Self-propelled trolley

Abstract

The utility model belongs to the technical field of tunnel boring equipment, and particularly relates to a self-advancing trolley. The relative positions of the needle beam and the sliding frame in the self-advancing trolley can be changed through the advancing driving piece, when the position of the self-advancing trolley in a tunnel needs to be adjusted, the first telescopic supporting foot on the needle beam can be controlled to be supported on the wall of the tunnel, the sliding frame is pushed or pulled through the advancing driving piece, and then the needle beam and the sliding frame can be adjusted. The sliding frame is controlled to move in the length direction of the tunnel, then the second telescopic supporting leg on the sliding frame is controlled to be supported on the wall of the tunnel, the needle beam is pulled or pushed through the advancing driving piece, the needle beam is made to move in the length direction of the tunnel, the position change of the self-advancing trolley is achieved, and the self-advancing trolley can move without depending on a rail. And in the whole moving process, the rails do not need to be laid, dismantled and conveyed manually, so that the labor cost in the tunnel excavation process is reduced, and the construction efficiency of the tunnel is improved.

Description

Technical Field

[0001] This utility model belongs to the technical field of tunnel excavation equipment, and specifically relates to a self-propelled trolley. Background Technology

[0002] A rock drilling rig (also known as a drilling rig) is a type of rock drilling equipment used in tunnel and underground engineering projects employing the drill-and-blast method. It can move and support multiple rock drills to perform drilling operations simultaneously.

[0003] Currently, the movement of the tunnel trolley in a tunnel requires the laying of tracks. After the trolley passes, the tracks must be manually disassembled, transported to the front of the trolley, and reinstalled to allow the trolley to move smoothly. However, this method (manual track disassembly and reassembly) significantly increases labor costs, is labor-intensive, and has low efficiency, resulting in a substantial reduction in tunnel excavation efficiency and impacting project progress. Therefore, inventing a tunnel trolley that can move in tunnels without the need for track construction is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] This utility model provides a self-propelled trolley to solve the technical problem in the prior art where the track for the trolley to travel in the tunnel needs to be manually disassembled and assembled, which leads to a significant increase in labor costs during the tunnel excavation process.

[0005] To solve the above problems, this utility model is achieved through the following technical solution:

[0006] A self-propelled trolley includes a pin beam and a sliding frame;

[0007] The length direction of the needle beam is consistent with the length direction of the tunnel. The needle beam is equipped with a retractable travel drive and at least two first telescopic outriggers for supporting the needle beam.

[0008] The sliding frame is slidably mounted on the needle beam along the length of the needle beam. The actuating end of the traveling drive is connected to the sliding frame. The sliding frame is provided with two sets of support parts for supporting the sliding frame. The two sets of support parts are respectively located on both sides of the sliding frame. The support parts include at least two second telescopic legs, which are respectively located at both ends of the sliding frame.

[0009] To better realize this utility model, further optimizations are made to the above structure, wherein the sliding frame includes a support ring frame;

[0010] The support ring frame is a cylindrical frame, and the axis of the support ring frame is parallel to the central axis of the needle beam. The support ring frame is slidably mounted on the needle beam, and the actuating end of the traveling drive component is connected to the support ring frame.

[0011] To better realize this utility model, further optimizations are made to the above structure, wherein the support ring frame includes a support rod and two ring brackets;

[0012] The ring-shaped support has a circular ring structure, and the two ring-shaped supports are coaxially arranged.

[0013] There are multiple support rods, all of which are set between two annular brackets; and the two ends of the support rods are connected to the two annular brackets respectively.

[0014] To better realize this utility model, further optimizations are made to the above structure, and the sliding frame further includes a support frame;

[0015] The support frame is a ring-shaped frame structure, and both the support frame and the needle beam have rectangular cross-sectional shapes. The width of the inner wall of the support frame is greater than the width of the needle beam, and the height of the inner wall of the support frame is greater than the height of the needle beam. The support frame is sleeved on the needle beam, and the width direction of the support frame corresponds to the width direction of the needle beam, and the height direction of the support frame corresponds to the height direction of the needle beam. The actuating end of the traveling drive component is connected to the support frame.

[0016] The support ring frame is mounted on the support frame.

[0017] To better realize this utility model, further optimization is made to the above structure. Limiting screws are provided on both sides of the support frame, and the abutting end of the limiting screw passes through the support frame and abuts against the needle beam.

[0018] To better realize this utility model, further optimizations are made to the above structure, wherein the annular support includes a top arc segment, a bottom arc segment, and two sets of side arc segments;

[0019] The top arc segment is set above the support frame by a support rod, and a first telescopic rod is set in the middle of the top arc segment. The telescopic end of the first telescopic rod passes through the support frame and is connected to the needle beam.

[0020] The side arc segment includes an upper connecting segment and a lower connecting segment; the fixed end of the upper connecting segment is hinged to the end of the top arc segment, and the movable end of the upper connecting segment is connected to the support rod through a second telescopic rod; a base plate is provided on the lower end face of the support frame, the plane of the base plate is parallel to the horizontal plane, and a sliding seat and a third telescopic rod are respectively provided on the upper and lower end faces of the base plate. The direction of movement of the third telescopic rod is perpendicular to the plane of the base plate, and the telescopic end of the third telescopic rod is connected to the fixed end of the lower connecting segment. A slider that slides along the width direction of the needle beam is provided on the sliding seat, and a fourth telescopic rod is hinged on the slider. The movable end of the fourth telescopic rod is connected to the movable end of the lower connecting segment; the two sets of side arc segments are located on both sides of the support frame;

[0021] The bottom arc segment is set below the support frame by a swing mechanism, which can drive the bottom arc segment to swing between the two ring supports.

[0022] When the support ring is in the unfolded state, the top arc segment, one set of side arc segments, the bottom arc segment, and the other set of side arc segments are connected end to end in sequence.

[0023] To better realize this utility model, further optimizations are made to the above structure, wherein the swing mechanism includes a swing motor and a swing rod;

[0024] The swing motor is located on the lower end of the base plate. One end of the swing rod is connected to the actuating end of the swing motor. The length direction of the swing rod is perpendicular to the swing axis of the swing motor. The end of the swing rod away from the swing motor is connected to the bottom arc segment.

[0025] To better realize this utility model, further optimization is made to the above structure. The swing mechanism has two sets, and the actuating ends of the two sets of swing mechanisms are respectively connected to the two ends of the bottom arc segment.

[0026] Compared with the prior art, this utility model has the following advantages:

[0027] The self-propelled trolley provided by this utility model allows the needle beam and sliding frame to change their relative positions via a driving mechanism. When it is necessary to adjust the position of the self-propelled trolley in the tunnel, the first telescopic support leg on the needle beam can be controlled to support the tunnel wall, and the sliding frame can be pushed or pulled by the driving mechanism to move the sliding frame along the length of the tunnel. Then, the second telescopic support leg on the sliding frame can be controlled to support the tunnel wall, and the needle beam can be pulled or pushed by the driving mechanism to move the needle beam along the length of the tunnel, thereby changing the position of the self-propelled trolley and completing the automatic movement of the self-propelled trolley. This eliminates the need for a track to move the self-propelled trolley, and the entire process does not require manual track laying, dismantling, and transportation, thus reducing the labor costs of tunnel excavation and improving tunnel construction efficiency. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a structural schematic diagram of a self-propelled trolley according to the present invention.

[0030] Figure 2 This is a schematic diagram of the structure of a self-propelled trolley with the sliding frame in the unfolded state.

[0031] Figure 3This is a schematic diagram of the structure of a self-propelled trolley with the sliding frame in a retracted state.

[0032] Figure 4 This is a schematic diagram of the structure of a ring support in the unfolded state of a self-propelled trolley according to this utility model.

[0033] Figure 5 This is a schematic diagram of the structure of a ring support in a retracted state in a self-propelled trolley according to this utility model.

[0034] Figure 6 This is a schematic diagram of the structure of the annular support in the self-propelled trolley, viewed from the bottom.

[0035] Figure 7 This is a schematic diagram of the structure of the needle beam in a self-propelled trolley according to this utility model.

[0036] In the picture:

[0037] 1. Needle beam; 11. Traveling drive component; 12. First telescopic support leg;

[0038] 2. Sliding frame; 21. Support ring frame; 211. Support rod; 212. Annular bracket; 2121. Top arc segment; 2122. Bottom arc segment; 2123. Side arc segment; 22. Support frame; 221. Limiting screw; 231. Support rod; 232. First telescopic rod; 233. Second telescopic rod; 234. Third telescopic rod; 235. Fourth telescopic rod; 236. Sliding seat; 237. Swing mechanism; 2371. Swing motor; 2372. Swing rod; 238. Base plate; 24. Second telescopic support leg. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0040] In the description of this utility model, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] In embodiments of this utility model, such as Figures 1 to 7 As shown, the self-propelled trolley includes a needle beam 1 and a sliding frame 2. (See attached image) Figure 1 ;in,

[0043] The length direction of the needle beam 1 is consistent with the length direction of the tunnel. The needle beam 1 is equipped with a retractable travel drive component 11 and at least two first telescopic supports 12 for supporting the needle beam 1. See [reference needed] Figure 7 ;

[0044] The sliding frame 2 is slidably mounted on the needle beam 1 along the length direction of the needle beam 1. The actuating end of the traveling drive 11 is connected to the sliding frame 2. The sliding frame 2 is provided with two sets of support parts for supporting the sliding frame 2. The two sets of support parts are respectively located on both sides of the sliding frame 2. The support parts include at least two second telescopic legs 24, and the two second telescopic legs 24 are respectively located at both ends of the sliding frame 2.

[0045] The self-propelled trolley can move automatically in the tunnel through the cooperation of the first telescopic support leg 12 on the needle beam 1, the traveling drive component 11, and the second telescopic support leg 24 on the sliding frame 2. This allows the movement of the self-propelled trolley to be independent of the track, and the entire movement process does not require manual laying, dismantling, and transportation of the track, thereby reducing the labor cost of tunnel excavation and improving the construction efficiency of the tunnel.

[0046] Specifically, when it is necessary to control the self-propelled trolley to move along the extension direction of the tunnel, the staff can first control the first telescopic outrigger 12 to extend and support it on the bottom wall of the tunnel; at this time, the second telescopic outrigger 24 should be in the retracted state, that is, the supporting end of the second telescopic outrigger 24 does not contact the tunnel side wall, the sliding frame 2 is in the suspended state, and the aforementioned travel drive component 11 can push or pull the sliding frame 2, so that the sliding frame 2 moves along the needle beam 1 into the depth of the tunnel;

[0047] When the sliding frame 2 moves to the designated position or the traveling drive 11 reaches the limit position, the operator can control the second telescopic leg 24 to extend so that its supporting end supports the tunnel side wall, and control the first telescopic leg 12 to retract so that the first telescopic leg 12 separates from the tunnel bottom wall; at this time, the needle beam 1 is in a suspended state, and the operator can then control the traveling drive 11 to pull or push the needle beam 1 so that it moves on the sliding frame 2;

[0048] Stop when the needle beam 1 moves to the designated position or the traveling drive 11 reaches the limit position. Repeat the above operation to complete the movement of the self-propelled trolley in the tunnel.

[0049] In some embodiments, the sliding frame 2 described above includes a support ring frame 21; wherein,

[0050] The support ring frame 21 is a cylindrical frame, see [link / reference]. Figure 2 The axis of the support ring frame 21 is parallel to the central axis of the needle beam 1. The support ring frame 21 is slidably mounted on the needle beam 1. The moving end of the traveling drive component 11 is connected to the support ring frame 21. The support ring frame 21 can be used to install drilling equipment and splitting equipment. The drilling equipment and splitting equipment are sent to the tunnel face by the self-propelled trolley to carry out drilling and splitting work in order to complete the tunnel excavation work.

[0051] In some embodiments, the aforementioned support ring frame 21 includes a support rod 211 and two annular brackets 212, see [link / reference]. Figure 2 and Figure 3 ;

[0052] The annular bracket 212 has a circular structure, and the two annular brackets 212 are coaxially arranged.

[0053] There are multiple support rods 211, all of which are set between two annular brackets 212; and the two ends of the support rods 211 are respectively connected to the two annular brackets 212 to make the structure of the support ring frame 21 more stable.

[0054] Preferably, the two ends of the drilling equipment and the two ends of the splitting equipment are respectively mounted on two annular supports 212 to better support the drilling equipment and the splitting equipment, so as to make the drilling equipment and the splitting equipment more stable during operation.

[0055] In some embodiments, the sliding frame 2 described above further includes a support frame 22;

[0056] The support frame 22 is a ring frame structure, and the cross-sectional shape of both the support frame 22 and the needle beam 1 is rectangular. The width of the inner wall of the support frame 22 is greater than the width of the needle beam 1, and the height of the inner wall of the support frame 22 is greater than the height of the needle beam 1. The support frame 22 is sleeved on the needle beam 1, and the width direction of the support frame 22 corresponds to the width direction of the needle beam 1, and the height direction of the support frame 22 corresponds to the height direction of the needle beam 1 (in the normal state, only the top wall of the inner ring of the support frame 22 contacts the upper end face of the needle beam 1). The moving end of the traveling drive component 11 is connected to the support frame 22.

[0057] The support ring frame 21 is set on the support frame 22. The cooperation between the support frame 22 and the needle beam 1 can reduce the friction of the sliding frame 2 during sliding, so that the sliding frame 2 and the needle beam 1 can move more smoothly when they are displaced.

[0058] In some embodiments, the support frame 22 is provided with limit screws 221 on both sides. The abutting end of the limit screw 221 passes through the support frame 22 and abuts against the needle beam 1 to lock the lateral position of the support frame 22 and the needle beam 1.

[0059] When it is necessary to adjust the travel direction (steering) of the self-propelled trolley, the operator can loosen the limiting screws 221 on both sides of the support frame 22, and then use the second telescopic support legs 24 to adjust the relative position of the support frame 22 and the needle beam 11 in the lateral direction. For example, the second telescopic support legs 24 at both ends of the sliding frame 2 can be used to deflect the axis of the support frame 22 (by controlling the different extension lengths of the second telescopic support legs 24 at both ends) so that the axis of the support frame 22 is parallel to the tunnel excavation direction. Then, the position of the needle beam 1 can be adjusted so that the axis of the needle beam 1 coincides with the axis of the support frame 22 to complete the steering of the self-propelled trolley.

[0060] Finally, tighten the limit screw 221 to prevent the position of the needle beam 1 and the support frame 22 from shifting during the movement of the self-propelled trolley.

[0061] In some embodiments, the annular bracket 212 includes a top arc segment 2121, a bottom arc segment 2122, and two sets of side arc segments 2123;

[0062] The top arc segment 2121 is set above the support frame 22 by a support rod 231. A first telescopic rod 232 is set in the middle of the top arc segment 2121. The telescopic end of the first telescopic rod 232 passes through the support frame 22 and is connected to the needle beam 1.

[0063] The side arc segment 2123 includes an upper connecting segment and a lower connecting segment; the fixed end of the upper connecting segment is hinged to the end of the top arc segment 2121, and the movable end of the upper connecting segment is connected to the support rod 231 through the second telescopic rod 233; a base plate 238 is provided on the lower end surface of the support frame 22, the plane of the base plate 238 is parallel to the horizontal plane, and a sliding seat 236 and a third telescopic rod 234 are respectively provided on the upper and lower end surfaces of the base plate 238. The movement direction of the third telescopic rod 234 is perpendicular to the plane of the base plate 238, and the telescopic end of the third telescopic rod 234 is connected to the fixed end of the lower connecting segment. A sliding block is provided on the sliding seat 236 along the width direction of the needle beam 1, and a fourth telescopic rod 235 is hinged on the sliding block. The moving end of the fourth telescopic rod 235 is connected to the movable end of the lower connecting segment; the two sets of side arc segments 2123 are located on both sides of the support frame 22 respectively;

[0064] The bottom arc segment 2122 is set below the support frame 22 by a swing mechanism 237, which can drive the bottom arc segment 2122 to swing between the two annular supports 212.

[0065] The bottom arc segment 2122 is set below the support frame 22 by a swing mechanism 237. The bottom arc segment 2122 can swing between the two annular supports 212 by the swing mechanism 237 to increase the distance between the bottom arc segment 2122 and the tunnel bottom wall.

[0066] When tunnel excavation is required, workers can adjust the positions of the top arc segment 2121, bottom arc segment 2122, and two sets of side arc segments 2123 by controlling the first telescopic rod 232, the second telescopic rod 233, the third telescopic rod 234, the fourth telescopic rod 235, and the swing mechanism 237. This allows the top arc segment 2121, one set of side arc segments 2123, the bottom arc segment 2122, and the other set of side arc segments 2123 to be sequentially aligned, thus enabling the annular support 212 to be in the deployed state. (See [reference]). Figure 1 , Figure 2 and Figure 4 The aforementioned drilling and splitting devices can then move along the annular support 212 to the corresponding positions to perform drilling and splitting operations.

[0067] When the self-propelled trolley needs to be moved, the operator can adjust the positions of the top arc segment 2121, bottom arc segment 2122, and two sets of side arc segments 2123 by controlling the first telescopic rod 232, the second telescopic rod 233, the third telescopic rod 234, the fourth telescopic rod 235, and the swing mechanism 237. This causes the top arc segment 2121, the bottom arc segment 2122, and the two sets of side arc segments 2123 to retract towards the needle beam 1, thus putting the annular support 212 in a retracted state. See [reference needed]. Figure 3 and Figure 5The self-propelled trolley can be controlled to move in the tunnel using the above-mentioned movement method. The retracted annular support 212 can prevent the annular support 212 from hitting the tunnel wall during the journey and affecting the normal movement of the self-propelled trolley.

[0068] In some embodiments, the swing mechanism 237 described above includes a swing motor 2371 and a swing rod 2372, see [link / reference] Figure 6 ;

[0069] A swing motor 2371 is mounted on the lower end face of the base plate 238. The swing axis of the swing motor 2371 is parallel to the width direction of the support frame 22. One end of the swing rod 2372 is connected to the actuating end of the swing motor 2371, and the length direction of the swing rod 2372 is perpendicular to the swing axis of the swing motor 2371. The end of the swing rod 2372 away from the swing motor 2371 is connected to the bottom arc segment 2122. By controlling the movement of the swing motor 2371, the position of the bottom arc segment 2122 can be adjusted. Preferably, there are two sets of swing mechanisms 237, and the actuating ends of the two sets of swing mechanisms 237 are respectively connected to both ends of the bottom arc segment 2122 to make the bottom arc segment 2122 more stable during swinging.

[0070] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A self-propelled dolly characterized by: The needle beam (1) and the sliding frame (2) are included. The length direction of the needle beam (1) is consistent with the length direction of the tunnel, and the needle beam (1) is provided with an extendable traveling driving element (11) and at least two first telescopic legs (12) for supporting the needle beam (1). The sliding frame (2) is slidably arranged on the needle beam (1) along the length direction of the needle beam (1), the action end of the traveling driving element (11) is connected with the sliding frame (2), and the sliding frame (2) is provided with two groups of supporting parts for supporting the sliding frame (2), the two groups of supporting parts are respectively arranged on the two sides of the sliding frame (2), and the supporting part includes at least two second telescopic legs (24), and the two second telescopic legs (24) are respectively arranged at the two ends of the sliding frame (2).

2. The self-propelled dolly of claim 1, wherein: The sliding frame (2) includes a supporting ring frame (21). The supporting ring frame (21) is a cylindrical frame, the axis of the supporting ring frame (21) is parallel to the central axis of the needle beam (1), the supporting ring frame (21) is slidably arranged on the needle beam (1), and the action end of the traveling driving element (11) is connected with the supporting ring frame (21).

3. The self-propelled dolly of claim 2, wherein: The supporting ring frame (21) includes a supporting rod (211) and two annular supports (212). The two annular supports (212) are coaxially arranged. The number of the supporting rods (211) is multiple, and each of the supporting rods (211) is arranged between the two annular supports (212); and the two ends of each of the supporting rods (211) are respectively connected with the two annular supports (212).

4. The self-propelled dolly of claim 3, wherein: The sliding frame (2) further includes a supporting frame (22). The supporting frame (22) is an annular frame structure, the cross-sectional shape of the supporting frame (22) and the needle beam (1) is rectangular, the width of the inner side wall of the supporting frame (22) is greater than the width of the needle beam (1), the height of the inner side wall of the supporting frame (22) is greater than the height of the needle beam (1), the supporting frame (22) is sleeved on the needle beam (1), the width direction of the supporting frame (22) corresponds to the width direction of the needle beam (1), the height direction of the supporting frame (22) corresponds to the height direction of the needle beam (1), and the action end of the traveling driving element (11) is connected with the supporting frame (22). The supporting ring frame (21) is arranged on the supporting frame (22).

5. The self-propelled dolly of claim 4, wherein: The two sides of the supporting frame (22) are respectively provided with a limiting screw rod (221), and the abutting end of the limiting screw rod (221) penetrates through the supporting frame (22) and abuts against the needle beam (1).

6. The self-propelled dolly of claim 5, wherein: The annular support (212) includes a top arc segment (2121), a bottom arc segment (2122) and two groups of side arc segments (2123). The top arc segment (2121) is arranged above the supporting frame (22) through a supporting rod (231), a first telescopic rod (232) is arranged at the middle part of the top arc segment (2121), and the telescopic end of the first telescopic rod (232) penetrates through the supporting frame (22) and is connected with the needle beam (1). The side arc segment (2123) comprises an upper connecting segment and a lower connecting segment; a fixed end of the upper connecting segment is hinged to an end of the top arc segment (2121), and a movable end of the upper connecting segment is connected with the support rod (231) through a second telescopic rod (233); the bottom plate (238) is arranged on a lower end surface of the support frame (22), a plane where the bottom plate (238) is located is parallel to a horizontal plane, and a sliding seat (236) and a third telescopic rod (234) are arranged on an upper end surface and a lower end surface of the bottom plate (238) respectively, an action direction of the third telescopic rod (234) is perpendicular to the plane where the bottom plate (238) is located, a telescopic end of the third telescopic rod (234) is connected with a fixed end of the lower connecting segment, a sliding block that slides along a width direction of the needle beam (1) is arranged on the sliding seat (236), a fourth telescopic rod (235) is hinged to the sliding block, and a movable end of the fourth telescopic rod (235) is connected with a movable end of the lower connecting segment; the two groups of side arc segments (2123) are respectively located on two sides of the support frame (22); The bottom arc segment (2122) is arranged below the support frame (22) through a swing mechanism (237), and the swing mechanism (237) can drive the bottom arc segment (2122) to swing between the two annular supports (212); When the support ring is in the unfolded state, the top arc segment (2121), one group of side arc segments (2123), the bottom arc segment (2122) and the other group of side arc segments (2123) are sequentially butted.

7. The self-propelled dolly of claim 6, wherein: The swing mechanism (237) comprises a swing motor (2371) and a swing rod (2372); The swing motor (2371) is arranged on a lower end surface of the bottom plate (238), one end of the swing rod (2372) is connected with a movable end of the swing motor (2371), a length direction of the swing rod (2372) is perpendicular to a swing axis of the swing motor (2371), and the other end of the swing rod (2372) is connected with the bottom arc segment (2122).

8. The self-propelled dolly of claim 7, wherein: The swing mechanism (237) has two groups, and movable ends of the two groups of swing mechanisms (237) are respectively connected with two ends of the bottom arc segment (2122).

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