Pier column erecting equipment based on double-arm collaborative sliding and hoisting operation and construction method

Abstract

The invention provides pier stud erecting equipment based on double-arm collaborative sliding and hoisting operation and a construction method. A modular functional vehicle is provided with a high-position arm lifting stand column, one end of the high-position arm lifting stand column is hinged to a high-position rotary arm frame, and the other end of the high-position rotary arm frame is hinged to the end of a high-position arm lifting supporting leg; the high-position arm lifting support legs are connected with the modular transport vehicle to form a gantry hoisting structure; a low-position arm lifting stand column is further arranged on the modular functional vehicle and hinged to one end of a low-position rotary arm frame, and the other end of the low-position rotary arm frame is connected with a low-position arm placing stand column on the modular transport vehicle to form a placing beam body structure. Pier column carrying and placing bases are further arranged at the two ends of the modular transport vehicle, and the pier column carrying and placing bases are jacked through hydraulic pressure. A double-arm cooperative sliding and hoisting system composed of a high-position cross arm hoisting system and a low-position cross arm sliding and hoisting system is adopted, the overall erecting height of equipment is effectively reduced, and the procedures of overall sliding, overall turning over, accurate alignment and the like of the pier stud are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bridges, in particular to a pier column erecting equipment and construction method based on double-arm cooperative sliding hoisting operation. BACKGROUND

[0002] With the development of society, most of the main highway trunks constructed in early years are faced with traffic jam problems caused by large traffic flow, which affects the vehicle passing efficiency, so highway reconstruction and expansion projects gradually increase in recent years. In the highway reconstruction and expansion projects, the working conditions of precast pier column assembly type construction at the position of the joint between two existing roads are often faced, and the hoisting equipment used mainly includes two types of mobile gantry crane and automobile crane. The mobile gantry crane and the automobile crane are both faced with different problems in the precast pier column installation, specifically: (1) The mobile gantry crane has large lifting capacity, can reduce the number of pier column segments, and thus improve the construction efficiency. Since the precast pier column is high, and the height of the mobile gantry crane needs to be higher than the height of the precast pier column, the height of the mobile gantry crane is very high. The tires on both sides of the mobile gantry crane are respectively straddled on the road surfaces on both sides of the joint, and the width of the mobile gantry crane is narrow, so that the height-width ratio of the overall structure of the mobile gantry crane is large, and the structural stability is poor, which greatly affects the construction safety in the hoisting process. In addition, the span of the mobile gantry crane is fixed after installation, and cannot adapt to the working conditions of the change of the width of the joint, and the flexibility is poor.

[0003] (2) Automobile crane: the automobile crane has strong mobility, and can face various complex working conditions. However, in the reconstruction and expansion project, the lifting capacity is often insufficient due to the small construction operation surface, which leads to the increase of the number of segment division of the precast pier column, and thus affects the construction efficiency.

[0004] Therefore, how to balance the construction safety and the construction efficiency becomes a problem in the precast pier column installation of the current reconstruction and expansion project. In view of the above requirements and problems, the present application provides a pier column erecting equipment and construction method based on double-arm cooperative sliding hoisting operation, which realizes the whole-process mechanized operation of the transportation and installation of the straight precast pier column by the integrated equipment, can avoid the segment division of the pier column, improve the construction efficiency, and can ensure the construction safety by the low-position hoisting method. SUMMARY

[0005] The main purpose of the present application is to provide a pier column erecting equipment and construction method based on double-arm cooperative sliding hoisting operation, which solves the problems that the span of the mobile gantry crane is fixed after installation, cannot adapt to the working conditions of the change of the width of the joint, and the flexibility is poor, and the automobile crane faces the problem of insufficient lifting capacity.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a pier erection equipment based on dual-arm collaborative sliding operation, including a modular functional vehicle and a modular transport vehicle. The modular functional vehicle is equipped with a high-position boom lifting column. One end of the high-position boom lifting column is hinged to a high-position rotary boom, and the other end of the high-position rotary boom is hinged to the end of the high-position boom lifting leg. The high-position boom lifting leg is connected to the modular transport vehicle to form a gantry crane structure. The modular functional vehicle is also equipped with a low-position boom lifting column. The low-position boom lifting column is hinged to one end of the low-position slewing boom, and the other end of the low-position slewing boom is connected to the low-position boom support column on the modular transport vehicle to form a support beam structure. The modular transport vehicle is also equipped with pier support bases at both ends, which are lifted by hydraulic jacking.

[0007] In the preferred embodiment, a high-position slewing boom is equipped with a high-position lifting trolley, which moves on the high-position slewing boom via a hydraulic motor and an electric motor.

[0008] In the preferred embodiment, the end of the high-position slewing boom is hinged to the upper end of the high-position boom lifting outrigger via a hinged drive device. The hinged drive device is either an electric motor or a hydraulic motor, and drives the high-position boom lifting outrigger to rotate.

[0009] In the preferred embodiment, the lower end of the high-mounted boom lifting outrigger is engaged with the guide rail beam of the modular transport vehicle.

[0010] In the preferred embodiment, both the lifting outriggers and the lifting column of the high-mounted boom are lifted by hydraulic cylinders.

[0011] In the preferred embodiment, the high-mounted boom lifting column slides on the functional vehicle guide rail beam driven by a motor or hydraulic motor; The low-position boom lifting column slides on the functional vehicle's guide rail beam, driven by a motor or hydraulic motor.

[0012] In the preferred embodiment, the low-position boom lifting column is connected to one end of the low-position rotary boom via a first rotary structure, the other end of the low-position rotary boom is engaged with the upper end of the low-position boom support column, the low-position boom support column is slidably connected to the transport vehicle guide rail beam, and the low-position boom support column is driven to slide on the transport vehicle guide rail beam by a motor or hydraulic motor.

[0013] The upper end of the high-position boom lifting column is connected to the high-position rotary boom through a second rotary structure.

[0014] The slewing structure is a worm gear drive structure. The worm gear is connected to the rotating arm, the worm is connected to the output end of the motor or hydraulic motor, and the outer shell of the slewing structure is fixedly connected to the end of the lifting structure.

[0015] In the preferred embodiment, a low-position slewing boom is provided with a low-position sliding hinge base, and a hinge seat is provided on the low-position sliding hinge base.

[0016] In the preferred embodiment, the modular functional vehicle has lifting cylinders on both sides of the functional vehicle guide rail beam, and multiple light-load self-propelled wheel sets at the bottom of the functional vehicle guide rail beam. The modular transport vehicle has multiple heavy-duty automatic wheel sets on the bottom rail-type main beam. Both the heavy-duty automatic wheel assembly and the light-duty self-propelled wheel assembly are hydraulic lifting wheel assemblies, and both are equipped with steering structures.

[0017] The method includes: S1. Modular transport vehicle carries precast piers to the designated installation location; modular functional vehicle is on standby at the location in advance to check the status of its own double-arm system components. S2. The modular functional vehicle is ready at the designated installation bridge position. After the modular transport vehicle arrives, the modular functional vehicle and the modular transport vehicle adjust their body posture and position synchronously on the left and right sides of the median strip to start building the dual-vehicle collaborative system. S3. The high-position boom lifting column and the high-position slewing boom move. The high-position slewing boom is raised to a certain height and rotated 90 degrees to be perpendicular to the modular functional vehicle body. The high-position boom lifting outriggers are deployed and lowered to connect with the high-position boom support base. At this time, the high-position boom lifting column, the high-position slewing boom and the high-position boom lifting outriggers form a stable "gate" shaped structure. S4. The pier transport and support base is lifted, which raises the precast pier to a certain height to provide space for the low-position rotary boom to be lowered. S5. The low-position slewing boom rotates perpendicular to the modular functional vehicle body, and the low-position sliding hinge base moves to one end of the low-position slewing boom, that is, directly below the precast pier. S6. The lifting lugs installed below the precast pier are hinged to the low-level sliding hinged base, and the lifting lugs installed above the precast pier are connected to the wire rope lowered by the high-level hoisting trolley through shackles. S7. The high-level hoisting trolley lifts the wire rope to a certain height, and the low-level arm lifting column and the low-level arm supporting column are lifted to a certain height. The precast pier column is separated from the pier column carrier support base, realizing the force system conversion. S8. The low-position sliding hinged base and the high-position hoisting trolley slide towards the middle synchronously, and the precast pier is slid and hoisted to the top of the median strip. S9. The high-level hoisting trolley lowers the wire rope, and the precast pier is gradually adjusted from a horizontal state to a vertical state. During the turning process, the high-level slewing boom gradually approaches the low-level slewing boom, so that the wire rope under the high-level hoisting trolley remains in a basically vertical state to prevent "tilting and lifting at an angle". S10. After the precast pier is turned over, the low-position boom lifting column, low-position slewing boom, and low-position sliding hinged base are used together; the high-position lifting boom system: the high-position boom lifting column, high-position slewing boom, high-position boom lifting outriggers, and high-position lifting trolley work together to eliminate the distance deviation in the front-to-back and left-to-right directions of the precast pier, and then the precast pier is lowered into place to complete one installation. S11. Disconnect the precast pier from the low-position sliding hinge base and the wire rope of the high-position hoisting trolley. Return the low-position slewing boom, the high-position slewing boom, and the high-position boom lifting outriggers to their original positions. Move the modular functional vehicle and the modular transport vehicle away from the bridge site to begin the installation of the next precast pier.

[0018] This invention provides a pier erection equipment and construction method based on dual-arm collaborative sliding crane operation. It employs a dual-vehicle collaborative system consisting of a modular functional vehicle and a modular transport vehicle, adapting to the overall erection needs of piers in the median strip areas of existing left and right lanes of highways, achieving integrated transportation and installation of the piers. The dual-arm collaborative sliding crane system, composed of a high-level horizontal boom hoisting system and a low-level horizontal boom sliding system, effectively reduces the overall erection height of the equipment, enabling processes such as overall sliding, overall turning, and precise positioning of the piers. The overall pier installation method avoids repeated transportation, sliding, turning, and precise positioning actions during segmented pier installation, improving pier installation efficiency. This pier erection equipment and construction method based on dual-arm collaborative sliding crane operation reduces the erection height of the pier installation equipment, enhances the flexibility of the pier installation equipment's positioning, and improves the efficiency of pier installation.

[0019] One of the above technical solutions has the following advantages or beneficial effects: 1. A dual-vehicle collaborative system consisting of modular functional vehicles and modular transport vehicles is adopted to meet the construction needs of the overall erection of piers in the median strip area of ​​the existing left and right lanes of the highway, and to realize the integrated operation of overall transportation and installation of piers. 2. A dual-arm coordinated sliding hoisting system consisting of a high-level horizontal boom hoisting system and a low-level horizontal boom sliding system is adopted, which effectively reduces the overall erection height of the equipment and realizes the overall sliding, overall turning, and precise alignment of the pier column. 3. The method of integral pier installation is adopted, which avoids repeated transportation, sliding, turning and precise positioning during the segmented installation of piers, thus improving the efficiency of pier installation. 4. A pier erection equipment and construction method based on dual-arm collaborative sliding crane operation, which reduces the erection height of the pier installation equipment, enhances the flexibility of the pier installation equipment's positioning, and improves the efficiency of pier installation. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 is an overall structural diagram of the erection equipment of the present invention; Figure 2 is a structural diagram of the modular functional vehicle in the pier erection equipment of the present invention; Figure 3 is a structural diagram of the modular transport vehicle in the pier erection equipment of the present invention; Figure 4 is a structural diagram of the modular transport vehicle carrying prefabricated piers in the pier erection equipment of the present invention; Figure 5 is an isometric view of step S2 of the construction method of the pier erection equipment of the present invention; Figure 6 is a front view of step S2 of the construction method for the pier erection equipment of the present invention; Figure 7 is an isometric view of step S3 of the construction method of the pier erection equipment of the present invention; Figure 8 is a front view of step S3 of the construction method for the pier erection equipment of the present invention; Figure 9 is an isometric view of steps S4, S5, and S6 of the construction method of the pier erection equipment of the present invention; Figure 10 is a front view of steps S4, S5, and S6 of the construction method for the pier erection equipment of the present invention; Figure 11 is an isometric view of steps S7 and S8 of the construction method of the pier erection equipment of the present invention; Figure 12 is a front view of steps S7 and S8 of the construction method for the pier erection equipment of the present invention; Figure 13 is an isometric view of step S9 of the construction method for pier erection equipment of the present invention; Figure 14 is a front view of step S9 of the construction method for the pier erection equipment of the present invention; Figure 15 is an isometric view of step S10 of the construction method for the pier erection equipment of the present invention; Figure 16 is a front view of step S10 of the construction method for pier erection equipment of the present invention.

[0021] In the diagram: Modular functional vehicle 1; Light-duty self-propelled wheel set 11; Functional vehicle guide rail type beam 12; Low-position boom lifting column 13; Low-position slewing boom 14; Low-position sliding articulated base 15; High-position boom lifting column 16; High-position slewing boom 17; High-position boom lifting outrigger 18; High-position hoisting trolley 19; Slewing structure 20; Worm gear 201; Worm 202; Modular transport vehicle 2; heavy-duty automatic wheel assembly 21; transport vehicle guide rail type beam 22; low-position arm support column 23; pier column transport support base 24; high-position arm support base 25. Detailed Implementation

[0022] Example 1 like Fig. 1-16As shown, a pier erection equipment based on dual-arm collaborative sliding crane operation includes a modular functional vehicle 1 and a modular transport vehicle 2. The modular functional vehicle 1 is equipped with a high-position boom lifting column 16. One end of the high-position boom lifting column 16 is hinged to a high-position rotary boom 17, and the other end of the high-position rotary boom 17 is hinged to the end of a high-position boom lifting leg 18. The high-position boom lifting leg 18 is connected to the modular transport vehicle 2 to form a gantry crane structure. The modular functional vehicle 1 is also equipped with a low-position boom lifting column 13. The low-position boom lifting column 13 is hinged to one end of the low-position rotary boom 14, and the other end of the low-position rotary boom 14 is connected to the low-position boom support column 23 on the modular transport vehicle 2 to form a support beam structure. The modular transport vehicle 2 is also equipped with pier transport support bases 24 at both ends, which are lifted by hydraulic jacking.

[0023] One end of the high-mounted boom lifting column 16 on the modular functional vehicle 1 is hinged to the high-mounted slewing boom 17, and the other end of the high-mounted slewing boom 17 is hinged to the end of the high-mounted boom lifting outrigger 18. After the high-mounted boom lifting outrigger 18 is connected to the modular transport vehicle 2, it forms a gantry crane structure, which can provide stable high-mounted lifting support. At the same time, the modular functional vehicle 1 is also equipped with a low-mounted boom lifting column 13, which is hinged to one end of the low-mounted slewing boom 14. The other end of the low-mounted slewing boom 14 is connected to the low-mounted boom support column 23 on the modular transport vehicle 2, forming a support beam structure that can support the pier column. The pier column transport support base 24 at both ends of the modular transport vehicle 2 can realize the lifting and adjustment of the precast pier column through the hydraulic jacking function.

[0024] First, the precast pier is carried by the pier-carrying support base 24 of the modular transport vehicle 2 and transported to the designated installation location. Upon arrival, the modular functional vehicle 1 and the modular transport vehicle 2 are positioned on both sides of the median strip. The high-mounted boom lifting column 16 of the modular functional vehicle 1 is adjusted to adjust its height, causing the high-mounted slewing boom 17 to rotate until it is perpendicular to the vehicle body. Then, the high-mounted boom lifting outrigger 18 is connected to the modular transport vehicle 2 to form a gantry crane structure. Next, the low-mounted boom lifting column 13 is operated to rotate the low-mounted slewing boom 14 until it is perpendicular to the vehicle body, with its other end connected to the low-mounted boom support base 24 of the modular transport vehicle 2. The columns 23 are connected to form a supporting beam structure. Then, the precast pier is lifted to a suitable height by the hydraulic lifting function of the pier carrier supporting base 24, so that its bottom is in contact with the low-position rotating boom 14 of the supporting beam structure. Then, the precast pier is transferred from the modular transport vehicle 2 to the installation position by the high-position rotating boom 17 of the gantry crane structure in conjunction with the lifting components. During the process, the posture adjustment and precise alignment of the precast pier can be achieved by adjusting the height of the high-position boom lifting column 16 and the low-position boom lifting column 13 as well as the hydraulic lifting state of the pier carrier supporting base 24, and finally the pier installation is completed.

[0025] In the preferred embodiment, a high-position slewing boom 17 is provided with a high-position lifting trolley 19, which moves on the high-position slewing boom 17 driven by a hydraulic motor and an electric motor.

[0026] The end of the high-position slewing boom 17 is hinged to the upper end of the high-position boom lifting leg 18 via a hinged drive device. The hinged drive device is either an electric motor or a hydraulic motor, and drives the high-position boom lifting leg 18 to rotate.

[0027] The lower end of the high-mounted boom lifting outrigger 18 is engaged with the transport vehicle guide rail beam 22 of the modular transport vehicle 2.

[0028] Both the high-mounted boom lifting outrigger 18 and the high-mounted boom lifting column 16 are driven to lift by hydraulic cylinders.

[0029] The high-mounted boom lifting column 16 slides on the functional vehicle guide rail beam 12 driven by a motor or hydraulic motor. The low-position boom lifting column 13 slides on the functional vehicle guide rail beam 12 driven by a motor or hydraulic motor.

[0030] A high-position lifting trolley 19 is mounted on the high-position rotary boom 17. Driven by both a hydraulic motor and an electric motor, the high-position lifting trolley 19 can move flexibly on the high-position rotary boom 17, enabling precise adjustment of the lifting position. The end of the high-position rotary boom 17 is hinged to the upper end of the high-position boom lifting outrigger 18 via a hinged drive device. This hinged drive device can be either an electric motor or a hydraulic motor, capable of driving the high-position boom lifting outrigger 18 to rotate, meeting the angle adjustment requirements under different operating conditions. The lower end of the high-position boom lifting outrigger 18 is connected to the transport vehicle guide rail beam 22 of the modular transport vehicle 2. The snap-fit ​​connection ensures a secure connection and facilitates quick assembly and disassembly. Both the high-mounted boom lifting outrigger 18 and the high-mounted boom lifting column 16 are driven by hydraulic cylinders to achieve lifting action, and the height can be stably adjusted to adapt to different construction scenarios. At the same time, the high-mounted boom lifting column 16 is driven by a motor or hydraulic motor and can slide on the functional vehicle guide rail beam 12 of the modular functional vehicle 1. The low-mounted boom lifting column 13 is also driven by a motor or hydraulic motor and can slide on the functional vehicle guide rail beam 12. The sliding design of both allows the equipment to adjust its lateral position according to construction needs, improving operational flexibility.

[0031] The usage method of the equipment is as follows: Before carrying out the pier hoisting operation, first adjust the position of the high-position boom lifting column 16 and the low-position boom lifting column 13 on the functional vehicle guide rail beam 12 by using the drive device motor or hydraulic motor to match the position of the modular transport vehicle 2; then start the hinge drive device at the end of the high-position slewing boom 17 to drive the high-position boom lifting leg 18 to rotate to a suitable angle, and then fix the lower end of the high-position boom lifting leg 18 to the transport vehicle guide rail beam 22 of the modular transport vehicle 2; then drive the high-position boom lifting column 16 and the high-position boom lifting leg 18 to rise by using the hydraulic cylinder respectively, and adjust the high-position slewing boom 17 to the preset height.

[0032] When the hoisting position needs to be adjusted, start the hydraulic motor and electric motor of the high-position hoisting trolley 19 to drive it to move on the high-position rotary boom 17, and accurately deliver the hoisting component to the hoisting point above the precast pier. After the hoisting point connection is completed, the movement of the high-position hoisting trolley 19, the lifting column 16 of the high-position boom and the lifting outrigger 18 of the high-position boom can be controlled to cooperate with the relevant low-position structures to complete the sliding, turning and positioning of the pier.

[0033] In the preferred embodiment, the low-position boom lifting column 13 is connected to one end of the low-position rotary boom 14 through a first rotary structure, and the other end of the low-position rotary boom 14 is engaged with the upper end of the low-position boom support column 23. The low-position boom support column 23 is slidably connected to the transport vehicle guide rail beam 22, and the low-position boom support column 23 is driven by a motor or hydraulic motor to slide on the transport vehicle guide rail beam 22.

[0034] The upper end of the high-position boom lifting column 16 is connected to the high-position rotary boom 17 through a second rotary structure.

[0035] The rotary structure 20 is a worm gear drive structure. The worm gear 201 is connected to the rotating arm, the worm 202 is connected to the output end of the motor or hydraulic motor, and the outer shell of the rotary structure 20 is fixedly connected to the end of the lifting structure.

[0036] The low-position slewing boom 14 is provided with a low-position sliding hinge base 15, and the low-position sliding hinge base 15 is provided with a hinge seat.

[0037] The low-position boom lifting column 13 is connected to the low-position rotary boom 14 at one end via a first rotary structure. The other end of the low-position rotary boom 14 is engaged with the upper end of the low-position boom support column 23. The low-position boom support column 23 is slidably connected to the transport vehicle guide rail beam 22 and can be adjusted on the transport vehicle guide rail beam 22 by a motor or hydraulic motor. As for the high-position structure, the upper end of the high-position boom lifting column 16 is connected to the high-position rotary boom 17 via a second rotary structure. Both the first and second rotary structures adopt the design of rotary structure 20. The rotary structure 20 is a worm gear drive structure. The worm gear 201 is connected to the rotating arm, and the worm 202 is connected to the output end of the motor or hydraulic motor. The outer shell of the rotary structure 20 is fixedly connected to the end of the lifting structure. At the same time, the low-position rotary boom 14 is provided with a low-position sliding hinge base 15. The hinge seat on the low-position sliding hinge base 15 can be used to connect with the lifting lug below the precast pier column.

[0038] When setting up the low-position working structure, first drive the low-position boom support column 23 with a motor or hydraulic motor, so that it slides on the transport vehicle guide beam 22 of the modular transport vehicle 2 to the position corresponding to the low-position boom lifting column 13. Then start the motor or hydraulic motor of the first rotary structure, i.e., the rotary structure 20, to drive the worm gear 202 to rotate. The worm gear 202 drives the worm wheel 201 and the connected low-position rotary boom 14 to rotate, so that the other end of the low-position rotary boom 14 is locked and fixed to the upper end of the low-position boom support column 23. Then the low-position sliding hinge base 1 can be adjusted. 5. At the position of the low-position rotary boom 14, it is hinged to the lifting lug below the precast pier through its hinge seat; when setting up the high-position operation structure, the drive device of the second rotary structure 20 is started, which drives the worm gear 202 to drive the worm wheel 201 and the high-position rotary boom 17 to rotate, and cooperates with the lifting of the high-position boom lifting column 16 to complete the adjustment of the high-position operation posture. Throughout the process, the sliding position of the low-position boom support column 23 and the rotation angle of each rotary structure can be flexibly adjusted through the drive device according to the construction needs to ensure that the equipment is suitable for the pier installation operation.

[0039] In the preferred embodiment, the modular functional vehicle 1 has lifting cylinders on both sides of the functional vehicle guide rail beam 12, and multiple light-load self-propelled wheel sets 11 are provided at the bottom of the functional vehicle guide rail beam 12. The modular transport vehicle 2 has multiple heavy-duty automatic wheel sets 21 on the bottom of the transport vehicle guide rail beam 22; Both the heavy-duty automatic wheel assembly 21 and the light-duty self-propelled wheel assembly 11 are hydraulic lifting wheel assemblies, and both the heavy-duty automatic wheel assembly 21 and the light-duty self-propelled wheel assembly 11 are equipped with steering structures.

[0040] The modular functional vehicle 1 has lifting cylinders on both sides of the functional vehicle guide rail beam 12, which can be raised and lowered to adjust the functional vehicle guide rail beam 12. At the same time, the bottom of the functional vehicle guide rail beam 12 is equipped with multiple light-load self-propelled wheel sets 11 for moving the modular functional vehicle 1. The transport vehicle guide rail beam 22 at the bottom of the modular transport vehicle 2 is equipped with multiple heavy-load automatic wheel sets 21 to meet the load-bearing and movement requirements during the transport of precast piers. Both the heavy-load automatic wheel sets 21 and the light-load self-propelled wheel sets 11 are hydraulic lifting wheel sets, which can be raised and lowered by hydraulic drive. Both are also equipped with a steering structure to flexibly adjust the driving direction.

[0041] During equipment transfer, if the height of the modular functional vehicle 1 needs to be adjusted to adapt to different road surfaces or operational requirements, the lifting cylinders on both sides of the vehicle's guide rail beam 12 can be activated. The cylinders extend and retract, raising and lowering the guide rail beam 12. Simultaneously, the steering structure of the light-load self-propelled wheel set 11 is used to adjust the driving direction. Combined with the wheel set's own hydraulic lifting function, the modular functional vehicle 1 can smoothly travel to the designated work position. For the modular transport vehicle 2, when carrying precast piers, the hydraulic lifting function of the heavy-load automatic wheel set 21 is used to adjust the transport... The height of the guide rail beam 22 ensures the stability of the precast pier during transportation. The steering structure of the heavy-duty automatic wheel assembly 21 is used to flexibly adjust the driving route and safely transport the precast pier to the installation site. After arriving at the work position, the hydraulic lifting function of the heavy-duty automatic wheel assembly 21 and the light-duty self-propelled wheel assembly 11, together with the lifting cylinders on both sides of the guide rail beam 12, can be used to adjust the height and horizontal posture of the modular functional vehicle 1 and the modular transport vehicle 2 to ensure precise alignment and lay the foundation for subsequent dual-arm collaborative operation.

[0042] Example 2 Further explanation in conjunction with Example 1, such as Fig. 1-16 As shown in the structure, S1 and modular transport vehicle 2 carry prefabricated piers to the designated installation bridge site; modular functional vehicle 1 is on standby at the bridge site in advance to check the status of its own double-arm system components. S2. Modular functional vehicle 1 is on standby at the designated installation bridge position. After modular transport vehicle 2 arrives, modular functional vehicle 1 and modular transport vehicle 2 simultaneously adjust their body posture and position on the left and right sides of the median strip to begin building the dual-vehicle collaborative system. S3, the high-position boom lifting column 16 and the high-position slewing boom 17 move, the high-position slewing boom 17 is raised to a certain height and rotated 90 degrees to be perpendicular to the body of the modular functional vehicle 1, the high-position boom lifting outrigger 18 unfolds and lowers to connect with the high-position boom support base 25. At this time, the high-position boom lifting column 16, the high-position slewing boom 17 and the high-position boom lifting outrigger 18 form a stable "gate" shaped structure; S4. The pier transport and support base 24 is lifted to raise the precast pier to a certain height, providing space for the low-position rotary boom 14 to be positioned. S5. The low-position slewing boom 14 rotates and is perpendicular to the body of the modular functional vehicle 1. The low-position sliding hinge base 15 moves to one end of the low-position slewing boom 14, that is, directly below the precast pier. S6. The lifting lugs installed below the precast pier are hinged to the low-level sliding hinged base 15, and the lifting lugs installed above the precast pier are connected to the steel wire rope lowered by the high-level hoisting trolley 19 through shackles. S7. The high-level hoisting trolley 19 lifts the wire rope to a certain height, and the low-level arm lifting column 13 and the low-level arm supporting column 23 are lifted to a certain height. The precast pier column is separated from the pier column carrier supporting base 24, realizing the force system conversion. S8. The low-position sliding hinged base 15 and the high-position hoisting trolley 19 slide towards the middle synchronously, and the precast pier column is slid and hoisted to the top of the median strip. S9. The high-level hoisting trolley 19 lowers the wire rope, and the precast pier is gradually adjusted from a horizontal state to a vertical state. During the turning process, the high-level rotating boom 17 gradually approaches the low-level rotating boom 14, so that the wire rope under the high-level hoisting trolley 19 remains in a basically vertical state to prevent "tilting and lifting at an angle". S10. After the precast pier is turned over, the low-position boom lifting column 13, low-position slewing boom 14, and low-position sliding hinged base 15; the high-position lifting boom system: high-position boom lifting column 16, high-position slewing boom 17, high-position boom lifting outrigger 18, and high-position lifting trolley 19 work together to eliminate the distance deviation of the precast pier in the front-back and left-right directions, and then lower the precast pier into position to complete one installation. S11. Disconnect the wire ropes connecting the precast pier column to the low-position sliding hinge base 15 and the high-position hoisting trolley 19. Return the low-position slewing boom 14, the high-position slewing boom 17, and the high-position boom lifting outrigger 18 to their original positions. Move the modular functional vehicle 1 and the modular transport vehicle 2 away from the bridge site to begin the installation of the next precast pier column.

[0043] The construction method for pier erection equipment based on dual-arm coordinated sliding crane operation is as follows: S1: Precast piers are transported and positioned. Modular transport vehicle 2 starts its heavy-duty automatic wheel assembly 21, carrying the precast piers installed on the pier transport support base 24 via the transport vehicle guide rail beam 22. It travels along the designated route to the designated installation bridge location in the highway reconstruction and expansion project, namely the area above the pier foundation corresponding to the median strip of the existing left and right lanes of the highway. During the journey, the vehicle's attitude is precisely controlled by the active suspension system to ensure the stability of the precast piers and eliminate the risk of swaying or deviation. At the same time, modular functional vehicle 1 travels in advance to the vicinity of the designated installation bridge location via its light-duty self-propelled wheel assembly 11 and waits. During the wait, it checks the status of its low-position sliding arm system and high-position lifting arm system to ensure that all components can operate normally.

[0044] The low-position sliding boom system includes a low-position boom lifting column 13, a low-position rotary boom 14, and a low-position sliding hinged base 15. The high-lift boom system includes a high-lift boom lifting column 16, a high-lift rotary boom 17, a high-lift boom lifting outriggers 18, and a high-lift trolley 19. S2: Preparation for the Dual-Vehicle Collaboration System Setup After the modular transport vehicle 2 arrives at the designated installation bridge position, the modular functional vehicle 1 and the modular transport vehicle 2 will park on the left and right sides of the median strip, respectively. That is, on the side of the existing left and right lanes closest to the median strip.

[0045] Subsequently, both vehicles simultaneously activated their body posture adjustment functions: Modular functional vehicle 1 adjusted its front and rear position and levelness through the fine-tuning function of the light-load self-propelled wheel set 11; Modular transport vehicle 2 adjusted its body position synchronously through the precise control of the heavy-load automatic wheel set 21, so that the guide rail beams 12 of the two functional vehicles and the guide rail beams 22 of the transport vehicle remained parallel and aligned with the direction of the center strip, laying the positional foundation for the subsequent construction of the dual-arm collaborative operation system.

[0046] S3: Construction of a high-level "gate"-shaped stable structure 1. The high-mounted boom lifting column 16 of the modular functional vehicle 1 starts the lifting drive device, which drives the high-mounted rotary boom 17 to slowly rise to the preset height. This height must ensure that the high-mounted rotary boom 17 does not interfere with the surrounding existing road facilities and precast piers when it rotates. 2. Under the action of the slewing drive mechanism, the high-position slewing boom 17 rotates 90 degrees around the top of the high-position boom lifting column 16, and its final posture is perpendicular to the body of the modular functional vehicle 1, that is, pointing towards the center median and the modular transport vehicle 2. 3. The high-mounted boom lifting outrigger 18 unfolds under the action of the articulated drive device, and its bottom slowly falls onto the high-mounted boom support base 25 preset on one side of the transport vehicle guide rail beam 22 of the modular transport vehicle 2, and the two are stably connected by the locking mechanism. 4. At this point, the high-mounted boom lifting column 16, the high-mounted slewing boom 17, and the high-mounted boom lifting outriggers 18 together form a stable "gate"-shaped structure, providing a load-bearing foundation for subsequent hoisting operations.

[0047] S4: Space reserved for lifting precast pier columns and lowering of low-mounted boom Modular transport vehicle 2 starts the lifting system of pier transport support base 24, driving pier transport support base 24 to slowly lift the precast pier on it. The lifting height must meet the following requirements: when the low-position rotary boom 14 is subsequently lowered to below the precast pier, the boom body and connecting parts will not collide with pier transport support base 24 or precast pier. The lifting height is usually controlled at 10-20cm. After lifting to the position, the position of pier transport support base 24 is locked to keep the precast pier stable.

[0048] S5: Low-position rotary boom adjustment and sliding base positioning 1. Under the action of the slewing drive mechanism, the low-position slewing boom 14 of the modular functional vehicle 1 rotates 90 degrees around the top of the low-position boom lifting column 13, and the final posture is perpendicular to the body of the modular functional vehicle 1, that is, pointing towards the precast pier column. 2. Start the sliding drive device of the low-position sliding hinge base 15, so that the low-position sliding hinge base 15 slowly slides along the guide rail of the low-position rotary boom 14 until it moves to one end of the low-position rotary boom 14 close to the precast pier column and is exactly directly below the precast pier column.

[0049] S6: Connection and fixing of precast piers and double-arm system 1. Construction workers align the pre-set lifting lugs under the precast pier with the hinge interface of the low-position sliding hinge base 15, insert the hinge pin and install the anti-disengagement pin to achieve a stable hinge connection between the two; the pre-set lifting lugs under the precast pier have been welded and fixed at the factory. 2. Meanwhile, another group of construction workers connected the steel wire rope lowered by the high-level hoisting trolley 19 to the pre-set lifting lugs above the precast pier through shackles. During the connection process, it was ensured that the steel wire rope was not twisted, the shackle bolts were tightened, and the line connecting the two sets of lifting points was kept parallel to the axis of the precast pier to avoid uneven stress on the pier during subsequent hoisting.

[0050] S7: Force system conversion and separation of precast pier from transport base 1. The high-level hoisting trolley 19 starts the lifting motor, slowly tightens the wire rope, and lifts the lifting point above the precast pier upward, gradually increasing the lifting force; 2. Simultaneously start the lifting systems of the low-position boom lifting column 13 of the modular functional vehicle 1 and the low-position boom support column 23 of the modular transport vehicle 2, so that the two are lifted upwards in sync, driving the low-position rotary boom 14 and the low-position sliding hinge base 15 to move upwards, providing upward support force for the precast pier column. 3. Continuously adjust the high-level lifting force and the low-level jacking force until the precast pier is completely detached from the pier transport and support base 24. Through displacement sensor monitoring, ensure that the gap between the bottom of the pier and the transport base reaches 5-10mm. At this time, the weight of the precast pier is fully borne by the high-level hoisting system and the low-level sliding system, completing the force system conversion. Then, lower the pier transport and support base 24 back to the initial position.

[0051] S8: The precast piers are simultaneously slid to the top of the median strip. 1. Simultaneously activate the sliding drive device of the low-position sliding articulated base 15 and the sliding drive device of the high-position hoisting trolley 19, and control both to slide synchronously along their respective boom guide rails towards the center split at the same speed; 2. During the sliding process, the position of the precast pier is tracked by a real-time monitoring system. If any deviation occurs, the sliding speed on one side is adjusted in a timely manner to correct it. 3. Continue sliding until the axis of the precast pier is completely aligned with the axis of the pier cap below the median strip, that is, the precast pier is directly above the median strip. Stop sliding and lock the positions of the low sliding hinge base 15 and the high hoisting trolley 19.

[0052] S9: The precast pier is turned over and adjusted to a vertical position. 1. The high-level hoisting trolley 19 starts the lower discharge machine and slowly loosens the wire rope, so that the upper part of the precast pier gradually moves downward and the precast pier begins to flip from a horizontal state to a vertical state. 2. During this process, the slewing drive mechanism of the high-position slewing boom 17 is started simultaneously, so that the high-position slewing boom 17 slowly approaches the side of the low-position slewing boom 14, and the horizontal position of the high-position lifting point is adjusted to ensure that the wire rope of the high-position lifting trolley 19 is always kept in a basically vertical state, and the angle between the wire rope and the vertical direction does not exceed 3 degrees, so as to avoid the phenomenon of "tilting and lifting at an angle" and prevent the precast pier from being unbalanced or colliding with surrounding facilities. 3. Continue to lower the wire rope and adjust the slewing angle of the high-position boom until the precast pier is completely vertical. Stop the turning action and lock the positions of the high-position slewing boom 17 and the high-position hoisting trolley 19.

[0053] S10: Precise placement and installation of precast piers 1. Start the fine-tuning lifting system of the low-position boom lifting column 13 and the low-position boom supporting column 23, and combine it with the fine-tuning lifting / lowering function of the high-position hoisting trolley 19 to eliminate the positional deviation of the precast pier in the front-back and left-right directions. The alignment is calibrated by a laser alignment instrument to ensure that the alignment deviation between the bottom mounting surface of the pier and the top mounting surface of the pier cap does not exceed 2mm. 2. After the deviation adjustment is completed, slowly and synchronously lower the low-position boom lifting column 13 and the low-position boom resting column 23, and simultaneously lower the wire rope of the high-position hoisting trolley 19 so that the bottom of the precast pier column slowly falls to the preset installation position of the pier column foundation. 3. After placement, the precast pier and pier cap are temporarily fixed with temporary fixing devices to prevent the pier from shifting, thus completing the installation of one precast pier.

[0054] S11: Equipment Reset and Preparation for the Next Cycle 1. Construction workers remove the hinge pin between the lower lifting lug of the precast pier and the low-position sliding hinge base 15, as well as the shackle between the upper lifting lug and the wire rope, and disconnect the precast pier from the double-arm system. 2. Initiate the reset procedure for each component: The low-position slewing boom 14 rotates 90 degrees around the low-position boom lifting column 13, returning to the transportation state parallel to the body of the modular functional vehicle 1; the high-position slewing boom 17 rotates 90 degrees around the high-position boom lifting column 16, returning to the initial position, the high-position boom lifting outrigger 18 retracts and is disconnected from the high-position boom support base 25; the low-position boom lifting column 13 and the high-position boom lifting column 16 return to their initial height; 3. Modular functional vehicle 1 travels away from the current installation site via light-load self-propelled wheel set 11 and modular transport vehicle 2 travels via heavy-load automatic wheel set 21, heading to the installation site of the next precast pier column to prepare for the next installation work.

[0055] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A pier erection equipment based on dual-arm coordinated sliding operation, characterized in that: It includes a modular functional vehicle (1) and a modular transport vehicle (2). The modular functional vehicle (1) is equipped with a high-mounted boom lifting column (16). One end of the high-mounted boom lifting column (16) is hinged to the high-mounted rotary boom (17), and the other end of the high-mounted rotary boom (17) is hinged to the end of the high-mounted boom lifting leg (18). The high-mounted boom lifting leg (18) is connected to the modular transport vehicle (2) to form a gantry crane structure. The modular functional vehicle (1) is also equipped with a low-position boom lifting column (13), which is hinged to one end of the low-position rotary boom (14), and the other end of the low-position rotary boom (14) is connected to the low-position boom support column (23) on the modular transport vehicle (2) to form a support beam structure. The modular transport vehicle (2) is also equipped with pier transport support bases (24) at both ends, which are lifted by hydraulic jacking.

2. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 1, characterized in that: The high-position slewing boom (17) is equipped with a high-position lifting trolley (19), which moves on the high-position slewing boom (17) by means of a hydraulic motor and an electric motor.

3. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 1, characterized in that: The end of the high-position slewing boom (17) is hinged to the upper end of the high-position boom lifting leg (18) through a hinged drive device. The hinged drive device is a motor or a hydraulic motor, and the hinged drive device drives the high-position boom lifting leg (18) to rotate.

4. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 3, characterized in that: The lower end of the high-mounted boom lifting outrigger (18) is engaged with the transport vehicle guide rail beam (22) of the modular transport vehicle (2).

5. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 3, characterized in that: Both the high-mounted boom lifting outrigger (18) and the high-mounted boom lifting column (16) are driven to lift by hydraulic cylinders.

6. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 3, characterized in that: The high-mounted boom lifting column (16) slides on the functional vehicle guide rail beam (12) driven by a motor or hydraulic motor; The low-position boom lifting column (13) slides on the functional vehicle guide rail beam (12) driven by a motor or hydraulic motor.

7. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 1, characterized in that: The low-position boom lifting column (13) is connected to the low-position rotary boom (14) at one end through the first rotary structure. The other end of the low-position rotary boom (14) is engaged with the upper end of the low-position boom support column (23). The low-position boom support column (23) is slidably connected to the transport vehicle guide rail beam (22). The low-position boom support column (23) is driven by a motor or hydraulic motor to slide on the transport vehicle guide rail beam (22). The upper end of the high-position boom lifting column (16) is connected to the high-position rotary boom (17) through a second rotary structure. The rotary structure (20) is a worm gear drive structure. The worm gear (201) is connected to the rotating arm, and the worm (202) is connected to the output end of the motor or hydraulic motor. The outer shell of the rotary structure (20) is fixedly connected to the end of the lifting structure.

8. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 1, characterized in that: The low-position slewing boom (14) is provided with a low-position sliding hinge base (15), and the low-position sliding hinge base (15) is provided with a hinge seat.

9. The pier erection equipment based on dual-arm coordinated sliding operation according to claim 1, characterized in that: The modular functional vehicle (1) has lifting cylinders on both sides of the functional vehicle guide rail beam (12), and multiple light-load self-propelled wheel sets (11) are provided at the bottom of the functional vehicle guide rail beam (12). The modular transport vehicle (2) has multiple heavy-duty automatic wheel sets (21) on the bottom of the transport vehicle guide rail beam (22). Both the heavy-duty automatic wheel assembly (21) and the light-duty self-propelled wheel assembly (11) are hydraulic lifting wheel assemblies, and both the heavy-duty automatic wheel assembly (21) and the light-duty self-propelled wheel assembly (11) are equipped with steering structures.

10. A construction method for a pier erection equipment based on a dual-arm coordinated sliding hoisting operation according to any one of claims 1-9, characterized in that: The method includes: S1. Modular transport vehicle (2) carries precast piers to the designated installation location; Modular functional vehicle (1) waits at the location in advance to check the status of its own double-arm system components. S2. The modular functional vehicle (1) is on standby at the designated installation bridge position. After the modular transport vehicle (2) arrives, the modular functional vehicle (1) and the modular transport vehicle (2) adjust their body posture and position synchronously on the left and right sides of the median strip to start building the dual-vehicle cooperative system. S3, the high-position boom lifting column (16) and the high-position slewing boom (17) move, the high-position slewing boom (17) is raised to a certain height and rotated 90 degrees to be perpendicular to the body of the modular functional vehicle (1), the high-position boom lifting outrigger (18) unfolds and falls to connect with the high-position boom support base (25), at this time, the high-position boom lifting column (16), the high-position slewing boom (17) and the high-position boom lifting outrigger (18) form a stable "gate" shaped structure; S4. The pier column transport and support base (24) is lifted to raise the precast pier column to a certain height, providing space for the low-position rotary boom (14) to be positioned. S5. The low-position slewing boom (14) rotates and is perpendicular to the body of the modular functional vehicle (1). The low-position sliding hinge base (15) moves to one end of the low-position slewing boom (14), that is, directly below the precast pier. S6. The lifting lugs set below the precast pier are hinged to the low-level sliding hinged base (15), and the lifting lugs set above the precast pier are connected to the steel wire rope lowered by the high-level hoisting trolley (19) through the shackle. S7. The high-level hoisting trolley (19) lifts the wire rope to a certain height, and the low-level arm lifting column (13) and the low-level arm supporting column (23) are lifted to a certain height. The precast pier column is separated from the pier column transport supporting base (24) to realize the force system conversion. S8. The low-position sliding hinge base (15) and the high-position hoisting trolley (19) slide towards the middle in sync, and the precast pier column is slid up to the center. S9. The high-level hoisting trolley (19) lowers the wire rope, and the precast pier is gradually adjusted from a horizontal state to a vertical state. During the turning process, the high-level rotating boom (17) gradually approaches the low-level rotating boom (14) so ​​that the wire rope under the high-level hoisting trolley (19) remains in a basically vertical state to prevent "skewed pulling and lifting". S10. After the precast pier is turned over, the low-position boom lifting column (13), low-position rotary boom (14), and low-position sliding hinged base (15) work together to eliminate the distance deviation of the precast pier in the front-back and left-right directions, and then make the precast pier fall into place to complete one installation. S11. Disconnect the wire ropes connecting the precast pier column to the low-position sliding hinge base (15) and the high-position hoisting trolley (19). Return the low-position slewing boom (14), the high-position slewing boom (17), and the high-position boom lifting outrigger (18) to their original positions. Move the modular functional vehicle (1) and the modular transport vehicle (2) away from the bridge site and begin the installation of the next precast pier column.

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