Ultra-long reinforcement cage lowering device and lowering system thereof

Abstract

The invention relates to the technical field of reinforcement cage construction, in particular to an ultra-long reinforcement cage lowering device and a lowering system thereof. The support body comprises four stand columns a arranged at the top of the trailer, and a first flat plate, a second flat plate and a third flat plate are arranged among the stand columns a from bottom to top. The two bearing assemblies are symmetrically arranged on the left side and the right side of the top of the first flat plate. The two rotary clamping assemblies are arranged in the centers of the bottoms of the second flat plate and the third flat plate correspondingly. The welding assembly comprises a multi-station welding machine, the multi-station welding machine comprises a welding machine body and a plurality of welding heads, the welding heads are arranged on the second flat plate and annularly arrayed along the edge of the third large hole, and the welding machine body is arranged at the top of the front frame; and the correction assembly comprises a control module and two CCD industrial cameras which are arranged on the left side edges of the bottoms of the second flat plate and the third flat plate correspondingly, and the problems that in the prior art, manual welding operation is tedious, and construction efficiency is low are solved.

Description

Technical Field

[0001] The invention relates to the technical field of steel cage construction, and in particular to an ultra-long steel cage lowering device and a lowering system thereof. Background Art

[0002] As a commonly used structure in modern construction, the steel cage is composed of steel bars and welded mesh. It is used to reinforce the strength and stability of the pile foundation and can significantly improve the bending and shear resistance, bearing capacity and seismic performance of the pile. However, during the lowering process of the extra-long steel cage, the construction faces many challenges due to the length and weight of the steel cage.

[0003] The traditional method of lowering an extra-long steel cage usually adopts a method of lowering and welding in multiple sections. The specific process includes first lowering the first section of the steel cage into the pile hole. When the lowering is completed, steel bars are used to be inserted horizontally into the steel cage from the ground so that it is suspended at the hole entrance. Then, the second section of the steel cage is suspended above it, and the main bars of the steel cages at both ends are manually aligned and welded in sequence. After completion, the cage is lowered and the process is repeated until the welding and lowering of the last section of the steel cage is completed. However, this method is cumbersome to operate, has low construction efficiency, and poses safety hazards. Therefore, it is particularly important to develop a safer, more efficient and stable device for lowering extra-long steel cages. Summary of the invention

[0004] The embodiment of the present invention provides an ultra-long steel cage lowering device and a lowering system thereof. The device is arranged at the joints of the steel cages at both ends, and the position information of the steel cages is obtained in real time by using a correction component, so as to control a rotating clamping component to adjust the position of the main reinforcement. When the two sections of the steel cages are adjusted into place, they are automatically welded by a welding component. This automated docking method solves the problems of cumbersome operation, low construction efficiency, and potential safety hazards during manual docking.

[0005] An ultra-long steel cage lowering device, comprising:

[0006] A trailer, the trailer comprising a rear frame, a front frame being fixedly arranged on the front side of the rear frame, a plurality of lifting wheels and support arms being arranged around the bottom of the rear frame, and a first large opening being opened at the center of the top of the rear frame;

[0007] The support body comprises four upright posts a arranged at four corners of the top of the rear frame, a first flat plate, a second flat plate and a third flat plate are arranged respectively between the four upright posts a from bottom to top, and a second large hole, a third large hole and a fourth large hole are respectively opened on the top of the three flat plates, which are coaxial with the first large hole and have the same size;

[0008] Supporting components, the supporting components have two groups, symmetrically arranged on the left and right sides of the top of the first flat plate with the second largest opening as the center, and are used to be inserted into the steel cage and contact with the stirrups of the steel cage, so as to ensure the longitudinal fixation of the steel cage;

[0009] Rotating clamping components, which have two groups and are respectively arranged at the bottom center of the second plate and the third plate, and are used to clamp and rotate the steel cage suspended at the large opening to ensure the lateral fixation of the steel cage;

[0010] A welding assembly, comprising a multi-station welding machine, the multi-station welding machine comprising a welding machine body and a plurality of welding heads, the plurality of welding heads being arranged on the second flat plate and arranged in a circular pattern along the edge of the third large opening, the welding machine body being arranged on the top of the front frame;

[0011] The correction component includes a control module and two CCD industrial cameras, the two CCD industrial cameras are respectively arranged at the bottom left edges of the second plate and the third plate, and the control module is electrically connected to the CCD industrial camera, the supporting component, the rotating clamping component and the welding component.

[0012] Furthermore, the lifting wheel on the trailer is an electrically controlled lifting wheel, which is electrically connected to the control module, and the support arm is a telescopic support arm connected with a thread, which is used to manually adjust the length of the telescopic support arm.

[0013] Furthermore, the third plate is movably connected to the bracket body, a movable groove is provided at the top center of the column a, columns b are provided at the four corners of the third plate, and a square rod slidably connected to the movable groove is provided at the bottom of the column b, telescopic columns are provided at the four corners between the third plate and the second plate, the bottom of the telescopic column is fixedly connected to the bottom of the third plate, the output shaft end of the telescopic column is fixedly connected to the top of the second plate, and a resistance spring is provided on the outer side of the telescopic column.

[0014] Furthermore, the supporting assembly includes two fixed plates symmetrically arranged together, a bracket plate is arranged on the top of the fixed plate, two slide rails are arranged on the top of the two fixed plates near the relative position of the two bracket plates, and a sliding card plate is movably arranged on the top of the slide rails, a first servo motor is arranged on the outer side of one of the bracket plates, the output shaft of the first servo motor respectively passes through the two bracket plates, and the output shaft thereof is respectively provided with transmission gears meshing with the two sliding card plates.

[0015] Furthermore, the sliding card includes a rack, a supporting plug plate and a sliding seat, the supporting plug plate is fixedly arranged on the rack in a direction close to the second large opening, the sliding seat is arranged at the bottom of the rack, and the sliding seat is slidably connected to the slide rail.

[0016] Furthermore, a guide rod is provided on the top of the fixed plate in a direction parallel to the slide rail, and a guide sliding block slidably connected to the guide rod is provided on one side of the sliding card plate.

[0017] Furthermore, the rotary clamping assembly includes a plurality of U-shaped fixed hangers, transverse connecting arms, annular frames and cylinder clamps, a lifting bracket is arranged in the middle of the fixed hanger, a side groove is opened on one side of the lifting bracket, a screw rod is rotatably arranged in the side groove, a second servo motor is arranged on the top side of the lifting bracket, a gear structure meshing with the end of the screw rod is provided on the rotating shaft of the second servo motor, one end of the transverse connecting arm is movably arranged on the screw rod, and an upward guide wheel is arranged at the other end of the transverse connecting arm, and when the second servo motor rotates, the transverse connecting arm The connecting arm moves in the length direction of the screw rod, and a third servo motor is arranged on the outer side of the transverse connecting arm close to the guide wheel. A circle of gear belt is arranged on the outer side of the annular frame, and the end of the output shaft of the third servo motor has a gear structure meshing with the gear belt. The bottom of the annular frame is provided with a bottom groove for the guide wheel to roll, and two clamp mounting plates are symmetrically arranged at the top of the annular frame. The cylinder clamp includes a cylinder body, and an arc-shaped clamping plate is arranged at the end of its output shaft. The cylinder clamp has two clamp mounting plates respectively fixed on two clamp mounting plates.

[0018] Furthermore, a welding frame is provided at the top of the second flat plate along the edge of the third large opening, and the welding frame includes an annular mounting plate, and the bottom of the annular mounting plate is fixedly connected to the second flat plate by a plurality of steel bars, and the side mounting surface of the annular mounting plate is an inclined surface pointing in the direction of the third large opening, and the welding assembly also includes a plurality of electric telescopic rods, and the electric telescopic rods are equally divided circumferentially on the outside of the annular mounting plate, and the output shaft thereof passes through the annular mounting plate and is connected to the welding head.

[0019] In a second aspect, an embodiment of the present invention provides an ultra-long steel cage lowering system, comprising:

[0020] The image processing module processes the images captured by the CCD industrial camera through the image processing algorithms of edge detection and contour extraction, and extracts the contour information of the opening and the steel cage;

[0021] The virtual main reinforcement distribution marking module calculates the distribution of the main reinforcement of the virtual reinforcement cage according to the model data of the reinforcement cage, including the diameter, length and main reinforcement spacing, and creates corresponding distribution marks inside. These marks will be used for subsequent alignment with the main reinforcement of the actual hoisting reinforcement cage;

[0022] The dynamic calibration module compares the extracted main reinforcement position information with the virtual distribution mark to determine whether the main reinforcement of the steel cage is aligned with the distribution mark, and calculates the deviation angle and distance based on the deviation;

[0023] The command sending module is used to adjust the operation of the servo motor on the rotating clamping assembly so that the main reinforcement of the steel cage is gradually aligned with the virtual distribution mark.

[0024] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0025] The present invention simplifies the tedious operations of traditional manual docking through an automated docking method, reduces manual intervention, and thus significantly improves construction efficiency. The position information of the steel cage can be obtained in real time through a CCD industrial camera, and a virtual main reinforcement distribution marking module can be generated, so as to quickly adjust the main reinforcement position, so that the two sections of the steel cage can be quickly and accurately docked, greatly shortening the construction period. In this process, the system uses image processing technology and the drive of the servo motor to ensure the precise alignment of the main reinforcement of the steel cage, thereby improving the accuracy and stability of welding. This docking method helps to reduce welding defects and improve the overall construction quality.

[0026] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0027] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 It is a schematic diagram of the structure of the super-long steel cage lowering device disclosed in an embodiment of the present invention;

[0030] Figure 2 It is a right view of the super-long steel cage lowering device disclosed in an embodiment of the present invention;

[0031] Figure 3It is a structural schematic diagram of a trailer disclosed in an embodiment of the present invention;

[0032] Figure 4 It is a schematic structural diagram of a bracket body disclosed in an embodiment of the present invention;

[0033] Figure 5 It is a schematic diagram of the structure of the supporting assembly disclosed in the embodiment of the present invention;

[0034] Figure 6 A top view of a supporting assembly disclosed in an embodiment of the present invention;

[0035] Figure 7 It is a structural schematic diagram of a rotary clamping assembly disclosed in an embodiment of the present invention;

[0036] Figure 8 It is a structural schematic diagram of a welding assembly disclosed in an embodiment of the present invention;

[0037] Fig. 9 A communication block diagram disclosed in an embodiment of the present invention.

[0038] Reference numerals:

[0039] 10. trailer; 11. front frame; 12. rear frame; 13. lifting wheel; 14. support arm; 15. first large opening; 20. bracket body; 21. column a; 22. first plate; 2201. second large opening; 23. second plate; 2301. third large opening; 24. third plate; 2401. fourth large opening; 2402. column b; 2403. telescopic column; 2404. resistance spring; 25. welding frame; 2501. annular mounting plate; 30. supporting assembly; 31. fixing plate; 3101. bracket plate; 32. first servo motor; 33. slide rail; 34. sliding card plate; 3401. rack; 3402. supporting plug plate; 3403. slide seat; 35. guide rod; 36. guide slider; 40 , rotating clamping assembly; 41, fixed hanger; 42, lifting bracket; 4201, screw; 4202, second servo motor; 43, horizontal connecting arm; 44, third servo motor; 45, guide wheel; 46, ring frame; 4601, gear belt; 4602, fixture mounting plate; 47, cylinder fixture; 4701, cylinder body; 4702, arc clamp; 50, welding assembly; 51, multi-station welding machine; 5101, welding machine body; 5102, welding head; 52, electric telescopic rod; 60, correction assembly; 61, CCD industrial camera; 62, control module; 6201, image processing module; 6202, virtual main reinforcement distribution marking module; 6203, dynamic calibration module; 6204, instruction sending module. DETAILED DESCRIPTION

[0040] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0041] Embodiment 1

[0042] like Figure 1-2 As shown, an embodiment of the present invention provides an ultra-long steel cage lowering device, including a trailer 10, a bracket body 20, a supporting assembly 30, a rotating clamping assembly 40, a welding assembly 50 and a correcting assembly 60. During the docking and welding process of the steel cages at both ends, the main reinforcement position information of the currently hoisted steel cage is extracted in real time by the CCD industrial camera 61 in the correcting assembly 60, and the extracted main reinforcement position information is compared with the virtual distribution mark to determine whether the main reinforcement of the steel cage is aligned with the distribution mark. If the main reinforcement deviates from the distribution mark, the control module 62 will calculate the angle and distance of the deviation, and then send an instruction to the rotating clamping assembly 40, and adjust its rotation angle and speed to gradually align the main reinforcement of the steel cage with the virtual distribution mark. When the first section of the steel cage is adjusted to the target position, the supporting assembly 30 is used to fix it longitudinally, and then the second section of the steel cage is hoisted, and the calibration process is repeated, that is, the main reinforcement of the steel cage at both ends can be aligned, and then the connection is welded by the welding assembly 50. This invention has high construction efficiency.

[0043] like Figure 3 As shown, the trailer 10 includes a rear frame 12, a front frame 11 is fixedly arranged on the front side of the rear frame 12, a plurality of lifting wheels 13 and support arms 14 are arranged around the bottom of the rear frame 12, and a first large opening 15 is opened at the top center of the rear frame 12. The trailer 10 is used as the main carrier to facilitate the transportation and use of the lower device.

[0044] As a preferred embodiment, the lifting wheel 13 on the trailer 10 is an electrically controlled lifting wheel 13, which is electrically connected to the control module 62, and the support arm 14 is a telescopic support arm 14 with a threaded connection. Specifically, when in use, the trailer 10 is moved above the foundation pit so that the first large opening 15 is coaxial with the foundation pit. At this time, the telescopic support arm 14 is rotated so that its bottom end contacts the ground. This method can adapt to uneven ground, and then the electrically controlled lifting wheel 13 is controlled to rise, that is, the main force point is on the telescopic support arm 14.

[0045] like Figure 4As shown, the bracket body 20 includes four columns a21 arranged at the four corners of the top of the rear frame 12, and a first plate 22, a second plate 23 and a third plate 24 are respectively arranged between the four columns a21 from bottom to top, and the tops of the three plates are respectively provided with a second large hole 2201, a third large hole 2301 and a fourth large hole 2401 which are coaxial and have the same size as the first large hole 15.

[0046] As a preferred embodiment, the third plate 24 is movably connected to the bracket body 20, a movable groove is provided at the top center of the column a21, columns b2402 are provided at the four corners of the third plate 24, and a square rod slidably connected to the movable groove is provided at the bottom of the column b2402. Telescopic columns 2403 are provided at the four corners between the third plate 24 and the second plate 23, the bottom of the telescopic column 2403 is fixedly connected to the bottom of the third plate 24, the output shaft end of the telescopic column 2403 is fixedly connected to the top of the second plate 23, and a resistance spring 2404 is provided on the outside of the telescopic column 2403. The movably connected mode of the third plate 24 and the bracket body 20 can be that when the steel cage is hoisted above the third plate 24, it collides with the top of the third plate 24 due to not aligning with the fourth large opening 2401, thereby causing instantaneous excessive pressure, squeezing and deforming its structure, and the elastic deformation of the resistance spring 2404 can buffer such an accident.

[0047] like Figure 5-6 As shown, there are two groups of supporting components 30, which are symmetrically arranged on the left and right sides of the top of the first flat plate 22 with the second largest hole 2201 as the center. They are used to be inserted into the steel cage and form constraints with the stirrups of the steel cage, thereby ensuring the longitudinal fixation of the steel cage.

[0048] Specifically, the supporting assembly 30 includes two symmetrically arranged fixed plates 31, a bracket plate 3101 is arranged on the top of the fixed plate 31, two slide rails 33 are arranged on the top of the two fixed plates 31 at relative positions close to the two bracket plates 3101, and a sliding clamping plate 34 is movably arranged on the top of the slide rail 33. A first servo motor 32 is arranged on the outer side of one of the bracket plates 3101, and the output shaft of the first servo motor 32 passes through the two bracket plates 3101 respectively, and a transmission gear meshing with the two sliding clamping plates 34 is arranged on its output shaft respectively. When the first servo motor 32 rotates, the sliding clamping plate 34 can move back and forth in the direction of the slide rail 33. When the main reinforcement of the steel cage below is adjusted to the right position, the sliding clamping plate 34 is moved to the direction of the second opening so that it is stuck in the longitudinal moving direction path of the steel cage, thereby forming a limit with its stirrups.

[0049] In this embodiment, the sliding card plate 34 includes a rack 3401, a supporting plug plate 3402 and a slide seat 3403. The supporting plug plate 3402 is fixedly arranged on the rack 3401 in the direction close to the second largest hole 2201. The slide seat 3403 is arranged at the bottom of the rack 3401, and the slide seat 3403 is slidably connected to the slide rail 33.

[0050] As a preferred embodiment, a guide rod 35 is provided on the top of the fixed plate 31 in a direction parallel to the slide rail 33, and a guide slider 36 slidably connected to the guide rod 35 is provided on one side of the sliding clamp 34. The guide rod 35 is used to improve the stability of the sliding clamp 34. Since it is subjected to excessive force when restricting the steel cage, part of the radial force is transferred through the guide rod 35, thereby increasing the stability of the structure.

[0051] like Figure 7 As shown, there are two groups of rotating clamping assemblies 40, which are respectively arranged at the bottom center of the second plate 23 and the third plate 24. They are used to clamp and rotate the steel cage hung at the large opening to ensure the lateral fixation of the steel cage.

[0052] Specifically, the rotary clamping assembly 40 includes a plurality of U-shaped fixed hangers 41, a transverse connecting arm 43, an annular frame 46 and a cylinder clamp 47. A lifting bracket 42 is arranged in the middle of the fixed hanger 41. A side groove is provided on one side of the lifting bracket 42. A screw rod 4201 is rotatably arranged in the side groove. A second servo motor 4202 is arranged on the top side of the lifting bracket 42. A gear structure meshing with the end of the screw rod 4201 is provided on the rotating shaft of the second servo motor 4202. One end of the transverse connecting arm 43 is movably arranged on the screw rod 4201, and an upward guide wheel 45 is arranged on the other end. When the second servo motor 4202 rotates, the transverse connecting arm 43 moves in the length direction of the screw rod 4201. The outer side of the transverse connecting arm 43 is provided with a second servo motor 4202 on the side close to the guide wheel 45. Three servo motors 44, a circle of gear belt 4601 is arranged on the outer side of the annular frame 46, the end of the output shaft of the third servo motor 44 has a gear structure meshing with the gear belt 4601, the bottom of the annular frame 46 is provided with a bottom groove for the guide wheel 45 to roll, and two clamp mounting plates 4602 are symmetrically arranged at the top of the annular frame 46, the cylinder clamp 47 includes a cylinder body 4701, and the end of its output shaft is provided with an arc clamping plate 4702, and the cylinder clamp 47 has two respectively fixed on two clamp mounting plates 4602. When it is in operation, the steel cage at the target position is first clamped by the two clamp mounting plates 4602 to ensure that it is laterally fixed and to ensure that it remains coaxial with any large opening, and then the third servo motor 44 is controlled to rotate based on the instruction of the control module 62.

[0053] like Figure 8As shown, the welding assembly 50 includes a multi-station welding machine 51, which includes a welding machine body 5101 and a plurality of welding heads 5102. The plurality of welding heads 5102 are arranged on the second flat plate 23 and are arranged in a ring shape along the edge of the third large opening 2301. The welding machine body 5101 is arranged on the top of the front frame 11.

[0054] Specifically, a welding frame 25 is arranged at the top of the second flat plate 23 along the edge of the third large opening 2301, and the welding frame 25 includes an annular mounting plate 2501. The bottom of the annular mounting plate 2501 is fixedly connected to the second flat plate 23 by a plurality of steel bars. The side mounting surface of the annular mounting plate 2501 is an inclined surface pointing in the direction of the third large opening 2301. The welding assembly 50 also includes a plurality of electric telescopic rods 52, which are equally divided circumferentially on the outside of the annular mounting plate 2501, and the output shaft thereof passes through the annular mounting plate 2501 and is connected to the welding head 5102.

[0055] It should be noted that the number of welding heads 5102 and electric telescopic rods 52 is the same. During construction, different sizes and numbers of annular mounting plates 2501, welding heads 5102 and electric telescopic rods 52 are selected according to the model of the steel cage to ensure that each main reinforcement corresponds to one welding head 5102.

[0056] In this embodiment, the correction component 60 includes a control module 62 and two CCD industrial cameras 61. The two CCD industrial cameras 61 are respectively arranged at the bottom left edges of the second plate 23 and the third plate 24. The control module 62 is electrically connected to the CCD industrial camera 61, the supporting component 30, the rotating clamping component 40 and the welding component 50.

[0057] Embodiment 2

[0058] The embodiment of the present invention also discloses a system for lowering an ultra-long steel cage, such as Fig. 9 ,include:

[0059] The image processing module 6201 processes the image captured by the CCD industrial camera 61 through the image processing algorithm of edge detection and contour extraction, and extracts the contour information of the hole and the steel cage, as follows:

[0060] First, the original image transmitted by the CCD industrial camera 61 is subjected to preprocessing operations such as filtering and denoising to improve the image quality and provide a clear input for subsequent processing;

[0061] Then, edge detection algorithms, such as Canny edge detection, are used to identify edge information corresponding to the large opening and the steel cage in the image;

[0062] Based on the edge detection results, the contour extraction algorithm is used to extract the contour information of the opening and the steel cage, providing key data for subsequent comparison and calibration.

[0063] The virtual main reinforcement distribution marking module 6202 calculates the distribution of the main reinforcement of the virtual reinforcement cage according to the model data of the reinforcement cage, including the diameter, length and main reinforcement spacing, and establishes corresponding distribution marks internally. These marks will be used for subsequent alignment with the reinforcement cage main reinforcement distribution data obtained in real time by the CCD industrial camera 61.

[0064] The dynamic calibration module 6203 compares the main reinforcement position information extracted by the image processing module 6201 with the virtual distribution mark to determine whether the main reinforcement of the steel cage is aligned with the distribution mark; further, based on the comparison result, a deviation calculation is performed to calculate the deviation angle and distance between the actual steel cage and the adjacent main reinforcement of the steel cage with the virtual distribution mark, and based on the deviation, a corresponding calibration instruction is generated to adjust the operation of the servo motor on the rotating clamping assembly 40 so that the main reinforcement of the steel cage is gradually aligned with the virtual distribution mark.

[0065] The instruction sending module 6204 is used to adjust the operation of the servo motor on the rotating clamping assembly 40 so that the main reinforcement of the steel cage is gradually aligned with the virtual distribution mark.

[0066] The reinforcement cage lowering method of the present invention comprises the following steps:

[0067] S1, move the trailer 10 to the top of the foundation pit, adjust the four large openings to be coaxial with the foundation pit, and then adjust the support arm 14 to support the ground, and initially fix the lowering device;

[0068] S2, hoisting the first section of the steel cage from the fourth large opening 2401 toward the foundation pit. When the top of the first section of the steel cage is above the second flat plate 23, the hoisting equipment is stopped. At this time, the rotating clamping assembly 40 at the bottom of the second flat plate 23 is controlled to clamp the first section of the steel cage to ensure that it remains coaxial with the foundation pit.

[0069] S3, the CCD industrial camera 61 below the second plate 23 transmits the real-time image here to the control unit, and the control unit adjusts the first section of the steel cage based on the dynamic calibration module 6203;

[0070] S4, after the main reinforcement of the first section of the steel cage is aligned, the servo motor on the supporting assembly 30 is controlled to rotate, so that the sliding clamping plate 34 is inserted into the first section of the steel cage, and then the hoisting equipment further lowers the first section of the steel cage. During this process, the second servo motor 4202 in the rotating clamping assembly 40 at this location moves synchronously, so that the annular frame 46 moves downward following the operation of the hoisting equipment, ensuring that the rotating clamping assembly 40 always keeps the first section of the steel cage horizontally fixed and ensures that it is coaxial with the foundation pit;

[0071] S5, then loosen the cable of the hoisting equipment on the first section of steel bars, and hoist the second section of steel cage;

[0072] S6, hoist the second section of steel bars from the fourth large opening 2401 toward the foundation pit until the bottom of the second section of steel cage is located below the third platform 24, then stop the hoisting equipment, and control the rotating clamping assembly 40 at the bottom of the third flat plate to clamp the second section of steel cage to ensure that it remains coaxial with the foundation pit;

[0073] S7, using the CCD industrial camera 61 and the control module 62 below the third plate 24 to perform the same main reinforcement alignment operation on the second section of the steel cage as in step S2;

[0074] S8, continue to lower the second steel cage until it contacts the main reinforcement of the first section of steel bars, then stop lowering, and then control the multi-station welding machine 51 to perform welding;

[0075] It should be noted that the distribution direction of the welding head 5102 on the welding frame 25 and the distribution direction and quantity of the virtual main reinforcement in the virtual main reinforcement distribution marking module 6202 are ensured to be the same. When the welding head 5102 is assembled, it is assembled based on the actual steel cage model below.

[0076] S9, after welding is completed, the rotating clamping assemblies 40 at both ends are controlled in turn to release the clamping of the steel cage, and the sliding clamping plate 34 on the supporting assembly 30 is recovered, and the welded steel cage is lowered so that its top end is located above the second flat plate 23, and then steps S2-S8 are repeated to weld and assemble the subsequent steel cages in turn until the last section.

[0077] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0078] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0079] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0080] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0081] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0082] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A super-long steel cage lowering device, characterized in that: include: A trailer (10), the trailer (10) comprising a rear frame (12), a front frame (11) being fixedly arranged on the front side of the rear frame (12), a plurality of lifting wheels (13) and support arms (14) being arranged around the bottom of the rear frame (12), and a first large opening (15) being opened at the center of the top of the rear frame (12); The support body (20) comprises four upright posts a (21) arranged at four corners of the top of the rear frame (12); a first flat plate (22), a second flat plate (23) and a third flat plate (24) are respectively arranged between the four upright posts a (21) from bottom to top; and a second large hole (2201), a third large hole (2301) and a fourth large hole (2401) are respectively opened on the top of the three flat plates and are coaxial with and have the same size as the first large hole (15); A supporting assembly (30), wherein the supporting assembly (30) has two groups, which are symmetrically arranged on the left and right sides of the top of the first flat plate (22) with the second largest opening (2201) as the center, and are used to be inserted into the steel cage and contact with the stirrups of the steel cage, thereby ensuring the longitudinal fixation of the steel cage; A rotating clamping assembly (40), wherein the rotating clamping assembly (40) has two groups, which are respectively arranged at the bottom center of the second plate (23) and the third plate (24), and are used to clamp and rotate the steel cage suspended at the large opening to ensure the lateral fixation of the steel cage; A welding assembly (50) comprising a multi-station welding machine (51), the multi-station welding machine (51) comprising a welding machine body (5101) and a plurality of welding heads (5102), the plurality of welding heads (5102) being arranged on the second flat plate (23) and arranged in a circular pattern along the edge of the third large opening (2301), the welding machine body (5101) being arranged on top of the front frame (11); The correction component (60) comprises a control module (62) and two CCD industrial cameras (61), wherein the two CCD industrial cameras (61) are respectively arranged at the bottom left edges of the second plate (23) and the third plate (24), and the control module (62) is respectively electrically connected to the CCD industrial cameras (61), the supporting component (30), the rotating clamping component (40) and the welding component (50).

2. The super-long steel cage lowering device according to claim 1, characterized in that: The lifting wheel (13) on the trailer (10) is an electrically controlled lifting wheel (13) which is electrically connected to the control module (62); the support arm (14) is a threaded telescopic support arm (14) which is used to manually adjust the length of the telescopic support arm (14).

3. The super-long steel cage lowering device according to claim 1, characterized in that: The third plate (24) is movably connected to the bracket body (20); a movable groove is provided at the top center of the column a (21); columns b (2402) are provided at the four corners of the third plate (24); a square rod slidably connected to the movable groove is provided at the bottom of the column b (2402); telescopic columns (2403) are provided at the four corners between the third plate (24) and the second plate (23); the bottom of the telescopic column (2403) is fixedly connected to the bottom of the third plate (24); the output shaft end of the telescopic column (2403) is fixedly connected to the top of the second plate (23); and a resisting spring (2404) is provided on the outer side of the telescopic column (2403).

4. The super-long steel cage lowering device according to claim 1, characterized in that: The supporting assembly (30) comprises two symmetrically arranged fixing plates (31), a bracket plate (3101) is arranged on the top of the fixing plates (31), two slide rails (33) are arranged on the top of the two fixing plates (31) near the relative position of the two bracket plates (3101), a sliding card plate (34) is movably arranged on the top of the slide rail (33), a first servo motor (32) is arranged on the outer side of one of the bracket plates (3101), the output shaft of the first servo motor (32) respectively passes through the two bracket plates (3101), and the output shaft thereof is respectively provided with a transmission gear meshing with the two sliding card plates (34).

5. The super-long steel cage lowering device according to claim 4, characterized in that: The sliding card plate (34) comprises a rack (3401), a supporting plug plate (3402) and a sliding seat (3403); the supporting plug plate (3402) is fixedly arranged on the rack (3401) in a direction close to the second large opening (2201); the sliding seat (3403) is arranged at the bottom of the rack (3401); and the sliding seat (3403) is slidably connected to the slide rail (33).

6. The super-long steel cage lowering device according to claim 5, characterized in that: A guide rod (35) is provided on the top of the fixed plate (31) in a direction parallel to the slide rail (33), and a guide sliding block (36) slidably connected to the guide rod (35) is provided on one side of the sliding card plate (34).

7. The super-long steel cage lowering device according to claim 1, characterized in that: The rotary clamping assembly (40) comprises a plurality of fixed hangers (41) of U-shaped structure, a transverse connecting arm (43), an annular frame (46) and a cylinder clamp (47); a lifting bracket (42) is arranged in the middle of the fixed hanger (41); a side groove is provided on one side of the lifting bracket (42); a screw rod (4201) is rotatably arranged in the side groove; a second servo motor (4202) is arranged on the top side of the lifting bracket (42); a gear structure meshing with the end of the screw rod (4201) is provided on the rotating shaft of the second servo motor (4202); one end of the transverse connecting arm (43) is movably arranged on the screw rod (4201); the other end of the transverse connecting arm (43) is provided with an upward guide wheel (45); when the second servo motor (4202) rotates, the transverse connecting arm (43) ) moves in the length direction of the screw rod (4201), a third servo motor (44) is arranged on the outer side of the transverse connecting arm (43) close to the guide wheel (45), a circle of gear belt (4601) is arranged on the outer side of the annular frame (46), the output shaft end of the third servo motor (44) has a gear structure meshing with the gear belt (4601), the bottom of the annular frame (46) is provided with a bottom groove for the guide wheel (45) to roll, two fixture mounting plates (4602) are symmetrically arranged at the top of the annular frame (46), the cylinder fixture (47) includes a cylinder body (4701), the end of its output shaft is provided with an arc clamping plate (4702), and the cylinder fixture (47) has two respectively fixed on the two fixture mounting plates (4602).

8. The super-long steel cage lowering device according to claim 1, characterized in that: A welding frame (25) is arranged at the top of the second flat plate (23) along the edge of the third large opening (2301), and the welding frame (25) comprises an annular mounting plate (2501), the bottom of the annular mounting plate (2501) is fixedly connected to the second flat plate (23) by a plurality of steel bars, and the side mounting surface of the annular mounting plate (2501) is an inclined surface pointing in the direction of the third large opening (2301), and the welding assembly (50) further comprises a plurality of electric telescopic rods (52), and the electric telescopic rods (52) are arranged at equal parts on the outside of the annular mounting plate (2501) in the circumferential direction, and the output shafts thereof pass through the annular mounting plate (2501) and are connected to the welding head (5102).

9. An ultra-long steel cage lowering system, using an ultra-long steel cage lowering device as described in any one of claims 1 to 8, characterized in that: include: An image processing module (6201) processes the image captured by the CCD industrial camera (61) through an image processing algorithm of edge detection and contour extraction, and extracts contour information of the opening and the steel cage; The virtual main reinforcement distribution marking module (6202) calculates the distribution of the main reinforcement of the virtual reinforcement cage according to the model data of the reinforcement cage, including the diameter, length and main reinforcement spacing, and creates corresponding distribution marks inside. These marks will be used for subsequent alignment with the main reinforcement of the actual hoisting reinforcement cage; The dynamic calibration module (6203) compares the extracted main reinforcement position information with the virtual distribution mark to determine whether the main reinforcement of the steel cage is aligned with the distribution mark, and calculates the deviation angle and distance based on the deviation; The command sending module (6204) is used to adjust the operation of the servo motor on the rotating clamping assembly (40) so that the main reinforcement of the reinforcement cage is gradually aligned with the virtual distribution mark.

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