An automatic concrete pouring device and method for bridge towers

Abstract

This invention provides an automatic concrete pouring device and method for bridge towers, comprising a steel pipe, a first rotating platform at the top of the steel pipe, a concrete placing boom mounted on the first rotating platform, and the steel pipe rotatably connected to the concrete placing boom via the first rotating platform. A second rotating platform is mounted on the steel pipe, and multiple telescopic arms are mounted on the second rotating platform. A vibration mechanism is mounted at one end of each telescopic arm. The first rotating platform, the second rotating platform, and the steel pipe are coaxial. By using the coordinate systems of the ends of the rotating arms of the concrete placing boom and the vibration mechanism with the steel pipe, path planning is performed on the concrete placing point to achieve automated pouring, placing, and vibration coordination. An electromagnetic flowmeter installed on the outlet pipe of the concrete placing boom monitors the volume of concrete poured in a single batch in real time. Automatic lifting and lowering control of the vibrator is achieved by calculating the number of cable turns using a pre-drive and encoder. The insertion depth of the vibrator is identified by the number of cable turns (X) on the clamping wheel and the circumference (L) of the clamping wheel.

Description

Technical Field

[0001] This invention relates to the field of concrete pouring, and in particular to an automatic concrete pouring device and method for bridge towers. Background Technology

[0002] Traditional concrete construction methods are extensive, with the main steps being concrete placement and vibration. In traditional bridge towers, concrete placement involves mounting a placing boom on an inner formwork support, while vibration relies primarily on manual hand-held vibrators. Concrete construction specifications require that the vibrator penetrate at least 5cm into the lower layer of concrete when vibrating the upper layer. However, in the harsh construction environment of ultra-high bridge towers, automated pouring is difficult to achieve, and coordinating placement and vibration is challenging. Furthermore, the high pouring height of individual concrete sections makes it difficult to visually assess the thickness of the poured concrete, making it hard to control the placement thickness and the vibrator insertion depth. Therefore, truly automated pouring requires monitoring the placement thickness and location, as well as coordinating placement and vibration. To address these issues, we propose an automated concrete pouring device and method for bridge towers. Summary of the Invention

[0003] This invention provides an automatic concrete pouring device and method for bridge towers, which solves the problems of difficulty in achieving automated pouring and coordinated concrete placement and vibration in the harsh construction environment of ultra-high bridge towers; and the difficulty in controlling the thickness of the poured concrete and the insertion depth of the vibrator when the concrete is poured at a high depth.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an automatic concrete pouring device and method for bridge towers, including a steel pipe, a first rotating platform at the top of the steel pipe, a concrete placing machine on the first rotating platform, the steel pipe being rotatably connected to the concrete placing machine through the first rotating platform, a second rotating platform on the steel pipe, a plurality of telescopic arms on the second rotating platform, a vibration mechanism at one end of the telescopic arms, and the first rotating platform, the second rotating platform and the steel pipe being coaxial.

[0005] In the preferred embodiment, the bottom of the steel pipe is installed on the inner formwork frame, and a reinforcing cage is provided on the outside of the inner formwork frame. The reinforcing cage is used for pouring concrete. The reinforcing cage has a U-shaped structure, and the axis of the steel pipe is located at the center of the reinforcing cage.

[0006] Connect the current to the steel cage.

[0007] In the preferred embodiment, a placing pipe is provided in the steel pipe, one end of which passes through the steel pipe and is connected to the rotating arm of the placing machine, and the other end of which is connected to the reinforcing cage. An electromagnetic flowmeter is provided on the placing pipe.

[0008] In a preferred embodiment, the vibrating mechanism includes a fixed frame, a mounting frame, and a hydraulic cylinder. One end of the hydraulic cylinder is hinged to the fixed frame, and the other end of the hydraulic cylinder is hinged to the telescopic arm. The fixed frame and the mounting frame are rotatably connected. The bottom of the fixed frame is provided with a rear drive, the bottom of the mounting frame is provided with a front drive, the bottom of the front drive is provided with a telescopic steel pipe, and the fixed frame is provided with an encoder.

[0009] The cable is driven by both rear-mounted and front-mounted motors, and passes through a telescopic steel pipe. One end of the cable is equipped with a vibrator.

[0010] In a preferred embodiment, the mounting frame is provided with a deflection device, which includes a top plate, a mounting plate on one side of the top plate, a first rotating joint and a second rotating joint on the top plate, a deflection motor at the bottom of the first rotating joint, a first lead screw at the output shaft end of the deflection motor, and the first lead screw being threadedly connected to a lead screw seat on the mounting plate, and the lead screw seat being rotatably connected to the mounting plate.

[0011] The top plate is rotatably connected to the deflection motor via the first rotating joint;

[0012] The top plate is rotatably connected to the mounting plate via a second rotating joint.

[0013] In a preferred embodiment, the mounting frame is equipped with a pitch-changing mechanism, which includes side plates at both ends, two guide posts between the two side plates, a second lead screw between the two guide posts, and multiple movable sliders that move at equal intervals on the second lead screw. The side plates are connected to the mounting plate.

[0014] In a preferred embodiment, an adjusting motor is provided on one of the side plates and is connected to a second lead screw. A nut is provided on one of the movable sliders near the edge and is threadedly connected to the second lead screw. A linkage group is provided on both sides of multiple movable sliders. The linkage group includes multiple connecting rods that are hinged sequentially. The two ends of the linkage group are respectively hinged to the side plate and the movable slider near the edge. The connecting rod is provided with a rotating seat and is rotatably connected to the movable slider through the rotating seat.

[0015] The guide post passes through the movable slider and slides to connect with it.

[0016] In a preferred embodiment, the front drive includes a connecting frame, a worm gear on the connecting frame, multiple drive rods on the worm gear, a meshing worm wheel at one end of each drive rod, a clamping wheel at the other end of each drive rod, a pulley on the connecting frame, and a cable clamped by the pulley and the clamping wheel. The worm gear is connected to the drive motor, and a guide wheel is provided on one side of the connecting frame.

[0017] Multiple connecting brackets are mounted on the movable slider;

[0018] The rear drive has the same structure as the front drive; the number of rear drives is the same as that of front drives, and they correspond one-to-one.

[0019] A method for pouring concrete using an automatic concrete pouring device for bridge towers, characterized by: S1. Path planning for the concrete placement point and establishment of a local coordinate system: A local coordinate system is established with the steel pipe axis as the origin O, the angle between the concrete placement machine and the transverse coordinate axis is α, the angle between the concrete placement machine and the longitudinal coordinate axis is β, and the coordinates of the concrete placement pipe are calculated based on the extension N of the rotating arm of the concrete placement machine.

[0020] S2. Inspect the fabric and start the fabric placement: Install the fabric placement pipe, input the planned path of the pre-placement points into the computer, manually assist the fabric placement hose to connect to the feed cylinder, rotate the first rotating platform, and extend and retract the rotating arm of the fabric placement machine so that the fabric placement pipe on the rotating arm reaches the planned path coordinates, and start the trailer pump to start the fabric placement.

[0021] S3. Real-time monitoring of concrete thickness; The electromagnetic flowmeter installed on the outlet pipe of the concrete placement pipe monitors the volume of concrete poured in a single placement in real time and controls the thickness of concrete at a single point. Thickness h = concrete volume V / cross-sectional area of ​​the steel cage per unit area S.

[0022] S4. Automated vibration point finding: The telescopic arm finds the previous material placement point. The material placement pipe moves to the next material placement point and drives the second rotating platform and telescopic arm according to the previous material placement coordinates of the material placing machine, so that the vibration mechanism reaches the previous material placement coordinates, and so on.

[0023] S5. Initial position adjustment of vibration: Adjust the hydraulic cylinder and sway device to make the vibration mechanism horizontal, and adjust the pitch mechanism to make the spacing between multiple vibrating rods appropriate.

[0024] S6. Automatic lifting and lowering control of the vibrator: The number of cable turns is calculated by the drive motor and encoder to control the lowering of the vibrator;

[0025] S7. Identification of the insertion depth of the vibrator: When the vibrator comes into contact with the concrete, a low-voltage current is detected. At this time, the thickness of the vibrator is 0. The 0-position elevation is calculated by the encoder. The concrete insertion thickness H = number of clamping wheel cable turns X * circumference L, and the vibration mechanism is driven to vibrate the concrete.

[0026] The beneficial effects of this invention are as follows: the first rotating platform, the second rotating platform, and the steel pipe are coaxial, with the steel pipe located inside the reinforcing cage, so that multiple telescopic arms, the rotating arm of the concrete placing boom, and the reinforcing cage are in the same coordinate system, with the axis of the steel pipe as the origin of the coordinate system. By calculating the distance and angle between the end of the rotating arm of the concrete placing boom and the steel pipe, respectively, the position of the concrete outlet endpoint of the concrete placing boom and the position of the vibrating mechanism are calculated. The path planning of the concrete placing point is performed based on the output position of the concrete placing boom, realizing automated pouring. When the concrete placing boom finishes pouring a single area of ​​the reinforcing cage, it is driven to the next pouring location, and the vibrating mechanism at one end of the telescopic arm is driven to move to the coordinate point that was just poured, allowing the vibrating mechanism to vibrate, realizing automated vibration point finding and achieving coordination between concrete placing and vibration.

[0027] An electromagnetic flowmeter installed on the outlet pipe of the concrete placing pipe monitors the volume of concrete poured in a single batch in real time. The concrete volume V is calculated by combining the cross-sectional area S of the reinforcing cage to determine the concrete thickness at a single point, thus controlling the thickness of the concrete placed at that point. A pre-drive and encoder calculate the number of cable turns to control the lowering of the vibrator, achieving automatic lifting and lowering adjustment of the vibrator.

[0028] When a low-voltage current is connected to the reinforcing cage, the low-voltage current is detected when the vibrator comes into contact with the concrete. At this time, the thickness of the vibrator is 0. The insertion depth of the vibrator is calculated by the number of turns X of the clamping wheel cable and the circumference L of the clamping wheel, so as to realize the identification of the insertion depth of the vibrator and thus realize automated pouring and vibration, which has great promotional value. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0030] Figure 1 This is a structural view of the overall structure of the present invention;

[0031] Figure 2 This is a front view of a partial structure of the present invention;

[0032] Figure 3 This is a top-side view of a partial structure of the present invention;

[0033] Figure 4 This is a top view of the overall structure of the invention;

[0034] Figure 5 This is a front view of the vibrating mechanism of the present invention;

[0035] Figure 6 This is a side view of the vibrating mechanism of the present invention;

[0036] Figure 7 This is a side view of the oscillation device of the present invention;

[0037] Figure 8 This is an axonometric view of the pitch-changing mechanism of the present invention;

[0038] Figure 9 This is a front view of the rear-drive module of the present invention;

[0039] Figure 10 This is a structural view of the front-end driver of the present invention;

[0040] In the diagram: 1. Telescopic boom; 2. Concrete placing boom; 3. Inner mold frame; 4. Vibrating mechanism; 5. Concrete placing pipe; 6. Steel pipe; 7. First rotating platform; 8. Second rotating platform; 10. Telescopic steel pipe; 11. Fixing frame; 12. Mounting frame; 13. Rear drive; 14. Front drive; 14. Connecting frame; 1401. Worm gear; 1402. Worm; 1403. Drive rod; 1404. Clamping wheel; 1405. Guide wheel; 1406. Pulley; 1407. Drive motor; 1408. Cable; 15. Vibrating rod; 16. Pitch changing mechanism; 17. Side plate. 1701; Second lead screw 1702; Guide column 1703; Connecting rod assembly 1704; Connecting rod 17041; Rotating seat 17042; Moving slider 1705; Nut 1706; Adjusting motor 1707; Deflection device 18; Top plate 1801; First rotating pair 1802; Second rotating pair 1803; Mounting plate 1804; Lead screw seat 18041; First lead screw 1805; Deflection motor 1806; Hydraulic cylinder 19; Reinforcing cage 20; Concrete 21; Encoder 22. Detailed Implementation

[0041] Example 1:

[0042] like Figure 1-10 A method and device for automatic concrete pouring of bridge towers includes a steel pipe 6, a first rotating platform 7 at the top of the steel pipe 6, a concrete placing boom 2 on the first rotating platform 7, and the steel pipe 6 being rotatably connected to the concrete placing boom 2 via the first rotating platform 7. A second rotating platform 8 is also provided on the steel pipe 6, and multiple telescopic arms 1 are mounted on the second rotating platform 8. A vibrating mechanism 4 is provided at one end of each telescopic arm 1. The first rotating platform 7, the second rotating platform 8, and the steel pipe 6 are coaxial. With this structure, the first rotating platform 7, the second rotating platform 8, and the steel pipe 6 are coaxial, and the steel pipe 6 is located inside a reinforcing cage 20, so that the multiple telescopic arms 1, the rotating arms of the concrete placing boom 2, and the reinforcing cage 20 are in the same coordinate system, with the axis of the steel pipe 6 as the origin of the coordinate system. By calculating the distance and angle between the end of the rotating arm of the concrete placing machine 2 and the vibrating mechanism 4 and the steel pipe 6, the positions of the concrete placement pipe 5 output concrete endpoint and the vibrating mechanism 4 are determined. The path planning of the concrete placement point is performed based on the output position of the concrete placement pipe 5 to achieve automated pouring. When the concrete placing machine 2 finishes pouring a single area of ​​the steel cage 20, it is driven to the next pouring location. The vibrating mechanism 4 at one end of the telescopic arm 1 is driven to move to the coordinate point of the just-poured area, allowing the vibrating mechanism 4 to vibrate, thus achieving automated vibration point finding and coordination of concrete placement and vibration.

[0043] An electromagnetic flowmeter installed on the outlet pipe of the concrete placement pipe 5 monitors the volume of concrete poured in a single batch in real time. The concrete volume V is used to calculate the placement thickness by combining it with the cross-sectional area S of the unit area of ​​the reinforcing cage 20, thus controlling the placement thickness at a single point. The number of cable turns is calculated by the front drive 14 and the encoder 22, which controls the lowering of the vibrator 16, achieving automatic lifting and lowering adjustment of the vibrator 16.

[0044] When the rebar cage 20 is connected to a low-voltage current, the low-voltage current is detected when the vibrator 16 comes into contact with the concrete. At this time, the thickness of the vibrator 16 is 0. The encoder 22 is set to 0 elevation. The insertion depth of the vibrator 16 is calculated by the number of cable turns X of the clamping wheel 1405 and the circumference L of the clamping wheel 1405, so as to realize the identification of the insertion depth of the vibrator and thus realize automated pouring and vibration.

[0045] In the preferred embodiment, the bottom of the steel pipe 6 is installed on the inner mold frame 3, and a reinforcing cage 20 is provided on the outside of the inner mold frame 3. The reinforcing cage 20 is used for pouring concrete 21. The reinforcing cage 20 has a U-shaped structure, and the axis of the steel pipe 6 is located at the center of the reinforcing cage 20.

[0046] A current is connected to the reinforcing cage 20. With this structure, the reinforcing cage 20 is connected to a low-voltage current. When the vibrator 16 contacts the concrete, the low-voltage current is detected, and the thickness of the vibrator 16 is 0. The insertion depth of the vibrator 16 is calculated using the number of cable turns X of the clamping wheel 1405 and the circumference L of the clamping wheel 1405, thus achieving vibration rod insertion depth recognition and automated pouring and vibration. The reinforcing cage 20 has a U-shaped structure, with the axis of the steel pipe 6 located at the center of the reinforcing cage 20, so that the rotating arms of the multiple telescopic arms 1, the concrete placing boom 2, and the reinforcing cage 20 are in the same coordinate system, with the axis of the steel pipe 6 as the origin.

[0047] In the preferred embodiment, a placing pipe 5 is provided in the steel pipe 6. One end of the placing pipe 5 passes through the steel pipe 6 and is connected to the rotating arm of the placing machine 2. The other end of the placing pipe 5 is connected to the reinforcing cage 20. An electromagnetic flowmeter is provided on the placing pipe 5.

[0048] In a preferred embodiment, the vibrating mechanism 4 includes a fixed frame 11, a mounting frame 12, and a hydraulic cylinder 19. One end of the hydraulic cylinder 19 is hinged to the fixed frame 11, and the other end of the hydraulic cylinder 19 is hinged to the telescopic arm 1. The fixed frame 11 and the mounting frame 12 are rotatably connected. The bottom of the fixed frame 11 is provided with a rear drive 13, the bottom of the mounting frame 12 is provided with a front drive 14, the bottom of the front drive 14 is provided with a telescopic steel pipe 10, and the fixed frame 11 is provided with an encoder 22.

[0049] The rear drive 13 and the front drive 14 wind the cable 15, which passes through the telescopic steel pipe 10. One end of the cable 15 is equipped with a vibrator 16. With this structure, when the reinforcing cage 20 is connected to a low-voltage current, the vibrator 16 detects the low-voltage current upon contact with the concrete. At this point, the thickness of the vibrator 16 is at position 0. The encoder 22 is set to position 0 elevation to calculate the insertion depth of the vibrator 16, thus achieving vibrator insertion depth identification. The telescopic steel pipe 10 has a certain rigidity. One end of the cable 15 is connected to one end of the telescopic steel pipe 10, and the other end of the telescopic steel pipe 10 is connected to the bottom of the front drive 14. When the cable 15 extends, the telescopic steel pipe 10 extends accordingly.

[0050] In a preferred embodiment, the mounting bracket 12 is provided with a deflection device 18, which includes a top plate 1801, a mounting plate 1804 on one side of the top plate 1801, a first rotating joint 1802 and a second rotating joint 1803 on the top plate 1801, a deflection motor 1806 at the bottom of the first rotating joint 1802, a first lead screw 1805 at the output shaft end of the deflection motor 1806, and the first lead screw 1805 is threadedly connected to the lead screw seat 18041 on the mounting plate 1804. The lead screw seat 18041 is rotatably connected to the mounting plate 1804.

[0051] Top plate 1801 is rotatably connected to deflection motor 1806 via first rotary joint 1802;

[0052] The top plate 1801 is rotatably connected to the mounting plate 1804 via a second rotating joint 1803. With this structure, the pitch angle of the entire vibrating mechanism 4 can be adjusted by adjusting the hydraulic cylinder 19. The sway device 18 adjusts the planar deflection angle of the overall structure. The mounting plate 1804 is rotatably connected to the top plate 1801 via the second rotating joint 1803, driving the deflection motor 18018 to rotate the mounting plate 1804 relative to the mounting frame 4, causing the pitch-changing mechanism 17 to rotate with the top plate 1801, thus causing multiple vibrating rods 16 to deflect, with the deflection angle controlled between 0 and 18 degrees. By controlling and adjusting the hydraulic cylinder 19 and the sway device 18, the sway angle of the multiple vibrating rods 16 is precisely adjusted to control the angle at which the multiple vibrating rods 16 are inserted into the concrete.

[0053] In a preferred embodiment, the mounting frame 12 is provided with a pitch-changing mechanism 17, which includes side plates 1701 located at both ends, two guide posts 1703 between the two side plates 1701, a second lead screw 1702 between the two guide posts 1703, and a plurality of movable sliders 1705 that move at equal intervals on the second lead screw 1702. The side plates 1701 are connected to the mounting plate 604.

[0054] In a preferred embodiment, one of the side plates 1701 is provided with an adjusting motor 1707, which is connected to a second lead screw 1702. A nut 1706 is provided on one of the movable sliders 1705 near the side, and the nut 1706 is threadedly connected to the second lead screw 1702. A connecting rod group 1704 is provided on both sides of the multiple movable sliders 1705. The connecting rod group 1704 includes multiple connecting rods 17041, which are hinged in sequence. The two ends of the connecting rod group 1704 are respectively hinged to the side plate 1701 and the movable slider 1705 near the side. The connecting rod 17041 is provided with a rotating seat 17042, and the connecting rod 17041 is rotatably connected to the movable slider 1705 through the rotating seat 17042.

[0055] The guide post 1703 passes through and slides through the movable slider 1705. With this structure, the nut 1706 rotates by controlling the adjusting motor 17017, causing the first movable slider 1705 to slide. When the first movable slider 1705 moves, the motion is transmitted through the connecting rod assembly 1704, causing the connecting rod assembly 1704 to generate continuous pitch-changing motion and drive the other movable sliders 1705 to move. To prevent interference and locking during the movement of the connecting rod assembly 1704, the connecting rod assembly 1704 is installed on both sides, and the parameters are set so that the movement length of the nut 1706 is less than the maximum extension length of the connecting rod 17041. The pitch-changing mechanism 17 automatically adjusts the distance between multiple movable sliders 1705, ensuring that the multiple movable sliders 1705 move the same distance, allowing for precise adjustment of the distance between multiple vibrating rods 16 and preventing missed vibration. Meanwhile, by reasonably adjusting the distance between multiple vibrating rods 16, the vibrating rods 16 can be prevented from hitting obstacles such as reinforcing bars and tie rods, thereby improving the vibration quality of the concrete.

[0056] In a preferred embodiment, the front drive 14 includes a connecting frame 1401, a worm gear 1403 on the connecting frame 1401, a plurality of drive rods 1404 on the worm gear 1403, a meshing worm wheel 1402 at one end of the drive rod 1404, a clamping wheel 1405 at the other end of the drive rod 1404, a pulley 1407 on the connecting frame 1401, the pulley 1407 and the clamping wheel 1405 clamping the cable 14, the worm gear 1403 being connected to the drive motor 1408, and a guide wheel 1406 on one side of the connecting frame 1401;

[0057] Multiple connecting brackets 1401 are mounted on the movable slider 1705;

[0058] The rear drive 13 has the same structure as the front drive 14; the number of rear drives 13 and front drives 14 is the same, and they correspond one-to-one. With this structure, when releasing cable 15, the drive motors of the front drive 14 and rear drive 13 rotate forward. The front drive 14, through a worm gear 1402 and worm 1403 mechanism, transmits force to the drive rod 1404 via the worm gear and worm. The drive rod 1404 achieves the cable release function through friction with the cable 14. When retracting cable 14, the drive motor 1408 reverses, and the rear drive 13 and front drive 14 retract cable 15. The front drive 14 and rear drive 13, in conjunction with the encoder 22, enable the overall device to precisely control the extension or retraction length of cable 15, allowing for precise measurement of the lowering length of each vibrator 16, thus achieving precise control of the vibration depth.

[0059] Example 2:

[0060] Further explanation in conjunction with Example 1:

[0061] A method for pouring concrete using an automatic concrete pouring device for bridge towers, the method being: to plan the path of the material placement point and establish a local coordinate system: a local coordinate system is established with the center of the steel pipe 6 as the origin O of the coordinate system, the angle between the material placement machine 2 and the horizontal coordinate axis is α, the angle between the material placement machine 2 and the vertical coordinate axis is β, and the coordinates of the material placement pipe 5 are calculated based on the extension N of the rotating arm of the material placement machine 2.

[0062] Inspection of fabric points and commencement of fabric placement: Install fabric placement pipe 5, input the planned path of the pre-placement points into the computer, manually assist the connection of the fabric placement hose to the feed cylinder, rotate the first rotating platform 7, and extend and retract the rotating arm of the fabric placement machine 2 so that the fabric placement pipe 5 on the rotating arm reaches the planned path coordinates, and start the trailer pump to begin fabric placement.

[0063] Real-time monitoring of concrete thickness; the volume of concrete poured in a single batch is monitored in real time by an electromagnetic flowmeter installed on the outlet pipe of the concrete placement pipe 5, and the thickness of concrete at a single point is controlled. Thickness h = concrete volume V / cross-sectional area S of the unit area of ​​the steel cage 20; automatic vibration point finding, telescopic arm 1 finds the previous placement point: the concrete placement pipe 5 moves to the next placement point, and according to the previous placement coordinates of the concrete placement machine 2, the second rotating platform 8 and telescopic arm 1 are driven so that the vibration mechanism 4 reaches the previous placement coordinates, and so on in a cycle;

[0064] Initial vibration position adjustment: Adjust the hydraulic cylinder 19 and the sway device 18 to make the vibration mechanism 4 horizontal, and adjust the pitch mechanism 17 to make the spacing between multiple vibrating rods 16 appropriate; Automatic lifting and lowering control of vibrating rods 16: Calculate the number of cable turns through the drive motor 1408 and encoder 22 to control the lowering of the vibrating rods 16; Identification of the insertion depth of vibrating rods 16: When the vibrating rods 16 contact the concrete, a low-voltage current is detected. At this time, the thickness of the vibrating rods 16 is 0. Calculate the 0-position elevation through the encoder. The concrete insertion thickness H = number of cable turns of the clamping wheel 1405 * circumference L, and drive the vibration mechanism 4 to vibrate the concrete 21.

[0065] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be defined as the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for pouring concrete using an automatic concrete pouring device for bridge towers, characterized in that: S1. Path planning for the material placement point and establishment of a local coordinate system: Establish a local coordinate system with the center of the steel pipe (6) as the origin O of the coordinate system. The angle between the material placement machine (2) and the horizontal coordinate axis is α, and the angle between the material placement machine (2) and the vertical coordinate axis is β. Calculate the coordinates of the material placement pipe (5) based on the extension N of the rotating arm of the material placement machine (2). S2. Check the fabric and start the fabric: Install the fabric pipe (5), input the planned path of the fabric point in advance into the computer, manually assist the fabric hose to connect to the duct, rotate the first rotating platform (7), and extend the rotating arm of the fabric machine (2) so that the fabric pipe (5) on the rotating arm reaches the planned path coordinates, start the trailer pump to start the fabric. S3. Real-time monitoring of concrete thickness; The electromagnetic flowmeter installed on the outlet pipe of the concrete pipe (5) is used to monitor the concrete pouring volume of a single concrete pouring in real time and control the concrete thickness at a single point. Thickness h = concrete volume V / cross-sectional area S of the steel cage (20). S4. Vibration automation point finding, telescopic arm (1) finds the previous material placement point: the material placement pipe (5) moves to the next material placement point, according to the previous material placement coordinates of the material placement machine (2), drives the second rotating platform (8) and telescopic arm (1) so that the vibration mechanism (4) reaches the previous material placement coordinates, and so on. S5. Initial position adjustment of vibration: Adjust the hydraulic cylinder (19) and the sway device (18) to make the vibration mechanism (4) horizontal, and adjust the pitch mechanism (17) to make the spacing between multiple vibrating rods (16) appropriate; S6, Automatic lifting and lowering control of vibrating rod (16): The number of cable turns is calculated by the drive motor (1408) and encoder (22) to control the lowering of the vibrating rod (16); S7. Identification of the insertion depth of the vibrator (16): When the vibrator (16) contacts the concrete, a low-voltage current is detected. At this time, the thickness of the vibrator (16) is 0. The 0-position elevation is calculated by the encoder. The concrete insertion thickness H = number of cable turns of the clamping wheel (1405) X The perimeter L drives the vibration mechanism (4) to vibrate the concrete (21); The following pouring device is used for pouring. The pouring device includes a steel pipe (6), a first rotating platform (7) is provided on the top of the steel pipe (6), a placing machine (2) is provided on the first rotating platform (7), the steel pipe (6) is rotatably connected to the placing machine (2) through the first rotating platform (7), a second rotating platform (8) is provided on the steel pipe (6), a plurality of telescopic arms (1) are provided on the second rotating platform (8), a vibrating mechanism (4) is provided at one end of the telescopic arm (1), and the first rotating platform (7), the second rotating platform (8) and the steel pipe (6) are coaxial. A placing pipe (5) is provided in the steel pipe (6). One end of the placing pipe (5) passes through the steel pipe (6) and is connected to the rotating arm of the placing machine (2). The other end of the placing pipe (5) is connected to the steel cage (20). An electromagnetic flow meter is provided on the placing pipe (5). The vibrating mechanism (4) includes a fixed frame (11), a mounting frame (12) and a hydraulic cylinder (19). One end of the hydraulic cylinder (19) is hinged to the fixed frame (11), and the other end of the hydraulic cylinder (19) is hinged to the telescopic arm (1). The fixed frame (11) and the mounting frame (12) are rotatably connected. The bottom of the fixed frame (11) is provided with a rear drive (13), the bottom of the mounting frame (12) is provided with a front drive (14), the bottom of the front drive (14) is provided with a telescopic steel pipe (10), and the fixed frame (11) is provided with an encoder (22). The rear drive (13) and the front drive (14) wind the cable (15), the cable (15) passes through the telescopic steel pipe (10), and one end of the cable (15) is provided with a vibrator (16). The mounting bracket (12) is provided with a deflection device (18). The deflection device (18) includes a top plate (1801). A mounting plate (1804) is provided on one side of the top plate (1801). A first rotating pair (1802) and a second rotating pair (1803) are provided on the top plate (1801). A deflection motor (1806) is provided at the bottom of the first rotating pair (1802). A first lead screw (1805) is provided at the output shaft end of the deflection motor (1806). The first lead screw (1805) is threadedly connected to the lead screw seat (18041) on the mounting plate (1804). The lead screw seat (18041) is rotatably connected to the mounting plate (1804). The top plate (1801) is rotatably connected to the deflection motor (1806) via the first rotating joint (1802); The top plate (1801) is rotatably connected to the mounting plate (1804) via a second rotating joint (1803); The mounting bracket (12) is provided with a pitch-changing mechanism (17). The pitch-changing mechanism (17) includes side plates (1701) located at both ends, two guide posts (1703) between the two side plates (1701), a second lead screw (1702) between the two guide posts (1703), and multiple movable sliders (1705) that move at equal intervals on the second lead screw (1702). The side plates (1701) are connected to the mounting plate (1804). The front drive (14) includes a connecting frame (1401), a worm gear (1403) is provided on the connecting frame (1401), a plurality of drive rods (1404) are provided on the worm gear (1403), a meshing worm wheel (1402) is provided at one end of the drive rod (1404), a clamping wheel (1405) is provided at the other end of the drive rod (1404), a pulley (1407) is provided on the connecting frame (1401), the pulley (1407) and the clamping wheel (1405) clamp the cable (15), the worm gear (1403) is connected to the drive motor (1408), and a guide wheel (1406) is provided on one side of the connecting frame (1401). Multiple connecting brackets (1401) are mounted on the movable slider (1705); The rear drive (13) has the same structure as the front drive (14); the number of rear drives (13) and front drives (14) is the same and they correspond one-to-one.

2. The pouring method of the automatic concrete pouring device for bridge towers according to claim 1, characterized in that: The bottom of the steel pipe (6) is installed on the inner formwork frame (3). The outer side of the inner formwork frame (3) is provided with a steel cage (20). The steel cage (20) is used for pouring concrete (21). The steel cage (20) is a U-shaped structure. The axis of the steel pipe (6) is located at the center of the steel cage (20). Connect the current to the steel cage (20).

3. The pouring method of the automatic concrete pouring device for bridge towers according to claim 1, characterized in that: one of them An adjustment motor (1707) is provided on the side plate (1701). The adjustment motor (1707) is connected to the second lead screw (1702). A nut (1706) is provided on one of the movable sliders (1705) near the side. The nut (1706) is threadedly connected to the second lead screw (1702). A connecting rod group (1704) is provided on both sides of multiple movable sliders (1705). The connecting rod group (1704) includes multiple connecting rods (17041). The multiple connecting rods (17041) are hinged in sequence. The two ends of the connecting rod group (1704) are respectively hinged to the side plate (1701) and the movable slider (1705) near the side. The connecting rod (17041) is provided with a rotating seat (17042). The connecting rod (17041) is rotatably connected to the movable slider (1705) through the rotating seat (17042). The guide post (1703) passes through the movable slider (1705) and is slidably connected to the movable slider (1705).

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