Roadbed filler replacement miniature shield equipment without interrupting driving

Abstract

The invention discloses miniature shield equipment and method for replacing roadbed filler without interrupting driving. The equipment comprises a power assembly, a shield assembly, a walking assembly and a support. The shield assembly is provided with a leveling mechanism, a rear-end counter-force assembly, a spiral drill rod and a crushing device, the leveling mechanism achieves rapid leveling through a sleeve column structure, the rear-end counter-force assembly is inserted into the ground through a hinged counter-force frame to provide pipe jacking counter-force, and the spiral drill rod is integrated with a hard alloy cutter head to crush obstacles. The control system monitors the drilling torque, the pipe jacking thrust and the direction deviation in real time through a sensor, dynamically adjusts drilling parameters, the anti-jamming action and the machine frame angle, and achieves accurate control over the drilling direction. During construction, the equipment moves to an operation point through the crawler belt, drilling and support jacking are synchronously carried out after automatic leveling, obstacles are removed through the crushing device, and old filler is replaced and filled with new filler after being discharged through the spiral material conveying rod. According to the invention, the large-aperture replacement of more than 400mm can be completed, the running interruption is avoided, and the operation safety and efficiency are obviously improved.

Description

Technical Field

[0001] The present invention relates to trenchless frost heave filler replacement equipment for high-speed railway roadbed frost damage remediation construction, and in particular to a micro-shield device for roadbed filler replacement without interrupting traffic, belonging to the technical field of railway construction engineering. Background Art

[0002] my country's railway frost damage is mainly concentrated in the Northeast and Qinghai-Tibet Plateau. Frost heave and thaw settlement diseases cause changes in the track structure size. Track irregularities not only affect the smoothness of train operation, but can also cause serious safety accidents such as train derailment. Therefore, frost damage control is of great significance to the safe operation of railways.

[0003] At present, the main method for remediation of roadbed frost damage is to excavate foundation pits at skylight points for replacement filling, which is generally manual excavation or loosening blasting, pre-cracking blasting, etc. The stability of the frozen soil must be maintained during the process, and high requirements are placed on the working environment temperature and work proficiency. It is difficult to accurately control the settlement and collapse is prone to occur. In addition, operations must be stopped during construction, which has a long impact time. At the same time, the safety is low, the labor intensity is high, and the working efficiency is low.

[0004] Therefore, the use of trenchless roadbed replacement technology has significant advantages in the treatment of high-speed railway roadbed frost damage. It does not affect train operation, allows continuous construction, and can accurately control construction settlement. It has few construction restrictions, is safe and efficient, and greatly reduces the number of workers and labor intensity. It has huge market demand and economic benefits.

[0005] At present, the trenchless roadbed replacement equipment is mainly a small and simple horizontal drilling rig developed on the technical basis of the pipe jacking machine. The main structure includes a base, motor, reducer, drill rod, steel pipe, and jacking cylinder. The motor is used to drive the spiral drill rod to drill holes, and at the same time, the steel pipe is pushed into the roadbed to complete the soil excavation operation under the steel pipe support.

[0006] The existing technology or equipment has the following problems: The operating capacity is limited, making it difficult to complete the replacement of holes with a diameter of more than 400, resulting in low operating efficiency; The disturbance is large and can easily cause collapse; The drilling direction is difficult to control, which can easily lead to drilling deviation and thus cause changes in the track structure; The equipment mainly relies on manual support, making leveling difficult; The jacking force is small and the pipe cannot be pushed into place when encountering rocks; Poor flexibility, inconvenient to move, and inconvenient construction Summary of the Invention

[0007] In order to solve the above problems, the present invention provides a micro-shield device for replacing roadbed filler without interrupting driving, and its technical solution is as follows: A micro-shield device for replacing roadbed filler without interrupting driving, characterized by comprising: Power assembly (1), shield assembly (2), traveling assembly (3) and support (4); The walking assembly (3) is installed at the bottom of the shield assembly (2), the power assembly (1) is installed at the top of the shield assembly (2), and the support (4) is located at the front of the shield assembly (2); The shield assembly (2) includes a frame (10), a pipe jacking cylinder (11), a drilling trolley (12), a pipe jacking trolley (13), a spiral drill rod (14), a front guide (15), a leveling mechanism (16), a control system (17), a hydraulic system (18), a rear reaction force assembly (19) and a crushing device (20); A guide rail (21) is provided on the top of the frame (10), the pipe jacking cylinder (11) connects the frame (10) and the pipe jacking trolley (13), and the pipe jacking trolley (13) slides along the guide rail (21) through a sliding seat (25); The drilling trolley (12) moves in the pipe jacking trolley (13) via the guide shaft (24) and drives the spiral drill rod (14) to rotate; The leveling mechanism (16) includes a leveling leg (35), a leveling cylinder (36), a transverse beam (37) and a transverse cylinder (38). The leveling leg (35) and the transverse beam (37) adopt a sleeve column structure. The leveling cylinder (36) is extended to achieve leveling of the frame (10), and the transverse cylinder (38) is extended to achieve transverse movement of the frame (10). The rear end reaction force assembly (19) includes a reaction force frame (42) and a reaction force oil cylinder (43), the front end of the reaction force frame (42) is hinged to the frame (10), and the reaction force oil cylinder (43) drives the reaction force frame (42) to be inserted into the ground to form an oblique support; The traveling assembly (3) includes a crawler belt (44) and a steering system (45), and the steering system (45) drives the frame (10) to rotate to a set angle.

[0008] Preferably, the spiral drill rod (14) includes a spiral drill bit (30) and a segmented spiral feed rod (31), the front end of the spiral drill bit (30) is integrated with a crushing device (20), and the crushing device (20) is a replaceable carbide cutter disc for crushing stones or frozen soil.

[0009] Preferably, the front end guide (15) includes a guide frame (32), an adjustment mechanism (33) and a support wheel (34); the adjustment mechanism (33) adopts a three-claw chuck structure, and the support wheel (34) is synchronously adjusted to move centripetally by a jacking screw to adapt to the pipe diameter of the support (4).

[0010] Preferably, the control system (17) includes a drilling direction vector sensor, a horizontal sensor, a drilling torque sensor, and a jacking thrust sensor. The drilling direction vector sensor detects the drill bit angle deviation in real time and adjusts the extension and contraction of the traverse cylinder (38) of the leveling mechanism (16) through the controller to correct the drilling direction.

[0011] Preferably, the drilling trolley (12) further comprises a pipe-following oil cylinder, one end of which is fixed to the pipe-jacking trolley (13), and the other end of which is connected to the drilling trolley (12), so that the distance between the drilling trolley (12) and the pipe-jacking trolley (13) can be dynamically adjusted by extending and retracting the pipe-following oil cylinder.

[0012] The present invention also discloses a construction method using the above-mentioned equipment, which is characterized by comprising the following steps: a. Move the equipment to the construction site through the crawler (44) of the walking assembly (3), and adjust the steering system (45) to align the drilling direction; b. Start the leveling mechanism (16), the horizontal sensor detects the inclination of the frame (10), and the controller automatically controls the lifting and lowering of the leveling legs (35) and the horizontal movement of the transverse beam (37) until the horizontal error of the frame (10) is ≤0.5°; c. Install the initial support (4) and auger rod (14), and set the initial spacing of the follow-up cylinder; d. Start the power assembly (1), the drilling trolley (12) drives the auger (14) to drill and extract soil, the jacking cylinder (11) synchronously pushes the support (4) into the borehole, and the crushing device (20) crushes the obstacle; e. The control system (17) monitors the drilling torque, jacking thrust and drilling direction deviation in real time. When the drilling torque exceeds the limit, the reverse-forward rotation alternating action and the back-off anti-drilling action are triggered. When the direction deviation exceeds the threshold, the frame (10) angle is adjusted to correct the path. f. After the single-section support (4) is inserted, the jacking trolley (13) returns to its initial position, a new support (4) and drill rod (14) are installed, and steps are repeated to the designed depth; g. Discharge the old packing through the screw feed rod (31) and replace it with new packing.

[0013] Preferably, in step e, the controller automatically adjusts the extension and contraction of the pipe-following cylinder according to the drilling torque value, and dynamically changes the distance between the drilling trolley (12) and the pipe-jacking trolley (13).

[0014] Preferably, in step d, the cutter head rotation speed of the crushing device (20) is linked to the drilling speed, and when the hardness of the stone is detected, the controller reduces the drilling speed and increases the cutter head rotation speed.

[0015] Preferably, in step b, the leveling mechanism (16) uses a single leveling leg (35) as a reference, and the controller calculates the height difference of the remaining legs and automatically adjusts them until the four corners are level. Beneficial effects

[0016] It can realize large-diameter replacement operation and improve operation efficiency; Precise control of drilling direction reduces the impact of operations on track structure; Adjustable distance from the pipe to reduce disturbance and lower the risk of collapse; automatic leveling, precise leveling, and fast positioning; The jacking is powerful and has the function of removing obstacles to ensure that the jacking pipe is in place; Convenient and flexible, easy for transition and shifting; Crushing device: The carbide cutter head is combined with the hydraulic drive to effectively crush frozen soil and rocks to avoid obstruction of the jacking pipe; Anti-disconnection joint: Double locking of hexagonal joint and spring pin prevents the drill rod from being disconnected, improving construction safety; Direction closed-loop control: Automatic correction is triggered by the deviation threshold to ensure drilling accuracy (error ≤ 0.5°). BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall schematic diagram of the present invention; Figure 2 Schematic diagram of the powertrain of the present invention; Figure 3 Schematic diagram of the shield assembly of the present invention; Figure 4 This is a schematic diagram of the pipe jacking trolley of the present invention; Figure 5 This is a schematic diagram of the drilling trolley of the present invention; Figure 6 A schematic diagram of an auger rod according to the present invention; Figure 7 This is a schematic diagram of the connection between the drilling seat and the spiral drill rod of the present invention; Figure 8 This is a schematic diagram of the front-end guide of the present invention; Figure 9 Schematic diagram of the leveling mechanism of the present invention; Figure 10 Schematic diagram of the rear end reaction force assembly of the present invention; Figure 11 This is a schematic diagram of the traveling assembly of the present invention; In the figure: 1. Power assembly, 2. Shield assembly, 3. Travel assembly, 4. Support, 5. Engine, 6. Hydraulic pump, 7. Fuel tank, 8. Heat dissipation, 9. Pipeline, 10. Frame, 11. Pipe jacking cylinder, 12. Drilling trolley, 13. Pipe jacking trolley, 14. Auger rod, 15. Front guide, 16. Leveling mechanism, 17. Control system, 18. Hydraulic system, 19. Rear reaction assembly, 20. Crushing device, 21. Guide rail, 22. Jacking trolley frame, 23. Jacking seat, 24. Guide shaft, 25. Sliding seat, 26. Motor, 27. Gearbox, 28. Drilling seat, 29. Discharge device, 30. Auger bit, 31. Spiral feed rod, 32. Guide frame, 33. Adjustment mechanism, 34. Support wheel, 35. Leveling leg, 36. Leveling cylinder, 37. Transverse beam, 38. Transverse cylinder, 42. Reaction frame, 43. Reaction cylinder, 44. Traveling part, 45. Steering system. DETAILED DESCRIPTION Example 1

[0018] See Figure 1-11 The purpose of the present invention is to provide a micro-shield equipment for replacing roadbed fillers without interrupting driving.

[0019] The micro-shield equipment for subgrade filler replacement without interrupting vehicle operation, as described in the present invention, includes a power assembly 1, a shield assembly 2, a traveling assembly 3, and a support 4. The traveling assembly 3 is mounted below the shield assembly 2, the power assembly 1 is mounted on top of the shield assembly 2, and the support 4 is located in front of the shield assembly 2.

[0020] The power assembly 1 includes an engine 5, a hydraulic pump 6, a fuel tank 7, a heat sink 8 and a pipeline 9. The engine is a diesel engine, which drives the hydraulic pump to provide power for the entire machine.

[0021] The shield assembly 2 includes a frame 10, a pipe jacking cylinder 11, a drilling trolley 12, a pipe jacking trolley 13, an auger rod 14, a front guide 15, a leveling mechanism 16, a control system 17, a hydraulic system 18, a rear reaction force assembly 19 and a crushing device 20.

[0022] The frame 10 is the main structure of the whole machine, and a guide rail 21 is installed on the top for guiding the pipe jacking trolley 13; The pipe jacking cylinder 11 is installed between the frame 10 and the pipe jacking trolley 13, so that it can generate a relative motion of advancement and retreat; The pipe jacking trolley 13 includes a pipe jacking trolley frame 22, a pipe jacking seat 23, a guide shaft 24, and a sliding seat 25; the pipe jacking seat 23 matches the diameter of the support pipe 4; the sliding seat 25 supports the pipe jacking trolley 13 to slide back and forth on the guide rail 21 at the top of the frame 10; The drilling trolley 12 includes a motor 26, a gearbox 27, a drilling seat 28, a discharge device 29, and a pipe-following cylinder; the motor 26 drives the drilling seat 28 to rotate after being decelerated by the gearbox 27, thereby driving the auger rod 14 to drill and realize the drilling action; the drilling seat is connected to the auger bit or the auger feed rod through a hexagonal or other type of joint; One end of the pipe following cylinder is fixed to the pipe jacking trolley, and the other end is connected to the drilling trolley. Through the telescopic movement of the pipe following cylinder, the drilling trolley 12 is guided by the guide shaft 24 and can move back and forth in the pipe jacking trolley 13 to adjust the pipe following distance; the discharge device 29 can discharge the drilled filler for easy transportation; The auger rod 14 includes an auger bit 30 and a auger feed rod 31. The auger structure facilitates the combing and conveying of the replaced filler to the rear end of the equipment for discharge. The auger bit 30 adopts different structures to suit different soil types. The auger feed rod is divided into sections and connected to the auger bit through a hexagonal or other type of joint that is the same as the drilling seat to form a whole rod. It is also connected to the auger bit as a whole and can be replaced, lengthened, or shortened midway. The auger feed rod 31 of the auger rod 14 is designed in sections, with hexagonal joints at both ends of each section. The male end of the hexagonal joint has an annular groove, and the female end has a built-in spring pin 41. When connected, the male end is inserted into the female end and rotated to lock. The spring pin 41 is locked in the annular groove to prevent the joint from falling out during rotation. The length of each section of the auger feed rod 31 is standard 1m or 2m and can be added or removed according to the drilling depth. Before construction, the number of sections of the auger feed rod 31 is selected according to the designed hole depth. The male end is inserted into the female end and rotated 60° so that the spring pin 41 is locked in the annular groove to complete the anti-slip locking. When disassembling, it can be separated by rotating in the opposite direction.

[0023] The front guide 15 is installed on the top of the front end of the frame, including a guide frame 32, an adjustment mechanism 33, and a support wheel 34. The adjustment mechanism adopts a structure similar to a three-jaw chuck. By adjusting the jacking screw, the three sets of support wheels distributed on the circumference can be moved synchronously and centripetally, thereby reducing the clamping diameter and adapting to different supporting pipe diameters. The leveling mechanism 16 is installed at the four corners of the frame, and includes leveling legs 35, leveling cylinders 36, transverse beams 37, and transverse cylinders 38. The leveling legs and transverse beams adopt a sleeve column structure. The leveling cylinders are extended and retracted to achieve the lifting of the leveling legs and leveling the entire machine. The transverse cylinders are extended and retracted to achieve the transverse movement or angle adjustment of the entire machine. The drilling direction vector sensor (such as an inclination sensor or a gyroscope) of the control system 17 detects the drill bit angle deviation in real time. When the horizontal deviation exceeds 2° or the vertical deviation exceeds 1.5°, the sensor transmits a signal to the controller. The controller calculates the correction amount and sends a command to the transverse cylinder 38 of the leveling mechanism 16. The transverse cylinder 38 is telescoped to adjust the horizontal inclination of the frame 10, while reducing the distance from the pipe to enhance the guiding effect, until the deviation value returns to the allowable range (±0.5°).

[0024] The crushing device 20 is integrated into the front end of the spiral drill bit 30, and includes a cutter disc, a cutter seat and a drive mechanism; the cutter disc uses detachable carbide cutters, which are distributed radially and fixed to the cutter seat by bolts; the cutter seat is connected to the spiral drill bit 30 through a flange, and a soil inlet is provided at the center of the cutter disc, which is connected to the spiral blades of the spiral drill bit 30; the drive mechanism includes a hydraulic motor 39 and a transmission shaft 40, and the hydraulic motor 39 drives the cutter disc to rotate through the transmission shaft 40. The cutter disc speed is linked to the drilling speed of the spiral drill rod 14. When the drilling resistance increases, the controller automatically increases the cutter disc speed to enhance the crushing ability.

[0025] During drilling, the hydraulic motor 39 drives the cutterhead to rotate at high speed, and the carbide cutter breaks the stones or frozen soil into fragments with a particle size of less than 50 mm. The fragments enter the spiral blade area of the spiral drill bit 30 through the soil inlet at the center of the cutterhead and are transported to the rear end of the equipment along the spiral feed rod 31 for discharge.

[0026] The control system 17 includes a detection device, a controller and a display device, which controls the single action and linkage of each action of the whole machine and the synchronous matching of the actions, and is provided with a safety interlock; the detection device includes but is not limited to frame level detection, drilling torque, jacking thrust, drilling speed, propulsion speed, jacking stroke, pipe following distance, etc.; the control system has intelligent drilling, anti-drilling, and automatic leveling. The specific implementation methods are as follows: 1. Intelligent control: The drilling torque, jacking thrust and drilling speed are detected by sensors and transmitted to the controller. After logical judgment by the controller, the three can be matched and parameter adjusted, and feedback is given to each actuator to complete dynamic drilling intelligent control. For example, when the sensor detects that the jacking thrust exceeds the allowable value, it is fed back to the controller. After logical judgment, the controller will increase the drilling speed and reduce the propulsion speed at the same time, thereby realizing a gradual reduction in the jacking thrust; 2. Anti-drilling function: When the sensor When the drill detects that the drilling torque has reached the limit and is likely to cause the drill to get stuck, it will be transmitted to the controller. The controller will issue instructions to take comprehensive actions such as increasing the drilling speed, alternating between reverse and forward rotation, and retracting to prevent the drill from getting stuck. 3. Automatic leveling: The machining level detection sensor detects that the frame is tilted and transmits the data to the controller. The controller will send adjustment instructions to the other three legs based on the reference leg, and perform automatic adjustment of rising or falling. At the same time, the adjusted machining level will also be continuously fed back and adjusted in a continuous cycle until the frame reaches a horizontal state. 4. Root canal distance adjustment: It can be adjusted manually or automatically. The operator uses experience to judge or the equipment to detect the drilling torque value, and takes corresponding manual intervention or controller braking to send instructions to the root canal cylinder to extend and retract, changing the relative positions of the drilling trolley and the propulsion trolley, thereby realizing dynamic adjustment of the root canal distance. It is recommended to give a specific control process. The hydraulic system transmits the power of the powertrain to the motor or cylinder through the hydraulic system via the hydraulic valve group, and realizes various actions under the logical control of the control system; The rear end reaction force assembly is composed of a reaction frame 42 and a reaction force cylinder 43. The front end of the reaction frame is connected to the frame 10 through a rotating shaft, and the reaction frame can rotate around the rotating shaft. The cylinder body of the reaction cylinder is connected to the frame through a cylinder earring, and the cylinder body of the reaction cylinder can rotate around the center of the cylinder earring; the piston of the reaction cylinder is connected to the reaction frame through a piston earring, and the piston of the reaction cylinder can rotate around the center of the piston earring; the extension or retraction of the piston of the reaction cylinder can drive the reaction frame to rotate around the rotating shaft at the front end. After the reaction frame rotates to a set angle, the reaction frame is obliquely inserted into the ground at the rear end of the equipment to provide a forward reaction force for the entire machine, thereby preventing the reverse thrust of the jacking pipe from causing the equipment to move backward; The traveling assembly includes a traveling part 44 and a steering system 45; the traveling part adopts a crawler structure, which is suitable for various harsh roads such as soft soil. The frame is connected to the steering system through a rotating device, and the steering system can drive the frame to rotate to a set angle.

[0027] The support adopts a circular or other shaped support pipe, made of steel or other materials, which is pushed into the drilled hole to prevent collapse.

[0028] The method for using the above-mentioned roadbed filler to replace the micro-shield equipment for construction without interrupting traffic includes the following steps: Can you add the working principle? During on-site operation, the equipment moves to the preset location via crawlers, adjusts the angle and aligns with the drilling point, and then automatically levels the machine frame. After that, the support and drill rod are installed, and the distance from the drill pipe is initially set, completing the preparations before drilling. When drilling is started, the motor 26 of the drilling trolley 12 is decelerated through the gearbox 27 to drive the drilling seat 28 to rotate, thereby driving the auger rod 14 to drill and realize the drilling action; the jacking trolley, driven by the jacking cylinder 11, slides forward along the guide rail 21 on the top of the frame 10, driving the drilling trolley 12 to drill, and simultaneously pushes the support into the drilled hole to realize synchronous support and prevent hole collapse; Intelligent control is achieved through closed-loop feedback and control of the controller and sensor: the drilling torque, jacking thrust and drilling speed are detected by the sensor and transmitted to the controller. After logical judgment by the controller, the three can be matched and parameter adjusted, and feedback is given to each actuator to complete dynamic drilling intelligent control. For example, when the sensor detects that the jacking thrust exceeds the allowable value, the feedback is sent to the controller. After logical judgment, the controller will increase the drilling speed and reduce the propulsion speed, thereby gradually reducing the jacking thrust; 2. Anti-drilling function: When the sensor detects that the drilling torque reaches the limit value, which is likely to cause drill jamming, it will be transmitted to the controller, and the controller will issue an Instructions are given to take comprehensive actions such as increasing the drilling speed, alternating between reverse and forward rotation, and retracting to prevent the drill from getting stuck; 3. Automatic leveling: The machining level detection sensor detects that the frame is tilted and transmits the data to the controller. The controller will send adjustment instructions to the other three legs based on the reference leg, and perform automatic adjustment of rising or falling. At the same time, the adjusted machining level will also be continuously fed back and adjusted in a continuous cycle until the frame reaches a horizontal state; 4. Automatic adjustment of root canal distance: The equipment detects the drilling torque value, and the controller automatically sends instructions to the root canal cylinder to extend and retract, changing the relative positions of the drilling trolley and the propulsion trolley, thereby realizing dynamic adjustment of the root canal distance.

[0029] During the drilling process, the presence of support does not affect the track structure of the roadbed, so driving will not be interrupted. The filler in the original roadbed is continuously output to the rear end of the equipment through spiral feeding and discharged. Later, it is replaced with other materials, thus realizing the roadbed filler replacement construction without interrupting driving.

[0030] When a support unit is completely pushed into the roadbed, the pipe jacking trolley drives the drilling trolley back to the initial position, and a new drill rod and support are reinstalled. This process is repeated until the drilling and support are completed to the predetermined depth. During the drilling process, the drill bit vector sensor detects the drill bit angle and direction in real time and displays it intuitively on the equipment. When the drilling vector sensor detects that there is an angular deviation between the drilling direction and the preset drilling direction of the equipment, the controller will control the frame angle to fine-tune, drive the drill rod to produce a drilling deviation angle, and at the same time reduce the distance from the pipe. While adjusting the drilling direction, the guidance is strengthened, thereby achieving precise control of the drilling direction.

[0031] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A micro-shield machine for subgrade filling material replacement without interrupting traffic, characterized in that: include: Power assembly (1), shield assembly (2), traveling assembly (3) and support (4); The walking assembly (3) is installed at the bottom of the shield assembly (2), the power assembly (1) is installed at the top of the shield assembly (2), and the support (4) is located at the front of the shield assembly (2); The shield assembly (2) includes a frame (10), a pipe jacking cylinder (11), a drilling trolley (12), a pipe jacking trolley (13), a spiral drill rod (14), a front guide (15), a leveling mechanism (16), a control system (17), a hydraulic system (18), a rear reaction force assembly (19) and a crushing device (20); A guide rail (21) is provided on the top of the frame (10), the pipe jacking cylinder (11) connects the frame (10) and the pipe jacking trolley (13), and the pipe jacking trolley (13) slides along the guide rail (21) through a sliding seat (25); The drilling trolley (12) moves in the pipe jacking trolley (13) via the guide shaft (24) and drives the spiral drill rod (14) to rotate; The leveling mechanism (16) includes a leveling leg (35), a leveling cylinder (36), a transverse beam (37) and a transverse cylinder (38). The leveling leg (35) and the transverse beam (37) adopt a sleeve column structure. The leveling cylinder (36) is extended to achieve leveling of the frame (10), and the transverse cylinder (38) is extended to achieve transverse movement of the frame (10). The rear end reaction force assembly (19) includes a reaction force frame (42) and a reaction force oil cylinder (43), the front end of the reaction force frame (42) is hinged to the frame (10), and the reaction force oil cylinder (43) drives the reaction force frame (42) to be inserted into the ground to form an oblique support; The traveling assembly (3) includes a crawler belt (44) and a steering system (45), and the steering system (45) drives the frame (10) to rotate to a set angle.

2. The device according to claim 1, characterized in that: The spiral drill rod (14) comprises a spiral drill bit (30) and a segmented spiral feed rod (31). The front end of the spiral drill bit (30) is integrated with a crushing device (20). The crushing device (20) is a replaceable carbide cutter disc for crushing stones or frozen soil.

3. The device according to claim 1, characterized in that: The front end guide (15) includes a guide frame (32), an adjustment mechanism (33) and a supporting wheel (34). The adjustment mechanism (33) adopts a three-claw chuck structure, and the centripetal movement of the supporting wheel (34) is synchronously adjusted by the jacking screw to adapt to the pipe diameter of the support (4).

4. The device according to claim 1, characterized in that: The control system (17) includes a drilling direction vector sensor, a horizontal sensor, a drilling torque sensor, and a jacking thrust sensor. The drilling direction vector sensor detects the drill bit angle deviation in real time and adjusts the extension and contraction of the traverse cylinder (38) of the leveling mechanism (16) through a controller to correct the drilling direction.

5. The device according to claim 1, characterized in that: The drilling trolley (12) further comprises a pipe-following oil cylinder, one end of which is fixed to the pipe-jacking trolley (13) and the other end of which is connected to the drilling trolley (12). The distance between the drilling trolley (12) and the pipe-jacking trolley (13) is dynamically adjusted by the extension and contraction of the pipe-following oil cylinder.

6. A construction method using the equipment according to any one of claims 1 to 5, characterized in that: The following steps are involved: a. Move the equipment to the construction site through the crawler (44) of the walking assembly (3), and adjust the steering system (45) to align the drilling direction; b. Start the leveling mechanism (16), the horizontal sensor detects the inclination of the frame (10), and the controller automatically controls the lifting and lowering of the leveling legs (35) and the horizontal movement of the transverse beam (37) until the horizontal error of the frame (10) is ≤0.5°; c. Install the initial support (4) and auger rod (14), and set the initial spacing of the follow-up cylinder; d. Start the power assembly (1), the drilling trolley (12) drives the auger (14) to drill and extract soil, the jacking cylinder (11) synchronously pushes the support (4) into the borehole, and the crushing device (20) crushes the obstacle; e. The control system (17) monitors the drilling torque, jacking thrust and drilling direction deviation in real time. When the drilling torque exceeds the limit, the reverse-forward rotation alternating action and the back-off anti-drilling action are triggered. When the direction deviation exceeds the threshold, the frame (10) angle is adjusted to correct the path. f. After the single-section support (4) is inserted, the jacking trolley (13) returns to its initial position, a new support (4) and drill rod (14) are installed, and steps are repeated to the designed depth; g. Discharge the old packing through the screw feed rod (31) and replace it with new packing.

7. The method according to claim 6, characterized in that In step e: The controller automatically adjusts the extension and contraction of the pipe-following cylinder according to the drilling torque value, and dynamically changes the distance between the drilling trolley (12) and the pipe-jacking trolley (13).

8. The method according to claim 6, characterized in that In step d: The cutter head rotation speed of the crushing device (20) is linked to the drilling speed. When the hardness of the stone is detected, the controller reduces the drilling speed and increases the cutter head rotation speed.

9. The method according to claim 6, characterized in that In step b: The leveling mechanism (16) uses a single leveling leg (35) as a reference, and the controller calculates the height difference of the remaining legs and automatically adjusts them until the four corners are level.

10. The method according to claim 6, characterized in that In step f: The drilling direction vector sensor detects the direction deviation every time the drilling direction is advanced by 1m, and triggers the frame angle correction when the deviation exceeds 2°.

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