Drainage pipeline mounting device and mounting method thereof

Abstract

The invention discloses a drainage pipeline installation device and method, and the device comprises a hoisting support structure which comprises a supporting frame and a suspension arm; the pipeline hoisting walking assembly and the lifting limiting walking assembly walk along the suspension arm, and each lifting limiting walking assembly comprises a lifting device and a connecting part arranged at the movable end of the lifting device; the track structure comprises two sets of guide rails, the sliding lifting structure comprises two sets of sliding tables arranged on the corresponding tracks and a lifting supporting piece arranged between the sliding tables, the lifting supporting piece and the lower side face of the drainage pipeline are arranged in a lifting limiting fit mode, the sliding tables are provided with lifting assemblies, and the two ends of the sliding supporting piece are connected with the lifting assemblies; the connecting part is detachably connected with the lifting assembly to drive the sliding lifting structure to ascend, descend and move, and the connecting part in the walking state is matched with the side face of the drainage pipeline in a pushing and limiting mode. The technical problems that the drainage pipeline is easy to rotate during hoisting, the angle is difficult to control, the distance between the drainage pipeline and the ground is large during falling, and a front pipeline is difficult to align are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline installation equipment, in particular to a drainage pipeline installation device and an installation method thereof. BACKGROUND

[0002] In municipal engineering construction, the installation and construction of drainage pipelines are the key link to ensure the normal operation of urban drainage systems. Although some devices using mechanical grippers to grab and transport pipelines into pipeline slots have appeared, these devices with mechanical grippers have a small application scenario. First, drainage pipelines are mainly divided into two materials. One is a concrete pipeline, which is heavy and large in diameter. The mechanical gripper requires a large device and is difficult to grab. Second, the double-wall corrugated pipe is easily damaged by mechanical grippers. Therefore, the mainstream hoisting equipment is still a crane or a sling.

[0003] Current hoisting usually relies on manual operation. After the crane hoists the pipeline to above the pipeline slot, the pipeline axis often does not coincide with the laying direction of the pipeline slot, and manual pulling of the pipeline is required for direction calibration, which is low in operation efficiency and has safety hazards. During the lowering process of the pipeline, it is difficult to accurately align with the pre-installed pipeline, and the spacing adjustment between the pipelines also needs manual assistance control around the pipeline. Currently, there are devices for pipeline hoisting and auxiliary butt joint, such as the patent with the patent authorization announcement number CN115111432B, which completes the grabbing of the pipeline through a mechanical gripper. The pipeline is transported through multiple sets of conveying rollers placed below the pipeline. Although the pipeline can be transported, the pipeline butt joint installation, especially the drainage pipeline, and the multiple sets of conveying rollers placed below the pipeline to achieve pipeline transportation cannot adapt to the installation scenario of the drainage pipeline. The drainage pipeline installation requires the pipeline to be directly placed on the slot bottom ground of the pipeline slot. The existing conveying device has a fixed height due to its structural design, resulting in a certain spacing between the bottom of the pipeline transported to the butt joint position and the slot bottom ground, which cannot meet the requirement of direct positioning of the pipeline. At the same time, the device based on conveying rollers can only realize horizontal transportation of the pipeline and does not have the height adjustment function, which is difficult to adapt to the depth of the pipeline slot and the height of the pre-installed pipeline, and thus cannot complete the butt joint of the pipeline, limiting its practicality. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, one of the purposes of the present application is to provide a drainage pipeline installation device and an installation method thereof, which solves the technical problems of easy rotation and difficult angle control of the drainage pipeline during hoisting, and large spacing between the drainage pipeline and the ground and difficult alignment with the pre-installed pipeline during positioning.

[0005] One of the purposes of the present application is achieved by the following technical scheme: A drainage pipeline installation device, comprising: The lifting support structure comprises a support frame and a suspension arm rotatably arranged on the support frame; walking along the suspension arm: a pipeline lifting walking assembly connected with the drainage pipeline lifting; a lifting limiting walking assembly comprising a lifting device and a connecting part arranged on the movable end of the lifting device; a track structure comprising two groups of guide rails arranged along the laying direction of the drainage pipeline, which connects the lifting support structure; a sliding lifting structure, the sliding lifting structure comprises two groups of sliding tables arranged on the corresponding tracks respectively and a lifting support arranged between the two groups of sliding tables, the lifting support is arranged in limiting cooperation with the lower side of the drainage pipeline, the sliding table is provided with a lifting assembly, and the two ends of the lifting support are connected with the lifting assembly, wherein, the connecting part and the lifting assembly are detachably connected to drive the sliding lifting structure to lift and move, and the connecting part in the walking state is in limiting cooperation with the side of the drainage pipeline.

[0006] On the basis of the above technical scheme, the present application is further described as follows: The connecting part comprises a connecting rod and a connecting block arranged at the end of the connecting rod and having an outer diameter greater than that of the connecting rod; The lifting assembly comprises a lifting frame and a lifting slider slidingly arranged on the lifting frame, the upper end of the lifting slider is provided with a connecting seat detachably connected with the connecting part, and the connecting seat is provided with an extension slot, a transition slot and a limiting slot communicated in sequence; wherein, the opening profile of the extension slot is greater than the outer diameter profile of the connecting block, the connecting part moves along the transition slot, and the limiting slot is provided with a limiting cavity matched with the outer profile shape of the connecting block.

[0007] As a further optimization of the present application, the sliding lifting structure is provided with at least three groups; At least one of the sliding lifting structures is in lifting cooperation with the rear end of the front pipeline; At least one of the sliding lifting structures is in lifting cooperation with the front end of the rear drainage pipeline; At least one of the sliding lifting structures is in lifting cooperation with the rear end of the rear drainage pipeline.

[0008] As a further optimization of the present application, the suspension arm comprises three groups of parallel walking beams, namely a first walking beam arranged in the middle and a second walking beam symmetrically arranged on both sides of the first walking beam, the pipeline lifting walking assembly is arranged along the first walking beam, and the lifting limiting walking assembly is arranged along the second walking beam.

[0009] As a further optimization of the present application, it further comprises an auxiliary limiting structure, which comprises at least one set of abutting pieces; The lifting limiting walking assembly is symmetrically arranged on the two symmetric second walking beams; The two ends of the abutting pieces are respectively connected to the movable ends of the symmetrically arranged lifting limiting walking assemblies.

[0010] As a further optimization of the present application, the track structure further comprises a connecting frame, which comprises a vertical rod, a horizontal rod and a locking assembly, the lower end of the vertical rod is connected with the guide rail, the upper end of the vertical rod is connected with the horizontal rod, the support frame is provided with a plurality of sets of sleeves arranged in the up-down direction of the vertical frame, the sleeves are nested and connected with the horizontal rod, the locking assembly is arranged in the sleeve, and the horizontal rod is fixed to the sleeve through the locking assembly.

[0011] As a further optimization of the present application, it further comprises a detection structure, which comprises a laser module, the laser module comprises a laser emitter and a laser receiver matched with the laser emitter, and the laser emitter and the laser receiver are arranged on the lifting limiting walking assembly and the sliding table respectively.

[0012] As a further optimization of the present application, it further comprises: A control structure, which is electrically connected with the lifting support structure, the pipeline lifting walking assembly, the lifting limiting walking assembly and the detection structure.

[0013] The present application also provides an installation method based on the installation device, which comprises the following steps: S1: The pipeline to be installed outside the pipeline groove is lifted by the lifting connection unit of the pipeline lifting walking assembly, and the end of the suspension arm is controlled to move from outside the pipeline groove along a preset rotating path to above the pipeline groove; S2: The lifting limiting walking assembly is controlled to walk along the suspension arm to above the preset sliding lifting structure, and in the walking process, the axial angle of the pipeline is pushed to be consistent with the pipeline groove through the connecting part of the lifting limiting walking assembly, S3: The connecting part is controlled to be connected with the sliding lifting structure, the sliding lifting structure is moved and lifted by controlling the walking and lifting of the lifting limiting walking assembly, and the butt joint of the pipeline and the front pipeline is realized.

[0014] S4: The lifting limiting walking assembly is controlled to walk and lift, at least two groups of sliding lifting structures are moved to the preset falling position of the next pipeline, the lifting of the pipeline by the lifting connection unit is released, and the connection between the connecting part and the sliding lifting structure is released.

[0015] S5: control the connection part to rise to a height higher than the pipeline groove, and control the suspension arm end to return to the pipeline groove from above the pipeline groove to the pipeline groove outside construction ground.

[0016] As a further optimization of the installation method of the installation device, the sliding lifting structure is provided with three groups, namely a first sliding lifting, a second sliding lifting and a third sliding lifting. The first sliding lifting is in lifting cooperation with the rear end of the front pipeline, the second sliding lifting is in lifting cooperation with the front end of the rear pipeline, and the third sliding lifting is in lifting cooperation with the rear end of the rear pipeline. The sliding lifting structure moves to the next drain pipeline preset falling position as follows: S1: the rear drain pipeline completes the butt joint with the front pipeline, the first sliding lifting releases the lifting cooperation with the rear end of the front pipeline, and replaces the second sliding lifting to realize the lifting cooperation with the front end of the rear pipeline, and the second sliding lifting releases the lifting cooperation with the rear end of the rear pipeline; S2: the third sliding lifting rises, the first sliding lifting releases the lifting limit of the rear end of the rear pipeline, the first sliding lifting and the second sliding lifting move to the front end of the rear pipeline, and the first sliding lifting replaces the third sliding lifting to realize the lifting cooperation with the rear end of the rear pipeline; S3: the first sliding lifting and the second sliding lifting move to the next group of pipelines falling preset position.

[0017] Compared with the prior art, the beneficial effects of the present application are: The present application is used to realize the support function of the whole device through the hoisting support structure, guarantee the displacement function of the whole device along the extension direction of the pipeline groove; used to realize the hoisting and transfer function of the drainage pipeline through the pipeline hoisting walking assembly, accurately transfer the pipeline from outside the pipeline groove to above the pipeline groove, provide the precondition for the falling installation of the pipeline; used to realize the angle adjustment and limiting function of the pipeline hoisting through the lifting limiting walking assembly, guarantee the axial direction of the pipeline consistent with the extension direction of the pipeline groove; used to provide a stable sliding base for the sliding lifting structure through the track structure, and provide a reliable support base for the falling drainage pipeline; used to realize the lifting and limiting function of the falling drainage pipeline through the sliding lifting structure, complete the height and transverse position adjustment of the lifted drainage pipeline by means of the detachable connection setting of the lifting limiting walking assembly and the lifting and movement of the lifting limiting walking assembly, realize the alignment and butt joint of the drainage pipeline and the front pipeline, and the sliding lifting structure quickly separates from the drainage pipeline after the butt joint is completed by means of the lifting limiting walking assembly, and the lifting limiting walking assembly can quickly separate from the butt jointed drainage pipeline and move to the falling position of the next group of drainage pipelines, effectively improving the overall construction efficiency; used to realize the auxiliary movement and limiting function in the pipeline butt joint process through the auxiliary butt joint structure, improve the butt joint quality and efficiency; used to collect the pipeline installation process in real time through the detection structure, provide data support for the action adjustment of each structure; used to realize the cooperative control of the hoisting support structure, the pipeline hoisting walking assembly and other structures through the control structure, ensure the orderly connection of each link, reduce manual intervention, and optimize the overall construction process.

[0018] Through the installation method of the drainage pipeline, the hoisting support structure and the pipeline hoisting walking assembly are cooperated to realize the quick transfer of the pipeline from outside the groove to above the groove, the limiting and adjustment of the lifting limiting walking assembly are ensured to make the axial direction of the pipeline consistent with the extension direction of the pipeline groove, and the stable butt joint with the front pipeline is realized by relying on the cooperation of the sliding lifting structure and the lifting limiting walking assembly, the continuous plug-in butt joint operation is realized, the manual intervention is greatly reduced, and the construction efficiency is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall structure schematic diagram of the present application; Figure 2 It is the overall structure schematic of the present application Figure Two ; Figure 3 It is the suspension arm structure schematic diagram of the present application; Figure 4 It is the pipeline connection unit and drainage pipeline connection schematic diagram of the present application; Figure 5 It is the pipeline connection unit structure schematic diagram of the present application; Figure 6 It is the lifting limiting walking assembly structure schematic diagram of the present application; Figure 7 This is a schematic diagram of the drainage pipe connection according to the present invention; Figure 8 This is a schematic diagram of the sliding lifting structure and track structure of the present invention; Figure 9 This is a schematic diagram of the connector structure of the present invention; Figure 10 This is a schematic diagram of the internal structure of the connector.

[0020] In the picture: 1- Lifting support structure, 11- Support frame, 111- Vertical frame; 112-Cross frame, 1121-Rotating shaft sleeve, 1122-First motor, 1123-Limiting protrusion, 113-Chassis traveling mechanism, 12-Suspension arm, 121-First traveling beam, 122-Second traveling beam, 123-First rotating shaft; 2-Pipe hoisting and traveling assembly, 21-First trolley traveling mechanism, 211-First traveling seat, 212-First traveling drive, 213-Hoist body, 22-Pipe connection unit, 221-Wire rope, 222-First clamping plate, 223-Second clamping plate, 224-Limiting column, 225-Bearing plate, 226-Rotating rod; 3-Lifting and limiting travel assembly, 31-Second trolley travel mechanism, 311-Second travel seat, 312-Second travel drive, 313-Lifting device, 3131-Screw jack, 3132-Rotary motor, 314-Connecting part, 3141-Connecting rod, 3142-Connecting block; 4- Track structure, 41- Guide rail, 42- Connecting frame, 421- Vertical rod, 422- Horizontal rod, 423- Locking assembly; 5-Sliding lifting structure, 51-Slide table, 52-Lifting support component, 53-Lifting assembly, 531-Lifting frame, 5311-Lifting guide groove, 532-Lifting slider, 5231-Lifting connecting rod, 5232-Connecting seat, 5233-Extension groove, 5234-Transition groove, 5235-Limiting groove, 5236-Limiting cavity; 6-Auxiliary limiting structure; 61-Rigid rod; 62-Connecting ring; 7-Detection structure, 71-Laser emitter; 8-Control structure; 9-Pipe trench; 10 - Drainage pipe, 101 - Pre-drainage pipe. Detailed Implementation

[0021] Below, in conjunction with the appendix Figure 1 To be continued Figure 10And the specific implementation is further described, it needs to be explained that, under the premise of not conflicting, the following described embodiments or technical features between each other can be combined to form new embodiments.

[0022] A drainage pipeline 10 installation device, including a lifting support structure 1, a pipeline lifting walking assembly 2, a lifting limiting walking assembly 3, a track structure 4, a sliding lifting structure 5, an auxiliary butt joint structure, a detection structure 7 and a control structure 8, to realize the support function of the whole device through the lifting support structure 1, guarantee the displacement function of the whole device along the extension direction of the pipeline groove 9; to realize the lifting and transfer function of the drainage pipeline 10 through the pipeline lifting walking assembly 2, and to transfer the pipeline from outside the pipeline groove 9 to above the pipeline groove 9; to realize the angle adjustment and limiting function of pipeline lifting through the lifting limiting walking assembly 3, guarantee the axial direction of the drainage pipeline 10 consistent with the extension direction of the pipeline groove 9; to provide a stable sliding basis for the sliding lifting structure 5 through the track structure 4, and provide a reliable support basis for the falling drainage pipeline 10; to realize the lifting and limiting function of the falling drainage pipeline 10 through the sliding lifting structure 5, and to complete the height and transverse position adjustment of the lifted drainage pipeline 10 by means of the detachable connection with the lifting limiting walking assembly 3 and the lifting and movement of the lifting limiting walking assembly 3, realize the alignment and butt joint of the drainage pipeline 10 and the front pipeline 101, and at the same time the sliding lifting structure 5 quickly separates from the drainage pipeline 10 after butt joint through the lifting limiting walking assembly 3, and the lifting limiting walking assembly 3 can quickly separate from the butt joint drainage pipeline 10 and move to the next group of falling position of the drainage pipeline 10, effectively improve the overall construction efficiency; to realize the auxiliary movement and limiting function in the pipeline butt joint process through the auxiliary butt joint structure, improve the butt joint quality and efficiency; to realize real-time collection of pipeline installation process through the detection structure 7, provide data support for action adjustment of each structure; to realize the cooperative control of each structure such as the lifting support structure 1 and the pipeline lifting walking assembly 2 through the control structure 8, ensure the orderly connection of each link action, reduce manual intervention, and optimize the overall construction process.

[0023] Specifically, please refer to the accompanying Figure 1 and the accompanying Figure 2The hoisting support structure 1 comprises a support frame 11 arranged on the construction ground outside the pipeline groove 9 and a suspension arm 12 rotatably arranged on the support frame 11. The support frame 11 can be a door-shaped support frame or a semi-door-shaped support frame, and in this embodiment, a door-shaped support frame is adopted, which comprises a vertical frame 111 and a horizontal frame 112 horizontally arranged on the upper end of the vertical frame 111. The lower end of the vertical frame 111 is provided with a chassis walking mechanism 113, which can be a caterpillar type or a wheel type, so as to realize the walking function of the support frame 11 on the construction ground outside the pipeline groove 9, thereby driving the movement of the whole device, especially ensuring the stable movement of the track structure 4, reducing the deviation during track movement, quickly moving to the butt joint position of the next group of drainage pipes 10, and improving the construction continuity and efficiency. The horizontal frame 112 spans the pipeline groove 9, and the extension direction of the horizontal frame 112 is perpendicular to the extension direction of the pipeline groove 9. The horizontal frame 112 can be a rigid pipe frame. The middle part of the horizontal frame 112 is provided with the suspension arm 12. The length of the suspension arm 12 is longer than the length from the middle part to the end of the horizontal frame 112, so as to realize the cross-domain transfer function of the drainage pipe 10 from outside the pipeline groove 9 to above the pipeline groove 9.

[0024] Please continue to refer to the attached Figure 1 and attached Figure 3, the suspension arm 12 includes three groups of parallel arranged walking beams, respectively, the first walking beam 121 arranged in the middle and the second walking beam 122 symmetrically arranged on both sides of the first walking beam 121, the pipeline hoisting walking assembly 2 is arranged along the first walking beam 121, and the lifting limiting walking assembly 3 is arranged along the second walking beam 122. The end portions of the three groups of walking beams are arranged by short rod welding connection to guarantee the structural stability of the suspension arm 12, the length of the walking beam is longer than the length of the drainage pipeline 10, one group of end portions of the suspension arm 12 is provided with a first rotating shaft 123, the middle portion of the cross frame 112 is provided with a rotating shaft sleeve 1121, a bearing seat is arranged in the rotating sleeve, the suspension arm 12 is arranged in the rotating shaft sleeve 1121 of the cross frame 112 through the first rotating shaft 123, a driven gear is arranged on the outer side of the lower end of the first rotating shaft 123, the lower end of the cross frame 112 is provided with a first motor 1122, the first motor 1122 is in driving cooperation with the first rotating shaft 123, the first motor 1122 can adopt but is not limited to a servo motor and a reverse three-step motor with a frequency converter, and the gear transmission driving between the first rotating shaft and the first motor 1122 is a common technical means for persons skilled in the art, so it is not described in detail. The rotating function of the suspension arm 12 is driven by the first motor 1122 to realize the rotating path of the end portion of the suspension arm 12 from above the construction ground outside the pipeline groove 9 to above the pipeline groove 9, the middle portion of the cross frame 112 is provided with a limiting protrusion 1123, which is arranged on the rotating path of the suspension arm 12, and is configured to abut against the limiting protrusion 1123 when the suspension arm 12 moves to be consistent with the extension direction of the pipeline groove 9, so that the suspension arm 12 is always kept above the pipeline groove 9 during pipeline installation, and position deviation is avoided. The structure design of the suspension arm 12 rotating in the portal frame bracket guarantees the structural stability and activity flexibility, realizes the size and scale and the carrying capacity of the suspension arm 12, and provides sufficient installation space and carrying support for the pipeline hoisting walking assembly 2 and the lifting limiting walking assembly 3.

[0025] Please refer to the attached drawings Figure 4 and the attached drawings Figure 5, the pipeline hoisting walking assembly 2 comprises a first trolley walking mechanism 21 and a pipeline connecting unit 22, the first trolley walking mechanism 21 comprises an electric hoist in the embodiment, the electric hoist comprises a first walking seat 211, a first walking drive 212 for driving the first walking seat 211 to move along the first walking beam 121, and a hoist body 213 connected and arranged below the first walking seat 211, so as to realize the hoisting and placing functions of the pipeline through the hoist body 213, and realize the distance control function of the drainage pipeline 10 in the pipeline groove 9 and the front pipeline 101 through the walking of the first walking seat 211, the pipeline connecting unit 22 comprises a steel wire rope 221 or a hoisting belt, in the embodiment, the pipeline connecting unit 22 further comprises a hoist hook connecting piece and a rotating rod 226, the hoist hook connecting piece is connected and arranged with the hook on the hoist body 213, specifically, the hoist hook connecting piece comprises a first clamping plate 222, a second clamping plate 223 and a limiting column 224 arranged between the first clamping plate 222 and the second clamping plate 223, the limiting column 224 is configured to penetrate through the hook piece to clamp the hook piece between the first clamping plate 222 and the second clamping plate 223, so as to realize the transverse fixing function of the hook piece through the clamping action of the first clamping plate 222 and the second clamping plate 223, the lower end of the first clamping plate 222 and the second clamping plate 223 is provided with a bearing plate body 225, the lower end of the bearing plate body 225 is rotationally provided with the rotating rod 226, the rotating rod 226 is horizontally rotationally arranged, the steel wire rope 221 is connected with the axial both sides of the drainage pipeline 10 and the both ends of the rotating rod 226. The axial both ends of the drainage pipeline 10 are bound below the rotating rod 226, the symmetrical binding mode is used to balance the stress of the pipeline, the limiting column 224 can rotate relative to the hook piece, the inclination angle of the front and rear ends of the drainage pipeline 10 is finely adjusted, and the stability of the pipeline during horizontal angle adjustment, i.e. rotation, is improved through the rotating rod 226.

[0026] Please refer to the attached drawings Figure 5 and the attached drawings Figure 6The lifting limiting walking mechanism walks on the second walking beam 122 through the second trolley walking mechanism 31. The first trolley walking mechanism 21 and the second trolley walking mechanism 31 are both existing mechanisms, which include a second walking base 311 and a second walking drive 312 for driving the second walking base 311 to move along the second walking beam 122. The lifting limiting walking assembly 3 includes a lifting device 313 and a connecting part 314 arranged at a movable end of the lifting device 313, so as to control the position of the lifting device 313 on the second walking beam 122 through the walking of the second walking base 311. The lifting device 313 can be, but is not limited to, an electric telescopic rod, a hydraulic telescopic rod and a screw rod lifter 3131. An outer end part of the second walking base 311 is provided with a support plate for supporting the lifting device 313, so as to realize the stable installation and bearing function of the lifting device 313. In the embodiment, the lifting device 313 includes a screw rod lifter 3131 and a rotary motor 3132. The screw rod lifter 3131 includes a box body in which a worm and gear assembly is arranged and which is connected with the rotary motor 3132, and a screw rod arranged in the box body. The box body is fixedly arranged on the support plate. A lower end part of the screw rod extends out of a lower side surface of the support plate. The lifting stroke of the screw rod is greater than the diameter size of the pipeline. The lower end part of the screw rod is provided with the connecting part 314, so as to control the height position of the connecting part 314 through the rotary motor 3132. The connecting part 314 includes a connecting rod 3141 and a connecting block 3142 arranged at an end part of the connecting rod 3141 and having an outer diameter greater than that of the connecting rod 3141. The connecting block 3142 is used to realize the pushing and limiting function of the connecting part 314 on the drainage pipeline 10 during walking, through the side surface of the connecting rod 3141 and the outer side surface of the drainage pipeline 10. The connecting part 314 is used to realize the quick connecting function with the sliding lifting structure 5. Through the lifting of the lifting device 313 and the movement of the trolley walking mechanism, the sliding lifting structure 5 is synchronously driven to move along the guide rail 41 and to realize the up-and-down lifting function.

[0027] Please refer to the accompanying drawings Figure 2The track structure 4 includes two sets of parallel guide rails 41, which are laid parallel to the pipe axial direction on the ground of the pipe groove 9. The distance between the two sets of guide rails 41 is greater than the diameter of the pipe, and the length of the guide rails 41 is greater than the length of a single pipe, to ensure the travel path of the lifting and limiting travel mechanism. Each set of guide rails 41 has a connecting frame 42 at the end near the front pipe 101. The guide rails 41 are fixedly connected to the gantry bracket through the connecting frame 42. Specifically, the connecting frame 42 includes a vertical rod 421, a horizontal rod 422, and a locking assembly 423. The lower end of the vertical rod 421 is connected to the track. The upper end of the sleeve is connected to the horizontal rod 422. The upright 111 is provided with a plurality of sleeves arranged in an array along the vertical direction of the upright 111. The sleeves are nested and connected to the horizontal rod 422. The locking component 423 is disposed on the sleeve. The horizontal rod 422 is fixed to the upright 111 through the sleeve. Therefore, the locking component 423 includes, but is not limited to, flat-jaw pliers, clamps and pins. In this embodiment, the locking component 423 includes a locking screw and a clamping plate disposed on the locking screw. The locking screw is vertically disposed on the upper side of the sleeve. The clamping plate is disposed inside the sleeve and is configured to abut against the upper side of the horizontal rod 422. The horizontal rod 422 is used to adjust the distance between the guide rail 41 and the support frame 111 by fitting sleeves of different heights, so as to adapt to pipe grooves 9 of different heights. The horizontal rod 422 is used to adjust the distance between the guide rails 41 by moving within the sleeve. The L-shaped structure with first sliding support, second sliding support and third sliding support respectively enhances the support strength of the support frame 111, disperses the concentrated load of the pipe weight on the support frame 111, avoids the support frame 111 from tilting or shifting due to excessive pipe weight, and ensures the overall structural stability of the device. At the same time, the chassis traveling mechanism 113 of the support frame 111 drives the guide rail 41 to move synchronously.

[0028] Please refer to the attached document. Figure 7 and attached Figure 8 The sliding lifting structure 5 is provided with at least three sets to realize the segmented lifting and limiting of the rear end of the pre-positioned pipe 101, the front end and the rear end of the drainage pipe 10, and to ensure the stability of the drainage pipe 10 during the docking process. Each set of the sliding lifting structure 5 includes two sets of slides 51 respectively set on the corresponding guide rails 41 and a lifting support 52 set between the two sets of slides 51. The lifting support 52 is configured to cooperate with the lower side of the drainage pipe 10 for lifting and limiting. The lifting support 52 includes an arc plate. The slides 51 are provided with lifting components 53. The two ends of the lifting support 52 are respectively connected to the corresponding lifting components 53 set on the two sets of guide rails 41. The connecting part 314 is detachably connected to the lifting component 53 to drive the sliding lifting structure 5 to lift and move.

[0029] Please refer to the attached Figure 8 and the attached Figure 9 The lifting assembly 53 includes a lifting frame 531 and a lifting slider 532. The lifting frame 531 is a rectangular plate frame arranged away from the lifting support 52. A lifting guide slot 5311 extending in the up-down direction is formed in the middle of the lifting frame 531. The lifting slider 532 is slidingly arranged in the lifting guide slot 5311. A lifting connecting rod 5231 is arranged at one end of the lifting slider 532 close to the lifting support 52. The lifting connecting rod 5231 extends out of the lifting frame 531 and is connected to the end of the lifting support 52. A sliding slot for the connecting rod 3141 is formed in the side surface of the lifting frame 531. When the lifting slider 532 is at the lowest position, the lowermost part of the lifting support 52 is arranged in close contact with the ground, thereby reducing the distance between the drainage pipeline 10 and the ground. The upper end of the lifting slider 532 is provided with a connecting seat 5232 connected to the connecting part 314. Please refer to the attached Figure 10 The connecting seat 5232 is provided with an extension slot 5233, a transition slot 5234, and a limiting slot 5235 connected in sequence. The opening profile of the extension slot 5233 is larger than the outer diameter profile of the connecting block 3142. The connecting part 314 moves along the transition slot 5234. A limiting cavity 5236 matching the outer profile shape of the connecting block 3142 is arranged in the middle of the limiting slot 5235. The extension slot 5233 realizes the convenient extension function of the connecting block 3142, reduces the alignment accuracy requirement when the connecting block 3142 is connected to the connecting seat 5232, realizes the stable locking function of the connecting block 3142 through the limiting cavity 5236 in the limiting slot 5235, and realizes the smooth movement function of the connecting block 3142 between the extension slot 5233 and the limiting slot 5235 through the guiding action of the transition slot 5234. Specifically, when the connecting block 3142 moves to the limiting slot 5235 through the transition slot 5234, the connecting part 314 is raised to make the connecting block 3142 enter the limiting cavity 5236, so that the connecting part 314 does not have relative displacement with the connecting seat 5232 when the lifting and limiting walking assembly 3 drives the sliding lifting structure 5 to lift or move. When it is necessary to disconnect the connecting part 314 from the sliding table 51, the connecting block 3142 is first lowered to the bottom of the limiting slot 5235, so that the connecting block 3142 is out of the shape constraint of the limiting cavity 5236. The lifting and limiting walking assembly 3 is moved in the direction of the extension slot 5233, which drives the connecting block 3142 to return to the extension slot 5233 along the transition slot 5234, and finally the connecting block 3142 is separated from the extension slot 5233. The whole disconnection process does not need complex disassembly steps, which ensures that the sliding lifting structure 5 can be quickly switched to the next working position, and improves the continuous construction efficiency.

[0030] Continue to refer to the attachedFigure 3 and the accompanying drawings Figure 5 The detection structure 7 comprises a laser module, which comprises a laser emitter 71 and a laser receiver matched with the laser emitter 71, and the laser emitter 71 and the laser receiver are respectively arranged on the lifting limiting walking assembly 3 and the sliding lifting structure 5. Through the corresponding arrangement of the laser emitter 71 and the receiver, the position calibration function of the lifting limiting walking assembly 3 and the sliding lifting structure 5 is realized, and when the connection of the connecting part 314 and the sliding lifting structure 5 is needed, the laser signal can feedback the relative position deviation of the two in real time, so as to avoid the misalignment caused by visual observation error, ensure the quick and accurate butt joint of the connecting part 314 and the sliding lifting structure 5, and improve the butt joint efficiency.

[0031] Please continue to refer to the accompanying drawings Figure 7 The control structure 8 is arranged on the stand 111, and the control structure 8 is arranged in electrical connection with the pipeline hoisting walking assembly 2, the lifting limiting walking assembly 3 and the detection structure 7, so as to realize the start-stop and action parameter control of the first walking drive 212 and the cage body 213 in the pipeline hoisting walking assembly 2 and the second walking drive 312 and the rotating motor 3132 in the lifting limiting walking assembly 3 through the control structure 8 respectively, adjust the hoisting position, transfer path of the drainage pipeline 10 and the lifting and movement state of the sliding lifting structure 5, and receive the real-time data feedback of the detection structure 7 at the same time, so as to ensure the automation and accuracy of the pipeline butt joint.

[0032] Specifically, the control structure 8 includes an electric control unit, an operation interaction unit and a communication unit; wherein the electric control unit includes a power supply module and a main control module connected by a circuit, the power supply module can adopt but is not limited to an external power conversion module, which provides stable power supply for the whole control structure 8 and the associated actuator; the main control module can select but is not limited to a single-chip microcomputer control board with model number AT89C52 and a microcontroller with model number STM32F103. The control output end of the main control module is connected by a circuit with the input end of a relay, and the output end of the relay is respectively connected by a circuit with the first walking drive 212 in the pipeline hoisting walking assembly 2, the gourd body 213, the second walking drive 312 in the lifting limiting walking assembly 3, the rotating motor 3132, and the signal receiving end of the laser module in the detection structure 7; the relay can adopt but is not limited to an electromagnetic relay with model number HH52P, which realizes power switching of the actuator through on-off control, avoids that the main control module directly bears high load current, and guarantees the stability of the control unit. The operation interaction unit includes a control panel and a touch display screen, and the touch input ends of the two are respectively connected by a circuit with the control input end of the main control module; the control panel can integrate an emergency stop button, a start-stop key and a parameter adjustment knob for basic operation instruction input; the touch display screen can adopt but is not limited to an industrial touch screen with model number TPC7062Ti, which has the functions of data display and touch operation, and is convenient for operators to intuitively set parameters and monitor the state. The communication unit is connected with the main control module by a circuit, and can select but is not limited to a 4G module or a Bluetooth module, which can obtain construction data in real time or remotely issue adjustment instructions to reduce the risk of on-site operation; the rotating motor 3132 can adopt but is not limited to a servo motor with model number 130ST-M06025; in order to realize that the control panel or the touch display screen inputs control instructions, the main control module analyzes the instructions, the relay drives the pipeline hoisting walking assembly 2 and the lifting limiting walking assembly 3 to execute corresponding actions, and the automatic operation control of the drainage pipeline 10 hoisting, transferring and docking is completed; in order to realize that the control panel and the touch display screen cooperate to control the moving distance of the first walking drive 212 and the second walking drive 312, and the action amount of the gourd body 213 and the rotating motor 3132 through the main control module and the relay in real time according to the required position, height and angle of pipeline docking, and at the same time receive the position deviation data of the laser module in the detection structure 7, the main control module corrects the action of the actuator in real time to guarantee the pipeline docking precision; the touch display screen can also display the current position of the drainage pipeline 10, the height of the sliding lifting structure 5 and the laser calibration data in real time, so that the monitoring and adjustment of the pipeline installation process are more intuitive, and the manual calculation error is reduced.

[0033] Please refer to the attached drawings Figure 7The auxiliary limiting structure 6 comprises at least one set of abutting pieces, the lifting limiting walking assembly is arranged on the two symmetrical second walking beams 122 in a symmetrical manner, two ends of the abutting piece are connected with the movable ends of the lifting limiting walking assembly 3 arranged in a symmetrical manner respectively, and the two ends of the abutting piece are provided with connecting rings 62 arranged on the lower end of the screw rod and above the connecting block 3142. The connecting ring 62 is arranged in an axial opposite rotating manner with the screw rod and is fixed in an up-down direction opposite to the screw rod. The abutting piece comprises an elastic belt and a rigid rod 61. When the drain pipe falls to the sliding lifting structure 5, the lifting limiting walking assembly 3 provided with the elastic belt drives the screw rod to descend, the elastic belt limits the upper side of the drain pipe 10, improves the stability of the drain pipe 10, the lifting limiting walking assembly 3 provided with the rigid rod 61 moves to the front of the end of the front pipe 101, the screw rod is lowered so that the rigid rod 61 falls to the middle of the end of the drain pipe 10, the pushing function of the rigid rod 61 to the drain pipe 10 is realized by moving the lifting limiting walking assembly 3, and the butt joint strength of the front pipe 101 and the rear pipe support is further strengthened.

[0034] The application further provides a mounting method of the drain pipe 10, which realizes the rapid transfer of the pipe from outside the groove to above the groove by the cooperation of the hoisting support structure 1 and the pipe hoisting walking assembly 2, ensures that the pipe is in the same direction as the extension direction of the pipe groove 9 by the limiting and adjustment of the lifting limiting walking assembly 3, realizes the stable butt joint with the front pipe 101 by the cooperation of the sliding lifting structure 5 and the lifting limiting walking assembly 3, realizes the continuous plug-in butt joint operation, greatly reduces the manual intervention, and significantly improves the construction efficiency.

[0035] Specifically, please refer to the accompanying drawings Figure 1 - the accompanying drawings Figure 10 Specific steps are as follows: S1: first, the control structure 8 controls the first motor 1122 to drive the suspension arm 12 to rotate, so that the end of the suspension arm 12 is located on the construction ground outside the pipe groove 9, the control structure 8 controls the pipe hoisting walking assembly 2 to move to the end of the suspension arm 12, the optimal state of the rotation of the suspension arm 12 is that the pipe hoisting assembly walks to the middle of the suspension arm 12, the pipe hoisting assembly walks above the construction ground outside the pipe groove 9, and the workers hoist the drainage pipe 10 to be installed on the hoisting connecting unit of the pipe hoisting walking assembly 2, the mode of the drainage pipe 10 can adopt using a single group of steel wire ropes 221 or hoisting belts to bind the middle of the drainage pipe 10 and adopt multiple groups of steel wire ropes 221 to connect the positions of the two ends of the drainage pipe 10, specifically, first, the limiting column 224 on the hoist hook connecting piece is clamped into the opening on the hook piece, the two ends of the rotating rod 226 are fixedly connected with the two ends of the drainage pipe 10 through the steel wire ropes 221, and the drainage pipe 10 is lifted through the remote controller of the control structure 8 or the electric hoist; the control structure 8 further controls the pipe hoisting walking assembly 2 to walk to the end of the suspension arm 12, so as to provide enough space for the angle adjustment of the drainage pipe 10; finally, the control structure 8 controls the first motor 1122 to drive the suspension arm 12 to rotate from the pipe groove 9 outside the groove along a preset rotating path to the pipe groove 9 until the limiting protrusion 1123 abuts against the suspension arm 12, at this time, the drainage pipe 10 is located directly above the pipe groove 9, and the extension direction of the suspension arm 12 is parallel to the extension direction of the pipe groove 9.

[0036] S2: the control structure 8 controls the lifting device 313 to descend, that is, the rotating motor 3132 drives the worm gear assembly to rotate the transmission belt to drive the lead screw to move downward until the connecting block 3142 of the connecting part 314 is below the middle-lower height of the drain pipe 10; the control structure 8 controls the lifting limiting walking assembly 3 to walk along the preset path of the suspension arm 12, and the specific distribution and action are as follows: at least two groups of the lifting limiting walking assembly 3 are arranged on each of the second walking beams 122, the rear end of one group of the second walking beams 122 is provided with two groups of the lifting limiting walking assembly 3, which are respectively the first limiting walking and the second limiting walking, and the two ends of the other group of the second walking beams 122 are respectively provided with the third limiting walking and the fourth limiting walking; first, the first limiting walking and the second limiting walking at the rear end of the second walking beam 122 and the third limiting walking at the front end of the other group of the second walking beams 122 move synchronously to the middle part of the corresponding second walking beam 122, in the walking process, the connecting rod 3141 of the lifting limiting walking assembly 3 touches and pushes the outer wall of the pipe to rotate, when the three groups of lifting limiting walking assemblies 3 all walk to the middle part, the pipe is preliminarily clamped between the two groups of second walking beams 122; then, the first limiting walking and the second limiting walking move to the two end parts of the corresponding second walking beam 122 respectively until the sliding lifting structure 5 slide table 51 above the pipe two end part lifting cooperation, at this time, the drain pipe 10 has been clamped by the first limiting walking, the second limiting walking and the third limiting walking, the fourth limiting walking moves to the slide table 51 above the sliding lifting structure 5 at the end of the drain pipe 10 corresponding to the third limiting walking moves to the slide table 51 above the sliding lifting structure 5 at the end of the drain pipe 10 corresponding to, finally, the four groups of lifting limiting walking assemblies 3 clamp the pipe together to ensure that the axial direction of the pipe is parallel to the extension direction of the pipe groove 9, and the axial angle calibration of the pipe is completed.

[0037] S3: the four groups of lifting limiting walking assemblies 3 are determined to be above the slide table 51 by the laser module, the control structure 8 controls the lifting device 313 to descend, that is, the rotating motor 3132 drives the lead screw to descend, so that the connecting part 314 extends into the groove bottom of the extension groove 5233, the control structure 8 controls the lifting limiting walking assembly 3 to drive the connecting part 314 to move along the transition groove 5234 to the limiting groove 5235, after the connecting part 314 moves to the limiting groove 5235, the control structure 8 controls the lead screw to ascend, so that the connecting block 3142 is limitedly matched with the limiting cavity 5236, and the connection between the connecting part 314 and the sliding lifting structure 5 is completed; In the embodiment provided with the auxiliary limiting structure 6, the lifting limiting walking assembly 3 provided with the elastic belt drives the screw rod to descend, and the elastic belt limits the upper side of the drainage pipeline 10. The lifting limiting walking assembly 3 provided with the rigid rod 61 moves to the front of the end of the front pipeline 101, and the descending screw rod makes the rigid rod 61 fall into the middle of the end of the pipeline to be installed, so that the rigid rod 61 pushes the pipeline by moving the lifting limiting walking assembly 3. Finally, the walking and lifting of the lifting limiting walking assembly 3 are controlled to drive the sliding lifting structure 5 to move and lift, so as to realize the butt joint of the drainage pipeline 10 and the front pipeline 101. The specific actions are as follows: the rear end of the front pipeline 101 is provided with a group of sliding lifting structures 5 for lifting and limiting, and the sliding lifting structure 5 is connected with the connecting part 314. The control structure 8 obtains the height of the rear end of the front pipeline 101 and the distance between the current drainage pipeline 10 to be installed. The height of the lifting support 52 of the sliding lifting structure 5 below the pipeline to be installed is adjusted by the control structure 8, so that the height is consistent with that of the front pipeline 101. The pipeline hoisting walking assembly 2 and the lifting limiting walking assembly 3 are synchronously moved to the front pipeline 101. When the front end of the drainage pipeline 10 approaches the rear end of the front pipeline 101, the position of the drainage pipeline 10 is adjusted by manual observation, so as to ensure the position of the drainage pipeline 10 and the front pipeline 101. The rear end of the drainage pipeline 10 is pushed by the rigid rod 61, so as to realize the insertion butt joint of the drainage pipeline 10 and the front pipeline 101.

[0038] S4: The walking and lifting of the lifting limiting walking assembly 3 are controlled to drive at least two groups of sliding lifting structures 5 to move to the preset falling position of the next drainage pipeline 10. Then, the hoisting connection unit is disconnected from the pipeline, and the connecting part 314 is disconnected from the sliding lifting structure 5. The contact steps of the connecting part 314 and the sliding lifting structure 5 are as follows: the connecting block 3142 is first lowered to the bottom of the limiting groove 5235, so that the connecting block 3142 is disconnected from the shape constraint of the limiting cavity 5236. The connecting block 3142 is moved to the extending groove 5233 by the lifting limiting walking assembly 3, so as to drive the connecting block 3142 to return to the extending groove 5233 along the transition groove 5234, and finally be disconnected from the extending groove 5233.

[0039] S5: The connecting part 314 is controlled to rise to a height higher than that of the pipeline groove 9, so as to avoid collision in the subsequent action. The end of the suspension arm 12 is controlled to return to the pipeline groove 9 from above the pipeline groove 9 to the ground outside the pipeline groove 9, so as to prepare for the installation of the next pipeline. The hoisting support structure 1 moves along the pipeline groove 9 to the next position.

[0040] The steps of moving the sliding lifting structure 5 to the preset falling position of the next drainage pipeline 10 are as follows: The sliding lifting structure 5 is provided with three groups, namely a first sliding lifting, a second sliding lifting and a third sliding lifting. Firstly, the first sliding lifting releases the lifting constraint of the rear end of the front pipeline 101, so that it is separated from the front pipeline 101. After the pipeline is connected, the front end of the rear pipeline is limited and constrained with the rear end of the front pipeline 101, and the second sliding lifting continuously forms a lifting constraint on the front end of the rear pipeline. Therefore, after the first sliding lifting is released, it will not affect the connection state of the two pipelines. Then, the first sliding lifting is moved below the front end of the rear pipeline and forms a lifting constraint on the front end of the rear pipeline. The three groups of sliding lifting structures 5 are lowered synchronously, so that the front pipeline 101 and the rear pipeline are closer to the ground. Then, the third sliding lifting is raised. At this time, the lower side of the front pipeline 101 is supported by the ground or the preset limiting support, and the rear pipeline is supported by the connection position of the front pipeline 101 and the rear pipeline as a fulcrum, so that the rear pipeline is in an inclined state, providing the operation space required for releasing the constraint of the first sliding lifting and the second sliding lifting. The first sliding lifting and the second sliding lifting are moved along the track to the rear and below the rear end of the rear pipeline. The first sliding lifting is raised by the lifting assembly 53 to realize the lifting constraint on the rear end of the rear pipeline. The third sliding lifting releases the lifting constraint on the rear pipeline. The track structure 4 is moved to the next pipeline lifting position (i.e. the rear) as a whole. The positions of the second sliding lifting and the third sliding lifting are moved, so that the second sliding lifting is below the front end of the next group of pipelines, and the third sliding lifting is below the rear end of the next group of pipelines. In this way, the continuous insertion and connection pipeline connection work is completed.

[0041] The above embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by those skilled in the art based on the present application are within the scope of protection of the present application.

Claims

1. A drainage pipe installation device, characterized in that, include: The hoisting support structure (1) includes a support frame (11) and a suspension arm (12) rotatably disposed on the support frame (11). Traveling along the suspension arm (12): The pipe hoisting and traveling assembly (2) is hoisted and connected with the drainage pipe (10); and The lifting and limiting travel assembly (3) includes a lifting device (313) and a connecting part (314) disposed at the movable end of the lifting device (313). The track structure (4) includes two sets of guide rails (41) arranged along the laying direction of the drainage pipe (10), which are connected to the hoisting support structure (1); The sliding lifting structure (5) includes two sets of slides (51) respectively set on corresponding tracks and a lifting support (52) set between the two sets of slides (51). The lifting support (52) is configured to lift and limit the lower side of the drainage pipe (10). The slides (51) are provided with lifting components (53). The two ends of the lifting support (52) are connected to the lifting components (53). The connecting part (314) is detachably connected to the lifting assembly (53) to drive the sliding lifting structure (5) to rise and move, and the connecting part (314) in the walking state is pushed and limited by the side of the drainage pipe (10).

2. The drainage pipe installation device according to claim 1, characterized in that, The connecting part (314) includes a connecting rod (3141) and a connecting block (3142) disposed at the end of the connecting rod (3141) and having an outer diameter larger than that of the connecting rod (3141). The lifting assembly (53) includes a lifting frame (531) and a lifting slider (532) slidably disposed on the lifting frame (531). The upper end of the lifting slider (532) is provided with a connecting seat (5232) detachably connected to the connecting part (314). The connecting seat (5232) has an extension groove (5233), a transition groove (5234) and a limiting groove (5235) connected in sequence. The opening profile of the insertion groove (5233) is larger than the outer diameter profile of the connecting block (3142), the connecting part (314) moves along the transition groove (5234), and the middle part of the limiting groove (5235) is provided with a limiting cavity (5236) that matches the outer contour shape of the connecting block (3142).

3. The drainage pipe installation device according to claim 1 or 2, characterized in that, The The sliding lifting structure (5) is provided with at least three sets; The drainage pipe (10) also includes a pre-flow pipe (101). At least one set of the sliding lifting structure (5) is engaged with the rear end of the front pipe (101) for lifting; At least one set of the sliding lifting structure (5) is lifted and engaged with the front end of the rear-mounted drainage pipe (10); At least one set of the sliding lifting structure (5) is engaged with the rear end of the rear-mounted drainage pipe (10).

4. The drainage pipe installation device according to claim 1 or 2, characterized in that, The suspension arm (12) includes three sets of parallel traveling beams, namely a first traveling beam (121) located in the middle and a second traveling beam (122) symmetrically located on both sides of the first traveling beam (121). The pipeline hoisting traveling assembly (2) travels along the first traveling beam (121), and the lifting and limiting traveling assembly (3) travels along the second traveling beam (122).

5. The drainage pipe installation device according to claim 4, characterized in that, It also includes an auxiliary limiting structure (6), which includes at least one set of abutment members. The lifting and limiting travel assembly (3) is symmetrically arranged on the two sets of symmetrical second travel beams (122). The two ends of the abutment are respectively connected to the movable ends of the symmetrically arranged lifting limit walking assembly (3).

6. The drainage pipe installation device according to claim 1, characterized in that, The track structure (4) further includes a connecting frame (42), which includes a vertical rod (421), a horizontal rod (422), and a locking assembly (423). The lower end of the vertical rod (421) is connected to the guide rail (41), and the upper end of the vertical rod (421) is connected to the horizontal rod (422). The support frame (11) is provided with several sets of sleeves arranged in an array along the vertical direction of the upright frame (111). The sleeves are nested and connected to the horizontal rod (422). The locking assembly (423) is disposed on the sleeve, and the horizontal rod (422) is fixed to the sleeve by the locking assembly (423).

7. The drainage pipe installation device according to claim 1, characterized in that, It also includes a detection structure (7), which includes a laser module (71), which includes a laser emitter (711) and a laser receiver (712) adapted to the laser emitter (711). The laser emitter (711) and the laser receiver (712) are respectively disposed on the lifting limit walking assembly (3) and the slide (51).

8. The drainage pipe installation device according to claim 7, characterized in that, Also includes: The control structure (8) is electrically connected to the hoisting support structure (1), the pipeline hoisting and traveling assembly (2), the lifting and limiting traveling assembly (3), and the detection structure (7).

9. An installation method for a drainage pipe installation device, characterized in that, The installation of drainage pipes using the installation device as described in claim 3 includes the following steps: S1: The drainage pipe (10) to be installed outside the pipe trench (9) is hoisted to the hoisting connection unit of the pipe hoisting and traveling assembly (2), and the end of the suspension arm (12) is controlled to move from the outside of the pipe trench (9) along the preset rotation path to the top of the pipe trench (9); S2: Control the lifting limit travel assembly (3) to travel along the suspension arm (12) to the top of the preset sliding lifting structure (5). During the travel, the drainage pipe (10) is pushed through the connecting part (314) of the lifting limit travel assembly (3) to complete the axial angle is consistent with the pipe groove (9); S3: The control connection part (314) is connected to the sliding lifting structure (5). By controlling the movement and lifting of the lifting limit walking assembly (3), the sliding lifting structure (5) is moved and lifted, so as to realize the docking of the drainage pipe (10) and the front pipe (101). S4: Control the lifting and limiting walking assembly (3) to walk and lift, drive at least 2 sets of sliding lifting structures (5) to the next drainage pipe (10) preset falling position, release the lifting connection unit to the pipe, and release the connection between the connection part (314) and the sliding lifting structure (5); S5: Control the connection part (314) to rise to a height higher than the pipe trench (9), control the end of the suspension arm (12) to return from above the pipe trench (9) to the construction ground outside the pipe trench (9), and control the hoisting support structure (1) to move to the installation position of the next set of drainage pipes (10).

10. The installation method according to claim 9, characterized in that, The sliding lifting structure (5) is provided with three sets, namely a first sliding lifting, a second sliding lifting and a third sliding lifting. The first sliding lifting cooperates with the rear end of the front pipe (101), the second sliding lifting cooperates with the front end of the rear pipe, and the third sliding lifting cooperates with the rear end of the rear pipe. The steps for the sliding lifting structure (5) to move to the preset falling position of the next drainage pipe (10) are as follows: S1: The rear drainage pipe (10) completes the docking constraint with the front pipe (101), the first sliding lift releases the lifting cooperation on the rear end of the front pipe (101), and replaces the second sliding lift to realize the lifting cooperation on the front end of the rear pipe, and the second sliding lift releases the lifting cooperation on the rear end of the rear pipe. S2: The third sliding lift rises, the first sliding lift releases the lifting limit at the rear end of the rear pipe, the first and second sliding lifts move to the front end of the rear pipe, and the first sliding lift replaces the third sliding lift to achieve lifting and cooperation of the rear end of the rear pipe. S3: Move the first sliding lift and the second sliding lift to the preset position for the next set of pipes to fall.

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