Small and medium-sized assembled open caisson numerical control hoisting and mounting integrated equipment and construction method thereof

Abstract

The invention discloses small and medium-sized assembled open caisson numerical control hoisting and mounting integrated equipment and a construction method thereof. The equipment comprises a hoisting and mounting machine and a high-precision servo numerical control system; in the hoisting and installing machine, a top ring beam is located above a bottom ring beam, the top ring beam and the bottom ring beam are connected through a supporting column, the two ends of a crane beam arranged along the diameter of the top ring beam are driven by an annular driving mechanism to slide along the top ring beam in the annular direction, a crane translates along the crane beam through a radial translation mechanism, and a telescopic arm translates up and down along the crane through a lifting mechanism. The mechanical operation arm is arranged at the lower end of the telescopic arm and is opened and closed through the opening and closing mechanism so as to loosen or clamp the prefabricated well piece. The device can improve the construction quality, is accurate in alignment, is high in universality, is especially suitable for the construction of small and medium-sized fabricated open caissons, and belongs to the technical field of prefabricated open caisson construction, prefabricated well piece carrying manipulators, prefabricated well piece positioning and distance measurement, and prefabricated well piece transportation devices.

Description

Technical Field

[0001] The present invention relates to prefabricated assembled caisson construction technology, also relates to a prefabricated well segment handling robot, also relates to prefabricated well segment positioning and distance measurement, also relates to a prefabricated well segment transportation device, and specifically relates to small and medium-sized assembled caisson CNC lifting and installation integrated equipment and a construction method thereof. Background Art

[0002] At present, as a mature construction technology, cast-in-place integral caisson is widely used in water supply and drainage networks, bridge foundations, and underground space construction projects. Although the traditional cast-in-place integral caisson construction method has the advantages of high rigidity, large cross-section, high bearing capacity, strong anti-seepage ability, and wide stratum applicability, its application is limited by problems such as low construction efficiency, difficulty in controlling the well body posture, and generally large settlement of the surrounding strata.

[0003] In recent years, with the gradual acceleration of the process of building industrialization, the industry has been looking for more efficient, environmentally friendly and safe caisson construction methods. Prefabricated caissons have emerged and have begun to be experimentally applied in municipal work. For example: (1) The Xingle Road escape well and the Beiqing Highway escape well of the western extension of Shanghai Metro Line 13 both use active control assembled mechanized caisson technology, using the cross beam at the bottom of the well and the distributed scanning system of the underwater robot in conjunction with the underwater drilling rig for excavation, solving the construction difficulties of large caisson excavation. However, the segment lifting process still relies on traditional lifting equipment. This technology is complex, difficult to operate, and expensive, which is not conducive to rapid market promotion.

[0004] (2) Nanjing Jianye District Caisson Parking Facility Construction Project (Phase 1)

[0005] The maximum excavation depth of the shaft in this project is about 68m, and the shaft diameter is 13m. This is the first application of VSM equipment in China and the first time in the world that this equipment is combined with an underground parking garage project. Although the sinking assistance technology is highly innovative, the pipe segments and construction machinery are still hoisted using conventional cranes.

[0006] (3) Sunken shaft type intelligent parking garage at the Administrative Service Center of Haicang District, Xiamen.

[0007] The caisson-type intelligent parking garage of the Administrative Service Center of Haicang District, Xiamen City is the first caisson-type underground mechanical garage in China. It is divided into 5 floors underground, with 10 parking spaces on each floor, which can park a total of 50 ordinary cars. The inner diameter of the shaft structure is 20.6m, the outer diameter is 22m, the underground area is 380 square meters, and the total depth is about 17m. The shaft adopts a semi-prefabricated assembled structure. The shaft is divided into 6 layers along the height, the bottom layer is the blade foot layer, and the remaining 5 layers are standard layers. Each layer is divided into 10 blocks, and the inner and outer walls of each block are consolidated with each other through connecting ribs. The prefabricated blocks are transported to the site for assembly, and reinforced concrete is poured in the inner cavity between the inner and outer walls to ensure the connectivity and safety of the assembled shaft. Excavate and install other layers of the shaft until the shaft sinks layer by layer to the preset depth. The project uses a semi-prefabricated caisson, which has a relatively high construction cost and a limited sinking depth of the caisson. If there is a high groundwater level or pressurized water, the construction is difficult.

[0008] In addition, prefabricated caissons have been used in projects such as the Xinghua Yangtze River Water Diversion Project in Jiangsu Province and the Hefei Rainwater Storage Project in Anhui Province. There are many technical innovations in the construction process of prefabricated caissons, but most of them are concentrated in the construction excavation, sinking assistance, and deviation control direction of large caissons. Common lifting equipment such as tire cranes, tower cranes, and mast cranes are still used for well segment lifting construction. The industry lacks technical innovation in prefabricated caissons, especially well segment lifting equipment for small and medium-sized prefabricated caissons (diameter D=5-10m) in municipal engineering. According to published patent documents, similar ones are: (1) CN115977129A discloses an assembled circular caisson device and an installation method.

[0009] This solution provides an assembled circular caisson device and installation method, including a prefabricated caisson and a mobile installation vehicle, which can realize the rapid lifting and mobile installation of the prefabricated well wall at the construction site without the need for large-scale lifting equipment such as car cranes and tower cranes. Its structure is relatively simple, and it is easy and quick to manufacture and operate. Its technical features are: a. The mobile installation vehicle moves along the concave slide groove by driving the rollers, so that the mobile installation vehicle moves in a circular motion and realizes automatic start and stop.

[0010] b. The prefabricated shaft wall can be quickly lifted and moved for installation by moving, raising and lowering the electric hoist on the hanging beam, which saves time and effort, avoids manual pushing, reduces the labor intensity of the operator, and saves construction costs.

[0011] However, this solution still has some defects: a. The movement of the installation vehicle requires the installation of a concave slide around the well wall, and the moving route is fixed, which is not conducive to the flexible adjustment of the on-site lifting position.

[0012] b. The load-bearing frame is a welded integral frame, which has poor flexibility when equipment is transferred.

[0013] c. Flexible cable hoisting makes it difficult to control the accuracy of the segments and can easily cause impact damage to the installed segments and waterstops, which is not conducive to the protection of finished products.

[0014] (2) CN 118309095 A discloses an assembled caisson hoisting mechanism and an assembly construction method.

[0015] This solution provides a method for assembling and constructing a prefabricated caisson. According to the installation position of the caisson, the center column is erected at the center of the caisson and the reference limit head is moved according to the radius of the caisson to form a radial reference. The lifting arm moves radially along the radius of the caisson and circumferentially around the center column to complete the lifting of the well segment. However, this method also has some problems in the application process: a. The center column needs to be erected at the bottom of the caisson. As the soil at the bottom of the caisson sinks, its foundation needs to frequently adjust the burial depth according to the elevation of the bottom of the well or rely on internal support to ensure the stability of the column in order to achieve lifting accuracy and stability. The actual operation is quite difficult.

[0016] b. The lifting equipment is heavy and needs to be assembled inside the well. The space inside the small-diameter caisson is limited, which further increases the difficulty of assembling and removing the construction machinery.

[0017] At present, the main operation process of prefabricated reinforced concrete caisson construction is as follows: (1) Construction preparation

[0018] (2) Measurement and positioning.

[0019] (3) Drainage and foundation pit excavation.

[0020] (4) Prefabrication of caisson blade feet and caisson walls.

[0021] (5) Construction of blade foot cushion layer.

[0022] (6) Survey and design of control points.

[0023] (7) Positioning and lifting of blade foot ring.

[0024] (8) Installation of prefabricated caisson ring.

[0025] (8) The caisson sinks.

[0026] (9) Sealing the bottom of the caisson.

[0027] With regard to steps (7) and (8), the lifting equipment in current construction machinery is relatively large, and it is inconvenient and uneconomical to lift small prefabricated components. If manual transportation is used, it is time-consuming and labor-intensive. In addition, existing small cranes need to be pushed forward by humans and cannot load and transport heavy objects.

[0028] In order to solve the above problems, the closest technical solution CN118309095A specifically proposes a hoisting device, but it still has many defects. Based on this, the present invention is proposed. Summary of the invention

[0029] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a small and medium-sized assembled caisson CNC lifting and installation integrated equipment and a construction method thereof, which is not limited by the caisson working conditions.

[0030] In order to achieve the above object, the present invention adopts the following technical solution: Integrated CNC lifting and installation equipment for small and medium-sized assembled caissons, including a lifting and installation machine for lifting prefabricated well segments and a high-precision servo CNC system for accurately aligning the prefabricated well segments; the lifting and installation machine includes a bottom ring beam, a top ring beam, a support column, a crane beam, a crane, a telescopic arm, a mechanical operating arm, a circumferential drive mechanism, a radial translation mechanism, a lifting mechanism, and an opening and closing mechanism. The bottom ring beam is arranged outside the wellhead and is arranged around the wellhead, the top ring beam is located above the bottom ring beam, and the top ring beam and the bottom ring beam are connected by a support column. The crane beam is arranged along the diameter of the top ring beam, and both ends of the crane beam are driven by the circumferential drive mechanism to slide circumferentially along the top ring beam. The crane is radially translated along the crane beam by the radial translation mechanism, and the telescopic arm is translated up and down along the crane by the lifting mechanism. The mechanical operating arm is arranged at the lower end of the telescopic arm, and the mechanical operating arm is opened and closed by the opening and closing mechanism to loosen or clamp the prefabricated well segment.

[0031] As a preferred embodiment, the mechanical operating arm includes an operating arm mounting frame, a telescopic hook, and two pairs of guide arms; the two pairs of guide arms are each mounted on both sides below the operating arm mounting frame through a set of opening and closing mechanisms, and the telescopic hook is located between the two pairs of guide arms; a guide wheel is provided on one side of the guide arm for clamping the prefabricated well segment; the operating arm mounting frame is connected to the telescopic arm.

[0032] As a preferred embodiment, an installation cavity is opened at the lower end of the telescopic arm; the telescopic hook includes a telescopic drive motor, a wire rope shaft, a wire rope, and a hook, the hook is fixed to one end of the wire rope, the other end of the wire rope is fixed to the wire rope shaft, the wire rope shaft is arranged in the installation cavity, the telescopic drive motor drives the wire rope shaft to rotate, thereby driving the wire rope to extend or shorten; an opening is provided in the middle of the operating arm mounting frame for the wire rope and the hook to pass through.

[0033] As a preferred embodiment, each pair of guide arms includes an inner guide arm and an outer guide arm, and the inner guide arm and the outer guide arm move away from or closer to each other through an opening and closing mechanism. Two guide wheels are provided on one side of the inner guide arm and the outer guide arm for clamping the prefabricated well segment to assist the prefabricated well segment to slide up and down; all guide wheels installed on the two pairs of guide arms are at the same height.

[0034] As a preferred embodiment, the circumferential drive mechanism includes a circumferential moving frame, a circumferential drive motor, a circumferential guide wheel, a circumferential gear, and an annular rack; the end of the crane beam is fixed on the circumferential moving frame, and the circumferential guide wheel and the circumferential gear are both installed on the circumferential moving frame; the annular rack is arranged along the top ring beam, the circumferential drive motor drives the annular gear to rotate, the annular gear is meshed with the annular rack and translates along the annular rack; the top ring beam is provided with an annular track that cooperates with the annular guide wheel.

[0035] As a preferred embodiment, the radial translation mechanism includes a radial translation motor, a rack and pinion mechanism, and a guide mechanism. The gear is installed on the crane, and the rack is installed on the crane beam. The radial translation motor drives the gear to rotate, and the gear translates relative to the rack, so that the crane translates relative to the crane beam along the guide mechanism; the lifting mechanism includes a lifting motor, a rack and pinion mechanism, and a guide mechanism. The gear is installed on the crane, and the rack is installed on the telescopic arm. The lifting motor drives the gear to rotate, and the gear is lifted and lowered relative to the rack, so that the telescopic arm is lifted and lowered relative to the crane along the guide mechanism; the opening and closing mechanism includes an opening and closing motor, a rack and pinion mechanism, and two guide mechanisms. The rack and pinion mechanism includes a gear and two racks. The gear is installed on the operating arm mounting frame, and the inner guide arm and the outer guide arm are each connected to a rack. The opening and closing motor drives the gear to rotate, and the gear drives the two racks to translate in the opposite direction, so that the inner guide arm and the outer guide arm both translate in the opposite direction relative to the operating arm mounting frame along their respective guide mechanisms.

[0036] As a preferred embodiment, the high-precision servo CNC system includes a high-precision measuring and positioning sensor and a servo CNC machine; high-precision measuring and positioning sensors are arranged on the inner side of the connection node between the bottom ring beam and the support column, the inner side of the connection node between the top ring beam and the support column, the inner and outer sides of the installed prefabricated well segment, and the inner and outer sides of the prefabricated well segment to be installed; the high-precision measuring and positioning sensor arranged on the integrated lifting and installation equipment serves as a positioning base point, sends positioning data to the high-precision measuring and positioning sensor arranged on the prefabricated well segment at millisecond time intervals, and returns to the positioning base point after receiving the positioning data on the prefabricated well segment; through data interaction between high-precision measuring and positioning sensors, mutual positioning and calibration of multiple sensors between the integrated lifting and installation equipment, the installed prefabricated well segment and the prefabricated well segment to be lifted are realized, and the servo CNC machine is cooperated to control the lifting and installation machine to achieve precise installation of the prefabricated well segment.

[0037] The integrated construction method of CNC lifting and installation of small and medium-sized assembled caissons adopts CNC lifting and installation integrated equipment of small and medium-sized assembled caissons, including the following steps: a. Carry out pre-construction preparation on the construction site, harden the wellhead foundation concrete, and embed the anchor bolts; b. Hoist and install the integrated equipment components to the construction site for installation, connect them with the anchor bolts, and transport the prefabricated well segments and their connecting parts to the construction site; c. Arrange high-precision measurement and positioning sensors to build a sensing system, and conduct joint debugging of the hoisting installation machine, sensing system, and servo CNC machine; d. Lift the first section of the prefabricated well segment according to the construction drawings, hook the telescopic hook to the pre-buried hanging ear on the prefabricated well segment, and adjust the guide arm through the opening and closing mechanism to keep the prefabricated well segment vertical; dynamically adjust the circumferential drive mechanism, radial translation mechanism, and lifting mechanism through the servo CNC input command to adjust the spatial movement and posture correction of the prefabricated well segment. After moving to the installation position, check the prefabricated well segment positioning information displayed by the servo CNC machine. After the position is accurate, slowly lower the prefabricated well segment to the designed position; e. Install the subsequent prefabricated well segments; after the installation of the prefabricated well segments of the first section of the caisson is completed, high-precision measurement and positioning sensors pasted on the inside and outside of the prefabricated well segments have been installed as auxiliary positioning base points to improve the positioning accuracy of the subsequent prefabricated well segment hoisting process; f. Static pressure to assist sinking; g. Sealing the bottom of the caisson.

[0038] As a preferred embodiment, in step f, an integrated lifting and installation device is used as a reaction frame to perform static pressure-assisted sinking.

[0039] As a preferred embodiment, when the mechanical operating arm clamps the prefabricated well segment, the telescopic hook is first extended, and the hook is used to hook the hanging ear of the prefabricated well segment, and the position of the guide arm is adjusted through the opening and closing mechanism, and the telescopic hook is shortened at the same time, and the posture of the prefabricated well segment to be installed is adjusted by the extension and retraction of the telescopic hook and the position of the guide arm.

[0040] The principle of the present invention is: The present invention adopts a combined servo control technology consisting of a high-precision measurement and positioning sensor and a servo CNC machine. In conjunction with a lifting and installation machine, it can achieve three-axis CNC precise positioning of the prefabricated well segment, and rely on the coordinated work of the telescopic hook, guide arm and guide wheel on the mechanical operating arm to ensure high-precision dynamic correction of the prefabricated well segment during the lifting process.

[0041] Aiming at the construction of small and medium-sized assembled caissons, the present invention designs a special manipulator for transporting prefabricated well segments, designs a high-precision servo numerical control system for accurate positioning and distance measurement of prefabricated well segments, and designs an integrated device that is installed outside the well and is not restricted by caisson working conditions.

[0042] The present invention has the following advantages: 1. The equipment is installed outside the well and is not restricted by the working conditions of the caisson. The equipment will not sink and the assembly is not restricted by the size of the caisson.

[0043] 2. Relying on mechanical structure, measuring and positioning sensors, and high-precision servo CNC systems, dynamic control of the posture and position information of prefabricated well segments can be achieved from on-site transportation, lifting, lowering to installation. Feedback control can be performed based on on-site needs by relying on the servo CNC system, which greatly improves the installation accuracy of prefabricated caissons and the efficiency of correction during installation, avoids impact damage to installed prefabricated well segments and waterproof strips and other materials during construction, improves construction quality, and has broad application prospects.

[0044] 3. The use of a circumferentially movable and radially translatory mechanical system in conjunction with a lifting system can achieve flexible maneuverability in three directions of freedom for the well segment to be hoisted, and rely on the meshing transmission of gears and racks to achieve refined movement and stable stationary motion of the hoisting installation machine, providing physical support for hoisting stability.

[0045] 4. The mechanical operating arm system consisting of a hook, inner and outer guide arms and guide wheels, in conjunction with a high-precision servo CNC system, can achieve precise control operations such as well segment posture, lowering speed, and docking with installed prefabricated well segments.

[0046] 5. The structural load-bearing frame composed of the bottom ring beam, top ring beam and supporting columns is connected by high-strength bolts and manufactured in a modular manner. It can be transported to the site for assembly in components. It is flexible and has strong applicability for small and medium-sized caisson projects with limited terrain and site.

[0047] 6. The bottom of the structural load-bearing frame is firmly connected to the treated foundation through anchor bolts. When the well segment’s own weight or simple weight cannot overcome the friction between the well wall and the soil to sink, it can be used as a jack static pressure-assisted sinking reaction frame, realizing multiple uses of one device.

[0048] 7. Specially used for the construction of small and medium-sized assembled caissons, with strong versatility. The diameter of small and medium-sized caissons is generally 5-10 meters. As long as the hoisting and installation machine is designed to be slightly larger and can only cover the above size, it can have strong versatility and is more convenient because the equipment is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a three-dimensional diagram of the integrated lifting and installation equipment.

[0050] Figure 2 It is a top view of the integrated lifting and installation equipment.

[0051] Figure 3 It is a partial enlarged view of the top of the integrated lifting and installation equipment.

[0052] Figure 4 This is a partial enlarged view of the crane beam and crane.

[0053] Figure 5 It is a three-dimensional diagram of a mechanical operating arm.

[0054] Figure 6 This is a stereoscopic image of the robotic manipulator from another perspective.

[0055] Figure 7 It is a structural schematic diagram of a telescopic hook.

[0056] Figure 8 This is a partial enlarged view of the top ring beam connection.

[0057] Fig. 9 It is a three-dimensional diagram of the connecting piece.

[0058] Fig.10 This is the installation scenario diagram of the integrated lifting and installation equipment.

[0059] Fig.11 This is the working principle diagram of the high-precision servo CNC system.

[0060] Fig.12 It is a flow chart of the construction method of integrated equipment for CNC lifting and installation of small and medium-sized assembled caissons.

[0061] In the figure, 1-bottom ring beam, 2-top ring beam, 3-support column, 4-crane beam, 5-crane, 6-telescopic arm, 7-mechanical operating arm, 8-circumferential driving mechanism, 9-radial translation mechanism, 10-lifting mechanism, 11-opening and closing mechanism, 12-prefabricated well segment, 13-anchor bolts, 14-wellhead foundation concrete hardened layer.

[0062] 21-arc unit, 22-connecting piece.

[0063] 61-Mounting cavity.

[0064] 71-operating arm mounting frame, 72-telescopic hook, 73-guide arm, 74-guide wheel. 711-opening. 721-telescopic drive motor, 722-wire rope, 723-hook.

[0065] 81-annular driving motor, 82-annular moving frame.

[0066] 91- radial translation motor, 92- gear rack mechanism of radial translation mechanism, 93- guide mechanism of radial translation mechanism.

[0067] 101 - lifting motor, 102 - rack and pinion mechanism of the lifting mechanism, 103 - guide mechanism of the lifting mechanism.

[0068] 111 - opening and closing motor, 112 - guiding mechanism of the opening and closing mechanism. DETAILED DESCRIPTION

[0069] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0070] like Figure 1 As shown, the integrated CNC lifting and installation equipment for small and medium-sized assembled caissons includes a lifting and installation machine for lifting prefabricated well segments and a high-precision servo CNC system for accurately aligning the prefabricated well segments; the lifting and installation machine includes a bottom ring beam, a top ring beam, a support column, a crane beam, a crane, a telescopic arm, a mechanical operating arm, a circumferential drive mechanism, a radial translation mechanism, a lifting mechanism, and an opening and closing mechanism. The bottom ring beam is arranged outside the wellhead and is arranged around the wellhead, the top ring beam is located above the bottom ring beam, and the top ring beam and the bottom ring beam are connected by a support column. The crane beam is arranged along the diameter of the top ring beam, and both ends of the crane beam are driven by the circumferential drive mechanism to slide circumferentially along the top ring beam. The crane is radially translated along the crane beam by the radial translation mechanism, and the telescopic arm is translated up and down along the crane by the lifting mechanism. The mechanical operating arm is arranged at the lower end of the telescopic arm, and the mechanical operating arm is opened and closed by the opening and closing mechanism to loosen or clamp the prefabricated well segment.

[0071] In this embodiment, the bottom ring beam, the top ring beam, and the support column form a structural load-bearing frame. Among them, the bottom ring beam and the top ring beam are both composed of multiple arc units, such as Figure 8 and Fig. 9 As shown, the connecting parts are connected by a connecting piece, and the upper and lower connecting pieces are connected by a supporting column, so the multiple supporting columns are evenly distributed around the circumference.

[0072] like Figure 5 and Figure 6 As shown, the mechanical operating arm includes an operating arm mounting frame, a telescopic hook, and two pairs of guide arms; the two pairs of guide arms are each mounted on both sides below the operating arm mounting frame through a set of opening and closing mechanisms, and the telescopic hook is located between the two pairs of guide arms; a guide wheel is provided on one side of the guide arm for clamping the prefabricated well segment; the operating arm mounting frame is connected to the telescopic arm.

[0073] In this embodiment, a pair of guide arms are opened and closed by a set of opening and closing mechanisms to achieve spacing adjustment to adapt to the thickness of different prefabricated well segments. The guide wheels are preferably rubber guide wheels, which can rotate to assist in the posture adjustment and precise positioning of the prefabricated well segments. The length of the guide arm in the vertical direction is L, and the height of the prefabricated well segment is H, H / 2 <L<H 。

[0074] like Figure 7 As shown, a mounting cavity is provided at the lower end of the telescopic arm; the telescopic hook comprises a telescopic drive motor, a wire rope shaft, a wire rope, and a hook; the hook is fixed to one end of the wire rope, the other end of the wire rope is fixed to the wire rope shaft, the wire rope shaft is arranged in the mounting cavity, and the telescopic drive motor drives the wire rope shaft to rotate, thereby driving the wire rope to extend or shorten; an opening is provided in the middle of the operating arm mounting frame for the wire rope and the hook to pass through.

[0075] Each pair of guide arms includes an inner guide arm and an outer guide arm, which move away from or closer to each other through an opening and closing mechanism. Two guide wheels are provided on one side of the inner guide arm and the outer guide arm that clamp the prefabricated well segment to assist the prefabricated well segment to slide up and down; all guide wheels installed on the two pairs of guide arms are at the same height.

[0076] like Figure 2 As shown, the circumferential driving mechanism includes a circumferential moving frame, a circumferential driving motor, a circumferential guide wheel, a circumferential gear, and an annular rack; the end of the crane beam is fixed on the circumferential moving frame, and the circumferential guide wheel and the circumferential gear are both installed on the circumferential moving frame; the annular rack is arranged along the top ring beam, the circumferential driving motor drives the annular gear to rotate, and the annular gear meshes with the annular rack and translates along the annular rack; the top ring beam is provided with an annular track that cooperates with the annular guide wheel.

[0077] like Figure 3 As shown, the radial translation mechanism includes a radial translation motor, a gear rack mechanism, and a guide mechanism. The gear is installed on the crane, and the rack is installed on the crane beam. The radial translation motor drives the gear to rotate, and the gear translates relative to the rack, so that the crane translates relative to the crane beam along the guide mechanism; Figure 4 As shown, the lifting mechanism includes a lifting motor, a gear rack mechanism, and a guide mechanism. The gear is installed on the crane, and the rack is installed on the telescopic arm. The lifting motor drives the gear to rotate, and the gear rises and falls relative to the rack, so that the telescopic arm rises and falls relative to the crane along the guide mechanism; Figure 5 As shown, the opening and closing mechanism includes an opening and closing motor, a gear rack mechanism, and two guide mechanisms. The gear rack mechanism includes a gear and two racks. The gear is installed on the operating arm mounting frame. The inner guide arm and the outer guide arm are each connected to a rack. The opening and closing motor drives the gear to rotate, and the gear drives the two racks to translate in the opposite direction, so that the inner guide arm and the outer guide arm both translate in the opposite direction relative to the operating arm mounting frame along their respective guide mechanisms.

[0078] like Fig.11 As shown, the high-precision servo CNC system includes a high-precision measuring and positioning sensor and a servo CNC machine; high-precision measuring and positioning sensors are arranged on the inner side of the connection node between the bottom ring beam and the support column, the inner side of the connection node between the top ring beam and the support column, the inner and outer sides of the installed prefabricated well block, and the inner and outer sides of the prefabricated well block to be installed; the high-precision measuring and positioning sensor arranged on the integrated lifting and installation equipment is used as a positioning base point, and sends positioning data to the high-precision measuring and positioning sensor arranged on the prefabricated well block at millisecond time intervals, and returns to the positioning base point after receiving the positioning data on the prefabricated well block; through the data interaction between the high-precision measuring and positioning sensors, the mutual positioning and calibration of multiple sensors between the integrated lifting and installation equipment, the installed prefabricated well block and the prefabricated well block to be lifted are realized, and the lifting and installation machine is controlled by the servo CNC machine to achieve precise installation of the prefabricated well block.

[0079] In this embodiment, under the premise that the positioning information between the lifting and installation machine, the installed prefabricated well segment and the prefabricated well segment to be lifted is known, precise control of the posture during the lifting process of the prefabricated well segment is achieved through the servo CNC machine and the drive motor and hydraulic equipment on the equipment.

[0080] The integrated construction method of CNC lifting and installation of small and medium-sized assembled caissons adopts CNC lifting and installation integrated equipment of small and medium-sized assembled caissons, including the following steps: a. Carry out pre-construction preparations at the construction site, harden the wellhead foundation concrete, and embed the anchor bolts. Specifically: Investigate and collect the location, elevation, and structural form of the original above-ground and underground buildings, structures, and pipelines within the scope of the caisson construction; collect rock and soil properties and related parameters; do a good job of ground hardening, foundation beam construction, and embed anchor bolts on the foundation beam.

[0081] b. The components of the hoisting and installation integrated equipment are transported to the construction site for installation, connected with the anchor bolts, and the prefabricated well segments and their connectors are transported to the construction site. Specifically: the components of the CNC hoisting and installation integrated equipment are transported to the construction site, and the hoisting and installation integrated equipment is installed according to the design and construction requirements, and various mechanized equipment and high-precision servo CNC systems are installed.

[0082] c. Arrange high-precision measurement and positioning sensors to build a sensor system, and jointly debug the hoisting installation machine, sensor system, and servo CNC machine. Specifically: Arrange the control piles and control points of each well position according to the engineering control network; According to the requirements of attitude control accuracy, affix and fix high-precision measurement and positioning sensors on the inner side of the intersection of the support column and the top ring beam and the bottom ring beam as the positioning measurement base point; affix high-precision measurement and positioning sensors on the inner and outer sides of the prefabricated well block to be hoisted as the positioning measurement moving point; Conduct joint debugging between mechanical equipment, sensor system, and servo CNC system to ensure that the positioning information flow, control information flow, and feedback information flow operate normally, and the control accuracy is within the allowable range of construction.

[0083] d. Lift the first section of the prefabricated well segment according to the construction drawings, hook the telescopic hook onto the pre-buried hanging ear on the prefabricated well segment, and adjust the guide arm through the opening and closing mechanism to keep the prefabricated well segment vertical; dynamically adjust the circumferential drive mechanism, radial translation mechanism, and lifting mechanism through the servo CNC machine input instructions to adjust the spatial movement and posture correction of the prefabricated well segment. After moving to the installation position, check the prefabricated well segment positioning information displayed by the servo CNC machine. After the position is accurate, slowly lower the prefabricated well segment to the designed position.

[0084] e. Install the subsequent prefabricated well segments; after the installation of the first section of the caisson prefabricated well segments is completed, the high-precision measurement and positioning sensors pasted on the inside and outside of the prefabricated well segments are installed as auxiliary positioning base points to improve the positioning accuracy of the subsequent prefabricated well segments during the lifting process. The positioning base points of the present invention are divided into main positioning base points and auxiliary positioning base points. The main positioning base points are mainly set on the equipment as described in step c; and the auxiliary positioning base points are located on the installed prefabricated well segments. Setting more positioning base points will result in higher positioning accuracy.

[0085] f. Static pressure assisted sinking. Specifically: After the well segments are formed into a ring and the connections between the well segments are completed, the well segments are sunk according to the design requirements. If sinking is difficult, the hoisting and installation integrated equipment is used as a reaction frame for static pressure assisted sinking.

[0086] g. Sealing the bottom of the caisson. Specifically: After the caisson is assembled in sections and sunk to the designed elevation, the bottom of the caisson is sealed to complete the construction.

[0087] When the mechanical operating arm clamps the prefabricated well segment, it first extends the telescopic hook, hooks the hanging ear of the prefabricated well segment with the hook, adjusts the position of the guide arm through the opening and closing mechanism, and shortens the telescopic hook at the same time, and adjusts the posture of the prefabricated well segment to be installed through the extension and retraction of the telescopic hook and the position of the guide arm.

[0088] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. Small and medium-sized assembled caisson CNC lifting and installation integrated equipment, characterized in that: It includes a lifting and installation machine for lifting prefabricated well segments and a high-precision servo CNC system for accurately aligning the prefabricated well segments; the lifting and installation machine includes a bottom ring beam, a top ring beam, a support column, a crane beam, a crane, a telescopic arm, a mechanical operating arm, a circumferential drive mechanism, a radial translation mechanism, a lifting mechanism, and an opening and closing mechanism. The bottom ring beam is arranged outside the wellhead and is arranged around the wellhead, the top ring beam is located above the bottom ring beam, the top ring beam and the bottom ring beam are connected by a support column, the crane beam is arranged along the diameter of the top ring beam, and both ends of the crane beam are driven by the circumferential drive mechanism to slide circumferentially along the top ring beam, the crane is radially translated along the crane beam by the radial translation mechanism, the telescopic arm is translated up and down along the crane by the lifting mechanism, the mechanical operating arm is arranged at the lower end of the telescopic arm, and the mechanical operating arm is opened and closed by the opening and closing mechanism to loosen or clamp the prefabricated well segment.

2. According to the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment according to claim 1, it is characterized in that: The mechanical operating arm includes an operating arm mounting frame, a telescopic hook, and two pairs of guide arms; the two pairs of guide arms are respectively installed on both sides below the operating arm mounting frame through a set of opening and closing mechanisms, and the telescopic hook is located between the two pairs of guide arms; a guide wheel is provided on one side of the guide arm for clamping the prefabricated well segment; the operating arm mounting frame is connected to the telescopic arm.

3. According to the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment according to claim 2, it is characterized in that: An installation cavity is provided at the lower end of the telescopic arm; the telescopic hook comprises a telescopic drive motor, a wire rope rotating shaft, a wire rope, and a hook; the hook is fixed to one end of the wire rope, and the other end of the wire rope is fixed to the wire rope rotating shaft; the wire rope rotating shaft is arranged in the installation cavity; the telescopic drive motor drives the wire rope rotating shaft to rotate, thereby driving the wire rope to extend or shorten; an opening is provided in the middle of the operating arm mounting frame for the wire rope and the hook to pass through.

4. According to the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment as claimed in claim 2, it is characterized by: Each pair of guide arms includes an inner guide arm and an outer guide arm, which move away from or closer to each other through an opening and closing mechanism. Two guide wheels are provided on one side of the inner guide arm and the outer guide arm that clamp the prefabricated well segment to assist the prefabricated well segment to slide up and down; all guide wheels installed on the two pairs of guide arms are at the same height.

5. According to the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment according to claim 1, it is characterized in that: The circumferential driving mechanism includes a circumferential moving frame, a circumferential driving motor, a circumferential guide wheel, a circumferential gear, and an annular rack; the end of the crane beam is fixed on the circumferential moving frame, and the circumferential guide wheel and the circumferential gear are both installed on the circumferential moving frame; the annular rack is arranged along the top ring beam, the circumferential driving motor drives the annular gear to rotate, and the annular gear meshes with the annular rack and moves horizontally along the annular rack; the top ring beam is provided with an annular track that cooperates with the annular guide wheel.

6. According to the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment as claimed in claim 4, it is characterized by: The radial translation mechanism includes a radial translation motor, a gear rack mechanism, and a guide mechanism. The gear is installed on the crane, and the rack is installed on the crane beam. The radial translation motor drives the gear to rotate, and the gear translates relative to the rack, so that the crane translates relative to the crane beam along the guide mechanism. The lifting mechanism includes a lifting motor, a gear rack mechanism, and a guide mechanism. The gear is installed on the crane, and the rack is installed on the telescopic arm. The lifting motor drives the gear to rotate, and the gear rises and falls relative to the rack, so that the telescopic arm rises and falls relative to the crane along the guide mechanism. The opening and closing mechanism includes an opening and closing motor, a gear rack mechanism, and two guide mechanisms. The gear rack mechanism includes a gear and two racks. The gear is installed on the operating arm mounting frame. The inner guide arm and the outer guide arm are each connected to a rack. The opening and closing motor drives the gear to rotate, and the gear drives the two racks to translate in opposite directions, so that the inner guide arm and the outer guide arm both translate in opposite directions relative to the operating arm mounting frame along their respective guide mechanisms.

7. According to the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment according to claim 1, it is characterized in that: The high-precision servo CNC system includes high-precision measuring and positioning sensors and a servo CNC machine; high-precision measuring and positioning sensors are set on the inner side of the connection nodes between the bottom ring beam and the support column, the inner side of the connection nodes between the top ring beam and the support column, the inner and outer sides of the installed prefabricated well segments, and the inner and outer sides of the prefabricated well segments to be installed; the high-precision measuring and positioning sensors deployed on the integrated lifting and installation equipment serve as the positioning base point, and send positioning data to the high-precision measuring and positioning sensors deployed on the prefabricated well segments at millisecond time intervals, and return to the positioning base point after receiving the positioning data on the prefabricated well segments; through data interaction between high-precision measuring and positioning sensors, the mutual positioning and calibration of multiple sensors between the integrated lifting and installation equipment, the installed prefabricated well segments and the prefabricated well segments to be lifted are realized, and the servo CNC machine is cooperated to control the lifting and installation machine to achieve precise installation of the prefabricated well segments.

8. A construction method for small and medium-sized assembled caisson numerical control lifting and installation integrated equipment, using the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment according to any one of claims 1 to 7, characterized in that: The following steps are involved: a. Carry out pre-construction preparation on the construction site, harden the wellhead foundation concrete, and embed the anchor bolts; b. Hoist and install the integrated equipment components to the construction site for installation, connect them with the anchor bolts, and transport the prefabricated well segments and their connecting parts to the construction site; c. Arrange high-precision measurement and positioning sensors to build a sensing system, and conduct joint debugging of the hoisting installation machine, sensing system, and servo CNC machine; d. Lift the first section of the prefabricated well segment according to the construction drawings, hook the telescopic hook to the pre-buried hanging ear on the prefabricated well segment, and adjust the guide arm through the opening and closing mechanism to keep the prefabricated well segment vertical; dynamically adjust the circumferential drive mechanism, radial translation mechanism, and lifting mechanism through the servo CNC input command to adjust the spatial movement and posture correction of the prefabricated well segment. After moving to the installation position, check the prefabricated well segment positioning information displayed by the servo CNC machine. After the position is accurate, slowly lower the prefabricated well segment to the designed position; e. Install the subsequent prefabricated well segments; after the installation of the prefabricated well segments of the first section of the caisson is completed, high-precision measurement and positioning sensors pasted on the inside and outside of the prefabricated well segments have been installed as auxiliary positioning base points to improve the positioning accuracy of the subsequent prefabricated well segment hoisting process; f. Static pressure to assist sinking; g. Sealing the bottom of the caisson.

9. The construction method of the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment according to claim 8 is characterized in that: In step f, an integrated lifting and installation device is used as a reaction frame to perform static pressure-assisted sinking.

10. The construction method of the small and medium-sized assembled caisson numerical control lifting and installation integrated equipment according to claim 8 is characterized in that: When the mechanical operating arm clamps the prefabricated well segment, it first extends the telescopic hook, hooks the hanging ear of the prefabricated well segment with the hook, adjusts the position of the guide arm through the opening and closing mechanism, and shortens the telescopic hook at the same time. The posture of the prefabricated well segment to be installed is adjusted by the extension and retraction of the telescopic hook and the position of the guide arm.

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