Transportation and installation equipment and method of concrete rainwater pipe in narrow area foundation pit

Abstract

The application discloses a kind of narrow area foundation pit in concrete rainwater pipe transport installation equipment and method, including upper trolley, lower trolley and support frame, upper trolley is installed in the upper portion of support frame and along support frame horizontal direction sliding, lower trolley is set in the lower portion of support frame and can along support frame horizontal direction sliding.The application has beneficial effect: can be hoisted and placed at foundation pit end once, independently complete concrete pipe transfer and installation in foundation pit, need not crane along the way station, solve the problem that narrow roadway cannot occupy road construction, adapt to the narrow foundation pit construction condition of width only 4.8m, through pipe opening coaxiality calibration algorithm cooperation trolley, support leg fine adjustment, realize millimeter level accurate butt joint of pipe section, need not manual pry and lift pipe material, improve construction efficiency and butt joint quality, can enter concrete pipe internal operation, do not additionally occupy foundation pit transverse space, complete pipe material transfer under the condition that there is no extra operating space in foundation pit, reduce the ballast risk brought by foundation pit edge crane operation, reduce the hidden danger of support instability.

Description

Technical Field

[0001] This invention relates to the field of underground pipeline installation and construction technology, and in particular to a concrete rainwater pipe transportation and installation equipment and method in a narrow area foundation pit. Background Technology

[0002] In urban underground pipeline construction, the conventional installation process for precast concrete rainwater pipes involves using a ground crane to lift and unload pipes section by section along the foundation trench, with manual prying inside the pit to complete the pipe section connection. However, in narrow construction scenarios such as old communities and urban-rural fringe areas, there are common problems such as road widths of only 5-6 meters and limited foundation pit widths. The crane has no safe standing space, and if it occupies the opposite lane, it will seriously affect road traffic. At the same time, the operating space inside the narrow foundation pit is insufficient, resulting in low installation accuracy and poor construction efficiency when manually connecting pipes. Furthermore, lifting operations near the edge will increase the ballast load on the edge of the foundation pit, posing safety hazards such as support instability and pipe falling.

[0003] Currently, there is no specialized equipment in existing technology that can fully enter the interior of concrete pipes and autonomously complete the transfer and precise docking of pipe materials in narrow foundation pits, which cannot meet the needs of efficient and safe construction of underground pipe networks in narrow areas.

[0004] Therefore, it is necessary to propose a method and equipment for transporting and installing concrete rainwater pipes in a narrow area of ​​a foundation pit to address the above technical problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a concrete rainwater pipe transportation and installation equipment and method in a narrow foundation pit, solving the technical problems of difficult transportation and installation of concrete rainwater pipes, low installation accuracy, poor construction efficiency, and high safety hazards in narrow construction areas without crane positions. It enables autonomous step-by-step transfer and precise docking of pipes in the foundation pit, adapting to the limited construction space of narrow foundation pits.

[0006] A concrete rainwater pipe transportation and installation device for a narrow area foundation pit includes an upper trolley, a lower trolley, and a support frame. The upper trolley is installed on the upper part of the support frame and slides horizontally along the support frame. The lower trolley is located on the lower part of the support frame and can slide horizontally along the support frame.

[0007] Preferably, the support frame includes a truss and liftable support legs. Liftable support legs are installed on all four corners of the truss. A first grooved slide rail is provided on the upper part of the truss, and a second grooved slide rail is provided on the lower part of the truss.

[0008] Preferably, the liftable support leg includes a fixed cylinder, a drive motor, a lead screw, a lifting rod, and a pad. The drive motor is installed inside the fixed cylinder, the upper part of the lifting rod is inserted into the fixed cylinder, the output shaft of the drive motor is connected to the lead screw, the lead screw is threadedly connected to the lifting rod, and the lower part of the lifting rod is connected to the pad. The structural parameters of the pad are determined by the grounding specific voltage verification formula, which is as follows: ; This refers to the actual grounding pressure ratio between the pad and the bottom of the pit; The overall weight of the transport and installation equipment; This refers to the rated load-bearing capacity of a single section of concrete rainwater pipe. The total number of height-adjustable support legs; The effective grounding area of ​​a single pad; This represents the characteristic value of the allowable bearing capacity of the foundation soil within the excavation pit.

[0009] Preferably, a first bevel gear is fitted between the output shaft of the drive motor and the lead screw, the first bevel gear meshes with a second bevel gear, the central shaft of the second bevel gear passes through the side wall of the fixed cylinder and is connected to a handle, the handle is hexagonal, and a bearing is fitted at the connection between the central shaft and the fixed cylinder.

[0010] Preferably, a scale is provided on the side of the lifting rod.

[0011] Preferably, the upper trolley includes a first movable support and first rollers. The first rollers are installed on the four corners of the first movable support. The first rollers are connected to the first groove slide rail. A concrete pipe support frame is connected to the upper part of the first movable support. The upper end of the concrete pipe support frame is chamfered.

[0012] Preferably, the lower trolley includes a second movable support, movable wheels, and a second roller. The four corners of the second movable support are connected to movable wheels, and the second roller is installed on the upper part of the second movable support. The second roller is connected to the second grooved slide rail.

[0013] A method for installing concrete rainwater pipe transportation and installation equipment in a narrow area of ​​a foundation pit, the method steps are as follows: S1. Place the equipment in the foundation pit to complete the installation, and move the lower trolley support frame forward into the concrete pipe; S2. The liftable support legs are raised, and the upper trolley drives the concrete pipe forward. S3. After the concrete pipe moves forward, the liftable support leg can be retracted, and the support frame moves forward through the lower trolley rollers; S4. The liftable support legs are lowered, and the upper trolley is lifted to lift the concrete pipe off the ground, completing the movement and installation of the concrete pipe. S5. The lower trolley moves out of the concrete pipe, waiting for the next installation.

[0014] During the installation of the concrete rainwater pipe in step S4, the equipment posture is adjusted using a pipe end coaxiality calibration algorithm, and the coaxiality deviation satisfies the following control formula: ; In the formula The deviation of the coaxiality of the pipe opening centers between the concrete pipe to be installed and the already installed concrete pipe; This represents the horizontal radial offset between the two pipe openings; This represents the vertical diameter offset between the two pipe openings; The allowable coaxiality tolerance for the installation of precast concrete rainwater pipes; the horizontal radial offset is corrected by sliding the upper trolley along the first groove slide rail. The vertical diameter offset is corrected by the synchronous lifting and lowering of the liftable support legs. Until coaxiality deviation It meets the installation accuracy requirements.

[0015] The drive motors of the four liftable support legs adopt a synchronous lifting closed-loop control algorithm, and the control algorithm steps are as follows: S11. Establish a conversion formula between the actual lifting height of a single support leg and the rotation parameters of the drive motor: ; In the formula, i is the support leg number, which takes the values ​​1, 2, 3, and 4; Let be the actual lifting height of the i-th liftable support leg; P represents the cumulative number of rotations of the drive motor corresponding to the i-th support leg; P is the lead of the lifting transmission screw. S12. Raise or lower the height to a preset uniform target. Based on this, the height deviation of each support leg and the maximum synchronization deviation within the group are calculated in real time: ; ; In the formula This represents the height deviation value of the i-th supporting leg; This represents the maximum synchronization deviation of the four supporting legs; S13, Speed ​​Compensation Synchronization Adjustment: When When [Δh] is the preset allowable synchronization deviation threshold, the output speed of each drive motor is corrected in a closed loop. The correction formula is as follows: ; In the formula The corrected lifting speed of the i-th drive motor; The reference lifting speed for the four support legs; This is the proportional adjustment coefficient; This is the integral adjustment coefficient; Real-time height deviation of the i-th supporting leg; This represents the integral of the height deviation over time. Synchronization is achieved by reducing the rotational speed of the support leg that is ahead in height and increasing the rotational speed of the support leg that is behind in height, until... .

[0016] Compared with the prior art, the present invention has the following advantages: 1. The equipment can be hoisted and placed at the end of the foundation pit in one go, and can autonomously complete the transfer and installation of concrete pipes in the foundation pit without the need for a crane to stand along the way, solving the problem of construction in narrow alleys where it is impossible to occupy the road, and is suitable for construction conditions of narrow foundation pits with a width of only 4.8m.

[0017] 2. By using a pipe end coaxiality calibration algorithm in conjunction with the trolley and support legs for fine-tuning, millimeter-level precise pipe section docking is achieved, eliminating the need for manual prying of pipes and significantly improving construction efficiency and docking quality.

[0018] 3. The main body of the equipment can be fully inserted into the concrete pipe for operation without occupying additional lateral space in the foundation pit. The pipe can be transferred even when there is no extra operating space in the foundation pit.

[0019] 4. Reduce the ballast risk caused by crane operation at the edge of the foundation pit and reduce the risk of support instability; when the support frame moves forward, the concrete pipe falls to the ground and is stationary without force, avoiding the pipe falling during transportation and maximizing process safety.

[0020] 5. By expanding the pad structure through grounding specific pressure verification design, the support contact area is increased, which can adapt to the bottom surface of soft foundation pits such as sand and prevent the support legs from settling and becoming unstable.

[0021] 6. Both the upper and lower trolleys are driven by motors, and the supporting legs are used for step-by-step lifting to achieve continuous and efficient transportation of concrete pipes; the synchronous lifting closed-loop control of the four supporting legs ensures that the lifting process is level and stable, and avoids pipe deviation.

[0022] 7. The support legs are equipped with a bevel gear manual adjustment structure, which allows for manual lifting and lowering in abnormal working conditions such as power failure and motor failure, thereby improving the reliability of on-site construction. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the transportation and installation equipment of the present invention placed inside the foundation pit; Figure 2 and Figure 3 Here is a schematic diagram of the transportation and installation equipment structure of the present invention: Figure 4 and Figure 5 This is a schematic diagram of the upper trolley structure of the present invention: Figure 6 and Figure 7 This is a schematic diagram of the lower trolley structure of the present invention; Figure 8 and Figure 9 This is a schematic diagram of the support frame structure of the present invention; Figure 10 This is a diagram of the adjustable support leg of the present invention; Figure 11This is a diagram of the internal structure of the adjustable support leg of the present invention; Figure 12 This is a partial schematic diagram of the interior of the height-adjustable support leg of the present invention; Figures 13 to 17 This is a schematic diagram illustrating the usage process of the transportation and installation equipment of the present invention.

[0024] The attached diagram shows the following reference numerals: 1. Upper trolley; 2. Lower trolley; 3. Support frame; 4. Concrete pipe; 5. Foundation pit; 101. First movable support; 102. First roller; 103. Concrete pipe support frame; 201. Second movable support; 202. Movable wheel; 203. Second roller; 301. Truss; 302. Liftable support leg; 303. First grooved slide rail; 304. Second grooved slide rail; 3021. Fixed cylinder; 3022. Drive motor; 3023. Lead screw; 3024. Lifting rod; 3025. Pad; 3026. First bevel gear; 3027. Second bevel gear; 3028. Central shaft; 3029. Rotary handle; 30210. Bearing; 30211. Scale; 30212. Limit stop; 501. Inner support rod. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] like Figures 1 to 17 As shown, the concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit proposed in this invention includes an upper trolley 1, a lower trolley 2, and a support frame 3. The upper trolley 1 is installed on the upper part of the support frame 3 and slides horizontally along the support frame 3. The lower trolley 2 is located on the lower part of the support frame 3 and can slide horizontally along the support frame 3.

[0027] Furthermore, the support frame 3 includes a truss 301 and liftable support legs 302. Liftable support legs 302 are installed on all four corners of the truss 301. A first grooved slide rail 303 is provided on the upper part of the truss 301, and a second grooved slide rail 304 is provided on the lower part of the truss 301.

[0028] Furthermore, the liftable support leg 302 includes a fixed cylinder 3021, a drive motor 3022, a lead screw 3023, a lifting rod 3024, and a pad 3025. The drive motor 3022 is installed inside the fixed cylinder 3021, and the upper part of the lifting rod 3024 is inserted into the fixed cylinder 3021. The output shaft of the drive motor 3022 is connected to the lead screw 3023, and the lead screw 3023 is threadedly connected to the lifting rod 3024. The lower part of the lifting rod 3024 is connected to the pad 3025. A limit stop 30212 is provided inside the fixed cylinder 3021 to limit the lifting of the lifting rod 3024.

[0029] The structural parameters of the pad are determined by the grounding specific voltage verification formula, which is as follows: ; This refers to the actual grounding pressure ratio between the pad and the bottom of the pit; The overall weight of the transport and installation equipment; This refers to the rated load-bearing capacity of a single section of concrete rainwater pipe. The total number of height-adjustable support legs; The effective grounding area of ​​a single pad; This represents the characteristic value of the allowable bearing capacity of the foundation soil within the excavation pit.

[0030] Furthermore, a first bevel gear 3026 is fitted between the output shaft of the drive motor 3022 and the lead screw 3023. The first bevel gear 3026 meshes with a second bevel gear 3027. The central shaft 3028 of the second bevel gear 3027 passes through the side wall of the fixed cylinder 3021 and is connected to a handle 3029. The handle 3029 is hexagonal and has an external adjustable wrench. A bearing 30210 is fitted at the connection between the central shaft 3028 and the fixed cylinder 3021. In abnormal working conditions such as power failure or motor malfunction, the lead screw 3023 can be rotated by the adjustable wrench and the handle 3029, thereby realizing the raising and lowering of the lifting rod 3024 and improving the reliability of on-site construction.

[0031] Furthermore, a scale 30211 is provided on the side of the lifting rod 3024, which makes it easy for staff to observe the lifting height of the lifting support leg 302.

[0032] Furthermore, the upper trolley 1 includes a first movable support 101 and a first roller 102. The first roller 102 is installed on the four corners of the first movable support 101. The first roller 102 is connected to the first groove slide rail 303. A concrete pipe support frame 103 is connected to the upper part of the first movable support 101. The upper end of the concrete pipe support frame 103 is chamfered. The chamfering facilitates the concrete pipe support frame 103 to fit against the inner wall of the concrete pipe 4.

[0033] Furthermore, the lower trolley 2 includes a second movable support 201, movable wheels 202, and a second roller 203. The four corners of the second movable support 201 are connected to the movable wheels 202, and the second roller 203 is installed on the upper part of the second movable support 201. The second roller 203 is connected to the second groove slide rail 304.

[0034] A method for installing concrete rainwater pipe transportation and installation equipment in a narrow area of ​​a foundation pit, the method steps are as follows: S1. Place the equipment in the foundation pit 5 to complete the installation. Move the lower trolley 2 carrying the support frame 3 forward into the concrete pipe 4. An inner support rod 501 is installed in the upper part of the foundation pit 5.

[0035] S2, the liftable support leg 302 is lifted, and the upper trolley 1 drives the concrete pipe 4 to move forward; S3. After the concrete pipe 4 moves forward, the liftable support leg 302 retracts, and the support frame 3 moves forward via the rollers of the lower trolley 2. S4. The liftable support leg 302 is lowered, and the upper trolley 1 is lifted to make the concrete pipe 4 off the ground, thus completing the movement and installation of the concrete pipe 4. S5. The lower trolley 2 opens out the concrete pipe 4, waiting for the next installation.

[0036] During the installation of the concrete rainwater pipe in step S4, the equipment posture is adjusted using a pipe end coaxiality calibration algorithm, and the coaxiality deviation satisfies the following control formula: ; In the formula The deviation of the coaxiality of the pipe opening centers between the concrete pipe to be installed and the already installed concrete pipe; This represents the horizontal radial offset between the two pipe openings; This represents the vertical diameter offset between the two pipe openings; The allowable coaxiality tolerance for the installation of precast concrete rainwater pipes; the horizontal radial offset is corrected by sliding the upper trolley along the first groove slide rail. The vertical diameter offset is corrected by the synchronous lifting and lowering of the liftable support legs. Until coaxiality deviation It meets the installation accuracy requirements.

[0037] The drive motors of the four liftable support legs adopt a synchronous lifting closed-loop control algorithm, and the control algorithm steps are as follows: S11. Establish a conversion formula between the actual lifting height of a single support leg and the rotation parameters of the drive motor: ; In the formula, i is the support leg number, which takes the values ​​1, 2, 3, and 4; Let be the actual lifting height of the i-th liftable support leg; P represents the cumulative number of rotations of the drive motor corresponding to the i-th support leg; P is the lead of the lifting transmission screw. S12. Raise or lower the height to a preset uniform target. Based on this, the height deviation of each support leg and the maximum synchronization deviation within the group are calculated in real time: ; ; In the formula This represents the height deviation value of the i-th supporting leg; This represents the maximum synchronization deviation of the four supporting legs; S13, Speed ​​Compensation Synchronization Adjustment: When When [Δh] is the preset allowable synchronization deviation threshold, the output speed of each drive motor is corrected in a closed loop. The correction formula is as follows: ; In the formula The corrected lifting speed of the i-th drive motor; The reference lifting speed for the four support legs; This is the proportional adjustment coefficient; This is the integral adjustment coefficient; Real-time height deviation of the i-th supporting leg; This represents the integral of the height deviation over time. Synchronization is achieved by reducing the rotational speed of the support leg that is ahead in height and increasing the rotational speed of the support leg that is behind in height, until... .

[0038] The beneficial effects of this invention are as follows: The equipment can be hoisted and placed at the end of the foundation pit in one go, autonomously completing the transfer and installation of concrete pipes within the pit without the need for a crane to stand along the way, solving the problem of construction in narrow alleys where it is impossible to occupy the roadway, and adapting to the construction conditions of narrow foundation pits with a width of only 4.8m. Through the pipe end coaxiality calibration algorithm combined with the trolley and support leg fine adjustment, millimeter-level precise docking of pipe sections is achieved, eliminating the need for manual prying of pipe materials, greatly improving construction efficiency and docking quality. The main body of the equipment can completely enter the concrete pipe for operation, without occupying additional lateral space in the foundation pit, and can complete the transfer of pipe materials even when there is no extra operating space in the foundation pit. It reduces the ballast risk brought by crane operation at the edge of the foundation pit and reduces the risk of support instability; when the support frame moves forward, the concrete pipe falls to the ground and is stationary without force, avoiding the pipe falling during the transfer process and maximizing process safety. Through the ground pressure verification design, the pad structure is enlarged, increasing the support contact area, which can adapt to soft foundation pit bottoms such as sand and prevent the support legs from settling and becoming unstable. Both the upper and lower trolleys are motor-driven, and the step-by-step lifting mechanism with support legs enables continuous and efficient transport of concrete pipes. Synchronous lifting and closed-loop control of the four support legs ensures a stable and level lifting process, preventing pipe misalignment. The support legs are equipped with a bevel gear manual adjustment structure, allowing for manual operation of lifting and lowering in case of power outages, motor malfunctions, or other abnormal conditions, thus improving on-site construction reliability.

[0039] This embodiment is applied to the drainage pipe network improvement project in the urban-rural fringe area of ​​Fancheng. The project involves the construction of an underground pipe network with a total length of 22km, a foundation pit depth of 3-5m, and steel sheet pile support. The foundation pit width is 4.8m. Precast concrete rainwater pipes are used, with a pipe diameter range of 800-2000mm and a maximum weight of 5.5t per section. The streets in the community where the project is located are generally 5-6m wide, with narrow roads, making it impossible to install concrete pipes along the entire length using a crane. The transportation and installation equipment in this embodiment is 1.2m wide and 5m long, allowing it to fully enter the interior of 2000mm diameter concrete pipes for operation. It has a rated load capacity of 6t, meeting the construction requirements for the largest pipe size.

[0040] The support frame 3 is the main load-bearing body of the equipment, including a truss 301 and four liftable support legs 302. The truss 301 is made of welded steel, with a length of 5m and a width of 1.2m. Its upper surface has a first grooved slide rail 303 extending along the length direction, and its lower surface has a second grooved slide rail 304 in the same direction, providing sliding guidance for the upper trolley 1 and the lower trolley 2, respectively. The four liftable support legs 302 are installed at the four corners of the truss 301. The structure of a single support leg is as follows: the upper end of the fixed cylinder 3021 is welded and fixed to the bottom of the truss 301, and the drive motor 3022 is fixed to the top of the fixed cylinder 3021 by bolts. The output shaft of the drive motor 3022 is connected downward to the lead screw 3023; the lifting rod 3024 is a hollow rod with internal threads, the upper part of which is inserted into the fixed cylinder 3021 and threaded with the lead screw 3023; the bottom of the lifting rod 3024 is welded with a rectangular steel plate pad 3025. When the drive motor 3022 rotates, it drives the lead screw 3023 to rotate, which in turn drives the lifting rod 3024 to extend and retract up and down through the threaded transmission, thereby raising and retracting the support leg.

[0041] The dimensions of pad 325 were pre-checked using grounding specific voltage: The weight of the equipment in this embodiment... Maximum load-bearing capacity of concrete pipe Total number of supporting legs Allowable bearing capacity of sandy soil in the foundation pit Substitute into the formula: The minimum effective grounding area of ​​a single pad is calculated. In this embodiment, a rectangular pad measuring 0.6m × 0.4m is used to meet the support stability requirements of soft foundations and prevent settlement.

[0042] A manual emergency mechanism is installed between the output shaft of the drive motor 3022 and the lead screw 3023: a first bevel gear 3026 is mounted on the output shaft, which horizontally meshes with a second bevel gear 3027; the central shaft 3028 of the second bevel gear 3027 horizontally passes through the side wall of the fixed cylinder 3021, and a hexagonal handle 3029 is fixed to its outer end; a bearing 30210 is installed between the central shaft 3028 and the fixed cylinder 3021 for support. In case of power failure or motor malfunction, the handle 3029 can be turned with a wrench, which drives the lead screw 3023 to rotate via the bevel gear transmission, thus manually raising and lowering the support leg. A scale 30211 with an accuracy of 1mm is installed along the axial direction on the side wall of the lifting rod 3024, allowing construction personnel to visually read the extended length of the support leg and assist in calibrating the levelness of the equipment.

[0043] The upper trolley 1 is positioned above the truss 301 and includes a first movable support 101, four first rollers 102, and a concrete pipe support frame 103. The four first rollers 102 are installed at the four corners of the bottom of the first movable support 101 and embedded in the first grooved slide rail 303. Driven by a drive motor, they roll horizontally along the slide rail, enabling the upper trolley 1 to move autonomously. Two sets of concrete pipe support frames 103 are fixed to the top of the first movable support 101. The upper end of the support frame has a rounded chamfered structure adapted to the outer wall of the concrete pipe 4. When bearing load, it fits snugly against the outer wall of the pipe, avoiding stress concentration that could damage the concrete pipe 4, and also preventing lateral slippage of the pipe.

[0044] The lower trolley 2 is positioned below the truss 301 and includes a second movable support 201, four movable wheels 202, and four second rollers 203. The four second rollers 203 are installed at the top four corners of the second movable support 201 and embedded in the second grooved slide rails 304, enabling relative sliding between the lower trolley 2 and the support frame 3. The four movable wheels 202 are installed at the bottom four corners of the second movable support 201 and are driven by a drive motor to move along the bottom surface of the pit 5, providing support for the overall displacement of the support frame 3.

[0045] Transportation, installation, and construction steps: The method for transporting and installing the concrete pipe 4 in this embodiment is as follows: S1. Equipment placement: After the excavation and support of the foundation pit 5 are completed, the assembled equipment is hoisted into the foundation pit 5 by a crane at the end of the construction section. At the same time, the first section of concrete pipe 4 to be installed is hoisted to the corresponding position of the equipment. The lower trolley 2 is started, and the load-bearing support frame 3 is moved forward as a whole, so that the main body of the equipment is completely inserted into the internal cavity of the concrete pipe 4 to be installed.

[0046] S2, Concrete pipe lifting and forward movement: The four liftable support legs 302 extend downwards simultaneously, and after the pad plate 3025 contacts the bottom surface of the foundation pit 5, it continues to lift, driving the truss 301 and the upper trolley 1 to rise as a whole. The concrete pipe support frame 103 lifts the concrete pipe 4 to be installed so that it is completely off the ground; then the upper trolley 1 slides forward along the first groove slide rail 303, driving the concrete pipe 4 to move forward 2m in the direction of the installed concrete pipe.

[0047] S3. Support frame step-by-step movement: After the concrete pipe 4 moves forward to the position, the four liftable support legs 302 retract synchronously. After the installed concrete pipe 4 falls back to the bottom of the foundation pit 5 and stops, the lower trolley 2 starts, driving the support frame 3 to move forward 2m along the second groove slide rail 304 to complete one step-by-step movement.

[0048] S4. Circulating Transfer and Connection Installation: Repeat steps S2-S3 until the concrete pipe 4 to be installed is moved to the connection position. During connection, initiate the pipe end coaxiality calibration procedure: acquire the center coordinates of the two pipe ends using laser ranging, and calculate the horizontal offset. and vertical offset Substitute into the coaxiality formula: In this embodiment, the precast concrete pipe installation allows for coaxiality tolerance. During adjustment, correction is made by horizontal sliding of the upper trolley 1. Correction is achieved through the synchronized lifting and lowering of the four supporting legs. Continue until the deviation meets the requirements, and complete the precise connection of the pipe sections.

[0049] S5. Reset Cycle: After docking is completed, the lifting support legs are retracted, the upper trolley 1 is lowered back to reset, and the lower trolley 2 moves out along the inside of the concrete pipe and returns to the end of the foundation pit to wait for the next section of concrete pipe to be hoisted. The above process is repeated to complete the installation of all pipe sections.

[0050] Synchronous Lifting Control Process for Four Support Legs: Throughout the entire process of raising and lowering the support legs, the four drive motors employ PI closed-loop synchronous control to ensure the truss remains level. Specific steps are as follows: S11, Height Conversion: Lead Screw Lead in this Embodiment The cumulative number of rotations is collected through the motor encoder. Calculate the actual height of each support leg in real time: ; S12, Deviation Calculation: Based on the target elevation / reduction height Using this as a benchmark, calculate the deviation of a single support leg. Extract the maximum absolute deviation of the four supporting legs. This embodiment allows for a synchronization deviation threshold. .

[0051] S13, Speed ​​Adjustment: When At this time, PI control is activated to correct the speed of each motor. The correction formula is as follows: ; in The corrected lifting speed of the i-th drive motor; The reference lifting speed for the four support legs; This is the proportional adjustment coefficient; This is the integral adjustment coefficient; Real-time height deviation of the i-th supporting leg; This represents the integral of the height deviation over time. The reference lifting speed in this embodiment The corresponding rotational speed is 5 mm / s, and the proportional coefficient is... Integral coefficient Reduce the rotation speed of the support legs that are ahead in height, and increase the rotation speed of the support legs that are behind in height. Dynamically adjust until the maximum deviation is ≤2mm to ensure that the four support legs rise and fall synchronously and the truss remains horizontal.

[0052] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A concrete rainwater pipe transportation and installation device for a narrow area foundation pit, characterized in that: It includes an upper trolley (1), a lower trolley (2) and a support frame (3). The upper trolley (1) is installed on the upper part of the support frame (3) and slides horizontally along the support frame (3). The lower trolley (2) is located on the lower part of the support frame (3) and can slide horizontally along the support frame (3).

2. The concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit according to claim 1, characterized in that: The support frame (3) includes a truss (301) and liftable support legs (302). Liftable support legs (302) are installed on all four corners of the truss (301). A first grooved slide rail (303) is provided on the upper part of the truss (301), and a second grooved slide rail (304) is provided on the lower part of the truss (301).

3. The concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit according to claim 2, characterized in that: The liftable support leg (302) includes a fixed cylinder (3021), a drive motor (3022), a lead screw (3023), a lifting rod (3024), and a pad (3025). The drive motor (3022) is installed inside the fixed cylinder (3021). The upper part of the lifting rod (3024) is inserted into the fixed cylinder (3021). The output shaft of the drive motor (3022) is connected to the lead screw (3023). The lead screw (3023) is threadedly connected to the lifting rod (3024). The lower part of the lifting rod (3024) is connected to the pad (3025). A limit stop (30212) is provided inside the fixed cylinder (3021). The structural parameters of the pad are determined by the grounding specific voltage verification formula, which is as follows: ； This refers to the actual grounding pressure ratio between the pad and the bottom of the pit; The overall weight of the transport and installation equipment; This refers to the rated load-bearing capacity of a single section of concrete rainwater pipe. The total number of height-adjustable support legs; The effective grounding area of ​​a single pad; This represents the characteristic value of the allowable bearing capacity of the foundation soil within the excavation pit.

4. The concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit according to claim 3, characterized in that: A first bevel gear (3026) is fitted between the output shaft of the drive motor (3022) and the lead screw (3023). The first bevel gear (3026) meshes with a second bevel gear (3027). The central shaft (3028) of the second bevel gear (3027) passes through the side wall of the fixed cylinder (3021) and is connected to a handle (3029). The handle (3029) is hexagonal. A bearing (30210) is fitted at the connection between the central shaft (3028) and the fixed cylinder (3021).

5. The concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit according to claim 4, characterized in that: A scale (30211) is provided on the side of the lifting rod (3024).

6. The concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit according to claim 1, characterized in that: The upper trolley (1) includes a first movable support (101) and a first roller (102). The first roller (102) is installed on the four corners of the first movable support (101). The first roller (102) is connected to the first groove slide rail (303). A concrete pipe support frame (103) is connected to the upper part of the first movable support (101). The upper end of the concrete pipe support frame (103) is chamfered.

7. The concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit according to claim 1, characterized in that: The lower trolley (2) includes a second movable support (201), movable wheels (202), and a second roller (203). The four corners of the second movable support (201) are connected to movable wheels (202), and the second roller (203) is installed on the upper part of the second movable support (201). The second roller (203) is connected to the second groove slide rail (304).

8. The installation method of a concrete rainwater pipe transportation and installation equipment in a narrow area foundation pit according to any one of claims 1-7, characterized in that: The method and steps are as follows: S1. Place the equipment in the foundation pit (5) to complete the installation, and move the lower trolley (2) bearing support frame (3) forward into the concrete pipe (4); S2, the liftable support leg (302) is lifted, and the upper trolley (1) drives the concrete pipe (4) to move forward; S3. After the concrete pipe (4) moves forward, the liftable support leg (302) is retracted, and the support frame (3) moves forward through the rollers of the lower trolley (2). S4. The liftable support leg (302) is lowered, and the upper trolley (1) is lifted to make the concrete pipe (4) off the ground, thus completing the movement and installation of the concrete pipe (4); S5. The lower trolley (2) opens out the concrete pipe (4) and waits for the next installation.

9. A method for transporting and installing concrete rainwater pipes in a narrow area of ​​a foundation pit according to claim 8, characterized in that: During the installation of the concrete rainwater pipe in step S4, the equipment posture is adjusted using a pipe end coaxiality calibration algorithm, and the coaxiality deviation satisfies the following control formula: ； In the formula The deviation of the coaxiality of the pipe opening centers between the concrete pipe to be installed and the already installed concrete pipe; This represents the horizontal radial offset between the two pipe openings; This represents the vertical diameter offset between the two pipe openings; The allowable coaxiality tolerance for the installation of precast concrete rainwater pipes; the horizontal radial offset is corrected by sliding the upper trolley along the first groove slide rail. The vertical diameter offset is corrected by the synchronous lifting and lowering of the liftable support legs. Until coaxiality deviation It meets the installation accuracy requirements.

10. A method for transporting and installing concrete rainwater pipes in a narrow area of ​​a foundation pit according to claim 8, characterized in that: The drive motors of the four liftable support legs adopt a synchronous lifting closed-loop control algorithm, and the control algorithm steps are as follows: S11. Establish a conversion formula between the actual lifting height of a single support leg and the rotation parameters of the drive motor: ; In the formula, i is the support leg number, which takes the values ​​1, 2, 3, and 4; Let be the actual lifting height of the i-th liftable support leg; P represents the cumulative number of rotations of the drive motor corresponding to the i-th support leg; P is the lead of the lifting transmission screw. S12. Raise or lower the height to a preset uniform target. Based on this, the height deviation of each support leg and the maximum synchronization deviation within the group are calculated in real time: ； ； In the formula This represents the height deviation value of the i-th supporting leg; This represents the maximum synchronization deviation of the four supporting legs; S13, Speed ​​Compensation Synchronization Adjustment: When When [Δh] is the preset allowable synchronization deviation threshold, the output speed of each drive motor is corrected in a closed loop. The correction formula is as follows: ； In the formula The corrected lifting speed of the i-th drive motor; The reference lifting speed for the four support legs; This is the proportional adjustment coefficient; This is the integral adjustment coefficient; Real-time height deviation of the i-th supporting leg; This represents the integral of the height deviation over time. Synchronization is achieved by reducing the rotational speed of the support leg that is ahead in height and increasing the rotational speed of the support leg that is behind in height, until... .

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