A TBM cutterhead torque hydraulic support system based on direct bearing of support shoes

Abstract

The present invention discloses a TBM cutterhead torque hydraulic support system based on direct bearing of support shoes, which solves the technical problems that the existing cutterhead torque hydraulic support system easily causes sealing failure of support shoe hydraulic cylinder, deformation of piston rod and the like. The present invention comprises a saddle frame connected to the main beam, the saddle frame is connected to the support shoe through the support shoe cylinder, the support shoe cylinder and the saddle frame are connected through a ball joint structure, a torque cylinder is hinged between the saddle frame and the support shoe, and the support shoe cylinder and the torque cylinder are connected to a hydraulic control system. The present invention directly transmits the cutterhead torque load on the main beam to the support shoe, improves the stress state of the support shoe hydraulic cylinder, and improves the support stability of the main beam.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel boring machine support shoe support systems, and in particular to a TBM cutter head torque hydraulic support system based on direct support of support shoes. Background Art

[0002] The cutterhead torque hydraulic support system is located at the rear of the TBM shield. It is mainly composed of two sets of hydraulic cylinder groups and their hydraulic control circuits symmetrically arranged on both sides of the main beam. It is mainly responsible for transmitting the cutterhead load torque from the main beam to the support shoe hydraulic cylinder to ensure the stability of the TBM's rotation posture during excavation.

[0003] The traditional TBM cutterhead torque hydraulic support system transmits the cutterhead load torque on the main beam to the cylinder barrel of the support shoe hydraulic cylinder. The cutterhead load torque is transmitted along the cylinder barrel to the piston rod and further to the support shoe, which will generate radial disturbance force on the support shoe hydraulic cylinder, easily leading to problems such as seal failure of the support shoe hydraulic cylinder and deformation of the piston rod.

[0004] For example, the Chinese utility model patent with the authorization announcement date of 2021.11.26 and the authorization announcement number of CN 214887067 U discloses an auxiliary propulsion device for a tunnel boring machine, including a support shoe connected to the main beam through a saddle frame, the saddle frame is connected to a saddle frame support seat through a telescopic mechanism, and steel pipe segments radially corresponding to the support shoe and / or the saddle frame support seat are arranged in the fracture zone and rock burst section. The support shoe and / or the saddle frame support seat are crimped and matched with the steel pipe segment. Specifically, a traditional structure of a cutter head torque hydraulic support system is disclosed, which will generate radial disturbance force on the support shoe hydraulic cylinder, which is easy to cause problems such as sealing failure of the support shoe hydraulic cylinder and deformation of the piston rod.

[0005] Another example is a Chinese utility model patent with an authorization announcement date of 2021.11.26 and an authorization announcement number of CN 214887067 U, which discloses a center ball hinge mechanism for a rock tunnel TBM tunneling machine, including an integrated tightening oil cylinder, wherein an inner cavity is formed in the middle of the integrated tightening oil cylinder, wherein an upper sleeve of a center ball shaft and a lower sleeve of a center ball shaft are vertically arranged inside the inner cavity, and mounting support rings are fixed on both sides of the inner cavity by bolts, and the top of the mounting support ring is fittedly connected to the lower sleeve of the center ball shaft, and a cavity is formed between the upper sleeve of the center ball shaft and the lower sleeve of the center ball shaft;

[0006] For another example, a Chinese invention patent application with an application publication date of 2012.09.26 and an application publication number of CN 102691506 A discloses an open-type hard rock tunnel boring machine spherical support main beam adjustment mechanism used in the field of full-section tunnel hard rock tunnel boring machines, which is composed of a cutterhead, a shield, a thrust cylinder, a main beam, a torque cylinder, an articulated ball pressure cover, a horizontal support cylinder, etc. The cutterhead, the shield and the main beam of the full-section tunnel hard rock tunnel boring machine are connected as a whole by bolts, the main beam and the saddle frame are assembled together by a box-shaped structure with a guide slideway, the two ends of the thrust cylinder are respectively hinged on the main beam and the support shoe, and guide slideways are respectively provided at the four corners of the main beam and the saddle frame. The saddle frame is connected to the horizontal support cylinder through the torque cylinders on both sides, the center pin is installed in the articulated ball and the two ends are fixed to the upper and lower plates of the saddle frame, and the center block is fixed to the two horizontal support cylinders by bolts.

[0007] In the above two public technical solutions, the torque hydraulic support system also directly transmits the cutter head load torque on the main beam to the cylinder of the gripper hydraulic cylinder, but adopts a spherical joint structure. Although the gripper has rotational freedom, it still does not solve the negative impact of the main beam torque on the gripper cylinder. Therefore, it is necessary to design a new decoupled cutter head torque hydraulic support system. Summary of the invention

[0008] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a TBM cutterhead torque hydraulic support system based on direct bearing of support shoes, which solves the technical problems of the existing cutterhead torque hydraulic support system that easily leads to sealing failure of the support shoe hydraulic cylinder and deformation of the piston rod.

[0009] The technical solution of the present application is implemented as follows: a TBM cutter head torque hydraulic support system based on direct support of support shoes, including a saddle frame connected to the main beam, the saddle frame is connected to the support shoe through a support shoe cylinder, the support shoe cylinder and the saddle frame are connected through a ball joint structure, a torque cylinder is hinged between the saddle frame and the support shoe, and the support shoe cylinder and the torque cylinder are connected to a hydraulic control system.

[0010] Furthermore, the shoe support cylinder includes a left shoe support cylinder and a right shoe support cylinder, and the left shoe support cylinder and the right shoe support cylinder are symmetrically arranged about the mid-vertical plane of the main beam. The left shoe support cylinder is connected to the shoe on the left side of the saddle frame, and the right shoe support cylinder is connected to the shoe on the right side of the saddle frame.

[0011] Further, the torque cylinder comprises a left torque cylinder group and a right torque cylinder group, the left torque cylinder group is hinged between the saddle frame and the left support shoe, and the right torque cylinder group is hinged between the saddle frame and the right support shoe.

[0012] Further, the torque cylinders in the left torque cylinder group are arranged at the front and rear sides of the left gripper cylinder, and the torque cylinders in the right torque cylinder group are arranged at the front and rear sides of the right gripper cylinder.

[0013] Furthermore, four torque cylinders are arranged on each side of the saddle frame, and the four torque cylinders are distributed in the form of four columns and two rows, each row includes two torque cylinders, and each column includes one torque cylinder, and the ends of the four torque cylinders connected to the support shoes are respectively located at the four corners of the side of the support shoes away from the rock wall.

[0014] Furthermore, the height of the position where the torque cylinder is connected to the saddle frame is higher than the height of the position where the torque cylinder is connected to the support shoe.

[0015] Furthermore, the torque cylinder includes a torque cylinder body and a torque cylinder piston rod. A torque cylinder piston rod ball hinge is arranged in the connecting earring of the torque cylinder piston rod, and a torque cylinder body ball hinge is arranged in the connecting earring of the torque cylinder body. When the torque cylinder piston rod ball hinge is connected to the saddle frame, the torque cylinder body ball hinge is connected to the support shoe; when the torque cylinder piston rod ball hinge is connected to the support shoe, the torque cylinder body ball hinge is connected to the saddle frame.

[0016] Further, the ball joint structure includes an inner ball joint base, an outer ball joint and an inner ball joint ball head, the inner ball joint ball head cooperates with a spherical surface on one side of the inner ball joint base, and the outer ball joint cooperates with a spherical surface on the other side of the inner ball joint base; the inner ball joint base is connected to the support shoe cylinder, and the outer ball joint and the inner ball joint ball head are both connected to the support shoe; or the inner ball joint base is connected to the support shoe, and the outer ball joint and the inner ball joint ball head are both connected to the support shoe cylinder.

[0017] Furthermore, a base annular spherical surface is provided on one edge of the inner ball hinge base, and a concave spherical surface is provided in the center of the other side, and the base annular spherical surface is concentrically arranged with the concave spherical surface. The outer ball hinge is annular and has a flange extending radially inward at one end, and a flange annular spherical surface is provided on the inner side surface of the flange, and the flange annular spherical surface is fitted with the base annular spherical surface.

[0018] Furthermore, the cylinder body of the shoe support cylinder is connected to the saddle frame, and the piston rod of the shoe support cylinder is connected to the shoe support through a ball joint structure, or the cylinder body of the shoe support cylinder is connected to the shoe support, and the piston rod of the shoe support cylinder is connected to the saddle frame through a ball joint structure.

[0019] Furthermore, the hydraulic control system includes a support shoe cylinder hydraulic control unit and a torque cylinder hydraulic control unit. The support shoe cylinder hydraulic control unit includes a proportional pressure reducing valve connected to the rodless chamber of the support shoe cylinder. The oil inlet end of the proportional pressure reducing valve is connected to the high-pressure oil source, and the oil return end is connected to the oil tank. The torque cylinder hydraulic control unit includes a torque cylinder oil inlet oil circuit connected to the rodless chamber of the torque cylinder and a torque cylinder oil return oil circuit connected to the rod chamber of the torque cylinder. The torque cylinder oil inlet oil circuit includes an oil tank, an oil pump, and an oil inlet end check valve connected in sequence. , a two-position two-way solenoid reversing valve at the oil inlet end, and a stop valve at the oil inlet end. The torque cylinder oil return oil circuit includes a return oil end stop valve, a two-position two-way solenoid reversing valve at the oil return end, and an oil tank connected in sequence. The oil inlet end stop valve, the return oil end stop valve, the high-pressure oil source, and the oil tank are connected via a three-position four-way proportional reversing valve. The oil inlet end stop valve is connected to the three-position four-way proportional reversing valve via an oil inlet end pressure sensor and an oil inlet end hydraulically controlled one-way valve. The return oil end stop valve is connected to the three-position four-way proportional reversing valve via an oil return end pressure sensor and an oil return end hydraulically controlled one-way valve.

[0020] Furthermore, during the extension of the support shoe cylinder, the torque cylinder is in a passive follow-up extension state; after the support shoe cylinder is extended and the support shoe holds the hole wall tightly, the torque cylinder outputs a supporting force to the support shoe; during the retraction of the support shoe, the torque cylinder outputs a traction force to retract the support shoe, and the support shoe cylinder is in a passive follow-up retraction state.

[0021] Furthermore, an accumulator is connected between the one-way valve at the oil inlet end and the two-position two-way electromagnetic reversing valve at the oil inlet end, and the accumulator is connected to the oil tank through a safety overflow valve.

[0022] Compared with the prior art, the beneficial effects of the present invention include:

[0023] The present invention proposes a TBM cutterhead torque hydraulic support system based on direct bearing of the support shoe, which directly transmits the cutterhead torque load on the main beam to the support shoe, improves the stress state of the support shoe hydraulic cylinder, and improves the support stability of the main beam. The present invention installs one end of the torque hydraulic cylinder on the top of the saddle frame through a ball hinge, and the other end is connected to the support shoe through a ball hinge. By changing the arrangement of the torque hydraulic cylinder group, the torque hydraulic cylinder and the support shoe hydraulic cylinder are separated, and the cutterhead torque load on the main beam is directly transmitted to the support shoe, which improves the stress state of the support shoe hydraulic cylinder and extends the service life of the support shoe hydraulic cylinder without affecting the extension and tightening action of the support shoe; in addition, the present invention uses a back-to-back mounted plunger hydraulic cylinder to control the extension of the support shoe, and controls the movement of the torque hydraulic cylinder to achieve rapid retraction of the support shoe. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0025] Figure 1 This is a schematic diagram of the hydraulic control principle of the first group of torque cylinders in the present invention;

[0026] Figure 2 It is a hydraulic control principle diagram of the second group of torque cylinders and support shoe cylinders in the present invention;

[0027] Figure 3 It is a front view of the present invention;

[0028] Figure 4 for Figure 3 A top view of

[0029] Figure 5 for Figure 3 Left view of;

[0030] Figure 6 for Figure 3 A cross-sectional view of

[0031] Figure 7 for Figure 6 Enlarged view of point C in the middle;

[0032] Figure 8 It is a front view of the torque cylinder in the present invention;

[0033] Fig. 9 for Figure 8 Right view of;

[0034] Fig.10 for Figure 8 A top view of

[0035] Fig.11 It is a front view of the shoe support cylinder in the present invention;

[0036] Fig.12 for Fig.11 Sectional view of the middle BB plane;

[0037] Fig.13 It is a force analysis diagram of the process of extending the support shoe in the present invention;

[0038] Fig.14 It is a force analysis diagram of the support shoe retraction process in the present invention;

[0039] Fig.15 It is a force analysis diagram when the support shoe of the present invention supports the rock wall;

[0040] Numbers in the figure:

[0041] The first stop valve 1 at the return oil end, the second stop valve 2 at the return oil end, the third stop valve 3 at the return oil end, the fourth stop valve 4 at the return oil end, the fifth stop valve 5 at the return oil end, the sixth stop valve 6 at the return oil end, the seventh stop valve 7 at the return oil end, the eighth stop valve 8 at the return oil end, the first displacement sensor 9, the second displacement sensor 10, the third displacement sensor 11, the fourth displacement sensor 12, the fifth displacement sensor 13, the sixth displacement sensor 14, the seventh displacement sensor 15, the eighth displacement sensor 16, the first double-acting single-rod hydraulic cylinder 17, the second double-acting single-rod hydraulic cylinder 18, the third double-acting single-rod hydraulic cylinder 19, the fourth double-acting single-rod hydraulic cylinder 20, the fifth double-acting single-rod hydraulic cylinder 21, the sixth double-acting single-rod hydraulic cylinder 22, the seventh double-acting single-rod hydraulic cylinder 23, the eighth double-acting single-rod hydraulic cylinder 24, the first stop valve 25 at the oil inlet end, the second stop valve 26 at the oil inlet end, the third stop valve at the oil inlet end 27, the fourth stop valve at the oil inlet end 28, the fifth stop valve at the oil inlet end 29, the sixth stop valve at the oil inlet end 30, the seventh stop valve at the oil inlet end 31, the eighth stop valve at the oil inlet end 32, the first pressure sensor 33, the second pressure sensor 34, the third pressure sensor 35, the fourth pressure sensor 36, the first hydraulically controlled one-way valve 37, the second hydraulically controlled one-way valve 38, the third hydraulically controlled one-way valve 39, the fourth hydraulically controlled one-way valve 40, the first two-position two-way solenoid reversing valve 4 1, second two-position two-way solenoid directional valve 42, accumulator 43, oil inlet non-return valve 44, metering pump 45, motor 46, safety relief valve 47, first three-position four-way proportional directional valve 48, second three-position four-way proportional directional valve 49, first proportional pressure reducing valve 50, second proportional pressure reducing valve 51, second plunger cylinder 52, first plunger cylinder 53, third two-position two-way solenoid directional valve 54, fourth two-position two-way solenoid directional valve 55, high-pressure oil source 56, oil tank 57;

[0042] Main beam 58, saddle frame 59, support shoe 60, inner ball hinge base 61, outer ball hinge 62, inner ball hinge ball head 63;

[0043] The torque cylinder 17 includes: a torque cylinder piston rod ball hinge 171, a torque cylinder piston rod 172, a torque cylinder body 173, and a torque cylinder body ball hinge 174;

[0044] The second plunger cylinder 52 comprises: a second support shoe cylinder piston rod 521, a second support shoe cylinder end cover 522, and a second support shoe cylinder body 523;

[0045] The first plunger cylinder 53 comprises: a first support shoe cylinder piston rod 531, a first support shoe cylinder end cover 532, and a first support shoe cylinder body 533;

[0046] For ease of description and labeling, Figure 1 and Figure 2 Each port of the hydraulic component is marked in the form of "number plus port mark", such as port A of the first three-position four-way proportional reversing valve 48, marked as 48A in the figure; port B of the first three-position four-way proportional reversing valve 48, marked as 48B in the figure; port P of the first three-position four-way proportional reversing valve 48, marked as 48P in the figure; port T of the first three-position four-way proportional reversing valve 48, marked as 48T in the figure. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0049] In addition, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third", "fourth", "fifth", "sixth", "seventh", "eighth" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0050] A TBM cutterhead torque hydraulic support system based on direct bearing of support shoes, such as Figure 3As shown, it includes a saddle frame 59 connected to the main beam 58, and the saddle frame 59 is connected to a support shoe 60 through a support shoe cylinder. The support shoe cylinder and the saddle frame 59 are connected through a ball joint structure, that is, when the support shoe cylinder is extended to make the support shoe 60 press against the hole wall, the support shoe cylinder can have a small range of offset relative to the support shoe 60, so as to avoid the support shoe cylinder being subjected to a large torsional force due to a rigid connection or a common hinged form; a torque cylinder is hinged between the saddle frame 59 and the support shoe 60, and the torque cylinder assists the support shoe cylinder in moving, so as to fully avoid the support shoe cylinder being subjected to a large torque during the force transmission process.

[0051] The shoe support cylinder and the torque cylinder are connected to a hydraulic control system, and the actions of the shoe support cylinder and the torque cylinder are controlled by the hydraulic control system to ensure that during the extension of the shoe support cylinder, the torque cylinder is in a passive follow-up extension state; after the shoe support cylinder is extended and the shoe 60 supports the hole wall, the torque cylinder outputs a supporting force to the shoe 60; during the retraction of the shoe 60, the torque cylinder outputs a traction force to retract the shoe 60, and the shoe support cylinder is in a passive follow-up retraction state.

[0052] Specifically, Figure 4-Figure 7 As shown, the gripper oil cylinder includes a left gripper oil cylinder 53 and a right gripper oil cylinder 52, and the left gripper oil cylinder 53 and the right gripper oil cylinder 52 are symmetrically arranged about the mid-vertical plane of the main beam 58. The left gripper oil cylinder 53 is connected to the gripper oil cylinder 60 on the left side of the saddle frame 59, and the right gripper oil cylinder 52 is connected to the gripper oil cylinder 60 on the right side of the saddle frame 59. The gripper oil cylinders provided in this embodiment are a pair, and in other embodiments, multiple pairs of symmetrically arranged gripper oil cylinders may also be used.

[0053] Similar to the gripper shoe cylinder, the torque cylinder includes a left torque cylinder group and a right torque cylinder group. The left torque cylinder group is hinged between the saddle frame 59 and the left gripper shoe 60, and the right torque cylinder group is hinged between the saddle frame 59 and the right gripper shoe 60. In a preferred embodiment, the left torque cylinder group includes a fifth double-acting single-rod hydraulic cylinder 21, a sixth double-acting single-rod hydraulic cylinder 22, a seventh double-acting single-rod hydraulic cylinder 23, and an eighth double-acting single-rod hydraulic cylinder 24, and the right torque cylinder group includes a first double-acting single-rod hydraulic cylinder 17, a second double-acting single-rod hydraulic cylinder 18, a third double-acting single-rod hydraulic cylinder 19, and a fourth double-acting single-rod hydraulic cylinder 20. In other embodiments, different numbers of arrangements may also be selected.

[0054] Further, the shoe gripper cylinder on the left side of the saddle frame 59 is the first plunger cylinder 53, the shoe gripper cylinder on the right side of the saddle frame 59 is the second plunger cylinder 52, the double-acting single-rod hydraulic cylinder in the left torque cylinder group is arranged on both sides of the front and rear of the first plunger cylinder 53, and the double-acting single-rod hydraulic cylinder in the right torque cylinder group is arranged on both sides of the front and rear of the second plunger cylinder 52. Compared with the odd number of double-acting single-rod hydraulic cylinders in the left torque cylinder group and the right torque cylinder group, an even number is preferred. As in this embodiment, the first double-acting single-rod hydraulic cylinder 17 and the second double-acting single-rod hydraulic cylinder 18 are arranged on the front side of the second plunger cylinder 52, the third double-acting single-rod hydraulic cylinder 19 and the fourth double-acting single-rod hydraulic cylinder 20 are arranged on the rear side of the second plunger cylinder 52, the fifth double-acting single-rod hydraulic cylinder 21 and the sixth double-acting single-rod hydraulic cylinder 22 are arranged on the front side of the first plunger cylinder 53, and the seventh double-acting single-rod hydraulic cylinder 23 and the eighth double-acting single-rod hydraulic cylinder 24 are arranged on the rear side of the first plunger cylinder 53.

[0055] Furthermore, if Figure 3 and Figure 6 As shown, the height of the position where the torque cylinder is connected to the saddle frame 59 is higher than the height of the position where the torque cylinder is connected to the support shoe 60. The four torque cylinders on each side of the saddle frame 59 are distributed in two columns and two rows, with two torque cylinders arranged in each row and two torque cylinders arranged in each column. The ends of the four torque cylinders connected to the support shoe 60 are respectively located at the four corners of the side of the support shoe 60 away from the rock wall. Specifically, the first double-acting single-rod hydraulic cylinder 17, the second double-acting single-rod hydraulic cylinder 18, the third double-acting single-rod hydraulic cylinder 19, the fourth double-acting single-rod hydraulic cylinder 20, the fifth double-acting single-rod hydraulic cylinder 21, the sixth double-acting single-rod hydraulic cylinder 22, the seventh double-acting single-rod hydraulic cylinder 23, and the eighth double-acting single-rod hydraulic cylinder 24 are all arranged obliquely between the support shoe 60 and the saddle frame 59, and the torque cylinder has a component force for pushing and pulling the support shoe 60 horizontally and a separate force for lifting the support shoe 60 vertically. In addition, the first double-acting single-rod hydraulic cylinder 17 and the third double-acting single-rod hydraulic cylinder 19 are in the same horizontal position, the second double-acting single-rod hydraulic cylinder 18 and the fourth double-acting single-rod hydraulic cylinder 20 are in the same horizontal position, the fifth double-acting single-rod hydraulic cylinder 21 and the seventh double-acting single-rod hydraulic cylinder 23 are in the same horizontal position, the sixth double-acting single-rod hydraulic cylinder 22 and the eighth double-acting single-rod hydraulic cylinder 24 are in the same horizontal position. Taking one end of the main beam 58 as the front viewing angle, it can be seen that the projections of the torque cylinders on each side of the main beam 58 are consistent.

[0056] Furthermore, if Figure 8-Figure 10As shown, the torque cylinder includes a torque cylinder body 173 and a torque cylinder piston rod 172. A torque cylinder piston rod ball hinge 171 is provided in the connecting earring of the torque cylinder piston rod 172, and a torque cylinder body ball hinge 174 is provided in the connecting earring of the torque cylinder body 173. When the torque cylinder piston rod ball hinge 171 is connected to the saddle frame 59, the torque cylinder body ball hinge 174 is connected to the support shoe 60; when the torque cylinder piston rod ball hinge 171 is connected to the support shoe 60, the torque cylinder body ball hinge 174 is connected to the saddle frame 59.

[0057] Furthermore, if Figure 7 , Figure 11-13 As shown, the ball joint structure includes an inner ball joint base 61, an outer ball joint 62 and an inner ball joint ball head 63, the inner ball joint ball head 63 cooperates with the spherical surface of one side of the inner ball joint base 61, and the outer ball joint 62 cooperates with the spherical surface of the other side of the inner ball joint base 61; the inner ball joint base 61 is connected to the support shoe cylinder, and the outer ball joint 62 and the inner ball joint ball head 63 are both connected to the support shoe 60; or the inner ball joint base 61 is connected to the support shoe 60, and the outer ball joint 62 and the inner ball joint ball head 63 are both connected to the support shoe cylinder.

[0058] Furthermore, the inner ball hinge base 61 has a base annular spherical surface at one edge and a concave spherical surface at the center of the other side, the base annular spherical surface is concentrically arranged with the concave spherical surface, the outer ball hinge 62 is annular and has a flange extending radially inward at one end, the inner side of the flange is provided with a flange annular spherical surface, and the flange annular spherical surface is fitted with the base annular spherical surface. In other embodiments, the base annular spherical surface and the concave spherical surface may also be arranged non-concentrically, but the structural performance may be reduced.

[0059] Furthermore, there are two preferred installation methods for the shoe support cylinder. One is that the cylinder body of the shoe support cylinder is connected to the saddle frame 59, and the piston rod of the shoe support cylinder is connected to the shoe support 60 through a ball joint structure. The other is that the cylinder body of the shoe support cylinder is connected to the shoe support 60, and the piston rod of the shoe support cylinder is connected to the saddle frame 59 through a ball joint structure.

[0060] More specifically, the saddle frame 59 is a rectangular frame structure as a whole, and a rectangular space for installing the main beam 58 is provided on the top thereof. Pin holes for connecting the torque cylinder are respectively opened on both sides of the saddle frame 59, and the main beam 58 is installed on the top of the saddle frame 59; a semicircular groove is provided inside the saddle frame 59, and the two shoe support cylinders are installed back to back through bolt connection, and the two shoe support cylinders are installed in the groove inside the saddle frame 59; the second plunger cylinder 52 includes: a second shoe support cylinder piston rod 521, a second shoe support cylinder end cover 522, and a second shoe support cylinder body 523; the first plunger cylinder 53 includes: a first shoe support cylinder piston rod 531, a first shoe support cylinder end cover 532, and a first shoe support cylinder body 533; the first shoe support cylinder body 533 and the second shoe support cylinder body 523 are both engaged with the saddle frame 59 through the semicircular groove and bolted; a torque cylinder cylinder is provided inside the torque cylinder body connecting earring The torque cylinder body is connected to the saddle frame 59 through a connecting pin; connecting holes are symmetrically provided at the upper and lower ends of the support shoe, and a torque cylinder piston rod ball hinge 171 is provided inside the torque cylinder piston rod connecting earring, and the torque cylinder piston rod is connected to the support shoe through a pin; a spherical groove is provided on one side of the inner ball hinge base 61, and an annular spherical surface is provided on the other side, and a bolt hole for connection is provided inside the annular spherical surface, and the end face of the inner ball hinge base 61 is an arc surface, and the support shoe cylinder piston rod 521 is connected to the outer ball hinge 62 through a connecting bolt; the outer ball hinge 62 is an annular structure, one side is provided with a spherical arc surface that cooperates with the annular spherical surface of the inner ball hinge base 61, and one side is provided with a bolt hole for connection, the outer ball hinge 62 is connected to the support shoe 60 through a bolt connection, and is connected to the inner ball hinge base 61 through a shape fit; the ball head of the inner ball hinge is connected to the support shoe 60 through a bolt connection, and is connected to the inner ball hinge base 61 through a shape fit.

[0061] Furthermore, if Figure 1 and Figure 2As shown, the hydraulic control system includes a support shoe cylinder hydraulic control unit and a torque cylinder hydraulic control unit. The support shoe cylinder hydraulic control unit includes a proportional pressure reducing valve connected to the rodless chamber of the support shoe cylinder. The oil inlet end of the proportional pressure reducing valve is connected to the high-pressure oil source 56, and the oil return end is connected to the oil tank 57. The torque cylinder hydraulic control unit includes a torque cylinder oil inlet oil circuit connected to the rodless chamber of the torque cylinder and a torque cylinder oil return oil circuit connected to the rod chamber of the torque cylinder. The torque cylinder oil inlet oil circuit includes an oil tank 57, an oil pump, and an oil inlet end check valve 44 connected in sequence. , a two-position two-way solenoid reversing valve at the oil inlet end, and a stop valve at the oil inlet end. The torque cylinder oil return oil circuit includes a return oil end stop valve, a two-position two-way solenoid reversing valve at the oil return end, and an oil tank 57 connected in sequence. The oil inlet end stop valve, the return oil end stop valve, the high-pressure oil source 56, and the oil tank 57 are connected via a three-position four-way proportional reversing valve. The oil inlet end stop valve is connected to the three-position four-way proportional reversing valve via an oil inlet end pressure sensor and an oil inlet end hydraulically controlled one-way valve. The return oil end stop valve is connected to the three-position four-way proportional reversing valve via an oil return end pressure sensor and an oil return end hydraulically controlled one-way valve.

[0062] Furthermore, an accumulator 43 is connected between the one-way valve at the oil inlet end and the two-position two-way electromagnetic reversing valve at the oil inlet end, and the accumulator 43 is connected to the oil tank 57 through a safety overflow valve 47 .

[0063] Specifically, the hydraulic control system: the oil tank 57 is respectively connected to the 48T port of the first three-position four-way proportional reversing valve 48, the 49T port of the second three-position four-way proportional reversing valve 49, the 45A port of the metering pump 45, the 47B port of the safety relief valve 47, the 50C port of the first proportional pressure reducing valve 50, the 51C port of the second proportional pressure reducing valve 51, the 54B port of the third two-position two-way solenoid reversing valve 54, and the 55B port of the fourth two-position two-way solenoid reversing valve 55; the high-pressure oil source 56 is respectively connected to the 48P port of the first three-position four-way proportional reversing valve 48 and the 49P port of the second three-position four-way proportional reversing valve 49; the 48A port of the first three-position four-way proportional reversing valve 48 is respectively connected to the first hydraulically controlled one-way valve 37 The 37A port of the first hydraulically controlled one-way valve 37 is connected to the 37C port of the second hydraulically controlled one-way valve 38; the 37B port of the first hydraulically controlled one-way valve 37 is respectively connected to the 33A port of the first pressure sensor 33, the 54A port of the third two-position two-way solenoid reversing valve 54, the 1A port of the first stop valve 1 at the oil return end, the 2A port of the second stop valve 2 at the oil return end, the 3A port of the third stop valve 3 at the oil return end, and the 4A port of the fourth stop valve 4 at the oil return end; the 48B port of the first three-position four-way proportional reversing valve 48 is respectively connected to the 38A port of the second hydraulically controlled one-way valve 38 and the 37C port of the first hydraulically controlled one-way valve 37; the 38B port of the second hydraulically controlled one-way valve 38 is respectively connected to the 41B port of the first two-position two-way solenoid reversing valve 41, the pressure sensor 34 34A port of the oil inlet end, 25B port of the first stop valve 25 at the oil inlet end, 26B port of the second stop valve 26 at the oil inlet end, 27B port of the third stop valve 26 at the oil inlet end, and 28B port of the fourth stop valve 28 at the oil inlet end; 1B port of the first stop valve 1 at the oil return end is connected to the 17A port of the first double-acting single-rod hydraulic cylinder 17; the 17B port of the first double-acting single-rod hydraulic cylinder 17 is connected to the 25A port of the first stop valve 25 at the oil inlet end; 2B port of the second stop valve 2 at the oil return end is connected to the 18A port of the second double-acting single-rod hydraulic cylinder 18; the 18B port of the second double-acting single-rod hydraulic cylinder 18 is connected to the 26A port of the second stop valve 26 at the oil inlet end; the 3B port of the third stop valve 3 at the oil return end is connected to the 17A port of the third double-acting single-rod hydraulic cylinder 17; The 19A port of the single-rod hydraulic cylinder 19 is connected; the 19B port of the third double-acting single-rod hydraulic cylinder 19 is connected to the 27A port of the third stop valve 27 at the oil inlet end; the 4B port of the fourth stop valve 4 at the oil return end is connected to the 20A port of the fourth double-acting single-rod hydraulic cylinder 20; the 20B port of the fourth double-acting single-rod hydraulic cylinder 20 is connected to the 28A port of the fourth stop valve 28 at the oil inlet end; the 45B port of the metering pump 45 is connected to the 44A port of the one-way valve 44 at the oil inlet end; the 44B port of the one-way valve 44 at the oil inlet end is respectively connected to the 41A port of the first two-position two-way electromagnetic reversing valve 41, the 42A port of the second two-position two-way electromagnetic reversing valve 42, the 43A port of the accumulator 43, and the 47A port of the safety relief valve 47;The 49A port of the second three-position four-way proportional reversing valve 49 is respectively connected to the 39A port of the third hydraulically controlled one-way valve 39 and the 40C port of the fourth hydraulically controlled one-way valve 40; the 49B port of the second three-position four-way proportional reversing valve 49 is respectively connected to the 40A port of the fourth hydraulically controlled one-way valve 40 and the 39C port of the third hydraulically controlled one-way valve 39; the 39B port of the third hydraulically controlled one-way valve 39 is respectively connected to the 42B port of the second two-position two-way electromagnetic reversing valve 42, the 35A port of the pressure sensor 35, the 29B port of the fifth stop valve 29 at the oil inlet end, and the 39C port of the sixth stop valve 30 at the oil inlet end. The 30B port is connected to the 31B port of the seventh stop valve 31 at the oil inlet end and the 32B port of the eighth stop valve 32 at the oil inlet end; the 49B port of the second three-position four-way proportional reversing valve 49 is respectively connected to the 40A port of the fourth hydraulically controlled one-way valve 40 and the 39C port of the third hydraulically controlled one-way valve 39; the 40B port of the fourth hydraulically controlled one-way valve 40 is respectively connected to the 36A port of the pressure sensor 36, the 55A port of the fourth two-position two-way solenoid reversing valve 55, the 5A port of the fifth stop valve 5 at the oil return end, the 6A port of the sixth stop valve 6 at the oil return end and the 7A port of the seventh stop valve 7 at the oil return end. The 8A port of the eighth stop valve 8 at the oil return end is connected; the 5B port of the fifth stop valve 5 at the oil return end is connected to the 21A port of the fifth double-acting single-rod hydraulic cylinder 21; the 21B port of the fifth double-acting single-rod hydraulic cylinder 21 is connected to the 29A port of the fifth stop valve 29 at the oil inlet end; the 6B port of the sixth stop valve 6 at the oil return end is connected to the 22A port of the sixth double-acting single-rod hydraulic cylinder 22; the 22B port of the sixth double-acting single-rod hydraulic cylinder 22 is connected to the 30A port of the sixth stop valve 30 at the oil inlet end; the 7B port of the seventh stop valve 7 at the oil return end is connected to the seventh double-acting single-rod hydraulic cylinder 21; the 21B port of the fifth double-acting single-rod hydraulic cylinder 21 is connected to the 29A port of the fifth stop valve 29 at the oil inlet end; the 6B port of the sixth stop valve 6 at the oil return end is connected to the 22A port of the sixth double-acting single-rod hydraulic cylinder 22; the 22B port of the sixth double-acting single-rod hydraulic cylinder 22 is connected to the 30A port of the sixth stop valve 30 at the oil inlet end; the The 23A port of the seventh double-acting single-rod hydraulic cylinder 23 is connected; the 23B port of the seventh double-acting single-rod hydraulic cylinder 23 is connected to the 31A port of the seventh stop valve 31 at the oil inlet end; the 8B port of the eighth stop valve 8 at the oil return end is connected to the 24A port of the eighth double-acting single-rod hydraulic cylinder 24; the 24B port of the eighth double-acting single-rod hydraulic cylinder 24 is connected to the 32A port of the eighth stop valve 32 at the oil inlet end; the 50B port of the first proportional pressure reducing valve 50 is connected to the 52A port of the second plunger cylinder 52; the 51B port of the second proportional pressure reducing valve 51 is connected to the 53A port of the first plunger cylinder 53. ;

[0064] When the C ports of the first hydraulically controlled one-way valve 37, the second hydraulically controlled one-way valve 38, the third hydraulically controlled one-way valve 39 and the fourth hydraulically controlled one-way valve 40 are in a high-pressure state, their A ports and B ports are in a two-way conductive state; when the C ports of the first hydraulically controlled one-way valve 37, the second hydraulically controlled one-way valve 38, the third hydraulically controlled one-way valve 39 and the fourth hydraulically controlled one-way valve 40 are in a low-pressure state, their A ports and B ports are in a one-way conductive state.

[0065] The valve cores of the first three-position four-way proportional reversing valve 48 and the second three-position four-way proportional reversing valve 49 are in the middle position, and their A ports, B ports and T ports are connected; in the left position, their A ports are connected to the T port, and the B ports are connected to the P port; in the right position, their A ports are connected to the P port, and the B ports are connected to the T port.

[0066] When the valve cores of the first two-position, two-way solenoid reversing valve 41, the second two-position, two-way solenoid reversing valve 42, the third two-position, two-way solenoid reversing valve 54 and the fourth two-position, two-way solenoid reversing valve 55 are in the left position, their A ports and B ports are in a disconnected state; when they are in the right position, their A ports and B ports are in a conducting state; the valve cores of the first two-position, two-way solenoid reversing valve 41, the second two-position, two-way solenoid reversing valve 42, the third two-position, two-way solenoid reversing valve 54 and the fourth two-position, two-way solenoid reversing valve 55 are initially in the left position.

[0067] The first displacement sensor 9 measures the piston rod displacement of the first double-acting single-rod hydraulic cylinder 17; the second displacement sensor 10 measures the piston rod displacement of the second double-acting single-rod hydraulic cylinder 18; the third displacement sensor 11 measures the piston rod displacement of the third double-acting single-rod hydraulic cylinder 19; the fourth displacement sensor 12 measures the piston rod displacement of the fourth double-acting single-rod hydraulic cylinder 20; the fifth displacement sensor 13 measures the piston rod displacement of the fifth double-acting single-rod hydraulic cylinder 21; the sixth displacement sensor 14 measures the piston rod displacement of the sixth double-acting single-rod hydraulic cylinder 22; the seventh displacement sensor 15 measures the piston rod displacement of the seventh double-acting single-rod hydraulic cylinder 23; the eighth displacement sensor 16 measures the piston rod displacement of the eighth double-acting single-rod hydraulic cylinder 24.

[0068] The main functions of the present invention include:

[0069] ① Function of extending the shoe cylinder: the first three-position four-way proportional reversing valve 48 and the second three-position four-way proportional reversing valve 49 are in the middle position, the first two-position two-way solenoid reversing valve 41, the second two-position two-way solenoid reversing valve 42, the third two-position two-way solenoid reversing valve 54 and the fourth two-position two-way solenoid reversing valve 55 are in the right position, and the high-pressure oil in the high-pressure oil source 56 flows into the first proportional reducing valve 50 through the 50A port of the first proportional reducing valve 50. After the hydraulic oil is pressure-regulated by the first proportional reducing valve 50, part of the hydraulic oil flows directly back to the oil tank 57 through its C port, and part of the hydraulic oil flows back to the oil tank 57 through the C port of the first proportional reducing valve 50. The hydraulic oil flows out of the 50B port, and the hydraulic oil flows out of the 50B port into the second plunger cylinder 52 through the 52A port of the second plunger cylinder 52; the high-pressure oil in the high-pressure oil source 56 flows into the second proportional pressure reducing valve 51 through the 51A port of the second proportional pressure reducing valve 51, and after the hydraulic oil is pressure-regulated by the second proportional pressure reducing valve 51, part of the hydraulic oil directly flows back to the oil tank 57 through its C port, and part of the hydraulic oil flows out through the 51B port, and the hydraulic oil flows out of the 51B port into the first plunger cylinder 53 through the 53A port of the first plunger cylinder 53, and the plunger of the plunger lever group begins to extend under the action of the hydraulic oil inside it;

[0070] During the extension of the support shoe cylinder, the motor 46 is started, and the metering pump 45 starts to rotate under the action of the motor. The hydraulic oil in the oil tank 57 flows into the metering pump 45 through the 45A port of the metering pump 45, and the hydraulic oil flows out from the 45B port after passing through the metering pump 45. The hydraulic oil flowing out of the 45B port flows into the oil inlet end check valve 44 through the 44A port of the oil inlet end check valve 44, and the hydraulic oil flows out from the 44B port of the oil inlet end check valve 44. The hydraulic oil flowing out of the 44B port flows into the accumulator 43 through the 43A port of the accumulator 43, and passes through the first The hydraulic oil flows into the first two-way electromagnetic reversing valve 41 through the port 41A of the two-way two-way electromagnetic reversing valve 41, and flows into the second two-way two-way electromagnetic reversing valve 42 through the port 42A of the second two-way two-way electromagnetic reversing valve 42. The safety relief valve 47 is set with a smaller relief pressure. When the pressure of the hydraulic oil flowing out of the port 44B exceeds the relief pressure of the safety relief valve 47, the hydraulic oil flowing out of the port 44B flows into the safety relief valve 47 through the port 47A of the safety relief valve 47. After passing through the safety relief valve 47, the hydraulic oil directly flows back to the oil tank 57 through the port 47B thereof.The hydraulic oil flows out from the 41B port after passing through the first two-position two-way solenoid reversing valve 41, and the hydraulic oil flowing out from the 41B port flows into the pressure sensor 34 through the 34A port of the pressure sensor 34, flows into the first stop valve 25 at the oil inlet end through the 25B port of the first stop valve 25 at the oil inlet end, flows into the second stop valve 26 at the oil inlet end through the 26B port of the second stop valve 26 at the oil inlet end, flows into the third stop valve 27 at the oil inlet end through the 27B port of the third stop valve 27 at the oil inlet end, flows into the fourth stop valve 28 at the oil inlet end through the 28B port of the fourth stop valve 28 at the oil inlet end, and the hydraulic oil flows out from the 25A port after passing through the first stop valve 25 at the oil inlet end, and the hydraulic oil flowing out from the 25A port flows into the first double-acting single-rod hydraulic cylinder 17 through the The hydraulic oil flows into the rodless chamber of the first double-acting single-rod hydraulic cylinder 17 through the 17B port, and the hydraulic oil in the rod chamber of the first double-acting single-rod hydraulic cylinder 17 flows out through its 17A port. The hydraulic oil flowing out of the 17A port flows into the first stop valve 1 at the return oil end through the 1B port of the first stop valve 1 at the return oil end. The hydraulic oil flows out of its 1A port after passing through the first stop valve 1 at the return oil end. The hydraulic oil flows out of its 26A port after passing through the second stop valve 26 at the oil inlet end. The hydraulic oil flowing out of the 26A port flows into the rodless chamber of the second double-acting single-rod hydraulic cylinder 18 through the 18B port of the second double-acting single-rod hydraulic cylinder 18. The hydraulic oil in the rod chamber of the second double-acting single-rod hydraulic cylinder 18 flows out through its 18A port. The hydraulic oil flowing out of the 18A port flows through the return oil port. The 2B port of the second stop valve 2 at the oil return end flows into the second stop valve 2 at the oil return end, the hydraulic oil flows out from its 2A port after passing through the second stop valve 2 at the oil return end, the hydraulic oil flows out from its 27A port after passing through the third stop valve 27 at the oil inlet end, the hydraulic oil flowing out of the 27A port flows into the rodless chamber of the third double-acting single-rod hydraulic cylinder 19 through the 19B port of the third double-acting single-rod hydraulic cylinder 19, the hydraulic oil in the rod chamber of the third double-acting single-rod hydraulic cylinder 19 flows out through its 19A port, the hydraulic oil flowing out of the 19A port flows into the third stop valve 3 at the oil return end through the 3B port of the third stop valve 3 at the oil return end, the hydraulic oil flows out from its 3A port after passing through the third stop valve 3 at the oil return end, and the hydraulic oil flows out from its 28A port after passing through the fourth stop valve 28 at the oil inlet end. The hydraulic oil flowing out of the 28A port flows into the rodless chamber of the fourth double-acting single-rod hydraulic cylinder 20 through the 20B port of the fourth double-acting single-rod hydraulic cylinder 20, and the hydraulic oil in the rod chamber of the fourth double-acting single-rod hydraulic cylinder 20 flows out through its 20A port. The hydraulic oil flowing out of the 20A port flows into the fourth stop valve 4 at the return oil end through the 4B port of the fourth stop valve 4 at the return oil end. After passing through the fourth stop valve 4 at the return oil end, the hydraulic oil flows out from its 4A port. The hydraulic oil flowing out of the 1A port, the 2A port, the 3A port and the 4A port flows into the third two-position two-way electromagnetic reversing valve 54 through the 54A port of the third two-position two-way electromagnetic reversing valve 54. After passing through the third two-position two-way electromagnetic reversing valve 54, the hydraulic oil flows directly back to the oil tank 57 from its 54B port.The hydraulic oil flows out from the 42B port after passing through the second two-position two-way solenoid reversing valve 42. The hydraulic oil flowing out from the 42B port flows into the pressure sensor 35 through the 35A port of the pressure sensor 35, flows into the fifth stop valve 29 at the oil inlet end through the 29B port of the fifth stop valve 29 at the oil inlet end, flows into the sixth stop valve 30 at the oil inlet end through the 30B port of the sixth stop valve 30 at the oil inlet end, flows into the seventh stop valve 31 at the oil inlet end through the 31B port of the seventh stop valve 31 at the oil inlet end, flows into the eighth stop valve 32 at the oil inlet end through the 32B port of the eighth stop valve 32 at the oil inlet end, and the hydraulic oil flows out from the 29A port after passing through the fifth stop valve 29 at the oil inlet end. The hydraulic oil flowing out from the 29A port flows into the 21B port of the fifth double-acting single-rod hydraulic cylinder 21. The hydraulic oil flows into the rodless chamber of the fifth double-acting single-rod hydraulic cylinder 21, and the hydraulic oil in the rod chamber of the fifth double-acting single-rod hydraulic cylinder 21 flows out through its 21A port. The hydraulic oil flowing out of the 21A port flows into the fifth stop valve 5 at the return oil end through the 5B port of the fifth stop valve 5 at the return oil end. The hydraulic oil flows out from its 5A port after passing through the fifth stop valve 5 at the return oil end. The hydraulic oil flows out from its 30A port after passing through the sixth stop valve 30 at the oil inlet end. The hydraulic oil flowing out of the 30A port flows into the rodless chamber of the sixth double-acting single-rod hydraulic cylinder 22 through the 22B port of the sixth double-acting single-rod hydraulic cylinder 22, and the hydraulic oil in the rod chamber of the sixth double-acting single-rod hydraulic cylinder 22 flows out through its 22A port. The hydraulic oil flowing out of the 22A port flows through the sixth stop valve 30 at the return oil end. The hydraulic oil flows into the sixth stop valve 6 at the return oil end through the 6B port of 6, and flows out from its 6A port after passing through the sixth stop valve 6 at the return oil end. The hydraulic oil flows out from its 31A port after passing through the seventh stop valve 31 at the oil inlet end. The hydraulic oil flowing out of the 31A port flows into the rodless chamber of the seventh double-acting single-rod hydraulic cylinder 23 through the 23B port of the seventh double-acting single-rod hydraulic cylinder 23, and the hydraulic oil in the rod chamber of the seventh double-acting single-rod hydraulic cylinder 23 flows out through its 23A port. The hydraulic oil flowing out of the 23A port flows into the seventh stop valve 7 at the return oil end through the 7B port of the seventh stop valve 7 at the return oil end, and flows out from its 7A port after passing through the seventh stop valve 7 at the return oil end. The hydraulic oil flows out from its 32A port after passing through the eighth stop valve 32 at the oil inlet end. The hydraulic oil flows into the rodless chamber of the eighth double-acting single-rod hydraulic cylinder 24 through the 24B port of the eighth double-acting single-rod hydraulic cylinder 24, and the hydraulic oil in the rod chamber of the eighth double-acting single-rod hydraulic cylinder 24 flows out through its 24A port. The hydraulic oil flowing out of the 24A port flows into the eighth stop valve 8 at the return oil end through the 8B port of the eighth stop valve 8 at the return oil end. After passing through the eighth stop valve 8 at the return oil end, the hydraulic oil flows out from its 8A port. The hydraulic oil flowing out of the 5A port, the 6A port, the 7A port and the 8A port flows into the fourth two-position two-way electromagnetic reversing valve 55 through the 55A port of the fourth two-position two-way electromagnetic reversing valve 55. After passing through the fourth two-position two-way electromagnetic reversing valve 55, the hydraulic oil directly flows back to the oil tank 57 from its 55B port, thereby realizing the extension movement function of the support shoe oil cylinder. ;

[0071] ② Support function of the cutter head torque bearing hydraulic cylinder: When the support shoe holds the rock wall tightly and the front cutter head performs rock breaking operation, the cutter head will apply a load torque to the main beam 58. At this time, the torque cylinder is required to provide a stable torque to stabilize the main beam 58; the first two-position two-way solenoid reversing valve 41, the second two-position two-way solenoid reversing valve 42, the third two-position two-way solenoid reversing valve 54 and the fourth two-position two-way solenoid reversing valve 55 are in the left position, switching the valve core of the first three-position four-way proportional reversing valve 48 to the left position, and the valve core of the second three-position four-way proportional reversing valve 49 to the right position, and the high-pressure oil in the high-pressure oil source 56 flows into the first three-position four-way proportional reversing valve 48 through the 48P port of the first three-position four-way proportional reversing valve 48, and the hydraulic oil flows through the first three-position four-way proportional reversing valve 48. After passing through the second hydraulically controlled one-way valve 38, the hydraulic oil flows out from its 38B port. The hydraulic oil flowing out of the 48B port flows into the first hydraulically controlled one-way valve 37 through the 37C port of the first hydraulically controlled one-way valve 37, and flows into the second hydraulically controlled one-way valve 38 through the 38A port of the second hydraulically controlled one-way valve 38. The first hydraulically controlled one-way valve 37 is in a two-way conducting state, and the second hydraulically controlled one-way valve 38 is in a one-way conducting state. After passing through the second hydraulically controlled one-way valve 38, the hydraulic oil flows out from its 38B port. The hydraulic oil flowing out of the 38B port flows into the pressure sensor 34 through the 34A port of the pressure sensor 34, flows into the first stop valve 25 at the oil inlet end through the 25B port of the first stop valve 25 at the oil inlet end, flows into the second stop valve 26 at the oil inlet end through the 26B port of the second stop valve 26 at the oil inlet end, and flows into the second stop valve 26 at the oil inlet end through the 26B port of the third stop valve 26 at the oil inlet end. The 27B port of the check valve 27 flows into the third stop valve 27 at the oil inlet end, and flows into the fourth stop valve 28 at the oil inlet end through the 28B port of the fourth stop valve 28 at the oil inlet end. The hydraulic oil flows out from the 25A port after passing through the first stop valve 25 at the oil inlet end. The hydraulic oil flowing out of the 25A port flows into the rodless chamber of the first double-acting single-rod hydraulic cylinder 17 through the 17B port of the first double-acting single-rod hydraulic cylinder 17. The hydraulic oil in the rod chamber of the first double-acting single-rod hydraulic cylinder 17 flows out through its 17A port. The hydraulic oil flowing out of the 17A port flows into the first stop valve 1 at the return oil end through the 1B port of the first stop valve 1 at the return oil end. The hydraulic oil flows out from its 1A port after passing through the first stop valve 1 at the return oil end. The hydraulic oil flows out from its 26A port after passing through the second stop valve 26 at the oil inlet end. The hydraulic oil flowing out of port A flows into the rodless chamber of the second double-acting single-rod hydraulic cylinder 18 through port 18B of the second double-acting single-rod hydraulic cylinder 18, and the hydraulic oil in the rod chamber of the second double-acting single-rod hydraulic cylinder 18 flows out through port 18A thereof. The hydraulic oil flowing out of port 18A flows into the second stop valve 2 at the return oil end through port 2B of the second stop valve 2 at the return oil end, and the hydraulic oil flows out from port 2A after passing through the second stop valve 2 at the return oil end, and flows out from port 27A after passing through the third stop valve 27 at the oil inlet end. The hydraulic oil flowing out of port 27A flows into the rodless chamber of the third double-acting single-rod hydraulic cylinder 19 through port 19B of the third double-acting single-rod hydraulic cylinder 19, and the hydraulic oil in the rod chamber of the third double-acting single-rod hydraulic cylinder 19 flows out through port 19A thereof.The hydraulic oil flowing out of port 19A flows into the third stop valve 3 at the return oil end through port 3B of the third stop valve 3 at the return oil end, the hydraulic oil flows out from port 3A of the third stop valve 3 at the return oil end, the hydraulic oil flows out from port 28A of the fourth stop valve 28 at the inlet end, the hydraulic oil flows out from port 28A through port 20B of the fourth double-acting single-rod hydraulic cylinder 20 into the rodless chamber of the fourth double-acting single-rod hydraulic cylinder 20, the hydraulic oil in the rod chamber of the fourth double-acting single-rod hydraulic cylinder 20 flows out through port 20A, the hydraulic oil flowing out of port 20A flows into the fourth stop valve 4 at the return oil end through port 4B of the fourth stop valve 4 at the return oil end, the hydraulic oil flows out from port 4A of the fourth stop valve 4 at the return oil end, ports 1A, 2A, 3A and 4 The hydraulic oil flowing out of port A flows into the first pressure sensor 33 through port 33A of the first pressure sensor 33, flows into the first hydraulically controlled one-way valve 37 through port 37B of the first hydraulically controlled one-way valve 37, flows out from port 37A of the first hydraulically controlled one-way valve 37, flows into the first three-position four-way proportional reversing valve 48 through port 48A of the first three-position four-way proportional reversing valve 48, flows back to the oil tank 57 through port 48T of the first three-position four-way proportional reversing valve 48; the high-pressure oil in the high-pressure oil source 56 flows into the second three-position four-way proportional reversing valve 49 through port 49P of the second three-position four-way proportional reversing valve 49, flows into the second three-position four-way proportional reversing valve 49 through port 49A of the second three-position four-way proportional reversing valve 49 The hydraulic oil flowing out of the 49A port flows into the fourth hydraulically controlled one-way valve 40 through the 40C port of the fourth hydraulically controlled one-way valve 40, and flows into the third hydraulically controlled one-way valve 39 through the 39A port of the third hydraulically controlled one-way valve 39. The fourth hydraulically controlled one-way valve 40 is in a two-way conduction state, and the third hydraulically controlled one-way valve 39 is in a one-way conduction state. The hydraulic oil flows out from the 39B port of the third hydraulically controlled one-way valve 39, and the hydraulic oil flowing out of the 39B port flows into the pressure sensor 35 through the 35A port of the pressure sensor 35, flows into the fifth stop valve 29 at the oil inlet end through the 29B port of the fifth stop valve 29 at the oil inlet end, flows into the sixth stop valve 30 at the oil inlet end through the 30B port of the sixth stop valve 30 at the oil inlet end, and flows into the seventh stop valve 31 at the oil inlet end. The hydraulic oil flows into the seventh stop valve 31 at the oil inlet end through the 31B port, and flows into the eighth stop valve 32 at the oil inlet end through the 32B port of the eighth stop valve 32 at the oil inlet end. The hydraulic oil flows out from the 29A port after passing through the fifth stop valve 29 at the oil inlet end. The hydraulic oil flowing out of the 29A port flows into the rodless chamber of the fifth double-acting single-rod hydraulic cylinder 21 through the 21B port of the fifth double-acting single-rod hydraulic cylinder 21. The hydraulic oil in the rod chamber of the fifth double-acting single-rod hydraulic cylinder 21 flows out through its 21A port. The hydraulic oil flowing out of the 21A port flows into the fifth stop valve 5 at the return oil end through the 5B port of the fifth stop valve 5 at the return oil end. The hydraulic oil flows out from its 5A port after passing through the fifth stop valve 5 at the return oil end. The hydraulic oil flows out from its 30A port after passing through the sixth stop valve 30 at the oil inlet end.The hydraulic oil flowing out of the 30A port flows into the rodless chamber of the sixth double-acting single-rod hydraulic cylinder 22 through the 22B port of the sixth double-acting single-rod hydraulic cylinder 22, and the hydraulic oil in the rod chamber of the sixth double-acting single-rod hydraulic cylinder 22 flows out through its 22A port. The hydraulic oil flowing out of the 22A port flows into the sixth stop valve 6 at the return oil end through the 6B port of the sixth stop valve 6 at the return oil end. After passing through the sixth stop valve 6 at the return oil end, the hydraulic oil flows out from its 6A port. After passing through the seventh stop valve 31 at the oil inlet end, the hydraulic oil flows out from its 31 The hydraulic oil flowing out of port A flows into the rodless chamber of the seventh double-acting single-rod hydraulic cylinder 23 through port 23B of the seventh double-acting single-rod hydraulic cylinder 23. The hydraulic oil in the rod chamber of the seventh double-acting single-rod hydraulic cylinder 23 flows out through port 23A. The hydraulic oil flowing out of port 23A flows into the seventh stop valve 7 at the return oil end through port 7B of the seventh stop valve 7 at the return oil end. After passing through the seventh stop valve 7 at the return oil end, the hydraulic oil flows out from port 7A. After passing through the eighth stop valve 32 at the oil inlet end, the hydraulic oil flows out of the seventh stop valve 7 at the return oil end. The hydraulic oil flows out from its 32A port, and the hydraulic oil flowing out of the 32A port flows into the rodless chamber of the eighth double-acting single-rod hydraulic cylinder 24 through the 24B port of the eighth double-acting single-rod hydraulic cylinder 24. The hydraulic oil in the rod chamber of the eighth double-acting single-rod hydraulic cylinder 24 flows out through its 24A port, and the hydraulic oil flowing out of the 24A port flows into the eighth stop valve 8 at the return oil end through the 8B port of the eighth stop valve 8 at the return oil end. After passing through the eighth stop valve 8 at the return oil end, the hydraulic oil flows out from its 8A port, 5A port, 6A port, and 7A port. The hydraulic oil flowing out of the 8A port flows into the pressure sensor 36 through the 36A port of the pressure sensor 36, flows into the fourth hydraulically controlled one-way valve 40 through the 40B port of the fourth hydraulically controlled one-way valve 40, and flows out of the 40A port of the fourth hydraulically controlled one-way valve 40. The hydraulic oil flowing out of the 40A port flows into the second three-position four-way proportional reversing valve 49 through the 49B port of the second three-position four-way proportional reversing valve 49, and flows back to the oil tank 57 through the 49T port of the second three-position four-way proportional reversing valve 49. When the piston rods of the torque bearing cylinder groups on the left and right sides move to the preset position, at this time, the first three-position four-way proportional reversing valve 48 and the second three-position four-way proportional reversing valve 49 are switched to the middle position, and the torque bearing hydraulic cylinder groups on the left and right sides are in a self-locking state; the torque bearing cylinder groups on the left and right sides realize the torque bearing of the torque bearing hydraulic cylinder groups on the cutter head through position self-locking, thereby ensuring the rigidity and stability of the main beam.

[0072] ③ Reset function of the cutter head torque bearing hydraulic cylinder: when it is necessary to retract the support shoe for step change, the first two-position two-way solenoid reversing valve 41, the second two-position two-way solenoid reversing valve 42, the third two-position two-way solenoid reversing valve 54 and the fourth two-position two-way solenoid reversing valve 55 are in the left position. At this time, the valve core of the first three-position four-way proportional reversing valve 48 is switched to the right position, and the valve core of the second three-position four-way proportional reversing valve 49 is switched to the left position. The outlet pressures of the first proportional reducing valve 50 and the second proportional reducing valve 51 are adjusted to zero, and the high-pressure oil in the high-pressure oil source 56 flows into the first three-position four-way proportional reversing valve 48 through the 48P port of the first three-position four-way proportional reversing valve 48. The hydraulic oil flows through the first three-position four-way proportional reversing valve 48 and flows out from its 48A port The hydraulic oil flowing out of the 48A port flows into the second hydraulically controlled one-way valve 38 through the 38C port of the second hydraulically controlled one-way valve 38, and flows into the first hydraulically controlled one-way valve 37 through the 37A port of the first hydraulically controlled one-way valve 37. The first hydraulically controlled one-way valve 37 is in a one-way conduction state, and the second hydraulically controlled one-way valve 38 is in a two-way conduction state. The hydraulic oil flows out from the 37B port of the first hydraulically controlled one-way valve 37, and the hydraulic oil flowing out of the 37B port flows into the first pressure sensor 33 through the 33A port of the first pressure sensor 33, flows into the first stop valve 1 at the return oil end through the 1A port of the first stop valve 1 1, flows into the second stop valve 2 at the return oil end through the 2A port of the second stop valve 2 at the return oil end, and flows into the second stop valve 2 at the return oil end through the 3 Port A flows into the third stop valve 3 at the return oil end, and flows into the fourth stop valve 4 at the return oil end through port 4A of the fourth stop valve 4 at the return oil end. The hydraulic oil flows out from port 1B after passing through the first stop valve 1 at the return oil end. The hydraulic oil flowing out of port 1B flows into the rod chamber of the first double-acting single-rod hydraulic cylinder 17 through port 17A of the first double-acting single-rod hydraulic cylinder 17. The hydraulic oil in the rodless chamber of the first double-acting single-rod hydraulic cylinder 17 flows out through port 17B. The hydraulic oil flowing out of port 17B flows into the first stop valve 25 at the oil inlet end through port 25A of the first stop valve 25 at the oil inlet end. The hydraulic oil flows out from port 25B of the first stop valve 25 at the oil inlet end. The hydraulic oil flows out from port 2B of the second stop valve 2 at the return oil end. The oil flows into the rod chamber of the second double-acting single-rod hydraulic cylinder 18 through the 18A port of the second double-acting single-rod hydraulic cylinder 18, and the hydraulic oil in the rodless chamber of the second double-acting single-rod hydraulic cylinder 18 flows out through its 18B port. The hydraulic oil flowing out of the 18B port flows into the second stop valve 26 at the oil inlet end through the 26A port of the second stop valve 26 at the oil inlet end, and the hydraulic oil flows out from its 26B port after passing through the second stop valve 26 at the oil inlet end. The hydraulic oil flows out from its 3B port after passing through the third stop valve 3 at the oil return end. The hydraulic oil flowing out of the 3B port flows into the rod chamber of the third double-acting single-rod hydraulic cylinder 19 through the 19A port of the third double-acting single-rod hydraulic cylinder 19, and the hydraulic oil in the rodless chamber of the third double-acting single-rod hydraulic cylinder 19 flows out through its 19B port.The hydraulic oil flowing out of port 19B flows into the third stop valve 27 at the oil inlet end through port 27A of the third stop valve 27 at the oil inlet end, the hydraulic oil flows out from port 27B after passing through the third stop valve 27 at the oil inlet end, the hydraulic oil flows out from port 4B after passing through the fourth stop valve 4 at the oil return end, the hydraulic oil flowing out of port 4B flows into the rod chamber of the fourth double-acting single-rod hydraulic cylinder 20 through port 20A of the fourth double-acting single-rod hydraulic cylinder 20, the hydraulic oil in the rodless chamber of the fourth double-acting single-rod hydraulic cylinder 20 flows out through port 20B, the hydraulic oil flowing out of port 20B flows into the fourth stop valve 28 at the oil inlet end through port 28A of the fourth stop valve 28 at the oil inlet end, the hydraulic oil flows out from port 28B after passing through the fourth stop valve 28 at the oil inlet end, ports 25B and 26 The hydraulic oil flowing out of the B port, the 27B port and the 28B port flows into the pressure sensor 34 through the 34A port of the pressure sensor 34 respectively, and flows into the second hydraulically controlled one-way valve 38 through the 38B port of the second hydraulically controlled one-way valve 38. After passing through the second hydraulically controlled one-way valve 38, the hydraulic oil flows out from the 38A port thereof. The hydraulic oil flowing out of the 38A port flows into the first three-position four-way proportional reversing valve 48 through the 48B port thereof. After passing through the first three-position four-way proportional reversing valve 48, the hydraulic oil flows back to the oil tank 57 through the 48T port thereof. The plunger rod 52 is in a passive follow-up state. The hydraulic oil inside the plunger rod 52 flows out through the 52A port thereof. The hydraulic oil flowing out of the 52A port flows into the first proportional reducing valve 50 through the 50B port thereof. The hydraulic oil flows back to the oil tank 57 from the 50C port of the first proportional pressure reducing valve 50; the high-pressure oil in the high-pressure oil source 56 flows into the second three-position four-way proportional reversing valve 49 through the 49P port of the second three-position four-way proportional reversing valve 49, and the hydraulic oil flows out from the 49B port of the second three-position four-way proportional reversing valve 49. The hydraulic oil flowing out of the 49B port flows into the third hydraulically controlled one-way valve 39 through the 39C port of the third hydraulically controlled one-way valve 39, and flows into the fourth hydraulically controlled one-way valve 40 through the 40A port of the fourth hydraulically controlled one-way valve 40. The fourth hydraulically controlled one-way valve 40 is in a one-way conducting state, and the third hydraulically controlled one-way valve 39 is in a two-way conducting state. The hydraulic oil flows out from the 40B port of the fourth hydraulically controlled one-way valve 40, and the hydraulic oil flows out from the 40B port. The pressurized oil flows into the pressure sensor 36 through the 36A port of the pressure sensor 36, flows into the fifth stop valve 5 at the return oil end through the 5A port of the fifth stop valve 5 at the return oil end, flows into the sixth stop valve 6 at the return oil end through the 6A port of the sixth stop valve 6 at the return oil end, flows into the seventh stop valve 7 at the return oil end through the 7A port of the seventh stop valve 7 at the return oil end, flows into the eighth stop valve 8 at the return oil end through the 8A port of the eighth stop valve 8 at the return oil end, and the hydraulic oil flows out from the 5B port after passing through the fifth stop valve 5 at the return oil end. The hydraulic oil flowing out of the 5B port flows into the rod chamber of the fifth double-acting single-rod hydraulic cylinder 21 through the 21A port of the fifth double-acting single-rod hydraulic cylinder 21, and the hydraulic oil in the rodless chamber of the fifth double-acting single-rod hydraulic cylinder 21 flows out through its 21B port.The hydraulic oil flowing out of the 21B port flows into the fifth stop valve 29 at the oil inlet end through the 29A port of the fifth stop valve 29 at the oil inlet end, the hydraulic oil flows out from the 29B port after passing through the fifth stop valve 29 at the oil inlet end, the hydraulic oil flows out from the 6B port after passing through the sixth stop valve 6 at the oil return end, the hydraulic oil flowing out of the 6B port flows into the rod chamber of the sixth double-acting single-rod hydraulic cylinder 22 through the 22A port of the sixth double-acting single-rod hydraulic cylinder 22, the hydraulic oil in the rodless chamber of the sixth double-acting single-rod hydraulic cylinder 22 flows out through its 22B port, the hydraulic oil flowing out of the 22B port flows into the sixth stop valve 30 at the oil inlet end through the 30A port of the sixth stop valve 30 at the oil inlet end, the hydraulic oil The oil flows out from the 30B port of the sixth stop valve 30 at the oil inlet end, and flows out from the 7B port of the seventh stop valve 7 at the oil return end. The hydraulic oil flowing out of the 7B port flows into the rod chamber of the seventh double-acting single-rod hydraulic cylinder 23 through the 23A port of the seventh double-acting single-rod hydraulic cylinder 23, and the hydraulic oil in the rodless chamber of the seventh double-acting single-rod hydraulic cylinder 23 flows out through the 23B port. The hydraulic oil flowing out of the 23B port flows into the seventh stop valve 31 at the oil inlet end through the 31A port of the seventh stop valve 31 at the oil inlet end, and flows out from the 31B port of the seventh stop valve 31 at the oil inlet end. The hydraulic oil flows out from the 8B port of the eighth stop valve 8 at the oil return end. The hydraulic oil flowing out of port 8B flows into the rod chamber of the eighth double-acting single-rod hydraulic cylinder 24 through port 24A of the eighth double-acting single-rod hydraulic cylinder 24, and the hydraulic oil in the rodless chamber of the eighth double-acting single-rod hydraulic cylinder 24 flows out through port 24B thereof. The hydraulic oil flowing out of port 24B flows into the eighth stop valve 32 at the oil inlet end through port 32A of the eighth stop valve 32 at the oil inlet end, and the hydraulic oil flows out from port 32B of the eighth stop valve 32 at the oil inlet end. The hydraulic oil flowing out of ports 29B, 30B, 31B and 32B flows into the pressure sensor 35 through port 35A of the pressure sensor 35, and flows through port 39B of the third hydraulically controlled one-way valve 39. The hydraulic oil flows into the third hydraulically controlled one-way valve 39 through the third hydraulically controlled one-way valve 39, and flows out through its 39A port. The hydraulic oil flowing out of the 39A port flows into the second three-position four-way proportional reversing valve 49 through the 49A port of the second three-position four-way proportional reversing valve 49, and the hydraulic oil flows back to the oil tank 57 through its 49T port after passing through the second three-position four-way proportional reversing valve 49. The plunger rod 53 is in a passive follow-up state, and the hydraulic oil inside the plunger rod 53 flows out through its 53A port. The hydraulic oil flowing out of the 53A port flows into the second proportional pressure reducing valve 51 through the 51B port of the proportional pressure reducing valve 51, and the hydraulic oil flows back to the oil tank 57 through the 51C port of the second proportional pressure reducing valve 51. The reset function of the cutter head torque bearing hydraulic cylinder is realized.

[0073] like Fig.13 , 14 and Fig.15As shown in the figure, the force and motion analysis of the cutter head torque bearing system: after the TBM completes the step-changing motion, when the support shoe is needed to support the rock wall, the support shoe cylinder extends under the action of the hydraulic oil inside it, and the piston rod 521 of the support shoe cylinder transmits the motion to the inner ball hinge base 61 through the bolt connection, and the inner ball hinge base 61 transmits the motion to the inner ball hinge ball head 63 through the spherical groove inside it, and the inner ball hinge ball head 63 transmits the motion to the support shoe 60 through the contact between the outer ball hinge 62 and the inner ball hinge 63. The spherical surfaces of the hinge ball heads 63 cooperate with each other, and the support shoe 60 can move offset within a small range. As the support shoe cylinder piston rod 521 continues to move, the support shoe 60 continues to approach the rock wall. At this time, the torque cylinder group is in a passive follow-up state. When the support shoe 60 is in close contact with the rock wall, the thrust output by the support shoe cylinder is transmitted to the inner ball hinge base 61 through extrusion deformation. The inner ball hinge base 61 transmits the force to the inner ball hinge ball head 63 through the spherical contact between the inner ball hinge ball head 63, and the inner ball hinge ball head 6 3 The force is transmitted to the shoe 60 by squeezing the shoe 60, and the thrust received by the shoe 60 and the reaction force received by the rock wall offset each other, so as to realize the transmission of force and movement of the shoe 60 during the extension process; after the shoe is tightened, the piston rod of the torque cylinder outputs the supporting force under the action of the hydraulic oil in its rodless cavity, and the torque cylinder transmits the force to the main beam 58 and the shoe 60 through the ball hinge, and the stable torque of the torque cylinder received by the main beam 58 is used to offset the load torque transmitted to the main beam 58 by the cutter head; the TBM needs to be stepped action, at this time the support shoe 60 begins to retract, and the torque cylinder piston rod begins to retract under the action of the hydraulic oil inside its rod chamber, and the torque cylinder transmits the motion to the support shoe 60 through the ball hinge. During the retraction of the support shoe 60, the support shoe cylinder is in a passive retraction state, and the force applied by the torque cylinder on the support shoe 60 can be decomposed into horizontal force and vertical force; among which, the horizontal force is used to drag the support shoe 60 to retract, and the vertical force is used to bear part of the gravity of the support shoe 60, thereby completing the force and motion analysis of the cutter disc torque bearing system.

[0074] The details not described in detail in the present invention are all conventional technical means known to those skilled in the art.

[0075] The above content shows and describes the basic principles, main features and beneficial effects of the present invention. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A torque hydraulic support system for a TBM cutterhead based on direct bearing of grippers, comprising a saddle frame (59) connected to a main beam (58), wherein the saddle frame (59) is connected to a gripper (60) via a gripper oil cylinder, and characterized in that: The shoe support cylinder and the saddle frame (59) or the shoe support cylinder and the shoe support (60) are connected via a ball joint structure, a torque cylinder is hinged between the saddle frame (59) and the shoe support (60), and the shoe support cylinder and the torque cylinder are connected to a hydraulic control system; The cylinder body of the shoe gripper cylinder is connected to the saddle frame (59), and the piston rod of the shoe gripper cylinder is connected to the shoe gripper (60) via a ball joint structure; or the cylinder body of the shoe gripper cylinder is connected to the shoe gripper (60), and the piston rod of the shoe gripper cylinder is connected to the saddle frame (59) via a ball joint structure; The shoe support cylinder comprises a left shoe support cylinder (53) and a right shoe support cylinder (52), wherein the left shoe support cylinder (53) and the right shoe support cylinder (52) are symmetrically arranged with respect to the mid-vertical plane of the main beam (58), the left shoe support cylinder (53) is connected to the shoe support (60) on the left side of the saddle frame (59), and the right shoe support cylinder (52) is connected to the shoe support (60) on the right side of the saddle frame (59); The torque cylinder comprises a left torque cylinder group and a right torque cylinder group, the left torque cylinder group is hinged between the saddle frame (59) and the left support shoe (60), and the right torque cylinder group is hinged between the saddle frame (59) and the right support shoe (60); The torque cylinders in the left torque cylinder group are arranged at the front and rear sides of the left gripper cylinder, and the torque cylinders in the right torque cylinder group are arranged at the front and rear sides of the right gripper cylinder; Four torque cylinders are arranged on each side of the saddle frame (59), and the four torque cylinders are distributed in the form of two rows and four columns, each row includes two torque cylinders, and each column includes one torque cylinder, and one end of the four torque cylinders connected to the support shoe (60) is respectively located at the four corners of the support shoe (60) on the side facing away from the rock wall; The height of the position where the torque cylinder is connected to the saddle frame (59) is higher than the height of the position where the torque cylinder is connected to the support shoe (60); The torque cylinder comprises a torque cylinder body (173) and a torque cylinder piston rod (172); a torque cylinder piston rod ball hinge (171) is arranged in the connecting earring of the torque cylinder piston rod (172); a torque cylinder body ball hinge (174) is arranged in the connecting earring of the torque cylinder body (173); when the torque cylinder piston rod ball hinge (171) is connected to a saddle frame (59), the torque cylinder body ball hinge (174) is connected to a support shoe (60); when the torque cylinder piston rod ball hinge (171) is connected to a support shoe (60), the torque cylinder body ball hinge (174) is connected to a saddle frame (59).

2. The TBM cutterhead torque hydraulic support system based on direct bearing of gripper shoes according to claim 1 is characterized in that: The ball joint structure comprises an inner ball joint base (61), an outer ball joint (62) and an inner ball joint ball head (63); the inner ball joint ball head (63) cooperates with a spherical surface on one side of the inner ball joint base (61), and the outer ball joint (62) cooperates with a spherical surface on the other side of the inner ball joint base (61); when the support shoe cylinder and the support shoe (60) are connected via the ball joint structure, the inner ball joint base (61) is connected to the support shoe cylinder, and the outer ball joint (62) and the inner ball joint ball head (63) are both connected to the support shoe (60); or the inner ball joint base (61) is connected to the support shoe (60), and the outer ball joint (62) and the inner ball joint ball head (63) are both connected to the support shoe cylinder.

3. The TBM cutterhead torque hydraulic support system based on direct bearing of gripper shoes according to claim 2 is characterized in that: The inner ball hinge base (61) is provided with a base annular spherical surface at one edge and a concave spherical surface at the center of the other side, the base annular spherical surface being arranged concentrically with the concave spherical surface, the outer ball hinge (62) is annular and has a flange extending radially inward at one end, the inner side surface of the flange is provided with a flange annular spherical surface, and the flange annular spherical surface is fitted with the base annular spherical surface.

4. The TBM cutterhead torque hydraulic support system based on direct bearing of gripper shoes according to any one of claims 1 to 3, characterized in that: The hydraulic control system comprises a support shoe cylinder hydraulic control unit and a torque cylinder hydraulic control unit. The support shoe cylinder hydraulic control unit comprises a proportional pressure reducing valve connected to the rodless chamber of the support shoe cylinder. The oil inlet end of the proportional pressure reducing valve is connected to a high-pressure oil source (56), and the oil return end is connected to an oil tank (57). The torque cylinder hydraulic control unit comprises a torque cylinder oil inlet oil circuit connected to the rodless chamber of the torque cylinder, and a torque cylinder oil return oil circuit connected to the rod chamber of the torque cylinder. The torque cylinder oil inlet oil circuit comprises an oil tank (57), an oil pump, an oil inlet end check valve (44), A two-position two-way solenoid reversing valve and a stop valve at the oil inlet end; the oil return oil circuit of the torque oil cylinder comprises a stop valve at the oil return end, a two-position two-way solenoid reversing valve at the oil return end, and an oil tank (57) which are connected in sequence; the stop valve at the oil inlet end, the stop valve at the oil return end, the high-pressure oil source (56), and the oil tank (57) are connected via a three-position four-way proportional reversing valve; the stop valve at the oil inlet end is connected to the three-position four-way proportional reversing valve via an oil inlet end pressure sensor and an oil inlet end hydraulically controlled one-way valve; and the stop valve at the oil return end is connected to the three-position four-way proportional reversing valve via an oil return end pressure sensor and an oil return end hydraulically controlled one-way valve.

5. The TBM cutterhead torque hydraulic support system based on direct bearing of gripper shoes according to claim 4 is characterized in that: During the process of extending the support shoe cylinder, the torque cylinder is in a passive follow-up extension state; after the support shoe cylinder is extended and the support shoe (60) holds the hole wall tightly, the torque cylinder outputs a supporting force to the support shoe (60); during the process of retracting the support shoe (60), the torque cylinder outputs a traction force to retract the support shoe (60), and the support shoe cylinder is in a passive follow-up retraction state.

6. The TBM cutterhead torque hydraulic support system based on direct bearing of gripper shoes according to claim 5 is characterized in that: An accumulator (43) is connected between the oil inlet-end one-way valve and the oil inlet-end two-position two-way electromagnetic reversing valve, and the accumulator (43) is connected to the oil tank (57) via a safety overflow valve (47).

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