Reinforcement cage main reinforcement bending direction orienting device and orienting method

Abstract

The invention relates to the technical field of machining equipment, in particular to a steel reinforcement cage main reinforcement bending direction orienting device and orienting method.The device comprises a rack assembly, a rotary positioning mechanism, a detection mechanism and a control system; the method comprises the steps of feeding and positioning, preliminary scanning, quadrant discrimination and directional callback. The second detection unit can capture the specific sector position of the bending section in circular motion, quadrant judgment logic executed by the control system is matched, the current space quadrant where the hook is located can be distinguished, accordingly, the correction angle is calculated according to real-time feedback, orientation of the bending section of the main rib is achieved, and the positioning accuracy of the bending section of the main rib is improved. And it is ensured that the hook directions of the main reinforcements are consistent when the main reinforcements enter a welding station.

Description

Technical Field

[0001] This invention relates to the field of processing equipment technology, specifically to a device and method for orienting the bending direction of the main reinforcement bars in a steel cage. Background Technology

[0002] Reinforcing cages, serving as the foundation framework for cast-in-place piles, are widely used in pile foundation engineering for large-scale infrastructure projects such as bridges, high-rise buildings, and high-speed railways. With the increasing level of industrialization in construction, the processing method of reinforcing cages has gradually shifted from traditional manual tying to fully automated welding machines. Fully automated reinforcing cage welding machines can significantly improve processing efficiency and welding quality while reducing the labor intensity of workers.

[0003] In the fabrication process of reinforcing cages, to enhance the pull-out resistance of the pile foundation and the connection strength with the pile cap, the main reinforcement (longitudinal reinforcement) segments usually need to be pre-bent, forming what are called bent heads. During welding, after being cut to length and bent, the spatial orientation of the bent hooks of the main reinforcement segments is often random (e.g., they may be pointing upwards, downwards, or sideways) before being transported to the welding station. In automated welding processes, if the orientation of the main reinforcement hooks is not uniform, it can lead to problems such as interference with other equipment / reinforcing bars, the inability of the automatic welding machine to perform normal welding, and overall twisting and deformation of the reinforcing cage. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, the present invention provides a device and method for orienting the bending direction of the main reinforcement bars in a steel cage, which can automatically detect the position of the bending section of the main reinforcement bars and adjust the direction to achieve the preset orientation.

[0005] This invention is achieved through the following technical solution:

[0006] A device for orienting the bending direction of main reinforcement bars in a steel cage, comprising:

[0007] Rack components;

[0008] A rotary positioning mechanism, which is disposed on the frame assembly, is used to clamp the main rib and drive the main rib to rotate about its own axis;

[0009] The detection mechanism, which is set up in conjunction with the rotary positioning mechanism, is used to monitor the rotational state of the main rib;

[0010] The control system is signal-connected to both the rotary positioning mechanism and the detection mechanism.

[0011] The testing institutions include:

[0012] The first detection unit is located at a position corresponding to the axis of the straight section of the main reinforcement, and is used to detect the in-situ status of the main reinforcement body;

[0013] The second detection unit is located at the position corresponding to the bending section of the main reinforcement and is used to detect the position of the bending section of the main reinforcement.

[0014] The control system is connected to the first detection unit and the second detection unit respectively. The control system controls the action of the rotary positioning mechanism according to the signal fed back by the second detection unit to adjust the main rib bending section to a preset direction.

[0015] Optionally, the rotary positioning mechanism includes:

[0016] Mounting bracket, which is connected to the rack assembly;

[0017] A rotary drive and a clamping assembly are provided. The rotary drive is disposed on the mounting bracket. The output end of the rotary drive is provided with a rotary seat. The clamping assembly is installed in the rotary seat and rotates synchronously with the rotary seat, and can be operated to clamp or release the main rib.

[0018] Optionally, the clamping assembly includes:

[0019] The rotating mechanism clamps the cylinder, which is fixedly mounted on the rotating base and rotates synchronously with the rotating base;

[0020] Several gripping claws are connected to the drive end of the gripping cylinder of the rotating mechanism;

[0021] The rotating mechanism clamping cylinder is configured to drive the clamping claw to move radially along the rotating seat, converging at the center of the rotating seat to clamp the main rib or spreading outward to loosen the main rib.

[0022] Optionally, the rotary positioning mechanism further includes: a first lifting adjustment component, the mounting bracket being connected to the output end of the first lifting adjustment component, the first lifting adjustment component being mounted on the frame assembly, and driving the mounting bracket to move in the vertical direction.

[0023] Optionally, the testing organization further includes:

[0024] A testing bracket is mounted on the rack assembly;

[0025] The clamp plate assembly is slidably mounted on the detection bracket and connected to a second lifting adjustment assembly, which is configured to drive the clamp plate assembly to move vertically.

[0026] The clamping plate lower assembly is slidably mounted on the detection bracket and connected to a third lifting adjustment assembly, which is configured to drive the clamping plate lower assembly to move in the vertical direction;

[0027] Both the first detection unit and the second detection unit are mounted on the clamp assembly.

[0028] Optionally, the upper clamping plate component and the lower clamping plate component are arranged vertically opposite each other, and the main rib located therebetween is clamped by the opposite movement of the second lifting adjustment component and the third lifting adjustment component.

[0029] The detection mechanism also includes a pull rope displacement sensor, which is installed on the clamping plate assembly or the detection bracket. When the clamping plate assembly and the clamping lower assembly clamp the main reinforcement, the sensor detects the diameter or position data of the main reinforcement.

[0030] Optionally, the clamping plate assembly includes an upper mounting base, an upper clamping plate, and an upper telescopic adjustment assembly; the upper mounting base is slidably connected to the detection bracket and is driven to rise and fall by the second lifting adjustment assembly; the upper clamping plate is slidably connected to the upper mounting base; and the upper telescopic adjustment assembly is disposed on the upper mounting base and drives the upper clamping plate to move telescopically in the horizontal direction.

[0031] The lower clamping assembly includes a lower mounting base, a lower clamping plate, and a lower telescopic adjustment assembly; the lower mounting base is slidably connected to the detection bracket and is driven to rise and fall by the third lifting adjustment assembly; the lower clamping plate is slidably connected to the lower mounting base; and the lower telescopic adjustment assembly is disposed on the lower mounting base and drives the lower clamping plate to move horizontally.

[0032] The moving direction of the upper clamping plate is parallel to the moving direction of the lower clamping plate, and both are perpendicular to the driving direction of the second lifting adjustment component.

[0033] A method for orienting the bending direction of the main reinforcement bars in a steel cage, based on the orienting device described above, the orienting method includes the following steps:

[0034] Feeding and positioning: Move the main rib to the inspection station and drive the clamping assembly to clamp the main rib;

[0035] Rotation scanning and orientation determination: The rotation positioning mechanism is controlled to drive the main rib to perform rotation scanning, while the signal triggering status of the first detection unit and the second detection unit is monitored in real time to determine the actual orientation or direction of the bending end of the main rib.

[0036] Directional callback: Based on the determination result of the actual location or orientation, control the rotary positioning mechanism to drive the main reinforcement to rotate by the corresponding correction angle, and adjust the bent end of the main reinforcement to the preset direction.

[0037] Optionally, the rotation scanning and orientation determination step and the orientation callback step include:

[0038] Determine whether both the first and second detection units are in the triggered state. If yes, then perform orientation discrimination; if no, control the rotary positioning mechanism to drive it to rotate actively by a set angle. If either detection unit is triggered during the rotation, then stop and perform orientation discrimination.

[0039] If the orientation is determined to be in the opposite direction, the rotating positioning mechanism is controlled to rotate 180 degrees in the opposite direction to adjust the bent end of the main reinforcement to the preset direction; if the orientation is determined to be in the positive direction, there is no need to rotate in the opposite direction.

[0040] Methods for determining direction include:

[0041] The rotary positioning mechanism is controlled to drive the main rib to perform a rotary scan, while simultaneously monitoring the signals from the first detection unit and the second detection unit;

[0042] During the process of rotating the main reinforcement at a set angle, if the first detection unit is triggered and the second detection unit is not triggered, the bent end of the main reinforcement is determined to be in the positive direction; if the second detection unit is triggered and the first detection unit is not triggered, the bent end of the main reinforcement is determined to be in the negative direction.

[0043] Optionally, after stopping the rotation during the rotation scanning and orientation determination steps, the upper and lower components of the control detection mechanism are used to temporarily clamp the main rib, and then the clamping components of the rotation positioning mechanism are controlled to loosen and re-clamp the main rib.

[0044] Optionally, after the orientation and callback step is completed, the upper and lower components of the control clamp are used to clamp the main reinforcement, and the diameter or position data of the main reinforcement is detected by the pull rope displacement sensor; if the detected data is within the preset tolerance range, the orientation is determined to be complete.

[0045] Compared with the prior art, the present invention has the following features and beneficial effects:

[0046] This invention utilizes a rotary positioning mechanism to drive the main rib to rotate, and captures the rotation trajectory signal of the bending segment through a first detection unit and a second detection unit, and determines and adjusts the spatial orientation of the hook in conjunction with quadrant discrimination.

[0047] The detection unit of this invention can capture the specific sector position of the bending segment in the circular motion. In conjunction with the quadrant discrimination logic executed by the control system, it can distinguish the spatial quadrant where the hook is currently located, and thus calculate the correction angle based on real-time feedback, thereby realizing the orientation of the main reinforcement bending segment and ensuring that the hook direction of each main reinforcement is consistent when it enters the welding station.

[0048] This invention incorporates lifting and horizontal telescopic adjustment components in the rotary positioning and detection mechanisms, enabling the device to flexibly adjust the clamping center and detection height according to changes in the diameter of the reinforcing cage and the specific specifications of the main reinforcement bars. This ensures that the equipment maintains optimal detection performance across different production batches. Furthermore, by adding a rope displacement sensor to the detection mechanism, the final position or diameter data of the main reinforcement bars can be rechecked after the reinforcement bars have been oriented. Attached Figure Description

[0049] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the principles of the invention. These drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, but do not constitute a limitation on the embodiments of the present invention.

[0050] Figure 1 This is a structural schematic diagram of a rebar cage main reinforcement bending direction orientation device according to the present invention.

[0051] Figure 2 This is a schematic diagram of the rotary positioning mechanism according to the present invention.

[0052] Figure 3 This is a schematic diagram of the testing mechanism according to the present invention.

[0053] Figure 4 This is a cross-sectional view of the testing mechanism according to the present invention.

[0054] Figure 5 This is the first part of the flowchart of Embodiment 4 according to the present invention.

[0055] Figure 6 This is the latter part of the flowchart of Embodiment 4 according to the present invention.

[0056] Figure 7 This is the first part of the flowchart of Embodiment 5 according to the present invention.

[0057] Figure 8 This is the latter part of the flowchart of Embodiment 5 according to the present invention.

[0058] Reference numerals: 100-Frame assembly, 200-Rotation positioning mechanism, 300-Detection mechanism;

[0059] 201-Mounting bracket, 202-Rotary drive component, 203-Rotary mechanism clamping cylinder, 204-Clamping claw, 205-First lifting adjustment mechanism;

[0060] 301-Detection bracket, 302-Upper clamping plate component, 303-Lower clamping plate component, 304-First detection unit, 305-Second detection unit, 306-Second lifting adjustment component, 307-Third lifting adjustment component, 321-Upper mounting base, 322-Upper clamping plate, 323-Upper telescopic adjustment component, 331-Lower mounting base, 332-Lower clamping plate, 333-Lower telescopic adjustment component. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0062] It should also be noted that, for ease of description, only the parts relevant to the present invention are shown in the accompanying drawings.

[0063] Where there is no conflict, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0064] To better understand the implementation of the rebar cage main reinforcement bending direction orientation device described in this invention, the overall operation flow of the fully automated rebar cage welding production line using this device is first explained. This production line mainly consists of a raw material processing area, an automatic feeding area, a main reinforcement orientation and conveying area, and a welding and forming main machine area. The specific process flow is as follows:

[0065] First, the coiled or fixed-length steel bars are straightened, cut to length, threaded and ground in sections, and pre-bent in sections to produce semi-finished main steel bars with bent sections (hooks).

[0066] The pre-treated main reinforcement bars are placed on the automatic feeding mechanism by manual labor or hoisting.

[0067] After separation, the individual main reinforcing bars are moved to the length-setting mechanism. At this stage, since the hook orientation of the main reinforcing bar segment is random, this orientation device is introduced at this stage to prevent collision interference when it enters the welding host and to meet the welding process requirements for hook orientation (such as uniform orientation towards the center of the cage or tangential direction).

[0068] This device clamps the main reinforcement bar; through rotation and detection logic, it automatically identifies the current phase of the hook; it precisely adjusts the hook to the preset direction; after orientation is completed, the auxiliary mechanism transports the main reinforcement bar forward.

[0069] After orientation, the main reinforcing bars are precisely fed into the rotating indexing plate of the welding machine (or a guide tube passing through the fixed plate). Simultaneously, the inner support bars (inner rings) are pre-positioned on the welding station. A welding robot or manual welding operation welds the contact points between the main reinforcing bars and the inner support bars, forming the rigid inner skeleton of the reinforcing cage.

[0070] After the main reinforcement bars are fixed, the main machine drives the main reinforcement cage to rotate, while the winding mechanism pulls the coiled steel bars (stirrups) and spirally winds them around the outer circumference of the main reinforcement cage. The welding mechanism simultaneously welds the intersections of the main reinforcement bars and stirrups, ultimately forming the finished steel cage.

[0071] Example 1

[0072] This embodiment provides a rebar cage main reinforcement bending direction orientation device, which mainly consists of four parts: frame assembly 100, rotary positioning mechanism 200, detection mechanism 300 and control system.

[0073] like Figure 1 As shown, the frame assembly 100 is the basic support structure of the entire device, used to install and fix various functional components. The rotation positioning mechanism 200 is set on the frame assembly 100 to firmly clamp the main rib and to drive the main rib to rotate around its own axis as a power source.

[0074] The detection mechanism 300 is configured in conjunction with the rotary positioning mechanism 200 to monitor the rotational state of the main rib; in this embodiment, the detection mechanism 300 is divided into two functional units:

[0075] The first detection unit 304 is located at a position corresponding to the axis of the straight section of the main reinforcement and is used to detect the position status of the main reinforcement body. Since the straight section of the main reinforcement is always located at the axis when rotating, the first detection unit 304 is mainly used to detect the position status of the main reinforcement body, that is, to confirm whether there is a main reinforcement at the current work station and whether the main reinforcement has been correctly sent into the detection area.

[0076] The second detection unit 305 is located at the position corresponding to the bending section of the main reinforcement bar and is used to detect the position of the bending section of the main reinforcement bar; it is used to capture the orientation signal of the bending section of the main reinforcement bar when the rotation positioning mechanism 200 drives the main reinforcement bar to rotate; it will only output the corresponding detection signal when the bending section of the main reinforcement bar contacts the second detection unit 305, thereby determining the relative position of the straight section and the bending section of the main reinforcement bar.

[0077] The control system (e.g., PLC or industrial computer) is connected to the rotary positioning mechanism 200 and the detection mechanism 300 by signals respectively; the control system is connected to the first detection unit 304 and the second detection unit 305 by signals respectively, and the control system controls the action of the rotary positioning mechanism 200 according to the signal fed back by the second detection unit 305 to adjust the main rib bending section to a preset direction.

[0078] After the main reinforcing bar is fed into the device and clamped by the rotary positioning mechanism 200, the control system first confirms the main reinforcing bar's position via the first detection unit 304. Then, the control system instructs the rotary positioning mechanism 200 to drive the main reinforcing bar to rotate. During rotation, the straight section of the main reinforcing bar remains centered, while the bent section circles in space. When it sweeps across the monitoring area of ​​the second detection unit 305, the second detection unit 305 is triggered and sends a signal to the control system. Based on the time or position captured by this signal, the control system determines the current actual orientation of the bent section and then controls the rotary positioning mechanism 200 to continue rotating or reverse, ultimately adjusting the bent section of the main reinforcing bar to the preset direction, completing the orientation operation.

[0079] Example 2

[0080] like Figure 2 As shown in the figure, this embodiment describes the specific structure of the rotary positioning mechanism 200, which mainly consists of a mounting bracket 201, a rotary drive component 202, and a clamping assembly.

[0081] The mounting bracket 201 is connected to the rack assembly 100 and is used to support subsequent drive and execution components.

[0082] The rotating drive component 202 is disposed on the mounting bracket 201. The output end of the rotating drive component 202 is provided with a rotating seat (typically a hollow rotary table or chuck structure). The clamping assembly is installed inside the rotating seat and rotates synchronously with it, and is capable of clamping or releasing the main rib. When the rotating drive component 202 operates, it drives the rotating seat and the clamping assembly installed inside it to rotate synchronously, thereby giving the main rib the ability to rotate around its own axis.

[0083] The clamping assembly is pneumatically controlled and mainly includes a rotating mechanism clamping cylinder 203 and several clamping claws 204.

[0084] The rotating mechanism clamps the cylinder 203, which is fixedly mounted on the rotating seat and rotates synchronously with the rotating seat;

[0085] Several gripping claws 204 are connected to the drive end of the gripping cylinder 203 of the rotating mechanism;

[0086] The rotating mechanism clamping cylinder 203 is configured to drive the clamping claw 204 to move radially along the rotating seat (meaning the clamping claw 204 moves along the radial direction of the rotation center), converging at the center of the rotating seat to clamp the main rib or spreading outward to loosen the main rib.

[0087] When it is necessary to fix the main rib, the clamping claws 204 converge toward the center of the rotating seat to achieve centripetal clamping; when it is necessary to release the main rib (for example, when axial conveying), the clamping claws 204 spread outward to release the main rib.

[0088] To adapt to the production needs of steel cages with different diameters, the rotary positioning mechanism 200 further includes: a first lifting adjustment component, the mounting bracket 201 is connected to the output end of the first lifting adjustment component, the first lifting adjustment component is mounted on the frame assembly 100, and drives the mounting bracket 201 to move in the vertical direction.

[0089] By driving the mounting bracket 201 to move vertically, this component can drive the entire rotation and clamping mechanism to adjust up and down, thereby matching the working height of main reinforcement bars of different specifications and ensuring that the axis of the main reinforcement bars is always in the optimal reference position for inspection and welding.

[0090] like Figure 3 and Figure 4 As shown, the specific structure of the testing mechanism 300 will be further described. The testing mechanism 300 mainly includes a testing bracket 301, an upper clamping component 302, and a lower clamping component 303.

[0091] The testing bracket 301 is disposed on the rack assembly 100;

[0092] The clamp plate assembly 302 is slidably mounted on the detection bracket 301 and is connected to a second lifting adjustment assembly 306 (such as a cylinder or lead screw module). The second lifting adjustment assembly 306 is configured to drive the clamp plate assembly 302 to move in the vertical direction.

[0093] The lower clamping plate assembly 303 is slidably mounted on the detection bracket 301 and is connected to a third lifting adjustment assembly 307 (such as a cylinder or lead screw module). The third lifting adjustment assembly 307 is configured to drive the lower clamping plate assembly 303 to move in the vertical direction.

[0094] The second lifting adjustment component 306 is responsible for driving the upper component 302 of the clamping plate to move vertically; the third lifting adjustment component 307 is responsible for driving the lower component 303 of the clamping plate to move vertically.

[0095] Both the first detection unit 304 and the second detection unit 305 are mounted on the clamp assembly 302. In this embodiment, both detection units can use proximity switches to achieve the detection purpose.

[0096] The upper clamping component 302 and the lower clamping component 303 are arranged vertically opposite each other, and the main rib located between them is clamped by the opposite movement of the second lifting adjustment component 306 and the third lifting adjustment component 307.

[0097] The upper clamping assembly 302 and the lower clamping assembly 303 are arranged vertically opposite each other in space. By controlling the second and third lifting adjustment assemblies 307 to move in opposite directions, the main reinforcement located between them can be firmly clamped. Furthermore, by adjusting the second and third lifting adjustment mechanisms, they can also cooperate with the first lifting adjustment mechanism 205 to match the working height of main reinforcement of different specifications.

[0098] The detection mechanism 300 also includes a pull rope displacement sensor, which is installed on the clamping plate assembly 302 or the detection bracket 301. When the clamping plate assembly 302 and the clamping lower assembly 303 clamp the main reinforcement, the sensor detects the diameter or position data of the main reinforcement.

[0099] To further enhance the adaptability of the device to steel cages of different specifications, the clamping plate assembly also has a horizontal adjustment capability. The horizontal position of the upper clamping plate assembly 302 and the lower clamping plate assembly 303 can be adjusted by the upper telescopic adjustment assembly 323 and the lower telescopic adjustment assembly. When not in use, the clamping plate assembly can be stored to avoid interfering with the normal operation of the length-fixing mechanism.

[0100] The clamping plate assembly 302 includes an upper mounting base 321, an upper clamping plate 322, and an upper telescopic adjustment assembly 323; the upper mounting base 321 is slidably connected to the detection bracket 301 and is driven to rise and fall by the second lifting adjustment assembly 306; the upper clamping plate 322 is slidably connected to the upper mounting base 321; and the upper telescopic adjustment assembly 323 is disposed on the upper mounting base 321 and drives the upper clamping plate 322 to move telescopically in the horizontal direction.

[0101] The lower clamping plate assembly 303 includes a lower mounting base 331, a lower clamping plate 332, and a lower telescopic adjustment assembly; the lower mounting base 331 is slidably connected to the detection bracket 301 and is driven to rise and fall by the third lifting adjustment assembly 307; the lower clamping plate 332 is slidably connected to the lower mounting base 331; and the lower telescopic adjustment assembly is disposed on the lower mounting base 331 and drives the lower clamping plate 332 to move horizontally.

[0102] The moving direction of the upper clamping plate 322 is parallel to the moving direction of the lower clamping plate 332, and both are perpendicular to the driving direction of the second lifting adjustment component 306.

[0103] Example 3

[0104] This embodiment provides a method for orienting the bending direction of the main reinforcement bars in a steel cage based on an orienting device, including the following steps:

[0105] Feeding and positioning: Control the rotary positioning mechanism to move the main rib to the inspection station and drive the clamping assembly to clamp the main rib;

[0106] Rotational scanning and orientation determination: The rotary positioning mechanism drives the main reinforcing bar to perform rotational scanning, while simultaneously monitoring the signal triggering status of the first and second detection units in real time to determine the actual orientation or direction of the bent end of the main reinforcing bar. The rotation direction of the main reinforcing bar is determined based on the first and second detection units.

[0107] Specifically, the orientation determination logic in this embodiment includes:

[0108] First, an initial determination is made to determine whether the first detection unit and the second detection unit are in a state of "not being triggered simultaneously".

[0109] If so, the system proceeds to the direction recording stage: controlling the rotary positioning mechanism to drive the main rib to rotate by a set angle. Throughout the rotation process, the system determines the direction by capturing the trigger timing characteristics of two sensors.

[0110] Directional callback: Based on the above direction recording results, control the rotary positioning mechanism to perform the corresponding correction action.

[0111] Deviation elimination and final verification: In order to eliminate the mechanical torque stress and transmission clearance generated during the directional pullback process, after the directional pullback action is completed, the upper and lower components of the clamping plate of the control detection mechanism are moved to temporarily clamp the main rib (using the rigidity of the plate structure to force the bent end to return to horizontal alignment); then the clamping components of the control rotation positioning mechanism are released and re-clamped to the main rib, and the clamping plate components are released after the stress is released.

[0112] Finally, with the clamping plate assembly clamping the main reinforcement, the diameter or position data of the main reinforcement is checked using a rope displacement sensor; if the detected data is within the preset tolerance range, the orientation is considered to be successfully completed.

[0113] This embodiment also includes a final verification step. After the orientation callback step is completed, the upper and lower components of the control clamp clamp the main reinforcement, and the diameter or position data of the main reinforcement is detected using a pull rope displacement sensor. If the detected data is within the preset tolerance range, the orientation is considered complete. If the data exceeds the tolerance range, the system will trigger an alarm.

[0114] Example 4

[0115] like Figure 5 and Figure 6 As shown, this embodiment provides a more specific control logic.

[0116] S1. The control system first reads the parameters of the main rib to be processed (including the length of the bent end, the length of the bevel, etc.). The main rib positioning servo then positions the main rib to the corresponding detection station.

[0117] S2. Control the first lifting adjustment component (driving rotation positioning mechanism) and the second / third lifting adjustment component (driving detection mechanism) to operate synchronously and adjust to a suitable height position that matches the diameter of the main reinforcement bar.

[0118] S3. Before the main rib is positioned and formal scanning begins, the control system reads the status of the first and second detection units in real time to determine whether the current state is the normal initial state of "not both being sensed".

[0119] Yes (Normal): This indicates that the main reinforcement hook is not stuck in the detection dead zone, and the system will directly jump to step S5 to perform a 360° panoramic scan.

[0120] No (Abnormal: Both are detected): This indicates that the initial position of the main rib is exactly stuck in the double trigger dead zone, the initial posture is abnormal, and the system immediately triggers the S4 error correction program.

[0121] S4. In response to the abnormal state in S3, control the clamping component of the rotary positioning mechanism to clamp the main rib and drive the main rib to rotate by a set angle (system default 90°). During this error correction rotation process, continuous monitoring is performed.

[0122] If the status changes to "not both sensors are detected", it means the conflict has been resolved. Immediately stop the current rotation and prepare to enter the normal scanning and judgment process.

[0123] If the system still detects both sensors even after the 90° set rotation angle is completed, it will determine that there is a serious fault and directly jump to the abnormal interruption handling in step S6.

[0124] S5. Under normal initial conditions, the control system controls the rotary clamping assembly to clamp the main rib, and the rotary drive component drives the main rib to rotate by a set angle (system default 360°). During the rotation, the control system dynamically judges based on the timing characteristics of the sensors:

[0125] Case A (positive direction): When the characteristic signal of the first detection unit being triggered and the second detection unit not being triggered is captured, the bending end of the main reinforcement is recorded as being in the positive direction.

[0126] Case B (Reverse Direction): When the characteristic signal of the second detection unit being triggered and the first detection unit not being triggered is captured, the bending end of the main reinforcement is recorded as being in the reverse direction.

[0127] Abnormal situation: If no of the above directional features are detected after rotating 360°, the operation will stop immediately and an alarm pop-up will appear to prompt manual handling.

[0128] S6. The control system extracts the recorded results of the S5 scanning process: If no directional features are detected during the entire scanning process (such as a broken hook or incorrect specifications), the system will immediately stop running and pop up an alarm window to prompt manual intervention.

[0129] If a record in the "positive direction" or "negative direction" is successfully extracted, the process will proceed smoothly to the next step of targeted callback.

[0130] S7. Based on the direction attributes recorded in S5, the control system issues the final correction command to the rotary positioning mechanism:

[0131] If the record is in the opposite direction: control the rotation servo to rotate 180° in the opposite direction, flipping the bent end to the preset direction.

[0132] If the record is positive: it is determined that the current posture meets the process requirements and there is no need to perform a reversal.

[0133] S8. After the directional callback action is completed, control the detection clamping components (the upper clamping component and the lower clamping component) to clamp the main rib again, and then control the rotation clamping components to release.

[0134] The rigid clamping of the testing mechanism forces the main reinforcement to be aligned, eliminating minor deviations caused by the rotational return gap and ensuring that the bending direction of the main reinforcement is accurately locked to the required direction.

[0135] S9. With the clamping assembly in a clamped state, activate the rope displacement sensor. The sensor reads the current diameter and absolute position data of the main rib and feeds it back to the control system.

[0136] S10. The control system determines whether the data is within the preset tolerance range:

[0137] Yes (Qualified): The orientation of this main reinforcement bar is determined to be successful, the process ends, and the system sends a signal to notify the next process (such as the welding host) to receive the material.

[0138] No (Unqualified): This indicates an error in orientation or abnormality in the main reinforcement specifications. An alarm will pop up, and manual re-inspection or handling will be required.

[0139] Example 5

[0140] like Figure 7 and Figure 8 As shown, this embodiment provides another, more specific control logic.

[0141] S1. The control system first reads the parameters of the main rib to be processed (including the length of the bent end, the length of the bevel, etc.). The main rib positioning servo then positions the main rib to the corresponding detection station.

[0142] S2. Control the first lifting adjustment component (driving rotation positioning mechanism) and the second / third lifting adjustment component (driving detection mechanism) to operate synchronously and adjust to a suitable height position that matches the diameter of the main reinforcement bar.

[0143] S3. Control the rotation clamping assembly (rotation mechanism clamping cylinder) to clamp the main rib. Then, control the rotation drive to rotate the main rib by a set angle (the system default setting is 180°) to perform a preliminary scan.

[0144] S4. During the rotational scanning process, the control system monitors the signal status of the first and second detection units in real time to determine whether a situation occurs where "both sensors are detected simultaneously":

[0145] Yes (successful determination): This indicates that the main reinforcement bar is in place and the bent end (hook) has entered the detection area. The system immediately controls the rotary positioning mechanism to stop rotating.

[0146] No (Judgment Failed): This indicates that no abnormality was detected in the position of the main reinforcement or hook (e.g., the hook is too short to reach the sensor). The system control equipment will stop and display an alarm prompt, awaiting manual intervention.

[0147] S5. After rotation stops, perform a clamping switching action to eliminate mechanical transmission backlash or stress:

[0148] Control the movement of the clamping components (upper clamping component and lower clamping component) to temporarily clamp the main reinforcement.

[0149] Control the rotary clamping assembly to release; after a delay confirmation, control the rotary clamping assembly to clamp the main rib again; control the detection clamping assembly to release.

[0150] S6. After completing the clamping switch, control the rotary positioning mechanism to drive the main rib to continue rotating 90° in the original direction. During this rotation (especially in the interval after rotating more than 45°), the control system captures the signal status of the second detection unit.

[0151] S7. Based on the feedback results from the second detection unit, execute logical judgments and actions:

[0152] Scenario A: If the second detection unit is triggered (a signal is detected) during the rotation, it is determined that the hook is in the first interval, and the control system commands the rotation positioning mechanism to rotate 270° in the opposite direction.

[0153] Scenario B: If the second detection unit is not triggered (no signal is detected) during the rotation, it is determined that the hook is in the second interval, and the control system commands the rotation positioning mechanism to rotate 90° in the opposite direction.

[0154] After performing the above reversal action, the bent end of the main reinforcement bar should theoretically be adjusted to the preset direction.

[0155] S8. After the directional callback action is completed, control the detection clamping components (the upper clamping component and the lower clamping component) to clamp the main rib again, and then control the rotation clamping components to release.

[0156] The rigid clamping of the testing mechanism forces the main reinforcement to be aligned, eliminating minor deviations caused by the rotational return gap and ensuring that the bending direction of the main reinforcement is accurately locked to the required direction.

[0157] S9. With the clamping assembly in a clamped state, activate the rope displacement sensor. The sensor reads the current diameter and absolute position data of the main rib and feeds it back to the control system.

[0158] S10. The control system determines whether the data is within the preset tolerance range:

[0159] Yes (Qualified): The orientation of this main reinforcement bar is determined to be successful, the process ends, and the system sends a signal to notify the next process (such as the welding host) to receive the material.

[0160] No (Unqualified): This indicates an error in orientation or abnormality in the main reinforcement specifications. An alarm will pop up, and manual re-inspection or handling will be required.

[0161] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0162] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0163] Those skilled in the art should understand that the above embodiments are merely for illustrating the present invention and are not intended to limit the scope of the invention. Those skilled in the art can make other changes or modifications based on the above invention, and these changes or modifications still fall within the scope of the present invention.

Claims

1. A device for orienting the bending direction of main reinforcing bars in a steel cage, characterized in that, include: A rotary positioning mechanism (200) is used to clamp the main rib and drive the main rib to rotate about its own axis; The detection mechanism (300), which is set in conjunction with the rotary positioning mechanism (200), is used to monitor the rotation state of the main rib; The control system is connected to the rotary positioning mechanism (200) and the detection mechanism (300) by signals respectively; The testing organization (300) includes: The first detection unit (304) is set at a position corresponding to the axis of the straight section of the main reinforcement and is used to detect the position of the straight section of the main reinforcement. The second detection unit (305) is set at the position corresponding to the bending section of the main reinforcement and is used to detect the position of the bending section of the main reinforcement. The control system is connected to the first detection unit (304) and the second detection unit (305) respectively. The control system controls the operation of the rotary positioning mechanism (200) according to the signal fed back by the second detection unit (305) to adjust the main reinforcement bending section to the preset direction.

2. The rebar cage main reinforcement bending direction orientation device according to claim 1, characterized in that, The rotary positioning mechanism (200) includes: Mounting bracket (201); A rotary drive (202) and a clamping assembly are provided. The rotary drive (202) is disposed on the mounting bracket (201). The output end of the rotary drive (202) is provided with a rotary seat. The clamping assembly is installed in the rotary seat and rotates synchronously with the rotary seat. It can be operated to clamp or release the main rib. The first lifting adjustment component, wherein the mounting bracket (201) is connected to the output end of the first lifting adjustment component, and the first lifting adjustment component drives the mounting bracket (201) to move in the vertical direction.

3. The rebar cage main reinforcement bending direction orientation device according to claim 2, characterized in that, The clamping assembly includes: The rotating mechanism clamps the cylinder (203), which is fixedly installed on the rotating seat and rotates synchronously with the rotating seat; Several gripping claws (204) are connected to the drive end of the gripping cylinder (203) of the rotating mechanism; The rotating mechanism clamping cylinder (203) is configured to drive the clamping claw (204) to move radially along the rotating seat, converging at the center of the rotating seat to clamp the main rib or spreading outward to loosen the main rib.

4. The rebar cage main reinforcement bending direction orientation device according to claim 1, characterized in that, The testing facility (300) also includes: Test bracket (301); The clamp plate assembly (302) is slidably mounted on the detection bracket (301) and connected to a second lifting adjustment assembly (306), which is configured to drive the clamp plate assembly (302) to move vertically. The clamping plate lower assembly (303) is slidably mounted on the detection bracket (301) and connected to a third lifting adjustment assembly (307), which is configured to drive the clamping plate lower assembly (303) to move in the vertical direction; The first detection unit (304) and the second detection unit (305) are both mounted on the clamp assembly (302).

5. The rebar cage main reinforcement bending direction orientation device according to claim 4, characterized in that, The upper clamping plate assembly (302) and the lower clamping plate assembly (303) are arranged vertically opposite each other, and the main reinforcing bar located between them is clamped by the opposite movement of the second lifting adjustment assembly (306) and the third lifting adjustment assembly (307). The detection mechanism (300) also includes a pull rope displacement sensor, which is installed on the clamping plate assembly (302) or the detection bracket (301). When the clamping plate assembly (302) and the clamping plate lower assembly (303) clamp the main reinforcement, the sensor detects the diameter data or position data of the main reinforcement.

6. The rebar cage main reinforcement bending direction orientation device according to claim 4, characterized in that, The clamping plate assembly (302) includes an upper mounting base (321), an upper clamping plate (322), and an upper telescopic adjustment assembly (323); the upper mounting base (321) is slidably connected to the detection bracket (301) and is driven to rise and fall by the second lifting adjustment assembly (306); the upper clamping plate (322) is slidably connected to the upper mounting base (321); the upper telescopic adjustment assembly (323) is disposed on the upper mounting base (321) and drives the upper clamping plate (322) to move horizontally. The lower clamping plate assembly (303) includes a lower mounting base (331), a lower clamping plate (332), and a lower telescopic adjustment assembly; the lower mounting base (331) is slidably connected to the detection bracket (301) and is driven to rise and fall by the third lifting adjustment assembly (307); the lower clamping plate (332) is slidably connected to the lower mounting base (331); the lower telescopic adjustment assembly is disposed on the lower mounting base (331) and drives the lower clamping plate (332) to move horizontally. The moving direction of the upper clamping plate (322) is parallel to the moving direction of the lower clamping plate (332), and both are perpendicular to the driving direction of the second lifting adjustment component (306).

7. A method for orienting the bending direction of the main reinforcement bars in a steel cage, characterized in that, Based on the orientation device according to any one of claims 1-6, the orientation method includes the following steps: Feeding and positioning: Move the main rib to the inspection station and drive the clamping assembly to clamp the main rib; Rotation scanning and orientation determination: The rotation positioning mechanism is controlled to drive the main rib to perform rotation scanning, while the signal triggering status of the first detection unit and the second detection unit is monitored in real time to determine the orientation of the bending end of the main rib; Directional callback: Based on the determination result of the actual location or orientation, control the rotary positioning mechanism to drive the main reinforcement to rotate by the corresponding correction angle, and adjust the bent end of the main reinforcement to the preset direction.

8. The method for orienting the bending direction of the main reinforcement bars in a steel cage according to claim 7, characterized in that, The rotation scanning and orientation determination steps, as well as the orientation callback steps, include: Determine whether both the first and second detection units are in the triggered state. If yes, then perform orientation discrimination; if no, control the rotary positioning mechanism to drive it to rotate actively by a set angle. If either detection unit is triggered during the rotation, then stop and perform orientation discrimination. If the orientation is determined to be in the opposite direction, the rotating positioning mechanism is controlled to rotate 180 degrees in the opposite direction to adjust the bent end of the main reinforcement to the preset direction; if the orientation is determined to be in the positive direction, there is no need to rotate in the opposite direction. Methods for determining direction include: The rotary positioning mechanism is controlled to drive the main rib to perform a rotary scan, while simultaneously monitoring the signals from the first detection unit and the second detection unit; During the process of rotating the main reinforcement at a set angle, if the first detection unit is triggered and the second detection unit is not triggered, the bent end of the main reinforcement is determined to be in the positive direction; if the second detection unit is triggered and the first detection unit is not triggered, the bent end of the main reinforcement is determined to be in the negative direction.

9. The method for orienting the bending direction of the main reinforcement bars in a steel cage according to claim 7, characterized in that, The rotation scanning and orientation determination steps, as well as the orientation callback steps, include: Determine whether the first and second detection units are triggered during the rotation process. If not, report an error; if yes, stop and perform orientation determination. Methods for determining direction include: Control the clamping assembly to release and control the detection mechanism to clamp; The clamping assembly clamps the main rib and controls the rotary positioning mechanism to drive the main rib to rotate 90 degrees. After rotating 45 degrees, the triggering status of the second detection unit is detected. If the second detection unit is triggered during the rotation, the rotation will be reversed by 270 degrees after the rotation ends; if the second detection unit is not triggered during the rotation, the rotation will be reversed by 90 degrees after the rotation ends.

10. The method for orienting the bending direction of the main reinforcement bars in a steel cage according to claim 7, characterized in that, After the rotation is stopped during the rotation scanning and orientation determination steps, the upper and lower components of the clamping plate of the control detection mechanism are moved to temporarily clamp the main rib. Then, the clamping components of the rotation positioning mechanism are controlled to loosen and re-clamp the main rib. After the orientation and callback steps are completed, the upper and lower components of the control clamp clamp the main reinforcement, and the diameter or position data of the main reinforcement is detected by the pull rope displacement sensor; if the detected data is within the preset tolerance range, the orientation is determined to be complete.

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