An automatic concrete pouring device for water conservancy construction projects

Abstract

The application relates to the field of water conservancy and building construction, and discloses an automatic concrete pouring device for water conservancy construction engineering, which comprises a vehicle body, a driving mechanism arranged at the tail of the vehicle body, an automatic retreat mechanism installed at the bottom of the driving mechanism, and a tamping mechanism arranged at the bottom of the driving mechanism. Through cooperation of a main shaft and an inclined disc cam, the tamping mechanism moves up and down along with rotation of the main shaft, and deep layer vibration tamping is carried out on the concrete while pouring; meanwhile, a leveling mechanism moves up and down along with the tamping mechanism, and the concrete is leveled while being vibrated. The motor is electrically connected with a concrete automatic pouring control system, which is used for monitoring a load current and cooperatively regulating a main shaft rotating speed and a vehicle body advancing speed, so that automatic anti-blocking pouring is completed. The application converts rotary motion into a compound action of tamping and leveling through multi-stage mechanical linkage, and realizes integrated control of the driving system on a complex operation process.

Description

Technical Field

[0001] This invention relates to the fields of water conservancy engineering and building construction, specifically to an automated concrete pouring device for water conservancy construction projects. Background Technology

[0002] Concrete pouring is a crucial process in water conservancy projects, foundation engineering, and underground structure construction, widely used in the construction of dams, canals, culverts, pump station foundations, and various underground structures. To improve construction efficiency and quality, the use of automated machinery for concrete pouring has become a mainstream trend. Currently, various automated pouring equipment integrating walking, conveying, and paving functions have emerged in this field. These machines can move along preset tracks and achieve continuous concrete supply and initial placement, making them suitable for large-area, long-distance engineering scenarios.

[0003] Existing automated pouring equipment is typically based on a mobile vehicle body, integrating a concrete storage tank, a screw conveyor mechanism, and a discharge control system. The working process is roughly as follows: the equipment travels along the construction route, while the conveyor mechanism is activated to pump concrete from the storage tank through pipelines to the pouring surface; some equipment is also equipped with independent vibrators or plate vibrators to compact the concrete after pouring; surface leveling is mostly achieved by a scraper attached to the rear or by manual assistance, in order to achieve the compaction and initial leveling of the concrete.

[0004] However, existing devices of this type still have significant drawbacks in practical applications: First, vibration and leveling operations are often separated from the pouring process, making it difficult to synchronize the three processes. This can easily lead to uneven concrete density, poor surface smoothness, and even the formation of cold joints. Second, the conveying mechanism is prone to jamming when dealing with large aggregates or low-flowability concrete, often requiring manual cleaning and potentially affecting construction continuity. Third, the overall system has a low level of coordinated control; there is a lack of automatic linkage between pouring speed, travel speed, and vibration parameters, making it highly dependent on operator experience and resulting in significant fluctuations in construction quality. Therefore, there is an urgent need for a highly efficient automated pouring device that can achieve integrated synchronous operation of pouring, vibration, and leveling, and possesses intelligent anti-jamming and adaptive coordinated control capabilities. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an automated concrete pouring device for water conservancy construction projects, which solves the problems of asynchronous vibration and leveling, easy jamming, low control precision, and low construction efficiency of existing concrete pouring equipment.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: an automated concrete pouring device for water conservancy construction projects, comprising a vehicle body, wherein the vehicle body is provided with a conveying component, a drive mechanism, a tamping mechanism, a leveling mechanism, an automatic retraction mechanism, and an automated concrete pouring control system;

[0007] The drive mechanism includes a motor and a main shaft driven to rotate by the motor. The main shaft is provided with helical blades on its exterior and a swashplate cam on its surface.

[0008] The tamping mechanism includes a contact head that contacts the swashplate cam and a tamping connecting rod that is fixedly connected to the contact head, so that the tamping connecting rod makes a vertical reciprocating motion when the main shaft rotates, thereby vibrating the output concrete.

[0009] The leveling mechanism is linked to the tamping rod to level the concrete surface when the tamping rod reciprocates.

[0010] The automatic retraction mechanism is located at the bottom of the drive mechanism and is used to generate a retraction action when aggregate jamming occurs during the conveying process;

[0011] The automated concrete pouring control system includes a collaborative linkage control module, which links the vehicle body speed with the main shaft speed; a load current monitoring module, which detects the motor load current; and an adaptive speed regulation module, which controls the motor to reduce speed and cooperates with the automatic retraction mechanism to release the jam when the load current exceeds a preset safety threshold.

[0012] The automated concrete pouring control system also includes a status display module, which is connected to the operating parameter preset module, the collaborative linkage control module, the load current monitoring module, and the adaptive speed regulation module for real-time display of parameter settings, real-time operating data, and system intervention status.

[0013] Preferably, the conveying assembly includes a concrete hopper, a feeding port is fixedly connected to the rear of the concrete hopper, a conveying pipe is provided at the bottom of the feeding port, and multiple wheels are installed at the bottom of the vehicle body.

[0014] Preferably, the automatic retraction mechanism includes a triangular plate, one side of which is rotatably connected to a rotating shaft, a lever is fixedly connected to the outside of the rotating shaft, a counterweight is fixedly connected to one side of the lever, and a pin is fixedly connected to the other side.

[0015] Preferably, one side of the pin is in contact with the outer wall of the main shaft, and the bottom of the triangular plate is fixedly connected to the outer wall of the casting tank, so that the pin is in the extended working position under normal conditions and retracts when it is subjected to jamming resistance.

[0016] Preferably, the tamping mechanism further includes multiple guide seats, and the tamping connecting rod is externally slidably connected to the multiple guide seats; a protective sleeve is fixedly connected to the bottom of the guide seat, a fixing ring is fixedly connected to the bottom of the protective sleeve, and a spring is fixedly connected to the top of the fixing ring, for guiding, buffering and resetting the reciprocating motion of the tamping connecting rod.

[0017] Preferably, the top of the spring is fixedly connected to the bottom of the guide seat, the protective sleeve is made of flexible material and is telescopic, and one side of the guide seat is fixedly connected to the outer wall of the casting tank.

[0018] Preferably, the top of the spring is fixedly connected to the bottom of the guide seat, the protective sleeve is made of flexible material and can extend and retract, and one side of the guide seat is fixedly connected to the outer wall of the casting tank.

[0019] Preferably, the leveling mechanism includes a mounting base, one side of which is fixedly connected to the outer wall of the tamping connecting rod, rotating columns are rotatably connected to both sides of the mounting base, a rotating plate is fixedly connected to one side of the rotating column, a leveling shovel is fixedly connected to the bottom of the rotating plate, and a limit block is provided at the top of the rotating plate.

[0020] Preferably, one side of the limiting block is fixedly connected to the outside of the tamping connecting rod, and the bottom of the tamping connecting rod is conical.

[0021] Preferably, the automated concrete pouring control system further includes a status display module, which is signal-connected to the operating parameter preset module, the collaborative linkage control module, the load current monitoring module, and the adaptive speed regulation module, and is used to display parameter set values, real-time operating data, and system intervention status in real time.

[0022] This invention provides an automated concrete pouring device for water conservancy construction projects, which has the following advantages: The integrated control module regulates the vehicle's traveling mechanism and the screw conveyor shaft, establishing a linear mapping relationship between concrete output and moving speed; the control system directly instructs the motor to adjust its speed based on preset operating parameters and synchronizes the vehicle's moving speed in real time; simultaneously, the visual monitoring function allows operators to monitor the equipment's internal operating data in real time, reducing reliance on manual experience, improving construction quality and work efficiency, ensuring a constant concrete coverage thickness under different travel trajectories, effectively avoiding accumulation or leakage problems caused by manual experience control, and improving the standardization of the construction process.

[0023] By using a single motor as a power source and employing multi-stage mechanical linkages, rotary motion is transformed into a combined action of compaction and leveling, achieving integrated control of complex operational procedures by the drive system. The motor operates under the control system's commands, not only conveying concrete but also synchronously driving the deep vibration and surface leveling components via physically connected cam and linkage mechanisms, ensuring automatic matching of vibration frequency and conveying speed. This design simplifies the power transmission path, avoids the complexity of multi-motor coordinated control, guarantees strict synchronization of each process in automated operations, and improves the equipment's energy efficiency and operational stability.

[0024] Meanwhile, an anti-jamming protection system based on a closed loop of electrical feedback and mechanical response was constructed, realizing real-time interaction between system monitoring and mechanism retraction. When aggregate jamming occurs in the avoidance channel of the mechanical structure, the load current monitoring module can instantly capture the torque change signal of the motor and trigger the adaptive speed regulation module to actively intervene, instructing the motor to slow down to cooperate with the mechanical retraction of the pin mechanism. This combination of active speed reduction at the electrical level and passive retraction at the mechanical level significantly reduces the mechanical stress during fault handling, automatically releasing the jamming state without manual intervention to stop the machine, and extending the service life of the motor and core transmission components. Attached Figure Description

[0025] Figure 1 This is a perspective view of the present invention;

[0026] Figure 2 This is a schematic diagram of the driving mechanism of the present invention;

[0027] Figure 3 This is a schematic diagram of the automatic retraction mechanism of the present invention;

[0028] Figure 4 This is a schematic diagram of the tamping mechanism of the present invention;

[0029] Figure 5 This is a schematic diagram of the leveling mechanism of the present invention;

[0030] Figure 6 This is a schematic diagram of the module connection principle of the automated concrete pouring control system of the present invention.

[0031] Figure 7 This is a flowchart illustrating the control logic for the collaborative linkage and anti-jamming protection operation of the present invention.

[0032] The components are as follows: 1. Body; 2. Conveying assembly; 3. Concrete hopper; 4. Feed port; 5. Conveying pipe; 6. Wheel; 7. Automatic retraction mechanism; 8. Triangular plate; 9. Rotating shaft; 10. Lever; 11. Counterweight; 12. Pin; 13. Drive mechanism; 14. Power compartment shell; 15. Protective shell; 16. Motor; 17. Main shaft; 18. Swashplate cam; 19. Connecting plate; 20. Pouring tank; 21. Tamping mechanism; 22. Contact head; 23. Tamping connecting rod; 24. Guide seat; 25. Protective sleeve; 26. Fixing ring; 27. Spring; 28. Leveling mechanism; 29. ​​Mounting seat; 30. Rotating column; 31. Rotating plate; 32. Leveling shovel; 33. Limiting block. Detailed Implementation

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] like Figure 1-5 As shown, this embodiment of the invention provides an automated concrete pouring device for water conservancy construction projects, including a vehicle body 1. The vehicle body 1 serves as the mobile carrier and integrated platform for the entire device, providing installation foundations, power sources, and operating space for all functional modules. A drive mechanism 13 is installed at the rear of the vehicle body 1, serving as the core power and transmission hub. An automatic retraction mechanism 7 is installed at the bottom of the drive mechanism 13, providing controllable displacement retraction to prevent overload damage. A tamping mechanism 21 is installed at the bottom of the drive mechanism 13, which is connected to the swashplate via a main shaft 17. The cam 18, in conjunction with the drive mechanism 13, converts the rotational motion transmitted by the drive mechanism 13 into the high-frequency, regular vertical reciprocating motion of the tamping link 23. The tamping link 23 moves up and down with the rotation of the main shaft 17, and performs deep vibration of the concrete while pouring, so as to realize the synchronization of the vibration operation and the pouring process. At the same time, the leveling mechanism 28 moves up and down with the tamping mechanism 21. The leveling mechanism 28 is connected to the tamping link 23 through the linkage structure, so that the leveling mechanism 28 can move with the rise and fall of the tamping head, so as to realize the integrated and coordinated operation of the vibration and leveling processes.

[0035] Specifically, the vehicle body 1 provides the foundation for movement and support of the entire system. The drive mechanism 13 at the rear of the vehicle body 1 serves as the main power output, causing the main shaft 17 of the tamping mechanism 21 to drive the swashplate cam 18 to rotate, which in turn drives the tamping linkage 23 to perform high-frequency vertical reciprocating motion, completing the deep vibration of the concrete during pouring. The movement of the tamping mechanism 21 drives the leveling mechanism 28 to move up and down synchronously through mechanical linkage, so that the leveling mechanism 28 performs leveling treatment on the concrete surface in the tamping head vibration working area. This constitutes a continuous, automatic, and efficient concrete pouring construction system that integrates movement, drive, adaptive buffering, deep vibration, and surface leveling.

[0036] like Figure 4As shown, the tamping mechanism 21 includes a contact head 22, which serves as the working terminal directly acting on the concrete surface. A tamping connecting rod 23 is fixedly connected to the bottom of the contact head 22, acting as the core force transmission component. Multiple guide seats 24 are slidably connected to the outside of the tamping connecting rod 23, providing multi-point, high-precision linear guidance and radial support for the reciprocating motion of the tamping connecting rod 23. A protective sleeve 25 is fixedly connected to the bottom of the guide seats 24, serving as the outer protective shell to ensure long-term reliable operation of the mechanism. A fixing ring 26 is fixedly connected to the bottom of the protective sleeve 25, serving as the anchor for the internal elastic element. The base and limiting structure are used to position and support the spring 27. The top of the fixing ring 26 is fixedly connected to the spring 27. The spring 27 serves as an important elastic reset and buffer element, providing an upward reset force after the downward stroke of the tamping link 23. The rear of the vehicle body 1 is equipped with a conveying assembly 2, which serves as a concrete material supply system. It is installed at the rear of the vehicle body 1 independently of the tamping mechanism 21 to realize the assembly line operation of pouring and compaction. The drive mechanism 13 is electrically connected to an automated concrete pouring control system, which is used to monitor the load current and coordinate the rotation speed of the main shaft 17 and the travel speed of the vehicle body 1 to complete automated anti-jamming pouring.

[0037] Specifically, the contact head 22 is connected to the drive mechanism 13 via the tamping link 23. The tamping link 23 performs vertical reciprocating motion under the precise constraint of multiple guide seats 24. The protective sleeve 25 provides sealed protection for the internal moving parts, and the internal spring 27 is installed through the fixing ring 26 to provide reset and buffer for the tamping link 23. At the same time, the conveying assembly 2 located at the rear of the vehicle ensures a continuous supply of concrete. Driven by the drive mechanism 13, the entire tamping mechanism 21 performs high-frequency, deep vibration compaction of the concrete poured by the conveying assembly 2 through the contact head 22. The guiding, protective, and buffering design of the tamping mechanism 21 together ensures the high efficiency, stability, and durability of the vibration operation.

[0038] like Figure 1 As shown, in a preferred embodiment of the present invention, the conveying component 2 includes a concrete tank 3, which serves as a large-capacity storage silo and carrier for concrete materials, ensuring a continuous supply during construction. A feeding port 4 is fixedly connected to the tail of the concrete tank 3, which serves as a transition interface and flow guide structure for material output, realizing a smooth transition and flow convergence of concrete from the storage end to the conveying end. A conveying pipe 5 is provided at the bottom of the feeding port 4, which serves as a precise material guiding channel to directionally convey concrete to the area to be poured, preventing material splashing and controlling the pouring range. Multiple wheels 6 are installed at the bottom of the vehicle body 1, which serve as the vehicle's mobile walking mechanism and load-bearing support, giving the equipment mobility on the construction site.

[0039] Specifically, concrete material is pre-loaded inside the concrete hopper 3 and, under the action of auxiliary thrust, converges to the feed port 4 at the rear. It then smoothly enters the conveying pipe 5 through the feed port 4. The conveying pipe 5 precisely guides the concrete and lays it to a predetermined position on the ground, realizing continuous pouring in a fixed point or strip. At the same time, the wheels 6 located at the bottom of the vehicle body 1 bear the weight of the entire machine and drive the entire vehicle to move stably along the working route according to the construction progress. The movement of the wheels 6 and the continuous discharge of the conveying component 2 work together to realize the automation and continuity of the concrete pouring operation, thereby improving construction efficiency.

[0040] like Figure 3 As shown, in a preferred embodiment of the present invention, the automatic retraction mechanism 7 includes a triangular plate 8, which serves as the mounting base and force-bearing support frame of the mechanism, providing a stable support for the moving parts. A rotating shaft 9 is rotatably connected to one side of the triangular plate 8, which serves as the core rotation fulcrum and motion degree-of-freedom component. A lever 10 is fixedly connected to the outside of the rotating shaft 9, which serves as a bidirectional lever arm component for torque transmission and balance, converting rotational motion into lifting and lowering actions at both ends. A counterweight 11 is fixedly connected to one side of the lever 10, which serves as an automatic reset and position-holding element driven by gravitational potential energy, generating a constant bias torque using its own weight. A pin 12 is fixedly connected to the other side of the lever 10, which is normally in an extended working state and can be sensitively retracted when subjected to abnormal external forces.

[0041] Specifically, the triangular plate 8 is fixed to the main body of the equipment to provide support, and the lever 10 forms a seesaw structure with the pivot 9 as the center. In its natural state, the counterweight 11 sinks under gravity, and through the transmission of the lever 10, forces the pin 12 at the other end to remain in the extended working position. When the pin 12 is subjected to a reverse impact force exceeding a predetermined threshold or encounters a rigid obstacle during equipment operation, the external force overcomes the gravitational torque of the counterweight 11, pushing the lever 10 to deflect around the pivot 9, causing the pin 12 to quickly retract inward or retract downward, thereby achieving flexible obstacle avoidance. Once the external force disappears, the counterweight 11 falls again under the action of gravity, causing the pin 12 to automatically return to its initial state.

[0042] like Figure 2As shown, in a preferred embodiment of the present invention, the drive mechanism 13 includes a power compartment shell 14, which provides a stable operating environment for the internal precision components. A protective shell 15 is fixedly connected to the top of the power compartment shell 14. The protective shell 15 is used to isolate dust and moisture at the construction site. A motor 16 is installed inside the protective shell 15. The motor 16 is responsible for converting electrical energy into high-speed mechanical kinetic energy. A main shaft 17 is fixedly connected to the drive end of the motor 16. The main shaft 17 transmits the output power of the motor 16 downwards without loss. A swashplate cam 18 is fixedly connected to the top of the main shaft 17. The swashplate cam 18 uses the unique inclined surface geometry to convert the rotational motion of the main shaft 17 into axial displacement or vibration. Multiple connecting plates 19 are fixedly connected to the bottom of the power compartment shell 14. The connecting plates 19 realize the firm mounting of the drive module and the operation module. A pouring tank 20 is fixedly connected to one side of the connecting plate 19. The pouring tank 20 and the drive mechanism 13 form a compact integral structure.

[0043] Specifically, the motor 16 is installed in the enclosed space formed by the protective shell 15 and the power compartment shell 14, and drives the main shaft 17 to rotate at high speed after being powered on. The main shaft 17 drives the top swashplate cam 18 to rotate synchronously. When the swashplate cam 18 rotates, the inclined end face can periodically push the tamping connecting rod 23 to produce up-and-down reciprocating motion. At the same time, the power compartment shell 14 stably suspends the pouring tank 20 through the bottom connecting plate 19, so that the pouring tank 20 can move closely with the drive mechanism 13. The whole mechanism achieves efficient coordination from the rotation of the motor 16 to mechanical vibration and material conveying through a precise transmission chain design.

[0044] like Figure 6 As shown, in a preferred embodiment of the present invention, the leveling mechanism 28 includes a mounting base 29, which serves as a rigid mounting base. Rotating columns 30 are rotatably connected to both sides of the mounting base 29. The rotating columns 30 provide the rear end component with the freedom to adjust its angle or adaptively float in the vertical plane. A rotating plate 31 is fixedly connected to one side of the rotating column 30. The rotating plate 31 is responsible for bearing the working load and transmitting the dragging force to the end. A leveling shovel 32 is fixedly connected to the bottom of the rotating plate 31. The leveling shovel 32 uses its flat bottom surface to beat the pouring layer. A limit block 33 is provided at the top of the rotating plate 31. The limit block 33 is used to limit the extreme position of the rotating component and prevent excessive overturning.

[0045] Specifically, the leveling mechanism 28 is mounted on the bottom of the tamping mechanism 21 via the mounting base 29. In operation, the rotating plate 31 rotates around the rotating column 30 under the action of gravity. As the tamping connecting rod 23 moves up and down, it tamps the concrete surface, achieving initial surface leveling. During this process, the limiting block 33 plays a crucial role. When the rotating plate 31 is subjected to ground resistance and generates a reverse torque, the limiting block 33 can abut against the fixed structure, limiting the upward tilt angle of the rotating plate 31, thereby ensuring the flatness and consistency of the concrete surface.

[0046] like Figure 2-4 As shown, in a preferred embodiment of the present invention, the top of the contact head 22 contacts the bottom of the swashplate cam 18. The contact head 22 converts the end face runout generated by the rotation of the swashplate cam 18 into a vertical impact displacement. A helical blade is installed on the outside of the main shaft 17. The helical blade acts as a built-in helical conveyor. The axial thrust generated by the rotation forces the concrete material to flow downward. The helical blade is broken to provide an insertion position for the pin 12. One side of the pin 12 contacts the outer wall of the main shaft 17 to prevent concrete from sticking to the main shaft 17. The bottom of the triangular plate 8 is fixedly connected to the outer wall of the pouring tank 20. The pouring tank 20 ensures the relative fixation of the entire relief assembly relative to the position of the main shaft 17.

[0047] Specifically, when the motor 16 drives the main shaft 17 to rotate, the main shaft 17 drives the top inclined plate cam 18 to rotate. Due to the inclination of the bottom surface of the cam, it continuously and alternately presses the contact head 22 downward during rotation, forcing the tamping connecting rod 23 to perform high-frequency reciprocating motion, thereby realizing the vibration of the concrete. At the same time, the main shaft 17 drives the spiral blade to rotate inside the pouring tank 20, actively pushing the concrete downward to the end. During this process, the automatic retraction mechanism 7 installed on the outer wall of the pouring tank 20 is always attached to the outer wall of the main shaft 17 through the pin 12. When the conveying process encounters large-diameter aggregate jamming, the jamming resistance overcomes the counterweight torque and pushes the pin 12 to retract outward, thereby avoiding equipment damage caused by hard collision of rigid parts, realizing the integrated collaborative operation of drive, conveying, vibration and protection.

[0048] like Figure 3-6As shown, in a preferred embodiment of the present invention, the top of the spring 27 is fixedly connected to the bottom of the guide seat 24. The guide seat 24 ensures that the spring 27 can stably store energy and accurately release the restoring force during compression. The protective sleeve 25 is made of flexible material and can be stretched. The protective sleeve 25 prevents concrete slurry from splashing into the interior. One side of the guide seat 24 is fixedly connected to the outer wall of the pouring tank 20. The pouring tank 20 firmly integrates the vibration unit next to the feeding system, ensuring that the vibration position always closely follows the discharge position. One side of the mounting seat 29 is fixedly connected to the outer wall of the tamping connecting rod 23. The mounting seat 29 serves as the mounting carrier. One side of the limiting block 33 is fixedly connected to the outside of the tamping connecting rod 23. The limiting block 33 prevents the leveling component from undergoing unexpected excessive displacement relative to the connecting rod. The bottom of the tamping connecting rod 23 is conical in shape, which can effectively reduce the resistance when inserting into the concrete.

[0049] Specifically, the guide seat 24 is firmly welded to the pouring tank 20 to provide guidance for the tamping mechanism 21. When the tamping connecting rod 23 is driven to move downwards, the conical head at the bottom can smoothly penetrate into the viscous concrete like a spearhead for deep compaction. At the same time, the spring 27 is compressed. During this process, the flexible protective sleeve 25 is stretched to always cover the movement gap. In particular, since the mounting seat 29 of the leveling mechanism 28 is directly fixed to the tamping connecting rod 23, this means that the leveling operation and the vibration operation form a close linkage in structure. Using the solid structure of the connecting rod as the mounting point of the leveling shovel 32 not only saves space, but also ensures that the leveling shovel 32 is always on the side of the vibration operation area, realizing an integrated and efficient construction process of pouring, tamping and leveling at the same time.

[0050] like Figure 6 As shown, in this embodiment, the automated concrete pouring control system is built on an industrial-grade programmable logic controller (PLC), integrating analog input / output interfaces, pulse counting interfaces, and industrial communication bus interfaces at the hardware level. This automated concrete pouring control system interacts with the speed sensor installed on the vehicle body 1, the current transformer in the drive circuit of motor 16, and the human-machine interface terminal via shielded cables.

[0051] The automated concrete pouring control system includes an operating parameter preset module, a collaborative control module, a load current monitoring module, an adaptive speed regulation module, and a status display module. The specific implementation methods and internal control logic of each module are described in detail below.

[0052] The operation parameter preset module is used to establish the basic database for the operation. During the operation preparation phase, the operator inputs the predetermined parameters for the current construction task through the human-machine interface. The operation parameter preset module receives and stores these parameters, including the total amount of concrete to be poured. The total path length corresponding to the planned trajectory coordinate sequence of vehicle body 1 along the river or embankment. The system also includes a foundation conveying rate threshold determined by the properties of the concrete materials used. Based on the input data, the preset operating parameter module calculates the control baseline index, namely the unit path pouring density. (Unit: m) 3 / m), this control benchmark represents the volume of concrete that must be output for every meter the vehicle body 1 moves. In addition, the operational database also stores inherent parameters related to the mechanical structure, including the theoretical geometric displacement of the screw conveyor main shaft 17. (Unit: m) 3 / r) and conveying volumetric efficiency coefficient The storage format and database construction method for the above parameters can be implemented by those skilled in the art using conventional EEPROM or Flash storage technologies, and will not be elaborated further here.

[0053] The collaborative control module is signal-connected to the operating parameter preset module and is used to perform the core speed matching calculation. The main function of this collaborative control module is to dynamically adjust the concrete delivery volume based on the real-time movement status of vehicle body 1 to eliminate uneven pouring caused by vehicle speed fluctuations. Specifically, the collaborative control module reads the unit path pouring density from the work base database. Theoretical geometric displacement of screw conveyor main shaft 17 and conveying volumetric efficiency coefficient It also receives real-time speed feedback from the speed sensor of the vehicle body 1. The module internally calculates the target speed command value of motor 16 in real time based on the preset matching relationship between the pouring volume and the travel speed using the following coordinated linkage formula. :

[0054] ;

[0055] In the formula: The target speed command value for the motor 16 to drive the spindle 17 is expressed in revolutions per minute (r / min). This refers to the pouring density per unit path, expressed in cubic meters per meter (m²). 3 / m); The real-time speed of vehicle 1 is expressed in meters per minute (m / min). The theoretical geometric displacement of the screw conveyor main shaft 17 is given in cubic meters per revolution (m). 3 / r); The volumetric efficiency coefficient is typically between 0.85 and 0.95.

[0056] Based on the above calculations, the collaborative control module will obtain... The signal is converted into a corresponding frequency control signal for the inverter and sent to the inverter driver of motor 16, thereby controlling the rotational speed of the main shaft 17 to always match the real-time travel speed of the vehicle body 1. Maintain a linear proportional relationship.

[0057] The load current monitoring module is electrically connected to the drive circuit of motor 16 to sense the mechanical load status in real time. This load current monitoring module uses a Hall current sensor to acquire the real-time effective value of the operating current of the stator winding of motor 16 at a predetermined frequency (e.g., 50Hz). The system has an internally set safe current threshold. and determination delay Among them, setting It is 1.2 to 1.5 times the rated current of motor 16. The setting is 200ms to 500ms to filter current fluctuations caused by motor 16 starting or momentary impact.

[0058] The adaptive speed control module is connected to both the load current monitoring module and the control signal terminal of motor 16. This module incorporates anti-jamming protection logic to actively intervene in motor 16 when aggregate jamming occurs. When the load current monitoring module detects an abnormal increase in current, the adaptive speed control module takes over control according to the following logic steps. The status display module communicates with the above modules via an industrial bus, displaying real-time numerical or graphical representations on the screen. , , The system's current operating mode is displayed for operators to monitor.

[0059] like Figure 7 As shown in the figure, the specific control logic and operation flow of the system in this embodiment are as follows:

[0060] Step S100: Operation Start-up and Parameter Initialization. The collaborative control module retrieves the unit path pouring density from the operating parameter preset module. Based on the mechanical parameters, the system enters a collaborative control mode.

[0061] Step S200: Linear proportional output control. During normal operation, the coordinated control module continuously monitors the real-time speed of vehicle body 1. If the vehicle's speed changes due to terrain undulations, the coordinated control module calculates the new speed using the aforementioned formula. The speed of motor 16 is adjusted. For example, when the vehicle speed decreases, the speed of motor 16 decreases proportionally, thereby ensuring a constant amount of concrete falling per unit length and maintaining a uniform coverage thickness.

[0062] Step S300: Monitoring and Determining Faults. The load current monitoring module continuously compares the real-time operating current RMS value. With safe current threshold If the logical condition is met:

[0063] ;

[0064] in, This refers to the duration of continuous current exceeding the limit. When the above conditions are met, the system determines that large-diameter aggregate is rigidly stuck in the avoidance area of ​​the conveying channel, triggering the anti-jamming protection program.

[0065] Step S400: Adaptive speed reduction intervention. The adaptive speed control module temporarily blocks the speed commands from the coordinated linkage control module, forcibly sends a speed reduction command to motor 16, and sets the speed of motor 16 to the protection mode speed. The calculation basis for the protection mode speed is:

[0066] ;

[0067] In the formula The torque unloading coefficient ranges from 0.2 to 0.4. In this step, the frequency converter is switched to torque limiting mode, which, in conjunction with the reduction in the speed of motor 16, limits the maximum electromagnetic torque output by motor 16. This low torque state provides the mechanical structure with the operating conditions to allow the stuck aggregate to overcome the gravity of counterweight 11, pushing pin 12 outward to retract into the clearance space, thereby releasing the rigid jamming state.

[0068] Step S500: Automatic recovery. Maintaining the motor 16 position. During low-speed operation, the aggregate passes through the disconnected zone along with the auger blades. When the load current monitoring module detects that the current value has dropped back to [a certain value], [the process continues]. After the speed stabilizes, the adaptive speed control module determines that the jamming has been eliminated and releases control. The coordinated control module then readjusts the speed based on the current real-time speed of vehicle body 1. Calculate and increase the motor speed by 16. The pin 12 automatically resets under the action of the mechanical mechanism, and the device resumes normal pouring operation.

[0069] Working Principle: Before operation begins, the preset operating parameters module sets the parameters for concrete pouring volume, vehicle body 1 travel trajectory, and foundation conveying rate. After operation starts, the coordinated control module directly regulates the device operation based on the preset parameters. This module coordinates the travel speed of vehicle body 1 and the rotational speed of motor 16 in drive mechanism 13 in real time, maintaining a predetermined proportional relationship between the two. Under the command of the coordinated control module, vehicle body 1 moves along the trajectory using wheels 6, while motor 16 drives main shaft 17 to rotate through reducer. Concrete enters conveying pipe 5 from concrete tank 3 in conveying assembly 2 via feed port 4. The spiral blades on main shaft 17 push the concrete downwards, transitioning through the annular bladeless area between upper and lower blades before continuing to the end, completing continuous conveying. The status display module collects and displays various operating data in real time during this process.

[0070] While the motor 16, located inside the protective shell 15, rotates under control to deliver concrete, the slant cam 18, located inside the power compartment shell 14, rotates synchronously with the shaft. The inclined end face of the slant cam 18 drives the contact head 22 in the tamping mechanism 21, converting the rotational motion of the main shaft 17 into the vertical reciprocating linear motion of the tamping connecting rod 23 along the guide seat 24, thus deeply vibrating the concrete at the discharge port. The spring 27 uses its rebound force to ensure that the contact head 22 always remains in close contact with the cam surface. The movement of the tamping connecting rod 23 synchronously drives the leveling mechanism 28 to work. When the connecting rod moves downward, the leveling shovel 32 contacts the concrete surface and deflects around the rotating column 30 until it abuts against the limit block 33, forming a rigid structure to pat the accumulated concrete. When the connecting rod is lifted, the leveling shovel 32 naturally falls back to its original position under its own weight and the eccentric torque of the mounting seat 29, realizing automatic leveling around the discharge port.

[0071] When large-diameter aggregate gets stuck during the conveying process, the device performs an electromechanical anti-jamming protection action. The automatic retraction mechanism 7 is fixedly connected to the retraction channel where the spiral blades are disconnected by a triangular plate 8. Under normal conditions, the counterweight 11 maintains the pin 12 in the extended state through the lever 10 to assist in feeding. Once aggregate jamming occurs in the retraction channel, generating overload resistance, the load current monitoring module detects a sudden surge in the operating current of the motor 16 and immediately transmits the signal to the adaptive speed control module. The adaptive speed control module immediately instructs the motor 16 to reduce its speed to decrease the output torque. At the same time, the jamming resistance overcomes the counterweight torque and pushes the pin 12 outward around the rotating shaft 9. With the combination of the motor 16 speed reduction and mechanical retraction, the jammed material passes through the gap area where the blades are disconnected with the fluid. After the material has passed and the load current monitoring module confirms that the current has returned to normal, the adaptive speed control module controls the motor 16 to return to the original speed, and the pin 12 automatically resets and re-extends, ensuring the continuity of operation.

Claims

1. An automated concrete pouring device for water conservancy construction projects, comprising a vehicle body (1), characterized in that: The rear of the vehicle body (1) is provided with a drive mechanism (13), the bottom of the drive mechanism (13) is equipped with an automatic retraction mechanism (7), and the bottom of the drive mechanism (13) is provided with a tamping mechanism (21). Through the cooperation of the main shaft (17) and the slant cam (18), the tamping connecting rod (23) moves up and down with the rotation of the main shaft (17), and performs deep vibration of the concrete while pouring. At the same time, the leveling mechanism (28) moves up and down with the tamping mechanism (21), and levels the concrete while vibrating. The automatic retraction mechanism (7) includes a triangular plate (8), a rotating shaft (9) is rotatably connected to one side of the triangular plate (8), a lever (10) is fixedly connected to the outside of the rotating shaft (9), a counterweight (11) is fixedly connected to one side of the lever (10), and a pin (12) is fixedly connected to the other side of the lever (10). The tamping mechanism (21) includes a contact head (22), a tamping connecting rod (23) is fixedly connected to the bottom of the contact head (22), a plurality of guide seats (24) are slidably connected to the outside of the tamping connecting rod (23), a protective sleeve (25) is fixedly connected to the bottom of the guide seat (24), a fixing ring (26) is fixedly connected to the bottom of the protective sleeve (25), a spring (27) is fixedly connected to the top of the fixing ring (26), and a conveying assembly (2) is provided at the rear of the vehicle body (1). The conveying assembly (2) includes a concrete hopper (3), a feeding port (4) is fixedly connected to the tail of the concrete hopper (3), a conveying pipe (5) is provided at the bottom of the feeding port (4), and multiple wheels (6) are installed at the bottom of the vehicle body (1). The drive mechanism (13) is electrically connected to an automated concrete pouring control system, which monitors the load current and coordinates the rotation speed of the main shaft (17) and the travel speed of the vehicle body (1) to complete automated anti-jamming pouring.

2. The automated concrete pouring device for water conservancy construction projects according to claim 1, characterized in that, The drive mechanism (13) includes a power compartment shell (14), a protective shell (15) is fixedly connected to the top of the power compartment shell (14), a motor (16) is installed inside the protective shell (15), a main shaft (17) is fixedly connected to the drive end of the motor (16), a swashplate cam (18) is fixedly connected to the top of the main shaft (17), a plurality of connecting plates (19) are fixedly connected to the bottom of the power compartment shell (14), and a casting tank (20) is fixedly connected to one side of the connecting plate (19).

3. The automated concrete pouring device for water conservancy construction projects according to claim 1, characterized in that, The leveling mechanism (28) includes a mounting base (29), with rotating columns (30) rotatably connected to both sides of the mounting base (29), a rotating plate (31) fixedly connected to one side of the rotating column (30), a leveling shovel (32) fixedly connected to the bottom of the rotating plate (31), and a limit block (33) provided at the top of the rotating plate (31).

4. The automated concrete pouring device for water conservancy construction projects according to claim 2, characterized in that, The top of the contact head (22) contacts the bottom of the swashplate cam (18), a helical blade is installed on the outside of the main shaft (17), one side of the pin (12) contacts the outer wall of the main shaft (17), and the bottom of the triangular plate (8) is fixedly connected to the outer wall of the casting tank (20).

5. The automated concrete pouring device for water conservancy construction projects according to claim 2, characterized in that, The top of the spring (27) is fixedly connected to the bottom of the guide seat (24), the protective sleeve (25) is made of flexible material and can be extended and retracted, and one side of the guide seat (24) is fixedly connected to the outer wall of the casting tank (20).

6. The automated concrete pouring device for water conservancy construction projects according to claim 3, characterized in that, One side of the mounting base (29) is fixedly connected to the outer wall of the tamping rod (23), and one side of the limiting block (33) is fixedly connected to the outside of the tamping rod (23). The bottom of the tamping rod (23) is conical.

7. The automated concrete pouring device for water conservancy construction projects according to claim 1, characterized in that, The automated concrete pouring control system includes: The operation parameter preset module is used to build the operation base database and set the total amount of concrete pouring, the trajectory coordinate sequence of the vehicle body (1) and the base conveying rate threshold. The collaborative linkage control module is used to call the parameters in the operation base database, and calculate and synchronously adjust the vehicle body (1) travel speed and the main shaft (17) speed of the motor (16) in real time according to the total amount of concrete pouring and the base conveying rate threshold, so as to maintain the linear proportional output of the two. The load current monitoring module is electrically connected to the drive circuit of the motor (16) and is used to collect the load current waveform of the motor (16) in real time and compare it with the safety threshold during the operation of the coordinated linkage control module. The adaptive speed control module is used to respond to the overload signal issued by the load current monitoring module, temporarily take over the control of the motor (16) and execute the speed reduction command until the overload signal disappears and then return the control to the coordinated linkage control module. The status display module is connected to the signals of the above modules and is used to summarize and display parameter settings, real-time operating data and system intervention status in real time.

8. The automated concrete pouring device for water conservancy construction projects according to claim 7, characterized in that, The specific control logic of the automated concrete pouring control system is as follows: When the operation begins, the collaborative linkage control module reads the data in the preset operation parameter module, calculates the required output per unit time in real time according to the set concrete pouring volume, and adjusts the speed of the motor (16) in the drive mechanism (13) and the moving speed of the vehicle body (1) in a synchronous manner to maintain a linear proportional relationship between the two. During operation, the load current monitoring module monitors the current waveform of the motor (16) in real time. When the current value exceeds the preset safety threshold in a short period of time, it is determined that aggregate jamming has occurred in the avoidance channel. The system automatically triggers the protection program, and the adaptive speed control module immediately instructs the motor (16) to reduce its speed. In conjunction with the mechanical retraction action of the automatic retraction mechanism (7), the internal extrusion stress is reduced. After the load current monitoring module reports that the current value has fallen back to the normal range, the adaptive speed control module controls the motor (16) to return to the target speed set by the collaborative linkage control module.

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