Whole-process scanning monitoring device and method for underwater concrete pouring in deep hole or deep groove

Abstract

The invention discloses a whole-process scanning monitoring device for underwater concrete pouring in a deep hole or a deep groove, which comprises a diving actuator, a dragging rope, a ground support and a control terminal, and is characterized in that the diving actuator is connected with the ground support through the dragging rope, the diving actuator extends into the deep hole or the deep groove, and the control terminal is in signal connection with the diving actuator; wherein the diving actuator comprises a diving vehicle bottom shell and a diving vehicle upper shell, the diving vehicle bottom shell is movably inserted into the diving vehicle upper shell, a cavity is formed between the diving vehicle bottom shell and the diving vehicle upper shell, and the specific gravity of the diving actuator can be adjusted by changing the volume of the cavity. According to the invention, before deep hole or deep groove concrete pouring, underwater deep hole or deep groove bottom slag is scanned, the density of muddy water is measured, and the stability condition of the deep hole or deep groove wall is checked before concrete pouring. And in the concrete pouring process, the change of the concrete liquid level elevation can be tracked in real time and transmitted to a control terminal in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater concrete pouring, and particularly relates to a full-process scanning monitoring device and method for underwater concrete pouring in deep holes or deep grooves. Background Art

[0002] In the existing concrete construction technologies for deep holes and deep grooves, it is usually impossible to observe the internal state during underwater concrete pouring, and it is impossible to accurately evaluate the slag formation and silt state at the bottom of the hole (groove). Moreover, it is even more impossible to grasp in real time emergency situations such as slag inclusion caused by the collapse of the hole wall during the concrete pouring process. And the working mode of measuring by a sounding rope in the existing technology will result in poor environmental conditions and low measurement efficiency for the measurement work due to the pollution of the sounding rope every time measurement and depth sounding operations are carried out. Summary of the Invention

[0003] The purpose of the present invention is to provide a full-process scanning monitoring device and method for underwater concrete pouring in deep holes or deep grooves, so as to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides a full-process scanning monitoring device for underwater concrete pouring in deep holes or deep grooves, including: a diving actuator, a towing rope, a ground support, and a control terminal. The diving actuator is connected to the ground support through the towing rope, the diving actuator extends into the deep hole or deep groove, and the control terminal is signal-connected to the diving actuator; Among them, the diving actuator includes a diving bottom shell and a diving upper shell. The diving bottom shell is inserted into the diving upper shell, and the diving bottom shell and the diving upper shell can slide relative to each other. A cavity is provided between the diving bottom shell and the diving upper shell, and the specific gravity of the diving actuator can be adjusted by changing the volume of the cavity.

[0005] In a preferred embodiment, a diving core shell is arranged inside the diving bottom shell. A square-headed lead screw is fixedly arranged at the central position of the inner wall of the diving upper shell. The square-headed lead screw extends into the diving core shell. A servo motor is arranged on one side of the square-headed lead screw. The upper part of the servo motor is connected to a reduction gear module. One end of the power output shaft is connected to the output end of the reduction gear module. The other end of the power output shaft is connected to one end of a long gear. The other end of the long gear is connected to a gear shaft seat fixed on the inner wall of one side of the diving core shell, and the long gear is vertically arranged in the gear shaft seat.

[0006] In a preferred embodiment, two adjusting shaft seats are arranged at intervals on the inner wall of the other side of the submersible core shell, and the square head screw rod is vertically arranged in the adjusting shaft seats. An adjusting gear is arranged between the two adjusting shaft seats. The center of the adjusting gear is a hollow internal thread structure. The upper end of the square head screw rod is a square cap, and the lower end is a standard screw rod. The screw rod of the square head screw rod vertically passes through the center of the adjusting gear and is threadedly connected with the adjusting gear. The external gear of the adjusting gear meshes with the long gear. When the screw rod part of the square head screw rod is driven by the rotation of the adjusting gear, under the limiting action of the square cap, the square head screw rod does not rotate, and the rotational motion of the driving gear is converted into a linear motion.

[0007] In a preferred embodiment, a groove is provided on the inner wall of the top of the upper shell of the submersible for installing a sealing rubber ring to prevent water from entering the interior of the submersible. The square cap at the upper end of the square head screw rod is arranged in the top groove of the upper shell of the submersible. A clamping plate is arranged at the lower part of the groove for restricting the square head screw rod in the upper shell of the submersible. A positioning inner cover is arranged on the top of the bottom shell of the submersible, and the square head screw rod passes through the center of the positioning inner cover and extends into the submersible core shell.

[0008] In a preferred embodiment, a lower scanner is arranged at the center of the bottom of the bottom shell of the submersible. A horizontal step is arranged on the outer wall of the bottom shell of the submersible. The lower end of the upper shell of the submersible corresponds to the position of the horizontal step, and a plurality of groups of specific gravity adjustment receivers and specific gravity adjustment control transmitters are correspondingly arranged on the lower end of the upper shell of the submersible and the horizontal step. Parallel scanners are arranged around the bottom shell of the submersible at the edge of the horizontal step.

[0009] In a preferred embodiment, a submersible head position transmitter and a lifting ring are arranged on the outer wall of the top of the upper shell of the submersible. The submersible head position transmitter is used to send the elevation information of the submersible actuator to the ultrasonic position receiver of the ground support. The lifting ring is arranged at the center of the outer wall of the top of the upper shell of the submersible.

[0010] In a preferred embodiment, a programming module and a storage battery are further arranged in the submersible core shell. The programming module is signal-connected to the servo motor through a signal cable. The storage battery is connected to the servo motor through a power cable, and the programming module is signal-connected to the control terminal.

[0011] In a preferred embodiment, the ground support includes a vertically arranged support insertion rod and a horizontally arranged support cross beam. An ultrasonic position receiver is arranged at the bottom of one end of the support cross beam. A pedal insertion rod booster is arranged on the support insertion rod.

[0012] In a preferred embodiment, a scale is arranged on the outer wall of the bottom shell of the submersible, and the submersible actuator is wrapped with a polytetrafluoroethylene corrugated sealing jacket. A plurality of sealing rubber rings are arranged between the outer wall above the horizontal step of the bottom shell of the submersible and the inner wall of the upper shell of the submersible.

[0013] The present invention also provides a full-process scanning and monitoring method for underwater concrete pouring in deep holes or deep grooves, including the following steps: S1. Adjust the specific gravity of the diving actuator to 1.0 - 1.2 t / m 3 , lower the diving actuator into the deep hole or deep groove through the towing rope, and continuously increase the specific gravity of the diving actuator to make it continuously descend. At the same time, perform a diving scanning operation to obtain in real time the stability of the deep hole wall or deep groove wall before concrete pouring and the situation of sediment and silt at the bottom of the deep hole or deep groove; S2. During underwater concrete pouring, adjust the specific gravity of the diving actuator to between 1.2 - 1.8 t / m 3 , and keep the diving actuator always at the interface between the slurry and the concrete. Start pouring the concrete, and as the interface gradually rises, at this time, the position transmitter at the diving head emits position information to the ultrasonic position receiver, the ultrasonic position receiver sends the position information to the control terminal, and the control terminal sends the position information to the user terminal, so as to measure the height of the concrete liquid surface in real time and dynamically; S3. Continue to adjust the specific gravity of the diving actuator to be greater than 1.8 t / m 3 , and continuously increase the specific gravity of the diving actuator to make it continuously descend. At the same time, perform a diving scanning operation to check whether there is a problem of slag inclusion caused by the collapse of the hole wall soil into the concrete during the concrete pouring process; S4. When the above operations are completed and the diving actuator needs to float, adjust the specific gravity of the diving actuator to be less than 1.0 t / m 3 ; Among them, the process of adjusting the specific gravity of the diving actuator includes: the control terminal issues an instruction, the programming module receives the instruction, controls the servo motor to start, the servo motor drives the long gear to rotate through the power output shaft, the long gear drives the adjusting gear to rotate, and the internal thread of the adjusting gear drives the square head lead screw to move up and down in the vertical direction, and uses the square head lead screw to drive the upper shell of the diving device to move up and down, and adjusts the specific gravity of the diving actuator by changing the volume of the cavity between the bottom shell and the upper shell of the diving device; The diving scanning process includes: the control terminal issues a diving scanning instruction, the lower scanner and the parallel scanner perform a scanning operation, and emit image scanning information to the control terminal, the control terminal sends the image scanning information to the user terminal, and the user terminal draws a scanning image according to the received image scanning information.

[0014] Compared with the prior art, the beneficial effects of the present invention are: The present invention solves the problems of scanning the slag at the bottom of an underwater deep hole or deep groove and measuring the density of the muddy water before pouring concrete into the deep hole or deep groove, and checking the stability of the wall of the deep hole or deep groove before concrete pouring; solves the problem of automatically identifying the concrete liquid level during the process of pouring concrete underwater, thereby solving the problem of real-time and dynamic measurement of the height of the concrete liquid level during the concrete pouring process; and can also check whether there is soil collapse from the hole wall into the concrete during the concrete pouring process, resulting in slag (mud) entrapment. It realizes the remote transmission and real-time sharing among multiple terminals of the internal data of the liquid concrete during concrete pouring. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the device of the present invention; Figure 2 is a schematic diagram of the structure of the diving actuator of the present invention; Figure 3 is a schematic diagram of the dial of the bottom shell of the submersible of the present invention; Figure 4 is a schematic diagram of the structure of the ground support of the present invention; Figure 5 is a flow chart of the control information transmission of the present invention.

[0016] DESCRIPTION OF THE REFERENCE NUMERALS: 1, diving actuator; 2, towing rope; 3, ground support; 4, control terminal; 5, ultrasonic wave; 6, collapsed soil from the hole wall; 7, bottom sediment; 11, bottom shell of the submersible; 12, upper shell of the submersible; 13, core shell of the submersible; 14, square head screw rod; 15, long gear; 16, gear shaft seat; 17, servo motor; 18, reducer module; 19, power output shaft; 20, adjusting shaft seat; 21, adjusting gear; 22, clamping plate; 23, positioning inner cover; 24, lower scanner; 25, specific gravity adjustment control transmitter; 26, specific gravity adjustment receiver; 27, parallel scanner; 28, pin key; 29, diving head position transmitter; 30, lifting ring; 31, programming module; 32, storage battery; 33, signal cable; 34, power cable; 35, ultrasonic wave position receiver; 36, support insertion rod; 37, support cross beam; 38, foot pedal insertion rod booster; 39, sealing rubber ring; 40, polytetrafluoroethylene corrugated sealing outer sleeve; 41, dial. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below. For the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] Embodiment 1 As Figures 1 to 5As shown in the figure, the full-process scanning monitoring device for underwater concrete pouring in deep holes or deep grooves of the preferred embodiment of the present invention includes: a diving actuator 1, a towing rope 2, a ground support 3, and a control terminal 4. The diving actuator 1 is connected to the ground support 3 through the towing rope 2. One end of the towing rope 2 is tied to the diving actuator 1, and the other end is tied to the ground support 3. When the diving actuator 1 fails during the execution process and cannot perform automatic floating recovery, the diving actuator 1 can also be lifted out of the liquid surface through the towing rope 2. The diving actuator 1 extends into the deep hole or deep groove, and the control terminal 4 is signal-connected to the diving actuator 1. The diving actuator 1 includes a diving bottom shell 11 and a diving upper shell 12. The diving bottom shell 11 is inserted into the diving upper shell 12. The diving bottom shell 11 and the diving upper shell 12 can slide relative to each other, and a cavity is provided between the diving bottom shell 11 and the diving upper shell 12. The specific gravity of the diving actuator 1 can be adjusted by changing the volume of the cavity.

[0019] Furthermore, a submersible core shell 13 is arranged inside the bottom shell 11 of the submersible. A square-headed lead screw 14 is fixedly arranged at the center position of the inner wall of the upper shell 12 of the submersible. The square-headed lead screw 14 extends into the submersible core shell 13. A servo motor 17 is arranged on one side of the square-headed lead screw 14. The upper part of the servo motor 17 is connected to a reduction gear module 18. One end of a power output shaft 19 is connected to the output end of the reduction gear module 18, and the other end of the power output shaft 19 is connected to one end of a long gear 15. The other end of the long gear 15 is connected to a gear shaft seat 16 fixed on the inner wall of one side of the submersible core shell 13, and the long gear 15 is vertically arranged in the gear shaft seat 16. The servo motor 17 can drive the long gear to rotate. Two adjusting shaft seats 20 are arranged at intervals on the inner wall of the other side of the submersible core shell 13, and the square-headed lead screw 14 vertically passes through the round holes of the adjusting shaft seats 20. An adjusting gear 21 is arranged between the two adjusting shaft seats 20. The function of the adjusting shaft seat is to provide horizontal positioning for the square-headed lead screw 14 and the adjusting gear 21. The center of the adjusting gear 21 is a hollow internal thread structure. The upper end of the square-headed lead screw 14 is a square cap, and the lower end is a standard screw. The screw of the square-headed lead screw 14 vertically passes through the center of the adjusting gear 21 and is threadedly connected to the adjusting gear 21. The external gear of the adjusting gear 21 meshes with the long gear 15. When the screw part of the square-headed lead screw 14 is driven by the rotation of the adjusting gear 21, under the limiting action of the square cap, the square-headed lead screw 14 does not rotate, and the rotational motion of the driving gear 21 is converted into a linear motion. The square cap at the upper end of the square-headed lead screw 14 is arranged in the top groove of the upper shell 12 of the submersible, and a clamping plate 22 is arranged below the groove for restricting the square-headed lead screw in the upper shell 12 of the submersible. A positioning inner cover 23 is arranged at the top of the bottom shell 11 of the submersible, and the square-headed lead screw 14 passes through the center of the positioning inner cover 23 and extends into the submersible core shell 13. Driven by the long gear 15, the adjusting gear 21 rotates (the square-headed lead screw 14 does not rotate), and the rotational motion is converted into a linear motion through the threaded connection with the square-headed lead screw 14, pushing the square-headed lead screw 14 upward (or downward), and then driving the upper shell 12 of the submersible upward (or downward), so that the internal volume of the submersible actuator changes.

[0020] Furthermore, a lower scanner 24 is arranged at the center of the bottom of the bottom shell 11 of the submersible. A horizontal step is arranged on the outer wall of the bottom shell 11 of the submersible. The lower end of the upper shell 12 of the submersible corresponds to the position of the horizontal step, and multiple groups of specific gravity adjustment receivers 26 and specific gravity adjustment control transmitters 25 are correspondingly arranged on the lower end of the upper shell 12 of the submersible and the horizontal step. A plurality of parallel scanners 27 are arranged at the edge of the horizontal step around the bottom shell 11 of the submersible. The lower scanner 24 and the parallel scanners 27 can scan the surrounding substances according to the instructions of the control terminal 4 and send the scanning information to the control terminal 4.

[0021] Further, a programming module 31 and a storage battery 32 are also arranged inside the submersible core shell 13. The programming module 31 is signal-connected to the servo motor 17 through a signal cable 33, and the storage battery 32 is connected to the servo motor 17 through a power cable 34. Moreover, the programming module 31 is signal-connected to the control terminal 4. A dial 41 is arranged on the outer wall of the submersible bottom shell 11, which can be used when the specific gravity of the submersible actuator 1 needs to be corrected. Taking underwater concrete pouring as an example, the specific gravity of the concrete is 1.8 t / m3, and the specific gravity of the slurry is 1.0 - 1.2 t / m 3 , when it is necessary to monitor the pouring height of the concrete, the specific gravity of the submersible actuator is adjusted between 1.2 - 1.8 t / m 3 , when it is necessary to dive into the concrete for ultrasonic scanning, the specific gravity of the submersible actuator is adjusted to be greater than 1.8 t / m 3 , when it is necessary for the submersible actuator to float, the specific gravity of the submersible actuator is adjusted to be less than 1.0 t / m 3 . The specific gravity adjustment receiver 26 and the specific gravity adjustment control transmitter 25 are responsible for feeding back the position information when the specific gravity of the submersible actuator 1 is adjusted. The programming module 13 calculates the overall specific gravity of the submersible actuator 1 according to the distance between the specific gravity adjustment receiver 26 and the specific gravity adjustment control transmitter 25.

[0022] Further, a submersible head position transmitter 29 and a lifting ring 30 are arranged on the outer wall of the top of the submersible upper shell 12. The submersible head position transmitter 29 is used to send the elevation information where the submersible actuator 1 is located to the ultrasonic position receiver 35 on the ground support 3. The lifting ring 30 is arranged at the center of the outer wall of the top of the submersible upper shell 12.

[0023] Further, the ground support 3 includes a vertically arranged support insertion rod 36 and a horizontally arranged support cross beam 37. An ultrasonic position receiver 35 is arranged at the bottom of one end of the support cross beam 37, and a pedal insertion rod booster 38 is arranged on the support insertion rod 36. The ground support 3 is fixed to the soil around the deep hole or deep groove by inserting the support insertion rod 36 with a pointed structure at one end, so as to fix the towing rope 2 and the ultrasonic position receiver 35.

[0024] Further, the submersible actuator 1 is wrapped with a polytetrafluoroethylene corrugated sealing jacket 40 to prevent liquid or sediment from entering the inside of the submersible actuator 1 and affecting its operation. A plurality of sealing rubber rings 39 are arranged between the outer wall above the horizontal step of the submersible bottom shell 11 and the inner wall of the submersible upper shell 12.

[0025] Embodiment 2 The following introduces the method flow of the present invention: Step S1, obtain the stability of the deep hole wall or deep groove wall and the situation of sediment and silt at the bottom of the deep hole or deep groove before underwater concrete pouring: First, adjust the diving actuator to an appropriate specific gravity. Since the specific gravity of the slurry is 1.0 - 1.2 t / m 3 , at this time, adjust the specific gravity of the diving actuator 1 to 1.0 - 1.2 t / m 3 . Lower the diving actuator 1 into the deep hole or deep groove through the towing rope 2, and continuously increase the specific gravity of the diving actuator 1 to make the diving actuator 1 continuously descend. At the same time, perform a diving scan operation to obtain the stability of the deep hole wall or deep groove wall before concrete pouring and the situation of sediment and silt at the bottom of the deep hole or deep groove in real time.

[0026] Step S2: During underwater concrete pouring, measure the height of the concrete liquid surface in real time and dynamically: Since the specific gravity of the concrete is 1.8 t / m 3 , during underwater concrete pouring, adjust the specific gravity of the diving actuator to between 1.2 - 1.8 t / m 3 , and make the diving actuator 1 always stay at the interface between the slurry and the concrete. Once the concrete starts to be poured, the interface will gradually rise. At this time, the position transmitter 29 of the diving head transmits position information to the ultrasonic position receiver 35, and the ultrasonic position receiver 35 sends the position information to the control terminal 4. The control terminal 4 sends the position information to the user terminal, so as to be able to monitor the pouring height of the concrete in real time.

[0027] Step S3: During the process of underwater concrete pouring, check whether there is a problem of slag (mud) inclusion caused by the collapse of the hole wall soil into the concrete: Continue to adjust the specific gravity of the diving actuator to be greater than 1.8 t / m 3 , and continuously increase the specific gravity of the diving actuator 1 to make the diving actuator 1 continuously descend. At the same time, perform a diving scan operation to check whether there is a problem of slag (mud) inclusion caused by the collapse of the hole wall soil into the concrete during the concrete pouring process.

[0028] Step S4: When the above operations are completed and the diving actuator needs to float, adjust the specific gravity of the diving actuator to be less than 1.0 t / m 3 .

[0029] Specifically, the process of adjusting the specific gravity of the diving actuator: The control terminal 4 issues an instruction, and the programming module 31 receives the instruction to control the servo motor 17 to start. The servo motor 17 drives the long gear 15 to rotate through the power output shaft 19. The long gear 15 drives the adjusting gear 21 to rotate. The internal thread of the adjusting gear 21 drives the square head lead screw 14 to move up and down in the vertical direction. The square head lead screw 14 is used to drive the upper shell 12 of the submersible to move up and down. By changing the volume of the cavity between the bottom shell 11 and the upper shell 12 of the submersible, the specific gravity of the submersible actuator 1 is adjusted. Among them, the specific gravity adjustment receiver 26 and the specific gravity adjustment control transmitter 25 are used to feedback the position information when the submersible actuator 1 adjusts the specific gravity. The programming module 31 calculates the overall specific gravity of the submersible actuator 1 according to the distance between the specific gravity adjustment receiver 26 and the specific gravity adjustment control transmitter 25.

[0030] Submersible scanning process: The control terminal 4 issues a submersible scanning instruction, and the lower scanner 24 and the parallel scanner 27 perform scanning operations and transmit image scanning information to the control terminal 4. The control terminal 4 sends the image scanning information to the user terminal, and the user terminal draws a scanning image according to the received image scanning information.

[0031] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An all - process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves, characterized in that: Comprising: A diving actuator (1), a towing rope (2), a ground bracket (3), and a control terminal (4). The diving actuator (1) is connected to the ground bracket (3) through the towing rope (2). The diving actuator (1) extends into a deep hole or a deep groove, and the control terminal (4) is signal-connected to the diving actuator (1). Wherein, the diving actuator (1) includes a diving bottom shell (11) and a diving upper shell (12). The diving bottom shell (11) is inserted into the diving upper shell (12). The diving bottom shell (11) and the diving upper shell (12) can slide relative to each other, and a cavity is provided between the diving bottom shell (11) and the diving upper shell (12). The specific gravity of the diving actuator (1) can be adjusted by changing the volume of the cavity.

2. The full-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 1, wherein: A diving core shell (13) is arranged inside the diving bottom shell (11). A square-headed screw rod (14) is fixedly arranged at the center position of the inner wall of the diving upper shell (12). The square-headed screw rod (14) extends into the diving core shell (13). A servo motor (17) is arranged on one side of the square-headed screw rod (14). The upper part of the servo motor (17) is connected to a reduction gear module (18). One end of a power output shaft (19) is connected to the output end of the reduction gear module (18). The other end of the power output shaft (19) is connected to one end of a long gear (15). The other end of the long gear (15) is connected to a gear shaft seat (16) fixed on the inner wall of one side of the diving core shell (13), and the long gear (15) is vertically arranged in the gear shaft seat (16).

3. The whole-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 2, characterized in that: Two adjusting shaft seats (20) are arranged at intervals on the inner wall of the other side of the diving core shell (13), and the square-headed screw rod (14) is vertically arranged in the adjusting shaft seats (20). An adjusting gear (21) is arranged between the two adjusting shaft seats (20). The center of the adjusting gear (21) is a hollow internal thread structure. The upper end of the square-headed screw rod (14) is a square cap, and the lower end is a standard screw rod. The screw rod of the square-headed screw rod (14) vertically passes through the center of the adjusting gear (21) and is threadedly connected to the adjusting gear (21). The external gear of the adjusting gear (21) meshes with the long gear (15). When the screw rod part of the square-headed screw rod (14) is rotationally driven by the adjusting gear (21), under the limiting action of the square cap, the square-headed screw rod (14) does not rotate, and the rotational motion of the driving gear (21) is converted into a linear motion.

4. The full-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 3, characterized in that: A groove is provided on the inner wall of the top of the diving upper shell (12) for installing a sealing rubber ring (39) to prevent water from entering the interior of the diving device. The square cap at the upper end of the square-headed screw rod (14) is arranged in the top groove of the diving upper shell (12). A clamping plate (22) is arranged below the groove for restricting the square-headed screw rod in the diving upper shell (12). A positioning inner cover (23) is arranged at the top of the diving bottom shell (11). The square-headed screw rod (14) passes through the center of the positioning inner cover (23) and extends into the diving core shell (13).

5. The full-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 4, characterized in that: At the center of the bottom of the submersible bottom shell (11), a downward scanner (24) is provided. On the outer wall of the submersible bottom shell (11), a horizontal step is provided. The lower end of the submersible upper shell (12) corresponds to the position of the horizontal step, and a plurality of specific gravity adjustment receivers (26) and specific gravity adjustment control transmitters (25) are correspondingly provided on the lower end of the submersible upper shell (12) and the horizontal step. Parallel scanners (27) are provided around the submersible bottom shell (11) at the edge of the horizontal step.

6. The full-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 5, characterized in that: On the outer wall of the top of the submersible upper shell (12), a submersible head position transmitter (29) and a lifting ring (30) are provided. The submersible head position transmitter (29) is used to send the elevation information of the submersible actuator (1) to the ultrasonic position receiver (35) of the ground support (3). The lifting ring (30) is provided at the center of the outer wall of the top of the submersible upper shell (12).

7. The full-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 6, characterized in that: A programming module (31) and a storage battery (32) are further provided inside the submersible core shell (13). The programming module (31) is signal-connected to the servo motor (17) through a signal cable (33). The storage battery (32) is connected to the servo motor (17) through a power cable (34), and the programming module (31) is signal-connected to the control terminal (4).

8. The full-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 6, characterized in that: The ground support (3) includes a vertically arranged support insertion rod (36) and a horizontally arranged support cross beam (37). At the bottom of one end of the support cross beam (37), an ultrasonic position receiver (35) is provided. A foot-operated insertion rod booster (38) is provided on the support insertion rod (36).

9. The full-process scanning and monitoring device for underwater concrete pouring in deep holes or deep grooves according to claim 7, characterized in that: A scale (41) is provided on the outer wall of the submersible bottom shell (11). The submersible actuator (1) is wrapped with a polytetrafluoroethylene corrugated sealing jacket (40). A plurality of sealing rubber rings (39) are provided between the outer wall above the horizontal step of the submersible bottom shell (11) and the inner wall of the submersible upper shell (12).

10. A full-process scanning and monitoring method for underwater concrete pouring in deep holes or deep grooves, characterized in that: It includes the following steps: S1. Adjust the specific gravity of the diving actuator to 1.0 - 1.2 t / m 3 , lower the diving actuator into the deep hole or deep groove through the towing rope, and continuously increase the specific gravity of the diving actuator to make it continuously descend. At the same time, perform a diving scan operation to obtain the stability of the deep hole wall or deep groove wall before concrete pouring and the situation of sediment and silt at the bottom of the deep hole or deep groove in real time; S2. When pouring underwater concrete, adjust the specific gravity of the diving actuator to be between 1.2 and 1.8 t / m 3 and keep the diving actuator always at the interface between the slurry and the concrete. Start pouring the concrete. As the interface gradually rises, at this time, the position information is transmitted to the ultrasonic position receiver by the position transmitter of the diving head. The ultrasonic position receiver sends the position information to the control terminal, and the control terminal sends the position information to the user terminal, so as to measure the height of the concrete liquid surface in real time and dynamically; S3. Continue to adjust the specific gravity of the diving actuator to be greater than 1.8 t / m 3 , and continuously increase the specific gravity of the diving actuator to make the diving actuator continuously descend. At the same time, perform a diving scan operation to check whether the soil on the hole wall collapses into the concrete during the concrete pouring process, resulting in slag inclusion problems; S4. When it is necessary to make the diving actuator float after the above operations are completed, adjust the specific gravity of the diving actuator to be less than 1.0 t / m 3 ; Among them, the specific gravity adjustment process of the submersible actuator includes: the control terminal issues an instruction, the programming module receives the instruction, controls the servo motor to start. The servo motor drives the long gear to rotate through the power output shaft, the long gear drives the adjusting gear to rotate, and the internal thread of the adjusting gear drives the square head lead screw to move up and down in the vertical direction. The square head lead screw is used to drive the submersible upper shell to move up and down, and the specific gravity of the submersible actuator is adjusted by changing the volume of the cavity between the submersible bottom shell and the submersible upper shell. The submersible scanning process includes: the control terminal issues a submersible scanning instruction, the downward scanner and the parallel scanner perform scanning operations, and transmit image scanning information to the control terminal. The control terminal sends the image scanning information to the user terminal, and the user terminal draws a scanning image according to the received image scanning information.

Images