Automatic assembling equipment and construction method for prefabricated diaphragm wall

Abstract

The invention discloses automatic assembling equipment for a prefabricated underground diaphragm wall and a construction method. The automatic assembling equipment comprises a chassis module, a leveling module, a walking deflection angle adjusting module, a position and posture fine adjusting module and an electrical cabinet. Leveling modules are arranged at four corners of the chassis module; the chassis module is used for executing a walking action and moving the automatic assembly equipment to a specified position; the leveling module is used for adjusting the included angle between the chassis module and the horizontal plane; the walking deflection angle adjusting module is arranged between the chassis module and the position and posture fine adjusting module and is used for adjusting the deflection angle of the position and posture fine adjusting module; the pose fine adjustment module is used for adjusting the included angle between the prefabricated diaphragm wall to be finely adjusted and the horizontal plane; the electrical cabinet is arranged on the side edge of the position and posture fine adjustment module and used for controlling the chassis module, the leveling module, the walking deflection angle adjustment module and the position and posture fine adjustment module. By means of the equipment and the matched construction method, the assembling efficiency can be improved, and meanwhile the installation performance of personnel under the large formwork hoisting environment is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of underground structure engineering, and in particular to automated assembly equipment and a construction method for a prefabricated assembled ground-connected wall. 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. Summary of the invention

[0006] In order to solve the construction problem of large deviation in assembly position accuracy of prefabricated ground-anchored walls due to low lifting accuracy, one object of the present invention is to provide automated assembly equipment for prefabricated ground-anchored walls; another object of the present invention is to provide a method for construction using the automated assembly equipment.

[0007] To this end, the present invention adopts the following technical solutions:

[0008] An automated assembly equipment for prefabricated ground-connected walls, comprising: a chassis module, a leveling module, a running angle adjustment module, a posture fine adjustment module and an electrical cabinet, wherein:

[0009] The four corners of the chassis module are provided with leveling modules, and the chassis module carries the posture fine-tuning module; the chassis module is used to perform walking actions to move the automated assembly equipment to a specified position; the leveling module is used to make the posture fine-tuning module carried on the chassis module perpendicular to the horizontal plane; the walking deflection angle adjustment module is provided between the chassis module and the posture fine-tuning module, and is used to adjust the deflection angle of the posture fine-tuning module;

[0010] The posture fine-tuning module is used to adjust the angle between the prefabricated ground connection wall to be fine-tuned and the horizontal plane;

[0011] The electrical cabinet is arranged on one side of the posture fine adjustment module, and is used to control the chassis module, the leveling module, the running angle adjustment module and the posture fine adjustment module through the received data;

[0012] A first prism and a second prism are also provided at two corner points of the same long side of the top surface of the posture fine-tuning module; the first prism and the second prism are used to perform posture fine-tuning on the prefabricated ground connection wall to be fine-tuned during construction.

[0013] Preferably, the chassis module includes a steel structure bottom frame and four sets of steering wheels, the steel structure bottom frame is used to support the walking angle adjustment module, the posture fine-tuning module and the electrical cabinet; the steering wheels perform walking actions under the control of the electrical cabinet.

[0014] Preferably, the leveling module comprises a leveling actuator cylinder, a ball bowl, a support shoe and a first inclination sensor installed on the steel structure bottom frame; the first inclination sensor is used to measure the angle between the steel structure bottom frame and the horizontal plane.

[0015] Preferably, the travel angle adjustment module comprises two sets of rotating mechanisms that are symmetrical about the center of the steel structure bottom frame; the rotating mechanisms comprise a screw motor, an arc guide rail, and a guide wheel;

[0016] Wherein, the arc guide rail and the screw motor are both installed on the steel structure bottom frame, and the guide wheel is arranged on the arc guide rail; the guide wheel is installed with the guide wheel flange plate, and the output end of the screw motor is installed with the electric cylinder flange plate;

[0017] The travel angle adjustment module is bolted to the posture fine adjustment module via the guide wheel flange plate and the electric cylinder flange plate thereon.

[0018] Preferably, the posture fine-tuning module comprises two fine-tuning frames which are fixedly connected to each other up and down and have the same structure; each of the fine-tuning frames comprises a steel frame and two wide-side mechanical arms and two long-side mechanical arms fixedly arranged thereon; the two wide-side mechanical arms hold the prefabricated ground connection wall to be fine-tuned by clamping the plane formed by the high side and the long side thereof, and the two long-side mechanical arms hold the prefabricated ground connection wall to be fine-tuned by clamping the plane formed by the long side and the wide side thereof;

[0019] The angle between the prefabricated ground connection wall to be fine-tuned and the horizontal plane is adjusted by the extension amounts of the wide side mechanical arm and the long side mechanical arm.

[0020] A construction method for an automated assembly equipment for a prefabricated ground-connected wall comprises the following steps:

[0021] S1, set up the prism and the second tilt sensor:

[0022] A second inclination sensor is arranged on the top surface of the prefabricated ground connection wall to be fine-tuned, and a third prism and a fourth prism are arranged near two ends of the same long side of the top surface;

[0023] S2, data collection:

[0024] Using the total station to measure, the position of the first prism (x 61 ,y 61 ) and the position of the second prism (x 62 ,y 62 ); using the first inclination sensor on the leveling module to collect the posture data of the automated assembly equipment;

[0025] S3, calculates the top center position of the automated assembly equipment using the data obtained in S2:

[0026] S4, position calibration of automated assembly equipment: first, obtain the design coordinates of the top surface center of the automated assembly equipment through civil engineering design, and then use the chassis module, the leveling module and the center position of the automated assembly equipment obtained in S3 to make the top surface center point coordinates of the automated assembly equipment coincide with the design coordinates;

[0027] S5, fine-tuning the prefabricated ground wall:

[0028] S51, measurement data:

[0029] Insert the prefabricated ground-connected wall to be fine-tuned in S1 into the automated assembly equipment, and measure the position of the third prism (x 51 ,y 51 ) and the position of the fourth prism (x 52 ,y 52 ), using the second inclination sensor to collect the ground-connected wall posture data of the prefabricated ground-connected wall to be fine-tuned;

[0030] S52, calculating the horizontal angle deviation α of the prefabricated ground connection wall by using the data obtained in S51 and the design positions of the third prism and the fourth prism obtained by civil engineering design;

[0031] S53, solve the vertical angle deviation β and γ of the prefabricated ground-connected wall:

[0032] Compare the ground-connected wall posture data obtained by S51 with the designed ground-connected wall posture data obtained by civil engineering design to obtain the vertical angle deviations β and γ of the prefabricated ground-connected wall;

[0033] S54, using the travel angle adjustment module to correct the horizontal angle deviation α of the prefabricated ground-connected wall to be fine-tuned, and using the different extension amounts of the long-side robot arm and the short-side robot arm on the posture fine-tuning module to correct the vertical angle deviations β and γ, finally obtaining the fine-tuned prefabricated ground-connected wall and starting actual assembly;

[0034] S6, repeating steps S1-S5 for the next prefabricated ground diaphragm wall to be fine-tuned until the construction of the prefabricated ground diaphragm wall is completed.

[0035] S3 includes the following steps:

[0036] S31, calculate the coordinates of the top center point of the automated assembly equipment:

[0037] Since the relative positions of the first prism, the second prism and the center point of the top surface of the automated assembly equipment are fixed, the position of the first prism (x 61 ,y 61 ) or the position of the second prism (x 62 ,y 62 ) Solve the coordinates of the top center point of the automated assembly equipment (x 63 ,y 63 ), there are two formulas:

[0038] or

[0039] Among them, (Δx 61 , Δy 61 ) is the offset of the first prism relative to the center point of the top surface of the automated assembly equipment, (Δx 62 , Δy 62 ) is the offset of the fourth prism relative to the center point of the top surface of the automated assembly equipment;

[0040] S32, using the posture data of the automated assembly equipment obtained in S2 and its corresponding top surface center coordinates to obtain the position and posture of the top surface center of the automated assembly equipment.

[0041] The designed ground-connected wall posture described in S53 is that the prefabricated ground-connected wall is perpendicular to the horizontal plane.

[0042] In S54, the angle β is corrected by extending the long side mechanical arms on the same side of the two fine adjustment frames by different displacements; the angle γ is corrected by extending the short side mechanical arms on the same side of the two fine adjustment frames by different displacements.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1. The automated assembly construction method of the prefabricated assembled ground-connected wall of the present invention can realize the continuous assembly construction and precise assembly of the prefabricated ground-connected wall.

[0045] 2. The chassis module of the automated assembly equipment for the prefabricated and assembled ground-connected wall of the present invention is provided with a steering wheel, which can realize automatic movement of the equipment and ensure the continuity of construction.

[0046] 3. The use of this equipment and supporting methods can effectively improve assembly efficiency, reduce errors caused by manual correction, and at the same time ensure the installation efficiency of personnel in a large template hoisting environment, and has broad prospects for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a top view structural diagram of a single prefabricated ground-connected wall;

[0048] Figure 2 Schematic diagram of the three-dimensional structure of a single prefabricated ground-connected wall

[0049] Figure 3 It is a top view structural diagram of two adjacent prefabricated ground-connected walls that have been assembled;

[0050] Figure 4 It is a three-dimensional structural schematic diagram of the automated assembly equipment of the prefabricated assembled ground-connected wall of the present invention;

[0051] Figure 5 It is a structural schematic diagram of a chassis module of the automated assembly equipment of the present invention;

[0052] Figure 6 It is a structural schematic diagram of the leveling module of the automated assembly equipment of the present invention;

[0053] Figure 7 It is a schematic diagram of the combined structure of the chassis module, the leveling module and the running angle adjustment module of the automated assembly equipment of the present invention;

[0054] Figure 8 It is a structural schematic diagram of a posture fine-tuning module of the automated assembly equipment of the present invention;

[0055] Fig. 9It is a structural schematic diagram of the broadside robot arm of the automated assembly equipment of the present invention;

[0056] Fig.10 It is a schematic structural diagram of the long side mechanical arm of the automated assembly equipment of the present invention;

[0057] Fig.11 It is a schematic diagram of the top view of the automatic assembly equipment of the present invention;

[0058] Fig.12 The figure is a schematic diagram of the position relationship between the top prism of the prefabricated ground-connected wall to be fine-tuned and the second inclination sensor.

[0059] In the figure:

[0060] 1. Chassis module, 1-1. Steel structure bottom frame, 1-2. Steering wheel;

[0061] 2. Leveling module, 2-1. Leveling actuator, 2-2. Ball bowl, 2-3. Gripper;

[0062] 3. Traveling angle adjustment module, 3-1. Screw motor, 3-2. Arc guide rail, 3-3. Guide wheel, 3-4. Guide wheel flange plate, 3-5. Electric cylinder flange plate;

[0063] 4. Posture fine-tuning module, 4-1. Steel frame, 4-2. Wide-side robot arm, 4-2-1. Wide-side robot arm electric cylinder, 4-2-2. Wide-side robot arm slider, 4-2-3. Wide-side slide rail, 4-2-4. Wide-side roller, 4-3. Long-side robot arm, 4-3-1. Long-side robot arm electric cylinder, 4-3-2. Long-side robot arm slider, 4-3-3. Long-side slide rail, 4-3-4. Long-side roller;

[0064] 5. Electrical cabinet, 5-1. Third prism, 5-2. Fourth prism, 5-3. Second inclination sensor,

[0065] 6-1. The first prism, 6-2. The second prism, 6-3. The center point of the top surface of the automated assembly equipment;

[0066] A. tenon, B. groove, aT-type connector, bC-type connector. DETAILED DESCRIPTION

[0067] In order to facilitate understanding of the solution of the present invention, firstly, the structure of the prefabricated ground-connected wall to be assembled in the present invention is briefly described.

[0068] like Figure 1 and Figure 2The 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0073] like Figure 4 As shown, the automated assembly equipment for the prefabricated assembled ground-connected wall of the present invention is applied to the on-site assembly of the above-mentioned prefabricated ground-connected wall.

[0074] The automated assembly equipment of the prefabricated assembled ground-connected wall of the present invention comprises a chassis module 1, a leveling module 2, a running angle adjustment module 3, a posture fine-tuning module 4 and an electrical cabinet 5.

[0075] The four corners of the chassis module 1 are provided with leveling modules 2, and the chassis module 1 carries a posture fine-tuning module 4;

[0076] The running angle adjustment module 3 is arranged between the chassis module 1 and the posture fine-tuning module 4, and is used to adjust the angle of the posture fine-tuning module 4; the posture fine-tuning module 4 is used to adjust the angle between the ground connection wall to be fine-tuned and the horizontal plane;

[0077] The electrical cabinet 5 is arranged on one side of the posture fine-tuning module 4, and is used to control the chassis module 1, the leveling module 2, the running angle adjustment module 3 and the posture fine-tuning module 4 through the received data.

[0078] like Figure 5As shown, the chassis module 1 includes a steel structure bottom frame 1-1 and four sets of steering wheels 1-2. The steel structure bottom frame 1-1 is used to support the walking angle adjustment module 3, the posture fine-tuning module 4 and the electrical cabinet 5; the steering wheel 1-2 is used to perform walking actions under the control of the electrical cabinet 5, so as to facilitate the movement of the automated assembly equipment.

[0079] like Figure 6 As shown, the leveling module 2 includes a leveling actuator cylinder 2-1, a ball bowl 2-2, a support shoe 2-3, and a first inclination sensor (not shown) installed on the steel structure bottom frame 1-1. The output end of the leveling actuator cylinder 2-1 is fixedly connected to the ball bowl 2-2, and the spherical end of the ball bowl 2-2 is inserted into the support shoe 2-3; in order to increase the friction between the support shoe and the ground, a layer of rubber sheet is adhered to the bottom of the support shoe 2-3. During actual construction, the electrical cabinet 5 controls the leveling module 2 through the data obtained from the first inclination sensor, so that the posture fine adjustment module 4 carried on the chassis module 1 is perpendicular to the horizontal plane.

[0080] like Figure 7 As shown, the running angle adjustment module 3 includes two sets of rotating mechanisms that are symmetrical about the center of the steel structure bottom frame 1-1; the rotating mechanism includes a screw motor 3-1, an arc guide rail 3-2, and a guide wheel 3-3. The arc guide rail 3-2 and the screw motor 3-1 are both installed on the steel structure bottom frame 1-1; the guide wheel 3-3 is arranged on the arc guide rail 3-2. A guide wheel flange plate 3-4 is installed on the guide wheel 3-3, and an electric cylinder flange plate 3-5 is installed on the output end of the screw motor 3-1; the running angle adjustment module 3 is bolted to the posture fine adjustment module 4 through the guide wheel flange plate 3-4 and the electric cylinder flange plate 3-5 thereon. In actual construction, under the control of the electrical cabinet 5, the extension and retraction of the screw motor 3-1 can drive the posture fine adjustment module 4 to perform a rotational motion on the arc guide rail 3-2, thereby adjusting the angle of the posture fine adjustment module 4. In one embodiment of the present invention, three guide wheels are arranged on each arc guide rail, and are arranged equidistantly on the guide rail.

[0081] like Figure 8 As shown, the posture fine-tuning module 4 includes two fine-tuning frames that are fixedly connected to each other up and down and have the same structure; each fine-tuning frame includes a steel frame 4-1 and two wide-side mechanical arms 4-2 and two long-side mechanical arms 4-3 fixedly arranged thereon; the two wide-side mechanical arms are fixed by clamping the plane surrounded by the high side and the long side of the aforementioned prefabricated ground connection wall, and the two long-side mechanical arms are fixed by clamping the plane surrounded by the long side and the wide side of the aforementioned prefabricated ground connection wall;

[0082] like Fig. 9As shown, the wide-side robot arm 4-2 includes: a wide-side robot arm electric cylinder 4-2-1, a wide-side robot arm slider 4-2-2, a wide-side slide rail 4-2-3 and a wide-side roller 4-2-4; the output end of the wide-side robot arm electric cylinder 4-2-1 and the wide-side robot arm slider 4-2-2 are fixedly connected to the wide-side roller 4-2-4, the wide-side roller 4-2-4 is slidably connected to the wide-side slide rail 4-2-3 through the wide-side robot arm slider 4-2-2, and the wide-side robot arm electric cylinder 4-2-1 and the wide-side slide rail 4-2-3 are fixedly installed on the steel frame 4-1; under the control of the electrical cabinet 5, the wide-side robot arm electric cylinder 4-2-1 pushes the wide-side roller 4-2-4 to slide relative to the steel frame 4-1 to move toward the direction close to the prefabricated ground-connected wall.

[0083] like Fig.10 As shown, the long side robot arm 4-3 includes: a long side robot arm electric cylinder 4-3-1, a long side robot arm slider 4-3-2, a long side slide rail 4-3-3 and a long side roller 4-3-4; the output end of the long side robot arm electric cylinder 4-3-1 and the long side robot arm slider 4-3-2 are fixedly connected to the long side roller 4-3-4, and the long side roller 4-3-4 is slidably connected to the long side slide rail 4-3-3 through the long side robot arm slider 4-3-2, and the long side robot arm electric cylinder 4-3-1 and the long side slide rail 4-3-3 are fixedly installed on the steel frame 4-1; under the control of the electrical cabinet 5, the long side robot arm electric cylinder 4-3-1 pushes the long side roller 4-3-4 to slide relative to the steel frame 4-1 to move toward the direction close to the prefabricated ground connection wall.

[0084] Each fine-tuning frame uses two wide-side robotic arms and two long-side robotic arms to enclose and hold the prefabricated ground connection wall on all four sides; the two wide-side robotic arms are symmetrically arranged, and the two long-side robotic arms are symmetrically arranged. In one embodiment of the present invention, the two wide-side robotic arms and the two long-side robotic arms of each fine-tuning frame are arranged on the same horizontal plane.

[0085] A first prism 6-1 and a second prism 6-2 are also provided at two corner points of the top surface of the steel frame 4-1 of the posture fine-tuning module 4 through a magnetic bracket; in one embodiment of the present invention, Fig.11 As shown, the first prism 6-1 and the second prism 6-2 are arranged at two vertices of the long side on the same side of the steel frame 4-1, and are used to fine-tune the position of the ground-connected wall during assembly.

[0086] In the actual assembly process, it is necessary to measure the position and posture of the ground-connected wall and the position and posture of the assembly equipment. The common measurement method in the construction process is used: prism + total station measurement method. The specific steps are as follows:

[0087] S1, set up the prism and the second tilt sensor:

[0088] like Fig.12As shown, a second inclination sensor 5-3 is arranged on the top surface of the prefabricated ground connection wall to be fine-tuned, and a third prism 5-1 and a fourth prism 5-2 are arranged near the same long side of the top surface;

[0089] In order to facilitate the observation of the third prism 5-1 and the fourth prism 5-2 when the total station is in an upward state, the two prisms need to be as close as possible to the long side of the same side of the top surface of the ground connection wall; the third prism 5-1, the fourth prism 5-2 and the second inclination sensor 5-3 are used to determine the posture of the prefabricated ground connection wall to be fine-tuned;

[0090] S2, data collection:

[0091] The position of the first prism 6-1 (x 61 ,y 61 ) and the position of the second prism 6-2 (x 62 ,y 62 );

[0092] The first inclination sensor on the leveling module is used to collect the posture data of the automated assembly equipment, wherein the posture data includes the angle between the automated assembly equipment and the XZ plane and the angle between the YZ plane; wherein the XY plane is parallel to the horizontal plane, and the Z axis is perpendicular to the horizontal plane and upward.

[0093] S3, calculate the top surface center pose of the automated assembly equipment, as follows:

[0094] S31, calculate the coordinates of the top center point of the automated assembly equipment:

[0095] Since the relative positions of the first prism and the second prism to the center point of the top surface of the automated assembly equipment are fixed, the position (x 61 ,y 61 ) or the position of the second prism 6-2 (x 62 ,y 62 ) Solve the coordinates (x 63 ,y 63 ), there are two formulas:

[0096] or

[0097] Among them, (Δx 61 , Δy 61 ) is the offset of the first prism relative to the center point 6-3 of the top surface of the automated assembly equipment, (Δx 62 , Δy 62 ) is the offset of the fourth prism relative to the top surface center point 6-3 of the automated assembly equipment.

[0098] S32, fusing the posture data of the automated assembly equipment obtained in S2 with the corresponding top surface center coordinates to obtain the position and posture of the top surface center of the automated assembly equipment.

[0099] S4, Position calibration of automated assembly equipment:

[0100] S41, obtaining the design coordinates of the top surface center of the automated assembly equipment through civil engineering design;

[0101] S42, using the chassis module, the leveling module and the center posture of the automated assembly equipment to make the coordinates of the center point of the top surface of the automated assembly equipment coincide with the design coordinates of the center of the top surface of the automated assembly equipment.

[0102] S5, fine-tuning the prefabricated ground wall:

[0103] After the automated assembly equipment moves to the designed position, the prefabricated ground-connected wall to be fine-tuned in S1 is hoisted and inserted into the automated assembly equipment. At this time, the inserted prefabricated ground-connected wall will have a position error. The prefabricated ground-connected wall needs to be fine-tuned through the travel angle adjustment module and the posture fine-tuning module on the automated assembly equipment. Specifically, the following steps are included:

[0104] S51, measurement data:

[0105] The position (x) of the third prism 5-1 is measured by a total station. 51 ,y 51 ) and the position of the fourth prism 5-2 (x 52 ,y 52 ), using the second inclination sensor 5-3 to collect the ground-connected wall posture data of the prefabricated ground-connected wall to be fine-tuned;

[0106] S52, solve the horizontal angle deviation α of the prefabricated ground-connected wall, and the following formula is obtained:

[0107]

[0108] Among them, the design vector of the assembly center line is A = (x′ 52 -x′ 51 , y′ 52 -y′ 51 ), (x′ 52 , y′ 52 ) and (x′ 51 , y′ 51 ) is the design position of the third prism and the fourth prism obtained through civil engineering design; the actual position of the assembly center line B = (x 52 -x 51 ,y 52 -y 51 );

[0109] S53, solve the vertical angle deviation β and γ of the prefabricated ground-connected wall:

[0110] The ground-connected wall posture data obtained by S5 1 is compared with the designed ground-connected wall posture data obtained by civil engineering design to obtain the vertical angle deviations β and γ of the prefabricated ground-connected wall. The designed ground-connected wall posture means that the ground-connected wall is perpendicular to the horizontal plane.

[0111] S54, use the travel angle adjustment module to correct the horizontal angle deviation α of the prefabricated ground connection wall, use the different extension amounts of the long side manipulator and the short side manipulator on the posture fine adjustment module to correct the vertical angle deviations β and γ, and finally obtain the finely adjusted prefabricated ground connection wall and start the actual assembly. Among them, the β angle is corrected by extending the long side manipulators on the same side of the two fine adjustment frames by different displacements; the γ angle is corrected by extending the short side manipulators on the same side of the two fine adjustment frames by different displacements.

[0112] S6, repeating steps S1-S5 for the next prefabricated ground diaphragm wall to be fine-tuned until the construction of the prefabricated ground diaphragm wall is completed.

Claims

1. An automated assembly equipment for prefabricated ground-connected walls, characterized in that: include: A chassis module (1), a leveling module (2), a running angle adjustment module (3), a posture fine adjustment module (4) and an electrical cabinet (5), wherein: The four corners of the chassis module (1) are each provided with a leveling module (2), and the chassis module (1) carries the posture fine-tuning module (4); the chassis module (1) is used to perform a walking action to move the automated assembly equipment to a specified position; the leveling module (2) is used to make the posture fine-tuning module (4) carried on the chassis module (1) perpendicular to a horizontal plane; the walking deflection angle adjustment module (3) is provided between the chassis module (1) and the posture fine-tuning module (4), and is used to adjust the deflection angle of the posture fine-tuning module (4); The posture fine-tuning module (4) is used to adjust the angle between the prefabricated ground connection wall to be fine-tuned and the horizontal plane; The electrical cabinet (5) is arranged on one side of the posture fine adjustment module (4) and is used to control the chassis module (1), the leveling module (2), the running angle adjustment module (3) and the posture fine adjustment module (4) through received data; A first prism (6-1) and a second prism (6-2) are also provided at two corner points of the same long side of the top surface of the posture fine-tuning module (4); the first prism (6-1) and the second prism (6-2) are used to perform posture fine-tuning on the prefabricated ground connection wall to be fine-tuned during construction.

2. The automated assembly equipment for prefabricated and assembled ground-connected walls according to claim 1 is characterized in that: The chassis module (1) comprises a steel structure bottom frame (1-1) and four sets of steering wheels (1-2); the steel structure bottom frame (1-1) is used to support the walking angle adjustment module (3), the posture fine adjustment module (4) and the electrical cabinet (5); the steering wheels (1-2) perform walking actions under the control of the electrical cabinet (5).

3. The automated assembly equipment for prefabricated and assembled ground-connected walls according to claim 2 is characterized in that: The leveling module (2) comprises a leveling actuator cylinder (2-1), a ball bowl (2-2), a support shoe (2-3) and a first inclination sensor installed on the steel structure bottom frame (1-1); the first inclination sensor is used to measure the angle between the steel structure bottom frame (1-1) and a horizontal plane.

4. The automated assembly equipment for prefabricated and assembled ground-connected walls according to claim 2 is characterized in that: The running angle adjustment module (3) comprises two sets of rotating mechanisms that are symmetrical about the center of the steel structure bottom frame (1-1); the rotating mechanisms comprise a screw motor (3-1), an arc guide rail (3-2), and a guide wheel (3-3); The circular arc guide rail (3-2) and the screw motor (3-1) are both mounted on the steel structure bottom frame (1-1), and the guide wheel (3-3) is arranged on the circular arc guide rail (3-2); the guide wheel flange plate (3-4) is mounted on the guide wheel (3-3), and the output end of the screw motor (3-1) is mounted with an electric cylinder flange plate (3-5); The travel angle adjustment module (3) is bolted to the posture fine adjustment module (4) via the guide wheel flange plate (3-4) and the electric cylinder flange plate (3-5) thereon.

5. The automated assembly equipment for prefabricated and assembled ground-connected walls according to claim 2 is characterized in that: The posture fine-tuning module (4) comprises two fine-tuning frames which are fixedly connected to each other up and down and have the same structure; each of the fine-tuning frames comprises a steel frame (4-1) and two wide-side mechanical arms (4-2) and two long-side mechanical arms (4-3) fixedly arranged thereon; the two wide-side mechanical arms hold the prefabricated ground connection wall to be fine-tuned by clamping the plane formed by the high side and the long side thereof, and the two long-side mechanical arms hold the prefabricated ground connection wall to be fine-tuned by clamping the plane formed by the long side and the wide side thereof; The angle between the prefabricated ground connection wall to be fine-tuned and the horizontal plane is adjusted by the extension amounts of the wide side mechanical arm (4-2) and the long side mechanical arm (4-3).

6. A construction method for an automated assembly equipment for a prefabricated ground-connected wall according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1, set up the prism and the second tilt sensor: A second inclination sensor is arranged on the top surface of the prefabricated ground connection wall to be fine-tuned, and a third prism and a fourth prism are arranged near two ends of the same long side of the top surface; S2, data collection: Using the total station to measure, the position of the first prism (x 61 ,y 61 ) and the position of the second prism (x 62 ,y 62 ); using the first inclination sensor on the leveling module to collect the posture data of the automated assembly equipment; S3, calculates the top center position of the automated assembly equipment using the data obtained in S2: S4, position calibration of automated assembly equipment: first, obtain the design coordinates of the top surface center of the automated assembly equipment through civil engineering design, and then use the chassis module, the leveling module and the center position of the automated assembly equipment obtained in S3 to make the top surface center point coordinates of the automated assembly equipment coincide with the design coordinates; S5, fine-tuning the prefabricated ground wall: S51, measurement data: Insert the prefabricated ground-connected wall to be fine-tuned in S1 into the automated assembly equipment, and measure the position of the third prism (x 51 ,y 51 ) and the position of the fourth prism (x 52 ,y 52 ), using the second inclination sensor to collect the ground-connected wall posture data of the prefabricated ground-connected wall to be fine-tuned; S52, calculating the horizontal angle deviation α of the prefabricated ground connection wall by using the data obtained in S51 and the design positions of the third prism and the fourth prism obtained by civil engineering design; S53, solve the vertical angle deviation β and γ of the prefabricated ground-connected wall: Comparing the ground-connected wall posture data obtained by S51 with the designed ground-connected wall posture data obtained by civil engineering design to obtain vertical angle deviations β and γ of the prefabricated ground-connected wall; S54, using the travel angle adjustment module to correct the horizontal angle deviation α of the prefabricated ground-connected wall to be fine-tuned, and using the different extension amounts of the long-side robot arm and the short-side robot arm on the posture fine-tuning module to correct the vertical angle deviations β and γ, finally obtaining the fine-tuned prefabricated ground-connected wall and starting actual assembly; S6, repeating steps S1-S5 for the next prefabricated ground diaphragm wall to be fine-tuned until the construction of the prefabricated ground diaphragm wall is completed.

7. The construction method according to claim 6, characterized in that: S3 includes the following steps: S31, calculate the coordinates of the top center point of the automated assembly equipment: Since the relative positions of the first prism, the second prism and the center point of the top surface of the automated assembly equipment are fixed, the position of the first prism (x 61 ,y 61 ) or the position of the second prism (x 62 ,y 62 ) Solve the coordinates of the top center point of the automated assembly equipment (x 63 ,y 63 ), there are two formulas: Among them, (Δx 61 ,Δy 61 ) is the offset of the first prism relative to the center point of the top surface of the automated assembly equipment, (Δx 62 ,Δy 62 ) is the offset of the fourth prism relative to the center point of the top surface of the automated assembly equipment; S32, using the posture data of the automated assembly equipment obtained in S2 and its corresponding top surface center coordinates to obtain the position and posture of the top surface center of the automated assembly equipment.

8. The construction method according to claim 6, characterized in that: The designed ground-connected wall posture described in S53 is that the prefabricated ground-connected wall is perpendicular to the horizontal plane.

9. The construction method according to claim 6, characterized in that: In S54, the angle β is corrected by extending the long side mechanical arms on the same side of the two fine adjustment frames by different displacements; the angle γ is corrected by extending the short side mechanical arms on the same side of the two fine adjustment frames by different displacements.

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