A diaphragm wall pouring device and pouring method

Abstract

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.

Description

Technical Field

[0001] This invention belongs to the field of construction machinery and equipment technology, specifically relating to a seepage-proof wall pouring device and pouring method. Background Technology

[0002] In water conservancy, transportation, and building construction projects, water-retaining structures built on underground permeable layers are used to prevent groundwater seepage. The traditional construction process for seepage-proof walls involves connecting each section of the pouring pipe and building a pouring platform. The pipes are then buried deep into the concrete at the bottom of the seepage-proof wall before pouring. During pouring, the pipes must be buried 30-50cm deep into the concrete. It is difficult to control the distance while lifting the pipes, requiring manual measurement. Furthermore, if the lifting distance is too long, a section of the pipe must be manually removed. This process involves significant manpower, resources, and materials investment, is time-consuming, and the pouring is not continuous. In harsh environments and rugged terrain, it poses a significant threat to personnel safety. Other safety hazards exist during construction, resulting in low efficiency and inconsistent quality. Summary of the Invention

[0003] This invention provides a seepage-proof wall pouring device and pouring method. One objective is to provide a pouring device and method that can effectively reduce the manpower, material resources and materials invested during the pouring construction. Another objective is to provide a device and method that can effectively shorten the pouring construction time, and can continuously pour during the pouring process with good safety and stable quality.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A seepage-proof wall casting device, comprising

[0006] The main body of the load-bearing structure;

[0007] Slewing assembly;

[0008] A concrete silo, which is connected to the load-bearing body;

[0009] The travel assembly is connected to the lower surface of the load-bearing body via the slewing assembly;

[0010] The balancing support mechanism is connected to the load-bearing body and is used to maintain the balance of the load-bearing body.

[0011] The booster pump is connected to the supporting body and is connected to the concrete silo through pipelines; the lower part of the booster pump is provided with a second discharge port and a second inlet port, and a pressure controller is connected to the booster pump;

[0012] A mixing mechanism is attached to the concrete silo and is used to mix the concrete inside the silo.

[0013] An industrial robotic arm is attached to the front end of a supporting body.

[0014] The concrete pouring pipe is vertically connected to the front end of the industrial robotic arm and is connected to the booster pump via pipelines; the concrete pouring pipe is equipped with a lifting distance controller.

[0015] Laser infrared sensors are provided, and multiple laser infrared sensors are arranged in a circular array and evenly distributed on the outer periphery of the concrete pouring pipe wall.

[0016] The PLC controller is connected to the main support body and is connected to the electrical signals of the rotary assembly, the traveling assembly, the balance support mechanism, the mixing drive mechanism, the booster pump, the laser infrared sensor, the lifting controller on the concrete pouring pipe, and the industrial robotic arm.

[0017] It also includes a concrete chute, chute connecting legs, and chute support legs; the lower surface of the concrete chute is connected to two chute connecting legs, which are connected to the chute support legs, which are connected to the rear upper part of the supporting body; the concrete chute is inclined, and the lower end of the concrete chute is placed on the first feed port at the top of the concrete tank.

[0018] The concrete hopper is cylindrical in shape; a first feed inlet is provided at the top of the concrete hopper, and concrete hopper support frames for fixed connection and a first discharge port for connection with a booster pump are provided at both ends of the bottom of the concrete hopper; main shaft through holes are symmetrically opened at both ends of the concrete hopper body, and bearings for connection with the mixing mechanism are installed in the main shaft through holes at both ends; concrete hopper support frames are connected parallel to each other at both ends of the bottom of the concrete hopper.

[0019] It also includes a concrete hopper limiting body; the concrete hopper limiting body is connected to the supporting body, and a concrete hopper is set on the top of the concrete hopper limiting body; the concrete hopper limiting body is a cuboid, and its top has an arc-shaped groove that matches the bottom of the concrete hopper, and four through holes for connecting with the supporting body are symmetrically opened in the arc-shaped groove; the front end of the concrete hopper limiting body is provided with a notch that matches the first discharge port on the concrete hopper.

[0020] The mixing mechanism includes a paddle, a mixing shaft, a shaft limiting body, a gear limiting cover, two second transmission wheels, and two sets of motor drive mechanisms. The paddle is fixedly connected to the mixing shaft located inside the concrete hopper and is spiral-shaped. Both ends of the mixing shaft are connected to bearings on both ends of the concrete hopper and extend outside the hopper. Two shaft limiting bodies are provided, each connected to the junction between the mixing shaft and the outer wall of the concrete hopper. Keyways are provided at both ends of the mixing shaft, and raised limiting keys are provided on the inner side of the second transmission wheels, which are connected to the keyways of the mixing shaft via the limiting keys. Gear limiting covers are connected to the outer side of the second transmission wheels. The two sets of motor drive mechanisms are located at both ends of the concrete hopper. Each set of motor drive mechanisms includes two motors, a belt, and a first transmission wheel. The two motors are located on both sides of the concrete hopper end, and the output end of each motor is connected to a first transmission wheel. The two first transmission wheels are connected to the second transmission wheels on the same side via a belt.

[0021] The aforementioned balance support mechanism includes two sets of balance legs, each set of balance legs is connected to a booster oil pump; the booster oil pump is connected to an oil pressure controller; the two sets of balance legs are respectively located on both sides of the lower surface of the load-bearing body, and each set of booster oil pumps is connected to the load-bearing body on the side where the balance leg is located; each set of balance legs includes two support legs, which are connected to each other through a connecting box, and the two sides of the box are respectively provided with a first oil inlet and a first oil outlet communicating with each support leg, and the second oil inlet and the second oil outlet on the booster oil pump are respectively connected to the first oil outlet and the first oil inlet.

[0022] The concrete pouring pipe is a telescopic pipe composed of multiple sections, and multiple laser infrared sensors are evenly embedded in the circumferential direction on the pipe wall of each section. The surface of each laser infrared sensor is flush with the outer wall of each section of the pouring pipe, and the distance from the laser infrared sensor to the bottom of the section of the pouring pipe is 30cm-50cm. The top of the concrete pouring pipe is provided with a third feed inlet, a third oil inlet, and a third oil outlet. The concrete pouring pipe is connected to a booster oil pump, and the second oil inlet and the second oil outlet of the booster oil pump are connected to the third oil outlet and the third oil inlet, respectively. The third feed inlet is used to connect to the discharge port of the booster pump. The booster oil pump is equipped with an oil pressure controller.

[0023] The supporting body is an integral steel structure composed of a first body, a second body, and a third body; the first body and the third body are located on both sides of the second body; the first body and the third body have the same length, but the first body is shorter than the second body; the width of the first body is greater than the width of the second body, and the width of the second body is greater than the width of the third body; the first body has through holes for connecting the PLC controller, the booster oil pump, the booster pump, and the industrial robotic arm; the second body has through holes for connecting the concrete tank limit body, the concrete tank, and the fixed motor; the third body has through holes for connecting the chute support legs and the booster oil pump.

[0024] The PLC controller includes at least a housing, a data communication module, a CPU module, and a teach pendant; the data communication module, CPU module, and teach pendant are all housed within the housing; the data communication module is electrically connected to the CPU module and the teach pendant respectively; the data communication module is electrically connected to the walking assembly, the outriggers, the booster pump, the industrial robotic arm, the concrete pouring pipe, the booster oil pump, the motor, and the laser infrared sensor respectively.

[0025] A method for intelligent pouring of a seepage-proof wall, employing a seepage-proof wall pouring device, includes the following specific steps.

[0026] Step 1: Input the pouring information into the PLC controller;

[0027] Step 2: Connect the concrete hopper to the booster pump and the concrete pouring pipe, and then pour the concrete into the concrete hopper.

[0028] Step 3: The PLC controller controls the walking assembly to move the entire anti-seepage wall pouring machine to the front of the anti-seepage wall to be poured;

[0029] Step 4: The PLC controller controls the industrial robotic arm to adjust its angle to a suitable angle for pouring on site;

[0030] Step 5: The PLC controller adjusts the concrete pouring pipe so that the concrete pouring pipe connected to the industrial robotic arm extends to the bottom of the seepage barrier wall.

[0031] Step Six: After the concrete for pouring is poured into the concrete hopper, the PLC controller controls the motor to start, driving the mixing shaft to rotate and transport the concrete to the first discharge port.

[0032] Step 7: When the concrete passes through the booster pump, the PLC controller controls the booster pump to start and pressurize it, delivering the concrete to the bottom of the seepage-proof wall to be poured. The higher the concrete is poured, the greater the pressure of the booster pump.

[0033] Step 8: During the concrete pouring process, when the concrete exceeds the laser infrared sensor, the laser infrared sensor sends a signal to the PLC controller. After receiving the signal, the PLC controller controls the concrete pouring pipe to rise, so that the concrete pouring pipe is permanently kept between 30cm and 50cm inside the concrete.

[0034] Step 9: After the pouring is completed, the PLC controller controls the industrial robotic arm to reset with the concrete pouring pipe, and the PLC controller controls the walking assembly to turn to the next section of the anti-seepage wall to be poured.

[0035] Beneficial effects:

[0036] (1) This invention is organically composed of a load-bearing body, a slewing assembly, a concrete hopper, a traveling assembly, a balance support mechanism, a booster pump, a mixing mechanism, an industrial robotic arm, a concrete pouring pipe, a laser infrared sensor, and a PLC controller. Before pouring the anti-seepage wall using the technical solution of this invention, it is not necessary to connect each section of the pouring pipe, nor is it necessary to frequently measure the burial depth of the pouring pipe manually during the pouring process. This greatly improves work efficiency and avoids quality problems caused by inconsistent pouring.

[0037] (2) This invention uses a PLC controller to control the walking assembly, balance support mechanism, booster pump, concrete pouring pipe, booster oil pump in balance support mechanism and other related components, accurately and efficiently implements the position adjustment of the anti-seepage wall pouring machine and industrial robotic arm, and completes the anti-seepage wall pouring construction with high quality and efficiency.

[0038] (3) The concrete tank in this invention ensures continuous pouring when pouring the anti-seepage wall, and avoids the problem that the continuous pouring cannot be guaranteed when pouring the anti-seepage wall due to the long interval between the concrete trucks delivering the concrete, which affects the pouring quality.

[0039] (4) The present invention sets a laser infrared sensor on the wall of each concrete pouring pipe. During the pouring process, the pouring pipe must be buried 30cm-50cm deep in the concrete. When the concrete exceeds the laser infrared sensor, the concrete pouring pipe will automatically rise, keeping the buried depth of the concrete pouring pipe between 30cm-50cm, thus ensuring the quality of construction.

[0040] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the side isometric view structure of the present invention;

[0043] Figure 2 This is a schematic diagram of the rear isometric view structure of the present invention;

[0044] Figure 3 This is an isometric view of the load-bearing body structure of the present invention;

[0045] Figure 4 This is an isometric view of the concrete tank limiting body of the present invention.

[0046] Figure 5 This is an isometric view of the concrete tank structure of the present invention;

[0047] Figure 6 This is an isometric view of the stirring body structure of the present invention;

[0048] Figure 7 This is a schematic diagram of the bearing isometric view structure of the present invention;

[0049] Figure 8 This is a schematic diagram of the isometric view structure of the motor of the present invention;

[0050] Figure 9 This is an isometric view of the transmission wheel II of the present invention.

[0051] Figure 10 This is an isometric view of the gear limiting cover structure of the present invention;

[0052] Figure 11 This is an isometric view of the protective body structure of the present invention;

[0053] Figure 12 This is an isometric view of the concrete chute structure of the present invention;

[0054] Figure 13 This is an isometric view of the balance support leg structure of the present invention;

[0055] Figure 14 This is an isometric view of the booster oil pump structure of the present invention;

[0056] Figure 15 This is an isometric view of the booster pump structure of the present invention;

[0057] Figure 16 This is an isometric view structural schematic diagram of the industrial robotic arm and concrete pouring pipe of the present invention;

[0058] Figure 17 This is an isometric view of the PLC controller structure of the present invention.

[0059] In the diagram: 1-Walking assembly; 2-Balancing outrigger; 3-Bearing body; 4-Booster pump; 5-Industrial robotic arm; 6-Concrete pouring pipe; 7-Protective body; 8-Booster oil pump; 9-Concrete chute; 10-Motor; 11-Gear limit cover; 12-Concrete hopper; 13-Chute support leg; 14-M5 bolt hole; 15-M15 bolt hole; 16-M7 bolt hole; 17-M4 bolt hole; 18-M8 bolt hole; 19-M6 bolt hole; 20-Concrete hopper limit body; 21-First feed inlet; 22-Main shaft through hole; 23-Concrete hopper support frame; 24-First discharge outlet; 25-Iron blade; 26-Mixing main shaft; 27-Main shaft limit body; 28-Keyway; 29-Bearing; 30-First transmission wheel; 31-First M4 bolt; 32-Second transmission wheel; 33-Limit key; 34-M2 bolt; 35-M2 bolt hole; 36-First M8 bolt; 37-Second M4 bolt; 38-M4 nut; 39-Slide connecting leg; 40-First oil inlet; 41-First oil outlet; 42-M6 bolt; 43-Hydraulic controller; 44-M7 bolt; 45-Second oil inlet; 46-Second oil outlet; 47-Pressure controller; 48-Second discharge port; 49-Second feed inlet; 50-Second M8 bolt; 51-Third feed inlet; 52-M15 bolt; 53-Third oil inlet; 54-Third oil outlet; 55-Laser infrared sensor; 56-PLC controller; 57-M5 bolt; 58-First main body; 59-Second main body; 60-Third main body. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] Example 1:

[0062] according to Figure 1-17 The illustrated seepage-proof wall casting device includes

[0063] 3. Supporting body;

[0064] Slewing assembly;

[0065] Concrete hopper 12 is connected to the supporting body 3;

[0066] The traveling assembly 1 is connected to the lower surface of the supporting body 3 via a slewing assembly;

[0067] A balance support mechanism is connected to the load-bearing body 3 and is used to maintain the balance of the load-bearing body 3.

[0068] Booster pump 4 is connected to the supporting body 3 and is connected to the concrete tank 12 through pipeline; the lower part of booster pump 4 is provided with a second discharge port 48 and a second inlet port 49, and a pressure controller 47 is connected to booster pump 4.

[0069] A mixing mechanism is connected to the concrete hopper 12 and is used for mixing the concrete inside the concrete hopper 12.

[0070] Industrial robotic arm 5 is connected to the front end of the supporting body 3;

[0071] The concrete pouring pipe 6 is vertically connected to the front end of the industrial robotic arm 5 and is connected to the booster pump 4 through a pipeline; the concrete pouring pipe 6 is equipped with a lifting distance controller.

[0072] Laser infrared sensor 55, multiple laser infrared sensors 55 are provided, and multiple laser infrared sensors 55 are evenly distributed in a circular array on the outer periphery of the concrete pouring pipe 6.

[0073] The PLC controller 56 is connected to the supporting body 3 and is electrically connected to the rotary assembly, the traveling assembly 1, the balance support mechanism, the mixing drive mechanism, the booster pump 4, the laser infrared sensor 55, the lifting controller on the concrete pouring pipe 6, and the industrial robotic arm 5.

[0074] In practical use, the pouring information is first input into the PLC controller 56. Then, the concrete hopper 12 is connected to the booster pump 4 and the concrete pouring pipe 6. Next, the PLC controller 56 controls the traveling assembly 1 to move the entire anti-seepage wall pouring device to the anti-seepage wall section to be poured. The PLC controller 56 controls the slewing assembly, the balance support mechanism, and the industrial robotic arm 5 to adjust so that the central axis of the concrete pouring pipe 6 connected to the industrial robotic arm 5 coincides with the transverse central axis of the anti-seepage wall. Then, the PLC controller 56 controls the concrete pouring pipe 6 to extend into the bottom of the anti-seepage wall until it reaches the bottom. The mixing mechanism starts rotating, and concrete is then poured into the concrete hopper 12 by the concrete mixer truck. When the concrete passes the booster pump 4, the PLC controller 56 controls the booster pump 4 to pressurize it, sending the concrete to the concrete pouring pipe 6 for pouring. During the pouring process, the laser infrared sensor 55 senses the rising distance of the concrete. When the concrete exceeds the laser infrared sensor 55, the PLC controller 56 controls the concrete pouring pipe 6 to retract upwards, always maintaining the concrete pouring pipe 6 buried between 30cm and 50cm deep in the concrete. After pouring is completed, the PLC controller 56 controls the industrial robotic arm 5, the concrete pouring pipe 6, and the balance support mechanism to return to their original positions. Then, the PLC controller 56 controls the traveling assembly 1 to turn to the next anti-seepage wall to be poured.

[0075] The technical solution of this invention for pouring anti-seepage walls eliminates the need to connect each section of the pouring pipe in advance and to build a pouring platform, thus improving work efficiency and avoiding the problems of inconsistent pouring and inability to control the burial depth of the concrete pouring pipe during the pouring process.

[0076] This invention uses a PLC controller to control related components such as the walking assembly, balance support mechanism, booster pump, concrete pouring pipe, and booster oil pump, to accurately and efficiently adjust the position of the anti-seepage wall pouring machine and industrial robotic arm, thus completing the anti-seepage wall pouring construction with high quality and efficiency.

[0077] In actual use, the main body 3 and the components mounted on it are connected in a detachable manner, which facilitates disassembly and replacement of components, as well as storage when the device is not in use.

[0078] In this embodiment, both the rotary assembly and the traveling assembly 1 utilize existing technologies. The rotary assembly rotates the supporting body 3 and its connected components; the traveling assembly 1 moves the supporting body 3 and its connected components. The industrial robotic arm 5 in this embodiment is a six-axis industrial robot. In practical applications, the industrial robotic arm 5 is connected to the supporting body 3 using M15 bolts 52.

[0079] In this embodiment, the booster pump 4 is a vertical booster pump, which effectively saves installation space and reduces the size of the anti-seepage wall pouring machine. It is positioned between the concrete tank 12 and the industrial robotic arm 5. The function of the booster pump 4 is to pressurize the concrete passing through it. When it is necessary to pressurize or depressurize the concrete passing through the booster pump 4, the PLC controller 56 sends a corresponding signal to the pressure controller 47, which controls the start and stop of the booster pump 4 to ensure that the concrete passing through the booster pump 4 is quickly injected into the concrete pouring pipe 6, thus smoothly and efficiently completing the full pouring of the anti-seepage wall. In practical applications, the booster pump 4 is connected to the supporting body 3 via the second M8 bolt 50.

[0080] In this embodiment, the pressure controller 47 uses existing technology to receive signals from the PLC controller 56 to operate the hydraulic pressure. When the operating environment signal is good, wireless pressure control can be used; when the environmental signal is poor, wired pressure control can be used to ensure smooth operation.

[0081] Example 2:

[0082] according to Figure 1 , Figure 2 and Figure 12 The anti-seepage wall pouring device shown differs from Embodiment 1 in that it further includes a concrete chute 9, chute connecting legs 39, and chute support legs 13; the lower surface of the concrete chute 9 is connected to two chute connecting legs 39, which are connected to the chute support legs 13, which are connected to the rear upper part of the supporting body 3; the concrete chute 9 is inclined, and the lower end of the concrete chute 9 is placed on the first feed port 21 on the upper part of the concrete tank 12.

[0083] In practical use, the concrete chute 9 makes it more convenient for concrete trucks to inject concrete into the concrete tank 12, and it also makes it less likely for concrete to spill outside the concrete tank 12, thus affecting the cleanliness of the environment.

[0084] In practical applications, the chute connecting leg 39 is an integral structure composed of two cylinders with unequal outer diameters. The cylinder with the smaller outer diameter is placed between the concrete chute 9 and the cylinder with the larger outer diameter. A connecting through hole is opened on the cylinder with the larger outer diameter. The chute connecting leg 39 is connected to the chute support leg 13 through the through hole using a second M4 bolt 37 and an M4 nut 38. The chute support leg 13 is connected to the M4 bolt hole 17 on the center plate surface of the third main body 60 on the supporting main body 3 through the M4 bolt hole.

[0085] Example 3:

[0086] according to Figure 1 , Figure 2, Figure 5 and Figure 7 The anti-seepage wall pouring device shown differs from Embodiment 1 in that: the concrete tank 12 is cylindrical in shape; a first inlet 21 is provided at the top of the concrete tank 12, and concrete tank support frames 23 for fixed connection and a first outlet 24 for connection with the booster pump 4 are provided at both ends of the bottom of the concrete tank 12; main shaft through holes 22 are symmetrically opened at both ends of the tank body of the concrete tank 12, and bearings 29 for connection with the mixing mechanism are installed in the main shaft through holes 22 at both ends; concrete tank support frames 23 are connected parallel to each other at both ends of the bottom of the concrete tank 12.

[0087] In actual use, concrete for pouring is injected into the concrete tank 12 through the first inlet 21. When pouring is required, the first outlet 24 is connected to the second inlet 49 on the booster pump 4; the concrete is transported to the booster pump 4 through the mixing mechanism, and the booster pump 4 pressurizes the concrete; the concrete in the concrete tank 12 is injected into the bottom of the anti-seepage wall through the pipeline connected to the booster pump 4 and the concrete pouring pipe 6, which facilitates and speeds up the pouring process.

[0088] In practical applications, the concrete tank support frame 23 on the concrete tank 12 is detachably connected to the bearing body 3 through the M8 bolt holes 18 on the center plate of the second body 59 on the bearing body 3, which facilitates connection and maintenance.

[0089] Example 4:

[0090] according to Figure 2 and Figure 4 The anti-seepage wall pouring device shown differs from Embodiment 1 or Embodiment 3 in that it further includes a concrete tank limiting body 20; the concrete tank limiting body 20 is connected to the supporting body 3, and a concrete tank 12 is provided on the top of the concrete tank limiting body 20; the concrete tank limiting body 20 is a cuboid, and its top has an arc-shaped groove that matches the bottom of the concrete tank 12, and four through holes for connecting with the supporting body 3 are symmetrically opened in the arc-shaped groove; the front end of the concrete tank limiting body 20 is provided with a notch that matches the first discharge port 24 on the concrete tank 12.

[0091] In actual use, the setting of the concrete hopper limit body 20 makes the connection of the concrete hopper 12 on the supporting body 3 more stable, and the concrete hopper 12 will not fall off during the transfer of the construction site.

[0092] In practical applications, the concrete hopper limiting body 20 is connected to the center plate of the second body 59 of the supporting body 3 by M8 bolts.

[0093] Example 5:

[0094] according to Figure 2 , Figure 6 , Figures 8-10 The anti-seepage wall pouring device shown differs from Embodiment 1 in that: the mixing mechanism includes a paddle 25, a mixing main shaft 26, a main shaft limiting body 27, a gear limiting cover 11, two second transmission wheels 32, and two sets of motor drive mechanisms; the paddle 25 is fixedly connected to the mixing main shaft 26 located inside the concrete tank 12, and it is spiral-shaped; both ends of the mixing main shaft 26 are respectively connected to bearings 29 on both end faces of the concrete tank 12, and extend to the outside of the concrete tank 12; two main shaft limiting bodies 27 are provided, and the two main shaft limiting bodies 27 are respectively connected to the junction of the mixing main shaft 26 and the outer wall of the concrete tank 12; the mixing main shaft 25... Both ends of the 6 are provided with keyways 28, and the inner side of the second transmission wheel 32 is provided with a raised limiting key 33. The second transmission wheel 32 is connected to the keyway 28 of the mixing main shaft 26 through the limiting key 33. The outer side of the second transmission wheel 32 is connected with a gear limiting cover 11. Two sets of motor drive mechanisms are respectively located at both ends of the concrete tank 12. Each set of motor drive mechanisms includes two motors 10, a belt and a first transmission wheel 30. The two motors 10 are respectively located on both sides of the end of the concrete tank 12. The output end of each motor 10 is connected to the first transmission wheel 30. The two first transmission wheels 30 are connected to the second transmission wheel 32 on the same side through a belt.

[0095] In actual use, concrete for pouring is injected into the concrete tank 12. When pouring is required, the first discharge port 24 on the concrete tank 12 and the second inlet port 49 on the booster pump 4 are connected. The four motors 10 in the two sets of motor drive mechanisms start synchronously, driving the mixing shaft 26 and the blades 25 to rotate, and transporting the concrete in the concrete tank 12 to the booster pump 4. The booster pump 4 pressurizes the concrete. The concrete in the concrete tank 12 is injected into the bottom of the anti-seepage wall through the pipeline connected to the booster pump 4 and the concrete pouring pipe 6, which facilitates and speeds up the pouring process.

[0096] In this embodiment, the mixing shaft 26 and blades 25 inside the concrete tank 12 can be rotated in both directions by four motors 10. When the concrete in the concrete tank 12 is transported to the booster pump 4 for pressurization, the motors 10 rotate in the forward direction. After the pouring is completed, the mixing shaft 26 and blades 25 rotate in the reverse direction to transport the remaining concrete to the rear of the concrete tank 12 and stop the pouring.

[0097] The mixing shaft 26 and blades 25 are installed inside the concrete tank 12 to ensure that the concrete is fully mixed and to transport the concrete into the concrete pouring pipe 6.

[0098] In this embodiment, the four motors 10 are fixedly connected by the first M4 bolt 31 and the second main body 59 on the bearing body 3, which has M4 bolt holes 17 symmetrically opened on both sides.

[0099] In practical applications, a protective body 7 can be installed on the upper part of the two sets of motor drive mechanisms. The protective body 7 can protect the components installed inside the protective body 7 during the pouring construction process, ensuring the normal progress of construction. In practical applications, the protective body 7 is connected to the supporting body 3 by the first M8 bolt 36.

[0100] In this embodiment, the gear limiting cover 11 is disc-shaped, with four M2 bolt holes 35 symmetrically opened at its center. The gear limiting cover 11 is connected to the outer end face of the first transmission wheel 30 through M2 bolts 34 in the M2 bolt holes 35.

[0101] Example 6:

[0102] according to Figure 1 , Figure 2 , Figure 13 and Figure 14 The anti-seepage wall pouring device shown differs from Embodiment 1 in that: the balance support mechanism includes two sets of balance legs 2, each set of balance legs 2 is connected to a booster oil pump 8; the booster oil pump 8 is connected to an oil pressure controller 43; the two sets of balance legs 2 are respectively arranged on both sides of the lower surface of the bearing body 3, and each set of booster oil pump 8 is correspondingly connected to the bearing body 3 on the side where the balance leg 2 is located; each set of balance legs 2 includes two support legs, which are connected by a connecting box, and the two sides of the box are respectively provided with a first oil inlet 40 and a first oil outlet 41 communicating with each support leg, and the second oil inlet 45 and the second oil outlet 46 on the booster oil pump 8 are respectively connected to the first oil outlet 41 and the first oil inlet 40.

[0103] In actual use, each set of balance support legs 2 controls the lifting and lowering of the two support legs by adjusting the oil pressure of the booster oil pump 8 of the set, so as to adjust the overall balance of the load-bearing body 3 and all the components connected thereto.

[0104] The balancing support mechanism is used to adjust the balance of the invention, so that the invention is always in a good balanced state and the pouring operation can be completed smoothly.

[0105] The hydraulic controller 43 in this embodiment uses existing technology to receive signals from the PLC controller 56 and adjust the hydraulic pressure. When the operating environment signal is good, wireless pressure control can be used; when the environmental signal is poor, wired pressure control can be used to ensure smooth operation.

[0106] In practical applications, the balance support mechanism is connected to the load-bearing body 3 by M6 bolts 42.

[0107] Example 7:

[0108] according to Figure 1 , Figure 2 , Figure 14 and Figure 16 The anti-seepage wall pouring device shown differs from Embodiment 1 in that: the concrete pouring pipe 6 is a telescopic pipe composed of multiple pouring pipe sections, and multiple laser infrared sensors 55 are uniformly embedded circumferentially on the pipe walls of the multiple pouring pipe sections. The surface of each laser infrared sensor 55 is flush with the outer wall of each pouring pipe section, and the distance from the laser infrared sensor 55 to the bottom of the pouring pipe section is 30cm-50cm. The top of the concrete pouring pipe 6 is provided with a third feed port 51, a third oil inlet 53, and a third oil outlet 54. The concrete pouring pipe 6 is connected to a booster oil pump 8, and the second oil inlet 45 and the second oil outlet 46 on the booster oil pump 8 are respectively connected to the third oil outlet 54 and the third oil inlet 53. The third feed port 51 is used to connect to the discharge port on the booster pump 4. The booster oil pump 8 is provided with an oil pressure controller 43.

[0109] In actual use, the booster pump 8 supplies oil to the third inlet 53 through the second outlet 46, causing the concrete pouring pipe 6 to descend deeper until it reaches the bottom of the anti-seepage wall, at which point it stops. During the pouring process, when the concrete rises above the laser infrared sensor 55, the hydraulic oil in the concrete pouring pipe 6 is recovered through the second inlet 45 on the booster pump 8, causing the concrete pouring pipe 6 to rise to a position where the concrete is below the laser infrared sensor 55, thus permanently maintaining the depth of the concrete pouring pipe 6 embedded in the concrete between 30cm and 50cm. The hydraulic pressure controller 43 is used to control the hydraulic pressure of the booster pump 8.

[0110] In practical applications, the booster oil pump 8 is connected to the bearing body 3 using M7 bolts 44.

[0111] Example 8:

[0112] according to Figures 1-3The anti-seepage wall pouring device shown differs from Embodiment 1 in that: the supporting body 3 is an integral steel structure composed of a first body 58, a second body 59, and a third body 60; the first body 58 and the third body 60 are respectively placed on both sides of the second body 59; the first body 58 and the third body 60 have the same length, but the first body 58 is shorter than the second body 59; the width of the first body 58 is greater than the width of the second body 59, and the width of the second body 59 is greater than the width of the third body 60; the first body 58 has through holes for connecting the PLC controller 56, the booster oil pump 8, the booster pump 4, and the industrial robotic arm 5; the second body 59 has through holes for connecting the concrete tank limit body 20, the concrete tank 12, and the fixed motor 10; and the third body 60 has through holes for connecting the chute support leg 13 and the booster oil pump 8.

[0113] In actual use, the first main body has four M5 bolt holes 14 at the rear for fixing the PLC control 56, four M6 bolt holes 19 on the right side for fixing the booster oil pump 8, four M7 bolt holes 16 on the left side for fixing the booster pump 4, and four diamond-shaped M15 bolt holes 15 in the middle for fixing the industrial robotic arm 5; the second main body has eight symmetrically arranged M8 bolt holes 18 on the center plate for fixing the concrete tank limit body 20 and the concrete tank 12; and sixteen symmetrically arranged M4 bolt holes 17 on both sides for fixing the motor 10; the third main body 60 has eight diamond-shaped M4 bolt holes 17 for fixing the connecting chute support legs 13, eight M6 bolt holes 19 for fixing the connecting booster oil pump 8, and four M8 bolt holes 18 for fixing the connecting protective body 7 on the center plate.

[0114] The function of the supporting body 3 is to install the relevant components on it, so as to facilitate the rapid movement of the anti-seepage wall pouring device through the walking assembly 1.

[0115] The above-mentioned technical solution is adopted for the main body 3, which not only makes it easy to fix the various components on it, but also effectively saves space while meeting the load-bearing function, making it convenient to carry out pouring operations on complex and limited working surfaces.

[0116] Example 9:

[0117] according to Figure 17The anti-seepage wall pouring device shown differs from Embodiment 1 in that: the PLC controller 56 includes at least a housing, a data communication module, a CPU module, and a teach pendant; the data communication module, CPU module, and teach pendant are all housed within the housing; the data communication module is electrically connected to the CPU module and the teach pendant respectively; the data communication module is electrically connected to the walking assembly 1, the balance support leg 2, the booster pump 4, the industrial robotic arm 5, the concrete pouring pipe 6, the booster oil pump 8, the motor 10, and the laser infrared sensor 55 respectively.

[0118] Before pouring, the corresponding data is input on the teaching pendant according to the depth of the seepage barrier wall. The data is then transmitted to the CPU module for processing via the data communication module. The data communication module in the PLC controller 56 is used to receive relevant information from the walking assembly 1, the balance support leg 2, the booster pump 4, the industrial robotic arm 5, the concrete pouring pipe 6, the booster oil pump 8, the motor 10, and the laser infrared sensor 55. The acquired data is then sent to the CPU module for processing, and after processing, it is sent to the corresponding components via the data communication module for relevant operations.

[0119] The teach pendant in this embodiment is used to control the industrial robotic arm 5.

[0120] The configuration of PLC controller 56 greatly improves the accuracy of operation and construction efficiency.

[0121] For ease of connection, a through hole is provided at the bottom of the housing. The PLC controller is connected via an M5 bolt 57 through the M5 bolt hole 14 on the first body 58 of the supporting body 3.

[0122] In the data communication module of this embodiment, the communication expansion board is FX2N-485-BD and the communication interface module is FX2N-232IFFX-4AD.

[0123] Example 10:

[0124] A method for intelligent pouring of a seepage-proof wall, employing a seepage-proof wall pouring device, includes the following specific steps.

[0125] Step 1: Input the pouring information into the PLC controller 56;

[0126] Step 2: Connect the concrete hopper 12 to the booster pump 4 and the concrete pouring pipe 6, and then pour the concrete for pouring into the concrete hopper 12.

[0127] Step 3: PLC controller 56 controls the walking assembly 1 to move the entire anti-seepage wall pouring machine to the front of the anti-seepage wall to be poured;

[0128] Step 4: PLC controller 56 controls industrial robotic arm 5 to adjust the angle of industrial robotic arm 5 to a suitable angle for pouring on site;

[0129] Step 5: The PLC controller 56 controls the concrete pouring pipe 6 to adjust so that the concrete pouring pipe 6 connected to the industrial robotic arm 5 extends to the bottom of the seepage barrier wall.

[0130] Step 6: After the concrete for pouring is injected into the concrete hopper 12, the PLC controller 56 controls the motor 10 to start, driving the mixing shaft 26 to rotate and transport the concrete to the first discharge port 24.

[0131] Step 7: When the concrete passes through the booster pump 4, the PLC controller 56 controls the booster pump 4 to start and pressurize it, so as to deliver the concrete to the bottom of the seepage prevention wall to be poured. The higher the concrete is poured, the greater the pressure of the booster pump 4.

[0132] Step 8: During the concrete pouring process, when the concrete exceeds the laser infrared sensor 55, the laser infrared sensor 55 sends a signal to the PLC controller 56. After receiving the signal, the PLC controller 56 controls the concrete pouring pipe 6 to rise, so that the concrete pouring pipe 6 is permanently kept between 30cm and 50cm inside the concrete.

[0133] Step 9: After the pouring is completed, the PLC controller 56 controls the industrial robotic arm 5 and the concrete pouring pipe 6 to reset, and the PLC controller 56 controls the walking assembly 1 to turn to the next section of the anti-seepage wall to be poured.

[0134] In practical application, using this technical solution for pouring seepage-proof walls allows for better control of the distance of the pouring pipe during the lifting process, reducing the intensity of the operation for the workers, requiring less manpower, materials, and resources, saving construction time, and ensuring continuous and uninterrupted pouring, thus improving construction efficiency and guaranteeing the quality of the pouring. This invention also ensures the safety of operators when used in harsh environments and rugged terrain.

[0135] Where there is no conflict, those skilled in the art can combine the relevant technical features in the above examples according to the actual situation to achieve the corresponding technical effects. Specific details of the various combinations will not be elaborated here.

[0136] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0137] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0138] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modifications, equivalent variations, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the present invention.

Claims

1. A diaphragm wall pouring apparatus, characterized by: include The main body (3); Slewing assembly; Concrete hopper (12), the concrete hopper (12) is connected to the supporting body (3); The walking assembly (1) is connected to the lower surface of the load-bearing body (3) via the slewing assembly; A balance support mechanism is connected to the load-bearing body (3) to maintain the balance of the load-bearing body (3); A booster pump (4) is connected to the supporting body (3) and connected to the concrete tank (12) through a pipeline; the lower part of the booster pump (4) is provided with a second discharge port (48) and a second inlet port (49); a pressure controller (47) is connected to the booster pump (4). A mixing mechanism is connected to a concrete hopper (12) and is used for mixing concrete inside the concrete hopper (12). An industrial robotic arm (5) is connected to the front end of the supporting body (3); The concrete pouring pipe (6) is vertically connected to the front end of the industrial robotic arm (5) and connected to the booster pump (4) through a pipeline; a lifting distance controller is installed on the concrete pouring pipe (6). Laser infrared sensor (55), multiple laser infrared sensors (55) are provided, and multiple laser infrared sensors (55) are evenly arranged in a circular array on the outer periphery of the concrete pouring pipe (6). The PLC controller (56) is connected to the supporting body (3) and is electrically connected to the rotary assembly, the walking assembly (1), the balance support mechanism, the mixing drive mechanism, the booster pump (4), the laser infrared sensor (55), the lifting controller on the concrete pouring pipe (6), and the industrial robotic arm (5), respectively. The concrete pouring pipe (6) is a telescopic pipe composed of multiple pouring pipe sections, and multiple laser infrared sensors (55) are uniformly embedded in the circumferential direction on the pipe wall of the multiple pouring pipe sections. During the pouring process, the laser infrared sensor (55) senses the distance the concrete rises. When the concrete exceeds the laser infrared sensor (55), the PLC controller (56) controls the concrete pouring pipe (6) to retract upwards, always keeping the concrete pouring pipe (6) buried between 30cm and 50cm deep in the concrete.

2. A diaphragm wall pouring apparatus as claimed in claim 1, wherein: It also includes a concrete chute (9), chute connecting legs (39) and chute support legs (13); the lower surface of the concrete chute (9) is connected to two chute connecting legs (39), the two chute connecting legs (39) are connected to the chute support legs (13), and the chute support legs (13) are connected to the rear upper part of the bearing body (3); the concrete chute (9) is inclined, and the lower end of the concrete chute (9) is placed on the first feed port (21) at the top of the concrete tank (12).

3. A diaphragm wall pouring apparatus as claimed in claim 1, wherein: The concrete tank (12) is cylindrical in shape; a first feed inlet (21) is provided at the top of the concrete tank (12), and concrete tank support frames (23) for fixed connection and a first discharge port (24) for connection with the booster pump (4) are provided at both ends of the bottom of the concrete tank (12); the tank body of the concrete tank (12) has symmetrical main shaft through holes (22) at both ends, and bearings (29) for connection with the mixing mechanism are installed in the main shaft through holes (22) at both ends; the bottom ends of the concrete tank (12) are connected in parallel with the concrete tank support frames (23).

4. A diaphragm wall pouring apparatus as claimed in claim 1 or 3, wherein: It also includes a concrete tank limiting body (20); the concrete tank limiting body (20) is connected to the supporting body (3), and a concrete tank (12) is provided on the top of the concrete tank limiting body (20); the concrete tank limiting body (20) is a cuboid, and its top has an arc groove that matches the bottom of the concrete tank (12), and four through holes for connecting with the supporting body (3) are symmetrically opened in the arc groove; the front end of the concrete tank limiting body (20) is provided with a notch that matches the first discharge port (24) on the concrete tank (12).

5. A diaphragm wall pouring apparatus as claimed in claim 1, wherein: The mixing mechanism includes a paddle (25), a mixing shaft (26), a shaft limiting body (27), a gear limiting cover (11), two second transmission wheels (32), and two sets of motor drive mechanisms; the paddle (25) is fixedly connected to the mixing shaft (26) located inside the concrete tank (12), and it is spiral in shape; both ends of the mixing shaft (26) are respectively connected to bearings (29) on both ends of the concrete tank (12), and extend to the outside of the concrete tank (12); two shaft limiting bodies (27) are provided, and the two shaft limiting bodies (27) are respectively connected to the junction of the mixing shaft (26) and the outer wall of the concrete tank (12); both ends of the mixing shaft (26) are provided with keyways ( 28), a raised limiting key (33) is provided on the inner side of the second transmission wheel (32), and the second transmission wheel (32) is connected to the keyway (28) of the mixing main shaft (26) through the limiting key (33); a gear limiting cover (11) is connected to the outer side of the second transmission wheel (32); two sets of motor drive mechanisms are respectively located at both ends of the concrete tank (12); each set of motor drive mechanisms includes two motors (10), a belt and a first transmission wheel (30), the two motors (10) are respectively located on both sides of the end of the concrete tank (12), and the output end of each motor (10) is connected to the first transmission wheel (30), and the two first transmission wheels (30) are connected to the second transmission wheel (32) on the same side through a belt.

6. A diaphragm wall pouring apparatus as claimed in claim 1, wherein: The balance support mechanism includes two sets of balance legs (2), each set of balance legs (2) is connected to a booster oil pump (8); the booster oil pump (8) is connected to an oil pressure controller (43); the two sets of balance legs (2) are respectively located on both sides of the lower surface of the bearing body (3), and each set of booster oil pump (8) is connected to the bearing body (3) on the side where the balance leg (2) is located; each set of balance legs (2) includes two support legs, and the two support legs are connected by a connecting box. The two sides of the box are respectively provided with a first oil inlet (40) and a first oil outlet (41) connected to each support leg. The second oil inlet (45) and the second oil outlet (46) on the booster oil pump (8) are respectively connected to the first oil outlet (41) and the first oil inlet (40).

7. A diaphragm wall pouring apparatus as claimed in claim 1, wherein: The surface of each laser infrared sensor (55) is flush with the outer wall of each section of the concrete pouring pipe; the top of the concrete pouring pipe (6) is provided with a third feed port (51), a third oil inlet (53) and a third oil outlet (54); the concrete pouring pipe (6) is connected to a booster oil pump (8), and the second oil inlet (45) and the second oil outlet (46) on the booster oil pump (8) are respectively connected to the third oil outlet (54) and the third oil inlet (53); the third feed port (51) is used to connect to the discharge port on the booster pump (4); the booster oil pump (8) is provided with an oil pressure controller (43).

8. A diaphragm wall pouring apparatus as claimed in claim 1 or 3, wherein: The supporting body (3) is an integral steel structure composed of a first body (58), a second body (59) and a third body (60); the first body (58) and the third body (60) are placed on both sides of the second body (59); the first body (58) and the third body (60) have the same length and are shorter than the length of the second body (59); the width of the first body (58) is greater than the width of the second body (59), and the width of the second body (59) is greater than the width of the third body (60); the first body (58) has through holes for connecting the PLC controller (56), the booster oil pump (8), the booster pump (4) and the industrial robotic arm (5); the second body (59) has through holes for connecting the concrete tank limit body (20), the concrete tank (12) and the fixed motor (10); the third body (60) has through holes for connecting the chute support leg (13) and the booster oil pump (8).

9. A diaphragm wall pouring apparatus as claimed in claim 1, wherein: The PLC controller (56) includes at least a housing, a data receiving module, a data sending module, a calculation module, and a teach pendant; the data receiving module, the data sending module, and the calculation module are housed within the housing; the data sending module is electrically connected to the data receiving module and the calculation module respectively; the data sending module and the data receiving module are electrically connected to the walking assembly (1), the balance support leg (2), the booster pump (4), the industrial robotic arm (5), the concrete pouring pipe (6), the booster oil pump (8), the motor (10), and the laser infrared sensor (55) respectively; the teach pendant is electrically connected to the data receiving module.

10. An intelligent diaphragm wall pouring method, characterized in that, The specific steps of using the anti-seepage wall casting device as described in any one of claims 1-9 are as follows: Step 1: Input the pouring information into the PLC controller (56); Step 2: Connect the concrete hopper (12) to the booster pump (4) and the concrete pouring pipe (6), and then pour the concrete for pouring into the concrete hopper (12); Step 3: The PLC controller (56) controls the walking assembly (1) to move the entire anti-seepage wall pouring machine to the front of the anti-seepage wall to be poured; Step 4: The PLC controller (56) controls the industrial robotic arm (5) to adjust the angle of the industrial robotic arm (5) to a suitable angle for pouring on site; Step 5: The PLC controller (56) controls the concrete pouring pipe (6) to adjust so that the concrete pouring pipe (6) connected to the industrial robotic arm (5) extends to the bottom of the seepage barrier wall. Step 6: After the concrete for pouring is injected into the concrete tank (12), the PLC controller (56) controls the motor (10) to start, driving the mixing shaft (26) to rotate and transport the concrete to the first discharge port (24). Step 7: When the concrete passes through the booster pump (4), the PLC controller (56) controls the booster pump (4) to start and pressurize it, so as to deliver the concrete to the bottom of the anti-seepage wall to be poured. The higher the concrete is poured, the greater the pressure of the booster pump (4). Step 8: During the concrete pouring process, when the concrete exceeds the laser infrared sensor (55), the laser infrared sensor (55) sends a signal to the PLC controller (56). After receiving the signal, the PLC controller (56) controls the concrete pouring pipe (6) to rise, so that the concrete pouring pipe (6) is permanently kept between 30cm and 50cm inside the concrete. Step 9: After the pouring is completed, the PLC controller (56) controls the industrial robotic arm (5) and the concrete pouring pipe (6) to reset, and the PLC controller (56) controls the walking assembly (1) to turn to the next section of the anti-seepage wall to be poured.

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