Large-diameter tmb support shoe control system

Abstract

The application discloses a large-diameter TBM support shoe control system, which comprises an oil tank, a first oil supply assembly for pumping first preset flow pressure oil and communicating with the oil tank, a first reversing valve for controlling the flow direction of pressure oil and communicating with the first oil supply assembly, a second oil supply assembly communicating with the oil tank, a second reversing valve for controlling the flow direction of pressure oil and communicating with the second oil supply assembly, a plurality of telescopic control assemblies, a plurality of support shoe oil cylinders and a direction adjusting control assembly, the first oil supply assembly pumps the first preset flow pressure oil, the second oil supply assembly pumps second preset flow pressure oil, and the first preset flow is greater than the second preset flow; while realizing the independent telescoping of each support shoe oil cylinder, the energy consumption and working efficiency can be considered by means of two working states of fast telescoping and slow telescoping, the direction adjusting in the bracing state is realized, and the rodless cavity of the support shoe oil cylinder can be unloaded when being retracted, so that each hydraulic control component cannot be opened due to insufficient pressure is avoided.

Description

Technical Field

[0001] This invention relates to the field of full-face rock tunnel boring equipment technology, and in particular, to a large-diameter TBM support shoe control system. Background Technology

[0002] TBM refers to a full-face tunnel boring machine used in rock formations. In the support shoe system of large-diameter (9 meters and above) TBMs, four support shoe cylinders are arranged circumferentially, with one set of support shoes on each side. Each set of support shoes is connected to a support shoe cylinder at the top and bottom. The support shoes and support shoe cylinders form a parallelogram structure. In traditional support shoe control systems, the support shoe cylinders cannot be controlled independently. The four cylinders share a single system control, which can lead to excessive vertical angles of the support shoes due to uncontrolled synchronization of the cylinders, potentially damaging the ball joints of the support shoes. Furthermore, in complex working conditions, manual adjustments are required, resulting in low efficiency, complex operation, and high time and labor costs.

[0003] Therefore, as disclosed in Chinese invention patent application CN119084378A, a hydraulic control system and method for the support shoe of a hard rock tunnel boring machine are described. The hydraulic control system includes a left support shoe cylinder and a right support shoe cylinder formed by N support shoe cylinders, where 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 solenoid directional valve that controls its on / off state, and the second logic valve group is connected to a second solenoid directional valve that controls its on / off state. During operation, a portion of the combined oil source is connected to the rod chamber of the support shoe cylinder through the first logic valve group; a portion of the combined oil source is connected to the rodless chamber of the support shoe cylinder through the first logic valve group and the second logic valve group, respectively, to control the support shoe cylinder to perform differential extension and independent extension actions. This invention is a hydraulic system that enables differential and rapid extension of the support shoe cylinders and allows independent control of the extension of multiple support shoe cylinders, shortening the extension time of the support shoe and allowing independent extension of support shoe cylinders at different positions, thereby adapting to different geological rock conditions. At the same time, by controlling the extension and stopping states of individual cylinders, it avoids the phenomenon of impact force on the TBM caused by the difference in the extension stroke of the support shoe cylinders.

[0004] However, in the control system described above, since both the left and right support shoe cylinders are driven by a single oil source, if a large flow of pressurized oil is always supplied, the energy consumption will be high. If a small flow of pressurized oil is supplied, the working efficiency will be low, and it may not be possible to tighten the support. In addition, since the left and right support shoe cylinders can only extend and retract independently, their synchronization is poor. Therefore, it is impossible to adjust the direction left and right when the support shoe is tightening the hole wall. That is, when any one support shoe cylinder retracts, the other support shoe cylinder cannot extend synchronously in real time due to factors such as oil flow rate. Therefore, it is impossible to adjust the direction while keeping the support shoe in a tightened state. Summary of the Invention

[0005] This invention provides a large-diameter TBM support shoe control system to solve the technical problem that existing support shoe control systems cannot simultaneously control the independent extension and retraction of each support shoe cylinder while taking into account energy consumption and work efficiency, and can also achieve orientation adjustment under the support shoe tensioned state.

[0006] According to one aspect of the present invention, a large-diameter TBM support shoe control system is provided, comprising an oil tank, a first oil supply assembly communicating with the oil tank for pumping a first preset flow rate of pressurized oil, a first directional valve communicating with the first oil supply assembly for controlling the flow direction of the pressurized oil, a second oil supply assembly communicating with the oil tank, a second directional valve communicating with the second oil supply assembly for controlling the flow direction of the pressurized oil, a plurality of telescopic control assemblies, a plurality of support shoe cylinders, and a directional control assembly. The first oil supply assembly pumps the first preset flow rate of pressurized oil to the support shoe cylinders through the first directional valve, and the second oil supply assembly pumps the second preset flow rate of pressurized oil to the rodless chamber of the support shoe cylinder through the second directional valve, or pumps the second preset flow rate of pressurized oil to the rodless chamber of the support shoe cylinder through the directional control assembly. The chamber pump delivers a second preset flow rate of pressure oil, and the first preset flow rate is greater than the second preset flow rate. The telescopic control component and the support shoe cylinder are arranged one-to-one and are used to cooperate with the second oil supply component to control the oil inlet of the rodless chamber of the support shoe cylinder, cooperate with the second oil supply component to control the oil outlet of the rodless chamber of the support shoe cylinder, and cooperate with the second reversing valve to control the unloading of the rodless chamber of the support shoe cylinder. The multiple support shoe cylinders are divided into two groups. The first group of support shoe cylinders is used to connect the left support shoe, and the second group of support shoe cylinders is used to connect the right support shoe. The reversing control component is used to control the oil inlet of the rod chamber of one group of support shoe cylinders to retract, so that the pressure oil in the rodless chamber of the rodless chamber of the support shoe cylinder flows to the rodless chamber of the other group of support shoe cylinders, thereby causing the other group of support shoe cylinders to extend synchronously.

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

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

[0009] Furthermore, the directional control valve assembly includes a directional valve, a hydraulically controlled check valve one, and a hydraulically controlled check valve two. The hydraulically controlled check valve one is located in the oil line between the directional valve and the rod chamber of the first set of support shoe cylinders and can prevent the rod chamber of the first set of support shoe cylinders from returning oil to the oil tank through the directional valve. The hydraulically controlled check valve two is located in the oil line between the directional valve and the rod chamber of the second set of support shoe cylinders and can prevent the rod chamber of the second set of support shoe cylinders from returning oil to the oil tank through the directional valve. The directional valve is connected to the second oil supply assembly, the oil tank, the rod chamber of the first set of support shoe cylinders, and the rod chamber of the second set of support shoe cylinders, and is used to control the hydraulically controlled check valve one and the hydraulically controlled check valve two to be alternately disconnected or disconnected simultaneously.

[0010] Furthermore, the oil-blocking control valve assembly includes an oil-blocking directional valve, a hydraulically controlled check valve three, and a hydraulically controlled check valve four. The hydraulically controlled check valve three is located in the oil line between the first directional valve and the rod chamber of the first set of support shoe cylinders and can prevent the rod chamber of the first set of support shoe cylinders from returning oil to the oil tank through the first directional valve. The hydraulically controlled check valve four is located in the oil line between the first directional valve and the rod chamber of the second set of support shoe cylinders and can prevent the rod chamber of the second set of support shoe cylinders from returning oil to the oil tank through the first directional valve. The oil-blocking directional valve is connected to the second oil supply assembly, the hydraulically controlled check valve three, and the hydraulically controlled check valve four, and is used to control the hydraulically controlled check valve three and the hydraulically controlled check valve four to be connected or disconnected simultaneously.

[0011] Furthermore, the telescopic control assembly includes an extension control valve group for controlling the oil inlet of the rodless chamber of the support shoe cylinder, a retraction control valve group for controlling the oil outlet of the rodless chamber of the support shoe cylinder, and an unloading hydraulic control check valve arranged in the oil line between the second directional valve and the rodless chamber of the support shoe cylinder for cooperating with the second directional valve to control the unloading of the rodless chamber of the support shoe cylinder.

[0012] Furthermore, the extension control valve assembly includes an extension hydraulic control check valve and an extension directional valve. The extension hydraulic control check valve is located in the oil line between the first directional valve and the rodless chamber of the support shoe cylinder and can prevent oil from entering the rodless chamber of the support shoe cylinder. The extension directional valve is connected to the extension hydraulic control check valve, the second oil supply assembly and the oil tank respectively, and is used to control the on / off state of the extension hydraulic control check valve.

[0013] Furthermore, the retraction control valve assembly includes a retraction hydraulic control check valve and a retraction directional valve. The retraction hydraulic control check valve is located in the oil line between the first directional valve and the rodless chamber of the support shoe cylinder and can prevent oil return from the rodless chamber of the support shoe cylinder. The retraction directional valve is connected to the retraction hydraulic control check valve, the second oil supply assembly and the oil tank respectively, and is used to control the on / off state of the retraction hydraulic control check valve.

[0014] Furthermore, the support shoe control system also includes a first pressure sensor for measuring the pressure in the rodless chamber of the support shoe cylinder, a second pressure sensor for measuring the pressure in the rod chamber of the support shoe cylinder, a stroke sensor for measuring the displacement of the piston rod of the support shoe cylinder, and an inclination sensor for measuring the tilt angle of the support shoe.

[0015] Furthermore, the boot support control system also includes an overflow valve connected to the first oil supply component and the oil tank respectively, a pressure gauge for detecting and displaying the working pressure of the first oil supply component, and a pressure sensor for detecting and transmitting the working pressure of the first oil supply component.

[0016] Furthermore, the boot support control system also includes an electro-proportional relief valve connected to the second oil supply component and the oil tank respectively, a pressure gauge for detecting and displaying the working pressure of the second oil supply component, and a pressure sensor for detecting and transmitting the working pressure of the second oil supply component.

[0017] The present invention has the following beneficial effects:

[0018] The large-diameter TBM support shoe control system of the present invention achieves the circulation of pressure oil in the support shoe control system by storing and recovering pressure oil in an oil tank. A first preset flow rate of pressure oil is pumped through a first oil supply component, and a second preset flow rate of pressure oil is pumped through a second oil supply component, ensuring that the first preset flow rate is greater than the second preset flow rate. This allows the support shoe cylinder to operate under either the first or second preset flow rate of pressure oil, thus enabling the support shoe cylinder to have two operating states: rapid extension and retraction, and slow extension and retraction. When the first oil supply component pumps the first preset flow rate of pressure oil into the rodless chamber of the support shoe cylinder through a first reversing valve, the extension / retraction control component and the second oil supply component cooperate to control the support... Oil enters the rodless chamber of the shoe support cylinder, causing the shoe support cylinder to extend rapidly. When the first oil supply component pumps a first preset flow rate of pressurized oil to the rod chamber of the shoe support cylinder through the first directional valve, the telescopic control component and the second oil supply component cooperate to control the return of oil to the rodless chamber of the shoe support cylinder, causing the shoe support cylinder to retract rapidly. The second oil supply component pumps pressurized oil to the rodless chamber of the shoe support cylinder through the second directional valve, allowing the shoe support cylinder to extend slowly. The telescopic control component can also cooperate with the second directional valve to allow the rodless chamber of the shoe support cylinder to be directly connected to the oil tank, thereby unloading the rodless chamber of the shoe support cylinder. When the shoe support needs to be tightened, the shoe support cylinder is first controlled to extend rapidly, and after the shoe support is fully extended, the shoe support cylinder is controlled to extend slowly to ensure that... The support shoes tighten the tunnel walls. By dividing multiple support shoe cylinders into two groups, each group drives the left and right support shoes respectively. When the support shoes tighten the tunnel walls, the oil in the rod chamber of any one group of support shoe cylinders contracts via the directional control component, causing the pressurized oil in the rodless chamber of that group to flow to the rodless chamber of the other group, thus causing the other group of support shoe cylinders to extend synchronously. This achieves directional adjustment while the support shoes are tightened. When moving to the next working position and retracting the support shoes is necessary, the rodless chamber of the support shoe cylinder is first unloaded to reduce oil pressure, and then the support shoe cylinder is quickly retracted. During the extension and retraction of each support shoe cylinder, it can be individually controlled via the corresponding extension and retraction control component. Whether the rodless chamber of the support shoe cylinder can be used for oil return or return is determined by controlling the rodless chamber of one support shoe cylinder to allow oil return and controlling the other support shoe cylinders to not allow oil return. This allows the extension and retraction of a single support shoe cylinder, enabling the support shoe to adapt to complex working conditions such as landslides and soft rock during the tightening process. Compared with existing technologies, this solution allows for independent extension and retraction of each support shoe cylinder, while also providing two working states: rapid extension and retraction and slow extension and retraction, thus balancing energy consumption and work efficiency. Furthermore, the rodless chambers of the support shoe cylinders controlling the left and right support shoes can be interconnected to achieve directional adjustment under tightening conditions. During retraction, the rodless chamber of the support shoe cylinder can be unloaded first to prevent insufficient pressure from preventing the hydraulic control components from opening. This solution is highly practical and suitable for widespread promotion and application.

[0019] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 This is a control principle diagram of the large-diameter TBM support shoe control system according to a preferred embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the large-diameter TBM support boot control system according to a preferred embodiment of the present invention.

[0023] Legend:

[0024] 10. Oil tank; 21. Motor 1; 22. Hydraulic pump 1; 23. Relief valve; 24. Pressure gauge 1; 25. Pressure sensor 1; 30. First directional valve; 41. Motor 2; 42. Hydraulic pump 2; 43. Electro-proportional relief valve; 44. Pressure gauge 2; 45. Pressure sensor 2; 50. Second directional valve; 61. Directional ball valve; 62. Directional valve; 63. Pilot-operated check valve 1; 64. Pilot-operated check valve 2; 65. Resistance... 66. Hydraulic directional valve; 67. Hydraulic check valve three; 70. Hydraulic check valve four; 81. Support shoe cylinder; 82. Extended hydraulic check valve; 83. Extended directional valve; 84. Retracted hydraulic check valve; 85. Unloading hydraulic check valve; 91. First pressure sensor; 92. Second pressure sensor; 93. Stroke sensor; 94. Tilt sensor; 95. Check valve one; 96. Check valve two; 97. Check valve three. Detailed Implementation

[0025] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0026] like Figure 1 and Figure 2As shown, the large-diameter TBM support shoe control system of this embodiment includes an oil tank 10, a first oil supply component connected to the oil tank 10 for pumping a first preset flow rate of pressurized oil, a first reversing valve 30 connected to the first oil supply component for controlling the flow direction of the pressurized oil, a second oil supply component connected to the oil tank 10, a second reversing valve 50 connected to the second oil supply component for controlling the flow direction of the pressurized oil, multiple telescopic control components, multiple support shoe cylinders 70, and a directional control component. The first oil supply component pumps the first preset flow rate of pressurized oil to the support shoe cylinders 70 through the first reversing valve 30, and the second oil supply component pumps the second preset flow rate of pressurized oil to the rodless chamber of the support shoe cylinder 70 through the second reversing valve 50, or pumps the second preset flow rate of pressurized oil to the rodless chamber of the support shoe cylinder 70 through the directional control component. The cavity pump delivers a second preset flow rate of pressure oil, and the first preset flow rate is greater than the second preset flow rate. The telescopic control component and the support shoe cylinder 70 are arranged one-to-one and are used to cooperate with the second oil supply component to control the oil inlet of the rodless chamber of the support shoe cylinder 70, to cooperate with the second oil supply component to control the oil outlet of the rodless chamber of the support shoe cylinder 70, and to cooperate with the second reversing valve 50 to control the unloading of the rodless chamber of the support shoe cylinder 70. The multiple support shoe cylinders 70 are divided into two groups. The first group of support shoe cylinders is used to connect the left support shoe, and the second group of support shoe cylinders is used to connect the right support shoe. The directional control component is used to control the oil inlet of the rod chamber of one group of support shoe cylinders 70 to retract, so that the pressure oil in the rodless chamber of the support shoe cylinder 70 flows to the rodless chamber of the other group of support shoe cylinders, thereby causing the other group of support shoe cylinders to extend synchronously.

[0027] like Figure 1 and Figure 2As shown, specifically, the large-diameter TBM support shoe control system of the present invention stores and recovers pressurized oil through the oil tank 10 to achieve the circulation of pressurized oil in the support shoe control system. A first preset flow rate of pressurized oil is pumped through the first oil supply component, and a second preset flow rate of pressurized oil is pumped through the second oil supply component, ensuring that the first preset flow rate is greater than the second preset flow rate. This allows the support shoe cylinder 70 to operate under either the first preset flow rate or the second preset flow rate of pressurized oil, thus enabling the support shoe cylinder 70 to have two operating states: rapid extension and retraction, and slow extension and retraction. When the first oil supply component pumps the first preset flow rate of pressurized oil into the rodless chamber of the support shoe cylinder 70 through the first reversing valve 30, the extension control component and the second oil supply component cooperate to control the support... Oil enters the rodless chamber of the shoe cylinder 70, causing the shoe cylinder 70 to extend rapidly. When the first oil supply component pumps a first preset flow rate of pressurized oil to the rod chamber of the shoe cylinder 70 through the first reversing valve 30, the telescopic control component and the second oil supply component cooperate to control the return of oil to the rodless chamber of the shoe cylinder 70, causing the shoe cylinder 70 to retract rapidly. The second oil supply component pumps pressurized oil to the rodless chamber of the shoe cylinder 70 through the second reversing valve 50, allowing the shoe cylinder 70 to extend slowly. The telescopic control component can also cooperate with the second reversing valve 50 to allow the rodless chamber of the shoe cylinder 70 to be directly connected to the oil tank 10, thereby unloading the rodless chamber of the shoe cylinder 70. When the shoe needs to be tightened, the shoe cylinder 70 is first controlled to extend rapidly, and after the shoe is extended to the correct position, the support is controlled to retract. The shoe cylinder 70 extends slowly to tighten the support shoe against the cavity wall. By dividing the multiple support shoe cylinders 70 into two groups, each group drives the left and right support shoes respectively. When the left and right support shoes tighten against the cavity wall, the oil in the rod chamber of any one group of support shoe cylinders contracts via the directional control component, causing the pressurized oil in the rodless chamber of that support shoe cylinder 70 to flow to the rodless chamber of the other group of support shoe cylinders, thus causing the other group of support shoe cylinders to extend synchronously. This achieves directional adjustment while the support shoe is tightened. When it is necessary to move to the next working position and the support shoe needs to retract, the rodless chamber of the support shoe cylinder 70 is first unloaded to reduce the oil pressure, and then the support shoe cylinder 70 is controlled to retract quickly. During the extension and retraction of each support shoe cylinder 70, the corresponding extension and retraction control group can be used to adjust the direction. This solution allows for independent extension and retraction of each support shoe cylinder 70 by controlling the oil flow into and out of its rodless chamber. This enables the support shoe to adapt to complex conditions such as landslides and soft rock during the tightening process. Compared to existing technologies, this solution allows for independent extension and retraction of each support shoe cylinder 70, while also offering both rapid and slow extension / retraction modes to balance energy consumption and work efficiency. Furthermore, it allows the rodless chambers of the support shoe cylinders 70 controlling the left and right sides to be interconnected, enabling directional adjustment during tightening. During retraction, the rodless chambers of the support shoe cylinders 70 can be unloaded first, preventing insufficient pressure from preventing the hydraulic components from opening. This solution is highly practical and suitable for widespread application.

[0028] Optionally, the number of boot support cylinders 70 is four, grouped in pairs, with two boot support cylinders 70 forming the first group connected to the left boot support cylinder, and the other two boot support cylinders 70 forming the second group connected to the right boot support cylinder.

[0029] Optionally, the first oil supply assembly includes a hydraulic pump 22 connected to the oil tank 10 and the first directional valve 30 respectively, and a motor 21 connected to the hydraulic pump 22.

[0030] Optionally, the second oil supply assembly includes a second hydraulic pump 42 that is connected to the oil tank 10, the second directional valve 50, the telescopic control assembly, and the directional control assembly, respectively, and a second motor 41 connected to the second hydraulic pump 42.

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

[0032] Optionally, a check valve 95 is provided between the second directional valve 50 and the oil tank 10 to prevent backflow of oil from the oil tank 10.

[0033] Optionally, a one-way valve 397 is provided between the first directional valve 30 and the oil tank 10 to prevent backflow of oil from the oil tank 10.

[0034] It should be understood that in this embodiment, the flow of pressure oil is precisely controlled by hydraulic control components, so it is necessary to ensure that each hydraulic control component can open and close under pressure.

[0035] It should be understood that hydraulic control components include hydraulic check valves.

[0036] like Figure 1 As shown, in this embodiment, the steering control component includes a steering ball valve 61 connected to the rodless chamber of the first set of support shoe cylinders and the rodless chamber of the second set of support shoe cylinders respectively, a steering control valve group for controlling the second oil supply component to supply oil to the rod chamber of one of the support shoe cylinders during steering, and an oil blocking control valve group for preventing oil from returning to the oil tank 10 through the first reversing valve 30 in the rod chamber of the support shoe cylinder 70 during steering.

[0037] like Figure 1As shown, specifically, when a leftward adjustment is required, the directional control valve group controls the second oil supply assembly to supply oil to the rod chamber of the second set of support shoe cylinders. The rodless chambers of the first and second sets of support shoe cylinders are connected via the directional ball valve 61, and the telescopic control valve group is not activated, preventing oil return from the rodless chambers of both sets of support shoe cylinders. This allows pressurized oil in the rodless chamber of the second set of support shoe cylinders to flow to the rodless chamber of the first set of support shoe cylinders. Furthermore, the oil blocking control valve group prevents oil from returning to the oil tank 10 from the rod chamber of the first set of support shoe cylinders via the first directional valve 30, instead controlling the return through the directional control valve. When the oil returns to the oil tank 10, the second set of support shoe cylinders retracts while the first set of support shoe cylinders extends, keeping the total extension length of both support shoe cylinders 70 unchanged. This allows for leftward adjustment while the support shoe is in a tightened state. When rightward adjustment is required, the adjustment control valve group controls the second oil supply component to supply oil to the rod chamber of the first set of support shoe cylinders, causing the pressurized oil in the rodless chamber of the first set of support shoe cylinders to flow to the rodless chamber of the second set of support shoe cylinders. This causes the first set of support shoe cylinders to retract while the second set of support shoe cylinders extends, keeping the total extension length of both support shoe cylinders 70 unchanged. This allows for rightward adjustment while the support shoe is in a tightened state.

[0038] Optionally, the directional ball valve 61 is a solenoid ball valve.

[0039] like Figure 1 As shown, in this embodiment, the directional control valve group includes a directional valve 62, a hydraulic check valve 63, and a hydraulic check valve 64. The hydraulic check valve 63 is located in the oil line between the directional valve 62 and the rod chamber of the first set of support shoe cylinders and can prevent the rod chamber of the first set of support shoe cylinders from returning oil to the oil tank 10 through the directional valve 62. The hydraulic check valve 64 is located in the oil line between the directional valve 62 and the rod chamber of the second set of support shoe cylinders and can prevent the rod chamber of the second set of support shoe cylinders from returning oil to the oil tank 10 through the directional valve 62. The directional valve 62 is connected to the second oil supply component, the oil tank 10, the rod chamber of the first set of support shoe cylinders, and the rod chamber of the second set of support shoe cylinders, and is used to control the hydraulic check valve 63 and the hydraulic check valve 64 to be alternately disconnected or disconnected simultaneously.

[0040] It should be understood that when the hydraulic check valve is open, the pressure oil flows in one direction, and when the hydraulic check valve is open, the pressure oil flows in both directions. When the hydraulic check valve's hydraulic control port is connected to the oil tank 10, the hydraulic check valve is open; when the hydraulic check valve's hydraulic control port is connected to the pressure oil, the hydraulic check valve is open.

[0041] like Figure 1As shown, specifically, the directional control valve 62 is a three-position four-way solenoid directional control valve. In the initial working position, the hydraulic control valve ports of hydraulic control check valve 1 63 and hydraulic control check valve 2 64 are connected to the oil tank 10 through the directional control valve 62, and both are in the disconnected state. At this time, it can prevent the rod chamber of the first set of support shoe cylinders from returning oil through hydraulic control check valve 1 63, and the rod chamber of the second set of support shoe cylinders from returning oil through hydraulic control check valve 2 64. When the valve core of the directional control valve 62 moves to the right, the second oil supply assembly supplies oil to the second set of support shoe cylinders through the directional control valve 62 and hydraulic control check valve 2 64. The rod chamber of the shoe cylinder pumps pressurized oil, and the hydraulic control valve port of the hydraulic control check valve 63 is connected to the pressurized oil. The rod chamber of the first set of shoe cylinders returns oil to the oil tank 10 through the hydraulic control check valve 63 and the reversing valve 62. When the valve core of the reversing valve 62 moves to the left, the second oil supply assembly pumps pressurized oil to the rod chamber of the first set of shoe cylinders through the reversing valve 62 and the hydraulic control check valve 63. The hydraulic control valve port of the second set of shoe cylinders is connected to the pressurized oil, and the rod chamber of the second set of shoe cylinders returns oil to the oil tank 10 through the hydraulic control check valve 64 and the reversing valve 62.

[0042] Optionally, a check valve 2 96 is provided between the directional valve 62 and the oil tank 10 to prevent backflow of oil in the oil tank 10.

[0043] like Figure 1 As shown, in this embodiment, the oil blocking control valve group includes an oil blocking directional valve 65, a hydraulically controlled check valve three 66, and a hydraulically controlled check valve four 67. The hydraulically controlled check valve three 66 is arranged in the oil line between the first directional valve 30 and the rod chamber of the first set of support shoe cylinders and can prevent the rod chamber of the first set of support shoe cylinders from returning oil to the oil tank 10 through the first directional valve 30. The hydraulically controlled check valve four 67 is arranged in the oil line between the first directional valve 30 and the rod chamber of the second set of support shoe cylinders and can prevent the rod chamber of the second set of support shoe cylinders from returning oil to the oil tank 10 through the first directional valve 30. The oil blocking directional valve 65 is connected to the second oil supply component, the hydraulically controlled check valve three 66, and the hydraulically controlled check valve four 67 respectively, and is used to control the hydraulically controlled check valve three 66 and the hydraulically controlled check valve four 67 to be connected or disconnected at the same time.

[0044] like Figure 1 As shown, specifically, the oil-blocking directional valve 65 is a two-position four-way solenoid directional valve. In the initial working position, the second oil supply component pumps pressure oil to the hydraulic control valve port of the hydraulic control check valve 66 and the hydraulic control check valve port of the hydraulic control check valve 67 through the oil-blocking directional valve 65. The pressure oil in the rod chamber of the support shoe cylinder 70 can return to the oil tank 10 through the first directional valve 30. When the valve core of the oil-blocking directional valve 65 moves to the left, the hydraulic control valve port of the hydraulic control check valve 66 and the hydraulic control check valve port of the hydraulic control check valve 67 are connected to the oil tank 10, and the pressure oil in the rod chamber of the support shoe cylinder 70 cannot return to the oil tank 10 through the first directional valve 30.

[0045] like Figure 1As shown, in this embodiment, the telescopic control assembly includes an extension control valve group for controlling the oil inlet of the rodless chamber of the support shoe cylinder 70, a retraction control valve group for controlling the oil outlet of the rodless chamber of the support shoe cylinder 70, and an unloading hydraulic control check valve 85 arranged in the oil line between the second directional valve 50 and the rodless chamber of the support shoe cylinder 70 for cooperating with the second directional valve 50 to control the unloading of the rodless chamber of the support shoe cylinder 70.

[0046] like Figure 1 As shown, specifically, the extension control valve group controls the oil intake of the rodless chamber of the support shoe cylinder 70 to achieve independent extension of each support shoe cylinder 70; the retraction control valve group controls the oil output of the rodless chamber of the support shoe cylinder 70 to achieve independent retraction of each support shoe cylinder 70; under normal conditions, the hydraulic control valve port of the unloading hydraulic control check valve 85 is connected to the oil tank 10 through the second directional valve 50. When the unloading hydraulic control check valve 85 is disconnected, the oil passage between the second directional valve 50 and the rodless chamber of the support shoe cylinder 70 only allows oil to enter and not exit. The pressure oil in the rodless chamber cannot flow back to the oil tank 10 through the unloading hydraulic control check valve 85 and the second reversing valve 50. When the support shoe needs to be retracted after being tightened, the valve core of the second reversing valve 50 moves to the left, and the second oil supply component supplies pressure oil to the hydraulic control valve port of the unloading hydraulic control check valve 85 through the second reversing valve 50. The unloading hydraulic control check 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 hydraulic control check 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 directional valve 50 is in its normal operating position, the internal passage of the second directional valve 50 is disconnected. When the second directional valve 50 moves to the right, the second oil supply assembly pumps the second preset flow rate pressure oil to the rodless chamber of the support shoe cylinder 70 through the second directional valve 50 and the unloading hydraulic control check valve 85, so that the support shoe cylinder 70 extends slowly.

[0048] like Figure 1 As shown, in this embodiment, 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 in the oil line between the first reversing valve 30 and the rodless chamber of the support shoe cylinder 70 and can prevent oil from entering the rodless chamber of the support shoe cylinder 70. The extension reversing valve 82 is connected to the extension hydraulic control check valve 81, the second oil supply assembly and the oil tank 10 respectively, and is used to control the opening and closing of the extension hydraulic control check valve 81.

[0049] like Figure 1As shown, specifically, the extension directional valve 82 is a two-position four-way solenoid directional valve. When the valve core of the extension directional valve 82 moves to the left, the second oil supply component pumps pressurized oil to the hydraulic control valve 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 the connected state, allowing oil to enter the rodless chamber of the support shoe cylinder 70. When the valve core of the extension directional valve 82 moves to the right, the hydraulic control valve port of the extension hydraulic control check valve 81 is connected to the oil tank 10 through the extension directional valve 82 to prevent oil from entering the rodless chamber of the support shoe cylinder 70, thereby realizing the independent extension of each support shoe cylinder 70.

[0050] like Figure 1 As shown, in this 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 in the oil line between the first directional valve 30 and the rodless chamber of the support shoe cylinder 70 and can prevent oil return from the rodless chamber of the support shoe cylinder 70. The retraction directional valve 84 is connected to the retraction hydraulic control check valve 83, the second oil supply assembly and the oil tank 10 respectively, and is used to control the on / off state of the retraction hydraulic control check valve 83.

[0051] like Figure 1 As shown, specifically, the retraction directional valve 84 is a two-position four-way solenoid directional valve. When the valve core of the retraction directional valve 84 moves to the left, the second oil supply component pumps pressurized oil to the hydraulic control valve port of the retraction hydraulic control check valve 83 through the retraction directional valve 84, so that the retraction hydraulic control check valve 83 is in the connected state, allowing the rodless chamber of the support shoe cylinder 70 to return oil. When the valve core of the retraction directional valve 84 moves to the right, the hydraulic control valve port of the retraction hydraulic control check valve 83 is connected to the oil tank 10 through the retraction directional valve 84 to prevent the rodless chamber of the support shoe cylinder 70 from returning oil, thereby realizing the independent retraction of each support shoe cylinder 70.

[0052] like Figure 1 As shown, in this embodiment, the support shoe control system further includes a first pressure sensor 91 for measuring the pressure in the rodless chamber of the support shoe cylinder 70, a second pressure sensor 92 for measuring the pressure in 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 tilt angle of the support shoe.

[0053] like Figure 1As shown, specifically, when the support shoe automatically extends, according to the preset fast / slow speed switching pressure and extension tightening pressure, the pressure in the rodless chamber of the support shoe cylinder 70 is measured by the first pressure sensor 91, and the pressure in the rod chamber of the support shoe cylinder 70 is measured by the second pressure sensor 92. This determines whether to activate fast extension, slow extension, or stop extension. By controlling the working positions of the first reversing valve 30, the second reversing valve 50, and the extension reversing valve 82, the extension action of the support shoe cylinder 70 is controlled, ensuring that the support shoe posture and tightening pressure are in a normal state during extension. When the support shoe extends or retracts rapidly, the displacement of the piston rod of the support shoe cylinder 70 is measured by a displacement sensor, and the tilt angle of each support shoe is measured by an angle sensor to display the support shoe posture in real time. Based on the support shoe data, the working positions of the extension reversing valve 82 or the retraction reversing valve 84 are controlled to control the start and stop of the extension or retraction action of the support shoe cylinder 70, ensuring that the support shoe posture is always in a normal state.

[0054] like Figure 1 As shown, in this embodiment, the boot support control system further includes an overflow valve 23 connected to the first oil supply component and the oil tank 10, a pressure gauge 24 for detecting and displaying the working pressure of the first oil supply component, and a pressure sensor 25 for detecting and transmitting the working pressure of the first oil supply component. Specifically, the overflow valve 23 limits the working pressure of the first oil supply component, the pressure gauge 24 detects and displays the working pressure of the first oil supply component for easy manual observation, and the pressure sensor 25 detects and transmits the working pressure of the first oil supply component for easy automatic control.

[0055] like Figure 1 As shown, in this embodiment, the support shoe control system further includes an electro-proportional relief valve 43 connected to the second oil supply component and the oil tank 10, a pressure gauge 44 for detecting and displaying the working pressure of the second oil supply component, and a pressure sensor 45 for detecting and transmitting the working pressure of the second oil supply component. Specifically, the working pressure of the second oil supply component is adjusted by the electro-proportional relief valve 43, and the working pressure of the second oil supply component is detected and displayed by the pressure gauge 44 for manual observation. The working pressure of the second oil supply component is detected and transmitted by the pressure sensor 45 for automatic control.

[0056] like Figure 1 and Figure 2 As shown, the operation process of a certain embodiment is as follows:

[0057] The boots extend quickly:

[0058] Motor 2 (41) operates, driving hydraulic pump 2 (42) to pump pressurized oil. The spool of extended directional valve 82 moves to the left, allowing pressurized oil to flow through it to the hydraulic control port of extended hydraulic check valve 81. The spool of oil-blocking directional valve 65 moves to the left, allowing pressurized oil to flow through it to the hydraulic control ports of hydraulic check valve 3 (66) and hydraulic check valve 4 (67). Extended hydraulic check valve 81, hydraulic check valve 3 (66), and hydraulic check valve 4 (67) are connected. Motor 1 (21) operates. The hydraulic pump 22 is driven to pump the first preset flow rate of pressure oil. The valve core of the first directional valve 30 moves to the left. The pressure oil flows through the first directional valve 30 to the extended hydraulic control check valve 81, and then through the extended hydraulic control check valve 81 to the rodless chamber of the support shoe cylinder 70. The rod chamber of the support shoe cylinder 70 returns oil to the oil tank 10 through the hydraulic control check valve 66 or the hydraulic control check valve 67 and the first directional valve 30. The support shoe cylinder 70 extends rapidly under the action of the first preset flow rate of pressure oil, so as to drive the support shoe to extend rapidly.

[0059] One of the hydraulic cylinders of the support shoe extends quickly on its own:

[0060] Motor 1 21 and Motor 2 41 operate to drive hydraulic pump 1 22 and hydraulic pump 2 42 to pump pressurized oil. The valve core of the first reversing valve 30 moves to the left, the valve core of the oil-blocking reversing valve 65 moves to the left, the valve core of the extension reversing valve 82 corresponding to the support shoe cylinder 70 moves to the left, and the valve cores of the extension reversing valves 82 corresponding to other support shoe cylinders 70 move to the right. That is, by controlling that only the rodless chamber of the support shoe cylinder 70 can be filled with oil, the support shoe cylinder 70 can be extended quickly.

[0061] The boots quickly retract:

[0062] Motor 241 operates to drive hydraulic pump 242 to pump pressurized oil. The retractable directional valve 84's valve core moves to the left, allowing pressurized oil to flow through the extended directional valve 82 to the pilot valve port of the retractable hydraulic check valve 83. The oil-blocking directional valve 65's valve core moves to the left, allowing pressurized oil to flow through the oil-blocking directional valve 65 to the pilot valve ports of the third and fourth hydraulic check valves 66 and 67. The retractable hydraulic check valve 83, the third hydraulic check valve 66, and the fourth hydraulic check valve 67 are connected. Motor 21 operates to drive hydraulic pump 242 to pump pressurized oil. Pump 22 operates to pump a first preset flow rate of pressure oil. The valve core of the first directional valve 30 moves to the right. The pressure oil flows through the first directional valve 30 to the hydraulic control check valve 66 or the hydraulic control check valve 67, and then through the hydraulic control check valve 66 or the hydraulic control check valve 67 to the rod chamber of the support shoe cylinder 70. The rodless chamber of the support shoe cylinder 70 flows back to the oil tank 10 through the retraction hydraulic control check valve 83 and the first directional valve 30. Under the action of the first preset flow rate of pressure oil, the support shoe retracts rapidly, thereby driving the support shoe to retract rapidly.

[0063] A single hydraulic cylinder 70 of the support shoe retracts quickly:

[0064] Motor 1 21 and Motor 2 41 operate to drive hydraulic pump 1 22 and hydraulic pump 2 42 to pump pressurized oil. The valve core of the first reversing valve 30 moves to the right, the valve core of the oil-blocking reversing valve 65 moves to the left, the valve core of the retraction reversing valve 84 corresponding to the support shoe cylinder 70 moves to the left, and the valve core of the retraction reversing valve 84 corresponding to the other support shoe cylinders 70 moves to the right. That is, by controlling that only the rodless chamber of the support shoe cylinder 70 can return oil, the support shoe cylinder 70 can retract quickly.

[0065] The boot extends slowly:

[0066] Motor 1 21 is not working, while motor 2 41 is working to drive hydraulic pump 2 42 to pump the second preset flow rate of pressure oil. The valve core of the second directional valve 50 moves to the right, and the pressure oil flows through the second directional valve 50 and the unloading hydraulic control check valve 85 to the rodless chamber of the support shoe cylinder 70. The valve core of the oil-blocking directional valve 65 moves to the left, and the pressure oil flows through the oil-blocking directional valve 65 to the hydraulic control valve port of the hydraulic control check valve 3 66 and the hydraulic control valve port of the hydraulic control check valve 4 67. The hydraulic control check valve 3 66 and the hydraulic control check valve 4 67 are connected. The valve core of the first directional valve 30 moves to the left, and the rod chamber of the support shoe cylinder 70 returns oil to the oil tank 10 through the hydraulic control check valve 3 66 or the hydraulic control check valve 4 67 and the first directional valve 30. The support shoe cylinder 70 slowly extends under the action of the second preset flow rate of pressure oil, thereby driving the support shoe to extend slowly.

[0067] High-pressure unloading of rodless chamber in hydraulic cylinder 70 for support shoe:

[0068] Motor 1 21 is not working, while motor 2 41 is working to drive hydraulic pump 2 42 to pump pressurized oil. The valve core of the second directional valve 50 moves to the left, and the pressurized oil flows through the second directional valve 50 to the hydraulic control valve port of the unloading hydraulic control check valve 85. The rodless chamber of the support shoe cylinder 70 returns oil to the oil tank 10 through the unloading hydraulic control check valve 85 and the second directional valve 50, so that the support shoe cylinder 70 completes the high-pressure unloading of the rodless chamber.

[0069] Adjust the hydraulic cylinder 70 of the boot support cylinder to the left;

[0070] When motor 1 21 is not working, motor 2 41 is working to drive hydraulic pump 2 42 to pump pressurized oil. The valve core of the directional valve 62 moves to the right, and the pressurized oil flows into the hydraulic control valve port of hydraulic control check valve 1 63, and then into the rod chamber of the second set of support shoe cylinders through hydraulic control check valve 2 64. The valve core of the directional ball valve 61 moves upward, and the pressurized oil in the rodless chamber of the second set of support shoe cylinders flows into the rodless chamber of the first set of support shoe cylinders through the directional ball valve 61. The valve core of the oil-blocking directional valve 65 moves to the left, and hydraulic control check valve 3 66 and hydraulic control check valve 4 67 are disconnected. The rod chamber of the first set of support shoe cylinders can only return oil to the oil tank 10 through hydraulic control check valve 1 63 and directional valve 62. When the second set of support shoe cylinders extends and retracts, the first set of support shoe cylinders extends synchronously to complete the leftward directional action of support shoe cylinder 70.

[0071] Adjust the hydraulic cylinder 70 of the boot support cylinder to the right:

[0072] When motor 1 (21) is not working, motor 2 (41) is working to drive hydraulic pump 2 (42) to pump pressurized oil. The valve core of directional valve 62 moves to the left, and the pressurized oil flows into the hydraulic control valve port of hydraulic control check valve 2 (64), and then into the rod chamber of the first set of support shoe cylinders via hydraulic control check valve 1 (63). The valve core of directional ball valve 61 moves upward, and the pressurized oil in the rodless chamber of the first set of support shoe cylinders flows into the rodless chamber of the second set of support shoe cylinders via directional ball valve 61. The valve core of oil-blocking directional valve 65 moves to the left, and hydraulic control check valve 3 (66) and hydraulic control check valve 4 (67) are disconnected. The rod chamber of the second set of support shoe cylinders can only return oil to the oil tank 10 via hydraulic control check valve 2 (64) and directional valve 62. When the first set of support shoe cylinders extends and retracts, the second set of support shoe cylinders extends synchronously to complete the rightward directional action of support shoe cylinder 70.

[0073] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0074] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0075] This document uses specific examples to illustrate the principles and implementation methods of this application. The examples are merely for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, and the existence of an infinite number of specific structures, those skilled in the art can make various improvements, modifications, or variations without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, variations, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered as protected by this application.

Claims

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

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

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

4. The large-diameter TBM support shoe control system according to claim 3, characterized in that, The oil-blocking control valve group includes an oil-blocking directional valve (65), a hydraulically controlled check valve three (66), and a hydraulically controlled check valve four (67). The hydraulically controlled check valve three (66) is located in the oil line between the first directional valve (30) and the rod chamber of the first set of support shoe cylinders and can prevent the rod chamber of the first set of support shoe cylinders from returning oil to the oil tank (10) through the first directional valve (30). The hydraulically controlled check valve four (67) is located in the oil line between the first directional valve (30) and the rod chamber of the second set of support shoe cylinders and can prevent the rod chamber of the second set of support shoe cylinders from returning oil to the oil tank (10) through the first directional valve (30). The oil-blocking directional valve (65) is connected to the second oil supply component, the hydraulically controlled check valve three (66), and the hydraulically controlled check valve four (67) respectively and is used to control the hydraulically controlled check valve three (66) and the hydraulically controlled check valve four (67) to be connected or disconnected at the same time.

5. The large-diameter TBM support shoe control system according to any one of claims 1-4, characterized in that, The telescopic control assembly includes an extension control valve group for controlling the oil inlet of the rodless chamber of the support shoe cylinder (70), a retraction control valve group for controlling the oil outlet of the rodless chamber of the support shoe cylinder (70), and an unloading hydraulic control check valve (85) arranged in the oil line between the second directional valve (50) and the rodless chamber of the support shoe cylinder (70) for cooperating with the second directional valve (50) to control the unloading of the rodless chamber of the support shoe cylinder (70).

6. The large-diameter TBM support shoe 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 located in the oil line between the first reversing valve (30) and the rodless chamber of the support shoe cylinder (70) and can prevent oil from entering the rodless chamber of the support shoe cylinder (70). The extension reversing valve (82) is connected to the extension hydraulic control check valve (81), the second oil supply assembly and the oil tank (10) respectively, and is used to control the opening and closing of the extension hydraulic control check valve (81).

7. The large-diameter TBM support shoe control system according to claim 5, characterized in that, 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 located in the oil line between the first directional valve (30) and the rodless chamber of the support shoe cylinder (70) and can prevent oil return from the rodless chamber of the support shoe cylinder (70). The retraction directional valve (84) is connected to the retraction hydraulic control check valve (83), the second oil supply assembly and the oil tank (10) respectively, and is used to control the opening and closing of the retraction hydraulic control check valve (83).

8. The large-diameter TBM support shoe control system according to any one of claims 1-4, characterized in that, The support shoe control system also includes a first pressure sensor (91) for measuring the pressure in the rodless chamber of the support shoe cylinder (70), a second pressure sensor (92) for measuring the pressure in 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 tilt angle of the support shoe.

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

10. The large-diameter TBM support shoe control system according to any one of claims 1-4, characterized in that, The boot support control system also includes an electro-proportional relief valve (43) connected to the second oil supply assembly and the oil tank (10) respectively, a pressure gauge (44) for detecting and displaying the working pressure of the second oil supply assembly, and a pressure sensor (45) for detecting and transmitting the working pressure of the second oil supply assembly.

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