Intelligent pipeline hoisting device and method based on accurate direction regulation and control

Abstract

The invention provides an intelligent pipeline hoisting device and method based on accurate direction regulation and control, and relates to the technical field of municipal pipeline construction, the intelligent pipeline hoisting device comprises a hoisting frame, and the corners of the bottom of the hoisting frame are each of a supporting column structure; four groups of hydraulic supporting rods are fixedly arranged on the side of the bottom of the hoisting frame, and H-shaped wheels are rotationally arranged at the telescopic ends of the hydraulic supporting rods; two L-shaped beam frames are fixedly arranged in the middle of the top of the hoisting frame, and a sliding seat matched with the guide rails is arranged above the middles of the L-shaped beam frames in a sliding mode; according to the device, the sliding seat is arranged, a stable movement control function is provided, a pipeline can be moved to a putting position according to needs, adaptive adjustment is carried out according to the installation condition of the pipeline, and according to angle needs, the placement angle of the pipeline can be adjusted by controlling the stretching amplitude of different hoisting cables and adjusting the horizontal angle of the grabber; the problem that an existing hoisting device is inconvenient to stably control is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of municipal pipeline construction, and particularly relates to a pipeline intelligent lifting device and method based on precise azimuth control. Background Art

[0002] During municipal construction, pipelines need to be laid and will also be regularly replaced in the future. Therefore, it is necessary to use a lifting method to install the pipelines in the tunnel. Generally, a crane is used in cooperation with a lifting cable for fixed installation. During placement, manual assistance is required to adjust the position and angle of the pipeline.

[0003] The currently used lifting devices have the following disadvantages: 1. It can only perform adjustments to the placement height, and it is inconvenient to precisely and stably control the angle. Manual control of the position is required, which has a high safety hazard and is inconvenient for stable placement; 2. It lacks a highly adaptable lifting and fixing function, and it is inconvenient to fix and position and adapt to pipelines of different sizes; 3. It is inconvenient to quickly cross the beam with the device, and manual handling of the hanging bracket or taking a long way around is required for construction. Summary of the Invention

[0004] In view of this, in order to overcome the above-mentioned deficiencies in the prior art, the present invention provides a pipeline intelligent lifting device and method based on precise azimuth control.

[0005] The present invention provides a pipeline intelligent lifting device based on precise azimuth control, which specifically includes: a lifting frame, and the bottom corners of the lifting frame are all support column structures; four groups of hydraulic support rods are fixedly arranged on the bottom side of the lifting frame, and H-shaped wheels are rotatably arranged at the telescopic ends of the hydraulic support rods; two groups of L-shaped beam frames are fixedly arranged in the middle of the top of the lifting frame, and a sliding seat is slidably arranged above the middle of the L-shaped beam frames in cooperation with guide rails; four groups of cable wheels are rotatably arranged on the top of the sliding seat, and lifting cables are wound in the cable wheels; a nut block is fixedly arranged at the bottom of the sliding seat, and a supporting seat is fixedly arranged at the bottom of the nut block; a connecting frame is fixedly arranged at the bottom of the supporting seat, and a rotating tray is fixedly arranged at the bottom of the connecting frame; A gripper, and four groups of balance hanging brackets are fixedly arranged at the top corners of the gripper, and the balance hanging brackets are all fixed at the bottom ends of a group of lifting cables; A beam, and two groups of guide rails are integrally arranged on both sides of the top of the beam, and both ends of the guide rails are slope structures; positioning holes are opened in the middle of both sides of the beam; the H-shaped wheels can be attached to the outside of the guide rails.

[0006] Optionally, a control lead screw is rotatably arranged in the middle of the lifting frame, a moving motor for driving the control lead screw is fixedly arranged outside the lifting frame, and the control lead screw is threadedly connected to the nut block.

[0007] Optionally, a hydraulic oil tank is fixedly arranged at the top of the hoisting frame. An upward-turning breathing pipe is connected above the outside of the hydraulic oil tank, and a dust-proof cotton cover is arranged at the pipe orifice of the breathing pipe. A hydraulic oil pump is connected to the outside of the hydraulic oil tank, and the hydraulic oil pump is in oil circuit communication with four groups of hydraulic support rods.

[0008] Optionally, worm wheels are fixedly arranged at the outer ends of the rotating shafts of the hoisting cable wheels. Four groups of winding motors are fixedly arranged at the top side of the sliding seat, and worm gears are fixedly arranged at the shaft ends of the winding motors. The worm gears are in transmission connection with the worm wheels.

[0009] Optionally, four groups of through holes are formed in the sides of the sliding seat and the supporting seat respectively. Two rows of guide rollers are rotatably arranged on both sides inside each through hole. The hoisting cable passes through the guide rollers on both sides.

[0010] Optionally, T-shaped wheels are rotatably arranged around the top side of the rotating tray. A steering motor is fixedly arranged in the middle of the top of the rotating tray. A steering control plate is rotatably arranged outside the T-shaped wheels. Two groups of corner guide wheels with staggered degrees are rotatably arranged on the sides of the steering control plate. The hoisting cable passes through two adjacent corner guide wheels. A conical tooth surface is arranged above the middle of the steering control plate, and a bevel gear is arranged at the shaft end of the steering motor and meshes with the conical tooth surface of the steering control plate.

[0011] Optionally, flanges are integrally arranged on both sides of the gripper. Moving gripper frames are slidably arranged on the outer sides above the flanges in cooperation with guide rails. Side auxiliary wheels are also rotatably arranged above the moving gripper frames, and the side auxiliary wheels are attached to the outside of the flanges. Connecting beams are fixedly arranged between the two moving gripper frames. Two groups of synchronous lead screws are rotatably arranged at the bottom of the gripper, and each synchronous lead screw is threadedly connected to one connecting beam. A driving motor is fixedly arranged at the top of the gripper, and the driving motor is in bevel gear transmission connection with the synchronous lead screws.

[0012] Optionally, the upper and lower sides of the moving gripper frame are both inclined structures. Electric cylinders are fixedly arranged at the inclined structures. Clamping blocks are fixedly arranged at the telescopic ends of the electric cylinders. Four groups of guide rods are fixedly arranged outside each clamping block, and the guide rods are slidably connected to the moving gripper frame.

[0013] Optionally, a hoisting method for the intelligent pipeline hoisting device based on precise azimuth regulation includes the following steps: 1). Laying the beam: After trenching on the ground, place the beam across the pipeline trench and assume it above the trench, and then fix the beam using positioning tools. 2). Crossing the beam: Use the hydraulic oil pump to extract the hydraulic oil in the hydraulic oil tank, input the hydraulic oil into the hydraulic support rods and expand the hydraulic support rods. Use the H-shaped wheels to support the ground, and then move the whole device to move the H-shaped wheels above the fixed beam and cross the beam in cooperation with the guidance of the guide rail. 3) Take the beam, reverse the hydraulic oil pump to extract the hydraulic oil in the hydraulic support rod, the hydraulic support rod shrinks, the lifting frame is lowered, the support column of the lifting frame supports the ground, and then the H-shaped wheel is separated from the guide rail; then the positioning of the fixed frame beam is released and the fixed frame beam is taken down; 4) Fix the pipeline, use the mobile motor to drive the control screw to rotate and move the sliding seat to the outside of the pit on one side, then place the pipeline under the grabber, control the drive motor to drive the synchronous screw to rotate, the synchronous screw drives the mobile grabbers on both sides to merge, and use the clamping block to clamp and fix the pipeline; according to the different sizes of the pipeline, the electric cylinder can be started to adjust the position of the clamping block to adapt to the positioning and installation of pipelines of different sizes; 5) To place the pipe, move the pipe to the top of the tunnel, then start the winding motor to drive the worm to rotate, and the worm drives the worm wheel to rotate, so that the cable wheel rotates synchronously, and the lifting cable is extended downward, and the pipe is placed downward; when the angle needs to be adjusted, the winding motor can be controlled to perform different actions, and the horizontal angle of the grabber can be adjusted by controlling the extension amplitude of different lifting cables, so as to adjust the placement angle of the pipe; when the horizontal position needs to be adjusted, the steering motor can be started to drive the steering control panel to rotate, and the positions of the four sets of lifting cables can be adjusted at the same time through the corner guide wheels when the steering control panel rotates, so that the horizontal position of the pipe can be intelligently adjusted for precise installation; after placing the pipe at the installation position, reset the mobile grabber to complete the pipe placing.

[0014] The beneficial effects are as follows: 1. The present invention is provided with a sliding seat, which provides a stable mobile control function, can move the pipeline to the placement position as needed, and can make adaptive adjustments according to the installation conditions of the pipeline. According to the angle requirements, the horizontal angle of the grabber can be adjusted by controlling the extension amplitude of different lifting cables, thereby realizing the adjustment of the placement angle of the pipeline, and the steering motor is used to drive the corner guide wheel to move, so as to adjust the position of the lifting cable and accurately control the orientation of the pipeline.

[0015] 2. Set up a grabber, which provides an adaptive grabbing function. Use the mobile motor to drive the control screw to rotate and move the sliding seat to one side of the pit. Then place the pipe under the grabber, control the drive motor to drive the synchronous screw to rotate, and the synchronous screw drives the mobile grabbing frames on both sides to merge, and use the clamp to clamp the pipe. According to the different sizes of the pipes, the electric cylinder can be started to adjust the position of the clamp to adapt to the positioning and installation of pipes of different sizes.

[0016] 3. The beam erection device is provided with a quick movement function. It can cross the tunnel. After digging a trench on the ground, the beam is erected across the pipeline trench and placed above the trench. Then, the positioning tool is used to fix the beam, the hydraulic support rod is extended, and the ground is supported by the H-shaped wheels. Then, the whole device is moved, and the H-shaped wheels are moved above the fixed beam. With the guidance of the guide rail for the cross beam, it provides convenience for movement and can adapt to various tunnel terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shows the schematic structural diagram of the cross beam state in the embodiment of the present invention; Figure 2 Shows the schematic structural diagram of the pipe laying state in the embodiment of the present invention; Figure 3 Shows the embodiment in the present invention Figure 2 Schematic side elevation structural diagram; Figure 4 Shows the three-dimensional disassembled structural diagram of the sliding seat in the embodiment of the present invention; Figure 5 Shows the side elevation disassembled structural diagram of the sliding seat in the embodiment of the present invention; Figure 6 Shows the assembled structural diagram of the rotating tray in the embodiment of the present invention; Figure 7 Shows the three-dimensional structural diagram of the gripper in the embodiment of the present invention; Figure 8 Shows the side elevation structural diagram of the gripper in the embodiment of the present invention.

[0018] LIST OF REFERENCE NUMERALS 1. Lifting frame; 101. L-shaped beam frame; 102. Control lead screw; 103. Moving motor; 2. Hydraulic support rod; 201. H-shaped wheel; 3. Hydraulic oil tank; 301. Adjusting pipe; 302. Hydraulic oil pump; 4. Sliding seat; 401. Hoisting cable wheel; 4011. Hoisting cable; 402. Worm gear; 403. Reeling motor; 404. Worm; 405. Nut block; 406. Supporting seat; 407. Guide roller; 408. Connecting frame; 5. Rotating tray; 501. T-shaped wheel; 502. Steering motor; 6. Steering control board; 601. Corner guide wheel; 7. Gripper; 701. Balanced hanging frame; 702. Moving gripper frame; 703. Side auxiliary wheel; 704. Connecting beam; 705. Synchronous lead screw; 706. Electric cylinder; 707. Clamping block; 708. Guide rod; 8. Driving motor; 9. Beam; 901. Guide rail. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to make the objectives, solutions, and advantages of the technical solution of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the specific embodiments of the present invention.

[0020] Embodiment 1: Please refer to the accompanying drawings in the specification, Figures 1 to 8 as shown: The present invention provides an intelligent pipeline hoisting device and method based on precise azimuth control, including: a hoisting frame 1, and the bottom corners of the hoisting frame 1 are all support column structures; four groups of hydraulic support rods 2 are fixedly arranged on the bottom side of the hoisting frame 1, and H-shaped wheels 201 are rotatably arranged at the telescopic ends of the hydraulic support rods 2; two groups of L-shaped beam frames 101 are fixedly arranged in the middle of the top of the hoisting frame 1, and a sliding seat 4 is slidably arranged above the middle of the L-shaped beam frames 101 in cooperation with a guide rail; four groups of cable pulleys 401 are rotatably arranged on the top of the sliding seat 4, and hoisting cables 4011 are wound in the cable pulleys 401; a nut block 405 is fixedly arranged at the bottom of the sliding seat 4, and a support seat 406 is fixedly arranged at the bottom of the nut block 405; a connecting frame 408 is fixedly arranged at the bottom of the support seat 406, and a rotating tray 5 is fixedly arranged at the bottom of the connecting frame 408; A gripper 7, and four groups of balance suspension frames 701 are fixedly arranged at the top corners of the gripper 7, and the balance suspension frames 701 are all fixed at the bottom ends of a group of hoisting cables 4011; A beam frame 9, and two groups of guide rails 901 are integrally arranged on both sides of the top of the beam frame 9, and both ends of the guide rails 901 are slope structures; positioning holes are formed in the middle of both sides of the beam frame 9; the H-shaped wheels 201 can be attached to the outside of the guide rails 901.

[0021] Among them, a control lead screw 102 is rotatably arranged in the middle of the hoisting frame 1, a moving motor 103 for driving the control lead screw 102 is fixedly arranged outside the hoisting frame 1, and the control lead screw 102 is in threaded connection with the nut block 405.

[0022] Among them, a hydraulic oil tank 3 is fixedly arranged on the top of the hoisting frame 1, an upward-turning breathing pipe 301 is connected above the outside of the hydraulic oil tank 3, and a dust-proof cotton cover is arranged at the pipe orifice of the breathing pipe 301; a hydraulic oil pump 302 is connected to the outside of the hydraulic oil tank 3, and the hydraulic oil pump 302 is in oil circuit communication with the four groups of hydraulic support rods 2.

[0023] Among them, worm gears 402 are fixedly arranged at the outer ends of the rotating shafts of the cable pulleys 401; four groups of winding motors 403 are fixedly arranged on the top side of the sliding seat 4, worm shafts 404 are fixedly arranged at the shaft ends of the winding motors 403, and the worm shafts 404 are in transmission connection with the worm gears 402.

[0024] Among them, four groups of through holes are provided on the side edges of the sliding seat 4 and the supporting seat 406, and two rows of guide rollers 407 are rotatably arranged on both sides inside the through holes; the hoisting cable 4011 passes through the guide rollers 407 on both sides.

[0025] Among them, T-shaped wheels 501 are rotatably arranged around the top side edge of the rotating tray 5; a steering motor 502 is fixedly arranged in the middle of the top of the rotating tray 5; a steering control plate 6 is rotatably arranged outside the T-shaped wheels 501, and two groups of corner guide wheels 601 staggered by 30 degrees are rotatably arranged on the side edges of the steering control plate 6, and the hoisting cable 4011 passes through two adjacent corner guide wheels 601; a bevel gear surface is arranged above the middle of the steering control plate 6, and a bevel gear is arranged at the shaft end of the steering motor 502 and meshes with the bevel gear surface of the steering control plate 6.

[0026] Among them, flanges are integrally arranged on both sides of the gripper 7, and movable gripper frames 702 are slidably arranged on the outer sides above the flanges in cooperation with guide rails. Side auxiliary wheels 703 are also rotatably arranged above the movable gripper frames 702, and the side auxiliary wheels 703 are attached to the outside of the flanges; connecting beams 704 are fixedly arranged between the two movable gripper frames 702; two groups of synchronous lead screws 705 are rotatably arranged at the bottom of the gripper 7, and each synchronous lead screw 705 is threadedly connected to a group of connecting beams 704; a driving motor 8 is fixedly arranged at the top of the gripper 7, and the driving motor 8 is connected to the synchronous lead screw 705 by bevel gear transmission.

[0027] Among them, both the upper and lower sides of the movable gripper frame 702 are inclined structures, electric cylinders 706 are fixedly arranged at the inclined structures, clamping blocks 707 are fixedly arranged at the telescopic ends of the electric cylinders 706, and four groups of guide rods 708 are fixedly arranged outside the clamping blocks 707, and the guide rods 708 are slidably connected to the movable gripper frame 702.

[0028] As Figures 1-5 shown, the hoisting cable wheel 401 is controlled and driven by worm and worm gear transmission, which has self-locking property and stable transmission. By controlling the stretching amplitude of different hoisting cables 4011, the horizontal angle of the gripper 7 can be adjusted, and then the placement angle adjustment of the pipeline can be realized. For example, if the heights of the two pipe orifices connected by this section of pipeline are inclined, the pipeline can be set in an inclined state by adjusting the horizontal position, which is convenient for subsequent installation of the pipeline.

[0029] Embodiment 2: On the basis of Embodiment 1, place the pipeline below the gripper 7, control the driving motor 8 to drive the synchronous lead screw 705 to rotate, so that the movable gripper frames 702 are combined, and use the clamping blocks 707 to clamp and fix the pipeline. During this period, according to different pipeline sizes, the electric cylinders 706 can be started to adjust the positions of the clamping blocks 707 to adapt to different sizes of pipelines for positioning installation.

[0030] Embodiment 3: On the basis of Embodiment 1, as Figure 1A sealing protective shell should be provided on the outside of the sliding seat 4, and corresponding protection can also be provided on other parts, because the device usually needs to be used in the outside world and needs to be waterproof and dustproof.

[0031] Specific usage and function of this embodiment: In the present invention, the work is divided into five main steps, in order, including beam laying, beam spanning, beam taking, pipe fixing and pipe placing; When laying the beam, after trenching on the ground, place the beam 9 across the pipeline trench and place it above the trench, and then use a positioning tool to fix the beam 9; When crossing the beam, the hydraulic oil pump 302 is used to extract the hydraulic oil in the hydraulic oil tank 3, and the hydraulic oil is input into the hydraulic support rod 2 and the hydraulic support rod 2 is opened, and the H-shaped wheel 201 is used to support the ground, and then the whole moving device is moved to the top of the fixed frame beam 9, and the guide span beam is matched with the guide rail 901; When taking the beam, the hydraulic oil pump 302 is reversed to extract the hydraulic oil in the hydraulic support rod 2, and the hydraulic support rod 2 is contracted to make the lifting frame 1 descend, and the ground is supported by the support column of the lifting frame 1, so that the H-shaped wheel 201 is separated from the guide rail 901; then the positioning of the fixed frame beam 9 is released, and the fixed frame beam 9 is taken down; When fixing the pipeline, the moving motor 103 is used to drive the control screw 102 to rotate and move the sliding seat 4 to the outside of the pit on one side, and then the pipeline is placed under the grabber 7, and the driving motor 8 is controlled to drive the synchronous screw 705 to rotate, and the synchronous screw 705 drives the moving grabber frames 702 on both sides to merge, and the clamping block 707 is used to clamp and fix the pipeline; according to the different sizes of the pipeline, the electric cylinder 706 can be started to adjust the position of the clamping block 707 to adapt to the positioning and installation of pipelines of different sizes; When placing the pipeline, the pipeline is moved to the top of the tunnel, and then the winding motor 403 is started to drive the worm 404 to rotate, and the worm 404 drives the worm wheel 402 to rotate, so that the cable wheel 401 rotates synchronously, and the lifting cable 4011 is extended downward, and the pipeline is placed downward; when the angle needs to be adjusted, the winding motor 403 can be controlled to perform different actions, and the horizontal angle of the grabber 7 can be adjusted by controlling the extension amplitude of different lifting cables 4011, thereby realizing the adjustment of the placement angle of the pipeline; when the horizontal position needs to be adjusted, the steering motor 502 can be started to drive the steering control plate 6 to rotate, and when the steering control plate 6 rotates, the positions of the four groups of lifting cables 4011 are adjusted at the same time through the corner guide wheel 601, thereby the horizontal position of the pipeline can be intelligently adjusted for precise installation; after the pipeline is placed at the installation position, the mobile grabber 702 is reset to complete the pipe placement.

[0032] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation on the present invention itself. Various changes in form and detail may be made thereto without departing from the spirit and scope of the present invention as defined by the appended claims.

Claims

1. Intelligent pipeline lifting device based on precise position control, characterized in that: include: A lifting frame (1), wherein the bottom corners of the lifting frame (1) are all support column structures; four groups of hydraulic support rods (2) are fixedly arranged on the bottom sides of the lifting frame (1), and the telescopic ends of the hydraulic support rods (2) are rotatably arranged with H-shaped wheels (201); two groups of L-shaped beam frames (101) are fixedly arranged in the middle of the top of the lifting frame (1), and a sliding seat (4) is slidably arranged in the middle and upper part of the L-shaped beam frames (101) in cooperation with the guide rail; four groups of cable wheels (401) are rotatably arranged on the top of the sliding seat (4), and the cable wheels (401) are all wound with lifting cables (4011); a nut block (405) is fixedly arranged on the bottom of the sliding seat (4), and a supporting seat (406) is fixedly arranged on the bottom of the nut block (405); a connecting frame (408) is fixedly arranged on the bottom of the supporting seat (406), and a rotating tray (5) is fixedly arranged on the bottom of the connecting frame (408); A grabber (7), wherein four groups of balancing hangers (701) are fixedly arranged at the top corners of the grabber (7), and the balancing hangers (701) are all fixed to the bottom ends of a group of hoisting cables (4011); A frame beam (9), wherein two sets of guide rails (901) are integrally arranged on both sides of the top of the frame beam (9), and both ends of the guide rails (901) are slope structures; positioning holes are opened in the middle of both sides of the frame beam (9); and the H-shaped wheels (201) can be fitted on the outside of the guide rails (901).

2. The intelligent pipeline lifting device based on precise position control as claimed in claim 1 is characterized in that: A control screw (102) is rotatably arranged in the middle of the lifting frame (1), and a moving motor (103) for driving the control screw (102) is fixedly arranged outside the lifting frame (1), and the control screw (102) is threadedly connected to the nut block (405).

3. The intelligent pipeline lifting device based on precise position control as claimed in claim 1 is characterized in that: A hydraulic oil tank (3) is fixedly arranged on the top of the lifting frame (1); an upwardly bent breath regulating pipe (301) is connected to the upper part of the outside of the hydraulic oil tank (3); a dustproof cotton cover is arranged at the pipe mouth of the breath regulating pipe (301); a hydraulic oil pump (302) is connected to the outside of the hydraulic oil tank (3); and the hydraulic oil pump (302) is connected to the four groups of hydraulic support rods (2) through oil circuits.

4. The intelligent pipeline lifting device based on precise position control as claimed in claim 1 is characterized in that: The outer ends of the rotating shafts of the cable wheels (401) are fixedly provided with worm wheels (402); four groups of winding motors (403) are fixedly provided on the top sides of the sliding seat (4); the shaft ends of the winding motors (403) are fixedly provided with worms (404), and the worms (404) are drivingly connected to the worm wheels (402).

5. The intelligent pipeline lifting device based on precise position control as claimed in claim 1 is characterized in that: Four groups of through holes are provided on the sides of the sliding seat (4) and the supporting seat (406), and two rows of upper and lower guide rollers (407) are rotatably arranged on both sides of the through holes; the hoisting cable (4011) passes through the guide rollers (407) on both sides.

6. The intelligent pipeline lifting device based on precise position control as claimed in claim 1, characterized in that: A T-shaped wheel (501) is rotatably arranged around the top side of the rotating tray (5); a steering motor (502) is fixedly arranged in the middle of the top of the rotating tray (5); a steering control plate (6) is rotatably arranged outside the T-shaped wheel (501), and two groups of corner guide wheels (601) staggered by 30 degrees are rotatably arranged on the sides of the steering control plate (6), and the hoisting cable (4011) passes through two adjacent groups of corner guide wheels (601); a bevel gear surface is arranged in the middle upper part of the steering control plate (6), and a bevel gear is arranged on the shaft end of the steering motor (502) to mesh with the bevel gear surface of the steering control plate (6).

7. The intelligent pipeline lifting device based on precise position control as claimed in claim 1, characterized in that: Both sides of the grabber (7) are integrally provided with flanges, and a movable grabber frame (702) is slidably provided on the upper side of the outer side of the flange in cooperation with the guide rail, and a side auxiliary wheel (703) is rotatably provided on the upper side of the movable grabber frame (702), and the side auxiliary wheel (703) is fitted on the outer side of the flange; a connecting beam (704) is fixedly provided between the movable grabber frames (702) on both sides; two groups of synchronous screws (705) are rotatably provided at the bottom of the grabber (7), and each synchronous screw (705) is threadedly connected to a group of connecting beams (704); a driving motor (8) is fixedly provided on the top of the grabber (7), and the driving motor (8) and the synchronous screw (705) are connected by a bevel gear transmission.

8. The intelligent pipeline lifting device based on precise position control as claimed in claim 7, characterized in that: The upper and lower sides of the mobile grabbing frame (702) are both inclined structures, and electric cylinders (706) are fixedly arranged at the inclined structures. Clamping blocks (707) are fixedly arranged at the telescopic ends of the electric cylinders (706). Four groups of guide rods (708) are fixedly arranged outside the clamping blocks (707), and the guide rods (708) are slidably connected to the mobile grabbing frame (702).

9. The lifting method of the pipeline intelligent lifting device based on precise position control according to any one of claims 1 to 8, characterized in that: The following steps are involved: 1) Laying the beam: after trenching the ground, place the beam (9) across the pipeline trench and above the trench, and then fix the beam (9) using a positioning tool; 2) A span beam is formed by extracting hydraulic oil from a hydraulic oil tank (3) by using a hydraulic oil pump (302), inputting the hydraulic oil into a hydraulic support rod (2) and spreading the hydraulic support rod (2), supporting the ground by using an H-shaped wheel (201), and then moving the entire device to move the H-shaped wheel (201) to the top of a fixed frame beam (9), and cooperating with the guide span beam of the guide rail (901); 3) Take the beam, reverse the hydraulic oil pump (302) to extract the hydraulic oil in the hydraulic support rod (2), the hydraulic support rod (2) contracts, the lifting frame (1) is lowered, the support column of the lifting frame (1) supports the ground, and then the H-shaped wheel (201) is separated from the guide rail (901); then the positioning of the fixed frame beam (9) is released, and the fixed frame beam (9) is taken down; 4) Fix the pipeline, use the moving motor (103) to drive the control screw (102) to rotate and move the sliding seat (4) to the outside of the pit on one side, then place the pipeline under the grabber (7), control the drive motor (8) to drive the synchronous screw (705) to rotate, the synchronous screw (705) drives the two sides of the moving grabber frames (702) to merge, and use the clamping block (707) to clamp and fix the pipeline; 5) placing the pipe, moving the pipe to the top of the tunnel, then starting the winding motor (403) to drive the worm (404) to rotate, the worm (404) drives the worm wheel (402) to rotate, so that the cable wheel (401) rotates synchronously, and the hoisting cable (4011) is extended downward, thereby placing the pipe downward; when the angle needs to be adjusted, the winding motor (403) can be controlled to perform different actions, and the horizontal angle of the grabber (7) can be adjusted by controlling the extension range of different hoisting cables (4011), thereby achieving adjustment of the placement angle of the pipe; when the horizontal position needs to be adjusted, the steering motor (502) can be started to drive the steering control board (6) to rotate, and when the steering control board (6) rotates, the positions of the four groups of hoisting cables (4011) are adjusted simultaneously through the corner guide wheel (601), thereby making it possible to intelligently adjust the horizontal position of the pipe for accurate installation; after the pipe is placed at the installation position, the mobile grabber (702) is reset to complete the pipe placing.

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