An adaptive walking device for shield trolley

Abstract

The present application discloses an adaptive walking device for a shield trolley, comprising: two groups of supporting walking platforms symmetrically arranged on the lower inner wall of the tunnel lining pipe ring, each group of supporting walking platforms including an inner platform, an outer platform and a driving unit, the inner platform and the outer platform both including several groups of support shoes, jacking devices and floating tracks, and the driving unit selectively controls the movement of the inner platform or the outer platform; two groups of inclined wheel pairs, each group of inclined wheel pairs including an inner roller assembly and an outer roller assembly, the inner roller assembly is located above the inner platform, and the outer roller assembly is located above the outer platform. Through the alternating operation of the inner and outer jacking devices, the two groups of inclined wheel pairs can be alternately stressed, and the alternating movement of the inner platform and the outer platform can be realized through the driving unit, thereby realizing the supporting operation of the supporting walking platform for the shield trolley during the cyclic forward movement, which can effectively improve the movement efficiency of the shield trolley, and thus improve the construction efficiency.

Description

Technical Field

[0001] The present application relates to the field of tunnel construction, and in particular to an adaptive walking device for a shield vehicle. Background Art

[0002] Shield equipment is an important equipment in tunnel construction. There are usually two ways for shield trolleys to travel:

[0003] First, the rubber-coated wheels arranged at the bottom of the shield trolley advance along the inner wall of the segment with the shield machine. This walking method has the problems of severe wear of the rubber-coated wheels, frequent debonding, and difficulty in replacement and maintenance. A large number of replacement wheels lead to high construction costs and affect construction efficiency;

[0004] Secondly, a pair of steel wheels are set at the bottom of the shield trolley, and traditional mobile rails are used as walking supports. After each excavation, the machine needs to be stopped to lift and install the rails. During long-distance construction, there are problems such as cumbersome lifting procedures and low efficiency. Summary of the invention

[0005] The purpose of this application is to provide an adaptive walking device for a shield trolley, which can effectively solve the problem of low movement efficiency of the shield trolley.

[0006] To solve the above technical problems, this application provides the following technical solutions:

[0007] A shield trolley adaptive walking device, comprising:

[0008] Two groups of supporting walking platforms are symmetrically arranged on the lower inner wall of the tunnel lining pipe ring, each group of the supporting walking platforms includes an inner platform, an outer platform and a driving unit, the inner platform and the outer platform each include a plurality of groups of grippers, a jacking device arranged on the grippers, and a floating track fixed to the telescopic end of the jacking device, and the driving unit selectively controls the inner platform or the outer platform to move along the axial direction of the lining pipe ring;

[0009] Two groups of inclined wheel pairs are symmetrically arranged at the bottom of the shield trolley, and each group of the inclined wheel pairs includes an inner roller assembly and an outer roller assembly. The inner roller assembly is located above the inner platform, and the jacking device of the inner platform is used to drive the inner floating track to move upward to support the inner roller assembly. The outer roller assembly is located above the outer platform, and the jacking device of the outer platform is used to drive the outer floating track to move upward to support the outer roller assembly.

[0010] Preferably, it also includes a sliding frame arranged between the inner platform and the outer platform, the sliding frame includes a sliding base, a sliding groove and a pulley, the sliding base is connected to the outer platform, the sliding groove is connected to the inner platform, the axle of the pulley is fixed to the sliding base, and the pulley is slidably connected to the sliding groove along the axial direction of the lining pipe ring.

[0011] Preferably, a rack is provided on one side of the sliding base close to the inner platform, and the rack extends along the axial direction of the lining pipe ring. The driving unit includes a driving gear and a rotation driving part, and the rotation driving part is connected to the inner platform. The driving gear is meshed with the rack, and the rotation driving part is used to drive the driving gear to rotate.

[0012] Preferably, the support shoe comprises an arc-shaped bottom plate and a shell, the shell is connected to the top of the arc-shaped bottom plate, the fixed end of the jacking device is arranged in the shell, and the telescopic end of the jacking device extends from the top of the shell.

[0013] Preferably, the cross section of the sliding base is L-shaped, the bottom of the sliding base is connected to the arc-shaped bottom plate, the pulley is connected to the upper outer side of the sliding base, and the rack is connected to the lower outer side of the sliding base.

[0014] Preferably, a first reinforcing plate is provided between the upper portion of the arc-shaped bottom plate and the outer side of the shell, and a second reinforcing plate is provided on the inner side of the sliding base.

[0015] Preferably, the inner roller assembly and the outer roller assembly both include a wheel frame, a limiting wheel, a steering wheel, a fine-tuning cylinder and a mounting seat, the limiting wheel is symmetrically mounted on the front and rear ends of the wheel frame through a wheel axle; the steering wheels are symmetrically arranged in the middle of the wheel frame; the fine-tuning cylinder is divided into two groups and respectively mounted on the cylinder seat in the middle of the wheel frame; the mounting seat is fixedly connected to the top side of the middle of the wheel frame through a pin shaft.

[0016] Preferably, it also includes a segment storage and transportation device and a traction mechanism, wherein the segment storage and transportation device is located between the two groups of supporting walking platforms, and the traction mechanism is used to drive the segment storage and transportation device to move along the axial direction of the lining pipe ring.

[0017] Preferably, the pipe segment storage and transportation device includes a sheet feeder, a load-bearing frame, a sliding wheel and a towing ear seat. The load-bearing frame is respectively provided on both sides of the sheet feeder, and a plurality of groups of sliding wheels are provided at the bottom of the load-bearing frame. The sliding wheels are in contact with the inner bottom of the lining pipe ring. The towing ear seat is also respectively provided on both sides of the sheet feeder, and the traction mechanism is connected to the towing ear seat through a towing frame and a towing assembly.

[0018] Preferably, a plurality of supporting wheel groups in contact with the load-bearing frame are provided on the inner side of the inner platform.

[0019] Compared with the prior art, the above technical solution has the following advantages:

[0020] The present application provides an adaptive walking device for a shield trolley, comprising: two groups of supporting walking platforms symmetrically arranged on the lower inner wall of a tunnel lining pipe ring, each group of supporting walking platforms comprising an inner platform, an outer platform and a driving unit, the inner platform and the outer platform both comprising a plurality of support shoes, a jacking device arranged on the support shoes, and a floating track fixedly connected to the telescopic end of the jacking device, the driving unit selectively controlling the inner platform or the outer platform to move along the axial direction of the lining pipe ring; two groups of inclined wheel pairs symmetrically arranged at the bottom of the shield trolley, each group of inclined wheel pairs comprising an inner roller assembly and an outer roller assembly, the inner roller assembly being located above the inner platform, the jacking device of the inner platform being used to drive the inner floating track to move upward to support the inner roller assembly, the outer roller assembly being located above the outer platform, the jacking device of the outer platform being used to drive the outer floating track to move upward to support the outer roller assembly. By alternately operating the lifting devices of the inner platform and the outer platform, the two sets of inclined wheel pairs can be subjected to alternate force, and the inner platform and the outer platform can be moved alternately through the driving unit, thereby realizing the support operation of the supporting walking platform for the shield trolley during its cyclic forward movement, effectively avoiding the working mode of lifting by the transmission moving rail row, and effectively improving the moving efficiency of the shield trolley, thereby improving the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the relative position of an adaptive walking device of a shield trolley on a tunnel cross section provided in a specific implementation manner of the present application;

[0023] Figure 2 It is a schematic diagram of the relative positions of the components supporting the walking platform;

[0024] Figure 3 It is a schematic diagram of the axonometric structure of a partial single-side supported walking platform;

[0025] Figure 4 yes Figure 3 Schematic diagram of the longitudinal section structure;

[0026] Figure 5It is a schematic diagram of the axonometric structure of the support shoe;

[0027] Figure 6 It is a schematic diagram of the axonometric structure of the sliding frame;

[0028] Figure 7 It is a schematic diagram of the cross-section structure of the sliding frame;

[0029] Figure 8 It is a comparative structural diagram of the relative positions of the floating track and the inclined wheel pair before and after the lifting;

[0030] Fig. 9 It is the axonometric structural diagram of the bevel wheel pair;

[0031] Fig.10 This is a schematic diagram of the relative installation position of the inclined wheel pair on the shield trolley;

[0032] Fig.11 It is a schematic diagram of the main view of the relative position of the segment storage and transportation device and the tractor mechanism;

[0033] Fig.12 It is a top view schematic diagram of the relative position of the segment storage and transportation device and the tractor mechanism;

[0034] Fig.13 yes Fig.12 Schematic diagram of relative positions in the middle longitudinal section direction;

[0035] Fig.14 This is a schematic diagram comparing the front and rear positions of the shield vehicle when it moves forward a distance of L1;

[0036] Fig.15 It is a schematic diagram comparing the front and rear positions when the supporting walking platform is extended by the S1 distance for the first time;

[0037] Fig.16 It is a schematic diagram of the relative position of the shield trolley when it moves forward by a distance of L2 and the supporting walking platform when it completes the forward movement;

[0038] Fig.17 This is a schematic diagram of the relative position of the shield trolley when it moves forward L3 and the outer platform extends for the second time S1.

[0039] The reference numerals are as follows:

[0040] 01 is the lining ring, 02 is the shield trolley;

[0041] 1 is a supporting walking platform, 101 is an inner platform, 102 is an outer platform, 103 is a sliding frame, 1031 is a sliding base, 1032 is a slide groove, 1033 is a pulley, 1034 is a rack, 104 is a driving unit, 105 is a supporting wheel set, 106 is a support shoe, 1061 is an arc bottom plate, 1062 is a shell, 107 is a lifting device, 108 is a floating track, and 109 is a fixed plate;

[0042] 2 is the bevel wheel pair, 21 is the inner roller assembly, 22 is the outer roller assembly, 201 is the wheel frame, 202 is the limit wheel, 203 is the steering wheel, 204 is the fine adjustment cylinder, 205 is the mounting seat, 206 is the wheel axle, and 207 is the pin shaft;

[0043] 3 is a pipe segment storage and transportation device, 301 is a pipe segment feeder, 302 is a load-bearing frame, 303 is a sliding wheel, and 304 is a towing ear seat;

[0044] 4 is a tractor structure, 401 is a towing frame, and 402 is a towing assembly. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below with reference to the accompanying drawings.

[0046] The following description sets forth specific details to facilitate a full understanding of the present application. However, the present application can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application. Therefore, the present application is not limited to the specific implementation methods disclosed below.

[0047] Please refer to Figure 1 to Figure 17 .

[0048] A specific embodiment of the present application provides an adaptive walking device for a shield trolley, comprising: two groups of supporting walking platforms 1 and two groups of inclined wheel pairs 2, wherein the two groups of supporting walking platforms 1 are symmetrically arranged on the lower inner wall of the lining pipe ring 01 of the tunnel, and the two groups of inclined wheel pairs 2 are symmetrically arranged on the inclined wheel pairs 2 at the bottom of the shield trolley 02. Each group of supporting walking platforms 1 includes an inner platform 101, an outer platform 102 and a driving unit 104. The inner platform 101 and the outer platform 102 each include a plurality of groups of support shoes 106, a jacking device 107 arranged on the support shoes 106, and a floating track 108 fixedly connected to the telescopic end of the jacking device 107. The plurality of groups of support shoes 106 located in the same row are connected in sequence through a fixing plate 109. The jacking device 107 is preferably a jacking cylinder. The center line of the longitudinal section of the floating track 108 on the inner platform 101 and the outer platform 102 passes through the center point of the longitudinal section of the lining pipe ring 01, and respectively forms an angle α and β with the vertical plane, wherein the difference (β-α) is 9° to 1 0°, and k<α≤35°, k is the angle between the side of the segment and the vertical plane, the driving unit 104 selectively controls the inner platform 101 or the outer platform 102 to move along the axial direction of the lining pipe ring 01; each set of inclined wheel pairs 2 includes an inner roller assembly 21 and an outer roller assembly 22, the inner roller assembly 21 is located above the inner platform 101, and the jacking device 107 of the inner platform 101 is used to drive the inner floating track 108 to move upward to support the inner roller assembly 21, and the outer roller assembly 22 is located above the outer platform 102, and the jacking device 107 of the outer platform 102 is used to drive the outer floating track 108 to move upward to support the outer roller assembly 22. The present application can make the two sets of inclined wheel pairs 2 be alternately stressed by the alternating operation of the jacking devices 107 of the inner platform 101 and the outer platform 102, and can realize the alternating movement of the inner platform 101 and the outer platform 102 through the driving unit 104, thereby realizing the supporting operation of the supporting walking platform 1 for the shield trolley 02 when it moves forward in a cycle, effectively avoiding the working mode of lifting by the transmission moving rail, and can effectively improve the moving efficiency of the shield trolley 02, thereby improving the construction efficiency.

[0049] In some embodiments of the present application, the shield trolley 02 adaptive walking device further includes a sliding frame 103 disposed between the inner platform 101 and the outer platform 102, such as Figure 6 and Figure 7As shown, the sliding frame 103 includes a sliding base 1031, a slide groove 1032 and a pulley 1033. The sliding base 1031 is connected to the outer platform 102, the slide groove 1032 is connected to the inner platform 101, the axle of the pulley 1033 is fixed to the sliding base 1031, and the pulley 1033 is slidably connected to the slide groove 1032 along the axial direction of the lining pipe ring 01. Through the cooperation of the pulley 1033 and the slide groove 1032, not only the relative movement of the inner platform 101 and the outer platform 102 can be realized, but also a guiding role can be played to ensure the stability of the movement of the inner platform 101 and the outer platform 102.

[0050] In some embodiments of the present application, a rack 1034 is provided on one side of the sliding base 1031 close to the inner platform 101, and the rack 1034 extends along the axial direction of the lining pipe ring 01. The driving unit 104 includes a driving gear and a rotating driving part, and the rotating driving part is connected to the inner platform 101. The driving gear meshes with the rack 1034, and the rotating driving part is used to drive the driving gear to rotate. When it is necessary to control the outer platform 102 to move along the excavation direction and the inner platform 101 is stationary, the rotating driving part drives the driving gear to work forward, and the outer platform 102 can be controlled to move forward through the rack 1034; when it is necessary to control the inner platform 101 to move along the excavation direction and the outer platform 102 is stationary, the rotating driving part drives the driving gear to work in the reverse direction, and at this time, the rotating driving part, the driving gear and the inner platform 101 will all move forward relative to the outer platform 102 and the rack 1034. In addition to using gears to drive the inner platform 101 and the outer platform 102 to move alternately, other forms of power units can also be used for driving, such as selecting independent oil cylinders or air cylinders to push the inner platform 101 or the outer platform 102.

[0051] In some embodiments of the present application, Figure 5 As shown, the support shoe 106 includes an arc-shaped bottom plate 1061 and a shell 1062. The bottom surface of the arc-shaped bottom plate 1061 is used to contact the bottom inner wall of the lining pipe ring 01 to improve the contact stability between the inner platform 101 and the outer platform 102 and the lining pipe ring 01, thereby improving the support stability of the shield trolley 02. The shell 1062 is connected to the top of the arc-shaped bottom plate 1061. The shell 1062 can be connected by plates. The fixed end of the jacking device 107 is arranged in the shell 1062, and the telescopic end of the jacking device 107 extends from the top of the shell 1062, wherein the shell 1062 mainly functions to protect the jacking device 107.

[0052] In some embodiments of the present application, the cross section of the sliding base 1031 is preferably L-shaped, the bottom of the sliding base 1031 is connected to the arc bottom plate, the pulley 1033 is connected to the upper outer side of the sliding base 1031, and multiple pulleys 1033 can be selected, and the number depends on the length of the sliding base 1031. The longer the sliding base 1031 is, the more pulleys 1033 can be selected, and the rack 1034 is connected to the lower outer side of the sliding base 1031. Among them, a first reinforcing plate is provided between the upper part of the arc bottom plate and the outer side of the shell, and a second reinforcing plate is provided on the inner side of the sliding base 1031. The strength of the corresponding structure can be improved by the first reinforcing plate and the second reinforcing plate.

[0053] In some embodiments of the present application, Fig. 9 and Fig.10 As shown, the inner roller assembly 21 and the outer roller assembly 22 each include a wheel frame 201, two limiting wheels 202, two steering wheels 203, a fine-tuning cylinder 204 and a mounting seat 205. The limiting wheels 202 and the steering wheels 203 are preferably steel wheels. The limiting wheels 202 are symmetrically mounted on the front and rear ends of the wheel frame 201 through wheel axles 206; the steering wheels 203 are symmetrically arranged in the middle of the wheel frame 201; the fine-tuning cylinders 204 are divided into two groups and are respectively mounted on the cylinder seats in the middle of the wheel frame 201; the mounting seat 205 is fixedly connected to the top side of the middle of the wheel frame 201 through a pin 207.

[0054] In some embodiments of the present application, Fig.11 , Fig.12 and Fig.13 As shown, the shield trolley 02 adaptive walking device also includes a segment storage and transportation device 3 and a tractor mechanism 4. The segment storage and transportation device 3 is located between the two groups of supporting walking platforms 1. The tractor mechanism 4 is used to drive the segment storage and transportation device 3 to move along the axial direction of the lining pipe ring 01. Among them, the segment storage and transportation device 3 includes a slice feeder 301, a bearing frame 302, a sliding wheel 303 and a dragging ear seat 304. The two sides of the slice feeder 301 are respectively provided with a bearing frame 302, and the bottom of the bearing frame 302 is provided with a plurality of groups of sliding wheels 303. The sliding wheels 303 are preferably rubber wheels, and the sliding wheels 303 are in contact with the inner bottom of the lining pipe ring 01. The two sides of the slice feeder 301 are also respectively provided with a dragging ear seat 304, and the dragging ear seat 304 can be welded on both sides of the slice feeder 301. The tractor mechanism 4 is connected to the dragging ear seat 304 through the dragging frame 401 and the dragging assembly 402.

[0055] In some embodiments of the present application, Figure 3 and Figure 4 As shown, the inner side of the inner platform 101 is provided with a plurality of supporting wheel groups 105 in contact with the load-bearing frame 302. The supporting wheel groups 105 can reduce the wear of the inner platform 101 and the load-bearing frame 302, thereby increasing the service life.

[0056] Please refer to Figure 14 to Figure 17 The working principle of the adaptive walking device of a shield trolley provided in an embodiment of the present application is described as follows.

[0057] Step 1: The initial design preferably allows the inner platform to be stressed first, specifically by starting the lifting cylinder arranged in the inner platform 101 to extend upward as a whole, and lifting the floating track 108 connected thereto to a set distance h1. The inner roller assembly 21 fully acts on the floating track 108 of the inner platform 101 to provide supporting force, ensuring that the relative position of the designed axis of the shield trolley coincides with the central axis of the tunnel. At the same time, the lifting cylinder arranged in the outer platform 102 is started to extend upward as a whole, and lifting the floating track 108 connected thereto to a set distance h2, which fits with the outer roller assembly 22, to provide auxiliary support for the shield machine when turning or the trolley is instantaneously overloaded.

[0058] Step 2: Start the segment storage and transportation device 3 to transport the segments in the tunnel excavation direction. The shield machine excavates normally. Under the traction of the shield main machine, the shield trolley together with the inclined wheel pair 2 moves forward synchronously with the segment storage and transportation device 3 along the floating track 108 on the inner platform 101, and the supporting walking platform 1 and the lining pipe ring remain relatively still.

[0059] Step 3: When the shield trolley moves forward to the set distance L1, Fig.14 As shown, the shield machine suspends forward excavation and assembling segments. At this time, the lifting cylinder arranged in the outer platform 102 is started to retract downward as a whole, and the floating rail 108 fixed thereto is retracted to the initial position. The driving unit 104 is started to work in the forward direction, and the outer platform 102 is driven to extend to the set distance S1 in the excavation direction relative to the inner platform 101, and the operation of the driving unit 104 is suspended.

[0060] Step 4: Start the lifting cylinder in the outer platform 102 again and extend it upward as a whole, lift the floating rail 108 connected to it to the set distance h2, and fit it with the outer roller assembly 22. After that, start the lifting cylinder in the inner platform 101 and retract it downward as a whole, and retract the floating rail 108 connected to it to its initial position. The outer roller assembly 22 fully acts on the floating rail 108 of the outer platform 101 to provide supporting force, ensuring that the relative position of the designed axis of the shield trolley coincides with the central axis of the tunnel.

[0061] Step 5: Start the drive unit 104 to work in reverse, such as Fig.15 As shown, the inner platform 101 is driven to extend to a set distance S1 in the excavation direction relative to the outer platform 102, so that the inner platform 101 and the outer platform 102 are aligned in relative front and rear positions, and the driving unit 104 is stopped.

[0062] Step 6: The shield machine completes the assembly of the entire ring of segments and excavates normally. Under the traction of the shield main machine, the shield trolley together with the inclined wheel pair 2 moves forward synchronously with the segment storage and transportation device 3 along the floating track 108 on the outer platform 102, and the supporting walking platform 1 and the lining ring remain relatively still.

[0063] Step 7: When the shield trolley moves forward to the set distance L2, Fig.16 As shown, the shield machine suspends forward excavation and assembling segments. At this time, the lifting cylinder arranged in the inner platform 101 is started and extended upward as a whole, and the floating track 108 connected thereto is lifted to the set distance h1, and the inner roller assembly 21 is made to act completely on the floating track 108 of the inner platform 101 to provide supporting force, ensuring that the relative position of the designed axis of the shield trolley and the central axis of the tunnel coincides, and the track change is completed; at the same time, the lifting cylinder on the outer platform 102 (the lifting cylinder at this time is slightly unloaded and does not provide the main supporting force) will still lift the floating track 108 connected thereto to a state of being in contact with the outer roller assembly 22, so as to provide auxiliary support when the shield machine turns or the trolley is instantaneously overloaded.

[0064] Step 8: Repeat step 2. When the shield trolley moves forward to the set distance L3, Fig.17 As shown, the shield machine suspends forward excavation and assembling segments, starts the lifting cylinder arranged in the outer platform 102 to retract it downward as a whole, retracts the floating rail 108 fixed thereto to the initial position, starts the driving unit 104 to work in the forward direction, drives the outer platform 102 to extend to the set distance S1 in the excavation direction relative to the inner platform 101, and suspends the operation of the driving unit 104.

[0065] Step 8: Repeat steps 3 to 8 above until the shield machine completes tunnel excavation.

[0066] It should be noted that, in the embodiment of the present application, the maximum distance that the supporting walking platform can extend forward at one time is limited to not exceeding the assembly limit area.

[0067] To ensure that the entire supporting walking platform 1 is subjected to a relatively uniform force when the outer platform 102 provides supporting force, after the inner platform 101 moves forward a certain distance once, the inner platform 101 and the outer platform 102 need to be aligned in front and back relative positions.

[0068] The set distance Li (i=1, 2, 3) of the i-th forward movement of the shield trolley during a forward movement cycle is an integer multiple of the width W of a single segment, specifically L1=3W, L2=2W, L3=W.

[0069] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0070] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive traveling device for a shield vehicle, characterized in that: include: Two groups of supporting walking platforms (1) are symmetrically arranged on the lower inner wall of the lining pipe ring (01) of the tunnel, each group of the supporting walking platforms (1) comprises an inner platform (101), an outer platform (102) and a driving unit (104), the inner platform (101) and the outer platform (102) each comprising a plurality of groups of grippers (106), a jacking device (107) arranged on the grippers (106), and a floating track (108) fixedly connected to the telescopic end of the jacking device (107), and the driving unit (104) selectively controls the inner platform (101) or the outer platform (102) to move along the axial direction of the lining pipe ring (01); Two groups of inclined wheel pairs (2) are symmetrically arranged at the bottom of the shield trolley (02), each group of the inclined wheel pairs (2) includes an inner roller assembly (21) and an outer roller assembly (22), the inner roller assembly (21) is located above the inner platform (101), the lifting device (107) of the inner platform (101) is used to drive the inner floating track (108) to move upward to support the inner roller assembly (21), and the outer roller assembly (22) is located above the outer platform (102), and the lifting device (107) of the outer platform (102) is used to drive the outer floating track (108) to move upward to support the outer roller assembly (22).

2. The shield trolley adaptive walking device according to claim 1 is characterized in that: The invention also comprises a sliding frame (103) arranged between the inner platform (101) and the outer platform (102), wherein the sliding frame (103) comprises a sliding base (1031), a sliding groove (1032) and a pulley (1033), wherein the sliding base (1031) is connected to the outer platform (102), the sliding groove (1032) is connected to the inner platform (101), the axle of the pulley (1033) is fixed to the sliding base (1031), and the pulley (1033) is slidably connected to the sliding groove (1032) along the axial direction of the lining pipe ring (01).

3. The shield vehicle adaptive walking device according to claim 2 is characterized in that: A rack (1034) is provided on the sliding base (1031) at one side close to the inner platform (101), and the rack (1034) extends along the axial direction of the lining pipe ring (01). The driving unit (104) comprises a driving gear and a rotation driving part, and the rotation driving part is connected to the inner platform (101). The driving gear is meshed with the rack (1034), and the rotation driving part is used to drive the driving gear to rotate.

4. The shield trolley adaptive walking device according to claim 3 is characterized in that: The support shoe (106) comprises an arc-shaped bottom plate (1061) and a shell (1062), wherein the shell (1062) is connected to the top of the arc-shaped bottom plate (1061), the fixed end of the lifting device (107) is arranged in the shell (1062), and the telescopic end of the lifting device (107) extends from the top of the shell (1062).

5. The shield trolley adaptive walking device according to claim 4 is characterized in that: The cross section of the sliding base (1031) is L-shaped, the bottom of the sliding base (1031) is connected to the arc-shaped bottom plate (1061), the pulley (1033) is connected to the upper outer side of the sliding base (1031), and the rack (1034) is connected to the lower outer side of the sliding base (1031).

6. The shield vehicle adaptive walking device according to claim 5 is characterized in that: A first reinforcing plate is provided between the upper portion of the arc-shaped bottom plate (1061) and the outer side of the shell (1062), and a second reinforcing plate is provided on the inner side of the sliding base (1031).

7. The shield vehicle adaptive walking device according to any one of claims 1 to 6, characterized in that: The inner roller assembly (21) and the outer roller assembly (22) both comprise a wheel frame (201), a limiting wheel (202), a steering wheel (203), a fine-tuning oil cylinder (204) and a mounting seat (205); the limiting wheel (202) is symmetrically mounted at the front and rear ends of the wheel frame (201) through a wheel axle (206); the steering wheels (203) are symmetrically arranged in the middle of the wheel frame (201); the fine-tuning oil cylinder (204) is divided into two groups and is respectively mounted on the oil cylinder seat in the middle of the wheel frame (201); and the mounting seat (205) is fixedly connected to the top side of the middle of the wheel frame (201) through a pin shaft (207).

8. The shield vehicle adaptive walking device according to any one of claims 1 to 6, characterized in that: It also comprises a pipe segment storage and transportation device (3) and a tractor mechanism (4), wherein the pipe segment storage and transportation device (3) is located between the two groups of supporting walking platforms (1), and the tractor mechanism (4) is used to drive the pipe segment storage and transportation device (3) to move along the axial direction of the lining pipe ring (01).

9. The shield vehicle adaptive walking device according to claim 8 is characterized in that: The pipe segment storage and transportation device (3) comprises a pipe segment feeder (301), a load-bearing frame (302), a sliding wheel (303) and a traction ear seat (304). The load-bearing frame (302) is respectively arranged on both sides of the pipe segment feeder (301). A plurality of groups of sliding wheels (303) are arranged at the bottom of the load-bearing frame (302). The sliding wheels (303) are in contact with the inner bottom of the lining pipe ring (01). The traction ear seat (304) is also respectively arranged on both sides of the pipe segment feeder (301). The traction mechanism (4) is connected to the traction ear seat (304) via a traction frame (401) and a traction assembly (402).

10. The shield trolley adaptive walking device according to claim 9, characterized in that: A plurality of supporting wheel groups (105) in contact with the load-bearing frame (302) are provided on the inner side of the inner platform (101).

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