A high degree of freedom six-group tensioning hydraulic system for shaft boring machines

Abstract

A high degree of freedom six-group tightening hydraulic system applied to shaft boring machines belongs to the technical field of tunnel boring machines. The present invention includes a main hydraulic pump, a quick oil replenishment pump and an action valve group. The oil inlets of the main hydraulic pump and the quick oil replenishment pump are connected to the oil tank, the oil outlet of the main hydraulic pump is connected to the first oil inlet of the action valve group through a pipeline, the oil outlet of the quick oil replenishment pump is connected to the second oil inlet of the action valve group through a pipeline, the action oil return port of the action valve group is connected to the oil tank, and also includes a tightening cylinder control valve group and six groups of tightening cylinder groups. The tightening cylinder control valve group is provided with a high-pressure oil port for extending the cylinder, a high-pressure oil port for recovering the cylinder, a high-pressure oil port for adjusting the tightening shoe to the high-pressure oil port and a control oil return port. The present invention can tighten in six directions on the plane and has a higher control flexibility. The tightening cylinder can be freely selected to act according to construction requirements, providing more options for tightening operations.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel boring machines, and in particular relates to a high-freedom six-group tightening hydraulic system applied to a shaft boring machine. Background Art

[0002] The shaft boring machine is a tunnel boring equipment specially developed for shaft construction. Due to its safety, high efficiency, low cost, easy maintenance and convenient transfer, it provides new boring equipment and construction methods for the construction of mining, water conservancy projects, new energy and other projects.

[0003] The existing tightening system of the shaft boring machine only needs to perform tightening operations in the horizontal or symmetrical direction and simple single-axis direction adjustment actions, which cannot meet the requirements of complex direction adjustment of the shaft equipment and strict alignment with the guide center axis. Summary of the invention

[0004] The present invention aims at the above-mentioned problems, remedies the deficiencies of the prior art, and provides a high-freedom six-group tightening hydraulic system for use in a shaft boring machine; the present invention can tighten in six directions on the plane and has higher control flexibility, and can freely select the tightening cylinders to act according to construction requirements, providing more options for tightening operations.

[0005] To achieve the above purpose, the present invention adopts the following technical solution.

[0006] The present invention provides a high-freedom six-group tightening hydraulic system for a shaft boring machine, comprising a main hydraulic pump, a quick oil replenishment pump and an actuating valve group, wherein the oil inlets of the main hydraulic pump and the quick oil replenishment pump are both connected to a fuel tank, the oil outlet of the main hydraulic pump is connected to a first oil inlet of the actuating valve group through a pipeline, the oil outlet of the quick oil replenishment pump is connected to a second oil inlet of the actuating valve group through a pipeline, the actuating oil return port of the actuating valve group is connected to the fuel tank, and further comprises a tightening oil cylinder control valve group and six tightening oil cylinder groups, the The tightening cylinder control valve group is provided with a cylinder extension high-pressure oil port, a cylinder recovery high-pressure oil port, a tightening shoe adjustment high-pressure oil port and a control return oil port. The cylinder extension high-pressure oil port is connected to the first oil outlet of the action valve group through a pipeline, the cylinder recovery high-pressure oil port is connected to the second oil outlet of the action valve group through a pipeline, the tightening shoe adjustment high-pressure oil port is connected to the third oil outlet of the action valve group through a pipeline, and a rodless cavity high-pressure oil circuit is provided at the cylinder extension high-pressure oil port in the tightening cylinder control valve group. A rod chamber high-pressure oil circuit is provided at the oil port, and the rodless chamber high-pressure oil circuit is connected to the rodless chamber of each tightening cylinder group through a pipeline with a tightening selection solenoid valve via the rodless chamber oil port, and the rod chamber high-pressure oil circuit is connected to the rod chamber of each tightening cylinder group through a pipeline with a pressure relief solenoid valve via the rod chamber oil port. The tightening cylinder control valve group is also provided with a pressure-maintaining oil circuit with a grouping solenoid valve connected to each of the rodless chambers at the same time, and a cylinder direction adjustment oil circuit with a direction adjustment solenoid valve connected to each of the rod chambers at the same time. Circuit, and an oil return circuit connected to each of the pressure relief solenoid valves, and a directional high-pressure oil circuit is provided at the directional high-pressure oil port of the tensioning cylinder control valve group, the directional high-pressure oil circuit is connected to the cylinder directional oil circuit through a pipeline, the ends of the pressure maintaining oil circuit are respectively connected to one end of a control overflow valve and a control check valve, the other ends of the control overflow valve and the control check valve are simultaneously connected to the return oil circuit, the end of the return oil circuit is connected to the control return oil port, and the control return oil port is further connected to the oil tank.

[0007] Furthermore, each oil circuit connected to the rod cavity is provided with a rod cavity pressure sensor, and each oil circuit connected to the rodless cavity is provided with a rodless cavity pressure sensor.

[0008] Furthermore, the tightening selection solenoid valve, the grouping solenoid valve and the direction adjustment solenoid valve are all electromagnetic ball valves.

[0009] Furthermore, the tightening selection solenoid valve, the grouping solenoid valve and the direction adjustment solenoid valve are replaced by servo valves.

[0010] Furthermore, the pressure relief solenoid valve is an electromagnetic reversing valve.

[0011] Furthermore, the control relief valve is replaced by a proportional relief valve.

[0012] Furthermore, a throttle valve is provided on the pipeline between the directional high-pressure oil circuit and the cylinder directional oil circuit.

[0013] Furthermore, a pressure measuring joint is connected to the high-pressure oil circuit.

[0014] Furthermore, the first oil inlet in the actuating valve group is connected to the inlets of the oil replenishment switching valve and the first safety relief valve through pipelines respectively, the outlet of the oil replenishment switching valve is further connected to the inlets of the first check valve and the second check valve through pipelines respectively, the second oil inlet is connected to the inlets of the second safety relief valve and the third check valve through pipelines respectively, the outlets of the first safety relief valve and the second safety relief valve are simultaneously connected to the actuating oil return port through pipelines, the outlet of the first check valve is connected to the third oil outlet and the inlet of the extending actuating valve through pipelines respectively, the second check valve The outlets of the one-way valve and the third one-way valve are simultaneously connected to the inlet of the oil replenishing action valve through a pipeline, the other inlets of the extending action valve and the oil replenishing action valve are simultaneously connected to the action oil return port through a pipeline, the outlet of the extending action valve is connected to the inlet of the first hydraulic lock, one outlet of the oil replenishing action valve is connected to the inlet of the second hydraulic lock, the outlets of the first hydraulic lock and the second hydraulic lock are simultaneously connected to the first oil outlet through a pipeline, and the other outlet of the oil replenishing action valve and the other inlet of the second hydraulic lock are simultaneously connected to the second oil outlet through a pipeline.

[0015] Furthermore, the oil replenishment switching valve, the extension action valve and the oil replenishment action valve are all electromagnetic reversing valves.

[0016] The beneficial effects of the present invention are:

[0017] The present invention can freely select the tightening cylinders to act according to construction requirements, and at the same time provides freely selectable cylinders and pressure-maintaining oil circuits that can tighten independently. After tightening, the tightening pressure can be independently adjusted and is independent of the system, ensuring that other tightening cylinders can act freely and tighten with other tightening pressures. At the same time, relying on this system, it is possible to choose to first use high-pressure tightening of a group of cylinders for direction adjustment, connect to the pressure-maintaining oil circuit for pressure maintenance, and then use low-pressure tightening of other cylinders, thereby reducing the impact of other cylinders on the single group of tightening cylinders that have completed the adjustment during the tightening process. The system has higher control flexibility and can provide more options for tightening operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 It is a structural schematic diagram of the first tightening oil cylinder group and its corresponding control valve group of the present invention.

[0021] Figure 3 It is a structural schematic diagram of the action valve group of the present invention.

[0022] Markings in the figure: 1 is the oil tank, 2 is the main hydraulic pump, 3 is the fast replenishment pump, 4 is the action valve group, 5 is the first oil inlet, 6 is the second oil inlet, 7 is the action return oil port, 8 is the tightening cylinder control valve group, 9 is the tightening cylinder group, 10 is the cylinder extension high-pressure oil port, 11 is the cylinder recovery high-pressure oil port, 12 is the tightening shoe adjustment high-pressure oil port, 13 is the control return oil port, 14 is the first oil outlet, 15 is the second oil outlet, 16 is the third oil outlet, 17 is the rodless chamber high-pressure oil circuit, 18 is the rod chamber high-pressure oil circuit, 19 is the tightening selection solenoid valve, 20 is the rodless chamber oil port, 21 is the rodless chamber, 22 is the pressure relief solenoid valve, 23 is the rod chamber oil port, 24 is a rod chamber, 25 is a marshaling solenoid valve, 26 is a pressure maintaining oil circuit, 27 is a directional solenoid valve, 28 is a cylinder directional oil circuit, 29 is an oil return oil circuit, 30 is a directional high-pressure oil circuit, 31 is a control overflow valve, 32 is a control check valve, 33 is a rod chamber pressure sensor, 34 is a rodless chamber pressure sensor, 35 is a throttle valve, 36 is a pressure measuring joint, 37 is an oil replenishment switching valve, 38 is a first safety overflow valve, 39 is a first check valve, 40 is a second check valve, 41 is a second safety overflow valve, 42 is a third check valve, 43 is an extension action valve, 44 is an oil replenishment action valve, 45 is a first hydraulic lock, and 46 is a second hydraulic lock. DETAILED DESCRIPTION

[0023] Combined with Figure 1-3 As shown, this embodiment provides a high-degree-of-freedom six-group bracing hydraulic system for a shaft boring machine, including a main hydraulic pump 2, a fast oil replenishment pump 3 and an action valve group 4.

[0024] The oil inlets of the main hydraulic pump 2 and the quick oil replenishment pump 3 are both connected to the oil tank 1, the oil outlet of the main hydraulic pump 2 is connected to the first oil inlet 5 of the actuating valve group 4 through a pipeline, the oil outlet of the quick oil replenishment pump 3 is connected to the second oil inlet 6 of the actuating valve group 4 through a pipeline, and the actuating oil return port 7 of the actuating valve group 4 is connected to the oil tank 1.

[0025] like Figure 3 As shown, the first oil inlet 5 in the action valve group 4 is connected to the inlet of the oil replenishment switching valve 37 and the first safety relief valve 38 through pipelines, and the outlet of the oil replenishment switching valve 37 is connected to the inlet of the first check valve 39 and the second check valve 40 through pipelines, respectively. The second oil inlet 6 is connected to the inlet of the second safety relief valve 41 and the third check valve 42 through pipelines, and the outlets of the first safety relief valve 38 and the second safety relief valve 41 are simultaneously connected to the action oil return port 7 through pipelines, and the outlet of the first check valve 39 is connected to the third oil outlet 16 and the inlet of the extending action valve 43 through pipelines, respectively. The outlets of the valve 40 and the third one-way valve 42 are simultaneously connected to the inlet of the oil replenishing action valve 44 through a pipeline, the other inlets of the extending action valve 43 and the oil replenishing action valve 44 are simultaneously connected to the action return oil port 7 through a pipeline, the outlet of the extending action valve 43 is connected to the inlet of the first hydraulic lock 45, one outlet of the oil replenishing action valve 44 is connected to the inlet of the second hydraulic lock 46, the outlets of the first hydraulic lock 45 and the second hydraulic lock 46 are simultaneously connected to the first oil outlet 14 through a pipeline, and the other outlet of the oil replenishing action valve 44 and the other inlet of the second hydraulic lock 46 are simultaneously connected to the second oil outlet 15 through a pipeline.

[0026] The oil replenishment switching valve 37 , the extension action valve 43 and the oil replenishment action valve 44 are all electromagnetic reversing valves.

[0027] It also includes a tightening oil cylinder control valve group 8 and six tightening oil cylinder groups 9 (such as Figure 1 Shown from left to right are the first to sixth groups, and the positions of the tightening cylinder groups 9 of each group are conventionally set in the field). The tightening cylinder control valve group 8 is provided with a cylinder extension high-pressure oil port 10, a cylinder recovery high-pressure oil port 11, a tightening shoe adjustment high-pressure oil port 12 and a control return oil port 13.

[0028] Combination Figure 1 and Figure 2 As shown, the high-pressure oil port 10 of the oil cylinder extending out is connected to the first oil outlet 14 of the actuating valve group 4 through a pipeline, the high-pressure oil port 11 of the oil cylinder recovering out is connected to the second oil outlet 15 of the actuating valve group 4 through a pipeline, and the high-pressure oil port 12 of the support shoe adjusting out is connected to the third oil outlet 16 of the actuating valve group 4 through a pipeline.

[0029] A rodless chamber high-pressure oil circuit 17 is arranged at the cylinder extension high-pressure oil port 10 in the tightening cylinder control valve group 8, and a rod chamber high-pressure oil circuit 18 is arranged at the cylinder recovery high-pressure oil port 11. The rodless chamber high-pressure oil circuit 17 is connected to the rodless chamber 21 of each tightening cylinder group 9 via a rodless chamber oil port 20 through a pipeline with a tightening selection solenoid valve 19, and the rod chamber high-pressure oil circuit 18 is connected to the rod chamber 24 of each tightening cylinder group 9 via a rod chamber oil port 23 through a pipeline with a pressure relief solenoid valve 22.

[0030] The tightening cylinder control valve group 8 is also provided with a pressure maintaining oil circuit 26 with a grouping solenoid valve 25 connected to each rodless chamber 21, a cylinder direction adjusting oil circuit 28 with a direction adjusting solenoid valve 27 connected to each rod chamber 24, and an oil return oil circuit 29 connected to each pressure relief solenoid valve 22.

[0031] A high-pressure oil circuit 30 is provided at the tension shoe high-pressure oil port 12 in the tightening cylinder control valve group 8. The high-pressure oil circuit 30 is connected to the cylinder adjustment oil circuit 28 through a pipeline. A throttle valve 35 is provided on the pipeline between the high-pressure oil circuit 30 and the cylinder adjustment oil circuit 28.

[0032] A pressure measuring joint 36 is also connected to the high-pressure oil circuit 30 for use in debugging and equipment fault detection. The pressure measuring joint 36 may not be connected at ordinary times.

[0033] The ends of the pressure maintaining oil circuit 26 are respectively connected to one end of the control overflow valve 31 and the control check valve 32, and the other ends of the control overflow valve 31 and the control check valve 32 are simultaneously connected to the return oil circuit 29, and the end of the return oil circuit 29 is connected to the control return oil port 13, and the control return oil port 13 is further connected to the oil tank 1.

[0034] The pressure relief solenoid valve 22 is an electromagnetic reversing valve. The tensioning selection solenoid valve 19, the marshaling solenoid valve 25 and the direction adjustment solenoid valve 27 are all electromagnetic ball valves, or the pressure relief solenoid valve 22 can be replaced with a servo valve, which can accurately control the speed and stroke of the tensioning cylinder. At this time, the automatic centering operation of the entire tensioning system can be realized according to the calculation results of the guide system, realizing the automatic operation of the equipment.

[0035] The control relief valve 31 can be replaced by a proportional relief valve. If a proportional relief valve is used, a slow pressure relief function can be provided for the tensioning system, thereby reducing the impact of the tensioning system during the pressure relief process and alleviating the disturbance to the rock formation.

[0036] In addition, each oil circuit connected to the rod chamber 24 is provided with a rod chamber pressure sensor 33 to detect the pressure of the rod chamber 24 of each group of tightening cylinders.

[0037] A rodless cavity pressure sensor 34 is provided on each oil circuit connected to the rodless cavity 21 to detect the pressure of the rodless cavity 21 of each group of tightening cylinders.

[0038] The system works as follows:

[0039] 1. Fast mode extension: the main hydraulic pump 2 and the fast oil replenishment pump 3 supply oil at the same time, the main hydraulic pump 2 is set to low pressure mode, the oil replenishment switching valve 37 is energized in the left position, the main hydraulic pump 2 and the fast oil replenishment pump 3 merge, the oil replenishment action valve 44 is energized in the right position, and the oil passes through the oil replenishment action valve 44 and the second hydraulic lock 46 to the first oil outlet 14, and enters the cylinder extension high-pressure oil port 10 of the tightening cylinder control valve group 8 through the high-pressure oil pipe; the oil passing through the cylinder extension high-pressure oil port 10 enters the rodless chamber 21 of the tightening cylinder through each tightening selection solenoid valve 19 and the rodless chamber oil port 20.

[0040] According to the needs, the switch of each tightening selection solenoid valve 19 can select the individual action of each group of tightening oil cylinders; the oil in the rod chamber 24 returns to the tightening oil cylinder control valve group 8 through each rod chamber oil port 23, and flows to each pressure relief solenoid valve 22. The switch of each pressure relief solenoid valve 22 can select the individual action of each group of tightening oil cylinders. When it flows to the left position of the pressure relief solenoid valve 22, the oil returns to the oil cylinder recovery high-pressure oil port 11 through the pressure relief solenoid valve 22, and then returns to the second oil outlet 15 of the action valve group 4 through the high-pressure oil pipe, and then returns to the action oil return port 7 through the oil replenishment action valve 44, and finally returns to the oil tank 1 to complete the rapid extension action.

[0041] 2. Fast mode recovery: The main hydraulic pump 2 and the fast oil replenishment pump 3 supply oil at the same time, the main hydraulic pump 2 is set to low pressure mode, the oil replenishment switching valve 37 is energized in the left position, the main hydraulic pump 2 and the fast oil replenishment pump 3 merge, the oil replenishment action valve 44 is energized in the left position, and the oil flows to the second hydraulic lock 46 and the second oil outlet 15 respectively through the oil replenishment action valve 44, the second hydraulic lock 46 is opened, and the oil flows from the second oil outlet 15 through the high-pressure oil pipe to the cylinder recovery high-pressure oil port 11 of the tensioning oil cylinder control valve group 8 at the same time, and then flows to each pressure relief solenoid valve 22. The switch of each pressure relief solenoid valve 22 can select the individual action corresponding to each group of tensioning oil cylinders.

[0042] Each pressure relief solenoid valve 22 is energized in the left position, and the oil enters the rod chamber 24 of the tightening cylinder through each rod chamber oil port 23, and the oil in the rodless chamber 21 returns to each tightening selection solenoid valve 19 through each rodless chamber oil port 20, returns to the cylinder extension high-pressure oil port 10 through the tightening selection solenoid valve 19, and then returns to the first oil outlet 14 of the action valve group 4, returns to the action oil return port 7 through the second hydraulic lock 46 and the oil replenishment action valve 44, and returns to the oil tank 1.

[0043] 3. High pressure tightening mode:

[0044] The main hydraulic pump 2 supplies oil and is set to high-pressure mode. The right position of the oil replenishment switching valve 37 is energized, and the high-pressure oil passes through the oil replenishment switching valve 37 and the first non-return valve 39 to reach the extension action valve 43. The extension action valve 43 is energized in the left position, and the high-pressure oil reaches the first oil outlet 14 from the extension action valve 43 through the first hydraulic lock 45, and enters the cylinder extension high-pressure oil port 10 of the tensioning cylinder control valve group 8 through the high-pressure oil pipe. The oil passing through the cylinder extension high-pressure oil port 10 enters the rodless chamber 21 of the tensioning cylinder through each tensioning selection solenoid valve 19 and the rodless chamber oil port 20, completing the high-pressure tensioning action. The switch of each tensioning selection solenoid valve 19 can select the individual high-pressure tensioning action corresponding to each group of tensioning cylinders.

[0045] 4. Direction adjustment mode:

[0046] The axial adjustment mode is carried out on the already tightened coaxial tensioning cylinder.

[0047] Take the first and sixth tensioning cylinder groups 9 as an example (the first and sixth groups are on the same axis, which is a conventional design). The main hydraulic pump 2 supplies oil and is set to the direction adjustment mode. The oil replenishment switching valve 37 is energized in the right position, and the high-pressure oil passes through the oil replenishment switching valve 37 and the first non-return valve 39 to reach the third oil outlet 16, and then enters the tensioning shoe of the tensioning cylinder control valve group 8 through the high-pressure oil pipe to adjust to the high-pressure oil port 12, and passes through the throttle valve 35 to reach the first and sixth direction adjustment solenoid valves 27. Among them, the first group's adjustment solenoid valve 27 is energized, and the oil enters the rod chamber 24 of the first group of tightening cylinder group 9 through the first group's adjustment solenoid valve 27 and the rod chamber oil port 23, and the cylinder is recovered, and the first and sixth groups of grouping solenoid valves 25 are energized, and the oil in the rodless chamber 21 of the first group of tightening cylinder group 9 enters the rodless chamber 21 of the sixth group of tightening cylinder group 9 through the rodless chamber oil port 20 of the first group, the first grouping solenoid valve 25, the sixth group's grouping solenoid valve 25, and the rodless chamber oil port 20 of the sixth group, and the tightening cylinder of the sixth group extends, and the oil in the rod chamber 24 returns to the tightening cylinder control valve group 8 through the rod chamber oil port 23 of the sixth group, flows to the pressure relief solenoid valve 22 of the sixth group, and the pressure relief solenoid valve 22 is energized in the right position, and the oil flows out from the pressure relief solenoid valve 22 of the sixth group, and returns to the oil tank 1 through the control return oil port 13, completing the coaxial cylinder adjustment action.

[0048] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the protection scope of the present invention.

Claims

1. A high-degree-of-freedom six-group bracing hydraulic system for a shaft boring machine, comprising a main hydraulic pump (2), a quick oil replenishment pump (3) and an actuating valve group (4), wherein the oil inlets of the main hydraulic pump (2) and the quick oil replenishment pump (3) are both connected to a fuel tank (1), the oil outlet of the main hydraulic pump (2) is connected to a first oil inlet (5) of the actuating valve group (4) via a pipeline, the oil outlet of the quick oil replenishment pump (3) is connected to a second oil inlet (6) of the actuating valve group (4) via a pipeline, and the actuating oil return port (7) of the actuating valve group (4) is connected to the fuel tank (1), characterized in that: It also includes a tightening cylinder control valve group (8) and six tightening cylinder groups (9), wherein the tightening cylinder control valve group (8) is provided with a cylinder extension high-pressure oil port (10), a cylinder recovery high-pressure oil port (11), a tightening shoe adjustment high-pressure oil port (12) and a control oil return port (13), wherein the cylinder extension high-pressure oil port (10) is connected to a first oil outlet (14) of the actuating valve group (4) via a pipeline, the cylinder recovery high-pressure oil port (11) is connected to a second oil outlet (15) of the actuating valve group (4) via a pipeline, the tightening shoe adjustment high-pressure oil port (12) is connected to the actuating valve group (4) via a pipeline, and the actuating valve group (4) is connected to a second oil outlet (15) via a pipeline. The third oil outlet (16) of the action valve group (4) is connected via a pipeline, a rodless chamber high-pressure oil circuit (17) is provided at the oil cylinder extension high-pressure oil port (10) in the tightening oil cylinder control valve group (8), and a rod chamber high-pressure oil circuit (18) is provided at the oil cylinder recovery high-pressure oil port (11), the rodless chamber high-pressure oil circuit (17) is respectively connected to the rodless chamber (21) of each tightening oil cylinder group (9) via a pipeline with a tightening selection solenoid valve (19) via a rodless chamber oil port (20), and the rod chamber high-pressure oil circuit (18) is respectively connected to the rodless chamber (21) of each tightening oil cylinder group (9) via a pipeline with a tightening selection solenoid valve (19) via a rodless chamber oil port (20), and the rod chamber high-pressure oil circuit (18) is respectively connected to the rodless chamber (21) of each tightening oil cylinder group (9) via a pipeline with a pressure relief solenoid valve (19). The pipeline of the valve (22) is connected to the rod chamber (24) of each of the tightening cylinder groups (9) via the rod chamber oil port (23); the tightening cylinder control valve group (8) is also provided with a pressure-maintaining oil circuit (26) with a grouping solenoid valve (25) connected to each of the rodless chambers (21), a cylinder direction-adjusting oil circuit (28) with a direction-adjusting solenoid valve (27) connected to each of the rod chambers (24), and an oil return oil circuit (29) connected to each of the pressure-relief solenoid valves (22); and the tightening cylinder control valve group (8) is provided with a pressure-maintaining oil circuit (26) with a grouping solenoid valve (25) connected to each of the rodless chambers (21), a cylinder direction-adjusting oil circuit (28) with a direction-adjusting solenoid valve (27) connected to each of the rod chambers (24), and an oil return oil circuit (29) connected to each of the pressure-relief solenoid valves (22). A directional high-pressure oil circuit (30) is provided at the high-pressure oil port (12). The directional high-pressure oil circuit (30) is connected to the cylinder directional oil circuit (28) via a pipeline. The ends of the pressure-maintaining oil circuit (26) are respectively connected to one end of a control overflow valve (31) and a control check valve (32). The other ends of the control overflow valve (31) and the control check valve (32) are simultaneously connected to the oil return circuit (29). The end of the oil return circuit (29) is connected to the control oil return port (13), and the control oil return port (13) is further connected to the oil tank (1).

2. A high degree of freedom six-group tightening hydraulic system for a shaft boring machine according to claim 1, characterized in that: Each oil circuit connected to the rod cavity (24) is provided with a rod cavity pressure sensor (33), and each oil circuit connected to the rodless cavity (21) is provided with a rodless cavity pressure sensor (34).

3. A high degree of freedom six-group bracing hydraulic system for a shaft boring machine according to claim 1, characterized in that: The tightening selection solenoid valve (19), the grouping solenoid valve (25) and the direction adjustment solenoid valve (27) are all solenoid ball valves.

4. A high degree of freedom six-group bracing hydraulic system for a shaft boring machine according to claim 1, characterized in that: The tightening selection solenoid valve (19), the grouping solenoid valve (25) and the direction adjustment solenoid valve (27) are replaced by servo valves.

5. The high-freedom six-group bracing hydraulic system for a shaft boring machine according to claim 1, characterized in that: The pressure relief solenoid valve (22) is a solenoid reversing valve.

6. A high degree of freedom six-group bracing hydraulic system for a shaft boring machine according to claim 1, characterized in that: The control relief valve (31) is replaced by a proportional relief valve.

7. A high degree of freedom six-group bracing hydraulic system for a shaft boring machine according to claim 1, characterized in that: A throttle valve (35) is provided on the pipeline between the directional high-pressure oil circuit (30) and the cylinder directional oil circuit (28).

8. The high-degree-of-freedom six-group bracing hydraulic system for a shaft boring machine according to claim 1, characterized in that: The directional high-pressure oil circuit (30) is connected to a pressure measuring joint (36).

9. A high degree of freedom six-group bracing hydraulic system for a shaft boring machine according to claim 1, characterized in that: The first oil inlet (5) in the actuating valve group (4) is connected to the inlets of the oil replenishment switching valve (37) and the first safety relief valve (38) through pipelines, respectively. The outlet of the oil replenishment switching valve (37) is further connected to the inlets of the first check valve (39) and the second check valve (40) through pipelines, respectively. The second oil inlet (6) is connected to the inlets of the second safety relief valve (41) and the third check valve (42) through pipelines, respectively. The outlets of the first safety relief valve (38) and the second safety relief valve (41) are simultaneously connected to the actuating oil return port (7) through pipelines, the outlet of the first check valve (39) is connected to the third oil outlet (16) and the inlet of the extending actuating valve (43) through pipelines, respectively. The second check valve (4 0) and the outlet of the third one-way valve (42) are simultaneously connected to the inlet of the replenishing oil action valve (44) through a pipeline, the other inlet of the extending action valve (43) and the replenishing oil action valve (44) are simultaneously connected to the action return oil port (7) through a pipeline, the outlet of the extending action valve (43) is connected to the inlet of the first hydraulic lock (45), one outlet of the replenishing oil action valve (44) is connected to the inlet of the second hydraulic lock (46), the outlets of the first hydraulic lock (45) and the second hydraulic lock (46) are simultaneously connected to the first oil outlet (14) through a pipeline, and the other outlet of the replenishing oil action valve (44) and the other inlet of the second hydraulic lock (46) are simultaneously connected to the second oil outlet (15) through a pipeline.

10. A high degree of freedom six-group bracing hydraulic system for a shaft boring machine according to claim 9, characterized in that: The oil replenishment switching valve (37), the extension action valve (43) and the oil replenishment action valve (44) are all electromagnetic reversing valves.

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