Large-diameter TBM gripper shoe control system

Abstract

The invention discloses a large-diameter TBM gripper shoe control system. Comprising an oil tank, a first oil supply assembly communicated with the oil tank and used for pumping first preset flow pressure oil, a first reversing valve communicated with the first oil supply assembly and used for controlling the flow direction of the pressure oil, a second oil supply assembly communicated with the oil tank, and a second reversing valve communicated with the second oil supply assembly and used for controlling the flow direction of the pressure oil. The device comprises a first oil supply assembly, a second oil supply assembly, a plurality of telescopic control assemblies, a plurality of gripper oil cylinders and a direction adjusting control assembly, the first oil supply assembly pumps first preset flow pressure oil, the second oil supply assembly pumps second preset flow pressure oil, and the first preset flow is larger than the second preset flow; according to the hydraulic control device, independent stretching and retracting of the supporting shoe oil cylinders are achieved, meanwhile, energy consumption and working efficiency can be taken into consideration through the two working states of rapid stretching and retracting and slow stretching and retracting, direction adjusting in the tight supporting state is achieved, rodless cavities of the supporting shoe oil cylinders can be unloaded in the retracting process, and the situation that hydraulic control components cannot be opened due to insufficient pressure is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of full-face rock tunnel boring equipment, in particular, relates to a large-diameter TBM support shoe control system. BACKGROUND

[0002] TBM refers to a full-face tunnel boring machine for rock strata. In the support shoe system of a large-diameter (diameter of 9 meters or more) TBM, four support shoe oil cylinders are arranged circumferentially, and each group of support shoes on the left and right sides is connected to one support shoe oil cylinder above and below. The support shoe and the support shoe oil cylinder form a parallelogram structure as a whole. In the traditional support shoe control system, the support shoe oil cylinder cannot be controlled independently, and the four oil cylinders share a system control. This will cause the support shoe to have an excessively large included angle between the upper and lower sides due to the uncontrollable synchronization of the support shoe oil cylinder, which will damage the ball head of the support shoe. In addition, when encountering complex working conditions, only manual command can be used for adaptive adjustment, which is low in efficiency, complex in operation, time-consuming and laborious.

[0003] Therefore, as disclosed in Chinese patent application CN119084378A, a hard rock tunneling machine support shoe hydraulic control system and control method are provided. The hydraulic control system includes left and right support shoe oil cylinders formed by N support shoe oil cylinders, N≥2. It also includes a first logic valve group and a second logic valve group. The first logic valve group is connected to a first electromagnetic reversing valve that controls its on-off. The second logic valve group is connected to a second electromagnetic reversing valve that controls its on-off. During operation, a portion of the combined oil source is connected to the rod cavity of the support shoe oil cylinder through the first logic valve group. A portion of the combined oil source is connected to the rodless cavity of the support shoe oil cylinder through the first logic valve group and the second logic valve group, controlling the differential extension and independent extension of the support shoe oil cylinder. The present application is a hydraulic system that can make the support shoe oil cylinder extend differentially and quickly, and can independently control the extension of multiple support shoe oil cylinders. It shortens the time of support shoe extension, and meets the independent extension of support shoe oil cylinders at different positions, thereby adapting to different geological conditions of surrounding rock. At the same time, by controlling the extension and stop state of a single oil cylinder, the phenomenon of impact force on the TBM tunneling machine due to the difference in support shoe oil cylinder extension stroke is avoided.

[0004] However, in the above control system, the left and right support shoe oil cylinders are driven by a single oil source. If a large flow of pressure oil is always supplied, the energy consumption will be high. If a small flow of pressure oil is supplied, the working efficiency will be low, and the support shoe may not be tightened. In addition, since the left and right support shoe oil cylinders can only be independently extended, the synchronization is poor, so the left and right direction cannot be adjusted when the support shoe is tightened against the wall. That is, when any support shoe oil cylinder is retracted, the other support shoe oil cylinder cannot be extended in real time due to factors such as oil flow rate, so the support shoe cannot be adjusted in direction while maintaining the tightened state. SUMMARY

[0005] The application provides a large-diameter TBM support shoe control system to solve the technical problem that the existing support shoe control system cannot control the independent extension and retraction of each support shoe oil cylinder while taking into account energy consumption and work efficiency, and realize steering in the support shoe tightening state.

[0006] According to one aspect of the application, a large-diameter TBM support shoe control system is provided, comprising an oil tank, a first oil supply assembly for pumping first preset flow pressure oil in communication with the oil tank, a first reversing valve for controlling the flow direction of pressure oil in communication with the first oil supply assembly, a second oil supply assembly in communication with the oil tank, a second reversing valve for controlling the flow direction of pressure oil in communication with the second oil supply assembly, a plurality of extension and retraction control assemblies, a plurality of support shoe oil cylinders, and a steering control assembly, the first oil supply assembly pumps the first preset flow pressure oil to the support shoe oil cylinder through the first reversing valve, the second oil supply assembly pumps the second preset flow pressure oil to the rodless chamber of the support shoe oil cylinder through the second reversing valve, or pumps the second preset flow pressure oil to the rod chamber of the support shoe oil cylinder through the steering control assembly, the first preset flow is greater than the second preset flow, the extension and retraction control assemblies and the support shoe oil cylinders are one-to-one corresponding, and are used to cooperate with the second oil supply assembly to control the oil inlet of the rodless chamber of the support shoe oil cylinder, cooperate with the second oil supply assembly to control the oil outlet of the rodless chamber of the support shoe oil cylinder, and cooperate with the second reversing valve to control the unloading of the rodless chamber of the support shoe oil cylinder, the plurality of support shoe oil cylinders are divided into two groups, the first group of support shoe oil cylinders are used to connect the left side support shoes, and the second group of support shoe oil cylinders are used to connect the right side support shoes, the steering control assembly is used to control the oil inlet of the rod chamber of the support shoe oil cylinder in one group to retract, so that the pressure oil in the rodless chamber of the support shoe oil cylinder flows to the rodless chamber of the support shoe oil cylinder in the other group, and then the support shoe oil cylinder in the other group is synchronously extended.

[0007] As a further improvement of the above technical solution:

[0008] Further, the steering control assembly comprises a steering ball valve connected to the rodless chamber of the first group of support shoe oil cylinders and the rodless chamber of the second group of support shoe oil cylinders respectively, a steering control valve group for controlling the second oil supply assembly to supply oil to the rod chamber of the support shoe oil cylinder in one group during steering, and an oil blocking control valve group for preventing the rod chamber of the support shoe oil cylinder from returning oil to the oil tank through the first reversing valve during steering.

[0009] Further, the steering control valve group comprises a steering reversing valve, a hydraulic control check valve one and a hydraulic control check valve two, the hydraulic control check valve one is arranged on the oil circuit between the steering reversing valve and the rod chamber of the first group of support shoe oil cylinders and can prevent the rod chamber of the first group of support shoe oil cylinders from returning oil to the oil tank through the steering reversing valve, the hydraulic control check valve two is arranged on the oil circuit between the steering reversing valve and the rod chamber of the second group of support shoe oil cylinders and can prevent the rod chamber of the second group of support shoe oil cylinders from returning oil to the oil tank through the steering reversing valve, the steering reversing valve is in communication with the second oil supply assembly, the oil tank, the rod chamber of the first group of support shoe oil cylinders and the rod chamber of the second group of support shoe oil cylinders respectively, and is used to control the hydraulic control check valve one and the hydraulic control check valve two to be alternately disconnected or simultaneously disconnected.

[0010] Further, the oil blocking control valve group comprises an oil blocking directional valve, a hydraulic control check valve three and a hydraulic control check valve four, the hydraulic control check valve three is arranged on an oil path between the first directional valve and the rod cavity of the first group of support shoe oil cylinders and can prevent the rod cavity of the first group of support shoe oil cylinders from returning to the oil tank through the first directional valve, the hydraulic control check valve four is arranged on an oil path between the first directional valve and the rod cavity of the second group of support shoe oil cylinders and can prevent the rod cavity of the second group of support shoe oil cylinders from returning to the oil tank through the first directional valve, the oil blocking directional valve is connected with the second oil supply assembly, the hydraulic control check valve three and the hydraulic control check valve four respectively and is used for controlling the hydraulic control check valve three and the hydraulic control check valve four to be connected or disconnected at the same time.

[0011] Further, the telescopic control assembly comprises an extension control valve group used for controlling the rodless cavity of the support shoe oil cylinder to be filled with oil, a retraction control valve group used for controlling the rodless cavity of the support shoe oil cylinder to be drained of oil and an unloading hydraulic control check valve arranged on an oil path between the second directional valve and the rodless cavity of the support shoe oil cylinder and used for controlling the rodless cavity of the support shoe oil cylinder to be unloaded in cooperation with the second directional valve.

[0012] Further, the extension control valve group comprises an extension hydraulic control check valve and an extension directional valve, the extension hydraulic control check valve is arranged on an oil path between the first directional valve and the rodless cavity of the support shoe oil cylinder and can prevent the rodless cavity of the support shoe oil cylinder from being filled with oil, the extension directional valve is connected with the extension hydraulic control check valve, the second oil supply assembly and the oil tank respectively and is used for controlling the extension hydraulic control check valve to be connected or disconnected.

[0013] Further, the retraction control valve group comprises a retraction hydraulic control check valve and a retraction directional valve, the retraction hydraulic control check valve is arranged on an oil path between the first directional valve and the rodless cavity of the support shoe oil cylinder and can prevent the rodless cavity of the support shoe oil cylinder from being drained of oil, the retraction directional valve is connected with the retraction hydraulic control check valve, the second oil supply assembly and the oil tank respectively and is used for controlling the retraction hydraulic control check valve to be connected or disconnected.

[0014] Further, the support shoe control system further comprises a first pressure sensor used for measuring the pressure of the rodless cavity of the support shoe oil cylinder, a second pressure sensor used for measuring the pressure of the rod cavity of the support shoe oil cylinder, a stroke sensor used for measuring the displacement of the piston rod of the support shoe oil cylinder and an inclination sensor used for measuring the inclination angle of the support shoe.

[0015] Further, the support shoe control system further comprises a relief valve connected with the first oil supply assembly and the oil tank respectively, a pressure gauge one used for detecting and displaying the working pressure of the first oil supply assembly and a pressure sensor one used for detecting and transmitting the working pressure of the first oil supply assembly.

[0016] Further, the support shoe control system further comprises an electric proportional relief valve connected with the second oil supply assembly and the oil tank respectively, a pressure gauge two used for detecting and displaying the working pressure of the second oil supply assembly and a pressure sensor two used for detecting and transmitting the working pressure of the second oil supply assembly.

[0017] The present application has the following advantages:

[0018] The large-diameter TBM support shoe control system of the present application stores and recovers pressure oil in the oil tank to realize the circulation of pressure oil in the support shoe control system, pumps the first preset flow of pressure oil through the first oil supply assembly, pumps the second preset flow of pressure oil through the second oil supply assembly, and makes the first preset flow greater than the second preset flow, so that the support shoe oil cylinder can work under the first preset flow of pressure oil or the second preset flow of pressure oil, thereby making the support shoe oil cylinder have two working states of fast extension and slow extension. When the first oil supply assembly pumps the first preset flow of pressure oil to the rodless chamber of the support shoe oil cylinder through the first reversing valve, the extension and contraction control assembly and the second oil supply assembly cooperate to control the oil inlet of the rodless chamber of the support shoe oil cylinder, thereby making the support shoe oil cylinder extend quickly. When the first oil supply assembly pumps the first preset flow of pressure oil to the rod chamber of the support shoe oil cylinder through the first reversing valve, the extension and contraction control assembly and the second oil supply assembly cooperate to control the oil return of the rodless chamber of the support shoe oil cylinder, thereby making the support shoe oil cylinder retract quickly. The second oil supply assembly pumps pressure oil to the rodless chamber of the support shoe oil cylinder through the second reversing valve, so that the support shoe oil cylinder can extend slowly. The extension and contraction control assembly can also cooperate with the second reversing valve to make the rodless chamber of the support shoe oil cylinder directly communicate with the oil tank, thereby unloading the rodless chamber of the support shoe oil cylinder. When the support shoe needs to be tightened, the support shoe oil cylinder is first controlled to extend quickly, and then the support shoe oil cylinder is controlled to extend slowly after the support shoe extends to the right position, so that the support shoe tightens the wall. Moreover, by dividing the plurality of support shoe oil cylinders into two groups, the left and right support shoes are driven to move by the two groups of support shoe oil cylinders, so that when the left and right support shoes tighten the wall, after the oil inlet of the rod chamber of any one group of support shoe oil cylinders is controlled to shrink by the direction control assembly, the pressure oil in the rodless chamber of the support shoe oil cylinder flows to the rodless chamber of the other group of support shoe oil cylinders, thereby making the other group of support shoe oil cylinders extend synchronously, so as to realize the direction adjustment in the support shoe tightening state. When it is needed to move to the next working position and the support shoe needs to be retracted, the rodless chamber of the support shoe oil cylinder is first unloaded to reduce the oil pressure, and then the support shoe oil cylinder is controlled to retract quickly. In the process of extension and contraction of each support shoe oil cylinder, the oil inlet and return of the rodless chamber of each support shoe oil cylinder can be controlled independently by the corresponding extension and contraction control assembly, that is, the oil inlet and return of the rodless chamber of one support shoe oil cylinder can be controlled, and the oil inlet and return of other support shoe oil cylinders cannot be controlled, so as to realize the extension and contraction of a single support shoe oil cylinder, so that the support shoe can adapt to complex working conditions such as collapse and soft rock during the tightening process. Compared with the prior art, the present application can take into account energy consumption and working efficiency by realizing the independent extension and contraction of each support shoe oil cylinder in two working states of fast extension and slow extension, and can make the rodless chambers of the support shoe oil cylinders controlling the left and right support shoes communicate with each other to realize the direction adjustment in the tightening state, and can unload the rodless chambers of the support shoe oil cylinders when retracting to avoid insufficient pressure to open each hydraulic control component, so the present application has strong practicability and is suitable for wide promotion and application.

[0019] In addition to the above described objects, features and advantages, the present application has other objects, features and advantages. These will become apparent from the following detailed description of the application, when considered in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations are shown schematically in the drawings:

[0021] Figure 1 is a control schematic diagram of the large-diameter TBM support shoe control system of the preferred embodiment of the present application;

[0022] Figure 2 is a structural schematic diagram of the large-diameter TBM support shoe control system of the preferred embodiment of the present application.

[0023] LEGEND

[0024] 10, oil tank; 21, motor 1; 22, hydraulic pump 1; 23, overflow valve; 24, pressure gauge 1; 25, pressure sensor 1; 30, first directional valve; 41, motor 2; 42, hydraulic pump 2; 43, electric proportional overflow valve; 44, pressure gauge 2; 45, pressure sensor 2; 50, second directional valve; 61, directional ball valve; 62, directional directional valve; 63, hydraulic control check valve 1; 64, hydraulic control check valve 2; 65, oil blocking directional valve; 66, hydraulic control check valve 3; 67, hydraulic control check valve 4; 70, support shoe oil cylinder; 81, extension hydraulic control check valve; 82, extension directional valve; 83, retraction hydraulic control check valve; 84, retraction directional valve; 85, unloading hydraulic control check valve; 91, first pressure sensor; 92, second pressure sensor; 93, stroke sensor; 94, inclination sensor; 95, check valve 1; 96, check valve 2; 97, check valve 3. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in detail with reference to the drawings, but the present application can be implemented in various different ways as defined and covered by the following.

[0026] As Figure 1 and Figure 2As shown, the large-diameter TBM support shoe control system of the embodiment includes an oil tank 10, a first oil supply assembly in communication with the oil tank 10 for pumping first preset flow pressure oil, a first reversing valve 30 in communication with the first oil supply assembly for controlling the flow direction of the pressure oil, a second oil supply assembly in communication with the oil tank 10, a second reversing valve 50 in communication with the second oil supply assembly for controlling the flow direction of the pressure oil, a plurality of telescopic control assemblies, a plurality of support shoe oil cylinders 70, and a direction adjusting control assembly, the first oil supply assembly pumps the first preset flow pressure oil to the support shoe oil cylinders 70 through the first reversing valve 30, the second oil supply assembly pumps second preset flow pressure oil to the rodless chambers of the support shoe oil cylinders 70 through the second reversing valve 50, or pumps the second preset flow pressure oil to the rod chambers of the support shoe oil cylinders 70 through the direction adjusting control assembly, the first preset flow is greater than the second preset flow, the telescopic control assemblies and the support shoe oil cylinders 70 are one-to-one correspondingly arranged, and are used for cooperating with the second oil supply assembly to control the oil inlet of the rodless chambers of the support shoe oil cylinders 70, cooperating with the second oil supply assembly to control the oil outlet of the rodless chambers of the support shoe oil cylinders 70, and cooperating with the second reversing valve 50 to control the unloading of the rodless chambers of the support shoe oil cylinders 70, the plurality of support shoe oil cylinders 70 are divided into two groups, the first group of support shoe oil cylinders are used for connecting the left side support shoes, the second group of support shoe oil cylinders are used for connecting the right side support shoes, the direction adjusting control assembly is used for controlling the oil inlet of the rod chambers of the support shoe oil cylinders 70 in one group to shrink, so that the pressure oil in the rodless chambers of the support shoe oil cylinders 70 flows to the rodless chambers of the support shoe oil cylinders in the other group, and then the support shoe oil cylinders in the other group are synchronously extended.

[0027] As Figure 1 and Figure 2As shown, specifically, the large-diameter TBM gripper control system of the present invention stores and recovers pressure oil through the oil tank 10 to realize the circulation of pressure oil in the gripper control system, pumps the first preset flow pressure oil through the first oil supply component, and pumps the second preset flow pressure oil through the second oil supply component, and makes the first preset flow greater than the second preset flow, so that the gripper cylinder 70 can work under the first preset flow pressure oil, or work under the second preset flow pressure oil, thereby making the gripper cylinder 70 have two working states of fast extension and retraction and slow extension and retraction. When the first oil supply component pumps the first preset flow pressure oil to the rodless chamber of the gripper cylinder 70 through the first reversing valve 30, the extension and retraction control component and the second oil supply component cooperate to control the gripper. The shoe oil cylinder 70 rodless chamber is supplied with oil, thereby the shoe oil cylinder 70 is extended quickly; when the first oil supply assembly pumps the first preset flow pressure oil to the rod chamber of the shoe oil cylinder 70 through the first reversing valve 30, the telescopic control assembly and the second oil supply assembly cooperate to control the oil return from the rodless chamber of the shoe oil cylinder 70, thereby the shoe oil cylinder 70 is quickly retracted; the second oil supply assembly pumps pressure oil to the rodless chamber of the shoe oil cylinder 70 through the second reversing valve 50, so that the shoe oil cylinder 70 can be extended slowly; the telescopic control assembly can also cooperate with the second reversing valve 50 to make the rodless chamber of the shoe oil cylinder 70 directly connected to the oil tank 10, thereby unloading the rodless chamber of the shoe oil cylinder 70; when the shoe needs to be tightened, the shoe oil cylinder 70 is first controlled to be extended quickly, so that after the shoe is extended into place, the shoe oil cylinder 70 is controlled to be stretched out quickly. The shoe cylinders 70 are slowly extended to allow the shoe to hold the hole wall tightly; and by dividing the plurality of shoe cylinders 70 into two groups, the two groups of shoe cylinders respectively drive the left and right shoe shoes to move, so that when the left and right shoe shoes hold the hole wall tightly, after the rod chamber of any one group of shoe cylinders is controlled to fill with oil and retract by the direction adjustment control component, the pressure oil in the rodless chamber of the shoe cylinder 70 flows to the rodless chamber of the other group of shoe cylinders, and then the other group of shoe cylinders are extended synchronously, thereby realizing direction adjustment in the tightened state of the shoe; when it is necessary to move to the next working position and retract the shoe, the rodless chamber of the shoe cylinder 70 is first unloaded to reduce the oil pressure, and then the shoe cylinder 70 is controlled to retract quickly; and in the process of extension and retraction of each shoe cylinder 70, the corresponding extension and retraction control component can be used to control the shoe cylinder 70 to retract quickly. The component independently controls whether the rodless cavity thereof enters and returns oil, that is, by controlling the rodless cavity of one shoe cylinder 70 to enter and return oil, and controlling the other shoe cylinders 70 not to enter and return oil, the extension and retraction of a single shoe cylinder 70 can be realized, so that the shoe can adapt to complex working conditions such as landslides and soft rocks during the tightening process; compared with the existing technology, this solution can realize the independent extension and retraction of each shoe cylinder 70 while taking into account energy consumption and work efficiency through two working states of fast extension and retraction and slow extension and retraction, and can make the rodless cavities of the shoe cylinders 70 controlling the left and right shoe cylinders interconnected to realize direction adjustment in the tightening state, and can first unload the rodless cavity of the shoe cylinder 70 when retracting, to avoid insufficient pressure from failing to open the various hydraulic control components, and has strong practicality and is suitable for wide promotion and application.

[0028] Optionally, the number of the support shoe oil cylinders 70 is four, which are grouped into two groups, two support shoe oil cylinders 70 as a first group of support shoe oil cylinders are connected with the left side support shoes, and the other two support shoe oil cylinders 70 as a second group of support shoe oil cylinders are connected with the right side support shoes.

[0029] Optionally, the first oil supply assembly comprises a hydraulic pump one 22 connected with the oil tank 10 and the first reversing valve 30 respectively, and a motor one 21 connected with the hydraulic pump one 22.

[0030] Optionally, the second oil supply assembly comprises a hydraulic pump two 42 connected with the oil tank 10, the second reversing valve 50, the telescopic control assembly and the direction adjusting control assembly respectively, and a motor two 41 connected with the hydraulic pump two 42.

[0031] Optionally, the first reversing valve 30 is a three-position four-way electromagnetic reversing valve. Optionally, the second reversing valve 50 is a three-position four-way electromagnetic reversing valve.

[0032] Optionally, a one-way valve one 95 is arranged between the second reversing valve 50 and the oil tank 10 to prevent the oil in the oil tank 10 from flowing back.

[0033] Optionally, a one-way valve three 97 is arranged between the first reversing valve 30 and the oil tank 10 to prevent the oil in the oil tank 10 from flowing back.

[0034] It should be understood that in the embodiment, the pressure oil flow direction is accurately controlled by the hydraulic control components, and therefore it is necessary to ensure that each hydraulic control component can be opened and closed under the action of pressure.

[0035] It should be understood that the hydraulic control components include hydraulic control one-way valves.

[0036] As shown in Figure 1 In the embodiment, the direction adjusting control assembly comprises a direction adjusting ball valve 61 connected with the rodless chambers of the first group of support shoe oil cylinders and the rodless chambers of the second group of support shoe oil cylinders respectively, a direction adjusting control valve group for controlling the second oil supply assembly to supply oil to the rod chambers of one group of support shoe oil cylinders during direction adjusting, and an oil blocking control valve group for preventing the rod chambers of the support shoe oil cylinders 70 from returning oil to the oil tank 10 through the first reversing valve 30 during direction adjusting.

[0037] As shown in Figure 1As shown, specifically, when it is necessary to turn left, the direction-adjusting control valve group controls the second oil supply assembly to supply oil to the rod chamber of the second group of shoe cylinders, and connects the rodless chamber of the first group of shoe cylinders and the rodless chamber of the second group of shoe cylinders through the direction-adjusting ball valve 61, and the telescopic control valve group does not work, so that the rodless chamber of the first group of shoe cylinders and the rodless chamber of the second group of shoe cylinders cannot return oil, thereby making the pressure oil in the rodless chamber of the second group of shoe cylinders flow to the rodless chamber of the first group of shoe cylinders, and the oil-blocking control valve group prevents the rod chamber of the first group of shoe cylinders from returning oil to the oil tank 10 through the first reversing valve 30, but instead returns oil to the oil tank 10 through the direction-adjusting control valve. The oil of the group is returned to the oil tank 10, so that the second group of shoe cylinders retracts while the first group of shoe cylinders extends, and the total extension length of the shoe cylinders 70 on both sides remains unchanged, thereby realizing leftward steering when the shoe is tightened; when rightward steering is required, the steering control valve group controls the second oil supply assembly to supply oil to the rod chamber of the first group of shoe cylinders, so that the pressure oil in the rodless chamber of the first group of shoe cylinders flows to the rodless chamber of the second group of shoe cylinders, thereby making the first group of shoe cylinders retract while the second group of shoe cylinders extend, and the total extension length of the shoe cylinders 70 on both sides remains unchanged, thereby realizing rightward steering when the shoe is tightened.

[0038] Optionally, the directional control ball valve 61 is an electromagnetic ball valve.

[0039] like Figure 1 As shown, in this embodiment, the directional control valve group includes a directional reversing valve 62, a hydraulically controlled one-way valve 1 63 and a hydraulically controlled one-way valve 2 64. The hydraulically controlled one-way valve 1 63 is arranged in the oil circuit between the directional reversing valve 62 and the rod chamber of the first group of shoe cylinders and can prevent the rod chamber of the first group of shoe cylinders from returning oil to the oil tank 10 through the directional reversing valve 62. The hydraulically controlled one-way valve 2 64 is arranged in the oil circuit between the directional reversing valve 62 and the rod chamber of the second group of shoe cylinders and can prevent the rod chamber of the second group of shoe cylinders from returning oil to the oil tank 10 through the directional reversing valve 62. The directional reversing valve 62 is respectively connected to the second oil supply assembly, the oil tank 10, the rod chamber of the first group of shoe cylinders and the rod chamber of the second group of shoe cylinders, and is used to control the hydraulically controlled one-way valve 1 63 and the hydraulically controlled one-way valve 2 64 to be alternately disconnected or disconnected simultaneously.

[0040] It should be understood that when the hydraulic one-way valve is disconnected, the pressure oil flows in one direction, and when the hydraulic one-way valve is connected, the pressure oil flows in two directions. When the hydraulic control valve port of the hydraulic one-way valve is connected to the oil tank 10, the hydraulic control one-way valve is disconnected; when the hydraulic control valve port of the hydraulic one-way valve is connected to the pressure oil, the hydraulic control one-way valve is disconnected.

[0041] like Figure 1As shown, specifically, the steering directional control valve 62 is a three-position four-way electromagnetic directional control valve, under the initial working position, the hydraulic control valve port of the hydraulic control check valve one 63 and the hydraulic control valve port of the hydraulic control check valve two 64 are communicated with the oil tank 10 through the steering directional control valve 62, both are in the off state, at this time, the rod cavity of the first group of support shoe oil cylinders can be prevented from returning oil through the hydraulic control check valve one 63, and the rod cavity of the second group of support shoe oil cylinders returns oil through the hydraulic control check valve two 64; when the spool of the steering directional control valve 62 moves to the right, the second oil supply assembly pumps pressure oil to the rod cavity of the second group of support shoe oil cylinders through the steering directional control valve 62 and the hydraulic control check valve two 64, the hydraulic control valve port of the hydraulic control check valve one 63 is communicated with the pressure oil, and the rod cavity of the first group of support shoe oil cylinders returns oil to the oil tank 10 through the hydraulic control check valve one 63 and the steering directional control valve 62; when the spool of the steering directional control valve 62 moves to the left, the second oil supply assembly pumps pressure oil to the rod cavity of the first group of support shoe oil cylinders through the steering directional control valve 62 and the hydraulic control check valve one 63, the hydraulic control valve port of the hydraulic control check valve two 64 is communicated with the pressure oil, and the rod cavity of the second group of support shoe oil cylinders returns oil to the oil tank 10 through the hydraulic control check valve two 64 and the steering directional control valve 62.

[0042] Optionally, a one-way valve two 96 is arranged between the steering directional control valve 62 and the oil tank 10 to prevent the oil tank 10 from backflowing.

[0043] As shown, Figure 1 In the embodiment, the oil blocking control valve group includes an oil blocking directional control valve 65, a hydraulic control check valve three 66 and a hydraulic control check valve four 67, the hydraulic control check valve three 66 is arranged on the oil circuit between the first directional control valve 30 and the rod cavity of the first group of support shoe oil cylinders and can prevent the rod cavity of the first group of support shoe oil cylinders from returning oil to the oil tank 10 through the first directional control valve 30, the hydraulic control check valve four 67 is arranged on the oil circuit between the first directional control valve 30 and the rod cavity of the second group of support shoe oil cylinders and can prevent the rod cavity of the second group of support shoe oil cylinders from returning oil to the oil tank 10 through the first directional control valve 30, the oil blocking directional control valve 65 is connected with the second oil supply assembly, the hydraulic control check valve three 66 and the hydraulic control check valve four 67 respectively and is used for controlling the hydraulic control check valve three 66 and the hydraulic control check valve four 67 to be simultaneously communicated or simultaneously disconnected.

[0044] As shown, Figure 1 Specifically, the oil blocking directional control valve 65 is a two-position four-way electromagnetic directional control valve, under the initial working position, the second oil supply assembly pumps pressure oil to the hydraulic control valve port of the hydraulic control check valve three 66 and the hydraulic control valve port of the hydraulic control check valve four 67 through the oil blocking directional control valve 65, and the pressure oil in the rod cavity of the support shoe oil cylinder 70 can return to the oil tank 10 through the first directional control valve 30; when the spool of the oil blocking directional control valve 65 moves to the left, the hydraulic control valve port of the hydraulic control check valve three 66 and the hydraulic control valve port of the hydraulic control check valve four 67 are communicated with the oil tank 10, and the pressure oil in the rod cavity of the support shoe oil cylinder 70 cannot return to the oil tank 10 through the first directional control valve 30.

[0045] As shown, Figure 1As shown, in this embodiment, the telescopic control assembly includes an extension control valve group for controlling the oil inlet to the rodless chamber of the shoe cylinder 70, a retraction control valve group for controlling the oil outlet from the rodless chamber of the shoe cylinder 70, and an unloading hydraulically controlled one-way valve 85 arranged on the oil circuit between the second reversing valve 50 and the rodless chamber of the shoe cylinder 70 for cooperating with the second reversing valve 50 to control the unloading of the rodless chamber of the shoe cylinder 70.

[0046] like Figure 1 As shown, specifically, the extension control valve group is used to control the oil inlet of the rodless chamber of the shoe cylinder 70 to realize the independent extension of each shoe cylinder 70; the retraction control valve group is used to control the oil outlet of the rodless chamber of the shoe cylinder 70 to realize the independent retraction of each shoe cylinder 70; under normal conditions, the hydraulic control valve port of the unloading hydraulic control one-way valve 85 is connected to the oil tank 10 through the second reversing valve 50, the unloading hydraulic control one-way valve 85 is disconnected, the oil path between the second reversing valve 50 and the rodless chamber of the shoe cylinder 70 is only inlet and not return, and the shoe cylinder 70 The pressure oil in the rodless chamber cannot flow back to the oil tank 10 through the unloading hydraulically controlled one-way valve 85 and the second reversing valve 50. When the support shoe is tightened and needs to be retracted, the valve core of the second reversing valve 50 moves to the left, and the second oil supply assembly passes pressure oil to the hydraulic control valve port of the unloading hydraulically controlled one-way valve 85 through the second reversing valve 50. The unloading hydraulically controlled one-way valve 85 is connected, and the rodless chamber of the support shoe cylinder 70 can return oil to the oil tank 10 through the unloading hydraulically controlled one-way valve 85 and the second reversing valve 50, thereby realizing high-pressure unloading of the rodless chamber of the support shoe cylinder 70.

[0047] like Figure 1 As shown, in this embodiment, when the second reversing valve 50 is in the normal working position, the internal passage of the second reversing valve 50 is disconnected. When the second reversing valve 50 moves to the right, the second oil supply assembly pumps the second preset flow pressure oil to the rodless chamber of the shoe cylinder 70 through the second reversing valve 50 and the unloading hydraulic control one-way valve 85, so that the shoe cylinder 70 extends slowly.

[0048] like Figure 1 As shown, in this embodiment, the extension control valve group includes an extension hydraulic control one-way valve 81 and an extension reversing valve 82. The extension hydraulic control one-way valve 81 is arranged in the oil circuit between the first reversing valve 30 and the rodless chamber of the shoe cylinder 70 and can prevent oil from entering the rodless chamber of the shoe cylinder 70. The extension reversing valve 82 is respectively connected to the extension hydraulic control one-way valve 81, the second oil supply assembly and the oil tank 10, and is used to control the on and off of the extension hydraulic control one-way valve 81.

[0049] like Figure 1As shown, specifically, the extension directional valve 82 is a two-position four-way electromagnetic directional valve, when the spool of the extension directional valve 82 moves to the left, the second oil supply assembly pumps pressure oil to the hydraulic control port of the extension hydraulic control check valve 81 through the extension directional valve 82, so that the extension hydraulic control check valve 81 is in a communication state, so that the rodless chamber of the support shoe cylinder 70 can take in oil; and when the spool of the extension directional valve 82 moves to the right, the hydraulic control port of the extension hydraulic control check valve 81 is connected to the oil tank 10 through the extension directional valve 82, so as to prevent the rodless chamber of the support shoe cylinder 70 from taking in oil, thereby realizing independent extension of each support shoe cylinder 70.

[0050] As shown in the drawings, Figure 1 In the embodiment, the retraction control valve group includes a retraction hydraulic control check valve 83 and a retraction directional valve 84, the retraction hydraulic control check valve 83 is arranged on an oil circuit between the first directional valve 30 and the rodless chamber of the support shoe cylinder 70 and can prevent the rodless chamber of the support shoe cylinder 70 from returning oil, the retraction directional valve 84 is in communication with the retraction hydraulic control check valve 83, the second oil supply assembly and the oil tank 10 respectively, and is used for controlling the on-off of the retraction hydraulic control check valve 83.

[0051] As shown in the drawings, Figure 1 In the embodiment, the retraction control valve group includes a retraction hydraulic control check valve 83 and a retraction directional valve 84, the retraction hydraulic control check valve 83 is arranged on an oil circuit between the first directional valve 30 and the rodless chamber of the support shoe cylinder 70 and can prevent the rodless chamber of the support shoe cylinder 70 from returning oil, the retraction directional valve 84 is in communication with the retraction hydraulic control check valve 83, the second oil supply assembly and the oil tank 10 respectively, and is used for controlling the on-off of the retraction hydraulic control check valve 83.

[0052] As shown in the drawings, Figure 1 In the embodiment, the support shoe control system further includes a first pressure sensor 91 for measuring the pressure of the rodless chamber of the support shoe cylinder 70, a second pressure sensor 92 for measuring the pressure of the rod chamber of the support shoe cylinder 70, a stroke sensor 93 for measuring the displacement of the piston rod of the support shoe cylinder 70, and an inclination sensor 94 for measuring the inclination angle of the support shoe.

[0053] As shown in the drawings, Figure 1As shown, specifically, when the support shoe is automatically extended, the rodless chamber pressure of the support shoe cylinder 70 is measured by the first pressure sensor 91 according to the preset fast / slow switching pressure and the extension bracing pressure, and the rod chamber pressure of the support shoe cylinder 70 is measured by the second pressure sensor 92, so as to determine which working state is used, i.e., fast extension, slow extension or stop extension, so as to control the extension action of the support shoe cylinder 70, the support shoe posture and the bracing pressure during extension to be in the normal state by controlling the working position of the first reversing valve 30, the second reversing valve 50 and the extension reversing valve 82; when the support shoe is fast extended or fast retracted, the displacement of the piston rod of the support shoe cylinder 70 is measured by the displacement sensor, and the inclination angle of each support shoe is measured by the inclination sensor, so as to display the support shoe posture in real time, and then the working position of the extension reversing valve 82 or the retraction reversing valve 84 is controlled according to the support shoe data, so as to control the start and stop of the extension action or the retraction action of the support shoe cylinder 70, and adjust the support shoe posture to be in the normal state.

[0054] As shown in FIG. 1, Figure 1 In the embodiment, the support shoe control system further comprises an overflow valve 23, a pressure gauge 24 and a pressure sensor 25, which are respectively connected with the first oil supply assembly and the oil tank 10. Specifically, the working pressure of the first oil supply assembly is limited by the overflow valve 23, and then detected and displayed by the pressure gauge 24 for manual observation, and detected and transmitted by the pressure sensor 25 for automatic control.

[0055] As shown in FIG. 1, Figure 2 In the embodiment, the support shoe control system further comprises an electric proportional overflow valve 43, a pressure gauge 44 and a pressure sensor 45, which are respectively connected with the second oil supply assembly and the oil tank 10. Specifically, the working pressure of the second oil supply assembly is adjusted by the electric proportional overflow valve 43, and then detected and displayed by the pressure gauge 44 for manual observation, and detected and transmitted by the pressure sensor 45 for automatic control.

[0056] As shown in FIG. 1, ​ and ​ The action process of some embodiments is as follows:

[0057] Fast extension of the support shoe:

[0058] Motor two 41 works to drive hydraulic pump two 42 to pump pressure oil, the spool of extension directional valve 82 moves to the left, pressure oil flows to the hydraulic control port of extension hydraulic control check valve 81 through extension directional valve 82, the spool of oil blocking directional valve 65 moves to the left, pressure oil flows to the hydraulic control port of hydraulic control check valve three 66 and the hydraulic control port of hydraulic control check valve four 67 through oil blocking directional valve 65, extension hydraulic control check valve 81 is connected, hydraulic control check valve three 66 is connected, hydraulic control check valve four 67 is connected; Motor one 21 works to drive hydraulic pump one 22 to pump the first preset flow of pressure oil, the spool of first directional valve 30 moves to the left, pressure oil flows to extension hydraulic control check valve 81 through first directional valve 30, and then flows to the rodless cavity of boot oil cylinder 70 through extension hydraulic control check valve 81, the rod cavity of boot oil cylinder 70 returns to oil tank 10 through hydraulic control check valve three 66 or hydraulic control check valve four 67 and first directional valve 30, boot oil cylinder 70 quickly extends under the action of the first preset flow of pressure oil to drive the boot to quickly extend.

[0059] Quick extension of a certain boot oil cylinder 70:

[0060] Motor one 21 and motor two 41 work to drive hydraulic pump one 22 and hydraulic pump two 42 to pump pressure oil, the spool of first directional valve 30 moves to the left, the spool of oil blocking directional valve 65 moves to the left, the spool of extension directional valve 82 corresponding to the boot oil cylinder 70 moves to the left, and the spools of extension directional valves 82 corresponding to other boot oil cylinders 70 move to the right, that is, only the rodless cavity of the boot oil cylinder 70 can admit oil to make the boot oil cylinder 70 quickly extend.

[0061] Quick retraction of the boot:

[0062] Motor two 41 works to drive hydraulic pump two 42 to pump pressure oil, the spool of retraction directional valve 84 moves to the left, pressure oil flows to the hydraulic control port of retraction hydraulic control check valve 83 through extension directional valve 82, the spool of oil blocking directional valve 65 moves to the left, pressure oil flows to the hydraulic control port of hydraulic control check valve three 66 and the hydraulic control port of hydraulic control check valve four 67 through oil blocking directional valve 65, retraction hydraulic control check valve 83 is connected, hydraulic control check valve three 66 is connected, hydraulic control check valve four 67 is connected; Motor one 21 works to drive hydraulic pump one 22 to pump the first preset flow of pressure oil, the spool of first directional valve 30 moves to the right, pressure oil flows to hydraulic control check valve three 66 or hydraulic control check valve four 67 through first directional valve 30, and then flows to the rod cavity of boot oil cylinder 70 through hydraulic control check valve three 66 or hydraulic control check valve four 67, the rodless cavity of boot oil cylinder 70 returns to oil tank 10 through retraction hydraulic control check valve 83 and first directional valve 30, boot oil cylinder 70 quickly retracts under the action of the first preset flow of pressure oil to drive the boot to quickly retract.

[0063] Quick retraction of a certain boot oil cylinder 70:

[0064] Motor one 21 and motor two 41 work to drive hydraulic pump one 22 and hydraulic pump two 42 to pump pressure oil, the spool of first directional valve 30 moves to the right, the spool of block oil directional valve 65 moves to the left, the corresponding retract directional valve 84 of the support shoe oil cylinder 70 moves to the left, the corresponding retract directional valve 84 of other support shoe oil cylinders 70 moves to the right, that is, only the rodless cavity of the support shoe oil cylinder 70 can return oil to make the rapid retraction of the support shoe oil cylinder 70.

[0065] Slow extension of support shoe:

[0066] Motor one 21 does not work, motor two 41 works to drive hydraulic pump two 42 to pump the second preset flow of pressure oil, the spool of second directional valve 50 moves to the right, the pressure oil flows to the rodless cavity of support shoe oil cylinder 70 through second directional valve 50 and unloading hydraulic control check valve 85, the spool of block oil directional valve 65 moves to the left, the pressure oil flows to the hydraulic control port of hydraulic control check valve three 66 and the hydraulic control port of hydraulic control check valve four 67 through block oil directional valve 65, hydraulic control check valve three 66 is connected, hydraulic control check valve four 67 is connected, the spool of first directional valve 30 moves to the left, the rod cavity of support shoe oil cylinder 70 returns to oil tank 10 through hydraulic control check valve three 66 or hydraulic control check valve four 67 and first directional valve 30, support shoe oil cylinder 70 slowly extends under the action of the second preset flow of pressure oil to drive the slow extension of support shoe.

[0067] High pressure unloading of rodless cavity of support shoe oil cylinder 70:

[0068] Motor one 21 does not work, motor two 41 works to drive hydraulic pump two 42 to pump pressure oil, the spool of second directional valve 50 moves to the left, the pressure oil flows to the hydraulic control port of unloading hydraulic control check valve 85, the rodless cavity of support shoe oil cylinder 70 returns to oil tank 10 through unloading hydraulic control check valve 85 and second directional valve 50, to complete the high pressure unloading of rodless cavity of support shoe oil cylinder 70.

[0069] Left direction adjustment of support shoe oil cylinder 70;

[0070] Motor one 21 does not work, motor two 41 works to drive hydraulic pump two 42 to pump pressure oil, the spool of directional valve 62 moves to the right, the pressure oil flows into the hydraulic control port of hydraulic control check valve one 63 and flows into the rod cavity of the second group of support shoe oil cylinders through hydraulic control check valve two 64, the spool of directional ball valve 61 moves upward, the pressure oil in the rodless cavity of the second group of support shoe oil cylinders flows into the rodless cavity of the first group of support shoe oil cylinders through directional ball valve 61, the spool of block oil directional valve 65 moves to the left, hydraulic control check valve three 66 and hydraulic control check valve four 67 are disconnected, the rod cavity of the first group of support shoe oil cylinders can only return to oil tank 10 through hydraulic control check valve one 63 and directional valve 62, when the second group of support shoe oil cylinders extend and retract, the first group of support shoe oil cylinders synchronously extend to complete the left direction adjustment of support shoe oil cylinder 70.

[0071] The supporting shoe oil cylinder 70 is adjusted to the right:

[0072] The motor 21 is not working, and the motor 41 is working to drive the hydraulic pump 42 to pump the pressure oil, the valve core of the direction reversing valve 62 moves to the left, the pressure oil flows into the hydraulic control valve port of the hydraulic control check valve 64, and then flows into the rod cavity of the first group of supporting shoe oil cylinders through the hydraulic control check valve 63, the valve core of the direction ball valve 61 moves upward, the pressure oil in the rodless cavity of the first group of supporting shoe oil cylinders flows into the rodless cavity of the second group of supporting shoe oil cylinders through the direction ball valve 61, the valve core of the blocking reversing valve 65 moves to the left, the hydraulic control check valve 66 and the hydraulic control check valve 67 are disconnected, and the rod cavity of the second group of supporting shoe oil cylinders can only return to the oil tank 10 through the hydraulic control check valve 64 and the direction reversing valve 62. When the first group of supporting shoe oil cylinders are extended and retracted, the second group of supporting shoe oil cylinders are synchronously extended to complete the right adjustment of the supporting shoe oil cylinder 70.

[0073] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0074] It should be noted that in this paper, the term "including", "containing" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0075] The principles and implementation modes of the present application are described by using specific examples in this paper, and the above example is only used to help understand the method of the present application and its core idea. The above description is only the preferred embodiment of the present application. It should be pointed out that due to the limited nature of the language expression, there are infinite specific structures, and for ordinary skilled persons in the technical field, some improvements, refinements or changes can be made without departing from the principles of the present application, and the above technical features can be combined in an appropriate manner. These improvements, refinements, changes or combinations, or the application of the inventive concept and technical solution to other fields without improvement, shall be regarded as the protection of the present application.

Claims

1. A large diameter TBM gripper control system, characterized in that: The invention comprises an oil tank (10), a first oil supply assembly connected to the oil tank (10) for pumping a first preset flow of pressure oil, a first reversing valve (30) connected to the first oil supply assembly for controlling the flow direction of the pressure oil, a second oil supply assembly connected to the oil tank (10), a second reversing valve (50) connected to the second oil supply assembly for controlling the flow direction of the pressure oil, a plurality of telescopic control assemblies, a plurality of shoe cylinders (70) and a direction control assembly, wherein the first oil supply assembly pumps the first preset flow of pressure oil to the shoe cylinder (70) through the first reversing valve (30), and the second oil supply assembly pumps the second preset flow of pressure oil to the rodless cavity of the shoe cylinder (70) through the second reversing valve (50), or pumps the second preset flow of pressure oil to the rod cavity of the shoe cylinder (70) through the direction control assembly. The pressure oil is measured, the first preset flow rate is greater than the second preset flow rate, the telescopic control component and the shoe cylinder (70) are arranged in a one-to-one correspondence, and are used to cooperate with the second oil supply component to control the oil inlet of the rodless cavity of the shoe cylinder (70), cooperate with the second oil supply component to control the oil outlet of the rodless cavity of the shoe cylinder (70), and cooperate with the second reversing valve (50) to control the unloading of the rodless cavity of the shoe cylinder (70). The multiple shoe cylinders (70) are divided into two groups, the first group of shoe cylinders is used to connect the left shoe, and the second group of shoe cylinders is used to connect the right shoe. The direction control component is used to control the oil inlet of the rod cavity of one group of shoe cylinders (70) to retract, so that the pressure oil in the rodless cavity of the shoe cylinder (70) flows to the rodless cavity of the other group of shoe cylinders, thereby making the other group of shoe cylinders extend synchronously.

2. The large diameter TBM gripper control system according to claim 1, characterized in that: The direction adjustment control assembly comprises a direction adjustment ball valve (61) connected to the rodless chamber of the first group of shoe support cylinders and the rodless chamber of the second group of shoe support cylinders, respectively; a direction adjustment control valve group for controlling the second oil supply assembly to supply oil to the rod chamber of one group of shoe support cylinders during direction adjustment; and an oil blocking control valve group for preventing the rod chamber of the shoe support cylinder (70) from returning oil to the oil tank (10) through the first reversing valve (30) during direction adjustment.

3. The large diameter TBM gripper control system according to claim 2, characterized in that: The directional control valve group includes a directional control reversing valve (62), a hydraulic control one-way valve (63) and a hydraulic control one-way valve (64). The hydraulic control one-way valve (63) is arranged on the oil circuit between the directional control reversing valve (62) and the rod chamber of the first group of shoe support cylinders and can prevent the rod chamber of the first group of shoe support cylinders from returning oil to the oil tank (10) through the directional control reversing valve (62). The hydraulic control one-way valve (64) is arranged on the oil circuit between the directional control reversing valve (62) and the rod chamber of the second group of shoe support cylinders and can prevent the rod chamber of the second group of shoe support cylinders from returning oil to the oil tank (10) through the directional control reversing valve (62). The directional control reversing valve (62) is respectively connected to the second oil supply assembly, the oil tank (10), the rod chamber of the first group of shoe support cylinders and the rod chamber of the second group of shoe support cylinders, and is used to control the hydraulic control one-way valve (63) and the hydraulic control one-way valve (64) to be disconnected alternately or simultaneously.

4. The large diameter TBM gripper control system according to claim 3, characterized in that: The oil-blocking control valve group includes an oil-blocking reversing valve (65), a hydraulically controlled one-way valve three (66) and a hydraulically controlled one-way valve four (67). The hydraulically controlled one-way valve three (66) is arranged on the oil path between the first reversing valve (30) and the first group of shoe-holding cylinder rod chambers and can prevent the first group of shoe-holding cylinder rod chambers from returning oil to the oil tank (10) through the first reversing valve (30). The hydraulically controlled one-way valve four (67) is arranged on the oil path between the first reversing valve (30) and the second group of shoe-holding cylinder rod chambers and can prevent the second group of shoe-holding cylinder rod chambers from returning oil to the oil tank (10) through the first reversing valve (30). The oil-blocking reversing valve (65) is respectively connected to the second oil supply component, the hydraulically controlled one-way valve three (66) and the hydraulically controlled one-way valve four (67) and is used to control the hydraulically controlled one-way valve three (66) and the hydraulically controlled one-way valve four (67) to be connected or disconnected at the same time.

5. The large diameter TBM gripper control system according to any one of claims 1 to 4, characterized in that: The telescopic control assembly comprises an extension control valve group for controlling the oil inflow into the rodless chamber of the shoe oil cylinder (70), a retraction control valve group for controlling the oil outflow from the rodless chamber of the shoe oil cylinder (70), and an unloading hydraulically controlled one-way valve (85) arranged on the oil circuit between the second reversing valve (50) and the rodless chamber of the shoe oil cylinder (70) for cooperating with the second reversing valve (50) to control the unloading of the rodless chamber of the shoe oil cylinder (70).

6. The large diameter TBM gripper control system according to claim 5, characterized in that: The extension control valve group includes an extension hydraulic control check valve (81) and an extension reversing valve (82). The extension hydraulic control check valve (81) is arranged on the oil path between the first reversing valve (30) and the rodless chamber of the shoe oil cylinder (70) and can prevent oil from entering the rodless chamber of the shoe oil cylinder (70). The extension reversing valve (82) is respectively connected to the extension hydraulic control check valve (81), the second oil supply assembly and the oil tank (10) and is used to control the on and off of the extension hydraulic control check valve (81).

7. The large diameter TBM gripper control system according to claim 5, characterized in that: The retraction control valve group includes a retraction hydraulic control one-way valve (83) and a retraction reversing valve (84). The retraction hydraulic control one-way valve (83) is arranged on the oil path between the first reversing valve (30) and the rodless chamber of the shoe oil cylinder (70) and can prevent the oil from returning from the rodless chamber of the shoe oil cylinder (70). The retraction reversing valve (84) is respectively connected to the retraction hydraulic control one-way valve (83), the second oil supply assembly and the oil tank (10) and is used to control the on-off of the retraction hydraulic control one-way valve (83).

8. The large diameter TBM gripper control system according to any one of claims 1 to 4, characterized in that: The gripper control system further comprises a first pressure sensor (91) for measuring the pressure of the rodless chamber of the gripper oil cylinder (70), a second pressure sensor (92) for measuring the pressure of the rod chamber of the gripper oil cylinder (70), a stroke sensor (93) for measuring the displacement of the piston rod of the gripper oil cylinder (70), and an inclination sensor (94) for measuring the inclination angle of the gripper.

9. The large diameter TBM gripper control system according to any one of claims 1 to 4, characterized in that: The gripper shoe control system further comprises an overflow valve (23) respectively connected to the first oil supply assembly and the oil tank (10), a pressure gauge (24) for detecting and displaying the working pressure of the first oil supply assembly, and a pressure sensor (25) for detecting and transmitting the working pressure of the first oil supply assembly.

10. The large diameter TBM gripper control system according to any one of claims 1 to 4, characterized in that: The gripper control system further comprises an electric proportional overflow valve (43) respectively connected to the second oil supply assembly and the oil tank (10), a second pressure gauge (44) for detecting and displaying the working pressure of the second oil supply assembly, and a second pressure sensor (45) for detecting and transmitting the working pressure of the second oil supply assembly.

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