A micro-shield device for replacing subgrade filler without interrupting traffic

Abstract

The application discloses a kind of roadbed filler replacement micro shield equipment and method without interrupting traffic, equipment includes power assembly, shield assembly, walking assembly and support.The shield assembly is equipped with leveling mechanism, rear end counterforce assembly, spiral drill rod and crushing device, wherein leveling mechanism is realized fast leveling by sleeve column structure, rear end counterforce assembly provides pipe jacking counterforce by hinged counterforce frame insertion ground, spiral drill rod integrates hard alloy cutter head and crushes obstacle.Control system monitors drilling torque, pipe jacking thrust and direction deviation in real time by sensor, dynamically adjusts drilling parameter, anti-stuck drill action and rack angle, realizes the accurate control of drilling direction.When construction, equipment is moved to operation point by track, automatically leveled, and drilling and support top enter simultaneously, crushing device removes obstacle, and old filler is replaced by new material after being discharged by spiral conveying rod.The application can complete more than 400mm large aperture replacement, avoid traffic interruption, and significantly improve operation safety and efficiency.

Description

Technical Field

[0001] This invention relates to trenchless frost heave filler replacement equipment for high-speed railway subgrade frost damage treatment construction, and particularly to a micro shield tunneling device for subgrade filler replacement that does not interrupt train operation, belonging to the field of railway construction engineering technology. Background Technology

[0002] Frost heave and thaw subsidence cause changes in track structure dimensions. Track irregularities not only affect the stability of train operation, but can also lead to serious safety accidents such as train derailment. Therefore, frost damage control is of great significance for the safe operation of railways.

[0003] Currently, the main method for treating roadbed frost damage is to use the excavation and replacement method at the skylight point. This is generally done manually or by loosening blasting or pre-splitting blasting. During the process, it is necessary to maintain the stability of the frozen soil, which requires a high level of skill in the working environment and is difficult to control settlement precisely. It is prone to collapse, and the construction must be carried out during the operation, which has a long impact time. In addition, the safety is low, the labor intensity is high, and the work efficiency is low.

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

[0005] Currently, trenchless roadbed replacement equipment is mainly a small, simple horizontal drilling rig developed based on the technology of pipe jacking machines. Its main structure includes a base, motor, reducer, drill rod, steel pipe, and jacking cylinder. The motor drives the spiral drill rod to drill holes, while simultaneously jacking the steel pipe into the roadbed to complete the soil removal operation under the support of the steel pipe.

[0006] The existing technology or equipment has the following problems:

[0007] Limited operational capacity makes it difficult to complete replacement operations with apertures larger than 400 mm, resulting in low operational efficiency.

[0008] Large disturbances can easily cause collapse;

[0009] The drilling direction is difficult to control, which can easily cause drilling deviation and thus cause changes in the track structure;

[0010] The equipment relies mainly on manual support, making leveling difficult;

[0011] The jacking force is small, and it cannot jack the pipe into place when encountering rocks;

[0012] It lacks flexibility, is difficult to move, and is inconvenient to construct. Summary of the Invention

[0013] To address the aforementioned problems, this invention provides a micro-shield tunnel boring machine for replacing roadbed fill material without interrupting traffic, the technical solution of which is as follows:

[0014] A micro-shield tunneling device for replacing roadbed fill material without interrupting traffic includes:

[0015] Powertrain, tunnel boring machine assembly, traveling assembly, and support system;

[0016] The traveling assembly is installed at the lower part of the shield assembly, the power assembly is installed at the top of the shield assembly, and the support is located at the front of the shield assembly;

[0017] The shield tunneling assembly includes a frame, pipe jacking cylinder, drilling trolley, auger drill rod, front guide, leveling mechanism, control system, hydraulic system, rear reaction assembly and crushing device;

[0018] The top of the frame is equipped with a guide rail, and the pipe jacking cylinder connects the frame and the pipe jacking trolley. The pipe jacking trolley slides along the guide rail via a sliding seat.

[0019] The drilling trolley moves within the jacking trolley via a guide shaft and drives the auger drill rod to rotate;

[0020] The leveling mechanism includes leveling legs, leveling cylinders, a transverse beam, and a transverse cylinder. The leveling legs and the transverse beam adopt a sleeve structure. The extension and retraction of the leveling cylinders realizes the leveling of the frame, and the extension and retraction of the transverse cylinders realizes the transverse movement of the frame.

[0021] The rear reaction force assembly includes a reaction force frame and a reaction force cylinder. The front end of the reaction force frame is hinged to the frame, and the reaction force cylinder drives the reaction force frame to insert into the ground to form an oblique support.

[0022] The walking assembly includes tracks and a steering system, the steering system driving the frame to rotate a set angle;

[0023] The auger drill rod includes an auger drill bit and a segmented auger feed rod. The front end of the auger drill bit integrates a crushing device, which is a replaceable carbide cutter disc used for crushing rocks or frozen soil.

[0024] The crushing device is integrated into the front end of the auger drill bit and includes a cutter head, a cutter holder, and a drive mechanism. The cutter head uses detachable carbide cutters, which are radially distributed and fixed to the cutter holder with bolts. The cutter holder is connected to the auger drill bit via a flange. The cutter head has a soil inlet at its center, which connects to the spiral blades of the auger drill bit. The drive mechanism includes a hydraulic motor and a drive shaft. The hydraulic motor drives the cutter head to rotate through the drive shaft. The cutter head rotation speed is linked to the drilling speed of the auger drill rod. When the drilling resistance increases, the controller automatically increases the cutter head rotation speed to enhance the crushing capacity.

[0025] The front-end guide includes a guide frame, an adjustment mechanism, and a support roller. The adjustment mechanism adopts a three-jaw chuck structure, and the support roller is adjusted to move centripetally synchronously through the jacking screw to adapt to the diameter of the supported pipe.

[0026] The control system includes a drilling direction vector sensor, a horizontal sensor, a drilling torque sensor, and a pipe jacking thrust sensor. The drilling direction vector sensor detects the drill bit angle deviation in real time and adjusts the extension and retraction of the horizontal cylinder of the leveling mechanism through the controller to correct the drilling direction.

[0027] The drilling trolley also includes a pipe-following cylinder. One end of the pipe-following cylinder is fixed to the pipe-jacking trolley, and the other end is connected to the drilling trolley. The distance between the drilling trolley and the pipe-jacking trolley is dynamically adjusted by extending and retracting the pipe-following cylinder.

[0028] The present invention also discloses a construction method using the above-mentioned equipment, characterized by comprising the following steps:

[0029] a. Move the mobile equipment to the construction site using the tracks of the walking assembly, and adjust the steering system to align with the drilling direction;

[0030] b. Start the leveling mechanism. The horizontal sensor detects the tilt of the frame, and the controller automatically controls the raising and lowering of the leveling legs and the lateral movement of the transverse beam until the horizontal error of the frame is ≤0.5°.

[0031] c. Install initial support and auger drill pipe, and set the initial spacing of the casing cylinder;

[0032] d. Start the powertrain, the drilling trolley drives the auger drill rod to drill and remove soil, the jacking cylinder pushes and supports the pipe into the borehole, and the crushing device crushes the obstacles;

[0033] e. The control system monitors the drilling torque, jacking thrust and drilling direction deviation in real time. When the drilling torque exceeds the limit, it triggers the reverse-forward alternating action and the retraction anti-jamming action. When the direction deviation exceeds the threshold, it adjusts the frame angle to correct the path.

[0034] f. After a single support section is driven in, the pipe jacking trolley is retracted to the initial position, new support and drill pipe are installed, and steps de are repeated until the design depth is reached;

[0035] g. The old packing is discharged through the screw conveyor and replaced with new packing.

[0036] Preferably, in step e, the controller automatically adjusts the extension and retraction of the casing cylinder according to the drilling torque value, dynamically changing the distance between the drilling trolley and the jacking trolley.

[0037] Preferably, in step d: the rotation speed of the cutter head of the crushing device is linked to the drilling speed. When the hardness of the rock is detected, the controller reduces the drilling speed and increases the rotation speed of the cutter head.

[0038] Preferably, in step b: the leveling mechanism uses a single leveling leg as a reference, and the controller calculates the height difference of the remaining legs and automatically adjusts them until the four corners are level.

[0039] Beneficial effects

[0040] (1) It can realize large-diameter replacement operations and improve work efficiency;

[0041] (2) Precise control of drilling direction reduces the impact of operations on the track structure;

[0042] (3) The distance to the pipe is adjustable, reducing disturbance and lowering the risk of collapse; automatic leveling, precise leveling, and rapid positioning;

[0043] (4) The jacking is powerful and has the function of breaking through obstacles to ensure that the pipe jacking is in place;

[0044] (5) Convenient and flexible, easy to relocate;

[0045] (6) Crushing device: The combination of carbide cutter head and hydraulic drive effectively crushes frozen soil and rocks, avoiding obstruction of pipe jacking;

[0046] (7) Anti-disengagement joint: The hexagonal joint and spring pin double locking prevent the drill rod from disengaging and improve construction safety;

[0047] (8) Directional closed-loop control: Automatic correction is triggered by deviation threshold to ensure drilling accuracy (error ≤ 0.5°). Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall invention;

[0049] Figure 2 This is a schematic diagram of the powertrain of the present invention;

[0050] Figure 3 This is a schematic diagram of the pipe jacking trolley of the present invention;

[0051] Figure 4 This is a schematic diagram of the drilling trolley of the present invention;

[0052] Figure 5 This is a schematic diagram of the spiral drill rod of the present invention;

[0053] Figure 6 This is a schematic diagram showing the connection between the drilling seat and the auger drill rod of the present invention;

[0054] Figure 7 This is a schematic diagram of the front-end guidance of the present invention;

[0055] Figure 8 This is a schematic diagram of the leveling mechanism of the present invention;

[0056] Figure 9This is a schematic diagram of the rear reaction force assembly of the present invention;

[0057] Figure 10 This is a schematic diagram of the walking assembly of the present invention;

[0058] In the diagram: 1. Powertrain, 2. Shield assembly, 3. Traveling assembly, 4. Support, 5. Engine, 6. Hydraulic pump, 7. Oil tank, 8. Cooling system, 9. Pipeline, 14. Spiral drill rod, 21. Guide rail, 22. Trolley frame for pipe jacking, 23. Pipe jacking seat, 24. Guide shaft, 25. Sliding seat, 26. Motor, 27. Gearbox, 28. Drilling seat, 29. Discharge device, 30. Spiral drill bit, 31. Spiral conveyor rod, 32. Guide frame, 33. Adjustment mechanism, 34. Support roller, 35. Leveling outrigger, 36. Leveling cylinder, 37. Lateral beam, 38. Lateral cylinder, 42. Reaction frame, 43. Reaction cylinder, 44. Traveling unit, 45. Steering system. Detailed Implementation

[0059] Example 1

[0060] See Figure 1-10 The purpose of this invention is to provide a micro shield tunneling device for replacing roadbed filler without interrupting traffic.

[0061] The micro-shield tunneling equipment for roadbed filler replacement without interrupting traffic, as described in this invention, includes a power assembly 1, a shield assembly 2, a traveling assembly 3, and a support 4. The traveling assembly 3 is installed at the lower part 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.

[0062] The powertrain 1 includes an engine 5, a hydraulic pump 6, an oil tank 7, a cooling system 8, and pipelines 9. The engine is a diesel engine, which drives the hydraulic pump to provide power to the entire machine.

[0063] The shield tunneling assembly includes a frame, pipe jacking cylinders, drilling trolley, auger drill rod, front guide, leveling mechanism, control system, hydraulic system, rear reaction assembly, and crushing device.

[0064] The frame is the main structure of the whole machine, and a guide rail 21 is installed on the top for guiding the pipe jacking trolley;

[0065] The pipe jacking cylinder is installed between the frame and the pipe jacking trolley, so that it can generate relative motion of pushing and retracting.

[0066] The pipe jacking trolley 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;

[0067] The drilling trolley includes a motor 26, a gearbox 27, a drilling seat 28, a material discharge device 29, and a pipe-following cylinder; the motor 26 drives the drilling seat 28 to rotate after being reduced in speed by the gearbox 27, thereby driving the auger drill rod to rotate and realize the drilling action; the drilling seat is connected to the auger drill bit or auger feed rod through a hexagonal or other type of joint;

[0068] One end of the pipe-following cylinder is fixed on the pipe-jacking trolley, and the other end is connected to the drilling trolley. Through the extension and retraction of the pipe-following cylinder, the drilling trolley is guided by the guide shaft 24 and can move back and forth in the pipe-jacking trolley to adjust the pipe-following distance. The discharge device 29 can discharge the drilled fill material for easy cleaning.

[0069] The spiral drill rod includes a spiral drill bit 30 and a spiral conveyor rod 31. The spiral structure facilitates the smoothing and conveying of the replaced filler to the rear end of the equipment for discharge. Different structures of the spiral drill bit 30 are suitable for different soil types. The spiral conveyor rod is segmented and connected into a single unit via hexagonal or other types of connectors similar to the drill bit, and is integrated with the spiral drill bit. It can be replaced, lengthened, or shortened mid-operation. The spiral conveyor rod 31 of the spiral drill rod is segmented, with hexagonal connectors at both ends of each segment. The male end of the hexagonal connector has an annular groove, and the female end has a built-in spring pin 41. During connection, the male end is inserted into the female end and rotated to lock it. The spring pin 41 engages with the annular groove to prevent the connector from coming loose during rotation. Each segment of the spiral conveyor rod 31 is a standard 1m or 2m in length and can be added or removed according to the drilling depth. Before construction, select the number of spiral conveyor rod segments 31 according to the designed hole depth. Insert the male end into the female end and rotate it 60° to engage the spring pin 41 with the annular groove, completing the anti-loosening locking. Disassembly is achieved by rotating in the opposite direction.

[0070] The front-end guide is installed at the top of the front end of the frame and includes a guide frame 32, an adjustment mechanism 33, and a support roller 34. The adjustment mechanism adopts a structure similar to a three-jaw chuck. By adjusting the jacking screw, the three sets of support rollers distributed in a circle can move synchronously towards the center, thereby reducing the clamping diameter and adapting to different support pipe diameters.

[0071] The leveling mechanism 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 structure. The extension and retraction of the leveling cylinders realizes the raising and lowering of the leveling legs, thereby leveling the entire machine. The extension and retraction of the transverse cylinders realizes the transverse movement or angle adjustment of the entire machine.

[0072] The drilling direction vector sensor (such as an inclination sensor or gyroscope) of the control system 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 the signal to the controller. The controller calculates the correction amount and sends a command to the horizontal movement cylinder 38 of the leveling mechanism. The horizontal movement cylinder 38 is extended and retracted to adjust the horizontal inclination angle of the frame, while reducing the distance to the casing to enhance the guiding effect, until the deviation value is restored to the allowable range (±0.5°).

[0073] The crushing device is integrated at the front end of the auger drill bit 30 and includes a cutter head, a cutter holder, and a drive mechanism. The cutter head uses detachable carbide cutters, which are radially distributed and fixed to the cutter holder with bolts. The cutter holder is connected to the auger drill bit 30 via a flange. The cutter head has a soil inlet at its center, which connects to the spiral blades of the auger drill bit 30. The drive mechanism includes a hydraulic motor and a transmission shaft. The hydraulic motor drives the cutter head to rotate through the transmission shaft. The speed of the cutter head is linked to the drilling speed of the auger drill rod. When the drilling resistance increases, the controller automatically increases the speed of the cutter head to enhance the crushing capacity.

[0074] During drilling, the hydraulic motor drives the cutter head to rotate at high speed. The carbide cutter breaks the rocks or frozen soil into fragments with a particle size of less than 50mm. The fragments enter the spiral blade area of ​​the spiral drill bit 30 through the soil inlet in the center of the cutter head and are conveyed to the rear end of the equipment by the spiral conveyor rod 31 for discharge.

[0075] The control system includes detection devices, controllers, and display devices. It controls the individual and linked actions and synchronizes the actions of the entire machine, and is equipped with safety interlocks. The detection devices include, but are not limited to, frame level detection, drilling torque, pipe jacking thrust, drilling speed, feed speed, pipe jacking stroke, and casing distance. The control system has intelligent drilling, anti-drilling, and automatic leveling functions. The specific implementation methods are as follows: 1. Intelligent control: The drilling torque, pipe 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 the parameters adjusted, and feedback is given to each actuator to complete dynamic intelligent drilling control. For example, when the sensor detects that the pipe jacking thrust exceeds the allowable value, it is fed back to the controller. After logical judgment, the controller will increase the drilling speed and decrease the feed speed, thereby gradually reducing the pipe jacking thrust; 2. Anti-jamming function: When the sensor detects that the pipe jacking thrust exceeds the allowable value, it will feed back to the controller. After logical judgment, the controller will increase the drilling speed and decrease the feed speed, thereby gradually reducing the pipe jacking thrust; 2. Anti-jamming function: When the sensor detects that the pipe jacking thrust exceeds the allowable value, it will transmit the detection device to the controller. The ...3. Anti-jamming function: When the sensor detects that the pipe jacking thrust exceeds the allowable value, it will transmit the detection device to the controller. The controller will increase the drilling speed and decrease the feed speed, thereby gradually reducing the pipe jacking thrust; 4. Anti-jamming function: When the sensor detects that the pipe jacking thrust exceeds the allowable value, it will transmit the detection device to the controller. The controller will increase 1. **Drilling Torque Limit Prevention:** When the drilling torque is detected to be at its limit, potentially causing jamming, a signal is sent to the controller. The controller then issues commands to increase drilling speed, alternate between reverse and forward rotation, and retraction to prevent jamming. 2. **Automatic Leveling:** The frame level sensor detects a tilt and transmits the data to the controller. The controller, based on a reference outrigger, sends adjustment commands to the other three outriggers, automatically raising or lowering them. The adjusted frame level is continuously monitored and adjusted in a cyclical manner until the frame is level. 3. **Canal Distance Adjustment:** This can be adjusted manually or automatically. Operators can use their experience or the equipment to detect the drilling torque value and intervene manually or the controller can send commands to the canal cylinders to extend or retract, changing the relative positions of the drilling trolley and the advance trolley, thus achieving dynamic adjustment of the canal distance. (Please provide a detailed control process.)

[0076] The hydraulic system transmits the power of the powertrain to the motor or cylinder through the hydraulic valve group, and realizes various actions under the logical control of the control system.

[0077] The rear reaction force assembly consists of a reaction frame 42 and a reaction cylinder 43. The front end of the reaction frame is connected to the frame via 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 via a cylinder body lug, and the cylinder body can rotate around the center of the cylinder body lug. The piston of the reaction cylinder is connected to the reaction frame via a piston lug, and the piston of the reaction cylinder can rotate around the center of the piston lug. 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, by inserting the reaction frame obliquely into the ground at the rear end of the equipment, it provides a forward reaction force to the whole machine, preventing the reverse thrust of the jacking pipe from causing the equipment to move backward.

[0078] The walking assembly includes a walking unit 44 and a steering system 45. The walking unit adopts a track structure, which is suitable for various harsh road surfaces such as soft soil. The frame is connected to the steering system through a slewing device, and the steering system can drive the frame to rotate by a set angle.

[0079] The support consists of circular or other shaped support pipes, made of steel or other materials, which are inserted into the drilled hole to prevent collapse.

[0080] The method for construction using roadbed fill material to replace the micro-shield tunneling equipment without interrupting traffic, as described above, includes the following steps:

[0081] During on-site operations, the equipment travels to the pre-set location via crawler tracks, adjusts the angle and aligns with the drilling point, and then performs automatic leveling. Once the frame is level, the support and drill rod are installed, the initial pipe-following distance is set, and the pre-drilling preparations are completed.

[0082] Drilling begins. The motor 26 of the drilling trolley, after being decelerated by the gearbox 27, drives the drilling seat 28 to rotate, thereby driving the auger drill rod to rotate and achieve drilling. The pipe jacking trolley, pushed by the pipe jacking cylinder, slides forward along the guide rail 21 on the top of the frame, driving the drilling trolley to drill. Simultaneously, the support is pushed into the drilled hole to achieve synchronous support and prevent hole collapse. Intelligent control is achieved through closed-loop feedback and control of the controller and sensors: the sensors detect drilling torque, pipe jacking thrust, and drilling speed, transmitting this information to the controller. After logical judgment by the controller, the three parameters can be matched and adjusted, and feedback is sent to each actuator to complete dynamic drilling intelligent control. For example, when the sensor detects that the pipe jacking thrust exceeds the allowable value, it feeds back to the controller. After logical judgment, the controller will increase the drilling speed while decreasing the feed speed, thereby gradually reducing the pipe jacking thrust. 2. Anti-jamming function: When the sensor detects that the drilling torque has reached the limit and is prone to jamming, it transmits this information to the controller, which then issues an alarm. The system employs a combination of actions, including increasing drilling speed, alternating between reverse and forward rotation, and retraction, to prevent the drill from getting stuck. 3. Automatic leveling: The frame level detection sensor detects a tilt in the frame and transmits the data to the controller. The controller, based on a reference outrigger, sends adjustment commands to the other three outriggers, automatically adjusting them upwards or downwards. Simultaneously, the adjusted frame level is continuously fed back, and the system continuously cycles through adjustments until the frame reaches a level state. 4. Automatic root canal distance adjustment: The equipment detects the drilling torque value, and the controller automatically sends commands to the root canal cylinders to extend and retract, changing the relative positions of the drilling trolley and the advance trolley, thus achieving dynamic adjustment of the root canal distance.

[0083] During the drilling process, the presence of the support does not affect the track structure of the roadbed, so traffic is not interrupted. The original roadbed fill material is continuously output to the rear end of the equipment through a screw conveyor and then replaced with other materials in the later stage, thus realizing the roadbed fill material replacement construction without interrupting traffic.

[0084] Once a support unit is fully inserted into the roadbed, the pipe jacking trolley drives the drilling trolley back to the initial position, and new drill rods and supports are reinstalled. This process is repeated until the predetermined depth of drilling and support is completed.

[0085] During drilling, the drill bit vector sensor detects the drill bit angle and direction in real time and displays them intuitively on the equipment. When the drilling vector sensor detects an angular deviation between the drilling direction and the equipment's preset drilling direction, the controller will control the frame angle to make a fine adjustment, causing the drill rod to generate a drilling deflection angle. At the same time, the distance to the casing is reduced. While adjusting the drilling direction, the guide is strengthened, thereby achieving precise control of the drilling direction.

[0086] The foregoing has shown and described 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 embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A micro-shield tunneling device for replacing roadbed fill material without interrupting traffic, characterized in that, include: Powertrain, tunnel boring machine assembly, traveling assembly, and support system; The traveling assembly is installed at the lower part of the shield assembly, the power assembly is installed at the top of the shield assembly, and the support is located at the front of the shield assembly; The shield tunneling assembly includes a frame, pipe jacking cylinder, drilling trolley, auger drill rod, front guide, leveling mechanism, control system, hydraulic system, rear reaction assembly and crushing device; The top of the frame is equipped with a guide rail, and the pipe jacking cylinder connects the frame and the pipe jacking trolley. The pipe jacking trolley slides along the guide rail via a sliding seat. The drilling trolley moves within the jacking trolley via a guide shaft and drives the auger drill rod to rotate; The leveling mechanism includes leveling legs, leveling cylinders, a transverse beam, and a transverse cylinder. The leveling legs and the transverse beam adopt a sleeve structure. The extension and retraction of the leveling cylinders realizes the leveling of the frame, and the extension and retraction of the transverse cylinders realizes the transverse movement of the frame. The rear reaction force assembly includes a reaction force frame and a reaction force cylinder. The front end of the reaction force frame is hinged to the frame, and the reaction force cylinder drives the reaction force frame to insert into the ground to form an oblique support. The walking assembly includes tracks and a steering system, the steering system driving the frame to rotate a set angle; The auger drill rod includes an auger drill bit and a segmented auger feed rod. The front end of the auger drill bit integrates a crushing device, which is a replaceable carbide cutter disc used for crushing rocks or frozen soil. The crushing device is integrated into the front end of the auger drill bit and includes a cutter head, a cutter holder, and a drive mechanism. The cutter head uses detachable carbide cutters, which are radially distributed and fixed to the cutter holder with bolts. The cutter holder is connected to the auger drill bit via a flange. The cutter head has a soil inlet at its center, which connects to the spiral blades of the auger drill bit. The drive mechanism includes a hydraulic motor and a drive shaft. The hydraulic motor drives the cutter head to rotate through the drive shaft. The cutter head rotation speed is linked to the drilling speed of the auger drill rod. When the drilling resistance increases, the controller automatically increases the cutter head rotation speed to enhance the crushing capacity. The front-end guide includes a guide frame, an adjustment mechanism, and a support roller. The adjustment mechanism adopts a three-jaw chuck structure, and the support roller is adjusted to move centripetally synchronously through the jacking screw to adapt to the diameter of the supported pipe. The control system includes a drilling direction vector sensor, a horizontal sensor, a drilling torque sensor, and a pipe jacking thrust sensor. The drilling direction vector sensor detects the drill bit angle deviation in real time and adjusts the extension and retraction of the horizontal cylinder of the leveling mechanism through the controller to correct the drilling direction. The drilling trolley also includes a pipe-following cylinder. One end of the pipe-following cylinder is fixed to the pipe-jacking trolley, and the other end is connected to the drilling trolley. The distance between the drilling trolley and the pipe-jacking trolley is dynamically adjusted by extending and retracting the pipe-following cylinder.

2. A construction method using the equipment described in claim 1, characterized in that, Includes the following steps: a. Move the mobile equipment to the construction site using the tracks of the walking assembly, and adjust the steering system to align with the drilling direction; b. Start the leveling mechanism. The horizontal sensor detects the tilt of the frame, and the controller automatically controls the raising and lowering of the leveling legs and the lateral movement of the transverse beam until the horizontal error of the frame is ≤0.5°. c. Install initial support and auger drill pipe, and set the initial spacing of the casing cylinder; d. Start the powertrain, the drilling trolley drives the auger drill rod to drill and remove soil, the jacking cylinder pushes and supports the pipe into the borehole, and the crushing device crushes the obstacles; e. The control system monitors the drilling torque, jacking thrust and drilling direction deviation in real time. When the drilling torque exceeds the limit, it triggers the reverse-forward alternating action and the retraction anti-jamming action. When the direction deviation exceeds the threshold, it adjusts the frame angle to correct the path. f. After a single support section is driven in, the pipe jacking trolley is retracted to the initial position, new support and drill pipe are installed, and steps de are repeated until the design depth is reached; g. The old packing is discharged through the screw conveyor and replaced with new packing.

3. The method according to claim 2, characterized in that, In step e: The controller automatically adjusts the extension and retraction of the casing cylinder according to the drilling torque value, dynamically changing the distance between the drilling trolley and the jacking trolley.

4. The method according to claim 3, characterized in that, In step d: The cutting disc rotation speed of the crushing device is linked to the drilling speed. When the hardness of the rock is detected, the controller reduces the drilling speed and increases the cutting disc rotation speed.

5. The method according to claim 3, characterized in that, In step b: The leveling mechanism uses a single leveling leg as a reference, and the controller calculates the height difference of the remaining legs and automatically adjusts them until the four corners are level.

6. The method according to claim 3, characterized in that, In step f: The drilling direction vector sensor detects the direction deviation every 1m of advance, and triggers frame angle correction when the deviation exceeds 2°.

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