Integrated equipment for CNC lifting and installation of small and medium-sized assembled caissons and its construction method

Abstract

Small and medium-sized assembled caisson CNC lifting and installation integrated equipment and its construction method, the equipment includes a lifting and installation machine and a high-precision servo CNC system; in the lifting and installation machine, the top ring beam is located above the bottom ring beam, and the two are connected by a support column, and both ends of the crane beam arranged along the diameter of the top ring beam are driven by a circumferential drive mechanism to slide circumferentially along the top ring beam, the crane is translated along the crane beam by a radial translation mechanism, the telescopic arm is translated up and down along the crane by a 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 an opening and closing mechanism to loosen or clamp the prefabricated well segment. The present invention can improve construction quality, has accurate positioning, and has strong versatility. It is particularly suitable for the construction of small and medium-sized assembled caissons, and belongs to the technical field of prefabricated assembled caisson construction, prefabricated well segment handling manipulators, prefabricated well segment positioning and distance measurement, and prefabricated well segment transportation devices.

Description

Technical Field

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

[0002] Currently, cast-in-place monolithic caissons are a mature construction technology widely used in water supply and drainage networks, bridge foundations, and underground space construction projects. While traditional cast-in-place monolithic caisson construction methods offer advantages such as high rigidity, large cross-sections, high bearing capacity, strong impermeability, and wide applicability to various strata, their application is limited by low construction efficiency, difficulty in controlling the caisson's posture, and widespread subsidence in 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 used experimentally in municipal work. For example:

[0004] (1) The Xingle Road and Beiqing Highway escape shafts of the western extension of Shanghai Metro Line 13 both use actively controlled assembled mechanized caisson technology. This technology utilizes a cross beam at the bottom of the shaft and an underwater robot distributed scanning system in conjunction with an underwater drilling rig for excavation, solving the construction challenges of large caisson excavation. However, the segment lifting process still relies on traditional lifting equipment. This technology is complex, difficult to operate, and expensive, making it difficult to quickly market.

[0005] (2) Nanjing Jianye District Sunken Well Parking Facility Construction Project (Phase 1)

[0006] The maximum excavation depth of the vertical shaft for this project is approximately 68 meters, with a shaft diameter of 13 meters. This marks the first application of VSM equipment in China and the first integration of this equipment into an underground parking garage project worldwide. While the sinking-assistance technology is highly innovative, conventional cranes are still used for the installation of the segments and construction machinery.

[0007] (3) Sunken shaft intelligent parking garage at the Administrative Service Center of Haicang District, Xiamen City.

[0008] The caisson-style intelligent parking garage at the Xiamen Haicang District Administrative Service Center is China's first underground mechanical garage. It comprises five levels, each with 10 parking spaces, accommodating a total of 50 standard vehicles. The shaft has an inner diameter of 20.6 meters and an outer diameter of 22 meters, covering an underground area of ​​380 square meters and a total depth of approximately 17 meters. The shaft utilizes a semi-prefabricated, assembled structure. The shaft is divided into six levels along its height: the bottom level is a bladed-foot level, and the remaining five levels are standard levels. Each level is comprised of 10 sections, with the inner and outer walls of each section connected by connecting ribs. The prefabricated sections are transported to the site for assembly, and reinforced concrete is poured into the cavity between the inner and outer walls to ensure the joints and safety of the assembled shaft. Excavation is then carried out, and the additional levels of the shaft are installed, layer by layer, until the shaft is lowered to the desired depth. This project utilizes a semi-prefabricated caisson, which is relatively costly and has a limited sinking depth. This makes construction difficult in situations involving high groundwater levels or pressurized water.

[0009] 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. During the construction of prefabricated caissons, there have been many technical innovations in the construction process, but most of them are concentrated in the construction excavation, sinking assistance, and deviation control direction of large caissons. For the well segment hoisting construction, common hoisting equipment such as tire cranes, tower cranes, and mast cranes are still used. The industry lacks technical innovation in prefabricated caissons, especially the well segment hoisting equipment of small and medium-sized prefabricated caissons (diameter D=5-10m) in municipal engineering. According to the published patent documents, similar ones are:

[0010] (1) CN115977129A discloses an assembled circular caisson device and an installation method.

[0011] This solution provides an assembled circular caisson device and installation method, including a prefabricated caisson and a mobile installation vehicle, which enables the rapid lifting and mobile installation of the prefabricated caisson wall at the construction site without the need for large lifting equipment such as truck cranes and tower cranes. Its structure is relatively simple, and it is easy and quick to manufacture and operate. Its technical features are:

[0012] a. The mobile installation vehicle moves along the concave chute by driving the rollers, so that the mobile installation vehicle moves in a circular motion and realizes automatic start and stop.

[0013] b. The prefabricated shaft wall can be quickly lifted and moved for installation by using the electric hoist on the lifting beam, which saves time and effort, avoids manual pushing, reduces the labor intensity of the operator, and saves construction costs.

[0014] However, this solution still has some flaws:

[0015] a. The movement of the installation vehicle requires the installation of a concave chute around the well wall, and the moving route is fixed, which is not conducive to the flexible adjustment of the on-site lifting position.

[0016] b. The load-bearing frame is a welded integral frame, which has poor flexibility when equipment is transferred.

[0017] c. Flexible cable hoisting makes it difficult to control the accuracy of the pipe segments and is likely to cause impact damage to the installed pipe segments and waterstops, which is not conducive to the protection of the finished product.

[0018] (2) CN 118309095 A discloses an assembled caisson hoisting mechanism and an assembly construction method.

[0019] This solution provides a prefabricated caisson assembly construction method. Based on the caisson's installation location, a central column is erected at the caisson's center, and a reference stop is moved according to the caisson's radius to form a radial reference. The caisson segments are then hoisted by moving the lifting arm radially along the caisson's radius and circumferentially around the central column. However, this method also presents some challenges during its application:

[0020] 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 caisson or rely on internal supports to ensure the stability of the column to achieve lifting accuracy and stability. The actual operation is quite difficult.

[0021] b. The lifting equipment is heavy and needs to be assembled mechanically inside the well. The space inside the small-diameter caisson is limited, which further increases the difficulty of assembling and dismantling the construction machinery.

[0022] At present, the main operation process of prefabricated reinforced concrete caisson construction is as follows:

[0023] (1) Construction preparation

[0024] (2) Measurement and positioning.

[0025] (3) Drainage and foundation pit excavation.

[0026] (4) Prefabrication of caisson blades and caisson walls.

[0027] (5) Construction of blade foot pad.

[0028] (6) Control point measurement and setting.

[0029] (7) Positioning and lifting of blade foot ring.

[0030] (8) Hoisting of prefabricated caisson ring.

[0031] (8) The caisson sinks.

[0032] (9) Sealing the bottom of the caisson.

[0033] For steps (7) and (8), the lifting equipment in current construction machinery is relatively large, and it is inconvenient to use 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.

[0034] In order to solve the above problems, the closest technical solution CN118309095A specifically proposes a lifting device, but it still has many defects. Based on this, the present invention is proposed. Summary of the Invention

[0035] 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.

[0036] In order to achieve the above object, the present invention adopts the following technical solutions:

[0037] 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 support columns. 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 segments.

[0038] 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 plate; the operating arm mounting frame is connected to the telescopic arm.

[0039] 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 set 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 for the wire rope and the hook to pass through is provided in the middle of the operating arm mounting frame.

[0040] 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 that clamp the prefabricated well segment to assist the prefabricated well segment in sliding up and down; all guide wheels installed on the two pairs of guide arms are at the same height.

[0041] As a preferred embodiment, the circumferential drive mechanism includes a circumferential movable 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 movable frame, and the circumferential guide wheel and the circumferential gear are both installed on the circumferential movable frame; the annular rack is arranged along the top ring beam, and the circumferential drive motor drives the annular gear to rotate, and the annular gear is engaged 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 circumferential guide wheel.

[0042] 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 along the guide mechanism relative to the crane; 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. 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 along their respective guide mechanisms relative to the operating arm mounting frame.

[0043] As a preferred embodiment, 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 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 segments, and the inner and outer sides of the prefabricated well segments to be installed; the high-precision measuring and positioning sensors arranged 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 arranged 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 operation of the lifting and installation machine to achieve precise installation of the prefabricated well segments.

[0044] The integrated construction method for CNC lifting and installation of small and medium-sized assembled caissons uses CNC lifting and installation integrated equipment for small and medium-sized assembled caissons, including the following steps:

[0045] a. Prepare the construction site before construction, harden the wellhead foundation concrete, and embed anchor bolts;

[0046] b. Lift and install the integrated equipment components to the construction site for installation, connect them with anchor bolts, and transport the prefabricated well segments and their connectors to the construction site;

[0047] c. Arrange high-precision measurement and positioning sensors to build a sensing system, and conduct joint debugging of the lifting and installation machine, sensing system, and servo CNC machine;

[0048] d. Lift the first section of the caisson precast segment according to the construction drawings. Hook the telescopic hook to the pre-embedded lug on the precast segment and adjust the guide arm via the opening and closing mechanism to keep the segment vertical. Dynamically adjust the circumferential drive mechanism, radial translation mechanism, and lifting mechanism via input from the servo CNC machine to adjust the spatial movement and posture correction of the precast segment. After moving to the installation position, verify the precast segment positioning information displayed on the servo CNC machine. Once the position is correct, slowly lower the precast segment to the designed position.

[0049] e. Installation of subsequent prefabricated well segments: After the installation of the first section of the caisson prefabricated well segments is completed, high-precision measurement and positioning sensors are installed on the inside and outside of the prefabricated well segments as auxiliary positioning base points to improve the positioning accuracy during the subsequent lifting process of the prefabricated well segments;

[0050] f. Static pressure to assist sinking;

[0051] g. Seal the bottom of the caisson.

[0052] 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.

[0053] As a preferred embodiment, when the mechanical operating arm clamps the prefabricated well plate, it first extends the telescopic hook, hooks the hanging ear of the prefabricated well plate 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 plate to be installed by the extension and retraction of the telescopic hook and the position of the guide arm.

[0054] The principle of the present invention is:

[0055] 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 relies 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.

[0056] Aiming at the construction of small and medium-sized assembled caissons, the present invention designs a special robot for transporting prefabricated well segments, a high-precision servo numerical control system for precise positioning and distance measurement of prefabricated well segments, and an integrated device that is installed outside the well and is not restricted by the caisson working conditions.

[0057] The present invention has the following advantages:

[0058] 1. The equipment is installed outside the well and is not restricted by the caisson working conditions. The equipment will not sink and the assembly is not restricted by the caisson size.

[0059] 2. Relying on mechanical structure, measurement 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 by relying on the servo CNC system according to on-site needs, greatly improving the installation accuracy of prefabricated caissons and the correction efficiency during the installation process, avoiding impact damage to installed prefabricated well segments and waterproof strips and other materials during construction, improving construction quality, and having broad application prospects.

[0060] 3. By utilizing a circumferentially movable and radially translatable mechanical system in conjunction with a lifting system, the well segment to be hoisted can be flexibly maneuvered in three directions of freedom. By relying on the meshing transmission of gears and racks, the lifting and installation machine can be moved precisely and stably, providing physical support for hoisting stability.

[0061] 4. The mechanical operating arm system consisting of a hook, inner and outer guide arms and guide wheels, combined 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.

[0062] 5. The structural load-bearing frame composed of the bottom ring beam, top ring beam and support columns is connected by high-strength bolts and is modularly manufactured. It can be transported to the site for assembly in components. It is flexible and versatile, and is highly applicable to small and medium-sized caisson projects with limited terrain and site conditions.

[0063] 6. The bottom of the structural support frame is firmly connected to the treated foundation through anchor bolts. When the well segment itself 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 auxiliary sinking reaction frame, realizing multiple uses of one device.

[0064] 7. Specially designed for small and medium-sized assembled caisson construction, with strong versatility. The diameter of small and medium-sized caissons is generally 5-10 meters. As long as the lifting and installation machine is designed slightly larger to cover the above size, it can have strong versatility. Because the equipment is small, it has strong convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a three-dimensional diagram of the integrated lifting and installation equipment.

[0066] Figure 2 It is a top view of the integrated lifting and installation equipment.

[0067] Figure 3 This is a partial enlarged view of the top of the integrated lifting and installation equipment.

[0068] Figure 4 This is a partial enlarged view of the crane beam and crane.

[0069] Figure 5 It is a three-dimensional diagram of the robotic operating arm.

[0070] Figure 6 This is a three-dimensional image of the robotic arm from another perspective.

[0071] Figure 7 It is a structural diagram of a telescopic hook.

[0072] Figure 8 This is a partial enlarged view of the top ring beam connection.

[0073] Figure 9 It is a three-dimensional diagram of the connecting piece.

[0074] Figure 10 This is the installation scenario diagram of the integrated lifting and installation equipment.

[0075] Figure 11 This is the working principle diagram of the high-precision servo CNC system.

[0076] Figure 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.

[0077] 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 bolt, 14-wellhead foundation concrete hardened layer.

[0078] 21-arc unit, 22-connecting piece.

[0079] 61-Mounting cavity.

[0080] 71 - Operating arm mounting bracket, 72 - Telescopic hook, 73 - Guide arm, 74 - Guide wheel. 711 - Opening. 721 - Telescopic drive motor, 722 - Wire rope, 723 - Hook.

[0081] 81- Circumferential drive motor, 82- Circumferential moving frame.

[0082] 91- radial translation motor, 92- rack and pinion mechanism of radial translation mechanism, 93- guide mechanism of radial translation mechanism.

[0083] 101 - lifting motor, 102 - rack and pinion mechanism of the lifting mechanism, 103 - guide mechanism of the lifting mechanism.

[0084] 111-opening and closing motor, 112-guiding mechanism of the opening and closing mechanism. DETAILED DESCRIPTION

[0085] The present invention will be further described in detail below with reference to specific implementation methods.

[0086] 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 support columns. 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.

[0087] In this embodiment, the bottom ring beam, top ring beam and support column form a structural load-bearing frame. Among them, the bottom ring beam and the top ring beam are composed of multiple arc units, such as Figure 8 and Figure 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.

[0088] 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 the side of the guide arm that clamps the prefabricated well segment; the operating arm mounting frame is connected to the telescopic arm.

[0089] In this embodiment, a pair of guide arms are opened and closed by a set of opening and closing mechanisms to adjust the spacing to accommodate different thicknesses of prefabricated well plates. The guide wheels are preferably rubber guide wheels that can rotate to assist in adjusting the posture and precise positioning of the prefabricated well plates. The length of the guide arms in the vertical direction is L, and the height of the prefabricated well plate is H, H / 2 <L<H 。

[0090] like Figure 7 As shown, a mounting cavity is provided 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, and 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.

[0091] Each pair of guide arms includes an inner guide arm and an outer guide arm. 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 that clamp the prefabricated well segment to assist the prefabricated well segment in sliding up and down. All guide wheels installed on the two pairs of guide arms are at the same height.

[0092] like Figure 2 As shown, 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, and the circumferential drive motor drives the annular gear to rotate, and the annular gear is engaged 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.

[0093] 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 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.

[0094] like Figure 11As shown, the high-precision servo CNC system includes high-precision measurement and positioning sensors and a servo CNC machine; high-precision measurement and positioning sensors are set 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 measurement and positioning sensors arranged on the integrated lifting and installation equipment serve as the positioning base point, and send positioning data to the high-precision measurement and positioning sensors arranged on the prefabricated well block at millisecond time intervals, and return to the positioning base point after receiving the positioning data on the prefabricated well block; through data interaction between high-precision measurement 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 servo CNC machine is cooperated to control the operation of the lifting and installation machine to achieve precise installation of the prefabricated well block.

[0095] 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.

[0096] The integrated construction method for CNC lifting and installation of small and medium-sized assembled caissons uses CNC lifting and installation integrated equipment for small and medium-sized assembled caissons, including the following steps:

[0097] a. Prepare the construction site, harden the wellhead foundation concrete, and embed anchor bolts. Specifically, investigate and collect information on the location, elevation, and structural form of existing above-ground and underground structures and pipelines within the caisson construction area; collect geotechnical properties and related parameters; harden the ground, construct foundation beams, and embed anchor bolts in them.

[0098] b. Lift and install the integrated equipment components to the construction site for installation, connect them with anchor bolts, and deliver the prefabricated well segments and their connectors to the construction site. Specifically, the components of the CNC lifting and installation integrated equipment are transported to the construction site and installed according to design and construction requirements, including various mechanized equipment and high-precision servo CNC systems.

[0099] c. Deploy high-precision measurement and positioning sensors to build the sensor system and conduct joint debugging of the hoisting and installation machinery, sensor system, and servo CNC machine. Specifically, arrange control stakes and control points at each well location according to the project control network. Based on the required attitude control accuracy, affix high-precision measurement and positioning sensors to the inside of the intersections between the support columns and the top and bottom ring beams, serving as base points for positioning measurement. Affix high-precision measurement and positioning sensors to the inside and outside of the prefabricated well segments to be hoisted, serving as moving points for positioning measurement. Joint debugging of the mechanical equipment, sensor system, and servo CNC system is conducted to ensure the normal operation of the positioning, control, and feedback information flows, and to ensure control accuracy is within the permitted range for construction.

[0100] d. Lift the first section of the prefabricated well segment according to the construction drawings. Hook the telescopic hook onto the pre-buried lug on the prefabricated well segment. 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 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.

[0101] e. Install subsequent prefabricated well segments. After the first section of the caisson is installed, high-precision measurement and positioning sensors are attached to the inside and outside of the prefabricated well segments as auxiliary positioning points to improve positioning accuracy during the subsequent lifting of the prefabricated well segments. The positioning points of the present invention are divided into primary positioning points and auxiliary positioning points. The primary positioning points, as described in step c, are primarily installed on the equipment; the auxiliary positioning points are located on the installed prefabricated well segments. The addition of more positioning points results in higher positioning accuracy.

[0102] f. Static pressure-assisted sinking. Specifically, after the well segments are formed into a ring and connected, the well segments are sunk according to the design requirements. If sinking is difficult, an integrated lifting and installation device is used as a reaction frame to assist with static pressure sinking.

[0103] g. Caisson bottom sealing. Specifically: After the caisson is assembled in sections and sunk to the designed elevation, the caisson bottom is sealed to complete the construction.

[0104] Among them, 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.

[0105] 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 considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. Small and medium-sized assembled caisson CNC lifting and installation integrated equipment, characterized by: 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, and the top ring beam and the bottom ring beam are connected by support columns. 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.

2. The small and medium-sized assembled caisson CNC lifting and installation integrated equipment according to claim 1 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 each 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 the side of the guide arm that clamps the prefabricated well segment; the operating arm mounting frame is connected to the telescopic arm.

3. The small and medium-sized assembled caisson CNC lifting and installation integrated equipment according to claim 2 is characterized in that: An installation cavity is provided 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, and the other end of the wire rope is fixed to the wire rope shaft. The wire rope shaft is arranged in the installation 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.

4. The small and medium-sized assembled caisson CNC lifting and installation integrated equipment according to claim 2 is characterized in that: Each pair of guide arms includes an inner guide arm and an outer guide arm. 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 that clamp the prefabricated well segment to assist the prefabricated well segment in sliding up and down. All guide wheels installed on the two pairs of guide arms are at the same height.

5. The small and medium-sized assembled caisson CNC lifting and installation integrated equipment according to claim 1 is characterized in that: 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, and the circumferential drive 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. The small and medium-sized assembled caisson CNC lifting and installation integrated equipment according to claim 4 is characterized in that: 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. The small and medium-sized assembled caisson CNC lifting and installation integrated equipment according to claim 1 is characterized in that: The high-precision servo CNC system includes high-precision measurement and positioning sensors and servo CNC machines; high-precision measurement and positioning sensors are installed 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 measurement 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 measurement 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 measurement 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 operation of 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 CNC lifting and installation integrated equipment, using the small and medium-sized assembled caisson CNC lifting and installation integrated equipment according to any one of claims 1 to 7, characterized in that: The following steps are involved: a. Prepare the construction site before construction, harden the wellhead foundation concrete, and embed anchor bolts; b. Lift and install the integrated equipment components to the construction site for installation, connect them with anchor bolts, and transport the prefabricated well segments and their connectors to the construction site; c. Arrange high-precision measurement and positioning sensors to build a sensing system, and conduct joint debugging of the lifting and installation machine, sensing system, and servo CNC machine; d. Lift the first section of the caisson precast segment according to the construction drawings. Hook the telescopic hook to the pre-embedded lug on the precast segment and adjust the guide arm via the opening and closing mechanism to keep the segment vertical. Dynamically adjust the circumferential drive mechanism, radial translation mechanism, and lifting mechanism via input from the servo CNC machine to adjust the spatial movement and posture correction of the precast segment. After moving to the installation position, verify the precast segment positioning information displayed on the servo CNC machine. Once the position is correct, slowly lower the precast segment to the designed position. e. Installation of subsequent prefabricated well segments: After the installation of the first section of the caisson prefabricated well segments is completed, high-precision measurement and positioning sensors are installed on the inside and outside of the prefabricated well segments as auxiliary positioning base points to improve the positioning accuracy during the subsequent lifting process of the prefabricated well segments; f. Static pressure to assist sinking; g. Seal 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 and hooks the hanging ear of the prefabricated well segment with the hook. The position of the guide arm is adjusted through the opening and closing mechanism, and the telescopic hook is shortened 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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