Groove pipeline construction device and construction method thereof

Abstract

The invention provides a trench pipeline construction device and a construction method thereof. A plurality of walking mechanisms are arranged on the two sides of a frame, and spreading equipment is arranged at one end of the frame and used for spreading and filling a trench; a tamping device is arranged at the other end of the material spreading equipment, and is used for tamping and leveling materials sprayed by the material spreading equipment; a portal structure is formed in the middle of the frame, a pipe grabbing and butting device is arranged on the portal structure, and the spreading equipment, the tamping device and the pipe grabbing and butting device are integrated on one frame; the pipe grabbing and butt joint device is used for clamping a to-be-installed pipeline, placing the to-be-installed pipeline into the groove and conducting butt joint on the to-be-installed pipeline and the pipeline placed in the groove. According to the device, the spreading equipment, the tamping device and the pipe grabbing and butt joint device are integrated on the frame of the same portal structure, so that assembly line type operation of groove pipeline construction is achieved.

Description

Technical Field

[0001] This invention relates to the field of pipeline construction, and in particular to a trench pipeline construction device and its construction method. Background Technology

[0002] With the continuous advancement of urbanization, underground pipe networks, as the "blood vessels" of cities, are expanding in scale, and the requirements for construction quality and efficiency are becoming increasingly stringent. Traditional urban road trench pipeline construction typically involves multiple complex stages, including trench excavation, foundation treatment, pipe laying, pipe connection, and subsequent backfilling. Currently, while some mechanized equipment has emerged for each stage of pipeline construction, such as the urban road trench backfilling construction equipment disclosed in CN120401593B, this existing technology includes a trench, a pipe installed at the bottom of the trench, a support plate, a lifting and moving device, a limiting device, and a positioning device. This existing technology, through a guiding system composed of a support plate and telescopic wheels, combined with an electromagnet-driven pressure plate assembly in the limiting device, can precisely control the filling of the corner area at the bottom of the pipe, effectively solving the problem of easily forming an overhead structure in this area in traditional processes and improving the uniformity of the filler density.

[0003] However, although the aforementioned existing technologies have achieved good optimization in the specific process of trench backfilling, there are still significant shortcomings in the entire pipeline construction process. First, in the foundation treatment stage before the pipeline is laid in the trench, existing construction methods often rely on manual labor or simple machinery for material laying and leveling, making it difficult to ensure the flatness and compaction of the bottom bedding layer. If the foundation treatment is not done properly, it can easily lead to uneven stress or settlement deviation after pipeline installation. The aforementioned existing technology CN 120401593 B mainly focuses on backfilling and compaction after pipeline installation, lacking integrated treatment methods for laying materials and compacting and leveling the bottom of the trench. Second, in the pipeline laying and docking stage, especially for large-diameter, heavy concrete or metal pipes, traditional hoisting methods are difficult to accurately control the posture of the pipes, making it very difficult to align the ends of the two pipes. Usually, manual adjustment with tools such as pry bars is required in the trench, which is not only labor-intensive but also makes it difficult to guarantee docking accuracy and easily damages the pipe end sealing structure. Furthermore, trench construction environments are complex, and deep foundation pit operations carry the risk of collapse. Existing construction equipment often lacks corresponding targeted safety support measures, and the personal safety of construction personnel cannot be effectively guaranteed when they need to enter the trench for inspection or auxiliary work. Therefore, there is an urgent need for a comprehensive construction device that integrates foundation material laying and compaction, precise pipe grabbing and docking, and safety support to solve the problems of scattered processes, difficult docking, and uneven foundation treatment quality in existing technologies. Summary of the Invention

[0004] The main objective of this invention is to provide a trench pipeline construction device and its construction method. This application solves the problems in existing trench pipeline construction technologies, such as the difficulty in controlling the quality of base paving and leveling, the reliance on manual labor for pipeline connection with low precision, and the lack of integrated construction and safety support equipment leading to fragmented construction procedures and high safety risks.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a trench pipeline construction device, wherein multiple walking mechanisms are provided on both sides of the vehicle frame, and a material spreading device is provided at one end of the vehicle frame, the material spreading device being used to spread and fill the trench. The other end is equipped with a compaction device, which is used to compact and level the material sprinkled by the spreading equipment; A mast structure is formed in the middle of the frame, and a pipe-gripping and docking device is installed on the mast structure. The material laying equipment, compaction device and pipe-gripping and docking device are integrated on one frame. The pipe clamping and docking device is used to clamp the pipe to be installed and place it into the trench, and dock it with the pipe placed in the trench.

[0006] In the preferred embodiment, the pipe clamping and docking device includes a pipe clamping beam, which is sleeved with a telescopic beam. A second telescopic cylinder is provided inside the pipe clamping beam, and the second telescopic cylinder drives the telescopic beam to extend and retract. The telescopic beam is provided with a docking claw at the end, and two fixed claws are symmetrically provided at both ends of the clamping crossbeam. The fixed claws are slidably connected to the clamping crossbeam, and the first telescopic cylinder is hinged on the clamping crossbeam. The telescopic end of the first telescopic cylinder is hinged to the fixed claw. Two first telescopic cylinders work together to drive two fixed claws to slide on the clamping crossbeam.

[0007] In the preferred embodiment, the fixed claw includes a claw frame, an inwardly inverted sliding frame at the top, first slide rails on both sides of the clamping tube crossbeam, the sliding frame being slidably connected to the first slide rails, two symmetrically arranged movable frames at the bottom of the claw frame, a claw plate with an arc-shaped structure at the bottom of the movable frame, and movable sliding frames on both sides of the upper part of the movable frame being slidably connected to the sliding strips on both sides of the lower part of the claw frame. The gripper frame is equipped with at least two third telescopic cylinders inside, and the bottom of the gripper frame is also equipped with a waist-shaped hole. The telescopic end of the third telescopic cylinder passes through the waist-shaped hole and connects to the movable frame. The gripper frame also has an arc-shaped top plate with an arc structure at the bottom center, and both the top arc plate and the gripper plate are equipped with anti-slip pads.

[0008] In the preferred embodiment, the frame structure is as follows: multiple legs at the bottom of the portal frame are connected to the bottom beam of the rectangular frame structure, and a single walking mechanism is connected to a single leg; The structure of the walking mechanism is as follows: one end of the support connecting frame is hinged to the outrigger, the other end of the support connecting frame is connected to the lifting outrigger, a fourth telescopic cylinder is hinged on the outrigger, and the end of the fourth telescopic cylinder is hinged to the middle of the lifting outrigger. The lifting outrigger is equipped with a fifth telescopic cylinder. The lower telescopic end of the lifting outrigger is connected to the rotary drive device. The rotary drive device uses a hydraulically driven worm gear to drive the worm wheel. The worm wheel is connected to the inverted U-shaped frame. The two sides of the groove at the bottom of the U-shaped frame are connected to the track wheels.

[0009] In the preferred embodiment, the material spreading equipment includes a hopper, which is set on a support frame. The first slider at the bottom of the support frame is slidably connected to the second slide rail of the bottom beam. A third motor is provided on both sides of the bottom of the support frame, and the gear at the output end of the third motor meshes with the second rack on the bottom beam. The lower part of the hopper is also equipped with a swinging material distribution pipe with the upper opening aligned with the hopper outlet. An adjustment frame is provided on the rear side of the material distribution pipe, which is connected to the support frame. A second motor is located at the end of the adjustment frame. The material distribution pipe is rotatably connected to the adjustment frame via a rotating shaft. The lower end of the rotating shaft is hinged to the lower end of the material distribution pipe via a sixth telescopic cylinder. The upper end of the rotating shaft is bent and hinged to the upper part of the material distribution pipe. The output of the second motor is connected to the rotating shaft via a drive gear, which drives the rotating shaft to rotate on the adjustment frame.

[0010] In the preferred embodiment, the lower part of the hopper is provided with two symmetrically arranged opening and closing plates, which block the discharge port at the lower part of the hopper when closed. The upper end of the opening and closing plate is hinged to one side of the hopper, and the two opening and closing plates are connected by gear meshing at the hinged ends. The middle parts of the opening and closing plates are connected by a seventh telescopic cylinder, and the two ends of the seventh telescopic cylinder are respectively hinged to the middle parts of the two opening and closing plates; the hinged ends of the two opening and closing plates are also connected by two gear meshing. Vibrating feeders are installed on both sides of the hopper.

[0011] In the preferred embodiment, the compaction device includes a transverse moving vehicle body, which is slidably connected to a second slide rail on the bottom beam. A fourth motor is provided at both ends of the transverse moving vehicle body, and the gear at the output end of the fourth motor meshes with the second rack. The longitudinal and transverse car bodies are slidably connected. The middle part of the transverse car body is a hollow frame structure. The middle part of the longitudinal car body is equipped with a guide telescopic column. The lower part of the guide telescopic column passes through the transverse car body and is connected to the rotary drive device. The drive shaft of the rotary drive device is connected to the connecting gantry. The connecting gantry is connected to the leveling seat through multiple shock-absorbing blocks. The longitudinal moving car body is also equipped with multiple ninth telescopic cylinders. The telescopic end of the ninth telescopic cylinder passes through the longitudinal moving car body and is connected to the telescopic rod end of the lower end of the guide telescopic column. The guide telescopic column is a multi-stage telescopic device composed of multiple tubes connected together. A fifth motor is also provided on one side of the longitudinally moving car body, and the gear at the output end of the fifth motor meshes with the third rack on one side of the transversely moving car body.

[0012] In the preferred embodiment, the leveling seat is also provided with symmetrically arranged telescopic frames on both sides, and the leveling seat is provided with a ninth telescopic cylinder inside, with each ninth telescopic cylinder connected to a single telescopic frame; the leveling seat is also provided with a vibrator.

[0013] In the preferred embodiment, a lifting frame is also provided at one end of the vehicle frame. The lifting frame is equipped with multiple adjusting crossbeams. The support device includes two opposing support plates connected by multiple support rods. A second travel motor is provided on the adjusting crossbeams. A second electric crane is provided below the second travel motor. The hook at the lower end of the second electric crane is connected to the support rods and is used to lift the entire support plate.

[0014] In the preferred embodiment, the method includes: S1. Drive the entire frame to the position above the trench through the walking mechanism, with the frame positioned above the middle of the trench; S2. The material spreading equipment begins to spread material at the bottom of the trench. First, material is added to the hopper, and the opening and closing plate below the hopper is opened under the drive of the seventh telescopic cylinder. At the same time, the traveling mechanism begins to move along the trench. The size of the opening of the opening and closing plate is directly proportional to the moving speed of the traveling mechanism. The faster the moving speed, the larger the opening. As the traveling mechanism begins to move along the trench, the material feeding pipe begins to swing and feed material under the drive of the second motor; S4. During the material handling and unloading process, the compaction device at the rear of the vehicle frame begins to compact the material at the bottom of the trench. The compaction device steps include: The longitudinal moving car body is first driven to the middle position of the transverse moving car body. The eighth telescopic cylinder drives the entire leveling seat to descend and approach the material. If there is a stockpile of material, the ninth telescopic cylinder drives the telescopic frame to open. The transverse moving car body moves on the bottom beam, and the leveling seat and telescopic frame flatten the stockpile. After leveling, the telescopic frame is retracted, the longitudinal and transverse moving bodies work together, the eighth telescopic cylinder drives the entire leveling seat to descend and fit the material, the vibrator starts working, and the material is leveled and compacted. The rotary drive device drives the leveling seat to rotate, and the material is leveled and compacted in multiple directions. After leveling and compaction, the pipeline is laid. S5. The engineering vehicle places multiple pipes sequentially onto one side of the trench, maintaining a certain distance between the pipes and the vehicle's traveling mechanism, and then drives the pipe-gripping and docking device to begin operation. The first motor drives the sliding beam to move towards the side with the tube. After the sliding beam reaches the critical position, the two first walking motors drive the clamping crossbeam to move above the first tube. Two first electric cranes drive the pipe clamping beam to descend. The two fixed claws on the pipe clamping beam open through the third telescopic cylinder to clamp the first pipe body. The docking claws also open at the same time and are positioned at the tail of the first pipe body, but are not clamped tightly. Two first electric cranes drive the pipe clamping beam to rise and lift the first pipe body. The first motor and the first traveling motor drive the pipe clamping beam to be positioned above the middle of the trench. The first electric crane drives the pipe clamping beam to fall, so that the first pipe body reaches the trench installation position and is placed into the trench. S6. The first pipe body is connected to the already installed second pipe body. The connection steps include: With the docking claws in the open state, the second telescopic cylinder drives the telescopic beam to extend so that the docking claws reach the position of the second tube body. The docking claws clamp the second tube body. After the first tube body and the first and second tube body are aligned, the two first telescopic cylinders start to drive. The two first telescopic cylinders are installed symmetrically. So, one telescopic cylinder pushes while the other telescopic cylinder retracts, driving the two fixed claws to dock the tail of the first tube body with the opening of the head of the second tube body. After docking is completed, the two fixing claws and the docking claws open, and the steps of placing and docking the tube body in S5-S6 are repeated. S7. During trench construction, when manual inspection of the pipeline is required or manual construction is carried out in the trench, the second traveling motor drives the support device to a horizontal position, and the second electric crane lowers the support plate into the trench. Then, personnel carry out construction and inspect the pipeline connection inside the support plate.

[0015] This invention provides a trench pipeline construction device and method. By integrating a material laying device, a compaction device, and a pipe-gripping and docking device onto a single gantry frame, this application achieves a streamlined operation for trench pipeline construction. Firstly, the design of the pipe-gripping and docking device significantly improves the accuracy and stability of pipeline installation. Through the cooperation of the clamping beam and the telescopic beam, and the coordinated action of the fixed claw and the docking claw, the device can firmly clamp the pipeline to be installed. The push-pull action of the first telescopic cylinder drives the fixed claw to fine-tune the pipeline, thereby achieving high-precision automatic docking of the pipeline ends. This avoids damage to the pipe ends caused by manual prying and ensures the sealing of the pipeline connection. Secondly, this application innovatively incorporates a leveling seat with a telescopic frame into the compaction device. Combined with the multi-dimensional movement of the longitudinal and transverse carriages, this not only compacts the laid material but also automatically levels it when encountering material accumulation, ensuring the flatness and uniformity of the pipeline foundation layer and fundamentally reducing the risk of later pipeline settlement. Furthermore, the combination of the oscillating material distribution pipe and the adjustable opening and closing plate in the material spreading equipment enables the uniform distribution of materials as the equipment moves, while the vibrating feeder ensures smooth material feeding. Finally, the support device integrated at the end of the frame allows for flexible deployment of support plates via the travel motor and electric crane, providing a reliable safety protection space for construction personnel to enter the trench for inspection or work, significantly improving the safety of the construction site. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a front view of the overall structure of the present invention; Figure 2 This is a rear-view structural diagram of the present invention; Figure 3 This is a construction clamping structure diagram of the pipe-gripping and docking device of the present invention; Figure 4 This is a front view installation structure diagram of the pipe-gripping and docking device of the present invention; Figure 5 This is a side view of the installation structure of the pipe-gripping and docking device of the present invention; Figure 6 This is a structural diagram of the pipe-gripping and docking device of the present invention; Figure 7 This is a side view of the fixing claw structure of the present invention; Figure 8 This is a front view structural diagram of the fixing claw of the present invention; Figure 9 This is a diagram of the overall structure of the vehicle frame of this invention; Figure 10 This is a structural diagram of the walking mechanism of the present invention; Figure 11 This is an installation structure diagram of the material spreading equipment and compaction device of the present invention; Figure 12 This is a structural diagram of the material spreading equipment of the present invention; Figure 13 This is a main structural view of the material spreading equipment of the present invention; Figure 14 This is a side view of the material spreading equipment of the present invention; Figure 15 This is a front view of the material hopper structure of the material spreading equipment of the present invention; Figure 16 This is a rear view of the material spreading equipment structure of the present invention. Figure 17 This is an installation structure diagram of the compaction device of the present invention; Figure 18 This is an overall structural diagram of the compaction device of the present invention; Figure 19 This is a side view of the bottom structure of the compaction device of the present invention; Figure 20 This is a schematic diagram of the unfolded telescopic frame of the present invention; Figure 21 This is an installation structure diagram of the support device of the present invention; In the diagram: frame 1; bottom beam 101; lifting frame 102; outrigger 103; second slide rail 104; second rack 105; Pipe gripping and docking device 2; docking claw 21; pipe clamping beam 22; second telescopic cylinder 2201; telescopic beam 23; first telescopic cylinder 24; first slide rail 25; fixed claw 26; sliding frame 2601; claw frame 2602; sliding strip 2603; third telescopic cylinder 2604; waist-shaped hole 2605; moving frame 2606; claw plate 2607; moving sliding frame 2608; top arc plate 2609; 27 bearing beam; 2701 sliding beam; 2702 sliding beam; 2703 first rack; 2704 first motor; 28 first traveling motor; 29 first electric crane; Walking mechanism 3; support connecting frame 301; fourth telescopic cylinder 302; lifting outrigger 303; fifth telescopic cylinder 304; rotary drive device 305; worm gear 306; worm 307; U-shaped frame 308; track wheel 309; Material spreading equipment 4; hopper 401; material distribution pipe 402; support frame 403; adjusting frame 404; second motor 405; sixth telescopic cylinder 406; rotating shaft 407; drive gear 408; hinge seat 409; first slider 410; third motor 411; vibrating feeder 412; opening and closing plate 413; seventh telescopic cylinder 414; 5. Compactor; 501. Longitudinal moving car body; 502. Lateral moving car body; 503. Fourth motor; 504. Eighth telescopic cylinder; 505. Guide telescopic column; 506. Third slide rail; 507. Fifth motor; 508. Third rack; 509. Rotary drive device; 510. Connecting gantry; 511. Shock absorber; 512. Leveling seat; 513. Vibrator; 514. Telescopic frame; 515. Ninth telescopic cylinder. Support device 6; support rod 601; adjusting beam 602; second traveling motor 603; second electric crane 604; support plate 605; first tube body 7; The second tube body 8. Detailed Implementation

[0017] Example 1 like Figure 1-21 As shown, a trench pipeline construction device has multiple walking mechanisms 3 on both sides of the frame 1 and a material spreading device 4 at one end of the frame 1. The material spreading device 4 is used to spread and fill the trench. The other end is equipped with a compaction device 5, which is used to compact and level the material sprinkled by the material spreading equipment 4. A gantry structure is formed in the middle of the frame 1. The gantry structure is equipped with a pipe-grabbing and docking device 2. The material spreading equipment 4, the compaction device 5 and the pipe-grabbing and docking device 2 are integrated on a single frame 1. The pipe clamping and docking device 2 is used to clamp the pipe to be installed and place it into the trench, and dock with the pipe placed in the trench.

[0018] The device mainly consists of a frame 1, a pipe-gripping and docking device 2, a traveling mechanism 3, a material-laying device 4, and a compaction device 5. The frame 1 serves as the load-bearing foundation of the entire device, with multiple traveling mechanisms 3 installed on both sides. This arrangement allows the frame 1 to straddle the trench and move stably along its direction via the traveling mechanisms 3, enabling continuous construction operations. The central section of the frame 1 is designed as a gantry structure, providing ample space for pipe hoisting and movement. The pipe-gripping and docking device 2 is installed on this gantry structure, located in the central area of ​​the frame 1, facilitating precise control of the pipe.

[0019] At both longitudinal ends of the chassis 1, a material spreading device 4 and a compaction device 5 are integrated, forming an assembly line-style operation layout. The material spreading device 4, located at one end of the chassis 1, primarily functions to spread and backfill materials at the bottom of the trench, such as the sand and gravel bedding layer required for pipeline foundations. After the material spreading device 4 completes its spreading operation, the compaction device 5, located at the other end of the chassis 1, follows suit. The compaction device 5 is specifically designed to compact and level the loose material spread by the material spreading device 4, ensuring that the base layer at the bottom of the trench reaches the predetermined density and flatness requirements, providing a qualified reference surface for subsequent pipeline installation.

[0020] The pipe gripping and docking device 2 is the core operating component of this device. Integrated into the gantry structure in the middle of the frame 1, it enables the gripping, lowering, and docking of pipes. During construction, the pipe gripping and docking device 2 first clamps the pipe to be installed, smoothly hoisting it into the trench. Once the pipe reaches the predetermined depth, the pipe gripping and docking device 2 precisely adjusts the pipe's position and orientation to dock it with the preceding pipe section already placed in the trench. Through the mechanized operation of the pipe gripping and docking device 2, the coaxiality and connection tightness during pipe docking can be effectively controlled, avoiding the problems of inaccurate alignment and time-consuming, labor-intensive methods inherent in manual docking.

[0021] In the preferred embodiment, the pipe clamping and docking device 2 includes a pipe clamping beam 22, which is sleeved with a telescopic beam 23. The pipe clamping beam 22 is provided with a second telescopic cylinder 2201 inside, which drives the telescopic beam 23 to extend and retract. The telescopic beam 23 is provided with a docking claw 21 at the end, and the clamping crossbeam 22 is provided with two fixed claws 26 symmetrically at both ends. The fixed claws 26 are slidably connected to the clamping crossbeam 22. The first telescopic cylinder 24 is hinged on the clamping crossbeam 22, and the telescopic end of the first telescopic cylinder 24 is hinged to the fixed claw 26. The two first telescopic cylinders 24 work together to drive the two fixed claws 26 to slide on the clamping crossbeam 22.

[0022] The clamping beam 22 not only bears the weight of the pipe but also serves as a mounting base for other moving parts. To enable adjustment and extension along the length of the device, the clamping beam 22 and the telescopic beam 23 are connected by a sleeve connection, meaning the telescopic beam 23 is inserted inside or outside the clamping beam 22, allowing for relative axial displacement. This relative displacement is powered by a second telescopic cylinder 2201 located inside the clamping beam 22. One end of the second telescopic cylinder 2201 is fixed to the clamping beam 22, and the other end is connected to the telescopic beam 23. The cylinder's extension and retraction are driven by hydraulic or pneumatic pressure, directly causing the telescopic beam 23 to extend and retract on the clamping beam 22, thereby changing the overall working length of the pipe-gripping and docking device 2 to accommodate pipe docking requirements of different distances.

[0023] When performing specific gripping and docking tasks, docking claws 21 are installed at the ends of the telescopic beam 23. Since the docking claws 21 are located on the telescopic beam 23, they can extend into the depths of the trench or reach adjacent installed pipes as the telescopic beam 23 extends, serving to assist in positioning or tightening the docking. Simultaneously, two fixed claws 26 are symmetrically arranged at both ends of the pipe clamping beam 22. These two fixed claws 26 are mainly used to clamp the pipe to be installed. The fixed claws 26 are not rigidly fixed to the pipe clamping beam 22, but rather through a sliding connection, meaning that the fixed claws 26 can move along the guide rails or surface of the pipe clamping beam 22. To control this movement, a first telescopic cylinder 24 is hinged to the pipe clamping beam 22, and the telescopic end of the first telescopic cylinder 24 is directly hinged to the fixed claws 26.

[0024] The coordinated action of the two first telescopic cylinders 24 drives the two fixed claws 26 to slide on the pipe clamping beam 22. This design allows the two fixed claws 26 to move inward or outward synchronously, thereby realizing the clamping and releasing operation of the pipe body, or adjusting the distance between the two fixed claws 26 to adapt to pipes of different lengths and specifications, ensuring a stable center of gravity for clamping.

[0025] In the preferred embodiment, the fixed claw 26 includes a claw frame 2602, with an inwardly inverted sliding frame 2601 on the upper part. The clamping tube crossbeam 22 has first slide rails 25 on both sides. The sliding frame 2601 is slidably connected to the first slide rails 25. The claw frame 2602 has two symmetrically arranged movable frames 2606 below it. The lower end of the movable frame 2606 has an arc-shaped claw plate 2607. The movable sliding frames 2608 on both sides of the upper part of the movable frame 2606 are slidably connected to the sliding strips 2603 on both sides below the claw frame 2602. The gripper frame 2602 is provided with at least two third telescopic cylinders 2604 inside, and the bottom of the gripper frame 2602 is also provided with a waist-shaped hole 2605. The telescopic end of the third telescopic cylinder 2604 passes through the waist-shaped hole 2605 and is connected to the movable frame 2606. The gripper frame 2602 is also provided with a top arc plate 2609 with an arc structure at the bottom center. Both the top arc plate 2609 and the gripper plate 2607 are provided with anti-slip pads.

[0026] To achieve stable movement and positioning of the fixed claw 26 on the pipe clamping beam 22, the upper part of the claw frame 2602 is designed with an inwardly inverted sliding frame 2601. Correspondingly, first slide rails 25 are provided on both sides of the pipe clamping beam 22, and the sliding frame 2601 is snapped onto the first slide rails 25, forming a slidable connection. This inverted sliding fit structure not only ensures that the fixed claw 26 can move smoothly along the beam axial direction to adjust its clamping position, but also restricts the vertical freedom of the fixed claw 26 through its inverted geometry, ensuring structural safety when hoisting heavy pipes and preventing derailment.

[0027] Below the gripper frame 2602, two symmetrically arranged movable frames 2606 for performing opening and closing actions are provided. Each movable frame 2606 has a curved gripper plate 2607 fixed to its lower end. This curved structure is designed to conform to the shape of the pipe's outer wall, increasing the contact area. To guide the movable frames 2606 in precise opening and closing movements, movable sliding frames 2608 are provided on both sides of the upper part of the movable frames 2606, while side sliding strips 2603 are correspondingly provided on both sides below the gripper frame 2602. The movable sliding frames 2608 are fitted or embedded in the side sliding strips 2603, forming a stable guiding mechanism. The power source driving this opening and closing mechanism comes from at least two third telescopic cylinders 2604 installed inside the gripper frame 2602. An oblong hole 2605 is provided at the bottom of the gripper frame 2602. The telescopic ends of the third telescopic cylinders 2604 pass downward through this oblong hole 2605 and are rigidly connected to the movable frames 2606 below.

[0028] In addition, to further enhance clamping stability and protect the tube body, a top arc-shaped plate 2609 with an arc structure is fixed at the center of the lower part of the gripper frame 2602. When the two side gripper plates 2607 retract inward to clamp the tube body, the top outer wall of the tube body will abut against the top arc-shaped plate 2609, thus forming a three-point or multi-point surrounding support structure. At the same time, the surfaces of the top arc-shaped plate 2609 and the two side gripper plates 2607 are covered with anti-slip pads.

[0029] The cooperation between the side sliding strip 2603 and the movable sliding frame 2608 ensures that the movable frame 2606 maintains stable linear movement under load, preventing the clamps from tilting or jamming due to the weight of the pipe. Furthermore, the top arc-shaped plate 2609 provides a rigid top positioning reference, which, together with the symmetrically contracting movable frame 2606 on both sides, enables automatic centering of the pipe, automatically correcting its posture to align its axis during clamping. Finally, the application of anti-slip pads not only increases the friction between the mechanical claws and the pipe, preventing slippage during lifting, but also effectively prevents the metal claws from directly scratching the anti-corrosion layer of the pipe's outer wall, ensuring the quality of pipe construction.

[0030] In the preferred embodiment, the structure of the frame 1 is as follows: multiple legs 103 at the bottom of the portal frame are connected to the bottom beam 101 of the rectangular frame structure, and a single walking mechanism 3 is connected to a single leg 103. The structure of the walking mechanism 3 is as follows: one end of the support connecting frame 301 is hinged to the outrigger 103, the other end of the support connecting frame 301 is connected to the lifting outrigger 303, and a fourth telescopic cylinder 302 is hinged on the outrigger 103. The end of the fourth telescopic cylinder 302 is hinged to the middle of the lifting outrigger 303. The lifting outrigger 303 is equipped with a fifth telescopic cylinder 304. The lower telescopic end of the lifting outrigger 303 is connected to the rotary drive device 305. The rotary drive device 305 uses a hydraulic drive worm 307 to drive the worm wheel 306. The worm wheel 306 is connected to the inverted U-shaped frame 308. The two sides of the groove at the bottom of the U-shaped frame 308 are connected to the track wheels 309.

[0031] Multiple outriggers 103 at the lower part of the frame 1 are securely connected to a bottom beam 101 with a rectangular frame structure. The bottom beam 101 not only enhances the overall rigidity of the frame 1 but also serves as the mounting base for the material spreading and compaction equipment. To enable the mobile operation of the device, a single traveling mechanism 3 is mounted on a single outrigger 103. The connection between the traveling mechanism 3 and the outrigger 103 is hinged. Specifically, one end of the support connecting frame 301 is hinged to the outrigger 103 via a pin, while the other end is rigidly connected or hinged to the lifting outrigger 303. At the same time, a fourth telescopic cylinder 302 is also hinged to the outrigger 103, and the output end of the fourth telescopic cylinder 302 is hinged to the middle of the lifting outrigger 303. This structure, consisting of the outrigger 103, the support connecting frame 301, the fourth telescopic cylinder 302, and the lifting outrigger 303, allows the span between the left and right traveling mechanisms 3 to be adjusted by controlling the extension length of the fourth telescopic cylinder 302, thereby changing the unfolding angle or lateral distance of the lifting outrigger 303 relative to the frame 1.

[0032] In terms of vertical adjustment and steering control, the lifting outrigger 303 integrates a fifth telescopic cylinder 304. The fifth telescopic cylinder 304 serves as the power source for vertical lifting, driving the lower telescopic end of the lifting outrigger 303 to move up and down, thereby adjusting the ground clearance of the chassis 1 or leveling the vehicle body. A rotary drive device 305 is connected to the lower end of the lifting outrigger 303; this device is a key component for achieving travel and steering. The rotary drive device 305 is hydraulically driven, using a hydraulic motor to rotate the worm gear 307, which in turn drives the worm wheel 306 meshing with the worm gear 307. An inverted U-shaped frame 308 is connected to the lower part of the worm wheel 306, straddling the traveling components. Track wheels 309 are mounted on both sides of its lower groove. When the worm wheel 306 rotates, it drives the inverted U-shaped frame 308 and the track wheels 309 to rotate as a whole, thereby changing the travel direction of the track wheels 309.

[0033] The cooperation between the fourth telescopic cylinder 302 and the articulated structure enables variable adjustment of the walking mechanism's span. This allows the construction device to adapt to trench operations of varying widths or to flexibly adjust the support position when ground conditions on both sides of the trench are inconsistent, greatly improving the equipment's adaptability to different working conditions. Secondly, the lifting outriggers 303 are equipped with a fifth telescopic cylinder 304, enabling independent lifting of the four outriggers. When the ground at the construction site is uneven or has a slope, the height of each outrigger can be adjusted individually to maintain the horizontal state of the main body of the chassis 1, ensuring the accuracy of pipe clamping and compaction operations. Furthermore, the slewing drive device 305 adopts a worm gear transmission mechanism, which not only provides a large steering torque to overcome ground resistance when the tracks turn, but also utilizes the reverse self-locking characteristic of the worm gear mechanism to ensure that the track wheels 309 will not unexpectedly deflect due to external forces when traveling in a straight line or stopping, significantly enhancing the stability and safety of the entire machine's movement. Finally, the application of track wheels 309 effectively reduces the ground pressure, preventing the risk of the equipment getting stuck or collapsing the trench wall when operating on soft soil at the edge of the trench.

[0034] In the preferred embodiment, the material spreading device 4 includes a hopper 401, which is mounted on a support frame 403. The first slider 410 at the bottom of the support frame 403 is slidably connected to the second slide rail 104 of the bottom beam 101. A third motor 411 is provided on both sides of the bottom of the support frame 403. The gear at the output end of the third motor 411 meshes with the second rack 105 on the bottom beam 101. The lower part of the hopper 401 is also provided with a swinging material distribution pipe 402, the upper opening of which is aligned with the outlet of the hopper 401. An adjustment frame 404 is provided on the rear side of the material distribution pipe 402. The adjustment frame 404 is connected to the support frame 403. A second motor 405 is located at the end of the adjustment frame 404. The material distribution pipe 402 is rotatably connected to the adjustment frame 404 through a rotating shaft 407. The lower end of the rotating shaft 407 is hinged to the lower end of the material distribution pipe 402 through a sixth telescopic cylinder 406. The upper end of the rotating shaft 407 is bent and hinged to the upper part of the material distribution pipe 402. The output end of the second motor 405 is connected to the rotating shaft 407 through the drive gear 408, driving the rotating shaft 407 to rotate on the adjustment frame 404.

[0035] The hopper 401 is securely mounted on the support frame 403, which constitutes the moving carrier of the material spreading unit. To achieve horizontal displacement of the hopper 401, a first slider 410 is provided at the lower part of the support frame 403, and a second slide rail 104 is correspondingly provided on the bottom beam 101. The first slider 410 and the second slide rail 104 form a sliding engagement, restricting the movement trajectory of the support frame 403. The power source driving this horizontal movement comes from a third motor 411 installed on both sides of the bottom of the support frame 403. The output end of the third motor 411 is equipped with a gear, which meshes with a second rack 105 fixed on the bottom beam 101. Driven by the rotation of the third motor 411, the gear rolls on the rack, thereby driving the entire support frame 403 and the hopper 401 to move smoothly along the direction of the bottom beam 101.

[0036] To achieve precise material delivery and uniform distribution, a swingable distribution pipe 402 is specially configured at the lower discharge port of the hopper 401. The upper opening of the distribution pipe 402 is aligned with the lower outlet of the hopper 401 to ensure smooth material flow into the pipe. An adjustment frame 404 is provided on the rear side of the distribution pipe 402, which is rigidly connected to the support frame 403 to provide support for the swing mechanism. The distribution pipe 402 is not directly fixed, but is rotatably connected to the adjustment frame 404 via a rotating shaft 407, realizing rotational movement centered on the rotating shaft 407. The connection between the rotating shaft 407 and the distribution pipe 402 adopts a linkage-type adjustment structure, that is, the upper end of the rotating shaft 407 is hinged to the upper position of the distribution pipe 402 through a bending structure, while the lower end of the rotating shaft 407 is hinged to the lower end of the distribution pipe 402 through a sixth telescopic cylinder 406. The power for the swing comes from the second motor 405 installed at the end of the adjustment frame 404. The output end of the second motor 405 is connected to the rotating shaft 407 through the drive gear 408, driving the rotating shaft 407 to reciprocate or rotate on the adjustment frame 404.

[0037] The support frame 403 is driven by a gear and rack transmission system, which, compared to ordinary belt or chain drives, offers advantages such as high load-bearing capacity, high positioning accuracy, and reduced slippage. This allows it to adapt to harsh working conditions at trench construction sites, characterized by high dust levels and fluctuating loads, ensuring that the hopper 401 can accurately stop at any position above the trench for operation. Secondly, the design of the material distribution pipe 402, in conjunction with the rotating shaft 407 and the sixth telescopic cylinder 406, enables multi-dimensional adjustment of the material distribution method. The second motor 405 drives the rotating shaft 407 to rotate, which in turn causes the material distribution pipe 402 to swing left and right, thereby expanding the coverage width of a single material delivery, preventing material accumulation in the center of the trench, and achieving uniform spreading at the bottom of the trench. More importantly, the telescopic movement of the sixth telescopic cylinder 406 can change the deflection angle or distance of the lower end of the material distribution tube 402 relative to the rotating shaft 407. This means that without moving the frame, the front and rear positions of the material drop point can be finely adjusted or the arc of the material throwing can be changed, which greatly improves the flexibility and uniformity of the material distribution and effectively solves the technical problems of large workload and poor flatness caused by traditional fixed-point material distribution.

[0038] In the preferred embodiment, the lower part of the hopper 401 is provided with two symmetrically arranged opening and closing plates 413, which block the lower discharge port of the hopper 401 after the two opening and closing plates 413 are closed. The upper end of the opening and closing plate 413 is hinged to one side of the hopper 401, and the two opening and closing plates 413 are connected by gear meshing at the hinged ends. The middle parts of the opening and closing plates 413 are connected by a seventh telescopic cylinder 414, and the two ends of the seventh telescopic cylinder 414 are respectively hinged to the middle parts of the two opening and closing plates 413. The hinged ends of the two opening and closing plates 413 are also connected by two gear meshing. Vibrating feeders 412 are installed on both sides of the hopper 401.

[0039] When closed, the two hinged plates 413 fit together perfectly, completely sealing the discharge port at the bottom of the hopper 401 and preventing material leakage when the vehicle is moving and not in operation. In terms of connection, the upper end of each hinged plate 413 is hinged to the lower edge of the side wall of the hopper 401, establishing the rotation fulcrum of the hinged plate 413. Specifically, the hinge joint of the two hinged plates 413 is equipped with a meshing gear structure, achieving forced synchronous movement of the two plates through mechanical gear meshing. The power source driving this opening and closing action is a seventh telescopic cylinder 414, which spans between the two hinged plates 413, with its telescopic rods at both ends hinged to the middle of the two hinged plates 413. Furthermore, to prevent bridging or blockage of material within the hopper 401, vibrating feeders 412 are installed on both outer walls of the hopper 401.

[0040] First, the gear meshing design at the hinge of the opening and closing plates 413 is a key innovation. It ensures absolute synchronization between the two plates during opening and closing, guaranteeing the discharge port remains centered. This allows material to fall vertically and evenly into the center of the trench, avoiding uneven loading or spreading caused by inconsistent opening angles of the left and right plates. Second, the design of the seventh telescopic cylinder 414 directly connecting the two plates cleverly utilizes reaction force. Only one drive element is needed to simultaneously control the opening and closing of both plates. This simplifies the control system, reduces equipment weight, and allows for stepless adjustment of the discharge port opening width by controlling the extension of the telescopic cylinder, thus flexibly adjusting the material flow rate according to the construction walking speed. Finally, in conjunction with the vibrating feeders 412 on both sides, it effectively breaks the arching effect within the material, ensuring smooth and continuous discharge even for backfill soil with high moisture content or strong viscosity, guaranteeing the continuity and uniformity of the material spreading operation.

[0041] In the preferred embodiment, the compaction device 5 includes a transverse carriage 502, which is slidably connected to the second slide rail 104 on the bottom beam 101. Both ends of the transverse carriage 502 are equipped with a fourth motor 503, and the gear at the output end of the fourth motor 503 meshes with the second rack 105. The longitudinal moving car body 501 and the transverse moving car body 502 are slidably connected. The middle part of the transverse moving car body 502 is a hollow frame structure. The middle part of the longitudinal moving car body 501 is provided with a guide telescopic column 505. The lower part of the guide telescopic column 505 passes through the transverse moving car body 502 and is connected to the rotary drive device 509. The drive shaft of the rotary drive device 509 is connected to the connecting gantry 510. The connecting gantry 510 is connected to the leveling seat 512 through multiple shock absorbers 511. The longitudinal moving car body 501 is also equipped with multiple ninth telescopic cylinders 514. The telescopic end of the ninth telescopic cylinder 514 passes through the longitudinal moving car body 501 and is connected to the telescopic rod end of the lower end of the guide telescopic column 505. The guide telescopic column 505 is a multi-stage telescopic device composed of multi-stage tubes. A fifth motor 507 is also provided on one side of the longitudinal moving body 501. The gear at the output end of the fifth motor 507 meshes with the third rack 508 on one side of the transverse moving body 502.

[0042] The transverse moving body 502, serving as a primary moving platform, is mounted on the second slide rail 104 on the base beam 101 via a sliding connection. This design establishes the degree of freedom of the compaction device in the lateral direction of the frame. Both ends of the transverse moving body 502 are equipped with a fourth motor 503. The gears at the output ends of the fourth motors 503 precisely mesh with the second rack 105 on the base beam 101, driving the transverse moving body 502 to perform smooth lateral reciprocating motion on the base beam 101. Above the transverse moving body 502, a longitudinal moving body 501, serving as a secondary moving platform, is also mounted, with the two connected via a sliding connection. To drive the longitudinal moving body 501, a fifth motor 507 is mounted on one side, which meshes with a gear on a third rack 508 fixed to one side of the transverse moving body 502, thereby achieving longitudinal movement of the longitudinal moving body 501 relative to the transverse moving body 502.

[0043] To facilitate deep trenching operations and the transfer of pressure, the middle section of the transverse traverse body 502 is designed as a hollow frame structure, providing passage space for longitudinally moving components. A guide telescopic column 505 is integrated in the middle of the longitudinal traverse body 501. This column employs a multi-stage telescopic device composed of interconnected multi-stage tubular bodies, allowing for flexible adjustment of the downward extension length according to the trench depth. The lower part of the guide telescopic column 505 extends downward through the hollow area of ​​the transverse traverse body 502, and its lifting and lowering action is driven by multiple ninth telescopic cylinders 514 mounted on the longitudinal traverse body 501. The telescopic ends of the ninth telescopic cylinders 514 are connected to the telescopic rod ends of the lower part of the guide telescopic column 505, directly controlling the lifting and pressurization of the leveling components via hydraulic or pneumatic force. At the end of the guide telescopic column 505, a rotary drive device 509 is connected, and the drive shaft of this device is further connected to the connecting gantry 510. The connecting gantry 510 is not directly and rigidly fixed to the leveling seat 512, but is connected to the leveling seat 512 through multiple shock-absorbing blocks 511. The leveling seat 512 is the component that works in direct contact with the soil.

[0044] The XY-axis bidirectional movement system, consisting of the transverse moving vehicle 502 and the longitudinal moving vehicle 501, combined with a rack and pinion transmission, allows the leveling seat 512 to precisely reach any coordinate point on the bottom plane of the trench, eliminating blind spots in compaction operations and achieving comprehensive, dead-angle-free coverage of the trench bottom. Furthermore, the rack and pinion transmission ensures transmission reliability and load-bearing capacity in dusty environments. Secondly, the multi-stage sleeve design of the guide telescopic column 505 allows the device to have a small retracted volume when not in operation, facilitating vehicle movement, while allowing it to penetrate deep into the foundation pit during operation, greatly improving the equipment's seaworthiness. Thirdly, the introduction of the rotary drive device 509 allows the leveling seat 512 to rotate 360 ​​degrees, adapting to the compaction needs of irregular trench edges or corners. Finally, the crucial design of the shock absorber 511 effectively prevents the upward transmission of the reverse impact force generated by the leveling seat 512 during intense compaction, protecting the precision rotary drive device 509, telescopic cylinder, motor, and other core components, significantly extending the service life of the entire device.

[0045] In the preferred embodiment, the leveling seat 512 is also provided with symmetrically arranged telescopic frames 514 on both sides, and the leveling seat 512 is provided with a ninth telescopic cylinder 515 inside, with each ninth telescopic cylinder 515 connected to a single telescopic frame 514; the leveling seat 512 is also provided with a vibrator 513.

[0046] Symmetrically arranged telescopic frames 514 are installed on both sides of the leveling base 512. These two telescopic frames 514 are not fixed rigid attachments, but movable parts capable of lateral telescopic movement relative to the main body of the leveling base 512. To drive this telescopic movement, the interior of the leveling base 512 is designed as a cavity structure to accommodate the driving element, which contains a ninth telescopic cylinder 515. The number of ninth telescopic cylinders 515 corresponds to the number of telescopic frames 514. The fixed end of a single ninth telescopic cylinder 515 is mounted on the internal frame of the leveling base 512, while its telescopic end passes through the side wall opening of the leveling base 512 and is rigidly connected to the single telescopic frame 514 on the outside.

[0047] The unique frame structure design of the telescopic frame 514 gives it the functions of "pushing" and "gathering" materials, similar to a bulldozer blade. When there is excessive material accumulation at the bottom of the trench, the unfolded telescopic frame 514 can catch the material at the higher point and push it to the lower point to fill it. This "peak-shaving and valley-filling" pretreatment capability, combined with the vibration compaction at the bottom of the leveling seat 512, greatly improves the overall flatness and compaction uniformity of the trench bottom, effectively solving the technical pain point of traditional plate compactors that can only compact vertically and cannot evenly distribute materials horizontally.

[0048] Finally, the ninth telescopic cylinder 515 is built into the leveling seat 512. The robust outer shell of the leveling seat 512 serves as a protective cover, effectively isolating the precision hydraulic cylinder from external mud, sand, and gravel, thus ensuring the reliability and durability of the drive mechanism under harsh working conditions.

[0049] In the preferred embodiment, one end of the frame 1 is also provided with a lifting frame 102, and the lifting frame 102 is provided with multiple adjusting crossbeams 602. The support device 6 includes two opposing support plates 605, which are connected by multiple support rods 601. The adjusting crossbeams 602 are provided with a second travel motor 603, and a second electric crane 604 is provided below the second travel motor 603. The hook at the lower end of the second electric crane 604 is connected to the support rods 601 for lifting the entire support plate 605.

[0050] The hoisting frame 102 serves as the main load-bearing structure of the support system. Its upper structure contains multiple horizontally adjustable beams 602, which not only provide structural support but also act as the running track for the hoisting mechanism. The support device 6, as an independent hoistable unit, mainly consists of two opposing support plates 605. These two support plates 605 are connected and fixed together by multiple rigid support rods 601, forming a cage-like or box-like protective structure with a stable internal space. This structure can withstand the lateral pressure of the soil on both sides of the trench, preventing collapse.

[0051] To enable flexible deployment and retrieval of the support device 6, a second traveling motor 603 is installed on the adjusting beam 602. The second traveling motor 603, acting as a horizontal drive source, moves the hoisting assembly below along the length of the adjusting beam 602, thereby adjusting the specific landing position of the support device 6 in the trench width or length direction. A second electric crane 604 is suspended below the second traveling motor 603, with its lower hook directly hooked to or connected to the support rod 601 of the support device 6. Through the winch action of the second electric crane 604, the vertical lifting and lowering of the entire support plate 605 assembly can be controlled, allowing it to be smoothly placed into the trench at a specified depth or lifted out of the trench.

[0052] This device integrates safety support functions directly onto the main construction vehicle frame, breaking the limitations of traditional construction methods that rely on external cranes to hoist and lower safety cages. This significantly improves the deployment efficiency and response speed of safety protection measures. When construction personnel need to temporarily descend into the trench for pipe interface inspections or manual assistance, the device can quickly deploy the support plate 605, providing a sturdy and safe working island for personnel and effectively avoiding the risk of collapse and burial common in deep foundation pit operations. Secondly, the cooperation between the second traveling motor 603 and the second electric crane 604 enables precise control of the support device in both horizontal and vertical dimensions, allowing the support plate to accurately avoid pipes or other obstacles and be placed in the most needed protective position. Finally, using the support rod 601 as a connection point not only results in a simple and reliable structure but also maintains the relative position of the two support plates 605 during hoisting, ensuring immediate formation upon landing without the need for high-risk manual assembly work underground.

[0053] Example 2 Further explanation in conjunction with Example 1, such as Figure 1-21 As shown, the method includes: S1. The entire frame 1 is driven to the position above the trench by the walking mechanism 3, and the frame 1 is located above the middle of the trench. S2. The material spreading device 4 starts spreading material at the bottom of the trench. First, material is added to the hopper 401. The opening and closing plate 413 below the hopper 401 is opened under the drive of the seventh telescopic cylinder 414. At the same time, the walking mechanism 3 starts to move along the trench. The size of the opening of the opening and closing plate 413 is directly proportional to the moving speed of the walking mechanism 3. The faster the moving speed, the larger the opening. As the walking mechanism 3 begins to move along the groove, the material distribution pipe 402 begins to swing and discharge material under the drive of the second motor 405; S4. During the material handling and unloading process, the compaction device 5 at the rear of the chassis 1 begins to compact the material at the bottom of the trench. The compaction device 5 includes the following steps: The longitudinal moving car body 501 is first driven to the middle position of the transverse moving car body 502. The eighth telescopic cylinder 504 drives the entire leveling seat 512 to descend and approach the material. If there is a stockpile of material, the ninth telescopic cylinder 515 drives the telescopic frame 514 to open. The transverse moving car body 502 moves on the bottom beam 101, and the leveling seat 512 and the telescopic frame 514 flatten the stockpile. After leveling, the telescopic frame 514 is retracted, the longitudinal moving car body 501 and the transverse moving car body 502 cooperate, the eighth telescopic cylinder 504 drives the entire leveling seat 512 to descend and fit the material, the vibrator 513 starts to work, leveling and compacting the material, the rotary drive device 509 drives the leveling seat 512 to rotate the angle, leveling and compacting in multiple directions, and after leveling and compacting, the pipeline is laid. S5. The engineering vehicle places multiple pipes sequentially on one side of the trench according to the installation order, maintaining a certain distance between the pipes and the traveling mechanism 3 of the vehicle frame 1, and drives the pipe-gripping and docking device 2 to start operating: The first motor 2704 drives the sliding beam 2702 to move toward the side with the tube. After the sliding beam 2702 reaches the critical position, the two first walking motors 28 drive the clamping crossbeam 22 to move above the first tube 7. Two first electric cranes 29 drive the pipe clamping beam 22 to descend. The two fixed claws 26 on the pipe clamping beam 22 are driven to open by the third telescopic cylinder 2604 to clamp the first pipe body 7. The docking claw 21 also opens at the same time, and is positioned at the tail of the first pipe body 7, but is not clamped. Two first electric cranes 29 drive the pipe clamping beam 22 to rise and lift the first pipe body 7. The first motor 2704 and the first traveling motor 28 drive the pipe clamping beam 22 to be positioned above the middle of the trench. The first electric crane 29 drives the pipe clamping beam 22 to fall, so that the first pipe body 7 reaches the trench installation position and is placed into the trench. S6. The first pipe body 7 is connected to the already installed second pipe body 8. The connection steps include: With the docking claw 21 in the open state, the second telescopic cylinder 2201 drives the telescopic beam 23 to extend so that the docking claw 21 reaches the position of the second tube 8. The docking claw 21 clamps the second tube 8. After the first tube 7 and the first and second tube 8 are aligned, the two first telescopic cylinders 24 start to drive. The two first telescopic cylinders 24 are symmetrically installed. So one telescopic cylinder pushes and the other telescopic cylinder retracts, driving the two fixed claws 26 to dock the tail of the first tube 7 with the head opening of the second tube 8. After docking is completed, the two fixing claws 26 and docking claws 21 open, and the steps of placing and docking the tube body are repeated in S5-S6. S7. When manual inspection of the pipeline is required during trench construction or when manual construction is carried out in the trench, the second traveling motor 603 drives the support device 6 to a lateral position, and the second electric crane 604 lowers the support plate 605 into the trench. Then, personnel carry out construction and inspect the pipeline connection inside the support plate 605.

[0054] First, precise positioning of the equipment is required at the start of construction. The entire frame 1 is moved above the trench by driving the walking mechanism 3, and the vehicle's posture is adjusted so that the frame 1 is positioned above the center of the trench laterally, establishing a reference coordinate for subsequent centering operations. After positioning, the base material laying stage begins. The laying equipment 4 starts operating, and operators or conveying equipment add bedding material to the hopper 401. Subsequently, the seventh telescopic cylinder 414 is activated to open the opening plate 413 below the hopper. During this process, the system employs a linear proportional control strategy, meaning the speed of the walking mechanism 3 along the trench is directly proportional to the opening size of the opening plate 413. When the walking speed increases, the opening of the opening plate 413 automatically increases, and vice versa. Simultaneously, the material distribution pipe 402, driven by the second motor 405, oscillates left and right to distribute the material. This linkage control method has significant beneficial effects. It ensures that the amount of material laid per unit length of trench remains constant regardless of the speed of the construction vehicle, effectively guaranteeing the uniformity of the thickness of the pipeline foundation bedding layer and preventing the problem of inconsistent material thickness caused by vehicle speed fluctuations. Furthermore, the oscillation of the material distribution pipe further eliminates strip accumulation and achieves uniform coverage of material in the width direction of the trench.

[0055] During the material handling process, the compaction device 5 located behind the chassis 1 operates simultaneously to level and compact the newly laid material. The specific steps are as follows: First, the longitudinal traverse vehicle 501 is driven to the middle position of the transverse traverse vehicle 502. The eighth telescopic cylinder 504 lowers the leveling seat 512 to a height close to the material. If the system or operator observes excessively high local accumulation of material, the ninth telescopic cylinder 515 is activated to drive the telescopic frames 514 on both sides to expand outwards. Using the expanded telescopic frames as pushers, in conjunction with the transverse traverse vehicle 502's lateral movement on the bottom beam 101, the high-lying material is pushed to the low-lying areas, achieving initial "peak shaving and valley filling." After the leveling operation is completed, the telescopic frames 514 are retracted to reduce resistance. Then, the eighth telescopic cylinder 504 continues to drive the leveling seat 512 to descend until it is tightly against the material surface, and the vibrator 513 is activated to perform high-frequency compaction of the material. During this period, the rotary drive device 509 can drive the leveling seat 512 to rotate at different angles, achieving multi-directional cross-compaction. The beneficial effect of this composite compaction process is that it integrates the dual functions of bulldozing and vibratory compaction. In particular, the setting of the telescopic frame cleverly solves the problem that traditional compaction equipment cannot handle local material accumulation, while multi-angle rotary compaction completely eliminates compaction blind spots, ensuring that the density and flatness of the foundation at the bottom of the trench fully meet the stringent requirements of pipeline installation.

[0056] After the foundation work at the bottom of the trench is completed, the crucial stage of pipe hoisting and docking begins. The engineering auxiliary vehicle pre-positions multiple pipes to be installed sequentially on one side of the trench, maintaining a safe distance from the vehicle frame 1. The pipe-gripping docking device 2 is then activated. The first motor 2704 drives the sliding beam 2702 to extend towards the pipe storage side. Once it reaches the gripping position, two first travel motors 28 work together to move the clamping beam 22 horizontally above the first pipe 7. Subsequently, two first electric cranes 29 release steel cables, causing the clamping beam 22 to descend. The two fixed claws 26 on the clamping beam 22 open and grip the first pipe 7 under the drive of the third telescopic cylinder 2604. Simultaneously, the docking claws 21 at the ends also open and move to the tail position of the first pipe 7, but at this time, the docking claws 21 are only in a standby state and do not perform the clamping action. Next, the first electric crane 29 lifts the pipe, and in conjunction with the horizontal and vertical movement motors, transports the first pipe 7 to above the center line of the trench and slowly lowers it to the installation position. This process achieves full automation of pipe gripping, avoiding the risks of manual cable hanging, and the dual-point clamping method ensures the horizontal posture of the long pipe during the hoisting process, preventing tilting and slippage.

[0057] Following this, a high-precision pipe docking operation is performed. When the first pipe body 7 is placed in the trench and needs to dock with the already installed and fixed second pipe body 8, the docking claws 21 act as anchors. The second telescopic cylinder 2201 drives the telescopic beam 23 to extend outward, allowing the docking claws 21 to cross over to the position of the second pipe body 8 and firmly clamp it. At this point, the device forms a dual constraint state of "clamping the new pipe (first pipe body 7)" and "anchoring the old pipe (second pipe body 8)". After the pipe ends of the two pipes are initially aligned, two symmetrically installed first telescopic cylinders 24 are used for differential drive, that is, controlling one telescopic cylinder to push while the other telescopic cylinder retracts, thereby generating a huge axial thrust, driving the two fixed claws 26 to move the first pipe body 7 towards the second pipe body 8, completing the socket docking. After docking is completed, each claw is released and reset, and the above steps are repeated. The beneficial effects of this docking process are that it cleverly utilizes the installed pipeline as a force fulcrum, eliminating the need to find support on the trench wall and achieving a "self-balancing" docking force transmission. Furthermore, through the precise extension and retraction control of the hydraulic cylinder, millimeter-level fine-tuning of the docking can be achieved, effectively avoiding damage to the pipeline interface sealing ring caused by violent construction, and significantly improving the sealing performance and reliability of the pipeline connection.

[0058] Finally, considering the complexity and safety of trench construction, the support procedure is initiated when manual entry into the trench is required for interface re-inspection or auxiliary construction. The second traveling motor 603 drives the support device 6 to move along the crossbeam above the work point, and the second electric crane 604 lowers the cage-type support plate 605, connected by the support rod 601, into the trench. This step provides an immediate and reliable physical protection space for underground workers. The support plates on both sides effectively resist potential collapse of the trench sidewalls, completely solving the problem of insufficient personal safety protection in deep foundation pit operations and achieving a dual improvement in construction efficiency and safe production.

[0059] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A trench pipeline construction device, characterized in that: The frame (1) is equipped with multiple walking mechanisms (3) on both sides, and a material spreading device (4) is provided at one end of the frame (1). The material spreading device (4) is used to spread and fill the trench. The other end is equipped with a compaction device (5), which is used to compact and level the material sprinkled by the material spreading equipment (4); A gantry structure is formed in the middle of the frame (1), and a pipe-gripping docking device (2) is provided on the gantry structure. The material laying equipment (4), the compaction device (5) and the pipe-gripping docking device (2) are integrated on a frame (1); The pipe clamping and docking device (2) is used to clamp the pipe to be installed and put it into the trench, and dock with the pipe placed in the trench.

2. The trenching pipeline construction device according to claim 1, characterized in that: The pipe clamping and docking device (2) includes a pipe clamping beam (22), which is sleeved with a telescopic beam (23). The pipe clamping beam (22) is equipped with a second telescopic cylinder (2201) inside, which drives the telescopic beam (23) to extend and retract. The telescopic beam (23) is provided with a docking claw (21) at the end, and two fixed claws (26) are symmetrically provided at both ends of the clamping crossbeam (22). The fixed claws (26) are slidably connected to the clamping crossbeam (22), and the first telescopic cylinder (24) is hinged on the clamping crossbeam (22). The telescopic end of the first telescopic cylinder (24) is hinged to the fixed claws (26). Two first telescopic cylinders (24) work together to drive two fixed claws (26) to slide on the clamping crossbeam (22).

3. The trench pipeline construction device according to claim 2, characterized in that: The fixed claw (26) includes a claw frame (2602), with an inwardly inverted sliding frame (2601) on the upper part. The clamping tube beam (22) has first slide rails (25) on both sides. The sliding frame (2601) is slidably connected to the first slide rails (25). The claw frame (2602) has two symmetrically arranged movable frames (2606) below it. The movable frames (2606) have an arc-shaped claw plate (2607) at the lower end. The movable sliding frames (2608) on both sides of the upper part of the movable frames (2606) are slidably connected to the sliding strips (2603) on both sides below the claw frame (2602). The gripper frame (2602) is provided with at least two third telescopic cylinders (2604) inside. The bottom of the gripper frame (2602) is also provided with a waist-shaped hole (2605). The telescopic end of the third telescopic cylinder (2604) passes through the waist-shaped hole (2605) and is connected to the movable frame (2606). The gripper frame (2602) is also provided with an arc-shaped top plate (2609) with an arc structure in the middle of the bottom. The surfaces of the top arc plate (2609) and the gripper plate (2607) are both provided with anti-slip pads.

4. The trench pipeline construction device according to claim 1, characterized in that: The structure of the frame (1) is as follows: multiple legs (103) at the bottom of the portal frame are connected to the bottom beam (101) of the rectangular frame structure, and a single walking mechanism (3) is connected to a single leg (103); The structure of the walking mechanism (3) is as follows: one end of the support connecting frame (301) is hinged to the outrigger (103), the other end of the support connecting frame (301) is connected to the lifting outrigger (303), and a fourth telescopic cylinder (302) is hinged on the outrigger (103). The end of the fourth telescopic cylinder (302) is hinged to the middle of the lifting outrigger (303). The lifting outrigger (303) is equipped with a fifth telescopic cylinder (304). The lower telescopic end of the lifting outrigger (303) is connected to the rotary drive device (305). The rotary drive device (305) uses a hydraulic drive worm (307) to drive the worm wheel (306). The worm wheel (306) is connected to the inverted U-shaped frame (308). The two sides of the groove at the bottom of the U-shaped frame (308) are connected to the track wheels (309).

5. The trenching pipeline construction device according to claim 1, characterized in that: The material spreading equipment (4) includes a hopper (401), which is set on a support frame (403). The first slider (410) at the bottom of the support frame (403) is slidably connected to the second slide rail (104) of the bottom beam (101). A third motor (411) is provided on both sides of the bottom of the support frame (403). The gear at the output end of the third motor (411) meshes with the second rack (105) on the bottom beam (101). The lower part of the hopper (401) is also provided with a swinging material distribution pipe (402), the upper opening of which is aligned with the outlet of the hopper (401). An adjustment frame (404) is provided on the rear side of the material distribution pipe (402). The adjustment frame (404) is connected to the support frame (403). The material distribution pipe (402) is rotatably connected to the adjustment frame (404) through a rotating shaft (407). The lower end of the rotating shaft (407) is hinged to the lower end of the material distribution pipe (402) through a sixth telescopic cylinder (406). The upper end of the rotating shaft (407) is bent and hinged to the upper part of the material distribution pipe (402). The end of the adjustment frame (404) is provided with a second motor (405). The output end of the second motor (405) is connected to the gear on the rotating shaft (407) through the drive gear (408) to drive the rotating shaft (407) to rotate on the adjustment frame (404).

6. The trenching pipeline construction device according to claim 5, characterized in that: The lower part of the hopper (401) is provided with two symmetrically arranged opening and closing plates (413). When the two opening and closing plates (413) are closed, they will block the discharge port at the lower part of the hopper (401). The upper end of the opening and closing plate (413) is hinged to one side of the hopper (401), and the two opening and closing plates (413) are connected by gear meshing at the hinged ends. The middle parts of the opening and closing plates (413) are connected by a seventh telescopic cylinder (414), and the two ends of the seventh telescopic cylinder (414) are respectively hinged to the middle parts of the two opening and closing plates (413); the hinged ends of the two opening and closing plates (413) are also connected by two gear meshing. Vibrating feeders (412) are installed on both sides of the hopper (401).

7. The trenching pipeline construction device according to claim 1, characterized in that: The compaction device (5) includes a transverse carriage (502), which is slidably connected to a second slide rail (104) on the bottom beam (101). Both ends of the transverse carriage (502) are equipped with a fourth motor (503), and the gear at the output end of the fourth motor (503) meshes with the second rack (105). The longitudinal moving body (501) and the transverse moving body (502) are slidably connected. The middle part of the transverse moving body (502) is a hollow frame structure. The middle part of the longitudinal moving body (501) is provided with a guide telescopic column (505). The lower part of the guide telescopic column (505) passes through the transverse moving body (502) and is connected to the rotary drive device (509). The drive shaft of the rotary drive device (509) is connected to the connecting gantry (510). The connecting gantry (510) is connected to the leveling seat (512) through multiple shock absorbers (511). The longitudinal moving car body (501) is also equipped with multiple ninth telescopic cylinders (514). The telescopic end of the ninth telescopic cylinder (514) passes through the longitudinal moving car body (501) and is connected to the telescopic rod end of the lower end of the guide telescopic column (505). The guide telescopic column (505) is a multi-stage telescopic device composed of multi-stage tubes. A fifth motor (507) is also provided on one side of the longitudinal moving body (501), and the gear at the output end of the fifth motor (507) meshes with the third rack (508) on one side of the transverse moving body (502).

8. The trenching pipeline construction device according to claim 7, characterized in that: The leveling seat (512) is also provided with symmetrically arranged telescopic frames (514) on both sides. The leveling seat (512) is provided with a ninth telescopic cylinder (515) inside. Each ninth telescopic cylinder (515) is connected to a single telescopic frame (514). The leveling seat (512) is also equipped with a vibrator (513).

9. The trenching pipeline construction device according to claim 1, characterized in that: The frame (1) is also provided with a lifting frame (102) at one end. The lifting frame (102) is provided with multiple adjusting crossbeams (602). The support device (6) includes two opposing support plates (605). The support plates (605) are connected by multiple support rods (601). The adjusting crossbeam (602) is provided with a second travel motor (603). The second electric crane (604) is provided below the second travel motor (603). The hook at the lower end of the second electric crane (604) is connected to the support rod (601) for lifting the entire support plate (605).

10. A construction method for a trench pipeline construction device according to any one of claims 1-9, characterized in that: The method includes: S1. Drive the entire frame (1) to the position above the ditch through the walking mechanism (3), and the frame (1) is located above the middle of the ditch; S2, The material spreading equipment (4) begins to spread material at the bottom of the trench. First, material is added to the hopper (401). The opening and closing plate (413) below the hopper (401) is opened under the drive of the seventh telescopic cylinder (414). At the same time, the walking mechanism (3) begins to move along the trench. The size of the opening of the opening and closing plate (413) is proportional to the moving speed of the walking mechanism (3). The faster the moving speed, the larger the opening. As the walking mechanism (3) begins to move along the groove, the material distribution pipe (402) begins to swing and discharge material under the drive of the second motor (405); S4. During the material feeding process, the compaction device (5) behind the frame (1) begins to compact the material at the bottom of the trench. The compaction device (5) includes the following steps: The longitudinal moving car body (501) is first driven to the middle position of the transverse moving car body (502). The eighth telescopic cylinder (504) drives the entire leveling seat (512) to descend and approach the material. If there is a stockpile of material, the ninth telescopic cylinder (515) drives the telescopic frame (514) to open. The transverse moving car body (502) moves on the bottom beam (101). The leveling seat (512) and the telescopic frame (514) flatten the stockpile. After leveling, the telescopic frame (514) is retracted, the longitudinal moving car body (501) and the transverse moving car body (502) cooperate, the eighth telescopic cylinder (504) drives the entire leveling seat (512) to descend and fit the material, the vibrator (513) starts to work, and the material is leveled and compacted. The rotary drive device (509) drives the leveling seat (512) to rotate the angle, and leveling and compacting are carried out in multiple directions. After leveling and compacting, the pipeline is laid. S5. The engineering vehicle places multiple pipes in the trench in the order of installation, and maintains a certain distance between the pipes and the walking mechanism (3) of the vehicle frame (1), and drives the pipe-gripping and docking device (2) to start operating: The first motor (2704) drives the sliding beam (2702) to move toward the side with the tube. After the sliding beam (2702) reaches the critical position, the two first walking motors (28) drive the clamping crossbeam (22) to move above the first tube (7). Two first electric cranes (29) drive the pipe clamping beam (22) to descend. The two fixed claws (26) on the pipe clamping beam (22) are driven to open by the third telescopic cylinder (2604) to clamp the first pipe body (7). The docking claw (21) also opens at the same time, and is located at the tail of the first pipe body (7), but is not clamped. Two first electric cranes (29) drive the pipe clamping beam (22) to rise and lift the first pipe body (7). The first motor (2704) and the first traveling motor (28) drive the pipe clamping beam (22) to be in the middle of the trench. The first electric crane (29) drives the pipe clamping beam (22) to fall and bring the first pipe body (7) to the trench installation position. The first pipe body (7) is then placed into the trench. S6. The first pipe body (7) is connected to the already installed second pipe body (8). The connection steps include: With the docking claw (21) in the open state, the second telescopic cylinder (2201) drives the telescopic beam (23) to extend so that the docking claw (21) reaches the position of the second tube (8). The docking claw (21) clamps the second tube (8). After the first tube (7) and the first and second tube (8) are aligned, the two first telescopic cylinders (24) start to drive. The two first telescopic cylinders (24) are installed symmetrically. When one telescopic cylinder pushes, the other telescopic cylinder retracts, driving the two fixed claws (26) to dock the tail of the first tube (7) with the head opening of the second tube (8). After docking is completed, the two fixing claws (26) and docking claws (21) open, and the steps of placing the tube and docking the tube in rising S5-S6 are repeated; S7. When manual inspection of the pipeline is required during trench construction or manual construction is required in the trench, the second traveling motor (603) drives the support device (6) to the lateral position, and the second electric crane (604) lowers the support plate (605) into the trench. Then, personnel carry out construction and inspect the pipeline connection inside the support plate (605).

Images