Intelligent pipe hoisting device based on azimuth accurate control and method

Abstract

The application provides a pipeline intelligent hoisting device and method based on accurate orientation regulation, and relates to the technical field of municipal pipeline construction. The device comprises a hoisting frame, the bottom corners of the hoisting frame are provided with support column structures, four groups of hydraulic support rods are fixedly arranged on the bottom sides of the hoisting frame, the telescopic ends of the hydraulic support rods are rotatably provided with H-shaped wheels, two groups of L-shaped beam frames are fixedly arranged on the top of the hoisting frame, and the middle part of the L-shaped beam frame is slidably provided with a sliding seat in cooperation with a guide rail. The application is provided with a sliding seat, which provides stable movement control function, can move the pipeline to the delivery position according to the need, and can adjust according to the installation condition of the pipeline. According to the angle requirement, the extension range of different hoisting cables can be controlled to adjust the horizontal angle of the gripper, thereby realizing the adjustment of the laying angle of the pipeline, and solving the problem of inconvenient stable control of the existing hoisting device.

Description

Technical Field

[0001] This invention relates to the field of municipal pipeline construction technology, and in particular to an intelligent pipeline hoisting device and method based on precise orientation control. Background Technology

[0002] During municipal construction, pipelines need to be laid and will be replaced periodically. Therefore, it is necessary to use a hoisting method to install the pipelines in the tunnel. Generally, a crane is used in conjunction with a hoisting cable for fixed installation. When placing the pipeline, manual assistance is required to adjust the position and angle of the pipeline.

[0003] The currently used hoisting equipment has the following disadvantages:

[0004] 1. It can only adjust the placement height, and it is inconvenient to control the angle precisely and stably. It requires manual control of the position, which poses a high safety hazard and is inconvenient for stable placement.

[0005] 2. It lacks highly adaptable hoisting and fixing functions, making it inconvenient to fix and position pipes of different sizes and adapt accordingly;

[0006] 3. It is inconvenient to quickly cross the beam with the device, requiring manual handling of the scaffold or taking a long detour for construction. Summary of the Invention

[0007] In view of the above, the present invention addresses the shortcomings of the prior art by providing an intelligent pipeline hoisting device and method based on precise orientation control.

[0008] This invention provides an intelligent pipeline hoisting device based on precise orientation control, specifically comprising: a hoisting frame, wherein the bottom corners of the hoisting frame are all support column structures; four sets of hydraulic support rods are fixedly installed on the bottom side of the hoisting frame, and H-shaped wheels are rotatably installed at the telescopic ends of the hydraulic support rods; two sets of L-shaped beams are fixedly installed in the middle of the top of the hoisting frame, and a sliding seat is slidably installed above the middle of the L-shaped beams in conjunction with a guide rail; four sets of hoisting cable wheels are rotatably installed on the top of the sliding seat, and hoisting cables are wound in the hoisting cable wheels; a wire nut block is fixedly installed at the bottom of the sliding seat, and a support seat is fixedly installed at the bottom of the wire nut block; a connecting frame is fixedly installed at the bottom of the support seat, and a rotating tray is fixedly installed at the bottom of the connecting frame;

[0009] The gripper has four sets of balancing hangers fixedly installed at the top corners, and each balancing hanger is fixed to the bottom end of a set of hoisting cables;

[0010] The beam is equipped with two sets of guide rails integrated on both sides of its top, with both ends of the guide rails having a sloping structure; positioning holes are opened in the middle of both sides of the beam; and H-shaped wheels can fit against the outside of the guide rails.

[0011] Optionally, a control screw is rotatably mounted in the middle of the hoisting frame, and a moving motor for driving the control screw is fixedly mounted on the outside of the hoisting frame. The control screw is threadedly connected to the screw nut block.

[0012] Optionally, a hydraulic oil tank is fixedly installed on the top of the hoisting frame, and an upward-turning regulating pipe is connected to the upper part of the hydraulic oil tank. A dustproof cotton cover is installed at the pipe opening. A hydraulic oil pump is connected to the outside of the hydraulic oil tank, and the hydraulic oil pump is connected to the four sets of hydraulic support rods by oil circuit.

[0013] Optionally, each of the cable pulleys has a worm gear fixedly installed on its outer shaft; four sets of winding motors are fixedly installed on the top side of the sliding seat, and each winding motor has a worm fixedly installed on its shaft end, with the worm gear being connected to the worm wheel for transmission.

[0014] Optionally, the sliding seat and the support seat are provided with four sets of through holes on their sides, and two rows of guide rollers are rotatably arranged on both sides inside the through holes; the hoisting cable passes through the guide rollers on both sides.

[0015] Optionally, a T-shaped wheel is rotatably arranged around the top edge 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 wheel, and two sets of staggered corner guide wheels are rotatably arranged on the sides of the steering control plate, through which the hoisting cable passes; a bevel tooth surface is provided in the middle upper part of the steering control plate, and a bevel gear is provided at the shaft end of the steering motor to mesh with the bevel tooth surface of the steering control plate.

[0016] Optionally, both sides of the gripper are integrally provided with flanges, and a movable gripping frame is slidably provided on the upper side of the flange in cooperation with the guide rail. A side auxiliary wheel is also rotatably provided on the upper side of the movable gripping frame, and the side auxiliary wheel is attached to the outside of the flange. A connecting beam is fixedly provided between the two movable gripping frames. Two sets of synchronous screws are rotatably provided at the bottom of the gripper, and each synchronous screw is threadedly connected to a set of connecting beams. A drive motor is fixedly provided at the top of the gripper, and the drive motor is connected to the synchronous screws by bevel gear transmission.

[0017] Optionally, the upper and lower sides of the mobile gripper are both inclined structures, and electric cylinders are fixedly installed at the inclined structures. Clamping blocks are fixedly installed at the extension and retraction ends of the electric cylinders, and four sets of guide rods are fixedly installed outside the clamping blocks. The guide rods are slidably connected to the mobile gripper.

[0018] Optionally, the lifting method of the intelligent pipeline lifting device based on precise orientation control includes the following steps:

[0019] 1) Laying beams: After digging trenches on the ground, place the beams across the pipe trenches above the trenches, and then use positioning tools to fix the beams.

[0020] 2) Cross beam: The hydraulic oil pump draws hydraulic oil from the hydraulic oil tank, inputs the hydraulic oil into the hydraulic support rod and opens the hydraulic support rod. The H-shaped wheel supports the ground, and then the entire device is moved to move the H-shaped wheel above the fixed beam, cooperating with the guide rail to guide the cross beam.

[0021] 3) Remove the beam, reverse the hydraulic pump to extract the hydraulic oil from the hydraulic support rod, the hydraulic support rod retracts, causing the hoisting frame to descend, and the ground is supported by the support columns of the hoisting frame, thus the H-shaped wheel disengages from the guide rail; then release the positioning of the fixed beam and remove the fixed beam.

[0022] 4) Fix the pipe: Use the moving 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 pipe under the gripper. Control the drive motor to drive the synchronous screw to rotate. The synchronous screw drives the two moving grippers to merge and use the clamping blocks to clamp and fix the pipe. Depending on the pipe size, the electric cylinder can be activated to adjust the position of the clamping blocks to adapt to different pipe sizes for positioning and installation.

[0023] 5) Pipe laying: Move the pipe above the tunnel, then start the winding motor to rotate the worm gear, which in turn rotates the worm wheel, causing the cable wheel to rotate synchronously. This extends the hoisting cable downwards, allowing the pipe to be lowered. When angle adjustments are needed, the winding motor can be controlled to perform different actions. By controlling the extension range of different hoisting cables, the horizontal angle of the gripper can be adjusted, thereby adjusting the pipe's placement angle. When horizontal orientation adjustments are needed, the steering motor can be started to rotate the steering control plate. As the steering control plate rotates, the positions of the four sets of hoisting cables are adjusted simultaneously via the corner guide wheels. This allows for intelligent adjustment of the pipe's horizontal orientation for precise installation. After placing the pipe in the installation position, reset the moving gripper frame to complete the pipe laying.

[0024] The beneficial effects are as follows:

[0025] 1. This invention is equipped with a sliding seat, which provides a stable movement control function. It can move the pipeline to the placement position as needed and make adaptive adjustments according to the installation of the pipeline. According to the angle requirements, the horizontal angle of the gripper can be adjusted by controlling the extension range of different hoisting cables, thereby realizing the adjustment of the placement angle of the pipeline. Furthermore, by using the steering motor to drive the corner guide wheels to move, the position of the hoisting cable can be adjusted, and the orientation of the pipeline can be precisely controlled.

[0026] 2. A gripper is installed, providing an adaptive gripping function. The moving motor drives the control screw to rotate, moving the sliding seat to the outside of one side of the pit. Then, the pipe is placed under the gripper. The control drive motor drives the synchronous screw to rotate, and the synchronous screw drives the two moving grippers to merge. The clamping blocks are used to clamp and fix the pipe. Depending on the pipe size, the electric cylinder can be activated to adjust the position of the clamping blocks to adapt to different pipe sizes for positioning and installation.

[0027] 3. The beam erection system provides a quick movement function, enabling it to cross tunnels. After trenching on the ground, the beam is erected across the pipeline trench and positioned above the trench. Then, the beam is fixed using positioning tools, the hydraulic support rods are extended, and the ground is supported by H-shaped wheels. The entire moving device is then moved, with the H-shaped wheels positioned above the fixed beam. The guide rails and crossbeams facilitate movement and can adapt to various tunnel terrains. Attached Figure Description

[0028] Figure 1 A schematic diagram of the cross-beam structure according to an embodiment of the present invention is shown;

[0029] Figure 2 A schematic diagram of the tube-laying state structure according to an embodiment of the present invention is shown;

[0030] Figure 3 An embodiment of the present invention is shown. Figure 2 A schematic diagram of the structure viewed from the side;

[0031] Figure 4 This diagram shows a three-dimensional disassembled structure of the sliding seat in an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the side-tilt disassembly structure of the sliding seat in an embodiment of the present invention is shown;

[0033] Figure 6 A schematic diagram of the assembly structure of the rotating tray in an embodiment of the present invention is shown;

[0034] Figure 7 A three-dimensional structural schematic diagram of the gripper in an embodiment of the present invention is shown;

[0035] Figure 8 A schematic diagram of the side-tilt structure of the gripper in an embodiment of the present invention is shown.

[0036] List of reference numerals

[0037] 1. Lifting frame; 101. L-shaped beam; 102. Control 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. Lifting cable wheel; 4011. Lifting cable; 402. Worm gear; 403. Rewinding motor; 404. Worm; 405. Mother block; 406. Support seat; 407. Guide roller ; 408. Connecting frame; 5. Rotating pallet; 501. T-shaped wheel; 502. Steering motor; 6. Steering control panel; 601. Corner guide wheel; 7. Gripper; 701. Balance hanger; 702. Moving gripper; 703. Side auxiliary wheel; 704. Connecting beam; 705. Synchronous lead screw; 706. Electric cylinder; 707. Clamping block; 708. Guide rod; 8. Drive motor; 9. Beam frame; 901. Guide rail. Detailed Implementation

[0038] To make the objectives, solutions, and advantages of the technical solutions of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention.

[0039] Example 1: Please refer to the accompanying drawings in the instruction manual. Figures 1 to 8 As shown:

[0040] This invention proposes an intelligent pipeline hoisting device and method based on precise orientation control, comprising: a hoisting frame 1, the bottom corners of which are all support column structures; four sets of hydraulic support rods 2 are fixedly installed on the bottom side of the hoisting frame 1, and H-shaped wheels 201 are rotatably installed at the telescopic ends of the hydraulic support rods 2; two sets of L-shaped beams 101 are fixedly installed in the middle of the top of the hoisting frame 1, and a sliding seat 4 is slidably installed above the middle of the L-shaped beams 101 in cooperation with the guide rail; four sets of cable wheels 401 are rotatably installed on the top of the sliding seat 4, and hoisting cables 4011 are wound in the cable wheels 401; a wire nut block 405 is fixedly installed at the bottom of the sliding seat 4, and a support seat 406 is fixedly installed at the bottom of the wire nut block 405; a connecting frame 408 is fixedly installed at the bottom of the support seat 406, and a rotating tray 5 is fixedly installed at the bottom of the connecting frame 408;

[0041] The gripper 7 has four sets of balancing hangers 701 fixedly installed at the top corners, and each balancing hanger 701 is fixed to the bottom end of a set of hoisting cables 4011.

[0042] The beam 9 has two sets of guide rails 901 integrated on both sides of its top. Both ends of the guide rails 901 are sloping structures. Positioning holes are opened in the middle of both sides of the beam 9. H-shaped wheels 201 can fit against the outside of the guide rails 901.

[0043] The hoisting frame 1 has a control screw 102 rotating in the middle, and a moving motor 103 for driving the control screw 102 is fixedly installed on the outside of the hoisting frame 1. The control screw 102 is threadedly connected to the screw nut block 405.

[0044] The top of the hoisting frame 1 is fixedly equipped with a hydraulic oil tank 3. An upward-turning regulating pipe 301 is connected to the outside of the hydraulic oil tank 3. A dustproof cotton cover is installed at the pipe opening of the regulating pipe 301. A hydraulic oil pump 302 is connected to the outside of the hydraulic oil tank 3. The hydraulic oil pump 302 is connected to the four sets of hydraulic support rods 2 by an oil circuit.

[0045] Among them, the outer end of the shaft of the cable sheave 401 is fixedly equipped with a worm gear 402; four sets of winding motors 403 are fixedly installed on the top side of the sliding seat 4, and the shaft end of the winding motor 403 is fixedly equipped with a worm 404, which is connected to the worm gear 402 for transmission.

[0046] The sliding seat 4 and the support seat 406 are provided with four sets of through holes on their sides, 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.

[0047] The rotating pallet 5 has a T-shaped wheel 501 rotatably arranged around its top side; a steering motor 502 is fixedly arranged in the middle of the top of the rotating pallet 5; a steering control plate 6 is rotatably arranged outside the T-shaped wheel 501; two sets of corner guide wheels 601 staggered by 30 degrees are rotatably arranged on the sides of the steering control plate 6; the hoisting cable 4011 passes through the two adjacent sets of corner guide wheels 601; the upper middle part of the steering control plate 6 is provided with a bevel tooth surface; the shaft end of the steering motor 502 is provided with a bevel gear that meshes with the bevel tooth surface of the steering control plate 6.

[0048] The gripper 7 has integrated flanges on both sides, and a movable gripping frame 702 is slidably mounted on the upper outer side of each flange along a guide rail. A side auxiliary wheel 703 is rotatably mounted above the movable gripping frame 702 and fits against the outside of the flange. A connecting beam 704 is fixedly mounted between the two movable gripping frames 702. Two sets of synchronous lead screws 705 are rotatably mounted on the bottom of the gripper 7, and each synchronous lead screw 705 is threadedly connected to a set of connecting beams 704. A drive motor 8 is fixedly mounted on the top of the gripper 7, and the drive motor 8 is connected to the synchronous lead screw 705 by a bevel gear transmission.

[0049] The mobile gripper 702 has an inclined structure on both the upper and lower sides. An electric cylinder 706 is fixedly installed on each inclined structure. A clamping block 707 is fixedly installed on the telescopic end of the electric cylinder 706. Four sets of guide rods 708 are fixedly installed on the outside of the clamping block 707. The guide rods 708 are slidably connected to the mobile gripper 702.

[0050] like Figure 1-5As shown, the cable wheel 401 is controlled and driven by a worm gear transmission, which has self-locking properties and stable transmission. By controlling the extension amplitude of different lifting cables 4011, the horizontal angle of the gripper 7 can be adjusted, thereby realizing the adjustment of the installation angle of the pipeline. For example, if the pipe openings on both sides of the pipeline are inclined, the pipeline can also be set in an inclined state by adjusting the horizontal position, which will facilitate the subsequent installation of the pipeline.

[0051] Example 2: Based on Example 1, the pipe is placed below the gripper 7, and the drive motor 8 is controlled to drive the synchronous screw 705 to rotate, so that the moving gripper 702 is closed, and the pipe is clamped and fixed by the clamping block 707. During this process, the electric cylinder 706 can be activated to adjust the position of the clamping block 707 according to the different pipe sizes, so as to adapt to the positioning and installation of pipes of different sizes.

[0052] Example 3: Based on Example 1, such as Figure 1 A protective shell for sealing should be installed on the outside of the sliding seat 4, and corresponding protection can also be installed on other parts, because the device is usually used in the outside and needs to be waterproof and dustproof.

[0053] The specific usage and function of this embodiment: In this invention, the work is carried out in sequence through five main steps: laying beams, spanning beams, removing beams, fixing pipes, and laying pipes.

[0054] When laying the beam, after the trench is dug on the ground, the beam 9 is placed across the pipe trench and positioned above the trench. Then, the beam 9 is fixed in place using positioning tools.

[0055] When crossing the beam, the hydraulic oil pump 302 is used to draw hydraulic oil from 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. The H-shaped wheel 201 supports the ground, and then the entire device is moved to move the H-shaped wheel 201 above the fixed beam 9, and the beam is guided by the guide rail 901.

[0056] When removing the beam, the reverse hydraulic oil pump 302 draws out the hydraulic oil in the hydraulic support rod 2, the hydraulic support rod 2 retracts, causing the hoisting frame 1 to descend, and the ground is supported by the support column of the hoisting frame 1, thereby causing the H-shaped wheel 201 to disengage from the guide rail 901; then the positioning of the fixed frame beam 9 is released, and the fixed frame beam 9 is removed.

[0057] When fixing the pipe, the movable motor 103 drives the control screw 102 to rotate, moving the sliding seat 4 to the outside of the pit on one side. Then, the pipe is placed under the gripper 7. The drive motor 8 drives the synchronous screw 705 to rotate, and the synchronous screw 705 drives the two movable grippers 702 on both sides to merge. The clamping block 707 clamps and fixes the pipe. Depending on the pipe size, the electric cylinder 706 can be activated to adjust the position of the clamping block 707 to adapt to the positioning and installation of pipes of different sizes.

[0058] When deploying the pipeline, the pipeline is moved above the tunnel, and then the winding motor 403 is started to drive the worm gear 404 to rotate. The worm gear 404 drives the worm wheel 402 to rotate, causing the cable wheel 401 to rotate synchronously, extending the hoisting cable 4011 downwards, and thus placing the pipeline downwards. When the angle needs to be adjusted, the winding motor 403 can be controlled to perform different actions. By controlling the extension range of different hoisting cables 4011, the horizontal angle of the gripper 7 can be adjusted, thereby adjusting the placement angle of the pipeline. When the horizontal orientation needs to be adjusted, the steering motor 502 can be started to drive the steering control plate 6 to rotate. When the steering control plate 6 rotates, the positions of the four sets of hoisting cables 4011 are adjusted simultaneously through the corner guide wheels 601. This allows for intelligent adjustment of the horizontal orientation of the pipeline for precise installation. After the pipeline is placed in the installation position, the moving gripper 702 is reset to complete the pipeline deployment.

[0059] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A pipe intelligent lifting device based on accurate control of orientation, characterized in that, The utility model provides a kind of crane frame and grabber, including: Crane frame (1), the bottom corner of the crane frame (1) is support column structure;Four groups of hydraulic support rods (2) are fixedly arranged at the bottom side of the crane frame (1), the telescopic end of the hydraulic support rod (2) is rotatably provided with H-shaped wheel (201);Two groups of L-shaped beam frames (101) are fixedly arranged at the top middle of the crane frame (1), the sliding seat (4) is slidably arranged in the middle of the L-shaped beam frame (101) upper side with cooperation guide rail;Four groups of hoisting cable wheels (401) are rotatably arranged on the top of the sliding seat (4), hoisting cable (4011) is wound in the hoisting cable wheel (401), the shaft outer end of the hoisting cable wheel (401) is fixedly provided with worm gear (402);Four groups of winding motors (403) are fixedly arranged on the top side of the sliding seat (4), the shaft end of the winding motor (403) is fixedly provided with worm (404), and the worm (404) is drivingly connected with the worm gear (402);The bottom of the sliding seat (4) is fixedly provided with nut block (405), and the bottom of the nut block (405) is fixedly provided with supporting seat (406);The bottom of the supporting seat (406) is fixedly provided with connecting frame (408), and the bottom of the connecting frame (408) is fixedly provided with rotary tray (5);T-shaped wheel (501) is rotatably arranged around the top side of the rotary tray (5);Steering motor (502) is fixedly arranged on the top middle of the rotary tray (5);Steering control plate (6) is rotatably arranged outside the T-shaped wheel (501), and the side of the steering control plate (6) is rotatably provided with two groups of staggered 30 degrees corner guide wheels (601), and the hoisting cable (4011) passes through the adjacent two groups of corner guide wheels (601);The middle upper side of the steering control plate (6) is provided with a bevel gear surface, and the shaft end of the steering motor (502) is provided with a bevel gear meshing with the bevel gear surface of the steering control plate (6); Grabber (7), four groups of balance hangers (701) are fixedly arranged at the top corner of the grabber (7), and the balance hanger (701) is fixed at the bottom end of a group of hoisting cables (4011);The two sides of the grabber (7) are integrally provided with flanges, and the outer side of the flange is slidably provided with a movable grab frame (702) with cooperation guide rail, and the upper side of the movable grab frame (702) is further rotatably provided with a side auxiliary wheel (703), and the side auxiliary wheel (703) is attached to the outer side of the flange;The connecting beam (704) is fixedly arranged between the two movable grab frames (702);Two groups of synchronous screws (705) are rotatably arranged at the bottom of the grabber (7), and the synchronous screw (705) is threadedly connected with a group of connecting beams (704);Driving motor (8) is fixedly arranged at the top of the grabber (7), and the driving motor (8) and the synchronous screw (705) are provided with bevel gear transmission connection; Beam (9), two groups of guide rails (901) are integrally arranged at the top of the beam (9), and the two ends of the guide rail (901) are slope structures;Positioning hole is formed in the middle of the two sides of the beam (9);H-shaped wheel (201) can be attached to the outside of the guide rail (901).

2. The intelligent pipe hoisting device based on accurate azimuth control according to claim 1, characterized in that, The middle of the lifting frame (1) is rotationally provided with a control lead screw (102), and the lifting frame (1) is externally fixedly provided with a moving motor (103) for driving the control lead screw (102), and the control lead screw (102) is threadedly connected with a nut block (405).

3. The intelligent pipe hoisting device based on accurate azimuth control according to claim 2, characterized in that, The top of the lifting frame (1) is fixedly provided with a hydraulic oil tank (3), the top of the hydraulic oil tank (3) is externally connected with an upwardly-bent breathing pipe (301), the breathing pipe (301) is provided with a dustproof cotton cover at the pipe opening, the outside of the hydraulic oil tank (3) is connected with a hydraulic oil pump (302), and the hydraulic oil pump (302) is in oil passage communication with the four groups of hydraulic supporting rods (2).

4. The intelligent pipe hoisting device based on accurate azimuth control according to claim 3, characterized in that, The side of the sliding seat (4) and the supporting seat (406) is provided with four groups of through holes, and the inside of the through holes is rotationally provided with two rows of upper and lower guide rollers (407); the lifting cable (4011) passes through the two guide rollers (407).

5. The intelligent pipe hoisting device based on accurate azimuth control according to claim 4, characterized in that, The upper and lower sides of the moving grabbing frame (702) are inclined structures, and the inclined structures are fixedly provided with electric cylinders (706), the telescopic ends of the electric cylinders (706) are fixedly provided with clamping blocks (707), the clamping blocks (707) are externally fixedly provided with four groups of guide rods (708), and the guide rods (708) are slidingly connected with the moving grabbing frame (702).

6. The method of claim 5, wherein the method further comprises: determining the orientation of the pipe; and adjusting the orientation of the pipe to the determined orientation. The steps include: 1) Laying beams, after digging a ditch on the ground, the beam frame (9) is arranged above the ditch, and then the beam frame (9) is fixed by using a positioning tool; 2) Crossing the beam, the hydraulic oil in the hydraulic oil tank (3) is pumped out by using the hydraulic oil pump (302), the hydraulic oil is input into the hydraulic supporting rod (2) and the hydraulic supporting rod (2) is expanded, the ground is supported by using the H-shaped wheel (201), then the whole moving device is moved, the H-shaped wheel (201) is moved above the beam frame (9), and the beam frame (9) is crossed by cooperating with the guide rail (901); 3) Taking the beam, the hydraulic oil in the hydraulic supporting rod (2) is pumped out by reversing the hydraulic oil pump (302), the hydraulic supporting rod (2) is contracted, the lifting frame (1) is lowered, the ground is supported by the supporting column of the lifting frame (1), and then the H-shaped wheel (201) is separated from the guide rail (901); then the positioning of the beam frame (9) is released, and the beam frame (9) is taken off; 4) Fixing the pipeline, the sliding seat (4) is moved to one side outside the pit by rotating the control lead screw (102) driven by the moving motor (103), then the pipeline is placed below the grabber (7), the synchronous lead screw (705) is rotated by controlling the driving motor (8), the two moving grabbing frames (702) are combined by the synchronous lead screw (705), and the pipeline is clamped and fixed by using the clamping block (707). 5), put the pipeline to the tunnel above, and then start the winding motor (403) to drive the worm (404) to rotate, the worm (404) drives the worm gear (402) to rotate, the cable wheel (401) rotates synchronously, the hoisting cable (4011) is stretched downward, and then the pipeline is placed downward; when the angle needs to be adjusted, the winding motor (403) is controlled to perform different actions, the stretching range of different hoisting cables (4011) is controlled, the horizontal angle of the grabber (7) is adjusted, and then the adjustment of the placing angle of the pipeline is realized; when the horizontal position needs to be adjusted, the steering motor (502) is started to drive the steering control plate (6) to rotate, and the position of the four groups of hoisting cables (4011) is adjusted through the side angle guide wheel (601) while the steering control plate (6) rotates, so that the horizontal position of the pipeline is intelligently adjusted, and accurate installation is facilitated; after the pipeline is placed in the installation position, the moving grabber (702) is reset, and the pipeline is placed.

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