Small and medium-sized assembled open caisson hoisting and mounting integrated equipment

Abstract

A small and medium-sized assembly type open caisson hoisting and mounting integrated device comprises a hoisting and mounting machine, a bottom ring beam is arranged outside a well mouth and surrounds the well mouth, a top ring beam is located above the bottom ring beam, the top ring beam and the bottom ring beam are connected through a supporting column, and a crane beam is arranged along the diameter of the top ring beam. The two ends of the crane beam are driven by the circumferential driving mechanisms to slide in the circumferential direction of the top ring beam, the crane translates in the radial direction of the crane beam through the radial translation mechanism, and the telescopic arm translates up and down along the crane through the lifting mechanism. The mechanical operation arm is opened and closed through the opening and closing mechanism so as to loosen or clamp the prefabricated well piece; and the bottom ring beam and the top ring beam are sequentially spliced into a ring shape through a plurality of sections of arc units. The bottom ring beam and the top ring beam are sequentially spliced into a ring shape through the multiple sections of arc units and are easy to disassemble and transport, equipment is installed outside a well, assembly is not limited by the size of the open caisson, and the prefabricated open caisson belongs to the technical field of prefabricated assembly type open caisson construction.

Description

Technical Field

[0001] This utility model relates to the construction technology of prefabricated assembled caissons, specifically to an integrated equipment for hoisting and installing small and medium-sized assembled caissons. Background Technology

[0002] Currently, cast-in-place monolithic caissons, as a mature construction technology, are widely used in water supply and drainage networks, bridge foundations, and underground space construction projects. Although traditional cast-in-place monolithic caisson construction methods have advantages such as high rigidity, large cross-section, high bearing capacity, strong impermeability, and wide applicability to various strata, their application is limited by problems such as low construction efficiency, difficulty in controlling the well's posture, and generally large settlement of the surrounding strata.

[0003] In recent years, with the accelerating pace of industrialization in construction, the industry has been searching for more efficient, environmentally friendly, and safe methods for constructing caissons. Precast caissons have emerged as a result and have begun experimental applications in municipal engineering. However, commonly used hoisting equipment such as tire cranes, tower cranes, and mast cranes are still employed for caisson segment installation. There is a lack of technological innovation within the industry regarding hoisting equipment for precast caissons, especially for small precast caissons (diameter D = 5-10m) in municipal engineering projects.

[0004] CN 118309095 A discloses a prefabricated caisson hoisting mechanism and assembly construction method. According to the installation position of the caisson, a central column is erected at the center of the caisson, and a radial reference is formed by moving a reference limit head based on the radius of the caisson. The hoisting of the caisson segments is completed by the hoisting arm moving radially along the radius of the caisson and circumferentially around the central column. However, this method also has some problems in application:

[0005] (1) The central column needs to be erected at the bottom of the caisson. As the soil at the bottom of the caisson sinks, its foundation needs to be frequently adjusted in terms of burial depth according to the elevation of the bottom of the caisson or rely on internal support to ensure the stability of the column in order to achieve hoisting accuracy and stability. The actual operation is quite difficult.

[0006] (2) The hoisting equipment is heavy and needs to be assembled inside the well. The limited space inside the small-diameter caisson further increases the difficulty of assembling and dismantling the construction machinery.

[0007] (3) The crossbeam, which is the main load-bearing beam, is a cantilever structure with one end suspended, which will affect the load-bearing capacity of the hoisting mechanism. Utility Model Content

[0008] In view of the technical problems existing in the prior art, the purpose of this utility model is to provide a small-to-medium-sized prefabricated caisson hoisting and installation integrated equipment that is easy to install outside the wellhead.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] This is an integrated equipment for the hoisting and installation of small and medium-sized prefabricated caissons, including a hoisting and installation machine for hoisting prefabricated caisson segments. The hoisting and installation machine includes a bottom ring beam, a top ring beam, support columns, a crane beam, a crane, a telescopic boom, a mechanical operating arm, a circumferential drive mechanism, a radial translation mechanism, a lifting mechanism, and an opening and closing mechanism. The bottom ring beam is located outside the caisson opening and surrounds it. The top ring beam is located above the bottom ring beam, and the top and bottom ring beams are connected by support columns. The crane beam is set along the diameter of the top ring beam, and both ends of the crane beam are driven by the circumferential drive mechanism to slide circumferentially along the top ring beam. The crane translates radially along the crane beam through the radial translation mechanism. The telescopic boom translates vertically along the crane through the lifting mechanism. The mechanical operating arm is located at the lower end of the telescopic boom and opens and closes through the opening and closing mechanism to release or clamp the prefabricated caisson segments. Both the bottom and top ring beams are formed into a ring by sequentially splicing multiple arc units.

[0011] As a preferred embodiment, the number of arc units constituting the bottom ring beam, the number of arc units constituting the top ring beam, and the number of support columns are all the same; the arc units are detachably connected to each other by connectors, and the connectors are detachably connected to the support columns.

[0012] As a preferred embodiment, the mechanical manipulator includes a manipulator mounting frame, a telescopic hook, and two pairs of guide arms. Each pair of guide arms is mounted on either side of the manipulator mounting frame via an opening and closing mechanism. The telescopic hook is located between the two pairs of guide arms. Guide wheels are provided on the side of the guide arms that holds the precast well segment. The manipulator mounting frame is connected to the telescopic arms. The vertical length of the guide arms is L, and the height of the precast well segment is H, where H / 2... <L<H。

[0013] As a preferred embodiment, an installation cavity is provided at the lower end of the telescopic boom; the telescopic hook includes a telescopic drive motor, a wire rope shaft, a wire rope, and a hook. The hook is fixed to one end of the wire rope, and the other end of the wire rope is fixed to the wire rope shaft. The wire rope shaft is set inside the installation cavity. The telescopic drive motor drives the wire rope shaft to rotate, thereby causing the wire rope to extend or shorten; the middle part of the boom mounting frame is provided with an opening for the wire rope and hook to pass through.

[0014] As a preferred embodiment, each pair of guide arms includes an inner guide arm and an outer guide arm, which move away from or closer to each other via an opening and closing mechanism. Each of the inner and outer guide arms has two guide wheels on the side that holds the precast well piece, which assist in the upward and downward sliding of the precast well piece. All guide wheels installed on the two pairs of guide arms are at the same height.

[0015] As a preferred embodiment, the circumferential drive mechanism includes a circumferential moving frame, a circumferential drive motor, a circumferential guide wheel, a circumferential gear, and a ring rack; the end of the crane beam is fixed on the circumferential moving frame, and the circumferential guide wheel and the circumferential gear are both mounted on the circumferential moving frame; the ring rack is arranged along the top ring beam, the circumferential drive motor drives the circumferential gear to rotate, the circumferential gear meshes with the ring rack and moves along the ring rack; the top ring beam is provided with a ring track that cooperates with the circumferential guide wheel.

[0016] As a preferred embodiment, the radial translation mechanism includes a radial translation motor, a gear and rack mechanism, and a guide mechanism. The gear is mounted on the crane, and the rack is mounted on the crane beam. The radial translation motor drives the gear to rotate, and the gear translates relative to the rack, thereby causing the crane to translate relative to the crane beam along the guide mechanism.

[0017] As a preferred embodiment, the lifting mechanism includes a lifting motor, a gear and rack mechanism, and a guide mechanism. The gear is mounted on the crane, and the rack is mounted on the telescopic boom. The lifting motor drives the gear to rotate, and the gear moves up and down relative to the rack, thereby causing the telescopic boom to move up and down relative to the crane along the guide mechanism.

[0018] As a preferred embodiment, the opening and closing mechanism includes an opening and closing motor, a gear and rack mechanism, and two guide mechanisms. The gear and rack mechanism includes a gear and two racks. The gear is mounted on the operating arm mounting frame. The inner guide arm and the outer guide arm are each connected to a rack. The opening and closing motor drives the gear to rotate, and the gear drives the two racks to translate in the opposite direction. Thus, the inner guide arm and the outer guide arm both translate in the opposite direction relative to the operating arm mounting frame along their respective guide mechanisms.

[0019] As a preferred option, the integrated hoisting and installation equipment for small and medium-sized prefabricated caissons also includes a high-precision servo CNC system that enables precise alignment of prefabricated caisson segments. The high-precision servo CNC system includes high-precision measurement and positioning sensors and a servo CNC machine. High-precision measurement and positioning sensors are installed on the inner side of the connection nodes between the bottom ring beam and the support column, the inner side of the connection nodes between the top ring beam and the support column, the inner and outer sides of the prefabricated caisson segments that have been installed, and the inner and outer sides of the prefabricated caisson segments to be installed. The servo CNC machine controls the hoisting and installation machine to operate based on the data obtained by the high-precision measurement and positioning sensors.

[0020] The principle of this utility model is:

[0021] This invention addresses the construction of small and medium-sized prefabricated caissons. It features an integrated device that is easy to assemble and disassemble, an integrated device installed outside the caisson to avoid limitations imposed by the caisson's working conditions, a dedicated robotic arm for transporting prefabricated caisson segments, and a high-precision servo CNC system for precise positioning and distance measurement of the prefabricated caisson segments. This invention employs a combined servo control technology consisting of a high-precision measurement and positioning sensor and a servo CNC machine. Combined with a hoisting and installation machine, it achieves precise three-axis CNC positioning of the prefabricated caisson segments. Furthermore, the telescopic hook, guide arm, and guide wheels on the robotic arm work in concert to ensure high-precision dynamic correction of the prefabricated caisson segments during hoisting.

[0022] This utility model has the following advantages:

[0023] 1. The bottom and top ring beams of the equipment are assembled into a ring by sequentially splicing multiple arc units, which makes it easy to disassemble and transport. Furthermore, the equipment is installed outside the well, and its assembly is not limited by the size of the caisson.

[0024] 2. The equipment is installed outside the well and is not restricted by the working conditions of the caisson; the equipment will not sink.

[0025] 3. Relying on mechanical structures, measurement and positioning sensors, and high-precision servo CNC systems, dynamic control of the attitude and position information of prefabricated well segments can be achieved throughout the entire process of on-site transportation, lifting, and lowering to installation. Feedback control based on on-site requirements via the servo CNC system greatly improves the installation accuracy of prefabricated caissons and the efficiency of correction during installation. It also avoids impact damage to installed prefabricated well segments and waterproof strips during construction, improving construction quality and demonstrating broad application prospects.

[0026] 4. By utilizing a mechanical system that combines circumferential movement, radial translation, and lifting, the hoisting well segments can be moved flexibly in three degrees of freedom. Relying on the meshing transmission of gears and racks, the hoisting and installation machine can be moved precisely and stationary stably, providing physical support for hoisting stability.

[0027] 5. The mechanical operating arm system, consisting of a hook, inner and outer guide arms, and guide wheels, combined with a high-precision servo CNC system, can achieve precise control operations such as well segment attitude, lowering speed, and docking with pre-installed well segments.

[0028] 6. The structural load-bearing frame, consisting of bottom ring beam, top ring beam, and support columns, is connected by high-strength bolts and is modularly manufactured. It can be transported to the site in parts for assembly, making it flexible and adaptable. It is highly suitable for small and medium-sized caisson projects with limited terrain and site conditions.

[0029] 7. The bottom of the structural load-bearing frame is firmly connected to the treated foundation with anchor bolts. When the well plate cannot sink by its own weight or simple ballast, it can be used as a jack static pressure sinking reaction frame to achieve multiple uses of one device.

[0030] 8. Specifically designed for the construction of small and medium-sized prefabricated caissons, with strong versatility. The diameter of small and medium-sized caissons is generally 5-10 meters. As long as the hoisting and installation machine is designed to be slightly larger, it can cover the above-mentioned dimensions, thus having strong versatility. At the same time, the small size of the equipment makes it very convenient. Attached Figure Description

[0031] Figure 1 It is a 3D view of the integrated hoisting and installation equipment.

[0032] Figure 2 This is a top view of the integrated hoisting and installation equipment.

[0033] Figure 3 This is a magnified view of the top of the integrated hoisting and installation equipment.

[0034] Figure 4 This is a close-up view of the crane beam and the crane itself.

[0035] Figure 5 It is a 3D view of a robotic arm.

[0036] Figure 6 This is a three-dimensional view of the robotic arm from another perspective.

[0037] Figure 7 This is a structural diagram of a telescopic hook.

[0038] Figure 8 This is a magnified view of a portion of the connection point of the top ring beam.

[0039] Figure 9 This is a 3D view of the connector.

[0040] Figure 10 This is an installation scene diagram of an integrated hoisting and installation equipment.

[0041] Figure 11 This is a schematic diagram of the working principle of a high-precision servo numerical control system.

[0042] Figure 12 This is a flowchart of the construction method for a CNC hoisting and installation integrated equipment for small and medium-sized prefabricated caissons.

[0043] In the diagram, 1-bottom ring beam, 2-top ring beam, 3-support column, 4-crane beam, 5-crane, 6-telescopic boom, 7-mechanical operating boom, 8-circumferential drive mechanism, 9-radial translation mechanism, 10-lifting mechanism, 11-opening and closing mechanism, 12-precast well segment, 13-anchor bolt, 14-hardened concrete layer of wellhead foundation.

[0044] 21-Circular arc unit, 22-Connector.

[0045] 61 - Installation cavity.

[0046] 71-Operating boom mounting bracket; 72-Telescopic hook; 73-Guide boom; 74-Guide wheel; 711-Opening; 721-Telescopic drive motor; 722-Wire rope; 723-Hook.

[0047] 81-Circular drive motor, 82-Circular moving frame.

[0048] 91 - Radial translation motor; 92 - Gear and rack mechanism of radial translation mechanism; 93 - Guide mechanism of radial translation mechanism.

[0049] 101-Lifting motor, 102-Gear and rack mechanism of lifting mechanism, 103-Guide mechanism of lifting mechanism.

[0050] 111 - Opening and closing motor; 112 - Guide mechanism for the opening and closing mechanism. Detailed Implementation

[0051] The present invention will be further described in detail below with reference to specific embodiments.

[0052] like Figure 1 As shown, the integrated equipment for hoisting and installing small and medium-sized prefabricated caissons includes a hoisting and installation machine for hoisting prefabricated caisson segments. The hoisting and installation machine includes a bottom ring beam, a top ring beam, support columns, a crane beam, a crane, a telescopic boom, a mechanical operating arm, a circumferential drive mechanism, a radial translation mechanism, a lifting mechanism, and an opening and closing mechanism. The bottom ring beam is located outside the caisson opening and surrounds it. The top ring beam is located above the bottom ring beam. The top ring beam and the bottom ring beam are connected by support columns. The crane beam is set along the diameter of the top ring beam, and both ends of the crane beam are driven by the circumferential drive mechanism to slide circumferentially along the top ring beam. The crane translates radially along the crane beam through the radial translation mechanism. The telescopic boom translates vertically along the crane through the lifting mechanism. The mechanical operating arm is located at the lower end of the telescopic boom and opens and closes through the opening and closing mechanism to release or clamp the prefabricated caisson segments. Both the bottom ring beam and the top ring beam are formed into a ring by sequentially splicing multiple arc units.

[0053] In this embodiment, the bottom ring beam, top ring beam, and supporting columns form the structural load-bearing skeleton. Both the bottom ring beam and the top ring beam are composed of multiple circular arc units, such as... Figure 8 and Figure 9 As shown, the connection is made by a connector at the joint, and the upper and lower connectors are connected by a support column, so multiple support columns are evenly distributed around the circumference.

[0054] The number of arc units that make up the bottom ring beam, the number of arc units that make up the top ring beam, and the number of support columns are all the same; the arc units are detachably connected to each other by connectors, and the connectors are detachably connected to the support columns.

[0055] like Figure 5 and Figure 6 As shown, the mechanical manipulator includes a manipulator mounting frame, a telescopic hook, and two pairs of guide arms. Each pair of guide arms is mounted on either side of the manipulator mounting frame via an opening and closing mechanism. The telescopic hook is located between the two pairs of guide arms. Guide wheels are provided on the side of the guide arms that holds the precast well segment. The manipulator mounting frame is connected to the telescopic arm. The vertical length of the guide arm is L, and the height of the precast well segment is H, where H / 2... <L<H。

[0056] In this embodiment, a set of opening and closing mechanisms drives a pair of guide arms to open and close, thereby adjusting the spacing to accommodate different precast well slice thicknesses. The guide wheels are preferably rubber guide wheels, which are rotatable and assist in adjusting the posture and precise positioning of the precast well slices.

[0057] like Figure 7 As shown, an installation cavity is opened at the lower end of the telescopic boom; the telescopic hook includes a telescopic drive motor, a wire rope shaft, a wire rope, and a hook. The hook is fixed to one end of the wire rope, and the other end of the wire rope is fixed to the wire rope shaft. The wire rope shaft is set in the installation cavity. The telescopic drive motor drives the wire rope shaft to rotate, thereby causing the wire rope to extend or shorten; the middle of the boom mounting frame is provided with an opening for the wire rope and hook to pass through.

[0058] Each pair of guide arms includes an inner guide arm and an outer guide arm. The inner and outer guide arms move away from or closer to each other through an opening and closing mechanism. Two guide wheels are provided on the side of the inner and outer guide arms that hold the precast well segments to assist the precast well segments in sliding up and down. All guide wheels installed on the two pairs of guide arms are at the same height.

[0059] like Figure 2 As shown, the circumferential drive mechanism includes a circumferential moving frame, a circumferential drive motor, a circumferential guide wheel, a circumferential gear, and a ring rack; the end of the crane beam is fixed on the circumferential moving frame, and the circumferential guide wheel and the circumferential gear are both mounted on the circumferential moving frame; the ring rack is arranged along the top ring beam, the circumferential drive motor drives the circumferential gear to rotate, the circumferential gear meshes with the ring rack and moves along the ring rack; the top ring beam is provided with a ring track that cooperates with the circumferential guide wheel.

[0060] like Figure 3 As shown, the radial translation mechanism includes a radial translation motor, a gear and rack mechanism, and a guide mechanism. The gear is mounted on the crane, and the rack is mounted on the crane beam. The radial translation motor drives the gear to rotate, and the gear translates relative to the rack, thereby causing the crane to translate relative to the crane beam along the guide mechanism.

[0061] like Figure 4 As shown, the lifting mechanism includes a lifting motor, a gear and rack mechanism, and a guide mechanism. The gear is mounted on the crane, and the rack is mounted on the telescopic boom. The lifting motor drives the gear to rotate, and the gear moves up and down relative to the rack, thereby causing the telescopic boom to move up and down relative to the crane along the guide mechanism.

[0062] like Figure 5 As shown, the opening and closing mechanism includes an opening and closing motor, a gear and rack mechanism, and two guide mechanisms. The gear and rack mechanism includes a gear and two racks. The gear is mounted on the operating arm mounting frame. The inner guide arm and the outer guide arm are each connected to a rack. The opening and closing motor drives the gear to rotate, and the gear drives the two racks to translate in the opposite direction. Thus, the inner guide arm and the outer guide arm translate in the opposite direction relative to the operating arm mounting frame along their respective guide mechanisms.

[0063] like Figure 11 As shown, the integrated hoisting and installation equipment for small and medium-sized prefabricated caissons also includes a high-precision servo CNC system for accurately aligning prefabricated caisson segments. The high-precision servo CNC system includes high-precision measurement and positioning sensors and a servo CNC machine. High-precision measurement and positioning sensors are installed on the inner side of the connection nodes between the bottom ring beam and the support column, the inner side of the connection nodes between the top ring beam and the support column, the inner and outer sides of the prefabricated caisson segments that have been installed, and the inner and outer sides of the prefabricated caisson segments to be installed. The servo CNC machine controls the hoisting and installation machine to work based on the data obtained by the high-precision measurement and positioning sensors.

[0064] In this embodiment, high-precision measurement and positioning sensors deployed on the integrated hoisting and installation equipment serve as positioning base points. Positioning data is sent to these sensors on the precast well segments at millisecond intervals. Upon receiving the positioning data on the precast well segments, the data returns to the positioning base points. Through data interaction between the high-precision measurement and positioning sensors, mutual positioning and calibration among multiple sensors are achieved between the integrated hoisting and installation equipment, the installed precast well segments, and the precast well segments to be hoisted. This, combined with the servo CNC machine controlling the hoisting and installation machine, ensures precise installation of the precast well segments. Given the known positioning information among the hoisting and installation machine, the installed precast well segments, and the precast well segments to be hoisted, precise attitude control during the hoisting process is achieved through the servo CNC machine, the drive motors on the equipment, and the hydraulic equipment.

[0065] The integrated construction method for hoisting and installing small and medium-sized prefabricated caissons, using integrated equipment for hoisting and installing small and medium-sized prefabricated caissons, includes the following steps:

[0066] a. Prepare the construction site before construction, harden the concrete foundation of the wellhead, and pre-embed anchor bolts. Specifically: investigate and collect information on the location, elevation, and structural form of existing above-ground and underground buildings, structures, and pipelines within the caisson construction area; collect information on soil and rock properties and related parameters; harden the ground, construct the foundation beams, and pre-embed anchor bolts on the foundation beams.

[0067] b. The components of the integrated hoisting and installation equipment are transported to the construction site for installation and connection with anchor bolts. Precast well segments and their connecting parts are also transported to the construction site. Specifically, the components of the CNC integrated hoisting and installation equipment are transported to the construction site locations, and the integrated hoisting and installation equipment is installed according to design and construction requirements, including the installation of various mechanized equipment and high-precision servo CNC systems.

[0068] c. Deploy high-precision measurement and positioning sensors to establish a sensing system, and conduct joint debugging of the hoisting and installation machine, sensing system, and servo CNC machine. Specifically: Arrange control piles and control points for each well location according to the engineering control network; based on the attitude control accuracy requirements, attach and fix high-precision measurement and positioning sensors to the inner side of the intersection nodes between the support column and the top and bottom ring beams as positioning measurement base points; attach high-precision measurement and positioning sensors to the inner and outer sides of the precast well segments to be hoisted as positioning measurement moving points; conduct joint debugging among the mechanical equipment, sensing system, and servo CNC system to ensure the normal operation of the positioning information flow, control information flow, and feedback information flow, and that the control accuracy is within the allowable range for construction.

[0069] d. According to the construction drawings, hoist the first precast well segment of the caisson. Hook the telescopic hook onto the pre-embedded lug on the precast well segment, and adjust the guide arm through the opening and closing mechanism to keep the precast well segment vertical. Dynamically adjust the circumferential drive mechanism, radial translation mechanism, and lifting mechanism by inputting commands into the servo CNC machine to adjust the spatial movement and attitude correction of the precast well segment. After moving to the installation position, check the positioning information of the precast well segment displayed by the servo CNC machine. After confirming that the position is accurate, slowly lower the precast well segment to the design position.

[0070] e. Install subsequent precast well segments; After the first section of the caisson precast well segment is installed, high-precision measurement and positioning sensors are attached to the inner and outer sides of the precast well segment as auxiliary positioning base points to improve the positioning accuracy during the subsequent precast well segment hoisting process. The positioning base points of this utility model are divided into main positioning base points and auxiliary positioning base points. The main positioning base points, as described in step c, are mainly set on the equipment; while the auxiliary positioning base points are located on the installed precast well segments. Setting more positioning base points results in higher positioning accuracy.

[0071] f. Static pressure-assisted sinking. Specifically: After the well segments are formed into a ring and the connections between the well segments are completed, the well segments are sunk according to the design requirements. If sinking is difficult, an integrated hoisting and installation equipment is used as a reaction frame to assist in static pressure sinking.

[0072] g. Caisson bottom sealing. Specifically, after the caisson is assembled in sections and sunk to the design elevation, the bottom of the caisson is sealed to complete the construction.

[0073] When the mechanical operating arm clamps the precast well segment, it first extends the telescopic hook to hook the lug of the precast well segment, adjusts the position of the guide arm through the opening and closing mechanism, and at the same time shortens the telescopic hook. The posture of the precast well segment to be installed is adjusted by extending and retracting the telescopic hook and adjusting the position of the guide arm.

[0074] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

Claims

1. A medium-sized prefabricated caisson hoisting and installation integrated equipment, characterized in that: The system includes a hoisting and installation machine for transporting precast well segments. The hoisting and installation machine comprises a bottom ring beam, a top ring beam, support columns, a crane beam, a crane, a telescopic boom, a mechanical operating arm, a circumferential drive mechanism, a radial translation mechanism, a lifting mechanism, and an opening and closing mechanism. The bottom ring beam is positioned outside the wellhead and surrounds it. The top ring beam is located above the bottom ring beam, and the top and bottom ring beams are connected by support columns. The crane beam is positioned along the diameter of the top ring beam, and both ends of the crane beam are driven by the circumferential drive mechanism to slide circumferentially along the top ring beam. The crane translates radially along the crane beam via the radial translation mechanism. The telescopic boom translates vertically along the crane via the lifting mechanism. The mechanical operating arm is located at the lower end of the telescopic boom and opens and closes via the opening and closing mechanism to release or clamp the precast well segments. Both the bottom and top ring beams are sequentially spliced ​​into a ring shape using multiple arc units.

2. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 1, characterized in that: The number of arc units that make up the bottom ring beam, the number of arc units that make up the top ring beam, and the number of support columns are all the same; the arc units are detachably connected to each other by connectors, and the connectors are detachably connected to the support columns.

3. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 1, characterized in that: The mechanical manipulator includes a manipulator mounting frame, a telescopic hook, and two pairs of guide arms. Each pair of guide arms is mounted on either side of the manipulator mounting frame via an opening and closing mechanism. The telescopic hook is located between the two pairs of guide arms. Guide wheels are provided on the side of each guide arm that holds the precast well segment. The manipulator mounting frame is connected to the telescopic arm. The vertical length of the guide arm is L, and the height of the precast well segment is H, where H / 2 is the length of the guide arm. <L<H。 4. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 3, characterized in that: The lower end of the telescopic boom has an installation cavity; the telescopic hook includes a telescopic drive motor, a wire rope shaft, a wire rope, and a hook. The hook is fixed to one end of the wire rope, and the other end of the wire rope is fixed to the wire rope shaft. The wire rope shaft is set in the installation cavity. The telescopic drive motor drives the wire rope shaft to rotate, thereby causing the wire rope to extend or shorten; the middle of the boom mounting frame has an opening for the wire rope and hook to pass through.

5. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 3, characterized in that: Each pair of guide arms includes an inner guide arm and an outer guide arm. The inner and outer guide arms move away from or closer to each other through an opening and closing mechanism. Two guide wheels are provided on the side of the inner and outer guide arms that hold the precast well segments to assist the precast well segments in sliding up and down. All guide wheels installed on the two pairs of guide arms are at the same height.

6. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 1, characterized in that: The circumferential drive mechanism includes a circumferential moving frame, a circumferential drive motor, a circumferential guide wheel, a circumferential gear, and a ring rack. The end of the crane beam is fixed on the circumferential moving frame, and the circumferential guide wheel and the circumferential gear are both mounted on the circumferential moving frame. The ring rack is arranged along the top ring beam, and the circumferential drive motor drives the circumferential gear to rotate. The circumferential gear meshes with the ring rack and moves along the ring rack. The top ring beam is provided with a ring track that cooperates with the circumferential guide wheel.

7. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 1, characterized in that: The radial translation mechanism includes a radial translation motor, a gear and rack mechanism, and a guide mechanism. The gear is mounted on the crane, and the rack is mounted on the crane beam. The radial translation motor drives the gear to rotate, and the gear translates relative to the rack, thereby causing the crane to translate relative to the crane beam along the guide mechanism.

8. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 1, characterized in that: The lifting mechanism includes a lifting motor, a gear and rack mechanism, and a guide mechanism. The gear is mounted on the crane, and the rack is mounted on the telescopic boom. The lifting motor drives the gear to rotate, and the gear moves up and down relative to the rack, thereby causing the telescopic boom to move up and down relative to the crane along the guide mechanism.

9. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 5, characterized in that: The opening and closing mechanism includes an opening and closing motor, a gear and rack mechanism, and two guide mechanisms. The gear and rack mechanism includes a gear and two racks. The gear is mounted on the operating arm mounting frame. The inner guide arm and the outer guide arm are each connected to a rack. The opening and closing motor drives the gear to rotate, and the gear drives the two racks to translate in the opposite direction. Thus, the inner guide arm and the outer guide arm translate in the opposite direction relative to the operating arm mounting frame along their respective guide mechanisms.

10. The integrated equipment for hoisting and installing small and medium-sized prefabricated caissons according to claim 1, characterized in that: It also includes a high-precision servo CNC system that enables precise alignment of precast well segments; the high-precision servo CNC system includes high-precision measurement and positioning sensors and a servo CNC machine; high-precision measurement and positioning sensors are installed on the inner side of the connection node between the bottom ring beam and the support column, the inner side of the connection node between the top ring beam and the support column, the inner and outer sides of the precast well segments that have been installed, and the inner and outer sides of the precast well segments to be installed; the servo CNC machine controls the hoisting and installation machine to work based on the data obtained by the high-precision measurement and positioning sensors.

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