Intelligent pipe connecting device in pipe jacking and pulling construction and construction method

Abstract

The invention provides an intelligent pipe connecting device in pipe jacking and pulling construction and a construction method, and belongs to the technical field of trenchless pipeline construction. The intelligent pipe connecting device comprises an intelligent clamping mechanism, a laser centering module, a movable centering mechanism, a sealing enhancing mechanism, an online detection module and a ground remote monitoring module; the intelligent clamping mechanism comprises a self-adaptive hydraulic clamp, and a pressure sensor is arranged in the self-adaptive hydraulic clamp; the laser centering module comprises a cross laser transmitter and a high-precision CCD visual module; the movable centering mechanism comprises a ball screw driven by a servo motor and a multi-stage hydraulic jack; the sealing enhancing mechanism comprises a self-sealing joint and a hydraulic pressing device, and inverted tooth threads are arranged in the self-sealing joint; the online detection module comprises an air pressure sensor and a leakage detection camera; full-automatic pipe connection is achieved by integrating the intelligent clamping module, the laser centering module, the automatic moving module, the sealing enhancing module and the like, manual well descending operation is effectively avoided, construction safety is guaranteed, and the butt joint precision is improved.

Description

Technical Field

[0001] This invention belongs to the field of trenchless pipeline construction technology, specifically an intelligent pipe connection device and construction method for jacking pipe construction. Background Technology

[0002] In traditional pipe jacking construction, pipe section connection operations have long relied on manual labor. Construction workers must enter narrow, enclosed working shafts to hoist and align pipe sections. Due to limited underground space and harsh operating conditions, workers endure high-risk working conditions in deep pits, making them highly susceptible to accidents such as collapses and poisoning from harmful gases. These risks increase exponentially, especially in deep, high-risk or ultra-high-risk projects, seriously threatening personnel lives. Furthermore, manual alignment lacks precise positioning methods, relying solely on visual inspection and simple tools. This results in pipe section misalignment errors generally exceeding five millimeters, leading to decreased joint sealing performance and potential leakage or structural failure during long-term service. In busy city centers or municipal projects with complex geological conditions, such as laying drainage pipes, water supply pipes, and cable conduits, external disturbances such as urban traffic vibrations, groundwater level fluctuations, and ground creep further exacerbate the difficulty of connection, resulting in low construction efficiency and unreliable quality. Although some automated systems have attempted to introduce mechanical auxiliary equipment, they still cannot completely replace manual intervention, effectively solve operational safety issues in high-risk underground environments, or achieve high-precision dynamic alignment and sealing control, leading to extended construction cycles and unstable project quality. These technical bottlenecks severely restrict the large-scale application of pipe jacking technology in complex urban underground environments, necessitating an innovative solution that can achieve fully automated pipe connection, improve docking accuracy, and eliminate human risks. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0004] The technical solution adopted by the present invention to solve its technical problem is as follows: Firstly, this application discloses an intelligent pipe-connecting device in pipe jacking construction, including an intelligent clamping mechanism, a laser alignment module, a mobile alignment mechanism, a sealing enhancement mechanism, an online detection module, and a well-ground remote monitoring module; The intelligent clamping mechanism includes an adaptive hydraulic clamp with a built-in pressure sensor; The laser alignment module includes a cross-shaped laser emitter and a high-precision CCD vision module; The moving centering mechanism includes a ball screw driven by a servo motor and a multi-stage hydraulic jack. The sealing enhancement mechanism includes a self-sealing joint and a hydraulic clamping device, and the self-sealing joint has reverse teeth inside; The online detection module includes a pressure sensor and a leak detection camera; The Inoue remote monitoring module communicates with the intelligent clamping mechanism, laser alignment module, mobile alignment mechanism, sealing enhancement mechanism, and online detection module via the Industrial Internet of Things. Preferably, the laser alignment module is equipped with a dynamic correction algorithm. The dynamic correction algorithm is used to compare the point cloud data of the pipe section end face in real time and generate a pose compensation command to be sent to the moving alignment mechanism to form a position closed-loop control. Preferably, the hydraulic clamping device includes a pipe-loading lifting cylinder and a drill rod tightening telescopic mechanism. The pipe-loading lifting cylinder is used to press the new self-locking socket pipe into the previous pipe section, and the drill rod tightening telescopic mechanism is used to rotate and press the new connecting short drill rod onto the previous connecting short drill rod. Preferably, it also includes a drill pipe magazine, which is used to automatically transport connecting short drill pipes from the ground to the shaft; the drill pipe magazine includes a conveyor frame fixedly installed on the side wall of the shaft, the conveyor frame is equipped with a transmission chain, and the transmission chain is equipped with several drill pipe hooks for storing connecting short drill pipes. Preferably, the pipe section storage is used to automatically lower self-locking socket pipes from the ground into the shaft; the pipe section storage includes a feeding cylinder fixedly installed on the side wall of the shaft, the feeding cylinder is used to store self-locking socket pipes, a hydraulic cylinder is fixedly installed on the lower outer wall of the feeding cylinder, an upper baffle is installed at the output end of the hydraulic cylinder, and a hydraulic cylinder is fixedly installed on the bottom outer wall of the feeding cylinder, a lower baffle is installed at the output end of the hydraulic cylinder. When it is necessary to feed the self-locking socket tube, the second hydraulic cylinder at the bottom moves the lower baffle to both sides to open, so that the self-locking socket tube originally on the lower baffle falls into the moving centering mechanism. Then, under the action of the second hydraulic cylinder, the lower baffle moves into the upper material cylinder to close the upper material cylinder. Then, under the action of the first hydraulic cylinder, the upper baffle moves to both sides to open, so that the self-locking socket tube originally on the upper baffle falls into the lower baffle. Then, the first hydraulic cylinder moves the upper baffle into the upper material cylinder to close the upper material cylinder, so that there is only one self-locking socket tube between the upper baffle and the lower baffle. Preferably, the wellhead remote monitoring module includes a cloud platform and a mobile APP. The cloud platform is used to receive and store construction data, including jacking force, pipe section posture and sealing pressure. The mobile APP is used to view construction data and receive abnormal alarms. Preferably, it also includes an automatic drill pipe centering robotic arm and a top plate pushing and pulling robotic arm; the automatic drill pipe centering robotic arm is used to grab the newly connected short drill pipe and assist in the automatic centering of the drill pipe; the top plate pushing and pulling robotic arm is used to adjust the position of the rear top plate in the construction well and assist in the positioning and advancement of the self-locking socket pipe and the connected short drill pipe. Preferably, the connecting short drill rod includes a drill rod body, the center of which is provided with a threaded through hole along the axial direction, and a connecting screw is threadedly connected to the threaded through hole. The connecting screw is used to thread-connect an adjacent drill rod body. One end of the drill rod body is provided with a connecting plug, and the other end of the drill rod body is provided with a connecting insertion hole connected to the connecting plug. The connecting plug is provided with a mounting groove, and a plug-in mechanism is installed at the mounting groove. A limiting mechanism and a fixing block for radially limiting the plug-in mechanism are installed at the connecting insertion hole. A plug baffle for axially limiting the plug-in mechanism is provided at the end of the connecting insertion hole.

[0005] Preferably, the insertion mechanism includes a limiting slider slidably disposed in the mounting groove. An insertion wedge is provided at one end of the limiting slider near the threaded through hole, and the insertion wedge has a wedge-shaped inclined surface. An insertion stop is provided at the other end of the limiting slider. The insertion stop is slidably connected to the side wall of the mounting groove. The limiting slider is connected to the side wall of the mounting groove via multiple sets of insertion springs. The spring force of the insertion springs drives the insertion wedge to slide into the threaded through hole. The connecting screw drives the insertion wedge to slide within the mounting groove, causing the insertion stop to extend out of the connector plug and insert into the connector socket. The extended insertion stop is located between the limiting mechanism and the fixed stop, achieving radial limiting between adjacent drill pipe bodies. Simultaneously, the plug baffle axially limits the extended insertion stop, ensuring axial and radial fixed connection between adjacent drill pipe bodies.

[0006] Preferably, the limiting mechanism includes a limiting seat fixedly disposed in the connecting socket. Two sets of transmission sliders are slidably disposed inside the limiting seat. The transmission sliders are provided with inclined surface one and inclined surface two. Inclined surface one drives the transmission slider to slide toward the limiting seat through cooperation with the connecting screw. A linkage wedge block that cooperates with inclined surface two is slidably disposed inside the limiting seat. A spring connecting plate is fixedly disposed inside the limiting seat. The spring connecting plate is fixedly connected to the linkage wedge block through a return spring. A limiting connecting rod is fixedly connected to the linkage wedge block. A limiting stop block for limiting the movement of the plug-in stop block is fixedly disposed at the end of the limiting connecting rod away from the linkage wedge block. The limiting stop block is slidably connected through the side wall of the limiting seat. When a connecting short drill rod needs to be inserted, the automatic alignment robotic arm grips the new connecting short drill rod and aligns it with the tail of the previous connecting short drill rod. Then, the drill rod tightening and telescopic mechanism presses the connector of the latter set of connecting short drill rods into the connector socket of the former set. Simultaneously, the tightening and telescopic mechanism drives the connecting screw to rotate. The connecting screw first contacts the insertion wedge, causing two sets of insertion stops to slide outwards and insert into the connector socket. At this point, the connecting screw is still within the body of the latter set of drill rods. Then, the rear connecting short drill rod is rotated so that the insertion stops align with the fixed stops, and the connecting screw continues to spiral forward, inserting into the threaded through hole of the former set of connecting short drill rods. When the connecting screw contacts the limiting mechanism in the previous set of connecting short drill rods, the inclined plane drives the transmission slider to slide towards the limiting seat through cooperation with the connecting screw. At the same time, the limiting seat slides, causing the linkage wedge to slide towards the rear. The linkage wedge then causes the limiting block to extend backward into the connecting hole and be located on the side of the plug-in block away from the fixed block. The plug-in block is then located between the fixed block and the limiting block, achieving radial limiting of the adjacent connecting short drill rods. At the same time, the plug baffle axially limits the extended plug-in block, ensuring axial and radial fixed connection between the adjacent drill rod bodies. Furthermore, the two ends of the connecting screw are respectively connected to the two adjacent sets of drill rod bodies, further improving the stability of the connection between the adjacent drill rod bodies. Secondly, this application also discloses a jacking pipe construction method based on the above-mentioned intelligent pipe connection device, as follows: S1. Preparation stage: Fix the intelligent pipe connection device inside the shaft to complete the positioning of the first pipe section; S2, Automatic Takeover Stage: The intelligent clamping mechanism grips the new pipe section using an adaptive hydraulic clamp, and the automatic centering robotic arm grips the new drill rod. The laser centering module is activated, the cross laser emitter projects a laser beam, and the high-precision CCD vision module scans the end face of the installed drill rod to generate three-dimensional pose data. The dynamic correction algorithm calculates the pose deviation and generates compensation commands. According to the compensation commands, the moving centering mechanism advances the new pipe section and the new drill rod to the docking position at a programmable speed. The new drill rod is inserted into the previous drill rod and then tightened. S3. During the sealing and tightening stage, when the pipe section spacing is ≤10mm, the hydraulic tightening device of the sealing enhancement mechanism is automatically triggered, applying an 8-15MPa jacking pressure to make the reverse teeth of the self-sealing joint tightly mesh. S4. In the quality verification stage, the online detection module is activated, the air pressure sensor performs a 0.3MPa / 5min inflation and pressure holding test, and the leakage detection camera scans the interface gaps. The construction data is uploaded to the cloud platform of the well remote monitoring module through the industrial Internet of Things. After passing the test, it enters the next connection cycle.

[0007] The beneficial effects of this invention are as follows: This invention achieves fully automated pipe connection by integrating modules such as intelligent clamping, laser alignment, automatic movement, and sealing enhancement, effectively avoiding manual operation downhole, ensuring construction safety, and improving docking accuracy. It also avoids construction personnel entering dangerous underground environments, reducing safety risks; high-precision pipe section docking is achieved through laser alignment and automatic control; and it improves the degree of automation and efficiency of construction. Attached Figure Description

[0008] The invention will now be further described with reference to the accompanying drawings.

[0009] Figure 1 This is an elevation view of the automatic pipe connection system for jacking pipe construction according to the present invention; Figure 2 This is a plan view of the automatic pipe connection system for jacking pipe construction according to the present invention; Figure 3 This is a cross-sectional view of the automatic pipe connection system for jacking pipe construction according to the present invention; Figure 4 This is a front view of the invention connecting the short drill rod; Figure 5 This is a perspective view of the invention connecting the short drill rod; Figure 6 This is the present invention. Figure 4 A cross-sectional view along the AA direction; Figure 7 This is the present invention. Figure 4 Cross-sectional view along the BB direction; Figure 8 This is the present invention. Figure 4 Enlarged view of point E in the middle; Figure 9 This is a schematic diagram of the structure of the short drill rod insertion connection of the present invention; Figure 10 This is the present invention. Figure 9 A cross-sectional view along the CC direction; Figure 11 This is the present invention. Figure 9 A cross-sectional view along the DD direction.

[0010] In the diagram: 2. Drill rod storage; 21. Conveyor frame; 22. Drive chain; 23. Drill rod hook; 3. Pipe section storage; 31. Feeding cylinder; 32. Hydraulic cylinder one; 33. Upper baffle; 34. Hydraulic cylinder two; 35. Lower baffle; 4. Self-locking socket pipe; 5. Connecting short drill rod; 6. Moving centering mechanism; 7. Pipe loading and lifting cylinder; 8. Drill rod tightening and telescopic mechanism; 10. Push-pull top plate robotic arm; 11. Rear end top plate; 12. Automatic centering robotic arm for grabbing drill rods; 51. Drill rod body; 511. Threaded through hole; 512. Connecting plug; 5121. Mounting groove; 513. Connecting socket; 514. Plug baffle; 52. Connecting screw; 53. Limiting mechanism; 531. Limiting seat; 532. Transmission slider; 5321. Inclined surface one; 5322. Inclined surface two; 533. Linkage wedge; 534. Return spring; 535. Spring connecting plate; 536. Limiting connecting rod; 537. Limiting stop; 54. Insertion mechanism; 541. Insertion wedge; 542. Limiting slider; 543. Insertion spring; 544. Insertion stop; 55. Fixed stop. Detailed Implementation

[0011] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0012] Example 1 Please see Figures 1-3 As shown, an intelligent pipe-connecting device for jacking pipe construction includes an intelligent clamping mechanism, a laser alignment module, a mobile alignment mechanism 6, a sealing enhancement mechanism, an online detection module, and a wellhead remote monitoring module. The intelligent clamping mechanism includes an adaptive hydraulic clamp with a built-in pressure sensor. The laser alignment module includes a cross laser emitter and a high-precision CCD vision module. The mobile alignment mechanism 6 includes a servo motor-driven ball screw and a multi-stage hydraulic jack. The sealing enhancement mechanism includes a self-sealing joint and a hydraulic clamping device, with the self-sealing joint having reverse teeth. The online detection module includes a pressure sensor and a leakage detection camera. The wellhead remote monitoring module communicates with the intelligent clamping mechanism, the laser alignment module, the mobile alignment mechanism, the sealing enhancement mechanism, and the online detection module via an industrial Internet of Things (IoT).

[0013] In practical applications, intelligent clamping mechanisms can achieve their functions in various ways, such as using electromagnetic adsorption clamps or mechanical claw clamps as alternatives. Their main purpose is to ensure the stability of the pipe sections during docking. The high-precision CCD vision module in the laser alignment module can be further expanded into an infrared imaging module or a laser scanning module to capture the three-dimensional contour data of the pipe section end face, thereby assisting in achieving more accurate position feedback. The servo motor-driven ball screw in the moving alignment mechanism 6 can be replaced with a stepper motor-driven synchronous belt drive mechanism or a multi-segment telescopic hydraulic cylinder to achieve smooth and controllable displacement adjustment. The reverse toothed design inside the self-sealing joint in the sealing enhancement mechanism can adopt other forms of mechanical interlocking structures, such as corrugated nested structures or elastic snap-fit ​​structures, to enhance the vibration resistance of the interface. The air pressure sensor in the online detection module can be combined with a flow monitoring device or a temperature sensor to comprehensively evaluate changes in sealing performance. The communication connection of the wellhead remote monitoring module can be achieved through a wireless local area network or dedicated short-range communication technology to meet the data transmission needs of different construction environments.

[0014] The innovation of this application lies in constructing a closed-loop control system through the collaborative work of multiple automated modules to address the instability of the reference standard for pipe section connections in dynamic underground environments. Specifically, the intelligent clamping mechanism effectively suppresses the impact of external vibrations on the pipe sections, the laser alignment module provides precise position feedback, the moving alignment mechanism makes fine adjustments based on the feedback, the sealing enhancement mechanism strengthens connection reliability, the online detection module verifies connection quality in real time, and the surface remote monitoring module enables overall coordination and remote management. The cooperation of these modules forms a complete chain from detection to adjustment to verification, solving the reference standard drift problem caused by external vibrations or formation creep, and improving the absolute accuracy and long-term reliability of pipe section connections.

[0015] The working principle of this embodiment is as follows: The intelligent pipe connection device constructs a closed-loop control system through the coordinated operation of multiple modules to address the problems of unstable reference and insufficient precision in pipe section connections in deep, complex, and dynamically active urban underground environments. Specifically, the adaptive hydraulic clamp in the intelligent clamping mechanism can automatically adjust the clamping force according to the size and shape of the pipe section, while the built-in pressure sensor monitors the clamping status in real time, thereby effectively suppressing the influence of external vibrations on the pipe section and providing stable initial conditions for subsequent operations. The laser alignment module uses a cross laser emitter to project a reference reference and captures the end face image of the pipe section through a high-precision CCD vision module to generate accurate pose data, providing an adjustment basis for the moving alignment mechanism. The moving alignment mechanism 6 achieves smooth displacement control through a ball screw driven by a servo motor. Combined with the staged jacking force provided by multi-stage hydraulic jacks, it can make fine adjustments based on the data fed back by the laser alignment module to ensure accurate docking positions between the new pipe section and the installed pipe section. The sealing enhancement mechanism functions after docking. The reverse-toothed design inside the self-sealing joint creates a mechanical engagement under hydraulic clamping, significantly enhancing the interface's vibration resistance and preventing seal failure due to minute displacements. The online detection module monitors seal pressure changes using a pressure sensor and scans interface gaps with a leakage detection camera to verify connection quality in real time and promptly identify potential defects. The in-ground remote monitoring module integrates data from all modules using industrial IoT technology, enabling remote, visual monitoring of the construction process, preventing personnel from entering hazardous areas, and aggregating information to support overall decision-making. Thus, a complete chain from detection and adjustment to verification is formed among the modules, jointly addressing the challenges of baseline drift in dynamic environments and improving the absolute accuracy and long-term reliability of the connection.

[0016] Furthermore, the laser alignment module is equipped with a dynamic correction algorithm, which is used to compare the point cloud data of the pipe section end face in real time and generate a pose compensation command to be sent to the moving alignment mechanism 6 to form a position closed-loop control.

[0017] Specifically, the dynamic alignment algorithm refers to a computational logic based on real-time data processing, which can be implemented using point cloud matching algorithms, Kalman filtering algorithms, or deep learning models. In practical applications, point cloud data refers to three-dimensional spatial information captured by a high-precision CCD vision module, which can provide continuous and high-resolution geometric features of the pipe segment end face. Generating pose compensation commands refers to the adjustment amount of the new pipe segment calculated based on the point cloud comparison results, which can be implemented through servo control algorithms or adaptive control strategies. Forming position closed-loop control refers to constructing the laser alignment module, dynamic alignment algorithm, and moving alignment mechanism 6 into a continuous monitoring-calculation-execution feedback loop, the purpose of which is to ensure that the new pipe segment maintains high-precision absolute pose stability throughout the docking process.

[0018] In detail, the dynamic correction algorithm solves the connection accuracy interference problem caused by external vibration or drift of the reference pipe section by integrating point cloud data processing and a closed-loop feedback mechanism. The three-dimensional point cloud information captured by the high-precision CCD vision module can accurately identify the instantaneous relative pose deviation between the new pipe section and the reference pipe section, avoiding the local distortion problem that may be caused by traditional two-dimensional contour scanning. The pose compensation command generated based on the point cloud comparison results relies closely on real-time data rather than preset parameters, thereby ensuring that the moving alignment mechanism 6 can respond to the reference drift trend in real time and realize the fine adjustment of the position of the new pipe section. When the reference pipe section drifts briefly due to hydraulic action or environmental disturbance during the sealing and clamping stage, the system iteratively adjusts through a closed-loop mechanism to maintain the absolute pose stability of the docking process, prevent the teeth from bearing abnormal stress during the meshing process, and ensure the long-term integrity of the sealing joint. In addition, the dynamic correction algorithm, together with the intelligent clamping mechanism, the moving alignment mechanism 6, and the online detection module, significantly improves the accuracy and reliability of the entire pipe connection process, especially showing excellent adaptability under complex geological conditions.

[0019] Furthermore, the hydraulic clamping device includes a pipe-loading lifting cylinder 7 and a drill rod tightening telescopic mechanism 8. The pipe-loading lifting cylinder 7 is used to press the new self-locking socket pipe 4 into the previous pipe section, and the drill rod tightening telescopic mechanism 8 is used to rotate and press the new connecting short drill rod 5 onto the previous connecting short drill rod 5.

[0020] Among them, the pipe-loading lifting cylinder 7 refers to a hydraulic drive device capable of providing linear jacking pressure. It can be implemented using a single-acting or double-acting hydraulic cylinder structure, with the aim of providing precisely controlled axial force for the socket connection of the pipe section. The drill pipe tightening and telescopic mechanism 8 is a composite actuator integrating rotary and linear motion functions. It can adopt a structure of hydraulic motor and lead screw combination or rotary cylinder and threaded pair cooperation, with the aim of simultaneously meeting the torque and axial thrust requirements of drill pipe connection.

[0021] Specifically, the aforementioned hydraulic clamping device achieves adaptability to different connection mechanisms through a discrete design. During pipe section connection, the pipe-lifting cylinder 7 provides pure axial pressure, ensuring the reverse teeth of the self-sealing joint mesh tightly under controlled pressure. This directional clamping method effectively avoids the influence of lateral forces or rotational torque on sealing performance. For drill pipe connection, the drill pipe tightening telescopic mechanism 8 simultaneously applies rotational torque and axial thrust, completing the clamping action while ensuring thread engagement. This composite motion significantly improves connection reliability. Especially under dynamic micro-vibration environments, this targeted clamping strategy can better maintain connection stability, thereby improving overall construction quality.

[0022] The above technical solution not only solves the problem that a single hydraulic clamping device cannot simultaneously meet the different connection requirements of pipe sections and drill pipes, but also improves the construction reliability and sealing performance in complex underground environments through customized clamping actions.

[0023] Furthermore, it also includes a drill pipe magazine 2, which is used to automatically transport the connecting short drill pipes 5 from the ground to the shaft. The drill pipe magazine 2 includes a conveyor frame 21 fixedly installed on the side wall of the shaft, a drive chain 22 is provided on the conveyor frame 21, and several drill pipe hooks 23 for storing the connecting short drill pipes 5 are installed on the drive chain 22.

[0024] The drill pipe magazine 2 refers to a device capable of automated conveying, which can be implemented using a modular design to reduce manual intervention through automated material supply. The conveyor frame 21 can be understood as the core structure supporting and guiding the entire conveying process. It can be fixed to the shaft sidewall by welding or bolting to provide a stable support foundation to resist vibrations during construction. The drive chain 22 refers to a cyclical motion transmission mechanism, which can be implemented using chain drive, belt drive, etc., to ensure continuous and smooth conveying of the drill pipe. The drill pipe hook 23 can be a specific-shaped mounting component that can reliably fix the drill pipe through snaps, magnetic attraction, or other fixing methods to prevent the drill pipe from shifting or falling off during conveying.

[0025] Specifically, the overall design of the drill pipe magazine 2 completely eliminates the need for manual intervention through an automated conveying mechanism, thereby directly addressing safety hazards in the drill pipe supply process. The conveyor frame 21 is fixedly mounted on the sidewall of the shaft, utilizing the shaft structure as a stable support foundation to effectively resist vibrations or external disturbances that may occur during construction, ensuring the accuracy of the conveying path. The transmission chain 22 is mounted on the conveyor frame 21, achieving continuous displacement of the drill pipe through the cyclical movement of the chain. This transmission mechanism simplifies the power transmission path, avoids jamming problems that may be caused by complex mechanical structures, and makes the conveying process smoother and more efficient. The drill pipe hook 23 is installed on the transmission chain 22 to store and connect short drill pipes 5. The specific design of the hook firmly fixes the drill pipe during conveying, preventing it from falling off or shifting position due to bumps or shaking within the well, thus ensuring that the drill pipe maintains the correct posture when it reaches the designated position. Furthermore, the drill pipe magazine 2, in conjunction with intelligent clamping mechanisms, laser alignment modules, and other functional modules, forms a complete automated takeover process, significantly improving construction efficiency and safety, especially in deep foundation pit construction, effectively reducing the safety risks associated with manual operation. The above technical solution enables automated supply of connecting short drill pipe 5, eliminating the need for workers to go down into the well to transport it, avoiding personnel exposure to dangerous environments, and providing a safe and reliable material guarantee for subsequent takeover processes.

[0026] Furthermore, the aforementioned intelligent pipe connection device also includes a pipe section storage 3, which is used to automatically lower the self-locking socket pipe 4 from the ground into the shaft. The pipe section storage 3 includes a feeding cylinder 31 fixedly installed on the side wall of the shaft. The feeding cylinder 31 is used to store the self-locking socket pipe 4. A hydraulic cylinder 32 is fixedly installed on the lower outer wall of the feeding cylinder 31. An upper baffle 33 is installed at the output end of the hydraulic cylinder 32. A hydraulic cylinder 34 is fixedly installed on the bottom outer wall of the feeding cylinder 31. A lower baffle 35 is installed at the output end of the hydraulic cylinder 34. When the self-locking socket tube 4 needs to be fed, the second hydraulic cylinder 34 at the bottom drives the lower baffle 35 to move and open to both sides, so that the self-locking socket tube 4, which was originally on the lower baffle 35, falls into the moving centering mechanism 6. Then, under the action of the second hydraulic cylinder 34, the lower baffle 35 moves into the upper material cylinder 31 to close the upper material cylinder 31. Then, under the action of the first hydraulic cylinder 32, the upper baffle 33 moves and opens to both sides, so that the self-locking socket tube 4, which was originally on the upper baffle 33, falls into the lower baffle 35. Then, the first hydraulic cylinder 32 drives the upper baffle 33 to move into the upper material cylinder 31 to close the upper material cylinder 31, so that there is only one self-locking socket tube 4 between the upper baffle 33 and the lower baffle 35.

[0027] Specifically, the pipe section storage unit 3 refers to an automated device whose core function is to achieve continuous and precise single-section lowering of the self-locking socket tube 4. In practical applications, the loading cylinder 31 can be understood as a vertically arranged storage container, whose internal space is optimized to accommodate the size and specifications of the self-locking socket tube 4, and provides stable support by being fixed to the side wall of the shaft. Hydraulic cylinder 32 and hydraulic cylinder 34 serve as drive units, and their displacement and action timing can be precisely controlled by an electro-hydraulic servo control system, thereby ensuring coordinated opening and closing of the upper baffle 33 and the lower baffle 35. Furthermore, the upper baffle 33 and the lower baffle 35 are designed to form a dynamic buffer zone, ensuring that only one self-locking socket tube 4 is released at a time, avoiding blockage or misalignment problems caused by multiple sections falling simultaneously.

[0028] In detail, this solution achieves efficient and safe lowering of pipe sections through the organic coordination of the loading cylinder 31, hydraulic cylinder 32, hydraulic cylinder 34, upper baffle 33, and lower baffle 35. First, hydraulic cylinder 34 drives the lower baffle 35 to open, allowing the current pipe section to fall into the moving alignment mechanism 6. Then, the lower baffle 35 closes to form a temporary support surface, ensuring a seamless connection between the pipe section lowering and docking processes. Next, hydraulic cylinder 32 drives the upper baffle 33 to open, allowing the upper pipe section to accurately fall into the position of the lower baffle 35. Finally, the upper baffle 33 closes again, maintaining a single-pipe section buffer zone. This timing control mechanism not only eliminates the uncertainty of manual intervention but also significantly improves construction efficiency and safety, especially in deep foundation pits, effectively avoiding risks such as collapse or gas poisoning. Simultaneously, this design, along with functional modules such as the intelligent clamping mechanism and laser alignment module, complements each other to form a complete intelligent pipe connection system, providing reliable assurance for subsequent high-precision docking and sealing.

[0029] Furthermore, the wellhead remote monitoring module includes a cloud platform and a mobile APP. The cloud platform is used to receive and store construction data, including jacking force, pipe section posture, and sealing pressure. The mobile APP is used to view construction data and receive abnormal alarms.

[0030] Specifically, a cloud platform refers to a data management and storage system based on cloud computing technology. It can be implemented using a distributed storage architecture or a centralized database management system. Its purpose is to transform the raw data transmitted by the Industrial Internet of Things into structured historical records, enabling traceable analysis of stress changes and sealing status during dynamic construction processes. A mobile app refers to an application running on a mobile terminal. It can be implemented using native development technologies or cross-platform frameworks. Its purpose is to provide construction personnel with real-time data access interfaces and anomaly warning functions.

[0031] In detail, this solution achieves real-time and accessible remote monitoring of construction data through the collaborative design of a cloud platform and a mobile app. The cloud platform receives construction data from the Industrial Internet of Things (IIoT), including key parameters such as jacking force, pipe section posture, and sealing pressure, and converts them into historical data records for subsequent analysis. This data not only reflects the dynamic changes during the automatic lowering of the pipe section library but also provides crucial input for the baseline drift compensation algorithm. The mobile app maintains real-time communication with the cloud platform via wireless network. When abnormal fluctuations in sealing pressure are detected, an alarm mechanism is immediately triggered, allowing construction personnel to assess the docking quality and intervene quickly without physically being at the wellhead. This design significantly reduces the time personnel are exposed to hazardous environments, while ensuring continuous verification of connection reliability under complex underground dynamic conditions through data closed-loop processing. Especially in deep construction environments, this solution can promptly detect potential hazards caused by micro-vibrations or ground creep, effectively compensating for micro-damage issues that may be missed during short-term inflation and pressure holding tests.

[0032] Furthermore, the aforementioned intelligent pipe connection device also includes a drill pipe grabbing automatic centering robotic arm 12 and a top plate pushing and pulling robotic arm 10; the drill pipe grabbing automatic centering robotic arm 12 is used to grab the newly connected short drill pipe 5 and assist the drill pipe in automatic centering; the top plate pushing and pulling robotic arm 10 is used to adjust the position of the rear end top plate 11 in the construction well and assist the self-locking socket pipe 4 in positioning and advancing the connected short drill pipe 5.

[0033] In practical applications, the automatic drill rod grabbing and centering robotic arm 12 refers to an automated device with multi-degree-of-freedom motion capabilities. It can be implemented using a six-axis industrial robot or a gantry-type manipulator. Its purpose is to achieve automatic grabbing and centering of newly connected short drill rods 5 through precise control. The push-pull top plate robotic arm 10 can be understood as an actuator with linear motion capabilities. It can be implemented using a telescopic arm driven by a hydraulic cylinder or a lead screw structure driven by a servo motor. Its purpose is to dynamically adjust the position of the rear top plate 11 according to docking requirements, ensuring the stability of the pushing process.

[0034] Specifically, during operation, the automatic drill rod grabbing and centering robotic arm 12 first uses its end effector to precisely grab the newly connected short drill rod 5 based on the pose data provided by the laser centering module, and moves it to the predetermined docking position. During this process, the robotic arm 12 can respond to pose compensation commands in real time, ensuring precise alignment between the new connected short drill rod 5 and the end face of the previous drill rod. The push-pull top plate robotic arm 10 dynamically corrects the posture of the rear top plate 11 according to the advancement commands of the moving centering mechanism 6, maintaining the stability of the self-locking socket pipe 4 and the connected short drill rod 5 during advancement. Especially when the pipe section spacing is close to the sealing critical value, the push-pull top plate robotic arm 10 can accurately maintain the docking position, thereby significantly improving overall construction efficiency and connection quality.

[0035] The aforementioned technical solution, by introducing an automatic drill pipe centering robotic arm 12 and a roof-pushing robotic arm 10, not only avoids the safety risks associated with manual intervention but also significantly improves the drill pipe centering accuracy and the reliability of roof adjustment, fundamentally solving the safety hazards and insufficient operational precision issues in deep well construction environments. Furthermore, this solution, combined with other modules such as intelligent clamping mechanisms and laser centering modules, forms a complete automated control system, further enhancing the overall efficiency and safety of construction.

[0036] Example 2 Based on the same inventive concept as the intelligent pipe connection device in the aforementioned embodiment of jacking pipe construction, however, in existing drilling operations for extraction holes, the connection between drill rods generally relies on a conical thread structure. This type of connection forces the drill rod to rotate only in the forward direction during construction, failing to accommodate bidirectional movement requirements. When encountering complex geological conditions, such as borehole collapse due to borehole wall instability or blockage of the slag discharge channel due to rock cuttings accumulation, drill rod jamming and seizure accidents are highly likely. In such cases, if the operator attempts to release the jamming point by alternating forward and reverse rotation, the conical thread connection, due to its inherent mechanical properties, will exhibit an axial separation tendency, directly causing thread stripping and resulting in the drill rod accidentally falling off.

[0037] To address the aforementioned issues, this embodiment provides a self-locking connecting short drill rod 5. Please refer to [link / reference]. Figures 4-11 As shown, the connecting short drill rod 5 includes a drill rod body 51. A threaded through hole 511 is provided along the axial direction at the center of the drill rod body 51. A connecting screw 52 is threadedly connected to the threaded through hole 511. The connecting screw 52 is used to thread-connect adjacent drill rod bodies 51. A connecting plug 512 is provided at one end of the drill rod body 51, and a connecting insertion hole 513 connected to the connecting plug 512 is provided at the other end of the drill rod body 51. An installation groove 5121 is provided on the connecting plug 5121, and a plug-in mechanism 54 is installed at the installation groove 5121. A limiting mechanism 53 and a fixing block 55 for radially limiting the plug-in mechanism 54 are installed at the connecting insertion hole 513. A plug baffle 514 for axially limiting the plug-in mechanism 54 is provided at the end of the connecting insertion hole 513.

[0038] The innovation of this embodiment lies in its self-locking drill pipe connection structure, which solves the problem of drill pipe disengagement during forward and reverse rotation in the event of a stuck drill pipe. Specifically, the mounting groove 5121 on the connector 512 provides an installation position for the insertion mechanism 54, while the limiting mechanism 53, the fixing block 55, and the connector baffle 514 at the connector hole 513 work together to achieve radial and axial limiting of the insertion mechanism 54, thereby ensuring the reliability of the drill pipe connection during forward and reverse operation. This design avoids the risk of disengagement that is prone to occur in traditional tapered thread connections under complex geological conditions, while improving the stability and safety of the drill pipe connection.

[0039] The working principle of this embodiment is as follows: The connecting short drill rod 5 includes a drill rod body 51, wherein a threaded through hole 511 is provided axially at the center of the drill rod body 51, and a connecting screw 52 is threadedly connected in the threaded through hole 511. The connecting screw 52 is used to realize the threaded connection between adjacent drill rod bodies 51. Further, a connecting plug 512 is provided at one end of the drill rod body 51, and a connecting insertion hole 513 that mates with the connecting plug 512 is provided at the other end. The connecting plug 512 is provided with a mounting groove 5121, and a plugging mechanism 54 is installed at the mounting groove 5121. Specifically, a limiting mechanism 53 and a fixing block 55 are installed at the connecting insertion hole 513 to radially limit the plugging mechanism 54. At the same time, a plug baffle 514 is provided at the end of the connecting insertion hole 513 to axially limit the plugging mechanism 54.

[0040] In actual operation, when it is necessary to connect adjacent drill pipe bodies 51, the connector 512 is inserted into the connector socket 513, and the insertion mechanism 54 is activated and functions under the action of the connecting screw 52. Through its internal structural design, the insertion mechanism 54 automatically extends and is fixed between the limiting mechanism 53, the fixing block 55, and the connector baffle 514 during the connection process, thereby achieving both radial and axial limiting of adjacent drill pipe bodies 51. Therefore, even in the event of a stuck drill or drill bit seizing accident under complex geological conditions, the drill pipe can maintain a stable connection during forward and reverse operation, avoiding disengagement problems caused by torque changes.

[0041] Furthermore, the connecting screw 52 connects to the adjacent drill pipe body 51 via a thread, ensuring the continuity and stability of torque transmission. The limiting mechanism 53 and the fixed stop 55 work together to prevent the insertion mechanism 54 from shifting radially, while the plug baffle 514 effectively limits the axial movement range of the insertion mechanism 54. Through the above structural design, the connection reliability of the drill pipe in jacking pipe construction is significantly improved, solving the technical problem of easy disengagement in traditional tapered thread connection methods during stuck drill accidents.

[0042] Furthermore, the insertion mechanism 54 includes a limiting slider 542 slidably disposed within the mounting groove 5121. An insertion wedge 541 is provided at one end of the limiting slider 542 near the threaded through hole 511, and the insertion wedge 541 has a wedge-shaped inclined surface. An insertion stop 544 is provided at the other end of the limiting slider 542. The insertion stop 544 is slidably connected to the side wall of the mounting groove 5121. The limiting slider 542 is connected to the side wall of the mounting groove 5121 via multiple sets of insertion springs 543, and the insertion is driven by the elastic force of the insertion springs 543. The wedge 541 slides into the threaded through hole 511. The connecting screw 52 drives the wedge 541 to slide in the mounting groove 5121, which in turn drives the plug stop 544 to extend out of the connector plug 512 and insert into the connector socket 513. The extended plug stop 544 is located between the limiting mechanism 53 and the fixed stop 55, which realizes the radial limiting between adjacent drill pipe bodies 51. At the same time, the plug baffle 514 axially limits the extended plug stop 544, ensuring the axial and radial fixed connection between adjacent drill pipe bodies 51.

[0043] In practical applications, the limiting slider 542 refers to a component that can move along a predetermined path within the mounting groove 5121. It can be implemented using linear guides, guide grooves, or other structures to provide precise motion guidance for the entire insertion mechanism 54, preventing jamming due to misalignment. The insertion wedge 541 can be understood as a wedge-shaped block with a specific angled slope. Its slope design efficiently converts the axial force of the connecting screw 52 into radial thrust. Specifically, the force transmission efficiency can be improved by optimizing the slope angle, thereby reducing the driving force required for operation. The insertion stop 544 refers to a component that can move synchronously with the limiting slider 542 and penetrate the side wall of the mounting groove 5121. It can achieve a tight fit through structures such as sliding grooves and sealing sleeves to prevent shaking caused by construction vibrations and ensure positioning accuracy. The insertion spring 543 is an elastic element that provides preload force to the insertion wedge 541, keeping the insertion mechanism 54 in a ready-to-trigger state, while absorbing impact vibrations during construction and enhancing overall stability.

[0044] Specifically, this solution achieves automatic triggering and precise positioning through the design of the insertion mechanism 54. The sliding setting of the limiting slider 542 within the mounting groove 5121 provides a stable movement path, ensuring that the insertion mechanism 54 can move smoothly under force. The wedge-shaped inclined surface of the insertion wedge 541, in cooperation with the connecting screw 52, ​​converts the axial force of the screw into radial thrust, driving the limiting slider 542 to slide, thereby causing the insertion stop 544 to extend or retract synchronously. During the extension process, the insertion stop 544 maintains a tight fit with the side wall of the mounting groove 5121, avoiding loosening or deviation caused by construction vibration. The pre-loading mechanism of the insertion spring 543 ensures that the insertion wedge 541 is in place in the initial state, facilitating immediate triggering of subsequent actions when the connecting screw 52 is screwed in. After the connecting screw 52 is screwed into the contact wedge 541, the linkage mechanism drives the plug-in stop 544 to extend and insert into the connecting socket 513, ultimately positioning it between the limiting mechanism 53 and the fixed stop 55, forming a double radial constraint. Furthermore, the plug baffle 514 axially limits the extended plug-in stop 544, combining with the radial limiting to achieve omnidirectional fixation, ensuring that the drill rod has no axial movement or radial offset during forward and reverse operations.

[0045] The above technical solution solves the problem of the lack of automatic triggering and reliable positioning mechanism in the connection process of the plug-in mechanism 54, ensuring the stable self-locking performance of the drill rod in the jacking pipe construction, avoiding the risk of disengagement when the drill needs to be reversed due to stuck drill, and significantly improving construction efficiency and connection reliability.

[0046] Furthermore, the limiting mechanism 53 includes a limiting seat 531 fixedly disposed within the connecting socket 513. Two sets of transmission sliders 532 are slidably disposed inside the limiting seat 531. Each transmission slider 532 has a first inclined surface 5321 and a second inclined surface 5322. The first inclined surface 5321 drives the transmission slider 532 to slide inwards towards the limiting seat 531 through cooperation with the connecting screw 52. A linkage wedge 533 cooperating with the second inclined surface 5322 is slidably disposed within the limiting seat 531. A spring connecting plate 535 is fixedly disposed within the limiting seat 531. The spring connecting plate 535 is fixedly connected to the linkage wedge 533 through a return spring 534. The linkage wedge 533... A fixed connection is provided with a limiting link 536. A limiting block 537 is fixedly installed at the end of the limiting link 536 away from the linkage wedge 533 to limit the movement of the insertion stop 544. The limiting block 537 is slidably connected to the side wall of the limiting seat 531. When it is necessary to insert the connecting short drill rod 5, the gripping drill rod automatic centering robotic arm 12 grips the new connecting short drill rod 5 and aligns it with the tail of the previous connecting short drill rod 5. Then, the drill rod tightening telescopic mechanism 8 presses the connecting plug 512 of the latter set of connecting short drill rods 5 into the connecting insertion hole 513 of the former set of connecting short drill rods 5. Simultaneously, the drill rod tightening telescopic mechanism 8 drives the connecting screw 52 to rotate. The connecting screw 52 first contacts the insertion wedge 541, causing the two sets of insertion stops 544 to slide outwards and insert into the connecting insertion hole 513. At this time, the connecting screw 52 is still inside the rear set of drill rod bodies 51. Then, the rear connecting short drill rod 5 is rotated so that the insertion stops 544 fit with the fixed stops 55. Then, the connecting screw 52 continues to spiral forward and insert into the threaded through hole 511 of the front set of connecting short drill rods 5. Then, the connecting screw 52 contacts the limiting mechanism 53 in the front set of connecting short drill rods 5. The inclined surface 5321 drives the transmission slider 532 to slide towards the limiting seat 531 through the cooperation with the connecting screw 52. The limiting seat 531 slides. At the same time, the linkage wedge 533 is driven to slide backward, and the linkage wedge 533 drives the limiting block 537 to extend backward into the connecting hole 513 and is located on the side of the plug-in block 544 away from the fixed block 55. The plug-in block 544 is located between the fixed block 55 and the limiting block 537, realizing the radial limitation of the adjacent connecting short drill rod 5. At the same time, the plug baffle 514 axially limits the extended plug-in block 544, ensuring the axial and radial fixed connection between the adjacent drill rod bodies 51. Furthermore, the two ends of the connecting screw 52 are respectively connected to the two adjacent sets of drill rod bodies 51, further improving the stability of the connection between the adjacent drill rod bodies 51.

[0047] In practical applications, the limit seat 531 refers to the component that provides a stable foundation for the entire limit mechanism. It can be made of metal or high-strength composite materials to ensure the rigidity and durability of the structure. The transmission slider 532 is a sliding assembly with a specific inclined surface structure. Its service life can be improved through surface hardening treatment or the addition of a wear-resistant coating. Its purpose is to convert the axial movement of the connecting screw 52 into radial movement. Specifically, the linkage wedge 533 can be understood as an inclined surface mating device. Its design purpose is to convert the radial movement of the transmission slider 532 into axial movement, thereby precisely controlling the position of the limit stop 537. Furthermore, the return spring 534 is an elastic element. It can adapt to different operational requirements by selecting springs of different stiffnesses, aiming to provide reliable return force and facilitate quick disassembly.

[0048] In detail, the above solution uses the limiting seat 531 as the basic platform of the overall mechanism, providing precise installation positions for components such as the transmission slider 532 and the linkage wedge 533, thus avoiding limiting failure due to positional misalignment. The cooperation between the inclined surface 5321 on the transmission slider 532 and the connecting screw 52 realizes an automatic triggering mechanism. When the connecting screw 52 is inserted forward, the axial movement is naturally converted into the radial inward sliding of the transmission slider 532. This design ensures that the limiting process and the connection operation are synchronized without additional operation. On this basis, the cooperation between the inclined surface 5322 on the transmission slider 532 and the linkage wedge 533 further realizes the precise transmission of the movement direction, avoiding jamming or energy loss during the movement. The return spring 534 is connected to the linkage wedge 533 through the spring connecting plate 535. When the connecting screw 52 is withdrawn, it automatically pulls back the linkage wedge 533, causing the limiting stop 537 to retract, thereby improving the stability and operational efficiency of the mechanism in repeated use. The limiting linkage 536 precisely transmits the movement of the linkage wedge 533 to the limiting stop 537, ensuring that its extended position is precisely controlled by the movement of the linkage wedge 533, forming a stable clamping structure with the fixed stop 55. This effectively prevents the lateral displacement of the insertion stop 544 under vibration or stress. Through this technical solution, not only are the problems of untimely or unstable radial limiting solved, but the construction safety of the drill pipe under complex geological conditions is also significantly improved.

[0049] Example 3 This application also discloses a jacking pipe construction method based on an intelligent pipe-connecting device, including the following steps: S1. Preparation stage: Fix the intelligent pipe connection device inside the shaft to complete the positioning of the first pipe section; S2, Automatic Takeover Stage: The intelligent clamping mechanism grips the new pipe section using an adaptive hydraulic clamp, and the automatic centering robotic arm grips the new drill rod. The laser centering module is activated, the cross laser emitter projects a laser beam, and the high-precision CCD vision module scans the end face of the installed drill rod to generate three-dimensional pose data. The dynamic correction algorithm calculates the pose deviation and generates compensation commands. According to the compensation commands, the moving centering mechanism advances the new pipe section and the new drill rod to the docking position at a programmable speed. The new drill rod is inserted into the previous drill rod and then tightened. S3. During the sealing and tightening stage, when the pipe section spacing is ≤10mm, the hydraulic tightening device of the sealing enhancement mechanism is automatically triggered, applying an 8-15MPa jacking pressure to make the reverse teeth of the self-sealing joint tightly mesh. S4. In the quality verification stage, the online detection module is activated, the air pressure sensor performs a 0.3MPa / 5min inflation and pressure holding test, and the leakage detection camera scans the interface gaps. The construction data is uploaded to the cloud platform of the well remote monitoring module through the industrial Internet of Things. After passing the test, it enters the next connection cycle. The core innovation of this embodiment lies in effectively solving the problem of absolute stability of the pipe section connection benchmark in a dynamically unstable underground environment by combining the intelligent clamping mechanism, laser alignment module, mobile alignment mechanism 6, sealing enhancement mechanism, and online detection module in a closed-loop control manner. Specifically, the adaptive hydraulic clamp in the intelligent clamping mechanism has a built-in pressure sensor that can adjust the clamping force in real time to ensure the stability of the new pipe section's posture in a dynamic environment; the laser alignment module uses a high-precision CCD vision module to capture the three-dimensional pose data of the drill pipe end face and continuously monitor the absolute position change of the benchmark pipe section; the mobile alignment mechanism 6 performs position correction at a programmable speed according to the compensation command generated by the dynamic correction algorithm to compensate for benchmark drift caused by external vibration or formation creep; the sealing enhancement mechanism applies an 8-15MPa jacking pressure through a hydraulic clamping device to strengthen the counter-tooth engagement effect of the self-sealing joint and prevent sealing failure caused by minor misalignment; the online detection module verifies the connection quality in real time through a pressure sensor and a leakage detection camera to promptly detect potential defects. The collaborative work of these modules significantly improves the absolute accuracy and long-term reliability of pipe joint connections, while avoiding the safety hazards and inefficiencies of traditional manual pipe connection methods. In practical applications, intelligent clamping mechanisms can achieve their functions in various ways, such as using electromagnetic adsorption clamps or mechanical claw clamps as alternatives. Their main purpose is to ensure the stability of the pipe sections during docking. The high-precision CCD vision module in the laser alignment module can be further expanded into an infrared imaging module or a laser scanning module to capture the three-dimensional contour data of the pipe section end face, thereby assisting in achieving more accurate position feedback. The servo motor-driven ball screw in the moving alignment mechanism 6 can be replaced with a stepper motor-driven synchronous belt drive mechanism or a multi-segment telescopic hydraulic cylinder to achieve smooth and controllable displacement adjustment. The reverse toothed design inside the self-sealing joint in the sealing enhancement mechanism can adopt other forms of mechanical interlocking structures, such as corrugated nested structures or elastic snap-fit ​​structures, to enhance the vibration resistance of the interface. The air pressure sensor in the online detection module can be combined with a flow monitoring device or a temperature sensor to comprehensively evaluate changes in sealing performance. The communication connection of the wellhead remote monitoring module can be achieved through a wireless local area network or dedicated short-range communication technology to meet the data transmission needs of different construction environments. Through the above technical solution, the intelligent pipe connection device constructs a complete chain from detection to adjustment to verification, effectively addressing the instability of the reference for pipe connection in deep, complex and dynamic urban underground environments, significantly improving construction efficiency, connection accuracy and long-term reliability, while reducing the safety risks for construction personnel.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent pipe-connecting device for pipe jacking construction, characterized in that, This includes an intelligent clamping mechanism, a laser alignment module, a mobile alignment mechanism, a sealing enhancement mechanism, an online detection module, and a well remote monitoring module; The intelligent clamping mechanism includes an adaptive hydraulic clamp with a built-in pressure sensor. The laser alignment module includes a cross laser emitter and a high-precision CCD vision module; The moving centering mechanism includes a ball screw driven by a servo motor and a multi-stage hydraulic jack. The sealing enhancement mechanism includes a self-sealing joint and a hydraulic clamping device, wherein the self-sealing joint has reverse teeth inside; The online detection module includes a pressure sensor and a leak detection camera; The wellhead remote monitoring module is connected to the intelligent clamping mechanism, laser alignment module, mobile alignment mechanism, sealing enhancement mechanism, and online detection module via the Industrial Internet of Things.

2. The intelligent pipe-connecting device for pipe jacking construction according to claim 1, characterized in that: The hydraulic clamping device includes a pipe-loading lifting cylinder and a drill rod tightening telescopic mechanism. The pipe-loading lifting cylinder is used to press the new self-locking socket pipe into the previous pipe section, and the drill rod tightening telescopic mechanism is used to rotate and press the new connecting short drill rod onto the previous connecting short drill rod.

3. The intelligent pipe-connecting device for pipe jacking construction according to claim 1, characterized in that: It also includes a drill pipe magazine, which is used to automatically transport connecting short drill pipes from the ground to the shaft; the drill pipe magazine includes a conveyor frame fixedly installed on the side wall of the shaft, the conveyor frame is equipped with a transmission chain, and the transmission chain is equipped with several drill pipe hooks for storing connecting short drill pipes.

4. The intelligent pipe-connecting device for pipe jacking construction according to claim 1, characterized in that: It also includes a pipe section storage unit, which is used to automatically lower self-locking socket pipes from the ground into the shaft; the pipe section storage unit includes a feeding cylinder fixedly installed on the side wall of the shaft, which is used to store self-locking socket pipes, a hydraulic cylinder is fixedly installed on the lower outer wall of the feeding cylinder, an upper baffle is installed at the output end of the hydraulic cylinder, and a hydraulic cylinder is fixedly installed on the bottom outer wall of the feeding cylinder, a lower baffle is installed at the output end of the hydraulic cylinder.

5. The intelligent pipe-connecting device for pipe jacking construction according to claim 1, characterized in that: The wellhead remote monitoring module includes a cloud platform and a mobile APP. The cloud platform is used to receive and store construction data, including jacking force, pipe section posture, and sealing pressure. The mobile APP is used to view construction data and receive abnormal alarms.

6. The intelligent pipe-connecting device for pipe jacking construction according to claim 1, characterized in that: It also includes an automatic drill pipe centering robotic arm and a top plate pushing and pulling robotic arm; the automatic drill pipe centering robotic arm is used to grab newly connected short drill pipes and assist in the automatic centering of the drill pipes; the top plate pushing and pulling robotic arm is used to adjust the position of the rear top plate in the construction well and assist in the positioning and advancement of the self-locking socket pipe and the connected short drill pipe.

7. The intelligent pipe-connecting device for pipe jacking construction according to claim 1, characterized in that: The connecting short drill rod (5) includes a drill rod body (51), the center of which is provided with a threaded through hole (511) along the axial direction, and a connecting screw (52) is threadedly connected to the threaded through hole (511). The connecting screw (52) is used to thread-connect adjacent drill rod bodies (51). One end of the drill rod body (51) is provided with a connecting plug (512), and the other end of the drill rod body (51) is provided with a connecting socket (513) connected to the connecting plug (512). The connecting plug (512) is provided with a mounting groove (5121), and a plug-in mechanism (54) is installed at the mounting groove (5121). A limiting mechanism (53) and a fixing block (55) for radially limiting the plug-in mechanism (54) are installed at the connecting socket (513). A plug baffle (514) for axially limiting the plug-in mechanism (54) is provided at the end of the connecting socket (513).

8. The intelligent pipe-connecting device for pipe jacking construction according to claim 7, characterized in that: The insertion mechanism (54) includes a limiting slider (542) slidably disposed in the mounting groove (5121). A insertion wedge (541) is provided at one end of the limiting slider (542) near the threaded through hole (511). The insertion wedge (541) has a wedge-shaped inclined surface. A insertion stop (544) is provided at the other end of the limiting slider (542). The insertion stop (544) is slidably connected to the side wall of the mounting groove (5121). The limiting slider (542) is connected to the side wall of the mounting groove (5121) by multiple sets of insertion springs (543). The insertion springs (543) provide the connection. The insertion wedge (541) is slid into the threaded through hole (511). The insertion wedge (541) is slid in the mounting groove (5121) by the connecting screw (52). The insertion stop (544) extends out of the connector plug (512) and is inserted into the connector socket (513). The extended insertion stop (544) is located between the limiting mechanism (53) and the fixed stop (55), thereby achieving radial limiting between adjacent drill rod bodies (51). At the same time, the plug baffle (514) axially limits the extended insertion stop (544), ensuring axial and radial fixed connection between adjacent drill rod bodies (51).

9. The intelligent pipe-connecting device for pipe jacking construction according to claim 8, characterized in that: The limiting mechanism (53) includes a limiting seat (531) fixedly disposed in the connecting socket (513). Two sets of transmission sliders (532) are slidably disposed inside the limiting seat (531). The transmission sliders (532) are provided with inclined surface one (5321) and inclined surface two (5322). The inclined surface one (5321) drives the transmission slider (532) to slide inward toward the limiting seat (531) through cooperation with the connecting screw (52). The limiting seat (531) is slidably disposed with a linkage that cooperates with the inclined surface two (5322). A spring connecting plate (535) is fixedly installed inside the wedge block (533) and the limiting seat (531). The spring connecting plate (535) is fixedly connected to the linkage wedge block (533) through a reset spring (534). A limiting connecting rod (536) is fixedly connected on the linkage wedge block (533). A limiting stop (537) for limiting the movement of the insertion stop (544) is fixedly installed at the end of the limiting connecting rod (536) away from the linkage wedge block (533). The limiting stop (537) is slidably connected through the side wall of the limiting seat (531). When it is necessary to insert a connecting short drill rod (5), the automatic centering robot arm (12) grabs the new connecting short drill rod (5) and aligns it with the tail of the previous connecting short drill rod (5). Then, the connecting plug (512) of the next set of connecting short drill rods (5) is pressed into the connecting socket (513) of the previous set of connecting short drill rods (5) by the drill rod tightening telescopic mechanism (8). At the same time, the drill rod tightening telescopic mechanism (8) drives the connecting screw (52) to rotate. The connecting screw (52) first engages with the connecting plug (513) of the previous set of connecting short drill rods (5). When the wedge (541) contacts, it causes the two sets of plug-in blocks (544) to slide outward and insert into the connecting hole (513). At this time, the connecting screw (52) is still inside the body of the rear drill rod (51). Then, the rear connecting short drill rod (5) is rotated so that the plug-in block (544) fits against the fixed block (55). Then, the connecting screw (52) is driven to continue to spiral forward and insert into the threaded through hole (511) of the front connecting short drill rod (5). Then, the connecting screw (52) contacts. The limiting mechanism (53) in the previous set of connecting short drill rods (5) drives the transmission slider (532) to slide towards the limiting seat (531) through the cooperation with the connecting screw (52). At the same time as the limiting seat (531) slides, it drives the linkage wedge (533) to slide towards the rear. The linkage wedge (533) then drives the limiting stop (537) to extend backward into the connecting insertion hole (513) and is located on the side of the insertion stop (544) away from the fixed stop (55). The plug-in stop (544) is located between the fixed stop (55) and the limiting stop (537) to achieve radial limiting of the adjacent connected short drill rods (5). At the same time, the plug baffle (514) axially limits the extended plug-in stop (544) to ensure axial and radial fixed connection between the adjacent drill rod bodies (51). The two ends of the connecting screw (52) are respectively connected to the two adjacent sets of drill rod bodies (51), further improving the stability of the connection between the adjacent drill rod bodies (51).

10. A jacking pipe construction method based on the intelligent pipe-connecting device according to any one of claims 1-9, characterized in that, Includes the following steps: S1. Preparation stage: Fix the intelligent pipe connection device inside the shaft to complete the positioning of the first pipe section; S2, Automatic Takeover Stage: The intelligent clamping mechanism grips the new pipe section using an adaptive hydraulic clamp, and the automatic centering robotic arm grips the new drill rod. The laser centering module is activated, the cross laser emitter projects a laser beam, and the high-precision CCD vision module scans the end face of the installed drill rod to generate three-dimensional pose data. The dynamic correction algorithm calculates the pose deviation and generates compensation commands. According to the compensation commands, the moving centering mechanism advances the new pipe section and the new drill rod to the docking position at a programmable speed. The new drill rod is inserted into the previous drill rod and then tightened. S3. During the sealing and tightening stage, when the pipe section spacing is ≤10mm, the hydraulic tightening device of the sealing enhancement mechanism is automatically triggered, applying an 8-15MPa jacking pressure to make the reverse teeth of the self-sealing joint tightly mesh. S4. In the quality verification phase, the online detection module is activated, the pressure sensor performs a 0.3MPa / 5min inflation and pressure holding test, and the leakage detection camera scans the interface gaps. The construction data is uploaded to the cloud platform of the well remote monitoring module through the industrial Internet of Things. After passing the test, it enters the next connection cycle.

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