Prefabricated box girder construction vehicle centering and leveling system, method and device

Abstract

The invention discloses a centering and leveling system for a prefabricated box girder construction vehicle. The centering and leveling system comprises an equipment center alignment detection mechanism, an equipment horizontal elevation detection mechanism, a main supporting leg leveling mechanism and an auxiliary supporting leg leveling mechanism. The equipment center alignment detection mechanism is used for detecting center deviation data between the equipment rack and the prefabricated box girder formwork, and according to the center deviation data, the equipment rack is moved to be aligned with the center of the prefabricated box girder formwork through a walking trolley at the bottom of the main supporting leg leveling mechanism; the equipment horizontal elevation detection mechanism is used for detecting elevation difference data between the equipment rack and the surface of the prefabricated box girder formwork, and according to the elevation difference data, the equipment rack is adjusted to be parallel to the surface of the prefabricated box girder formwork through the main supporting leg leveling mechanism and the auxiliary supporting leg leveling mechanism, and the height difference is consistent with the height difference of the equipment rack and the surface of the prefabricated box girder formwork. The intelligent automation degree is high, the equipment rack is aligned with the center of the prefabricated box girder formwork, the equipment rack is adjusted to be parallel to the surface of the prefabricated box girder formwork, and pouring errors caused by equipment can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of prefabricated box girder construction, and in particular to a centering and leveling system, method and device for a prefabricated box girder construction vehicle. Background Art

[0002] At present, in the prefabrication process of the whole hole box beam of the high-speed railway in my country, the commonly used pumping pouring technology and equipment are difficult to complete the prefabrication task of the 40-meter box beam of the high-speed railway within six hours. At the same time, the construction of the traditional beam yard is greatly affected by the weather, and there are many construction machines and personnel, which has great safety hazards and is easy to pollute the environment. Therefore, it is very important to develop new concrete pouring equipment and improve the mechanization level of box beam prefabrication to improve production efficiency and product quality.

[0003] In order to realize the integration of the casting and forming process of high-speed railway prefabricated box girders (integrating loading, laying, vibration, paving, plastering and other processes), a prefabricated box girder intelligent construction vehicle was developed. Since the forming error requirements of prefabricated box girders are extremely high (mm-level error), during the operation of the box girder casting process, the parking position and horizontal elevation of the equipment need to meet the operation requirements, so as to reduce the casting error caused by the equipment itself; in the existing technology, the prefabricated box girder construction vehicle cannot meet the intelligent adjustment requirements of centering and leveling, which affects the construction quality and efficiency of the prefabricated box girder. Summary of the invention

[0004] The purpose of the present invention is to provide a centering and leveling system, method and device for a prefabricated box girder construction vehicle, so as to solve the problem that the prefabricated box girder construction vehicle in the prior art cannot meet the intelligent adjustment requirements of centering and leveling.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] The centering and leveling system of the prefabricated box girder construction vehicle comprises an equipment frame arranged above the prefabricated box girder formwork, the equipment frame being provided with an equipment center alignment detection mechanism, an equipment horizontal elevation detection mechanism, a main outrigger leveling mechanism and an auxiliary outrigger leveling mechanism;

[0007] The equipment center alignment detection mechanism is used to detect the center deviation data between the equipment frame and the prefabricated box beam formwork, and according to the center deviation data, the equipment frame is moved to align with the center of the prefabricated box beam formwork through the walking trolley at the bottom of the main leg leveling mechanism;

[0008] The equipment horizontal elevation detection mechanism is used to detect the elevation difference data between the equipment frame and the surface of the prefabricated box beam formwork. According to the elevation difference data, the equipment frame is adjusted to be parallel to the surface of the prefabricated box beam formwork and the height difference is consistent through the main leg leveling mechanism and the auxiliary leg leveling mechanism.

[0009] As a further solution of the present invention: the equipment rack is a rectangular frame structure, the equipment center alignment detection mechanism is arranged at the middle position of the width side of the equipment rack, the equipment horizontal elevation detection mechanism is arranged at the four corners of the equipment rack, the auxiliary leg leveling mechanism is arranged at the middle position of the length side of the equipment rack, and the equipment horizontal elevation detection mechanism is arranged on the equipment rack.

[0010] As a further solution of the present invention: end bridges are provided at both ends of the width side of the equipment rack, and the equipment center alignment detection mechanism is provided at the middle position of the end bridges.

[0011] As a further solution of the present invention: when the equipment center alignment detection mechanism detects the center deviation data between the equipment frame and the prefabricated box beam formwork, the laser emitter included in the equipment center alignment detection mechanism is arranged on the end bridge frame, and the reflective target marker is arranged on the center line of the prefabricated box beam formwork.

[0012] As a further solution of the present invention: a middle bridge is provided at the middle position of the equipment rack, a segmented bridge is provided between the middle bridge and the end bridges, and a plurality of equipment horizontal elevation detection mechanisms are respectively provided on the middle bridge and the segmented bridge.

[0013] As a further solution of the present invention: when the equipment horizontal elevation detection mechanism detects the elevation difference data between the equipment frame and the surface of the prefabricated box girder formwork, the laser emitters included in the equipment horizontal elevation detection mechanism are respectively arranged on the middle bridge and the segmented bridge, and the reflective target markers are correspondingly arranged on the surface of the prefabricated box girder formwork.

[0014] As a further solution of the present invention: the main leg leveling mechanism includes a main leg frame vertically arranged at the four corners of the equipment frame, and the bottom of the main leg frame can be raised and lowered to adjust the connection with the walking trolley.

[0015] As a further solution of the present invention: the auxiliary leg leveling mechanism includes two auxiliary leg frames vertically arranged at the middle position of the length side of the equipment frame, the bottom of the auxiliary leg frame can be raised and lowered to adjust the connection support base, and the top is connected to the equipment frame through an inclined telescopic member.

[0016] The method for adjusting and leveling the prefabricated box girder construction vehicle includes the following steps:

[0017] S1, the centering detection of the equipment frame and the prefabricated box beam formwork, using the equipment center alignment detection mechanism to detect the center deviation data between the equipment frame and the prefabricated box beam formwork;

[0018] S2, the equipment frame and the prefabricated box beam formwork are aligned and adjusted. According to the center deviation data, the walking trolley at the bottom of the main leg leveling mechanism is used to move the equipment frame to align with the center of the prefabricated box beam formwork;

[0019] S3, parallel detection of the equipment rack and the prefabricated box beam formwork, using an equipment horizontal elevation detection mechanism to detect elevation difference data between the equipment rack and the surface of the prefabricated box beam formwork;

[0020] S4, leveling the equipment rack. According to the elevation difference data, the main leg leveling mechanism and the auxiliary leg leveling mechanism are used to adjust the equipment rack to be parallel to the surface of the prefabricated box girder formwork and to have the same height difference.

[0021] The centering and leveling device of the prefabricated box girder construction vehicle includes:

[0022] Center alignment detection unit, used to detect the center deviation data between the equipment frame and the prefabricated box beam formwork;

[0023] A horizontal elevation detection unit, used to detect elevation difference data between the equipment rack and the surface of the prefabricated box beam formwork;

[0024] A control unit is used to obtain the center deviation data and the elevation difference data. When a centering instruction is sent to the equipment centering unit through the control unit, the equipment centering unit moves the equipment frame to be aligned with the center of the prefabricated box girder formwork through the walking trolley at the bottom of the main leg leveling mechanism; when a centering instruction is sent to the leg leveling unit through the control unit, the leg leveling unit adjusts the equipment frame to be parallel to the surface of the prefabricated box girder formwork and the height difference is consistent through the main leg leveling mechanism and the auxiliary leg leveling mechanism.

[0025] The beneficial effects of the present invention are as follows: the intelligent automation level of the present application is relatively high. When the prefabricated box girder construction vehicle is in use, the equipment frame is aligned with the center of the prefabricated box girder formwork. Since the equipment as a whole is relatively long and large, structural deformation is inevitable. The main leg leveling mechanism and the auxiliary leg leveling mechanism are used to adjust the equipment frame to be parallel to the surface of the prefabricated box girder formwork. The center-adjusted and leveled equipment frame can realize the integration of the high-speed rail prefabricated box girder casting and forming process, so as to facilitate the layout and design of equipment integrating loading, laying, vibrating, paving, and plastering processes on the equipment frame, thereby reducing the casting error caused by the equipment itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] Figure 1 It is a side structural schematic diagram of the centering and leveling system of the prefabricated box girder construction vehicle of the present invention;

[0028] Figure 2 It is another side schematic diagram of the centering and leveling system of the prefabricated box girder construction vehicle of the present invention;

[0029] Figure 3 It is a flow chart of the centering and leveling method of the prefabricated box girder construction vehicle of the present invention;

[0030] Figure 4 It is a framework diagram of the centering and leveling device of the prefabricated box girder construction vehicle of the present invention.

[0031] In the figure: 1. Prefabricated box girder formwork; 10. End bridge; 11. Middle bridge; 12. Segmented bridge; 2. Equipment frame; 3. Equipment center alignment detection mechanism; 4. Equipment horizontal elevation detection mechanism; 5. Main outrigger leveling mechanism; 50. Main outrigger frame; 51. Walking trolley; 6. Auxiliary outrigger leveling mechanism; 60. Auxiliary outrigger frame; 61. Support base; 62. Telescopic member. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; in the description of the present invention, the meaning of "multiple" and "several" is at least two, for example two, three, etc., unless otherwise clearly and specifically defined.

[0034] See also Figure 1 and Figure 2 As shown, the present invention is a centering and leveling system for a prefabricated box girder construction vehicle, comprising an equipment frame 2 arranged above a prefabricated box girder formwork 1, on which an equipment center alignment detection mechanism 3, an equipment horizontal elevation detection mechanism 4, a main leg leveling mechanism 5 and an auxiliary leg leveling mechanism 6 are arranged; so that various functional mechanisms can be arranged and designed on the equipment frame 2 to realize the operation of rapid centering and leveling of the equipment frame 2, so as to meet the intelligent adjustment requirements of the centering and leveling of the prefabricated box girder construction vehicle, thereby ensuring the construction quality of the prefabricated box girder and helping to improve construction efficiency.

[0035] Among them, the equipment center alignment detection mechanism 3 is used to detect the center deviation data between the equipment frame 2 and the prefabricated box beam formwork 1. According to the center deviation data, the equipment frame 2 is moved to be aligned with the center of the prefabricated box beam formwork 1 through the walking trolley 51 at the bottom of the main support leg leveling mechanism 5; the equipment horizontal elevation detection mechanism 4 is used to detect the elevation difference data between the equipment frame 2 and the surface of the prefabricated box beam formwork 1. According to the elevation difference data, the equipment frame 2 is adjusted to be parallel to the surface of the prefabricated box beam formwork 1 and the height difference is consistent through the main support leg leveling mechanism 5 and the auxiliary support leg leveling mechanism 6.

[0036] The leveling system of the present application has a high degree of intelligent automation. When the prefabricated box girder construction vehicle is in use, the equipment frame 2 is aligned with the center of the prefabricated box girder formwork 1. Since the equipment is relatively long and large as a whole, structural deformation is inevitable, and the equipment frame 2 is conveniently adjusted to be parallel to the surface of the prefabricated box girder formwork 1 through the main leg leveling mechanism 5 and the auxiliary leg leveling mechanism 6. The center-adjusted and leveled equipment frame 2 can realize the integration of the high-speed rail prefabricated box girder casting and forming process, so as to facilitate the layout and design of equipment integrating loading, laying, vibrating, paving, and plastering processes on the equipment frame 2, thereby reducing the casting error caused by the equipment itself.

[0037] In this specific embodiment, the equipment rack 2 is a rectangular frame structure, an equipment center alignment detection mechanism 3 is arranged at the middle position of the width side of the equipment rack 2, an equipment horizontal elevation detection mechanism 4 is arranged at the four corners of the equipment rack 2, an auxiliary support leg leveling mechanism 6 is arranged at the middle position of the length side of the equipment rack 2, and an equipment horizontal elevation detection mechanism 4 is arranged on the equipment rack 2. The equipment rack 2 with a rectangular frame structure is suitable for prefabrication of 40-meter box girders of high-speed railways, so as to facilitate the layout and design of various functional mechanisms on the equipment rack 2, and realize the intelligent centering and leveling operation of the equipment rack 2.

[0038] During the layout design of the equipment center alignment detection mechanism 3, end bridges 10 are provided on the width sides of both ends of the equipment frame 2, and the equipment center alignment detection mechanism 3 is set at the middle position of the end bridge 10; when the equipment center alignment detection mechanism 3 detects the center deviation data between the equipment frame 2 and the prefabricated box beam formwork 1, the laser transmitter included in the equipment center alignment detection mechanism 3 is set on the end bridge 10, and the reflective target mark is set on the center line of the prefabricated box beam formwork 1; the laser transmitter emits a laser beam, and these laser beams are irradiated onto the reflective target mark along a predetermined path. After the laser beam is irradiated onto the reflective target mark, it is reflected back, and the receiver in the equipment center alignment detection mechanism 3 (usually integrated with the laser transmitter or located near it) is responsible for receiving these reflected laser beams. The receiver can calculate the offset of the laser beam during the irradiation process by detecting the position of the reflected laser beam. This offset represents the center deviation data between the equipment frame 2 and the prefabricated box beam formwork 1.

[0039] During the layout design of the equipment horizontal elevation detection mechanism 4, a middle bridge 11 is provided at the middle position of the equipment frame 2, a segmented bridge 12 is provided between the middle bridge 11 and the end bridge 10, and a plurality of equipment horizontal elevation detection mechanisms 4 are respectively provided on the middle bridge 11 and the segmented bridge 12; when the equipment horizontal elevation detection mechanism 4 detects the elevation difference data between the equipment frame 2 and the surface of the prefabricated box girder formwork 1, the laser emitters included in the equipment horizontal elevation detection mechanism 4 are respectively arranged on the middle bridge 11 and the segmented bridge 12, and the reflective target markers are correspondingly arranged on the surface of the prefabricated box girder formwork 1; the laser emitters respectively emit laser beams from the middle bridge 11 and the segmented bridge 12, and these laser beams will be directed to the reflective targets on the surface of the prefabricated box girder formwork 1, and the elevation difference data between the equipment frame 2 and the surface of the prefabricated box girder formwork 1 can be calculated by using mathematical principles such as triangulation.

[0040] During the layout design of the main leg leveling mechanism 5, the main leg leveling mechanism 5 includes a main leg frame 50 which is vertically arranged at the four corners of the equipment frame 2. The bottom of the main leg frame 50 can be raised and lowered to adjust and connect to the walking trolley 51. When the equipment frame 2 is centered, the equipment frame 2 connected by the walking trolley 51 through the main leg frame 50 can move as a whole. According to the center deviation data between the equipment frame 2 and the prefabricated box beam formwork 1, the equipment frame 2 or the prefabricated box beam formwork 1 is adjusted to eliminate the center deviation until the center deviation data meets the requirements; when the equipment frame 2 is leveled, the walking trolley 51 is controlled to park off the ground. According to the elevation difference data between the equipment frame 2 and the surface of the prefabricated box beam formwork 1, the walking trolley 51 can use the hydraulic system to raise and lower the main leg frame 50 for adjustment and connection.

[0041] During the layout design of the auxiliary leg leveling mechanism 6, the two auxiliary leg frames 60 included in the auxiliary leg leveling mechanism 6 are vertically arranged at the middle position of the length side of the equipment frame 2. The bottom of the auxiliary leg frame 60 can be raised and lowered to adjust the connection with the support base 61, and the top is connected to the equipment frame 2 through an inclined telescopic member 62; when the equipment frame 2 is leveled, the auxiliary leg frame 60 makes the support base 61 set at the bottom contact with the ground, and according to the elevation difference data between the equipment frame 2 and the surface of the prefabricated box beam formwork 1, the auxiliary leg frame 60 levels the equipment frame 2 through the telescopic member 62 set at the top. The telescopic member 62 in this specific embodiment can be a hydraulic cylinder.

[0042] Combination Figure 3 As shown, the present invention also provides a method for centering and leveling a prefabricated box girder construction vehicle, comprising the following steps:

[0043] S1, the equipment frame 2 and the prefabricated box beam formwork 1 are aligned and detected, and the center deviation data between the equipment frame 2 and the prefabricated box beam formwork 1 is detected by using the equipment center alignment detection mechanism 3; this step is to set the laser transmitter included in the equipment center alignment detection mechanism 3 on the end bridge 10, and the reflective target mark is set on the center line of the prefabricated box beam formwork 1; the laser transmitter emits a laser beam, and these laser beams are irradiated onto the reflective target mark along a predetermined path. After the laser beam is irradiated onto the reflective target mark, it is reflected back, and the receiver in the equipment center alignment detection mechanism 3 (usually integrated with the laser transmitter or located near it) is responsible for receiving these reflected laser beams. The receiver can calculate the offset of the laser beam during the irradiation process by detecting the position of the reflected laser beam. This offset represents the center deviation data between the equipment frame 2 and the prefabricated box beam formwork 1.

[0044] S2, the equipment frame 2 is aligned with the prefabricated box beam formwork 1. According to the center deviation data, the walking trolley 51 at the bottom of the main leg leveling mechanism 5 is used to move the equipment frame 2 to be aligned with the center of the prefabricated box beam formwork 1; when the equipment frame 2 is centered in this step, the equipment frame 2 connected by the walking trolley 51 through the main leg frame 50 can move as a whole, and according to the center deviation data between the equipment frame 2 and the prefabricated box beam formwork 1, the equipment frame 2 or the prefabricated box beam formwork 1 is adjusted to eliminate the center deviation until the center deviation data meets the requirements.

[0045] S3, the equipment frame 2 and the prefabricated box girder formwork 1 are detected in parallel, and the equipment horizontal elevation detection mechanism 4 is used to detect the elevation difference data between the equipment frame 2 and the surface of the prefabricated box girder formwork 1; in this step, the laser emitter included in the equipment horizontal elevation detection mechanism 4 is respectively set on the middle bridge 11 and the segmented bridge 12, and the reflective target marker is correspondingly set on the surface of the prefabricated box girder formwork 1; the laser emitter emits laser beams from the middle bridge 11 and the segmented bridge 12 respectively, and these laser beams will be directed to the reflective target on the surface of the prefabricated box girder formwork 1, and the elevation difference data between the equipment frame 2 and the surface of the prefabricated box girder formwork 1 can be calculated by using mathematical principles such as triangulation by measuring the distance between the position of the reflected light spot and the laser emitter, as well as the incident angle of the laser beam.

[0046] S4, leveling the equipment frame 2. According to the elevation difference data, the main leg leveling mechanism 5 and the auxiliary leg leveling mechanism 6 are used to adjust the equipment frame 2 to be parallel to the surface of the prefabricated box beam formwork 1 and the height difference is consistent; when the equipment frame 2 is leveled in this step, according to the elevation difference data between the equipment frame 2 and the surface of the prefabricated box beam formwork 1, the walking trolley 51 is controlled to be off the ground and parked. The walking trolley 51 can use the hydraulic system to lift and adjust the main leg frame 50. The auxiliary leg frame 60 levels the equipment frame 2 through the telescopic member 62 set on the top, and the overall stability of the equipment can be adjusted to within the parallel error range.

[0047] The working principle of the leveling method of the present application is the same as that of the leveling system, which will not be described in detail here.

[0048] Combination Figure 4 As shown, the present invention also provides a centering and leveling device for a prefabricated box girder construction vehicle, comprising a center alignment detection unit, a horizontal elevation detection unit and a control unit, wherein the center alignment detection unit is used to detect the center deviation data between the equipment frame 2 and the prefabricated box girder formwork 1; the horizontal elevation detection unit is used to detect the elevation difference data between the equipment frame 2 and the surface of the prefabricated box girder formwork 1; the control unit is used to obtain the center deviation data and the elevation difference data, and when a centering instruction is sent to the equipment centering unit through the control unit, the equipment centering unit moves the equipment frame 2 to be aligned with the center of the prefabricated box girder formwork 1 through the walking trolley 51 at the bottom of the main leg leveling mechanism 5; when a centering instruction is sent to the leg leveling unit through the control unit, the leg leveling unit adjusts the equipment frame 2 to be parallel to the surface of the prefabricated box girder formwork 1 and the height difference is consistent with the main leg leveling mechanism 5 and the auxiliary leg leveling mechanism 6.

[0049] The working principle of the leveling method of the present application is the same as that of the leveling system and the leveling method, and will not be repeated here.

[0050] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. The centering and leveling system of the prefabricated box girder construction vehicle is characterized by: It comprises an equipment frame (2) arranged above a prefabricated box beam formwork (1), wherein the equipment frame (2) is provided with an equipment center alignment detection mechanism (3), an equipment horizontal elevation detection mechanism (4), a main leg leveling mechanism (5) and an auxiliary leg leveling mechanism (6); The equipment center alignment detection mechanism (3) is used to detect the center deviation data between the equipment frame (2) and the prefabricated box beam formwork (1), and according to the center deviation data, the equipment frame (2) is moved to be aligned with the center of the prefabricated box beam formwork (1) by the walking trolley (51) at the bottom of the main leg leveling mechanism (5); The equipment horizontal elevation detection mechanism (4) is used to detect elevation difference data between the equipment frame (2) and the surface of the prefabricated box beam formwork (1); based on the elevation difference data, the equipment frame (2) is adjusted to be parallel to the surface of the prefabricated box beam formwork (1) and to have a consistent height difference through the main leg leveling mechanism (5) and the auxiliary leg leveling mechanism (6).

2. The centering and leveling system for prefabricated box girder construction vehicles according to claim 1 is characterized in that: The equipment rack (2) is a rectangular frame structure. The equipment center alignment detection mechanism (3) is arranged at the middle position of the width side of the equipment rack (2). The equipment horizontal elevation detection mechanism (4) is arranged at the four corners of the equipment rack (2). The auxiliary leg leveling mechanism (6) is arranged at the middle position of the length side of the equipment rack (2). The equipment horizontal elevation detection mechanism (4) is arranged on the equipment rack (2).

3. The centering and leveling system for prefabricated box girder construction vehicles according to claim 2 is characterized in that: End bridges (10) are provided at the width sides of both ends of the equipment frame (2), and the equipment center alignment detection mechanism (3) is provided at the middle position of the end bridges (10).

4. The centering and leveling system for the prefabricated box girder construction vehicle according to claim 3 is characterized in that: When the equipment center alignment detection mechanism (3) detects the center deviation data between the equipment frame (2) and the prefabricated box beam formwork (1), the laser transmitter included in the equipment center alignment detection mechanism (3) is arranged on the end bridge (10), and the reflective target marker is arranged on the center line of the prefabricated box beam formwork (1).

5. The centering and leveling system for prefabricated box girder construction vehicles according to claim 2 is characterized in that: A middle bridge (11) is provided at the middle position of the equipment frame (2), a segmented bridge (12) is provided between the middle bridge (11) and the end bridge (10), and a plurality of equipment horizontal elevation detection mechanisms (4) are provided on the middle bridge (11) and the segmented bridge (12), respectively.

6. The centering and leveling system for the prefabricated box girder construction vehicle according to claim 5 is characterized in that: When the equipment horizontal elevation detection mechanism (4) detects elevation difference data between the equipment frame (2) and the surface of the prefabricated box beam formwork (1), the laser emitters included in the equipment horizontal elevation detection mechanism (4) are respectively arranged on the middle bridge frame (11) and the segmented bridge frame (12), and the reflective target markers are correspondingly arranged on the surface of the prefabricated box beam formwork (1).

7. The centering and leveling system for prefabricated box girder construction vehicles according to claim 2 is characterized in that: The main leg leveling mechanism (5) comprises a main leg frame (50) vertically arranged at the four corners of the equipment frame (2), and the bottom of the main leg frame (50) can be raised and lowered to adjust the connection with the walking trolley (51).

8. The centering and leveling system for prefabricated box girder construction vehicles according to claim 2 is characterized in that: The auxiliary leg leveling mechanism (6) comprises two auxiliary leg frames (60) which are vertically arranged at the middle position of the length side of the equipment frame (2); the bottom of the auxiliary leg frame (60) can be raised and lowered to adjust the connection with the support base (61), and the top is connected to the equipment frame (2) via an inclined telescopic member (62).

9. A method for centering and leveling a prefabricated box girder construction vehicle, characterized in that: The following steps are involved: S1, performing a centering detection between the equipment frame (2) and the prefabricated box beam formwork (1), using an equipment center alignment detection mechanism (3) to detect center deviation data between the equipment frame (2) and the prefabricated box beam formwork (1); S2, the equipment frame (2) is aligned with the prefabricated box beam formwork (1), and according to the center deviation data, the walking trolley (51) at the bottom of the main leg leveling mechanism (5) is used to move the equipment frame (2) to align with the center of the prefabricated box beam formwork (1); S3, parallel detection of the equipment frame (2) and the prefabricated box beam formwork (1), using the equipment horizontal elevation detection mechanism (4) to detect the elevation difference data between the equipment frame (2) and the surface of the prefabricated box beam formwork (1); S4, leveling the equipment frame (2). According to the elevation difference data, the main leg leveling mechanism (5) and the auxiliary leg leveling mechanism (6) are used to adjust the equipment frame (2) to be parallel to the surface of the prefabricated box beam formwork (1) and to have the same height difference.

10. The centering and leveling device for the prefabricated box girder construction vehicle is characterized in that: include: A center alignment detection unit, used to detect center deviation data between the equipment frame (2) and the prefabricated box beam formwork (1); A horizontal elevation detection unit, used to detect elevation difference data between the equipment frame (2) and the surface of the prefabricated box beam formwork (1); A control unit is used to obtain the center deviation data and the elevation difference data. When the control unit sends a centering instruction to the equipment centering unit, the equipment centering unit moves the equipment frame (2) to align with the center of the prefabricated box beam formwork (1) through the walking trolley (51) at the bottom of the main leg leveling mechanism (5); when the control unit sends a centering instruction to the leg leveling unit, the leg leveling unit adjusts the equipment frame (2) to be parallel to the surface of the prefabricated box beam formwork (1) and the height difference is consistent through the main leg leveling mechanism (5) and the auxiliary leg leveling mechanism (6).

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