Secondary lining trolley walking mechanism and secondary lining trolley adopting same

Abstract

The secondary lining trolley walking mechanism comprises a supporting assembly and a plurality of sets of walking assemblies, the walking assemblies are detachably arranged on the supporting assembly, and each walking assembly comprises a rotary supporting bearing, a rotary support, a shear fork support, a hydraulic oil cylinder, two walking wheels, a middle shaft, a leveling bridge and a driving motor; the rotary supporting bearing is installed at the bottom of the secondary lining trolley and used for providing a rotating function, the upper end of the rotary support is connected with the rotary supporting bearing, the shear fork support is arranged below the rotary support, the two ends of the hydraulic oil cylinder are fixedly connected with the rotary support and the shear fork support through pin shafts respectively, and the middle shaft is used for connecting the two walking wheels. The driving motor is installed at the rear end of the leveling bridge and provides driving force for the walking wheels. By improving the design of the walking mechanism, the problems that a traditional guide rail type walking mechanism is complex in structure, high in installation and maintenance cost, large in walking vibration, high in guide rail precision requirement, poor in complex terrain adaptability and the like are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction, and in particular relates to a second lining trolley traveling mechanism and a second lining trolley adopting the same. Background Art

[0002] The role of the secondary lining trolley in tunnel construction is to provide a stable formwork support system for concrete pouring. It is a key equipment used in tunnel secondary lining construction, and its traveling mechanism is an important component for realizing the movement and positioning of the secondary lining trolley. In the prior art, the traditional traveling mechanism of the secondary lining trolley mostly adopts a guide rail structure. This guide rail traveling mechanism is mainly composed of multiple components such as guide rails, traveling wheels, driving devices, and transmission devices. Specifically, the guide rails are fixed on the construction ground, and the traveling wheels realize the movement of the secondary lining trolley by cooperating with the guide rails, while the driving device and the transmission device provide power for the traveling wheels. In this way, the guide rail traveling mechanism can ensure that the secondary lining trolley moves along a predetermined path, which is suitable for a flat construction environment.

[0003] However, the rail-type walking mechanism has many defects and is difficult to meet the needs of modern construction. First, the rail-type structure is relatively complex, with high installation and maintenance costs. The laying of the rails and subsequent debugging and maintenance processes are cumbersome, and the cost of replacing parts is relatively high. Secondly, due to the friction and contact collision between the walking wheels and the rails, vibrations are easily generated during walking, affecting the stability and service life of the equipment. In addition, the stability of the rails is highly dependent on their installation accuracy. If the rails are not accurate enough or are worn and deformed, it is easy to cause unstable walking or even derailment. Finally, the rail-type walking mechanism has poor adaptability and is difficult to move stably and accurately position in complex non-flat terrains such as curved surfaces, slopes or potholes. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention proposes a second lining trolley traveling mechanism and a second lining trolley using the traveling mechanism, so as to solve the problems existing in the traditional guide rail type traveling mechanism, such as complex structure, high installation and maintenance costs, large traveling vibration, high requirements for guide rail precision and poor ability to adapt to complex terrain.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A walking mechanism of a secondary lining trolley comprises a support assembly and multiple groups of walking assemblies, wherein the walking assembly is detachably arranged on the support assembly, and the walking assembly comprises a rotating support bearing, a rotating support, a scissor support, a hydraulic cylinder, two walking wheels, an intermediate shaft, a leveling bridge and a driving motor; wherein the rotating support bearing is installed at the bottom of the secondary lining trolley to provide a rotating function; the upper end of the rotating support is connected to the rotating support bearing; the scissor support is arranged below the rotating support; the two ends of the hydraulic cylinder are fixedly connected to the rotating support and the scissor support through a pin shaft respectively; the intermediate shaft is used to connect two walking wheels; the middle part of the leveling bridge cooperates with the rotating support and the scissor support, and the front end cooperates with the middle part of the intermediate shaft; the driving motor is installed at the rear end of the leveling bridge to provide driving force for the walking wheels.

[0007] Preferably, the rotary support bearing is driven by a rotary motor.

[0008] Preferably, the support assembly includes a lower longitudinal beam, a longitudinal beam support and a support screw, the longitudinal beam support is arranged below the lower longitudinal beam, and the support screw is arranged below the longitudinal beam support. When the second lining trolley needs to move, the hydraulic cylinder extends, and the walking assembly provides temporary support for the second lining trolley. When the second lining trolley moves to the target position, the hydraulic cylinder contracts, and the longitudinal beam support and the support screw provide support for the second lining trolley.

[0009] Preferably, the longitudinal beam supports are located between the traveling components.

[0010] Preferably, the longitudinal beam support and the lower longitudinal beam are connected by welding or bolts.

[0011] Preferably, the support screw and the longitudinal beam support are connected by nuts.

[0012] Preferably, it also includes a control component, which includes a travel drive controller, a steering drive controller, a laser ranging sensor and a data processor. The travel drive controller controls the travel movement of the two travel wheels, the steering drive controller controls the steering movement of the rotating support bearing, and the laser ranging sensor is used to measure the distance between the second lining trolley and the initial support surface of the tunnel. The data processor is connected to the travel drive controller, the steering drive controller and the laser ranging sensor, and is used to control the travel of the second lining trolley based on preset position data, and adjust the travel direction of the second lining trolley according to the measurement data fed back by the laser ranging sensor.

[0013] Preferably, more than 8 groups of laser ranging sensors are symmetrically and evenly arranged on both sides of the second lining trolley to measure the distance between the two sides of the second lining trolley and the initial support surface of the tunnel. By calculating the difference in distance data on both sides measured by the laser ranging sensor, the offset of the second lining trolley is determined, and the walking direction is adjusted to center the second lining trolley.

[0014] Preferably, the lower longitudinal beam is located on both sides of the second lining trolley, and each side of the lower longitudinal beam is provided with five groups of the traveling components, and each group of the traveling components is driven by an independent traveling drive controller and a steering drive controller.

[0015] On the other hand, the present invention also discloses a secondary lining trolley, which adopts the above-mentioned traveling mechanism.

[0016] The beneficial effects of the present invention are as follows:

[0017] (1) The second lining trolley travel assembly of the present invention is composed of simple components such as a rotating support bearing, a hydraulic cylinder, two travel wheels, and a drive motor, eliminating the guide rails and transmission devices in the traditional guide rail travel mechanism. Compared with the prior art, the present invention greatly reduces the complexity of the structure, avoids the tedious work brought about by the installation of the guide rails and the debugging of the transmission device, makes the early installation and debugging process simpler, and also greatly simplifies the later maintenance work, reduces the maintenance cost and difficulty, thereby solving the problem of the traditional guide rail structure being complex and the high installation and maintenance cost.

[0018] (2) The present invention adopts a wheeled walking mode, which does not require the laying of guide rails, and significantly improves the adaptability to the construction environment. In particular, it can still operate stably on curved surfaces, slopes or uneven terrains, overcoming the defect of poor adaptability of traditional guide rail walking mechanisms in complex environments. In addition, the rotating support bearing provides a flexible steering function, and the second lining trolley does not need to use a complex mechanism to make additional lateral adjustments after the longitudinal movement is completed, which significantly improves the movement efficiency of the second lining trolley. At the same time, the design of the hydraulic cylinder and the support assembly ensures that the walking wheels do not need to provide long-term support after the second lining trolley is in place, avoiding the risk of deformation and damage of the walking wheels due to long-term force, and solving the problem that traditional guide rail walking mechanisms are prone to vibration during walking.

[0019] (3) The present invention can accurately control the telescopic action of the hydraulic cylinder through the action of the control component, so that the traveling mechanism can maintain stable operation in various complex terrains and ensure that the secondary lining trolley accurately reaches the target position. In addition, the traveling direction and steering error of the secondary lining trolley can be adjusted in real time to ensure that the secondary lining trolley maintains central operation during travel, effectively avoiding the positioning deviation problem in traditional manual operation, thereby significantly improving the positioning accuracy and quality of the secondary lining construction. At the same time, the modular design of the traveling component improves versatility, making it suitable for different models of secondary lining trolleys, reducing production costs and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 1 is a schematic diagram of the structure of a walking assembly of a walking mechanism according to an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the connection between the control assembly of the traveling mechanism and the secondary lining trolley in an embodiment of the present invention;

[0022] Figure 3 is a side view of a secondary lining trolley according to an embodiment of the present invention;

[0023] Figure numerals: 1-rotation support bearing; 2-rotation support; 3-scissor support; 4-hydraulic cylinder; 5-travel wheel; 6-intermediate shaft; 7-leveling bridge; 8-drive motor; 9-lower longitudinal beam; 10-longitudinal beam support; 11-support screw; 12-travel drive controller; 13-steering drive controller; 14-laser ranging sensor; 15-data processor. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention belong to the present invention.

[0025] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the present application.

[0026] See also Figure 1-3 The present embodiment provides a traveling mechanism for a secondary lining trolley, including a supporting assembly and a plurality of traveling assemblies, wherein the traveling assembly is detachably arranged on the supporting assembly. Through this design, the traveling assembly can be modularized, and the versatility is improved, so that it can be applied to secondary lining trolleys of different models, meeting the adaptability of various construction requirements, and facilitating quick disassembly and maintenance, further reducing the production and maintenance costs of the equipment.

[0027] The walking assembly includes a rotating support bearing 1, a rotating support 2, a scissor support 3, a hydraulic cylinder 4, two walking wheels 5, an intermediate shaft 6, a leveling bridge 7 and a driving motor 8. The rotating support bearing 1 is installed at the bottom of the secondary lining trolley to provide a rotating function so that the secondary lining trolley can achieve flexible direction adjustment during the construction process and adapt to different construction routes. The upper end of the rotating support 2 is connected to the rotating support bearing 1 to ensure that the rotating support bearing 1 can stably drive the rotating support 2 to rotate and achieve the adjustment of the overall walking direction.

[0028] The scissor support 3 is arranged below the rotating support 2, playing the role of stable support and connection, ensuring the structural strength and operational stability of the entire traveling assembly. The two ends of the hydraulic cylinder 4 are fixedly connected to the rotating support 2 and the scissor support 3 through a pin shaft, respectively. The hydraulic cylinder 4 can be extended and retracted to provide temporary support force or release support force for the secondary lining trolley, ensuring the stability of the secondary lining trolley when traveling or stopping, and the extension and retraction action of the hydraulic cylinder 4 is accurately controlled by the electronic control system to adapt to different terrain conditions.

[0029] The intermediate shaft 6 is used to connect the two running wheels 5 so that the two running wheels 5 can rotate synchronously, thereby ensuring the stability and coordination of the secondary lining trolley during movement. The middle part of the leveling bridge 7 cooperates with the rotating support 2 and the scissor support 3 to play a role in stable connection and leveling. The front end cooperates with the middle part of the intermediate shaft 6 so that the leveling bridge 7 can maintain a consistent motion state with the running wheels 5, further improving the walking stability of the secondary lining trolley. The drive motor 8 is installed at the rear end of the leveling bridge 7. The drive motor 8 provides driving force for the running wheels 5, thereby realizing the forward or backward movement of the secondary lining trolley. The setting of the drive motor 8 simplifies the transmission structure, reduces the overall complexity of the secondary lining trolley, and improves energy efficiency and operational reliability.

[0030] The rotary support bearing 1 is driven by a rotary motor, and the rotary motor can be connected to the outer ring or inner ring of the rotary support bearing 1 through a transmission structure to provide power output. When the rotary motor is started, the outer ring or inner ring of the rotary support bearing 1 rotates relatively with the support of the rolling body. For example, the inner ring is fixed to the bottom of the second lining trolley, and the outer ring drives the rotary support 2 to rotate together, thereby realizing the steering function of the second lining trolley walking assembly. Through this structure, the rotary support bearing 1 can flexibly adjust the rotation angle of the walking assembly, so that the second lining trolley can quickly change direction in a complex construction environment and adapt to different work routes. At the same time, due to the rolling body structure of the rotary support bearing 1, its rotation motion is smooth and the friction is small, which helps to improve the accuracy and efficiency of the steering of the second lining trolley, and avoids the energy loss and direction adjustment difficulties caused by the complex transmission device in the traditional guide rail structure.

[0031] In this embodiment, the support assembly includes a lower longitudinal beam 9, a longitudinal beam support 10 and a support screw 11. The longitudinal beam support 10 is arranged below the lower longitudinal beam 9, and the support screw 11 is arranged below the longitudinal beam support 10. Through this structure, the lower longitudinal beam 9 plays a major role in bearing weight and stabilization, and the longitudinal beam support 10 further supports and connects the support screw 11, so that the entire support assembly forms a stable support system. When the secondary lining trolley needs to move, the hydraulic cylinder 4 extends, and the walking assembly provides temporary support force. At this time, the walking wheel 5 can drive the secondary lining trolley to move to the target position. During the movement, the extension of the hydraulic cylinder 4 can not only provide reliable support, but also adapt to the unevenness of different terrains, ensuring that the secondary lining trolley remains stable during the walking process. When the secondary lining trolley moves to the target position, the hydraulic cylinder 4 contracts. At this time, the walking assembly no longer provides support force, but the longitudinal beam support 10 and the support screw 11 provide the final support for the secondary lining trolley. This structural design can prevent the traveling wheel 5 from being deformed due to long-term load-bearing. At the same time, the structure of the supporting screw rod 11 ensures the stability of the secondary lining trolley in a stationary state, effectively prolongs the service life of the traveling assembly, and meets the needs of the construction site for long-term stable support of the secondary lining trolley.

[0032] Furthermore, the longitudinal beam support 10 is located between the traveling components. This arrangement enables the longitudinal beam support 10 to provide stable support on both sides of the traveling components, ensuring that the force on the supporting components is uniform, and further improving the stability and load-bearing capacity of the overall structure. The longitudinal beam support 10 is connected to the lower longitudinal beam 9 by welding or bolts. Both connection methods can achieve a stable structural connection. The welding method is suitable for occasions with high requirements for fixing strength, while the bolt connection is easy to disassemble and maintain, and can be flexibly selected according to different construction requirements. The support screw 11 is connected to the longitudinal beam support 10 by a nut. The nut structure can realize the rapid installation and disassembly of the support screw 11, and it is convenient to adjust the height or calibrate the position, ensuring that the supporting component can provide reliable support force in different construction environments. This design not only enhances the adaptability of the supporting component, but also facilitates installation and adjustment during on-site construction, effectively improving the flexibility of use and maintenance efficiency of the secondary lining trolley.

[0033] Furthermore, the walking mechanism also includes a control component, which includes a walking drive controller 12, a steering drive controller 13, a laser ranging sensor 14 and a data processor 15. The walking drive controller 12 controls the walking action of the two walking wheels 5, and realizes the forward or backward movement of the second lining trolley by rotating the driving wheels, ensuring the smooth movement of the second lining trolley in the tunnel. The steering drive controller 13 controls the steering action of the rotating support bearing 1, and realizes the direction change of the second lining trolley by adjusting the rotation angle of the rotating support bearing 1, ensuring that it can flexibly adapt to different walking paths and working surface requirements during the construction process. The laser ranging sensor 14 is used to measure the distance between the second lining trolley and the initial support surface of the tunnel, and feeds the measurement data back to the data processor 15 in real time. The data processor 15 is connected to the travel drive controller 12, the steering drive controller 13 and the laser ranging sensor 14, and plays a core role in control and data analysis. It can control the travel path of the secondary lining trolley based on the preset position data, and adjust the travel direction of the secondary lining trolley in real time according to the measurement data fed back by the laser ranging sensor 14, thereby ensuring that the secondary lining trolley is accurately moved to the target position, effectively improving the level of automation control of the secondary lining trolley, and solving the problem of large positioning errors in manual operation. At the same time, it can dynamically adjust the travel direction of the secondary lining trolley according to the actual situation of the construction site, ensuring that the secondary lining trolley can still maintain accurate walking and stable positioning accuracy in complex environments.

[0034] More than 8 groups of laser distance measuring sensors 14 are symmetrically and evenly arranged on both sides of the secondary lining trolley to measure the distance between the two sides of the secondary lining trolley and the initial support surface of the tunnel. Through the real-time measurement of the laser distance measuring sensor 14, the distance data on both sides of the secondary lining trolley can be obtained, and these data are fed back to the data processor 15. The data processor 15 determines the offset of the secondary lining trolley by calculating the difference between the distance data on both sides measured by the laser distance measuring sensor 14. When the offset exceeds the allowable range, the data processor 15 further controls the travel drive controller 12 and the steering drive controller 13 to adjust the running state of the travel wheel 5 and the angle of the rotating support bearing 1 to achieve accurate correction of the travel direction and ensure that the secondary lining trolley always walks in the center. This design enables the secondary lining trolley to maintain a uniform spacing from the initial support surface of the tunnel during construction, avoiding construction errors caused by offset, and effectively improving the positioning accuracy of the secondary lining trolley and the quality of secondary lining construction. Specifically, when the measurement value of the left side of the secondary lining trolley and the initial support surface of the tunnel is greater than the measurement value on the right side, the calculated error is a positive value, and the data processor 15 determines that the secondary lining trolley is biased to the right and needs to be turned left for correction; and when the measurement value on the right side is greater than the measurement value on the left side, the error is a negative value, and the data processor 15 determines that the secondary lining trolley is biased to the left and needs to be turned right for correction. In addition, more than 8 groups of laser ranging sensors 14 arranged symmetrically and evenly can provide more comprehensive ranging data, improve the system's detection accuracy and adjustment response speed for the offset, and enable the secondary lining trolley to maintain stable and centered operation when traveling on complex terrain or long distances.

[0035] The lower longitudinal beam 9 is located on both sides of the secondary lining trolley. Each side of the lower longitudinal beam 9 is provided with five groups of walking components, and each group of walking components is driven by an independent walking drive controller 12 and a steering drive controller 13. As the main load-bearing structure of the secondary lining trolley, the lower longitudinal beam 9 is arranged on both sides of the secondary lining trolley to support and stabilize the main body of the secondary lining trolley. By evenly arranging five groups of walking components on each side of the lower longitudinal beam 9, the load of the secondary lining trolley during the walking process can be effectively dispersed to ensure the stability and safety of the overall operation. Each group of walking components is powered by an independent walking drive controller 12, which drives the walking wheels 5 to run synchronously or differentially, ensuring that the secondary lining trolley has higher flexibility and accuracy when moving forward, backward and turning. In addition, each group of walking components is also equipped with an independent steering drive controller 13. By controlling the rotating support bearing 1, the walking components can independently adjust the steering angle, realize the coordination between multiple groups of walking components, and effectively meet the flexible steering and precise positioning requirements of the secondary lining trolley in a complex construction environment.

[0036] The embodiment of the present invention also discloses a secondary lining trolley, which adopts the above-mentioned walking mechanism. By applying the walking mechanism to the secondary lining trolley, the secondary lining trolley can achieve efficient and stable movement during the construction process, solving the problems of complex structure, difficult maintenance, poor adaptability, etc. of the traditional rail-type secondary lining trolley. The walking mechanism includes a rotating support bearing 1, a rotating support 2, a scissor support 3, a hydraulic cylinder 4, a walking wheel 5, an intermediate shaft 6, a leveling bridge 7 and a drive motor 8. The overall structure is simple, and installation and maintenance are more convenient, while greatly reducing the construction cost. Through the temporary support force provided by the hydraulic cylinder 4 and the steering function of the rotating support bearing 1, the secondary lining trolley can flexibly adjust the walking direction and adapt to various complex terrains. In addition, the cooperation of the walking wheel 5 and the intermediate shaft 6 makes the secondary lining trolley walk more smoothly, and the driving force provided by the drive motor 8 ensures that the secondary lining trolley can maintain efficient operation under different construction environments. This design enables the secondary lining trolley to be quickly deployed at construction sites of different models and specifications through the structure of modular walking components, significantly improving the efficiency and accuracy of secondary lining construction, while enhancing the applicability and durability of the equipment.

[0037] In summary, the present invention discloses a second lining trolley walking mechanism and a second lining trolley using the same. The walking mechanism realizes the advantages of simple structure and convenient installation and maintenance through a reasonable combination of components such as a rotating support bearing 1, a rotating support 2, a scissor support 3, a hydraulic cylinder 4, a walking wheel 5, an intermediate shaft 6, a leveling bridge 7 and a driving motor 8, eliminating the traditional guide rails and transmission devices, and reducing the construction cost and the difficulty of equipment maintenance. At the same time, the walking assembly adopting a modular design is detachably arranged on the lower longitudinal beam 9, which improves the versatility and adaptability of the equipment, so that it can meet the needs of different types of second lining trolleys. In addition, through the cooperation of the control assembly, the walking drive controller 12, the steering drive controller 13, the laser ranging sensor 14 and the data processor 15 work together to realize the precise walking and automatic steering control of the second lining trolley, ensure that the second lining trolley maintains stable operation in complex terrain, and effectively solves the positioning error problem through the real-time deviation adjustment function, thereby significantly improving the construction efficiency and the quality of the second lining. The present invention not only has good adaptability to the construction environment, but also can ensure the stability and reliability of the second lining trolley during long-term operation, and has a wide range of practical application value.

[0038] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A secondary lining trolley travel mechanism, characterized in that: The invention comprises a support assembly and a plurality of travel assemblies, wherein the travel assemblies are detachably arranged on the support assembly, and the travel assemblies comprise a rotating support bearing (1), a rotating support (2), a scissor support (3), a hydraulic cylinder (4), two travel wheels (5), an intermediate shaft (6), a leveling bridge (7) and a driving motor (8); wherein the rotating support bearing (1) is mounted on the bottom of the second lining trolley for providing a rotating function; the upper end of the rotating support (2) is connected to the rotating support bearing (1); the scissor support (3) is arranged below the rotating support (2); the two ends of the hydraulic cylinder (4) are respectively fixedly connected to the rotating support (2) and the scissor support (3) through a pin shaft; the intermediate shaft (6) is used to connect the two travel wheels (5); the middle part of the leveling bridge (7) cooperates with the rotating support (2) and the scissor support (3), and the front end cooperates with the middle part of the intermediate shaft (6); the driving motor (8) is mounted at the rear end of the leveling bridge (7) for providing driving force for the travel wheels (5).

2. The second lining trolley travel mechanism according to claim 1 is characterized in that: The rotary support bearing (1) is driven by a rotary motor.

3. The secondary lining trolley travel mechanism according to claim 2 is characterized in that: The support assembly comprises a lower longitudinal beam (9), a longitudinal beam support (10) and a support screw (11); the longitudinal beam support (10) is arranged below the lower longitudinal beam (9); the support screw (11) is arranged below the longitudinal beam support (10); when the secondary lining trolley needs to move, the hydraulic cylinder (4) extends, and the travel assembly provides temporary support for the secondary lining trolley; when the secondary lining trolley moves to a target position, the hydraulic cylinder (4) contracts, and the longitudinal beam support (10) and the support screw (11) provide support for the secondary lining trolley.

4. The secondary lining trolley travel mechanism according to claim 3 is characterized in that: The longitudinal beam support (10) is located between the walking components.

5. The secondary lining trolley travel mechanism according to claim 4 is characterized in that: The longitudinal beam support (10) and the lower longitudinal beam (9) are connected by welding or bolts.

6. The secondary lining trolley travel mechanism according to claim 4 is characterized in that: The support screw rod (11) and the longitudinal beam support (10) are connected by nuts.

7. The secondary lining trolley travel mechanism according to claim 6 is characterized in that: The invention also comprises a control component, wherein the control component comprises a travel drive controller (12), a steering drive controller (13), a laser distance measuring sensor (14) and a data processor (15), wherein the travel drive controller (12) controls the travel movement of the two travel wheels (5), the steering drive controller (13) controls the steering movement of the rotary support bearing (1), the laser distance measuring sensor (14) is used to measure the distance between the secondary lining trolley and the initial support surface of the tunnel, and the data processor (15) is connected to the travel drive controller (12), the steering drive controller (13) and the laser distance measuring sensor (14), and is used to control the travel of the secondary lining trolley based on preset position data, and to adjust the travel direction of the secondary lining trolley according to the measurement data fed back by the laser distance measuring sensor (14).

8. The secondary lining trolley travel mechanism according to claim 7 is characterized in that: More than eight groups of laser distance measuring sensors (14) are symmetrically and evenly arranged on both sides of the secondary lining trolley for measuring the distance between the two sides of the secondary lining trolley and the initial support surface of the tunnel. By calculating the difference in distance data on both sides measured by the laser distance measuring sensors (14), the offset of the secondary lining trolley is determined, and the travel direction is adjusted to center the secondary lining trolley.

9. The secondary lining trolley travel mechanism according to claim 7 or 8, characterized in that: The lower longitudinal beam (9) is located on both sides of the second lining trolley, and each side of the lower longitudinal beam (9) is provided with five groups of the traveling components, and each group of the traveling components is driven by an independent traveling drive controller (12) and a steering drive controller (13).

10. A secondary lining trolley, characterized in that: A walking mechanism as described in any one of claims 1 to 9 is adopted.

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