Parallel six-degree-of-freedom fine adjustment assembling device for prefabricated box culvert

Abstract

The utility model relates to a prefabricated box culvert parallel connection six-degree-of-freedom fine adjustment assembling device which comprises a bearing piece, a fine adjustment mechanism and a longitudinal moving mechanism which are sequentially arranged from top to bottom. The bearing piece is used for bearing a prefabricated box culvert to be installed; the fine adjustment mechanism is arranged below the bearing piece by surrounding the bearing piece by one circle, and the fine adjustment mechanism can adjust and position six degrees of freedom of the bearing piece at the same time; the longitudinal moving mechanism can penetrate through preformed holes in the lower portion of the prefabricated box culvert to support the bearing piece and the fine adjustment mechanism to the to-be-installed position of the prefabricated box culvert and can drive the bearing piece and the fine adjustment mechanism to move in the longitudinal direction. The positioning device has the beneficial effects that the positioning process is simple, rapid and accurate, and the device is simple in overall structure and convenient to install and transport.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction equipment, in particular to a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device. Background Art

[0002] During the construction of large-diameter shield tunnels, it is usually necessary to lay box culverts at the bottom of the tunnel as drainage channels or emergency escape channels for personnel. The construction steps of box culverts are relatively cumbersome. In the past, the shield machine was required to use a supporting crane to first construct the middle box culvert, and then use small lifting equipment to construct the side box culverts on both sides. In order to improve construction efficiency, the overall prefabricated box culvert assembly was gradually adopted. After the shield machine box culvert crane was hoisted into place, the installation position of the box culvert needed to be accurately adjusted before installation.

[0003] At present, the equipment for six-degree-of-freedom fine-tuning of prefabricated box culverts has the following disadvantages: complex structure, with many relative sliding surfaces, which can easily cause equipment jamming when the gap control is not precise; the equipment is heavy, consumes a lot of energy, has a large total power, and is inconvenient to transport; or, positioning holes need to be reserved on the box culvert, which places high demands on the prefabrication of the box culvert.

[0004] Therefore, a new prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device is needed to solve the above-mentioned technical problems. Utility Model Content

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings or deficiencies of the prior art, the utility model provides a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, which solves the technical problems that the current equipment for six-degree-of-freedom fine-tuning during the assembly of prefabricated box culverts is complex in structure, which easily causes equipment jamming; the equipment is heavy and inconvenient to transport, and has high requirements for box culvert prefabrication.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the utility model include:

[0009] In the first aspect, an embodiment of the utility model provides a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, comprising a supporting member, a fine-tuning mechanism and a longitudinal movement mechanism arranged in sequence from top to bottom; the supporting member is used to support the prefabricated box culvert to be installed; the fine-tuning mechanism is arranged around the supporting member and below the supporting member, and the fine-tuning mechanism can simultaneously adjust and position the six degrees of freedom of the supporting member; the longitudinal movement mechanism can pass through the reserved holes at the bottom of the prefabricated box culvert to support the supporting member and the fine-tuning mechanism at the position to be installed of the prefabricated box culvert, and can drive the supporting member and the fine-tuning mechanism to move in the longitudinal direction.

[0010] Optionally, the prefabricated box culvert is connected with a six-degree-of-freedom fine-tuning assembly device in parallel, and the fine-tuning mechanism includes six adjusting members; the six adjusting members are symmetrically distributed on both sides of the supporting member along the longitudinal direction; the upper end of the adjusting member is movably connected to the supporting member, and the lower end is movably connected to the longitudinal movement mechanism; the six adjusting members act on the supporting member at the same time, thereby adjusting the prefabricated box culvert to the position to be installed to complete the assembly of the prefabricated box culvert.

[0011] Optionally, in the prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, the adjusting member is an electric cylinder, and both ends of the electric cylinder are provided with connecting members; the connecting member is a ball-head type connecting member or a cross-axis type connecting member.

[0012] Optionally, in the prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, the longitudinal movement mechanism includes a sliding frame and a guide frame; the sliding frame is inserted into the guide frame, and its upper end is slidably arranged on the guide frame; the two ends of the guide frame along the longitudinal direction can be synchronously extended and retracted in the vertical direction, and when the two ends of the guide frame are contracted, the lower end of the sliding frame passes through the reserved holes in the lower part of the prefabricated box culvert and is supported on the ground; when the two ends of the guide frame are extended, the guide frame passes through the reserved holes in the lower part of the prefabricated box culvert and is supported on the ground; the fine-tuning mechanism is arranged on the sliding frame.

[0013] Optionally, in the prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, the longitudinal movement mechanism also includes two longitudinal movement driving members; the two longitudinal movement driving members are symmetrically arranged above the sliding frame along the longitudinal direction; one end of the longitudinal movement driving member is connected to the longitudinal end of the guide frame, and the other end is connected to the sliding frame, and can be extended and retracted along the longitudinal direction.

[0014] Optionally, in the prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, the longitudinal movement mechanism also includes four legs that can be synchronously extended and retracted in the vertical direction; the four legs are evenly arranged at both ends of the guide frame in the longitudinal direction to support or detach from the ground.

[0015] Optionally, in the prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, the longitudinal movement mechanism also includes four guide wheels; the four guide wheels correspond one-to-one to the four legs, and the guide wheels are arranged on one side of the legs facing the inner wall of the prefabricated box culvert.

[0016] Optionally, the prefabricated box culvert is connected in parallel with the six-degree-of-freedom fine-tuning assembly device, and the sliding frame is provided with weight-reducing holes.

[0017] Optionally, the prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device further includes a buffer pad; the buffer pad is arranged on the area on the upper surface of the supporting member for contacting the inner wall of the prefabricated box culvert and the area on the lower surface of the longitudinal movement mechanism for contacting the ground; the area on the upper surface of the supporting member for contacting the inner wall of the prefabricated box culvert and the area on the lower surface of the longitudinal movement mechanism for contacting the ground are arc-shaped surfaces to adapt to the shapes of the inner wall of the prefabricated box culvert and the ground.

[0018] Optionally, the prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device further includes an electronic control unit; the electronic control unit is arranged on the longitudinal movement mechanism away from the fine-tuning mechanism; the longitudinal movement mechanism and the fine-tuning mechanism are both electrically connected to the electronic control unit.

[0019] (III) Beneficial effects

[0020] The beneficial effects of the utility model are as follows: a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device of the utility model, because the fine-tuning mechanism is arranged around the supporting member and below the supporting member, the six degrees of freedom of the supporting member can be adjusted and positioned simultaneously, and the supporting member is used to support the prefabricated box culvert to be installed, that is, the one-time positioning of the prefabricated box culvert during the assembly process is achieved through the supporting member; at the same time, the assembling device is equipped with a longitudinal movement mechanism, and after installing one section of the prefabricated box culvert, the entire device can be moved to the next position to continue construction; compared with the prior art, its positioning process is simple, fast and accurate, and the overall structure of the device is simple, which is convenient for installation and transportation.

[0021] Six parallel electric cylinder adjustment parts are set up, which are controlled by servo motors to ensure the fine adjustment accuracy of the adjustment parts, and can quickly and accurately adjust the installation position of the prefabricated box culvert to be installed; at the same time, the energy transfer loss is reduced, the whole machine power is low, and it is safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of Embodiment 1 of a parallel six-degree-of-freedom fine-tuning assembly device for a prefabricated box culvert of the utility model;

[0023] Figure 2 for Figure 1 A schematic diagram of a front view of a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device;

[0024] Figure 3 for Figure 1 A schematic top view of a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device;

[0025] Figure 4 for Figure 1 A schematic side view of a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device.

[0026] [Description of Reference Numerals]

[0027] 1: supporting member; 2: longitudinal movement mechanism; 21: sliding frame; 211: weight reduction hole; 22: guide frame; 23: longitudinal movement driving member; 24: supporting leg; 25: guide wheel; 3: fine adjustment mechanism; 31: adjusting member; 311: connecting member; 4: buffer pad; 5: electronic control unit. DETAILED DESCRIPTION

[0028] The utility model provides a parallel six-degree-of-freedom fine-tuning assembly device for a prefabricated box culvert. The device aims to solve the technical problems that the current equipment for six-degree-of-freedom fine-tuning during the assembly of prefabricated box culverts is complex in structure, which easily causes the equipment to jam; the equipment is heavy and inconvenient to transport, and has high requirements for the prefabrication of the box culvert. The fine-tuning mechanism is arranged around the supporting member and below the supporting member, and can simultaneously adjust and position the six degrees of freedom of the supporting member. The supporting member is used to support the prefabricated box culvert to be installed, that is, the one-time positioning of the prefabricated box culvert during the assembly process is achieved through the supporting member. At the same time, the assembly device is equipped with a longitudinal movement mechanism, and after installing one section of the prefabricated box culvert, the entire device can be moved to the next position to continue construction. Compared with the prior art, its positioning process is simple, fast and accurate, and the overall structure of the device is simple, which is convenient for installation and transportation.

[0029] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0030] Embodiment 1:

[0031] Reference Figure 1 and Figure 2The present embodiment provides a parallel six-degree-of-freedom fine-tuning assembly device for a prefabricated box culvert, comprising a supporting member 1, a fine-tuning mechanism 3, and a longitudinal movement mechanism 2 arranged in sequence from top to bottom. The supporting member 1 is used to support the prefabricated box culvert to be installed, and is used to support and adjust the posture of the prefabricated box culvert. The fine-tuning mechanism 3 is arranged around the supporting member 1 and below the supporting member 1, and the fine-tuning mechanism 3 can simultaneously adjust and position the six degrees of freedom of the supporting member 1, thereby assisting in positioning the precise installation position of the prefabricated box culvert, and the fine-tuning mechanism 3 has a simple structure. The longitudinal movement mechanism 2 can pass through the reserved hole at the bottom of the prefabricated box culvert to support the supporting member 1 and the fine adjustment mechanism 3 at the installation position of the prefabricated box culvert, and can drive the supporting member 1 and the fine adjustment mechanism 3 to move in the longitudinal direction; the movement of the longitudinal movement mechanism 2 is mainly reflected in that when a section of the prefabricated box culvert is in place, the supporting member 1 and the fine adjustment mechanism 3 are moved to the inside of the prefabricated box culvert, and then the posture of the prefabricated box culvert is adjusted by the fine adjustment mechanism 3, and then it is assembled with the prefabricated box culvert that has been installed, and then the prefabricated box culvert that has been installed is exited, and the above process is repeated to complete the positioning and assembly of multiple sections of prefabricated box culverts in sequence. Here, the six degrees of freedom refer to the freedom of movement along the three rectangular coordinate axes of x, y, and z and the freedom of rotation around these three coordinate axes.

[0032] Reference Figure 1 , Figure 2 and Figure 4 The present embodiment provides a parallel six-degree-of-freedom fine-tuning assembly device for a prefabricated box culvert. The fine-tuning mechanism 3 includes six adjusting members 31. The six adjusting members 31 are symmetrically distributed on both sides of the supporting member 1 along the longitudinal direction. The three adjusting members 31 on each side can be equidistant or unequally spaced, and the working of each adjusting member 31 is coordinated with each other and complements each other. The upper end of the adjusting member 31 is movably connected to the supporting member 1, and the lower end is movably connected to the longitudinal movement mechanism 2, so that the adjusting member 31 can be flexibly moved and changed in posture. The six adjusting members 31 can swing at the same time to adjust and position the six degrees of freedom of the supporting member 1, that is, the six adjusting members 31 are adjusted to the installation position to complete the assembly of the prefabricated box culvert in a parallel manner. Compared with the current situation in which a large number of relative sliding surfaces are set in the series mechanism used in the prior art, and the gap control is easy to cause the equipment to get stuck, the six adjusting members 31 used in this embodiment can position the supporting member 1 in parallel at one time, and the working process is simple and efficient.

[0033] Further, refer to Figure 1 and Figure 2This embodiment provides a parallel six-degree-of-freedom fine-tuning assembly device for a prefabricated box culvert. The adjusting member 31 is an electric cylinder. Connecting members 311 are provided at both ends of the electric cylinder. The connecting members 311 are ball-type connecting members 311 or cross-axis connecting members 311, which facilitate the flexible swing of the electric cylinder. The six parallel electric cylinder adjusting members 31 are controlled by a servo motor to ensure the fine-tuning accuracy of the adjusting members 31, and can quickly and accurately adjust the installation position of the prefabricated box culvert to be installed; at the same time, the energy transfer loss is reduced, and the power of the whole machine is low; in addition, as a prior art, the electric cylinder has a three-level self-locking function, which makes the overall working process of the fine-tuning mechanism 3 safer and more reliable.

[0034] Reference Figure 1 , Figure 3 and Figure 4 This embodiment provides a parallel six-degree-of-freedom fine-tuning assembly device for a prefabricated box culvert. The longitudinal movement mechanism 2 includes a sliding frame 21 and a guide frame 22. The sliding frame 21 is inserted into the guide frame 22, and its upper end is slidably arranged on the guide frame 22. The fine-tuning mechanism 3 is arranged on the sliding frame 21. The sliding frame 21 can move longitudinally along the guide frame 22 with the fine-tuning mechanism 3 and the supporting member 1. The two ends of the guide frame 22 along the longitudinal direction can be synchronously extended and retracted in the vertical direction. When the two ends of the guide frame 22 are contracted, the lower end of the sliding frame 21 passes through the reserved holes at the bottom of the prefabricated box culvert and is supported on the ground. When the two ends of the guide frame 22 are extended, the guide frame 22 passes through the reserved holes at the bottom of the prefabricated box culvert and is supported on the ground. When the fine-tuning mechanism 3 adjusts the supporting member 1, the sliding frame 21 is supported on the ground; at the same time, a weight-reducing hole 211 is arranged on the sliding frame 21, which reduces the weight of the device and facilitates movement.

[0035] The longitudinal movement mechanism 2 cooperates with the sliding frame 21 and the guide frame 22 and further includes two longitudinal movement driving members 23, which are symmetrically arranged above the sliding frame 21 in the longitudinal direction, one end of the longitudinal movement driving member 23 is connected to the end of the guide frame 22 in the longitudinal direction, and the other end is connected to the sliding frame 21, and can be extended and retracted in the longitudinal direction. The longitudinal movement driving member 23 drives the sliding frame 21 to move longitudinally along the guide frame 22, and cooperates with the contraction of the two ends of the guide frame 22 to realize the step-by-step movement of the longitudinal movement mechanism 2.

[0036] Reference Figure 1 , Figure 3 and Figure 4 This embodiment provides a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device. Furthermore, the longitudinal movement mechanism 2 also includes four legs 24 that can be synchronously extended and retracted in the vertical direction. The four legs 24 are evenly arranged at both ends of the guide frame 22 in the longitudinal direction and are driven by an electric cylinder or an oil cylinder to achieve the support of the guide frame 22 on or off the ground.

[0037] Reference Figure 4The moving process of the longitudinal movement mechanism 2 is as follows: the four legs 24 extend to support the ground, so that the sliding frame 21 is off the ground, and the longitudinal movement driving member 23 extends to the right, pushing the sliding frame 21 to move a certain distance to the right along the guide frame 22; then, the four legs 24 retract and leave the ground, the lower part of the sliding frame 21 supports the ground, and the longitudinal movement driving member 23 retracts to the right, driving the guide frame 22 to move a certain distance to the right, and the above steps are repeated, and the longitudinal movement mechanism 2 realizes step-by-step movement.

[0038] In addition, the longitudinal movement mechanism 2 also includes four guide wheels 25, and the four guide wheels 25 correspond one by one to the four legs 24. The guide wheels 25 are arranged on the side of the legs 24 facing the inner wall of the prefabricated culvert, and are used to roll and limit the guide frame 22 along the inner wall of the prefabricated culvert, so that the longitudinal movement mechanism 2 moves along the inner wall of the prefabricated culvert without being skewed.

[0039] Reference Figure 1 and Figure 2 , this embodiment provides a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, which also includes a buffer pad 4, which is arranged on the upper surface of the supporting member 1 for contacting the area of ​​the inner wall of the prefabricated box culvert and the lower surface of the longitudinal movement mechanism 2 for contacting the ground; the upper surface of the supporting member 1 for contacting the inner wall of the prefabricated box culvert and the lower surface of the longitudinal movement mechanism 2 for contacting the ground are arc-shaped surfaces to adapt to the shape of the inner wall of the prefabricated box culvert and the ground. Because the prefabricated box culvert is used to be installed under the shield tunnel, its shape needs to adapt to the circular tunnel, so both the outer wall of the prefabricated box culvert and the ground in contact with it (the inner wall of the tunnel) are arc-shaped surfaces; at the same time, the inner wall of the prefabricated box culvert is also an arc-shaped surface. The provision of the buffer pad 4 can protect the prefabricated box culvert on the one hand, and on the other hand, it can also protect the fine-tuning assembly device. The buffer pad 4 is made of a material with a buffering effect such as rubber.

[0040] Reference Figure 1 and Figure 3 The present embodiment provides a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, which also includes an electric control unit 5. The electric control unit 5 is arranged on the longitudinal movement mechanism 2 away from the fine-tuning mechanism 3. The longitudinal movement mechanism 2 and the fine-tuning mechanism 3 are both electrically connected to the electric control unit 5. The electric control unit 5 is used to control the longitudinal movement mechanism 2 and the fine-tuning mechanism 3 to perform actions. The specific control process is the existing technology.

[0041] The present embodiment provides a prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, and the specific working steps are as follows: first, move to the inside of the prefabricated box culvert to be installed under the use of the longitudinal movement mechanism 2, and align the supporting member 1 with the middle position of the top of the prefabricated box culvert; then, obtain the adjustment deviation data through a measurement system such as a total station or a laser displacement sensor, and then calculate the adjustment amount of the six electric cylinders, and transmit the adjustment amount to the electronic control unit 5, control the six electric cylinders to adjust the displacement of the supporting member 1 along the x, y, and z axes and the rotation angle around these three coordinate axes according to the calculated adjustment amount, and then adjust and position the prefabricated box culvert to the precise position to be installed for assembly; finally, after the assembly is completed, move out the prefabricated box culvert under the use of the longitudinal movement mechanism 2, repeat the above steps, and the overall assembly of the prefabricated box culvert can be completed.

[0042] It should be noted that the algorithms and related hardware involved in the adjustment amount calculation mentioned here do not belong to the protection content of the present utility model and only serve as an explanation.

[0043] In the description of the present utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present utility model, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0046] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0047] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device, characterized in that: It comprises a supporting member (1), a fine adjustment mechanism (3) and a longitudinal movement mechanism (2) which are arranged in sequence from top to bottom; The supporting member (1) is used to support the prefabricated box culvert to be installed; The fine adjustment mechanism (3) is arranged below the supporting member (1) around the supporting member (1), and the fine adjustment mechanism (3) is capable of simultaneously adjusting and positioning six degrees of freedom of the supporting member (1); The longitudinal movement mechanism (2) can pass through the reserved hole at the bottom of the prefabricated box culvert to support the supporting member (1) and the fine adjustment mechanism (3) at the position to be installed on the prefabricated box culvert, and can drive the supporting member (1) and the fine adjustment mechanism (3) to move in the longitudinal direction.

2. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 1, characterized in that: The fine adjustment mechanism (3) comprises six adjustment members (31); The six adjusting members (31) are symmetrically distributed on both sides of the supporting member (1) along the longitudinal direction; The upper end of the adjusting member (31) is movably connected to the supporting member (1), and the lower end is movably connected to the longitudinal movement mechanism (2); The six adjusting members (31) act on the supporting member (1) simultaneously, thereby adjusting the prefabricated box culvert to the position to be installed to complete the assembly of the prefabricated box culvert.

3. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 2, characterized in that: The adjusting member (31) is an electric cylinder, and both ends of the electric cylinder are provided with connecting members (311); The connecting piece (311) is a ball-head type connecting piece (311) or a cross-axis type connecting piece (311).

4. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 1, characterized in that: The longitudinal movement mechanism (2) comprises a sliding frame (21) and a guide frame (22); The sliding frame (21) is inserted into the guide frame (22), and the upper end thereof is slidably disposed on the guide frame (22); The two ends of the guide frame (22) along the longitudinal direction can be synchronously extended and retracted along the vertical direction. When the two ends of the guide frame (22) are retracted, the lower end of the sliding frame (21) passes through the reserved holes at the bottom of the prefabricated box culvert to be supported on the ground. When the two ends of the guide frame (22) are extended, the guide frame (22) passes through the reserved holes at the bottom of the prefabricated box culvert to be supported on the ground. The fine adjustment mechanism (3) is arranged on the sliding frame (21).

5. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 4, characterized in that: The longitudinal movement mechanism (2) further comprises two longitudinal movement driving members (23); The two longitudinal driving members (23) are symmetrically arranged above the sliding frame (21) along the longitudinal direction; One end of the longitudinal driving member (23) is connected to the end of the guide frame (22) along the longitudinal direction, and the other end is connected to the sliding frame (21), and can be telescopic in the longitudinal direction.

6. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 4, characterized in that: The longitudinal movement mechanism (2) further comprises four legs (24) capable of synchronously extending and retracting in the vertical direction; The four legs (24) are evenly arranged at both ends of the guide frame (22) in the longitudinal direction so as to support the guide frame (22) on or off the ground.

7. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 6, characterized in that: The longitudinal movement mechanism (2) further comprises four guide wheels (25); The four guide wheels (25) correspond to the four supporting legs (24) one by one, and the guide wheels (25) are arranged on one side of the supporting legs (24) to face the inner wall of the prefabricated box culvert.

8. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 4, characterized in that: The sliding frame (21) is provided with a weight-reducing hole (211).

9. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 1, characterized in that: Also includes a buffer pad (4); The buffer pad (4) is arranged on an area on the upper surface of the supporting member (1) for contacting the inner wall of the prefabricated box culvert and an area on the lower surface of the longitudinal movement mechanism (2) for contacting the ground; The area on the upper surface of the supporting member (1) for contacting the inner wall of the prefabricated box culvert and the area on the lower surface of the longitudinal movement mechanism (2) for contacting the ground are arc-shaped surfaces to adapt to the shapes of the inner wall of the prefabricated box culvert and the ground.

10. The prefabricated box culvert parallel six-degree-of-freedom fine-tuning assembly device according to claim 1, characterized in that: It also includes an electric control unit (5); The electric control unit (5) is arranged on the longitudinal movement mechanism (2) away from the fine adjustment mechanism (3); The longitudinal movement mechanism (2) and the fine adjustment mechanism (3) are both electrically connected to the electric control unit (5).

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