Large diameter pipe socket joint auxiliary device and use method

Abstract

The application discloses a large-diameter pipe socket butt joint auxiliary device and a use method, relates to the technical field of pipe installation, and comprises a bottom supporting part, a pushing part and a top adjusting part. The top adjusting part is arranged on the pushing part, is used for supporting a pipe, and is used for centering adjustment of a pipe to be installed. The pushing part is arranged on the bottom supporting part, is used for bearing the top adjusting part, and drives the top adjusting part to move along the axial direction of the pipe. The bottom supporting part is used for bearing the pushing part and the top adjusting part, and is used for horizontal adjustment of the whole device and preliminary adjustment of pipe installation. The application realizes quick adjustment, alignment and butt joint of the large-diameter pipe, improves the problem that the pipe is prone to damage during butt joint installation, reduces the risk of accidents, reduces the working strength of pipe butt joint installation workers, improves the working environment of pipe butt joint installation workers, and improves the pipe butt joint installation efficiency.

Description

Technical Field

[0001] This invention relates to the field of pipeline installation technology, specifically to an auxiliary device for socket connection of large-diameter pipelines and its usage method. Background Technology

[0002] Large-diameter PCCP pipes are mostly made of metal. Due to their large diameter, weight, and volume, installation and connection are extremely difficult. Furthermore, the confined space and complex construction environment of underground pipe racks prevent the use of large equipment for connection and installation. The traditional method involves first securing the pipe to be installed and the previous pipe section with hoists, then manually pulling a hand-operated hoist hooked to the hoists to complete the connection. This method is labor-intensive and inefficient. Additionally, the poor synchronization between electric hoists can lead to uneven stress during pipe installation and connection, causing pipe damage and potential safety accidents.

[0003] In view of the above-mentioned defects, the inventors of this invention have finally obtained this invention after a long period of research and practice. Summary of the Invention

[0004] The purpose of this invention is to provide an auxiliary device and method for connecting large-diameter pipes with sockets to reduce accident risks and work intensity.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution: the present invention includes a bottom support component, a propulsion component, and a top adjustment component;

[0006] The top adjustment component is mounted on the propulsion component and is used to support the pipe and adjust the centering of the pipe to be installed.

[0007] The propulsion component is mounted on the bottom support component, which is used to support the top adjustment component and drive the top adjustment component to move along the pipe axis;

[0008] The bottom support component is used to support the propulsion component and the top adjustment component, and to perform horizontal adjustment of the entire device and preliminary adjustment of the pipeline installation.

[0009] Preferably, the bottom support component includes a connecting frame, multiple casters, and multiple feet; the multiple casters and multiple feet are all installed at the bottom of the connecting frame, and the multiple feet all have height adjustment function.

[0010] Preferably, the bottom support component further includes a connecting seat, a support rod, and a fixing seat; the fixing seat abuts against the cement stone block, one end of the support rod is fixed to the fixing seat, the connecting seat is fixed to the connecting frame, and the other end of the support rod is fixed to the connecting seat.

[0011] Preferably, the propulsion component includes a base plate and a plurality of driving members disposed on the lower side of the base plate; the plurality of driving members are arranged in two rows, and the two rows of driving members are symmetrically arranged along the axial direction of the pipe.

[0012] Preferably, the driving component includes a propulsion wheel, a support base, and a motor; the support base is fixed to the lower side of the base plate, the motor is fixed to the support base, the propulsion wheel is fixed to the output end of the motor, and the propulsion wheel rolls along the upper surface of the bottom support component.

[0013] Preferably, the upper surface of the bottom support component is fixed to two symmetrically arranged grooved guide rails, and the push wheels of each row of drive components are in the corresponding grooves of the grooved guide rails. Limiting blocks are provided on both sides of the grooves of the grooved guide rails.

[0014] Preferably, the top adjustment component includes a base and a plurality of airbag jacks. The base is fixedly installed on the upper surface of the base plate. A groove is formed on the upper surface of the base. The plurality of airbag jacks are disposed on the inner wall of the groove. The upper end surfaces of the plurality of airbag jacks are tangent to the circumference of the pipe section.

[0015] Preferably, the groove is an inverted isosceles trapezoidal notch, and the number of airbag jacks is three, with the three airbag jacks respectively located at the bottom of the inverted isosceles trapezoidal notch and on both sides of the slope.

[0016] Preferably, the multiple airbag jacks are inflated by an external air pump.

[0017] The present invention also proposes a method for using the large-diameter pipe socket docking auxiliary device as described above, comprising the following steps:

[0018] Step 1: Use two docking auxiliary devices to simultaneously dock the pipes to be installed. Move both docking auxiliary devices to the installation location, and make the distance between the two docking auxiliary devices and the previous pipe section different, one closer and one farther.

[0019] Step 2: Move the fixing seat until it is flush with the cement block, and fix the support rod to the connecting seat;

[0020] Step 3: Adjust the feet of the two docking aids respectively, so that the center points of the two docking aids are raised to a certain height, and the line connecting the center points of the two docking aids is kept relatively parallel to the axis of the previous section of pipe;

[0021] Step 4: Inflate the airbag jacks of the two docking auxiliary devices with air pumps to make the airbag jacks inflate normally;

[0022] Step 5: Use hoisting equipment to lift and transport the pipe to be installed onto the two docking auxiliary devices, so that when the pipe is laid flat, the bottom end of the pipe is in contact with the upper end surface of the bottom airbag jack, and the two sides of the pipe are in contact with the upper end surfaces of the two side airbag jacks respectively.

[0023] Step Six: Control the air pump to simultaneously inflate the airbag jacks on both sides of the two docking auxiliary devices, so that the pipe to be installed is adjusted to be parallel to the cylindrical central axis of the previous pipe section.

[0024] Step 7: Control the air pump to inflate the airbag jacks of the two docking auxiliary devices, adjust the pipe to be installed to the installation height, and ensure that the pipe to be installed is aligned with the central axis of the cylinder of the previous pipe section.

[0025] Step 8: Control the motor to drive the propulsion wheel to rotate, so that the propulsion components of the two docking auxiliary devices carry the pipe to be installed and move axially closer to the previous pipe section and push it into docking;

[0026] Step 9: Insert a support block between the cement block and the pipe to be installed to fill the gap between them;

[0027] Step 10: Synchronously control the airbag jacks of the two docking auxiliary devices to release gas, so that the pipes and support blocks fit together;

[0028] Step 11: Remove the docking auxiliary device.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. Capable of supporting large-diameter pipes hoisted into place, the pipe installation is centered and adjusted by the top adjustment component, and the pipe is axially pushed and connected by the propulsion component, realizing the rapid adjustment, alignment and connection of large-diameter pipes. On the one hand, it improves the problem of easy damage during pipe connection and installation, reduces the risk of accidents, and on the other hand, it reduces the workload of pipe connection and installation workers, improves the working environment of pipe connection and installation workers, and improves the efficiency of pipe connection and installation.

[0031] 2. The inflation volume of the bottom airbag jack and the airbag jacks on both sides can be controlled through the control terminal, and the vertical and horizontal directions of the pipeline to be installed can be finely adjusted respectively, making it easier to connect and operate, which brings convenience to the operators. Attached Figure Description

[0032] Figure 1 A schematic diagram of the pipe connection state of the auxiliary device for large-diameter pipe socket connection;

[0033] Figure 2 for Figure 1A schematic diagram of the side view structure;

[0034] Figure 3 This is a schematic diagram of the bottom support component in this invention;

[0035] Figure 4 This is a schematic diagram of the propulsion component in this invention;

[0036] Figure 5 This is a schematic diagram of the top adjustment component in this invention.

[0037] The numbers in the image represent:

[0038] 1-First docking auxiliary device; 2-Second docking auxiliary device; 3-Cement stone block; 4-Previous section of pipe; 5-Pipe to be installed; 101-Bottom support component; 102-Propulsion component; 103-Top adjustment component; 201-Connecting frame; 202-Slotted guide rail; 203-Universal wheel; 204-Foot cup; 205-Fixing plate; 206-Connecting seat; 207-Support rod; 208-Fixing seat; 301-Base plate; 302-Propulsion wheel; 303-Support seat; 304-Motor; 401-Side airbag jack; 402-Bottom airbag jack; 403-Base. Detailed Implementation

[0039] The above-mentioned and other technical features and advantages of the present invention will be described in more detail below with reference to the accompanying drawings.

[0040] Example 1

[0041] This embodiment provides a technical solution: an auxiliary device for large-diameter pipe socket welding, referring to... Figure 2 It includes a bottom support component 101, a propulsion component 102 and a top adjustment component 103, and all three are operated by an external control terminal;

[0042] The top adjustment component 103 is set on the push component 102. It is used to support the pipe and has a high fine adjustment function for the pipe 5 to be installed, thereby realizing the centering adjustment of the pipe 5 to be installed, so that the pipe 5 to be installed is precisely connected with the previous pipe 4.

[0043] The propulsion component 102 is mounted on the bottom support component 101 and is used to support the top adjustment component 103. When the propulsion component 102 is running, it will drive the top adjustment component 103 to move along the pipe axis, thereby driving the pipe 5 to be installed to move synchronously to the next pipe section 4 and connect.

[0044] The bottom support component 101 supports the propulsion component 102 and the top adjustment component 103. The bottom support component 101 also has a height adjustment function, allowing for adjustment of the overall horizontal height of the device. Furthermore, the bottom support component 101 can be switched to a movable state to facilitate repositioning for the docking and initial adjustment of the pipe 5 to be installed. In the design, the bottom support component 101 and the propulsion component 102 are easily detachable for convenient transport and handling.

[0045] When installing the pipe 5 to be installed, in order to ensure the support stability of the pipe 5 to be installed, at least two docking auxiliary devices should be used to support and install one section of the pipe 5 to be installed. If the length of the pipe 5 to be installed is long, the number of docking auxiliary devices can be increased appropriately. When using two or more docking auxiliary devices to dock and install the pipe 5 to be installed, the same control terminal should be used to operate them to ensure the consistency of the actions of the two or more docking auxiliary devices.

[0046] This embodiment uses two auxiliary devices as an example for illustration: Refer to Figure 1 Two docking auxiliary devices, namely the first docking auxiliary device 1 and the second docking auxiliary device 2, are arranged along the expected route of the pipeline laying. The center lines of the first docking auxiliary device 1 and the second docking auxiliary device 2 are parallel to the previous section of pipeline 4. The distance between the first docking auxiliary device 1 and the second docking auxiliary device 2 is between 2 and 5 meters. Using external hoisting equipment, the pipeline 5 to be installed is placed on the two docking auxiliary devices. Using the control terminal, the top adjustment component 103 in the first docking auxiliary device 1 and the second docking auxiliary device 2 is driven to rise, adjusting the height of the pipeline 5 to be installed so that the center axis of the pipeline 5 to be installed is aligned with the previous section of pipeline 4. The propulsion component 102 is operated to smoothly dock the pipeline 5 to be installed with the previous section of pipeline 4. This enables rapid adjustment, alignment and docking of large-diameter pipelines. On the one hand, it improves the problem of easy damage during pipeline docking and installation, reduces the risk of accidents, and on the other hand, it reduces the workload of pipeline docking and installation workers, improves the working environment of pipeline docking and installation workers, and improves the efficiency of pipeline docking and installation.

[0047] Example 2

[0048] This embodiment is a further optimization based on Embodiment 1. The parts that are the same as those described above will not be repeated here. Figure 3As shown in the figure, in order to better implement the present invention, the following setting method is specifically adopted: The bottom support member 101 includes a connecting frame 201, four universal wheels 203 and four feet 204; The connecting frame 201 is mainly a rectangular frame built by wire steel profile rods, forming a "day" - shaped structure, and fixing plates 205 are installed at the bottoms of the four corners of the connecting frame 201. The four universal wheels 203 and the four feet 204 are respectively installed at the bottoms of the four fixing plates 205. Multiple feet 204 have height - adjusting functions. When the height of the feet 204 is adjusted upward, the connecting frame 201 is supported, and the universal wheels 203 are suspended, making it difficult for the docking auxiliary device to move. When it is necessary to move the docking auxiliary device, the height of the feet 204 is lowered to make them suspended, and the universal wheels 203 play a supporting role, and then the docking auxiliary device can be moved.

[0049] When pushing the pipe 5 to be installed in the direction of the upper - section pipe 4, due to the interaction of forces, a reverse acting force will be given to the bottom support member 101, and there is a risk that the bottom support member 101 may move and deviate. In order to ensure the stability of the bottom support member 101, a support group is added;

[0050] The support group includes a connecting seat 206, a support rod 207 and a fixing seat 208; During installation, the fixing seat 208 is abutted against the cement pier 3. As Figure 1 shown, one end of the support rod 207 is fixed to the fixing seat 208, the connecting seat 206 is fixed to the connecting frame 201, and the other end of the support rod 207 is fixed to the connecting seat 206 through threaded parts for easy disassembly and installation. The number of support rods 207 is at least two. When pushing the pipe 5 to be installed to move towards the upper - section pipe 4, the support group plays a role in directional support, avoiding its deviation, and ensuring the stability and accuracy during the docking of the pipe 5 to be installed.

[0051] Embodiment Three

[0052] This embodiment is further optimized based on the above - mentioned embodiment. The same parts as the foregoing technical solutions will not be described herein again. As Figure 4 shown, in order to better implement the present invention, the following setting method is specifically adopted: The propulsion member 102 includes a bottom plate 301 and multiple driving members arranged on the lower side of the bottom plate 301; The multiple driving members are arranged in two rows, and the two rows of driving members are symmetrically arranged along the axial direction of the pipe. The number of driving members in each row is at least two, ensuring the stability of the bottom plate 301;

[0053] The driving components include a push wheel 302, a support base 303, and a motor 304. The support base 303 is fixed to the lower side of the base plate 301, and the motor 304 is fixed to the support base 303. The push wheel 302 is connected and fixed to the output end of the motor 304 through a coupling. The push wheel 302 rolls along the upper surface of the bottom support component 101. When the motor 304 is running, it will drive the push wheel 302 to roll, thereby causing the top adjustment component 103 and the pipe 5 to be installed to move.

[0054] To ensure that the push wheel 302 moves in a straight line, two symmetrically arranged grooved guide rails 202 are fixed to the upper surface of the connecting frame 201. The push wheel 302 of each row of drive components is in the groove of the corresponding grooved guide rail 202. The distance between the first and last push wheels 302 of each row of drive components is less than the length of the groove of the grooved guide rail 202. Limiting blocks are provided on both sides of the groove of the grooved guide rail 202 to prevent the push wheel 302 from disengaging from the groove of the grooved guide rail 202. At the same time, to ensure the pushing stroke of the pipe 5 to be installed, before use, the push wheel 302 can be moved as far away from the previous pipe section 4 from the groove of the grooved guide rail 202 as possible.

[0055] Example 4

[0056] This embodiment is a further optimization based on the above embodiments. The parts that are the same as those in the foregoing technical solutions will not be repeated here. Figure 5 As shown, to further better realize the present invention, the following configuration is specifically adopted: the top adjustment component 103 includes a base 403 and multiple airbag jacks. The base 403 is fixedly installed on the upper surface of the base plate 301. The upper surface of the base 403 has a groove. The multiple airbag jacks are all set on the inner wall of the groove. The multiple airbag jacks set on the inner wall of the groove can center the pipe 5 to be installed, so as to accurately position it. The upper end surface of the multiple airbag jacks is tangent to the circumference of the pipe. The multiple airbag jacks are inflated by an external air pump and controlled by a control terminal. One or more of them can be inflated at the same time, and the airbag jacks can also be deflated.

[0057] In this embodiment, the groove is shaped like an inverted isosceles trapezoidal notch with slopes of equal gradient on both sides. There are three airbag jacks, one of which is located at the bottom of the isosceles trapezoidal notch, namely the bottom airbag jack 402, and the other two are located on the slopes on both sides of the isosceles trapezoidal notch, namely the side airbag jacks 401. When the position of the pipe to be installed 5 is offset from the position of the previous pipe 4, the inflation volume of the bottom airbag jack 402 and the side airbag jacks 401 can be controlled by the control terminal to make fine adjustments in the vertical and horizontal directions of the pipe to be installed, making it easier to connect and more convenient to operate, which brings convenience to the operators.

[0058] Example 5

[0059] This embodiment provides a technical solution: a method for using a large-diameter pipe socket welding auxiliary device as described in the above embodiment, including the following steps:

[0060] Step 1: Use two docking auxiliary devices to simultaneously dock the pipe 5 to be installed. Move both docking auxiliary devices to the installation location, and make the distance between the two docking auxiliary devices and the previous pipe 4 be one closer and one farther. The distance between the first docking auxiliary device 1 and the previous pipe 4 is less than two meters. The center distance between the first docking auxiliary device 1 and the second docking auxiliary device 2 is set between two meters and two and a half meters. The center lines of the two docking auxiliary devices are kept parallel to the previous pipe 4.

[0061] Step 2: Move the fixed base 208 to be close to the cement stone block 3, and fix the support rod 207 to the connecting base 206. Due to the interaction of forces, the support rod 207 will give the bottom support component 101 a counterforce. The bottom support component 101 is prone to movement and displacement, thus ensuring the stability of the bottom support component 101.

[0062] Step 3: Adjust the feet 204 of the first docking auxiliary device 1 and the second docking auxiliary device 2 respectively, so that the center points of the first docking auxiliary device 1 and the second docking auxiliary device 2 are raised to a certain height, and the line connecting the center points of the first docking auxiliary device 1 and the second docking auxiliary device 2 is kept relatively parallel to the axis of the previous section of pipe 4, so as to ensure that the pipe 5 to be installed is parallel to the previous section of pipe 4.

[0063] Step 4: Simultaneously inflate the three airbag jacks of the first docking auxiliary device 1 and the second docking auxiliary device 2 with an air pump, so that the three airbag jacks inflate normally, and the inflation volume is less than 70% of the total airbag capacity.

[0064] Step 5: Using hoisting equipment, lift and transport the pipe 5 to be installed onto the two docking auxiliary devices so that when the pipe 5 is laid flat, the bottom end of the pipe 5 is in contact with the upper end surface of the bottom airbag jack 402, and the two sides of the pipe 5 are in contact with the upper end surfaces of the two side airbag jacks 401, which provides stable support for the pipe 5. At the same time, the pipe 5 is positioned in the center of the groove.

[0065] Step 6: Use the control terminal to control the air pump to simultaneously inflate the airbag jacks 401 on both sides of the first docking auxiliary device 1 and the second docking auxiliary device 2, so that the pipe 5 to be installed is adjusted to be parallel to the cylindrical central axis of the previous pipe 4.

[0066] Step 7: Control the air pump to inflate the airbag jacks of the first docking auxiliary device 1 and the second docking auxiliary device 2, so that the pipe 5 to be installed is adjusted to the installation height. At this time, there is a certain gap between the pipe 5 to be installed and the cement block 3, and ensure that the pipe 5 to be installed is aligned with the central axis of the cylinder of the previous pipe 4. If there is any deviation, the airbag jacks at the corresponding positions can be inflated or deflated to fine-tune the position of the pipe 5 to be installed.

[0067] Step 8: Using the control terminal, control the motor 304 to drive the propulsion wheel 302 to rotate, so that the propulsion components 102 of the first docking auxiliary device 1 and the second docking auxiliary device 2 carry the pipe 5 to be installed and move axially closer to the upper section of pipe 4 and push it in for docking. During the process, the gas volume of the bottom airbag jack 402 and the side airbag jacks 401 can be adjusted to adjust the height of the pipe 5 to be installed, so that the pipe 5 to be installed is aligned vertically with the upper section of pipe 4, and then the pipe 5 to be installed can be pushed in easily, and finally the pipe docking installation is completed.

[0068] Step 9: Insert a support block between the cement block and the pipe to be installed to fill the gap between them. This will allow the pipe to better adapt to the cement block 3 and improve the stability of the pipe.

[0069] Step 10: The airbag jacks of the first docking auxiliary device 1 and the second docking auxiliary device 2 release gas simultaneously, so that the pipe 5 to be installed fits into the support block, and the support block supports the pipe 5 to be installed.

[0070] Step 11: Lower the feet 204 of the first docking auxiliary device 1 and the second docking auxiliary device 2 respectively to reduce the overall height so that all casters 203 are in contact with the ground. At the same time, the top position of the top adjustment component 103 will be lower than the lowest point of the pipe. Move the first docking auxiliary device 1 and the second docking auxiliary device 2 to remove them from the side of the pipe.

[0071] The above are merely preferred embodiments of the present invention and are illustrative in nature, not restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. An auxiliary device for large-diameter pipe socket connection, characterized in that, Includes bottom support components, propulsion components, and top adjustment components; The top adjustment component is mounted on the propulsion component and is used to support the pipe and adjust the centering of the pipe to be installed. The propulsion component is mounted on the bottom support component, which is used to support the top adjustment component and drive the top adjustment component to move along the pipe axis; The bottom support component is used to support the propulsion component and the top adjustment component, and to perform horizontal adjustment of the entire device and preliminary adjustment of the pipeline installation. The bottom support component includes a connecting frame, multiple casters, and multiple feet; the multiple casters and multiple feet are all installed at the bottom of the connecting frame, and the multiple feet all have height adjustment function; The bottom support component also includes a connecting seat, a support rod, and a fixing seat; the fixing seat abuts against the cement stone block, one end of the support rod is fixed to the fixing seat, the connecting seat is fixed to the connecting frame, and the other end of the support rod is fixed to the connecting seat.

2. The auxiliary device for large-diameter pipe socket docking according to claim 1, characterized in that, The propulsion component includes a base plate and a plurality of driving components disposed on the underside of the base plate; the plurality of driving components are arranged in two rows, and the two rows of driving components are symmetrically arranged along the axial direction of the pipeline.

3. The auxiliary device for large-diameter pipe socket docking according to claim 2, characterized in that, The driving component includes a propulsion wheel, a support base, and a motor; the support base is fixed to the lower side of the base plate, the motor is fixed to the support base, the propulsion wheel is fixed to the output end of the motor, and the propulsion wheel rolls along the upper surface of the bottom support component.

4. The auxiliary device for large-diameter pipe socket docking according to claim 3, characterized in that, The upper surface of the bottom support component is fixed to two symmetrically arranged grooved guide rails. The drive wheels of each row of drive components are in the corresponding grooves of the grooved guide rails. Limiting blocks are provided on both sides of the grooves of the grooved guide rails.

5. The auxiliary device for large-diameter pipe socket connection according to claim 1, characterized in that, The top adjustment component includes a base and multiple airbag jacks. The base is fixedly installed on the upper surface of the base plate. A groove is provided on the upper surface of the base. The multiple airbag jacks are all disposed on the inner wall of the groove. The upper end surfaces of the multiple airbag jacks are tangent to the circumference of the pipe section.

6. The auxiliary device for large-diameter pipe socket connection according to claim 5, characterized in that, The groove is an inverted isosceles trapezoidal notch, and there are three airbag jacks, which are respectively set at the bottom of the inverted isosceles trapezoidal notch and on both sides of the slope.

7. A large-diameter pipe socket docking auxiliary device according to claim 5 or 6, characterized in that, The multiple airbag jacks are inflated by an external air pump.

8. A method of using the auxiliary device for large-diameter pipe socket connection as described in any one of claims 1-7, characterized in that, Includes the following steps: Step 1: Use two docking auxiliary devices to simultaneously dock the pipes to be installed. Move both docking auxiliary devices to the installation location, and make the distance between the two docking auxiliary devices and the previous pipe section different, one closer and one farther. Step 2: Move the fixing seat until it is flush with the cement block, and fix the support rod to the connecting seat; Step 3: Adjust the feet of the two docking aids respectively, so that the center points of the two docking aids are raised to a certain height, and the line connecting the center points of the two docking aids is kept relatively parallel to the axis of the previous section of pipe; Step 4: Inflate the airbag jacks of the two docking auxiliary devices with air pumps to make the airbag jacks inflate normally; Step 5: Use hoisting equipment to lift and transport the pipe to be installed onto the two docking auxiliary devices, so that when the pipe is laid flat, the bottom end of the pipe is in contact with the upper end surface of the bottom airbag jack, and the two sides of the pipe are in contact with the upper end surfaces of the two side airbag jacks respectively. Step Six: Control the air pump to simultaneously inflate the airbag jacks on both sides of the two docking auxiliary devices, so that the pipe to be installed is adjusted to be parallel to the cylindrical central axis of the previous pipe section. Step 7: Control the air pump to inflate the airbag jacks of the two docking auxiliary devices, adjust the pipe to be installed to the installation height, and ensure that the pipe to be installed is aligned with the central axis of the cylinder of the previous pipe section. Step 8: Control the motor to drive the propulsion wheel to rotate, so that the propulsion components of the two docking auxiliary devices carry the pipe to be installed and move axially closer to the previous pipe section and push it into docking; Step 9: Insert a support block between the cement block and the pipe to be installed to fill the gap between them; Step 10: Synchronously control the airbag jacks of the two docking auxiliary devices to release gas, so that the pipes and support blocks fit together; Step 11: Remove the docking auxiliary device.

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