A boom-type tunneling machine body stability control system and method

Abstract

A boom-type tunneling machine body stability control system and method, when the cutting arm rises, the controller converts the cab operation signal or remote control signal into an instruction and outputs it to the rear proportional valve and the electromagnetic valve, the rear proportional valve controls the support cylinder to extend to the first ground force contact, the electromagnetic valve controls the rear support cylinder to continuously abut the ground to stabilize the machine body; when the cutting arm is lowered, the controller converts the cab operation signal or remote control signal into an instruction and outputs it to the front proportional valve, the front proportional valve controls the shovel plate to lower to abut the ground to stabilize the machine body. The control system realizes the rear support cylinder, the shovel plate and the ground force contact, achieves the effect of stabilizing the machine body during the cutting operation of the cantilever tunneling machine, improves the production efficiency, and reduces the failure rate of the tunneling machine.

Description

Technical Field

[0001] The present invention relates to the technical field of cantilever type roadheaders, in particular to a body stabilization control system and method for a cantilever type roadheader. Background Art

[0002] Boom tunnel boring machines (TBMs) are a crucial component of tunnel excavation machinery, enabling continuous rock cutting, loading, and transportation. Due to the varying rock composition of the mountain, the rock hardness varies across the tunneling route. When the TBM's cutting arm cuts through hard rock, the reaction force from the rock increases, causing the TBM to vibrate violently, impacting the machine's cutting stability and production efficiency. Long-term, severe vibration can even damage the TBM's electro-hydraulic equipment.

[0003] The main body length of a boom TBM varies between 14 and 17 meters for different models. When a belt conveyor is attached to the rear end, the length reaches 22 meters. Controlling and aligning the TBM within the tunnel is difficult, and even correcting the machine after excavation is completed in some rock-cutting sections is time-consuming, significantly impacting cutting efficiency. Extensive vibrations during excavation can cause the machine to sway, especially in narrow tunnels. Even the slightest negligence can cause the rear end of the machine to collide with the tunnel, damaging the equipment. Therefore, ensuring the stability of the TBM during excavation is crucial.

[0004] At present, in order to increase the stability of the cantilevered roadheader during the cutting process, the operator usually manually lowers the rear support cylinder and shovel before the cantilevered roadheader cuts. The rear support cylinder and shovel are rarely adjusted again during the cutting process. The equipment is not re-supported until the cutting range of the roadheader is completed. This method cannot effectively guarantee the stability of the support, resulting in vibration of the equipment and even swinging of the machine body. Summary of the Invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a body stabilization control system and method for a cantilevered tunnel boring machine. When the cutting arm of the cantilevered tunnel boring machine rises or falls, in order to prevent the rear or front part of the body of the cantilevered tunnel boring machine from lifting off the ground due to the reaction force of hard rock cutting, the control system automatically controls the rear support cylinder of the cantilevered tunnel boring machine to extend or the shovel plate to lower and support, so that the rear support cylinder and the shovel plate are in force contact with the ground, thereby stabilizing the body of the cantilevered tunnel boring machine during cutting operations, thereby improving production efficiency and reducing the failure rate of the tunnel boring machine.

[0006] In order to achieve the above object, the specific scheme adopted by the present invention is:

[0007] A kind of machine body stabilizing control system for boom-type tunneling machine, the boom-type tunneling machine includes cab, terminal box, cutting arm, shovel plate and rear support cylinder, the use mode of the shovel plate and rear support cylinder is divided into normal use mode and stable machine body mode, normal use mode and stable machine body mode can be converted according to the tunneling condition.Initially, manually control shovel plate is in the state of lowering, rear support cylinder is in the state of extending, reach the initial stress contact of rear support cylinder, shovel plate and ground;When stable machine body mode, control system automatically controls the action of rear support cylinder and shovel plate, when cutting arm rises, to avoid the rear of tunneling machine from rising off the ground, rear support cylinder needs to continuously abut ground to stabilize machine body, when cutting arm descends, to avoid the front of tunneling machine from rising off the ground, shovel plate needs to continuously lower to abut ground to stabilize machine body;

[0008] The control system comprises:

[0009] Controller, the controller is arranged in control cabinet;

[0010] Execution element, the execution element includes rear hydraulic cylinder for controlling the action of rear support cylinder and front hydraulic cylinder for controlling the action of shovel plate;

[0011] Control valve group, the control valve group is connected with execution element and directly controls the work of front hydraulic cylinder or rear hydraulic cylinder, the control valve group includes front proportional valve, rear proportional valve and solenoid valve, the front proportional valve is used to control the oil pressure when shovel plate is in normal use mode or stable machine body mode, the rear proportional valve is used to control the oil pressure when rear support cylinder extends to stress contact with ground, the solenoid valve is used to control the oil pressure when rear support cylinder continuously abuts ground, the solenoid valve is arranged in parallel with rear proportional valve;

[0012] Remote controller, the remote controller is used to send control signal at a distance, remote controller is connected with controller through network communication;

[0013] Operation platform, the operation platform is arranged in cab, cab operation platform is connected with controller through wire harness,

[0014] I / O module, the I / O module is arranged in terminal box, I / O module connects controller and control valve group;

[0015] When cutting arm rises, the controller converts cab operation signal or the signal of remote controller into instruction and outputs to rear proportional valve and solenoid valve, rear proportional valve controls support cylinder to extend to first stress contact with ground, solenoid valve controls rear support cylinder continuously abutting ground to stabilize machine body;

[0016] When cutting arm descends, the controller converts cab operation signal or the signal of remote controller into instruction and outputs to front proportional valve, front proportional valve controls shovel plate to lower to abut ground to stabilize machine body.

[0017] Further, the operating platform is provided with an operating platform operation assembly, through which the opening degree of the front proportional valve or the rear proportional valve can be adjusted.

[0018] Further, the operating platform operation assembly comprises an operating platform rear support cylinder operation handle for controlling the action of the rear support cylinder, an operating platform blade operation handle for controlling the action of the blade, an operating platform rear support cylinder enabling button for selecting the rear support cylinder body stabilizing mode, and an operating platform blade enabling button for selecting the blade body stabilizing mode.

[0019] Further, the remote controller is provided with a remote controller operation assembly, through which the opening degree of the front proportional valve or the rear proportional valve can be adjusted.

[0020] Further, the remote controller operation assembly comprises a remote controller rear support cylinder operation handle for controlling the action of the rear support cylinder, and a remote controller blade operation handle for controlling the action of the blade.

[0021] Further, the control cabinet panel is provided with a rear support cylinder enabling switch for selecting the rear support cylinder body stabilizing mode, and a blade enabling switch for selecting the blade body stabilizing mode.

[0022] Further, the extension speed of the rear support cylinder can be controlled by controlling the slope of the operating platform rear support cylinder operation handle or the remote controller rear support cylinder operation handle, and the lowering speed of the blade can be controlled by controlling the slope of the operating platform blade operation handle or the remote controller blade operation handle.

[0023] Further, the controller, the I / O module, the remote controller and the cab adopt CANOPEN for communication.

[0024] Further, in the normal use mode, the controller controls the front proportional valve to continuously supply oil to the front hydraulic cylinder with fixed control parameters; and in the body stabilizing mode, the controller controls the front proportional valve to intermittently supply oil to the front hydraulic cylinder by using an intermittent control timing method.

[0025] A body stabilizing control method for a cantilevered tunneling machine, comprising the following steps:

[0026] S1, an operator selects a control mode according to the operation needs, the control mode comprising a cab mode and a remote control mode; when the cab mode is selected, the cab blade enabling button and the cab rear support cylinder enabling button need to be pressed respectively to send signals to the controller; when the remote control mode is selected, the control cabinet panel blade enabling switch and the rear support enabling switch need to be turned on to send signals to the controller;

[0027] S2. The operator selects when to change the use mode of the rear support cylinder and the blade according to the change amplitude of the cutting current of the roadheader and the vibration amplitude of the machine body, wherein the use mode includes a normal use mode and a stable machine body mode;

[0028] In normal use mode, the shovel is in the lowering state under the control of the front proportional valve, and the rear support cylinder is in the extending state under the control of the rear proportional valve, so that the rear support cylinder, the shovel and the ground are in initial force contact;

[0029] When the conditions for stabilizing the camera mode are met:

[0030] When the cutting arm rises, in order to prevent the rear part of the machine from lifting off the ground due to the reaction force of hard rock cutting, the rear support cylinder needs to be continuously extended to stabilize the machine body. The inclination of the rear support cylinder operating handle on the rear operating console or the remote control is manually controlled to control the extension speed of the rear support cylinder. The controller converts the received signal into a command and outputs it to the rear proportional valve and solenoid valve. The rear proportional valve controls the rear support cylinder to extend until it makes initial force contact with the ground. The solenoid valve controls the rear support cylinder to continuously contact the ground to stabilize the machine body.

[0031] When the cutting arm descends, in order to prevent the front of the tunnel boring machine from lifting off the ground due to the reaction force of hard rock cutting, the shovel needs to continue to be lowered to stabilize the machine body; the inclination of the shovel operating handle on the operating table or the shovel operating handle on the remote control is manually controlled to control the lowering speed of the shovel. The controller converts the received signal into an instruction and outputs it to the front proportional valve. The front proportional valve controls the shovel to be lowered until it touches the ground to stabilize the machine body.

[0032] Beneficial effects:

[0033] 1) During the cutting operation, the cantilever roadheader automatically controls the pressure replenishment after the rear support cylinder and the shovel plate come into contact with the ground, making full use of the supporting function of the shovel plate and the rear support cylinder to increase the stability of the machine body, improve the excavation production efficiency, and reduce the equipment failure rate.

[0034] 2) Different control schemes were adopted based on the mechanical support structure and on-site working conditions of the boom roadheader's rear support cylinder and blade: A separate solenoid valve controls the oil supply circuit for the rear support cylinder, reducing oil supply pressure; and intermittent control of the blade's timing output increases the flexibility of blade support adjustment on-site and improves efficiency. This effectively ensures energy-saving and stable hydraulic drive for achieving the support function.

[0035] 3) Through the controller system logic and algorithm, according to the up and down movement direction of the cutting arm and the load of the cutting motor current, the control system controls the downward pressure of the shovel and the rear support cylinder to achieve the stability of the machine body after meeting the functional conditions, thereby improving the intelligence of the control system and the efficiency of the hydraulic drive.

[0036] 4) The controller system adjusts the output current control curves of the front and rear proportional valves to control different slopes, solving the problem of slow response of the electro-hydraulic proportional valve in the initial stage.

[0037] 5) The system uses a dedicated I / O control module for mobile vehicles. By collecting analog signal inputs from the control handle and applying the PWMI algorithm to control the output current to drive the front proportional valve or the rear proportional valve, it achieves the control function of accurately adjusting the shovel plate and the rear support cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is the control system functional diagram.

[0039] Figure 2 This is the electro-hydraulic control schematic diagram of the rear support cylinder.

[0040] Figure 3 This is the electro-hydraulic control schematic diagram of the shovel.

[0041] Figure 4 This is a partial functional diagram of the rear support cylinder electro-hydraulic controller.

[0042] Figure 5 This is a partial functional diagram of the shovel electro-hydraulic controller.

[0043] Figure 6 This is the electro-hydraulic control oil pressure curve.

[0044] Figure 7 This is the timing test diagram of the shovel electro-hydraulic control. DETAILED DESCRIPTION

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] A cantilevered tunnel boring machine body stability control system, please refer to Figures 1 to 7The cantilever tunnel boring machine includes a cab, a junction box, a cutting arm, a shovel plate and a rear support cylinder. The use modes of the shovel plate and the rear support cylinder are divided into a normal use mode and a stable fuselage mode. The normal use mode and the stable fuselage mode can be converted to each other according to the tunneling working conditions. In the normal use mode, the shovel plate is manually controlled to be in a lowered state, and the rear support cylinder is in an extended state to achieve the initial force contact between the rear support cylinder, the shovel plate and the ground; in the stable fuselage mode, the control system automatically controls the movement of the rear support cylinder and the shovel plate. When the cutting arm rises, in order to prevent the rear end of the tunnel boring machine from lifting off the ground, the rear support cylinder needs to continuously abut against the ground to stabilize the fuselage. When the cutting arm descends, in order to prevent the front end of the tunnel boring machine from lifting off the ground, the shovel plate needs to be continuously lowered to abut against the ground to stabilize the fuselage.

[0047] The control system includes:

[0048] A controller, wherein the controller is arranged in a control cabinet;

[0049] An actuator, comprising a rear hydraulic cylinder for controlling the movement of the rear support cylinder and a front hydraulic cylinder for controlling the movement of the shovel;

[0050] A control valve group, which is connected to the actuator and directly controls the operation of the front hydraulic cylinder or the rear hydraulic cylinder. The control valve group includes a front proportional valve, a rear proportional valve, and a solenoid valve. The front proportional valve is used to control the oil pressure in the normal use mode of the shovel blade or the stable fuselage mode. The rear proportional valve is used to control the oil pressure when the rear support cylinder is extended to contact the ground under force. The solenoid valve is used to control the oil pressure when the rear support cylinder is continuously in contact with the ground. The solenoid valve is arranged in parallel with the rear proportional valve.

[0051] A remote controller, which is used to send control signals from a distance and is connected to the controller via network communication;

[0052] An operating console is provided in the cab and is connected to the controller via a wiring harness;

[0053] I / O module, the I / O module is arranged in the junction box, and the I / O module is connected to the controller and the control valve group;

[0054] When the cutting arm rises, the controller converts the cab operation signal or the remote control signal into a command and outputs it to the rear proportional valve and the solenoid valve. The rear proportional valve controls the support cylinder to extend until it makes initial force contact with the ground, and the solenoid valve controls the rear support cylinder to continuously contact the ground to stabilize the machine body.

[0055] When the cutting arm is lowered, the controller converts the cab operation signal or the remote control signal into a command and outputs it to the front proportional valve. The front proportional valve controls the shovel to be lowered to contact the ground to stabilize the fuselage.

[0056] The operating table is provided with an operating table operating component, through which the opening of the front proportional valve or the rear proportional valve can be adjusted.

[0057] The operating console operating component includes an operating console rear support cylinder operating handle for controlling the movement of the rear support cylinder, an operating console shovel operating handle for controlling the movement of the shovel, an operating console rear support cylinder enabling button for selecting the rear support cylinder stabilizing fuselage mode, and an operating console shovel enabling button for selecting the shovel stabilizing fuselage mode.

[0058] The remote controller is provided with a remote controller operating component, through which the opening of the front proportional valve or the rear proportional valve can be adjusted.

[0059] The remote control operating assembly includes a remote control rear support cylinder operating handle for controlling the movement of the rear support cylinder and a remote control shovel plate operating handle for controlling the movement of the shovel plate.

[0060] The control cabinet panel is provided with a rear support cylinder enabling switch for selecting the rear support cylinder stabilizing the fuselage mode and a shovel enabling switch for selecting the shovel stabilizing the fuselage mode.

[0061] By controlling the inclination of the rear support cylinder operating handle on the operating table or the rear support cylinder operating handle on the remote control, the extension speed of the rear support cylinder can be controlled; by controlling the inclination of the shovel operating handle on the operating table or the shovel operating handle on the remote control, the lowering speed of the shovel can be controlled.

[0062] The rear support is driven by a telescopic cylinder. Control of the rear support's ground force is achieved by providing a constant supply of control oil pressure. The rear support's normal operation mode and stable fuselage mode are controlled by two separate hydraulic drive channels, each with its own adjustable pressure. In normal operation, the rear proportional valve extension pressure is controlled by the tilt of the rear support handle on the console or remote control. In stable fuselage mode, the solenoid valve is actuated to provide a fixed drive pressure based on the controller's logic. The shovel is driven by a telescopic cylinder. In normal operation, the shovel's lowering speed is controlled by manually adjusting the tilt of the shovel handle on the console or remote control. The controller controls the front proportional valve's lowering pressure with fixed parameters. In stable fuselage mode, the controller uses an intermittent control sequence to control the front proportional valve's lowering pressure.

[0063] The controller, I / O module, remote controller and cab use CANOPEN for communication.

[0064] A cantilevered roadheader body stabilization control method is disclosed. During a cutting operation, the cantilevered roadheader automatically controls the oil pressure of the rear support cylinder and the shovel blade according to the cutting arm's movement direction and the cutting motor load, thereby achieving reliable contact with the ground. This increases the body's stability, improves tunneling production efficiency, and reduces equipment failure rates. The control method primarily includes the following steps:

[0065] S1. The operator selects a control mode according to operational needs. The control modes include cab mode and remote control mode. When cab mode is selected, the operator needs to press the cab shovel enable button and cab rear support cylinder enable button respectively to send signals to the controller. When remote control mode is selected, the operator needs to first turn on the shovel enable switch and rear support enable conversion switch on the control cabinet panel to send signals to the controller.

[0066] S2. The operator selects when to change the use mode of the rear support cylinder and the blade according to the change amplitude of the cutting current of the roadheader and the vibration amplitude of the machine body, wherein the use mode includes a normal use mode and a stable machine body mode;

[0067] In normal use mode, the shovel is in the lowering state under the control of the front proportional valve, and the rear support cylinder is in the extending state under the control of the rear proportional valve, so that the rear support cylinder, the shovel and the ground are in initial force contact;

[0068] When the conditions for stabilizing the camera mode are met:

[0069] When the cutting arm rises, in order to prevent the rear part of the machine from lifting off the ground due to the reaction force of hard rock cutting, the rear support cylinder needs to be continuously extended to stabilize the machine body. The inclination of the rear support cylinder operating handle on the rear operating console or the remote control is manually controlled to control the extension speed of the rear support cylinder. The controller converts the received signal into a command and outputs it to the rear proportional valve and solenoid valve. The rear proportional valve controls the rear support cylinder to extend until it makes initial force contact with the ground. The solenoid valve controls the rear support cylinder to continuously contact the ground to stabilize the machine body.

[0070] When the cutting arm descends, in order to prevent the front of the tunnel boring machine from lifting off the ground due to the reaction force of hard rock cutting, the shovel needs to continue to be lowered to stabilize the machine body; the inclination of the shovel operating handle on the operating table or the shovel operating handle on the remote control is manually controlled to control the lowering speed of the shovel. The controller converts the received signal into an instruction and outputs it to the front proportional valve. The front proportional valve controls the shovel to be lowered until it touches the ground to stabilize the machine body.

[0071] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any equivalent changes or modifications made based on the essence of the present invention should be included in the scope of protection of the present invention.

Claims

1. A cantilever type tunnel boring machine body stability control system, characterized in that: The cantilever tunnel boring machine includes a cab, a junction box, a cutting arm, a shovel plate and a rear support cylinder. The use modes of the shovel plate and the rear support cylinder are divided into a normal use mode and a stable fuselage mode. The normal use mode and the stable fuselage mode can be converted to each other according to the tunneling working conditions. In the normal use mode, the shovel plate is manually controlled to be in a lowered state, and the rear support cylinder is in an extended state, so as to achieve the initial force contact between the rear support cylinder, the shovel plate and the ground; in the stable fuselage mode, the control system automatically controls the movement of the rear support cylinder and the shovel plate. When the cutting arm rises, in order to prevent the rear end of the tunnel boring machine from lifting off the ground, the rear support cylinder needs to continuously abut against the ground to stabilize the fuselage. When the cutting arm descends, in order to prevent the front end of the tunnel boring machine from lifting off the ground, the shovel plate needs to be continuously lowered to abut against the ground to stabilize the fuselage. The control system includes: A controller, wherein the controller is arranged in a control cabinet; An actuator, comprising a rear hydraulic cylinder for controlling the movement of the rear support cylinder and a front hydraulic cylinder for controlling the movement of the shovel; A control valve group, which is connected to the actuator and directly controls the operation of the front hydraulic cylinder or the rear hydraulic cylinder. The control valve group includes a front proportional valve, a rear proportional valve, and a solenoid valve. The front proportional valve is used to control the oil pressure in the normal use mode of the shovel blade or the stable fuselage mode. The rear proportional valve is used to control the oil pressure when the rear support cylinder is extended to contact the ground under force. The solenoid valve is used to control the oil pressure when the rear support cylinder is continuously in contact with the ground. The solenoid valve is arranged in parallel with the rear proportional valve. A remote controller, which is used to send control signals from a distance and is connected to the controller via network communication; The operating console is located in the cab and is connected to the controller via a wiring harness. I / O module, the I / O module is arranged in the junction box, and the I / O module is connected to the controller and the control valve group; When the cutting arm rises, the controller converts the cab operation signal or the remote control signal into a command and outputs it to the rear proportional valve and the solenoid valve. The rear proportional valve controls the support cylinder to extend until it makes initial force contact with the ground, and the solenoid valve controls the rear support cylinder to continuously contact the ground to stabilize the machine body. When the cutting arm is lowered, the controller converts the cab operation signal or the remote control signal into a command and outputs it to the front proportional valve. The front proportional valve controls the shovel to be lowered to contact the ground to stabilize the fuselage.

2. The cantilever type roadheader body stability control system according to claim 1, characterized in that: The operating table is provided with an operating table operating component, through which the opening of the front proportional valve or the rear proportional valve can be adjusted.

3. The cantilever type roadheader body stability control system according to claim 2, characterized in that: The operating console operating component includes an operating console rear support cylinder operating handle for controlling the movement of the rear support cylinder, an operating console shovel operating handle for controlling the movement of the shovel, an operating console rear support cylinder enabling button for selecting the rear support cylinder stabilizing fuselage mode, and an operating console shovel enabling button for selecting the shovel stabilizing fuselage mode.

4. The cantilever type roadheader body stability control system according to claim 1, characterized in that: The remote controller is provided with a remote controller operating component, through which the opening of the front proportional valve or the rear proportional valve can be adjusted.

5. The cantilever type roadheader body stability control system according to claim 4, characterized in that: The remote control operating assembly includes a remote control rear support cylinder operating handle for controlling the movement of the rear support cylinder and a remote control shovel plate operating handle for controlling the movement of the shovel plate.

6. The cantilever type roadheader body stability control system according to claim 5, characterized in that: The control cabinet panel is provided with a rear support cylinder enabling switch for selecting the rear support cylinder stabilizing the fuselage mode and a shovel enabling switch for selecting the shovel stabilizing the fuselage mode.

7. A cantilever type roadheader body stability control system according to claim 3 or 5, characterized in that: By controlling the inclination of the rear support cylinder operating handle on the operating table or the rear support cylinder operating handle on the remote control, the extension speed of the rear support cylinder can be controlled; by controlling the inclination of the shovel operating handle on the operating table or the shovel operating handle on the remote control, the lowering speed of the shovel can be controlled.

8. The cantilever type roadheader body stability control system according to claim 1, characterized in that: The controller, I / O module, remote controller and cab use CANOPEN for communication.

9. The cantilever type roadheader body stability control system according to claim 1, characterized in that: In normal use mode, the controller controls the front proportional valve to continuously supply oil to the front hydraulic cylinder with fixed control parameters; in stable fuselage mode, the controller uses an intermittent control timing method to control the front proportional valve to intermittently supply oil to the front hydraulic cylinder.

10. A method for controlling the stability of a cantilevered tunnel boring machine, characterized in that: The steps include: S1. The operator selects a control mode according to operational needs. The control modes include cab mode and remote control mode. When cab mode is selected, the operator needs to press the cab shovel enable button and cab rear support cylinder enable button respectively to send signals to the controller. When remote control mode is selected, the operator needs to first turn on the shovel enable switch and rear support enable conversion switch on the control cabinet panel to send signals to the controller. S2. The operator selects when to change the use mode of the rear support cylinder and the blade according to the change amplitude of the cutting current of the roadheader and the vibration amplitude of the machine body, wherein the use mode includes a normal use mode and a stable machine body mode; In normal use mode, the shovel is in the lowering state under the control of the front proportional valve, and the rear support cylinder is in the extending state under the control of the rear proportional valve, so that the rear support cylinder, the shovel and the ground are in initial force contact; When the conditions for stabilizing the camera mode are met: When the cutting arm rises, in order to prevent the rear part of the machine from lifting off the ground due to the reaction force of hard rock cutting, the rear support cylinder needs to be continuously extended to stabilize the machine body. The inclination of the rear support cylinder operating handle on the rear operating console or the remote control is manually controlled to control the extension speed of the rear support cylinder. The controller converts the received signal into a command and outputs it to the rear proportional valve and solenoid valve. The rear proportional valve controls the rear support cylinder to extend until it makes initial force contact with the ground. The solenoid valve controls the rear support cylinder to continuously contact the ground to stabilize the machine body. When the cutting arm descends, in order to prevent the front of the tunnel boring machine from lifting off the ground due to the reaction force of hard rock cutting, the shovel needs to continue to be lowered to stabilize the machine body; the inclination of the shovel operating handle on the operating table or the shovel operating handle on the remote control is manually controlled to control the lowering speed of the shovel. The controller converts the received signal into an instruction and outputs it to the front proportional valve. The front proportional valve controls the shovel to be lowered until it touches the ground to stabilize the machine body.

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