Integrated pouring equipment for underground engineering construction and intelligent cooperative control method thereof

Abstract

The integrated pouring equipment for underground engineering construction is provided with an automatic control system, a concrete pumping system, a material distributing device and a guide pipe construction system, the guide pipe construction system is provided with an operation platform, the operation platform is fixed to a movable chassis, the front portion of the operation platform is provided with a guide pipe supporting frame, the rear portion of the operation platform is provided with a guide pipe storage frame, and the tail portion of the operation platform is provided with a guide pipe cleaning arm; and the automatic control system integrally controls the coordination action of the three parts. The invention further discloses an intelligent cooperative control method of the equipment. By means of the integrated design, concrete pumping, material distribution and guide pipe construction are automatically and orderly carried out, time loss caused by cooperation of multiple devices is reduced, and the overall pouring speed is increased by 30% or above compared with a traditional method. According to the guide pipe construction system, the guide pipe can be mounted and dismounted under the condition that a crane is not occupied, the concrete pouring efficiency is guaranteed, the construction period is remarkably shortened, and the guide pipe construction system is particularly suitable for long-time and large-volume continuous pouring operation of an ultra-deep underground continuous wall larger than 30 m.

Description

Technical Field

[0001] This invention relates to a concrete pouring equipment for underground engineering construction, and particularly to an integrated automatic pouring equipment for underground continuous wall construction and its intelligent collaborative control method. Background Technology

[0002] In the construction of ultra-deep diaphragm walls, concrete pouring and tremie pipe installation and management are critical stages. Existing construction methods typically rely on large cranes for the lifting, transporting, and installation of the tremie pipes, while the concrete pumping equipment needs to coordinate with the cranes. This construction method presents several problems:

[0003] High labor intensity: Crane operation requires a large number of people to lift and install the conduit. Manual operation is not only labor-intensive, but also prone to operational errors, affecting construction efficiency and safety.

[0004] The operation is complicated: the crane needs to be precisely coordinated during the transport of the guide pipe, and the coordination between the crane and the concrete pumping equipment is quite complex, which makes the construction operation complicated and the construction period long.

[0005] Low construction efficiency: The inefficiency of crane operation directly affects the entire construction progress. Especially during long-term, large-scale concrete pouring, the crane needs to be frequently adjusted, which greatly affects work efficiency.

[0006] Safety Hazards: During crane operation, the frequent lifting and dismantling of guide pipes can easily lead to safety risks associated with working at heights. Furthermore, misoperation may occur during the coordination between the crane and other construction equipment, potentially causing construction accidents.

[0007] To improve the efficiency and safety of ultra-deep diaphragm wall construction, there is an urgent need for a new type of equipment that can reduce reliance on cranes, simplify construction operations, increase the degree of automation, and reduce the risks of manual operation while ensuring construction quality. Summary of the Invention

[0008] This invention provides an integrated automatic pouring equipment for underground continuous wall construction and its intelligent collaborative control method to solve the technical problems existing in the prior art. It can optimize the construction process, improve construction efficiency and automation level, and reduce labor intensity and safety hazards.

[0009] The present invention provides a technical solution to address the technical problems existing in the prior art: an integrated pouring equipment for underground engineering construction, comprising an automatic control system, a concrete pumping system, a concrete placing device, and a guide pipe construction system. The guide pipe construction system includes a working platform fixed to a mobile chassis. The working platform has a guide pipe support frame at the front, a guide pipe storage rack at the rear, and a guide pipe cleaning arm at the tail. The guide pipe storage rack is horizontally arranged and is a rotating rack, fixedly connected to a vertically arranged rotating shaft. The rotating shaft is supported by the working platform and driven to rotate by a servo motor. Multiple pipe supports are evenly distributed circumferentially on the guide pipe storage rack. The guide pipe support frame has vertically coaxial, openable upper and lower clamping clamps extending beyond the working platform at the front. The lower clamping clamp is a supporting clamping clamp fixedly connected to the working platform. The upper clamping clamp includes a clamp base, with an openable clamping jaw at the front of the clamp base. A rotatably connected device is provided within the clamping jaw. The screw-on sleeve for the conduit connector has a retractable clamping plate on the upper surface of the jaws. The retractable clamping plate is symmetrically arranged left and right, evenly distributed circumferentially, and extends radially. The screw-on sleeve is equipped with a rotary drive device for driving its rotation. The clamp seat is fixed to a telescopic shaft, which is vertically installed in the middle of the conduit support frame. The conduit support frame provides guidance and support, and the telescopic drive device drives its axial telescopic movement. A fork is also provided on the telescopic shaft and rotatably connected to it. The fork is adapted to the pipe support and is equipped with a rotary drive device for picking up and delivering the conduit from the conduit storage rack to the lower clamping clamp. A winch is also installed on the working platform for lowering and pulling the conduit. The concrete placing device is connected to the working platform, and the outlet of the concrete pumping system is connected to the inlet of the placing device through a delivery pipe. The automatic control system is connected to the concrete pumping system, the placing device, and the conduit construction system through an electrical interface and integrates the control of the coordinated actions of the three.

[0010] Based on the above solution, the present invention has made the following improvements: The rotation drive of the conduit storage rack is powered by a motor reducer.

[0011] The inner wall of the upper clamping clamp's screwing sleeve is machined with an internal thread groove that matches the external thread of the conduit connector.

[0012] The mobile chassis adopts a tracked walking mechanism and is equipped with a drive-by-wire system.

[0013] The duct cleaning arm is a multi-joint hydraulic robotic arm with a rotating brush head and a high-pressure water nozzle integrated at the end.

[0014] The fabric-laying device includes a main folding boom and an auxiliary folding boom, both of which adopt a multi-section hinged structure and are driven to unfold or fold by hydraulic cylinders. The root of the main boom is hinged to the working platform, and the root of the auxiliary boom is hinged to the root of the main boom.

[0015] The concrete pumping system adopts a parallel dual pumping system and is equipped with a hydraulic proportional valve to control the flow rate.

[0016] The telescopic drive device uses a hydraulic cylinder, which is installed on the working platform of the conduit construction system, and the telescopic end is connected to the lower end of the telescopic shaft.

[0017] The screwing sleeve is mounted inside the jaws via a bearing.

[0018] The automatic control system employs finite state machine control logic and includes at least the following states: Continuous casting mode: The pumping system and the concrete placing device work together, and the guide pipe construction system maintains the clamping of the guide pipe; Disassembly preparation state: Triggered when the lower end of the guide pipe reaches the design value, the concrete pumping system is shut down, the placing device is reset to avoid the obstruction, and the guide pipe construction system performs the loosening and pulling of the guide pipe; Automatic replacement mode: The actuator of the catheter installation system completes the disassembly, transfer, and cleaning of the old catheter, or the picking, placing, and installation of the new catheter.

[0019] The automatic control system is also equipped with a spatial interlock mechanism, which restricts the material spreading device from entering its working radius when the forks or guide cleaning arms are in motion.

[0020] Another technical solution adopted by the present invention to solve the technical problems existing in the prior art is: an intelligent collaborative control method for an integrated pouring equipment for underground engineering construction as described above, wherein the automatic control system adopts the following steps: 1) Trolley positioning and automatic control system self-test; 2) The automatic control system drives the conduit construction system to pick up conduits from the conduit storage rack in sequence and automatically complete the lowering, installation and tightening of the conduits section by section; 3) After the conduit is installed, unfold the fabric distribution device to the working position; 4) Start the pumping system and pour concrete into the trench section through the concrete placing device; 5) Monitor the concrete pouring surface height in real time, and shut down the concrete pumping system when the lower end of the guide pipe reaches the design value; 6) Start the winch to pull up and lift the guide tube until the lower end of its top section is above the lower clamping clamp. At this point, the lower end of the guide tube has been lifted. 7) The upper clamping clamps clamp the guide tube connector, and the top section guide tube is loosened by rotating the screw sleeve in the opposite direction. Then the telescopic shaft moves, which drives the upper clamping clamps to lift the top section guide tube. 8) Move the forks to the disassembly position, receive the disassembled guide pipe, and transfer it to the empty pipe support of the guide pipe storage rack; 9) The catheter cleaning arm performs automatic cleaning on the removed catheters; 10) After confirming the position of the conduit and securing it, restart the pumping system; 11) Repeat steps 4) to 10) until the pouring is complete.

[0021] The advantages and positive effects of this invention are: (1) Significantly improved construction efficiency: The integrated design enables the concrete pumping, placement and tremie pipe construction to proceed automatically and in an orderly manner, reducing the time loss of coordinating multiple pieces of equipment, and increasing the overall pouring speed by more than 30% compared with traditional methods. The tremie pipe construction system can complete the installation and dismantling of the tremie pipe without occupying a crane, ensuring continuous concrete pouring, thereby significantly shortening the construction cycle, and is especially suitable for long-term, large-volume continuous pouring operations of ultra-deep underground continuous walls greater than 30m.

[0022] (2) Significantly reduced labor intensity: Traditional processes rely on cranes for lifting and transporting conduits, which is cumbersome and labor-intensive. This invention replaces crane operations with automated devices to automatically clamp, twist, lift, and store conduits, significantly reducing manual intervention and high-intensity physical labor, and improving the working conditions of construction workers.

[0023] (3) Enhanced operational safety: Since frequent use of cranes for high-altitude lifting is unnecessary, the potential risks of collisions and falls during the lifting of conduits are avoided. This invention uses a combination of clamps, winches, rotating forks, and storage racks to achieve ground-based operation, reduce the proportion of high-altitude operations, and significantly reduce construction safety hazards.

[0024] (4) Improved construction continuity and stability: The pumping system adopts parallel dual pumps, which can ensure continuous and stable concrete supply. The double-arm design and backup switching mechanism of the concrete placing device further ensure the continuity of the pouring process and can avoid construction interruption due to equipment failure or maintenance.

[0025] (5) High adaptability and flexibility: The mobile chassis of the equipment adopts a tracked walking mechanism and is equipped with a wire-controlled drive system, which can adapt to complex foundations and narrow construction sites, and has high flexibility. At the same time, the equipment can be compatible with 6-meter standard guide pipes and 2×3-meter short guide pipes, which can meet the needs of different geological conditions and construction conditions.

[0026] (6) Simple site layout: The equipment has a compact structure and occupies a small area, which reduces the interference of multiple equipment such as pump trucks and cranes operating at the same time, making the construction site layout more orderly and improving the overall construction organization efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is an isometric view of the present invention; Figure 4 This is a side view of the present invention; Figure 5 This is a diagram illustrating the use of the present invention; Figure 6 This is a top view of the upper clamping clamp of the present invention; Figure 7 This is an isometric view of the upper clamping clamp of the present invention; Figure 8 This is a schematic diagram illustrating the working principle of the present invention.

[0028] In the diagram: 1. Working platform; 2. Mobile chassis; 3. Conduit support frame; 4. Conduit storage rack; 5. Conduit cleaning arm; 6. Rotary shaft; 7. Motor reducer; 8. Pipe support; 9. Telescopic shaft; 10. Lower clamp; 11. Clamp base; 12. Jaw; 13. Telescopic pallet; 14. Forks; 15. Winch; 16. Fabric placement device. Detailed Implementation

[0029] To further understand the invention's content, features, and effects, the following embodiments are provided, and detailed descriptions are given below in conjunction with the accompanying drawings: Please see Figures 1 to 8 An integrated pouring equipment for underground engineering construction, comprising an automatic control system, a concrete pumping system, a concrete placing device 16, and a duct construction system.

[0030] The conduit construction system is equipped with a working platform 1, which is fixed on a mobile chassis 2.

[0031] The working platform 1 of the catheter construction system has a catheter support frame 3 at the front, a catheter storage rack 4 at the rear, and a catheter cleaning arm 5 at the tail. The conduit storage rack 4 is horizontally arranged and is a rotary storage rack, which is fixedly connected to the vertically arranged rotating shaft 6. The rotating shaft 6 is supported by the working platform 1 and driven by the motor reducer 7. It is used to accurately rotate the pipe support of the designated pipe position to the picking position corresponding to the fork. Multiple pipe supports 8 are placed on the conduit storage rack 4 in a circumferentially evenly distributed manner to support spare conduits.

[0032] A vertically coaxial, openable upper and lower clamping clamps are provided in front of the catheter support frame 3, extending beyond the working platform 1. The lower clamping clamp 10 is a support clamping clamp and is fixedly connected to the working platform 1. The upper clamping clamp includes a clamp base 11, and an openable jaw 12 is provided in front of the clamp base 11. A screwing sleeve adapted to the catheter connector is provided inside the jaw 12 and rotatably connected thereto. A telescopic locking plate 13 is provided on the upper surface of the jaw 12. The telescopic locking plate 13 is symmetrically arranged on the left and right, evenly distributed along the circumference, and extends radially to secure the upper end of the catheter. The screwing sleeve is provided with a rotation drive device to drive its rotation. The clamp base 11 is fixedly connected to the telescopic shaft 9, which is vertically installed in the middle of the catheter support frame 3. The catheter support frame 3 provides guidance and support, and the telescopic drive device drives it to perform axial telescopic movement.

[0033] More detailed explanation: The inner contour of the aforementioned screwing sleeve is adapted to the shape of the catheter connector to be operated, so as to form a non-self-locking engagement with the catheter connector during clamping. The screwing sleeve is connected to a rotary drive device (such as a servo motor, rotary hydraulic motor, etc.), which drives the screwing sleeve to rotate forward and backward around its own axis, thereby realizing the operation of tightening or loosening the clamped catheter connector. Preferably, the screwing sleeve is installed in the jaws through rolling bearings, allowing for flexible rotation.

[0034] The telescopic drive device is a hydraulic cylinder, which is installed on the working platform 1 of the conduit construction system, and the telescopic end is connected to the lower end of the telescopic shaft 9.

[0035] A fork 14 is also rotatably connected to the telescopic shaft 9. The fork 14 is adapted to the pipe support 8 and is equipped with a rotary drive device for removing the pipe from the pipe storage rack 4 and transferring it to the lower clamp 10, similar to the function of a forklift. The fork 14 is connected to its drive device through a transmission structure and is controlled by an automatic control system.

[0036] A winch 15 is also installed on the working platform 1 for lowering and pulling out the guide tube.

[0037] The winch 15 is connected to the guide pulley block and has lifting rings on the guide pulley block. When the guide pulley is lowered section by section, the winch 14 is used to hang the sections to be connected to prevent them from falling off. When the guide pulley is pulled up, the winch is used to lift the guide pulley.

[0038] The concrete placing device 16 is connected to the working platform 1, and the outlet of the concrete pumping system (not shown in the figure) is connected to the inlet of the concrete placing device 16 through a conveying pipe.

[0039] The automatic control system is connected to the concrete pumping system, the placing device 16 and the duct construction system via an electrical interface, and integrates the control of the coordinated actions of the three.

[0040] The aforementioned conduit installation system can quickly complete the lowering, installation, and dismantling of conduits, eliminating the need for high-altitude hoisting or complex manual operations, making construction more efficient and safer.

[0041] The concrete pumping system, through its automated control system and sensors, monitors pumping pressure and flow rate in real time, ensuring stable delivery of concrete during the pouring process.

[0042] The boom design allows concrete to be received on multiple work surfaces. The boom's angle and length can be flexibly adjusted according to construction needs, ensuring that concrete reaches the construction area precisely.

[0043] The more preferred solution in this embodiment is as follows: The mobile chassis 2 adopts a tracked walking mechanism and is equipped with a drive-by-wire system, which can adapt to uneven ground conditions and achieve precise positioning within the construction area.

[0044] The duct cleaning arm 5 is a multi-joint hydraulic robotic arm with a rotating brush head and a high-pressure water nozzle integrated at the end.

[0045] The fabric placement device 16 includes a main folding boom and an auxiliary folding boom, both of which adopt a multi-section hinged structure and are driven to unfold or fold by hydraulic cylinders. The root of the main boom is hinged to the working platform, and the root of the auxiliary boom is hinged to the root of the main boom, resulting in very few blind spots.

[0046] The concrete pumping system adopts a parallel dual pumping system, which doubles the output capacity and enables continuous pumping.

[0047] The concrete pumping system uses a hydraulic proportional valve to control the flow rate.

[0048] The automatic control system employs finite state machine control logic and includes at least the following states: Continuous casting mode: The pumping system and the concrete placing device work together, and the guide pipe construction system maintains the clamping of the guide pipe; Disassembly preparation state: Triggered when the lower end of the guide pipe reaches the design value, the concrete pumping system is shut down, the placing device is reset to avoid the obstruction, and the guide pipe construction system performs the loosening and pulling of the guide pipe; Automatic replacement mode: The actuator of the catheter installation system completes the disassembly, transfer, and cleaning of the old catheter, or the picking, placing, and installation of the new catheter.

[0049] The automatic control system is also equipped with a spatial interlock mechanism, which restricts the material spreading device from entering its working radius when the forks or guide cleaning arms are in motion.

[0050] The automatic control system employs the following steps: 1) Trolley positioning and automatic control system self-test; 2) The automatic control system drives the conduit construction system to pick up conduits from the conduit storage rack in sequence and automatically complete the lowering, installation and tightening of the conduits section by section; 3) After the conduit is installed, unfold the fabric distribution device to the working position; 4) Start the pumping system and pour concrete into the trench section through the concrete placing device; 5) Monitor the concrete pouring surface height in real time, and shut down the concrete pumping system when the lower end of the guide pipe reaches the design value; 6) Start the winch to pull up and lift the guide tube until the lower end of its top section is above the lower clamping clamp. At this point, the lower end of the guide tube has been lifted. 7) The upper clamping clamps clamp the guide tube connector, and the top section guide tube is loosened by rotating the screw sleeve in the opposite direction. Then the telescopic shaft moves, which drives the upper clamping clamps to lift the top section guide tube. 8) Move the forks to the disassembly position, receive the disassembled guide pipe, and transfer it to the empty pipe support of the guide pipe storage rack; 9) The catheter cleaning arm performs automatic cleaning on the removed catheters; 10) After confirming the position of the conduit and securing it, restart the pumping system; 11) Repeat steps 4) to 10) until the pouring is complete.

[0051] More specifically: 1) Install the conduit section by section; The first step is to place the catheter segment on the catheter storage rack's support. The second step is to rotate the storage rack and forks to the handover position. The third step involves using the forks to remove the guide tube section and its support bracket. The forks are then rotated between the upper and lower clamping jaws. The fourth step is to lower the upper clamping clamp, clamp it on the connector at the upper end of the guide tube section, and connect the guide tube section to the traction rope hook of the winch. Fifth step: the upper clamp rises to disengage the guide tube section from its support tube holder, and then the forks reverse to the handover position to return the tube holder to the guide tube storage rack. Step 6: Lower the upper clamp until the catheter segment is placed under the lower clamp. At this point, the lower clamp closes, supporting the upper connector of the catheter segment. Step 7: Open the upper and lower clamps and use a winch to lower the guide tube section until the upper end of the guide tube section can be hooked onto the closed lower clamp. Step 8: Repeat steps 2 through 6, docking the later-placed catheter segment with the earlier-placed catheter segment; Step 9: The upper clamping clamp descends, causing the rotating sleeve to clamp the connector on the lowered conduit segment. Then, the rotating drive device of the screwing sleeve is activated to connect the two conduit segments. Step 10: Repeat steps 8 and 9 until the conduit is lowered and installed. Finally, the upper end of the conduit is hung on the lower clamp, and the upper end of the conduit is connected to the winch.

[0052] 2) After the guide tube is lowered, deploy the fabric distribution device; 3) Start the pumping system; 4) Once the conduit reaches the set depth, shut down the pumping system; 5) Start the winch to lift the guide tube until the lower end of its top section guide tube is above the lower clamping clamp; 6) Remove the top section guide tube and move it to the storage rack for cleaning before repositioning; simultaneously start the pumping system; The process of removing the top section catheter is the reverse of the process of connecting the catheter, and the process of transferring and repositioning is the reverse of the process of inserting the catheter.

[0053] 7) Repeat steps 4) to 6) until the pouring is complete.

[0054] Although preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other modifications under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these modifications are within the scope of protection of the present invention.

Claims

1. An integrated pouring equipment for underground engineering construction, characterized in that, It is equipped with an automatic control system, a concrete pumping system, a concrete placing device, and a duct construction system. The conduit construction system is equipped with a working platform, which is fixed on a mobile chassis. The working platform of the catheter installation system has a catheter support frame at the front, a catheter storage rack at the rear, and a catheter cleaning arm at the tail. The conduit storage rack is horizontally arranged and is a rotary storage rack, which is fixedly connected to a vertically arranged rotating shaft. The rotating shaft is supported by the working platform and driven to rotate by a servo motor. Multiple tube supports are placed on the conduit storage rack in a circumferentially distributed manner. The catheter support frame has two vertically coaxial, openable upper and lower clamping clamps extending out of the working platform. The lower clamping clamp is a support clamping clamp and is fixedly connected to the working platform. The upper clamping clamp includes a clamp base, and an openable jaw is provided in front of the clamp base. A screwing sleeve adapted to the catheter connector is provided inside the jaw and rotatably connected thereto. A telescopic locking plate is provided on the upper surface of the jaw. The telescopic locking plate is symmetrically arranged on the left and right, evenly distributed circumferentially, and extends radially. The screwing sleeve is provided with a rotation drive device for driving its rotation. The clamp base is fixedly connected to a telescopic shaft, which is vertically installed in the middle of the catheter support frame. The catheter support frame provides guidance and support, and the telescopic drive device drives it to perform axial telescopic movement. The telescopic shaft is also provided with a fork that is rotatably connected thereto. The fork is adapted to the tube support and is provided with a rotary drive device for picking up and sending the tubes on the tube storage rack to the lower clamping clamp. The work platform is also equipped with a winch for lowering and pulling out the guide tube; The fabric-laying device is connected to the work platform. The outlet of the concrete pumping system is connected to the inlet of the concrete placing device via a conveying pipeline. The automatic control system is connected to the concrete pumping system, the placing device, and the duct construction system via an electrical interface, and integrates the control of the coordinated actions of the three.

2. The integrated casting equipment for underground engineering construction according to claim 1, characterized in that, The mobile chassis adopts a tracked walking mechanism and is equipped with a drive-by-wire system.

3. The integrated casting equipment for underground engineering construction according to claim 1, characterized in that, The duct cleaning arm is a multi-joint hydraulic robotic arm with a rotating brush head and a high-pressure water nozzle integrated at the end.

4. The integrated casting equipment for underground engineering construction according to claim 1, characterized in that, The fabric-laying device includes a main folding boom and an auxiliary folding boom, both of which adopt a multi-section hinged structure and are driven to unfold or fold by hydraulic cylinders. The root of the main boom is hinged to the working platform, and the root of the auxiliary boom is hinged to the root of the main boom.

5. The integrated casting equipment for underground engineering construction according to claim 1, characterized in that, The concrete pumping system adopts a parallel dual pumping system.

6. The integrated casting equipment for underground engineering construction according to claim 1, characterized in that, The telescopic drive device uses a hydraulic cylinder, which is installed on the working platform of the conduit construction system, and the telescopic end is connected to the lower end of the telescopic shaft.

7. The integrated casting equipment for underground engineering construction according to claim 1, characterized in that, The screwing sleeve is mounted inside the jaws via a bearing.

8. The integrated casting equipment for underground engineering construction according to claim 1, characterized in that, The automatic control system employs finite state machine control logic and includes at least the following states: Continuous casting mode: The pumping system and the concrete placing device work together, and the guide pipe construction system maintains the clamping of the guide pipe; Disassembly preparation state: Triggered when the lower end of the guide pipe reaches the design value, the concrete pumping system is shut down, the placing device is reset to avoid the obstruction, and the guide pipe construction system performs the loosening and pulling of the guide pipe; Automatic replacement mode: The actuator of the catheter installation system completes the disassembly, transfer, and cleaning of the old catheter, or the picking, placing, and installation of the new catheter.

9. The integrated casting equipment for underground engineering construction according to claim 8, characterized in that, The automatic control system is also equipped with a spatial interlock mechanism, which restricts the material spreading device from entering its working radius when the forks or guide cleaning arms are in motion.

10. An intelligent collaborative control method for an integrated pouring equipment for underground engineering construction as described in any one of claims 1 to 9, characterized in that, The automatic control system employs the following steps: 1) Trolley positioning and automatic control system self-test; 2) The automatic control system drives the conduit construction system to pick up conduits from the conduit storage rack in sequence and automatically complete the lowering, installation and tightening of the conduits section by section; 3) After the conduit is installed, unfold the fabric distribution device to the working position; 4) Start the pumping system and pour concrete into the trench section through the concrete placing device; 5) Monitor the concrete pouring surface height in real time, and shut down the concrete pumping system when the lower end of the guide pipe reaches the design value; 6) Start the winch to pull up and lift the guide tube until the lower end of its top section is above the lower clamping clamp. At this point, the lower end of the guide tube has been lifted. 7) The upper clamping clamps clamp the guide tube connector, and the top section guide tube is loosened by rotating the screw sleeve in the opposite direction. Then the telescopic shaft moves, which drives the upper clamping clamps to lift the top section guide tube. 8) Move the forks to the disassembly position, receive the disassembled guide pipe, and transfer it to the empty pipe support of the guide pipe storage rack; 9) The catheter cleaning arm performs automatic cleaning on the removed catheters; 10) After confirming the position of the conduit and securing it, restart the pumping system; 11) Repeat steps 4) to 10) until the pouring is complete.

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