A device and system for lowering an ultra-long steel cage

Abstract

A device and system for lowering an ultra-long rebar cage, relating to the field of rebar cage construction technology, includes: a trailer; a support body comprising four columns a set on the top of the trailer, with a first plate, a second plate, and a third plate respectively set between the columns a from bottom to top; two sets of supporting components symmetrically arranged on the top left and right sides of the first plate; two sets of rotating clamping components respectively set at the bottom center of the second and third plates; a welding component including a multi-station welding machine, comprising a welding machine body and several welding heads, the welding heads being arranged on the second plate in a ring along the edge of the third large opening, the welding machine body being set on the top of the front frame; and a straightening component including a control module and two CCD industrial cameras respectively set at the bottom left edge of the second and third plates, solving the problems of cumbersome manual welding operations and low construction efficiency in the prior art.

Description

Technical Field

[0001] This invention relates to the field of steel cage construction technology, specifically to an ultra-long steel cage lowering device and its lowering system. Background Technology

[0002] As a commonly used structure in modern construction, steel cages are composed of steel bars and welded mesh. They are used to strengthen the strength and stability of pile foundations and can significantly improve the bending and shear resistance, bearing capacity and seismic performance of piles. However, the lowering of ultra-long steel cages presents many challenges due to their length and weight.

[0003] Traditional methods for lowering ultra-long steel cages typically involve lowering and welding them in multiple sections. The process involves first lowering the first section of the cage into the pile hole. As it nears completion, steel bars are inserted horizontally into the cage from the ground to suspend it at the opening. Next, the second section is suspended above it, and the main reinforcing bars at both ends are manually aligned and welded together. This process is repeated until the final section is welded and lowered. However, this method is cumbersome, inefficient, and poses safety hazards. Therefore, developing a safer, more efficient, and stable device for lowering ultra-long steel cages is crucial. Summary of the Invention

[0004] This invention provides a device and system for lowering an ultra-long steel cage. By setting this device at the joint of the steel cages at both ends, the device uses a correction component to obtain the position information of the steel cage in real time, and then controls the rotating clamping component to adjust the position of its main reinforcement. When both sections of the steel cage 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 safety hazards associated with manual docking.

[0005] A device for lowering an ultra-long steel cage includes:

[0006] The trailer includes a rear frame, a front frame is fixedly installed on the front side of the rear frame, a number of lifting wheels and support arms are provided around the bottom of the rear frame, and a first large opening is provided at the center of the top of the rear frame.

[0007] The main body of the support includes four columns a set at the four corners of the top of the rear frame. A first plate, a second plate and a third plate are respectively set between the four columns a from bottom to top. The top of the three plates are respectively provided with a second large opening, a third large opening and a fourth large opening that are coaxial with the first large opening and of the same size.

[0008] The support components are in two sets, symmetrically arranged on the top left and right sides of the first plate with the second large opening as the center. They are used to insert into the steel cage and abut against the stirrups of the steel cage, thereby ensuring the longitudinal fixation of the steel cage.

[0009] The rotating clamping assembly consists of two sets, which are respectively located at the bottom center of the second plate and the third plate. They are used to clamp and rotate the steel cage that is hoisted to the large opening to ensure the lateral fixation of the steel cage.

[0010] The welding assembly includes a multi-station welding machine, which includes a welding machine body and several welding heads. The welding heads are arranged on the second plate and are arranged in a ring along the edge of the third large opening. The welding machine body is located on the top of the front frame.

[0011] The correction assembly includes a control module and two CCD industrial cameras, which are respectively located at the bottom left edges of the second and third flat plates. The control module is electrically connected to the CCD industrial cameras, the support assembly, the rotary clamping assembly, and the welding assembly.

[0012] Furthermore, the lifting wheels on the trailer are electrically controlled lifting wheels, which are electrically connected to the control module, and the support arm is a threaded telescopic support arm, used for manually adjusting the length of the telescopic support arm.

[0013] Furthermore, the third plate is movably connected to the main body of the support. A movable groove is provided at the center of the top of the column a. Columns b are provided at the four corners of the third plate. 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. A retaining spring is provided on the outside of the telescopic column.

[0014] Furthermore, the supporting assembly includes two symmetrically arranged fixed plates. A support plate is provided on the top of the fixed plates. Two slide rails are provided on the top of the two fixed plates near the relative positions of the two support plates. A sliding plate is movably arranged on the top of the slide rails. A first servo motor is provided on the outer side of one of the support plates. The output shaft of the first servo motor passes through the two support plates respectively, and a transmission gear that meshes with the two sliding plates is provided on its output shaft respectively.

[0015] Furthermore, the sliding plate includes a rack, a support plate, and a slide block. The support plate is fixedly disposed on the rack near the second large opening, and the slide block is disposed at the bottom of the rack and 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 slider that is slidably connected to the guide rod is provided on one side of the sliding plate.

[0017] Furthermore, the rotary clamping assembly includes several U-shaped fixed hangers, a transverse connecting arm, a ring frame, and a cylinder clamp. A lifting bracket is located in the middle of the fixed hanger. A side groove is formed on one side of the lifting bracket, and a lead screw is rotatably mounted in the side groove. A second servo motor is located on the top side of the lifting bracket. The rotating shaft of the second servo motor has a gear structure that meshes with the end of the lead screw. One end of the transverse connecting arm is movably mounted on the lead screw, and the other end has an upward-facing guide wheel. When the second servo motor rotates, the transverse connecting arm... The connecting arm moves along the length of the lead screw. A third servo motor is provided on the outer side of the transverse connecting arm near the guide wheel. A gear belt is provided on the outer side of the ring frame. The output shaft end of the third servo motor has a gear structure that meshes with the gear belt. A bottom groove for the guide wheel to roll is provided at the bottom of the ring frame. Two clamping mounting plates are symmetrically positioned on the top of the ring frame. The cylinder clamp includes a cylinder body, and an arc-shaped clamp is provided at the end of its output shaft. The cylinder clamp has two clamps, which are respectively fixedly mounted on the two clamping mounting plates.

[0018] Furthermore, a welding frame is provided on the top of the second plate along the edge of the third large opening. The welding frame includes an annular mounting plate. The bottom of the annular mounting plate is fixedly connected to the second plate by several steel bars. The side mounting surface of the annular mounting plate is an inclined surface pointing towards the third large opening. The welding assembly also includes several electric telescopic rods. The electric telescopic rods are evenly distributed circumferentially on the outside of the annular mounting plate. Their output shafts pass through the annular mounting plate and are connected to the welding head.

[0019] Secondly, embodiments of the present invention provide an ultra-long steel cage lowering system, comprising:

[0020] The image processing module uses edge detection and contour extraction algorithms to process the images captured by the CCD industrial camera and extract the contour information of the opening and the rebar cage.

[0021] The virtual main reinforcement distribution marking module calculates the distribution of the main reinforcement in the virtual steel cage based on the model data of the steel cage, including diameter, length and main reinforcement spacing, and establishes corresponding distribution markings inside. These markings will be used for subsequent alignment with the main reinforcement of the actual hoisted steel cage.

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

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

[0024] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0025] This invention simplifies the tedious traditional manual docking process by using an automated docking method, reducing human intervention and significantly improving construction efficiency. A CCD industrial camera can acquire the real-time position information of the rebar cage and generate a virtual main reinforcement distribution marking module, allowing for rapid adjustment of the main reinforcement positions. This enables the two sections of the rebar cage to dock quickly and accurately, greatly shortening the construction cycle. During this process, the system utilizes image processing technology and servo motor drive to ensure precise alignment of the main reinforcement bars, thereby improving the accuracy and stability of welding. This docking method helps reduce welding defects and improves overall construction quality.

[0026] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0027] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

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

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

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

[0032] Figure 4 This is a schematic diagram of the structure of the support body disclosed in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the support component disclosed in an embodiment of the present invention;

[0034] Figure 6 This is a top view of the support component disclosed in an embodiment of the present invention;

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

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

[0037] Figure 9 This is a communication block diagram disclosed in an embodiment of the present invention.

[0038] Figure label:

[0039] 10. Trailer; 11. Front frame; 12. Rear frame; 13. Lifting wheel; 14. Support arm; 15. First large opening; 20. Support 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. Anti-collision spring; 25. Welding frame; 2501. Annular mounting plate; 30. Support assembly; 31. Fixing plate; 3101. Support plate; 32. First servo motor; 33. Slide rail; 34. Sliding plate; 3401. Rack; 3402. Support insert plate; 3403. Slide seat; 35. Guide rod; 36. Guide slider; 40 41. Rotary clamping assembly; 42. Fixed hanger; 43. Lifting bracket; 44. Lead screw; 45. Second servo motor; 46. Lateral connecting arm; 47. Third servo motor; 48. Guide wheel; 49. Ring frame; 40. Gear belt; 41. Fixture mounting plate; 42. Cylinder clamp; 43. Cylinder body; 44. Arc-shaped clamping plate; 50. Welding assembly; 51. Multi-station welding machine; 52. Welding machine body; 53. Welding head; 64. Electric telescopic rod; 65. Correction assembly; 66. CCD industrial camera; 67. Control module; 68. Image processing module; 69. Virtual main rib distribution marking module; 60. Dynamic calibration module; 61. Command sending module. Detailed Implementation

[0040] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0041] Example 1

[0042] like Figure 1-2 As shown, this embodiment of the invention provides an ultra-long rebar cage lowering device, including a trailer 10, a support body 20, a supporting component 30, a rotating clamping component 40, a welding component 50, and a straightening component 60. During the docking and welding process of the two rebar cages, the CCD industrial camera 61 in the straightening component 60 extracts the position information of the main reinforcement bars of the currently hoisted rebar cage in real time. The extracted position information of the main reinforcement bars is compared with the virtual distribution marks to determine whether the main reinforcement bars of the rebar cage are aligned with the distribution marks. If the main reinforcement bars deviate from the distribution marks, the control module 62 calculates the angle and distance of the deviation and then sends a command to the rotating clamping component 40. By adjusting its rotation angle and speed, the main reinforcement bars of the rebar cage are gradually aligned with the virtual distribution marks. After the first section of the rebar cage is aligned to the target position, the supporting component 30 is used to fix it longitudinally, and then the second section of the rebar cage is hoisted. The calibration process is repeated, that is, the main reinforcement bars of the two ends of the rebar cage can be aligned. Then, the welding component 50 is used to weld the connection. 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 installed on the front side of the rear frame 12, and several lifting wheels 13 and support arms 14 are provided around the bottom of the rear frame 12. A first large opening 15 is opened at the center of the top of the rear frame 12. Using the trailer 10 as the main carrier makes it easy to transport and use the device below.

[0044] In 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. The support arm 14 is a threaded telescopic support arm 14. In specific use, the trailer 10 is moved above the pit so that the first large opening 15 is coaxial with the 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. 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 main body 20 of the bracket includes four columns a21 set at the four corners of the top of the rear frame 12. A first plate 22, a second plate 23 and a third plate 24 are respectively set between the four columns a21 from bottom to top. The top of the three plates are respectively provided with a second large opening 2201, a third large opening 2301 and a fourth large opening 2401 that are coaxial with the first large opening 15 and of the same size.

[0046] In a preferred embodiment, the third plate 24 is movably connected to the support 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. Square rods with movable grooves are provided at the bottom of the columns 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. A stop spring 2404 is provided on the outside of the telescopic column 2403. The movable connection between the third plate 24 and the support body 20 can be used to prevent the steel cage from being misaligned with the fourth large opening 2401 when it is hoisted above the third plate 24, causing it to come into contact with the top of the third plate 24 and resulting in excessive instantaneous pressure, which can deform the structure. The elastic deformation of the stop spring 2404 can buffer this accident.

[0047] like Figure 5-6 As shown, there are two sets of support components 30, which are symmetrically arranged on the top left and right sides of the first plate 22 with the second large opening 2201 as the center. They are used to insert into the steel cage and form a constraint with the stirrups of the steel cage, thereby ensuring the longitudinal fixation of the steel cage.

[0048] Specifically, the supporting component 30 includes two symmetrically arranged fixing plates 31. A support plate 3101 is provided on the top of the fixing plate 31. Two slide rails 33 are provided on the top of the two fixing plates 31 near the two support plates 3101 at opposite positions. A sliding plate 34 is movably arranged on the top of the slide rails 33. A first servo motor 32 is provided on the outer side of one of the support plates 3101. The output shaft of the first servo motor 32 passes through the two support plates 3101 respectively, and a transmission gear that meshes with the two sliding plates 34 is provided on its output shaft. When the first servo motor 32 rotates, the sliding plate 34 can move back and forth in the direction of the slide rail 33. When the position of the main reinforcement of the steel cage below is adjusted into place, the sliding plate 34 is moved to the direction of the second opening, so that it is locked in the longitudinal movement path of the steel cage, thereby forming a limit with its stirrups.

[0049] In this embodiment, the sliding plate 34 includes a rack 3401, a support plate 3402, and a slide 3403. The support plate 3402 is fixedly disposed on the rack 3401 in the direction close to the second large opening 2201. The slide 3403 is disposed at the bottom of the rack 3401 and is slidably connected to the slide rail 33.

[0050] In 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 is provided on one side of the sliding plate 34, which is slidably connected to the guide rod 35. The guide rod 35 is used to improve the stability of the sliding plate 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 sets of rotating clamping components 40, which are respectively set at the bottom center of the second plate 23 and the third plate 24. They are used to clamp and rotate the steel cage that is hoisted to the large opening to ensure the lateral fixation of the steel cage.

[0052] Specifically, the rotating clamping assembly 40 includes several U-shaped fixed hangers 41, a transverse connecting arm 43, a ring frame 46, and a cylinder clamp 47. A lifting bracket 42 is located in the middle of the fixed hanger 41. A side groove is formed on one side of the lifting bracket 42, and a lead screw 4201 is rotatably mounted in the side groove. A second servo motor 4202 is located on the top side of the lifting bracket 42. The rotating shaft of the second servo motor 4202 has a gear structure that meshes with the end of the lead screw 4201. One end of the transverse connecting arm 43 is movably mounted on the lead screw 4201, and the other end is provided with an upward-facing guide wheel 45. When the second servo motor 4202 rotates, the transverse connecting arm 43 moves along the length of the lead screw 4201. A second servo motor 45 is located on the outer side of the transverse connecting arm 43 near the guide wheel 45. The outer side of the ring frame 46 is provided with a gear belt 4601. The output shaft end of the third servo motor 44 has a gear structure that meshes with the gear belt 4601. The bottom of the ring frame 46 is provided with a bottom groove for the guide wheel 45 to roll. The top of the ring frame 46 is provided with two clamping mounting plates 4602 symmetrically positioned. The cylinder clamp 47 includes a cylinder body 4701, and the end of its output shaft is provided with an arc-shaped clamping plate 4702. The cylinder clamp 47 has two parts, which are respectively fixed on the two clamping mounting plates 4602. When it is running, it first clamps the steel cage at the target position through the two clamping mounting plates 4602 to ensure that it is horizontally fixed and that it remains coaxial with any large opening. Then, it controls the third servo motor 44 to rotate based on the instructions 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 several welding heads 5102. The welding heads 5102 are arranged on the second plate 23 and are arranged in a ring along the edge of the third large opening 2301. The welding machine body 5101 is located on the top of the front frame 11.

[0054] Specifically, a welding frame 25 is provided on the top of the second plate 23 along the edge of the third large opening 2301. The welding frame 25 includes an annular mounting plate 2501. The bottom of the annular mounting plate 2501 is fixedly connected to the second plate 23 by several steel bars. The side mounting surface of the annular mounting plate 2501 is an inclined surface pointing towards the third large opening 2301. The welding assembly 50 also includes several electric telescopic rods 52. The electric telescopic rods 52 are evenly distributed around the outside of the annular mounting plate 2501. Their output shafts pass through the annular mounting plate 2501 and are connected to the welding head 5102.

[0055] It should be noted that the number of welded joints 5102 and electric telescopic rods 52 is the same. During construction, different sizes and quantities of annular mounting plates 2501, welded joints 5102 and electric telescopic rods 52 should be selected according to the model of the reinforcing cage to ensure that one welded joint 5102 corresponds to one main reinforcing bar.

[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 located at the bottom left edge of the second plate 23 and the third plate 24. The control module 62 is electrically connected to the CCD industrial cameras 61, the support component 30, the rotating clamping component 40 and the welding component 50.

[0057] Example 2

[0058] This invention also discloses an ultra-long steel cage lowering system, such as... Figure 9 ,include:

[0059] The image processing module 6201 processes the image captured by the CCD industrial camera 61 using image processing algorithms for edge detection and contour extraction, extracting the contour information of the opening and the rebar cage, as follows:

[0060] First, the raw images transmitted by the CCD industrial camera 61 are preprocessed by filtering, denoising and other operations to improve image quality and provide clear input for subsequent processing.

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

[0062] Based on the edge detection results, contour extraction algorithms are used to extract the contour information of the opening and the rebar 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 steel cage based on the model data of the steel cage, including diameter, length and main reinforcement spacing, and establishes corresponding distribution markings inside. These markings will be used for subsequent alignment with the main reinforcement distribution data of the steel cage acquired 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. Furthermore, based on the comparison result, it performs deviation calculation to calculate the deviation angle and distance between the actual steel cage and the adjacent main reinforcement of the steel cage in the virtual distribution mark. Based on the deviation, it generates corresponding calibration instructions to adjust the operation of the servo motor on the rotating clamping assembly 40 so that the main reinforcement of the steel cage gradually aligns 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 bars of the steel cage are gradually aligned with the virtual distribution marks.

[0066] The method for lowering the reinforcing cage according to the present invention includes the following steps:

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

[0068] S2, the first section of the steel cage is hoisted from the fourth large opening 2401 toward the foundation pit using a hoisting method. When the top of the first section of the steel cage is above the second plate 23, the hoisting equipment is stopped. At this time, the rotating clamping assembly 40 at the bottom of the second 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 under the second flat 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 bars of the first section of the steel cage are aligned, the servo motor on the support assembly 30 is rotated to allow the sliding plate 34 to be inserted into the first section of the steel cage. 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 moves synchronously, causing the ring frame 46 to move downward with the operation of the hoisting equipment, ensuring that the rotating clamping assembly 40 always keeps the first section of the steel cage in a fixed lateral position and ensures that it is coaxial with the foundation pit.

[0071] S5, then release the cable of the hoisting equipment to 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 below the third platform 24, then stop the hoisting equipment and control the rotating clamping assembly 40 at the bottom of the third plate to clamp the second section of steel cage to ensure that it remains coaxial with the foundation pit.

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

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

[0075] It should be noted that the distribution direction of the welding heads 5102 on the welding frame 25 should be the same as the distribution direction and quantity of the virtual main bars in the virtual main bar distribution marking module 6202. When assembling the welding heads 5102, the assembly should be based on the actual steel cage model below.

[0076] S9. After welding is completed, the rotating clamping components 40 at both ends are controlled to release the clamping of the steel cage in sequence. At the same time, the sliding plate 34 on the supporting component 30 is retrieved, and the welded steel cage is lowered so that its top is above the second plate 23. Then, steps S2-S8 are repeated so that the subsequent steel cages are welded and assembled in sequence 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 may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0078] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0079] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0080] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0081] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0082] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A device for lowering an ultra-long steel cage, characterized in that, include: The trailer (10) includes a rear frame (12), a front frame (11) is fixedly installed on the front side of the rear frame (12), a number of lifting wheels (13) and support arms (14) are provided 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 main body of the support (20) includes four columns a (21) set at the four corners of the top of the rear frame (12). A first plate (22), a second plate (23) and a third plate (24) are respectively set between the four columns a (21) from bottom to top. The top of the three plates are respectively provided with a second large opening (2201), a third large opening (2301) and a fourth large opening (2401) that are coaxial with the first large opening (15) and of the same size. Supporting components (30) are in two sets, symmetrically arranged on the top left and right sides of the first plate (22) with the second large opening (2201) as the center. They are used to insert into the steel cage and abut against the stirrups of the steel cage, thereby ensuring the longitudinal fixation of the steel cage. Rotary clamping assembly (40), there are two sets of rotary clamping assembly (40), which are respectively set at the bottom center of the second plate (23) and the third plate (24). They are used to clamp and rotate the steel cage that is hoisted to the large opening to ensure the lateral fixation of the steel cage. 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 plate (23) and are arranged in a ring along the edge of the third large opening (2301). The welding machine body (5101) is located on the top of the front frame (11). The correction assembly (60) includes a control module (62) and two CCD industrial cameras (61), which are respectively located on the bottom left edge of the second plate (23) and the third plate (24). The control module (62) is electrically connected to the CCD industrial cameras (61), the support assembly (30), the rotating clamping assembly (40) and the welding assembly (50).

2. The ultra-long steel cage lowering device as described in 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) used to manually adjust the length of the telescopic support arm (14).

3. The ultra-long steel cage lowering device as described in claim 1, characterized in that, The third plate (24) is movably connected to the support 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). A resisting spring (2404) is provided on the outside of the telescopic column (2403).

4. The ultra-long steel cage lowering device as described in claim 1, characterized in that, The supporting component (30) includes two symmetrically arranged fixing plates (31). A bracket plate (3101) is provided on the top of the fixing plate (31). Two slide rails (33) are provided on the top of the two fixing plates (31) near the relative positions of the two bracket plates (3101). A sliding plate (34) is movably provided on the top of the slide rails (33). A first servo motor (32) is provided on the outer side of one of the bracket plates (3101). The output shaft of the first servo motor (32) passes through the two bracket plates (3101) respectively, and a transmission gear that meshes with the two sliding plates (34) is provided on its output shaft respectively.

5. The ultra-long steel cage lowering device as described in claim 4, characterized in that, The sliding plate (34) includes a rack (3401), a support plate (3402), and a slide (3403). The support plate (3402) is fixedly disposed on the rack (3401) near the second large opening (2201). The slide (3403) is disposed at the bottom of the rack (3401) and is slidably connected to the slide rail (33).

6. The ultra-long steel cage lowering device as described in 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 slider (36) is provided on one side of the sliding plate (34) and is slidably connected to the guide rod (35).

7. The ultra-long steel cage lowering device as described in claim 1, characterized in that, The rotating clamping assembly (40) includes a number of U-shaped fixed hangers (41), a transverse connecting arm (43), a ring frame (46), and a cylinder clamp (47). A lifting bracket (42) is provided in the middle of the fixed hanger (41). A side groove is provided on one side of the lifting bracket (42), and a lead screw (4201) is rotatably mounted in the side groove. A second servo motor (4202) is provided on the top side of the lifting bracket (42). The rotating shaft of the second servo motor (4202) has a gear structure that meshes with the end of the lead screw (4201). One end of the transverse connecting arm (43) is movably mounted on the lead screw (4201), and the other end is provided with an upward-facing guide wheel (45). When the second servo motor (4202) rotates, the transverse connecting arm (43)... The screw (4201) moves along its length. A third servo motor (44) is provided on the outer side of the transverse connecting arm (43) near the guide wheel (45). A gear belt (4601) is provided on the outer side of the ring frame (46). The output shaft end of the third servo motor (44) has a gear structure that meshes with the gear belt (4601). The bottom of the ring frame (46) is provided with a bottom groove for the guide wheel (45) to roll. Two clamp mounting plates (4602) are symmetrically provided on the top of the ring frame (46). The cylinder clamp (47) includes a cylinder body (4701). An arc-shaped clamp plate (4702) is provided at the end of its output shaft. Two cylinder clamps (47) are respectively fixed on the two clamp mounting plates (4602).

8. The ultra-long steel cage lowering device as described in claim 1, characterized in that, A welding frame (25) is provided on the top of the second plate (23) along the edge of the third large opening (2301). The welding frame (25) includes an annular mounting plate (2501). The bottom of the annular mounting plate (2501) is fixedly connected to the second plate (23) by several steel bars. The side mounting surface of the annular mounting plate (2501) is an inclined surface pointing towards the third large opening (2301). The welding assembly (50) also includes several electric telescopic rods (52). The electric telescopic rods (52) are evenly distributed around the outside of the annular mounting plate (2501). Their output shafts pass through the annular mounting plate (2501) and are connected to the welding head (5102).

9. A system for lowering an ultra-long steel cage, using an ultra-long steel cage lowering device as described in any one of claims 1-8, characterized in that, include: The image processing module (6201) processes the image captured by the CCD industrial camera (61) through image processing algorithms of edge detection and contour extraction, and extracts the 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 steel cage based on the model data of the steel cage, including diameter, length and main reinforcement spacing, and establishes corresponding distribution markings inside. These markings will be used for subsequent alignment with the main reinforcement of the actual hoisted steel 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 angle and distance of the deviation based on the deviation. 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 bars of the steel cage are gradually aligned with the virtual distribution marks.

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