The application belongs to the technical field of building machinery and equipment, and particularly relates to a diaphragm wall pouring device and a pouring method. The application is composed of a bearing main body, a rotation
assembly, a concrete tank, a walking
assembly, a balance supporting mechanism, a
booster pump, a stirring mechanism, an
industrial robot arm, a concrete pouring
pipe, a
laser infrared sensor and a PLC controller. The application solves the problems of low construction efficiency, unstable quality, continuous pouring of the concrete pouring
pipe without entering the concrete by 30cm-50cm and other related problems, improves the pouring efficiency and quality, and is convenient to implement. The setting of the
laser infrared sensor on the concrete pouring
pipe can alarm when the pouring concrete exceeds the
laser infrared sensor, and the PLC controller controls the upward contraction of the concrete pouring pipe, so that the embedding depth of the concrete pouring pipe is always maintained between 30cm-50cm. The setting of the concrete tank in the application enables the pouring process to continue, and ensures the quality of the pouring construction.