Automatic construction equipment suitable for assembling prefabricated diaphragm wall with top higher than guide groove

Abstract

The invention discloses automatic construction equipment suitable for assembling a prefabricated diaphragm wall with the top higher than a guide groove. The automatic construction equipment comprises an electrical cabinet, a walking module, a leveling module, a position and posture fine adjustment module and a retractable door module. Wherein the walking module bears the electrical cabinet, the position and posture fine adjustment module and the retractable door module, and the walking module is used for moving the device to a designated position; the leveling module is arranged at the bottom of the walking module and used for adjusting the angle of the walking module so that the pose fine adjustment module borne by the walking module can be perpendicular to the horizontal plane. The electrical cabinet is installed on one side edge of the position and posture fine adjustment module, the retractable door module is installed on the side, away from the electrical cabinet, of the position and posture fine adjustment module, and the position and posture fine adjustment module is used for adjusting the position and the deflection angle of a prefabricated diaphragm wall to be constructed; and the electrical cabinet is used for controlling the walking module, the leveling module, the pose fine adjustment module and the retractable door module through the received measurement data. The underground diaphragm wall to be constructed can be exposed when the underground diaphragm wall is stuck during construction, and rapid and continuous construction is facilitated.

Description

Technical Field

[0001] The invention relates to the field of underground structure engineering, in particular to automated construction equipment suitable for assembling prefabricated ground-connected walls with tops higher than guide grooves. Background Art

[0002] Underground continuous wall, referred to as ground-connected wall, is a continuous wall constructed below the ground for bearing building loads, water interception and anti-seepage or retaining soil support. In the formal construction process of subway stations, the first step is to build the enclosure structure of the subway station, that is, the underground continuous wall, to protect the foundation pit and surrounding safety. Ground-connected walls are divided into two categories: cast-in-place ground-connected walls and prefabricated ground-connected walls. Currently, cast-in-place ground-connected walls are more commonly used.

[0003] The traditional construction process of cast-in-place underground continuous wall is trenching → hoisting steel cage → pouring concrete → forming a closed underground continuous wall. However, it has some shortcomings, such as: when pouring underwater, mud is easily mixed in the concrete, causing irregular water seepage on the wall surface. If the mud wall is not properly protected, the trench wall will collapse, causing the wall surface to bulge outward; if there is any improper construction operation, concrete pipe blockage will occur, and in serious cases, the wall may even break.

[0004] Prefabricated ground-connected walls have the following characteristics: through prefabrication and standardized production in the factory, the pouring quality can be effectively guaranteed, the wall surface is highly flat, can be used as a structural side wall, and has good mechanical properties; there is no need for the hoisting and pouring process of cast-in-place underground continuous walls, and rapid construction can be achieved. Therefore, by prefabricating underground continuous walls, the construction quality of underground continuous walls can be effectively improved, while saving overall construction costs and gaining higher economic benefits for the enterprise. A major feature of the construction process of prefabricated ground-connected walls is that the front and rear ground-connected walls need to be accurately aligned and assembled in the horizontal assembly direction to control the misalignment and opening amount generated during the assembly process of the prefabricated ground-connected walls to a minimum, ensuring the assembly accuracy of the prefabricated ground-connected walls.

[0005] Traditional cast-in-place ground-anchored walls do not have joints between the front and rear walls, so there is no need for precise positioning during the slotting process. Rough positioning can be done manually, but this method is not suitable for the requirements of prefabricated assembly for assembly accuracy.

[0006] Therefore, it is necessary to have construction equipment suitable for assembling prefabricated and assembled ground-anchored walls. Summary of the invention

[0007] In order to solve the problems in the background technology, the present invention discloses an automated construction equipment which can continuously and accurately assemble prefabricated ground-connected walls, has high assembling efficiency and saves labor, and is suitable for assembling prefabricated ground-connected walls whose tops are higher than guide grooves.

[0008] To this end, the present invention adopts the following technical solutions:

[0009] An automated construction equipment suitable for assembling a prefabricated ground-connected wall with a top higher than a guide groove, comprising: an electrical cabinet, a travel module, a leveling module, a posture fine-tuning module and a telescopic door module; wherein:

[0010] The running module carries the electrical cabinet, the posture fine-tuning module and the telescopic door module, and the running module is used to move the present invention to a specified position;

[0011] The leveling module is arranged at the bottom of the running module, and is used to adjust the angle of the running module so that the posture fine-tuning module carried thereon is perpendicular to the horizontal plane;

[0012] The electrical cabinet is installed on one side of the posture fine-tuning module, and the telescopic door module is installed on a side of the posture fine-tuning module away from the electrical cabinet. The posture fine-tuning module is used to adjust the position and deflection angle of the prefabricated ground-connected wall to be constructed; the electrical cabinet is used to control the running module, the leveling module, the posture fine-tuning module and the telescopic door module through the received measurement data;

[0013] A detachable box beam structure is arranged on one side of the running module close to the telescopic door module. The detachable box beam structure and the telescopic door module are used to facilitate completely exposing the obstructed prefabricated ground-connected wall to be constructed by moving the running module when the construction of the prefabricated ground-connected wall to be constructed is obstructed.

[0014] Preferably, the walking module further comprises a steel structure frame, four sets of steering wheels and a swing beam for performing walking action, wherein:

[0015] The steel structure frame is rectangular and has one wide side open. The detachable box beam structure is arranged in the opening, and the swing beam is arranged on a wide side away from the detachable box beam structure. The midpoint of the swing beam is hinged to the steel structure frame, and two groups of steering wheels 23 are arranged at both ends of the swing beam. The other two groups of steering wheels are bolted to both ends of the wide side of one side of the opening of the steel structure frame.

[0016] Preferably, the leveling module includes a dual inclination sensor arranged on the side of the steel structure frame and a leveling unit arranged at the four corners of the steel structure frame, and the leveling unit includes a leg crossbeam, a leveling actuator electric cylinder and a lowermost support shoe; the leveling actuator electric cylinder is fixedly connected to the steel structure frame through the leg crossbeam, and the output end of the leveling actuator electric cylinder is connected to the support shoe. Under the control of the electrical cabinet, the telescopic angles of the four leveling actuator electric cylinders are adjusted to make the posture fine-tuning module carried on the steel structure frame perpendicular to the horizontal plane.

[0017] Preferably, the posture fine-tuning module includes four long-side robotic arms, a wide-side robotic arm and a steel frame; the bottom surface of the steel frame is fixedly connected to the steel structure frame, and one side of the steel frame is open, and the opening direction is the same as the opening direction of the steel structure frame; the four long-side robotic arms are all arranged in the middle of the steel frame, for clamping the surface enclosed by the wide side and the long side of the prefabricated ground-connected wall to be constructed; the wide-side robotic arm is arranged on a side of the steel frame 44 away from the opening, for supporting the surface enclosed by the high side and the long side of the prefabricated ground-connected wall to be constructed.

[0018] Preferably, the long side mechanical arm comprises an upper electric cylinder of the long side, an upper support of the long side, an upper first hinge of the long side, an upper second hinge of the long side, a lower electric cylinder of the long side, a lower support of the long side, a lower first hinge of the long side, a lower second hinge of the long side, a long side steel plate, a long side steel plate caster and a long side roller;

[0019] The middle part of the upper electric cylinder of the long side is hinged to the upper support of the long side through the upper first hinge of the long side, and the output end of the upper electric cylinder of the long side is hinged to the upper part of the long side steel plate through the upper second hinge of the long side;

[0020] The middle part of the lower electric cylinder of the long side is hinged to the lower support of the long side through the lower first hinge of the long side, and the output end of the lower electric cylinder of the long side is hinged to the lower part of the long side steel plate through the lower second hinge of the long side;

[0021] The long side rollers are evenly and equidistantly arranged on one side of the long side steel plate away from the long side upper electric cylinder and the long side lower electric cylinder;

[0022] The long side upper electric cylinder and the long side lower electric cylinder are fixedly connected to the steel frame through the long side upper support and the long side lower support respectively.

[0023] Preferably, the structure of the wide side robotic arm is the same as that of the long side robotic arm.

[0024] Preferably, the telescopic door module includes two telescopic door units that open opposite each other, and the telescopic door unit includes two telescopic door rails, a telescopic door, a telescopic door electric cylinder, a telescopic door slider and a telescopic door mechanical arm; the telescopic door sliders are respectively located at the top and bottom of the telescopic door, and the telescopic door sliders enable the telescopic door to be slidably connected to the steel frame through the telescopic door rails arranged on the steel frame, and the telescopic door electric cylinder is used to make the telescopic door slide relative to the steel frame, and the two telescopic door units are arranged opposite to each other to achieve opening and closing of the door; the telescopic door mechanical arm is fixedly connected to the telescopic door unit, and is used to resist the surface enclosed by the high side and the long side of the prefabricated ground-connected wall to be constructed, and the telescopic door mechanical arm cooperates with the wide side mechanical arm to clamp the prefabricated ground-connected wall to be constructed.

[0025] Preferably, the structure of the telescopic door mechanical arm is the same as that of the long side mechanical arm; the telescopic door mechanical arm steel plate casters on the telescopic door mechanical arm walk on the telescopic door.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. It has the ability to move automatically. The invention can be driven to the assembly position by remote control to realize continuous assembly during the construction process.

[0028] 2. Improve construction quality. Through "external detection-error comparison-mechanical arm fine-tuning", millimeter-level ground-wall assembly accuracy can be achieved.

[0029] 3. The present invention can achieve less-manpower construction. Only 1-2 people are needed to operate the present invention to complete the assembly of the ground-connected wall, and there is no need for multiple people to push the ground-connected wall to achieve the alignment assembly.

[0030] 4. The present invention can expose the ground-connected wall to be constructed when the ground-connected wall is stuck during construction, thereby facilitating rapid and continuous construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a top view structural diagram of a single prefabricated ground-connected wall;

[0032] Figure 2 It is a schematic diagram of the three-dimensional structure of a single prefabricated ground-connected wall;

[0033] Figure 3 It is a top view structural diagram of two adjacent prefabricated ground-connected walls that have been assembled;

[0034] Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention;

[0035] Figure 5 It is a schematic diagram of the combined structure of the running module and the dual inclination sensors of the present invention;

[0036] Figure 6 It is a structural schematic diagram of the leveling unit of the present invention;

[0037] Figure 7 It is a schematic diagram of the combined structure of the posture adjustment fine adjustment module and the telescopic door module of the present invention;

[0038] Figure 8 It is a structural schematic diagram of another angle of the combined structure of the posture adjustment fine adjustment module and the telescopic door module of the present invention;

[0039] Fig. 9 It is a schematic diagram of the three-dimensional structure of the long side mechanical arm of the present invention;

[0040] Fig.10It is a structural schematic diagram of the position of the telescopic door module in the present invention;

[0041] Fig.11 It is a schematic diagram of the three-dimensional structure of a prefabricated ground-connected wall to be constructed in an embodiment of the present invention;

[0042] Fig.12 It is a schematic diagram of the construction completion status in an embodiment of the present invention.

[0043] In the figure:

[0044] 1. Electrical cabinet, 2. Travel module, 21. Steel structure frame, 22. Removable box beam structure, 23. Steering wheel, 24. Swing beam; 3. Leveling module, 31. Dual tilt sensor, 32. Outrigger crossbeam, 33. Leveling actuator cylinder, 34. Support shoe, 4. Posture fine adjustment module, 41. Long side mechanical arm, 43. Wide side mechanical arm, 44. Steel frame, 411. Long side upper electric cylinder, 412. Long side upper support, 413. Long side upper first hinge, 414. Long side upper second hinge, 415. Long side lower electric cylinder, 416. Long side lower support, 417. Long side lower first hinge, 418. Long side lower second hinge, 419. Long side steel plate, 420. Long side steel plate caster, 421. Long side roller; 5. Telescopic door module, 51. Telescopic door guide rail, 52. Telescopic door, 53. Telescopic door electric cylinder, 54. Telescopic door slider, 55. Telescopic door mechanical arm; 61. First through hole, 62. Second through hole; A. Tenon, B. Groove, a T-type connector, b C-type connector. DETAILED DESCRIPTION

[0045] In order to facilitate understanding of the solution of the present invention, the prefabricated ground-connected wall is first described as follows:

[0046] like Figure 1 and Figure 2 The schematic diagrams of the single prefabricated ground-connected wall at two angles are shown, and the whole is in the shape of a rectangular parallelepiped, with the longer side of the top surface being the long side, the shorter side being the short side, and the side perpendicular to the top surface being the high side. The high sides on both sides of the rectangular parallelepiped are respectively provided with a groove B and a tenon A, and an inwardly concave C-type connector b is embedded and installed in the groove, with a cavity formed inside the C-type connector b and an opening formed outside, and a T-type connector a is embedded and installed on the tenon, with the head of the T-type connector a extending outward from the tenon.

[0047] The groove B, the tenon A, the C-shaped connector b and the T-shaped connector a may extend over the entire height of the wall, or may extend over a partial height of the wall.

[0048] The assembly principle of the ground-connected wall is to vertically insert the T-connector a of the latter prefabricated ground-connected wall into the C-connector b of the previous prefabricated ground-connected wall, and the two form a pulling relationship.

[0049] In actual assembly, Figure 3 As shown, assuming that the left is the assembly direction when looking down, if it is to be ensured that the front and rear prefabricated ground-connected walls can be assembled smoothly, the assembly logic is set as follows: if it is known that the Nth ground-connected wall has been successfully assembled, it is necessary to ensure that the long side of the N+1th wall is parallel to the long side of the Nth prefabricated ground-connected wall, and the T-type connector of the N+1th prefabricated ground-connected wall and the C-type connector of the Nth ground-connected wall are guaranteed to overlap and align the two connectors, then accurate assembly can be achieved.

[0050] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0051] like Figure 4 As shown, the automated construction equipment of the present invention suitable for assembling prefabricated ground-connected walls with the top higher than the guide groove includes an electrical cabinet 1, a running module 2, a leveling module 3, a posture fine-tuning module 4 and a telescopic door module 5; wherein the running module 2 carries the electrical cabinet 1, the posture fine-tuning module 4 and the telescopic door module 5, and the running module 2 is used to move the automated construction equipment of the present invention to a specified position.

[0052] The leveling module 3 is arranged at the bottom of the running module 2, and is used to adjust the running module 2 so that the posture fine-tuning module 4 carried thereon is perpendicular to the horizontal plane.

[0053] The electrical cabinet 1 is installed on one side of the posture fine-tuning module 4, and the telescopic door module 5 is installed on the side of the posture fine-tuning module 4 away from the electrical cabinet 1. The posture fine-tuning module 4 is used to adjust the position and deflection angle of the prefabricated ground-connected wall to be constructed; the electrical cabinet 1 is used to control the walking module 2, the leveling module 3, the posture fine-tuning module 4 and the telescopic door module 5 through the received measurement data.

[0054] The telescopic door module 5 is used to facilitate the present invention to move and expose the blocked prefabricated ground-connected wall to be constructed when the prefabricated ground-connected wall to be constructed is blocked.

[0055] like Figure 5 As shown, the walking module 2 includes a steel structure frame 21, a detachable box beam structure 22, four sets of steering wheels 23 and a swing beam 24 for performing walking actions, wherein:

[0056] The steel structure frame 21 is rectangular, with one wide side open, a detachable box beam structure 22 disposed in the opening, a swing beam disposed on a wide side away from the detachable box beam structure 22, the midpoint of the swing beam being hinged to the steel structure frame 21, two groups of steering wheels 23 disposed at both ends of the swing beam, and the other two groups of steering wheels 23 being bolted to both ends of the wide side at one end of the opening of the steel structure frame 21. This structure can ensure that the four groups of steering wheels of the present invention touch the ground at the same time during the running process.

[0057] like Figure 5 and Figure 6As shown, the leveling module 3 includes a dual tilt sensor 31 arranged on the side of the steel structure frame 21 and a leveling unit arranged at the four corners of the steel structure frame 21. The leveling unit includes a leg crossbeam 32, a leveling actuator electric cylinder 33 and a bottom support shoe 34; the leveling actuator electric cylinder 33 is fixedly connected to the steel structure frame 21 through the leg crossbeam 32, and the output end of the leveling actuator electric cylinder 33 is connected to the support shoe 34. Under the control of the electrical cabinet 1, the telescopic angles of the four leveling actuator electric cylinders 33 are adjusted to make the posture fine adjustment module 4 carried on the steel structure frame 21 perpendicular to the horizontal plane. In one embodiment of the present invention, in order to increase the friction, a thin rubber sheet is adhered to the bottom of the support shoe 34.

[0058] like Figure 7 and Figure 8 As shown, the posture fine-tuning module 4 includes four long-side mechanical arms 41, a wide-side mechanical arm 43 and a steel frame 44; the bottom surface of the steel frame 44 is fixedly connected to the steel structure frame 21, and one side of the steel frame 44 is open, and the opening direction of the steel frame 44 is the same as the opening direction of the steel structure frame 21. The four long-side mechanical arms 41 are all arranged in the middle of the steel frame 44, and are used to clamp the surface surrounded by the wide side and the long side of the prefabricated ground-connected wall to be constructed. The wide-side mechanical arm 43 is arranged on a side of the steel frame 44 away from the opening, and is used to support the surface surrounded by the high side and the long side of the prefabricated ground-connected wall to be constructed.

[0059] like Fig. 9 As shown, the long side robotic arm 41 includes a long side upper electric cylinder 411, a long side upper support 412, a long side upper first hinge 413, a long side upper second hinge 414, a long side lower electric cylinder 415, a long side lower support 416, a long side lower first hinge 417, a long side lower second hinge 418, a long side steel plate 419, a long side steel plate caster 420 and a long side roller 421.

[0060] The middle part of the long side upper electric cylinder 411 is hinged to the long side upper support 412 through the long side upper first hinge 413 , and the output end of the long side upper electric cylinder 411 is hinged to the upper part of the long side steel plate 419 through the long side upper second hinge 414 .

[0061] The middle part of the long side lower electric cylinder 415 is hinged to the long side lower support 416 through the long side lower first hinge 417 , and the output end of the long side lower electric cylinder 415 is hinged to the lower part of the long side steel plate 419 through the long side lower second hinge 418 .

[0062] Long side rollers 421 are evenly and equidistantly arranged on one side of the long side steel plate 419 away from the long side upper electric cylinder 411 and the long side lower electric cylinder 415 .

[0063] The long side upper electric cylinder 411 and the long side lower electric cylinder 415 are fixedly connected to the steel frame 44 through the long side upper support 412 and the long side lower support 416 respectively.

[0064] Each robot arm can be regarded as a quadrilateral structure, in which the first hinge 413 at the upper part of the long side and the first hinge 417 at the lower part of the long side are relatively fixed and can be regarded as fixed sides. The line formed by the first hinge 417 at the lower part of the long side and the second hinge 418 at the lower part of the long side has a degree of inclination with the ground that is consistent with the degree of inclination of the present invention. In order to ensure the verticality of the long side steel plate 419, by controlling the extension amount of the electric cylinder 415 at the lower part of the long side and the extension amount of the electric cylinder 411 at the upper part of the long side, that is, controlling the connection line 417-418 and the connection line 412-413, the angle between the fine adjustment system and the ground after the leveling module completes the leveling task is corrected. Regardless of the equipment angle after leveling, the structure can ensure that the steel plate is vertical.

[0065] Two casters 420 are respectively arranged on the left and right sides of the long side steel plate 419, and the casters 420 walk on the steel frame 44. Thereby ensuring that the long side steel plate 419 is stable when being pushed out.

[0066] The structure of the wide side mechanical arm 43 is the same as that of the long side mechanical arm 41. The wide side rollers on the wide side mechanical arm 43 are arranged according to the working conditions.

[0067] like Fig.10 As shown, the telescopic door module 5 includes two telescopic door units that open opposite each other, and the telescopic door units include two telescopic door rails 51, a telescopic door 52, a telescopic door electric cylinder 53, a telescopic door slider 54 and a telescopic door mechanical arm 55; the telescopic door sliders 54 are respectively located at the top and bottom of the telescopic door 52, and the telescopic door sliders 54 are slidably connected to the telescopic door 52 and the steel frame 44 through the telescopic door rails 51 set on the steel frame 44. The telescopic door electric cylinder 53 is used to make the telescopic door 52 slide relative to the steel frame 44, and the two telescopic door units are arranged opposite to each other to realize opening and closing of the door.

[0068] The telescopic door mechanical arm 55 is fixedly connected to the telescopic door unit and is used to resist the surface surrounded by the high side and the long side of the prefabricated ground-connected wall to be constructed. The telescopic door mechanical arm 55 cooperates with the wide side mechanical arm 41 to clamp the prefabricated ground-connected wall to be constructed.

[0069] The structure of the telescopic door mechanical arm 55 is identical with the long side mechanical arm 41. The telescopic door mechanical arm steel plate caster on the telescopic door mechanical arm 55 walks on the telescopic door 52.

[0070] Considering the following extreme situations that may occur during the assembly process: the gap between the C-type connector and the T-type connector is small. If the precision control is poor during the assembly process, the assembly of the ground-connected wall is blocked, and it cannot be smoothly inserted and pulled out, it is necessary to use other machines to forcibly adjust the posture of the ground-connected wall. Since the present invention surrounds the four sides of the ground-connected wall to be constructed, in order to expose the blocked ground-connected wall, the telescopic door module 5 needs to be opened at this time, and the detachable box beam structure 22 on the walking module 2 is removed to form a channel. After the equipment is moved to the front of the assembly direction, the ground-connected wall is exposed, and subsequent construction can be carried out.

[0071] Example

[0072] Before construction, the prefabricated ground-connected wall to be constructed is provided with a first through hole 61 and a second through hole 62 according to the designed distance from the top surface. Fig.11 shown.

[0073] During construction, when the prefabricated ground-connected wall is about to reach the specified elevation, firstly, the steel rod is inserted into the first through hole 61 and the second through hole 62 by using relevant machinery, and then the jack adjusted to the preset position is inserted between the steel rod and the ground; then the prefabricated ground-connected wall is lowered again until the steel rod contacts the jack. At this time, it can be considered that the ground-connected wall has reached the specified elevation.

[0074] The construction results are as follows Fig.12 As shown, the top surface of the completed ground-connected wall will be exposed above the ground.

[0075] The specific assembly process is as follows:

[0076] 1) Manual remote control of automated construction equipment to move to the designated workstation;

[0077] 2) Automated construction equipment performs leveling actions;

[0078] 3) Measure the actual position deviation of the center point of the previous prefabricated ground connection wall and the angle between its center line and the theoretical center line, and transmit them to the electrical cabinet wirelessly;

[0079] 4) Measure the actual position deviation of the center point of the present invention and the angle between its center line and the theoretical center line.

[0080] 5) Using a crawler crane to lower the prefabricated ground connection wall to the center of the present invention;

[0081] 6) Real-time measurement of the actual position coordinates of the ground-connected wall being assembled, synchronous collection of inclination information, and also wireless transmission to the electrical cabinet.

[0082] 7) Use the robotic arm to push the ground-connected wall being assembled based on the measured data to adjust its position and posture.

[0083] 8) In actual assembly, every time the crane is lowered a certain distance, it will be reminded to stop lowering, and the measurement system will be used to monitor the position of the ground-connected wall and adjust the position of the ground-connected wall according to the measurement data until the top surface of the ground-connected wall reaches near the specified elevation.

[0084] 9) Insert the steel rod into the two through holes at the top of the prefabricated connecting wall, and keep the exposed parts of the steel rod on both sides of the ground connecting wall consistent.

[0085] 10) Lower the ground-connected wall with two steel bars a little further until both steel bars are firmly placed on the jack. At this point, the single ground-connected wall is considered to be assembled in place.

[0086] 11) If the vehicle cannot be inserted smoothly during assembly, the telescopic doors on the left and right sides will be used to open the passage to facilitate the use of other equipment for rescue.

Claims

1. An automated construction equipment suitable for assembling prefabricated ground-connected walls with tops higher than guide grooves, characterized in that: include: An electrical cabinet (1), a running module (2), a leveling module (3), a posture fine-tuning module (4) and a telescopic door module (5); wherein: The running module (2) carries the electrical cabinet (1), the posture fine-tuning module (4) and the telescopic door module (5), and the running module (2) is used to move the present invention to a specified position; The leveling module (3) is arranged at the bottom of the running module (2) and is used to adjust the angle of the running module (2) so that the posture fine-tuning module (4) carried thereon is perpendicular to the horizontal plane; The electrical cabinet (1) is mounted on one side of the posture fine adjustment module (4); the telescopic door module (5) is mounted on a side of the posture fine adjustment module (4) away from the electrical cabinet (1); the posture fine adjustment module (4) is used to adjust the position and deflection angle of the prefabricated ground-connected wall to be constructed; the electrical cabinet (1) is used to control the running module (2), the leveling module (3), the posture fine adjustment module (4) and the telescopic door module (5) through the received measurement data; A detachable box beam structure (22) is provided on one side of the running module (2) close to the telescopic door module (5); the detachable box beam structure (22) and the telescopic door module (5) are used to facilitate complete exposure of the obstructed prefabricated ground-connected wall to be constructed by moving the running module (2) when the construction of the prefabricated ground-connected wall to be constructed is obstructed.

2. The automated construction equipment for assembling prefabricated ground-connected walls with tops higher than guide grooves according to claim 1, characterized in that: The walking module (2) further comprises a steel structure frame (21), four sets of steering wheels (23) and a swing beam (24) for performing walking movements, wherein: The steel structure frame (21) is rectangular, with one wide side open, the detachable box beam structure (22) is arranged in the opening, the swing beam (24) is arranged on a wide side away from the detachable box beam structure (22), the midpoint of the swing beam (24) is hinged to the steel structure frame (21), two groups of steering wheels 23 are arranged at both ends of the swing beam, and the other two groups of steering wheels (23) are bolted to both ends of the wide side of one side of the opening of the steel structure frame 21.

3. The automated construction equipment for assembling prefabricated ground-connected walls with tops higher than guide grooves according to claim 2, characterized in that: The leveling module (3) comprises a dual tilt sensor (31) arranged on the side of the steel structure frame (21) and a leveling unit arranged at the four corners of the steel structure frame (21); the leveling unit comprises a leg crossbeam (32), a leveling actuator electric cylinder (33) and a bottom support shoe (34); the leveling actuator electric cylinder (33) is fixedly connected to the steel structure frame (21) through the leg crossbeam (32); the output end of the leveling actuator electric cylinder (33) is connected to the support shoe (34); under the control of the electrical cabinet (1), the telescopic angles of the four leveling actuator electric cylinders (33) are adjusted to make the posture fine adjustment module (4) carried on the steel structure frame (21) perpendicular to the horizontal plane.

4. The automated construction equipment for assembling prefabricated ground-connected walls with tops higher than guide grooves according to claim 2, characterized in that: The posture fine-tuning module (4) comprises four long-side mechanical arms (41), a wide-side mechanical arm (43) and a steel frame (44); the bottom surface of the steel frame (44) is fixedly connected to the steel structure frame (21); one side surface of the steel frame (44) is open, and the opening direction is the same as the opening direction of the steel structure frame 21; the four long-side mechanical arms (41) are all arranged in the middle of the steel frame (44) for clamping the surface surrounded by the wide side and the long side of the prefabricated ground-connected wall to be constructed; the wide-side mechanical arm (43) is arranged on a side surface of the steel frame 44 away from the opening, and is used to support the surface surrounded by the high side and the long side of the prefabricated ground-connected wall to be constructed.

5. The automated construction equipment for assembling prefabricated ground-connected walls with tops higher than guide grooves according to claim 4, characterized in that: The long side mechanical arm (41) comprises an upper long side electric cylinder (411), an upper long side support (412), an upper first long side hinge (413), an upper second long side hinge (414), a lower long side electric cylinder (415), a lower long side support (416), a lower first long side hinge (417), a lower second long side hinge (418), a long side steel plate (419), a long side steel plate caster (420) and a long side roller (421); The middle part of the long side upper electric cylinder (411) is hinged to the long side upper support (412) through the long side upper first hinge (413), and the output end of the long side upper electric cylinder (411) is hinged to the upper part of the long side steel plate (419) through the long side upper second hinge (414); The middle part of the long side lower electric cylinder (415) is hinged to the long side lower support (416) through the long side lower first hinge (417), and the output end of the long side lower electric cylinder (415) is hinged to the lower part of the long side steel plate (419) through the long side lower second hinge (418); The long side rollers (421) are evenly and equidistantly arranged on one side of the long side steel plate (419) away from the long side upper electric cylinder (411) and the long side lower electric cylinder (415); The long side upper electric cylinder (411) and the long side lower electric cylinder (415) are fixedly connected to the steel frame (44) via the long side upper support (412) and the long side lower support (416), respectively.

6. The automated construction equipment for assembling prefabricated ground-connected walls with tops higher than guide grooves according to claim 4, characterized in that: The structure of the wide side mechanical arm (43) is the same as that of the long side mechanical arm (41).

7. The automated construction equipment for assembling prefabricated ground-connected walls with tops higher than guide grooves according to claim 4, characterized in that: The telescopic door module (5) comprises two telescopic door units that open opposite to each other. The telescopic door units comprise two telescopic door guide rails (51), a telescopic door (52), a telescopic door electric cylinder (53), a telescopic door slider (54) and a telescopic door mechanical arm (55); the telescopic door sliders (54) are respectively located at the top and bottom of the telescopic door (52); the telescopic door sliders (54) are used to slide the telescopic door (52) and the steel frame (44) through the telescopic door guide rails (51) arranged on the steel frame (44); the telescopic door electric cylinder (53) is used to slide the telescopic door (52) relative to the steel frame (44); the two telescopic door units are arranged opposite to each other to realize door opening and door closing; the telescopic door mechanical arm (55) is fixedly connected to the telescopic door unit and is used to resist the surface surrounded by the high side and the long side of the prefabricated ground-connected wall to be constructed; the telescopic door mechanical arm (55) cooperates with the wide side mechanical arm (41) to clamp the prefabricated ground-connected wall to be constructed.

8. The automated construction equipment for assembling prefabricated ground-connected walls with tops higher than guide grooves according to claim 7, characterized in that: The structure of the telescopic door mechanical arm (55) is the same as that of the long side mechanical arm (41); the telescopic door mechanical arm steel plate casters on the telescopic door mechanical arm (55) travel on the telescopic door (52).

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