A mine TBM propulsion system with V-shaped layout of propulsion oil cylinders and a propulsion method thereof

Abstract

The present application relates to the technical field of tunnel boring machine, and discloses a small-turning-radius mine TBM propelling system control and method applied to V-shaped layout of propelling oil cylinder, which comprises a main hydraulic pump, an auxiliary hydraulic pump, an oil tank, a total control multi-way valve, an upper area control multi-way valve, a lower area control multi-way valve, a right area control multi-way valve, a left area control multi-way valve, a propelling mode control valve block, a synchronous motor, a partition mode control valve block, an upper and lower area control valve block, a left and right area control valve block, an oil cylinder pressure sensor, an auxiliary control valve block and an auxiliary pressure sensor. The present application has two working modes of propelling oil cylinder synchronous mode boring and propelling oil cylinder non-synchronous mode boring, can flexibly adapt to various soft and hard geologies in coal mine rock laneways, can solve the technical problems of insufficient turning radius and difficult direction adjustment of a main machine head of a TBM in a coal mine laneway construction process, and can improve the application range of the TBM in the coal mine rock laneway construction.

Description

Technical Field

[0001] This invention relates to a control and method for a mining TBM propulsion system with a small turning radius, applied to a V-shaped layout of the propulsion cylinder, in the field of tunnel boring machine technology. Background Technology

[0002] Currently, coal mine roadway excavation has gradually evolved from traditional drill-and-blast + fully mechanized tunneling to automation and intelligence. Factory-style tunnel boring machine (TBM) technology has been applied in coal mine roadway construction, achieving good progress and gaining recognition from coal mining enterprises. TBM construction is no longer limited to large-diameter, large-turn-radius roadways; the demand for small-diameter, small-turn-radius TBMs is gradually increasing. While employing a structure similar to a double-shield design, the V-shaped layout of the propulsion cylinder eliminates the traditional torque beam structure, thus reducing the main unit length and achieving a smaller turning radius, the predominantly sedimentary rock strata in coal mine roadways, with relatively soft floor plates, can lead to difficulties in TBM head-mounting and steering during construction. Although the V-shaped propulsion cylinder layout effectively addresses the small turning radius requirement, it places high demands on the propulsion system control, requiring functions such as adjusting tunneling speed, quickly adjusting tunneling direction, and adjusting torque. For complex working conditions, it should have multiple steering methods. Therefore, a small-turn-radius TBM propulsion system with a V-shaped propulsion cylinder layout remains an urgent new challenge. Summary of the Invention

[0003] The purpose of this invention is to provide a mining TBM propulsion system with a small turning radius that is applied to a V-shaped layout of the propulsion cylinder.

[0004] The objective of this invention is achieved as follows: A mining TBM propulsion system with a small turning radius and a V-shaped layout of propulsion cylinders, comprising a main hydraulic pump, an auxiliary hydraulic pump, an oil tank, a main control multi-way valve, an upper zone control multi-way valve, a lower zone control multi-way valve, a right zone control multi-way valve, a left zone control multi-way valve, a propulsion mode control valve block, a synchronous motor, a zone mode control valve block, upper and lower zone control valve blocks, left and right zone control valve blocks, a cylinder pressure sensor, an auxiliary control valve block, and an auxiliary pressure sensor; characterized in that: the oil outlet of the main hydraulic pump is connected to the main control multi-way valve, the oil outlet of the main control multi-way valve is connected to the inlet of the synchronous motor and the inlet of the propulsion mode control valve block respectively, and the oil outlet of the propulsion mode control valve block is connected to the oil inlets of the upper zone control multi-way valve, the lower zone control multi-way valve, the right zone control multi-way valve, and the left zone control multi-way valve respectively; the oil inlet of the zone mode control valve block... The oil outlet of the multi-way valve is connected to the oil outlet of the partition mode control valve block. The oil outlet of the partition mode control valve block is connected to the oil inlet of the upper and lower partition control valve blocks and the left and right partition control valve blocks respectively. The oil outlet of the synchronous motor is connected to the oil outlet of the partition mode control valve block. The two oil outlets of the upper and lower partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 1 respectively. The two oil outlets of the upper and lower partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 2 respectively. The two oil outlets of the upper and lower partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 5 respectively. The two oil outlets of the upper and lower partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 6 respectively. The two oil outlets of the left and right partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 3 respectively. The two oil outlets of the left and right partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 4 respectively. The two oil outlets of the left and right partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 7 respectively. The two oil outlets of the left and right partition control valve blocks are connected to the rodless chamber and the rod chamber of cylinder 8 respectively.

[0005] Preferably, pressure sensors are installed at both oil outlets of the control valve block.

[0006] Preferably, the propulsion mode control valve block includes a solenoid directional valve, a check valve, and a flow divider valve. The inlet and return ports of the solenoid directional valve 2 are respectively connected to the inlet and return ports of the control valve block 1. The outlet of the solenoid directional valve 2 is respectively connected to the inlet of the flow divider valve 3 and the inlets of the check valves 3-1 and 3-2. The left and right outlets of the flow divider valve 3 are respectively connected to the outlets of the check valves 3-1 and 3-2. The inlet and return ports of the solenoid directional valve 4 are respectively connected to the outlet of the check valve 3-1 and the T1 port of the control valve block 1. The outlet of the solenoid directional valve 4 is connected to the inlet of the diverter valve 6 and the outlets of the check valves 6-1 and 6-2, respectively. The left and right outlets of the diverter valve 6 are connected to the outlets of the check valves 6-1 and 6-2, respectively. The inlet and outlet of the solenoid directional valve 5 are connected to the outlet of the check valve 3-2 and the T1 port of the control valve block 1, respectively. The outlet of the solenoid directional valve 5 is connected to the inlet of the diverter valve 7 and the outlets of the check valves 7-1 and 7-2, respectively. The left and right outlets of the diverter valve 7 are connected to the outlets of the check valves 7-1 and 7-2, respectively.

[0007] Preferably, the main hydraulic pump outlet is connected to port P24 of the main control multi-way valve, and ports A24 and B24 of the main control multi-way valve are connected to the synchronous motor inlet and the propulsion mode control valve block inlet, respectively. Ports A1, A2, B1, and B2 of the propulsion mode control valve block are connected to the upper zone control multi-way valve inlet, the lower zone control multi-way valve inlet, the right zone control multi-way valve inlet, and the left zone control multi-way valve inlet, respectively. The oil inlets P20, P21, P22, P23, P24, P25, P26, and P27 of the zoned control valve block are respectively connected to the oil outlets A8, B8, A9, B9, A10, B10, A11, and B11 of the multi-way valve. The oil outlets A20, B20, A21, B21, A22, B22, A23, and B23 of the zoned control valve block are respectively connected to the oil inlets P20, P31, P32, P33, P40, P41, P42, and P43 of the upper and lower zoned control valve blocks and the left and right zoned control valve blocks. The oil outlet of the synchronous motor is connected to the oil outlet of the zoned control valve block. The oil outlets A30 and B30 of the upper and lower zoned control valve blocks are respectively connected to the rodless chamber and the rod chamber of cylinder 1. The oil outlet A31 of the upper and lower zoned control valve block... B31 is connected to the rodless chamber and rod chamber of cylinder 2, respectively. The oil outlets A32 and B32 of the upper and lower control valve blocks are connected to the rodless chamber and rod chamber of cylinder 5, respectively. The oil outlets A33 and B33 of the upper and lower control valve blocks are connected to the rodless chamber and rod chamber of cylinder 6, respectively. The oil outlets A40 and B40 of the left and right control valve blocks are connected to the rodless chamber and rod chamber of cylinder 3, respectively. The oil outlets A41 and B41 of the left and right control valve blocks are connected to the rodless chamber and rod chamber of cylinder 4, respectively. The oil outlets A42 and B42 of the left and right control valve blocks are connected to the rodless chamber and rod chamber of cylinder 7, respectively. The oil outlets A43 and B43 of the left and right control valve blocks are connected to the rodless chamber and rod chamber of cylinder 8, respectively. Pressure sensors 58 are installed at the A and B oil outlets of control valve blocks 30 and 40.

[0008] The partitioned control valve block 20 includes a check valve and a diverter valve. The inlet and outlet of the diverter valve 16 are connected to P20, A20, and B20 of the control valve block 20, respectively. The inlets of check valves 16-1 and 16-2 are connected to P21 of the control valve block 20, and the outlets of check valves 16-1 and 16-2 are connected to the outlet of the diverter valve 16. The inlet and outlet of the diverter valve 17 are connected to P22, A21, and B21 of the control valve block 20, respectively. The inlets of check valves 17-1 and 17-2 are connected to P23 of the control valve block 20, and the outlets of check valves 17-1 and 17-2 are connected to the outlet of the diverter valve 17. The inlet and outlet of diverter valve 18 are connected to P24, A22, and B22 of control valve block 20, respectively. The inlets of check valves 18-1 and 18-2 are connected to P25 of control valve block 20, and the outlets of check valves 18-1 and 18-2 are connected to the outlet of diverter valve 18. The inlet and outlet of diverter valve 19 are connected to P26, A23, and B23 of control valve block 20, respectively. The inlets of check valves 19-1 and 19-2 are connected to P27 of control valve block 20, and the outlets of check valves 18-1 and 18-2 are connected to the outlet of diverter valve 19.

[0009] The upper and lower zone control valve block 30 includes a check valve, a solenoid directional valve, and a balance valve. The P and T ports of the solenoid directional valve 31 are connected to the P30 and T30 ports of the control valve block 30, respectively. The A and B ports of the solenoid directional valve 31 are connected to the A30 and B30 ports of the control valve block 30, respectively. The P and T ports of the solenoid directional valve 35-1 are connected to the A36 and A37 ports of the control valve block 30, respectively. Port A is equipped with a check valve that communicates with Port A of the solenoid directional valve 31. The inlet and outlet of the check valve 21-1 are respectively connected to Port A34 of the control valve block 30 and Port A of the solenoid directional valve 31. The inlet and outlet of the overflow valve 36-1 are respectively connected to Port A30 and Port T30 of the control valve block 30. The inlet and outlet of the replenishing check valve 37-1 are respectively connected to Port T30 and Port A30 of the control valve block 30. The P and T ports of the solenoid directional valve 32 are connected to the P31 and T30 ports of the control valve block 30, respectively. The A and B ports of the solenoid directional valve 32 are connected to the A31 and B31 ports of the control valve block 30, respectively. The P and T ports of the solenoid directional valve 35-2 are connected to the A36 and A37 ports of the control valve block 30, respectively. The A port of the solenoid directional valve 35-1 is equipped with a check valve that is connected to the A port of the solenoid directional valve 32. The inlet and outlet of the check valve 21-2 are connected to the A35 port of the control valve block 30 and the A port of the solenoid directional valve 32, respectively. The inlet and outlet of the overflow valve 36-2 are connected to the A31 and T30 ports of the control valve block 30, respectively. The inlet and outlet of the replenishing check valve 37-2 are connected to the T30 and A31 ports of the control valve block 30, respectively. The P and T ports of the solenoid directional valve 33 are connected to the P32 and T30 ports of the control valve block 30, respectively. The A and B ports of the solenoid directional valve 33 are connected to the A32 and B32 ports of the control valve block 30, respectively. The P and T ports of the solenoid directional valve 35-3 are connected to the A36 and A37 ports of the control valve block 30, respectively. The A port of the solenoid directional valve 35-3 is equipped with a check valve that is connected to the A port of the solenoid directional valve 33. The inlet and outlet of the check valve 21-2 are connected to the A34 port of the control valve block 30 and the A port of the solenoid directional valve 33, respectively. The inlet and outlet of the overflow valve 36-3 are connected to the A32 and T30 ports of the control valve block 30, respectively. The inlet and outlet of the replenishing check valve 37-3 are connected to the T30 and A32 ports of the control valve block 30, respectively.The P and T ports of the solenoid directional valve 34 are connected to the P33 and T30 ports of the control valve block 30, respectively. The A and B ports of the solenoid directional valve 34 are connected to the A33 and B33 ports of the control valve block 30, respectively. The P and T ports of the solenoid directional valve 35-4 are connected to the A36 and A37 ports of the control valve block 30, respectively. The A port of the solenoid directional valve 35-4 is equipped with a check valve that is connected to the A port of the solenoid directional valve 34. The inlet and outlet of the check valve 22-2 are connected to the A35 port of the control valve block 30 and the A port of the solenoid directional valve 34, respectively. The inlet and outlet of the overflow valve 36-4 are connected to the A33 and T30 ports of the control valve block 30, respectively. The inlet and outlet of the replenishing check valve 37-4 are connected to the T30 and A33 ports of the control valve block 30, respectively.

[0010] The left and right zone control valve block 40 includes a check valve, a solenoid directional valve, and a relief valve. The P and T ports of the solenoid directional valve 35 are connected to the P40 and T40 ports of the control valve block 40, respectively. The A and B ports of the solenoid directional valve 35 are connected to the A40 and B40 ports of the control valve block 40, respectively. The P and T ports of the solenoid directional valve 35-5 are connected to the A46 and A47 ports of the control valve block 40, respectively. Port A is equipped with a check valve that communicates with Port A of the solenoid directional valve 35. The inlet and outlet of the check valve 21-3 are respectively connected to Port A44 of the control valve block 40 and Port A of the solenoid directional valve 35. The inlet and outlet of the overflow valve 36-5 are respectively connected to Port A40 and Port T30 of the control valve block 30. The inlet and outlet of the replenishing check valve 37-5 are respectively connected to Port T40 and Port A40 of the control valve block 40. The P and T ports of the three-position four-way solenoid directional valve 36 are connected to the P41 and T40 ports of the control valve block 40, respectively. The A and B ports of the three-position four-way solenoid directional valve 36 are connected to the A41 and B41 ports of the control valve block 40, respectively. The P and T ports of the solenoid directional valve 35-6 are connected to the A46 and A47 ports of the control valve block 40, respectively. The A port of the solenoid directional valve 35-6 is equipped with a check valve that is connected to the A port of the solenoid directional valve 36. The inlet and outlet of the check valve 22-3 are connected to the A45 port of the control valve block 40 and the A port of the solenoid directional valve 36, respectively. The inlet and outlet of the overflow valve 36-6 are connected to the A41 and T40 ports of the control valve block 40, respectively. The inlet and outlet of the replenishing check valve 37-6 are connected to the T40 and A41 ports of the control valve block 40, respectively. The P and T ports of the three-position four-way solenoid directional valve 37 are connected to the P42 and T40 ports of the control valve block 40, respectively. The A and B ports of the three-position four-way solenoid directional valve 37 are connected to the A42 and B42 ports of the control valve block 40, respectively. The P and T ports of the solenoid directional valve 35-7 are connected to the A46 and A47 ports of the control valve block 40, respectively. The A port of the solenoid directional valve 35-7 is equipped with a check valve that is connected to the A port of the solenoid directional valve 37. The inlet and outlet of the check valve 21-4 are connected to the A44 port of the control valve block 40 and the A port of the solenoid directional valve 37, respectively. The inlet and outlet of the relief valve 36-7 are connected to the A42 and T40 ports of the control valve block 40, respectively. The inlet and outlet of the replenishing check valve 37-7 are connected to the T40 and A42 ports of the control valve block 40, respectively.The P and T ports of the three-position four-way solenoid directional valve 38 are connected to the P43 and T40 ports of the control valve block 40, respectively. The A and B ports of the three-position four-way solenoid directional valve 38 are connected to the A43 and B43 ports of the control valve block 40, respectively. The P and T ports of the solenoid directional valve 35-8 are connected to the A46 and A47 ports of the control valve block 40, respectively. The A port of the solenoid directional valve 35-8 is equipped with a check valve that is connected to the A port of the solenoid directional valve 38. The inlet and outlet of the check valve 22-4 are connected to the A45 port of the control valve block 40 and the A port of the solenoid directional valve 38, respectively. The inlet and outlet of the relief valve 36-8 are connected to the A43 and T40 ports of the control valve block 40, respectively. The inlet and outlet of the replenishing check valve 37-8 are connected to the T40 and A43 ports of the control valve block 40, respectively.

[0011] The control valve block 50 includes a three-dimensional four-way solenoid directional valve and a speed control valve. The P port and T port of the three-dimensional four-way directional valve 53 are respectively connected to the outlet of the two-way speed control valve 51 and the T50 port of the control valve block 50. The A port and B port of the three-dimensional four-way directional valve 53 are respectively connected to the A51 port and B51 port of the control valve block 50. The inlet of the two-way speed control valve is connected to the P50 port of the control valve block 50. The P port and T port of the three-dimensional four-way directional valve 54 are respectively connected to the outlet of the two-way speed control valve 52 and the T51 port of the control valve block 50. The A port and B port of the three-dimensional four-way directional valve 54 are respectively connected to the A52 port and B52 port of the control valve block 50. The inlet of the two-way speed control valve is connected to the P51 port of the control valve block 50.

[0012] The working method of this invention is as follows:

[0013] 1. In synchronous mode, hydraulic pump 59 supplies pressurized oil to the system. Multi-way valve 24 switches to the upper position and connects to the system. Pressurized oil flows from port B24 to port P1 of control valve block 1. The oil passes through the right position of solenoid directional valve 2 and flow divider valve 3 to split into two pressurized oil paths with the same flow rate. The left oil path passes through the right position of solenoid valve 4 and flow divider valve 6 to split into two pressurized oil paths with the same flow rate. The right oil path passes through the right position of solenoid valve 5 and flow divider valve 7 to split into two pressurized oil paths with the same flow rate. The four pressurized oil paths with the same flow rate flow out from ports A1, A2, B1, and B2 of control valve block 1. When the lower positions of multi-way valves 8, 9, 10, and 11 are energized, the oil flows out from ports A8, A9, A10, and A11 of these valves respectively. The four pressure oil flows through the right position of solenoid valve 12 and diverter valve 16, the right position of solenoid valve 13 and diverter valve 17, the right position of solenoid valve 14 and diverter valve 18, and the right position of solenoid valve 15 and diverter valve 19, resulting in eight separate pressure oil flows with equal flow rates from ports A20, B20, A21, B21, A22, B22, A23, and B23 of control valve block 20. When the right positions of solenoid directional valves 31, 32, 33, 34, 35, 36, 37, and 38 are energized, the pressure oil flows to the rodless chamber of the cylinders, causing all eight cylinders to extend synchronously. The oil returning from the rod chambers returns to the oil tank via the corresponding solenoid directional valves. The extension speed of the hydraulic cylinder is regulated by the multi-way valve 24; the multi-way valve is a proportional directional valve that regulates the flow rate by adjusting the displacement of the valve core; the pressure of the hydraulic cylinder is regulated by the proportional relief valve integrated in the multi-way valve, and the hydraulic cylinder pressure is fed back by the pressure sensor 58 installed in the control valve blocks 30 and 40.

[0014] 2. In synchronous mode, when adjusting direction, hydraulic pump 60 supplies oil to the system, solenoid directional valve 53 is energized in its right position, and pressurized oil flows out from port A51 of control valve block 50 through speed control valve 51 and the right position of solenoid directional valve 51. Solenoid directional valves 35-1, 35-2, 35-3, 35-4, 35-6, 35-7, and 35-8, equipped with check valves, control cylinders 1, 2, 5, 6, 3, 4, 7, and 8 respectively. By increasing the flow rate in the hydraulic cylinders, the travel difference between the cylinders is changed. For example, when upward adjustment is required, solenoid directional valves 35-2 and 35-3 are energized, and oil flows through the right position of the directional valve to the sensorless chamber of the cylinder, causing the lower cylinder to extend at a speed greater than the upper cylinder, creating a travel difference between the upper and lower cylinders, and the equipment advances in an upward orientation. Other adjustment methods are similar to the upward adjustment control method.

[0015] 3. In synchronous mode, hydraulic pump 59 supplies pressurized oil to the system. Multi-way valve 24 is energized in its lower position, and oil flows from port A24 of multi-way valve 24 to synchronous motor 17. The synchronous motor then divides the oil into eight equal-flow-rate channels flowing to control valve blocks 30 and 40. Solenoid directional valves 31, 32, 33, 34, 35, 36, 37, and 38 are energized in their left positions, and oil enters the rod chambers of cylinders 1, 2, 3, 4, 5, 6, 7, and 8. All cylinders retract synchronously. Oil in the rodless chambers of the cylinders returns to the oil tank via the solenoid directional valves. The cylinder retraction speed is controlled by multi-way valve 24. During retraction, the system pressure is regulated by a proportional relief valve integrated in multi-way valve 24. Pressure sensors 58 mounted on the cylinders detect the cylinder pressure.

[0016] 4. In asynchronous mode, hydraulic pump 59 supplies oil, multi-way valve 24 is energized, and oil flows into control valve block 1 through port B24. Solenoid directional valves 2, 4, and 5 are energized in their right positions. Oil flows through solenoid directional valve 2, check valves 3-1 and 3-2, solenoid directional valve 4, check valves 6-1 and 6-2, solenoid directional valve 5, check valves 7-1 and 7-2, and from ports A1, A2, B1, and B2 into multi-way valves 8, 9, 10, and 11. The multi-way valves are in their upper position... When energized, oil flows from ports B8, B9, B10, and B11 to control valve block 20, passes through check valves 16-1, 16-2, 17-1, 17-2, 18-1, 18-2, 19-1, and 19-2, and flows to control valve blocks 30 and 40. Electromagnetic directional valves 31, 32, 33, 34, 35, 36, 37, and 38 are energized in their right positions, causing oil to flow into the rodless chamber of the hydraulic cylinder, extending the cylinder. Oil in the rod chamber returns to the oil tank via the directional valve. In asynchronous mode, a zoned pressure control method is used to adjust the equipment's attitude. Multi-way valves 8, 9, 10, and 11 contain proportional relief valves that control the pressure in the upper, lower, right, and left zones respectively. The cylinder pressure is monitored by pressure sensors 58 installed on control valve blocks 30 and 40. The propulsion speed is controlled by multi-way valves 8, 9, 10, and 11.

[0017] 5. To provide torque, hydraulic pump 60 supplies pressurized oil, which passes through two-way speed control valve 52. The right-hand position of solenoid directional valve 54 is energized, and the oil flows through port A52 and check valves 22-4, 22-3, 22-2, and 22-1, increasing the oil intake of the rodless chambers of cylinders 8, 6, 4, and 2, providing counter-clockwise torque. Pressure sensor 55-2 detects the pressure. When the left-hand position of solenoid directional valve 54 is energized, the oil flows through port A52 and check valves 21-4, 21-3, 21-2, and 21-1, increasing the oil intake of the rodless chambers of cylinders 7, 5, 3, and 1, providing clockwise torque. Pressure sensor 55-3 detects the pressure.

[0018] The beneficial effects of this invention are:

[0019] This invention features two working modes: synchronous propulsion cylinder tunneling and asynchronous propulsion cylinder tunneling. It can flexibly adapt to various soft and hard geological conditions in coal mine rock tunnels and solve the technical problems of insufficient turning radius and difficulty in directional adjustment of the main unit during TBM construction in coal mine tunnels, thereby expanding the application range of TBM in coal mine rock tunnel construction. Attached Figure Description

[0020] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a system schematic diagram of the present invention.

[0022] Figure 2 This is a schematic diagram of the propulsion mode control valve block.

[0023] Figure 3 This is a schematic diagram of a zoned control valve block.

[0024] Figure 4 This is a schematic diagram of auxiliary control.

[0025] Figure 5 This is a schematic diagram of the upper and lower zone control valve blocks.

[0026] Figure 6 This is a schematic diagram of the left and right zone control valve blocks. Detailed Implementation

[0027] A mining TBM propulsion system with a small turning radius, applied to a V-shaped layout of propulsion cylinders, such as... Figure 1As shown, the system includes a hydraulic pump 59, an auxiliary hydraulic pump 60, an oil tank 61, multi-way valves 8 / 9 / 10 / 11 / 24, a propulsion mode control valve block 1, a synchronous motor 17, a zone mode control valve block 20, an upper and lower zone control valve block 30, a left and right zone control valve block 40, a cylinder pressure sensor 58, a pressure sensor 55, and an auxiliary control valve block 50. Its key feature is that the oil outlet of the hydraulic pump 59 is connected to the inlet of the total pressure and flow control multi-way valve 24; ports A24 and B24 of the multi-way valves are respectively connected to the oil inlet of the synchronous motor 17 and the oil inlet of the control valve block 1; and ports A1, A2, B1, and B2 of the control valve block 1 are respectively... The oil inlets of the upper zone pressure and flow control multi-way valve 8, the lower zone pressure and flow control multi-way valve 9, the right zone pressure and flow control multi-way valve 10, and the left zone pressure and flow control multi-way valve 11 are connected. The oil outlets A8 and B8 of multi-way valve 8 are connected to the oil inlets P20 and P21 of control valve block 20, respectively. The oil outlets A9 and B9 of multi-way valve 9 are connected to the oil inlets P22 and P23 of control valve block 20, respectively. The oil outlets A10 and B10 of the upper zone pressure and flow control multi-way valve 10 are connected to the oil inlets P24 and P25 of control valve block 20, respectively. The oil outlets A11 and B11 of multi-way valve 11 are connected to the oil inlets P26 and P27 of control valve block 20, respectively. Connected to 27, the oil outlets A20, B20, A21, B21, A22, B22, A23, and B23 of control valve block 20 are respectively connected to the oil inlets P30, P31, P32, and P33 of control valve block 30, and the oil inlets P40, P41, P42, and P43 of control valve block 40. The oil outlets A17-1, A17-2, A17-3, A17-4, A17-5, A17-6, A17-7, A17-8, and A17-9 of synchronous motor 17 are respectively connected to the oil outlets A20, B20, A21, B21, A22, B22, A23, and B23 of control valve block 20. The control valve block 30 is connected to cylinders 1, 2, 5, and 6 respectively. Its outlet ports A30, A31, A32, and A33 are connected to the rodless chambers of cylinders 1, 2, 5, and 6 respectively. Its outlet ports B30, B31, B32, and B33 are connected to the rod chambers of cylinders 1, 2, 5, and 6 respectively. The control valve block 40 is connected to cylinders 3, 4, 7, and 8 respectively. Its outlet ports B40, B41, B42, and B43 are connected to the rod chambers of cylinders 3, 4, 7, and 8 respectively. Pressure sensors 58 are installed at the A and B outlets of both control valve blocks 30 and 40. The control valve 30's ports A34, A35, A36, and A37 are connected to the control valve block 40's ports A44, A45, A46, and A47 respectively. The auxiliary pump outlet is connected to ports P50 and P51 of the control valve block 50, and the outlets A51, B51, A52, and B52 of the control valve block 50 are connected to ports A47, A46, A45, and A44 of the control valve block 40, respectively.

[0028] The control valve block 1 includes solenoid directional valves 2, 4, and 5, flow divider valves 3, 6, and 7, and check valves 3-1, 3-2, 6-1, 6-2, 7-1, and 7-2. Synchronous mode: Solenoid directional valves 2, 4, and 5 are not energized. Oil flow direction: P port of control valve 1 → Solenoid directional valve 1 → Diverter valve 3 → Solenoid valve 4 → Solenoid directional valve 5 → Diverter valve 6 → Diverter valve 7 → A1, A2, B1, and B2 ports of control valve block 1. All four flow paths have the same flow rate. Asynchronous mode: Solenoid directional valves 2, 4, and 5 are energized. Oil flow direction: P port of control valve 1 → Solenoid directional valve 1 → Check valves 3-1 and 3-2 → Solenoid directional valve 4 → Solenoid directional valve 5 → Check valves 6-1 and 6-2 → Check valves 7-1 and 7-2 → A1, A2, B1, and B2 ports of control valve block 1. The function of the diverter valve is to divide the single pressure oil entering control valve block 1 into four equal flow paths. A check valve is provided at the outlet of the diverter valve to prevent pressure oil from flowing back to the diverter valve in asynchronous mode.

[0029] The control valve block 20 includes flow divider valves 16, 17, 18, and 19, and check valves 16-1, 16-2, 17-1, 17-2, 18-1, 18-2, 19-1, and 19-2. Flow divider valves 16, 17, 18, and 19 divide the pressure oil flowing into ports P20, P22, P24, and P26 into two equal flow paths. Check valves 16-1 and 16-2 divide the pressure oil flowing into port P21 into two equal flow paths; check valves 17-1 and 17-2 divide the pressure oil flowing into port P23 into two equal flow paths; check valves 18-1 and 18-2 divide the pressure oil flowing into port P25 into two equal flow paths; and check valves 19-1 and 19-2 divide the pressure oil flowing into port P27 into two equal flow paths.

[0030] The control valve blocks 30 and 40 include three-position four-way solenoid directional valves 31, 32, 33, 34, 35, 36, 37, and 38; two-position three-way solenoid directional valves 35-1, 35-2, 35-3, 35-4, 35-5, 35-6, 35-7, and 35-8; one-way valves 21-1, 22-1, 21-2, 22-2, 21-3, 22-4, 21-5, and 22-6; overflow valves 36-1, 36-2, 36-3, 36-4, 36-5, 36-6, 36-7, and 36-8; and replenishing one-way valves 37-1, 37-2, 37-3, 37-4, 37-5, 37-6, 37-7, and 37-8. The three-position four-way solenoid directional valve controls the extension or retraction of the hydraulic cylinder. The rodless chamber of the cylinder is equipped with an overflow valve to prevent excessive pressure and provide safety protection. The rodless chamber is also equipped with a replenishing check valve. Due to the V-shaped arrangement and synchronous mode of the hydraulic cylinder, there may be instances where the cylinder is passively pulled out, and the oil supply may not meet the actual extension speed requirement. In this case, the replenishing check valve operates, allowing system return oil to flow into the rodless chamber, preventing cavitation. The two-position three-way solenoid directional valve acts as a directional control valve. In synchronous mode, the cylinders extend at the same speed, and the equipment posture cannot be adjusted by the difference in cylinder stroke. The two-position three-way solenoid directional valve provides additional flow to the rodless chamber, creating a difference in cylinder extension length and thus adjusting the equipment posture. Pressure sensors 58 are installed at the outlets of the control valve block 3040 connected to the hydraulic cylinder. These sensors monitor the pressure in the rodless and rod chambers of the hydraulic cylinder in real time.

[0031] refer to Figure 1The system comprises a main hydraulic pump 59, an auxiliary hydraulic pump 60, an oil tank 61, multi-way valves 8 / 9 / 10 / 11 / 24, a propulsion mode control valve block 1, a synchronous motor 17, a zone mode control valve block 20, an upper / lower zone control valve block 30, a left / right zone control valve block 40, a cylinder pressure sensor 58, a pressure sensor 55, and an auxiliary control valve block 50. Its distinguishing feature is that the outlet of the hydraulic pump 59 is connected to a total pressure and flow control multi-way valve 24; the outlet of the multi-way valve 24 is connected to the inlet of the synchronous motor 17 and the inlet of the control valve block 1, respectively; and the four outlets of the control valve block 1 are connected to the multi-way valve 24. The inlet ports of multi-way valve 8, multi-way valve 9, multi-way valve 10, and multi-way valve 11 are connected. The outlet port of multi-way valve 8 is connected to the inlets P20 and P21 of control valve block 20, respectively. The outlet ports of multi-way valves 8, 9, 10, and 11 are connected to the inlets of control valve block 20, respectively. The outlet ports of control valve block 20 are connected to the inlets of control valve blocks 30 and 40, respectively. The outlet port of synchronous motor 17 is connected to the outlet port of control valve block 20, respectively. The outlet ports of control valve blocks 30 and 40 are connected to the hydraulic cylinders. Pressure sensors 58 are installed at the outlet ports of control valve blocks 30 and 40. The A34, A35, A36, and A37 ports of control valve 30 are connected to the A44, A45, A46, and A47 ports of control valve block 40, respectively. The auxiliary pump outlet is connected to ports P50 and P51 of control valve block 50. The outlets A51, B51, A52, and B52 of control valve block 50 are connected to ports A47, A46, A45, and A44 of control valve block 40, respectively. Pressure sensors 55-1 / 55-2 / 55-3 are installed at the outlets of control valve block 50.

[0032] The working method of this invention is as follows: 1. In synchronous mode, the hydraulic pump 59 supplies pressurized oil to the system. The multi-way valve 24 is switched to the upper position and connected to the system. The pressurized oil flows from port B24 to port P1 of the control valve block 1. The oil passes through the right position of the solenoid directional valve 2 and the flow divider valve 3 to split into two pressurized oil paths with the same flow rate. The left oil path passes through the right position of the solenoid valve 4 and the flow divider valve 6 to split into two pressurized oil paths with the same flow rate. The right oil path passes through the right position of the solenoid valve 5 and the flow divider valve 7 to split into two pressurized oil paths with the same flow rate. The four pressurized oil paths with the same flow rate flow from ports A1, A2, B1, and P1 of the control valve block 1. Oil flows out from port B2. Multi-way valves 8, 9, 10, and 11 are energized in their lower positions. Oil flows out from ports A8, A9, A10, and A11 of these valves respectively. The four pressure oil streams are then divided into eight equal-flow pressure oil streams, flowing out from ports A20, B20, A21, B21, A22, B22, A23, and B23 of control valve block 20. Electromagnetic directional valves 31, 32, 33, 34, 35, 36, 37, and 38 are energized in their right positions. The pressure oil flows to the rodless chamber of the cylinders, causing all eight cylinders to extend synchronously. Oil from the rod chambers returns to the oil tank via the corresponding electromagnetic directional valves. The extension speed of the hydraulic cylinder is regulated by the multi-way valve 24; the multi-way valve is a proportional directional valve that regulates the flow rate by adjusting the displacement of the valve core; the pressure of the hydraulic cylinder is regulated by the proportional relief valve integrated in the multi-way valve, and the hydraulic cylinder pressure is fed back by the pressure sensor 58 installed in the control valve blocks 30 and 40.

[0033] 2. In synchronous mode, when adjusting direction, hydraulic pump 60 supplies oil to the system, solenoid directional valve 53 is energized in its right position, and pressurized oil flows out from port A51 of control valve block 50 through speed control valve 51 and the right position of solenoid directional valve 51. Solenoid directional valves 35-1, 35-2, 35-3, 35-4, 35-6, 35-7, and 35-8, equipped with check valves, control cylinders 1, 2, 5, 6, 3, 4, 7, and 8 respectively. By increasing the flow rate in the hydraulic cylinders, the travel difference between the cylinders is changed. For example, when upward adjustment is required, solenoid directional valves 35-2 and 35-3 are energized, and oil flows through the right position of the directional valve to the sensorless chamber of the cylinder, causing the lower cylinder to extend at a speed greater than the upper cylinder, creating a travel difference between the upper and lower cylinders, and the equipment advances in an upward orientation. Other adjustment methods are similar to the upward adjustment control method.

[0034] 3. In synchronous mode, hydraulic pump 59 supplies pressurized oil to the system. Multi-way valve 24 is energized in its lower position, and oil flows from port A24 of multi-way valve 24 to synchronous motor 17. The synchronous motor then divides the oil into eight equal-flow-rate channels flowing to control valve blocks 30 and 40. Solenoid directional valves 31, 32, 33, 34, 35, 36, 37, and 38 are energized in their left positions, and oil enters the rod chambers of cylinders 1, 2, 3, 4, 5, 6, 7, and 8. All cylinders retract synchronously. Oil in the rodless chambers of the cylinders returns to the oil tank via the solenoid directional valves. The cylinder retraction speed is controlled by multi-way valve 24. During retraction, the system pressure is regulated by a proportional relief valve integrated in multi-way valve 24. Pressure sensors 58 mounted on the cylinders detect the cylinder pressure.

[0035] 4. In asynchronous mode, hydraulic pump 59 supplies oil, multi-way valve 24 is energized, and oil flows into control valve block 1 through port B24. Solenoid directional valves 2, 4, and 5 are energized in their right positions. Oil flows through solenoid directional valve 2, check valves 3-1 and 3-2, solenoid directional valve 4, check valves 6-1 and 6-2, solenoid directional valve 5, check valves 7-1 and 7-2, and from ports A1, A2, B1, and B2 into multi-way valves 8, 9, 10, and 11. The multi-way valves are in their upper position... When energized, oil flows from ports B8, B9, B10, and B11 to control valve block 20, passes through check valves 16-1, 16-2, 17-1, 17-2, 18-1, 18-2, 19-1, and 19-2, and flows to control valve blocks 30 and 40. Electromagnetic directional valves 31, 32, 33, 34, 35, 36, 37, and 38 are energized in their right positions, causing oil to flow into the rodless chamber of the hydraulic cylinder, extending the cylinder. Oil in the rod chamber returns to the oil tank via the directional valve. In asynchronous mode, a zoned pressure control method is used to adjust the equipment's attitude. Multi-way valves 8, 9, 10, and 11 contain proportional relief valves that control the pressure in the upper, lower, right, and left zones respectively. The cylinder pressure is monitored by pressure sensors 58 installed on control valve blocks 30 and 40. The propulsion speed is controlled by multi-way valves 8, 9, 10, and 11.

[0036] 5. To provide torque, hydraulic pump 60 supplies pressurized oil, which passes through two-way speed control valve 52. The right-hand position of solenoid directional valve 54 is energized, and the oil flows through port A52 and check valves 22-4, 22-3, 22-2, and 22-1, increasing the oil intake of the rodless chambers of cylinders 8, 6, 4, and 2, providing counter-clockwise torque. Pressure sensor 55-2 detects the pressure. When the left-hand position of solenoid directional valve 54 is energized, the oil flows through port A52 and check valves 21-4, 21-3, 21-2, and 21-1, increasing the oil intake of the rodless chambers of cylinders 7, 5, 3, and 1, providing clockwise torque. Pressure sensor 55-3 detects the pressure.

Claims

1. A mining TBM propulsion system with a small turning radius and a V-shaped layout of propulsion cylinders, comprising a main hydraulic pump, an auxiliary hydraulic pump, an oil tank, a main control multi-way valve, an upper zone control multi-way valve, a lower zone control multi-way valve, a right zone control multi-way valve, a left zone control multi-way valve, a propulsion mode control valve block, a synchronous motor, a zone mode control valve block, an upper and lower zone control valve block, a left and right zone control valve block, a cylinder pressure sensor, an auxiliary control valve block, and an auxiliary pressure sensor; characterized in that: The main hydraulic pump outlet is connected to the main control multi-way valve. The main control multi-way valve outlet is connected to the synchronous motor inlet and the propulsion mode control valve block inlet, respectively. The propulsion mode control valve block outlet is connected to the upper zone control multi-way valve inlet, lower zone control multi-way valve inlet, right zone control multi-way valve inlet, and left zone control multi-way valve inlet, respectively. The zone mode control valve block inlet is connected to the outlets of the upper zone control multi-way valve, lower zone control multi-way valve, right zone control multi-way valve, and left zone control multi-way valve, respectively. The zone mode control valve block outlet is connected to the upper and lower zone control valve blocks and the left and right zone control valve blocks inlet, respectively. The synchronous motor outlet is connected to the zone mode control valve block outlet. The two oil outlets of the control valve block are connected to the rodless chamber and the rod chamber of the first cylinder, respectively. The two oil outlets of the upper and lower control valve blocks are connected to the rodless chamber and the rod chamber of the second cylinder, respectively. The two oil outlets of the upper and lower control valve blocks are connected to the rodless chamber and the rod chamber of the fifth cylinder, respectively. The two oil outlets of the upper and lower control valve blocks are connected to the rodless chamber and the rod chamber of the sixth cylinder, respectively. The two oil outlets of the left and right control valve blocks are connected to the rodless chamber and the rod chamber of the third cylinder, respectively. The two oil outlets of the left and right control valve blocks are connected to the rodless chamber and the rod chamber of the fourth cylinder, respectively. The two oil outlets of the left and right control valve blocks are connected to the rodless chamber and the rod chamber of the seventh cylinder, respectively. The two oil outlets of the left and right control valve blocks are connected to the rodless chamber and the rod chamber of the eighth cylinder, respectively. The propulsion mode control valve block includes a solenoid directional valve, a check valve, and a flow divider valve. The inlet and return ports of the second solenoid directional valve are connected to the inlet and return ports of the propulsion mode control valve block, respectively. The outlet of the second solenoid directional valve is connected to the inlet of the third flow divider valve, the inlet of the third-one check valve, and the inlet of the third-two check valve. The left and right outlets of the third flow divider valve are connected to the outlets of the third-one check valve and the third-two check valve, respectively. The inlet and return ports of the fourth solenoid directional valve are connected to the outlet of the third-one check valve and the T1 port of the propulsion mode control valve block, respectively. The outlet of the directional control valve is connected to the inlet of the No. 6 diverter valve, the inlet of the No. 61 check valve, and the inlet of the No. 62 check valve, respectively. The left and right outlets of the No. 6 diverter valve are connected to the outlets of the No. 61 check valve and the No. 62 check valve, respectively. The oil inlet and return port of the No. 5 solenoid directional control valve are connected to the outlet of the No. 32 check valve and the T1 port of the propulsion mode control valve block, respectively. The outlet of the No. 5 solenoid directional control valve is connected to the inlet of the No. 7 diverter valve, the inlet of the No. 71 check valve, and the inlet of the No. 72 check valve, respectively. The left and right outlets of the No. 7 diverter valve are connected to the outlets of the No. 71 check valve and the No. 72 check valve, respectively.

2. The mining TBM propulsion system with a small turning radius applied to a V-shaped layout of propulsion cylinders according to claim 1, characterized in that: The auxiliary control valve block includes a three-position four-way solenoid directional valve and a speed control valve. The P port and T port of the No. 53 three-position four-way directional valve are respectively connected to the outlet of the No. 51 two-way speed control valve and the T50 port of the auxiliary control valve block. The A port and B port of the No. 53 three-position four-way directional valve are respectively connected to the A51 port and B51 port of the auxiliary control valve block. The inlet of the No. 51 two-way speed control valve is connected to the P50 port of the auxiliary control valve block. The P port and T port of the No. 54 three-position four-way directional valve are respectively connected to the outlet of the No. 52 two-way speed control valve and the T51 port of the auxiliary control valve block. The A port and B port of the No. 54 three-position four-way directional valve are respectively connected to the A52 port and B52 port of the auxiliary control valve block. The inlet of the No. 52 two-way speed control valve is connected to the P51 port of the auxiliary control valve block.

3. The mining TBM propulsion system with a small turning radius applied to a V-shaped layout of propulsion cylinders according to claim 1, characterized in that: The partition mode control valve block includes a check valve and a diverter valve. The inlet and outlet of diverter valve No. 16 are connected to ports P20, A20, and B20 of the partition mode control valve block, respectively. The inlets of check valves No. 16-1 and No. 16-2 are connected to and communicate with port P21 of the partition mode control valve block, and the outlets of check valves No. 16-1 and No. 16-2 are connected to the outlet of diverter valve No.

16. The inlet and outlet of diverter valve No. 17 are connected to ports P22, A21, and B21 of the partition mode control valve block, respectively. The inlets of check valves No. 17-1 and No. 17-2 are connected to and communicate with port P23 of the partition mode control valve block, and the outlets of check valves No. 17-1 and No. 17-2 are connected to and communicate with port P23 of the partition mode control valve block, respectively. The outlet of flow divider valve No. 7 is connected; the inlet and outlet of flow divider valve No. 18 are connected to ports P24, A22, and B22 of the zone mode control valve block, respectively; the inlets of check valves No. 18 and No. 28 are connected to port P25 of the zone mode control valve block, and the outlets of check valves No. 18 and No. 28 are connected to the outlet of flow divider valve No. 18; the inlet and outlet of flow divider valve No. 19 are connected to ports P26, A23, and B23 of the zone mode control valve block, respectively; the inlets of check valves No. 19 and No. 29 are connected to port P27 of the zone mode control valve block, and the outlets of check valves No. 18 and No. 28 are connected to the outlet of flow divider valve No.

19.

4. A mining TBM propulsion system with a small turning radius applied to a V-shaped layout of propulsion cylinders according to claim 1, characterized in that: The upper and lower zone control valve block includes a check valve, a solenoid directional valve, and a balancing valve. The P and T ports of solenoid directional valve No. 31 are connected to ports P30 and T30 of the upper and lower zone control valve block, respectively. The A and B ports of solenoid directional valve No. 31 are connected to ports A30 and B30 of the upper and lower zone control valve block, respectively. The P and T ports of solenoid directional valve No. 351 are connected to ports A36 and A37 of the upper and lower zone control valve block, respectively. A check valve is attached to port A of solenoid directional valve No. 351 and is connected to port A of solenoid directional valve No.

31. The inlet and outlet of check valve No. 211 are connected to port A34 of the upper and lower zone control valve block and port A34 of solenoid directional valve No. 31, respectively. Port A is connected to the upper and lower control valve blocks. The inlet and outlet of relief valve No. 361 are connected to ports A30 and T30 of the upper and lower control valve blocks, respectively. The inlet and outlet of replenishing check valve No. 371 are connected to ports T30 and A30 of the upper and lower control valve blocks, respectively. Ports P and T of solenoid directional valve No. 32 are connected to ports P31 and T30 of the upper and lower control valve blocks, respectively. Ports A and B of solenoid directional valve No. 32 are connected to ports A31 and B31 of the upper and lower control valve blocks, respectively. Ports P and T of solenoid directional valve No. 352 are connected to ports A36 and A37 of the upper and lower control valve blocks, respectively. Port A of solenoid directional valve No. 351... The valve is equipped with a check valve connected to port A of solenoid directional valve No. 32; check valves No. 21 and No. 22 have their inlet and outlet connected to ports A35 of the upper and lower control valve blocks and port A of solenoid directional valve No. 32, respectively; relief valves No. 36 and No. 2 have their inlet and outlet connected to ports A31 and T30 of the upper and lower control valve blocks, respectively; replenishment check valves No. 37 and No. 2 have their inlet and outlet connected to ports T30 and A31 of the upper and lower control valve blocks, respectively; solenoid directional valves No. 33 have their P and T ports connected to ports P32 and T30 of the upper and lower control valve blocks, respectively; and solenoid directional valves No. 33 have their A and B ports connected to ports A35 of the upper and lower control valve blocks.

32. Port B32 is connected. Ports P and T of the No. 35 solenoid directional valve are connected to ports A36 and A37 of the upper and lower zone control valve blocks, respectively. Port A of the No. 35 solenoid directional valve is equipped with a check valve that is connected to port A of the No. 33 solenoid directional valve. The inlet and outlet of the No. 21 check valve are connected to ports A34 of the upper and lower zone control valve blocks and port A of the No. 33 solenoid directional valve, respectively. The inlet and outlet of the No. 36 relief valve are connected to ports A32 and T30 of the upper and lower zone control valve blocks, respectively. The inlet and outlet of the No. 37 replenishment check valve are connected to ports T30 and A32 of the upper and lower zone control valve blocks, respectively.The P and T ports of solenoid directional valve No. 34 are connected to ports P33 and T30 of the upper and lower zone control valve blocks, respectively. The A and B ports of solenoid directional valve No. 34 are connected to ports A33 and B33 of the upper and lower zone control valve blocks, respectively. The P and T ports of solenoid directional valve No. 35 are connected to ports A36 and A37 of the upper and lower zone control valve blocks, respectively. Port A of solenoid directional valve No. 35 is equipped with a check valve that connects to port A of solenoid directional valve No.

34. The inlet and outlet of check valve No. 22 are connected to ports A35 of the upper and lower zone control valve blocks and port A of solenoid directional valve No. 34, respectively. The inlet and outlet of relief valve No. 36 are connected to ports A33 and T30 of the upper and lower zone control valve blocks, respectively. The inlet and outlet of replenishment check valve No. 37 are connected to ports T30 and A33 of the upper and lower zone control valve blocks, respectively.

5. A mining TBM propulsion system with a small turning radius applied to a V-shaped layout of propulsion cylinders according to claim 1, characterized in that: The left and right zone control valve blocks include a check valve, a solenoid directional valve, and a relief valve. The P and T ports of solenoid directional valve No. 35 are connected to ports P40 and T40 of the left and right zone control valve blocks, respectively. The A and B ports of solenoid directional valve No. 35 are connected to ports A40 and B40 of the left and right zone control valve blocks, respectively. The P and T ports of solenoid directional valve No. 355 are connected to ports A46 and A47 of the left and right zone control valve blocks, respectively. A check valve is attached to port A of solenoid directional valve No. 355 and is connected to port A of solenoid directional valve No.

35. The inlet and outlet of check valve No. 213 are connected to port A44 of the left and right zone control valve blocks and port A of solenoid directional valve No. 35, respectively. The oil inlet and outlet of relief valve No. 365 are connected to ports A40 and T30 of the upper and lower control valve blocks, respectively; the oil inlet and outlet of replenishing check valve No. 375 are connected to ports T40 and A40 of the left and right control valve blocks, respectively; the P and T ports of three-position four-way solenoid directional valve No. 36 are connected to ports P41 and T40 of the left and right control valve blocks, respectively; the A and B ports of three-position four-way solenoid directional valve No. 36 are connected to ports A41 and B41 of the left and right control valve blocks, respectively; the P and T ports of solenoid directional valves No. 35 and No. 36 are connected to ports A46 and A47 of the left and right control valve blocks, respectively; the oil inlet and outlet of relief valve No. 365 are connected to ports A40 and T30 of the upper and lower control valve blocks, respectively; the oil inlet and outlet of replenishing check valve No. 375 are connected to ports T40 and A40 of the left and right ... Port A is equipped with a check valve that connects to Port A of Solenoid Valve No.

36. The inlet and outlet of Check Valve No. 22 and No. 23 are connected to Port A45 of the left and right control valve blocks and Port A of Solenoid Valve No. 36, respectively. The inlet and outlet of Relief Valve No. 36 are connected to Port A41 and Port T40 of the left and right control valve blocks, respectively. The inlet and outlet of Replenishment Check Valve No. 37 are connected to Port T40 and Port A41 of the left and right control valve blocks, respectively. Ports P and T of Solenoid Valve No. 37 (3-position 4-way) are connected to Ports P42 and T40 of the left and right control valve blocks, respectively. Ports A and B of Solenoid Valve No. 37 (3-position 4-way) are connected to the left and right control valve blocks. The A42 and B42 ports of the control valve block are connected. The P and T ports of the No. 35 and No. 37 solenoid directional valves are connected to the A46 and A47 ports of the left and right control valve blocks, respectively. The A port of the No. 35 and No. 37 solenoid directional valves is equipped with a check valve that is connected to the A port of the No. 37 solenoid directional valve. The inlet and outlet of the No. 21 and No. 4 check valves are connected to the A44 port of the left and right control valve blocks and the A port of the No. 37 solenoid directional valve, respectively. The inlet and outlet of the No. 36 and No. 7 overflow valves are connected to the A42 and T40 ports of the left and right control valve blocks, respectively. The inlet and outlet of the No. 37 replenishment check valves are connected to the T40 and A42 ports of the left and right control valve blocks, respectively.The P and T ports of the No. 38 three-position four-way solenoid directional valve are connected to the P43 and T40 ports of the left and right control valve blocks, respectively. The A and B ports of the No. 38 three-position four-way solenoid directional valve are connected to the A43 and B43 ports of the left and right control valve blocks, respectively. The P and T ports of the No. 35-8 solenoid directional valve are connected to the A46 and A47 ports of the left and right control valve blocks, respectively. The A port of the No. 35-8 solenoid directional valve is equipped with a check valve that connects to the A port of the No. 38 solenoid directional valve. The inlet and outlet of the No. 22-4 check valve are connected to the A45 port of the left and right control valve blocks and the A port of the No. 38 solenoid directional valve, respectively. The inlet and outlet of the No. 36-8 relief valve are connected to the A43 and T40 ports of the left and right control valve blocks, respectively. The inlet and outlet of the No. 37-8 replenishment check valve are connected to the T40 and A43 ports of the left and right control valve blocks, respectively.

6. A propulsion method using a mining TBM propulsion system as described in any one of claims 1 to 5, characterized in that: Including synchronous and asynchronous modes, its working method is: S1, Synchronous Mode: All cylinders have the same oil intake and extension speed. The propulsion speed is adjusted by changing the flow rate through the valve core displacement of the multi-way valve, thus regulating the cylinder extension speed. The total propulsion pressure is adjusted by limiting the maximum working pressure of the system through the proportional pressure reducing valve integrated in the multi-way valve. S2, the reversing function in synchronous mode, increases the oil intake of several cylinders to create a stroke difference in the cylinders, thereby realizing the reversing function of the equipment; S3, synchronous mode step change: after completing one advance stroke, all cylinders retract quickly and synchronously to maintain the equipment posture; retraction speed adjustment is achieved by adjusting the valve core displacement of the multi-way valve to change the flow rate, thereby adjusting the cylinder extension speed; retraction pressure adjustment is achieved by limiting the maximum working pressure of the system through the proportional pressure reducing valve integrated in the multi-way valve. S4, asynchronous mode, uses zoned voltage regulation to propel and adjust the equipment's propulsion posture; S5 provides torque by supplying additional pressurized oil to the first, third, fifth, and seventh cylinders or the second, fourth, sixth, and eighth cylinders to resist the torque generated by the cutter head and prevent the equipment from twisting. The S1 synchronous mode workflow is as follows: The hydraulic pump supplies pressurized oil to the system. The multi-way valve is adjusted to switch to the upper position and connect to the system. The pressurized oil flows from port B24 to port P1 of the propulsion mode control valve block. The oil is divided into two pressure oil paths with the same flow rate by passing through the right position of the second solenoid directional valve and the third diverter valve. The left oil path is divided into two pressure oil paths with the same flow rate by passing through the right position of the fourth solenoid directional valve and the sixth diverter valve. The right oil path is divided into two pressure oil paths with the same flow rate by passing through the right position of the fifth solenoid directional valve and the seventh diverter valve. Pressure oil with the same flow rate flows out from ports A1, A2, B1, and B2 of the propulsion mode control valve block. The upper zone control multi-way valve, lower zone control multi-way valve, right zone control multi-way valve, and left zone control multi-way valve are energized at their lower positions. The oil flows through these lower positions and exits from ports A8, A9, A10, and A11 of the upper zone control multi-way valve, lower zone control multi-way valve, right zone control multi-way valve, and left zone control multi-way valve, respectively. The four pressure oil flows through the right position of solenoid directional valve No. 12, the right position of diverter valve No. 16, and the right position of solenoid directional valve No. 13, respectively. The flow divider valves No. 17, No. 14 (right position), No. 18, No. 15 (right position), and No. 19 divide the pressure oil into eight equal flow paths, each exiting from ports A20, B20, A21, B21, A22, B22, A23, and B23 of the zoned control valve block. The solenoid directional valves No. 31, No. 32, No. 33, No. 34, No. 35, and No. 36... When the No. 37 and No. 38 solenoid directional valves are energized in the right position, the pressurized oil flows to the rodless chamber of the cylinder, and the eight cylinders extend synchronously. The oil returning from the rod chamber passes through the corresponding solenoid directional valves back to the oil tank. The cylinder extension speed is regulated by the multi-way valve, which is a proportional directional valve. The flow rate is adjusted by regulating the valve core displacement. The cylinder pressure is regulated by the proportional relief valve integrated in the multi-way valve. The cylinder pressure is fed back by the No. 58 pressure sensor installed in the upper and lower zone control valve blocks and the left and right zone control valve blocks. The directional adjustment process in S2 synchronous mode is as follows: The auxiliary hydraulic pump supplies oil to the system; the right-hand position of solenoid directional valve No. 53 is energized; the pressurized oil flows out from port A51 of the auxiliary control valve block after passing through speed control valve No. 51 and the right-hand position of solenoid directional valve No. 51; solenoid directional valves No. 351, No. 352, No. 353, No. 354, No. 356, No. 357, and No. 358, each equipped with a check valve... Electromagnetic directional valves control cylinders 1, 2, 5, 6, 3, 4, 7, and 8 respectively. By increasing the flow rate of the hydraulic cylinders, the travel difference between the cylinders is changed. When an upward adjustment is needed, electromagnetic directional valves 352 and 353 are energized, and the oil flows through the right position of the directional valve to the rodless chamber of the cylinder, making the extension speed of the lower cylinder greater than that of the upper cylinder. This creates a travel difference between the upper and lower cylinders, and the equipment advances in an upward orientation. The S3 synchronous mode step-changing process is as follows: The hydraulic pump supplies pressurized oil to the system. The lower position of the regulating multi-way valve is energized, and the oil flows from port A24 of the regulating multi-way valve to the synchronous motor. The synchronous motor divides the pressurized oil into eight channels with the same flow rate, flowing to the upper and lower control valve blocks and the left and right control valve blocks. The left positions of solenoid directional valves 31, 32, 33, 34, 35, 36, 37, and 38 are energized, and the oil enters the rod chambers of cylinders 1, 2, 3, 4, 5, 6, 7, and 8. The hydraulic cylinder retracts synchronously, and the oil in the rodless chamber of the cylinder returns to the oil tank via the solenoid directional valve. The retraction speed of the cylinder is controlled by the regulating multi-way valve. During retraction, the system pressure is regulated by the proportional relief valve integrated in the regulating multi-way valve. The pressure sensor No. 58 installed on the cylinder detects the cylinder pressure. The S4 asynchronous mode workflow is as follows: the hydraulic pump supplies oil, the upper position of the regulating multi-way valve is energized, and the oil flows into the propulsion mode control valve block through port B24. The right position of solenoid directional valves No. 2, No. 4, and No. 5 is energized, and the oil flows through solenoid directional valves No. 2, No. 31, No. 32, No. 4, No. 61, No. 62, No. 5, and No.

7. Check valves #1 and #72 flow from ports A1, A2, B1, and B2 into the upper, lower, right, and left zone control multi-way valves, respectively. When the multi-way valves are energized, oil flows from ports B8, B9, B10, and B11 to the zone control valve block. It then passes through check valves #16, #16, #17, #17, #18, #18, #19, and #19, flowing to the upper / lower zone control valve block and the left / right zone control valve block. Finally, it flows through solenoid directional valves #31, #32, #33, #34, and #30... When the No. 5, No. 36, No. 37, and No. 38 solenoid directional valves are energized in their right positions, oil flows to the rodless chamber of the hydraulic cylinder, causing the cylinder to extend. Oil in the rod chamber returns to the oil tank via the directional valves. In asynchronous mode, a zoned pressure control method is used to adjust the equipment's attitude. The upper zone control multi-way valve, lower zone control multi-way valve, right zone control multi-way valve, and left zone control multi-way valve all contain proportional relief valves, which control the pressure of the upper, lower, right, and left zones respectively. The cylinder pressure is monitored by pressure sensor No. 58, which is installed on the upper and lower zone control valve blocks and the left and right zone control valve blocks. The propulsion speed is controlled by the upper, lower, right, and left zone control multi-way valves.The S5 provides torque through the following process: The auxiliary hydraulic pump supplies pressurized oil, which passes through the No. 52 two-way speed control valve. The No. 54 solenoid directional valve is energized in its right position, allowing the oil to flow through port A52, check valves No. 22-4, 22-3, 22-2, and 22-1, increasing the oil intake in the rodless chamber of cylinders 8, 6, 4, and 2, providing counter-clockwise torque. Pressure sensor No. 55-2 detects the pressure. The three-position four-way No. 54 solenoid directional valve is energized in its left position, allowing the oil to flow through port A52, check valves No. 21-4, 21-3, 21-2, and 21-1, increasing the oil intake in the rodless chamber of cylinders 7, 5, 3, and 1, providing clockwise torque. Pressure sensor No. 55-3 detects the pressure.

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