A pipe segment conveying device and a pipe segment conveying method thereof

Abstract

The present invention discloses a segment conveying device and a segment conveying method thereof, which solve the technical problems in the prior art that the segment conveying efficiency is low and the slag cannot be cleared in time at a large slope. The segment conveying device of the present invention comprises a traveling chassis, a sliding frame and a lifting frame are provided on the traveling chassis, a synchronous lifting mechanism is provided on both sides of the traveling chassis, the sliding frame and the lifting frame are both provided with a limiting mechanism, and a rotating segment receiving mechanism is provided at the receiving end of the traveling chassis. The present invention utilizes the synchronous lifting mechanism of the segment conveying device to synchronously lift the segment conveying device as a whole, so that the slag can pass smoothly through the bottom of the segment conveying device, prevent the accumulation of slag, facilitate the slag clearing operation, and thus improve the construction efficiency when excavating upward at a large slope. By utilizing the limiting mechanism to prevent the segment from slipping, the segment is automatically blocked and released, so that the segment conveying device can smoothly transport the segment during construction at a large slope, and reduce the risk of segment slipping.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel segment transportation, and in particular to a large-slope segment transportation device and a segment transportation method thereof. Background Art

[0002] At present, shield machines have been widely used in the development of underground space due to their safety and high efficiency. With the emergence of more and more complex engineering geology, higher requirements have been put forward for the adaptability of shield machines. In order to ensure the efficient construction and excavation of shield machines, all key components of shield machines need to be innovatively designed according to geological conditions.

[0003] When tunneling upward at a steep slope in a water-rich stratum, the commonly used segment conveying device has many problems in use, which seriously affects the construction efficiency. The specific reasons are as follows: (1) When tunneling upward at a steep slope in a water-rich stratum, due to various factors, there will be a large amount of debris in the bottom area of ​​the main engine, which is difficult for construction workers to clean up in time. The debris will slide down the slope and gradually submerge the front of the segment conveying device. In serious cases, it will submerge the entire segment conveying device. Since the segment conveying device is placed close to the bottom of the segment, it is difficult for construction workers to clean the debris in the segment conveying device, resulting in the segment conveying device being unable to be used normally, affecting construction efficiency; (2) When tunneling upward at a steep slope, the segment will slide downward due to insufficient friction after being placed on the segment conveying device, that is, the segment conveying device cannot transport the segment upward to the segment assembly machine to be grabbed area, and the segment conveying device cannot be used normally, affecting construction efficiency. (3) When excavating upward on a large slope (≥10°), the segment conveying device is in an inclined state as a whole. The segment crane cannot smoothly place the segments horizontally on the segment conveying device when lifting the segments, which seriously affects the construction efficiency. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a large-slope segment conveying device and a segment conveying method thereof, which solves the technical problems in the prior art of low efficiency in large-slope segment conveying and failure to timely remove slag.

[0005] The technical solution of the present invention is implemented as follows: a large-slope segment conveying device includes a traveling frame, a sliding frame and a lifting frame are provided on the traveling frame, synchronous lifting mechanisms are provided on both sides of the traveling frame, the sliding frame and the lifting frame are provided with limiting mechanisms, and a rotating segment receiving mechanism is provided at the receiving segment end of the traveling frame.

[0006] Furthermore, the synchronous lifting mechanism includes a telescopic driving member and a fixed block arranged on the traveling chassis, the fixed block is provided with a support rod, one end of the support rod is hinged to the fixed block, the other end is provided with a bottom support shoe, and the telescopic driving member is connected to the support rod. In a preferred embodiment, the telescopic driving member is a driving cylinder, the telescopic end of the driving cylinder is hinged to the traveling chassis, and the other end is hinged to the middle of the support rod.

[0007] Furthermore, the sliding frame includes a front sliding frame and a rear sliding frame, the rear sliding frame is hinged to the rear of the front sliding frame, and the rear sliding frame corresponds to the rotary segment receiving mechanism, and the limiting mechanism is arranged on the front sliding frame. Under the action of the rotary segment receiving mechanism, the rear sliding frame can swing up and down relative to the front sliding frame.

[0008] Furthermore, the limit mechanism includes a rotation limit block and a limit seat, the middle part of the rotation limit block is hinged with the limit seat through a pin shaft to form a lever structure, the limit seat is provided with an inclined limit slot, and the rotation limit block cooperates with the limit slot. The rotation limit block is an L-shaped structural plate, the bottom of the rotation limit block is provided with an integrally formed stopper, and the upper part of the rotation limit block is provided with a rounded arc surface.

[0009] Furthermore, the rotary segment receiving mechanism comprises a fixed bracket arranged on a traveling chassis, a rotating bracket is hinged on the fixed bracket, and the rotating bracket is connected to the fixed bracket through a rotating driving member. When the sliding frame receives the segment, the rotating frame of the rotary segment receiving mechanism is in a horizontal state. Preferably, the sliding frame is connected to the traveling chassis through a sliding driving member, the lifting frame is connected to the traveling chassis through a lifting driving member, the lifting frame is located on both sides of the sliding frame, and the bottom of the traveling chassis is provided with traveling wheels.

[0010] A segment transportation method of the steep-slope segment transportation device comprises the following steps:

[0011] S1: Lay the traveling frame of the steep-slope segment conveying device at the bottom of the steep-slope tunnel;

[0012] S2: stacking the rear sliding frame at the rear of the sliding frame on the rotating frame at the rear of the rotating segment receiving mechanism;

[0013] S3: Adjust the rotating frame at the rear of the rotating segment receiving mechanism so that the rear sliding frame is in a horizontal state; the segment crane places the first segment on the rear sliding frame and lowers the first segment horizontally;

[0014] S4: adjusting the rotating frame at the rear of the rotating segment receiving mechanism so that the rear sliding frame gradually swings downward to the same inclination as the front sliding frame of the sliding frame;

[0015] S5: The sliding frame moves forward under the action of the sliding drive member, and the first segment on the rear sliding frame moves to the adjacent lifting frame, and the limiting mechanism on the lifting frame limits and fixes the first segment;

[0016] S6: The jacking frame, under the action of the jacking drive, lifts the first segment upward, and the limiting mechanism automatically releases the first segment, so that the first segment is separated from the rear sliding frame;

[0017] S7: the rear sliding frame moves backward to the rotating frame under the action of the sliding driving member, and steps S3 to S4 are repeated to receive the second segment;

[0018] S8: The jacking frame, under the action of the jacking driving member, lowers the first segment onto the front sliding frame and automatically limits and fixes the first segment through the limiting mechanism on the front sliding frame. The sliding frame, under the action of the sliding driving member, drives the first segment and the second segment to move forward.

[0019] S9: Repeat steps S5 to S8 to complete the step-by-step transportation of the pipe segments in the steep tunnel.

[0020] The working mode of the limit mechanism in steps S5, S6 and S8 is as follows: under normal conditions, under the influence of gravity, the rear end of the rotation limit block will rotate downward clockwise around the hinge point to the bottom of the limit seat, at which time the sliding frame and the lifting frame can move normally; when the pipe segment moves to the rotation limit block, the front end of the rotation limit block is affected by the contact and downward pressure of the pipe segment, and the rotation limit block will rotate upward counterclockwise around the hinge point, so that the block at the bottom of the rotation limit block contacts the pipe segment to fix the pipe segment and avoid sliding down.

[0021] During the step-by-step transportation of segments in a steep tunnel, when the debris needs to be cleaned at the segment conveying device in the tunnel, the telescopic drive part of the synchronous lifting mechanism pushes the bottom support shoe to extend, supports the bottom support shoe on the tunnel wall, and lifts the segment conveying device as a whole for a certain distance, allowing the debris to pass smoothly from under the segment conveying device.

[0022] The present invention utilizes the synchronous lifting mechanism of the segment conveying device to synchronously lift the segment conveying device as a whole, so that the debris can pass smoothly through the bottom of the segment conveying device, prevent the debris from piling up, and facilitate the slag clearing operation, thereby improving the construction efficiency when excavating upward at a steep slope. By utilizing a limiting mechanism to prevent the segment from slipping, the segment is automatically fixed and released, so that the segment conveying device can smoothly transport the segment during construction at a steep slope, reducing the risk of segment slippage. By utilizing the rotary segment receiving mechanism at the end, the segment conveying device can smoothly receive the segment during construction at a steep slope, ensuring that the crane always places the segment horizontally on the end sliding frame, thereby improving the segment transportation efficiency. The present invention has an ingenious structural design, so that the segment conveying device can carry out efficient and safe transportation under steep slope conditions, thereby improving transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0024] Figure 1 It is a schematic diagram of the present invention as a whole being in a horizontal normal state.

[0025] Figure 2 It is a schematic diagram of the present invention as a whole in a lifting state.

[0026] Figure 3 It is a schematic top view of the present invention as a whole.

[0027] Figure 4 for Figure 1 Center A view.

[0028] Figure 5 for Figure 2 Center B view.

[0029] Figure 6 for Figure 1 A partial enlarged view of point E in the middle.

[0030] Figure 7 for Figure 2 A partial enlarged view of point F in the middle.

[0031] Figure 8 This is a schematic diagram of the state when the pipe segment is fully pressed on the limiting mechanism.

[0032] Fig. 9 This is a schematic diagram of the state when the pipe segment is not completely pressed on the limiting mechanism.

[0033] Fig.10 Schematic diagram of the segment conveying device transporting segments on a steep slope.

[0034] Fig.11 This is a schematic diagram of the rotating segment receiving mechanism receiving the segment. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] like Figure 1 , 2 As shown, Example 1 is a large-slope pipe segment conveying device, including a traveling frame 1, on which a sliding frame 2 and a lifting frame 3 are provided. Similar to the existing sliding frames and lifting frames, the sliding frame 2 is connected to the traveling frame 1 through a sliding drive member 7. The sliding drive member can adopt a telescopic cylinder. Under the action of the telescopic cylinder, the sliding frame can move forward and backward relative to the traveling frame, so as to transport the pipe in steps. The lifting frame 3 is connected to the traveling frame 1 through a lifting drive member 8, and the lifting frame 3 is located on both sides of the sliding frame 2. The lifting drive member can adopt a lifting cylinder. Under the action of the lifting cylinder, the lifting frame 3 can move up and down relative to the traveling frame. As shown Figure 4 , 5 As shown, the bottom of the traveling chassis 1 is provided with traveling wheels 9, which is convenient for moving with the shield trailer. Synchronous lifting mechanisms 4 are provided on both sides of the traveling chassis 1. Under the action of the synchronous lifting mechanisms, the traveling chassis can be lifted a certain distance relative to the tunnel, so as to realize the up and down lifting of the segment conveying device relative to the tunnel, which is convenient for the smooth cleaning of the slag. The sliding frame 2 and the lifting frame 3 are both provided with limiting mechanisms 5. The limiting mechanisms 5 can automatically lock and release the segments on the sliding frame 2 and the lifting frame 3, which can not only ensure that the segments do not slide down during transportation, but also avoid interference between the sliding frame and the lifting frame, thereby ensuring the safe transportation of the segments. The segment receiving end of the traveling chassis 1 is provided with a rotating segment receiving mechanism 6. Under the action of the rotating segment receiving mechanism, the segment crane can place the segments horizontally on the rear end sliding frame of the segment conveying device, thereby improving the lifting efficiency of the crane.

[0037] like Figure 6 , 7 As shown, Example 2 is a large-slope segment conveying device. On the basis of Example 1, the synchronous lifting mechanism 4 includes a telescopic driving member 401 and a fixed block 402 arranged on the walking frame 1. The fixed block is fixed on the walking frame. A support rod 403 is provided on the fixed block 402. One end of the support rod 403 is hinged to the fixed block 402, and the other end is provided with a bottom support shoe 404. The telescopic driving member 401 is connected to the support rod 403. Under the action of the telescopic driving member, the support rod can rotate around the hinge point with the fixed block to realize whether the bottom support shoe is supported on the cave wall. Preferably, the telescopic driving member 401 is a driving cylinder, and the telescopic end of the driving cylinder is hinged to the walking frame 1, and the other end is hinged to the middle part of the support rod 403. Under the action of the driving cylinder, the support rod can rotate around the hinge point.

[0038] In this embodiment, a group of synchronous lifting mechanisms are respectively arranged at the upper right, upper left, lower right and lower left positions of the walking chassis of the segment conveying device. When the segment conveying device needs to be raised in order to clean the nearby debris, the driving cylinder is extended through manual operation or control of the upper computer to drive the supporting structure and the support shoe to move downward as a whole, and the support shoe supports the ground and further raises the segment conveying device for a distance. At this time, the debris can pass smoothly from under the segment conveying device, which is convenient for debris cleaning. When the segment conveying device meets the conditions for passage, the support legs can be retracted by recovering the driving cylinder until the segment conveying device is placed back on the tunnel wall.

[0039] The specific implementation steps of the lifting operation are as follows: the bottom support shoe is driven by the supporting structure and is responsible for direct contact with the ground; the bottom support shoe has an anti-slip function to prevent the segment trolley from sliding down; when lifting, the driving cylinder extends to drive the supporting structure downward so that the bottom support shoe contacts the ground to achieve the lifting purpose; when recovering, the driving cylinder retracts to drive the supporting structure upward so that the bottom support shoe is separated from the ground to achieve the landing purpose; the driving cylinder can be maintained at any stroke to achieve take-off and landing at different heights.

[0040] like Figure 3 As shown, Example 3 is a large-slope segment conveying device. On the basis of Example 2, the sliding frame 2 includes a front sliding frame 201 and a rear sliding frame 202. The rear sliding frame 202 is hinged to the rear of the front sliding frame 201, and the rear sliding frame is hinged to the front sliding frame through a flat pin. The rear sliding frame 202 corresponds to the rotary segment receiving mechanism 6, that is, when the crane lifts the segment to the rear sliding frame, the rear sliding frame is stacked on the rotary segment receiving mechanism so that it can be smoothly placed in a horizontal state. The limiting mechanism 5 is set on the front sliding frame 201 to limit and fix the segment on the front sliding frame 201 to prevent it from sliding down.

[0041] Further, if Figure 8 , 9 As shown, the limiting mechanism 5 includes a rotation limiting block 5-1 and a limiting seat 5-2. The middle part of the rotation limiting block 5-1 is hinged with the limiting seat 5-2 through a pin to form a lever structure, similar to a seesaw structure. An inclined limiting groove is provided in the limiting seat 5-2, and the rotation limiting block 5-1 cooperates with the limiting groove. The rotation limiting block 5-1 is an L-shaped structural plate. An integrally formed stopper 5-3 is provided at the bottom of the rotation limiting block 5-1, and a rounded arc surface is provided at the top of the rotation limiting block 5-1 to facilitate the smooth storage of the pipe segment.

[0042] Under normal conditions, affected by gravity, the rear end of the rotation limit block (the rear end is heavier than the front end) will rotate clockwise around the pin to the bottom of the rotation support, and the sliding frame can move back and forth normally; when the segment is placed on the sliding frame, the front end of the rotation limit block is affected by the contact pressure of the segment, and the rotation limit block will rotate counterclockwise around the pin to the end of the segment. At this time, in the large slope section, the segment on the sliding frame can move forward due to the action of the limit block and will not slide down. Similarly, the lifting frame also uses the working principle of the rotation limit block to prevent the segment from sliding downward.

[0043] Further, if Fig.11 As shown, the rotary segment receiving mechanism 6 includes a fixed bracket 601 arranged on the traveling chassis 1, and the fixed bracket is located at the rear of the traveling chassis. A rotating bracket 602 is hinged on the fixed bracket 601, and the rotating bracket 602 is connected to the fixed bracket 601 through a rotating driving member 603. When the sliding frame 2 receives the segment, the rotating bracket 602 of the rotary segment receiving mechanism 6 is in a horizontal state. The rotating driving member 603 can adopt a telescopic oil cylinder. Under the action of the telescopic oil cylinder, the rotating frame can rotate around the fixed bracket to support the rear sliding frame for rotating operation, so that the sliding frame can maintain a horizontal state under different slopes, ensuring that the segment is smoothly placed horizontally on the sliding frame.

[0044] Embodiment 4: A method for transporting pipe segments of the large-slope pipe segment transport device as described in Embodiment 3, such as Fig.10 , 11 As shown, the steps are as follows:

[0045] S1: Lay the traveling chassis 1 of the steep-slope segment conveying device at the bottom of the steep-slope tunnel to provide a stable supporting foundation for the entire steep-slope segment conveying device.

[0046] S2: stack the rear sliding frame 202 at the rear of the sliding frame 2 on the rotating frame 602 at the rear of the rotating segment receiving mechanism 6; when the crane is lifting the segment, the rear sliding frame is located on the rotating frame, and the angle of the rear sliding frame is adjusted by the rotating frame to keep it horizontal, thereby improving the efficiency of the crane in lifting the segment.

[0047] S3: Adjust the rotating frame 602 at the rear of the rotating segment receiving mechanism 6 so that the rear sliding frame 202 is in a horizontal state; the segment crane 10 places the first segment on the rear sliding frame 202 and lowers the first segment horizontally. The segment is lifted in a horizontal state, which is safer.

[0048] S4: Adjust the rotating frame 602 at the rear of the rotating segment receiving mechanism 6 so that the rear sliding frame 202 gradually swings downward to the same inclination as the front sliding frame 201 of the sliding frame 2, so as to facilitate the synchronous movement of the front sliding frame and the rear sliding frame.

[0049] S5: The sliding frame 2 moves forward under the action of the sliding drive member 7, and the first pipe segment on the rear sliding frame 202 moves to the adjacent lifting frame 3. The limiting mechanism 5 on the lifting frame 3 limits and fixes the first pipe segment to prevent the pipe segment from sliding down when the sliding frame moves on the slope.

[0050] S6: Under the action of the lifting drive member 8, the lifting frame 3 lifts the first pipe segment upward, and the limiting mechanism 5 automatically releases the first pipe segment, so that the first pipe segment is separated from the rear sliding frame 202.

[0051] S7: The rear sliding frame 202 moves backward to the rotating frame 602 under the action of the sliding driving member 7, and steps S3 to S4 are repeated to receive the second pipe segment.

[0052] S8: The lifting frame 3, under the action of the lifting driving member 8, lowers the first segment onto the front sliding frame 201 and automatically limits and fixes the first segment through the limiting mechanism 5 on the front sliding frame 201. The sliding frame 2, under the action of the sliding driving member 7, drives the first segment and the second segment to move forward.

[0053] S9: Repeat steps S5 to S8 to complete the step-by-step transportation of the pipe segments in the steep tunnel.

[0054] The working mode of the limit mechanism 5 in steps S5, S6 and S8 is as follows: under normal conditions, under the influence of gravity, the rear end of the rotation limit block 5-1 will rotate clockwise downward around the hinge point to the bottom of the limit seat 5-2, and the sliding frame and the lifting frame can move normally at this time; when the pipe segment moves to the rotation limit block 5-1, the front end of the rotation limit block 5-1 is affected by the contact and downward pressure of the pipe segment, and the rotation limit block 5-1 will rotate counterclockwise upward around the hinge point, so that the stop block 5-3 at the bottom of the rotation limit block 5-1 contacts the pipe segment to fix the pipe segment and avoid sliding down.

[0055] During the step-by-step transportation of segments in a steep tunnel, when the segment conveying device in the tunnel needs to be cleaned of debris, the telescopic drive member 401 of the synchronous lifting mechanism 4 pushes the bottom support shoe 404 to extend, supports the bottom support shoe 404 on the tunnel wall, and lifts the segment conveying device as a whole for a distance, so that the debris can pass smoothly from under the segment conveying device. When the segment conveying device is ready for passage, the legs can be retracted by recovering the driving cylinder until the segment conveying device is placed back on the tunnel wall.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A segment conveying device, comprising a traveling frame (1), a sliding frame (2) and a lifting frame (3) being provided on the traveling frame (1), characterized in that: Synchronous lifting mechanisms (4) are provided on both sides of the walking frame (1), limiting mechanisms (5) are provided on the sliding frame (2) and the lifting frame (3), and a rotating segment receiving mechanism (6) is provided at the segment receiving end of the walking frame (1); The sliding frame (2) comprises a front sliding frame (201) and a rear sliding frame (202), the rear sliding frame (202) being hinged to the rear of the front sliding frame (201), and the rear sliding frame (202) corresponds to the rotary segment receiving mechanism (6), and the limiting mechanism (5) is arranged on the front sliding frame (201); The limiting mechanism (5) comprises a rotation limiting block (5-1) and a limiting seat (5-2); the middle part of the rotation limiting block (5-1) is hinged to the limiting seat (5-2) via a pin shaft to form a lever structure; an inclined limiting groove is provided in the limiting seat (5-2); the rotation limiting block (5-1) cooperates with the limiting groove; under the normal state, under the influence of gravity, the rear end of the rotation limiting block (5-1) will rotate clockwise downward around the hinge point to the bottom of the limiting seat (5-2), at which time the sliding frame and the lifting frame can move normally; when the pipe segment moves to the rotation limiting block (5-1), the front end of the rotation limiting block (5-1) is affected by the contact downward pressure of the pipe segment, and the rotation limiting block (5-1) will rotate counterclockwise upward around the hinge point, so that the stopper (5-3) at the bottom of the rotation limiting block (5-1) contacts the pipe segment to block the pipe segment and prevent it from sliding down.

2. The segment conveying device according to claim 1, characterized in that: The synchronous lifting mechanism (4) comprises a telescopic driving member (401) and a fixed block (402) arranged on a walking frame (1); a support rod (403) is provided on the fixed block (402); one end of the support rod (403) is hinged to the fixed block (402); the other end of the support rod (403) is provided with a bottom support shoe (404); and the telescopic driving member (401) is connected to the support rod (403).

3. The segment conveying device according to claim 2, characterized in that: The telescopic driving member (401) is a driving oil cylinder, the telescopic end of the driving oil cylinder is hinged to the walking frame (1), and the other end is hinged to the middle part of the support rod (403).

4. The segment conveying device according to claim 1, characterized in that: The rotation limit block (5-1) is an L-shaped structural plate; an integrally formed stopper (5-3) is provided at the bottom of the rotation limit block (5-1); and a rounded arc surface is provided at the top of the rotation limit block (5-1).

5. The segment conveying device according to any one of claims 1 to 4, characterized in that: The rotary segment receiving mechanism (6) comprises a fixed bracket (601) arranged on a walking chassis (1), a rotating bracket (602) being hingedly connected to the fixed bracket (601), and the rotating bracket (602) being connected to the fixed bracket (601) via a rotating driving member (603).

6. The segment conveying device according to claim 5, characterized in that: When the sliding frame (2) receives the pipe segment, the rotating frame (602) of the rotating pipe segment receiving mechanism (6) is in a horizontal state.

7. The segment conveying device according to any one of claims 1 to 4, characterized in that: The sliding frame (2) is connected to the walking frame (1) via a sliding drive member (7), the lifting frame (3) is connected to the walking frame (1) via a lifting drive member (8), the lifting frame (3) is located on both sides of the sliding frame (2), and the bottom of the walking frame (1) is provided with walking wheels (9).

8. A method for transporting pipe segments using the pipe segment transport device according to any one of claims 1 to 7, characterized in that: Here are the steps: S1: laying a traveling chassis (1) of a segment conveying device at the bottom of a steeply sloped tunnel; S2: stacking the rear sliding frame (202) at the rear of the sliding frame (2) on the rotating frame (602) at the rear of the rotating segment receiving mechanism (6); S3: adjusting the rotating frame (602) at the rear of the rotating segment receiving mechanism (6) so that the rear sliding frame (202) is in a horizontal state; the segment crane (10) places the first segment on the rear sliding frame (202) and lowers the first segment horizontally; S4: adjusting the rotating frame (602) at the rear of the rotating segment receiving mechanism (6) so that the rear sliding frame (202) gradually swings downward to the same inclination as the front sliding frame (201) of the sliding frame (2); S5: the sliding frame (2) moves forward under the action of the sliding driving member (7), the first pipe segment on the rear sliding frame (202) moves to the adjacent lifting frame (3), and the limiting mechanism (5) on the lifting frame (3) limits and fixes the first pipe segment; S6: The lifting frame (3) lifts the first segment upward under the action of the lifting drive member (8), and the limiting mechanism (5) automatically releases the first segment, so that the first segment is separated from the rear sliding frame (202); S7: the rear sliding frame (202) moves backward to the rotating frame (602) under the action of the sliding driving member (7), and repeats steps S3 to S4 to receive the second pipe segment; S8: Under the action of the lifting drive member (8), the lifting frame (3) lowers the first pipe segment onto the front sliding frame (201) and automatically limits and fixes the first pipe segment through the limiting mechanism (5) on the front sliding frame (201), and the sliding frame (2) drives the first pipe segment and the second pipe segment to move forward under the action of the sliding drive member (7); S9: Repeat steps S5 to S8 to complete the step-by-step transportation of the pipe segments in the steep tunnel.

9. The segment transportation method according to claim 8, characterized in that: The working mode of the limiting mechanism (5) in steps S5, S6 and S8 is as follows: under normal conditions, under the influence of gravity, the rear end of the rotating limiting block (5-1) will rotate clockwise downward around the hinge point to the bottom of the limiting seat (5-2), and at this time, the sliding frame and the lifting frame can move normally; when the pipe segment moves to the rotating limiting block (5-1), the front end of the rotating limiting block (5-1) is affected by the contact and downward pressure of the pipe segment, and the rotating limiting block (5-1) will rotate counterclockwise upward around the hinge point, so that the stopper (5-3) at the bottom of the rotating limiting block (5-1) contacts the pipe segment to fix the pipe segment and prevent it from sliding down.

10. The segment transportation method according to claim 9, characterized in that: During the step-by-step transportation of pipe segments in a steep tunnel, when debris needs to be cleaned at the pipe segment conveying device in the tunnel, the telescopic driving member (401) of the synchronous lifting mechanism (4) pushes the bottom support shoe (404) to extend, supports the bottom support shoe (404) on the tunnel wall, and lifts the pipe segment conveying device as a whole for a certain distance, so that the debris can pass smoothly from under the pipe segment conveying device.

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