Bidirectional underground pipe distribution executing mechanism for dense and thin flexible pipes

Abstract

The invention relates to the technical field of underground laying machinery for soil-air heat exchange pipes in greenhouse buildings, and discloses a bidirectional underground pipe laying executing mechanism for dense and thin hoses, which comprises a bidirectional slotting chain assembly, a driving assembly and a bidirectional pipe laying executing arm which are mounted on a bidirectional traveling rack. The bidirectional slotting chain assembly is driven by the driving assembly, and a chain drives the soil lifting plate to slot; the pipe distribution execution arm is controlled by the hydraulic mechanism to ascend and descend and distributes the preset slender hose into the groove after grooving. The two-way underground pipe distribution executing mechanism body does not need to rotate by 180 degrees on the two-way traveling rack, and efficient and continuous operation can be achieved only by alternately switching the grooving direction and the pipe distribution direction of the two-way grooving chain assembly. The multiple assemblies can work synchronously or independently, and the device has high flexibility and adapts to different soil conditions. The device reduces the construction cost and has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of underground soil-air heat exchange pipe laying machinery inside a greenhouse building, and in particular to a bidirectional underground pipe laying actuator for dense and slender hoses. Background Art

[0002] Publication number CN117716908A, entitled "Dense Slender Tube Deep Soil Burying Machine and Dense Slender Tube Deep Burying Method," discloses a dense slender tube deep soil burial machine. Its design is based on the technical concept of "unidirectional soil burial operation." It consists of a main frame, a rotating frame, and a turntable assembly. The "rotating frame and turntable assembly" technical solution enables bidirectional soil burial operation. This solution is based on the technical concept of "unidirectional drive" of the drive device and "unidirectional rotation" of the slotted chain. Furthermore, when the rotating frame needs to rotate, it requires an unobstructed rotating space within the greenhouse. The diameter of this rotating space must not be less than the operating width of the rotating frame, which imposes spatial limitations. However, the technical feature of the "dense slender tube bidirectional soil burial actuator" is not disclosed. The main problem is that the unidirectional rotation of the slotted chain easily causes unidirectional wear on the chain and sprocket, thereby shortening their service life. Furthermore, the additional "rotating frame and turntable assembly" increases the complexity and manufacturing cost of the equipment.

[0003] Therefore, there is an urgent need for a more efficient, stable and low-cost buried actuator to solve the problems existing in the existing technology. Summary of the Invention

[0004] In view of this, the present invention proposes a bidirectional underground pipe laying actuator for dense and slender hoses, which can not only improve the efficiency of burial operations, but also reduce equipment wear and extend service life, while reducing the complexity and manufacturing cost of the equipment itself.

[0005] The present invention provides a bidirectional underground pipe laying actuator for dense and slender hoses. The actuator is mounted on a pre-set bidirectional travel frame via a lifting mechanism and can be lifted and lowered. When the pre-set bidirectional travel frame moves forward or backward, the actuator body does not need to rotate 180 degrees. Instead, the actuator body only needs to alternately switch between the grooving direction and the pipe laying direction to execute the forward or backward underground laying of the pre-set dense and slender hoses. The actuator body comprises:

[0006] Two-way slotted chain assembly, front pipe actuator arm, and rear pipe actuator arm;

[0007] The bidirectional slotted chain assembly includes a chain and a soil lifting plate. The soil lifting plate is fixed on the chain of the bidirectional slotted chain assembly. The extension surface of the soil lifting plate is perpendicular to the extension line of the chain. The bidirectional slotted chain assembly is driven to rotate forward or backward by a preset bidirectional driving assembly. The bidirectional slotted chain assembly slots forward when rotating forward, or slots backward when rotating backward.

[0008] The front pipe arrangement actuator arm and the rear pipe arrangement actuator arm are symmetrically arranged at the front and rear of the bidirectional slotted chain assembly respectively, and are controlled to rise and fall by a preset lifting mechanism;

[0009] A guiding mechanism for conveying a slender hose is provided on the front pipe-laying actuator arm and the rear pipe-laying actuator arm. The guiding mechanism is a roller clamping guiding assembly, which can convey the preset slender hose from the preset bidirectional travel frame to the groove formed by the slotted chain assembly; or the guiding mechanism is a smooth tube lumen guiding assembly, which can convey the preset slender hose from the preset bidirectional travel frame to the groove formed by the slotted chain assembly; or the guiding mechanism includes a smooth tube lumen guiding assembly and a roller clamping guiding assembly, which cooperate with the roller clamping guiding assembly to convey the preset slender hose from the preset bidirectional travel frame to the groove formed by the slotted chain assembly;

[0010] When the preset two-way travel frame moves forward, the preset drive assembly drives the chain to rotate forward, and the lifting plate accordingly digs the soil and grooves forward. At the same time, the front pipe laying actuator arm is lifted by the lifting mechanism to be suspended above the ground, and the rear pipe laying actuator arm is lowered by the lifting mechanism into the groove to perform the pipe laying operation.

[0011] When the preset two-way travel frame moves backward, the preset drive assembly drives the chain to rotate backward, and the lifting plate digs the soil and grooves to the rear accordingly. At the same time, the rear pipe laying execution arm is lifted by the lifting mechanism to be suspended above the ground, and the front pipe laying execution arm is lowered by the lifting mechanism into the groove to perform the pipe laying operation.

[0012] A plurality of bidirectional slotting chain assemblies and corresponding pipe laying execution arms can be arranged on a preset bidirectional traveling frame for synchronously executing slotting operations of a plurality of soil grooves and laying operations of a plurality of slender hoses.

[0013] Preferably, the plurality of bidirectional slotted chain assemblies share a set of drive assemblies, or each bidirectional slotted chain assembly is equipped with an independent drive assembly to adapt to different soil resistances.

[0014] Preferably, the lifting mechanism is a hydraulic mechanism, which can control the lifting of the bidirectional slotted chain assembly, and the hydraulic mechanism can control the lifting of the front pipe arrangement actuator arm and the rear pipe arrangement actuator arm according to the moving direction of the bidirectional travel frame.

[0015] Preferably, a front hose introduction device and a rear hose introduction device are provided on the bidirectional travel frame, which are respectively used to introduce preset slender hoses into the conveying mechanisms for transmitting slender hoses provided on the front pipe-laying actuator arm and the rear pipe-laying actuator arm.

[0016] Compared with the prior art, the present invention has the following significant advantages:

[0017] In addition to reducing manufacturing difficulty and costs, it also improves operating efficiency: through the preset two-way driving frame to implement two-way driving and the corresponding switching of the front and rear pipe laying actuator arms, continuous operations of grooving and burying of slender hoses are achieved. There is no need for the equipment body to turn back and forth, which significantly reduces the operation interruption time, thereby greatly improving the efficiency of the slender hose burying operation, and is especially suitable for the laying of slender hoses inside greenhouse buildings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0019] Figure 1 It is a schematic structural plan view of a bidirectional underground pipe-laying actuator for dense and elongated hoses according to the present invention;

[0020] Figure 2 This is a head-up diagram of an application scenario of the present invention in which a bidirectional underground pipe-laying actuator for dense and slender hoses is mounted on a bidirectional traveling frame;

[0021] Figure 3 This is a top view of an application scenario of a bidirectional underground pipe-laying actuator for dense and slender hoses mounted on a bidirectional travel frame of the present invention;

[0022] Figure 4 This is a schematic plan view of the structure of a pipe routing actuator arm according to the present invention;

[0023] Figure 5 for Figure 4 The schematic diagram of the structure of the pipe arrangement execution arm shown in the top view;

[0024] In the figure, 1-bidirectional underground pipe laying equipment for dense and slender hoses; 2-bidirectional traveling frame; 3-hydraulic mechanism; 4-bidirectional slotting chain assembly; 5-driving assembly; 6-front pipe laying actuator arm; 7-rear pipe laying actuator arm; 8-chain; 9-soil lifting plate; 10-bidirectional underground pipe laying actuator for dense and slender hoses; 11-pipe laying actuator arm; 20-slender hose; 21-front hose introduction device; 22-rear hose introduction device; 23-guiding mechanism; 24-roller clamping guide assembly; 25-smooth pipe cavity guide assembly; 30-earth; 40-bidirectional slotting chain assembly connecting frame; 50-bidirectional traveling mechanism; 60-pipe laying actuator arm connecting frame; 70-forward slotting operation direction; 80-backward slotting operation direction; 90-operating direction. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0026] like Figure 1-5 As shown, this embodiment provides a bidirectional underground pipe laying actuator for dense and slender hoses. The actuator is mounted on a bidirectional travel frame 2 for lifting and lowering motion via a lifting mechanism. The lifting mechanism is a hydraulic mechanism 3. When the bidirectional travel frame 2 moves in a forward grooving operation direction 70 or a backward grooving operation direction 80, the bidirectional underground pipe laying actuator body does not need to rotate 180 degrees. Instead, the bidirectional underground pipe laying actuator body only needs to alternately switch between the grooving direction and the pipe laying direction in cooperation with the hydraulic mechanism 3 to accordingly execute the operations of grooving the ground 30 forward and simultaneously laying the dense and slender hose 20 forward underground, or correspondingly execute the operations of grooving the ground 30 backward and simultaneously laying the dense and slender hose 20 backward underground. The actuator comprises:

[0027] Bidirectional slotted chain assembly 4, front pipe arrangement actuator arm 6 and rear pipe arrangement actuator arm 7;

[0028] A conveying mechanism 23 for conveying the slender hose 20 is provided on the front pipe-laying actuator arm 6 and the rear pipe-laying actuator arm 7. The conveying mechanism 23 is a roller clamping conveying assembly 24. The roller clamping conveying assembly 24 can convey the slender hose 20 from the bidirectional travel frame 2 to the groove formed by the bidirectional slotted chain assembly 4; or the conveying mechanism 23 is a smooth tube lumen conveying assembly 25. The smooth tube lumen conveying assembly 25 can convey the slender hose 20 from the bidirectional travel frame 2 to the groove formed by the bidirectional slotted chain assembly 4; or the conveying mechanism 23 includes a smooth tube lumen conveying assembly 25 and a roller clamping conveying assembly 24. The smooth tube lumen conveying assembly 25 cooperates with the roller clamping conveying assembly 24 to convey the slender hose 20 from the bidirectional travel frame 2 to the groove formed by the bidirectional slotted chain assembly 4;

[0029] The bidirectional slotting chain assembly 4 includes a chain 8 and a lifting plate 9. The bidirectional slotting chain assembly 4 is driven to rotate forward or reversely by a driving assembly 5. A lifting plate 9 is fixed to the chain 8 on the bidirectional slotting chain assembly 4. The extension surface of the lifting plate 9 is perpendicular to the extension line of the chain 8. The bidirectional slotting chain assembly 4 rotates forward to slot forward in the forward slotting operation direction 70, or rotates reversely to slot backward in the backward slotting operation direction 80.

[0030] The front pipe arrangement actuator arm 6 and the rear pipe arrangement actuator arm 7 are symmetrically arranged at the front and rear of the two-way slotted chain assembly 4, respectively, and are controlled to rise and fall by the hydraulic mechanism 3. The two-way slotted chain assembly 4 is also controlled to rise and fall by the hydraulic mechanism 3.

[0031] When the bidirectional traveling frame 2 moves in the forward grooving operation direction 70, the driving assembly 5 drives the chain 8 to rotate forward, and the lifting plate 9 digs the soil and grooves from the front. At the same time, the front pipe laying actuator arm 6 is lifted by the hydraulic mechanism 3 to the ground 30 above the ground and temporarily idled, and the rear pipe laying actuator arm 7 is lowered by the hydraulic mechanism 3 into the trench to bury the pipes.

[0032] When the bidirectional traveling frame 2 moves in the backward slotting operation direction 80, the driving assembly 5 drives the chain 8 to rotate backward, and the lifting plate 9 digs the soil and slots from the rear. At the same time, the rear pipe laying actuator arm 7 is lifted by the hydraulic mechanism 3 to the ground 30 above the ground and temporarily idled, and the front pipe laying actuator arm 6 is lowered by the hydraulic mechanism 3 into the trench to bury the pipes.

[0033] When the bidirectional underground pipe laying actuator body is completely idle, the bidirectional slotted chain assembly 4, the front pipe laying actuator arm 6, and the rear pipe laying actuator arm 7 are all lifted by the hydraulic mechanism 3 to above 30 degrees above the ground for idle standby or maintenance.

[0034] Multiple bidirectional slotted chain assemblies 4 and corresponding front and rear pipe routing actuator arms 6 and 7 are spaced apart on the bidirectional travel frame 2 in a direction perpendicular to the working direction 90, enabling the simultaneous installation of multiple elongated hoses 20. The spacing between the multiple bidirectional slotted chain assemblies 4 on the bidirectional travel frame 2 corresponds to the installation spacing of the elongated hoses 20. Preferably, the elongated hoses have a diameter of 3 cm and are spaced 20 cm apart to maximize the heat exchange area per unit area between the elongated hoses 20 and the soil.

[0035] The bidirectional travel frame 2 is also provided with a front hose introduction device 21 and a rear hose introduction device 22, which are respectively used to introduce the preset slender hose 20 into the conveying mechanism 23 for transmitting the slender hose 20 provided on the front pipe arrangement execution arm 6 and the rear pipe arrangement execution arm 7.

[0036] As can be seen, this embodiment provides an innovative actuator for bidirectional soil burial of dense, slender hoses. Mounted on a bidirectional travel frame 2, this actuator can execute forward grooving and simultaneous forward burial of the dense, slender hose 20 as the bidirectional travel frame 2 moves forward. Similarly, it can also execute backward grooving and simultaneous backward burial of the dense, slender hose 20 as the bidirectional travel frame 2 moves backward. This actuator design makes burial operations more efficient.

[0037] The dense and slender hose bidirectional buried actuator mainly includes the following parts:

[0038] The two-way slotted chain assembly 4, the front pipe arrangement execution arm 6 and the rear pipe arrangement execution arm 7 work together to ensure the smooth progress of the burying operation.

[0039] The bidirectional slotted chain assembly 4, driven by the bidirectional drive assembly 5, can rotate in both forward and reverse directions. A lifting plate 9 is fixed to the chain 8 of the bidirectional slotted chain assembly 4, with the extended surface of the lifting plate 9 perpendicular to the extension line of the chain 8. During operation, forward rotation creates a groove forward, while reverse rotation creates a groove backward, thus achieving bidirectional burial.

[0040] The front pipe arrangement actuator arm 6 and the rear pipe arrangement actuator arm 7 are symmetrically arranged at the front and rear of the two-way slotted chain assembly 4. They are controlled to rise and fall by the hydraulic mechanism 3 to adapt to the operation requirements along different operation directions.

[0041] As the bidirectional travel frame 2 moves forward, the drive assembly 5 drives the chain 8 to rotate forward, and the lifting plate 9 digs the soil and creates a trench from the front. Simultaneously, the front pipe-laying actuator arm 6 is raised above the ground by the hydraulic mechanism 3, while the rear pipe-laying actuator arm 7 is lowered into the trench by the hydraulic mechanism 3 to bury the pipes. This coordinated front-to-back operation greatly improves operational efficiency.

[0042] As the bidirectional travel frame 2 moves backward, the drive assembly 5 drives the chain 8 to rotate backward, and the lifting plate 9 digs the soil and creates a trench from the rear. Simultaneously, the rear pipe laying actuator arm 7 is raised above the ground by the hydraulic mechanism 3, while the front pipe laying actuator arm 6 is lowered into the trench by the hydraulic mechanism 3 to bury the pipe. This operation method ensures the continuity and bidirectionality of the burying operation.

[0043] On the bidirectional traveling frame 2, a plurality of bidirectional slotted chain assemblies 4 and corresponding front and rear pipe-laying actuator arms are arranged at intervals. This innovative design improves working efficiency.

[0044] As can be appreciated, the dense, slender hose bidirectional burial actuator of this embodiment achieves efficient and precise burial operations through its unique design and coordinated componentry. The bidirectional slotting chain assembly 4 allows for bidirectional slotting, significantly improving efficiency and mitigating lateral wear associated with unidirectional chain rotation. Furthermore, the independent lifting and lowering control of the front and rear pipe routing actuator arms 6 and 7 seamlessly accommodates the needs of different operating directions, ensuring smooth burial operations.

[0045] In some embodiments of the present application, the multiple bidirectional slotted chain assemblies 4 share a set of drive assemblies 5, or each bidirectional slotted chain assembly 4 is equipped with an independent drive assembly 5 to meet different power requirements and operation scales.

[0046] As can be seen, this embodiment provides a variety of drive configurations to meet the needs of different operating scenarios. Using multiple bidirectional slotted chain assemblies 4 sharing a single drive assembly 5 can reduce costs and simplify the structure, making it suitable for smaller operations or those with low power requirements. In this case, a reasonable transmission design ensures that the drive assembly 5 can stably and efficiently drive all bidirectional slotted chain assemblies 4 to operate synchronously.

[0047] In scenarios requiring higher power or operating on a larger scale, each bidirectional slotted chain assembly 4 can be equipped with an independent drive assembly 5. This configuration provides greater driving force and improved operational efficiency, ensuring that each bidirectional slotted chain assembly 4 can operate independently and flexibly to meet complex and changing operational needs. Furthermore, the independent drive assembly 5 allows for more precise control and adjustment, further improving operational accuracy and stability.

[0048] Furthermore, the bidirectional buried actuator 10 for dense and slender hoses of this embodiment can be customized to meet specific needs. For example, the length, angle, and lifting range of the pipe-laying actuator arm can be adjusted based on parameters such as pipe size, material, and burial depth to ensure optimal operation. Furthermore, the appropriate drive mode, transmission ratio, and control system can be selected based on the characteristics and requirements of the operating environment to meet the operational needs of different scenarios.

[0049] In summary, the bidirectional buried earth actuator 10 with dense, slender hoses in this embodiment offers multiple drive configurations and customized design features, adapting to the needs of various operational scenarios while improving operational efficiency and accuracy. This innovative design not only provides a new solution for buried earth operations in related fields but also contributes positively to the advancement and development of the industry.

[0050] In some embodiments of the present application, the lifting structure is a hydraulic mechanism 3, which includes an independent control valve group, which can control the lifting and lowering of the front pipe laying actuator arm 6 and the rear pipe laying actuator arm 7 according to the moving direction of the bidirectional traveling frame 2, and ensure that the buried pipe depth is consistent.

[0051] As can be seen, the bidirectional buried actuator mechanism for the dense, slender hose in this embodiment also features a sophisticated design of the lifting structure. To ensure consistent buried depth, this embodiment utilizes a hydraulic mechanism 3 as the lifting mechanism. This hydraulic mechanism not only provides powerful driving force and stability, but also enables precise control and adjustment.

[0052] Hydraulic mechanism 3 can be equipped with independent control valve groups, allowing the lifting mechanism to control the lifting and lowering of the front pipe routing actuator arm 6 and the rear pipe routing actuator arm 7 according to the movement direction of the bidirectional travel frame 2. This control method not only improves the flexibility and adaptability of the operation, but also ensures precise control of the pipe burial depth, thereby ensuring the quality and effectiveness of the burial operation.

[0053] In actual operation, when the bidirectional travel frame 2 moves forward or backward, the hydraulic mechanism 3 controls the raising and lowering of the front pipe routing actuator arm 6 and the rear pipe routing actuator arm 7 according to preset programs and instructions. Through precise control and adjustment, the synchronization and coordination of the two pipe routing actuator arms during the raising and lowering process are ensured, thus achieving precise control of the pipe burial depth.

[0054] In some embodiments of the present application, the width of the lifting plate 9 corresponds to the diameter of the elongated hose 20 so that the elongated hose 20 can be smoothly placed in the bottom of the trough.

[0055] In some embodiments of the present application, the driving assembly 5 includes a hydraulic motor or an electric motor, which drives the chain 8 to rotate in both directions through chain transmission or gear transmission to adapt to different soil conditions and improve the grooving stability.

[0056] During operation, the drive assembly 5 drives the chain 8 in bidirectional rotation via a chain or gear drive according to pre-set programs and instructions. The rotation of the chain 8 drives the lifting plate 9 to dig and trench the soil, thus achieving bidirectional burial operations. Furthermore, the drive assembly 5 automatically adjusts its output torque and speed based on changing soil conditions to ensure stable and efficient trenching.

[0057] In some embodiments of the present application, the width of the bidirectional traveling frame 2 is smaller than the internal column spacing of the multi-span greenhouse, and avoidance structures or adjustable telescopic components are provided on both sides of the frame to ensure that the equipment can freely travel and perform burial operations in a dense column environment.

[0058] It can be seen that the design of the bidirectional travel frame 2 of this embodiment of the dense, slender tube bidirectional burial actuator fully considers the complexity and diversity of actual operating environments. To ensure that the device can freely navigate and perform burial operations within the densely populated environment of multi-span greenhouses, this embodiment has carefully designed the width of the bidirectional travel frame 2 and equipped it with an avoidance structure or adjustable telescopic assembly.

[0059] The width of the bidirectionally movable frame 2 is designed to be smaller than the spacing between the columns within the multi-span greenhouse. This design allows the frame to move freely between the columns, avoiding the problem of travel being hindered by the frame being too wide. Furthermore, the avoidance structures or adjustable telescopic components on both sides of the frame further enhance the adaptability and flexibility of the equipment.

[0060] In actual operation, the bidirectional gantry 2 navigates freely within the multi-span greenhouse according to pre-set routes and instructions. When encountering a column, an avoidance mechanism or adjustable telescopic assembly automatically activates, adjusting the gantry's shape or position to avoid collision. Simultaneously, the gantry's drive assembly, lifting mechanism, and pipe routing actuator work together to complete the pipe laying operation.

[0061] In some embodiments of the present application, a backfilling device is provided at the rear of the frame. The backfilling device includes a backfilling rake with adjustable height or a rotary backfilling wheel, which can automatically backfill the soil after the pipeline is buried, thereby improving work efficiency.

[0062] in addition, Figure 1-5The apparatus also includes a slender tube 20, the ground 30, a bidirectional slotting chain assembly connecting frame 40, a bidirectional traveling mechanism 50, a pipe laying actuator arm connecting frame 60, a forward slotting operation direction 70, a backward excavation operation direction 80, and an operation direction 90. Specifically, the bidirectional burying actuator 10 of the dense and slender hose is mounted on the bidirectional traveling mechanism 50 in a non-rotatable but liftable manner. The bidirectional traveling mechanism 50 can drive the bidirectional burying actuator of the dense and slender hose to travel bidirectionally on the ground 30, thereby performing bidirectional burying operations. During operation, the bidirectional slotting chain assembly connecting frame 40 is used to connect and fix the bidirectional slotting chain assembly 4 to ensure its stability and reliability during operation. The pipe laying actuator arm connecting frame is used to connect and fix the front pipe laying actuator arm 6 and the rear pipe laying actuator arm 7, so that they can achieve independent lifting and lowering movements under the control of the hydraulic mechanism 3. The operation direction 90 indicates the rotation direction of the bidirectional slotting chain assembly 4, i.e., forward slotting or backward slotting.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A bidirectional underground pipe actuator for dense and slender hoses, characterized in that: The device is mounted on a pre-set bidirectional travel frame via a lifting mechanism and can be lifted and lowered. When the pre-set bidirectional travel frame moves forward or backward, the pre-set bidirectional underground pipe laying actuator body does not need to rotate 180 degrees. Instead, the pre-set bidirectional underground pipe laying actuator body only needs to alternately switch the grooving direction and the pipe laying direction to accordingly execute the operation of laying the pre-set dense and slender hose forward or backward underground. The device comprises: Two-way slotted chain assembly, front pipe actuator arm, and rear pipe actuator arm; A soil lifting plate is fixed on the chain of the bidirectional slotted chain assembly, and the extension surface of the soil lifting plate is perpendicular to the extension line of the chain. The bidirectional slotted chain assembly is driven to rotate forward or backward by a preset bidirectional driving assembly. The bidirectional slotted chain assembly slots forward when rotating forward, or slots backward when rotating backward; The front pipe arrangement actuator arm and the rear pipe arrangement actuator arm are symmetrically arranged at the front and rear of the bidirectional slotted chain assembly respectively, and are controlled to rise and fall by a preset lifting mechanism; A guiding mechanism for conveying a slender hose is provided on the front pipe-laying actuator arm and the rear pipe-laying actuator arm. The guiding mechanism is a roller clamping guiding assembly, which can convey the preset slender hose from the preset bidirectional travel frame to the groove formed by the slotted chain assembly; or the guiding mechanism is a smooth tube lumen guiding assembly, which can convey the preset slender hose from the preset bidirectional travel frame to the groove formed by the slotted chain assembly; or the guiding mechanism includes a smooth tube lumen guiding assembly and a roller clamping guiding assembly, which cooperate with the roller clamping guiding assembly to convey the preset slender hose from the preset bidirectional travel frame to the groove formed by the slotted chain assembly; When the preset two-way travel frame moves forward, the preset drive assembly drives the chain to rotate forward, and the lifting plate accordingly digs the soil and grooves forward. At the same time, the front pipe laying actuator arm is lifted by the lifting mechanism to be suspended above the ground, and the rear pipe laying actuator arm is lowered by the lifting mechanism into the groove to perform the pipe laying operation. When the preset two-way travel frame moves backward, the preset drive assembly drives the chain to rotate backward, and the lifting plate digs the soil and grooves to the rear accordingly. At the same time, the rear pipe laying execution arm is lifted by the lifting mechanism to be suspended above the ground, and the front pipe laying execution arm is lowered by the lifting mechanism into the groove to perform the pipe laying operation. A plurality of bidirectional slotting chain assemblies and corresponding pipe laying execution arms can be arranged on a preset bidirectional traveling frame for synchronously executing slotting operations of a plurality of soil grooves and laying operations of a plurality of slender hoses.

2. A bidirectional underground pipe-laying actuator for dense and slender hoses according to claim 1, characterized in that: The multiple bidirectional slotted chain assemblies share a set of driving assemblies, or each bidirectional slotted chain assembly is equipped with an independent driving assembly to adapt to different soil resistances.

3. A bidirectional underground pipe-laying actuator for dense and slender hoses according to claim 1, characterized in that: The lifting mechanism is a hydraulic mechanism, which can control the lifting of the bidirectional slotted chain assembly. The hydraulic mechanism can control the lifting of the front pipe arrangement actuator arm and the rear pipe arrangement actuator arm according to the moving direction of the bidirectional travel frame.

4. A bidirectional underground pipe-laying actuator for dense and slender hoses according to claim 1, characterized in that: A front hose introduction device and a rear hose introduction device are provided on the bidirectional travel frame, respectively used to introduce preset slender hoses into the conveying mechanisms for transmitting slender hoses provided on the front pipe-laying execution arm and the rear pipe-laying execution arm.

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