Multi-arm collaborative operation linear pier column transporting and erecting equipment and construction method

Abstract

The invention provides multi-arm collaborative operation linear pier column transporting and erecting equipment and a construction method. At least two sets of sliding arm frames are arranged on a sliding transport vehicle, the sliding arm frames are rotationally connected with the sliding transport vehicle, and the two sets of sliding arm frames are connected with a jacking functional vehicle to form a lifting mechanism; at least two sets of jacking arm frames are arranged on the jacking function vehicle, one end of each jacking arm frame is rotationally connected with the jacking function vehicle, and the other end of each jacking arm frame is hinged to a telescopic stand column and connected with a sliding transport vehicle through the telescopic stand column to form a portal crane structure. The portal crane structure is matched with the lifting mechanism to complete turning over, position adjusting and installing operation of the linear pier column. The invention aims to solve the problem that existing mature equipment in current highway reconstruction and extension construction is difficult to consider both safety and efficiency, and by adopting the split type double-vehicle four-arm transporting and erecting integrated equipment, the integrated construction operation of integral transportation, slippage, turnover, position adjustment and installation of the prefabricated pier column is realized.

Description

Technical Field

[0001] This invention relates to the field of bridge piers, and in particular to a multi-arm collaborative operation equipment and construction method for transporting and erecting straight pier columns. Background Technology

[0002] With societal development, most major highways constructed in earlier years face traffic congestion due to high traffic volume, impacting vehicle efficiency. Consequently, highway reconstruction and expansion projects have increased in recent years. These projects often involve the prefabricated pier assembly construction at the joint between two existing roads, utilizing two main types of lifting equipment: mobile gantry cranes and truck cranes. Both mobile gantry cranes and truck cranes face different challenges in prefabricated pier installation, specifically: (1) The mobile gantry crane has a large lifting capacity, which can reduce the number of pier segments and thus improve construction efficiency. Because the precast piers are quite tall, and the mobile gantry crane needs to be taller than the precast piers, the mobile gantry crane is very tall. The tires on both sides of the mobile gantry crane straddle the road surface on both sides of the center gap, and their width is relatively narrow, resulting in a large height-to-width ratio of the overall structure of the gantry crane and poor structural stability. This poses a great risk during the hoisting process and affects construction safety. In addition, the span of the mobile gantry crane is fixed after installation and cannot adapt to the working conditions of changes in the width of the center gap, resulting in poor flexibility.

[0003] (2) Truck crane: Truck cranes have strong mobility and can handle a variety of complex working conditions. However, in renovation and expansion projects, they often face insufficient lifting capacity due to the small construction work area, which leads to an increase in the number of segments to be divided into precast piers, thus affecting construction efficiency.

[0004] Therefore, balancing construction safety and efficiency has become a major challenge in the installation of precast piers in current renovation and expansion projects. To address these requirements and problems, this invention proposes an integrated equipment and construction method for transporting and installing straight precast piers based on multi-arm collaborative operation. This integrated equipment enables fully mechanized transportation and installation of the entire straight precast pier process. On the one hand, it avoids segmenting the piers, improving construction efficiency; on the other hand, it ensures construction safety through low-level hoisting. Summary of the Invention

[0005] The main objective of this invention is to provide a multi-arm collaborative linear pier erection equipment and construction method to solve the problem that existing mature equipment in the above-mentioned highway reconstruction and expansion construction cannot balance safety and efficiency.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a multi-arm collaborative linear pier erection equipment, including a sliding transport vehicle and a lifting function vehicle, wherein the sliding transport vehicle is equipped with at least two sets of sliding booms, the sliding booms are rotatably connected to the sliding transport vehicle, and the two sets of sliding booms are connected to the lifting function vehicle to form a lifting mechanism; The lifting vehicle is equipped with at least two lifting booms. One end of the lifting boom is rotatably connected to the lifting vehicle, and the other end of the lifting boom is hinged to a telescopic column. The other end of the lifting boom is connected to the sliding transport vehicle through the telescopic column to form a gantry crane structure. The gantry crane structure and the lifting mechanism work together to complete the turning, repositioning and installation of the straight pier column.

[0007] In the preferred embodiment, the first frame of the skid steer transport vehicle is provided with at least two sets of first skid telescopic bases, one end of the skid boom is set at the end of the first skid telescopic base, and the first skid telescopic base is connected to one end of the skid boom through the sliding arm rotation drive; The first sliding telescopic base is driven by a motor or hydraulic motor to slide on the first frame.

[0008] In the preferred embodiment, the other end of the sliding boom is engaged with the upper end of the second sliding telescopic base on the second frame of the lifting vehicle or connected by bolts to the flange; The second sliding telescopic base is driven by a motor or hydraulic motor to slide on the second frame; The second sliding telescopic base and the first sliding telescopic base are lifted by hydraulic cylinders.

[0009] In the preferred embodiment, a rotating arm is provided in the middle of the sliding boom, and the two ends of the rotating arm are rotatably connected to the sliding boom. A rotating mechanism is provided inside the sliding boom, and the rotating mechanism is connected to the end of the rotating arm. A first sliding module is provided on the rotating arm, and the first sliding module slides on the rotating arm by being driven by a motor.

[0010] In the preferred embodiment, the lifting vehicle is equipped with at least two sets of lifting bases. The lifting bases are connected to one end of the lifting boom via a top arm rotation drive, and the other end of the lifting boom is hinged to the upper end of the telescopic column. The lower end of the telescopic column is engaged with the lifting base on the sliding transport vehicle.

[0011] In the preferred embodiment, a second sliding module is provided on the load-bearing beam of the lifting boom, and the second sliding module slides on the load-bearing beam by being driven by a motor; A drive mechanism is provided at the end of the load-bearing beam, and the drive mechanism is connected to the rotating shaft of the telescopic column through a gearbox; The drive mechanism is either a hydraulic motor or an electric motor.

[0012] In the preferred embodiment, both the lifting base and the telescopic column are lifted using hydraulic cylinders; The lifting base slides on the first frame via a motor or hydraulic motor; The lifting base slides on the second frame via a motor or hydraulic motor.

[0013] In the preferred embodiment, the sliding arm slewing drive and the top arm slewing drive have the same structure. The boom slewing drive uses a worm gear drive. The boom slewing drive housing is fixedly connected to the end of the lifting base. The worm gear is rotatably connected to the load-bearing beam shaft of the lifting boom. The worm is connected to a motor or hydraulic motor.

[0014] In the preferred embodiment, both the skid steer vehicle and the lifting vehicle are equipped with multiple suspension wheel sets at their bottoms. The suspension wheel sets are hydraulic lifting wheel sets and have a steering drive structure.

[0015] In the preferred embodiment, the method includes: S1. Dual vehicle positioning: The skid steer transport vehicle transports the straight pier to the construction site and aligns it with the jacking vehicle. S2. Vehicle leveling and connection: The first active suspension wheel set moves to level the sliding transport vehicle, the second active suspension wheel set moves to level the lifting function vehicle, the first sliding telescopic base and the second sliding telescopic base slide to align, the sliding boom rotates under the drive of the sliding arm rotation drive and connects to the second sliding telescopic base. S3. Installation of the spreader beam: The first sliding module moves to the lower part of the straight pier and installs the spreader beam on the straight pier, with the spreader beam in contact with the first sliding module; S4. Pier column sliding: The second sliding telescopic base is raised synchronously with the first sliding telescopic base, so that the sliding boom lifts the straight pier column and separates it from the first supporting beam. The first sliding module slides to transfer the straight pier column to the center seam position. S5. Lifting boom connection: The right-side lifting base, boom slewing drive and telescopic column movement rotate the lifting boom to the side of the skid steer vehicle and connect it to the lifting base. S6, Lifting lug connection: The second sliding module on the right side lifts the lifting lug on the straight pier, and the right sliding boom rotates to the side of the vehicle; S7. Pier Turning: The built-in pin of the left sliding boom is released, allowing the rotating middle arm to rotate. The right lifting base moves synchronously with the lifting base, driving the straight pier to rotate to a vertical state. The built-in pin of the left sliding boom is inserted to fix the rotating middle arm. S8. Transfer the pier to the sliding boom: The right sliding boom rotates and connects with the second sliding telescopic base. The second sliding telescopic base and the first sliding telescopic base are raised synchronously to make the straight pier contact the first sliding module. The right second sliding module is released, and the straight pier is placed on the two sliding booms. S9. Transfer of pier to lifting boom: The left lifting base, boom rotation drive and telescopic column move to rotate the lifting boom to the side of the sliding transport vehicle and connect it with the lifting base. The left and right lifting bases, lifting bases and telescopic columns move synchronously to place the straight pier on the two lifting booms. S10, Sliding boom clearance: The left and right sliding booms rotate to the side of the vehicle to make room for the adjustment and installation of straight piers; S11. Pier installation: The lifting base, lifting base and telescopic column on the left and right sides move synchronously to adjust the straight pier to the installation position and complete the installation. S12. Equipment Reset and Cycling: After the linear pier is installed in place, the lifting boom is retracted, the sliding transport vehicle returns to the prefabrication plant to transport the next linear pier, and the lifting vehicle moves to the next installation position.

[0016] This invention provides a multi-arm collaborative straight-line pier erection equipment and construction method. The invention aims to solve the problem that existing mature equipment in highway reconstruction and expansion construction struggles to balance safety and efficiency. By employing a split-type, dual-vehicle, four-arm integrated erection equipment, it achieves integrated construction operations for the overall transportation, sliding, turning, repositioning, and installation of precast piers, improving work efficiency and ensuring construction safety. Details are as follows: (1) The integrated erection equipment is quickly assembled from a skid steer transport vehicle and a jacking vehicle. Before assembly, the two vehicles are separate functional vehicles, but after assembly, they can form a stable gantry crane structure. This structural form increases the flexibility and versatility of the equipment. Each separate functional vehicle has an independent function and can be used independently. In addition, the skid steer transport vehicle can return to the prefabrication plant to transport the piers to the construction site, and then form a hoisting equipment with the jacking vehicle, solving the problem that traditional gantry cranes cannot transport piers.

[0017] (2) The two vehicles are connected by a low-position sliding arm and a high-position lifting arm to form a complete whole. The whole has multiple functions such as pier transportation, sliding, turning, positioning and installation, which can realize the integrated construction of the precast pier, reduce the amount of construction equipment input and improve the equipment utilization rate.

[0018] (3) The two vehicles are relatively low in height before being lifted, and can pass through the height restrictions of some highways. Compared with traditional gantry cranes, they have better passability and are more flexible, solving the problem of difficulty in passing cranes due to the height restrictions of highways.

[0019] (4) The straight pier is moved to the center joint by sliding, which is safer and more convenient than the traditional hoisting method; (5) This technical solution can provide a solution for the transportation and erection of similar prefabricated components in the future, and promotes the development of bridge prefabrication technology. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of the skid steer transport vehicle of the present invention; Figure 2 This is a structural schematic diagram of the lifting function vehicle of the present invention; Figure 3 This is a diagram of the telescopic column drive structure of the present invention; Figure 4 This is a schematic diagram of the "dual vehicle positioning" step in the method of the present invention; Figure 5 This is a schematic diagram of the "vehicle leveling and connection" step in the method of the present invention; Figure 6 This is a schematic diagram of the "spreader beam installation" step in the method of the present invention; Figure 7 This is a schematic diagram of the "pier sliding" step in the method of the present invention; Figure 8 This is a schematic diagram of the "lifting boom connection" step in the method of the present invention; Figure 9 This is a schematic diagram of the "lifting lug" step in the method of the present invention; Figure 10 This is a schematic diagram of the initial state of the "pillar turning over" step in the method of the present invention; Figure 11 This is a schematic diagram showing the completed state of the "pillar turning over" step in the method of the present invention; Figure 12 This is a schematic diagram of the "transfer of the pier to the sliding boom" step in the method of the present invention; Figure 13 This is a schematic diagram of the "transfer of the pier to the lifting boom" step in the method of the present invention; Figure 14 This is a schematic diagram of the "sliding boom avoidance" step in the method of the present invention; Figure 15 This is a schematic diagram of the adjustment state in the "pier installation" step of the method of the present invention; Figure 16 This is a schematic diagram showing the completed state of the "pier installation" step in the method of this invention.

[0021] In the figure: skid steer transport vehicle 1; first active suspension wheel assembly 101; first frame 102; first support beam 103; first skid telescopic base 104; sliding arm rotation drive 105; skid boom 106; rotating middle arm 1061; first skid module 1062; lifting base 107; Lifting vehicle 2; Second active suspension wheel assembly 201; Second frame 202; Second support beam 203; Lifting base 204; Lifting arm rotation drive 205; Worm gear 2051; Worm 2052; Lifting boom 206; Telescopic column 2061; Second sliding module 2062; Load-bearing beam 2063; Drive mechanism 2064; Gearbox 2065; Second sliding telescopic base 207; 3 straight piers; 4 spreader beams. Detailed Implementation

[0022] Example 1 like Figure 1-16 As shown, a multi-arm collaborative linear pier erection equipment includes a sliding transport vehicle 1 and a lifting function vehicle 2. The sliding transport vehicle 1 is equipped with at least two sets of sliding booms 106, which are rotatably connected to the sliding transport vehicle 1. The two sets of sliding booms 106 are connected to the lifting function vehicle 2 to form a lifting mechanism. The lifting vehicle 2 is equipped with at least two sets of lifting booms 206. One end of the lifting boom 206 is rotatably connected to the lifting vehicle 2, and the other end of the lifting boom 206 is hinged to a telescopic column 2061. The other end of the lifting boom 206 is connected to the sliding transport vehicle 1 through the telescopic column 2061 to form a gantry crane structure. The gantry crane structure and the lifting mechanism work together to complete the turning, repositioning and installation of the straight pier column 3.

[0023] The core of this multi-arm collaborative linear pier erection equipment consists of a sliding steer transport vehicle 1 and a lifting vehicle 2. At least two sets of sliding booms 106 on the sliding steer transport vehicle 1 are rotatably connected to the sliding steer transport vehicle 1, and the two sets of sliding booms 106 can be connected to the lifting vehicle 2 to form a lifting mechanism for carrying and moving the linear pier 3. At least two sets of lifting booms 206 on the lifting vehicle 2 are rotatably connected at one end to the lifting vehicle 2, and the other end is connected to the sliding steer transport vehicle 1 through a hinged telescopic column 2061, thus forming a gantry crane structure. This gantry crane structure, in conjunction with the lifting mechanism, can realize the turning, repositioning and installation of the linear pier 3. The overall equipment adopts a split design to take into account the needs of independent operation and collaborative operation, ensuring structural stability and improving construction flexibility.

[0024] First, the skid steer transport vehicle 1 is operated to the prefabrication plant to load the linear pier column 3. After the linear pier column 3 is placed stably on the skid steer transport vehicle 1, it is transported to the designated location on the construction site. Then, the lifting vehicle 2 is moved to the side of the skid steer transport vehicle 1 and aligned, completing the initial positioning of the two vehicles. Next, the two sets of skid booms 106 on the skid steer transport vehicle 1 are controlled to rotate around their rotational connection point with the skid steer transport vehicle 1, so that the skid booms 106 are connected to the corresponding parts of the lifting vehicle 2 to form a lifting mechanism. At the same time, the two sets of lifting booms 206 on the lifting vehicle 2 are operated to rotate around their rotational connection point with the lifting vehicle 2, adjusting the extension length of the telescopic column 2061, so that the lifting booms 206 are connected to the skid steer transport vehicle 1 through the telescopic column 2061, forming a stable gantry crane structure. Then, the linear pier column 3 is lifted from the skid steer transport vehicle 1 by the lifting mechanism. According to construction requirements, the gantry crane structure and lifting mechanism work together. First, by controlling the rotation of the sliding boom 106 and adjusting the angle of the lifting boom 206, the straight pier 3 is slowly turned over until it reaches a vertical position. Then, by adjusting the extension of the telescopic column 2061 and the position of the sliding boom 106, the straight pier 3 is precisely positioned so that it is aligned with the installation foundation. Finally, after the straight pier 3 is in position, it is slowly lowered to complete the installation. After installation, the connection between the sliding boom 106 and the lifting vehicle 2 is disconnected, and the lifting boom 206 is connected to the sliding transport vehicle 1 via the telescopic column 2061. The sliding transport vehicle 1 returns to the prefabrication plant to prepare for transporting the next straight pier 3, and the lifting vehicle 2 moves to the next installation position to await subsequent operations.

[0025] In the preferred embodiment, the first frame 102 of the skid steer transport vehicle 1 is provided with at least two sets of first skid telescopic bases 104, one end of the skid boom 106 is provided at the end of the first skid telescopic base 104, and the first skid telescopic base 104 is connected to one end of the skid boom 106 through the sliding arm rotation drive 105. The first sliding telescopic base 104 is driven by a motor or hydraulic motor to slide on the first frame 102.

[0026] The first frame 102 of the skid steer transport vehicle 1 is equipped with at least two sets of first skid telescopic bases 104. One end of the skid boom 106 is installed at the end of the first skid telescopic base 104, and the first skid telescopic base 104 and one end of the skid boom 106 are connected by a sliding arm rotation drive 105. This connection structure allows the skid boom 106 to rotate under the action of the sliding arm rotation drive 105. At the same time, the first skid telescopic base 104 can slide along a preset direction on the first frame 102 with the power provided by the motor or hydraulic motor. By sliding, it adjusts its position on the first frame 102, thereby driving the skid boom 106 to change position, providing a position adjustment basis for subsequent cooperation with the lifting function vehicle 2 and the operation of the straight pier 3.

[0027] Firstly, at least two sets of first sliding telescopic bases 104 are provided on the first frame 102. The first sliding telescopic bases 104 can be driven by a motor or hydraulic motor to slide on the first frame 102. The position of the first sliding telescopic bases 104 can be flexibly adjusted according to the different dimensions of the straight pier column 3, the changes in the width of the joint at the construction site, and the coordination requirements with the lifting vehicle 2. This changes the spacing and position of the sliding boom 106. Compared with the fixed base structure, it has stronger adaptability and can meet the operational needs under different working conditions. It does not require frequent replacement or modification of equipment parts, thus reducing construction costs. Secondly, the first sliding telescopic base 104 and the sliding boom 106 are connected via the sliding boom rotation drive 105. Combined with the sliding function of the first sliding telescopic base 104, the sliding boom 106 can achieve both translational and rotational adjustments. When connected to the second sliding telescopic base 207 of the lifting vehicle 2, it can be aligned more precisely, reducing connection deviations and improving the stability of the lifting mechanism and subsequent gantry crane structure, ensuring safety during the operation of the straight pier 3. Thirdly, a motor or hydraulic motor provides power for the sliding of the first sliding telescopic base 104. Compared to manual adjustment, this not only saves manpower but also achieves more precise position control. Especially when fine-tuning the position of the first sliding telescopic base 104 is required to adapt to the transfer or turning of the straight pier 3, it can quickly respond to adjustment needs, shorten preparation and adjustment time, improve overall construction efficiency, and avoid errors that may occur with manual adjustment, further ensuring construction accuracy.

[0028] In the preferred embodiment, the other end of the sliding boom 106 is engaged with the upper end of the second sliding telescopic base 207 on the second frame 202 of the lifting vehicle 2 or connected by bolts to the flange. The second sliding telescopic base 207 is driven by a motor or hydraulic motor to slide on the second frame 202; The second sliding telescopic base 207 and the first sliding telescopic base 104 are lifted by hydraulic cylinders.

[0029] A rotating middle arm 1061 is provided in the middle of the sliding boom 106. The two ends of the rotating middle arm 1061 are rotatably connected to the sliding boom 106. A rotating mechanism is provided inside the sliding boom 106. The rotating mechanism is connected to the end of the rotating middle arm 1061. A first sliding module 1062 is provided on the rotating middle arm 1061. The first sliding module 1062 slides on the rotating middle arm 1061 by being driven by a motor.

[0030] The other end of the sliding boom 106 of the skid steer transport vehicle 1 is connected to the upper end of the second sliding telescopic base 207 on the second frame 202 of the lifting function vehicle 2 by means of snap-fit ​​or flange bolt connection, so as to realize the structural connection between the skid steer transport vehicle 1 and the lifting function vehicle 2.

[0031] The second sliding telescopic base 207 can slide along a preset track on the second frame 202 by power provided by an electric motor or hydraulic motor, thereby adjusting its position on the second frame 202. At the same time, both the second sliding telescopic base 207 and the first sliding telescopic base 104 of the sliding transport vehicle 1 can be lifted by hydraulic cylinders, thereby changing their own height.

[0032] In addition, a rotating middle arm 1061 is provided in the middle of the sliding boom 106. The two ends of the rotating middle arm 1061 are rotatably connected to the sliding boom 106. The rotating mechanism configured inside the sliding boom 106 is connected to the end of the rotating middle arm 1061, which can drive the rotating middle arm 1061 to rotate around its connection point with the sliding boom 106. A first sliding module 1062 is provided on the rotating middle arm 1061. The first sliding module 1062 can slide on the rotating middle arm 1061 by means of a motor drive, providing support for the position adjustment of the straight pier column 3.

[0033] First, operate the skid steer transport vehicle 1 to transport the straight pier column 3 to the construction site. Move the lifting vehicle 2 to the side of the skid steer transport vehicle 1 and align it. Select either snap-fit ​​or flange bolt connection method according to the connection requirements. First, drive the second skid telescopic base 207 to slide on the second frame 202 using a motor or hydraulic motor, while simultaneously driving the first skid telescopic base 104 to slide on the first frame 102, so that the second skid telescopic base 207 and the first skid telescopic base 104 are aligned. Then, connect and fix the other end of the skid boom 106 to the upper end of the second skid telescopic base 207. If it is necessary to adjust the height to adapt to the load-bearing requirements of the straight pier column 3, start the hydraulic cylinder to lift the first skid telescopic base 104 and the second skid telescopic base 207 synchronously, driving the skid boom 106 to the preset height. Subsequently, the first sliding module 1062 is driven by a motor to slide on the rotating arm 1061 to the lower part of the straight pier 3, and the straight pier 3 is supported by the spreader beam 4. When it is necessary to adjust the angle of the straight pier 3, the rotation mechanism inside the sliding arm 106 is activated to drive the rotating arm 1061 to rotate around its connection point with the sliding arm 106, thereby adjusting the straight pier 3 to a suitable angle. At the same time, the first sliding module 1062 can be driven by a motor to make fine adjustments on the rotating arm 1061 to ensure the accurate position of the straight pier 3. When working with the lifting vehicle 2 to turn over and adjust the position, the second sliding telescopic base 207 can be driven to slide again or the first and second sliding telescopic bases can be controlled to lift, in conjunction with other components to complete the subsequent construction of the straight pier 3.

[0034] In the preferred embodiment, the lifting vehicle 2 is provided with at least two sets of lifting bases 204. The lifting bases 204 are connected to one end of the lifting boom 206 via the boom rotation drive 205, and the other end of the lifting boom 206 is hinged to the upper end of the telescopic column 2061. The lower end of the telescopic column 2061 is engaged with the lifting base 107 on the sliding transport vehicle 1.

[0035] The lifting boom 206 is equipped with a second sliding module 2062 on the load-bearing beam 2063. The second sliding module 2062 slides on the load-bearing beam 2063 by a motor drive. The end of the load-bearing beam 2063 is provided with a drive mechanism 2064, which is connected to the rotating shaft of the telescopic column 2061 through a gearbox 2065. The drive mechanism 2064 is either a hydraulic motor or an electric motor.

[0036] Both the lifting base 204 and the telescopic column 2061 are lifted using hydraulic cylinders; The lifting base 204 is driven by a motor or hydraulic motor to slide on the first frame 102; The lifting base 107 is driven by an electric motor or a hydraulic motor to slide on the second frame 202.

[0037] The lifting vehicle 2 is equipped with at least two lifting bases 204. The lifting bases 204 are connected to one end of the lifting boom 206 via the boom rotation drive 205, which enables the lifting boom 206 to rotate. The other end of the lifting boom 206 is hinged to the upper end of the telescopic column 2061, and the lower end of the telescopic column 2061 is connected to the lifting base 107 on the sliding transport vehicle 1 by a snap-fit ​​method, thereby realizing the coordinated connection between the lifting vehicle 2 and the sliding transport vehicle 1.

[0038] Meanwhile, a second sliding module 2062 is provided on the load-bearing beam 2063 of the lifting boom 206. The second sliding module 2062 can slide on the load-bearing beam 2063 by being driven by a motor. A drive mechanism 2064 is installed at the end of the load-bearing beam 2063. The drive mechanism 2064 can be a hydraulic motor or an electric motor, and is connected to the rotating shaft of the telescopic column 2061 through a gearbox 2065, which can drive the telescopic column 2061 to rotate.

[0039] In addition, both the lifting base 204 and the telescopic column 2061 rely on hydraulic cylinders to achieve the lifting action in order to adjust their own height; the lifting base 204 can slide on the first frame 102 driven by a motor or hydraulic motor, and the lifting base 107 can slide on the second frame 202 driven by a motor or hydraulic motor, thereby flexibly adjusting their respective positions.

[0040] After the skid steer transport vehicle 1 transports the straight pier column 3 to the construction site and aligns it with the lifting vehicle 2, it first drives the lifting base 204 to slide on the first frame 102 via a motor or hydraulic motor, and simultaneously drives the lifting base 107 to slide on the second frame 202, so that the lower end of the telescopic column 2061 corresponds to the position of the lifting base 107. Then, the lower end of the telescopic column 2061 is locked and fixed to the lifting base 107. If it is necessary to adjust the height of the lifting boom 206, the hydraulic cylinder is activated to control the lifting base 204 and the telescopic column 2061 to lift synchronously, so that the lifting boom 206 reaches the height suitable for the operation of the straight pier column 3; the boom rotation drive 205 is activated to rotate the lifting boom 206 to a preset angle, so that the load-bearing beam 2063 is aligned with the straight pier column 3. When it is necessary to lift the straight pier 3, the second sliding module 2062 is driven by the motor to slide on the load-bearing beam 2063, so that the second sliding module 2062 corresponds to the lifting lug position of the straight pier 3, and the lifting is completed. If it is necessary to adjust the angle of the straight pier 3, the drive mechanism 2064 is started, and the gearbox 2065 drives the rotating shaft of the telescopic column 2061 to rotate, and then the telescopic column 2061 drives the lifting boom 206 and the straight pier 3 to adjust the angle. During the adjustment of the straight pier 3, the lifting base 204 and the lifting base 107 can be driven to slide by the motor or hydraulic motor, and the height of the lifting base 204 and the telescopic column 2061 can be adjusted with the hydraulic cylinder to accurately adjust the straight pier 3 to the installation position and complete the installation operation.

[0041] In the preferred embodiment, the sliding arm rotary drive 105 and the top arm rotary drive 205 have the same structure. The top boom slewing drive 205 is driven by a worm gear. The housing of the top boom slewing drive 205 is fixedly connected to the end of the lifting base 204. The worm gear 2051 is rotatably connected to the shaft of the load-bearing beam 2063 of the lifting boom 206. The worm is connected to a motor or hydraulic motor.

[0042] The sliding arm rotary drive 105 and the top arm rotary drive 205 have the same structure, both using worm gear drive as the core. Here, we will take the top arm rotary drive 205 as an example to explain its structure and connection relationship in detail. The outer shell of the top arm rotary drive 205 is fixedly connected to the end of the lifting base 204 of the lifting function vehicle 2 to ensure the overall stability of the top arm rotary drive 205.

[0043] The worm gear 2051 of the boom slewing drive 205 is rotatably connected to the shaft of the load-bearing beam 2063 of the boom 206. The worm is connected to a motor or hydraulic motor, which provides power to drive the worm to rotate. The worm then drives the worm gear 2051 to rotate, which in turn drives the shaft of the load-bearing beam 2063 and the entire boom 206 to rotate. Since the sliding boom slewing drive 105 has the same structure as the boom slewing drive 205, it also uses a worm gear as the driving core. Its outer shell is fixedly connected to the upper part of the first sliding telescopic base 104 of the sliding transport vehicle 1. The worm gear is rotatably connected to the lower part of the sliding boom 106, and the worm is connected to a motor or hydraulic motor. The rotation of the sliding boom 106 is achieved through power drive.

[0044] The worm gear drive structure has good transmission stability and self-locking properties. The power transmission is smooth during the transmission process, which can effectively prevent jamming or violent shaking of the lifting boom 206 and sliding boom 106 during rotation, ensuring the stability of the straight pier 3 during operation. At the same time, the self-locking feature allows the boom to maintain a stable position without additional locking devices after reaching the target angle. Especially in heavy-load operation scenarios such as turning and adjusting the straight pier 3, it can effectively prevent the boom from rotating unexpectedly and greatly improve construction safety.

[0045] In the preferred embodiment, both the skid steer vehicle 1 and the lifting vehicle 2 are equipped with multiple suspension wheel sets at their bottoms. The suspension wheel sets are hydraulic lifting wheel sets and have a steering drive structure.

[0046] The bottom of the skid steer vehicle 1 is equipped with multiple suspension wheel sets, namely the first active suspension wheel set 101, and the bottom of the lifting vehicle 2 is also equipped with multiple suspension wheel sets, namely the second active suspension wheel set 201. Both types of suspension wheel sets are hydraulic lifting wheel sets and both have a steering drive structure.

[0047] The hydraulic lifting wheel set can adjust its own height through a built-in hydraulic system, thereby changing the overall height of the corresponding vehicle or leveling the vehicle. The steering drive structure can provide steering power to the wheel set, realize the adjustment of the wheel set's direction, and thus enable the vehicle to flexibly turn or adjust its driving trajectory.

[0048] Example 2 Further explanation in conjunction with Example 1, such as Figure 1-16 The method, as shown in the diagram, includes: S1. Dual vehicle positioning: The skid steer transport vehicle 1 transports the straight pier column 3 to the construction site and aligns it with the lifting vehicle 2. S2. Vehicle leveling and connection: The first active suspension wheel set 101 moves to level the sliding transport vehicle 1, the second active suspension wheel set 201 moves to level the lifting function vehicle 2, the first sliding telescopic base 104 and the second sliding telescopic base 207 slide and align, the sliding boom 106 rotates under the drive of the sliding boom rotation drive 105 and connects to the second sliding telescopic base 207. S3. Installation of the spreader beam: The first sliding module 1062 moves to the lower part of the straight pier 3 and installs the spreader beam 4 on the straight pier 3, and the spreader beam 4 contacts the first sliding module 1062. S4. Pier column sliding: The second sliding telescopic base 207 and the first sliding telescopic base 104 are lifted synchronously, so that the sliding boom 106 lifts the straight pier column 3 and separates it from the first support beam 103. The first sliding module 1062 slides to transfer the straight pier column 3 to the center seam position. S5. Lifting boom connection: The right lifting base 204, the boom rotation drive 205 and the telescopic column 2061 move to rotate the lifting boom 206 to one side of the sliding transport vehicle 1 and connect it with the lifting base 107. S6, Lifting lug connection: The second sliding module 2062 on the right side lifts the lifting lug on the straight pier 3, and the right sliding boom 106 rotates to the side of the vehicle; S7. Pier Turning: The built-in pin of the left sliding boom 106 is released, allowing the rotating middle boom 1061 to rotate. The right lifting base 204 and the lifting base 107 move synchronously, driving the straight pier 3 to rotate to a vertical state. The built-in pin of the left sliding boom 106 is inserted to fix the rotating middle boom 1061. S8. Transfer of pier column to sliding boom: The right sliding boom 106 rotates and connects with the second sliding telescopic base 207. The second sliding telescopic base 207 and the first sliding telescopic base 104 are lifted synchronously so that the straight pier column 3 contacts the first sliding module 1062. The right second sliding module 2062 is released, and the straight pier column 3 is placed on the two sliding booms 106. S9. Transfer of pier to lifting boom: The left lifting base 204, the boom rotation drive 205 and the telescopic column 2061 move to rotate the lifting boom 206 to one side of the sliding transport vehicle 1 and connect it with the lifting base 107. The left and right lifting bases 204, lifting base 107 and telescopic column 2061 move synchronously to place the straight pier 3 on the two lifting booms 206. S10, Sliding boom avoidance: The left and right sliding booms 106 rotate to the side of the vehicle to make room for the adjustment and installation of the straight pier 3; S11. Pier installation: The left and right sides of the lifting base 204, lifting base 107 and telescopic column 2061 move synchronously to adjust the straight pier 3 to the installation position and complete the installation. S12. Equipment Reset and Cycle: After the linear pier 3 is installed in place, the lifting boom 206 is retracted, the sliding transport vehicle 1 returns to the prefabrication plant to transport the next linear pier 3, and the lifting vehicle 2 moves to the next installation position.

[0049] First, the skid steer transport vehicle 1 is operated to return to the prefabrication plant to load the straight pier column 3. Then, the straight pier column 3 is transported to the construction site, and the skid steer transport vehicle 1 and the lifting function vehicle 2 are aligned to achieve the positioning of the two vehicles. This process can be referred to the state shown in Figure 4.

[0050] Next, the first active suspension wheel set 101 of the skid steer transport vehicle 1 is activated to level the skid steer transport vehicle 1. Simultaneously, the second active suspension wheel set 201 of the lifting vehicle 2 is activated to complete the leveling of the lifting vehicle 2. Then, the first sliding telescopic base 104 of the skid steer transport vehicle 1 and the second sliding telescopic base 207 of the lifting vehicle 2 are controlled to slide and align on their respective frames. Then, the sliding boom 106 is driven to rotate via the sliding arm rotation drive 105, connecting the sliding boom 106 to the second sliding telescopic base 207, corresponding to... Figure 5 The state shown is as follows. Next, the first sliding module 1062 is moved to the lower part of the straight pier 3, and the spreader beam 4 is installed on the straight pier 3, ensuring that the spreader beam 4 is in contact with the first sliding module 1062, as shown in Figure 6.

[0051] Subsequently, the second sliding telescopic base 207 and the first sliding telescopic base 104 are raised synchronously until the sliding boom 106 lifts the straight pier 3 and detaches it from the first supporting beam 103. At this point, the straight pier 3 contacts the first sliding module 1062. Then, the first sliding module 1062 is controlled to slide, moving the straight pier 3 to the center seam position. Figure 7 The operation is shown.

[0052] Next, operate the lifting base 204, the top arm rotation drive 205 and the telescopic column 2061 on the right side to rotate the lifting arm 206 to the side of the sliding transport vehicle 1 and connect it with the lifting base 107, corresponding to the state in Figure 8.

[0053] Then, the second sliding module 2062 on the right side is used to suspend the lifting lug on the straight pier 3, and the sliding boom 106 on the right side is rotated to the side of the vehicle to create space for the straight pier 3 to turn over. Figure 9 As shown.

[0054] Then, loosen the built-in pin of the left sliding boom 106 to allow the rotating boom 1061 to rotate around the central axis of the sliding boom 106. Next, control the right lifting base 204 and the lifting base 107 to move synchronously, so that the straight pier 3 rotates slowly until the straight pier 3 is in a vertical state. Then, insert the built-in pin of the left sliding boom 106 to fix the rotating boom 1061. Refer to Figures 10 and 11 for this process.

[0055] Then, rotate the right-side sliding boom 106 and connect it to the second sliding telescopic base 207. Control the second sliding telescopic base 207 on the right side to lift synchronously with the first sliding telescopic base 104 until the straight pier 3 contacts the first sliding module 1062. Then, release the hoisting rope between the second sliding module 2062 on the right side and the straight pier 3, and place the straight pier 3 on the two sliding booms 106, as shown in Figure 12.

[0056] Next, operate the left lifting base 204, the top arm rotation drive 205 and the telescopic column 2061 to rotate the left lifting boom 206 to the side of the sliding transport vehicle 1 and connect it with the lifting base 107. Then control the left and right lifting bases 204, lifting base 107 and telescopic column 2061 to move simultaneously, including lifting and sliding, until the straight pier 3 is placed on the two lifting booms 206, as shown in Figure 13.

[0057] Then, the sliding booms 106 on both sides are rotated to the side of the vehicle to make room for the adjustment and installation of the straight pier 3, as shown in Figure 14.

[0058] Next, control the lifting base 204, lifting base 107 and telescopic column 2061 on the left and right sides to move simultaneously, adjust the straight pier 3 to the preset installation position, and then complete the installation of the straight pier 3, corresponding to the states shown in Figures 15 and 16.

[0059] Finally, after the straight pier 3 is installed in place, the lifting boom 206 is retracted, and the skid transport vehicle 1 is operated to return to the prefabrication plant to transport the next straight pier 3. At the same time, the lifting vehicle 2 is moved to the next installation position and put into place, waiting for the next round of installation work.

[0060] 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 multi-arm collaborative linear pier erection equipment, characterized in that: Including slip The transport vehicle (1) and the lifting function vehicle (2) are provided. The sliding transport vehicle (1) is equipped with at least two sets of sliding booms (106). The sliding booms (106) are rotatably connected to the sliding transport vehicle (1). The two sets of sliding booms (106) are connected to the lifting function vehicle (2) to form a lifting mechanism. The lifting vehicle (2) is equipped with at least two sets of lifting booms (206). One end of the lifting boom (206) is rotatably connected to the lifting vehicle (2), and the other end of the lifting boom (206) is hinged to a telescopic column (2061). The other end of the lifting boom (206) is connected to the sliding transport vehicle (1) through the telescopic column (2061) to form a gantry crane structure. The gantry crane structure and the lifting mechanism work together to complete the turning, repositioning and installation of the straight pier (3).

2. The multi-arm collaborative linear pier erection equipment according to claim 1, characterized in that: The first frame (102) of the skid steer transport vehicle (1) is provided with at least two sets of first skid telescopic bases (104), and one end of the skid boom (106) is located at the end of the first skid telescopic base (104). The first skid telescopic base (104) is connected to one end of the skid boom (106) through the sliding arm rotation drive (105). The first sliding telescopic base (104) is driven by a motor or hydraulic motor to slide on the first frame (102).

3. The linear pier transport equipment for multi-arm collaborative operation according to claim 2, characterized in that: sliding... The other end of the boom (106) is snapped onto the upper end of the second sliding telescopic base (207) on the second frame (202) of the lifting function vehicle (2) or connected by bolts to the flange; The second sliding telescopic base (207) is driven by a motor or hydraulic motor to slide on the second frame (202); The second sliding telescopic base (207) and the first sliding telescopic base (104) are lifted by hydraulic cylinders.

4. The linear pier transport equipment for multi-arm collaborative operation according to claim 1, characterized in that: sliding... A rotating middle arm (1061) is provided in the middle of the boom (106). The two ends of the rotating middle arm (1061) are rotatably connected to the sliding boom (106). A rotating mechanism is provided inside the sliding boom (106). The rotating mechanism is connected to the end of the rotating middle arm (1061). A first sliding module (1062) is provided on the rotating middle arm (1061). The first sliding module (1062) slides on the rotating middle arm (1061) by a motor drive.

5. The multi-arm collaborative linear pier erection equipment according to claim 1, characterized in that: The lifting vehicle (2) is equipped with at least two sets of lifting bases (204). The lifting bases (204) are connected to one end of the lifting boom (206) via the top arm rotation drive (205). The other end of the lifting boom (206) is hinged to the upper end of the telescopic column (2061). The lower end of the telescopic column (2061) is engaged with the lifting base (107) on the sliding transport vehicle (1).

6. The multi-arm collaborative linear pier erection equipment according to claim 5, characterized in that: The lifting boom (206) has a second sliding module (2062) on its load-bearing beam (2063). The second sliding module (2062) slides on the load-bearing beam (2063) by a motor drive. The end of the load-bearing beam (2063) is provided with a drive mechanism (2064), which is connected to the rotating shaft of the telescopic column (2061) through a gearbox (2065); The drive mechanism (2064) is a hydraulic motor or an electric motor.

7. The multi-arm collaborative linear pier erection equipment according to claim 5, characterized in that: Both the lifting base (204) and the telescopic column (2061) are lifted using hydraulic cylinders; The lifting base (204) is driven by a motor or hydraulic motor to slide on the first frame (102); The lifting base (107) is driven by an electric motor or a hydraulic motor to slide on the second frame (202).

8. A multi-arm collaborative linear pier erection equipment according to claim 2 or 5, characterized in that: The sliding arm slewing drive (105) and the top arm slewing drive (205) have the same structure. The top arm slewing drive (205) is driven by a worm gear. The housing of the top arm slewing drive (205) is fixedly connected to the end of the lifting base (204). The worm gear (2051) is rotatably connected to the bearing beam (2063) shaft of the lifting boom (206). The worm is connected to a motor or hydraulic motor.

9. The multi-arm collaborative linear pier erection equipment according to claim 1, characterized in that: Both the skid steer vehicle (1) and the lifting vehicle (2) are equipped with multiple suspension wheel sets at the bottom. The suspension wheel sets are hydraulic lifting wheel sets and have a steering drive structure.

10. A construction method for a multi-arm collaborative linear pier transport and erection equipment according to any one of claims 1-9, characterized in that: The method includes: S1, Dual vehicle positioning: The sliding transport vehicle (1) transports the straight pier column (3) to the construction site and aligns it with the lifting vehicle (2); S2, vehicle leveling and connection: the first active suspension wheel set (101) moves to level the smooth transport vehicle (1), the second active suspension wheel set (201) moves to level the lifting function vehicle (2), the first sliding telescopic base (104) and the second sliding telescopic base (207) slide and align, the sliding boom (106) rotates under the drive of the sliding boom rotary drive (105) and connects to the second sliding telescopic base (207); S3, Installation of the spreader beam: The first sliding module (1062) moves to the lower part of the straight pier (3) and installs the spreader beam (4) on the straight pier (3), and the spreader beam (4) contacts the first sliding module (1062); S4, Pier Sliding: The second sliding telescopic base (207) and the first sliding telescopic base (104) are raised synchronously, so that the sliding boom (106) lifts the straight pier (3) and detaches from the first support beam (103), and the first sliding module (1062) slides to transfer the straight pier (3) to the center seam position. S5, Lifting boom connection: The right lifting base (204), the boom rotation drive (205) and the telescopic column (2061) move to rotate the lifting boom (206) to the side of the sliding transport vehicle (1) and connect it to the lifting base (107); S6, Lifting lug connection: The second sliding module on the right side (2062) lifts the lug on the straight pier (3), and the right sliding boom (106) rotates to the side of the vehicle; S7, Pier Turning: The built-in pin of the left sliding boom (106) is released, allowing the rotating middle arm (1061) to rotate. The right lifting base (204) and the lifting base (107) move synchronously to drive the straight pier (3) to rotate to a vertical state. The built-in pin of the left sliding boom (106) is inserted to fix the rotating middle arm (1061). S8. Transfer of pier column to sliding boom: The right sliding boom (106) rotates and connects with the second sliding telescopic base (207). The second sliding telescopic base (207) and the first sliding telescopic base (104) are lifted synchronously to make the straight pier column (3) contact the first sliding module (1062). The right second sliding module (2062) is released and the straight pier column (3) is placed on the two sliding booms (106). S9. Transfer of pier to lifting boom: The left lifting base (204), boom slewing drive (205) and telescopic column (2061) move to rotate the lifting boom (206) to one side of the sliding transport vehicle (1) and connect it with the lifting base (107). The left and right lifting bases (204), lifting base (107) and telescopic column (2061) move synchronously to place the straight pier (3) on the two lifting booms (206). S10, Sliding boom avoidance: The left and right sliding booms (106) rotate to the side of the vehicle to make room for the adjustment and installation of the straight pier (3); S11, Pier installation: The lifting base (204), lifting base (107), and telescopic column (2061) on the left and right sides move synchronously to adjust the straight pier (3) to the installation position and complete the installation; S12. Equipment Reset and Cycle: After the straight pier (3) is installed in place, the lifting boom (206) is retracted, the sliding transport vehicle (1) returns to the prefabrication plant to transport the next straight pier (3), and the lifting function vehicle (2) moves to the next installation position.

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