraulic motors is 4; and the displacement range of each variable-displacement hydraulic motor is 50 cm.sup.3 500 cm.sup.3.

Second Preferred Embodiment

(12) For the system shown in FIG. 1, according to the actual engineering load and other limit conditions, the required motor total number n is determined to be n=9, the required motor displacement is V=2475 cm.sup.3, and the maximum displacement of each fixed-displacement hydraulic motor and each variable-displacement hydraulic motor is V.sub.g max=500 cm.sup.3. Thus, the required number of the motors at the maximum displacement is

(13) $x=\frac{V}{V_{gm\mathrm{ax}}}=\frac{2475}{500}=4.95,$
and the number of the fixed-displacement hydraulic motors should be smaller than or equal to 4. With the principle of optimality, the fixed-displacement hydraulic motors should be adopted as much as possible, and the number of the variable-displacement hydraulic motors should be decreased as far as possible, so that the maximum value 4 is taken; that is to say, the number of the fixed-displacement hydraulic motors is m=4, and the number of the variable-displacement hydraulic motors is n-m=9−4=5; the total displacement required to be provided by the variable-displacement hydraulic motors is (x−m).Math.V.sub.g max=(4.95−4).Math.V.sub.g max=0.95.Math.V.sub.g max=475 cm.sup.3; and the minimum displacement of each variable-displacement hydraulic motor is

(14) $V_{g\min }=\frac{4.95-4}{9-4}\times 500=95{\mathrm{cm}}^3.$
Therefore, it is determined that: the number of the fixed-displacement hydraulic motors is 4; the number of the variable-displacement hydraulic motors is 5; and the displacement range of each variable-displacement hydraulic motor is 95 cm.sup.3 500 cm.sup.3.

Third Preferred Embodiment

(15) For the system shown in FIG. 1, according to the actual engineering load and other limit conditions, the required motor total number n is determined to be n=7, the required motor displacement is V=2000 cm.sup.3, and the maximum displacement of each fixed-displacement hydraulic motor and each variable-displacement hydraulic motor is V.sub.g max=500 cm.sup.3. Thus, the required number of the motors at the maximum displacement is

(16) $x=\frac{V}{V_{g\max }}=\frac{2000}{500}=4,$
and the number of the fixed-displacement hydraulic motors should be smaller than or equal to 4. With the principle of optimality, the fixed-displacement hydraulic motors should be adopted as much as possible, and the number of the variable-displacement hydraulic motors should be decreased as far as possible, so that the maximum value 4 is taken; that is to say, the number of the fixed-displacement hydraulic motors is m=4, and the number of the variable-displacement hydraulic motors is n−m=7−4=3; the total displacement required to be provided by the variable-displacement hydraulic motors is (x−m).Math.V.sub.g max=(4−4).Math.V.sub.g max=0.Math.V.sub.g max=0; and the minimum displacement of each variable-displacement hydraulic motor is

(17) $V_{g\min }=\frac{x-m}{n-m}.Math.V_{g\max }=0{\mathrm{cm}}^3.$
Therefore, it is determined that: the number of the fixed-displacement hydraulic motors is 4; the number of the variable-displacement hydraulic motors is 3; and the displacement range of each variable-displacement hydraulic motor is 0 cm.sup.3 500 cm.sup.3.

(18) The above illustrated preferred embodiments further describe the objects, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above preferred embodiments are not for limiting the present invention. All modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention are included in the protection scope of the present invention.