High-rigidity large-telescopic ultra-wide tunnel secondary lining trolley

Abstract

The invention discloses a high-rigidity large-telescopic ultra-wide tunnel secondary lining trolley, which belongs to the technical field of secondary lining trolleys, and comprises a portal frame system, a template system and a support system, the supporting system is installed on the portal frame system and connected with the formwork system, and the supporting system forms a telescopic supporting space between the portal frame system and the formwork system. The supporting system comprises a first jacking assembly, a second jacking assembly and a supporting assembly. The first jacking assembly is arranged between the portal frame system and the supporting assembly and used for driving the supporting assembly to be away from or close to the portal frame system, and the second jacking assembly is arranged between the supporting assembly and the formwork system and used for driving the formwork system to be away from or close to the portal frame system; according to the self-adaptive telescopic trolley, a dynamic and variable self-adaptive telescopic frame is formed through a door type structure composed of the movable side plates and the movable top plate instead of a fixed door frame system in a traditional trolley, and the flexibility and the adjusting precision of the trolley are greatly improved.

Description

Technical Field

[0001] This invention belongs to the technical field of secondary lining trolleys, specifically relating to a high-rigidity, large-expansion, ultra-wide tunnel secondary lining trolley. Background Technology

[0002] Traditional secondary lining trolleys typically employ a single-layer rigid gantry system combined with bolt-fixed formwork. However, with the increasing networking and complexity of modern tunnel engineering, especially as construction cross-sections transition from standard spans to ultra-wide spans, the structural defects of traditional trolleys have become increasingly apparent. Their lateral span adjustment capability is strictly limited by the bearing capacity of the gantry columns. When the span exceeds 12m, the gantry system experiences deflection exceeding 18mm, far exceeding the engineering's permissible deformation control standards.

[0003] The core problem with existing technologies lies in the non-variable diameter characteristic of the formwork system. Traditional bolted formwork requires the replacement of the entire main beam and arch plate unit to achieve cross-sectional adjustment, which necessitates large-scale structural dismantling during span conversion.

[0004] Traditional trolley support mechanisms only have vertical lifting capabilities and lack telescopic adjustment capabilities. This results in a serious lack of fit between the formwork and the surrounding rock during ultra-wide cross-section construction, which can easily lead to severe grout leakage and deformation exceeding tolerances. This not only affects the forming quality of the lining concrete but also poses a potential threat to the long-term durability of the tunnel structure.

[0005] Therefore, a high-rigidity, large-expansion, ultra-wide tunnel secondary lining trolley is needed. Summary of the Invention

[0006] To address the aforementioned problems in the existing technology, this invention provides a high-rigidity, large-expansion, ultra-wide tunnel lining trolley, which solves the problem that existing lining trolleys lack expansion and contraction adjustment capabilities, resulting in insufficient fit between the formwork and the surrounding rock during ultra-wide cross-section construction, easily leading to serious grout leakage and deformation exceeding tolerance.

[0007] The objective of this invention can be achieved through the following technical solutions: A high-rigidity, large-expansion, ultra-wide tunnel lining trolley includes a gantry system, a template system, and a support system; the support system is installed on the gantry system and connected to the template system, and the support system forms an expandable support space between the gantry system and the template system; The support system includes a first lifting component, a second lifting component, and a support component; the first lifting component is disposed between the gantry system and the support component, and is used to drive the support component away from or towards the gantry system; the second lifting component is disposed between the support component and the template system, and is used to drive the template system away from or towards the gantry system. The support assembly includes two side plates and a top plate; the top plate is located between the two side plates and the two side plates and the top plate form a portal structure, the two side plates are used to move in the width direction of the support space, and the top plate is used to move in the height direction of the support space.

[0008] Preferably, any of the side plate components includes a support plate and an adjusting plate. The support plate is connected to the first lifting assembly. The top of the two adjusting plates is provided with a snap-fit ​​part. The snap-fit ​​part snaps into a snap-fit ​​groove provided at both ends of the top plate, which is used to drive the adjusting plate to move synchronously when the first lifting assembly lifts the top plate. The snap-fit ​​part and the snap-fit ​​groove are snapped in two L-shapes. The outlet height of the snap-fit ​​groove is greater than the height of the snap-fit ​​part.

[0009] Preferably, the bottom of the adjusting plate is provided with a hydraulic support member, which is used to lift and support the adjusting plate at the bottom.

[0010] Preferably, any of the support plates is provided with a fixing component, which is used to abut the adjusting plate against the support plate. The fixing component includes a connecting shaft, a clamping member, and a driving member. The connecting shaft is fixed to the support plate. The clamping members are all installed on the connecting shaft and roll in contact with the adjusting plate. The driving member is used to drive the clamping members to move on the connecting shaft. The clamping member is I-shaped, and the groove of the I-shape rolls in contact with the adjusting plate.

[0011] Preferably, the system further includes a sensor group and a control module. The sensor group includes multiple multi-dimensional force sensors, which are respectively disposed in the contact area between the two adjusting plates and the second lifting components, for real-time detection of the three-dimensional force and torque data generated by each second lifting component on the adjusting plate. The control module is communicatively connected to the sensor group and each driving component, for dynamically calculating the required clamping force distribution of each adjusting plate based on the force data fed back by the sensor group and generating corresponding control commands. The control commands drive the clamping components on each connecting shaft to move axially, maintaining the force balance of the adjusting plate during the extension and support process.

[0012] Preferably, the control module is also communicatively connected to the hydraulic support component; the control module has pre-stored the target support height of the hydraulic support component under different tunnel cross sections. When the first lifting component lifts the adjusting plate to the predetermined height, the control module sends a command to the hydraulic support component to drive its piston rod to extend downward until it contacts the bottom of the tunnel and provides a predetermined support force, forming a cooperative support with the first lifting component to jointly bear the load transmitted by the adjusting plate.

[0013] Preferably, the first lifting assembly includes at least three sets, respectively disposed on both sides and the top of the gantry system; the first lifting assembly includes a lifting cylinder, a mounting base, a force sensor, and a displacement sensor; the cylinder body of the lifting cylinder is mounted on the gantry system through the mounting base, and its piston rod end is connected to the support plate; the force sensor is disposed at the connection between the piston rod end and the support plate, for real-time monitoring of the lifting force; the displacement sensor is disposed on the lifting cylinder, for real-time monitoring of the cylinder's extension and retraction stroke.

[0014] Preferably, the second lifting assembly includes at least three sets, which are respectively disposed on the two adjusting plates and the top plate.

[0015] Preferably, the template system includes at least three template sections, which are used to support the top and sides respectively, and the templates on the sides and the templates on the top are hinged together and lifted by three sets of the second lifting components respectively.

[0016] Preferably, an active walking system is installed at the bottom of the gantry system, and a passive walking system is installed at the bottom of the support plate. The active walking system is used to drive the gantry system to move, and the passive walking system is used to support the support plate and move with the active walking system.

[0017] The beneficial effects of this invention are as follows: 1. When the tunnel cross-section widens, the side panels can extend outwards, thereby causing the connected formwork system to expand outwards and cover a wider cross-section. Conversely, they contract inwards. The top plate can move in the height direction of the supporting space, working in conjunction with the second lifting component to fine-tune the elevation of the arch formwork, ensuring that the arch is tightly pressed against the surrounding rock and preventing grout leakage. In this way, by adjusting the side panels and the top plate, it is equivalent to increasing the height and width of the gantry system, allowing the second lifting component to adjust and support the formwork system based on the range adjusted by the first lifting component.

[0018] 2. The multi-dimensional force sensor collects three-dimensional force and torque data in real time and transmits it to the control module for dynamic mechanical calculation. Based on the real-time feedback of the off-center load, the module calculates the ideal clamping force distribution required to counteract the abnormal torque and drives each I-shaped clamping component to finely adjust its axial position. In this way, the internal stress is actively balanced through the dynamically adjusted frictional constraint force, so that the adjustment plate always maintains the optimal force system balance and attitude stability. Attached Figure Description

[0019] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the structure of the double-lining trolley in an embodiment of the present invention in an ultra-large support state; Figure 2This is a schematic diagram of the structure of the secondary lining trolley in a normal support state according to one embodiment of the present invention; Figure 3 A schematic diagram of a fixed component mounting structure is provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the snap-fit ​​structure of the snap-fit ​​part in one embodiment of the present invention; Legend: 1. Gantry system; 2. Side panel; 21. Support plate; 22. Adjusting plate; 221. Snap-fit ​​part; 3. Top plate; 31. Snap-fit ​​groove; 4. Template system; 5. First lifting assembly; 6. Fixing assembly; 61. Connecting shaft; 62. Clamping part; 63. Driving part; 7. Second lifting assembly; 8. Hydraulic support part. Detailed Implementation

[0021] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0022] The existing secondary lining trolleys lack sufficient telescopic adjustment capabilities, which cannot provide greater support space for the formwork in ultra-wide cross-section construction. Lifting is usually a single, integrated action.

[0023] like Figures 1-4 As shown, a high-rigidity, large-expansion, ultra-wide tunnel lining trolley includes a gantry system 1, a template system 4, and a support system; the support system is installed on the gantry system 1 and connected to the template system 4, and the support system forms an expandable support space between the gantry system 1 and the template system 4. The support system includes a first lifting component 5, a second lifting component 7, and a support component. The first lifting component 5 is located between the gantry system 1 and the support component, and is used to drive the support component and the gantry system 1 to rise or fall. The first lifting component 5 serves as the first height adjustment system for the secondary lining trolley. The second lifting component 7 is located between the support component and the template system 4. The second lifting component 7 drives the template system 4 away from or closer to the gantry system 1 based on the drive of the first lifting component 5, so that the secondary lining trolley has two levels of height adjustment and the height adjustment is divided into a multi-level adjustment method, so that the template system 4 receives stronger support force, instead of using a single lifting component to lift, which would make the lifting lever arm too long and cause unstable support. The first lifting assembly 5 includes two side plates 2 and a top plate 3. The top plate 3 is located between the two side plates 2, and the two side plates 2 and the top plate 3 form a portal structure. The two side plates 2 are used to move in the width direction of the support space, and the top plate 3 is used to move in the height direction of the support space. Specifically, when the tunnel cross-section widens, the two side plates 2 can extend outward, thereby driving the connected formwork system 4 to expand outward and cover a wider cross-section. Conversely, they contract inward. The top plate 3 can move in the height direction of the support space, working in conjunction with the second lifting assembly 7 to fine-tune the elevation of the arch formwork, ensuring that the arch is pressed tightly against the surrounding rock and preventing grout leakage. In this way, by adjusting the two side plates 2 and the top plate 3, it is equivalent to increasing the height and width of the portal system 1, so that the second lifting assembly 7 can adjust and support the formwork system 4 based on the range adjusted by the first lifting assembly 5. In summary, the portal structure in this embodiment, consisting of a movable side panel 2 and a movable top panel 3, is no longer a traditional fixed portal frame, but a dynamic, variable, adaptive telescopic frame, rather than the fixed portal system 1 in a traditional trolley, which greatly enhances the flexibility and adjustment accuracy of the trolley.

[0024] In one embodiment, each side plate 2 includes a support plate 21 and an adjusting plate 22. The support plate 21 is connected to the first lifting assembly 5. The top of the two adjusting plates 22 is provided with a snap-fit ​​part 221, which snaps into the snap-fit ​​groove 31 provided at both ends of the top plate 3. When the first lifting assembly 5 lifts the top plate 3, the vertical surfaces of the two L-shaped structures hook each other, and can reliably transmit the lifting force to the adjusting plates 22 on both sides, driving them to rise synchronously. This ensures the rigidity and lifting efficiency of the support system as an overall frame, transforming the traditional rigid connection or completely separate component relationship into a mechanical connection, so that the formwork system 4 is lifted simultaneously, avoiding the formation of formwork support in the tunnel. The blind spots that the support cannot cover; the locking part 221 and the locking groove 31 are locked in a two-L manner, and the outlet height of the locking groove 31 is greater than the height of the locking part 221. The height difference design allows the top plate 3 and the adjusting plate 22 to be locked in the vertical direction and move freely in the horizontal direction; when the first lifting component 5 lifts the top plate 3, the top plate 3 drives the adjusting plate 22 to move synchronously under the action of the locking part 221; when it is necessary to expand the width, the two adjusting plates 22 move to both ends respectively, thereby sliding away from the top plate 3 from the locking groove 31; so that the adjusting plate 22 can move with the top plate 3 in the vertical direction and also move in the horizontal direction.

[0025] In one embodiment, a hydraulic support 8 is provided at the bottom of the adjusting plate 22. The hydraulic support 8 is used to lift and support the adjusting plate 22 at the bottom. Since the adjusting plate 22 and the support plate 21 are slidably connected, and the second lifting component 7 is also provided on the adjusting plate 22, the adjusting plate 22 needs to have structural stability. At the same time, the adjusting plate 22 can also move with the top plate 3. Therefore, the hydraulic support 8 is provided at the bottom of the adjusting plate 22 so that after the adjusting plate 22 moves with the top plate 3, the hydraulic support 8 can extend to the bottom surface and support it, thereby transferring the load of the adjusting plate 22 to the ground through the hydraulic support 8. At the same time, it also cooperates with the lifting of the adjusting plate 22 to adjust the height of the top plate 3 and then abut the top of the adjusting plate 22 against the top of the snap-fit ​​groove 31, so that the snap-fit ​​part 221 of the adjusting plate 22 moves out of the top plate 3.

[0026] In one embodiment, any support plate 21 is provided with a fixing component 6, which is used to abut the adjusting plate 22 against the support plate 21. The fixing component 6 includes a connecting shaft 61, clamping members 62, and a driving member 63. The connecting shaft 61 is fixed to the support plate 21, and the clamping members 62 are all installed on the connecting shaft 61 and roll in contact with the adjusting plate 22. The driving member 63 is used to drive the clamping members 62 to move on the connecting shaft 61. The clamping members 62 are I-shaped, and the groove of the I-shape rolls in contact with the adjusting plate 22. The groove of the I-shaped clamping member 62 forms a rolling contact with the adjusting plate 22, which greatly reduces the frictional resistance of the adjusting plate 22 during the vertical height adjustment process with the top plate 3. When the adjustment is in place, the driving member 63 can drive the clamping member 62 to move along the connecting shaft 61, and use the concave surface of the I-shaped structure to press the adjusting plate 22 tightly against the support plate 21. The adjusting plate 22 is firmly locked by static friction, thereby transforming the entire support assembly into a high-rigidity whole.

[0027] In the above embodiments, the adjusting plate 22 and the support are connected together by the fixing component 6. However, a second lifting component 7 is installed on the other side of the adjusting plate 22, and there are multiple of them. Since the shape of the template system 4 is arc-shaped, the lifting force required by each second lifting component 7 is inconsistent, and the reaction force acting on the adjusting plate 22 is also inconsistent. Therefore, in order to maintain the force balance and stable support of the adjusting plate 22, in one embodiment, a sensor group and a control module are also included. The sensor group includes multiple multi-dimensional force sensors, which are respectively set in the contact area between the two adjusting plates 22 and the second lifting components 7, for real-time detection. The control module communicates with the sensor group and each drive component 63 to dynamically calculate the ideal clamping force distribution required by each adjustment plate 22 based on the force data fed back by the sensor group, and generates corresponding control commands. The control commands drive the clamping components 62 on each connecting shaft 61 to move axially, and adjust the abutment force on the adjustment plate 22 in real time, so that the adjustment plate 22 forms a controlled friction constraint in the width direction, thereby counteracting the off-center load torque generated by the second lifting component 7, and maintaining the force balance and posture stability of the adjustment plate 22 during the extension and support process. The multi-dimensional force sensor collects three-dimensional force and torque data in real time and transmits it to the control module for dynamic mechanical calculation. Based on the real-time feedback of the off-center load, the module calculates the ideal clamping force distribution required to counteract the abnormal torque and drives each I-shaped clamping component 62 to finely adjust its axial position. In this way, the internal stress is actively balanced through the dynamically adjusted frictional constraint force, so that the adjustment plate 22 always maintains the optimal force system balance and attitude stability.

[0028] The control module is also equipped with an adaptive learning unit, which can predict the trend of tunnel profile change based on historical stress data and adjust the clamping force parameters in advance to achieve adaptive matching of pre-tightening force. This not only greatly improves the adaptability and attitude stability of the trolley in ultra-wide and asymmetrical cross-section construction, but also fundamentally eliminates deformation deviation and grout leakage caused by eccentric loading.

[0029] In one embodiment, the control module is also communicatively connected to the hydraulic support 8. The control module has pre-stored the target support height of the hydraulic support 8 under different tunnel cross sections. According to the pre-stored tunnel cross section parameters, after the first lifting component 5 lifts the adjusting plate 22 to the predetermined working height, the control module automatically sends a command to the hydraulic support 8 to drive its piston rod to extend precisely with a set pressure until it makes stable contact with the bottom of the tunnel. Thus, it forms a "cooperative force-bearing frame" from top to bottom with the first lifting component 5 above, and together they evenly bear the huge load from the template system 4.

[0030] In one embodiment, the first lifting assembly 5 includes at least three sets, respectively located on both sides and the top of the gantry system 1; the first lifting assembly 5 includes a lifting cylinder, a mounting base, a force sensor, and a displacement sensor; the cylinder body of the lifting cylinder is mounted on the gantry system 1 via the mounting base, and the end of its piston rod is connected to the support plate 21; a stable lifting plane is formed by at least three sets of lifting cylinders distributed on both sides and the top of the gantry, and the lifting force of each cylinder is monitored in real time using the force sensor, while the extension and retraction stroke of each cylinder is accurately synchronized using the displacement sensor; the control module can dynamically adjust the oil pressure and flow rate of each cylinder by comparing the force and displacement data at each point in real time, thereby realizing the smooth and synchronous lifting and lowering of the support assembly.

[0031] In one embodiment, the second lifting component 7 includes at least three sets, which are respectively set on the two adjusting plates 22 and the top plate 3. Multiple second lifting components 7 operate independently on the stable platform provided by the support component, and can adjust the height and posture of the two sides of the template system 4 and the arch respectively, so that the template surface can closely fit the irregular curved surface of the tunnel surrounding rock and ensure that the lifting force is evenly distributed, realizing independent adjustment of the ultra-large area template and adapting to the tunnel shape.

[0032] Traditional monolithic formwork is difficult to adapt to complex surface changes in ultra-wide tunnel construction, has poor adjustment flexibility, and is prone to structural internal stress. In one embodiment, the formwork system 4 includes at least three formwork sections, which are used to support the top and sides respectively. The formwork system 4 is divided into a top formwork and two side formwork sections and connected by hinges. While maintaining the continuity of the overall structure, it allows each formwork section to rotate relative to the hinge point. Three sets of second lifting components 7 act on the top formwork and the two side formwork sections respectively, and can independently adjust the lifting height and inclination angle of each formwork section, so that the formwork system 4 can conform to the curvature changes of the tunnel outline.

[0033] In one embodiment, an active walking system is installed at the bottom of the gantry system 1, and a passive walking system is installed at the bottom of the support plate 21. The active walking system is used to drive the gantry system 1 to move, and the passive walking system is used to support the support plate 21 and move with the active walking system. By using the gantry system 1 to pull and the support system to follow, the walking resistance caused by the huge weight of the trolley is effectively distributed. This not only greatly reduces the power demand and energy consumption of the walking system, but also improves the flexibility and efficiency of the overall movement of the trolley.

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A high-rigidity, large-expansion, ultra-wide tunnel lining trolley, characterized in that, It includes a gantry system, a formwork system, and a support system; the support system is installed on the gantry system and connected to the formwork system, and the support system forms a telescopic support space between the gantry system and the formwork system; The support system includes a first lifting component, a second lifting component, and a support component; the first lifting component is disposed between the gantry system and the support component, and is used to drive the support component away from or towards the gantry system; the second lifting component is disposed between the support component and the template system, and is used to drive the template system away from or towards the gantry system. The support assembly includes two side plates and a top plate; the top plate is located between the two side plates and the two side plates and the top plate form a portal structure, the two side plates are used to move in the width direction of the support space, and the top plate is used to move in the height direction of the support space.

2. The high-rigidity, large-expansion, ultra-wide tunnel lining trolley according to claim 1, characterized in that, Each of the side plate components includes a support plate and an adjusting plate. The support plate is connected to the first lifting assembly. The top of the two adjusting plates is provided with a snap-fit ​​part. The snap-fit ​​part snaps into the snap-fit ​​grooves provided at both ends of the top plate, which are used to drive the adjusting plates to move synchronously when the first lifting assembly lifts the top plate. The snap-fit ​​part and the snap-fit ​​groove are snapped together in a two-L manner. The outlet height of the snap-fit ​​groove is greater than the height of the snap-fit ​​part.

3. The high-rigidity, large-expansion, ultra-wide tunnel secondary lining trolley according to claim 2, characterized in that, The bottom of the adjusting plate is provided with a hydraulic support component, which is used to lift and support the adjusting plate at the bottom.

4. The high-rigidity, large-expansion, ultra-wide tunnel lining trolley according to claim 3, characterized in that, Each of the aforementioned support plates is provided with a fixing assembly, which is used to abut the adjusting plate against the support plate. The fixing assembly includes a connecting shaft, a clamping member, and a driving member. The connecting shaft is fixed to the support plate. The clamping members are all mounted on the connecting shaft and roll in contact with the adjusting plate. The driving member is used to drive the clamping members to move on the connecting shaft. The clamping member is I-shaped, and the groove of the I-shape rolls in contact with the adjusting plate.

5. A high-rigidity, large-expansion, ultra-wide tunnel lining trolley according to claim 3, characterized in that, It also includes a sensor group and a control module; the sensor group includes multiple multi-dimensional force sensors, which are respectively set in the contact area between the two adjusting plates and the second lifting component, for real-time detection of the three-dimensional force and torque data generated by each second lifting component on the adjusting plate; the control module is communicatively connected to the sensor group and each driving component, for dynamically calculating the required clamping force distribution of each adjusting plate according to the force data fed back by the sensor group and generating corresponding control commands; the control commands drive the clamping components on each connecting shaft to move axially, maintaining the force balance of the adjusting plate during the extension and support process.

6. The high-rigidity, large-expansion, ultra-wide tunnel secondary lining trolley according to claim 5, characterized in that, The control module is also communicatively connected to the hydraulic support component. The control module has pre-stored the target support height of the hydraulic support component under different tunnel cross sections. When the first lifting component lifts the adjusting plate to the predetermined height, the control module sends a command to the hydraulic support component to drive its piston rod to extend downward until it contacts the bottom of the tunnel and provides a predetermined support force, forming a cooperative support with the first lifting component to jointly bear the load transmitted by the adjusting plate.

7. The high-rigidity, large-expansion, ultra-wide tunnel lining trolley according to claim 3, characterized in that, The first lifting assembly comprises at least three sets, respectively disposed on both sides and the top of the gantry system; the first lifting assembly includes a lifting cylinder, a mounting base, a force sensor, and a displacement sensor; the cylinder body of the lifting cylinder is mounted on the gantry system via the mounting base, and its piston rod end is connected to the support plate; the force sensor is disposed at the connection between the piston rod end and the support plate, and is used to monitor the lifting force in real time; the displacement sensor is disposed on the lifting cylinder, and is used to monitor the extension and retraction stroke of the cylinder in real time.

8. A high-rigidity, large-expansion, ultra-wide tunnel secondary lining trolley according to claim 2, characterized in that, The second lifting assembly includes at least three sets, which are respectively disposed on the two adjusting plates and the top plate.

9. A high-rigidity, large-expansion, ultra-wide tunnel lining trolley according to claim 8, characterized in that, The template system comprises at least three template sections, which are used to support the top and sides respectively. The templates on the sides and the templates on the top are hinged together and lifted by three sets of the second lifting components respectively.

10. A high-rigidity, large-expansion, ultra-wide tunnel secondary lining trolley according to claim 2, characterized in that, An active walking system is installed at the bottom of the gantry system, and a passive walking system is installed at the bottom of the support plate. The active walking system is used to drive the gantry system to move, and the passive walking system is used to support the support plate and move with the active walking system.

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