An intelligent pile foundation reinforcement cage precise positioning device and its control system

Abstract

The present invention relates to the field of construction engineering. The present invention detects the position of the steel cage body by arranging a detection rod in the steel cage body and arranging a position sensor and a depth sensor on the detection rod, combines and compares the detected position with a GPS positioning system, adjusts the position of the steel cage body by arranging multiple position adjustment devices, and selects different adjustment devices according to different detection results. The adjustment effect is enhanced by the cooperation and synergy between the various adjustment devices, thereby accurately ensuring the position accuracy of the steel cage body.

Description

Technical Field

[0001] The present invention relates to the field of construction engineering, and in particular to an intelligent pile foundation reinforcement cage precise positioning device and a control system thereof. Background Art

[0002] Rebar cages are a commonly used structural material in construction projects, widely used in foundation engineering, tunneling, bridge engineering, water conservancy projects, and other fields. In foundation engineering, rebar cages are often used for earthwork reinforcement, site renovation, and pile foundation reinforcement; in tunnel engineering, rebar cages are used for tunnel support and tunnel portal reinforcement; and in bridge engineering, rebar cages are primarily used to reinforce piers and abutments. In water conservancy projects, steel cages are mainly used in embankment reinforcement, river bank protection, flood discharge hole reinforcement and other occasions; when installing the steel cage, it needs to be placed in a pre-dug pit by a crane, and in the process of placing it in the pit, due to the mud or silt in the pit, it will be difficult to determine the installation position of the steel cage, and it may deviate from the installation position during the installation process. The solution to this problem in the existing technology is to add a positioning device. The utility model patent with publication number CN221465750U discloses a precise positioning monitoring device for bridge pier steel cages, which locates the steel cage by setting a GNSS antenna and protects and positions the steel cage by setting a protective shell. The utility model patent with publication number CN220908168U discloses a precise positioning monitoring device for cast-in-place pier steel cages. The invention relates to a method for quickly and accurately positioning a guiding device, and setting a first GPS positioning sensor inside the steel cage; the positioning component comprises a positioning plate fixedly connected between the two L-shaped rods on one side opposite to the other, and a threaded column is threadedly connected to the top of the positioning plate, and the position of the pier column steel cage is monitored in real time by two GPS sensors, which facilitates workers to move the steel cage when offset occurs, and quickly guides and adjusts the position of the steel cage; it can be seen that the navigation system has been applied to the installation process of the pile foundation steel cage in the prior art, and the installation of the steel cage is corrected by navigation and positioning, but the method of positioning and correcting the steel cage in the prior art is still too simple and not accurate enough. Even if the position is detected to be inaccurate, the adjustment method is simply to use manual or mechanical devices to adjust it, and the adjustment accuracy of the steel cage position is poor and the detection accuracy is not high.

[0003] (1) Technical problems solved

[0004] In order to solve the above technical problems, the present invention provides an intelligent pile foundation reinforcement cage precise positioning device and its control system

[0005] (2) Technical solution

[0006] An intelligent pile foundation steel cage precision positioning device includes a steel cage body, an installation device, a GPS positioning device, an adjustment device, a foundation device, and a data comparison device; the installation device installs the pile foundation steel cage, the positioning device performs positioning during the installation process, and the adjustment system performs adjustment after positioning, and the foundation device and the installation device cooperate with each other.

[0007] Furthermore, the foundation device includes a foundation pit dug in advance, and sleeves are arranged on both side edges of the foundation pit, which are close to the pit. The bottom of the foundation pit is set as the reference plane, the center of the reference plane is set as point O0, the direction from the center of the circle to the side edges of the sleeves on both sides of the pit is set as X, and the direction from the center of the circle vertically to the lower part of the pit reference plane is set as Y.

[0008] Furthermore, the steel cage body includes steel bars parallel to the Y direction, and a plurality of steel bars are provided and are evenly arranged along the circumferential direction to form a steel cage. A plurality of surrounding hoops are provided along the steel cage from top to bottom. The surrounding hoops are perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction. Steel cage adjustment rings are provided between the surrounding hoops. The steel cage adjustment rings are also perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction.

[0009] Furthermore, the material of the surrounding hoop is rubber-like.

[0010] Furthermore, the steel bar cage adjustment ring includes a mounting ring I and a mounting ring II. The interior of the mounting ring I is a cavity, and a motor I is arranged in the cavity. The drive shaft of the motor is connected to a screw rod, which extends from the cavity of the two side end walls of the mounting ring I and is fixedly connected to the two side end walls of the mounting ring II. Starting the motor I can rotate the screw rod to shorten the distance between the mounting ring I and the mounting ring II, thereby adjusting the radius width of the steel bar cage.

[0011] Furthermore, a detection rod is provided from top to bottom at the inner center point of the steel vertical cage, and a position sensor and a depth sensor are provided at the bottom end of the detection rod. The detection rod always remains at the center position of the steel vertical cage, and the bottom end position of the detection rod is always flush with the bottom end position of the steel vertical cage. The sensor and the depth sensor detect the position and depth of the detection rod, and transmit the detection results back to the GPS positioning device, and the steel cage body is positioned by the GPS positioning device.

[0012] Furthermore, the adjustment device includes an adjustment device I arranged on both sides of the upper end of the steel cage body, and a limiting device arranged at the upper end of the sleeve. The adjustment device I includes a steel pipe I welded to the vertical steel bar at the upper end of the steel cage. The diameter of the steel pipe I is 48 mm. The direction of the steel pipe I is parallel to the direction of the vertical steel bar, and a steel pipe II is mounted on the steel pipe I. The diameter of the steel pipe II is 60 mm. A retractable screw rod I is arranged on both sides of the steel pipe II. One end of the screw rod I is connected to the motor II, and the other end of the screw rod I is connected to the steel pipe II.

[0013] Furthermore, the limiting device includes a limiting rod arranged inside the sleeve, and there are multiple limiting rods. A plurality of screw rods II are also arranged on the side wall of the sleeve. One end of the screw rod II is arranged on the side wall of the sleeve, and the other end extends to the inner side of the sleeve and abuts against the vertical steel bar of the steel cage body. An abutting rod is arranged on one side of the screw rod II, and the abutting rod is arranged between the steel cage body and the sleeve.

[0014] Furthermore, the installation device includes a steel cage body lifting device, which includes a base plate, a vertical rod, a mechanical arm, and a mechanical claw; the base plate is supported on the ground, the direction of the vertical rod is perpendicular to the ground, one end of the vertical rod is connected to the base plate, and the other end of the vertical rod is hinged to one end of the mechanical arm through a hinge shaft, and the other end of the mechanical arm is connected to the mechanical claw.

[0015] Furthermore, a slide rail I is provided on the vertical rod, and a steel cage depth adjustment device is provided in the slide rail I through a slider II. The steel cage depth adjustment device includes a movable cross bar, which can move up and down in the slide rail I driven by the slider II. A steel cage lifting device is provided at the lower end of the other end of the movable cross bar. The steel cage lifting device includes multiple fixed blocks, and a slide rail II is provided inside the fixed block. The two lifting fingers are driven by the slider II to slide left and right in the slide rail.

[0016] Furthermore, it also includes a control device, which includes an inner diameter detection device arranged in the steel cage body. The inner diameter detection device detects that the inner diameter of the steel cage is d and the inner diameter of the sleeve is D. The inner diameter detection device transmits the detection result to the data comparison system. When d>=D, the control system controls the motor I to rotate the screw to shorten the distance between the mounting ring I and the mounting ring II to reduce the inner diameter of the steel cage body.

[0017] Furthermore, when the inner diameter detection device detects that the value of d reaches (D 2 -d 2 ) / D>Σ, the control system controls motor I to rotate the screw to increase the distance between mounting ring I and mounting ring II to increase the inner diameter of the steel cage body.

[0018] Furthermore, the steel cage body is installed through the installation device, and the steel cage is grabbed and placed into the sleeve by controlling the robotic arm and the robotic claw. When the position sensor on the detection rod is placed on the reference plane at the bottom of the foundation pit, the relationship between the position of the detection rod on the reference plane and the O0 point is detected. When the detection rod falls on the O0 point, the position of the steel cage body is not adjusted.

[0019] Furthermore, when the distance between the position where the detection rod falls and the point O0 in the X direction is 0<X0<=0.05L0, the position of the steel cage body is not adjusted. When 0.05L0<X0<0.1L0, the control device controls the motor II to adjust the multiple screw rods I to push the steel pipe II to adjust the position of the steel cage body so that the position of the detection rod on the reference plane returns to the normal range.

[0020] Furthermore, when X0>0.1L0, the control device controls motor II to adjust multiple screw rods I to push steel pipe II and control multiple screw rods II to push the vertical steel bars and screw rods I to adjust the position of the steel cage body so that the position of the detection rod on the reference plane returns to the normal range.

[0021] Furthermore, the depth sensor on the detection rod detects the distance Y0 from the detection rod to the reference plane on the Y axis. When 0.02L1<Y0<0.05L1, the position of the steel cage body is not adjusted. When 0<Y0<0.02L1, the steel cage lifting device controls the sliding of the lifting finger to grasp the steel pipe I of the steel cage body and squeeze it downward to deepen the depth of the steel cage body on the reference plane.

[0022] Furthermore, when Y0>0.05L1, the steel cage lifting device controls the sliding of the lifting fingers to grasp the steel pipe I of the steel cage body and lift the steel cage upward to return to the normal depth range.

[0023] Furthermore, when (X0 2 -Y0 2 ) / (X0-Y0)>(L0-L1) / L0, restart the installation system to reinstall the steel cage body.

[0024] Furthermore, the sleeve may be circular or square.

[0025] (3) beneficial effects;

[0026] The present invention detects the position of the steel cage body by arranging a detection rod in the steel cage body and arranging a position sensor and a depth sensor on the detection rod, and combines and compares the detected position with the GPS positioning system. The position of the steel cage body is adjusted by arranging multiple position adjustment devices, and different adjustment devices are selected according to different detection results. The adjustment effect is enhanced by the cooperation and synergy between the various adjustment devices, thereby accurately ensuring the position accuracy of the steel cage body. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Attachment Figure 1 Schematic diagram of the foundation system.

[0028] Attachment Figure 2 Schematic diagram of the steel cage body.

[0029] Attachment Figure 3 This is a top view of the steel cage body.

[0030] Attachment Figure 4 Schematic diagram of the sleeve.

[0031] Attachment Figure 5 Schematic diagram of the steel vertical cage adjustment ring.

[0032] Attachment Figure 6 Schematic diagram of the steel cage lifting device.

[0033] Attachment Figure 7 Schematic diagram of the reference plane.

[0034] 1-foundation pit; 2-sleeve; 3-rebar cage body; 4-surrounding hoop; 5-rebar vertical cage adjustment ring; 6-detection rod; 7-steel pipe I, 8-steel pipe II, 9-screw rod I, 10-limit rod, 11-screw rod II, 12-abutment rod, 13-mounting ring I, 14-mounting ring II, 15-screw rod, 16-vertical rod, 17-mechanical arm, 18-mechanical claw, 19-moving crossbar, 20-fixed block, 21-lifting finger, 22-reference surface DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] An intelligent pile foundation steel cage precision positioning device and its control system, including a steel cage body, an installation device, a GPS positioning device, an adjustment device, a foundation device, and a data comparison device; the installation device installs the pile foundation steel cage, and the positioning system is used for positioning during the installation process, and the adjustment device is used for adjustment after positioning, and the foundation device and the installation device cooperate with each other, and the foundation device includes a foundation pit 1 that is drilled in advance, and sleeves 2 that are close to the pit are set on both side edges of the foundation pit 1, and the bottom of the foundation pit is set as a reference plane 22, and the center of the reference plane 22 is set as point O0, and the direction from the center of the circle to the side edges of the sleeves 2 on both sides of the pit is set to X, and the direction perpendicular to the center of the circle to the lower part of the pit reference plane is set to Y, and the steel cage body 3 includes a plurality of holes parallel to the Y direction. The steel bars are arranged in the Y direction, and there are several steel bars, which are evenly arranged along the circumferential direction to form a steel cage. A plurality of surrounding hoops 4 are arranged along the steel cage from top to bottom. The surrounding hoops 4 are perpendicular to the Y direction of the steel bars and clamp the steel cage in the circumferential direction. A steel cage adjustment ring 5 is arranged between the surrounding hoops 4. The steel cage adjustment ring 5 is also perpendicular to the Y direction of the steel bars and clamps the steel cage in the circumferential direction. The surrounding hoops 4 are made of rubber. The steel cage adjustment ring includes a mounting ring I (13) and a mounting ring II (14). The interior of the mounting ring I (13) is a cavity. A motor I is arranged in the cavity. The drive shaft of the motor is connected to a screw 15. The screw 15 extends from the cavity of the end walls on both sides of the mounting ring I. , fixedly connected to the end walls on both sides of the mounting ring II (14), starting the motor I can rotate the screw 15 to shorten the distance between the mounting ring I (13) and the mounting ring II (14) so ​​as to adjust the radius width of the steel cage. A detection rod 6 is arranged from top to bottom on the inner center point of the steel cage, and a position sensor and a depth sensor are arranged at the bottom end of the detection rod 6. The detection rod 6 always remains at the center position of the steel cage, and the bottom end position of the detection rod 6 is always flush with the bottom end position of the steel cage. The sensor and the depth sensor detect the position and depth of the detection rod and transmit the detection results back to the GPS positioning device. The steel cage body is positioned by the GPS positioning device. The adjustment device includes adjustment Device I, and a limiting device arranged at the upper end of the sleeve, the adjusting device I includes a steel pipe I (7) welded on the steel bar at the upper end of the steel bar cage, the diameter of the steel pipe I (7) is 48mm, the direction of the steel pipe I (7) is parallel to the direction of the steel bar, and a steel pipe II (8) is mounted on the steel pipe I, the diameter of the steel pipe II (8) is 60mm, and a retractable screw rod I (9) is arranged on both sides of the steel pipe II (8), one end of the screw rod I (9) is connected to the motor II, and the other end of the screw rod I (9) is connected to the steel pipe II (8), the limiting device includes a limiting rod (10) arranged inside the sleeve, a plurality of limiting rods (10) are arranged, and a plurality of screw rods II (11) are also arranged on the side wall of the sleeve, and one end of the screw rod II (11) is arranged on the side wall of the sleeve 2,The other end extends outward from the inner side of the sleeve and abuts against the steel bar of the steel cage body. Abutment rod 12 is provided on one side of the screw rod II (11), and the abutment rod 12 is provided between the steel cage body and the sleeve. The installation system includes a steel cage body lifting device, and the steel cage body lifting device includes a base plate, a vertical rod 16, a mechanical arm 17, and a mechanical claw 18; the base plate is supported on the ground, the direction of the vertical rod 16 is perpendicular to the ground, one end of the vertical rod 16 is connected to the base plate, and the other end of the vertical rod is hinged to one end of the mechanical arm 17 through a hinge shaft, and the other end of the mechanical arm 17 is connected to the mechanical claw 18. A slide rail I is provided on the vertical rod, and a steel cage depth adjustment device is provided in the slide rail I through a slider II. The steel cage depth adjustment device includes a moving cross bar 19, and the moving cross bar 19 It can move up and down in the slide rail I driven by the slider II. The other end of the moving crossbar is provided with a steel cage lifting device. The steel cage lifting device includes a plurality of fixed blocks 20. The fixed block 20 is provided with a slide rail II. The slide rail II drives two lifting fingers 21 to slide left and right in the slide rail through the slider II. The control system also includes a control system. The control system includes an inner diameter detection device provided in the steel cage body. The inner diameter detection device detects that the inner diameter of the steel cage is d and the inner diameter of the sleeve is D. The inner diameter detection device transmits the detection result to the data comparison system. When d>=D, the control system controls the motor I to rotate the screw to shorten the distance between the mounting ring I and the mounting ring II to reduce the inner diameter of the steel cage body. When the inner diameter detection device detects that the value of d reaches (D, 2 -d 2) / D>Σ, the control system controls the motor Ⅰ to rotate the screw to increase the distance between the mounting ring Ⅰ and the mounting ring Ⅱ to increase the inner diameter of the steel cage body, and the steel cage body is installed through the installation system. The steel cage is grabbed by the manipulator arm and the mechanical claw and placed in the sleeve. When the position sensor on the detection rod is placed on the reference plane at the bottom of the foundation pit, it detects the relationship between the position of the detection rod on the reference plane and the O0 point. When the detection rod falls on the O0 point, the position of the steel cage body is not adjusted. When the distance between the position of the detection rod and the O0 point in the X direction is 0<X0<=0.05L0, the position of the steel cage body is also not adjusted. When 0.05L0<X0<0.1L0, the control device controls the motor Ⅱ to adjust the multiple screw rods Ⅰ to push the steel pipe Ⅱ to adjust the position of the steel cage body so that the position of the detection rod on the reference plane returns to normal. Range, when X0>0.1L0, the control device controls the motor Ⅱ to adjust multiple screw rods Ⅰ to push the steel pipe Ⅱ and control multiple screw rods Ⅱ to push the vertical steel bars and cooperate with the screw rod Ⅰ to adjust the position of the steel cage body so that the position of the detection rod on the reference surface returns to the normal range. The depth sensor on the detection rod detects the distance Y0 from the detection rod to the reference surface on the Y axis. When 0.02L1<Y0<0.05L1, the position of the steel cage body is not adjusted. When 0<Y0<0.02L1, the steel cage lifting device controls the lifting finger to slide and grasp the steel pipe Ⅰ of the steel cage body to squeeze downward to deepen the depth of the steel cage body on the reference surface. When Y0>0.05L1, the steel cage lifting device controls the lifting finger to slide and grasp the steel pipe Ⅰ of the steel cage body to lift the steel cage upward to return to the normal depth range. When (X0 2 -Y0 2 ) / (X0-Y0)>(L0-L1) / L0, restart the installation system to reinstall the steel cage body. The sleeve can be round or square.

Claims

1. An intelligent pile foundation steel cage precision positioning device, comprising a steel cage body, an installation device, a GPS positioning device, an adjustment device, a foundation device, and a data comparison device; the installation device installs the pile foundation steel cage, and the positioning device is used for positioning during the installation process, and the adjustment device is used for adjustment after positioning, and the foundation device and the installation device cooperate with each other, and the foundation device comprises a foundation pit drilled in advance, sleeves tightly attached to the pit are provided on both side edges of the foundation pit, the bottom of the foundation pit is set as a reference plane, the center of the reference plane is set as point O0, the direction from the center of the circle to the side edges of the sleeves on both sides of the pit is set as X, and the direction perpendicular to the center of the circle to the lower part of the pit reference plane is set as Y, the steel cage body comprises steel bars parallel to the Y direction, a plurality of steel bars are provided, and are evenly arranged along the circumferential direction to form a steel vertical cage, and a plurality of surrounding bars are provided along the steel vertical cage from top to bottom. The clamp is perpendicular to the Y direction of the vertical steel bar and clamps the steel cage in the circumferential direction. The material of the clamp is rubber. A steel cage adjustment ring is arranged between the clamps. The steel cage adjustment ring also clamps the steel cage in the Y direction perpendicular to the vertical steel bar and in the circumferential direction. The steel cage adjustment ring includes a mounting ring I and a mounting ring II. The interior of the mounting ring I is a cavity. A motor I is arranged in the cavity. The drive shaft of the motor is connected to a screw. The screw extends from the cavity of the end walls on both sides of the mounting ring I and is fixedly connected to the end walls on both sides of the mounting ring II. Starting the motor I can rotate the screw to shorten the distance between the mounting ring I and the mounting ring II, thereby adjusting the radius width of the steel cage. A detection rod is arranged from top to bottom on the inner center point of the steel cage, and a position sensor and a depth sensor are arranged at the bottom end of the detection rod. An inner diameter detection device is also provided.

2. The intelligent pile foundation reinforcement cage precise positioning device according to claim 1 is characterized in that: The detection rod always remains at the center of the steel cage, and the bottom end of the detection rod is always flush with the bottom end of the steel cage. The sensor and depth sensor detect the position and depth of the detection rod, and transmit the detection results back to the GPS positioning system, and the steel cage body is positioned through the GPS positioning system.

3. The intelligent pile foundation reinforcement cage precise positioning device according to claim 2 is characterized by: The adjustment device includes an adjustment device I arranged on both sides of the upper end of the steel cage body, and a limit device arranged on the upper end of the sleeve. The adjustment device I includes a steel pipe I welded to the vertical steel bar at the upper end of the steel cage. The diameter of the steel pipe I is 48 mm. The direction of the steel pipe I is parallel to the direction of the vertical steel bar, and a steel pipe II is mounted on the steel pipe I. The diameter of the steel pipe II is 60 mm. A retractable screw rod I is arranged on both sides of the steel pipe II. One end of the screw rod I is connected to the motor II, and the other end of the screw rod I is connected to the steel pipe II.

4. The intelligent pile foundation reinforcement cage precise positioning device according to claim 3 is characterized by: The limiting device includes a limiting rod arranged inside the sleeve, and there are multiple limiting rods. A plurality of screw rods II are also arranged on the side wall of the sleeve. One end of the screw rod II is arranged on the side wall of the sleeve, and the other end extends to the inner side of the sleeve and abuts against the vertical steel bar of the steel cage body. An abutting rod is arranged on one side of the screw rod II, and the abutting rod is arranged between the steel cage body and the sleeve. The installation system includes a steel cage body lifting device, and the steel cage body lifting device includes a base plate, a vertical rod, a mechanical arm, and a mechanical claw; the base plate is supported on the ground, the direction of the vertical rod is perpendicular to the ground, one end of the vertical rod is connected to the base plate, and the other end of the vertical rod is hinged to one end of the mechanical arm through a hinge shaft, and the other end of the hinged arm is connected to the mechanical claw.

5. The intelligent pile foundation reinforcement cage precise positioning device according to claim 4 is characterized in that: A slide rail I is provided on the vertical rod, and a steel cage depth adjustment device is provided in the slide rail I through a slider II. The steel cage depth adjustment device includes a moving cross bar, which can move up and down in the slide rail I driven by the slider II. A steel cage lifting device is provided at the lower end of the other end of the moving cross bar. The steel cage lifting device includes multiple fixed blocks, and a slide rail II is provided inside the fixed block. The two lifting fingers in the slide rail II are driven by the slider II to slide left and right in the slide rail.

6. A control system for controlling the intelligent pile foundation reinforcement cage precise positioning device according to claims 1-5, characterized in that: It also includes an inner diameter detection device arranged in the steel cage body. The inner diameter detection device detects that the inner diameter of the steel cage is d and the inner diameter of the sleeve is D. The inner diameter detection device transmits the detection result to the data comparison system. When d>=D, the control system controls motor I to rotate the screw to shorten the distance between mounting ring I and mounting ring II to reduce the inner diameter of the steel cage body.

7. The control system according to claim 6, characterized in that: When the inner diameter detection device detects that the value of d reaches (D 2 -d 2 ) / D>Σ, the control system controls motor I to rotate the screw to increase the distance between mounting ring I and mounting ring II to increase the inner diameter of the steel cage body, and the steel cage body is installed through the installation system. The steel cage is grabbed by the manipulator arm and the mechanical claw and placed into the sleeve. When the position sensor on the detection rod is placed on the reference plane at the bottom of the foundation pit, the position sensor detects the relationship between the position of the detection rod on the reference plane and the O0 point. When the detection rod falls on the O0 point, the position of the steel cage body is not adjusted.

8. The control system according to claim 7, characterized in that: When the distance between the position where the detection rod falls and the point O0 in the X direction is 0<X0<=0.05L0, the position of the steel cage body is not adjusted. When 0.05L0<X0<0.1L0, the control device controls the motor II to adjust the multiple screw rods I to push the steel pipe II, thereby adjusting the position of the steel cage body to make the position of the detection rod on the reference plane return to the normal range. When X0>0.1L0, the control device controls the motor II to adjust the multiple screw rods I to push the steel pipe II and control the multiple screw rods II to push the vertical steel bars and cooperate with the screw rod I to adjust the position of the steel cage body to make the position of the detection rod on the reference plane return to the normal range.

9. The control system according to claim 8, characterized in that: The depth sensor on the probe rod detects the distance Y0 from the probe rod to the reference surface on the Y axis. When 0.02L1<Y0<0.05L1, the position of the steel cage body is not adjusted. When 0<Y0<0.02L1, the steel cage lifting device controls the sliding of the lifting finger to grab the steel pipe Ⅰ of the steel cage body and squeeze it downward to deepen the depth of the steel cage body on the reference surface. When Y0>0.05L1, the steel cage lifting device controls the sliding of the lifting finger to grab the steel pipe Ⅰ of the steel cage body and lift the steel cage upward to return to the normal depth range. When (X0 2 -Y0 2 ) / (X0-Y0)>(L0-L1) / L0, restart the installation system to reinstall the steel cage body.

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