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

Abstract

The invention discloses automatic construction equipment suitable for assembling a prefabricated diaphragm wall with the top lower than a guide groove, the automatic construction equipment comprises an electrical cabinet, a walking module, a leveling module, a mechanical arm module and a jack module, the walking module bears the electrical cabinet, the mechanical arm module and the jack module, and the walking module is used for moving to a designated position; the leveling module is arranged at the bottom of the walking module and used for adjusting the walking module to be horizontal; the electrical cabinet is installed on one side edge of the walking module, and the mechanical arm module and the jack module are both installed on the walking module. The mechanical arm module and the jack module are used for adjusting the position and the deflection angle of the prefabricated diaphragm wall to be constructed; the mechanical arm module comprises a wide-side mechanical arm and four long-side mechanical arms; the electrical cabinet is used for controlling the walking module, the leveling module, the mechanical arm module and the jack module through received measurement data. By means of the jack module, after the top face of the underground diaphragm wall enters the ground, the underground diaphragm wall can still be held.

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 lower 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. At present, 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, there are 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 even broken walls will occur in severe cases. The prefabricated ground-connected wall has the following characteristics: through prefabrication and standardized production in the factory, the pouring quality can be effectively guaranteed, the wall surface has high flatness, can be used as a structural side wall, and has good mechanical properties; there is no need for the hoisting and pouring process of the cast-in-place underground continuous wall, and rapid construction can be achieved. Therefore, by prefabricating the underground continuous wall, the construction quality of the underground continuous wall can be effectively improved, and the overall construction cost can be saved, which can win higher economic benefits for the enterprise.

[0004] 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 direction to minimize the misalignment and opening during the assembly of the prefabricated ground-connected walls and ensure the assembly accuracy of the prefabricated ground-connected walls. Traditional cast-in-place ground-connected walls do not have joints between the front and rear walls, so there is no need for precise positioning during the slotting process, and rough positioning can be performed manually, but this method is not suitable for prefabricated assembly alignment and cannot guarantee assembly accuracy.

[0005] Therefore, it is necessary to have construction equipment suitable for assembling prefabricated and assembled ground-anchored walls. Summary of the invention

[0006] In order to solve the problems in the background technology, the present invention discloses an automated construction equipment which can assemble prefabricated ground-connected walls continuously and accurately, has high assembling efficiency and saves labor, and is suitable for assembling prefabricated ground-connected walls whose tops are lower than guide grooves.

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

[0008] An automated construction equipment suitable for assembling a prefabricated ground-connected wall with a top lower than a guide groove, comprising: an electrical cabinet, a travel module, a leveling module, a mechanical arm module and a jack module, wherein:

[0009] The traveling module carries the electrical cabinet, the mechanical arm module and the jack module, and is used to move to a designated position;

[0010] The leveling module is arranged at the bottom of the running module, and is used to adjust the running module to make it level;

[0011] The electrical cabinet is installed on one side of the running module, and the mechanical arm module and the jack module are both installed on the running module; the mechanical arm module and the jack module are used to adjust the position and deflection angle of the prefabricated ground-connected wall to be constructed; the mechanical arm module includes a wide-side mechanical arm and four long-side mechanical arms;

[0012] The electrical cabinet is used to control the travel module, the leveling module, the mechanical arm module and the jack module through the received measurement data;

[0013] The jack module is used to hold the prefabricated ground ditch wall to be constructed in the gap between the prefabricated ground ditch wall to be constructed and the side wall of the guide groove when the top surface of the prefabricated ground ditch wall to be constructed is lower than the guide groove, so that the position of the prefabricated ground ditch wall to be constructed can be kept controllable before it is lowered to the specified elevation.

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

[0015] The steel structure frame is rectangular, with a wide side opening away from the electrical cabinet, the detachable box beam structure being installed in the opening, a swing beam being arranged on a wide side close to the electrical cabinet, the midpoint of the swing beam being hinged to the steel structure frame, two groups of steering wheels being arranged at both ends of the swing beam, and the other two groups of steering wheels being bolted to both ends of the wide side on 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 walking module, and the leveling unit includes a leg crossbeam, a leveling actuator electric cylinder and a lower 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 four leveling actuator electric cylinders adjust the telescopic angle to make the robotic arm module carried on the steel structure frame perpendicular to the horizontal plane.

[0017] Preferably, the four long side mechanical arms are divided into two groups and symmetrically arranged on the two long sides of the steel structure frame; the wide side mechanical arms are arranged on the wide side of the steel structure frame on one side close to the electrical cabinet;

[0018] The long side mechanical arm comprises an upper electric cylinder, an upper electric cylinder support, an upper steel plate, an upper roller, an upper caster, a lower caster, a lower electric cylinder, a lower electric cylinder support, a lower steel plate and a lower roller; the output end of the upper electric cylinder is fixedly connected to the upper steel plate, the side of the upper steel plate away from the upper electric cylinder is fixedly connected to the upper roller, and the middle part of the upper electric cylinder is fixedly connected to the steel structure frame through the upper electric cylinder support;

[0019] The output end of the lower electric cylinder is fixedly connected to the lower steel plate, the side of the lower steel plate away from the lower electric cylinder is fixedly connected to the lower roller, and the middle part of the lower electric cylinder is fixedly connected to the steel structure frame through the lower electric cylinder support;

[0020] There is an upper caster on each of the left and right sides of the upper steel plate, which runs on the I-beam surface of the steel structure frame, and drives the upper stick to extend or retract by controlling the extension or retraction of the upper electric cylinder piston rod; the lower casters are arranged on the left and right sides of the lower steel plate, and the two lower casters are suspended and installed on the I-beam of the steel structure frame. The lower rollers are driven to extend or retract by controlling the extension or retraction of the lower electric cylinder piston rod.

[0021] Preferably, the wide-side robotic arm has the same structure as the long-side robotic arm, and the rollers on the wide-side robotic arm are set according to actual working conditions.

[0022] Preferably, the jack module includes four jack mechanical arms, and the four jack mechanical arms are divided into two groups and are symmetrically arranged on the two long sides of the steel structure frame; the jack mechanical arms include: an extending electric cylinder, an extending electric cylinder support, a guide rail, a slider, an extending steel plate, a lowering electric cylinder, a lowering steel plate, a lowering roller and an ultra-thin jack; the extending electric cylinder is fixedly connected to the steel structure frame through the extending electric cylinder support, the output end of the extending electric cylinder is fixedly connected to the extending steel plate, the middle part of the extending steel plate is fixedly connected to the guide rail on one side close to the extending electric cylinder, and the guide rail is slidably connected to the slider fixedly connected to the steel structure frame; the upper part of the side of the extending steel plate away from the extending electric cylinder is fixedly connected to the lowering electric cylinder, and the power output direction of the lowering electric cylinder is toward the ground; the output end of the lowering electric cylinder is hinged with the lowering steel plate, and the end of the lowering steel plate away from the lowering electric cylinder is provided with a lowering roller and an ultra-thin jack.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 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.

[0025] 2. Improve construction quality. Through "external detection-error comparison-mechanical arm fine-tuning", millimeter-level ground-wall assembly accuracy can be achieved.

[0026] 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.

[0027] 4. The present invention can use the jack module to ensure that the ground-connected wall can still be held after the top surface of the ground-connected wall is inserted into the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a top view structural diagram of a single prefabricated ground-connected wall;

[0029] Figure 2 It is a schematic diagram of the three-dimensional structure of a single prefabricated ground-connected wall;

[0030] Figure 3 It is a top view structural diagram of two adjacent prefabricated ground-connected walls that have been assembled;

[0031] Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 5 It is a schematic diagram of the combined structure of the running module and the dual inclination sensors of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the leveling unit of the present invention;

[0034] Figure 7 It is a structural schematic diagram of a mechanical arm module mounted on a steel structure frame of the present invention;

[0035] Figure 8 It is a structural schematic diagram of another angle of the mechanical arm module of the present invention mounted on the steel structure frame;

[0036] Fig. 9 It is a three-dimensional structural schematic diagram of the jack module of the present invention;

[0037] Fig.10 It is a schematic diagram of the construction completion state in an embodiment of the present invention;

[0038] In the figure:

[0039] 1. Electrical cabinet, 2. Travel module, 21. Steel structure frame, 22. Removable box beam structure, 23. Steering wheel; 3. Leveling module, 31. Dual tilt sensor, 32. Outrigger crossbeam, 33. Leveling actuator cylinder, 34. Shoe; 4. Robot arm module, 41. Long side robot arm, 42. Wide side robot arm, 411. Upper cylinder, 412. Upper cylinder support, 413. Upper steel plate, 414. Upper roller, 415. Upper caster, 416. Lower 4. casters, 417. lower electric cylinder, 418. lower electric cylinder support, 419. lower roller, 420. lower steel plate; 5. jack module, 51. extending electric cylinder, 52. extending electric cylinder support, 53. guide rail, 54. slider, 55. extending steel plate, 56. lowering electric cylinder, 57. lowering steel plate, 58. lowering roller, 59. ultra-thin jack; 61. steel bar ring, 62. steel bar; A. tenon, B. groove, aT-type connector, bC-type connector. DETAILED DESCRIPTION

[0040] In order to facilitate understanding of the solution of the present invention, the prefabricated ground-connected wall is first described as follows:

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0046] like Figure 4 As shown, the automated construction equipment of the present invention, which is suitable for assembling prefabricated ground-connected walls with the top lower than the guide groove, comprises an electrical cabinet 1, a travel module 2, a leveling module 3, a mechanical arm module 4 and a jack module 5.

[0047] The traveling module 2 carries the electrical cabinet 1, the mechanical arm module 4 and the jack module 5, and the traveling module 2 is used to move the automated construction equipment of the present invention to a designated position.

[0048] The leveling module 3 is arranged at the bottom of the running module 2, and is used to adjust the running module 2 to make it level;

[0049] The electrical cabinet 1 is installed on one side of the running module 2, and the robotic arm module 4 and the jack module 5 are both installed on the running module 2; the robotic arm module 4 and the jack module 5 are used to adjust the position and angle of the prefabricated ground-connected wall to be constructed; the robotic arm module 4 includes four long-side robotic arms 41 and a wide-side robotic arm 42.

[0050] The electrical cabinet 1 is used to control the running module 2, the leveling module 3, the mechanical arm module 4 and the jack module 5 through the received measurement data.

[0051] 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:

[0052] The steel structure frame 21 is rectangular, with a wide side away from the electrical cabinet 1 open, a detachable box beam structure 22 installed in the opening, a swing beam arranged on a wide side close to the electrical cabinet 1, the midpoint of the swing beam 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 the open end 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.

[0053] 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 walking module 2. The leveling unit includes a leg crossbeam 32, a leveling actuator electric cylinder 33 and a lower 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 mechanical arm 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.

[0054] The four long side mechanical arms 41 are divided into two groups and symmetrically arranged on the two long sides of the steel structure frame 21 ; the wide side mechanical arms 42 are arranged on the wide side of the steel structure frame 21 close to the electrical cabinet 1 .

[0055] like Figure 7 and Figure 8 As shown, the long side robot arm 41 includes an upper electric cylinder 411, an upper electric cylinder support 412, an upper steel plate 413, an upper roller 414, an upper caster 415, a lower caster 416, a lower electric cylinder 417, a lower electric cylinder support 418, a lower steel plate 420 and a lower roller 419.

[0056] The output end of the upper electric cylinder 411 is fixedly connected to the upper steel plate 413 , the side of the upper steel plate 413 away from the upper electric cylinder 411 is fixedly connected to the upper roller 414 , and the middle of the upper electric cylinder 411 is fixedly connected to the steel structure frame 21 through the upper electric cylinder support 412 .

[0057] The output end of the lower electric cylinder 417 is fixedly connected to the lower steel plate 420 , the side of the lower steel plate 420 away from the lower electric cylinder 417 is fixedly connected to the lower roller 419 , and the middle part of the lower electric cylinder 417 is fixedly connected to the steel structure frame 21 through the lower electric cylinder support 418 .

[0058] There is an upper caster 415 on each side of the upper steel plate 413, which runs on the I-beam surface of the steel structure frame 21, and controls the extension or retraction of the piston rod of the upper electric cylinder 411, thereby driving the upper stick 414 to extend or retract.

[0059] There is also a lower caster 416 on each side of the lower steel plate 420. The two lower casters 416 are suspended and installed on the I-beam of the steel structure frame 21. By controlling the extension or retraction of the piston rod of the lower electric cylinder 417, the lower roller 419 is driven to extend or retract.

[0060] The upper roller 414 and the lower roller 419 are in point contact with the ground-connected wall in actual assembly. Therefore, when there is still an angle deviation after the leveling module 3 completes the leveling, the two-point alignment principle is used to ensure that the prefabricated ground-connected wall is lowered vertically.

[0061] The wide side mechanical arm 42 has the same structure as the long side mechanical arm 41 , and the rollers on the wide side mechanical arm 42 are set according to actual working conditions.

[0062] like Fig. 9 As shown, the jack module 5 includes four jack mechanical arms, which are divided into two groups and symmetrically arranged on the two long sides of the steel structure frame 21; the jack mechanical arms include: an extending electric cylinder 51, an extending electric cylinder support 52, a guide rail 53, a slider 54, an extending steel plate 55, a downward electric cylinder 56, a downward steel plate 57, a downward roller 58 and an ultra-thin jack 59.

[0063] The extension electric cylinder 51 is fixedly connected to the steel structure frame 21 through the extension electric cylinder support 52. The output end of the extension electric cylinder 51 is fixedly connected to an extension steel plate 55. The middle part of the extension steel plate 55 close to the extension electric cylinder 51 is fixedly connected to a guide rail 53. The guide rail 53 is slidably connected to a slider 54 fixedly connected to the steel structure frame 21. The upper part of the extension steel plate 55 away from the extension electric cylinder 51 is fixedly connected to a downward electric cylinder 56. The power output direction of the downward electric cylinder 56 is toward the ground. The output end of the downward electric cylinder 56 is hinged with a downward steel plate 57. The end of the downward steel plate 57 away from the downward electric cylinder 56 is provided with a downward roller 58 and an ultra-thin jack 59.

[0064] During actual construction, the top surface of the prefabricated ground diaphragm to be constructed is about to separate from the lower roller, and the crawler crane stops lowering the prefabricated ground diaphragm. First, the extending electric cylinder 51 is fed forward, and the extending steel plate 55 slides along the guide rail 53; when the lower roller 58 at the lower part of the lower steel plate 57 is observed to be in contact with the prefabricated ground diaphragm to be constructed, the feeding of the extending electric cylinder 51 is stopped, and the lower electric cylinder 56 is controlled to drive the lower steel plate 57 to penetrate between the prefabricated ground diaphragm and the guide wall. When the steel plate is immersed in the top surface of the guide wall for a certain distance, the lowest ultra-thin jack 59 is controlled to extend so that the lower roller 58 is pushed onto the guide wall. At this time, four jack mechanical arms clamp the prefabricated ground diaphragm to be constructed from both sides. This ensures that the position accuracy of the prefabricated ground diaphragm to be constructed can be continuously controlled.

[0065] The significance of the jack module 5 is that during the process of assembling the prefabricated ground-connected wall to be constructed, if the top surface of the prefabricated ground-connected wall to be constructed is lower than the guide groove, simply using the upper stick 414 and the lower roller 419 cannot effectively limit the ground-connected wall, which may cause the early position correction function to fail. It is necessary to continuously ensure that the ground-connected wall maintains its position controllable before being lowered to the specified elevation position.

[0066] 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 ground-connected wall assembly is stuck, 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 ground-connected wall to be constructed on all four sides, in order to expose the stuck ground-connected wall, the detachable box beam structure 22 on the walking module 2 needs to be removed at this time 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.

[0067] Example

[0068] Before construction, the prefabricated ground ditch wall to be constructed is installed with a steel bar ring 61 at a distance from the top surface according to the designed elevation. During construction, when the hoisted prefabricated ground ditch wall is about to reach the specified elevation, firstly, a steel bar 62 is inserted into the steel bar ring 61 by using a relevant machine; then the prefabricated ground ditch wall is lowered again until the steel bar contacts the top surface of the guide wall. At this time, it can be considered that the prefabricated ground ditch wall has reached the specified elevation.

[0069] The construction results are as follows Fig.10 As shown, the top surface of the completed ground-connected wall will be exposed above the ground.

[0070] The specific assembly process is as follows:

[0071] 1) Manual remote control of automated construction equipment to move to the designated workstation;

[0072] 2) Automated construction equipment performs leveling actions;

[0073] 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;

[0074] 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.

[0075] 5) Using a crawler crane to lower the prefabricated ground connection wall to the center of the present invention;

[0076] 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.

[0077] 7) Use the robotic arm to push the ground-connected wall being assembled based on the measured data to adjust its position and posture.

[0078] 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.

[0079] 9) Insert the steel rod into the steel bar ring on the top surface of the prefabricated connecting wall;

[0080] 10) Lower the ground-connected wall with the steel rods a little further until the steel rods touch the top surface of the guide wall. At this point, the prefabricated ground-connected wall is considered to be assembled in place.

[0081] 11) If the box girder cannot be inserted smoothly during the assembly process, the detachable box girder structure should be removed to facilitate the use of other equipment for rescue.

Claims

1. An automated construction equipment suitable for assembling prefabricated ground-connected walls with tops lower than guide grooves, characterized in that: include: An electrical cabinet (1), a travel module (2), a leveling module (3), a mechanical arm module (4) and a jack module (5), wherein: The running module (2) carries the electrical cabinet (1), the mechanical arm module (4) and the jack module (5), and the running module (2) is used to move to a specified position; The leveling module (3) is arranged at the bottom of the running module (2) and is used to adjust the running module (2) to make it level; The electrical cabinet (1) is installed on one side of the running module (2); the mechanical arm module (4) and the jack module (5) are both installed on the running module (2); the mechanical arm module (4) and the jack module (5) are used to adjust the position and deflection angle of the prefabricated ground-connected wall to be constructed; the mechanical arm module (4) includes a wide-side mechanical arm (42) and four long-side mechanical arms (41); The electrical cabinet (1) is used to control the travel module (2), the leveling module (3), the mechanical arm module (4) and the jack module (5) through the received measurement data; The jack module (5) is used to, when the top surface of the prefabricated ground ditch wall to be constructed is lower than the guide groove, penetrate into the gap between the prefabricated ground ditch wall to be constructed and the side wall of the guide groove to hold the prefabricated ground ditch wall to be constructed, so that the position of the prefabricated ground ditch wall to be constructed can be kept controllable before being lowered to a designated elevation position.

2. The automated construction equipment for assembling prefabricated ground-connected walls with tops lower than guide grooves according to claim 1, characterized in that: The walking module (2) comprises 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 movements, wherein: The steel structure frame (21) is rectangular, with a wide side opening away from the electrical cabinet (1), in which the detachable box beam structure (22) is installed, and a swing beam (24) is arranged on a wide side close to the electrical cabinet (1), 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 lower 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 running module (2); the leveling unit comprises a leg crossbeam (32), a leveling execution electric cylinder (33) and a lower support shoe (34); the leveling execution electric cylinder (33) is fixedly connected to the steel structure frame (21) through the leg crossbeam (32), and the output end of the leveling execution electric cylinder (33) is connected to the support shoe (34); under the control of the electrical cabinet (1), the four leveling execution electric cylinders (33) adjust the telescopic angle to make the mechanical arm 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 lower than guide grooves according to claim 2, characterized in that: The four long side mechanical arms (41) are divided into two groups and symmetrically arranged on the two long sides of the steel structure frame (21); the wide side mechanical arms (42) are arranged on the wide side of the steel structure frame (21) on a side close to the electrical cabinet (1); The long side mechanical arm (41) comprises an upper electric cylinder (411), an upper electric cylinder support (412), an upper steel plate (413), an upper roller (414), an upper caster (415), a lower caster (416), a lower electric cylinder (417), a lower electric cylinder support (418), a lower steel plate (420) and a lower roller (419); the output end of the upper electric cylinder (411) is fixedly connected to the upper steel plate (413), the side of the upper steel plate (413) away from the upper electric cylinder (411) is fixedly connected to the upper roller (414), and the middle part of the upper electric cylinder (411) is fixedly connected to the steel structure frame (21) through the upper electric cylinder support (412); The output end of the lower electric cylinder (417) is fixedly connected to the lower steel plate (420), the side of the lower steel plate (420) away from the lower electric cylinder (417) is fixedly connected to the lower roller (419), and the middle part of the lower electric cylinder (417) is fixedly connected to the steel structure frame (21) through the lower electric cylinder support (418); There is an upper caster (415) on each of the left and right sides of the upper steel plate (413), which moves on the surface of the I-beam of the steel structure frame (21), and drives the upper stick (414) to extend or retract by controlling the extension or retraction of the piston rod of the upper electric cylinder (411); the lower casters (416) are arranged on the left and right sides of the lower steel plate (420), and the two lower casters (416) are suspended and installed on the I-beam of the steel structure frame (21), and drive the lower roller (419) to extend or retract by controlling the extension or retraction of the piston rod of the lower electric cylinder (417).

5. The automated construction equipment for assembling prefabricated ground-connected walls with tops lower than guide grooves according to claim 4, characterized in that: The wide side mechanical arm (42) has the same structure as the long side mechanical arm (41), and the rollers on the wide side mechanical arm (42) are arranged according to actual working conditions.

6. The automated construction equipment for assembling prefabricated ground-connected walls with tops lower than guide grooves according to claim 2, characterized in that: The jack module (5) comprises four jack mechanical arms, which are divided into two groups and symmetrically arranged on two long sides of the steel structure frame (21); the jack mechanical arms comprise: an extending electric cylinder (51), an extending electric cylinder support (52), a guide rail (53), a slider (54), an extending steel plate (55), a lowering electric cylinder (56), a lowering steel plate (57), a lowering roller (58) and an ultra-thin jack (59); the extending electric cylinder (51) is fixedly connected to the steel structure frame (21) via the extending electric cylinder support (52), and the output end of the extending electric cylinder (51) is fixedly connected to the extending steel plate (55), the middle part of the extending steel plate (55) is fixedly connected to the guide rail (53) on one side close to the extending electric cylinder (51), and the guide rail (53) is slidably connected to a slider (54) fixedly connected to the steel structure frame (21); the upper part of the extending steel plate (55) away from the extending electric cylinder (51) is fixedly connected to a downward electric cylinder (56), and the power output direction of the downward electric cylinder (56) is toward the ground; the output end of the downward electric cylinder (56) is hinged with a downward steel plate (57), and the end of the downward steel plate (57) away from the downward electric cylinder (56) is provided with a downward roller (58) and an ultra-thin jack (59).

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