Narrow space concrete filling system and method based on intelligent monitoring

Abstract

The invention provides a narrow space concrete filling system and method based on intelligent monitoring, and relates to the technical field of special operation robots, the narrow space concrete filling system comprises a concrete state monitoring assembly and a concrete filling assembly, and the concrete filling assembly is connected with the concrete state monitoring assembly; the concrete state monitoring assembly comprises a monitoring base, the monitoring base is connected with a heating box, the heating box is connected with a motor, a bearing of the heating box is connected with a center shaft of a feeding plate, the center shaft of the feeding plate is connected with an output shaft of the motor, the heating box is provided with a discharging groove, the discharging groove penetrates through a top plate of the monitoring base, and the top plate of the monitoring base is provided with a discharging groove. And the heating box is fixedly communicated with an upper feeding pipe. In order to overcome the defects in the prior art, the narrow space concrete filling system and method based on intelligent monitoring are developed, the state of concrete can be monitored, and meanwhile the concrete filling process is controlled according to the state of the concrete and the size of a space area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of special operation robots, and particularly relates to a narrow space concrete filling system and method based on intelligent monitoring. BACKGROUND

[0002] Concrete is one of the most widely used materials in construction engineering, which is formed by mixing cementitious materials (cement), aggregates (sand, stone), water and admixtures in a certain proportion, and becomes high-strength artificial stone after hardening.

[0003] The flow state, compactness and temperature of concrete are three key factors affecting its construction quality, mechanical properties and durability. Concrete with poor flowability is difficult to pump and pour, and is prone to honeycomb and voids. Too high flowability may lead to segregation and bleeding (sinking of aggregates and floating of cement paste); non-compact areas are prone to water seepage and carbonation, accelerating the corrosion of steel bars and reducing the frost resistance (water in the pores expands to cause cracking when frozen). The flow state determines the construction feasibility, which needs to be adjusted through mix design and admixtures. The compactness directly affects the strength and durability, which depends on the vibration process and material optimization. The temperature needs to be monitored throughout the process to avoid early thermal cracks or insufficient strength later.

[0004] Concrete filling refers to the process of pouring fresh concrete into a formwork or structure to ensure that it fully fills all voids and reaches the required compactness. This process directly affects the strength, durability and appearance quality of the structure.

[0005] The existing concrete filling equipment cannot monitor and control the concrete filling process according to the state of the concrete and the size of the space area.

[0006] Therefore, in view of the above problems, a narrow space concrete filling system and method based on intelligent monitoring are proposed to solve the above problems. SUMMARY

[0007] The present application is developed to overcome the shortcomings of the prior art, and provides a narrow space concrete filling system and method based on intelligent monitoring. The present application can monitor the state of the concrete, and control the concrete filling process according to the state of the concrete and the size of the space area.

[0008] The technical scheme for solving the technical problems of the present application is: the present application provides a narrow space concrete filling system and method based on intelligent monitoring, which comprises a concrete state monitoring assembly and a concrete filling assembly, the concrete filling assembly is connected to the concrete state monitoring assembly; the concrete state monitoring assembly comprises a monitoring seat, the monitoring seat is connected to a heating box, which is used for heating the concrete to adjust its temperature; the heating box is connected to a motor, the center shaft of a feeding plate is connected to the bearing of the heating box, the center shaft of the feeding plate is connected to the output shaft of the motor, the feeding plate is driven by the motor, the concrete is sent from the heating box to the concrete filling assembly through a discharge chute, realizing continuous conveying of the concrete, the heating box is provided with a discharge chute, the discharge chute penetrates through the monitoring seat, the heating box is fixedly connected to an upper feeding pipe; the concrete filling assembly comprises a feeding pipe and a filling pipe, the feeding pipe and the filling pipe are fixedly connected through a hose, the feeding pipe is fixedly connected to a conical groove, the conical groove matches the discharge chute, the conical groove is connected to the monitoring seat, the concrete filling assembly conveys the concrete to the filling pipe through the feeding pipe, the heating box, the conical groove and the hose, and finally fills it into the narrow space; the upper feeding pipe and the feeding pipe are respectively provided with integrated sensors, the flow state, the compactness and the temperature of the concrete are monitored in real time through the integrated sensors, ensuring that the concrete always maintains a good state during the filling process.

[0009] As optimization, it also includes a tamper assembly and an adjusting assembly, the tamper assembly includes a gear ring, the gear ring is connected with a rotating ring, the rotating ring is rotationally connected with the filling pipe, the rotating ring is connected with a group of outer tamper rods, the adjusting assembly includes a controller, an electric push rod and symmetrical cameras, the filling pipe is connected with a mounting plate, the electric push rod, the controller and the symmetrical cameras are respectively connected with the mounting plate, the cameras and the electric push rod are respectively electrically connected with the controller, the integrated sensor is wirelessly connected with the controller, the controller is wirelessly connected with an upper computer, the upper computer includes but is not limited to a concrete pump truck on-board computer, the push rod of the electric push rod passes through the mounting plate, the push rod of the electric push rod is connected with a T plate, the T plate is bearingly connected with the central shaft of a first rotating wheel, the central shaft of the first rotating wheel is connected with a power gear, the mounting plate is connected with an L plate, the L plate is connected with a rack, the power gear is engaged with the rack, the mounting plate is connected with a vertical plate, the vertical plate is bearingly connected with the central shaft of two synchronous wheels, the two ends of a synchronous belt are respectively wrapped around the corresponding synchronous wheels, the central shaft of one of the synchronous wheels is connected with a sliding groove, the eccentric part of the first rotating wheel is connected with a first circular block, the first circular block is arranged in the sliding groove, the transversely protruding block of the vertical plate is bearingly connected with the central shaft of a transmission gear, the central shaft of the transmission gear is connected with a small bevel gear, the central shaft of the other synchronous wheel is connected with a large bevel gear, the small bevel gear is engaged with the large bevel gear, and the transmission gear is engaged with the gear ring. The tamper assembly realizes the tampering of the filled concrete through the rotating ring, the gear ring and the outer tamper rods, so as to ensure the compactness of the concrete. The rotation of the rotating ring drives the swing of the outer tamper rods, so as to realize the uniform tampering of the concrete. The adjusting assembly realizes the position adjustment and monitoring of the tamper assembly through the electric push rod, the controller and the cameras. The expansion and contraction of the electric push rod control the swing amplitude of the tamper rods, and the cameras are used for monitoring whether the tamper assembly is close to the edge of the space to avoid the collision between the tamper rods and the edge of the space.

[0010] As optimization, the central shaft of one of the synchronous wheels is connected with a second rotating wheel, the eccentric part of the second rotating wheel is connected with a second circular block, the second circular block is arranged in a ring groove, the filling pipe passes through the ring groove, the ring groove is connected with symmetrical penetrating rods, the symmetrical penetrating rods pass through the gear ring and the rotating ring respectively, the symmetrical penetrating rods are rotationally connected with one end of connecting rods respectively, the other end of the symmetrical connecting rods is rotationally connected with inner tamper rods respectively, and the symmetrical inner tamper rods are rotationally connected with the corresponding outer tamper rods. The inner tamper rods and the outer tamper rods are linked, the inner tamper rods are connected with the outer tamper rods through the connecting rods, when the outer tamper rods swing, the inner tamper rods also swing correspondingly, so as to realize the double tampering of the concrete, further improve the compactness of the concrete, and the inner tamper rods are below the horizontal projection of the filling pipe, so as to facilitate the outward pushing of the filled concrete of the filling pipe.

[0011] As optimization, the connecting rod comprises a guide pipe, the guide pipe is provided with symmetrical T circular grooves, T circular rods and springs are respectively arranged in the symmetrical T circular grooves, one end of the symmetrical springs is respectively connected with the guide pipe, the other end of the symmetrical springs is respectively connected with the corresponding T circular rod, the symmetrical T circular rods are respectively connected with U plates, the upper U plates are rotationally connected with the corresponding penetrating rods, and the lower U plates are rotationally connected with the corresponding inner tamping rods. The inner tamping rod and the outer tamping rod can better adapt to the hardness and space shape changes of the concrete during tamping.

[0012] As optimization, the T plate is connected with symmetrical guide vertical rods, the symmetrical guide vertical rods respectively penetrate the mounting plate, the T plate is provided with stable guide action, the push rod of the electric push rod can be smoothly moved during extension and retraction, and thus the movement precision and stability of the tamping assembly are ensured.

[0013] As optimization, the monitoring seat is connected with a protective cover corresponding to the heating box, and the upper feeding pipe penetrates the protective cover. The protective cover can prevent foreign matters from entering the heating box and can avoid that workers contact the heating box.

[0014] A filling method of a narrow space concrete filling system based on intelligent monitoring comprises the following steps. S1: one end of a hose is connected with a concrete pump truck to provide a power source for concrete filling, and the other end is connected with the upper feeding pipe; S2: the motor is controlled to rotate, concrete flows out from the filling pipe into a narrow space through the upper feeding pipe, the heating box, the conical groove and the hose, the electric push rod is controlled to reciprocatingly extend and retract, the outer tamping rod and the inner tamping rod are swung, and tamping of the filled concrete is realized; S3: the integrated sensor monitors the flow state, compactness and temperature of the concrete, the flow state and compactness of the concrete are adjusted by controlling the concrete pump truck, and the temperature of the concrete is adjusted by controlling the heating box; S4: whether the tamping assembly is close to the edge position of the space is monitored by the camera, when the tamping assembly is close to the edge position of the space, the length of the electric push rod is controlled to be extended to avoid that the outer tamping rod contacts the edge of the space.

[0015] The effects provided in the summary are only the effects of the embodiments, not all the effects of the application, and the above technical solutions have the following advantages or beneficial effects: 1. The application monitors the flow state, density and temperature of concrete in real time through integrated sensors, ensures that the concrete maintains a good state during the filling process, adjusts the flow state and density of the concrete by controlling the concrete pump truck, adjusts the temperature of the concrete by controlling the heating box, monitors the state of the concrete, monitors the position of the tamping assembly through the camera monitoring whether the tamping assembly is close to the edge of the space, and further realizes intelligent monitoring of concrete filling in narrow spaces.

[0016] 2. When the concrete fluidity is poor and the density is low, the electric push rod is controlled to quickly extend and retract, the outer tamping rod and the inner tamping rod move quickly, the outer tamping rod and the inner tamping rod swing while revolving around the filling pipe, which speeds up the flow of concrete and tamps the concrete, realizes double tamping of the concrete, further improves the density of the concrete, and the inner tamping rod is below the horizontal projection of the filling pipe, which facilitates the outward pushing of the concrete flowing out of the filling pipe. When the outer tamping rod contacts the edge of the space, the spring is compressed, and the inner tamping rod and the outer tamping rod can better adapt to the changes of the hardness of the concrete and the shape of the space during tamping. The camera monitors whether the tamping assembly is close to the edge of the space, and when it is close, the electric push rod is controlled to extend the length, so that the swing angle of the outer tamping rod in the vertical plane is smaller, avoiding the outer tamping rod contacting the edge of the space. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the application, and constitute a part of the specification, together with the embodiments of the application, to explain the application, and do not constitute a limitation on the application.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the application.

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the application.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the application.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the application. Figure 1 .

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the application. Figure 2 .

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the application. Figure 5

[0024] Figure 7 ​Partial sectional view of the tamping assembly of the present application.

[0025] Figure 8 Partial sectional view of the tamping assembly of the present application.

[0026] In the figure: 1. Concrete state monitoring assembly, 11. Upper feeding pipe, 12. Protective cover, 13. Integrated sensor, 14. Heating box, 15. Monitoring seat, 16. Lower feeding groove, 17. Motor, 18. Feeding plate; 2. Concrete filling assembly, 21. Conical groove, 22. Feeding pipe, 23. Hose, 24. Filling pipe, 25. Mounting plate, 26. Handle, 27. L-shaped plate, 28. Vertical plate; 3. Tamping assembly, 31. Rotating ring, 32. Gear ring, 33. Outer tamping rod, 34. Inner tamping rod, 35. Transmission gear, 36. Ring groove, 37. Through rod, 38. Synchronous wheel, 39. Synchronous belt, 310. Large bevel gear, 311. Small bevel gear, 312. U-shaped plate, 313. T-shaped round rod, 314. T-shaped round groove, 315. Spring, 316. Guide pipe; 4. Adjusting assembly, 41. Rack, 42. T-shaped plate, 43. Power gear, 44. Electric push rod, 45. Guide vertical rod, 46. Controller, 47. Second round block, 48. Second rotating wheel, 49. First round block, 410. First rotating wheel, 411. Slide groove, 412. Camera. DETAILED DESCRIPTION

[0027] To clearly illustrate the technical features of this solution, the invention will be described in detail below through specific embodiments and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the invention. To simplify the disclosure of the invention, components and arrangements of specific examples are described below. Furthermore, reference numerals and / or letters may be repeated in different examples. This repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that the components illustrated in the drawings are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted to avoid unnecessarily limiting the invention. Terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] like Figures 1 to 8As shown, a narrow space concrete filling system and method based on intelligent monitoring, comprising: a concrete state monitoring assembly 1 and a concrete filling assembly 2, the concrete filling assembly 2 is connected to the concrete state monitoring assembly 1; the concrete state monitoring assembly 1 comprises a monitoring seat 15, the monitoring seat 15 is connected to a heating box 14, which is used for heating the concrete to adjust its temperature; the heating box 14 is connected to a motor 17, the heating box 14 is bearing connected to the central shaft of a feeding plate 18, the central shaft of the feeding plate 18 is connected to the output shaft of the motor 17, the feeding plate 18 is driven by the motor 17 to send the concrete from the heating box 14 into the concrete filling assembly 2 through a discharge chute 16, realizing the continuous conveying of the concrete, the heating box 14 is provided with the discharge chute 16, the discharge chute 16 penetrates the monitoring seat 15, and the heating box 14 is fixedly connected to an upper feeding pipe 11; the concrete filling assembly 2 comprises a feeding pipe 22 and a filling pipe 24, the feeding pipe 22 and the filling pipe 24 are fixedly connected through a hose 23, the feeding pipe 22 is fixedly connected to a tapered groove 21, the tapered groove 21 matches the discharge chute 16, the tapered groove 21 is connected to the monitoring seat 15, and the concrete filling assembly 2 conveys the concrete to the filling pipe 24 through the upper feeding pipe 11, the heating box 14, the tapered groove 21 and the hose 23, and finally fills the concrete into the narrow space; the upper feeding pipe 11 and the feeding pipe 22 are respectively provided with an integrated sensor 13, the flow state, the compactness and the temperature of the concrete are monitored in real time through the integrated sensor 13, and it is ensured that the concrete always maintains a good state during the filling process.

[0029] The concrete state monitoring assembly 1 is installed on the upper side of the tracked vehicle through a lifting platform. The tracked vehicle has a width of about 10-15 cm. Because the space is small due to the stacking of materials or construction equipment on the construction site, the tracked vehicle is convenient for moving on the bundled pipe curtain construction site.

[0030] Because the construction depth of the subway station is large, the bundled pipe curtain is distributed at different heights, and the lifting platform is convenient for adjusting the construction height to fill the concrete.

[0031] A pressure sensor is installed near the concrete outlet at the end of the filling pipe 24, the compactness of the concrete after the adjustment of the tamping is judged by measuring the pressure change of the concrete on the wall of the filling pipe 24.

[0032] The joint connection between the feeding pipe 22, the filling pipe 24 and the hose 23 can be provided as a sleeve type, which is convenient for the connection between the pipes and the components, and the disassembly and installation of the pipes, reduces the construction difficulty, increases the compactness between the pipe sections, and avoids the leakage of the concrete during the filling process.

[0033] The integrated sensor 13 comprises: Resistance / capacitance sensor, which realizes flow state monitoring by using the correlation between the dielectric constant or conductivity of concrete and fluidity; Pressure sensor, which judges the compactness by measuring the pressure change of the concrete on the pipeline wall of the upper feeding pipe 11 and the feeding pipe 22; Temperature sensor, which monitors the temperature of the concrete.

[0034] As shown in Figure 2 The upper part of the heating box 14 is semicylindrical and the lower part is cuboid, and a circular groove matched with the feeding plate 18 is arranged on the semicylindrical part, and the cuboid part is provided with the discharging groove 16.

[0035] A semiconductor refrigerating sheet can be added in the heating box 14, which can switch the heating or cooling mode in the heating box. In summer, when the weather is hot, the flowing concrete can be cooled to delay the initial setting time of the concrete, increase the slump of the concrete, and make the fluidity better. In winter, when the outdoor weather is cold, the flowing concrete can be heated to avoid the freezing and condensation phenomenon of the concrete in the filling process due to the cold weather.

[0036] As shown in Figure 1 , 3As shown in Figures 5 and 8, the system also includes a tamping assembly 3 and an adjusting assembly 4. The tamping assembly 3 includes a gear ring 32 connected to a rotating ring 31, which is rotatably connected to the filling tube 24. The rotating ring 31 is connected to a set of external tamping rods 33. The adjusting assembly 4 includes a controller 46, an electric push rod 44, and symmetrical cameras 412. The filling tube 24 is connected to a mounting plate 25. The electric push rod 44, the controller 46, and the symmetrical cameras 412 are respectively connected to the mounting plate 25. The cameras 412 and the electric push rod 44 are electrically connected to the controller 46. The integrated sensor 13 is wirelessly connected to the controller 46. The controller 46 is wirelessly connected to a host computer, which includes, but is not limited to, the onboard computer of the concrete pump truck. The push rod of the electric push rod 44 passes through the mounting plate 25 and is connected to a T-plate 42. The T-plate 42 is connected to a bearing of the first... The central shaft of the first rotating wheel 410 is connected to the power gear 43. The mounting plate 25 is connected to the L plate 27, and the L plate 27 is connected to the rack 41. The power gear 43 meshes with the rack 41. The mounting plate 25 is connected to the vertical plate 28. The vertical plate 28 is connected to the central shaft of two synchronous pulleys 38 by bearings. The two ends of the synchronous belt 39 are respectively wrapped around the corresponding synchronous pulleys 38. The central shaft of one synchronous pulley 38 is connected to the slide groove 411. The eccentric part of the first rotating wheel 410 is connected to the first circular block 49, which is set in the slide groove 411. The lateral extension block of the vertical plate 28 is connected to the central shaft of the transmission gear 35 by bearings. The central shaft of the transmission gear 35 is connected to the small bevel gear 311. The central shaft of the other synchronous pulley 38 is connected to the large bevel gear 310. The small bevel gear 311 meshes with the large bevel gear 310. The transmission gear 35 meshes with the gear ring 32. The tamping assembly 3 uses a rotating ring 31, a toothed ring 32, and an outer tamping rod 33 to tampe the filled concrete, ensuring its density. The rotation of the rotating ring 31 drives the outer tamping rod 33 to swing, thus achieving uniform tamping of the concrete. The adjustment assembly 4 uses an electric push rod 44, a controller 46, and a camera 412 to adjust and monitor the position of the tamping assembly 3. The extension and retraction of the electric push rod 44 controls the swing amplitude of the tamping rod 33, and the camera 412 monitors whether the tamping assembly 3 is close to the edge of the space, preventing the tamping rod 33 from colliding with the edge.

[0037] A transparent dustproof and waterproof protective cover can be installed on the camera 412 to ensure that the monitoring line of sight is not blocked by splashed concrete when monitoring whether the tamping component 3 is close to the edge of the space.

[0038] like Figures 3 to 5 As shown, the mounting plate 25 is connected to symmetrical handles 26, which makes it easy to hold the mounting plate 25 and realize concrete filling.

[0039] likeFigures 3 to 5 As shown, the T plate 42 is connected with symmetrical guide vertical rods 45, which respectively pass through the mounting plate 25 to provide stable guidance for the T plate 42, ensuring smooth movement of the electric push rod 44 during extension and retraction, thereby ensuring the movement accuracy and stability of the tamping assembly 3.

[0040] As shown in Figure 1 and 2 As shown, the monitoring seat 15 is connected with the protective cover 12 corresponding to the heating box 14, and the upper feeding pipe 11 passes through the protective cover 12. The protective cover 12 can prevent foreign matter from entering the heating box 14 and avoid workers from contacting the heating box 14.

[0041] Embodiment one: the outer tamping rod 33 and the rotating ring 31 are fixedly connected.

[0042] The working process of this embodiment is as follows: In the non-edge area, the hand-held handle 26 is used to adjust the positions of the tamping assembly 3, the adjusting assembly 4 and the filling pipe 24, so that the filling pipe 24 is placed horizontally rather than vertically, and the hand-held handle 26 is directly used for concrete filling in the pipe curtain during on-site construction.

[0043] In the edge area, the hand-held handle 26 is used for manual filling, which is used to adjust the positions of the tamping assembly 3, the adjusting assembly 4 and the filling pipe 24, so that the filling pipe 24 is placed vertically to realize filling.

[0044] One end of the hose is connected with the concrete pump truck, and the other end is connected with the upper feeding pipe 11. The motor 17 is controlled to rotate, so that the feeding plate 18 rotates in the heating box 14. The concrete flows to the area between the two feeding plates 18, and the feeding plate 18 drives the concrete to move in the heating box 14, so that the concrete flows out of the filling pipe 24 through the upper feeding pipe 11, the heating box 14, the conical groove 21 and the hose 23 and enters the narrow space.

[0045] When the electric push rod 44 extends or retracts, it drives the T-plate 42 to move. The T-plate 42 drives the guide rod 45 to move along the mounting plate 25. The T-plate 45 drives the power gear 43 and the first rotating wheel 410 to move. The first rotating wheel 410 drives the first round block 49 to move along the slide groove 411. The power gear 43 meshes with the rack 41 and rotates, driving the first rotating wheel 410 to rotate. The first rotating wheel 410 drives the first round block 49 to swing in the slide groove 411. The first round block 49 drives the slide groove 411 to swing. The slide groove 411 drives a synchronous pulley 38 to rotate. The synchronous pulley 38 drives the synchronous belt 39 to move. The synchronous belt 39 drives another synchronous pulley 38 and the large bevel gear 310 to rotate. The large bevel gear 310 drives the small bevel gear 311 and the transmission gear 35 to rotate. The transmission gear 35 drives the gear ring 32 and the rotating ring 31 to rotate. The rotating ring 31 drives the outer tamping rod 33 to reciprocate around the center of the filling tube 24 to achieve tamping.

[0046] When the concrete has poor fluidity and low density, the electric push rod 44 is controlled to extend and retract rapidly, and the outer tamping rod 33 moves rapidly to accelerate the flow of concrete and compact it.

[0047] Example 2: Figures 3-6 As shown, the central shaft of one of the synchronous pulleys 38 is connected to a second rotating wheel 48. The eccentric part of the second rotating wheel 48 is connected to a second circular block 47. The second circular block 47 is disposed in an annular groove 36. The filling tube 24 passes through the annular groove 36. The annular groove 36 is connected to symmetrical through rods 37. The symmetrical through rods 37 pass through the gear ring 32 and the rotating ring 31 respectively. The symmetrical through rods 37 are rotatably connected to one end of the connecting rod. The other end of the symmetrical connecting rod is rotatably connected to the inner tamping rod 34 respectively. The symmetrical inner tamping rods 34 are rotatably connected to the corresponding outer tamping rods 33 respectively. The inner tamping rod 34 and the outer tamping rod 33 are linked together. The inner tamping rod 34 is connected to the outer tamping rod 33 through a connecting rod. When the outer tamping rod 33 swings, the inner tamping rod 34 also swings accordingly, thereby achieving double tamping of the concrete and further improving the density of the concrete. Moreover, the inner tamping rod 34 is located below the horizontal projection of the filling pipe 24, which makes it easy to push the concrete flowing out of the filling pipe 24 outward.

[0048] The outer tamping rod 33 and the rotating ring 31 are connected by a rotatable connection.

[0049] The workflow of this embodiment is as follows: When the electric push rod 44 extends or retracts, a synchronous pulley 38 drives the second rotating wheel 48 to rotate. The second rotating wheel 48 drives the second circular block 47 to swing within the annular groove 36. The second circular block 47 drives the annular groove 36 and the through rod 37 to move along the height direction. The rotating ring 31 drives the annular groove 36 and the through rod 37 to rotate. The through rod 37 drives the connecting rod to swing back and forth. The connecting rod drives the inner tamping rod 34 to swing in the vertical plane. The inner tamping rod 34 drives the outer tamping rod 33 to swing in the vertical plane, thereby achieving the tamping of the concrete.

[0050] The camera 412 monitors whether the tamping component 3 is close to the edge of the space. When it is close, the electric push rod 44 is controlled to extend its extension length so that the first round block 49 is located under the slide groove 411. At this time, when the first round block 49 moves, the slide groove 411 swings at a smaller angle, so that the second round block 47 moves at a smaller amplitude in the height direction, and the outer tamping rod 33 swings at a smaller angle in the vertical plane, thus preventing the outer tamping rod 33 from contacting the edge of the space.

[0051] Example 3: This example is a further elaboration based on Example 2, such as... Figure 7 As shown, the connecting rod includes a guide tube 316, which is provided with symmetrical T-grooves 314. T-shaped rods 313 and springs 315 are respectively disposed within the symmetrical T-grooves 314. One end of each spring 315 is connected to the guide tube 316, and the other end is connected to the corresponding T-shaped rod 313. Each T-shaped rod 313 is connected to a U-plate 312. The upper U-plate 312 is rotatably connected to the corresponding through rod 37, and the lower U-plate 312 is rotatably connected to the corresponding inner tamping rod 34. This allows the inner tamping rod 34 and the outer tamping rod 33 to better adapt to changes in the hardness and spatial shape of the concrete during the tamping process.

[0052] The workflow of this embodiment is as follows: When the outer tamping rod 33 contacts the edge of the space, the spring 315 is compressed due to its presence, causing the guide tube 316, spring 315, T-shaped rod 313 and U-plate 312 to shorten and swing as a whole. Compared with the normal state, the outer tamping rod 33 swings inward, causing the inner tamping rod 34 to swing.

[0053] This invention integrates sensor 13 to monitor the flow state, density, and temperature of concrete in real time, ensuring that the concrete maintains a good condition throughout the filling process. The flow state and density of the concrete are adjusted by controlling the concrete pump truck, and the temperature of the concrete is adjusted by controlling the heating box 14, thus achieving monitoring of the concrete state. Camera 412 monitors whether the tamping component 3 is close to the edge of the space, achieving position monitoring of the tamping component 3; thereby realizing intelligent monitoring of concrete filling in confined spaces.

[0054] The present application controls the fast extension and retraction of the electric push rod 44 when the concrete has poor fluidity and low density, and the outer tamping rod 33 and the inner tamping rod 34 move fast, the outer tamping rod 33 and the inner tamping rod 34 swing while revolving around the filling pipe 24, which accelerates the flow of concrete, tamps the concrete, realizes double tamping of the concrete, and further improves the density of the concrete. Moreover, the inner tamping rod 34 is below the horizontal projection of the filling pipe 24, which facilitates the outward pushing of the concrete flowing out of the filling pipe 24. When the outer tamping rod 33 contacts the edge of the space, the spring 315 is compressed, which makes the inner tamping rod 34 and the outer tamping rod 33 better adapt to the changes in the hardness of the concrete and the shape of the space during tamping. The camera 412 monitors whether the tamping assembly 3 is close to the edge of the space, and when it is close, the electric push rod 44 is controlled to extend to a longer length, which makes the swing angle of the outer tamping rod 33 in the vertical plane smaller, avoiding the contact of the outer tamping rod 33 with the edge of the space.

[0055] A filling method of a narrow space concrete filling system based on intelligent monitoring, comprising the following steps: S1: one end of the hose is connected to a concrete pump truck to provide a power source for concrete filling, and the other end is connected to the upper feeding pipe 11; S2: the motor 17 is controlled to rotate, so that the concrete flows out of the filling pipe 24 into the narrow space through the upper feeding pipe 11, the heating box 14, the conical groove 21 and the hose 23, and the electric push rod 44 is controlled to reciprocate, realizing the swing of the outer tamping rod 33 and the inner tamping rod 44 and the tamping of the filled concrete; S3: the integrated sensor 13 monitors the flow state, density and temperature of the concrete, adjusts the flow state and density of the concrete by controlling the concrete pump truck, and adjusts the temperature of the concrete by controlling the heating box 14; S4: the camera 412 monitors whether the tamping assembly 3 is close to the edge of the space, and when it is close, the electric push rod 44 is controlled to extend to a longer length, avoiding the contact of the outer tamping rod 33 with the edge of the space.

[0056] Although the specific embodiments of the application have been described in detail above with reference to the accompanying drawings, the description is not a limitation on the scope of protection of the application. Various modifications or variations made by those skilled in the art without creative labor on the basis of the technical solutions of the present application are still within the scope of protection of the present application.

Claims

1. A concrete filling system for confined spaces based on intelligent monitoring, characterized in that, include: A concrete condition monitoring component (1) and a concrete filling component (2), wherein the concrete filling component (2) is connected to the concrete condition monitoring component (1). The concrete condition monitoring component (1) includes a monitoring base (15), which is connected to a heating box (14). The heating box (14) is connected to a motor (17). The heating box (14) is connected to the central shaft of a feeding plate (18) by a bearing. The central shaft of the feeding plate (18) is connected to the output shaft of the motor (17). The heating box (14) is provided with a discharge trough (16), which passes through the top plate of the monitoring base (15). The heating box (14) is fixedly connected to the upper feed pipe (11). The concrete filling assembly (2) includes a feed pipe (22) and a filling pipe (24). The feed pipe (22) and the filling pipe (24) are fixedly connected through a hose (23). The feed pipe (22) is fixedly connected to a conical groove (21). The conical groove (21) is connected to the monitoring seat (15). The upper feed pipe (11) and the feed pipe (22) are respectively equipped with integrated sensors (13).

2. The confined space concrete filling system based on intelligent monitoring according to claim 1, characterized in that: It also includes a tamping assembly (3) and an adjusting assembly (4). The tamping assembly (3) includes a gear ring (32), which is connected to a rotating ring (31). The rotating ring (31) is rotatably connected to the filling tube (24). The rotating ring (31) is connected to a set of external tamping rods (33). The adjusting assembly (4) includes a controller (46), an electric push rod (44), and symmetrical cameras (412). The filling tube (24) is connected to a mounting plate (25). The electric push rod (44), the controller (46), and the symmetrical cameras (412) are respectively connected to the mounting plate (25). The push rod of the electric push rod (44) passes through the mounting plate (25). The push rod of the electric push rod (44) is connected to a T-plate (42). The T-plate (42) is bearing connected to the central shaft of the first rotating wheel (410). The central shaft of the first rotating wheel (410) is connected to a power gear (43). The mounting plate (25) is connected to an L-plate (2). 7) The L plate (27) is connected to the rack (41), the power gear (43) meshes with the rack (41), the mounting plate (25) is connected to the vertical plate (28), the vertical plate (28) is connected to the central shaft of two synchronous pulleys (38) by bearings, the two ends of the synchronous belt (39) are respectively wrapped around the corresponding synchronous pulleys (38), the central shaft of one synchronous pulley (38) is connected to the slide groove (411), the eccentric part of the first rotating wheel (410) is connected to the first round block (49), the first round block (49) is set in the slide groove (411), the transverse extension block of the vertical plate (28) is connected to the central shaft of the transmission gear (35) by bearings, the central shaft of the transmission gear (35) is connected to the small bevel gear (311), the central shaft of the other synchronous pulley (38) is connected to the large bevel gear (310), the small bevel gear (311) meshes with the large bevel gear (310), and the transmission gear (35) meshes with the gear ring (32).

3. The confined space concrete filling system based on intelligent monitoring according to claim 2, characterized in that: The central shaft of one of the synchronous pulleys (38) is connected to the second rotating pulley (48). The eccentric part of the second rotating pulley (48) is connected to the second circular block (47). The second circular block (47) is set in the annular groove (36). The annular groove (36) is connected to symmetrical through rods (37). The symmetrical through rods (37) pass through the gear ring (32) and the rotating ring (31) respectively. The symmetrical through rods (37) are rotatably connected to one end of the connecting rod respectively. The other end of the symmetrical connecting rod is rotatably connected to the inner tamping rod (34) respectively. The symmetrical inner tamping rod (34) is rotatably connected to the corresponding outer tamping rod (33) respectively.

4. The confined space concrete filling system based on intelligent monitoring according to claim 3, characterized in that: The connecting rod includes a guide tube (316), the guide tube (316) is provided with symmetrical T-grooves (314), and T-rods (313) and springs (315) are respectively provided in the symmetrical T-grooves (314). One end of the symmetrical springs (315) is connected to the guide tube (316), and the other end of the symmetrical springs (315) is connected to the corresponding T-rods (313). The symmetrical T-rods (313) are respectively connected to U-plates (312). The upper U-plate (312) is rotatably connected to the corresponding through rod (37), and the lower U-plate (312) is rotatably connected to the corresponding inner tamping rod (34).

5. A confined space concrete filling system based on intelligent monitoring according to claim 2, characterized in that: The T-plate (42) is connected to symmetrical guide rods (45), and the symmetrical guide rods (45) pass through the mounting plate (25) respectively.

6. A confined space concrete filling system based on intelligent monitoring according to claim 1, characterized in that: The monitoring seat (15) is connected to the protective cover (12) of the heating box (14).

7. The filling method for a confined space concrete filling system based on intelligent monitoring according to claim 4, characterized in that, Includes the following steps: S1: Connect one end of the hose to the concrete pump truck and the other end to the upper feed pipe (11). S2: Control the motor (17) to rotate, so that the concrete flows out of the filling pipe (24) and into the narrow space through the upper feed pipe (11), the heating box (14), the conical groove (21) and the hose (23), and controls the electric push rod (44) to reciprocate and extend, so as to realize the swing of the outer tamping rod (33) and the inner tamping rod (44) to realize the tamping of the filled concrete; S3: The integrated sensor (13) monitors the flow state, density and temperature of concrete, and controls the concrete pump truck to adjust the flow state and density of concrete, and controls the heating box (14) to adjust the temperature of concrete. S4: Monitor whether the tamping component (3) is close to the edge of the space through the camera (412). When it is close, control the electric push rod (44) to extend its extension length to prevent the outer tamping rod (33) from contacting the edge of the space.

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