Pipeline automatic hoisting integrated device and control method

Abstract

The present application relates to pipeline hoisting technical field, especially disclose a kind of pipeline automatic hoisting integrated equipment and control method, pipeline automatic hoisting integrated equipment includes control system and respectively with the electric connection of control system cantilever crane, pipeline posture detection device, pipe tail detection device and pipeline butt joint device, cantilever crane is used to hoist and transport pipeline from roadbed surface to groove;Pipeline posture detection device is used to detect the posture of the pipeline to be laid and the distance between the pipeline to be laid and the pipeline laid;Pipe tail detection device is used to detect the pipe tail position of the pipeline to be laid;Pipeline butt joint device is used to adjust the posture of the pipeline to be laid to butt joint the head end of the pipeline to be laid and the tail end of the pipeline laid.The present application realizes the hoisting operation of directly hoisting the pipe into the groove from the pipe car on the roadbed surface of one side of the groove and automatically detecting and adjusting the socket joint gap and pipe joint gap, and effectively improves the automation degree of pipeline hoisting operation, which is beneficial to improve the operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of pipeline hoisting technology, and in particular to an integrated automatic pipeline hoisting device and control method. Background Technology

[0002] Currently, during the construction of PCCP pipelines in large-scale water conservancy projects, large-tonnage crawler cranes are often used to lift the pipelines from the roadbed surface on one side of the trench to the trench using a pipeline transport vehicle. Alternatively, ramps are set up in sections on one side of the construction line, and the pipelines are transported to the trench by the pipeline transport vehicle. Then, the pipelines are lifted or lifted off the ground by the lifting or pipe-aligning device in the trench and installed.

[0003] Chinese invention patent CN119178059B discloses a tracked PCCP pipe installation trolley, including a frame, a lifting unit inside the frame, a lateral movement unit connected to the tracked walking unit, a power hydraulic unit connected to the lifting unit, lateral movement unit, and tracked walking unit, and a controller. The frame also includes a stabilizing unit. The stabilizing unit comprises two conveying components and two filling components, located on opposite sides of the frame. The conveying components are slidably connected to the tracked walking unit. The filling components include a push plate and an electro-hydraulic push rod. One end of the electro-hydraulic push rod is fixedly connected to the frame, and the other end is connected to the push plate. The electro-hydraulic push rod is connected to the controller. This structure improves the stability of pipe transportation and fixing, making it suitable for pipe installation.

[0004] In the aforementioned construction schemes, renting or purchasing crawler cranes is difficult and costly, and cannot meet the project schedule requirements. Transporting pipes to the trench via trucks adds the need for excavation ramps, increasing excavation costs, transportation difficulty, and time. Existing pipe-connecting devices often use gantry cranes to lift pipes and manually pull them together from the outside or inside, resulting in high labor intensity and low automation. While existing technologies have proposed relevant research on automatic pipe connection, they do not address the automatic control of pipe joints and ends during construction, which are practical problems faced in automated pipe connection and installation.

[0005] Therefore, it is necessary to provide a new integrated automatic pipeline hoisting equipment and control method to solve the above-mentioned technical problems. Summary of the Invention

[0006] The main objective of this invention is to provide an integrated automatic pipeline hoisting device and control method, which aims to solve the problems of limited functionality and low automation of existing construction equipment.

[0007] To achieve the above objectives, the present invention proposes an integrated automatic pipeline hoisting device. The device includes a trench on the roadbed surface and comprises a cantilever crane, a pipeline attitude detection device, a pipe tail detection device, a pipeline docking device, and a control system.

[0008] The cantilever crane is installed in the trench and is used to lift the pipeline from the roadbed surface into the trench;

[0009] The pipeline posture detection device is installed inside the laid pipeline and can move along the inner wall of the pipeline to detect the posture of the pipeline to be laid and the distance between the pipeline to be laid and the laid pipeline.

[0010] The pipe tail detection device is installed at the end of the pipe to be laid that is far from the already laid pipe, and is used to detect the position of the pipe tail of the pipe to be laid.

[0011] The pipe docking device is mounted on the cantilever crane and is used to adjust the posture of the pipe to be laid so as to dock the first end of the pipe to be laid with the tail end of the already laid pipe.

[0012] The control system is electrically connected to the cantilever crane, the pipeline attitude detection device, the pipe tail detection device, and the pipeline docking device, respectively.

[0013] Optionally, a lifting position is provided on the roadbed surface, and a lowering position is provided above the trench; the cantilever crane includes a traveling body, a gantry, a gantry support, a lateral movement mechanism, and a lifting trolley. The traveling body is disposed within the trench; the gantry is disposed on the traveling body, and the traveling body can drive the gantry to travel along the length of the trench; the gantry support is disposed on the roadbed surface; the lateral movement mechanism includes a main beam and a lateral movement drive assembly. The main beam is slidably connected to the gantry and the gantry support respectively. The output end of the lateral movement drive assembly is connected to the main beam, and the lateral movement drive assembly can drive the main beam to slide relative to the gantry and the gantry support along the width of the trench; the lifting trolley is slidably disposed on the main beam, and the lifting trolley can move between the lifting position and the lowering position. The lifting trolley is used to lift the pipeline.

[0014] Optionally, the lateral drive assembly includes a moving track, a rack, a lateral drive member, and a drive gear. The moving track is disposed on the main beam along the width direction of the groove, and the gantry is slidably connected to the main beam through the moving track. The rack is disposed on the main beam, and all racks are disposed along the length direction of the main beam. The lateral drive member is disposed on the gantry. The drive gear is connected to the output shaft of the lateral drive member, and the drive gear meshes with the rack.

[0015] Optionally, the main beam is further provided with a traveling track arranged along the width direction of the trench; the hoisting trolley includes a traveling beam frame, a traveling wheel set, and a lifting mechanism. The traveling beam frame is mounted on the traveling track via the traveling wheel set, and the traveling wheel set can drive the traveling beam frame to move along the traveling track; the traveling beam frame is provided with at least two lifting mechanisms, and the two lifting mechanisms are symmetrically arranged along the width direction of the trench. Each lifting mechanism includes two synchronously operating lifting units. Each lifting unit includes a winch, a rotary encoder, and a brake. The winch and the rotary encoder are coaxially arranged. The rotary encoder can control the number of rotations of the winch. The brake is mounted on the winch and is used to brake the winch.

[0016] Optionally, the gatepost support includes a connecting beam and two opposing support components. Each support component includes a fixed leg, a telescopic leg, an L-shaped leg, a support guide wheel, and a support traveling wheel. The fixed leg is connected to the fixed leg of the other support component via the connecting beam. The first end of the fixed leg is slidably mounted on the main beam along the width of the groove, and the second end is connected to the telescopic leg, which can extend and retract vertically. The L-shaped leg is mounted on the fixed leg and rolls in contact with the main beam via the support guide wheel. The L-shaped leg is mounted on the moving track of the main beam via the support traveling wheel, and the support traveling wheel can drive the L-shaped leg to move along the traveling track.

[0017] Optionally, the fixed outrigger includes a fixed section and a standard section. The first end of the fixed section is connected to the L-shaped outrigger, and the second end is detachably connected to the telescopic outrigger through the standard section. The number of standard sections is one or more, and adjacent standard sections are detachably connected.

[0018] Optionally, the telescopic outrigger includes a telescopic outer leg, a telescopic inner leg, and a telescopic drive component. The telescopic outer leg is disposed on the fixed outrigger and has a waist-shaped through hole arranged vertically. The telescopic inner leg is slidably sleeved inside the telescopic outer leg and has multiple circular through holes spaced vertically. The telescopic drive component connects the telescopic outer leg and the telescopic inner leg. The doorpost support also includes an anti-suspension mechanism, which includes a base, a pin, a support block, and a stud. The base is provided on both sides of the telescopic outer leg and is located above the waist-shaped through hole. The pin can pass through the waist-shaped through hole and any one of the circular through holes to penetrate the telescopic outer leg and the telescopic inner leg. A support block is sleeved on each end of the pin. The stud vertically penetrates the base and is threadedly connected to the base. The stud can abut against the support block to limit the pin.

[0019] Optionally, the cantilever crane further includes a first distance sensor, a second distance sensor, a third distance sensor, and a fourth distance sensor. The first distance sensor is disposed on the moving track and is used to measure the amount of movement of the main beam relative to the gantry. The second distance sensor is disposed on the moving track and is used to measure the amount of movement of the gantry support. The third distance sensor and the fourth distance sensor are respectively disposed at both ends of the traveling track and are used to measure whether the hoisting trolley has moved into position.

[0020] Optionally, a guide rail is laid in the trench along the length of the trench; the cantilever crane further includes a rail-changing mechanism, which includes a crossbeam, a tie rod, a rail-lifting trolley, an electric hoist, and a rail grabber. The crossbeam is arranged on the gantry along the length of the trench; the tie rod connects the crossbeam and the gantry; the rail-lifting trolley is arranged on the crossbeam and can travel along the crossbeam; the electric hoist is arranged on the rail-lifting trolley, and the hook of the electric hoist is connected to the rail grabber. The electric hoist can grab the guide rail through the rail grabber and lift the guide rail from the rear end to the front end of the traveling body in the direction of travel.

[0021] Optionally, the pipeline attitude detection device includes a chassis, a power mechanism, a detection mechanism, a monitoring camera, and an attitude detection control module. The chassis is capable of moving along the inner wall of the laid pipeline. The power mechanism is mounted on the chassis and provides power for the chassis's movement. The detection mechanism includes a column, a detection disk, a line structured light sensor, and a laser scanning sensor. The column is mounted on the chassis. The detection disk is mounted on the column and has multiple line structured light sensors arranged circumferentially around its center. The measurement direction of the line structured light sensors is radially arranged along the laid pipeline. The line structured light sensor is used to measure the gap between the laid pipe and the pipe to be laid; the laser scanning sensor is set at the center of the detection plate to scan and obtain the inner wall contour information of the laid pipe and the pipe to be laid; the monitoring camera is set on the column and electrically connected to the control system to monitor the pipe to be laid and its surrounding environment; the attitude detection control module can receive the detection information from the detection mechanism and the monitoring camera, and the attitude detection control module can control the power mechanism to drive the chassis to walk along the pipe to be laid and analyze and process the received detection information.

[0022] Optionally, the pipe tail detection device includes a pipe tail measuring base, a horizontal measuring element, a prism, and a positioning instrument. The pipe tail measuring base is disposed at the tail end of the pipe to be laid; the horizontal measuring element is disposed on the pipe tail measuring base; the prism is disposed on the horizontal measuring element; the positioning instrument is disposed in the trench, and the positioning instrument is used to measure the absolute position of the prism, and the positioning instrument is electrically connected to the control system.

[0023] Optionally, the pipe docking device includes two oppositely arranged pipe docking components, which are positioned opposite each other on both sides of the gantry along the width of the trench. Each pipe docking component includes a pushing mechanism, a lifting mechanism, a lateral moving mechanism, and a supporting mechanism. The pushing mechanism is mounted on the gantry. The lifting mechanism is mounted on the pushing mechanism and can move the lifting mechanism along the length of the trench. The lateral moving mechanism is mounted on the lifting mechanism and can move the lateral moving mechanism vertically. The supporting mechanism is mounted on the lateral moving mechanism and can move the supporting mechanism along the trench. The support mechanism includes a clamping plate, a support hinge seat, a support adjusting rod, a support pad, and a force sensor. The lower part of the clamping plate is connected to the first end of the support hinge seat, and the first end of the support hinge seat is hinged to the transverse movement mechanism through the force sensor. The upper part of the clamping plate is hinged to the second end of the support hinge seat through the support adjusting rod. The force sensor is used to measure the load on the clamping plate. The support pad is located on the side of the clamping plate away from the support hinge seat. The support pad is used to abut against the outer wall of the pipe. The support pads of two pipe-connecting units cooperate to clamp the pipe to be laid and adjust the posture of the pipe to be laid.

[0024] Optionally, the integrated automatic pipeline hoisting equipment further includes a sway reduction device. At least two sway reduction devices are provided on each side of the gantry along the width of the trench. Each sway reduction device includes a first hinge seat, a second hinge seat, a drive adjustment mechanism, and shock-absorbing wheels. The first and second hinge seats are vertically spaced on the gantry. The drive adjustment mechanism includes a wheel frame, a first connecting rod, a second connecting rod, and a drive adjustment rod. Multiple shock-absorbing wheels are vertically spaced on the wheel frame. The first connecting rod is hinged between the first hinge seat and the wheel frame. The second connecting rod is hinged between the second hinge seat and the wheel frame. The drive adjustment rod is hinged between the first hinge seat and the wheel frame, and can drive the wheel frame to rotate the first and second connecting rods to adjust the gap between the shock-absorbing wheels and the pipeline to be laid.

[0025] Optionally, the integrated automatic pipeline hoisting equipment further includes a backfill support device. The backfill support device includes a mounting base, a telescopic mechanism, a thrust measuring element, a support hinge seat, a pusher, and a backfill support adjusting rod. The mounting base is located at the bottom of the gantry, and the telescopic mechanism is located on the mounting base. The output shaft of the telescopic mechanism is hinged to the support hinge seat through the thrust measuring element. The thrust measuring element is used to measure the sand pressure between the pusher and the outer wall of the pipeline to be laid. The pusher is hinged to the support hinge seat. The backfill support adjusting rod is hinged between the top of the support hinge seat and the top of the pusher.

[0026] Optionally, the control system includes a remote control terminal panel, a first control module, and a second control module. The remote control terminal panel is electrically connected to the first control module, the second control module, and the attitude detection control module, respectively. The first control module is mounted on the cantilever crane and is capable of controlling the cantilever crane to perform pipeline hoisting operations. The first control module is also electrically connected to the attitude detection control module. The second control module is mounted on the hoisting trolley and is used to control the trolley's travel, lifting, and braking actions. The second control module is also electrically connected to the first control module.

[0027] The integrated automatic pipeline hoisting equipment also includes a power system, which includes a first power module mounted on the cantilever crane and a second power module mounted on the pipeline attitude detection device. The first power module provides power to the cantilever crane, and the second power module provides power to the pipeline attitude detection device.

[0028] In addition, the present invention also provides a control method for an integrated automatic pipeline hoisting device, which controls the aforementioned integrated automatic pipeline hoisting device to perform pipeline hoisting operations. The control method for the integrated automatic pipeline hoisting device specifically includes the following steps:

[0029] S1: Install an integrated automatic pipe hoisting device in the trench to be constructed;

[0030] S2: The first control module controls the main beam to extend to the lifting position at the end away from the gantry according to the lifting position on the roadbed surface, moves the gantry support to the end of the main beam away from the gantry, and then extends the telescopic outrigger to abut against the support rail on the roadbed surface.

[0031] S3: The first control module continues to control the hoisting trolley to move along the main beam to the lifting position, then hoist the pipeline to be laid to the placement position, and lower the pipeline to be laid into the trench;

[0032] S4: The first control module controls the pipeline docking device to complete the docking of the pipeline to be laid and the already laid pipeline based on the detection information of the pipeline attitude detection device and the pipe tail detection device, and performs pipe tail adjustment of the pipeline to be laid.

[0033] S5: The first control module controls the backfill support device to push the sand on both sides of the pipeline to be laid towards the outer wall of the pipeline until the bulldozing pressure measured by the thrust measuring element reaches the preset value, thus completing the initial support of the pipeline to be laid.

[0034] Optionally, S2 includes:

[0035] S2.1, The main beam extends out, specifically:

[0036] The lifting position on the roadbed to be constructed is input into the remote control terminal panel, and the remote control terminal panel transmits the input information to the first control module.

[0037] The first control module calculates the amount of movement of the main beam based on the input information and the initial position information of the main beam relative to the gantry, and then controls the lateral drive component to drive the main beam to move until the corresponding amount of movement of the main beam is reached.

[0038] S2.2, The goalpost support extends, specifically:

[0039] The first control module controls the gantry support to move along the main beam to the end of the moving track away from the gantry;

[0040] The first control module drives the telescopic outriggers to extend until they contact the roadbed surface;

[0041] S3 includes:

[0042] S3.1 The hoisting trolley is moved to the lifting position. Specifically, the second control module controls the hoisting trolley's traveling wheel set to move along the traveling track to the lifting position.

[0043] S3.2 Lowering the lifting device: After the pipeline transport vehicle moves the pipeline to be laid to the lifting position, the second control module controls the winch to lower the hook from the initial height to the position based on the distance between the lifting trolley and the pipeline transport vehicle measured by the lifting distance sensor, and then binds it to the pipeline to be laid using slings; wherein: the lifting distance sensor is set below the lifting trolley and is set corresponding to the pipeline transport vehicle;

[0044] S3.3 Pipeline hoisting, specifically:

[0045] The second control module controls the lifting mechanism to rotate and lift the pipeline to be laid to the initial height;

[0046] The hoisting trolley is used to lift the pipeline to be laid to the placement position.

[0047] The drive lifting mechanism rotates in the opposite direction to lower the pipe to be laid into the trench and connect it with the pipe docking device.

[0048] Optionally, S4 includes:

[0049] S4.1 Apply oil to the spigot of the pipe to be laid and the socket of the already laid pipe and install a sealing ring. Then send a start signal for pipe connection to the first control module through the remote terminal panel.

[0050] S4.2 Obtain the longitudinal distance between the pipeline to be laid and the already laid pipeline, as well as the adjustment data for the pipeline to be laid. Specifically:

[0051] The attitude detection and control module fits the inner wall contour information of the laid pipe and the pipe to be laid obtained by the laser scanning sensor into the central axis of the two pipes, calculates the longitudinal distance of the pipe to be laid relative to the laid pipe, and then sends the longitudinal distance to the first control module.

[0052] S4.3 Initial movement of the pipeline to be laid: Specifically, the first control module controls the traveling body of the cantilever crane to move along the length of the trench according to the longitudinal distance between the pipeline to be laid and the already laid pipeline, until the gap between the already laid pipeline and the pipeline to be laid is within the measurement area of ​​the online structured light sensor, at which point the traveling body stops.

[0053] S4.4 Fine-tuning of the pipeline to be laid, specifically:

[0054] The first control module calculates the vertical adjustment of the front end, the vertical adjustment of the rear end, the horizontal adjustment of the front end, and the horizontal adjustment of the rear end of the pipeline to be laid relative to the already laid pipeline based on the detection information obtained by the pipeline attitude detection device.

[0055] The first control module controls the lifting mechanism of the pipe docking device to make vertical adjustments to the front and rear ends of the pipe to be laid, based on the vertical adjustment amount at the front and rear ends respectively.

[0056] The first control module controls the lateral movement mechanism of the pipe docking device to make lateral adjustments to the front and rear ends of the pipe to be laid, based on the lateral adjustment amount at the front and rear ends respectively.

[0057] Until the coaxiality error between the centerline of the pipeline to be laid and the centerline of the already laid pipeline is within the preset error range;

[0058] S4.5, Pipe socket connection, specifically:

[0059] The first control module controls the jacking mechanism of the pipe docking device to move the spigot of the pipe to be laid into the socket of the laid pipe according to the gap between the pipe gap and the pipe to be laid, until the gap meets the preset size value and the spigot and socket of the laid pipe and the pipe to be laid are docked.

[0060] S4.6. Adjust the end of the pipe to be laid, specifically:

[0061] The first control module calculates the vertical and lateral adjustment amounts of the rear end of the pipeline to be laid based on the absolute position information fed back by the positioning instrument and the pipe tail design data.

[0062] The pipe connection device adjusts the tail posture of the pipe to be laid according to the vertical and lateral adjustment amounts.

[0063] Optionally, after S5, the system further includes: the first control module controls the telescopic mechanism of the backfill support device to retract the pusher, and controls the lateral movement mechanism of the pipe docking device to move away from the outer wall of the pipe to be laid, then controls the rail changing mechanism to complete the transfer and laying of the guide rail in the trench, and then controls the cantilever crane to travel along the guide rail to the lifting position of the next pipe to be laid.

[0064] In this invention, the control system coordinates a cantilever crane, a pipeline attitude detection device, a pipe tail detection device, and a pipeline docking device to perform pipeline hoisting operations. During the operation, the cantilever crane is positioned on the roadbed surface to hoist the pipeline from the roadbed surface into the trench. The pipeline attitude detection device is located inside the laid pipeline and can move along the inner wall of the pipeline to detect the attitude of the pipeline to be laid and the distance between the pipeline to be laid and the laid pipeline. The pipe tail detection device is located at the end of the pipeline to be laid away from the laid pipeline to detect the position of the pipe tail. The pipeline docking device is mounted on the cantilever crane to adjust the attitude of the pipeline to be laid so that the first end of the pipeline to be laid is docked with the last end of the laid pipeline. This invention enables an integrated automatic hoisting equipment and method that allows direct hoisting of pipelines from a pipeline transport vehicle on one side of the roadbed surface into the trench, with automatic detection and adjustment of the docking socket, pipe gap, and pipe tail position. This effectively improves the automation level of pipeline hoisting operations and is beneficial to increasing operational efficiency. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0066] Figure 1 This is a schematic diagram of the integrated automatic pipeline hoisting equipment in an embodiment of the present invention;

[0067] Figure 2 for Figure 1 Enlarged view of part A;

[0068] Figure 3 This is a schematic diagram of the installation of the hoisting trolley in an embodiment of the present invention;

[0069] Figure 4 This is a schematic diagram of the gatepost support structure in an embodiment of the present invention;

[0070] Figure 5 for Figure 3 Enlarged view of part B;

[0071] Figure 6 for Figure 4 Enlarged view of part C;

[0072] Figure 7 This is a schematic diagram of the operation of the pipeline attitude detection device in an embodiment of the present invention;

[0073] Figure 8 for Figure 7 Enlarged view of part D;

[0074] Figure 9 This is a schematic diagram of the installation of the tail posture detection device in an embodiment of the present invention;

[0075] Figure 10 for Figure 9 Enlarged view of part E;

[0076] Figure 11 This is a schematic diagram of the pipe docking device in an embodiment of the present invention;

[0077] Figure 12 for Figure 11 Structural diagram of the transverse movement mechanism and the support mechanism;

[0078] Figure 13 This is a schematic diagram of the anti-sway device in an embodiment of the present invention;

[0079] Figure 14 This is a schematic diagram of the backfill support device in an embodiment of the present invention;

[0080] Figure 15 This is a construction schematic diagram of the integrated automatic pipeline hoisting equipment in an embodiment of the present invention;

[0081] Figure 16 This is a structural schematic diagram of the integrated automatic pipeline hoisting equipment in a non-construction state according to an embodiment of the present invention.

[0082] Explanation of icon numbers:

[0083] 1. Cantilever crane; 1.1. Traveling body; 1.2. Guide rails; 1.3. Gantry;

[0084] 1.4 Lateral Movement Mechanism; 1.4.1 Main Beam; 1.4.2 Lower Support Wheel Box; 1.4.3 Upper Pressing Wheel Box; 1.4.4 Moving Track; 1.4.5 Lateral Drive Component; 1.4.6 First Distance Sensor; 1.4.7 Travel Track; 1.4.8 Third Distance Sensor; 1.4.9 Fourth Distance Sensor; 1.4.10 Second Distance Sensor; 1.4.11 Limit Switch; 1.4.12 Support Seat;

[0085] 1.5 Lifting trolley; 1.5.1 Traveling beam frame; 1.5.2 Traveling wheel set; 1.5.3 Lifting mechanism; 1.5.4 Brake;

[0086] 1.6. Portal support; 1.6.1. Fixed outrigger; A1. Fixed section; A2. Standard section; 1.6.2. L-shaped outrigger; 1.6.3. Support guide wheel; 1.6.4. Support traveling wheel; 1.6.5. Support base; 1.6.6. Connecting beam; 1.6.7. Telescopic outer leg; 1.6.8. Telescopic inner leg; 1.6.9. Anti-suspension mechanism; 1.6.9.1. Pin; 1.6.9.2. Support block; 1.6.9.3. Base; 1.6.9.4. Support sleeve; 1.6.9.5. Stud; 1.6.10. Retraction position sensor;

[0087] 1.7 Supporting track;

[0088] 1.8 Rail changing mechanism;

[0089] 2. Anti-sway device; 2.1. Shock-absorbing wheel; 2.2. Drive adjustment mechanism; 2.2.1. Wheel frame; 2.2.2. First connecting rod; 2.2.3. Drive adjustment rod; 2.2.4. Second connecting rod; 2.3. First hinge seat; 2.4. Second hinge seat;

[0090] 3. Pipeline attitude detection device; 3.1. Chassis; 3.2. Second power system; 3.3. Detection mechanism; 3.3.1. Column; 3.3.2. Detection panel; 3.3.3. Line structured light sensor; 3.3.4. Laser scanning sensor; 3.5. Attitude detection control module; 3.6. Wireless base station; 3.7. Monitoring camera;

[0091] 4. Pipeline connection device; 4.1. Jacking mechanism; 4.1.1. Longitudinal track; 4.1.2. Longitudinal push rod; 4.1.3. Jacking frame; 4.1.3.1. Longitudinal traveling wheel set; 4.1.3.2. Jacking vertical beam; 4.1.3.3. Jacking transverse beam; 4.1.3.4. Support; 4.1.3.5. Guide wheel; 4.1.4. Longitudinal guide beam; 4.2. Lifting mechanism; 4.2.1. Lifting vertical beam; 4.2.2. Lifting push rod; 4.2.3 Lifting slide; 4.2.3.1 Roller; 4.2.3.2 Lifting slider; 4.2.3.3 Lifting guide block; 4.3 Lateral movement mechanism; 4.3.1 Lateral movement fixed seat; 4.3.2 Lateral movement slide; 4.3.3 Lateral movement push rod; 4.4 Support mechanism; 4.4.1 Clamping plate; 4.4.2 Support pad; 4.4.3 Support hinge seat; 4.4.4 Support adjusting rod; 4.4.5 Force sensor;

[0092] 5. Pipe tail detection device; 5.1 Pipe tail measuring base; 5.2 Horizontal measuring element; 5.3 Prism;

[0093] 6. Backfill support device; 6.1 Mounting base; 6.2 Telescopic mechanism; 6.2.1 Outer cylinder; 6.2.2 Backfill push rod; 6.2.3 Inner cylinder; 6.2.4 Thrust seat; 6.3 Thrust measuring element; 6.4 Support hinge seat; 6.5 Push blade; 6.6 Backfill support adjusting rod;

[0094] 7. First power system; 7.1.1 Generator set; 7.1.2 Hydraulic pump station one; 7.1.3 Hydraulic pump station two;

[0095] 8. Control system; 8.1. First control module; 8.2. Second control module;

[0096] 9. Existing pipes; 9.1. Socket of the existing pipes; 9.2. End face of the socket of the existing pipes; 9.3. Inner wall of the existing pipes;

[0097] 10. Pipe to be laid; 10.1. Socket of the pipe to be laid; 10.2. End face of the socket of the pipe to be laid; 10.3. Inner wall of the pipe to be laid;

[0098] 11. Transportation and management vehicle; 12. Roadbed surface; 13. Ditch; 14. Positioning instrument.

[0099] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0100] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0101] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0102] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0103] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0104] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0105] This invention proposes an integrated automatic pipeline hoisting device and control method, aiming to solve the problems of limited functionality and low automation of existing construction equipment.

[0106] Example 1

[0107] See Figure 1This embodiment provides an integrated automatic pipeline hoisting device. A trench 13 is provided on the roadbed surface 12. The device includes a cantilever crane 1, a pipeline posture detection device 3, a pipe tail detection device 5, a pipeline docking device 4, and a control system 8. The cantilever crane 1 is installed in the trench 13 and is used to hoist the pipeline from the roadbed surface 12 into the trench 13. The pipeline posture detection device 3 is installed inside the laid pipeline 9 and can move along the inner wall of the pipeline. It is used to detect the posture of the pipeline to be laid 10 and the distance between the pipeline to be laid 10 and the laid pipeline 9. The pipe tail detection device 5 is installed at the end of the pipeline to be laid 10 away from the laid pipeline 9 and is used to detect the position of the pipe tail of the pipeline to be laid 10. The pipeline docking device 4 is installed on the cantilever crane 1 and is used to adjust the posture of the pipeline to be laid 10 to dock the first end of the pipeline to be laid 10 with the tail end of the laid pipeline 9. The control system 8 is electrically connected to the cantilever crane 1, the pipeline posture detection device 3, the pipe tail detection device 5, and the pipeline docking device 4.

[0108] In actual operation, the control system 8 can control the cantilever crane 1, the pipeline posture detection device 3, the pipe tail detection device 5, and the pipeline docking device 4 to cooperate in the pipeline hoisting operation. During the operation, the cantilever crane 1 is set on the roadbed surface 12 to hoist the pipeline from the roadbed surface 12 to the trench 13; the pipeline posture detection device 3 is set inside the laid pipeline 9 and can move along the inner wall of the pipeline to detect the posture of the pipeline to be laid 10 and the distance between the pipeline to be laid 10 and the laid pipeline 9; the pipe tail detection device 5 is set at the end of the pipeline to be laid 10 away from the laid pipeline 9 to detect the position of the pipe tail of the pipeline to be laid 10; the pipeline docking device 4 is set on the cantilever crane 1 to adjust the posture of the pipeline to be laid 10 to dock the first end of the pipeline to be laid 10 with the tail end of the laid pipeline 9. This embodiment enables an integrated automatic hoisting equipment and hoisting operation method that allows pipes to be directly hoisted into the trench from the roadbed surface 12 on one side of the trench 13, and automatically detects and adjusts the joint, pipe gap, and pipe tail position. This effectively improves the automation level of pipeline hoisting operations and helps to improve work efficiency.

[0109] The roadbed surface 12 has a lifting position, and the trench 13 has a lowering position. The cantilever crane 1 includes a traveling body 1.1, a gantry 1.3, a gantry support 1.6, a lateral movement mechanism 1.4, and a lifting trolley 1.5. The traveling body 1.1 is located within the trench 13. The gantry 1.3 is mounted on the traveling body 1.1, and the traveling body 1.1 can drive the gantry 1.3 to travel along the length of the trench 13. The gantry support 1.6 is located on the roadbed surface 12. (See also...) Figure 2The lateral movement mechanism 1.4 includes a main beam 1.4.1 and a lateral movement drive assembly. The main beam 1.4.1 is slidably connected to the gantry 1.3 and the gantry support 1.6 respectively. The output end of the lateral movement drive assembly is connected to the main beam 1.4.1, and the lateral movement drive assembly can drive the main beam 1.4.1 to slide relative to the gantry 1.3 and the gantry support 1.6 along the width direction of the trench 13. The hoisting trolley 1.5 is slidably disposed on the main beam 1.4.1, and the hoisting trolley 1.5 can move between the lifting position and the lowering position. The hoisting trolley 1.5 is used to hoist the pipeline.

[0110] In this embodiment, the traveling body 1.1 is set on the track in the trench 13. The traveling body 1.1 is powered by the generator set 7.1.1 and is driven by the motor inside the traveling body 1.1 to travel along the trench 13 under the control of the first control module 8.1. The gantry 1.3 is a frame structure consisting of four legs and connecting beams 1.6.6. It is installed above the traveling body 1.1 and provides main support for the main beam 1.4.1, the hoisting trolley 1.5, the gantry support 1.6, and the external hoisting load. The lower support wheel box 1.4.2 and the upper clamping wheel box 1.4.3 are respectively arranged above the four legs of the gantry 1.3. Each of the support wheel box and the clamping wheel box is equipped with a roller. The main beam 1.4.1 includes two long box-shaped crossbeams and two short box-shaped longitudinal beams. The connection between the ends of the longitudinal beams and the long box-shaped crossbeams forms a frame structure.

[0111] The lateral drive assembly includes a moving track 1.4.4, a rack, a lateral drive component 1.4.5, and a drive gear. The moving track 1.4.4 is arranged on the main beam 1.4.1 along the width direction of the groove 13. The gantry 1.3 is slidably connected to the main beam 1.4.1 through the moving track 1.4.4. The rack is arranged on the main beam 1.4.1, and all racks are arranged along the length direction of the main beam 1.4.1. The lateral drive component 1.4.5 is arranged on the gantry 1.3. The drive gear is connected to the output shaft of the lateral drive component 1.4.5, and the drive gear meshes with the rack. A moving track 1.4.4 is configured on the upper and lower surfaces of the two long box-shaped crossbeams of the main beam 1.4.1. The moving track 1.4.4 forms a rolling pair with the rolling wheels 4.2.3.1 of the lower support wheel box 1.4.2 and the upper clamping wheel box 1.4.3. Under the drive of the transverse drive component 1.4.5, the transverse movement of the main beam 1.4.1 can be realized.

[0112] The main beam 1.4.1 is also equipped with a traveling track 1.4.7 arranged along the width direction of the groove 13; see also [link to relevant documentation]. Figure 3The hoisting trolley 1.5 includes a traveling beam frame 1.5.1, a traveling wheel set 1.5.2, and a lifting mechanism 1.5.3. The traveling beam frame 1.5.1 is mounted on the traveling track 1.4.7 via the traveling wheel set 1.5.2, which enables the traveling beam frame 1.5.1 to move along the traveling track 1.4.7. The traveling beam frame 1.5.1 is equipped with at least two lifting mechanisms 1.5.3, which are symmetrically arranged along the width of the groove 13. Each lifting mechanism 1.5.3 includes two synchronously operating lifting units, each of which includes a winch, a rotary encoder, and a brake 1.5.4. The winch and the rotary encoder are coaxially mounted, and the rotary encoder controls the number of rotations of the winch. The brake 1.5.4 is mounted on the winch and is used to brake the winch. In this embodiment, a support seat 1.4.12 is provided below the two long box-shaped crossbeams on the outer side of the main beam 1.4.1. The support seat 1.4.12 is provided with a T-shaped limiting groove. A limit switch 1.4.11 is provided below the main beam 1.4.1 on the outer side of the support seat 1.4.12. When the outer end face of the support seat 1.6.5 of the gatepost support 1.6 contacts the limit switch 1.4.11, the gatepost support 1.6 moves outward into place.

[0113] In this embodiment, the traveling beam 1.5.1 is a frame structure. A set of traveling wheels 1.5.2 is installed at the lower part of each of the four corners of the traveling beam 1.5.1. Each traveling wheel set 1.5.2 includes a drive motor and traveling wheels. The traveling wheels and the main beam 1.4.1 traveling track 1.4.7 form a rolling pair, which in turn drives the hoisting trolley 1.5 to move laterally along the main beam 1.4.1. Four lifting components are installed above the traveling beam 1.5.1. Each lifting component includes a conventional motor, winch, wire rope, and hook, enabling the lifting and lowering of the pipeline under motor drive. A rotary encoder is installed on the rotating component (e.g., the winch drum) of the lifting mechanism 1.5.3 to adjust the lifting height of the pipeline in real time. A brake 1.5.4 is installed between the motor and winch connecting shaft of the lifting mechanism 1.5.3 for braking when the pipeline is lifted to the correct position. A second control module 8.2 is also installed on the traveling beam 1.5.1 to control the trolley's traveling, lifting, and braking actions.

[0114] See also Figures 4 to 6The gatepost support 1.6 includes a connecting beam 1.6.6 and two opposing support components. Each support component includes a fixed leg 1.6.1, a telescopic leg, an L-shaped leg 1.6.2, a support guide wheel 1.6.3, and a support traveling wheel 1.6.4. The fixed leg 1.6.1 is connected to the fixed leg 1.6.1 of the other support component via the connecting beam 1.6.6, and the first end of the fixed leg 1.6.1 slides along the width direction of the groove 13 on the main beam 1.4.1. Both ends are connected to telescopic outriggers, which can extend and retract vertically. An L-shaped outrigger 1.6.2 is mounted on a fixed outrigger 1.6.1. The L-shaped outrigger 1.6.2 rolls against the main beam 1.4.1 via a support guide wheel 1.6.3. The L-shaped outrigger 1.6.2 is mounted on the moving track 1.4.4 of the main beam 1.4.1 via a support traveling wheel 1.6.4, which can drive the L-shaped outrigger 1.6.2 to move along the traveling track 1.4.7. In this embodiment, a support traveling wheel 1.6.4 is mounted on the upper part of the L-shaped outrigger 1.6.2. The support traveling wheel 1.6.4 includes a drive motor and a traveling wheel. The traveling wheel and the moving track 1.4.4 form a rolling pair, which can drive the portal support 1.6 to move laterally along the main beam 1.4.1. Meanwhile, guide wheels are provided on the inner side of the L-shaped support leg 1.6.2. The guide wheels roll in contact with the outer side of the long box-shaped crossbeam of the main beam 1.4.1 to prevent the lateral movement of the gatepost support 1.6 from being too smooth. The lower part of the L-shaped support leg 1.6.2 is connected to the fixed support leg 1.6.1 through a reinforcing plate. An I-shaped support seat 1.6.5 is installed on the upper part of the fixed support leg 1.6.1. The rail head of the support seat 1.6.5 has the same shape as the T-shaped limiting groove of the load-bearing seat 1.4.12. The two fit together with a certain gap to ensure that the rail head of the support seat 1.6.5 can be smoothly inserted into the T-shaped limiting groove of the load-bearing seat 1.4.12 and to prevent the support seat 1.6.5 from moving. The two fixed support legs 1.6.1 are connected by a middle beam. An eight-shaped inclined beam is provided on the lower side of the middle beam to stabilize the gatepost support 1.6. In this embodiment, a retraction sensor 1.6.10 is provided on the reinforcing plate connecting the L-shaped support leg 1.6.2 and the fixed support leg 1.6.1 of the gatepost support 1.6. The retraction sensor 1.6.10 is positioned directly opposite the gate frame 1.3. When the gatepost support 1.6 retracts laterally, the gatepost support 1.6 is retracted into place when the distance measured by the retraction sensor 1.6.10 reaches a preset value.

[0115] Specifically, the fixed outrigger 1.6.1 includes a fixed section A1 and a standard section A2. The first end of the fixed section A1 is connected to the L-shaped outrigger 1.6.2, and the second end is detachably connected to the telescopic outrigger via the standard section A2. There is one or more standard sections A2, and adjacent standard sections A2 are detachably connected. The cross-section of the standard section A2 is the same as that of the fixed section A1, and the length of the standard section A2 is equal to the maximum extension of the telescopic inner leg 1.6.8. Identical flange interfaces are provided at the lower part of the fixed outrigger 1.6.1, the upper part of the telescopic outer leg 1.6.7, and both ends of the standard section A2. By connecting the standard section A2 between the fixed outrigger 1.6.1 and the telescopic outer leg 1.6.7, the outrigger of the portal support 1.6 can be lengthened, ensuring that the telescopic inner leg 1.6.8 can be supported on the support rail 1.7 on the roadbed surface 12 when the pipeline is hoisted in trenches 13 of different depths.

[0116] In this embodiment, the telescopic outrigger includes a telescopic outer leg 1.6.7, a telescopic inner leg 1.6.8, and a telescopic drive component. The telescopic outer leg 1.6.7 is mounted on the fixed outrigger 1.6.1 and has a waist-shaped through hole arranged vertically. The telescopic inner leg 1.6.8 is slidably sleeved inside the telescopic outer leg 1.6.7 and has multiple circular through holes spaced vertically. The telescopic drive component connects the telescopic outer leg 1.6.7 and the telescopic inner leg 1.6.8. The doorpost support 1.6 also includes an anti-suspension mechanism 1.6.9, which includes a base 1.6.9.3 and a pin 1.6. 9.1, support block 1.6.9.2, and stud 1.6.9.5; both sides of the telescopic outer leg 1.6.7 are provided with bases 1.6.9.3, and the bases 1.6.9.3 are located above the oblong through hole; the pin 1.6.9.1 can pass through the oblong through hole and any circular through hole to pass through the telescopic outer leg 1.6.7 and the telescopic inner leg 1.6.8; a support block 1.6.9.2 is respectively sleeved on both ends of the pin 1.6.9.1; the stud 1.6.9.5 vertically passes through the base 1.6.9.3 and is threadedly connected to the base 1.6.9.3, and the stud 1.6.9.5 can abut against the support block 1.6.9.2 to limit the pin 1.6.9.1.

[0117] Furthermore, the telescopic outer leg 1.6.7 is provided with a waist-shaped through hole, and correspondingly, multiple circular through holes are provided at equal intervals on the telescopic inner leg 1.6.8. The length of the waist-shaped through hole is not less than the spacing of the circular holes, so that the circular through holes can be kept within the range of the waist-shaped through hole at any telescopic position of the telescopic inner leg 1.6.8.

[0118] In this embodiment, an anti-suspension mechanism 1.6.9 is provided on the telescopic outrigger. A base 1.6.9.3 is provided above the waist-shaped hole on the outer wall of the telescopic outer leg 1.6.7. A cylindrical support sleeve 1.6.9.4 is provided on the base 1.6.9.3. The cylindrical support sleeve 1.6.9.4 is provided with a through internal thread, and the stud 1.6.9.5 is provided with an external thread that matches the internal thread of the support sleeve 1.6.9.4. In addition, a cylindrical pin 1.6.9.1 is also included, and the support block 1.6.9.2 has a through hole that matches the pin 1.6.9.1. After the telescopic inner leg 1.6.8 extends and is in place, insert the pin 1.6.9.1 through the oblong hole of the outer leg into the circular through hole of the inner leg, insert the support block 1.6.9.2 into the pin 1.6.9.1, and screw the stud 1.6.9.5 into the support sleeve 1.6.9.4 until the lower end of the stud 1.6.9.5 abuts against the support block 1.6.9.2. This achieves mechanical self-locking protection for the inner and outer legs, preventing hydraulic system failure from causing the main beam 1.4.1 or even the entire machine to collapse.

[0119] In this embodiment, at least two waist-shaped holes are provided on the telescopic outer leg 1.6.7, and the number of equally spaced circular through holes on the corresponding telescopic inner leg 1.6.8 corresponds to the number of waist-shaped holes. The number of circular through holes on the support block 1.6.9.2 is the same as the number of waist-shaped holes.

[0120] In addition, the cantilever crane 1 also includes a first distance measuring sensor 1.4.6, a second distance measuring sensor 1.4.10, a third distance measuring sensor 1.4.8, and a fourth distance measuring sensor 1.4.9. The first distance measuring sensor 1.4.6 is set on the moving track 1.4.4 and is used to measure the amount of movement of the main beam 1.4.1 relative to the gantry 1.3. The second distance measuring sensor 1.4.10 is set on the moving track 1.4.4 and is used to measure the amount of movement of the gantry support 1.6. The third distance measuring sensor 1.4.8 and the fourth distance measuring sensor 1.4.9 are respectively set at both ends of the traveling track 1.4.7 and are used to measure whether the hoisting trolley 1.5 has moved into place. A first distance sensor 1.4.6 is installed at one end of the moving track 1.4.4 on the upper surface of the main beam 1.4.1. The first distance sensor 1.4.6 is directly opposite the upper pressure wheel box 1.4.3 of the outer support leg of the gantry 1.3. It can measure the distance between the end of the main beam 1.4.1 and the upper pressure wheel box 1.4.3. During the lateral movement of the main beam 1.4.1, the position of the main beam 1.4.1 relative to the gantry 1.3 is measured in real time. A second distance sensor 1.4.10 is installed at the other end of the moving track 1.4.4 on the upper surface of the main beam 1.4.1. The second distance sensor 1.4.10 is connected to the support of the gantry support 1.6. The end face of wheel 1.6.4 is directly opposite, which can measure the lateral movement position of the gatepost support 1.6; a travel track 1.4.7 is also configured on the upper surface of the two long box-shaped crossbeams of the main beam 1.4.1. A third distance sensor 1.4.8 is set at one end of the travel track 1.4.7, which is directly opposite the end face of the traveling beam 1.5.1, and can measure the lateral movement position of the hoisting trolley 1.5. A fourth distance sensor 1.4.9 is set at the other end of the travel track 1.4.7, which is directly opposite the other end face of the traveling beam 1.5.1, and can measure the lateral movement position of the hoisting trolley 1.5.

[0121] Furthermore, a guide rail 1.2 is laid in the trench 13 along its length. The cantilever crane 1 also includes a rail-changing mechanism 1.8, which includes a crossbeam, a tie rod, a rail-lifting trolley, an electric hoist, and a rail grabber. The crossbeam is mounted on the gantry 1.3 along the length of the trench 13. The tie rod connects the crossbeam and the gantry 1.3. The rail-lifting trolley is mounted on the crossbeam and can travel along it. The electric hoist is mounted on the rail-lifting trolley, and its hook is connected to the rail grabber. The electric hoist can grab the guide rail 1.2 through the rail grabber and lift it from the rear end to the front end of the traveling body 1.1 in the direction of travel. In this embodiment, the crossbeam is an I-beam steel beam. The rail-lifting trolley uses the electric hoist and rail grabber to transfer the guide rail 1.2 from one side of the cantilever gantry crane to the other side for the continuation of the track for the trolley's travel.

[0122] See Figure 7 and Figure 8The pipeline attitude detection device 3 includes a chassis 3.1, a power mechanism, a detection mechanism 3.3, a monitoring camera 3.6, and an attitude detection control module 3.4. The chassis 3.1 can move along the inner wall of the laid pipeline 9. The power mechanism is mounted on the chassis 3.1 and provides the chassis 3.1 with the power to move. The detection mechanism 3.3 includes a column 3.3.1, a detection plate 3.3.2, a line structure light sensor 3.3.3, and a laser scanning sensor 3.3.4. The column 3.3.1 is mounted on the chassis 3.1. The detection plate is mounted on the column 3.3.1 and has multiple line structure light sensors 3.3.3 arranged circumferentially around the center of the detection plate. The measurement direction of the line structure light sensors 3.3.3 is along the inner wall of the laid pipeline 9. Pipe 9 is arranged radially. A line structured light sensor 3.3.3 is used to measure the gap between the laid pipe 9 and the pipe 10 to be laid. A laser scanning sensor 3.3.4 is set at the center of the detection plate to scan and obtain the inner wall contour information of the laid pipe 9 and the pipe 10 to be laid. A monitoring camera 3.6 is set on the column 3.3.1 and is electrically connected to the control system 8 to monitor the pipe 10 to be laid and its surrounding environment. The attitude detection control module 3.4 can receive the detection information from the detection mechanism 3.3 and the monitoring camera 3.6, and can control the power mechanism to drive the chassis 3.1 to walk along the pipe 10 to be laid and analyze and process the received detection information. The pipeline attitude detection device 3 is placed inside the laid pipeline 9. Driven by a power mechanism, its chassis 3.1 automatically moves within the pipeline 9. The detection mechanism 3.3 automatically measures the attitude of the pipeline to be laid 10 relative to the laid pipeline 9 and the distance between the two pipelines in real time, transmitting the data to the attitude detection control module 3.4. The attitude detection control module 3.4 processes and calculates the vertical adjustment, lateral adjustment, and pipe joint gap of the pipeline to be laid 10 relative to the laid pipeline 9, and sends this data to the first control module 8.1 to guide subsequent pipeline docking. In this embodiment, the width of the measurement area of ​​the line structured light sensor 3.3.3 is greater than the pipe joint gap between the socket and spigot ends of the laid pipeline and the pipeline to be docked, guiding the longitudinal docking of the pipelines by measuring the pipe joint gap. The laser scanning sensor 3.3.4 can scan the contour data of the inner wall 9.3 of the laid pipeline 9 and the inner wall 10.3 of the pipeline to be laid 360°. A monitoring camera 3.6 is installed on the chassis 3.1 in front of the detection device column 3.3.1. It is used to monitor the pipeline to be connected and its surrounding environment, and transmit the video stream to the remote control terminal (such as a handheld tablet computer) for display, so that the operators can monitor the operation information in real time and prevent danger from occurring.

[0123] In this embodiment, a wireless base station 3.5 is also installed on the chassis 3.1 for establishing a wireless communication connection between the pipeline attitude detection device 3, the cantilever crane 1, and the remote control terminal. A second power module 3.2 is configured on the chassis 3.1, with one end connected to the attitude detection control module 3.4 and the other end connected to the axle of the chassis 3.1. The attitude detection control module 3.4 processes the spatial position it acquires between itself and the laid pipeline 9 and controls the chassis 3.1 to move automatically within the pipeline until the distance between the pipeline attitude detection device 3 and the opening of the laid pipeline 9 reaches a set value, at which point it stops.

[0124] In this embodiment, the attitude detection and control module 3.4 processes the pipe opening contour data of the laid pipe 9 and the pipe to be laid 10 obtained by the laser scanning sensor 3.3.4 to obtain the longitudinal distance between the pipe to be laid 10 and the laid pipe 9, and sends the longitudinal distance to the first control module 8.1. The first control module 8.1 controls the walking body 1.1 to move along the length direction of the trench 13 according to the measured longitudinal gap until it moves to the width of the measurement area of ​​the gap between the pipe to be connected pipe and the laid pipe by the online structured light sensor 3.3.3. The attitude detection and control module 3.4 fits the inner wall contour data of the laid pipe 9 and the pipe to be laid 10 obtained by the laser scanning sensor 3.3.4 to the central axis of the two pipes, and calculates the distance between the front end and the rear end of the pipe to be laid 10 relative to the pipe 9. The vertical and lateral adjustments of the laid pipe 9 are sent to the first control module 8.1. Based on these adjustments, the first control module 8.1 controls the lifting mechanism 4.2 to vertically adjust the front and rear ends of the pipe to be laid 10, and controls the lateral movement mechanism 4.3 to laterally adjust the front and rear ends of the pipe to be laid 10, until the coaxiality error between the central axis of the pipe to be laid 10 and the central axis of the laid pipe 9 is within a preset range. In addition, the attitude detection control module 3.4 sends the gap between the two pipes measured by the line structure light sensor 3.3.3 to the first control module 8.1. Based on the measured gap value, the first control module 8.1 controls the pushing mechanism 4.1 to slowly move the spigot of the pipe to be laid 10 into the socket of the laid pipe 9, until the gap meets the preset value, thus completing the spigot and socket connection.

[0125] See Figure 9 and Figure 10The pipe tail detection device 5 includes a pipe tail measuring base 5.1, a horizontal measuring element 5.2, a prism 5.3, and a positioning instrument 14. The pipe tail measuring base 5.1 is set at the tail end of the pipe 10 to be laid; the horizontal measuring element 5.2 is set on the pipe tail measuring base 5.1; the prism 5.3 is set on the horizontal measuring element 5.2; and the positioning instrument 14 is set in the trench 13. The positioning instrument 14 is used to measure the absolute position of the prism 5.3, and is electrically connected to the control system 8. In this embodiment, the positioning instrument is a total station, which is used to measure the coordinates of the pipe tail of the pipe 10 to be laid and transmit the measurement data to the first control module 8.1. The first control module 8.1 controls the pipe docking equipment to adjust the pipe tail end of the pipe 10 to be laid based on the deviation between this data and the design data. In this embodiment, a support plane is provided on the lower side of the pipe tail measuring base 5.1, and a positioning surface perpendicular to the support plane is provided on the front side. The horizontal measuring element 5.2 and the prism 5.3 are also connected on the upper side. The horizontal measuring element 5.2, the mounting surface of the prism 5.3, and the supporting plane are arranged in parallel. In use, the pipe tail detection device is placed inside the pipe tail of the pipe to be laid 10, ensuring that the positioning surface of the pipe tail measuring base 5.1 is aligned with the socket end of the pipe tail, and adjusted to be horizontal with the horizontal measuring element 5.2. In addition, a matching instrument, such as a total station, is provided to measure the absolute position of the pipe tail. This instrument measures the absolute position of the pipe tail prism 5.3 and supports wireless communication with the first control module 8.1, transmitting the measured absolute position of the prism 5.3 to the first control module 8.1. The first control module 8.1 processes and calculates this data, along with the known relative position between the prism 5.3 and the pipe tail, and the pipe tail design data, to obtain the absolute position of the pipe tail, the lateral adjustment amount, and the vertical adjustment amount, facilitating the adjustment of the pipe tail by the pipe docking device 4.

[0126] See Figure 11 and Figure 12The pipe docking device 4 includes two oppositely arranged pipe docking components, which are positioned opposite each other on both sides of the gantry 1.3 along the width direction of the trench 13. Each pipe docking component includes a pushing mechanism 4.1, a lifting mechanism 4.2, a lateral movement mechanism 4.3, and a supporting mechanism 4.4. The pushing mechanism 4.1 is mounted on the gantry 1.3; the lifting mechanism 4.2 is mounted on the pushing mechanism 4.1, and the pushing mechanism 4.1 can drive the lifting mechanism 4.2 to move along the length direction of the trench 13; the lateral movement mechanism 4.3 is mounted on the lifting mechanism 4.2, and the lifting mechanism 4.2 can drive the lateral movement mechanism 4.3 to move vertically; the supporting mechanism 4.4 is mounted on the lateral movement mechanism 4.3, and the lateral movement mechanism 4.3 can drive the supporting mechanism 4.4 to move along the width direction of the trench 13; the supporting mechanism 4.4 includes a clamping plate 4.4.1. The system includes a support hinge seat 4.4.3, a support adjusting rod 4.4.4, a support pad 4.4.2, and a force sensor 4.4.5. The lower part of the clamping plate 4.4.1 is connected to the first end of the support hinge seat 4.4.3, and the first end of the support hinge seat 4.4.3 is hinged to the transverse movement mechanism 4.3 via the force sensor 4.4.5. The upper part of the clamping plate 4.4.1 is hinged to the second end of the support hinge seat 4.4.3 via the support adjusting rod 4.4.4. The force sensor 4.4.5 is used to measure the load on the clamping plate 4.4.1. The support pad 4.4.2 is located on the side of the clamping plate 4.4.1 away from the support hinge seat 4.4.3. The support pad 4.4.2 is used to abut against the outer wall of the pipe. The support pads 4.4.2 of the two pipe-connecting units cooperate to clamp the pipe 10 to be laid and adjust the posture of the pipe 10 to be laid. The two pipe connection units can adjust and connect the pipe posture according to the adjustment instructions of the first control module 8.1. The transverse mechanism 4.3 is equipped with a support mechanism 4.4, and the support mechanism 4.4 is equipped with a force sensor 4.4.5, which can measure the load size and change of the pipe 10 to be laid, and is used to determine whether the pipe 10 to be laid has been completely lowered onto the support mechanism 4.4.

[0127] In this embodiment, the jacking mechanism 4.1 includes a longitudinal track 4.1.1 mounted on the connecting beam 1.6.6 of the gantry 1.3 support leg. C-grooves are provided on both sides of the longitudinal track 4.1.1. A jacking frame 4.1.3 is positioned above the longitudinal track 4.1.1. The jacking wheel frame 2.2.1 includes two front-to-back jacking vertical beams 4.1.3.2. A longitudinal traveling wheel set 4.1.3.1 is connected to the lower part of the jacking vertical beams 4.1.3.2. A pair of traveling wheels is arranged on each side, and these traveling wheels are hinged to the traveling wheel assembly via connecting plates. Each traveling wheel is rolled in connection with the C-shaped groove of the longitudinal track 4.1.1. A support 4.1.3.4 is provided on the upper part of the jacking vertical beam 4.1.3.2, and a guide wheel 4.1.3.5 is provided on each side of the support 4.1.3.4. A longitudinal guide beam 4.1.4 is provided on the upper part of the jacking wheel frame 2.2.1. The two ends of the guide beam are connected to the support legs of the gatepost, and the two sides of the guide beam are rolled in connection with the guide wheels. The upper and lower parts between the two jacking vertical beams 4.1.3.2 are connected by the jacking transverse beam 4.1.3.3 to form a frame structure. A longitudinal push rod 4.1.2 is also provided on the upper side of one side of the longitudinal track 4.1.1. One end of the push rod is connected to the gate column support leg on the corresponding side, and the other end of the push rod is connected to the push wheel frame 2.2.1. Driven by the hydraulic pump station, the push wheel frame 2.2.1 is pushed to move along the longitudinal track 4.1.1 for the longitudinal docking of the pipeline.

[0128] In this embodiment, the lifting mechanism 4.2 includes two lifting vertical beams 4.2.1 arranged front to back. The back of each lifting vertical beam 4.2.1 is connected to the top and bottom of the top pusher frame 2.2.1's top pusher transverse beam 4.1.3.3 via connecting seats. The lifting vertical beam 4.2.1 has a U-shaped groove structure. One end of the lifting push rod 4.2.2 is hinged to the lifting vertical beam 4.2.1, and the other end is hinged to the lifting slide 4.2.3. Two rolling wheels 4.2.3.1 are arranged vertically on the lifting sliders 4.2.3.2 facing the sides of the U-shaped channel of the lifting vertical beam 4.2.1, and are rolled to the sides of the U-shaped channel. At the same time, lifting guide blocks 4.2.3.3 are also provided on the lifting sliders 4.2.3.2 facing the sides of the U-shaped channel, with a certain sliding gap between them and the sides of the U-shaped channel. Driven by the hydraulic pump station 7.1.2, the lifting push rod 4.2.2 pushes the lifting slide 4.2.3 to move up and down, which is used for the vertical position adjustment of the pipeline.

[0129] In this embodiment, the transverse mechanism 4.3 is connected to the lower end of the lifting vertical beam 4.2.1. The transverse fixed seat 4.3.1 is a box-shaped structure. Wear-resistant strips are provided on all four surfaces of the transverse slide 4.3.2. The wear-resistant strips are slidably connected to the inner cavity of the fixed seat. An oil inlet is also provided on the transverse fixed seat 4.3.1 for lubricating the wear-resistant strips. One end of the transverse push rod 4.3.3 is connected to the fixed seat, and the other end is connected to the transverse slide 4.3.2. Under the drive of the hydraulic pump station 7.1.2, the transverse push rod 4.3.3 pushes the transverse slide 4.3.2 to slide along the inner cavity of the transverse fixed seat 4.3.1.

[0130] In the support mechanism 4.4 of this embodiment, a support pad 4.4.2 is provided on the clamping plate 4.4.1. The support pad 4.4.2 is an arc-shaped rubber part that matches the outer wall of the pipe and is used to support the pipe without damaging the coating of the outer wall. The lower side of the clamping plate 4.4.1 is hinged to the lower side of the support hinge seat 4.4.3, and the upper side of the clamping plate 4.4.1 is connected to one end of the support adjusting rod 4.4.4. The other end of the support adjusting rod 4.4.4 is connected to the upper part of the support hinge seat 4.4.3. By adjusting the length of the support adjusting rod 4.4.4, the clamping plate 4.4.1 can swing up and down within a certain angle. The support mechanism 4.4 is hinged to the front end of the transverse slide 4.3.2 through the support hinge seat 4.4.3, and can swing within a certain angle in the horizontal plane. When used to support the pipe, it adapts to the position of the outer wall, increases the force-bearing area, and prevents damage to the outer wall coating. In addition, a force sensor 4.4.5 is installed between the support hinge seat 4.4.3 and the transverse slide seat 4.3.2 to measure the change in the load on the pipe supported on the clamping plate 4.4.1. When the force measurement data no longer increases and the difference between the force measurement data and the weight of the hoisted pipe meets the set error range, the pipe is lowered into place.

[0131] See Figure 13The integrated automatic pipeline hoisting equipment also includes a sway reduction device 2. At least two sway reduction devices 2 are respectively provided on both sides of the gantry 1.3 along the width direction of the trench 13. The sway reduction device 2 includes a first hinge seat 2.3, a second hinge seat 2.4, a drive adjustment mechanism 2.2, and a shock-absorbing wheel 2.1. The first hinge seat 2.3 and the second hinge seat 2.4 are vertically spaced on the gantry 1.3. The drive adjustment mechanism 2.2 includes a wheel frame 2.2.1, a first connecting rod 2.2.2, a second connecting rod 2.2.4, and a drive adjustment rod 2.2.3. The wheel frame 2.2.1... The system is equipped with multiple vertically spaced shock-absorbing wheels 2.1; a first connecting rod 2.2.2 is hinged between a first hinge seat 2.3 and a wheel frame 2.2.1; a second connecting rod 2.2.4 is hinged between a second hinge seat 2.4 and a wheel frame 2.2.1; and a drive adjusting rod 2.2.3 is hinged between the first hinge seat 2.3 and the wheel frame 2.2.1. The drive adjusting rod 2.2.3 can drive the wheel frame 2.2.1 to rotate the first connecting rod 2.2.2 and the second connecting rod 2.2.4 to adjust the gap between the shock-absorbing wheels 2.1 and the pipe 10 to be laid. In this embodiment, under the control of the first control module 8.1, the drive adjusting rod 2.2.3 extends and retracts to drive the wheel frame 2.2.1 on the drive adjusting mechanism 2.2 to achieve lateral movement, which is used to adjust the gap between the shock-absorbing wheels 2.1 and the outer wall of the pipe. Different lateral movements correspond to pipes of different diameters, which is used to reduce the swaying of the pipe during the lowering process after it enters the gantry 1.3. In this embodiment, at least two sets of anti-sway devices 2 are provided on each side of the gantry 1.3 to reduce the swaying of the pipe during hoisting. The lateral position of the shock-absorbing wheel 2.1 can be adjusted by the adjustment mechanism on the anti-sway device to adapt to pipes of different diameters. In this embodiment, the shock-absorbing wheel 2.1 is a rubber wheel.

[0132] See Figure 14 The integrated automatic pipeline hoisting equipment also includes a backfill support device 6. The backfill support device 6 includes a mounting base 6.1, a telescopic mechanism 6.2, a thrust measuring element 6.3, a support hinge seat 6.4, a pusher 6.5, and a backfill support adjusting rod 6.6. The mounting base 6.1 is located at the bottom of the gantry 1.3, and the telescopic mechanism 6.2 is located on the mounting base 6.1. The output shaft of the telescopic mechanism 6.2 is hinged to the support hinge seat 6.4 through the thrust measuring element 6.3. The thrust measuring element 6.3 is used to measure the sand pressure between the pusher 6.5 and the outer wall of the pipeline 10 to be laid. The pusher 6.5 is hinged to the support hinge seat 6.4. The backfill support adjusting rod 6.6 is hinged between the top of the support hinge seat 6.4 and the top of the pusher 6.5.

[0133] In this embodiment, the backfill support device 6 can drive the pusher 6.5 under the drive of the telescopic mechanism 6.2 to push the sand on both sides of the pipeline 10 to be laid toward the outer wall of the pipeline, and the pusher pressure is sensed in real time by the thrust measuring element 6.3 to realize the initial support of the pipeline. Specifically, the telescopic mechanism 6.2 includes an outer cylinder 6.2.1, a backfill push rod 6.2.2, an inner cylinder 6.2.3, and a thrust seat 6.2.4. The upper end of the mounting base 6.1 is connected to the lower surface of the lower end connecting beam 1.6.6 of the gatepost support leg, and the lower end is connected to the outer cylinder 6.2.1 of the telescopic mechanism 6.2. The telescopic mechanism 6.2 has a box-shaped structure. The outer side of the inner cylinder 6.2.3 is provided with a wear-resistant strip, which is slidably connected to the inner cavity of the outer cylinder 6.2.1. The front end of the inner cylinder 6.2.3 is provided with a thrust seat 6.2.4. Both the thrust seat 6.2.4 and the outer cylinder 6.2.1 are provided with interface seats on one side. The two ends of the backfill push rod 6.2.2 are hinged to the interface seats respectively. A support hinge seat 6.4 is fixedly connected to the front end of the thrust seat 6.2.4. The lower end of the support hinge seat 6.4 is hinged to the pusher 6.5, and the upper end of the support hinge seat 6.4 is hinged to one end of the backfill support adjusting rod 6.6. The other end of the backfill support adjusting rod 6.6 is hinged to the upper side of the pusher 6.5. Driven by the hydraulic pump station 7.1.2, the backfill pusher 6.2.2 pushes the inner cylinder 6.2.3 to slide along the inner cavity of the outer cylinder 6.2.1, pushing the pre-placed sand in front of the pusher 6.5 towards the pipeline, thus stabilizing the pipeline after docking. A thrust measuring element 6.3 is also installed between the support hinge seat 6.4 and the thrust seat 6.2.4 on the rear side of the pusher 6.5. When the pusher 6.5 performs backfilling, the sand pressure between the pusher 6.5 and the outer wall of the pipeline is detected. When the predetermined pressure value is reached, the stabilization of the pipeline after docking is completed. The predetermined pressure value is related to the pipe diameter, its own weight, and the pressure at the bottom of trench 13. The angle of the pusher 6.5 can be adjusted by driving the backfill support adjustment rod 6.6 through the hydraulic pump station 7.1.2, which can better adapt to the establishment of backfill sand pressure for pipes with different outer diameters.

[0134] The control system 8 includes a remote control terminal panel, a first control module 8.1, and a second control module 8.2. The remote control terminal panel is electrically connected to the first control module 8.1, the second control module 8.2, and the attitude detection control module 3.4. The first control module 8.1 is mounted on the cantilever crane 1 and controls the cantilever crane 1 to perform pipe hoisting operations. The first control module 8.1 is also electrically connected to the attitude detection control module 3.4. The second control module 8.2 is mounted on the hoisting trolley 1.5 and is used to control the trolley's travel, lifting, and braking actions. The second control module 8.2 is also electrically connected to the first control module 8.1. The first control module 8.1 is used to control the actions of various mechanisms on the cantilever crane 1, automatically hoisting pipes, docking and adjusting pipe ends, and backfilling and supporting pipes, and can receive data from the attitude detection control module 3.4.

[0135] The integrated automatic pipeline hoisting equipment also includes a power system, which includes a first power module 7 mounted on the cantilever crane 1 and a second power module 3.2 mounted on the pipeline attitude detection device 3. The first power module 7 can provide power to the cantilever crane 1; the second power module 3.2 can provide power to the pipeline attitude detection device 3. The first power module 7 includes a generator set 7.1.1, a hydraulic pump station one 7.1.2, and a hydraulic pump station two 7.1.3. The generator provides power to all the actuators of the cantilever crane 1. The output end of the hydraulic pump station one 7.1.2 is connected to all the hydraulic actuators of the anti-sway device 2, the pipeline docking device 4, and the backfill support device 6, and the input end is connected to the first control module 8.1. According to the instructions of the first control module 8.1, the hydraulic pump station one 7.1.2 drives the corresponding actuators to move. The output end of the hydraulic pump station two 7.1.3 is connected to the cylinder installed in the telescopic outrigger of the portal support 1.6, and the input end is connected to the first control module 8.1. According to the instructions of the first control module 8.1, the hydraulic pump station two 7.1.3 drives the telescopic inner leg 1.6.8 of the portal support 1.6 to extend and retract. The second power module 3.2 is installed on the chassis 3.1 of the pipeline posture detection device 3 and includes a rechargeable battery module and a motor for driving the wheel axle of the chassis 3.1 to provide power to the pipeline posture detection device 3.

[0136] The integrated automatic pipeline hoisting equipment in this embodiment has the following beneficial effects:

[0137] 1. The integrated machine can directly lift and transport the pipeline from the roadbed surface 12 on one side of the trench 13 onto the pipeline transport vehicle 11 into the trench without the need for additional crawler cranes or transport ramps. This avoids the need for large lifting equipment, ramp excavation, and pipeline transfer steps, thereby reducing operating costs and improving operating efficiency.

[0138] 2. It realizes automatic detection of pipe posture and pipe gaps, as well as automatic adjustment and docking of the pipe to be laid 10, solving the problems of large number of personnel, high labor intensity and low degree of automation required for conventional pipe laying;

[0139] 3. It provides an automatic detection and adjustment method for pipe ends, further improving the mechanization and automation level of pipeline laying.

[0140] It provides a method for backfill support and precise control of backfill soil pressure, avoiding the potential risk of pipeline subsidence and the need for readjustment due to insufficient backfill soil pressure.

[0141] Example 2

[0142] See Figure 15 and Figure 16This embodiment also provides a control method for an integrated automatic pipeline hoisting device, which controls the aforementioned integrated automatic pipeline hoisting device to perform pipeline hoisting operations. The control method for the integrated automatic pipeline hoisting device specifically includes the following steps:

[0143] S1: Install an integrated automatic pipe hoisting device in the trench 13 to be constructed;

[0144] S2: The first control module 8.1 controls the main beam 1.4.1 to extend to the lifting position at the end away from the gantry 1.3 according to the lifting position on the roadbed surface 12, and moves the gantry support 1.6 to the end of the main beam 1.4.1 away from the gantry 1.3, and then extends the telescopic outrigger to abut against the support rail 1.7 on the roadbed surface 12;

[0145] S2 includes:

[0146] S2.1, the main beam 1.4.1 extends out, specifically:

[0147] The lifting position on the roadbed surface 12 to be constructed is input into the remote control terminal panel, and the remote control terminal panel transmits the input information to the first control module 8.1;

[0148] The first control module 8.1 calculates the movement of the main beam 1.4.1 based on the input information and the initial position information of the main beam 1.4.1 relative to the gantry 1.3, and then controls the lateral drive component to drive the main beam 1.4.1 to move until the corresponding movement of the main beam 1.4.1 is reached;

[0149] In this embodiment, during the extension of the main beam 1.4.1, the first control module 8.1 automatically controls the traveling wheels of the hoisting trolley 1.5 and the portal support 1.6 to rotate in opposite directions at the same speed according to the moving speed of the main beam 1.4.1, so as to ensure that the hoisting trolley 1.5 and the portal support 1.6 are still in their initial positions when the main beam 1.4.1 moves.

[0150] S2.2, the goalpost support extends 1.6 meters, specifically:

[0151] The first control module 8.1 controls the gatepost support 1.6 to move along the main beam 1.4.1 to the end of the moving track 1.4.4 away from the gantry 1.3. Specifically, the first control module 8.1 controls the traveling wheels of the gatepost support 1.6 to move outward at high speed along the corresponding track of the main beam 1.4.1. At the same time, the second distance sensor 1.4.10 measures the position of the gatepost support 1.6 in real time. When the slow speed set value of the gatepost support 1.6 is reached, the first control module 8.1 controls the gatepost support 1.6 to move outward slowly. When the outer end face of the support seat 1.6.5 of the gatepost support 1.6 contacts the limit switch 1.4.11, the gatepost support 1.6 moves outward into place.

[0152] The first control module 8.1 drives the telescopic outrigger to extend until it contacts the roadbed surface 12; specifically, the first control module 8.1 controls the hydraulic pump station 7.1.3 to drive the telescopic inner leg 1.6.8 of the telescopic outrigger to extend until it is supported on the track of the roadbed surface 12;

[0153] S3: The first control module 8.1 continues to control the hoisting trolley 1.5 to move along the main beam 1.4.1 to the lifting position, then hoist the pipe to be laid 10 to the placement position, and lower the pipe to be laid 10 into the trench 13;

[0154] S3 includes:

[0155] S3.1 The hoisting trolley 1.5 is moved to the lifting position. Specifically, the second control module 8.2 controls the traveling wheel set 1.5.2 of the hoisting trolley 1.5 to move along the traveling track 1.4.7 to the lifting position. In this embodiment, the second control module 8.2 controls the traveling wheel set 1.5.2 of the hoisting trolley 1.5 to move outward along the track height corresponding to the main beam 1.4.1. At the same time, the fourth distance sensor 1.4.9 measures the displacement of the hoisting trolley 1.5 in real time. When the set value for slow movement of the trolley is reached, the second control module 8.2 controls the hoisting trolley 1.5 to move outward slowly. When the set value for the hoisting trolley 1.5 to move into position is reached, the hoisting trolley 1.5 reaches the lifting position and stops moving.

[0156] S3.2 Lowering the lifting device: After the pipe transport vehicle 11 moves the pipe to be laid 10 to the lifting position, the second control module 8.2 controls the winch to lower the hook from the initial height to the position based on the distance between the lifting trolley 1.5 and the pipe transport vehicle 11 measured by the lifting distance sensor, and then ties it to the pipe to be laid 10 with the lifting straps; wherein: the lifting distance sensor is set below the lifting trolley 1.5 and is set correspondingly to the pipe transport vehicle 11;

[0157] S3.3 Pipe hoisting: After the slings are secured in place, the operator confirms "Pipe hoisting" on the remote control terminal panel to complete the one-click automatic hoisting of the pipe into trench 13. Specifically:

[0158] ① The second control module 8.2 controls the lifting mechanism 1.5.3 to rotate to lift the pipe to be laid 10 to the initial height. In this embodiment, the second control module 8.2 calculates the lifting height based on the diameter of the winch drum and the change in the count of the lifting rotary encoder until the lifting device lifts the pipe to the initial height and stops lifting. In this embodiment, the initial height is the position where the lifted pipe to be laid 10 can enter the trench 13.

[0159] ② The hoisting trolley 1.5 is driven to lift the pipe 10 to be laid to the placement position. Specifically, the second control module 8.2 controls the hoisting trolley 1.5 to move in the opposite direction to the gantry 1.3 above the trench 13. To improve hoisting efficiency, the hoisting trolley 1.5 first moves at high speed along the main beam 1.4.1. When the trolley position measured by the third distance sensor 1.4.8 reaches the slow movement set value, the second control module 8.2 controls the hoisting trolley 1.5 to move slowly until it reaches the initial position of the hoisting trolley 1.5. In this embodiment, the initial position is the placement position above the trench 13 when the hoisting trolley 1.5 arrives.

[0160] ③ Drive the lifting mechanism 1.5.3 to rotate in the opposite direction to lower the pipe to be laid 10 into the trench 13 and connect it with the pipe docking device 4.

[0161] Specifically, the second control module 8.2 controls the lifting mechanism 1.5.3 of the hoisting trolley 1.5 to rotate in the opposite direction to lower the pipeline 10 to be laid. In order to improve the pipeline lowering efficiency, the lifting mechanism 1.5.3 first lowers the pipeline at high speed. When the lowering amount reaches the slow lowering set value, the second control module 8.2 controls the lifting mechanism 1.5.3 to lower the pipeline at a slow speed.

[0162] Before the pipeline is slowly lowered, the clamping plate 4.4.1 of the pipeline docking device is controlled to reach the reset state, that is, according to the outer diameter of the pipeline 10 to be laid in this hoisting is input on the remote terminal, the lifting mechanism 4.2 and the lateral movement mechanism 4.3 of the pipeline docking device 4 are controlled to reach the initial set extension amount.

[0163] During the slow descent of the pipeline, the force sensor 4.4.5 measures the weight of the pipeline borne by the pipeline docking equipment support mechanism 4.4 in real time. When the force measurement data no longer increases and the difference between the force measurement data and the weight of the hoisted pipeline meets the set error range, the pipeline is lowered into place.

[0164] S4: The first control module 8.1 controls the pipeline docking device 4 to complete the docking of the pipeline to be laid 10 and the already laid pipeline 9 according to the detection information of the pipeline attitude detection device 3 and the pipe tail detection device 5, and performs pipe tail adjustment of the pipeline to be laid 10.

[0165] S4 includes:

[0166] S4.1 Apply oil to the spigot 10.1 of the pipe to be laid 10 and the socket 9.1 of the pipe already laid 9 and install a sealing ring. Then send a start signal for pipe connection to the first control module 8.1 through the remote control terminal panel.

[0167] S4.2 Obtain the longitudinal distance of the pipeline to be laid 10 relative to the already laid pipeline 9 and the adjustment data of the pipeline to be laid 10, specifically:

[0168] The attitude detection and control module 3.4 fits the inner wall contour information of the laid pipe 9 and the pipe to be laid 10 obtained by the laser scanning sensor 3.3.4 into the central axis of the two pipes, calculates the longitudinal distance of the pipe to be laid 10 relative to the laid pipe 9, and then sends the longitudinal distance to the first control module 8.1.

[0169] S4.3 Initial movement of the pipeline to be laid 10: Specifically, the first control module 8.1 controls the traveling body 1.1 of the cantilever crane 1 to move along the length of the trench 13 according to the longitudinal distance between the pipeline to be laid 10 and the already laid pipeline 9, until the gap between the pipe joint end face 9.2 of the already laid pipeline 9 and the spigot end face 10.2 of the pipeline to be laid 10 is within the measurement area of ​​the online structured light sensor 3.3.3, at which point the traveling body 1.1 stops.

[0170] S4.4 Fine-tuning of the pipeline to be laid (10 sections), specifically:

[0171] The first control module 8.1 calculates the front vertical adjustment, rear vertical adjustment, front lateral adjustment and rear lateral adjustment of the pipeline to be laid 10 relative to the already laid pipeline 9 based on the detection information obtained by the pipeline attitude detection device 3.

[0172] The first control module 8.1 controls the lifting mechanism 4.2 of the pipe docking device 4 to make vertical adjustments at the front and rear ends of the pipe to be laid, respectively, based on the front and rear vertical adjustment amounts.

[0173] The first control module 8.1 controls the lateral movement mechanism 4.3 of the pipe docking device 4 to make lateral adjustments at the front and rear ends of the pipe to be laid according to the lateral adjustment amount at the front and rear ends respectively;

[0174] Until the coaxiality error between the centerline of the pipeline to be laid 10 and the centerline of the already laid pipeline 9 is within the preset error range;

[0175] S4.5, Pipe socket connection, specifically:

[0176] The first control module 8.1 controls the pushing mechanism 4.1 of the pipe docking device 4 to move the spigot 10.1 of the pipe to be laid into the socket 9.1 of the pipe 9 according to the gap between the pipe gap 9 and the pipe to be laid 10, until the gap between the pipe gaps meets the preset size value and the spigot and socket docking of the pipe 9 and the pipe to be laid 10 is completed.

[0177] S4.6. Adjust the end of the pipe to be laid, specifically:

[0178] The first control module 8.1 calculates the vertical and lateral adjustment amounts of the rear end of the pipeline to be laid 10 based on the absolute position information fed back by the positioning instrument 14 and the pipe tail design data.

[0179] The pipe connection device 4 adjusts the tail posture of the pipe to be laid 10 according to the vertical and horizontal adjustment amounts.

[0180] S5: The first control module 8.1 controls the backfill support device 6 to push the sand on both sides of the pipeline to be laid 10 toward the outer wall of the pipeline to be laid 10 until the bulldozing pressure measured by the thrust measuring element 6.3 reaches the preset value, thus completing the initial support of the pipeline to be laid 10.

[0181] S5 and beyond also include: the first control module 8.1 controls the telescopic mechanism 6.2 of the backfill support device 6 to retract the pusher 6.5, and controls the lateral movement mechanism 4.3 of the pipe docking device 4 to move away from the outer wall of the pipe to be laid 10, then controls the rail changing mechanism 1.8 to complete the transfer and laying of the guide rail 1.2 in the trench 13, and then controls the cantilever crane 1 to travel along the guide rail 1.2 to the next lifting position of the pipe to be laid 10.

[0182] Since the control method of the integrated automatic pipeline hoisting equipment includes the integrated automatic pipeline hoisting equipment described above, the control method of the integrated automatic pipeline hoisting equipment possesses all the beneficial effects of the integrated automatic pipeline hoisting equipment described above, which will not be elaborated here.

[0183] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An integrated automatic pipeline hoisting device, wherein a trench (13) is provided on the roadbed surface (12), characterized in that, The integrated automatic pipeline hoisting equipment includes a cantilever crane (1), a pipeline posture detection device (3), a pipe tail detection device (5), a pipeline docking device (4), and a control system (8). The cantilever crane (1) is installed in the trench (13) to lift the pipeline from the roadbed surface (12) into the trench (13); The pipeline posture detection device (3) is installed inside the laid pipeline (9) and can move along the inner wall of the pipeline to detect the posture of the pipeline to be laid (10) and the distance between the pipeline to be laid (10) and the laid pipeline (9). The pipe tail detection device (5) is set at one end of the pipe to be laid (10) away from the already laid pipe (9) and is used to detect the position of the pipe tail of the pipe to be laid (10); The pipe docking device (4) is installed on the cantilever crane (1) and is used to adjust the posture of the pipe to be laid (10) so as to dock the first end of the pipe to be laid (10) with the tail end of the laid pipe (9). The control system (8) is electrically connected to the cantilever crane (1), the pipeline attitude detection device (3), the pipe tail detection device (5) and the pipeline docking device (4), respectively. A lifting position is provided on the roadbed surface (12), and a placement position is provided above the trench (13); the cantilever crane (1) includes a traveling body (1.1), a gantry (1.3), a gantry support (1.6), a lateral moving mechanism (1.4), and a lifting trolley (1.5). The traveling body (1.1) is located in the trench (13); the gantry (1.3) is located on the traveling body (1.1), and the traveling body (1.1) can drive the gantry (1.3) to travel along the length of the trench (13); the gantry support (1.6) is located on the roadbed surface (12); the lateral moving mechanism (1.4) includes a main beam (1... 4.1) and a transverse drive assembly, wherein the main beam (1.4.1) is slidably connected to the gantry (1.3) and the gantry support (1.6) respectively, the output end of the transverse drive assembly is connected to the main beam (1.4.1), and the transverse drive assembly can drive the main beam (1.4.1) to slide relative to the gantry (1.3) and the gantry support (1.6) along the width direction of the groove (13); the hoisting trolley (1.5) is slidably disposed on the main beam (1.4.1), and the hoisting trolley (1.5) can move between the lifting position and the lowering position, and the hoisting trolley (1.5) is used to hoist the pipeline.

2. The integrated automatic pipeline hoisting equipment as described in claim 1, characterized in that, The lateral drive assembly includes a moving track (1.4.4), a rack, a lateral drive member (1.4.5), and a drive gear. The moving track (1.4.4) is arranged on the main beam (1.4.1) along the width direction of the groove (13). The gantry (1.3) is slidably connected to the main beam (1.4.1) through the moving track (1.4.4). The rack is arranged on the main beam (1.4.1), and all racks are arranged along the length direction of the main beam (1.4.1). The lateral drive member (1.4.5) is arranged on the gantry (1.3). The drive gear is connected to the output shaft of the lateral drive member (1.4.5), and the drive gear meshes with the rack.

3. The integrated automatic pipeline hoisting equipment as described in claim 2, characterized in that, The main beam (1.4.1) is also provided with a traveling track (1.4.7) arranged along the width direction of the groove (13); the hoisting trolley (1.5) includes a traveling beam frame (1.5.1), a traveling wheel set (1.5.2), and a lifting mechanism. The traveling beam frame (1.5.1) is arranged on the traveling track (1.4.7) via the traveling wheel set (1.5.2), and the traveling wheel set (1.5.2) can drive the traveling beam frame (1.5.1) to move along the traveling track (1.4.7); the traveling... At least two lifting mechanisms are provided on the beam frame (1.5.1), and the two lifting mechanisms are symmetrically arranged along the width direction of the groove (13). The lifting mechanism includes two synchronously operating lifting units. The lifting unit includes a winch (1.5.3), a rotary encoder, and a brake. The winch and the rotary encoder are coaxially arranged. The rotary encoder can control the number of rotations of the winch. The brake is provided on the winch (1.5.3) and is used to brake the winch (1.5.3).

4. The integrated automatic pipeline hoisting equipment as described in claim 3, characterized in that, The gatepost support (1.6) includes a connecting beam (1.6.6) and two opposing support components. Each support component includes a fixed leg (1.6.1), a telescopic leg, an L-shaped leg (1.6.2), a support guide wheel (1.6.3), and a support traveling wheel. The fixed leg (1.6.1) is connected to the other support component via the connecting beam (1.6.6). 1.6.1) connection, and the first end of the fixed support leg (1.6.1) is slidably disposed on the main beam (1.4.1) along the width direction of the groove (13), and the second end is connected to the telescopic support leg, which can extend and retract vertically; the L-shaped support leg (1.6.2) is disposed on the fixed support leg ( On 1.6.1), the L-shaped support leg (1.6.2) rolls in contact with the main beam (1.4.1) via the support guide wheel (1.6.3). The L-shaped support leg (1.6.2) is mounted on the moving track (1.4.4) of the main beam (1.4.1) via the support traveling wheel, and the support traveling wheel can drive the L-shaped support leg (1.6.2) to move along the traveling track (1.4.7).

5. The integrated automatic pipeline hoisting equipment as described in claim 4, characterized in that, The fixed outrigger (1.6.1) includes a fixed section (A1) and a standard section (A2). The first end of the fixed section (A1) is connected to the L-shaped outrigger (1.6.2), and the second end is detachably connected to the telescopic outrigger through the standard section (A2). The number of standard sections (A2) is one or more, and two adjacent standard sections (A2) are detachably connected.

6. The integrated automatic pipeline hoisting equipment as described in claim 5, characterized in that, The telescopic outrigger includes a telescopic outer leg (1.6.7), a telescopic inner leg (1.6.8), and a telescopic drive component. The telescopic outer leg (1.6.7) is disposed on the fixed outrigger. 1.6.1) and the telescopic outer leg (1.6.7) is provided with a waist-shaped through hole arranged in the vertical direction; the telescopic inner leg (1.6.8) is slidably sleeved inside the telescopic outer leg (1.6.7), and the telescopic inner leg (1.6.8) is provided with a plurality of circular through holes arranged at intervals in the vertical direction; the telescopic drive member is connected between the telescopic outer leg (1.6.7) and the telescopic inner leg (1.6.8); the doorpost support (1.6) also includes an anti-suspension point mechanism (1.6.9), the anti-suspension point mechanism (1.6.9) includes a base (1.6.9.3), a pin (1.6.9.1), a support block (1.6.9.2), and a stud (1.6.9.5), the telescopic outer leg (1.6.7) is provided with a waist-shaped through hole arranged in the vertical direction; the telescopic inner leg (1.6.8) is slidably sleeved inside the telescopic outer leg (1.6.7), and the telescopic inner leg (1.6.8) is provided with a plurality of circular through holes arranged at intervals in the vertical direction; the telescopic drive member is connected between the telescopic outer leg (1.6.7) and the telescopic inner leg (1.6.8); the doorpost support (1.6) also includes an anti-suspension point mechanism (1.6.9), the anti-suspension point mechanism (1.6.9) includes a base (1.6.9.3), a pin (1.6.9.1), a support block (1.6.9.2), and a stud (1.6.9.5); the telescopic outer leg (1.6.7) is provided with a waist-shaped through hole arranged in the vertical direction; the telescopic inner leg (1.6.7) is slidably sleeved inside the telescopic outer leg (1.6.7), and the telescopic inner leg (1.6.8) The base (1.6.9.3) is provided on both sides of the .7), and the base (1.6.9.3) is located above the waist-shaped through hole; the pin (1.6.9.1) can pass through the waist-shaped through hole and any one of the circular through holes to pass through the telescopic outer leg (1.6.7) and the telescopic inner leg (1.6.8); a support block (1.6.9.2) is respectively sleeved on both ends of the pin (1.6.9.1); the stud (1.6.9.5) vertically passes through the base (1.6.9.3) and is threadedly connected to the base (1.6.9.3), and the stud (1.6.9.5) can abut against the support block (1.6.9.2) to limit the pin (1.6.9.1).

7. The integrated automatic pipeline hoisting equipment as described in claim 6, characterized in that, The cantilever crane (1) further includes a first distance sensor (1.4.6), a second distance sensor (1.4.10), a third distance sensor (1.4.8), and a fourth distance sensor (1.4.9). The first distance sensor (1.4.6) is disposed on the moving track (1.4.4) and is used to measure the amount of movement of the main beam (1.4.1) relative to the gantry (1.3). The second distance sensor (1.4.10) is disposed on the moving track (1.4.4) and is used to measure the amount of movement of the gantry support (1.6). The third distance sensor (1.4.8) and the fourth distance sensor (1.4.9) are respectively disposed at both ends of the traveling track (1.4.7) and are used to measure whether the hoisting trolley (1.5) has moved into place.

8. The integrated automatic pipeline hoisting equipment as described in claim 7, characterized in that, The trench (13) is provided with guide rails (1.2) arranged along the length of the trench (13); the cantilever crane (1) also includes a rail changing mechanism (1.8), which includes a crossbeam, a tie rod, a rail trolley, an electric hoist and a rail grabber. The crossbeam is arranged on the gantry (1.3) along the length of the trench (13); the tie rod is connected between the crossbeam and the gantry (1.3); the rail trolley is arranged on the crossbeam and can travel along the crossbeam; the electric hoist is arranged on the rail trolley and the hook of the electric hoist is connected to the rail grabber. The electric hoist can grab the guide rail (1.2) through the rail grabber and lift the guide rail (1.2) from the rear end to the front end of the traveling body (1.1) in the direction of travel.

9. The integrated automatic pipeline hoisting equipment as described in claim 8, characterized in that, The pipeline attitude detection device (3) includes a chassis (3.1), a power mechanism, a detection mechanism (3.3), a monitoring camera (3.6), and an attitude detection control module (3.4). The chassis (3.1) can move along the inner wall of the laid pipeline (9). The power mechanism is set on the chassis (3.1) and can provide the chassis (3.1) with the power to move. The detection mechanism (3.3) includes a column (3.3.1), a detection plate (3.3.2), a line structure light sensor (3.3.3), and a laser scanning sensor (3.3.4). The column (3.3.1) is set on the chassis (3.1). The detection plate is set on the column (3.3.1). The detection plate is provided with a plurality of line structure light sensors (3.3.3) arranged circumferentially around the center of the detection plate. The measurement direction of the line structure light sensor (3.3.3) is along the inner wall of the laid pipeline (9). Assuming the pipe (9) is arranged radially, the line structured light sensor (3.3.3) is used to measure the gap between the laid pipe (9) and the pipe to be laid (10); the laser scanning sensor (3.3.4) is set at the center of the detection disk and is used to scan and obtain the inner wall contour information of the laid pipe (9) and the pipe to be laid (10); the monitoring camera (3.6) is set on the column (3.3.1) and is electrically connected to the control system (8) to monitor the pipe to be laid (10) and its surrounding environment; the attitude detection control module (3.4) can receive the detection information from the detection mechanism (3.3) and the monitoring camera (3.6), and the attitude detection control module (3.4) can control the power mechanism to drive the chassis (3.1) to walk along the pipe to be laid (10) and analyze and process the received detection information.

10. The integrated automatic pipeline hoisting equipment as described in claim 9, characterized in that, The pipe tail detection device (5) includes a pipe tail measuring base (5.1), a horizontal measuring element (5.2), a prism (5.3), and a positioning instrument (14). The pipe tail measuring base (5.1) is located at the tail end of the pipe to be laid (10). The horizontal measuring element (5.2) is located on the pipe tail measuring base (5.1). The prism (5.3) is located on the horizontal measuring element (5.2). The positioning instrument (14) is located in the trench (13). The positioning instrument (14) is used to measure the absolute position of the prism (5.3), and the positioning instrument (14) is electrically connected to the control system (8).

11. The integrated automatic pipeline hoisting equipment as described in claim 10, characterized in that, The pipe docking device (4) includes two pipe docking units arranged opposite each other, which are located on both sides of the gantry (1.3) along the width direction of the groove (13); each pipe docking unit includes a pushing mechanism (4.1), a lifting mechanism (4.2), a traversing mechanism (4.3), and a supporting mechanism (4.4). The pushing mechanism (4.1) is mounted on the gantry (1.3); the lifting mechanism (4.2) is mounted on the pushing mechanism (4.1), and the pushing mechanism... The structure (4.1) can drive the lifting mechanism (4.2) to move along the length direction of the groove (13); the lateral movement mechanism (4.3) is disposed on the lifting mechanism (4.2), and the lifting mechanism (4.2) can drive the lateral movement mechanism (4.3) to move in the vertical direction; the support mechanism (4.4) is disposed on the lateral movement mechanism (4.3), and the lateral movement mechanism (4.3) can drive the support mechanism (4.4) to move along the width direction of the groove (13); the support mechanism (4.4) includes The system includes a clamping plate (4.4.1), a support hinge seat (4.4.3), a support adjusting rod (4.4.4), a support pad (4.4.2), and a force sensor (4.4.5). The lower part of the clamping plate (4.4.1) is connected to the first end of the support hinge seat (4.4.3), and the first end of the support hinge seat is hinged to the transverse mechanism (4.4.3) via the force sensor (4.4.5). The upper part of the clamping plate (4.4.1) is connected to the support hinge seat (4.4.3) via the support adjusting rod (4.4.4). The second end of the hinged support (4.4.3) is hinged; the force sensor (4.4.5) is used to measure the load on the clamping plate (4.4.1); the support pad (4.4.2) is located on the side of the clamping plate (4.4.1) away from the hinged support (4.4.3), and the support pad (4.4.2) is used to abut against the outer wall of the pipe. The support pads (4.4.2) of the two pipe docking units cooperate to clamp the pipe to be laid (10) and adjust the posture of the pipe to be laid (10).

12. The integrated automatic pipeline hoisting equipment as described in claim 11, characterized in that, The automatic pipeline hoisting integrated equipment also includes a sway reduction device. At least two sway reduction devices (2) are respectively provided on both sides of the gantry (1.3) along the width direction of the trench (13). The sway reduction device (2) includes a first hinge seat (2.3), a second hinge seat (2.4), a drive adjustment mechanism (2.2), and a shock-absorbing wheel (2.1). The first hinge seat (2.3) and the second hinge seat (2.4) are arranged vertically on the gantry (1.3). The drive adjustment mechanism (2.2) includes a wheel frame (2.2.1), a first connecting rod (2.2.2), a second connecting rod (2.2.4), and a drive adjustment rod (2.2.3). The wheel frame (2.2.1) is provided with multiple vertical... The shock-absorbing wheels (2.1) are arranged at intervals in a straight direction; the first connecting rod (2.2.2) is hinged between the first hinge seat (2.3) and the wheel frame (2.2.1); the second connecting rod (2.2.4) is hinged between the second hinge seat (2.4) and the wheel frame (2.2.1); the drive adjusting rod (2.2.3) is hinged between the first hinge seat (2.3) and the wheel frame (2.2.1), and the drive adjusting rod (2.2.3) can drive the wheel frame (2.2.1) to rotate the first connecting rod (2.2.2) and the second connecting rod (2.2.4) to adjust the gap between the shock-absorbing wheel (2.1) and the pipe (10) to be laid.

13. The integrated automatic pipeline hoisting equipment as described in claim 12, characterized in that, The integrated automatic pipeline hoisting equipment also includes a backfill support device (6), which includes a mounting base (6.1), a telescopic mechanism (6.2), a thrust measuring element (6.3), a support hinge seat (6.4), a pusher (6.5), and a backfill support adjusting rod (6.6). The mounting base (6.1) is located at the bottom of the gantry (1.3), and the telescopic mechanism (6.2) is located on the mounting base (6.1). The output shaft of (6.2) is hinged to the support hinge seat (6.4) via the thrust measuring element (6.3); the thrust measuring element (6.3) is used to measure the sand pressure between the pusher (6.5) and the outer wall of the pipe to be laid (10); the pusher (6.5) is hinged to the support hinge seat (6.4); the backfill support adjusting rod (6.6) is hinged between the top of the support hinge seat (6.4) and the top of the pusher (6.5).

14. The integrated automatic pipeline hoisting equipment as described in claim 13, characterized in that, The control system (8) includes a remote control terminal panel, a first control module (8.1), and a second control module (8.2). The remote control terminal panel is electrically connected to the first control module (8.1), the second control module (8.2), and the attitude detection control module (3.4). The first control module (8.1) is mounted on the cantilever crane (1) and can control the cantilever crane (1) to perform pipeline hoisting operations. The first control module is also electrically connected to the attitude detection control module (3.4). The second control module (8.2) is mounted on the hoisting trolley (1.5) and is used to control the trolley's movement, lifting, and braking actions. The second control module (8.2) is also electrically connected to the first control module (8.1). The integrated automatic pipeline hoisting equipment also includes a power system, which includes a first power module mounted on the cantilever crane (1) and a second power module mounted on the pipeline posture detection device (3). The first power module can provide power to the cantilever crane (1), and the second power module can provide power to the pipeline posture detection device (3).

15. A control method for an integrated automatic pipeline hoisting device, wherein the integrated automatic pipeline hoisting device as described in claim 14 is controlled to perform pipeline hoisting operations, characterized in that, The control method for the integrated automatic pipeline hoisting equipment specifically includes the following steps: S1: Install an integrated automatic pipe hoisting device in the trench (13) to be constructed; S2: The first control module (8.1) controls the main beam (1.4.1) to extend to the lifting position at the end away from the gantry (1.3) according to the lifting position on the roadbed surface (12), and moves the gantry support (1.6) to the end of the main beam (1.4.1) away from the gantry (1.3), and then extends the telescopic outrigger to abut against the support rail (1.7) on the roadbed surface (12); S3: The first control module (8.1) continues to control the hoisting trolley (1.5) to move along the main beam (1.4.1) to the hoisting position, then hoist the pipe to be laid (10) to the placement position, and lower the pipe to be laid (10) into the trench (13); S4: The first control module (8.1) controls the pipeline docking device (4) to complete the docking of the pipeline to be laid (10) and the already laid pipeline (9) according to the detection information of the pipeline attitude detection device (3) and the pipe tail detection device (5), and performs pipe tail adjustment of the pipeline to be laid (10); S5: The first control module (8.1) controls the backfill support device (6) to push the sand on both sides of the pipeline to be laid (10) to the outer wall of the pipeline to be laid (10) until the bulldozing pressure measured by the thrust measuring element (6.3) reaches the preset value, thus completing the initial support of the pipeline to be laid (10).

16. The control method for the integrated automatic pipeline hoisting equipment as described in claim 15, characterized in that, S2 includes: S2.1, The main beam (1.4.1) extends out, specifically: Input the lifting position on the roadbed surface (12) to be constructed into the remote control terminal panel, and the remote control terminal panel will transmit the input information to the first control module (8.1). The first control module (8.1) calculates the main beam movement based on the input information and the initial position information of the main beam (1.4.1) relative to the gantry (1.3), and then controls the lateral drive component to drive the main beam (1.4.1) to move until the corresponding main beam movement is achieved; S2.2, The goalpost support (1.6) extends out, specifically: The first control module (8.1) controls the gantry support (1.6) to move along the main beam (1.4.1) to the end of the moving track (1.4.4) away from the gantry (1.3); The first control module (8.1) drives the telescopic outriggers to extend until they contact the roadbed surface (12); S3 includes: S3.1 The hoisting trolley (1.5) is moved to the lifting position. Specifically, the second control module (8.2) controls the traveling wheel set (1.5.2) of the hoisting trolley (1.5) to move along the traveling track (1.4.7) to the lifting position. S3.2 Lowering the lifting device: After the pipe transport vehicle (11) moves the pipe to be laid (10) to the lifting position, the second control module (8.2) controls the winch to lower the hook from the initial height to the position according to the distance between the lifting trolley (1.5) and the pipe transport vehicle (11) measured by the lifting distance sensor, and binds it to the pipe to be laid (10) with the lifting strap; wherein: the lifting distance sensor is set below the lifting trolley (1.5) and is set in correspondence with the pipe transport vehicle (11); S3.3 Pipeline hoisting, specifically: The second control module (8.2) controls the lifting mechanism to rotate and lift the pipe to be laid (10) to the initial height; Drive the hoisting trolley (1.5) to lift the pipeline (10) to be laid to the placement position; The drive lifting mechanism is rotated in the opposite direction to lower the pipe (10) to be laid into the trench (13) and connect it with the pipe docking device (4).

17. The control method for the integrated automatic pipeline hoisting equipment as described in claim 16, characterized in that, S4 includes: S4.1 Apply oil to the spigot of the pipe to be laid (10) and the socket of the pipe already laid (9) and install a sealing ring. Then send the start signal for pipe connection to the first control module (8.1) through the remote control terminal panel. S4.2 Obtain the longitudinal distance between the pipeline to be laid (10) and the already laid pipeline (9), and the adjustment data of the pipeline to be laid (10), specifically: The attitude detection control module (3.4) fits the inner wall contour information of the laid pipe (9) and the pipe to be laid (10) obtained by the laser scanning sensor (3.3.4) into the central axis of the two pipes, calculates the longitudinal distance of the pipe to be laid (10) relative to the laid pipe (9), and then sends the longitudinal distance to the first control module (8.1). S4.3 Initial movement of the pipeline to be laid (10): Specifically, the first control module (8.1) controls the traveling body (1.1) of the cantilever crane (1) to move along the length of the trench (13) according to the longitudinal distance between the pipeline to be laid (10) and the already laid pipeline (9), until the gap between the already laid pipeline (9) and the pipeline to be laid (10) is within the measurement area of ​​the online structured light sensor (3.3.3), and the traveling body (1.1) stops. S4.4 Fine-tuning of the pipeline to be laid (10), specifically: The first control module (8.1) calculates the front vertical adjustment, rear vertical adjustment, front lateral adjustment and rear lateral adjustment of the pipeline to be laid (10) relative to the already laid pipeline (9) based on the detection information obtained by the pipeline attitude detection device (3). The first control module (8.1) controls the lifting mechanism (4.2) of the pipe docking device (4) to make vertical adjustments to the front and rear ends of the pipe to be laid (10) according to the front vertical adjustment amount and the rear vertical adjustment amount; The first control module (8.1) controls the lateral movement mechanism (4.3) of the pipe docking device (4) to make lateral adjustments to the front and rear ends of the pipe to be laid (10) according to the lateral adjustment amount at the front and rear ends respectively; Until the coaxiality error between the centerline of the pipeline to be laid (10) and the centerline of the already laid pipeline (9) is within the preset error range; S4.5, Pipe socket connection, specifically: The first control module (8.1) controls the pushing mechanism (4.1) of the pipe docking device (4) to move the spigot of the pipe to be laid (10) into the socket of the pipe (9) according to the gap between the pipe gap between the laid pipe (9) and the pipe to be laid (10), until the gap between the pipe gap meets the preset size value and the spigot and socket docking of the laid pipe (9) and the pipe to be laid (10) is completed. S4.

6. Adjust the end of the pipe to be laid (10), specifically: The first control module calculates the vertical and horizontal adjustment amounts of the rear end of the pipeline to be laid (10) based on the absolute position information fed back by the positioning instrument (14) and the pipe tail design data. The pipe connection device (4) adjusts the tail posture of the pipe to be laid (10) according to the vertical adjustment amount and the horizontal adjustment amount.

18. The control method for the integrated automatic pipeline hoisting equipment as described in claim 17, characterized in that, The S5 section further includes: the first control module (8.1) controls the telescopic mechanism (6.2) of the backfill support device (6) to retract the pusher (6.5), and controls the lateral movement mechanism (4.3) of the pipe docking device (4) to move away from the outer wall of the pipe to be laid (10), and then controls the rail changing mechanism (1.8) to complete the transfer and laying of the guide rail (1.2) in the trench (13), and then controls the cantilever crane (1) to travel along the guide rail (1.2) to the next lifting position of the pipe to be laid (10).

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