Steel coil laying trolley and operation method

Abstract

The invention relates to the technical field of tunnel construction equipment, in particular to a steel coil laying trolley and an operation method. The trolley comprises a walking mechanism, a working arm frame, a hanging basket assembly, a steel coil hanging device, a roller pressing device, a polishing device, a hydraulic system, an electrical system and a main controller. The walking mechanism is movably arranged; the upper portion of the walking mechanism is connected with a working arm frame through a rotation assembly. The two ends of the working arm frame are arranged in the radial direction of the tunnel, one end is provided with the polishing device, and the other end is provided with the hanging basket assembly, the steel coil hanging device and the roller pressing device. The hydraulic system, the electrical system and the main controller are arranged above the walking mechanism; the master controller is connected with the polishing device and the hanging basket assembly through the hydraulic system and the electrical system. The main controller is connected with the walking mechanism, the working arm frame, the steel coil suspension device and the roller pressing device through a hydraulic system. According to the operation method, intelligent operation can be achieved, and the laying efficiency, the laying precision, the operation safety and the operation comfort degree are improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction equipment technology, and in particular to a steel coil laying trolley and its operation method. Background Technology

[0002] In tunnel construction, it is necessary to lay protective linings on the tunnel walls, such as steel coils. Due to the large size and weight of the steel coils, laying trolleys are required. However, the existing laying trolleys have relatively simple end-effectors, which cannot efficiently and safely complete the entire process of releasing the steel coil, pressing it firmly against the tunnel wall, and manually welding or riveting it to the tunnel wall. In tunnels with larger diameters, even larger laying trolleys are needed to carry manual work platforms at various angles, resulting in complex structures and low laying efficiency. In short, existing laying trolleys suffer from low laying efficiency and insufficient operational safety when laying steel coils.

[0003] In larger diameter chambers, a more efficient and safer end effector is required on the laying trolley to lay steel coils on the chamber walls.

[0004] Therefore, it is necessary to provide a steel coil laying trolley and operating method to solve the problems of low laying efficiency and insufficient operational safety of existing laying trolleys. Summary of the Invention

[0005] The purpose of this invention is to provide a steel coil laying trolley and operating method, the specific technical solution of which is as follows: In a first aspect, the present invention provides a steel coil laying trolley, characterized in that it includes a traveling mechanism, a working boom, a basket assembly, a steel coil suspension device, a roller pressing device, a grinding device, a hydraulic system, an electrical system, and a main controller; The walking mechanism is movably installed on the bottom wall inside the tunnel; The traveling mechanism is connected to the working boom via a slewing assembly above it, for driving the working boom to rotate. The working boom is arranged at both ends along the radial direction of the tunnel in the length direction. The grinding device is arranged at one end in the length direction, and the basket assembly, the steel coil suspension device and the roller clamping device are arranged at the other end in the length direction. The hydraulic system, the electrical system, and the main controller are all located above the walking mechanism; The main controller is connected to the grinding device and the suspended platform assembly through the hydraulic system and the electrical system; the main controller is also connected to the traveling mechanism, the working boom, the steel coil suspension device, and the roller clamping device through the hydraulic system.

[0006] Optionally, the number of the working booms is two sets, and they are symmetrically arranged on the front end and rear end of the traveling mechanism in the tunnel axis direction, respectively; the two sets of working booms are connected by a synchronous shaft. Each group of booms includes a main boom assembly, a slewing assembly, a connecting seat, and a counterweight. The main boom assembly has two ends arranged along the radial direction of the tunnel in the length direction. The connecting seat is provided at one end in the length direction, and the counterweight is provided at the other end in the length direction. The suspended platform assembly, the steel coil suspension device, and the roller pressing device are all connected to the connecting seat. The grinding device is connected to the end of the main boom assembly near the counterweight. The slewing assembly is located at the center of the main boom assembly in the length direction and is used to drive the main boom assembly to rotate.

[0007] Optionally, the slewing assembly includes a slewing base, a slewing drive, and a slewing support; the slewing support is located at the center of the main boom assembly in the length direction; the slewing base is located above the traveling mechanism and connected to the slewing support; the fixed end of the slewing drive is located on the slewing base, and its driving end cooperates with the slewing support to drive the slewing support to rotate; the slewing drive is connected to the main controller via the hydraulic system. The two ends of the synchronous shaft are respectively connected to the slewing supports of the two sets of the working boom; Each group of working booms also includes a tie rod and a laser rangefinder; The laser ranging sensor is installed at both ends of the total length of each main arm, and each laser ranging sensor is connected to the main controller. The number of diagonal tie rods is multiple, and the diagonal tie rods are installed at both ends of the main boom assembly and between the slewing seat.

[0008] Optionally, the steel coil suspension device includes a first telescopic arm, a second telescopic arm, a steel coil device, a first connecting flange, a rotation shaft limiter, and a first correction longitudinal displacement cylinder; The first telescopic arm and the second telescopic arm are respectively connected to the connecting seats on the two main arm assemblies; The steel drum device is installed at the telescopic ends of the first telescopic arm and the second telescopic arm, and both ends of the steel drum device are detachably connected to the first telescopic arm and the second telescopic arm respectively through the first connecting flange; the first telescopic arm and the second telescopic arm are respectively connected to the main controller through the hydraulic system; The rotating shaft limiter is disposed on the rotating shaft body of the steel drum device; Tensioning mechanisms for tensioning the steel coil are provided at both axial ends of the steel coil device. Each tensioning mechanism includes an adjustable tensioning strut. The adjustable tensioning strut includes a limiting locking component and two coaxially arranged struts, namely, a first strut and a second strut. The first strut is hollow, and the second strut is solid, with one end coaxially fitted into the first strut. Multiple threaded holes are provided along the length of the first strut wall. The limiting locking component is a bolt adapted to fit the threaded holes. When the second strut is adjusted relative to the first strut to be tightly against the inner lining of the steel coil, the limiting locking component is screwed into the threaded holes to lock the second strut to the first strut, thereby achieving the tensioning effect on the steel coil. The first longitudinal displacement correction cylinder is installed at the telescopic end of the first telescopic arm or the second telescopic arm; the first longitudinal displacement correction cylinder is connected to the main controller through the hydraulic system.

[0009] Optionally, the rotary shaft limiter includes a limiter housing, a clamping cylinder, and an elastic sleeve; the limiter housing is coaxially sleeved on the rotary shaft body; the elastic sleeve is coaxially sleeved on the rotary shaft body and located inside the limiter housing; the clamping cylinder is disposed inside the limiter housing, and its clamping working end is correspondingly disposed with the elastic sleeve; the clamping cylinder is connected to the main controller through the hydraulic system.

[0010] Optionally, the roller clamping device includes a third telescopic arm, a fourth telescopic arm, a first pitch cylinder, a second pitch cylinder, a roller body, and a second connecting flange. The third telescopic arm and the fourth telescopic arm are respectively connected to the connecting seats on the two main arm assemblies; The roller body is disposed on the telescopic ends of the third telescopic arm and the fourth telescopic arm, and both ends of the roller body are detachably connected to the third telescopic arm and the fourth telescopic arm respectively through the second connecting flange; the third telescopic arm and the fourth telescopic arm are respectively connected to the main controller through the hydraulic system; The fixed ends of the first pitch cylinder and the second pitch cylinder are respectively connected to the connecting seats on the two main boom assemblies, and their pitch working ends are respectively connected to the third telescopic boom and the fourth telescopic boom; the first pitch cylinder and the second pitch cylinder are respectively connected to the main controller through the hydraulic system.

[0011] Optionally, the roller clamping device further includes a second longitudinal correction cylinder; the second longitudinal correction cylinder is disposed on the telescopic end of the third telescopic arm or the fourth telescopic arm; the second longitudinal correction cylinder is connected to the main controller through the hydraulic system.

[0012] Optionally, the suspended platform assembly includes a fifth telescopic boom, a sixth telescopic boom, a slewing reducer, a leveling reducer, a suspended platform assembly, a suspended platform control panel, and a tilt sensor; The slewing reducer is installed on both the fifth and sixth telescopic booms, and is connected to the connecting seat on the two main boom assemblies through the slewing reducer; the fifth and sixth telescopic booms are connected to the main controller through the hydraulic system. The rotary reducer is connected to the main controller via the electrical system; The leveling reducer is installed at the telescopic end of the fifth telescopic arm or the sixth telescopic arm; the leveling reducer is connected to the main controller through the electrical system; The suspended platform assembly is disposed between the fifth telescopic boom and the sixth telescopic boom; the suspended platform assembly includes a protective suspended platform for workers to operate in. The control panel of the suspended platform is located inside the protective suspended platform and is connected to the main controller through the electrical system; The tilt sensor is installed inside the protective basket and connected to the main controller.

[0013] Optionally, the steel coil laying trolley also includes a chassis assembly; the chassis assembly is mounted on the traveling mechanism, and its top is connected to the working boom via the slewing assembly; The hydraulic system, the electrical system, and the main controller are all mounted on the chassis assembly. The chassis assembly includes a chassis bracket, a first mounting base, a second mounting base, and a hanging rail assembly; The chassis support is mounted on the traveling mechanism, and a working space for vehicle passage and hoisting is provided between the two. The chassis support is connected to the slewing assemblies of the two booms via a first mounting base and a second mounting base respectively; the chassis support includes a beam for connecting the first mounting base and the second mounting base. The suspension rail assembly includes a guide rail and an electric hoist; the guide rail is located at the bottom of the chassis support and is perpendicular to the tunnel axis; the electric hoist is mounted on the guide rail and is connected to the main controller through the electrical system.

[0014] Optionally, the walking mechanism includes a stepping mechanism; The stepping mechanism includes a walking lower arm, a longitudinal movement component, and a lateral movement component; The longitudinal moving components are in two sets and are symmetrically arranged on both sides of the tunnel axis along the length of the tunnel; the transverse moving components are in two sets and are symmetrically arranged at both ends of the two sets of longitudinal moving components. Each set of longitudinal movement components includes a longitudinal beam, a longitudinal movement cylinder, a traveling trolley, and a longitudinal boat; the longitudinal beams in both sets of longitudinal movement components are symmetrically arranged on both sides of the tunnel axis; the longitudinal boat is slidably disposed below the longitudinal beam via the longitudinal movement cylinder and the traveling trolley; the telescopic end of the longitudinal movement cylinder is connected to the longitudinal boat, while the fixed end is connected to the traveling trolley; the longitudinal movement cylinder is connected to the main controller via the hydraulic system; the bottom of the traveling trolley makes rolling contact with the longitudinal boat via rollers, while its top is fixedly connected to the longitudinal beam; a first arc-shaped support shoe adapted to the curvature of the tunnel wall is provided on the bottom surface of the longitudinal boat; Each of the transverse movement components includes a crossbeam, a transverse movement cylinder, and a second arc-shaped support shoe; the crossbeams in the two sets of transverse movement components are symmetrically arranged at both ends of the two longitudinal beams; the transverse movement cylinders are respectively arranged at both ends of the crossbeams, and the second arc-shaped support shoe adapted to the curvature of the tunnel wall is arranged at the telescopic end of the transverse movement cylinder; the transverse movement cylinders are connected to the main controller through the hydraulic system; The number of the lower traveling arms is equal to the number of the second arc-shaped support shoes, and the two are connected in a one-to-one correspondence; the lower traveling arm includes a first arm section, a second arm section, and a first lifting cylinder; one end of the first arm section is connected to the top of the second arc-shaped support shoe, and the other end is connected to the second arm section through the first lifting cylinder; the end of the second arm section away from the first arm section is connected to the chassis assembly; the first lifting cylinder is connected to the main controller through the hydraulic system.

[0015] Optionally, the stepping mechanism further includes a lateral reinforcing strut assembly; the lateral reinforcing strut assembly is arranged parallel to the crossbeam, and its two ends are respectively connected to the two lower walking arms; the lateral reinforcing strut assembly includes a first telescopic reinforcing strut and a second reinforcing strut arranged coaxially, and the ends of the two struts that are far apart from each other are rotatably connected to the corresponding lower walking arms, respectively used to adjust the direction of the first telescopic reinforcing strut and the second reinforcing strut; the ends of the first telescopic reinforcing strut and the second reinforcing strut adjacent to each other are detachably connected.

[0016] Optionally, the steel coil laying trolley further includes a dust collection system; the dust collection system is connected to the grinding device; the main controller is connected to the dust collection system through the electrical system; The polishing device includes a telescopic adjusting arm, an adaptive guiding component, and a polishing component; The telescopic adjusting arm includes a telescopic drive component and a first adjusting arm and a second adjusting arm coaxially sleeved together; the end of the first adjusting arm away from the second adjusting arm is connected to the working arm frame, and the end of the second adjusting arm away from the first adjusting arm is connected to the grinding component through the adaptive guide component; the fixed end of the telescopic drive component is connected to the first adjusting arm, and the telescopic end is connected to the second adjusting arm; the telescopic drive component is connected to the main controller through the hydraulic system.

[0017] Optionally, the grinding assembly includes a housing, a grinding roller brush, a bearing housing, and a drive motor; the housing is connected to the adaptive guide assembly, with its side facing the tunnel wall being the opening side; the grinding roller brush includes a roller brush mounting shaft and a roller brush body; the roller brush body is mounted on the roller brush mounting shaft; both ends of the roller brush mounting shaft are fixedly connected to the housing via the bearing housing, and the roller brush body extends beyond the housing on the opening side; the drive motor is mounted on the housing, and its drive end is connected to the roller brush mounting shaft via a synchronous belt; the drive motor is connected to the main controller via the electrical system.

[0018] Optionally, the number of adaptive guiding components is at least two sets, symmetrically arranged between the telescopic adjusting arm and the grinding component; the adaptive guiding component includes a telescopic rod, an elastic element, a mounting plate, and a guide wheel; the telescopic rod includes a first connecting rod and a second connecting rod coaxially sleeved; the end of the first connecting rod away from the second connecting rod is connected to the telescopic end of the second adjusting arm, and the end of the second connecting rod away from the first connecting rod is connected to the housing through the mounting plate; the elastic element is in a compressed state, with one end connected to the first connecting rod and the other end connected to the mounting plate; the guide wheel is located on the side of the mounting plate opposite to the second connecting rod and rolls in contact with the tunnel wall.

[0019] Optionally, the steel coil laying trolley further includes a material changing and adjusting platform; the material changing and adjusting platform includes a platform frame, a telescopic platform, a steel coil limiting seat, and a side walkway; the platform frame is mounted on the chassis assembly and includes guide rails for the telescopic platform to slide telescopically; the telescopic platform includes a telescopic cylinder and a feeding platform; the feeding platform is slidably connected to the platform frame via the guide rails; the fixed end of the telescopic cylinder is connected to the platform frame, while the telescopic end is connected to the feeding platform; the telescopic cylinder is connected to the main controller via the hydraulic system; the steel coil limiting seat is mounted on the feeding platform; The side walkways are respectively provided on both sides of the telescopic platform in the direction perpendicular to the tunnel axis; the side walkways include flip-up and foldable walkways.

[0020] Optionally, the steel coil laying trolley further includes a vehicle crossing bridge; the vehicle crossing bridge includes a horizontal bridge, supports, a front approach bridge, and lifting wheels; The horizontal bridge is mounted on the traveling mechanism; multiple supports are arranged at the bottom of the horizontal bridge to support it; multiple lifting wheels are arranged at the bottom of the horizontal bridge to lift and move the horizontal bridge, causing the supports to move closer to or away from the tunnel wall; each lifting wheel includes a second lifting cylinder and a first traveling wheel; the fixed end of the second lifting cylinder is connected to the bottom of the horizontal bridge, while the lifting end is connected to the first traveling wheel through a bearing seat; the second lifting cylinder is connected to the main controller through the hydraulic system. The front approach bridges are rotatably mounted at both ends of the horizontal bridge along the tunnel axis, and each end is provided with a first limiting block for the front approach bridge to the end of its opening stroke and a second limiting block for the front approach bridge to the end of its retraction stroke. A second traveling wheel is provided below each front approach bridge to assist in opening and retraction. A lifting ring is provided on each front approach bridge; the lifting ring is adapted to the hook on the electric hoist.

[0021] In a second aspect, the present invention provides a method for operating the steel coil laying trolley described above, comprising: Step S1: Use the main controller to control the walking mechanism to move to the target work point; The laser rangefinder on the boom detects whether the center of the boom coincides with the tunnel axis; if they do not coincide, the main controller adjusts the lower boom lifting operation and the lateral movement operation of the traveling mechanism according to the data detected by the laser rangefinder, until the center of the boom coincides with the tunnel axis. Step S2: The main controller is used to control the grinding device to complete the grinding operation on the tunnel wall, wherein the dust and debris generated during grinding are sucked away by the dust collection system. Step S3: Using the main controller to control the electric hoist, the steel coil pre-installed on the steel coil device is hoisted along the guide rail to the steel coil limiting seat in the material changing and adjusting platform; using the main controller to control the telescopic cylinder to extend the unloading platform to drive the steel coil limiting seat to the predetermined loading point; The main controller controls the rotation of the working boom, which in turn moves the first telescopic arm and the second telescopic arm in the steel coil suspension device to the predetermined loading position. The main controller then controls the extension and retraction of the first telescopic arm and the second telescopic arm until they are connected to the steel coil device. After that, the first connecting flange is installed to complete the steel coil loading operation. Step S4: The operator enters the protective basket assembled in the suspended platform and controls the main controller to control the working boom, the suspended platform assembly, the steel coil suspension device and the roller pressing device to rotate to the position on the tunnel wall where the steel coil is to be laid. Then, the operator controls the first telescopic arm and the second telescopic arm in the steel coil suspension device to link with the steel coil drum device to bring the steel coil close to the position where the steel coil is to be laid. The operator pulls the free end of the steel coil to unwind it. During the unwinding operation, the operator controls the suspended platform control console to control the main controller, which in turn controls the rotation axis limiter to adjust the steel coil device to the required unwinding speed. The operator also controls the first longitudinal shifting cylinder to ensure the steel coil unwinding is within the longitudinal shift error range. The operator controls the third telescopic arm, the fourth telescopic arm, the first pitch cylinder, and the second pitch cylinder in the roller pressing device to work in tandem with the roller body to press the unwound steel coil against the tunnel wall. The operator also controls the second longitudinal shifting cylinder in conjunction with the first longitudinal shifting cylinder to ensure the steel coil unwinding is within the longitudinal shift error range. The operator controls the fifth telescopic arm, the sixth telescopic arm, the slewing reducer, and the leveling reducer to work in tandem, thereby ensuring the protective suspended platform remains close to the unwound steel coil. The main controller, based on the tilt angle data of the protective suspended platform fed back by the tilt sensor, controls the leveling reducer in real time to keep the protective suspended platform in a horizontal state. After unwinding 0.5 to 1.5 meters, the workers fix the unwound steel coil to the tunnel wall; unwinding and laying are repeated multiple times until the circumferential laying of the tunnel wall at the current target work point is completed. Step S5: Repeat steps S1, S2, and S4 to complete the steel coil laying operation at the next target work point; wherein, when the steel coil is used up, repeat step S3 to complete the steel coil loading operation. If the steel coil is not used up after the circumferential laying operation on the tunnel wall at the current target work point is completed, it needs to be cut before it can be transferred to the next target work point.

[0022] Optionally, during the steel coil laying operation, if it is necessary for a vehicle to pass through, the main controller first controls the working boom to rotate to a horizontal position; then controls the lifting wheel to rise off the ground; then controls the electric hoist to rotate in conjunction with the two lifting rings and the two front guide bridges to the first limit block at the end of their opening stroke; finally, the first telescopic reinforcing support rod and the second reinforcing support rod are disassembled to leave space for the vehicle to pass through.

[0023] Optionally, during the steel coil laying operation, if it is necessary to change the target work point, the main controller is first used to control the electric hoist to lift the two front approach bridges by linking the two lifting rings until the front approach bridges rotate to the second limit block at the end of their retraction stroke; then the main controller is used to control the lifting wheel to descend until the support connected to the horizontal bridge is disengaged from the tunnel wall and the lifting wheel contacts the tunnel wall; finally, the main controller is used to control the traveling mechanism to move to the target work point.

[0024] Optionally, if grinding of the tunnel wall is required during the steel coil laying operation, the main controller is used to control the electric hoist to lift the front guide bridge located on one side of the grinding device by linking the lifting ring until the front guide bridge rotates to the second limit block at the end of its retraction stroke; then the main controller is used to control the grinding device to complete the grinding operation.

[0025] Optionally, the pitch angle of the roller body is less than or equal to 40° when the first pitch cylinder and the second pitch cylinder are linked together.

[0026] Optionally, the slewing angle range of the working boom is limited by the traveling mechanism and chassis assembly structure. Its slewing angle range can be 36°~288°. The slewing angle range can be adjusted appropriately according to the working conditions, such as by changing the size of the traveling mechanism and chassis assembly structure to adjust the slewing angle range, thereby facilitating the completion of tunnel wall grinding and steel coil laying operations at the maximum angle.

[0027] The application of the technical solution of the present invention has at least the following beneficial effects: (1) The present invention provides a steel coil laying trolley that can operate intelligently, improve laying efficiency, and solve the problem of low laying efficiency of existing laying trolleys. Specifically, this invention uses a main controller to control the traveling mechanism to move to the target work point, and adjusts the traveling mechanism so that the center of the working boom coincides with the tunnel axis; the main controller controls the grinding device to complete the grinding operation on the tunnel wall; the operator enters the suspended basket assembly, and the main controller controls the working boom to rotate the suspended basket assembly, steel coil suspension device, and roller clamping device to the position on the tunnel wall where the steel coil is to be laid, and then controls the steel coil suspension device to bring the steel coil close to the position where the steel coil is to be laid, and the operator pulls the free end of the steel coil to perform the unwinding operation; during the unwinding operation, the main controller controls the roller clamping device to press the unwound steel coil onto the tunnel wall; after unwinding 0.5~1.5m, the operator fixes the unwound steel coil on the tunnel wall; multiple unwinding and multiple laying operations are performed until the circumferential laying operation on the tunnel wall of the current target work point is completed; this process is repeated to complete the steel coil laying operation at the next target work point. In the steel coil laying operation, hydraulic and electrical systems provide kinetic energy for the operation.

[0028] (2) The steel coil laying trolley operation method provided by this invention not only enables intelligent operation and improves laying efficiency, but also improves laying accuracy, operational safety, and operational comfort. Specifically: In terms of improving laying efficiency, the operation method adopted in this invention is an integrated operation method that combines steel coil feeding, wall grinding and steel coil laying, which greatly improves laying efficiency. To improve laying accuracy, a main controller is used to control the rotating shaft limiter to adjust the steel roll device to the required unwinding speed, avoiding unwinding too fast and exceeding the longitudinal displacement error. The main controller is also used to control the first longitudinal displacement correction cylinder to adjust the unwinding of the steel roll device within the longitudinal displacement error. Furthermore, the main controller controls the third telescopic arm, fourth telescopic arm, first pitch cylinder, and second pitch cylinder in the roller pressing device to work together with the roller body to press the released steel roll onto the tunnel wall. The second longitudinal displacement correction cylinder is also controlled in conjunction with the first longitudinal displacement correction cylinder to adjust the unwinding of the steel roll device within the longitudinal displacement error, thereby improving the unwinding laying accuracy. To improve operational safety and comfort, a main controller is used to coordinate the fifth and sixth telescopic booms, the slewing reducer, and the leveling reducer to ensure the protective basket remains close to the released steel coil. Specifically, the main controller uses the tilt angle data from the tilt sensor to control the leveling reducer in real time, keeping the protective basket horizontal and thus improving operational safety and comfort. Additionally, the main controller controls the rotation shaft limiter to adjust the steel coil unwinding device to the required speed, preventing excessively fast unwinding and potential safety risks, thereby enhancing operational safety.

[0029] (3) The operation method of the steel coil laying trolley provided by the present invention is applicable to the steel coil laying operation in large-span chambers. Specifically, the working arm, steel coil suspension device, roller pressing device and grinding device of appropriate size can be adapted according to the inner diameter of the chamber.

[0030] (4) In the steel coil laying operation, the present invention can use the main controller to control the electric hoist and the vehicle crossing bridge to meet the needs of vehicle crossing, changing the target operation point and grinding the tunnel wall.

[0031] (5) The pitch angle of the first pitch cylinder and the second pitch cylinder linkage drum body used in this invention is less than or equal to 40°, which makes it easy to press the steel coil onto the tunnel wall.

[0032] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of a steel coil laying trolley in Example 1; Figure 2 This is a schematic diagram of the walking mechanism in Embodiment 1; Figure 3 This is a schematic diagram of the working boom in Example 1; Figure 4 This is a structural schematic diagram of the suspended platform assembly in Example 1; Figure 5 This is a schematic diagram of the steel coil suspension device in Example 1; Figure 6 This is a schematic diagram of the roller pressing device in Example 1; Figure 7 This is a schematic diagram of the grinding device in Example 1; Figure 8 This is a structural schematic diagram of the chassis assembly in Example 1; Figure 9 This is a schematic diagram of the material changing and adjusting platform in Example 1; Figure 10 This is a schematic diagram of the vehicle crossing bridge in Example 1; Figure 11 This is a schematic diagram of the steel coil laying trolley in Example 1 during the loading of steel coils; Figure 12 yes Figure 11 Enlarged view of region A in the middle; Figure 13 This is a schematic diagram of the steel coil laying trolley in Example 1 during the laying of steel coils; Figure 14 yes Figure 13 Enlarged view of region B in the middle; Figure 15 This is a schematic diagram of the structure of a steel coil laying trolley in Example 2; Explanation of icon numbers: 1. Traveling mechanism; 1.1. Lower traveling arm; 1.2. Longitudinal movement assembly; 1.2.1. Longitudinal beam; 1.2.2. Longitudinal movement cylinder; 1.2.3. Traveling trolley; 1.2.4. Longitudinal gantry; 1.3. Lateral movement assembly; 1.3.1. Crossbeam; 1.3.2. Lateral movement cylinder; 1.3.3. Second arc-shaped support shoe; 1.4. Lateral reinforcing strut assembly; 2. Working boom; 2.1. Main boom assembly; 2.2. Slewing assembly; 2.3. Connecting seat; 2.4. Diagonal tie rod; 2.5. Counterweight; 2.6. Synchronous shaft; 3. Suspended platform assembly; 3.1. Fifth telescopic boom; 3.2. Sixth telescopic boom; 3.3. Slewing reducer; 3.4. Leveling reducer; 3.5. Suspended platform assembly; 3.6. Suspended platform control panel. 4. Steel coil suspension device, 4.1 First telescopic arm, 4.2 Second telescopic arm, 4.3 Steel coil device, 4.3.1 Rotating shaft body, 4.3.2 Tensioning mechanism, 4.4 First connecting flange, 4.5 Rotating shaft limiter, 4.6 First correction longitudinal movement cylinder; 5. Roller clamping device; 5.1. Third telescopic arm; 5.2. Fourth telescopic arm; 5.3. First pitch cylinder; 5.4. Second pitch cylinder; 5.5. Roller body; 5.6. Second connecting flange; 5.7. Second longitudinal correction cylinder. 6. Grinding device; 6.1. Telescopic adjusting arm; 6.2. Adaptive guiding assembly; 6.3. Grinding assembly; 7. Hydraulic system; 8. Electrical system; 9. Chassis assembly; 9.1. Chassis bracket; 9.2. First mounting base; 9.3. Second mounting base; 9.4. Suspension rail assembly; 9.4.1. Guide suspension rail; 9.4.2. Electric hoist; 10. Material changing and adjusting platform; 10.1. Platform frame; 10.2. Telescopic platform; 10.3. Steel coil limit seat; 10.4. Side walkway. 11. Vehicle crossing bridge; 11.1. Horizontal bridge; 11.2. Supports; 11.3. Front approach bridge; 11.4. Lifting wheel; 12. Vacuum cleaning system; W, tunnel. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0036] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0037] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0040] Example 1: See Figure 1 A steel coil laying trolley includes a traveling mechanism 1, a working boom 2, a basket assembly 3, a steel coil suspension device 4, a roller pressing device 5, a grinding device 6, a hydraulic system 7, an electrical system 8, and a main controller (such as a PLC controller, not shown in the figure). The walking mechanism 1 is movably installed on the bottom wall of the tunnel W; The traveling mechanism 1 is connected to the working boom 2 via a slewing assembly 2.2 above it, which is used to drive the working boom 2 to rotate. The working boom 2 is arranged at both ends along the radial direction of the tunnel W in the length direction. The grinding device 6 is arranged at one end in the length direction, while the basket assembly 3, the steel coil suspension device 4 and the roller pressing device 5 are arranged at the other end in the length direction. The hydraulic system 7, the electrical system 8, and the main controller are all located above the walking mechanism 1; The main controller is connected to the grinding device 6 and the suspended platform assembly 3 through the hydraulic system 7 and the electrical system 8; the main controller is connected to the traveling mechanism 1, the working boom 2, the steel coil suspension device 4 and the roller pressing device 5 through the hydraulic system 7.

[0041] The number of working booms 2 is two sets, and they are symmetrically arranged at the front end and rear end of the traveling mechanism 1 in the direction of the tunnel W axis, respectively; the two sets of working booms 2 are connected by a synchronous shaft 2.6 to facilitate the synchronous movement of the two sets of working booms 2. See Figure 3 Each of the working booms 2 in each group includes a main boom assembly 2.1, a slewing assembly 2.2, a connecting seat 2.3, a tie rod 2.4, a counterweight 2.5, and a laser rangefinder (not shown in the figure). The main boom assembly 2.1 is arranged at both ends along the radial direction of the tunnel W in the length direction. The connecting seat 2.3 is arranged at one end in the length direction, and the counterweight 2.5 is arranged at the other end in the length direction. The suspended platform assembly 3, the steel coil suspension device 4, and the roller pressing device 5 are all connected to the connecting seat 2.3. The grinding device 6 is connected to the end of the main boom assembly 2.1 near the counterweight 2.5. The slewing assembly 2.2 includes a slewing base, a slewing drive, and a slewing support; the slewing support is located at the center of the main boom assembly 2.1 in the length direction; the slewing base is located above the traveling mechanism 1 and is connected to the slewing support; the fixed end of the slewing drive is located on the slewing base, and its driving end cooperates with the slewing support to drive the slewing support to rotate; the slewing drive is connected to the main controller via the hydraulic system 7. The two ends of the synchronous shaft 2.6 are respectively connected to the slewing seats of the two sets of the working boom 2; The laser ranging sensor is provided at both ends of each main arm assembly 2.1 along its length, and each laser ranging sensor is connected to the main controller. The number of the diagonal tie rods 2.4 is multiple, and the diagonal tie rods 2.4 are installed at both ends of the main boom assembly 2.1 and between the slewing seat.

[0042] The main boom assembly 2.1 includes a first main boom and a second main boom arranged coaxially; the first main boom and the second main boom are respectively arranged on both sides of the rotary seat along the radial direction of the tunnel W. The main boom assembly 2.1 is configured with an appropriate size according to the inner diameter of the tunnel W.

[0043] See Figure 5 The steel coil suspension device 4 includes a first telescopic arm 4.1, a second telescopic arm 4.2, a steel coil device 4.3, a first connecting flange 4.4, a rotation shaft limiter 4.5, and a first correction longitudinal movement cylinder 4.6; The first telescopic arm 4.1 and the second telescopic arm 4.2 are respectively connected to the connecting seats 2.3 on the two main arm assemblies 2.1; The steel drum device 4.3 is installed at the telescopic ends of the first telescopic arm 4.1 and the second telescopic arm 4.2, and both ends of the steel drum device 4.3 are detachably connected to the first telescopic arm 4.1 and the second telescopic arm 4.2 respectively through the first connecting flange 4.4; the first telescopic arm 4.1 and the second telescopic arm 4.2 are respectively connected to the main controller through the hydraulic system 7; The rotating shaft limiter 4.5 is disposed on the rotating shaft body 4.3.1 of the steel drum device 4.3; Tensioning mechanisms 4.3.2 for tensioning the steel coil are provided at both axial ends of the steel coil device 4.3. The tensioning mechanism 4.3.2 includes an adjustable tensioning strut. The adjustable tensioning strut includes a limiting locking component and a first strut and a second strut arranged coaxially. The first strut is a hollow strut. The second strut is a solid strut, and one end of the second strut is coaxially sleeved in the first strut. Multiple threaded holes are provided through the first strut wall along its length. The limiting locking component is a bolt and is adapted to fit the threaded holes. When the second strut is adjusted relative to the first strut to be tight against the inner lining of the steel coil, the limiting locking component is screwed into the threaded hole to lock the second strut and the first strut together, thereby achieving the tensioning effect on the steel coil. The first longitudinal correction cylinder 4.6 is installed at the telescopic end of the first telescopic arm 4.1 or the second telescopic arm 4.2; the first longitudinal correction cylinder 4.6 is connected to the main controller through the hydraulic system 7.

[0044] The rotary shaft limiter 4.5 includes a limiter housing, a clamping cylinder, and an elastic sleeve (such as a rubber sleeve); the limiter housing is coaxially sleeved on the rotary shaft body 4.3.1; the elastic sleeve is coaxially sleeved on the rotary shaft body 4.3.1 and located inside the limiter housing; the clamping cylinder is disposed inside the limiter housing, and its clamping working end is correspondingly disposed with the elastic sleeve; the clamping cylinder is connected to the main controller through the hydraulic system 7.

[0045] See Figure 6 The roller clamping device 5 includes a third telescopic arm 5.1, a fourth telescopic arm 5.2, a first pitch cylinder 5.3, a second pitch cylinder 5.4, a roller body 5.5, a second connecting flange 5.6, and a second correction longitudinal movement cylinder 5.7; The third telescopic arm 5.1 and the fourth telescopic arm 5.2 are respectively connected to the connecting seats 2.3 on the two main arm assemblies 2.1; The roller body 5.5 is disposed on the telescopic ends of the third telescopic arm 5.1 and the fourth telescopic arm 5.2, and the two ends of the roller body 5.5 are detachably connected to the third telescopic arm 5.1 and the fourth telescopic arm 5.2 respectively through the second connecting flange 5.6; the third telescopic arm 5.1 and the fourth telescopic arm 5.2 are respectively connected to the main controller through the hydraulic system 7; The fixed ends of the first pitch cylinder 5.3 and the second pitch cylinder 5.4 are respectively connected to the connecting seats 2.3 on the two main boom assemblies 2.1, and their pitch working ends are respectively connected to the third telescopic boom 5.1 (specifically, boom number one) and the fourth telescopic boom 5.2 (specifically, boom number one); the first pitch cylinder 5.3 and the second pitch cylinder 5.4 are respectively connected to the main controller through the hydraulic system 7; The second longitudinal correction cylinder 5.7 is mounted on the telescopic end of the third telescopic arm 5.1 or the fourth telescopic arm 5.2; the second longitudinal correction cylinder 5.7 is connected to the main controller through the hydraulic system 7.

[0046] See Figure 4 The suspended platform assembly 3 includes a fifth telescopic arm 3.1, a sixth telescopic arm 3.2, a slewing reducer 3.3, a leveling reducer 3.4, a suspended platform assembly 3.5, a suspended platform control panel 3.6, and an tilt sensor (not shown in the figure). The slewing reducer 3.3 is installed on both the fifth telescopic boom 3.1 and the sixth telescopic boom 3.2, and is connected to the connecting seat 2.3 on the two main boom assemblies 2.1 through the slewing reducer 3.3; the fifth telescopic boom 3.1 and the sixth telescopic boom 3.2 are connected to the main controller through the hydraulic system 7. The rotary reducer 3.3 is connected to the main controller via the electrical system 8; The leveling reducer 3.4 is installed at the telescopic end of the fifth telescopic arm 3.1; the leveling reducer 3.4 is connected to the main controller through the electrical system 8; The suspended platform assembly 3.5 is provided between the fifth telescopic boom 3.1 and the sixth telescopic boom 3.2; the suspended platform assembly 3.5 includes a protective suspended platform for workers. The control panel 3.6 of the suspended platform is installed inside the protective suspended platform and is connected to the main controller through the electrical system 8; The tilt sensor is installed inside the protective basket and connected to the main controller.

[0047] The first telescopic arm 4.1, the second telescopic arm 4.2, the third telescopic arm 5.1, the fourth telescopic arm 5.2, the fifth telescopic arm 3.1, and the sixth telescopic arm 3.2 each include a telescopic drive cylinder, a first arm, and a second arm; the first arm and the second arm are coaxially arranged, and the end of the first arm away from the second arm is connected to the connecting seat 2.3 on the main arm assembly 2.1, and the end of the second arm away from the first arm is the telescopic end; the fixed end of the telescopic drive cylinder is connected to the first arm, while the telescopic end is connected to the second arm; the telescopic drive cylinder is connected to the main controller through the hydraulic system 7.

[0048] See Figure 1 and Figure 8 The steel coil laying trolley also includes a chassis assembly 9; the chassis assembly 9 is mounted on the traveling mechanism 1, and its top is connected to the working boom 2 via the slewing assembly 2.2. The hydraulic system 7, the electrical system 8, and the main controller are all mounted on the chassis assembly 9; The chassis assembly 9 includes a chassis bracket 9.1, a first mounting base 9.2, a second mounting base 9.3, and a hanging rail assembly 9.4; The chassis support 9.1 is mounted on the traveling mechanism 1, and a working space for vehicle passage and hoisting is provided between the two. The top of the chassis support 9.1 is connected to the slewing assemblies 2.2 of the two working booms 2 by means of the first mounting base 9.2 and the second mounting base 9.3 respectively; the chassis support 9.1 includes a beam for connecting the first mounting base 9.2 and the second mounting base 9.3; The suspension rail assembly 9.4 includes a guide rail 9.4.1 and an electric hoist 9.4.2; the guide rail 9.4.1 is located at the bottom of the chassis support 9.1 and is perpendicular to the tunnel W-axis direction; the electric hoist 9.4.2 is located on the guide rail 9.4.1 and is connected to the main controller through the electrical system 8.

[0049] See Figure 2 The walking mechanism 1 includes a stepping mechanism; The stepping mechanism includes a lower walking arm 1.1, a longitudinal movement assembly 1.2, and a lateral movement assembly 1.3; The longitudinal moving components 1.2 are in two sets and are symmetrically arranged on both sides of the tunnel W axis along the length of the tunnel W; the transverse moving components 1.3 are in two sets and are symmetrically arranged at both ends of the two sets of longitudinal moving components 1.2. Each set of longitudinal movement components 1.2 includes a longitudinal beam 1.2.1, a longitudinal movement cylinder 1.2.2, a traveling trolley 1.2.3, and a longitudinal boat 1.2.4; the longitudinal beams 1.2.1 in both sets of longitudinal movement components 1.2 are symmetrically arranged on both sides of the tunnel W-axis direction; the longitudinal boat 1.2.4 is slidably arranged below the longitudinal beam 1.2.1 via the longitudinal movement cylinder 1.2.2 and the traveling trolley 1.2.3; the longitudinal movement cylinder 1.2.2... The telescopic end of .2.2 is connected to the longitudinal vessel 1.2.4, while the fixed end is connected to the traveling trolley 1.2.3; the longitudinal moving cylinder 1.2.2 is connected to the main controller through the hydraulic system 7; the bottom of the traveling trolley 1.2.3 rolls in contact with the longitudinal vessel 1.2.4 through rollers, while its top is fixedly connected to the longitudinal beam 1.2.1; a first arc-shaped support shoe adapted to the curvature of the tunnel W wall is provided on the bottom surface of the longitudinal vessel 1.2.4; Each set of transverse moving components 1.3 includes a crossbeam 1.3.1, a transverse moving cylinder 1.3.2, and a second arc-shaped support shoe 1.3.3; the crossbeams 1.3.1 in the two sets of transverse moving components 1.3 are symmetrically arranged at both ends of the two longitudinal beams 1.2.1; the transverse moving cylinders 1.3.2 are respectively arranged at both ends of the crossbeams 1.3.1, and the second arc-shaped support shoe 1.3.3 adapted to the curvature of the tunnel W wall is arranged at the telescopic end of the transverse moving cylinders 1.3.2; the transverse moving cylinders 1.3.2 are connected to the main controller through the hydraulic system 7; The number of the lower walking arms 1.1 is equal to the number of the second arc-shaped support boots 1.3.3, and they are connected in a one-to-one correspondence; the lower walking arm 1.1 includes a first arm section, a second arm section, and a first lifting cylinder; one end of the first arm section is connected to the top of the second arc-shaped support boot 1.3.3, and the other end is connected to the second arm section through the first lifting cylinder; the end of the second arm section away from the first arm section is connected to the chassis assembly 9; the first lifting cylinder is connected to the main controller through the hydraulic system 7.

[0050] The longitudinal stepping movement steps of the stepping mechanism are as follows: The main controller controls the first lifting cylinder in the lower traveling arm 1.1 to descend and extend, so that the second arc-shaped support shoe 1.3.3 below the lower traveling arm 1.1 contacts the bottom surface of tunnel W. At this time, the first arc-shaped support shoe at the bottom of the longitudinal boat 1.2.4 is lifted and detached from the bottom surface of tunnel W. The main controller controls the longitudinal moving cylinder 1.2.2 to drive the traveling trolley 1.2.3 to move, changing the relative position of the longitudinal boat 1.2.4 and the longitudinal beam 1.2.1, thereby causing the longitudinal boat 1.2.4 to move forward relative to the longitudinal beam 1.2.1. The main controller is used to raise and retract the first lifting cylinder in the lower traveling arm 1.1, causing the second arc-shaped support shoe 1.3.3 below the lower traveling arm 1.1 to detach from the bottom surface of tunnel W. At this time, the first arc-shaped support shoe at the bottom of the longitudinal vessel 1.2.4 contacts the bottom surface of tunnel W. The main controller is used to control the longitudinal movement cylinder 1.2.2 to drive the traveling trolley 1.2.3 to move. The traveling arm 1.1, which has detached from the bottom surface of tunnel W, is moved forward through the longitudinal beam 1.2.1, thereby driving the chassis assembly 9 above the lower traveling arm 1.1 to move forward, realizing longitudinal step-like walking.

[0051] The steps of the stepping mechanism for lateral stepping are as follows: The first lifting cylinder in the lower traveling arm 1.1 is raised and retracted by the main controller, so that the second arc-shaped support shoe 1.3.3 below the lower traveling arm 1.1 is removed from the bottom surface of the tunnel W. At this time, the first arc-shaped support shoe at the bottom of the longitudinal vessel 1.2.4 contacts the bottom surface of the tunnel W. The lateral movement cylinder 1.3.2 is controlled by the main controller to drive the second arc-shaped support shoe 1.3.3 to move laterally, so as to realize the lateral step-like walking.

[0052] The stepping mechanism also includes a lateral reinforcing strut assembly 1.4 to enhance its stability. The lateral reinforcing strut assembly 1.4 is parallel to the crossbeam 1.3.1, and its two ends are respectively connected to the two lower walking arms 1.1. The lateral reinforcing strut assembly 1.4 includes a first telescopic reinforcing strut and a second reinforcing strut coaxially arranged, with their ends rotatably connected (e.g., hinged) to the corresponding lower walking arm 1.1. When a vehicle needs to pass, the first telescopic reinforcing strut and the second reinforcing strut are used to rotate and adjust their respective positions. The direction allows the first and second telescopic reinforcing struts to rotate to the longitudinal beam direction to meet vehicle passage requirements; the ends of the first and second telescopic reinforcing struts adjacent to each other are detachably connected; the first telescopic reinforcing strut includes a cylinder and a screw arranged coaxially; one end of the cylinder is rotatably connected to the lower traveling arm 1.1, while the other end is threadedly connected to the screw; the inner wall of the cylinder is provided with a thread adapted to the screw; the end of the screw away from the cylinder is detachably connected to the second reinforcing strut via a flange and bolts; proper rotation of the screw facilitates adjustment of the flange alignment during installation.

[0053] See Figure 1 The steel coil laying trolley also includes a dust collection system 12; the dust collection system 12 is connected to the grinding device 6; the main controller is connected to the dust collection system 12 through the electrical system 8; See Figure 7 The polishing device 6 includes a telescopic adjusting arm 6.1, an adaptive guiding component 6.2, and a polishing component 6.3; The telescopic adjusting arm 6.1 includes a telescopic drive component and a first adjusting arm and a second adjusting arm coaxially sleeved together. The end of the first adjusting arm away from the second adjusting arm is connected to the working arm 2, and the end of the second adjusting arm away from the first adjusting arm is connected to the grinding component 6.3 through the adaptive guide component 6.2. The fixed end of the telescopic drive component is connected to the first adjusting arm, while the telescopic end is connected to the second adjusting arm. The telescopic drive component is connected to the main controller through the hydraulic system 7. The grinding assembly 6.3 includes a housing, a grinding roller brush, a bearing seat, and a drive motor. The housing is connected to the adaptive guide assembly 6.2, with its side facing the tunnel W wall being the opening side. The grinding roller brush includes a roller brush mounting shaft and a roller brush body. The roller brush body is mounted on the roller brush mounting shaft. Both ends of the roller brush mounting shaft are fixedly connected to the housing via the bearing seat, and the roller brush body extends beyond the housing on the opening side. The drive motor is mounted on the housing, and its drive end is connected to the roller brush mounting shaft via a synchronous belt. The drive motor is connected to the main controller via the electrical system 8. The number of adaptive guiding components 6.2 is at least two sets (specifically four sets), and they are symmetrically arranged between the telescopic adjusting arm 6.1 and the grinding component 6.3 to provide guidance for the grinding component 6.3. The adaptive guiding component 6.2 includes a telescopic rod, an elastic element, a mounting plate, and a guide wheel. The telescopic rod includes a first connecting rod and a second connecting rod coaxially sleeved. The end of the first connecting rod away from the second connecting rod is connected to the telescopic end of the second adjusting arm, and the end of the second connecting rod away from the first connecting rod is connected to the housing through the mounting plate. The elastic element is in a compressed state, with one end connected to the first connecting rod and the other end connected to the mounting plate. The guide wheel is located on the side of the mounting plate opposite to the second connecting rod and makes rolling contact with the tunnel wall W.

[0054] See Figure 9 The steel coil laying trolley also includes a material changing and adjusting platform 10; the material changing and adjusting platform 10 includes a platform frame 10.1, a telescopic platform 10.2, a steel coil limiting seat 10.3, and a side walkway 10.4; the platform frame 10.1 is mounted on the chassis assembly 9 and includes guide rails for the telescopic sliding of the telescopic platform 10.2; the telescopic platform 10.2 includes a telescopic cylinder and a feeding platform; the feeding platform is slidably connected to the platform frame 10.1 via the guide rails; the fixed end of the telescopic cylinder is connected to the platform frame 10.1, while the telescopic end is connected to the feeding platform; the telescopic cylinder is connected to the main controller via the hydraulic system 7; the steel coil limiting seat 10.3 is mounted on the feeding platform; Side walkways 10.4 are respectively provided on both sides of the telescopic platform 10.2 in the direction perpendicular to the tunnel W axis; the side walkways 10.4 include flip-up foldable walkways, which are easy to flip open to extend the length of the side walkways 10.4, which can not only improve the convenience of operation, but also reduce the space occupied by the side walkways 10.4.

[0055] See Figure 10 The steel coil laying trolley also includes a vehicle crossing bridge 11; the vehicle crossing bridge 11 includes a horizontal bridge 11.1, a support 11.2, a front approach bridge 11.3, and a lifting wheel 11.4; The horizontal bridge 11.1 is mounted on the traveling mechanism 1; the number of supports 11.2 is multiple (e.g., six), and they are evenly distributed at the bottom of the horizontal bridge 11.1 to support the horizontal bridge 11.1; the number of lifting wheels 11.4 is multiple, and they are distributed at the bottom of the horizontal bridge 11.1 to lift and move the horizontal bridge 11.1, causing the supports 11.2 to move closer to or away from the tunnel wall; each lifting wheel 11.4 includes a second lifting cylinder and a first traveling wheel; the fixed end of the second lifting cylinder is connected to the bottom of the horizontal bridge 11.1, while the lifting end is connected to the first traveling wheel through a bearing seat; the second lifting cylinder is connected to the main controller through the hydraulic system 7. At both ends of the horizontal bridge 11.1 along the tunnel W-axis, the front approach bridge 11.3 is rotatably mounted, and each end of the front approach bridge 11.3 is provided with a first limiting block for rotating to the end of its opening stroke and a second limiting block for rotating to the end of its retraction stroke. Below each front approach bridge 11.3, a second traveling wheel is provided to assist in opening and retraction. Each front approach bridge 11.3 is provided with a lifting ring; the lifting ring is adapted to the hook on the electric hoist 9.4.2.

[0056] The steps of the operation method of the steel coil laying trolley are as follows: Step S1: Use the main controller to control the walking mechanism 1 to move to the target work point; The laser rangefinder on the boom 2 detects whether the center of the boom 2 coincides with the tunnel W axis; if they do not coincide, the main controller adjusts the lifting operation of the lower arm 1.1 and the lateral movement operation of the lateral movement component 1.3 in the traveling mechanism 1 according to the data detected by the laser rangefinder, until the center of the boom 2 coincides with the tunnel W axis; Step S2: The main controller is used to control the grinding device 6 to complete the grinding operation on the wall of tunnel W, wherein the dust and debris generated during grinding are sucked away by the dust suction system 12. Step S3: Using the main controller, the electric hoist 9.4.2 is used to lift the steel coil (which can be pre-installed on the steel coil device 4.3 to improve the steel coil feeding efficiency) along the guide rail 9.4.1 to the steel coil limiting seat 10.3 in the material changing and adjusting platform 10; the main controller is used to control the telescopic cylinder to extend the unloading platform to drive the steel coil limiting seat 10.3 to the predetermined feeding point; See Figures 11-12 The main controller controls the rotation of the working boom 2, which in turn moves the first telescopic boom 4.1 and the second telescopic boom 4.2 in the steel coil suspension device 4 to the predetermined loading position. The main controller controls the extension and retraction of the first telescopic boom 4.1 and the second telescopic boom 4.2 until they are connected to the steel coil device 4.3. Then, the first connecting flange 4.4 is installed to complete the steel coil loading operation. Step S4: The operator enters the protective basket of the suspended basket assembly 3.5, and controls the main controller via the control panel 3.6 to control the working boom 2, the suspended basket assembly 3, the steel coil suspension device 4, and the roller pressing device 5 to rotate to the position on the tunnel W wall where the steel coil is to be laid. Then, the operator controls the first telescopic arm 4.1 and the second telescopic arm 4.2 in the steel coil suspension device 4 to link with the steel coil drum device 4.3 to bring the steel coil close to the position where the steel coil is to be laid. The operator pulls the free end of the steel coil to unwind it. See Figures 13-14 During the unwinding operation, the operator controls the suspended platform control panel 3.6 to control the main controller, which in turn controls the rotation axis limiter 4.5 to adjust the steel drum device 4.3 to the required unwinding speed. The operator also controls the first longitudinal correction cylinder 4.6 to ensure the unwinding of the steel drum device 4.3 is within the longitudinal error range. The operator then controls the third telescopic arm 5.1, the fourth telescopic arm 5.2, the first pitch cylinder 5.3, and the second pitch cylinder 5.4 in the drum pressing device 5 to work in conjunction with the drum body 5.5 to press the unwound steel coil against the tunnel wall. On the surface, the second correction longitudinal displacement cylinder 5.7 is controlled in conjunction with the first correction longitudinal displacement cylinder 4.6 to adjust the unwinding of the steel coil device 4.3 within the longitudinal displacement error; the fifth telescopic arm 3.1, the sixth telescopic arm 3.2, the slewing reducer 3.3 and the leveling reducer 3.4 are controlled to work together to control the protective basket to always be close to the unwound steel coil; wherein, the main controller controls the leveling reducer 3.4 in real time to keep the protective basket in a horizontal state based on the tilt angle data of the protective basket fed back by the tilt angle sensor; After unwinding the coil by 1m, the workers fix the unwound steel coil to the tunnel wall W; unwind and lay the coil multiple times until the circumferential laying of the tunnel wall W at the current target work point is completed. Step S5: Repeat steps S1, S2, and S4 to complete the steel coil laying operation at the next target work point; wherein, when the steel coil is used up, repeat step S3 to complete the steel coil loading operation. If the steel coil is not used up after the circumferential laying operation on the tunnel wall at the current target work point is completed, it needs to be cut before it can be transferred to the next target work point.

[0057] The pitch angle of the first pitch cylinder 5.3 and the second pitch cylinder 5.4 linked to the roller body 5.5 is less than or equal to 40°, which facilitates pressing the steel coil onto the tunnel wall. The rotation angle range of the working boom 2 is limited by the traveling mechanism and chassis assembly structure. Its rotation angle range can be 36°~288°. The rotation angle range can be adjusted appropriately according to the working conditions. For example, the size of the traveling mechanism and chassis assembly structure can be changed to adjust the rotation angle range, so as to facilitate the completion of tunnel W wall grinding and steel coil laying operations at the maximum angle.

[0058] During the steel coil laying operation: If a vehicle needs to pass through, the main controller first controls the boom 2 to rotate to a horizontal position; then controls the lifting wheel 11.4 to rise off the ground; then controls the electric hoist 9.4.2 to rotate in conjunction with the two lifting rings and the two front axles 11.3 to the first limit block at the end of its opening stroke; finally, the first telescopic reinforcing support rod and the second reinforcing support rod are disassembled to make room for the vehicle to pass through. If the target work point needs to be changed, the main controller first controls the electric hoist 9.4.2 to lift the two front approach bridges 11.3 by linking the two lifting rings until the front approach bridges 11.3 rotate to the second limit block at the end of their retraction stroke; then the main controller controls the lifting wheel 11.4 to descend until the support 11.2 connected to the horizontal bridge 11.1 disengages from the tunnel W wall and the lifting wheel 11.4 contacts the tunnel W wall; finally, the main controller controls the traveling mechanism 1 to move to the target work point. If grinding is required on the wall of tunnel W, the main controller is used to control the electric hoist 9.4.2 to lift the front guide bridge 11.3 located on one side of the grinding device 6 by linking the lifting ring until the front guide bridge 11.3 rotates to the second limit block at the end of its retraction stroke; then the main controller is used to control the grinding device 6 to complete the grinding operation.

[0059] Example 2: Unlike Example 1, see [link to Example 1] Figure 15 The steel coil laying trolley was not equipped with a vehicle crossing bridge 11.

[0060] The operation method of the steel coil laying trolley is the same as steps S1 to S5 in Example 1.

[0061] The steel coil laying trolley operation method provided in Embodiments 1 and 2 of this invention not only enables intelligent operation and improves laying efficiency, but also enhances laying accuracy, operational safety, and operational comfort. Specifically: In terms of improving laying efficiency, the operation method adopted in Embodiments 1 and 2 of this invention is an integrated operation method that combines steel coil feeding, wall grinding and steel coil laying, which greatly improves laying efficiency. To improve laying accuracy, the main controller controls the rotating shaft limiter 4.5 to adjust the steel drum device 4.3 to the required unwinding speed, avoiding excessive unwinding that would exceed the longitudinal displacement error. The main controller also controls the first correction longitudinal displacement cylinder 4.6 to adjust the unwinding of the steel drum device 4.3 within the longitudinal displacement error range. Furthermore, the main controller controls the third telescopic arm 5.1, the fourth telescopic arm 5.2, the first pitch cylinder 5.3, and the second pitch cylinder 5.4 in the drum pressing device 5 to work in conjunction with the drum body 5.5 to press the unwound steel drum onto the tunnel W wall. The second correction longitudinal displacement cylinder 5.7, in conjunction with the first correction longitudinal displacement cylinder 4.6, adjusts the unwinding of the steel drum device 4.3 within the longitudinal displacement error range, thereby improving the unwinding laying accuracy. To improve operational safety and comfort, a main controller is used to coordinate the operation of the fifth telescopic boom 3.1, the sixth telescopic boom 3.2, the slewing reducer 3.3, and the leveling reducer 3.4, thereby ensuring that the protective basket remains close to the released steel coil. Specifically, the main controller uses the tilt angle data from the tilt sensor to control the leveling reducer 3.4 in real time, keeping the protective basket level, thus improving operational safety and comfort. Additionally, the main controller controls the rotation axis limiter 4.5 to adjust the steel coil device 4.3 to the required unwinding speed, preventing excessively fast unwinding and potential safety risks, thereby enhancing operational safety.

[0062] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A steel coil laying trolley, characterized in that, It includes a traveling mechanism (1), a working boom (2), a suspended basket assembly (3), a steel coil suspension device (4), a roller clamping device (5), a grinding device (6), a hydraulic system (7), an electrical system (8), and a main controller; The walking mechanism (1) is movably installed on the bottom wall of the tunnel; The traveling mechanism (1) is connected to the working boom (2) above it via a slewing assembly (2.2) for driving the working boom (2) to rotate. The working boom (2) is set at both ends along the radial direction of the tunnel in the length direction. The grinding device (6) is set at one end in the length direction, while the basket assembly (3), the steel coil suspension device (4) and the roller clamping device (5) are set at the other end in the length direction. The hydraulic system (7), the electrical system (8), and the main controller are all located above the walking mechanism (1); The main controller is connected to the grinding device (6) and the basket assembly (3) through the hydraulic system (7) and the electrical system (8); the main controller is connected to the traveling mechanism (1), the working boom (2), the steel coil suspension device (4) and the roller pressing device (5) through the hydraulic system (7).

2. The steel coil laying trolley as described in claim 1, characterized in that, The number of the working booms (2) is two sets, and they are symmetrically arranged on the front end and rear end of the traveling mechanism (1) in the tunnel axis direction, respectively; the two sets of working booms (2) are connected by a synchronous shaft (2.6); Each of the working booms (2) in each group includes a main boom assembly (2.1), a slewing assembly (2.2), a connecting seat (2.3), and a counterweight (2.5). The main boom assembly (2.1) is arranged at both ends along the radial direction of the tunnel in the length direction. The connecting seat (2.3) is arranged at one end in the length direction, and the counterweight (2.5) is arranged at the other end in the length direction. The basket assembly (3), the steel coil suspension device (4) and the roller pressing device (5) are all connected to the connecting seat (2.3). The grinding device (6) is connected to the end of the main boom assembly (2.1) near the counterweight (2.5). The slewing assembly (2.2) is located at the center of the main boom assembly (2.1) in the length direction and is used to drive the main boom assembly (2.1) to rotate.

3. The steel coil laying trolley as described in claim 2, characterized in that, The slewing assembly (2.2) includes a slewing base, a slewing drive, and a slewing support; the slewing support is located at the center of the main boom assembly (2.1) in the length direction; the slewing base is located above the traveling mechanism (1) and is connected to the slewing support; the fixed end of the slewing drive is located on the slewing base, and its driving end cooperates with the slewing support to drive the slewing support to rotate; the slewing drive is connected to the main controller via the hydraulic system (7); The two ends of the synchronous shaft (2.6) are respectively connected to the slewing supports of the two sets of the working booms (2); Each of the working booms (2) also includes a tie rod (2.4) and a laser rangefinder; The laser ranging sensor is provided at both ends of the length direction of each main arm assembly (2.1), and each laser ranging sensor is connected to the main controller; The number of the diagonal tie rods (2.4) is multiple, and the diagonal tie rods (2.4) are provided at both ends of the main boom assembly (2.1) and between the slewing seat.

4. The steel coil laying trolley as described in claim 3, characterized in that, The steel coil suspension device (4) includes a first telescopic arm (4.1), a second telescopic arm (4.2), a steel coil device (4.3), a first connecting flange (4.4), a rotation shaft limiter (4.5), and a first correction longitudinal displacement cylinder (4.6). The first telescopic arm (4.1) and the second telescopic arm (4.2) are respectively connected to the connecting seats (2.3) on the two main arm assemblies (2.1); The steel drum device (4.3) is installed at the telescopic ends of the first telescopic arm (4.1) and the second telescopic arm (4.2), and both ends of the steel drum device (4.3) are detachably connected to the first telescopic arm (4.1) and the second telescopic arm (4.2) respectively through the first connecting flange (4.4); the first telescopic arm (4.1) and the second telescopic arm (4.2) are respectively connected to the main controller through the hydraulic system (7); The rotating shaft limiter (4.5) is disposed on the rotating shaft body (4.3.1) of the steel drum device (4.3); Tensioning mechanisms (4.3.2) for tensioning the steel coil are provided at both axial ends of the steel coil device (4.3); the tensioning mechanism (4.3.2) includes a tension adjustable support rod; The first longitudinal correction cylinder (4.6) is installed on the telescopic end of the first telescopic arm (4.1) or the second telescopic arm (4.2); the first longitudinal correction cylinder (4.6) is connected to the main controller through the hydraulic system (7).

5. The steel coil laying trolley as described in claim 4, characterized in that, The rotary shaft limiter (4.5) includes a limiter housing, a clamping cylinder, and an elastic sleeve; the limiter housing is coaxially sleeved on the rotary shaft body (4.3.1); the elastic sleeve is coaxially sleeved on the rotary shaft body (4.3.1) and located inside the limiter housing; the clamping cylinder is located inside the limiter housing, and its clamping working end is correspondingly arranged with the elastic sleeve; the clamping cylinder is connected to the main controller through the hydraulic system (7).

6. The steel coil laying trolley as described in claim 4, characterized in that, The roller clamping device (5) includes a third telescopic arm (5.1), a fourth telescopic arm (5.2), a first pitch cylinder (5.3), a second pitch cylinder (5.4), a roller body (5.5), and a second connecting flange (5.6). The third telescopic arm (5.1) and the fourth telescopic arm (5.2) are respectively connected to the connecting seats (2.3) on the two main arm assemblies (2.1); The roller body (5.5) is disposed on the telescopic ends of the third telescopic arm (5.1) and the fourth telescopic arm (5.2), and both ends of the roller body (5.5) are detachably connected to the third telescopic arm (5.1) and the fourth telescopic arm (5.2) respectively through the second connecting flange (5.6); the third telescopic arm (5.1) and the fourth telescopic arm (5.2) are respectively connected to the main controller through the hydraulic system (7); The fixed ends of the first pitch cylinder (5.3) and the second pitch cylinder (5.4) are respectively connected to the connecting seats (2.3) on the two main boom assemblies (2.1), and their pitch working ends are respectively connected to the third telescopic boom (5.1) and the fourth telescopic boom (5.2); the first pitch cylinder (5.3) and the second pitch cylinder (5.4) are respectively connected to the main controller through the hydraulic system (7).

7. The steel coil laying trolley as described in claim 6, characterized in that, The roller clamping device (5) further includes a second longitudinal correction cylinder (5.7); the second longitudinal correction cylinder (5.7) is located at the telescopic end of the third telescopic arm (5.1) or the fourth telescopic arm (5.2); the second longitudinal correction cylinder (5.7) is connected to the main controller through the hydraulic system (7).

8. The steel coil laying trolley as described in claim 7, characterized in that, The suspended platform assembly (3) includes a fifth telescopic boom (3.1), a sixth telescopic boom (3.2), a rotary reducer (3.3), a leveling reducer (3.4), a suspended platform assembly (3.5), a suspended platform control panel (3.6), and a tilt sensor; The rotary reducer (3.3) is installed on both the fifth telescopic boom (3.1) and the sixth telescopic boom (3.2), and is connected to the connecting seat (2.3) on the two main boom assemblies (2.1) through the rotary reducer (3.3); the fifth telescopic boom (3.1) and the sixth telescopic boom (3.2) are connected to the main controller through the hydraulic system (7); The rotary reducer (3.3) is connected to the main controller via the electrical system (8); The leveling reducer (3.4) is installed at the telescopic end of the fifth telescopic arm (3.1) or the sixth telescopic arm (3.2); the leveling reducer (3.4) is connected to the main controller through the electrical system (8); The suspended platform assembly (3.5) is disposed between the fifth telescopic boom (3.1) and the sixth telescopic boom (3.2); the suspended platform assembly (3.5) includes a protective suspended platform for workers to operate in. The control panel (3.6) of the suspended platform is located inside the protective suspended platform and is connected to the main controller through the electrical system (8); The tilt sensor is installed inside the protective basket and connected to the main controller.

9. The steel coil laying trolley as described in claim 8, characterized in that, It also includes a chassis assembly (9); the chassis assembly (9) is mounted on the traveling mechanism (1), and its top is connected to the working boom (2) via the slewing assembly (2.2); The hydraulic system (7), the electrical system (8) and the main controller are all mounted on the chassis assembly (9); The chassis assembly (9) includes a chassis bracket (9.1), a first mounting base (9.2), a second mounting base (9.3), and a hanging rail assembly (9.4). The chassis support (9.1) is mounted on the traveling mechanism (1), and a working space for vehicle passage and hoisting is provided between the two; The top of the chassis support (9.1) is connected to the slewing assemblies (2.2) of the two working booms (2) by means of the first mounting seat (9.2) and the second mounting seat (9.3); the chassis support (9.1) includes a beam for connecting the first mounting seat (9.2) and the second mounting seat (9.3); The suspension rail assembly (9.4) includes a guide rail (9.4.1) and an electric hoist (9.4.2); the guide rail (9.4.1) is located at the bottom of the chassis support (9.1) and is perpendicular to the tunnel axis; the electric hoist (9.4.2) is located on the guide rail (9.4.1) and is connected to the main controller through the electrical system (8).

10. The steel coil laying trolley as described in claim 9, characterized in that, The walking mechanism (1) includes a stepping mechanism; The stepping mechanism includes a walking lower arm (1.1), a longitudinal traversing assembly (1.2), and a transverse traversing assembly (1.3). The longitudinal moving components (1.2) are in two sets and are symmetrically arranged on both sides of the tunnel axis along the length of the tunnel; the transverse moving components (1.3) are in two sets and are symmetrically arranged at both ends of the two sets of longitudinal moving components (1.2). Each set of longitudinal moving components (1.2) includes a longitudinal beam (1.2.1), a longitudinal moving cylinder (1.2.2), a traveling trolley (1.2.3), and a longitudinal boat (1.2.4); the longitudinal beams (1.2.1) in both sets of longitudinal moving components (1.2) are symmetrically arranged on both sides of the tunnel axis; the longitudinal boat (1.2.4) is slidably disposed below the longitudinal beam (1.2.1) via the longitudinal moving cylinder (1.2.2) and the traveling trolley (1.2.3); the longitudinal moving cylinder... The telescopic end of the cylinder (1.2.2) is connected to the longitudinal boat (1.2.1), while the fixed end is connected to the traveling trolley (1.2.3); the longitudinal moving cylinder (1.2.2) is connected to the main controller through the hydraulic system (7); the bottom of the traveling trolley (1.2.3) rolls in contact with the longitudinal boat (1.2.4) through rollers, while its top is fixedly connected to the longitudinal beam (1.2.1); a first arc-shaped support shoe adapted to the curvature of the tunnel wall is provided on the bottom surface of the longitudinal boat (1.2.4); Each of the transverse moving components (1.3) includes a crossbeam (1.3.1), a transverse moving cylinder (1.3.2), and a second arc-shaped support shoe (1.3.3); the crossbeams (1.3.1) in the two sets of transverse moving components (1.3) are symmetrically arranged at both ends of the two longitudinal beams (1.2.1); the transverse moving cylinders (1.3.2) are respectively arranged at both ends of the crossbeams (1.3.1), and the second arc-shaped support shoe (1.3.3) adapted to the curvature of the tunnel wall is arranged at the telescopic end of the transverse moving cylinders (1.3.2); the transverse moving cylinders (1.3.2) are connected to the main controller through the hydraulic system (7); The number of the lower walking arms (1.1) is equal to the number of the second arc-shaped support boots (1.3.3), and they are connected one-to-one; the lower walking arm (1.1) includes a first arm section, a second arm section, and a first lifting cylinder; one end of the first arm section is connected to the top of the second arc-shaped support boot (1.3.3), and the other end is connected to the second arm section through the first lifting cylinder; the end of the second arm section away from the first arm section is connected to the chassis assembly (9); the first lifting cylinder is connected to the main controller through the hydraulic system (7).

11. The steel coil laying trolley as described in claim 10, characterized in that, The stepping mechanism also includes a transverse reinforcing strut assembly (1.4); the transverse reinforcing strut assembly (1.4) is arranged parallel to the crossbeam (1.3.1), and its two ends are respectively connected to the two walking lower arms (1.1); the transverse reinforcing strut assembly (1.4) includes a first telescopic reinforcing strut and a second reinforcing strut arranged coaxially, and the ends of the two struts that are far apart from each other are rotatably connected to the corresponding walking lower arms (1.1), respectively used to adjust the direction of the first telescopic reinforcing strut and the second reinforcing strut; the ends of the first telescopic reinforcing strut and the second reinforcing strut adjacent to each other are detachably connected.

12. The steel coil laying trolley as described in claim 11, characterized in that, It also includes a vacuuming system (12); the vacuuming system (12) is connected to the polishing device (6); the main controller is connected to the vacuuming system (12) through the electrical system (8); The polishing device (6) includes a telescopic adjusting arm (6.1), an adaptive guiding component (6.2), and a polishing component (6.3). The telescopic adjusting arm (6.1) includes a telescopic drive component and a first adjusting arm and a second adjusting arm coaxially sleeved together; the end of the first adjusting arm away from the second adjusting arm is connected to the working arm frame (2), and the end of the second adjusting arm away from the first adjusting arm is connected to the grinding component (6.3) through the adaptive guide component (6.2); the fixed end of the telescopic drive component is connected to the first adjusting arm, and the telescopic end is connected to the second adjusting arm; the telescopic drive component is connected to the main controller through the hydraulic system (7).

13. The steel coil laying trolley as described in claim 12, characterized in that, The grinding assembly (6.3) includes a housing, a grinding roller brush, a bearing seat, and a drive motor; the housing is connected to the adaptive guide assembly (6.2), and its side facing the tunnel wall is the opening side; the grinding roller brush includes a roller brush mounting shaft and a roller brush body; the roller brush body is disposed on the roller brush mounting shaft; both ends of the roller brush mounting shaft are fixedly connected to the housing through the bearing seat, and the roller brush body extends beyond the housing on the side of the opening side of the housing; the drive motor is disposed on the housing, and its drive end is connected to the roller brush mounting shaft through a synchronous belt; the drive motor is connected to the main controller through the electrical system (8).

14. The steel coil laying trolley as described in claim 13, characterized in that, The number of adaptive guiding components (6.2) is at least two sets, and they are symmetrically arranged between the telescopic adjusting arm (6.1) and the grinding component (6.3). The adaptive guiding component (6.2) includes a telescopic rod, an elastic element, a mounting plate, and a guide wheel. The telescopic rod includes a first connecting rod and a second connecting rod coaxially sleeved. The end of the first connecting rod away from the second connecting rod is connected to the telescopic end of the second adjusting arm, and the end of the second connecting rod away from the first connecting rod is connected to the housing through the mounting plate. The elastic element is in a compressed state, and one end of it is connected to the first connecting rod, while the other end of it is connected to the mounting plate. The guide wheel is located on the side of the mounting plate away from the second connecting rod and makes rolling contact with the tunnel wall.

15. The steel coil laying trolley as described in claim 12, characterized in that, It also includes a material changing adjustment platform (10); the material changing adjustment platform (10) includes a platform frame (10.1), a telescopic platform (10.2), a steel coil limiting seat (10.3), and a side walkway (10.4); the platform frame (10.1) is mounted on the chassis assembly (9), and includes a guide rail for the telescopic sliding of the telescopic platform (10.2); the telescopic platform (10.2) includes a telescopic cylinder and a feeding platform; the feeding platform is slidably connected to the platform frame (10.1) via the guide rail; the fixed end of the telescopic cylinder is connected to the platform frame, while the telescopic end is connected to the feeding platform; the telescopic cylinder is connected to the main controller via the hydraulic system (7); the steel coil limiting seat (10.3) is mounted on the feeding platform; The side walkways (10.4) are respectively provided on both sides of the telescopic platform (10.2) in the direction perpendicular to the tunnel axis; the side walkways (10.4) include flip-up and foldable walkways.

16. The steel coil laying trolley as described in claim 15, characterized in that, It also includes a vehicle crossing bridge (11); the vehicle crossing bridge (11) includes a horizontal bridge (11.1), a support (11.2), a front approach bridge (11.3), and a lifting wheel (11.4). The horizontal bridge (11.1) is mounted on the traveling mechanism (1); there are multiple supports (11.2) arranged at the bottom of the horizontal bridge (11.1) to support the horizontal bridge (11.1); there are multiple lifting wheels (11.4) arranged at the bottom of the horizontal bridge (11.1) to lift and move the horizontal bridge (11.1) to bring the supports (11.2) closer to or away from the tunnel wall; each lifting wheel (11.4) includes a second lifting cylinder and a first traveling wheel; the fixed end of the second lifting cylinder is connected to the bottom of the horizontal bridge (11.1), while the lifting end is connected to the first traveling wheel through a bearing seat; the second lifting cylinder is connected to the main controller through the hydraulic system (7); The front approach bridge (11.3) is rotatably mounted at both ends of the horizontal bridge (11.1) along the tunnel axis. A first limiting block for the front approach bridge (11.3) to rotate to the end of its opening stroke and a second limiting block for the front approach bridge (11.3) to rotate to the end of its retraction stroke are also provided at both ends. A second traveling wheel for assisting the front approach bridge (11.3) to open and retract is provided below each of the front approach bridges (11.3). A lifting ring is provided on each of the front approach bridges (11.3). The lifting ring is adapted to the hook on the electric hoist (9.4.2).

17. A method for operating a steel coil laying trolley as described in claim 16, characterized in that, include: Step S1: Use the main controller to control the walking mechanism (1) to move to the target work point; The laser rangefinder on the working boom (2) detects whether the center of the working boom (2) coincides with the tunnel axis; if they do not coincide, the main controller adjusts the lifting operation of the lower arm (1.1) and the lateral movement operation of the lateral movement component (1.3) in the traveling mechanism (1) according to the data detected by the laser rangefinder, until the center of the working boom (2) coincides with the tunnel axis; Step S2: The main controller is used to control the grinding device (6) to complete the grinding operation on the tunnel wall, wherein the dust and slag generated during grinding are sucked away by the dust suction system (12); Step S3: Using the main controller, control the electric hoist (9.4.2) to hoist the steel coil pre-installed on the steel coil device (4.3) along the guide rail (9.4.1) to the steel coil limiting seat (10.3) in the material changing adjustment platform (10); Using the main controller, control the telescopic cylinder to extend the unloading platform to drive the steel coil limiting seat (10.3) to the predetermined loading point; The main controller controls the rotation of the working boom (2), thereby linking the first telescopic boom (4.1) and the second telescopic boom (4.2) in the steel coil suspension device (4) to move to the predetermined loading point. The main controller controls the telescopic operation of the first telescopic boom (4.1) and the second telescopic boom (4.2) until they are connected to the steel coil device (4.3). Then, the first connecting flange (4.4) is installed to complete the steel coil loading operation. Step S4: The operator enters the protective basket of the suspended basket assembly (3.5), controls the suspended basket control panel (3.6), and then controls the main controller to control the working boom (2) to link the suspended basket assembly (3), the steel coil suspension device (4) and the roller pressing device (5) to rotate to the position on the tunnel wall where the steel coil is to be laid. Then, the operator controls the first telescopic arm (4.1) and the second telescopic arm (4.2) in the steel coil suspension device (4) to link the steel coil drum device (4.3) to bring the steel coil close to the position where the steel coil is to be laid. The operator pulls the free end of the steel coil to unwind it. During the unwinding operation, the operator controls the suspended platform control panel (3.6) to control the main controller to control the rotation axis limiter (4.5) to adjust the steel drum device (4.3) to the required unwinding speed, and controls the first correction longitudinal displacement cylinder (4.6) to adjust the unwinding of the steel drum device (4.3) within the longitudinal displacement error; controls the third telescopic arm (5.1), the fourth telescopic arm (5.2), the first pitch cylinder (5.3), and the second pitch cylinder (5.4) in the drum pressing device (5) to work together with the drum body (5.5) to press the unwound steel coil into the tunnel. On the wall surface, the second longitudinal shifting cylinder (5.7) is controlled in conjunction with the first longitudinal shifting cylinder (4.6) to adjust the unwinding of the steel coil device (4.3) within the longitudinal shift error; the fifth telescopic arm (3.1), the sixth telescopic arm (3.2), the rotary reducer (3.3), and the leveling reducer (3.4) are controlled to work together to control the protective basket to always be close to the unwound steel coil; wherein, the main controller controls the leveling reducer (3.4) in real time to keep the protective basket in a horizontal state based on the tilt angle data of the protective basket fed back by the tilt angle sensor; After unwinding 0.5 to 1.5 meters, the workers fix the unwound steel coil to the tunnel wall; unwinding and laying are repeated multiple times until the circumferential laying of the tunnel wall at the current target work point is completed. Step S5: Repeat steps S1, S2 and S4 to complete the steel coil laying operation at the next target work point; wherein, when the steel coil is used up, repeat step S3 to complete the steel coil loading operation.

18. The method for operating the steel coil laying trolley as described in claim 17, characterized in that, In the steel coil laying operation, if it is necessary for a vehicle to pass through, the main controller is used to first control the working boom (2) to rotate to a horizontal position; then the lifting wheel (11.4) is controlled to rise off the ground; then the electric hoist (9.4.2) is controlled to drive the two lifting rings and the two front axles (11.3) to rotate to the first limit block at the end of its opening stroke; finally, the first telescopic reinforcing support rod and the second reinforcing support rod are disassembled to leave space for the vehicle to pass through.

19. The method for operating the steel coil laying trolley as described in claim 17, characterized in that, During the steel coil laying operation, if it is necessary to change the target work point, the main controller is first used to control the electric hoist ( 9.4.2) The two front approach bridges (11.3) are lifted by linking the two lifting rings until the front approach bridges (11.3) rotate to the second limit block at the end of their retraction stroke; then the main controller controls the lifting wheel (11.4) to descend until the support (11.2) connected to the horizontal bridge (11.1) is separated from the tunnel wall and the lifting wheel (11.4) contacts the tunnel wall; finally, the main controller controls the walking mechanism (1) to move to the target work point.

20. The operating method of the steel coil laying trolley as described in claim 17, characterized in that, If grinding of the tunnel wall is required during the steel coil laying operation, the electric hoist is first controlled by the main controller. 9.4.2) The front guide bridge (11.3) located on one side of the grinding device (6) is lifted by the linkage of the lifting ring until the front guide bridge (11.3) rotates to the second limit block at the end of its retraction stroke; then the main controller is used to control the grinding device (6) to complete the grinding operation.

21. The operating method of the steel coil laying trolley as described in claim 17, characterized in that, The first pitch cylinder (5.3) and the second pitch cylinder (5.4) are linked to the pitch angle of the roller body (5.5) to be less than or equal to 40°.

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