A telescopic cloth hanging trolley comprises a
chassis used for walking in a tunnel, a base is hinged to a telescopic arm, and the telescopic arm is connected with a cloth hanging frame. The telescopic arm can be driven by the
control system to rotate and stretch out and draw back so that the cloth hanging frame can move in the circumferential direction of the tunnel arch face. The cloth hanging frame is used for hanging cloth and comprises a reel used for installing a waterproof cloth roll, a pressing roller used for pressing the waterproof cloth on the inner wall of a tunnel, a gluer and a movable
nail gun, and the
nail gun is used for nailing the waterproof cloth on the inner wall of the tunnel. Automatic cloth paving, nailing and gluing are achieved, the mechanical degree is high, the efficiency is high, and the labor cost is reduced. In addition, the
trafficability is greatly improved, and the transition difficulty of the cloth hanging trolley is reduced. According to the cloth hanging control method, the rotation angle of the
servo motor and the telescopic length of the
servo oil cylinder are controlled by establishing a polar coordinate equation of a tunnel arch surface curve, so that the cloth hanging frame moves according to the curve determined by the polar coordinate equation. The control method has the advantages of high adaptability and high efficiency.