Intelligent excavation construction equipment and construction method for urban pipeline engineering

Abstract

The present invention provides an intelligent excavation construction equipment and construction method for urban pipeline engineering, which is used to solve the problem that there is no special construction equipment for urban pipeline excavation and support integration in the prior art. It includes: a walking device, a supporting device, multiple excavation devices and a spiral conveying mechanism. The walking device includes a walking mechanism; the supporting device includes a plurality of supporting mechanisms, a plurality of supporting mechanisms, a plurality of clamping mechanisms arranged above the walking mechanism for clamping the supporting mechanisms respectively, and four vertical racks for placing multiple supporting mechanisms. The supporting mechanism supports and connects the supporting mechanisms on both sides of the width direction of the trench; multiple excavation devices are vertically arranged at the front end of the walking mechanism, and the excavation device includes a horizontal adjustment mechanism fixed to the front end of the walking mechanism, two groups of side support mechanisms respectively hinged to the left and right ends of the horizontal adjustment mechanism, and an excavation mechanism. The excavation mechanism is rotatably connected between the two groups of side support mechanisms. The equipment can not only excavate and support at the same time, but also adapt to different trench widths and heights.

Description

Technical Field

[0001] The invention belongs to the technical field of urban pipeline engineering, and in particular relates to intelligent excavation construction equipment and a construction method for urban pipeline engineering. Background Art

[0002] With the rapid development of urban construction, the construction and improvement of underground pipeline networks have become particularly important. The narrowness of urban roads and the increasingly dense traffic and pedestrian flow have made urban pipeline construction face many challenges and safety hazards. Specifically, the frequency of urban road use is high, and the construction of urban roads will inevitably have an impact on the use of urban roads. In this environment, it is necessary to analyze and consider many aspects to reduce the restrictions on the normal operation of the city as much as possible, shorten the construction period accordingly, and improve construction efficiency and quality.

[0003] However, when constructing trenches for urban pipelines, it is necessary to select appropriate excavation and support methods based on the trench excavation depth, width, geological conditions, and surrounding environmental characteristics. When excavating trenches, the mechanical excavation method of trenches is usually excavation by excavators. The trenches are obtained by controlling the shovel head of the excavator to dig the ground. When excavating by excavator, the available area of ​​urban roads is occupied, which greatly affects the normal operation of urban roads and brings great safety hazards. The trenches cannot be excavated in one go. At the same time, after the trench excavation is completed, due to the limitations of the construction environment, when there are cables above or around the construction site, large-scale machinery cannot be used to install steel sheet piles. At this time, manual installation is required. Unsupported trenches are prone to collapse, which brings hidden dangers to manual installation. After the collapse, secondary rework is required, which also leads to low construction efficiency and long cycle problems. In addition, there is currently no special construction equipment for integrated excavation and support of urban pipelines, which restricts the degree of mechanization, intelligence, and environmental protection of urban pipeline excavation and support construction. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an intelligent excavation construction equipment and construction method for urban pipeline engineering, which is used to solve the problem that there is no special construction equipment for integrated excavation and support of urban pipelines in the prior art.

[0005] In order to achieve the above-mentioned purpose and other related purposes, the present invention provides an intelligent excavation construction equipment for urban pipeline engineering, comprising: A walking device, the walking device comprising a walking mechanism and a grabbing and telescopic mechanism disposed above the left and right ends of the walking mechanism; A supporting device, the supporting device comprising a plurality of supporting mechanisms, a plurality of supporting mechanisms, a plurality of clamping mechanisms disposed above the walking mechanism for respectively clamping the supporting mechanisms, and four vertical racks for placing a plurality of the supporting mechanisms, wherein the supporting mechanisms support and connect the supporting mechanisms on both sides of the trench width direction; A plurality of excavation devices, wherein the plurality of excavation devices are vertically arranged at the front end of the traveling mechanism, the excavation device comprises a transverse adjustment mechanism fixed to the front end of the traveling mechanism, two sets of side support mechanisms respectively hinged to the left and right ends of the transverse adjustment mechanism, an excavation mechanism, and two sets of middle support mechanisms respectively hinged to the transverse adjustment mechanism, and the excavation mechanism is rotatably connected between the two sets of side support mechanisms; The excavation mechanism includes a roller shaft rotatably arranged between two groups of the middle support mechanisms, a plurality of first excavation components, a hollow drum coaxially fixedly fitted on the roller shaft, a second excavation component symmetrically arranged at both ends of the roller, and an excavation power component driving the roller shaft to rotate; an adjustment space is formed between the inner wall of the hollow drum and the outer wall of the roller shaft; a plurality of the first excavation components are arranged along the axial direction of the roller shaft and are all located in the adjustment space; a plurality of the first excavation components, two of the second excavation components and the side support mechanism cooperate to excavate trenches of different widths and heights; A screw conveying mechanism is used to convey the soil excavated by the excavation device out of the trench.

[0006] Optionally, the first excavation component includes a fixed plate coaxially fixedly matched with the roller shaft, a first gear coaxially fixedly matched with the roller shaft, a plurality of sliding rods, a plurality of pushing rods respectively vertically fixed to one end of the sliding rods, and a plurality of arc blocks respectively fixed to the other end of the sliding rods, the first gear side surface has arc grooves equal in number to the pushing rods and slidably matched, the sliding rods and the arc blocks are equal in number and correspond one to one, the hollow drum and the fixed plate side surfaces both have a plurality of sliding grooves slidably matched with the sliding rods, each of the arc blocks is arranged with a plurality of rollers, and an adjusting power component is provided for driving a plurality of the first gears on the first excavation components to rotate simultaneously; The adjusting power assembly includes an adjusting linear power member, a plurality of second gears, an adjusting shaft, and a rotating arm vertically and fixedly connected to the adjusting shaft. The number of the second gears is equal to that of the first gears and they are meshed for transmission. The plurality of second gears are coaxially fixedly matched with the adjusting shaft. The fixed end and the telescopic end of the adjusting linear power member are respectively hinged to the inner wall of the adjusting space and the rotating arm, and the adjusting shaft is rotationally connected to each of the fixed disks.

[0007] Optionally, blind holes are provided at both ends of the roller shaft; Each of the second excavation components includes a transverse telescopic power member with a fixed end fixed to the bottom of the blind hole, a hollow extension cylinder with one end fixedly connected to the telescopic end of the transverse telescopic power member, a rotating cylinder inclined toward the rear end of the walking mechanism, a plurality of groups of first excavation parts arranged axially along the hollow extension cylinder, a plurality of groups of second excavation parts arranged axially along the rotating cylinder, and a rotating connection part, one end of the rotating cylinder is coaxially fixedly connected to the other end of the hollow extension cylinder through the rotating connection part, and the other end is rotatably connected to the side support mechanism through a universal shaft, the side wall of the blind hole has a plurality of shaft grooves along its own axial direction, and one end of the hollow extension cylinder connected to the transverse telescopic power member has a plurality of transfer blocks slidably matched with the shaft grooves in the circumferential direction; The first excavation part and the second excavation part have the same structure; The first excavation part includes a plurality of excavation modules arranged at intervals along the circumference of the hollow extension tube, each excavation module includes four first telescopic arms and arc-shaped bars, the four first telescopic arms are arranged in a rectangular structure and one end of each of them is fixedly connected to the side wall of the hollow extension tube, and the other end of each of them is fixedly connected to a side of the arc-shaped bar facing the central axis of the hollow extension tube, and the arc-shaped bar has a plurality of rollers; The roller cutter on the arc strip adjacent to the side support mechanism of the second excavation portion extends outward to the outside of the side surface of the walking mechanism.

[0008] Optionally, the horizontal adjustment mechanism includes a U-shaped frame fixed to the front end of the walking mechanism, two connecting plates vertically and symmetrically arranged at both ends of the opening of the U-shaped frame, and two L-shaped plates, the connecting plate has a first plate groove on the side surface, and the first plate grooves on the two connecting plates are respectively slidably matched with the horizontal parts of the two L-shaped frames; The bottom of the horizontal adjustment mechanism arranged at the bottom end has a bottom plate and two first connecting plates, both ends of the bottom plate have second plate grooves that slide with the two first connecting plates respectively, and the two first connecting plates are fixedly connected to the two side surfaces of the L-shaped plates respectively. The horizontal adjustment mechanism arranged at the top end has a top plate and two second connecting plates, both ends of the top plate have third plate grooves that slide with the two second connecting plates respectively, and the two third connecting plates are fixedly connected to the two side surfaces of the L-shaped plates respectively.

[0009] Optionally, each group of the side support mechanisms includes a support arm hinged at one end to the horizontal adjustment mechanism, a support telescopic power member for vertically rotating the support arm, a screw rod, a screw table threadedly matched with the screw rod, and an angle adjustment power member driving the screw rod to rotate, the support arm has an angle adjustment groove along its length direction, the screw rod is rotatably arranged in the angle adjustment groove, and the second excavation assembly is rotatably connected to the screw table; Each group of the middle support mechanisms comprises a middle support arm with one end hinged to the horizontal adjustment mechanism, a middle support telescopic power member for vertically rotating the middle support arm, and the other end of the middle support arm is rotationally connected to the roller shaft.

[0010] Optionally, the support mechanism includes a support plate, a support tip, a trapezoidal insertion block, a vertical groove and two circular grooves, the support tip is fixedly connected to the bottom of the support plate, the upper bottom of the trapezoidal insertion block is fixedly connected to a side of the support plate facing the length direction of the pipe trench, the support plate has a connection groove on the other side facing the length direction of the pipe trench that matches the trapezoidal insertion block, the vertical groove is fixedly connected to the side of the support plate facing the center direction of the pipe trench, the two circular grooves are symmetrically arranged along the vertical groove and are located on the same side of the support plate as the vertical groove, and the top of the support plate has a tip groove that matches the support tip; The support mechanism includes a hollow support tube, two support rods, two racks, a support gear, a rotating shaft, a support power member, and two groups of support components. The rotating shaft is rotatably arranged in the middle position of the inner side of the hollow support tube. The support gear is coaxially fixedly matched with the rotating shaft. The support gears are meshed and transmitted with the two racks. One end of the two racks is respectively fixedly connected to the two support rods. The two support rods are slidably matched with the inner wall of the hollow support tube. The rotating shaft is driven by the support power member to rotate and drive the two racks to move in the opposite direction. The backs of the two racks are respectively slidably matched with the inner wall of the hollow support tube. Each support assembly includes a first support rod, a second support rod cross-arranged with the first support rod, two first support columns respectively vertically fixed to the two ends of the first support rod, two second support columns respectively vertically fixed to the two ends of the second support rod, and a central support column vertically fixed to the intersection of the first support rod and the second support rod, and the other end of the support rod is vertically fixed to the intersection of the first support rod and the second support rod.

[0011] Optionally, the clamping mechanism includes two supports that are arranged front and rear oppositely and fixedly connected to the top of the walking mechanism, a slide rail that is arranged front and rear and fixedly connected to the top of the walking mechanism, a rotating rod rotatably connected to the two supports, two L-shaped seats, and a clamping power piece that drives the rotating rod to rotate, the bottom of the horizontal part of the L-shaped seat is slidably matched with the slide rail, the top of the horizontal part of the L-shaped seat has a supporting groove that cooperates with the support tip, the side of the vertical part of the L-shaped seat has a guard groove that is connected to the supporting groove and cooperates with the support plate, the rotating rod is symmetrically provided with thread lines of opposite rotation directions along the middle part of the rotating rod, and the two horizontal parts of the L-shaped seats are respectively threadedly matched with thread lines of different rotation directions on the rotating rod, and the rotating rod is driven to rotate by the clamping power piece to drive the two L-shaped seats to move toward or in the opposite direction.

[0012] Optionally, the grabbing and telescopic mechanism includes two vertical arms fixedly connected to the upper part of the walking mechanism, two vertical motion arms, a longitudinal beam, three rotating tables, a first mechanical arm, a second mechanical arm, a third mechanical arm, and a motion power assembly driving the two vertical motion arms to rotate simultaneously; The top of the vertical arm has a motion groove along its own axis, the side wall of the motion groove has a thread, and the motion arm has a thread line that matches the thread, the two vertical motion arms are perpendicular to the two ends of the longitudinal beam and are rotatably connected, the first mechanical arm is connected to the middle position of the longitudinal beam through the rotating table, and the second mechanical arm and the third mechanical arm are respectively connected to the two vertical motion arms through the rotating table; The rotating platform includes a fixed box fixedly connected to the bottom of the longitudinal beam, a fixed shaft rotatably arranged on the fixed box, a turbine coaxially fixedly matched with the fixed shaft, a worm gear meshing with the turbine gear, and a rotating driving member driving the worm gear to rotate, the worm gear is rotatably connected to the fixed box, one end of the fixed shaft extends out of the fixed box, and one end of the first mechanical arm is fixedly connected to an end of the fixed shaft protruding; The first mechanical arm, the second mechanical arm and the third mechanical arm have the same structure, and the first mechanical arm comprises at least three groups of connected rotating arms and a grabbing arm fixedly connected to one end of the rotating arm; The rotating support arm comprises two U-shaped frames, two U-shaped support arms respectively connected to the two U-shaped frames, two rotating arms fixedly connected to each other vertically, a bearing arm, and two groups of annular transmission components respectively arranged in the U-shaped frames, the two rotating arms are respectively rotatably connected in the U-shaped support arms, the two groups of annular transmission components are respectively transmission-connected to the two rotating arms, one U-shaped frame is fixedly connected to the side wall of the fixed shaft, the other U-shaped frame is fixedly connected to one end of the bearing arm, and one U-shaped frame on one rotating support arm is fixedly connected to the other end of the bearing arm on the upper rotating arm support arm; The grabbing arm includes a fixed frame fixedly connected to the carrying arm, a grabbing frame, a rotating arm, an L-shaped arm, two arc-shaped arms, two arc-shaped gears meshing with each other, two grabbing claws, a rotating driving component arranged in the fixed frame, and a grabbing driving component arranged in the grabbing frame for driving the rotating arm to rotate. The fixed frame is connected to the grabbing frame through the rotating driving component, the rotating arm is rotatably connected to one end of the L-shaped arm, the other end of the L-shaped arm is fixedly connected to one of the arc-shaped arms, one end of the two grabbing claws are respectively fixedly connected to the two arc-shaped gears, and the other end of the grabbing claws has a sawtooth structure and an arc-shaped structure.

[0013] Optionally, the walking mechanism includes a frame, two walking tracks arranged at the left and right ends of the frame, a lateral extension assembly arranged around the frame, and an extension power assembly driving the walking tracks at the left and right ends to extend, the two walking tracks are respectively connected to the frame through the two lateral extension assemblies, and the extension power assembly and the lateral extension assembly cooperate to drive the two walking tracks to move left and right respectively; A drive cavity is opened in the middle position of the frame along the left and right lateral directions, and the extension power assembly includes a first bevel gear arranged along the front and rear longitudinal direction of the frame, two second bevel gears respectively meshing with the first bevel gear for transmission, two drive shafts coaxially arranged in the drive cavity, two transmission shafts one end of which is respectively fixed to the two walking crawlers, a plurality of slides located at the other end of the transmission shaft and arranged along the circumference of the transmission shaft, a rotating shaft coaxially fixedly matched with the first bevel gear, and a rotating power member driving the rotating shaft to rotate, one end of the two driving shafts is respectively coaxially fixedly matched with the two second bevel gears, and the other end has a sliding cavity that slides with the transmission shaft, and the side wall of the sliding cavity has a plurality of sliding grooves that slide with the slide, the left and right ends of the middle position of the frame respectively have threaded holes of different rotation directions that are connected to the drive cavity, and the two transmission shafts respectively have threads that threadably match the two threaded holes of different rotation directions; Each of the lateral extension components includes a fixed arm with one end fixed to the frame, an extension arm, and an extension power member for driving the extension arm to extend and retract. The other end of the fixed arm has an extension groove that slides with the extension arm. The two ends of the extension power member are respectively fixedly connected to the frame and the side of the extension arm.

[0014] A construction method for intelligent excavation of urban pipeline engineering, characterized in that: using the intelligent excavation construction equipment for urban pipeline engineering as described above, comprising the following steps: Construction of working pits: Construction of working pits at the preset starting and ending positions of the trench, and hoisting of excavation equipment into the working pits by hoisting equipment; Walking mechanism adjustment: adjust the left and right width of the walking mechanism according to the preset size of the trench; Adjustment of the excavation device: the left and right width and the up and down height of the excavation device are adjusted according to the preset size of the trench, and the hollow extension tube is pushed out of the blind hole by two transverse telescopic power members. At this time, the transverse adjustment mechanism and the side support mechanism move in the width direction at the same time to reach the preset width; The adjusting power member drives the plurality of second gears on the plurality of the first excavation assemblies to rotate simultaneously, the first gear rotates to extend the sliding rod, the rotation radius of the arc block increases, the first telescopic arms on the first excavation part and the second excavation part are both extended, so that the rotation radius of the arc bar increases, and at the same time cooperates with the side support mechanism to control the movement of the excavation device to reach a preset height; Excavation support: through the cooperation between the excavation power assembly and the traveling mechanism, the roller shaft rotates during the movement of the traveling mechanism to realize the excavation of the trench, the spiral conveying mechanism transports the excavated soil out of the trench, and the supporting device supports both sides of the trench width direction through the grabbing and telescopic mechanism to complete the excavation and support of the trench; Lift out the excavation construction equipment: After excavating and supporting to the working pit at the termination position, lift out the excavation construction equipment to complete the trench excavation and support construction.

[0015] As described above, the intelligent excavation construction equipment and construction method for urban pipeline engineering of the present invention have at least the following beneficial effects: Through the cooperation of multiple first excavation components, second excavation components symmetrically arranged at both ends of the roller, middle support mechanism and side support mechanism, the width of the excavation device can be adjusted in the left and right directions of the walking mechanism, so as to adapt to trenches of different widths and heights, thereby improving applicability. The excavation power component drives the roller shaft to rotate and drives multiple first excavation components and two second excavation components to rotate to cut the soil. After the trench is excavated and formed, the walking mechanism pushes the excavation device in the length direction of the trench during the movement, and at the same time inserts the support mechanism into the two sides of the trench width direction through the grabbing telescopic mechanism. Then, the support mechanism on both sides of the trench width direction is supported and connected by the support mechanism, so that the side walls on both sides of the trench width direction are supported and protected, reducing the labor intensity of workers and effectively avoiding the risk of trench collapse when entering the trench for operation, and the safety factor of workers is high. Through the integrated design of the walking device, support device, excavation device and spiral conveying mechanism, the entire excavation construction equipment can realize integrated operation, from excavation, soil transportation to support, forming a complete operation process, which greatly improves work efficiency and operation quality, reduces operation costs, and improves operation safety.

[0016] The telescopic push arm of the linear power member drives the multiple second gears to rotate, and the rotation of the multiple first gears drives the push rods to slide in the arc groove respectively, and the multiple sliding rods slide in the sliding groove on the fixed plate, and cooperate with the middle support mechanism to adjust the position of the roller cutter in the circumferential direction of the roller shaft according to the height of the pipe trench, so as to effectively dig pipe trenches of different heights, thereby improving applicability and practicality. The transverse telescopic power member is fixed at the bottom of the blind hole, and the telescopic end is connected to the hollow extension tube, so that the hollow extension tube can be flexibly extended and retracted, thereby adjusting the position of the first excavation part and the second excavation part to adapt to different excavation width requirements. Through the extension and retraction of each first telescopic arm of the excavation module on the first excavation part and the second excavation part extending out of the blind hole and the cooperation of the middle support mechanism and the side support mechanism, it can adapt to different excavation depth requirements. When it is necessary to adapt to different trench excavation widths, the two hollow extension cylinders are extended to the left and right sides by the extension of the two transverse telescopic power parts, so as to achieve the trench excavation width. When it is necessary to adapt to different trench excavation depths, the trench excavation depth can be achieved by the extension of the first telescopic arm, the cooperation of the middle support mechanism, the rotating connection part and the side support mechanism. The roller on the arc strip adjacent to the side support mechanism extends outward to the side of the walking mechanism, so that the second excavation component can better clean the soil at the edge of the trench when excavating the edge of the trench, ensuring the excavation effect of the trench edge. Through the combined design of the connecting sleeve, the connecting rod, the connecting telescopic part and the two universal joints, the connecting sleeve and the connecting rod are slidably matched, and the inner wall groove and the outer wall protrusion are slidably matched, which not only ensures the flexibility of the connection, but also can withstand forces in different directions to a certain extent. The universal joint can make the rotating cylinder flexibly rotate with the hollow extension cylinder at different angles, adapt to the complex terrain and angle changes during the trench excavation process, and meet the adjustment of different trench widths and depths. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 Shown is a schematic diagram of the three-dimensional structure of the excavation device of the present invention; Figure 3 Shown is an exploded view of a first excavation assembly of the present invention; Figure 4 Shown is a schematic diagram of the three-dimensional structure of the regulating power assembly of the present invention; Figure 5 Shown is an exploded view of the second excavation assembly and the middle support mechanism of the present invention; Figure 6 Shown is an exploded view of the second excavation portion and the temple mechanism of the present invention; Figure 7 Shown is a schematic diagram of the three-dimensional structure of the rotating connection part of the present invention; Figure 8 Shown is a schematic diagram of the three-dimensional structure of the bottom plate of the present invention; Fig. 9 Shown is a schematic diagram of the top plate three-dimensional structure of the present invention; Fig.10 Shown is a schematic diagram of a three-dimensional structure of a support device of the present invention; Fig.11 Shown is a schematic diagram of the three-dimensional structure of the support mechanism of the present invention; Fig.12 Shown is a schematic diagram of the three-dimensional structure of the support mechanism of the present invention; Fig.13 Shown is an exploded view of the support mechanism of the present invention; Fig.14 Shown is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention; Fig.15 Shown is a schematic diagram of the three-dimensional structure of the walking device of the present invention; Fig.16 Shown is an exploded view of the walking mechanism of the present invention; Fig.17 It is a schematic diagram of the three-dimensional structure of the grabbing and telescopic mechanism of the present invention; Fig.18 Shown is a schematic diagram of the three-dimensional structure of the rotating platform and the first mechanical arm of the present invention; Fig.19 Shown as the present invention Fig.18 Enlarged view of part A in the middle; Fig. 20 Shown is a schematic diagram of the three-dimensional structure of the grabbing arm of the present invention; Fig.21 Shown is an exploded view of the turntable of the present invention.

[0018] Component number description Walking device 1, walking mechanism 11, frame 111, driving chamber 1111, walking crawler 112, lateral extension component 113, fixed arm 1131, extension arm 1132, extension power piece 1133, extension slot 1134, extension power component 114, first bevel gear 1141, second bevel gear 1142, drive shaft 1143, transmission shaft 1144, slide 1145, rotating shaft 1146, rotating power piece 1147, sliding chamber 1148, slide slot 1149, grabbing telescopic mechanism 12, vertical arm 121, vertical motion arm 122, motion slot 1221, longitudinal beam 123, rotating table 124, fixed box 1241, fixed shaft 1242, turbine 1243, worm 1244, rotating drive piece 12 45. first mechanical arm 125, rotating arm 1251, U-shaped frame 12511, U-shaped arm 12512, rotating arm 12513, carrying arm 12514, annular transmission component 12515, grabbing arm 1252, fixing frame 12521, grabbing frame 12522, rotating arm 12523, L-shaped arm 12524, arc arm 12525, arc gear 12526, gripper 12527, rotating driving member 12528, grabbing driving member 12529, sawtooth structure 125210, arc structure 125211, second mechanical arm 126, third mechanical arm 127, motion power assembly 128, driving sprocket 1281, driven sprocket 1282, chain 1283, motion power member 1284; Support device 2, support mechanism 21, support plate 211, support tip 212, trapezoidal connecting block 213, vertical groove 214, circular groove 215, connecting groove 216, tip groove 217, support mechanism 22, hollow support tube 221, support rod 222, rack 223, support gear 224, rotating shaft 225, support power piece 226, support assembly 227, first support rod 2271, second support rod 2272, first support column 2273, second support column 2274, central support column 2275, reinforcing rib 2276, scale line 2277, clamping mechanism 23, support seat 231, slide rail 232, rotating rod 233, L-shaped seat 234, clamping power piece 235, support groove 236, protection groove 237, vertical frame 24; Excavation device 3, horizontal adjustment mechanism 31, U-shaped frame 311, connecting plate 312, L-shaped plate 313, first plate groove 314, bottom plate 315, first connecting plate 316, second plate groove 317, top plate 318, second connecting plate 319, third plate groove 3110, side support mechanism 32, support arm 321, supporting telescopic power member 322, screw rod 323, screw platform 324, angle adjustment power member 325, angle adjustment groove 326, excavation mechanism 33, roller shaft 331, blind hole 3311, first excavation component 332, fixed plate 3321, first gear 3322, sliding rod 3323, pushing rod 3324, arc block 3325, arc groove 3326, sliding groove 3327, hob 3328, adjustment power component 3329, adjusting linear power piece 33291, second gear 33292, adjusting shaft 33293, rotating arm 33294, drum 333, second excavation assembly 334, transverse telescopic power piece 3341, rotating drum 3342, hollow extension drum 3343, first excavation part 3344, excavation module 33441, first telescopic arm 334411, arc strip 334412, second excavation part 3345, rotating connection part 3346, connecting sleeve 33461, connecting rod 33462, universal joint 33463, groove 33464, convex block 33465, universal shaft 3347, shaft groove 3348, transmission block 3349, middle support mechanism 34, middle support arm 341, middle support telescopic power piece 342; Screw conveying mechanism 4. DETAILED DESCRIPTION

[0019] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0020] See also Figures 1 to 21 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0021] The following embodiments are only for illustration purposes and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0022] In this embodiment, please refer to Figures 1 to 21 The present invention provides an intelligent excavation construction equipment for urban pipeline engineering, comprising: A walking device 1, a supporting device 2, a plurality of excavation devices 3 and a spiral conveying mechanism 4, wherein the walking device 1 comprises a walking mechanism 11 and a grabbing and telescopic mechanism 12 arranged above the left and right ends of the walking mechanism 11; the walking mechanism 11 provides the excavation construction equipment with the ability to move as a whole, so that it can be flexibly moved at the construction site to meet the needs of different work points; the supporting device 2 comprises a plurality of supporting mechanisms 21, a plurality of supporting mechanisms 22, a plurality of clamping mechanisms 23 arranged above the walking mechanism 11 for clamping the supporting mechanisms 21 respectively, and four vertical racks 24 for placing a plurality of the supporting mechanisms 22, and the four vertical racks 24 are arranged in a rectangular shape above the rear end of the walking mechanism 11, which is convenient for the storage, arrangement and use of the supporting mechanisms 22, thereby improving the construction efficiency, and the supporting mechanisms 22 support and connect the supporting mechanisms 21 on both sides of the width direction of the trench; A plurality of excavation devices 3 are vertically arranged at the front end of the traveling mechanism 11, and the excavation device 3 comprises a horizontal adjustment mechanism 31 fixed to the front end of the traveling mechanism 11, two sets of side support mechanisms 32 respectively hinged to the left and right ends of the horizontal adjustment mechanism 31, an excavation mechanism 33, and two sets of middle support mechanisms 34 respectively hinged to the horizontal adjustment mechanism 31, and the excavation mechanism 33 is rotatably connected between the two sets of side support mechanisms 32; The excavation mechanism 33 includes a roller 331 rotatably arranged between two groups of the middle support mechanisms 34, a plurality of first excavation components 332, a hollow roller 333 coaxially fixedly fitted on the roller 331, a second excavation component 334 symmetrically arranged at both ends of the roller, and an excavation power component that drives the roller 331 to rotate. The excavation power component can be an electric motor or a hydraulic motor, or other existing technologies, which are not described here. An adjustment space is formed between the inner wall of the hollow roller 333 and the outer wall of the roller 331. The plurality of first excavation components 332 are arranged axially along the roller 331 and are all located in the adjustment space. The plurality of first excavation components 332, two second excavation components 334 and the side support mechanism 32 cooperate to excavate trenches of different widths and heights. The spiral conveying mechanism 4 is used to transport the soil excavated by the excavation device 3 out of the trench. The spiral conveying mechanism 4 adopts existing technology, which is not repeated here. The spiral conveying mechanism 4 can continuously transport the excavated soil out of the trench to improve work efficiency.

[0023] Through the cooperation of multiple first excavation components 332, second excavation components 334 symmetrically arranged at both ends of the roller, middle support mechanism 34 and side support mechanism 32, the width of the excavation device 3 can be adjusted in the left and right directions of the walking mechanism 11, so as to adapt to trenches of different widths and heights, thereby improving applicability. The roller shaft 331 is driven to rotate by the excavation power component, and at the same time, multiple first excavation components 332 and two second excavation components 334 are driven to rotate to cut the soil. After the trench is excavated and formed, the walking mechanism 11 pushes the excavation device 3 in the length direction of the trench during the movement, and at the same time, the support mechanism 21 is inserted into both sides of the trench width direction by grabbing the telescopic mechanism 12, and then the support mechanism 21 on both sides of the trench width direction is supported and connected by the support mechanism 22, so that the side walls on both sides of the trench width direction are supported and protected, reducing the labor intensity of workers and effectively avoiding the risk of trench collapse when entering the trench for operation, and the safety factor of workers is high. The integrated design of the walking device 1, the supporting device 2, the excavating device 3 and the spiral conveying mechanism 4 enables the entire excavation construction equipment to achieve integrated operation, forming a complete operation process from excavation, soil transportation to support, which greatly improves work efficiency and operation quality, reduces operation costs, and improves operation safety.

[0024] In this embodiment, please refer to Figures 1 to 4 The first excavation assembly 332 includes a fixed plate 3321 coaxially fixedly matched with the roller shaft 331, a first gear 3322 coaxially fixedly matched with the roller shaft 331, a plurality of sliding rods 3323, a plurality of pushing rods 3324 respectively vertically fixed to one end of the sliding rods 3323, and a plurality of arc blocks 3325 respectively fixed to the other end of the sliding rods 3323. The side surface of the first gear 3322 has an arc groove 3326 equal in number to the pushing rods 3324 and slidably matched. The sliding rods 3323 and the arc blocks 3325 are equal in number. The hollow drum 333 and the fixed plate 3321 have a plurality of sliding grooves 3327 on the circumferential side thereof, which are respectively slidably matched with the sliding rods 3323. A plurality of roller cutters 3328 are arranged on each of the arc blocks 3325. During the excavation process, the roller cutters 3328 rotate with the drum 333 and can rotate on the drum 333, which helps to better crush and excavate soil or rock, reduces the resistance during the excavation process, and drives the plurality of first gears 3322 on the plurality of first excavation components 332 to rotate simultaneously. The adjusting power assembly 3329 includes an adjusting linear power part 33291, a plurality of second gears 33292, an adjusting shaft 33293, and a rotating arm 33294 vertically and fixedly connected to the adjusting shaft 33293. The second gears 33292 are equal in number to the first gears 3322 and are in meshing transmission. The plurality of second gears 33292 are coaxially fixedly matched with the adjusting shaft 33293. The fixed end and the telescopic end of the adjusting linear power part 33291 are respectively hinged to the inner wall of the adjusting space and the rotating arm 33294. The adjusting shaft 33293 is rotatably connected to each of the fixed disks 3321. The adjusting linear power part 33291 is a hydraulic cylinder, a pneumatic cylinder or an electric push rod.

[0025] By adjusting the telescopic pushing arm 33294 of the linear power part 33291, the multiple second gears 33292 are driven to rotate, and the multiple first gears 3322 rotate to drive the pushing rods 3324 to slide in the arc groove 3326, and the multiple sliding rods 3323 slide in the sliding groove 3327 on the fixed plate 3321, which cooperates with the central support mechanism 34 to adjust the position of the roller 3328 in the circumferential direction of the roller shaft 331 according to the height of the trench, thereby effectively excavating trenches of different heights and improving applicability and practicality.

[0026] In this embodiment, please refer to Figure 2 , Figures 5 to 7 , both ends of the roller shaft 331 are provided with blind holes 3311; Each of the second excavation components 334 includes a transverse telescopic power member 3341 fixed at a fixed end at the bottom of the blind hole 3311, a hollow extension cylinder 3343 fixedly connected to the telescopic end of the transverse telescopic power member 3341 at one end, a rotating cylinder 3342 inclined toward the rear end of the walking mechanism 11, a plurality of groups of first excavation parts 3344 arranged axially along the hollow extension cylinder 3343, a plurality of groups of second excavation parts 3345 arranged axially along the rotating cylinder 3342, and a rotating connection part 3346. The other end of the hollow extension tube 3343 is coaxially fixedly connected, and the other end is rotatably connected to the side support mechanism 32 through a universal shaft 3347. The side wall of the blind hole 3311 has a plurality of shaft grooves 3348 along its own axial direction. The end of the hollow extension tube 3343 connected to the transverse telescopic power member 3341 has a plurality of transmission blocks 3349 slidably matched with the shaft grooves 3348 in the circumferential direction. The transverse telescopic power member 3341 includes a hydraulic cylinder, a pneumatic cylinder or an electric push rod. The blind hole 3311 provides an installation position for the transverse telescopic power member 3341, making the structure compact. The first excavation portion 3344 and the second excavation portion 3345 have the same structure; The first excavation part 3344 includes a plurality of excavation modules 33441 arranged at intervals along the circumference of the hollow extension tube 3343, each excavation module 33441 includes four first telescopic arms 334411 and an arc-shaped bar 334412, the four first telescopic arms 334411 are arranged in a rectangular structure, one end of each of them is fixedly connected to the side wall of the hollow extension tube 3343, and the other end of each of them is fixedly connected to the arc-shaped bar 334412 facing the central axis of the hollow extension tube 3343, and the arc-shaped bar 334412 has a plurality of rollers 3328; the first telescopic arm 334411 includes a hydraulic cylinder, a pneumatic cylinder or an electric push rod; The roller cutter 3328 on the arc strip 334412 adjacent to the second excavation portion 3345 and the side support mechanism 32 extends outward to the outside of the side of the walking mechanism 11.

[0027] The rotating connection part 3346 includes a connecting sleeve 33461, a connecting rod 33462, two universal joints 33463, and a connecting telescopic part. The connecting sleeve 33461 is open at one end and closed at the other end. The connecting sleeve 33461 is slidably matched with the connecting rod 33462. One end of the two universal joints 33463 is coaxially fixedly connected to the closed end of the connecting sleeve 33461 and one end of the connecting rod 33462 respectively. A plurality of grooves 33464 are provided on the circumference of the inner wall of the connecting sleeve 33461, and a plurality of protrusions 33465 are provided on the circumference of the outer wall of the connecting rod 33462. The grooves 33464 are slidably matched with the protrusions 33465. The other end of a universal joint 33463 of the rotating connection part 3346 is fixedly connected to the other end of the hollow extension tube 3343, and the other end of another universal joint 33463 is fixedly connected to one end of the rotating cylinder 3342. The connecting telescopic part is arranged in the connecting sleeve 33461 to control the extension and retraction of the connecting rod 33462. The connecting telescopic part is a hydraulic rod, a pneumatic rod or a flashlight push rod, and the two ends of the connecting telescopic part are respectively fixedly connected to the bottom of the groove 33464 and the connecting rod 33462.

[0028] The transversely telescopic power part 3341 is fixed to the bottom of the blind hole 3311, and the telescopic end is connected to the hollow extension tube 3343, so that the hollow extension tube 3343 can be flexibly telescoped, thereby adjusting the position of the first excavation part 3344 and the second excavation part 3345 to adapt to different excavation width requirements. Through the telescopic operation of each first telescopic arm 334411 of the excavation module 33441 on the first excavation part 3344 and the second excavation part 3345 extending out of the blind hole 3311 and the cooperation of the middle support mechanism 34 and the side support mechanism 32, it is possible to adapt to different excavation depth requirements. When it is necessary to adapt to different trench excavation widths, the two hollow extension tubes 3343 are extended to the left and right sides through the extension and retraction of the two lateral telescopic power parts 3341, so as to achieve the trench excavation width. When it is necessary to adapt to different trench excavation depths, the trench excavation depth can be achieved through the extension and retraction of each first telescopic arm 334411 of the excavation module 33441 on the first excavation part 3344 and the second excavation part 3345 extending out of the blind hole 3311, the cooperation of the middle support mechanism 34, the rotating connection part 3346 and the side support mechanism 32. The roller 3328 on the arc strip 334412 adjacent to the side support mechanism 32 extends outward to the outside of the side of the walking mechanism 11, so that the second excavation component 334 can better clean the soil at the edge of the trench when excavating the edge of the trench, thereby ensuring the excavation effect of the edge of the trench. Through the combined design of the connecting sleeve 33461, the connecting rod 33462, the connecting telescopic part and the two universal joints 33463, the connecting sleeve 33461 and the connecting rod 33462 are slidably matched, and the inner wall groove 33464 and the outer wall protrusion 33465 are slidably matched, which not only ensures the flexibility of the connection, but also can withstand forces in different directions to a certain extent. The universal joint 33463 can make the rotating cylinder 3342 flexibly rotate with the hollow extension cylinder 3343 at different angles, adapt to the complex terrain and angle changes during trench excavation, and meet the adjustment of different trench widths and depths.

[0029] In this embodiment, please refer to Figure 2 , Figure 8 and Fig. 9 The horizontal adjustment mechanism 31 includes a U-shaped frame 311 fixed to the front end of the walking mechanism 11, two connecting plates 312 vertically and symmetrically arranged at both ends of the opening of the U-shaped frame 311, and two L-shaped plates 313. The connecting plate 312 has a first plate groove 314 on the side surface. The first plate grooves 314 on the two connecting plates 312 are respectively slidably matched with the horizontal parts of the two L-shaped frames; The bottom of the horizontal adjustment mechanism 31 arranged at the bottom end has a bottom plate 315 and two first connecting plates 316, both ends of the bottom plate 315 have second plate grooves 317 that are respectively slidably matched with the two first connecting plates 316, and the two first connecting plates 316 are respectively fixedly connected to the two sides of the L-shaped plates 313. The horizontal adjustment mechanism 31 arranged at the top end has a top plate 318 and two second connecting plates 319, both ends of the top plate 318 have third plate grooves 3110 that are respectively slidably matched with the two second connecting plates 319, and the two third connecting plates are respectively fixedly connected to the two sides of the L-shaped plates 313.

[0030] Through the sliding cooperation between the two L-shaped plates and the first plate groove 314 on the connecting plate 312, the position can be flexibly adjusted in the horizontal direction, so that the horizontal adjustment mechanism 31 can accurately change the width of the entire excavation device 3 according to the width requirements of different trenches, thereby greatly improving the adaptability to trenches of different widths and enhancing the versatility of the equipment. Through the sliding cooperation between the first connecting plate 316 at the bottom and the bottom plate 315 and the sliding cooperation between the second connecting plate 319 at the top and the top plate 318, and the sliding cooperation between the L-shaped plate and the connecting plate 312, when adjusting the position of the L-shaped plate, the first connecting plate 316 and the second connecting plate 319 slide in the second plate groove 317 and the third plate groove 3110 respectively, ensuring the stability and integrity of the entire structure of the horizontal adjustment mechanism 31 during the width adjustment process, avoiding the occurrence of local uneven force or structural deformation, and ensuring the smoothness and accuracy of the width adjustment.

[0031] In this embodiment, please refer to Figure 2 , Figure 5 and Figure 6 Each group of the side support mechanism 32 includes a support arm 321 with one end hinged on the horizontal adjustment mechanism 31, a support telescopic power member 322 for vertically rotating the support arm 321, a screw rod 323, a screw stand 324 threadedly matched with the screw rod 323, and an angle adjustment power member 325 for driving the screw rod 323 to rotate. The support arm 321 has an angle adjustment groove 326 along its length direction, the screw rod 323 is rotatably arranged in the angle adjustment groove 326, the second excavation assembly 334 is rotatably connected to the screw stand 324, and the screw stand 324 is rotatably connected to the universal shaft 3347. The support telescopic power member 322 includes a hydraulic cylinder, a cylinder or an electric push rod. The angle adjustment power member 325 is an electric motor or a hydraulic motor. The screw stand 324 is slidably matched in the angle adjustment groove 326.

[0032] Each group of the middle support mechanism 34 includes a middle support arm 341 with one end hinged to the horizontal adjustment mechanism 31, a middle support telescopic power member 342 for vertically rotating the middle support arm 341, and the other end of the middle support arm 341 is rotatably connected to the roller shaft 331. The middle support telescopic power member 342 is a hydraulic cylinder, a pneumatic cylinder or an electric push rod. Through the combination of the middle support arm 341 and the middle support telescopic power member 342, the entire middle support mechanism 34 has high flexibility. One end of the middle support arm 341 is hinged to the horizontal adjustment mechanism 31, and the other end is rotatably connected to one end of the roller shaft 331. The middle support telescopic power member 342 can realize the vertical rotation of the middle support arm 341, so that the middle support arm 341 can adjust the angle according to different work requirements, thereby changing the position and posture of the roller shaft 331.

[0033] When it is necessary to adjust the trench excavation depth, the angle adjustment power member 325 drives the screw rod 323 to rotate and drive the screw table 324 to slide in the angle adjustment groove 326, which will drive the universal joint 3347 to move with the screw table 324. At the same time, the connecting telescopic parts on the rotating connection part 3346 work at the same time, so that the rotating cylinder 3342 and the hollow extension cylinder 3343 are always in the same horizontal plane, and the roller 3328 on the arc strip 334412 adjacent to the second excavation part 3345 and the side support mechanism 32 is always extended outward to the side of the walking mechanism 11. The height of the support arm 321 can be adjusted by supporting the telescopic power member 322 to extend and retract, thereby meeting the construction requirements of different trench heights and improving the versatility and operation efficiency of the equipment.

[0034] In this embodiment, please refer to Figure 1 , Figures 10 to 13 The support mechanism 21 includes a support plate 211, a support tip 212, a trapezoidal insertion block 213, a vertical groove 214 and two circular grooves 215. The support tip 212 is fixedly connected to the bottom of the support plate 211, the upper bottom of the trapezoidal insertion block 213 is fixedly connected to one side of the support plate 211 facing the length direction of the pipe trench, and the support plate 211 has a connection groove 216 on the other side facing the length direction of the pipe trench, which cooperates with the trapezoidal insertion block 213. The vertical groove 214 is fixedly connected to the side of the support plate 211 facing the center direction of the pipe trench, and the two circular grooves 215 are symmetrically arranged along the vertical groove 214 and are located on the same side of the support plate 211 as the vertical groove 214. The top of the support plate 211 has a tip groove 217 that cooperates with the support tip 212; The support mechanism 22 includes a hollow support tube 221, two support rods 222, two racks 223, a support gear 224, a rotating shaft 225, a support power member 226, and two groups of support components 227. The rotating shaft 225 is rotatably arranged in the middle of the inner side of the hollow support tube 221. The support gear 224 is coaxially fixedly matched with the rotating shaft 225. The support gear 224 is meshed with the two racks 223 for transmission. One end of the two racks 223 is fixedly connected to the two support rods 222 respectively. The two support rods 222 are slidably matched with the inner wall of the hollow support tube 221, and the rotating shaft 225 is driven to rotate through the expansion power piece 226 to drive the two racks 223 to move in opposite directions; the expansion power piece 226 is a motor, and the motor is wirelessly controlled; the support rod 222 is provided with a scale line 2277, and the scale line 2277 can provide an accurate reference for the adjustment of the support rod 222. In the scenario where the support rod needs to be built or adjusted multiple times, the scale line 2277 can help achieve consistency in operation.

[0035] Each support assembly 227 includes a first support rod 2271, a second support rod 2272 intersecting the first support rod 2271, two first support columns 2273 respectively vertically fixed to the two ends of the first support rod 2271, two second support columns 2274 respectively vertically fixed to the two ends of the second support rod 2272, and a central support column 2275 vertically fixed to the intersection of the first support rod 2271 and the second support rod 2272. The other end of the support rod 222 is vertically fixed to the intersection of the first support rod 2271 and the second support rod 2272. A reinforcing rib 2276 is provided at the intersection of the first support rod 2271 and the second support rod 2272 and the vertical fixing position of the other end of the support rod 222. The reinforcing rib 2276 can significantly improve the structural strength of the intersection and the fixing position, enhance the stability of the support mechanism, and improve the safety.

[0036] When performing support, the support mechanism 21 is inserted into the side wall of the trench by grabbing the telescopic mechanism 12. The two grabbing telescopic mechanisms 12 cooperate to connect the support mechanism 22 to the support mechanism 21 on both sides of the trench width direction, so that the side walls on both sides of the trench width direction can be supported and protected, reducing the labor intensity of workers and effectively avoiding the risk of trench collapse when entering the trench for work, and the safety factor of workers is high. The trapezoidal connecting block 213 and the corresponding connecting groove 216 enable the support plate 211 to be quickly spliced ​​in the length direction of the trench, thereby ensuring the tightness of the connection between adjacent support plates 211 and facilitating installation and disassembly. The cooperation between the support tip 212 and the tip groove 217 enables the support plates 211 to be stacked layer by layer in the vertical direction. When the trench support depth needs to be increased, the support tip 212 can be inserted into the tip groove 217 of the upper support plate 211, which increases the overall stability of the support structure and improves versatility and practicality. By driving the rotating shaft 225 to rotate through the opening power member 226, the rotating shaft 225 drives the opening gear 224 to rotate, and then the two racks 223 move in opposite directions, so that the extension length of the two support rods 222 can be accurately controlled, thereby adjusting the expansion degree of the support assembly 227 to adapt to different trench support widths. The first support rod 2271 and the second support rod 2272 in each support assembly 227 are arranged crosswise, and the central support column 2275 is vertically fixed at the intersection position, and the first support column 2273 and the second support column 2274 are respectively arranged at both ends, forming a plurality of triangular stable structures. The stability of the triangle enables the support assembly 227 to effectively resist forces in various directions.

[0037] In this embodiment, please refer to Figure 1 and Fig.14 The clamping mechanism 23 includes two supports 231 arranged front and rear oppositely and fixedly connected to the top of the walking mechanism 11, a slide rail 232 arranged front and rear and fixedly connected to the top of the walking mechanism 11, a rotating rod 233 rotatably connected to the two supports 231, two L-shaped seats 234, and a clamping power member 235 driving the rotating rod 233 to rotate. The clamping power member 235 is an electric motor or a hydraulic motor. The bottom of the horizontal part of the L-shaped seat 234 is slidably matched with the slide rail 232, and the top of the horizontal part of the L-shaped seat 234 is It has a support groove 236 that cooperates with the support tip 212, and the side of the vertical part of the L-shaped seat 234 has a protective groove 237 that is connected to the support groove 236 and cooperates with the support plate 211. The rotating rod 233 is symmetrically provided with thread lines with opposite rotation directions along its middle part, and the two horizontal parts of the L-shaped seats 234 are respectively threadedly matched with the thread lines of different rotation directions on the rotating rod 233. The rotating rod 233 is driven to rotate by the clamping power piece 235 to drive the two L-shaped seats 234 to move toward or in the opposite direction.

[0038] The rotating rod 233 is driven to rotate by the clamping power member 235 to drive the two L-shaped seats 234 to move toward or in the opposite direction, so that the position of the L-shaped seat can be accurately adjusted, thereby accurately controlling the clamping force and position of the support plate 211 and the support tip 212. The bottom of the horizontal part of the L-shaped seat slides with the slide rail 232 to ensure the stability of the L-shaped seat during movement. The support groove 236 on the top of the horizontal part of the two L-shaped seats 234 cooperates with the support tip 212, and the protective groove 237 on the side of the vertical part cooperates with the support plate 211, so that the L-shaped seat can provide good support and protection for the support plate 211 and the support tip 212. When the support plate 211 is placed on the L-shaped seat, the support groove 236 can prevent the support tip 212 from shaking, and the protective groove 237 can limit the horizontal displacement of the support plate 211, thereby enhancing the stability of the support plate 211 above the walking mechanism 11, ensuring that the support plate 211 will not be easily displaced or tipped over during the movement or operation of the walking mechanism 11.

[0039] In this embodiment, please refer to Figure 1 , Fig.15 , Figures 17 to 21 The grabbing and telescopic mechanism 12 includes two vertical arms 121 fixedly connected to the upper part of the walking mechanism 11, two vertical motion arms 122, a longitudinal beam 123, three rotating tables 124, a first mechanical arm 125, a second mechanical arm 126, a third mechanical arm 127, and a motion power assembly 128 for driving the two vertical motion arms 122 to rotate simultaneously; The motion power assembly 128 includes a driving sprocket 1281, a driven sprocket 1282, a chain 1283, and a motion power member 1284. The driving sprocket 1281 is coaxially fixedly matched with one of the vertical motion arms 122, and the driven sprocket 1282 is coaxially fixedly matched with the other vertical motion arm 122. The driving sprocket 1281 and the driven sprocket 1282 are connected by the chain 1283. The driving sprocket 1281 is driven to rotate by the motion power member 1284, which drives the driven sprocket 1282 to rotate. Or, the motion power assembly 128 includes a driving pulley, a driven pulley, a belt, and a motion power member 1284, wherein the driving pulley is coaxially fixedly matched with one of the vertical motion arms 122, the driven pulley is coaxially fixedly matched with another vertical motion arm 122, the driving pulley and the driven pulley are connected through the belt transmission, and the driving pulley is driven to rotate by the motion power member 1284; the motion power member 1284 is an electric motor or a hydraulic motor; The top of the vertical arm 121 has a motion groove 1221 along its own axis, the side wall of the motion groove 1221 has a thread, and the motion arm has a thread line that matches the thread. The two vertical motion arms 122 are vertically and rotationally connected to the two ends of the longitudinal beam 123. The first mechanical arm 125 is connected to the middle position of the longitudinal beam 123 through the rotating platform 124. The second mechanical arm 126 and the third mechanical arm 127 are respectively connected to the two vertical motion arms 122 through the rotating platform 124. The active sprocket 1281 or the active pulley is driven to rotate through the moving power part 1284 to drive the driven sprocket 1282 or the driven pulley. The two vertical moving arms 122 rotate at the same time to achieve vertical movement through the threaded cooperation with the moving groove 1221 at the top of the vertical arm 121. The threaded transmission method can accurately control the height of the vertical moving arm 122, thereby adjusting the vertical position of the entire grabbing and telescopic mechanism 12.

[0040] The rotating platform 124 includes a fixed box 1241 fixedly connected to the bottom of the longitudinal beam 123, a fixed shaft 1242 rotatably arranged on the fixed box 1241, a turbine 1243 coaxially fixedly matched with the fixed shaft 1242, a worm 1244 meshing with the turbine 1243, and a rotating driving member 1245 driving the worm 1244 to rotate, wherein the worm 1244 is rotatably connected to the fixed box 1241, one end of the fixed shaft 1242 extends out of the fixed box 1241, and one end of the first mechanical arm 125 is fixedly connected to the protruding end of the fixed shaft 1242; the rotating driving member 1245 is an electric motor or a hydraulic motor, which is connected to the fixed box 1241 and the fixed shaft 1242 through the fixed box 1241 and the fixed shaft 1242. 42. The cooperation between the turbine 1243 and the worm 1244 enables the first mechanical arm 125 fixed at one end of the fixed shaft 1242 to achieve precise angle control. The transmission of the turbine 1243 and the worm 1244 is self-locking, which can ensure that the mechanical arm is fixed at the required position. The three rotating platforms 124 are respectively arranged in the middle of the longitudinal beam 123 and the two vertical motion arms 122, so that the first mechanical arm 125, the second mechanical arm 126 and the third mechanical arm 127 can achieve independent angle rotation in multiple planes, which greatly increases the working space range and flexibility of the first mechanical arm 125, the second mechanical arm 126 and the third mechanical arm 127, and can achieve grasping from different directions, thereby improving construction efficiency and safety; The first mechanical arm 125, the second mechanical arm 126 and the third mechanical arm 127 have the same structure. The first mechanical arm 125 includes at least three groups of connected rotating arms 1251 and a grabbing arm 1252 fixedly connected to one end of the rotating arms 1251. The design of at least three groups of rotating arms 1251 enables the mechanical arm to bend and stretch flexibly. Through the coordinated movement of each rotating arm 1251, the grabbing arm 1252 can be accurately controlled to reach the target position, thereby ensuring the synchronization and accuracy of the movement, so that the mechanical arm can also achieve accurate positioning in a complex space environment. The rotating support arm 1251 comprises two U-shaped frames 12511, two U-shaped support arms 12512 respectively connected to the two U-shaped frames 12511, two rotating arms 12513 fixedly connected to each other vertically, a bearing arm 12514, and two groups of annular transmission parts 12515 respectively arranged in the U-shaped frames 12511, the two rotating arms 12513 are respectively rotatably connected in the U-shaped support arms 12512, and the two groups of annular transmission parts 12515 are respectively connected to the two The rotating arm 12513 is connected in transmission, one of the U-shaped frames 12511 is fixedly connected to the side wall of the fixed shaft 1242, another of the U-shaped frames 12511 is fixedly connected to one end of the carrying arm 12514, and one of the U-shaped frames 12511 on the rotating support arm 1251 is fixedly connected to the other end of the carrying arm 12514 on the support arm of the previous rotating arm 33294; ​​the annular transmission part 12515 is a sprocket annular transmission wheel set or a belt annular transmission wheel set; The grabbing arm 1252 includes a fixing frame 12521 fixedly connected to the carrying arm 12514, a grabbing frame 12522, a rotating arm 3329412523, an L-shaped arm 12524, two arc-shaped arms 12525, two arc-shaped gears 12526 meshing with each other, two grabbing claws 12527, a rotating driving member 12528 disposed in the fixing frame 12521, and a grabbing driving member 12528 disposed in the grabbing frame 12522 for driving the rotating arm 3329412523 to rotate. 9. The fixed frame 12521 is connected to the grabbing frame 12522 through the rotating driving member 12528. The rotating arm 3329412523 is rotatably connected to one end of the L-shaped arm 12524. The other end of the L-shaped arm 12524 is fixedly connected to the arc arm 12525. One ends of the two claws 12527 are respectively fixedly connected to the two arc gears 12526. The other ends of the claws 12527 have a sawtooth structure 125210 and an arc structure 125211. The rotating drive member 12528 and the grabbing drive member 12529 are electric motors and / or hydraulic motors. The output shaft of the rotating drive member 12528 is fixedly connected to the grabbing frame 12522. The rotating power member is driven to rotate by the rotating drive member 12528. The output shaft of the grabbing drive member 12529 is vertically fixed to the rotating arm 3329412523. The rotation of the grabbing drive member drives the rotating arm 3329412523 to rotate. The rotation of the rotating arm 3329412523 drives the L-shaped arm 12524 to move, and then drives the two arc gears 12526 to rotate, and controls the two claws 12527 respectively fixed to the arc gears 12526 to open or close. The serrated structure 125210 can achieve better grasping of the support mechanism 21, and the arc structure 125211 can achieve better grasping of the support mechanism 22.

[0041] In this embodiment, please refer to Fig.15 and Fig.16 The walking mechanism 11 includes a frame 111, two walking tracks 112 arranged at the left and right ends of the frame 111, a lateral extension component 113 arranged around the frame 111, and an extension power component 114 for driving the walking tracks 112 at the left and right ends to extend. The two walking tracks 112 are connected to the frame 111 through the two lateral extension components 113 respectively, and the extension power component 114 and the lateral extension component 113 cooperate to drive the two walking tracks 112 to move left and right respectively; the walking tracks 112 are driven by a motor and / or a hydraulic drive, and the walking tracks 112 are used as a walking method. The walking tracks 112 have a large contact area with the ground, so that when the walking mechanism 11 walks in the trench, it can disperse the weight, reduce the pressure per unit area, and reduce the risk of sinking. At the same time, the walking tracks 112 can better adapt to the ups and downs and unevenness of the ground, ensuring that the walking mechanism 11 moves smoothly; A driving cavity 1111 is provided in the middle of the vehicle frame 111 along the left and right lateral directions. The extension power assembly 114 includes a first bevel gear 1141 arranged longitudinally along the front and rear of the vehicle frame 111, two second bevel gears 1142 respectively meshing with the first bevel gear 1141 for transmission, two drive shafts 1143 coaxially rotating in the driving cavity 1111, two transmission shafts 1144 respectively fixed at one end to the two walking tracks 112, a plurality of slides 1145 located at the other end of the transmission shaft 1144 and arranged circumferentially along the transmission shaft 1144, a rotating shaft 1146 coaxially fixedly matched with the first bevel gear 1141, a driving The rotating power member 1147 rotated by the rotating shaft 1146, one end of the two driving shafts 1143 is respectively coaxially fixed with the two second bevel gears 1142, and the other end has a sliding cavity 1148 that is slidably matched with the transmission shaft 1144, and the side wall of the sliding cavity 1148 has a plurality of sliding grooves 1149 that are slidably matched with the slide 1145, and the left and right ends of the middle position of the frame 111 respectively have threaded holes in different rotation directions that are connected to the driving cavity 1111, and the two transmission shafts 1144 respectively have threads that are threadedly matched with the two threaded holes of different rotation directions; the rotating power member 1147 is an electric motor or a hydraulic motor; The walking track 112 of the walking mechanism 11 can move leftward and rightward by cooperating with the extension power assembly 114 and the lateral extension assembly 113, so that the walking mechanism 11 can flexibly adjust the spacing of the walking track 112 according to the width of the trench work site. The rotating shaft 1146 is driven by the rotating power member 1147 to rotate and drive the first bevel gear 1141 to rotate. The first bevel gear 1141 is meshed with the two second bevel gears 1142 to drive the two drive shafts 1143 to rotate, and then drive the transmission shaft 1144 to rotate. The two transmission shafts 1144 are respectively threaded with the threaded holes of different rotation directions at the left and right ends of the middle position of the frame 111. The two transmission shafts 1144 slide in the driving cavity 1111 and push the two walking tracks 112 to move leftward and rightward respectively, thereby realizing flexible adjustment of the root canal trench width, and improving the practicality, adaptability and versatility of the walking mechanism 11.

[0042] Each of the lateral extension components 113 includes a fixed arm 1131 fixed at one end to the frame 111, an extension arm 1132, and an extension power member 1133 for driving the extension arm 1132 to extend and retract. The other end of the fixed arm 1131 has an extension slot 1134 that slides with the extension arm 1132. The two ends of the extension power member 1133 are respectively fixedly connected to the frame 111 and the side of the extension arm 1132. The extension power member 1133 is a hydraulic cylinder, a pneumatic cylinder or an electric push rod. The fixed arm 1131 and the extension arm 1132 in each lateral extension component 113 are driven by the extension power member 1133 to achieve extension and retraction. The extension arm 1132 slides in the extension slot 1134 of the fixed arm 1131, ensuring the linearity and stability of the extension process, so that the lateral extension of the walking track 112 can be achieved in cooperation with the extension power member 114, thereby increasing the mobility and flexibility of the walking mechanism 11.

[0043] In this embodiment, please refer to Figures 1 to 21 A construction method for intelligent excavation of urban pipeline engineering, characterized in that: using the intelligent excavation construction equipment for urban pipeline engineering described in any of the above embodiments, comprising the following steps: Construction of working pits: Construction of working pits at the preset starting and ending positions of the trench, and hoisting of excavation equipment into the working pits by hoisting equipment; Adjustment of the walking mechanism 11: adjusting the left and right widths of the walking mechanism 11 according to the preset size of the trench; Adjustment of the excavation device 3: the left and right width and the up and down height of the excavation device 3 are adjusted according to the preset size of the trench, and the hollow extension tube 3343 is pushed out of the blind hole 3311 by two transverse telescopic power members 3341. At this time, the transverse adjustment mechanism 31 and the side support mechanism 32 move in the width direction at the same time to reach the preset width; The adjusting power member drives the plurality of second gears 33292 on the plurality of first excavation assemblies 332 to rotate simultaneously, the first gear 3322 rotates to extend the sliding rod 3323, the rotation radius of the arc block 3325 increases, the first telescopic arms 334411 on the first excavation part 3344 and the second excavation part 3345 are both extended, so that the rotation radius of the arc bar 334412 increases, and at the same time cooperates with the side support mechanism 32 to control the movement of the excavation device 3 to reach a preset height; Excavation support: through the cooperation between the excavation power assembly and the traveling mechanism 11, the roller shaft 331 rotates during the movement of the traveling mechanism 11 to realize the excavation of the trench, the spiral conveying mechanism 4 conveys the excavated soil out of the trench, and the supporting device 2 supports both sides of the trench width direction through the grabbing telescopic mechanism 12 to complete the excavation and support of the trench; Lifting out the excavation construction equipment: After excavating and supporting to the end position of the working well, lift out the excavation construction equipment to complete the trench excavation and support construction. At this time, the worker enters the trench and uses screws to further connect the center support column 2275 and the vertical groove 214, the first support column 2273, the second support column 2274 and the cylinder, and the support tip 212 and the tip groove 217 to complete the trench support operation.

[0044] In summary, the present invention cooperates with multiple first excavation components 332, second excavation components 334 symmetrically arranged at both ends of the roller, middle support mechanism 34 and side support mechanism 32, so that the width of the excavation device 3 can be adjusted in the left and right directions of the walking mechanism 11, so as to adapt to different widths and heights of trenches, thereby improving applicability. The roller shaft 331 is driven to rotate by the excavation power component, and at the same time, multiple first excavation components 332 and two second excavation components 334 are driven to rotate to cut the soil. After the trench is excavated and formed, the walking mechanism 11 pushes the excavation device 3 in the length direction of the trench during the movement, and at the same time, the support mechanism 21 is inserted into both sides of the trench width direction by grabbing the telescopic mechanism 12, and then the support mechanism 21 on both sides of the trench width direction is supported and connected by the support mechanism 22, so that the side walls on both sides of the trench width direction are supported and protected, reducing the labor intensity of workers and effectively avoiding the risk of trench collapse when entering the trench for operation, and the safety factor of workers is high. Through the integrated design of the walking device 1, the supporting device 2, the excavating device 3 and the spiral conveying mechanism 4, the entire excavation construction equipment can realize integrated operation, from excavation, soil transportation to support, forming a complete operation process, which greatly improves work efficiency and operation quality, reduces operation costs, and improves operation safety; by adjusting the telescopic pushing arm 33294 of the linear power part 33291, the multiple second gears 33292 are driven to rotate, and the rotation of the multiple first gears 3322 respectively drives the pushing rods 3324 to slide in the arc groove 3326, and the multiple sliding rods 3323 slide in the sliding groove 3327 on the fixed plate 3321, and cooperate with the middle support mechanism 34 to make it possible to adjust the position of the roller 3328 in the circumferential direction of the roller shaft 331 according to the height of the trench, thereby effectively excavating trenches of different heights, thereby improving applicability and practicality. The transversely telescopic power part 3341 is fixed to the bottom of the blind hole 3311, and the telescopic end is connected to the hollow extension tube 3343, so that the hollow extension tube 3343 can be flexibly telescoped, thereby adjusting the position of the first excavation part 3344 and the second excavation part 3345 to adapt to different excavation width requirements. Through the telescopic operation of each first telescopic arm 334411 of the excavation module 33441 on the first excavation part 3344 and the second excavation part 3345 extending out of the blind hole 3311 and the cooperation of the middle support mechanism 34 and the side support mechanism 32, it is possible to adapt to different excavation depth requirements.When it is necessary to adapt to different trench excavation widths, the two hollow extension tubes 3343 are extended to the left and right sides by the extension and retraction of the two lateral telescopic power parts 3341, so as to achieve the trench excavation width. When it is necessary to adapt to different trench excavation depths, the trench excavation depth can be achieved by the extension and retraction of the first telescopic arm 334411, the coordination of the middle support mechanism 34, the rotating connection part 3346 and the side support mechanism 32. The roller 3328 on the arc strip 334412 adjacent to the side support mechanism 32 extends outward to the outside of the side of the walking mechanism 11, so that the second excavation component 334 can better clean the soil at the edge of the trench when excavating the edge of the trench, thereby ensuring the excavation effect at the edge of the trench. Through the combined design of the connecting sleeve 33461, the connecting rod 33462, the connecting telescopic member and the two universal joints 33463, the connecting sleeve 33461 and the connecting rod 33462 are slidably matched, and the inner wall groove 33464 and the outer wall protrusion 33465 are slidably matched, which not only ensures the flexibility of the connection, but also can withstand forces in different directions to a certain extent. The universal joint 33463 can make the rotating cylinder 3342 flexibly rotate with the hollow extension cylinder 3343 at different angles, adapt to the complex terrain and angle changes during the trench excavation process, and meet the requirements of different trench widths and depth adjustments. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0045] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An intelligent excavation construction equipment for urban pipeline engineering, characterized in that: include: A walking device, the walking device comprising a walking mechanism and a grabbing and telescopic mechanism disposed above the left and right ends of the walking mechanism; A supporting device, the supporting device comprising a plurality of supporting mechanisms, a plurality of supporting mechanisms, a plurality of clamping mechanisms disposed above the walking mechanism for respectively clamping the supporting mechanisms, and four vertical racks for placing a plurality of the supporting mechanisms, wherein the supporting mechanisms support and connect the supporting mechanisms on both sides of the trench width direction; A plurality of excavation devices, wherein the plurality of excavation devices are vertically arranged at the front end of the traveling mechanism, the excavation device comprises a transverse adjustment mechanism fixed to the front end of the traveling mechanism, two sets of side support mechanisms respectively hinged to the left and right ends of the transverse adjustment mechanism, an excavation mechanism, and two sets of middle support mechanisms respectively hinged to the transverse adjustment mechanism, and the excavation mechanism is rotatably connected between the two sets of side support mechanisms; The excavation mechanism includes a roller shaft rotatably arranged between two groups of the middle support mechanisms, a plurality of first excavation components, a hollow drum coaxially fixedly fitted on the roller shaft, a second excavation component symmetrically arranged at both ends of the roller, and an excavation power component driving the roller shaft to rotate; an adjustment space is formed between the inner wall of the hollow drum and the outer wall of the roller shaft; a plurality of the first excavation components are arranged along the axial direction of the roller shaft and are all located in the adjustment space; a plurality of the first excavation components, two of the second excavation components and the side support mechanism cooperate to excavate trenches of different widths and heights; A screw conveying mechanism is used to convey the soil excavated by the excavation device out of the trench.

2. The intelligent excavation construction equipment for urban pipeline engineering according to claim 1 is characterized in that: The first excavation assembly comprises a fixed plate coaxially fixedly matched with the roller shaft, a first gear coaxially fixedly matched with the roller shaft, a plurality of sliding rods, a plurality of pushing rods respectively vertically fixedly connected to one end of the sliding rods, and a plurality of arc blocks respectively fixedly connected to the other end of the sliding rods. The first gear side surface has arc grooves equal in number to the pushing rods and slidably matched. The sliding rods and the arc blocks are equal in number and correspond one to one. The hollow drum and the fixed plate side surfaces have a plurality of sliding grooves slidably matched with the sliding rods respectively. A plurality of rollers are arranged on each of the arc blocks, and an adjusting power assembly is provided for driving a plurality of the first gears on the first excavation assemblies to rotate simultaneously. The adjusting power assembly includes an adjusting linear power member, a plurality of second gears, an adjusting shaft, and a rotating arm vertically and fixedly connected to the adjusting shaft. The number of the second gears is equal to that of the first gears and they are meshed for transmission. The plurality of second gears are coaxially fixedly matched with the adjusting shaft. The fixed end and the telescopic end of the adjusting linear power member are respectively hinged to the inner wall of the adjusting space and the rotating arm, and the adjusting shaft is rotationally connected to each of the fixed disks.

3. The intelligent excavation construction equipment for urban pipeline engineering according to claim 2 is characterized in that: Blind holes are provided at both ends of the roller shaft; Each of the second excavation components includes a transverse telescopic power member with a fixed end fixed to the bottom of the blind hole, a hollow extension cylinder with one end fixedly connected to the telescopic end of the transverse telescopic power member, a rotating cylinder inclined toward the rear end of the walking mechanism, a plurality of groups of first excavation parts arranged axially along the hollow extension cylinder, a plurality of groups of second excavation parts arranged axially along the rotating cylinder, and a rotating connection part, one end of the rotating cylinder is coaxially fixedly connected to the other end of the hollow extension cylinder through the rotating connection part, and the other end is rotatably connected to the side support mechanism through a universal shaft, the side wall of the blind hole has a plurality of shaft grooves along its own axial direction, and one end of the hollow extension cylinder connected to the transverse telescopic power member has a plurality of transfer blocks slidably matched with the shaft grooves in the circumferential direction; The first excavation part and the second excavation part have the same structure; The first excavation part includes a plurality of excavation modules arranged at intervals along the circumference of the hollow extension tube, each excavation module includes four first telescopic arms and arc-shaped bars, the four first telescopic arms are arranged in a rectangular structure and one end of each of them is fixedly connected to the side wall of the hollow extension tube, and the other end of each of them is fixedly connected to a side of the arc-shaped bar facing the central axis of the hollow extension tube, and the arc-shaped bar has a plurality of rollers; The roller cutter on the arc strip adjacent to the side support mechanism of the second excavation portion extends outward to the outside of the side surface of the walking mechanism.

4. The intelligent excavation construction equipment for urban pipeline engineering according to claim 1 is characterized in that: The horizontal adjustment mechanism includes a U-shaped frame fixed to the front end of the walking mechanism, two connecting plates vertically and symmetrically arranged at both ends of the opening of the U-shaped frame, and two L-shaped plates, the connecting plate has a first plate groove on the side surface, and the first plate grooves on the two connecting plates are respectively slidably matched with the horizontal parts of the two L-shaped frames; The bottom of the horizontal adjustment mechanism arranged at the bottom end has a bottom plate and two first connecting plates, both ends of the bottom plate have second plate grooves that slide with the two first connecting plates respectively, and the two first connecting plates are fixedly connected to the two side surfaces of the L-shaped plates respectively. The horizontal adjustment mechanism arranged at the top end has a top plate and two second connecting plates, both ends of the top plate have third plate grooves that slide with the two second connecting plates respectively, and the two third connecting plates are fixedly connected to the two side surfaces of the L-shaped plates respectively.

5. The intelligent excavation construction equipment for urban pipeline engineering according to claim 1 is characterized by: Each group of the side support mechanisms includes a support arm hinged at one end to the horizontal adjustment mechanism, a support telescopic power member for vertically rotating the support arm, a screw rod, a screw table threadedly matched with the screw rod, and an angle adjustment power member for driving the screw rod to rotate. The support arm has an angle adjustment groove along its length direction, the screw rod is rotatably arranged in the angle adjustment groove, and the second excavation assembly is rotatably connected to the screw table; Each group of the middle support mechanisms comprises a middle support arm with one end hinged to the horizontal adjustment mechanism, a middle support telescopic power member for vertically rotating the middle support arm, and the other end of the middle support arm is rotationally connected to the roller shaft.

6. The intelligent excavation construction equipment for urban pipeline engineering according to claim 1 is characterized by: The support mechanism includes a support plate, a support tip, a trapezoidal insertion block, a vertical groove and two circular grooves, the support tip is fixedly connected to the bottom of the support plate, the upper bottom of the trapezoidal insertion block is fixedly connected to one side of the support plate facing the length direction of the pipe trench, the other side of the support plate facing the length direction of the pipe trench has a connection groove matched with the trapezoidal insertion block, the vertical groove is fixedly connected to the side of the support plate facing the center direction of the pipe trench, the two circular grooves are symmetrically arranged along the vertical groove and are located on the same side of the support plate as the vertical groove, and the top of the support plate has a tip groove matched with the support tip; The support mechanism includes a hollow support tube, two support rods, two racks, a support gear, a rotating shaft, a support power member, and two groups of support components. The rotating shaft is rotatably arranged at the middle position of the inner side of the hollow support tube. The support gear is coaxially fixedly matched with the rotating shaft. The support gears are meshed and transmitted with the two racks. One end of the two racks is respectively fixedly connected to the two support rods. The two support rods are slidably matched with the inner wall of the hollow support tube. The rotating shaft is driven to rotate by the support power member to drive the two racks to move in the opposite direction. Each support assembly includes a first support rod, a second support rod cross-arranged with the first support rod, two first support columns respectively vertically fixed to the two ends of the first support rod, two second support columns respectively vertically fixed to the two ends of the second support rod, and a central support column vertically fixed to the intersection of the first support rod and the second support rod, and the other end of the support rod is vertically fixed to the intersection of the first support rod and the second support rod.

7. The intelligent excavation construction equipment for urban pipeline engineering according to claim 1 is characterized by: The clamping mechanism includes two supports that are arranged front and rear oppositely and fixedly connected to the top of the walking mechanism, a slide rail that is arranged front and rear and fixedly connected to the top of the walking mechanism, a rotating rod rotatably connected to the two supports, two L-shaped seats, and a clamping power piece that drives the rotating rod to rotate. The bottom of the horizontal part of the L-shaped seat is slidably matched with the slide rail, the top of the horizontal part of the L-shaped seat has a supporting groove that cooperates with the support tip, and the side of the vertical part of the L-shaped seat has a guard groove that is connected to the supporting groove and cooperates with the support plate. The rotating rod is symmetrically provided with thread lines of opposite rotation directions along the middle part of the rotating rod, and the two horizontal parts of the L-shaped seats are respectively threadedly matched with the thread lines of different rotation directions on the rotating rod. The rotating rod is driven to rotate by the clamping power piece to drive the two L-shaped seats to move toward or in the opposite direction.

8. The intelligent excavation construction equipment for urban pipeline engineering according to claim 1 is characterized by: The grabbing and telescopic mechanism includes two vertical arms fixedly connected to the upper part of the walking mechanism, two vertical motion arms, a longitudinal beam, three rotating tables, a first mechanical arm, a second mechanical arm, a third mechanical arm, and a motion power assembly driving the two vertical motion arms to rotate simultaneously; The top of the vertical arm has a motion groove along its own axis, the side wall of the motion groove has a thread, and the motion arm has a thread line that matches the thread, the two vertical motion arms are perpendicular to the two ends of the longitudinal beam and are rotatably connected, the first mechanical arm is connected to the middle position of the longitudinal beam through the rotating table, and the second mechanical arm and the third mechanical arm are respectively connected to the two vertical motion arms through the rotating table; The rotating platform includes a fixed box fixedly connected to the bottom of the longitudinal beam, a fixed shaft rotatably arranged on the fixed box, a turbine coaxially fixedly matched with the fixed shaft, a worm gear meshing with the turbine gear, and a rotating driving member driving the worm gear to rotate, the worm gear is rotatably connected to the fixed box, one end of the fixed shaft extends out of the fixed box, and one end of the first mechanical arm is fixedly connected to an end of the fixed shaft protruding; The first mechanical arm, the second mechanical arm and the third mechanical arm have the same structure, and the first mechanical arm comprises at least three groups of connected rotating arms and a grabbing arm fixedly connected to one end of the rotating arm; The rotating support arm comprises two U-shaped frames, two U-shaped support arms respectively connected to the two U-shaped frames, two rotating arms fixedly connected to each other vertically, a bearing arm, and two groups of annular transmission components respectively arranged in the U-shaped frames, the two rotating arms are respectively rotatably connected in the U-shaped support arms, the two groups of annular transmission components are respectively transmission-connected to the two rotating arms, one U-shaped frame is fixedly connected to the side wall of the fixed shaft, the other U-shaped frame is fixedly connected to one end of the bearing arm, and one U-shaped frame on one rotating support arm is fixedly connected to the other end of the bearing arm on the upper rotating arm support arm; The grabbing arm includes a fixed frame fixedly connected to the carrying arm, a grabbing frame, a rotating arm, an L-shaped arm, two arc-shaped arms, two arc-shaped gears meshing with each other, two grabbing claws, a rotating driving component arranged in the fixed frame, and a grabbing driving component arranged in the grabbing frame for driving the rotating arm to rotate. The fixed frame is connected to the grabbing frame through the rotating driving component, the rotating arm is rotatably connected to one end of the L-shaped arm, the other end of the L-shaped arm is fixedly connected to one of the arc-shaped arms, one end of the two grabbing claws are respectively fixedly connected to the two arc-shaped gears, and the other end of the grabbing claws has a sawtooth structure and an arc-shaped structure.

9. The intelligent excavation construction equipment for urban pipeline engineering according to claim 1 is characterized by: The walking mechanism includes a frame, two walking tracks arranged at the left and right ends of the frame, a lateral extension assembly arranged around the frame, and an extension power assembly driving the walking tracks at the left and right ends to extend, the two walking tracks are respectively connected to the frame through the two lateral extension assemblies, and the extension power assembly and the lateral extension assembly cooperate to drive the two walking tracks to move left and right respectively; A drive cavity is opened in the middle position of the frame along the left and right lateral directions, and the extension power assembly includes a first bevel gear arranged along the front and rear longitudinal direction of the frame, two second bevel gears respectively meshing with the first bevel gear for transmission, two drive shafts coaxially arranged in the drive cavity, two transmission shafts one end of which is respectively fixed to the two walking crawlers, a plurality of slides located at the other end of the transmission shaft and arranged along the circumference of the transmission shaft, a rotating shaft coaxially fixedly matched with the first bevel gear, and a rotating power member driving the rotating shaft to rotate, one end of the two driving shafts is respectively coaxially fixedly matched with the two second bevel gears, and the other end has a sliding cavity that slides with the transmission shaft, and the side wall of the sliding cavity has a plurality of sliding grooves that slide with the slide, the left and right ends of the middle position of the frame respectively have threaded holes of different rotation directions that are connected to the drive cavity, and the two transmission shafts respectively have threads that threadably match the two threaded holes of different rotation directions; Each of the lateral extension components includes a fixed arm with one end fixed to the frame, an extension arm, and an extension power member for driving the extension arm to extend and retract. The other end of the fixed arm has an extension groove that slides with the extension arm. The two ends of the extension power member are respectively fixedly connected to the frame and the side of the extension arm.

10. A construction method for intelligent excavation of urban pipeline engineering, characterized in that: Using the intelligent excavation construction equipment for urban pipeline engineering according to claim 3 comprises the following steps: Construction of working pits: Construction of working pits at the preset starting and ending positions of the trench, and hoisting of excavation equipment into the working pits by hoisting equipment; Walking mechanism adjustment: adjust the left and right width of the walking mechanism according to the preset size of the trench; Adjustment of the excavation device: the left and right width and the up and down height of the excavation device are adjusted according to the preset size of the trench, and the hollow extension tube is pushed out of the blind hole by two transverse telescopic power members. At this time, the transverse adjustment mechanism and the side support mechanism move in the width direction at the same time to reach the preset width; The adjusting power member drives the plurality of second gears on the plurality of the first excavation assemblies to rotate simultaneously, the first gear rotates to extend the sliding rod, the rotation radius of the arc block increases, the first telescopic arms on the first excavation part and the second excavation part are both extended, so that the rotation radius of the arc bar increases, and at the same time cooperates with the side support mechanism to control the movement of the excavation device to reach a preset height; Excavation support: through the cooperation between the excavation power assembly and the traveling mechanism, the roller shaft rotates during the movement of the traveling mechanism to realize the excavation of the trench, the spiral conveying mechanism transports the excavated soil out of the trench, and the supporting device supports both sides of the trench width direction through the grabbing and telescopic mechanism to complete the excavation and support of the trench; Lift out the excavation construction equipment: After excavating and supporting to the working pit at the end position, lift out the excavation construction equipment to complete the trench excavation and support construction.

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