Intelligent reinforcement cage machining system

Abstract

The invention provides an intelligent reinforcement cage processing system which comprises an execution unit controlled in a closed-loop mode through a main control unit, the execution unit comprises a reinforcement feeding mechanism, a reinforcement cutting mechanism, a threading mechanism, a reinforcement replacing mechanism, an end face processing mechanism and a cage weaving mechanism, and the reinforcement feeding mechanism comprises a feeding mechanism used for supporting and conveying reinforcement bundles; the horizontal clamping mechanism and the vertical clamping mechanism are arranged close to the rib cutting mechanism; the self-adaptive cutter compensation module is additionally arranged, the trend of the saw blade is judged by detecting the linear speed, the temperature and the dynamic cutting force of the saw blade in real time, and therefore real-time compensation is conducted, and the problem that the saw blade is broken due to the fact that radial force or transverse force borne by the saw blade is too large due to deflection of the saw blade along with increase of the feed amount is solved.

Description

Technical Field

[0001] The present invention relates to the field of mechanical processing and manufacturing technology, in particular to the field of processing and manufacturing technology of steel cages, and specifically to an intelligent steel cage processing system. Background Art

[0002] Rebar cages are a key structural framework for concrete's load-bearing and strength enhancement. Current cage manufacturing primarily relies on a combination of traditional manual tying and mechanized production. The mechanized technology, centered around CNC cage roll welding machines, achieves semi-continuous production through automated rebar winding, main bar positioning, and welding processes. Some advanced equipment also incorporates vision recognition and laser positioning technologies to enhance precision. Traditional processes rely on manual rebar cutting, bending, and tying, resulting in high labor intensity and low efficiency. While semi-automated equipment can improve production efficiency, it still requires manual adjustment of parameters and quality monitoring, is expensive to purchase, and lacks adaptability to complex and irregularly shaped rebar cages. The welding process is prone to uneven weld strength and embrittlement in the heat-affected zone. While mechanical joining techniques can avoid welding defects, they face challenges such as stringent sleeve positioning accuracy and rising construction costs. Furthermore, the increasing prevalence of high-strength rebar further complicates processing. However, the above-mentioned weaving process of the steel cage is the last step in the manufacture of the steel cage. Before weaving the cage, steel bars of different specifications need to be sawed, threaded and flattened according to the specifications of the required steel cage to facilitate the subsequent connection of the steel cage. For example, when constructing foundation piles, bridge piers, etc., since the length of concrete pouring is very long, the steel cage needs to be connected and poured unit by unit, so that a large amount of pre-processing of the steel bars is required before the steel cage is weaved. Taking steel bar sawing as an example, the existing steel bar sawing mostly adopts the sawing of bundled steel bars, and the sawing equipment mainly adopts friction plate cutting or sawing machine cutting. For large-scale processing, the efficiency of friction plates is low compared with sawing machine cutting, the consumption is large, and the end face uniformity is poor; in addition, the diameter of a single bundle of steel bars that can be processed by friction plates is small; therefore, in the existing technology, the sawing of bundled steel bars is mostly done by sawing machine. However, the biggest problem with sawing machines for sawing whole bundles of steel bars is that individual steel bars may break due to misalignment, vibration, or the saw blade may become skewed as the sawing feed increases. This is one of the biggest and most prominent problems in the steel bar sawing process. Summary of the Invention

[0003] In order to solve the problems of low intelligence level and reliance on manual control in the existing steel cage processing process; for steel bar sawing, it is easy for local misalignment of bundled steel bars to cause saw jamming and saw breakage, and the saw blade deflects and breaks as the feed rate increases. The present application provides an intelligent steel cage processing system, which mainly focuses on the steel bar bundle sawing process. By improving the tool adaptive compensation mechanism, it can effectively reduce or even eliminate the problems of saw blade deflection, saw jamming and saw breakage in the steel bar bundle sawing process; at the same time, it further solves the problem of high reliance on manual labor and low processing efficiency in the steel cage preparation process.

[0004] In order to achieve the above objectives, the technical solutions adopted in this application are:

[0005] The present invention provides an intelligent steel cage processing system, comprising an execution unit controlled by a closed loop of a main control unit, the execution unit comprising a steel feeding mechanism, a steel cutting mechanism, a threading mechanism, a steel changing mechanism, an end surface processing mechanism and a cage weaving mechanism, the steel feeding mechanism comprising a feeding mechanism for supporting and conveying steel bundles, a horizontal clamping mechanism and a vertical clamping mechanism arranged near the steel cutting mechanism, the horizontal clamping mechanism having a fixed support frame, a rack fixedly arranged on the support frame, drivingly connected to the rack and reciprocatingly opening and closing along the length direction of the support frame for clamping the steel bundle The clamping head of the vertical clamping mechanism includes a portal frame that moves up and down, and a space for accommodating the steel bar bundle is enclosed between the portal frame and the plane where the support frame is located; the steel bar cutting mechanism includes a saw blade for cutting the steel bar bundle, and the saw blade is tightened and driven by the driving wheel disc and the driven wheel disc, as well as a first speed sensor and a second speed sensor for detecting the real-time speed of the driving wheel disc and the driven wheel disc respectively. The main control unit includes a protection warning module for sending a saw retraction instruction to the steel bar cutting mechanism by comparing the speed difference ΔR between the first speed sensor and the second speed sensor.

[0006] In order to reduce the problems of saw jamming and saw breakage caused by vibration, displacement, and skewed steel bars, preferably, the main control unit also includes a module for controlling the steel bar cutting mechanism to perform adaptive tool compensation. The steel bar cutting mechanism also includes an infrared temperature sensor for real-time / interval measurement of saw blade temperature and a three-axis force sensor array for detecting the dynamic cutting force of the saw blade. The tool compensation amount ΔL used by the steel bar cutting mechanism to drive the saw blade for cutting is calculated as follows:

[0007] ΔL=k1·T+k2·v 2 +k3·∫F(t)dt

[0008] Among them, ΔL represents the saw blade compensation amount, including axial and radial compensation components, unit: mm; T represents the real-time temperature of the saw blade, unit: ℃; v represents the linear speed of the saw blade, unit: m / s; F(t) represents the dynamic cutting force, unit: N; k1-k3 represent the weight coefficients, which are determined by dynamic calibration through machine learning.

[0009] In order to avoid the problem of steel bar bundles slipping and skew during the steel bar feeding process, which affects the front-end sawing, it is further preferred that the steel bar feeding mechanism also includes a clamping mechanism for clamping the steel bar bundle, and the clamping mechanism includes clamping units symmetrically installed on both sides of the length direction of the feeding mechanism, and the clamping unit includes a plurality of bearing seats A fixedly installed on both sides of the feeding mechanism, and a deflection shaft A rotatably installed in the bearing seat A on the same side, and the deflection shaft A is respectively fixed with a knife arm located above the feeding mechanism for pressing the steel bar bundle and a support arm A located below the feeding mechanism, and the free end of the support arm A is hinged with a push-pull mechanism A for driving the deflection shaft A to rotate.

[0010] Furthermore, the push-pull mechanism A is a hydraulic rod or an electric telescopic rod, the knife arm is an arc-shaped structure, and a non-slip rubber layer is provided on the side close to the steel bar bundle. The deflection angle of the deflection axis A is 45°-90°.

[0011] Further preferably, the feeding mechanism includes a frame, a plurality of rollers arranged at intervals along the length direction of the frame, the two ends of the rollers are rotatably connected by bearing seats B fixedly installed at both ends of the frame, and one end of each roller is equipped with a sprocket A connected by a chain drive, and the chain is also driven by a drive unit A.

[0012] Furthermore, baffles for limiting the rolling of the steel bar bundle are provided at both ends of the frame.

[0013] Preferably, the reinforcement changing mechanism includes a plurality of steel bar accommodating grooves arranged in parallel, a plurality of rotating shaft frames fixedly arranged between two adjacent steel bar accommodating grooves, a deflection axis B passing through any rotating shaft frame located on the same axis, and a plurality of support arms B fixedly arranged on the deflection axis B. The free end of any support arm B is hinged to the push-pull mechanism B and the support arm B is deflected by the telescopic driving force of the push-pull mechanism B to flip the steel bars in any steel bar accommodating groove to another adjacent steel bar accommodating groove.

[0014] Still further preferably, the reinforcement changing mechanism further comprises a plurality of rollers spaced apart in the reinforcement receiving groove for supporting and moving the reinforcement, the rollers being coaxially fixedly mounted with a sprocket B, and any sprocket B being driven and connected to the drive unit B via a chain B.

[0015] In order to improve the continuity of steel bar feeding and improve the efficiency of the steel bar sawing process, preferably, it also includes a steel bar shelf A arranged next to the steel bar changing mechanism for supplying steel bars to the steel bar changing mechanism one by one, and the steel bar shelf A includes a shelf beam for placing steel bars to be threaded / end-face treated, and a deflection shaft C driven by a drive unit C is provided on the side of the shelf beam close to the steel bar changing mechanism, and a flip hook for transporting the steel bars to the steel bar changing mechanism one by one is fixedly installed on the deflection shaft C.

[0016] In order to regularly store the steel bars that have been threaded and end-face treated, preferably, a steel bar shelf B for shelving the steel bars that have been threaded and end-face treated is further provided on the side of the steel bar replacement mechanism away from the steel bar shelf A.

[0017] Beneficial effects:

[0018] 1. The present invention can detect the status of the saw blade in the process of sawing steel bundles in real time by adding a protection warning module. If the saw blade gets stuck, slips, or the steel bar vibrates beyond the limit, the saw can be retracted or stopped immediately, thereby effectively solving the problem of saw breakage easily caused by existing sawing machines when sawing a whole bundle of steel bars.

[0019] 2. The present invention adds an adaptive tool compensation module and determines the direction of the saw blade by real-time detection of the saw blade's linear speed, temperature and dynamic cutting force, thereby performing real-time compensation to avoid the saw blade from being deflected as the feed amount increases, resulting in the saw blade being subjected to excessive radial force or lateral force, causing the saw blade to break.

[0020] 3. The present invention compensates the feeding of the tool and detects the status of the steel bar bundle in the cutting process in real time, ensuring that the saw blade can always saw at a uniform speed along the vertical feed direction, which can provide basic guarantee for the flatness of the sawed end face, reduce the end face cutting amount, reduce the pressure for subsequent end face processing, shorten the end face processing time, and further improve efficiency.

[0021] 4. The present invention automatically completes the entire process from steel bar bundling to feeding, sawing, threading, and end face processing without manual intervention, which greatly reduces the human resource investment in the steel bar pre-processing process and improves the degree of intelligence and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0023] Figure 1 It is the structural axonometric drawing of the reinforcement delivery mechanism.

[0024] Figure 2 yes Figure 1 A magnified view of the structure of area A in the middle.

[0025] Figure 3 yes Figure 1 Enlarged view of the structure of area B in the middle.

[0026] Figure 4 yes Figure 1 main view.

[0027] Figure 5 yes Figure 4 Enlarged view of the structure of the middle C area.

[0028] Figure 6 It is the structural axonometric drawing of the threading and reinforcement changing mechanism.

[0029] Figure 7 yes Figure 6 Enlarged view of the structure of the middle D area.

[0030] Figure 8 yes Figure 6 Enlarged view of the structure of the middle E area.

[0031] In the figure: 10 - rib feeding mechanism; 11 - horizontal clamping mechanism; 111 - support frame; 112 - rack; 113 - clamping head; 12 - vertical clamping mechanism; 13 - clamping mechanism; 131 - push-pull mechanism A; 132 - support arm A; 133 - deflection axis A; 134 - bearing seat A; 135 - knife arm; 14 - feeding mechanism; 141 - sprocket A; 142 - bearing seat B; 143 - chain; 144 - roller; 15 - baffle;

[0032] 20-cutting mechanism; 21-saw blade; 30-threading mechanism; 40-clamping mechanism;

[0033] 50 - Rebar replacement mechanism; 51 - Rebar receiving groove; 52 - Push-pull mechanism B; 53 - Support arm B; 54 - Rotating shaft frame; 55 - Deflection axis B; 56 - Sprocket B; 57 - Roller; 58 - Chain B; 59 - Drive unit B;

[0034] 60-Rebar shelf A; 61-Shelving beam; 62-Deflection axis C; 63-Turning hook; 70-End face processing mechanism; 80-Rebar shelf B. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without making any creative efforts shall fall within the scope of protection of the present application.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0038] In the description of this application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation on this application. In addition, if the terms "first", "second", etc. appear in the description of this application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0039] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not necessarily imply that a component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical" and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0040] It should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. A person of ordinary skill in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0041] Example 1:

[0042] The present embodiment provides an intelligent steel cage processing system, including an execution unit controlled by a closed loop of a main control unit, the execution unit including a steel feeding mechanism 10, a steel cutting mechanism 20, a threading mechanism 30, a steel changing mechanism 50, an end surface processing mechanism 70 and a cage weaving mechanism, the steel feeding mechanism 10 including a feeding mechanism 14 for supporting and conveying steel bundles, a horizontal clamping mechanism 11 and a vertical clamping mechanism 12 arranged near the steel cutting mechanism 20, the horizontal clamping mechanism 11 having a fixed support frame 111, the support frame 111 having a fixed rack 112, which is driven by the rack 112 and reciprocates along the length direction of the support frame 111 The clamping head 113 is opened and closed to clamp the steel bar bundle. The vertical clamping mechanism 12 has a portal frame that moves up and down, and a space for accommodating the steel bar bundle is enclosed between the portal frame and the plane where the support frame 111 is located; the steel bar cutting mechanism 20 has a saw blade 21 for cutting the steel bar bundle, and the saw blade 21 is tightened and driven by the driving wheel and the driven wheel, as well as a first speed sensor and a second speed sensor for detecting the real-time speed of the driving wheel and the driven wheel respectively. The main control unit includes a protection warning module that sends a saw retraction instruction to the steel bar cutting mechanism 20 by comparing the speed difference ΔR between the first speed sensor and the second speed sensor.

[0043] Working principle:

[0044] See the instructions attached Figure 1-3 、 Figure 6 As shown, the workflow of the steel cage processing system provided by this embodiment is as follows: bundled or scattered finished steel bars are placed on the steel bar feeding mechanism 10, wherein the steel bars are aligned as close to one end of the steel bar cutting mechanism 20 as possible. The alignment has two functions: first, it can avoid cutting due to alignment of the steel bar ends, and for the saw blade, one less cut means less wear; for processing efficiency, less time is spent and higher efficiency is achieved; second, steel bars of consistent length can be more consistent in the subsequent threading mechanism 30 and steel bar changing mechanism 50, avoiding the problem of steel bar ends getting stuck or interfering with other structures; at the same time, the steel cage formed by steel bars with consistent length in the subsequent steel cage compilation process is also more standardized.

[0045] After the finished steel bar is placed on the steel bar feeding mechanism 10, the feeding mechanism 14 first transports the steel bar as a whole to one side of the steel bar cutting mechanism 20, and stops transporting when it reaches the preset cutting position; secondly, the horizontal clamping mechanism 11 and the vertical clamping mechanism 12 are used to fix the finished steel bar near the cutting position. The fixing method is to use the horizontal clamping mechanism 11 to squeeze the finished steel bar horizontally to make the steel bar as dense as possible; then use the vertical clamping mechanism 12 to apply vertical squeezing force to the steel bar to further squeeze the steel bar densely, so as to avoid the problem of steel bar deflection caused by the lateral force applied by the saw blade 21 on the steel bar during cutting, thereby causing the saw to stick or break. Figure 1 and Figure 2 As shown, the horizontal clamping mechanism 11 and the vertical clamping mechanism 12 are driven by a motor reduction mechanism or a hydraulic mechanism, effectively securing the rebar. Simultaneously, they provide a rigid structure that effectively limits the movement of the rebar. Compared to flexible wire rope fixation, this provides greater stability and, in practice, can reduce rebar movement by approximately 15%. This structure significantly improves the effectiveness of actual cutting applications compared to cable tensioning. The reason why its fixing effect is significantly improved compared to the structure fixed by tensioning with steel cables is that: 1. The horizontal clamping mechanism 11 and the vertical clamping mechanism 12 are fixed in advance with the reinforcement feeding mechanism 10, so that the left, right, top and bottom of the reinforcement are restricted by the rigid structure, and there is no possibility of displacement, so that the reinforcement is very stable during the entire sawing process; the reinforcement fixed by the steel cable is generally two left and right reinforcements that are tightened against each other. Although this can only press the reinforcement on the reinforcement feeding mechanism 10, the reinforcement at the bottom near both sides is prone to force blind spots. When subjected to the cutting force applied by the saw blade 21, it is easy to displace laterally, which can easily cause the saw to get stuck and cause the saw blade 21 to break. During normal sawing, the three speeds of the saw blade 21, the driving wheel and the driven wheel are consistent, and the angular velocities of the driving wheel and the driven wheel are consistent. Therefore, the speed difference ΔR between the first speed sensor and the second speed sensor is 0. When ΔR≠0, it means that slippage has occurred between the driving wheel and the saw blade 21, indicating that the stress between the steel bar and the saw blade 21 has increased instantly and exceeded the friction between the saw blade 21 and the driving wheel, indicating that the steel bar has shifted; when ΔR>ΔR0, it means that the current displacement of the steel bar has exceeded the range allowed by the system. At this time, the protection warning module sends a saw retraction instruction to the steel bar cutting mechanism 20, so that the saw blade 21 retracts, avoiding the accident of the saw blade 21 being stuck due to continued cutting under the premise of steel bar displacement, thereby effectively solving the problem of saw jamming. Among them, ΔR0 represents the speed difference preset by the system. In this embodiment, the threading mechanism 30, the steel bar changing mechanism 50, the end face processing mechanism 70 and the weaving cage mechanism adopt the existing technology without any improvement.

[0046] Example 2:

[0047] In order to avoid the problem of the saw blade 21 being subjected to excessive lateral force and thus breaking due to the deviation between the actual sawing and the preset sawing trajectory, and at the same time, to reduce the problem of saw jamming and saw breaking caused by vibration, displacement, and skewed steel bars, this embodiment further optimizes the main control unit on the basis of Example 1. Specifically, the main control unit also includes a module for controlling the cutting mechanism 20 to perform adaptive tool compensation. The cutting mechanism 20 also includes an infrared temperature sensor for real-time / interval measurement of the temperature of the saw blade 21, and a three-axis force sensor array for detecting the dynamic cutting force of the saw blade 21. The calculation expression of the tool compensation amount ΔL for the cutting mechanism 20 to drive the saw blade 21 to cut is as follows:

[0048] ΔL=k1·T+k2·v 2 +k3·∫F(t)dt

[0049] Among them, ΔL represents the saw blade compensation amount, including axial and radial compensation components, unit: mm; T represents the real-time temperature of the saw blade, unit: ℃; v represents the linear speed of the saw blade, unit: m / s; F(t) represents the dynamic cutting force, unit: N; k1-k3 represent the weight coefficients, which are determined by dynamic calibration through machine learning.

[0050] In this embodiment, the feed rate and feed direction of the saw blade 21 are adjusted in real time in a closed loop based on the working state of the saw blade 21 as it is being collected. This is not a fixed linear feed cutting method. Instead, it is dynamically adjusted according to the actual sawing situation. For example, during actual sawing, as the feed rate increases, the actual sawing trajectory of the saw blade 21 will deviate from the preset position. Due to factors such as the vibration of the steel bar, the cutting edge of the saw blade will not be in a straight line, which will cause uneven force on the saw blade 21. If the position and direction of the saw blade are not adjusted in time, continuing to increase the feed rate will make the deviation more and more serious, and eventually lead to the problem of saw blade 21 breaking. In this embodiment, a closed-loop control mechanism for the tool compensation amount ΔL is established by real-time detection of the speed, temperature and cutting force of the saw blade 21. In this way, the saw blade 21 is compensated in real time, so that slight deviations are corrected in a timely and real-time manner, thereby ensuring that the actual sawing trajectory is consistent with the preset trajectory and avoiding the problem of saw blade breakage caused by excessive deviation. In this embodiment, the real-time temperature of the saw blade 21 is measured using a non-contact temperature monitoring module, such as an infrared thermal imager and a contact thermocouple, enabling temperature compensation to offset axial deviation caused by thermal expansion. Simultaneously, the speed and radius of the driven wheel, as captured by a second speed sensor, are used to calculate the actual linear velocity of the saw blade 21 in real time, thereby performing speed compensation. The dynamic cutting force F(t) reflects fluctuations in the machining load. Using three-axis force sensor array sensing technology and a piezoelectric dynamometer, data is collected to compensate for the actual feed force and direction of the saw blade 21, thereby correcting for trajectory deviations caused by cutting force fluctuations in real time.

[0051] Example 3:

[0052] This embodiment is based on any of the above embodiments, in order to avoid the problem of the steel bar bundle slipping, skewing, and affecting the front end sawing during the steel bar bundle feeding process, further improvements are made. Figures 1-8 As shown, the reinforcing bar feeding mechanism 10 also includes a clamping mechanism 13 for clamping the reinforcing bar bundle. The clamping mechanism 13 includes clamping units symmetrically installed on both sides of the length direction of the feeding mechanism 14. The clamping unit includes multiple bearing seats A134 fixedly installed on both sides of the feeding mechanism 14, and a deflection shaft A133 rotatably installed in the bearing seat A134 on the same side. The deflection shaft A133 is respectively fixed with a knife arm 135 located above the feeding mechanism 14 for clamping the reinforcing bar bundle and a support arm A132 located below the feeding mechanism 14. The free end of the support arm A132 is hinged with a push-pull mechanism A131 for driving the deflection shaft A133 to rotate. For details, please refer to the attached manual. Figure 2-Figure 3 As shown, after the steel bars are placed, the main force point of the steel bar bundle is at the head position, that is, close to one end of the steel bar cutting mechanism 20. However, due to the high-frequency vibration generated during cutting, the steel bars at the tail will also vibrate and shift. In order to avoid the influence of vibration displacement on the steel bar sawing, the entire bundle of steel bars needs to be fixed. Before placing the steel bars, the push-pull mechanism A131 is in a retracted state, and the deflection axis A133 is rotated with the support arm A132 as the force arm, thereby driving the knife arm 135 to flip to a vertical or near-vertical state, so as to facilitate the placement of the steel bar bundle on the feeding mechanism 14; then the push-pull mechanism A131 is extended again, and the deflection axis A133 is driven in the reverse direction so that the knife arm 135 fixes and presses the steel bar bundle. The push-pull mechanism A131 can use pneumatic, hydraulic or electric screws, and the size is not limited. As long as it can meet the purpose of fixing the steel bars, those skilled in the art can arbitrarily choose the specific structural type of the push-pull mechanism A131.

[0053] Furthermore, the push-pull mechanism A131 is a hydraulic rod or an electric telescopic rod, the knife arm 135 is an arc-shaped structure, and an anti-slip rubber layer is provided on the side close to the steel bar bundle. The deflection angle of the deflection axis A133 is 45°-90°. The larger the angle, the greater the opening degree when placing the steel bars.

[0054] In this embodiment, see the attached Figure 3As shown, the feeding mechanism 14 comprises a frame and a plurality of rollers 144 spaced along its length. The rollers 144 are rotatably connected at both ends via bearing blocks B142 fixedly mounted at both ends of the frame. Each roller 144 is mounted at one end with a sprocket A141 connected by a chain 143, which is also connected to a drive unit A. To prevent slippage and improve feeding accuracy, the surface of the rollers 144 is fixedly provided with a wear-resistant rubber layer with a thickness of no less than 3 mm.

[0055] In order to further standardize the position of the steel bar bundle so that it can be placed flat on the feeding mechanism 14 for axial feeding, see the attached instructions. Figure 3 As shown, baffles 15 are provided at both ends of the frame to limit the rolling of the steel bar bundle.

[0056] In this embodiment, Figure 7-Figure 8 As shown, the reinforcement changing mechanism 50 includes a plurality of steel bar receiving slots 51 arranged in parallel, a plurality of rotating shaft frames 54 fixedly arranged between two adjacent steel bar receiving slots 51, a deflection axis B55 passing through any rotating shaft frame 54 located on the same axis, and a plurality of support arms B53 fixedly arranged on the deflection axis B55. The free end of any support arm B53 is hinged to the push-pull mechanism B52 and the support arm B53 is deflected by the telescopic driving mechanism B52 to flip the steel bars in any steel bar receiving slot 51 to another adjacent steel bar receiving slot 51.

[0057] Still further preferably, the reinforcement changing mechanism 50 also includes a plurality of rollers 57 spaced apart in the reinforcement receiving groove 15 for supporting and moving the reinforcement, and the roller 57 is coaxially fixedly mounted with a sprocket B56, and any sprocket B56 is driven and connected to the drive unit B59 via a chain B58. Since the threading and end face treatment of the steel bars can only be performed on a single steel bar at a time, when threading is performed, after the roller 57 axially transports the steel bar in the steel bar receiving groove 51 to the predetermined position of the threading mechanism 30, the clamping mechanism 40 fixes and clamps the steel bar, and the threading mechanism 30 is used to thread the steel bar; after threading is completed, the roller 57 rotates in the opposite direction to move the steel bar to the position before threading, and then the push-pull mechanism B52 drives the support arm B53 to flip the threaded steel bar into the adjacent steel bar receiving groove, until it enters the steel bar receiving groove 51 aligned with the end face treatment mechanism 70, and then the rotation of the roller 57 is used to send the steel bar to the predetermined position of the end face treatment mechanism 70 for fixation, and the end face is flushed. There are also many solutions in the prior art for this process, such as grinding, cutting and other flushing treatment solutions, which will not be described in detail here. The main improvement of this embodiment lies in the flipping of the steel bars; in addition, it is worth emphasizing that the driving relationship between the roller 57 in each steel bar receiving groove 51 and the roller 57 in other adjacent steel bar receiving grooves 51 is independent and controlled by the main control unit of the system.

[0058] In order to improve the continuity of steel bar feeding and the efficiency of steel bar sawing process, in this embodiment, a steel bar shelf A60 is provided next to the steel bar changing mechanism 50 for supplying steel bars to the steel bar changing mechanism 50 one by one. Figure 6 As shown, the steel bar storage rack A60 includes a storage beam 61 for placing steel bars to be threaded / end-face treated, and a deflection shaft C62 driven by a drive unit C is provided on the side of the storage beam 61 close to the steel bar changing mechanism 50, and a flip hook 63 is fixedly installed on the deflection shaft C62 for transporting the steel bars one by one to the steel bar changing mechanism 50.

[0059] In order to store the threaded and end-faced steel bars in an orderly manner, see Figure 6 As shown, a steel bar shelf B80 for paving threaded and end-face treated steel bars is further provided on the side of the steel bar shelf A60 away from the steel bar shelf.

[0060] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An intelligent steel cage processing system, comprising an execution unit controlled by a main control unit in a closed loop, the execution unit comprising a reinforcement feeding mechanism (10), a reinforcement cutting mechanism (20), a threading mechanism (30), a reinforcement changing mechanism (50), an end surface processing mechanism (70) and a cage weaving mechanism, characterized in that: The reinforcement feeding mechanism (10) comprises a feeding mechanism (14) for supporting and conveying a bundle of reinforcement bars, a horizontal clamping mechanism (11) and a vertical clamping mechanism (12) arranged near the reinforcement cutting mechanism (20), wherein the horizontal clamping mechanism (11) has a fixed support frame (111), a rack (112) is fixedly arranged on the support frame (111), a clamping head (113) is connected to the rack (112) and moves back and forth along the length direction of the support frame (111) for clamping the bundle of reinforcement bars, and the vertical clamping mechanism (12) has a vertically movable support frame (111). The invention relates to a portal frame, wherein a space for accommodating a steel bar bundle is enclosed between the portal frame and the plane where the support frame (111) is located; the steel bar cutting mechanism (20) comprises a saw blade (21) for cutting the steel bar bundle, the saw blade (21) being tightened and driven by a driving wheel disc and a driven wheel disc, and a first speed sensor and a second speed sensor for respectively detecting the real-time speeds of the driving wheel disc and the driven wheel disc; the main control unit comprises a protection warning module for sending a saw retraction instruction to the steel bar cutting mechanism (20) by comparing the speed difference ΔR between the first speed sensor and the second speed sensor.

2. The intelligent steel cage processing system according to claim 1, characterized in that: The main control unit further includes a module for controlling the rib cutting mechanism (20) to perform adaptive tool compensation. The rib cutting mechanism (20) further includes an infrared temperature sensor for real-time / interval measurement of the temperature of the saw blade (21), and a three-axis force sensor array for detecting the dynamic cutting force of the saw blade (21). The calculation expression of the tool compensation amount ΔL for the rib cutting mechanism (20) to drive the saw blade (21) to perform cutting is as follows: ΔL=k1·T+k2·v 2 +k3·∫F(t)dt Among them, ΔL represents the saw blade compensation amount, including axial and radial compensation components, unit: mm; T represents the real-time temperature of the saw blade, unit: ℃; v represents the linear speed of the saw blade, unit: m / s; F(t) represents the dynamic cutting force, unit: N; k1-k3 represent the weight coefficients, which are determined by dynamic calibration through machine learning.

3. The intelligent steel cage processing system according to claim 2, characterized in that: The reinforcing bar feeding mechanism (10) further comprises a clamping mechanism (13) for clamping the reinforcing bar bundle, the clamping mechanism (13) comprising clamping units symmetrically mounted on both sides of the length direction of the feeding mechanism (14), the clamping units comprising a plurality of bearing seats A (134) fixedly mounted on both sides of the feeding mechanism (14), and a deflection shaft A (133) rotatably mounted in the bearing seats A (134) on the same side, the deflection shaft A (133) being respectively fixedly provided with a knife arm (135) located above the feeding mechanism (14) for clamping the reinforcing bar bundle and a support arm A (132) located below the feeding mechanism (14), the free end of the support arm A (132) being hinged with a push-pull mechanism A (131) for driving the deflection shaft A (133) to rotate.

4. The intelligent steel cage processing system according to claim 3, characterized in that: The push-pull mechanism A (131) is a hydraulic rod or an electric telescopic rod, the knife arm (135) is an arc-shaped structure, and a non-slip rubber layer is provided on the side close to the steel bar bundle. The deflection angle of the deflection axis A (133) is 45°-90°.

5. The intelligent steel cage processing system according to claim 3, characterized in that: The feeding mechanism (14) includes a frame, a plurality of rollers (144) arranged at intervals along the length direction of the frame, the two ends of the rollers (144) are rotatably connected through bearing seats B (142) fixedly installed at the two ends of the frame, and one end of each roller (144) is equipped with a sprocket A (141) driven by a chain (143), and the chain (143) is also driven by a drive unit A.

6. The intelligent steel cage processing system according to claim 5, characterized in that: Baffles (15) for limiting the rolling of the steel bar bundle are also provided at both ends of the frame.

7. The intelligent steel cage processing system according to any one of claims 1 to 6, characterized in that: The reinforcement changing mechanism (50) comprises a plurality of steel bar receiving grooves (51) arranged in parallel, a plurality of rotating shaft frames (54) fixedly arranged between two adjacent steel bar receiving grooves (51), a deflection axis B (55) passing through any rotating shaft frame (54) located on the same axis, and a plurality of supporting arms B (53) fixedly arranged on the deflection axis B (55), the free end of any supporting arm B (53) being hinged to the push-pull mechanism B (52) and the supporting arm B (53) being deflected by the telescopic driving of the push-pull mechanism B (52) to flip the steel bar in any steel bar receiving groove (51) to another adjacent steel bar receiving groove (51).

8. The intelligent steel cage processing system according to claim 7, characterized in that: The reinforcement changing mechanism (50) further comprises a plurality of rollers (57) arranged at intervals in the reinforcement receiving groove (15) for supporting and moving the reinforcement, wherein the rollers (57) are coaxially fixedly mounted with a sprocket B (56), and each sprocket B (56) is driven and connected to a driving unit B (59) via a chain B (58).

9. The intelligent steel cage processing system according to claim 7, characterized in that: The invention also includes a steel bar shelf A (60) arranged next to the steel bar replacement mechanism (50) for supplying steel bars one by one to the steel bar replacement mechanism (50). The steel bar shelf A (60) includes a shelf beam (61) for placing steel bars to be threaded / end-face treated. A deflection shaft C (62) driven by a drive unit C is provided on the shelf beam (61) near the steel bar replacement mechanism (50). A flip hook (63) is fixedly installed on the deflection shaft C (62) for transporting the steel bars one by one to the steel bar replacement mechanism (50).

10. The intelligent steel cage processing system according to claim 9, characterized in that: A steel bar shelf B (80) for stabilizing threaded and end-face-treated steel bars is further provided on a side of the steel bar shelf A (60) away from the steel bar shelf.

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