Steel lining ring assembling trolley

Abstract

The utility model belongs to the technical field of steel lining splicing ring, especially relates to a steel lining splicing ring trolley, including main support, splicing ring rotary mechanism, segment grabbing mechanism and segment transport mechanism, and the main support is arranged on the needle beam portal, the splicing ring rotary mechanism is arranged on the main support, the segment grabbing mechanism includes a plurality of along the splicing ring rotary mechanism circumference setting gripper assembly, the splicing ring rotary mechanism can drive each gripper assembly around the center of splicing ring rotary mechanism rotation, and the gripper assembly can retract to carry out the steel segment's grabbing and splicing, the segment transport mechanism is correspondingly set with the gripper assembly, is used for conveying steel segment and adjusting the position of steel segment, the utility model integrates the transportation, grabbing, butt joint and adjustment of steel segment and the like procedure, realizes the automation construction of splicing ring operation, greatly reduces the equipment use number, reduces the worker's labor intensity, improves the construction efficiency, shortens the construction period, saves the building cost.

Description

Technical Field

[0001] This utility model relates to the field of steel-lined ring splicing technology, and in particular to a steel-lined ring splicing trolley. Background Technology

[0002] Currently, there are very few devices on the market that can automate the entire process of steel lining sealing layer construction. Generally, the assembly, joining, and welding of steel pipe segments are mainly completed manually with the aid of scaffolding, anchors, hydraulic jacks, electric hoists, winches, and other auxiliary tools. This results in low construction efficiency and a long construction cycle. A few companies have begun developing equipment for steel lining sealing layer construction, but most of these are single-function and have low levels of automation. Similar to steel lining sealing layer construction equipment are pressure steel pipe construction equipment in the water conservancy and hydropower field, for which patents and products already address issues related to the assembly, joining, and welding of pressure steel pipes.

[0003] Patent CN114393361A discloses an assembly trolley for on-site welding of hydraulic and electrical pressure steel pipes, belonging to the field of steel pipe welding technology, to solve the problem of low welding efficiency of hydraulic and electrical pressure steel pipes. It includes a circle-fixing component and several connecting rods. One end of each connecting rod is equipped with an adjustment component. The circle-fixing component includes two first trolley rings, with several circumferentially distributed first connecting plates fixed between the two first trolley rings. A first adjusting screw is screwed onto each first connecting plate. A first pressure plate is fixed to the lower end of the first adjusting screw, and a first rotating block is fixed to the upper end of the first adjusting screw. A first pressing rod is fixed above the first rotating block. One side of one of the first trolley rings is fixed to the other end of the connecting rods, and several moving components are provided on the connecting rods. This invention, through the cooperation of the circle-fixing component and the adjustment component, can adjust the joint of two steel pipe sections, facilitating steel pipe welding and improving the welding efficiency of hydraulic and electrical pressure steel pipes.

[0004] Utility model patent CN215617933U discloses a multi-functional assembly platform for large-diameter pressure steel pipes. This platform significantly improves the efficiency of pressure steel pipe assembly, welding, and rounding, eliminating the need for continuous installation and dismantling of temporary support platforms during the assembly and welding process. Since pressure steel pipe assembly, welding, and rounding are repetitive and continuous tasks, the assembly platform enhances installation stability and improves construction quality. The assembly structure includes several manned platforms where operators assemble and weld the pressure steel pipes. A rounding device is mounted on the manned platform for effective rounding of the pressure steel pipes. This utility model features a simple assembly structure, requires only a single material, is easy and quick to manufacture, and is highly operable and practical, effectively ensuring the efficiency of pressure steel pipe assembly, welding, and rounding, thereby reducing installation costs.

[0005] Although the aforementioned construction equipment can solve problems related to the assembly, alignment, rounding, and welding of pressure steel pipes in tunnels, they all suffer from single functional structures and low levels of intelligence, and cannot completely solve the problem of fully automated construction of pressure steel pipes or steel linings in tunnels.

[0006] Therefore, it is necessary to provide a new steel-lined ring assembly trolley to solve the above-mentioned technical problems. Utility Model Content

[0007] The main purpose of this utility model is to provide a steel-lined assembly ring trolley, which aims to solve the problems of existing construction equipment having limited functions and low level of intelligence.

[0008] To achieve the above objectives, the present invention proposes a steel-lined segment assembly trolley, comprising a main support, an assembly ring rotation mechanism, a segment gripping mechanism, and a segment transport mechanism. The main support is mounted on a needle beam gantry; the assembly ring rotation mechanism is mounted on the main support; the segment gripping mechanism includes multiple gripper assemblies arranged circumferentially along the assembly ring rotation mechanism, and the assembly ring rotation mechanism can drive each gripper assembly to rotate around the center of the assembly ring rotation mechanism. The gripper assemblies are extendable and retractable to grip and assemble steel segments; the segment transport mechanism is correspondingly arranged with the gripper assemblies and is used to transport steel segments and adjust their positions.

[0009] Optionally, the ring-jointing rotation mechanism includes a rotation drive, a rotation transmission, and a rotation ring. The rotation drive is mounted on the main support. The rotation transmission is connected between the output end of the rotation drive and the rotation ring. The rotation ring is rotatably mounted on the main support. Multiple gripper assemblies are mounted on the rotation ring and arranged circumferentially along the rotation ring.

[0010] Optionally, the rotary transmission component includes a sprocket and a chain, the sprocket being connected to the output end of the rotary drive component; the chain is arranged in a complete loop inside the rotary ring, and the chain meshes with the sprocket.

[0011] Optionally, the rotating ring mechanism further includes a support wheel set and a longitudinal limiting wheel set. The main support is provided with multiple support wheel sets and multiple longitudinal limiting wheel sets arranged circumferentially along the main support. The support wheel set includes at least two support wheels, which roll in contact with the inner side of the rotating ring. The longitudinal limiting wheel set includes two opposing longitudinal limiting wheels, which roll in contact with both sides of the rotating ring along the tunnel axis.

[0012] Optionally, the gripper assembly includes a connecting seat, a telescopic drive, and a segment gripper. The connecting seat is radially disposed on the rotary ring. The telescopic drive is disposed at the end of the connecting seat away from the rotary ring and is radially disposed along the rotary ring. The segment gripper is hinged to the output end of the telescopic drive. The segment gripper is used to grip steel segments.

[0013] Optionally, the segment gripper is a magnetic element.

[0014] Optionally, the segment transport mechanism includes rails and a transport trolley. The rails are laid on the tunnel surface along the tunnel axis. The transport trolley includes a traveling body, a horizontal rotation component, a posture adjustment component, and a ring adjustment component. The traveling body can travel along the rails. The horizontal rotation component is mounted on the traveling body and can drive the steel segment to rotate along the horizontal plane. The posture adjustment component is mounted on the traveling body and can adjust the posture of the steel segment in the horizontal direction. The ring adjustment component is mounted on the traveling body and can drive the steel segment to move circumferentially along the steel segment.

[0015] Optionally, the traveling body is provided with two attitude adjustment components spaced apart along the extension direction of the rail. Each attitude adjustment component includes two attitude adjustment pieces arranged opposite each other. Each attitude adjustment piece includes a transition seat, a roller, and an attitude adjustment drive. The first end of the transition seat is rotatably connected to the traveling body, and the second end is rotatably connected to the roller. The attitude adjustment drive is connected to the second end of the transition seat and can drive the transition seat to rotate up and down. Each roller cooperates to support the steel pipe segment.

[0016] Optionally, the annular adjustment assembly includes two circumferential adjustment drives. The two rollers arranged diagonally are respectively provided with one of the circumferential adjustment drives. The output end of the circumferential adjustment drive is connected to the roller. The circumferential adjustment drive can drive the corresponding roller to rotate, so as to drive the steel pipe segment to move circumferentially along the steel pipe segment under the action of friction.

[0017] Optionally, the rail is provided with two symmetrically arranged pin holes; the bottom of the main support is provided with two support legs that correspond one-to-one with the pin holes, and the support legs can be inserted into the corresponding pin holes; the segment transport mechanism also includes a laser ranging module, which is set on the rail and is used to locate the position of the main support on the rail.

[0018] In this invention, after a portion of the gripper components grips a steel pipe segment, the ring-jointing rotating mechanism drives each gripper component to rotate around the center of the ring-jointing rotating mechanism. This allows the gripper components that have not yet gripped a steel pipe segment to move above the pipe segment transport mechanism to grip the next steel pipe segment. This process is repeated until the ring is joined. During the ring-jointing process, if the weld joint position of two gripped steel pipe segments does not meet the weld requirements, the next gripped steel pipe segment can be lowered, its position adjusted by the pipe segment transport mechanism, and then gripped again until the weld requirements are met. This invention integrates the processes of transporting, gripping, joining, and adjusting steel pipe segments, achieving automated construction of the ring-jointing operation. This significantly reduces the number of equipment used, lowers the labor intensity of workers, improves construction efficiency, shortens the construction period, and saves construction costs. Attached Figure Description

[0019] 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 the structures shown in these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the steel-lined ring-assembly trolley in an embodiment of the present invention; Figure 2 for Figure 1 Enlarged view of part I in the image; Figure 3 for Figure 1 Side view; Figure 4 This is a schematic diagram of the segment transport mechanism in an embodiment of the present invention; Figure 5 for Figure 4 Side view.

[0021] Explanation of icon numbers: 1. Main support frame; 1.1. Support legs; 2. Segment rotation mechanism; 2.1. Rotation drive component; 2.2. Rotation transmission component; 2.2.1. Sprocket; 2.2.2. Chain; 2.3. Rotation ring; 2.4. Support wheel assembly; 2.5. Longitudinal limit wheel assembly; 3. Segment gripping mechanism; 3.1. Grip assembly; 3.1.1. Connecting seat; 3.1.2. Telescopic drive component; 3.1.3. Segment gripper; 4. Segment transport mechanism; 4.1. Rail; 4.1.1. Pin port; 4.1.2. Vertical plate; 4.2. Conveying trolley; 4.2.1. Walking main body; 4.2.2. Horizontal rotation assembly; 4.2.3. Attitude adjustment assembly; A. Attitude adjustment unit; A1. Adapter seat; A2. Roller; A3. Attitude adjustment drive component; 4.2.4. Ring adjustment assembly; 5. Steel segment.

[0022] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment 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 indicator will also change accordingly.

[0025] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" 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 utility model according to the specific circumstances.

[0027] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When 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 protection scope claimed by this utility model.

[0028] This utility model proposes a steel-lined assembly ring trolley, which aims to solve the problems of limited functionality and low level of intelligence of existing construction equipment.

[0029] like Figures 1 to 3 As shown, the steel lining splicing trolley includes a main support 1, a splicing ring rotation mechanism 2, a segment gripping mechanism 3, and a segment transport mechanism 4. The main support 1 is mounted on a needle beam gantry; the splicing ring rotation mechanism 2 is mounted on the main support 1; the segment gripping mechanism 3 includes multiple gripper assemblies 3.1 arranged circumferentially along the splicing ring rotation mechanism 2. The splicing ring rotation mechanism 2 can drive each gripper assembly 3.1 to rotate around the center of the splicing ring rotation mechanism 2. The gripper assembly 3.1 can extend and retract to grip and splice the steel segments 5; the segment transport mechanism 4 is arranged correspondingly to the gripper assembly 3.1 and is used to transport the steel segments 5 and adjust the position of the steel segments 5. In actual operation, one steel pipe segment 5 is gripped by multiple gripper components 3.1. After some gripper components 3.1 grip a steel pipe segment 5, the ring-jointing rotating mechanism 2 drives each gripper component 3.1 to rotate around the center of the ring-jointing rotating mechanism 2, so that the gripper components 3.1 that have not gripped the steel pipe segment 5 move to the pipe segment transport mechanism 4 to grip the next steel pipe segment 5. The above operation is repeated until the ring is joined. During the ring joining process, if the weld joint position of two steel pipe segments 5 after being gripped does not meet the weld requirements, the next gripped steel pipe segment 5 can be lowered, and the position of the steel pipe segment 5 can be adjusted by the pipe segment transport mechanism 4 before being gripped again, until the weld requirements are met. This utility model integrates the processes of transporting, gripping, joining, and adjusting steel pipe segments 5, realizing automated construction of the ring joining operation, greatly reducing the number of equipment used, reducing the labor intensity of workers, improving construction efficiency, shortening the construction period, and saving construction costs.

[0030] The ring-jointing rotary mechanism 2 includes a rotary drive component 2.1, a rotary transmission component 2.2, and a rotary ring 2.3. The rotary drive component 2.1 is mounted on the main support 1. The rotary transmission component 2.2 connects the output end of the rotary drive component 2.1 and the rotary ring 2.3, which is rotatably mounted on the main support 1. Multiple gripper assemblies 3.1 are mounted on the rotary ring 2.3 and arranged circumferentially along the rotary ring 2.3. The rotary drive component 2.1 drives the rotary ring 2.3 to rotate via the rotary transmission component 2.2, thereby causing the gripper assemblies 3.1 on the rotary ring 2.3 to move around the center of the rotary ring 2.3, facilitating the gripping of multiple steel pipe segments 5 and the ring-jointing operation. In this embodiment, there are two rotary drive components 2.1, which are symmetrically arranged. Each rotary drive component 2.1 is associated with a rotary transmission component 2.2. The rotary drive components 2.1 are connected to the rotary ring 2.3 through the rotary transmission component 2.2. The two rotary drive components 2.1 work synchronously to drive the rotary ring 2.3 to rotate through the corresponding rotary transmission component 2.2, which effectively improves the transmission efficiency and ensures the stability of operation.

[0031] In one example of this embodiment, the rotary transmission component 2.2 includes a sprocket 2.2.1 and a chain 2.2.2. The sprocket 2.2.1 is connected to the output end of the rotary drive component 2.1. The chain 2.2.2 is arranged in a complete loop inside the rotary ring 2.3, and the chain 2.2.2 meshes with the sprocket 2.2.1. The rotary drive component 2.1 drives the sprocket 2.2.1 to rotate, thereby driving the rotary ring 2.3 to rotate through the meshing chain 2.2.2, thus enabling the circumferential movement of the gripper assembly 3.1 to complete the ring assembly operation. In another example of this embodiment, the rotary transmission component 2.2 includes a driving wheel, a transmission belt, and a driven wheel. The rotary drive component 2.1 drives the driving wheel to rotate, which in turn drives the driven wheel to rotate through the transmission belt. Simultaneously, the driven wheel drives the rotary ring 2.3 to rotate.

[0032] Specifically, the rotating ring mechanism 2 also includes a support wheel set 2.4 and a longitudinal limiting wheel set 2.5. The main support 1 is provided with multiple support wheel sets 2.4 and multiple longitudinal limiting wheel sets 2.5 arranged circumferentially along the main support 1. Each support wheel set 2.4 includes at least two support wheels, which roll in contact with the inner side of the rotating ring 2.3. Each longitudinal limiting wheel set 2.5 includes two opposing longitudinal limiting wheels, which roll in contact with both sides of the rotating ring 2.3 along the tunnel axis. The support wheel set 2.4 supports the rotating ring 2.3 and enables the rotating ring 2.3 to rotate relative to the main support 1. The two longitudinal limiting wheels in the longitudinal limiting wheel set 2.5 effectively limit the rotation of the rotating ring 2.3, ensuring the installation strength of the rotating ring 2.3 while allowing it to rotate on the main support 1.

[0033] Further, the gripper assembly 3.1 includes a connecting seat 3.1.1, a telescopic drive 3.1.2, and a segment gripper 3.1.3. The connecting seat 3.1.1 is radially disposed on the rotating ring 2.3; the telescopic drive 3.1.2 is disposed at the end of the connecting seat 3.1.1 away from the rotating ring 2.3, and is radially disposed along the rotating ring 2.3; the segment gripper 3.1.3 is hinged to the output end of the telescopic drive 3.1.2; the segment gripper 3.1.3 is used to grip the steel segment 5. The telescopic drive 3.1.2 can drive the segment gripper 3.1.3 to extend or retract to facilitate gripping the steel segment 5, and can also adjust the misalignment between two adjacent steel segments 5 to improve the docking accuracy of the steel segments 5. In this embodiment, the connecting seats 3.1.1 of adjacent gripper assemblies 3.1 are connected by connecting rods, further enhancing the structural strength of the segment gripping mechanism 3.

[0034] In this embodiment, the segment gripper 3.1.3 is a magnetic suction component. When the telescopic drive 3.1.2 extends the segment gripper 3.1.3, it can quickly attract the steel segment 5, effectively improving the gripping efficiency. Furthermore, when the weld between the steel segments 5 does not meet the requirements, adjustments can be made simultaneously with the segment gripper 3.1.3 attracting the steel segment 5 by the segment transport mechanism 4. The segment transport mechanism 4 can move the steel segment 5 relative to the segment gripper 3.1.3. In this embodiment, the segment gripper 3.1.3 has a long, narrow structure.

[0035] See also Figure 4 and Figure 5 The segment transport mechanism 4 includes a rail 4.1 and a transport trolley 4.2. The rail 4.1 is laid on the tunnel surface along the tunnel axis. The transport trolley 4.2 includes a traveling body 4.2.1, a horizontal rotation component 4.2.2, an attitude adjustment component 4.2.3, and a ring adjustment component 4.2.4. The traveling body 4.2.1 can travel along the rail 4.1. The horizontal rotation component 4.2.2 is mounted on the traveling body 4.2.1 and can drive the steel segment 5 to rotate along the horizontal plane. The attitude adjustment component 4.2.3 is mounted on the traveling body 4.2.1 and can adjust the attitude of the steel segment 5 in the horizontal direction. The ring adjustment component 4.2.4 is mounted on the traveling body 4.2.1 and can drive the steel segment 5 to move circumferentially. The transport trolley is used to transport the steel pipe segment 5 directly below the main body. The transport trolley can realize the longitudinal adjustment of the steel pipe segment 5, the circumferential adjustment of the circumferential drive steel plate, the horizontal rotation of the steel pipe segment, and laser ranging and positioning.

[0036] Furthermore, the traveling body 4.2.1 is equipped with two attitude adjustment components 4.2.3 spaced apart along the extension direction of the rail 4.1. Each attitude adjustment component 4.2.3 includes two opposing attitude adjustment pieces A. Each attitude adjustment piece A includes a transition seat A1, rollers A2, and an attitude adjustment drive component A3. The first end of the transition seat A1 is rotatably connected to the traveling body 4.2.1, and the second end is rotatably connected to the rollers A2. The attitude adjustment drive component A3 is connected to the second end of the transition seat A1 and can drive the transition seat A1 to rotate up and down. Each roller A2 cooperates to support the steel pipe segment 5. The rollers A2 rotate up and down under the action of the attitude adjustment drive component A3, which can adjust the horizontal attitude of the steel pipe segment 5 and change the distance between the two rollers A2 in the attitude adjustment piece A to adapt to the operation of steel pipe segments 5 of different sizes.

[0037] In this embodiment, the annular adjustment assembly 4.2.4 includes two annular adjustment drives. Two diagonally arranged rollers A2 are each equipped with a corresponding annular adjustment drive. The output end of each annular adjustment drive is connected to a roller A2. The annular adjustment drive can drive the corresponding roller A2 to rotate, thereby moving the steel pipe segment 5 circumferentially under the action of friction. The annular adjustment drives can move the steel pipe segment 5 on the transport trolley circumferentially, further improving the docking accuracy of the steel pipe segment 5.

[0038] In addition, the rail 4.1 is provided with two symmetrically arranged pin holes 4.1.1; the bottom of the main support 1 is provided with two support legs 1.1 corresponding to the pin holes 4.1.1, and the support legs 1.1 can be inserted into the corresponding pin holes 4.1.1; the segment transport mechanism 4 also includes a laser ranging module, which is set on the rail 4.1 and is used to locate the position of the main support 1 on the rail 4.1. The pin hole 4.1.1 of the rail 4.1 is provided with a vertical plate 4.1.2 parallel to the tunnel face, and the laser ranging module is set on the vertical plate 4.1.2 to detect the distance between the transport trolley and the vertical plate 4.1.2. This embodiment also includes a control module electrically connected to the laser ranging module and the transport trolley. The control module can control the start and stop of the transport trolley according to the detection data fed back by the laser ranging module to ensure that the transport trolley can move accurately to the designated position and improve the docking accuracy between the transport trolley and the segment gripping mechanism 3.

[0039] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A steel-lined ring-assembly trolley, characterized in that, The system includes a main support (1), a ring-jointing rotating mechanism (2), a segment gripping mechanism (3), and a segment transport mechanism (4). The main support (1) is mounted on a needle beam gantry. The ring-jointing rotating mechanism (2) is mounted on the main support (1). The segment gripping mechanism (3) includes multiple gripper assemblies (3.1) arranged circumferentially along the ring-jointing rotating mechanism (2). The ring-jointing rotating mechanism (2) can drive each gripper assembly (3.1) to rotate around the center of the ring-jointing rotating mechanism (2). The gripper assembly (3.1) can extend and retract to grip and join steel segments (5). The segment transport mechanism (4) is arranged correspondingly to the gripper assembly (3.1) and is used to transport steel segments (5) and adjust the position of the steel segments (5).

2. The steel-lined ring-assembly trolley as described in claim 1, characterized in that, The ring-spinning rotary mechanism (2) includes a rotary drive (2.1), a rotary transmission (2.2), and a rotary ring (2.3). The rotary drive (2.1) is mounted on the main support (1). The rotary transmission (2.2) is connected between the output end of the rotary drive (2.1) and the rotary ring (2.3). The rotary ring (2.3) is rotatably mounted on the main support (1). Multiple gripper assemblies (3.1) are mounted on the rotary ring (2.3) and are arranged circumferentially along the rotary ring (2.3).

3. The steel-lined ring-jointing trolley as described in claim 2, characterized in that, The rotary transmission component (2.2) includes a sprocket (2.2.1) and a chain (2.2.2). The sprocket (2.2.1) is connected to the output end of the rotary drive component (2.1). The chain (2.2.2) is arranged in a complete ring inside the rotary ring (2.3), and the chain (2.2.2) meshes with the sprocket (2.2.1).

4. The steel-lined ring-jointing trolley as described in claim 3, characterized in that, The rotating ring mechanism (2) further includes a support wheel set (2.4) and a longitudinal limiting wheel set (2.5). The main support (1) is provided with a plurality of support wheel sets (2.4) and a plurality of longitudinal limiting wheel sets (2.5) arranged circumferentially along the main support (1). The support wheel set (2.4) includes at least two support wheels, which are in rolling contact with the inner side of the rotating ring (2.3). The longitudinal limiting wheel set (2.5) includes two longitudinal limiting wheels arranged opposite to each other, which are in rolling contact with both sides of the rotating ring (2.3) along the tunnel axis.

5. The steel-lined ring-jointing trolley as described in claim 4, characterized in that, The gripper assembly (3.1) includes a connecting seat (3.1.1), a telescopic drive (3.1.2), and a segment gripper (3.1.3). The connecting seat (3.1.1) is radially disposed on the rotary ring (2.3). The telescopic drive (3.1.2) is disposed at the end of the connecting seat (3.1.1) away from the rotary ring (2.3) and is radially disposed on the rotary ring (2.3). The segment gripper (3.1.3) is hinged to the output end of the telescopic drive (3.1.2). The segment gripper (3.1.3) is used to grip the steel segment (5).

6. The steel-lined ring-jointing trolley as described in claim 5, characterized in that, The segment gripper (3.1.3) is a magnetic suction component.

7. The steel-lined ring-jointing trolley as described in any one of claims 1 to 6, characterized in that, The segment transport mechanism (4) includes a rail (4.1) and a transport trolley (4.2). The rail (4.1) is laid on the tunnel surface along the tunnel axis. The transport trolley (4.2) includes a traveling body (4.2.1), a horizontal rotation component (4.2.2), a posture adjustment component (4.2.3), and a ring adjustment component (4.2.4). The traveling body (4.2.1) can travel along the rail (4.1), and the horizontal rotation component (4.2.2) is disposed on the traveling body (4.2.4). 2.1) The horizontal rotation component (4.2.2) can drive the steel pipe segment (5) to rotate along the horizontal plane; the posture adjustment component (4.2.3) is set on the walking body (4.2.1), and the posture adjustment component (4.2.3) can adjust the posture of the steel pipe segment (5) in the horizontal direction; the annular adjustment component (4.2.4) is set on the walking body (4.2.1), and the annular adjustment component (4.2.4) can drive the steel pipe segment (5) to move along the circumference of the steel pipe segment (5).

8. The steel-lined ring-jointing trolley as described in claim 7, characterized in that, The walking body (4.2.1) is provided with two attitude adjustment components (4.2.3) spaced apart along the extension direction of the rail (4.1). The attitude adjustment components (4.2.3) include two attitude adjustment units (A) arranged opposite to each other. Each attitude adjustment unit (A) includes a transition seat (A1), a roller (A2) and an attitude adjustment drive (A3). The first end of the transition seat (A1) is rotatably connected to the walking body (4.2.1), and the second end is rotatably connected to the roller (A2). The attitude adjustment drive (A3) is connected to the second end of the transition seat (A1), and the attitude adjustment drive (A3) can drive the transition seat (A1) to rotate up and down. Each roller (A2) cooperates to support the steel pipe segment (5).

9. The steel-lined ring-jointing trolley as described in claim 8, characterized in that, The annular adjustment assembly (4.2.4) includes two annular adjustment drive components. The two rollers (A2) arranged diagonally are respectively provided with one annular adjustment drive component. The output end of the annular adjustment drive component is connected to the roller (A2). The annular adjustment drive component can drive the corresponding roller (A2) to rotate, so as to drive the steel pipe segment (5) to move along the circumference of the steel pipe segment (5) under the action of friction.

10. The steel-lined ring-assembly trolley as described in claim 9, characterized in that, The rail (4.1) is provided with two symmetrically arranged pin holes (4.1.1); the bottom of the main support (1) is provided with two support legs (1.1) that correspond one-to-one with the pin holes (4.1.1), and the support legs (1.1) can be inserted into the corresponding pin holes (4.1.1); the segment transport mechanism (4) also includes a laser ranging module, which is set on the rail (4.1) and is used to locate the position of the main support (1) on the rail (4.1).

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