Photovoltaic pile foundation cage processing device

Abstract

The application discloses a photovoltaic pile foundation cage processing device and relates to the technical field of cage processing equipment. The device comprises multiple groups of support mechanisms arranged at intervals in the vertical direction, hydraulic cylinders connecting adjacent support mechanisms, a driving mechanism, multiple clamping assemblies, a signal acquisition mechanism and a display controller. The support mechanism is provided with a movable plate that can move radially, the clamping assembly is arranged on the movable plate, and adjacent support mechanisms are connected through the insertion of a rod and a sleeve. The display controller generates radial adjustment, height adjustment and clamping control parameters according to the target inner diameter, the target height and the main rib specifications, and executes compensation, limiting, staged clamping and abnormal recovery control in combination with radial feedback, height feedback, insertion allowance and clamping feedback, so as to improve the inner diameter positioning accuracy, avoid insufficient insertion and reduce clamping abnormalities.

Description

Technical Field

[0001] This invention relates to the field of ground cage processing equipment, and in particular to a photovoltaic pile ground cage processing device. Background Technology

[0002] A photovoltaic (PV) pile foundation cage typically consists of multiple main reinforcing bars distributed along the circumference, reinforcing bars connecting adjacent main bars, stirrups welded to the outside of the main bars, positioning plates placed on the upper ends of the main bars, and anchor bolts installed on the positioning plates. Its forming accuracy directly affects the connection position and installation quality of the PV support pile foundation. During processing, it is necessary to maintain the predetermined inner diameter of the main reinforcing bars and maintain a stable interlayer position in the vertical direction before welding the reinforcing bars, stirrups, and positioning plates.

[0003] Existing processing methods typically rely on clamping fixtures or support positioning devices to pre-position the main ribs, and adapt to different specifications of trough cages by changing positioning components, adjusting the position of clamping components, or adjusting the spacing of support layers. Some devices have adopted multiple sets of vertical support mechanisms, hydraulic cylinders, clamping components, as well as motors, gears, shafts, plug-in transmission components, and bidirectional screw clamping mechanisms to achieve adjustment of the circumferential position, height, and clamping and fixing of the main ribs.

[0004] However, existing devices still rely heavily on fixed time, fixed angle, or fixed stroke for sequential control when processing different specifications of cages, lacking sufficient feedback between the mechanical transmission state and the control process. During inner diameter adjustment, gear clearance, interlocking fit clearance, arc groove wear, frictional resistance, or uneven loading of the moving plate can easily lead to discrepancies between theoretical displacement and actual radial position. During height adjustment, the extension and retraction of the hydraulic cylinder may cause a mismatch between the layer spacing adjustment and the reliability of the interlocking transmission. When clamping the main ribs, differences in the main rib diameter, initial opening, screw clearance, or placement position can easily cause insufficient clamping, main rib slippage, clamping overload, or excessive local compression. Summary of the Invention

[0005] The purpose of this invention is to provide a photovoltaic pile foundation cage processing device to overcome the problems of existing devices lacking mechanical constraints in inner diameter positioning, height adjustment and main reinforcement clamping, which easily lead to inner diameter deviation, insufficient insertion and clamping abnormalities.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A photovoltaic pile foundation cage processing device includes multiple sets of support mechanisms arranged vertically at intervals, hydraulic cylinders connecting adjacent support mechanisms, a drive mechanism, multiple clamping assemblies, a signal acquisition mechanism, and a display controller. Each support mechanism includes a movable plate capable of radial movement. The clamping assemblies are disposed on the movable plates, and adjacent support mechanisms are connected by insert rods and insert cylinders to transmit rotation. The drive mechanism includes a second motor, which drives the movable plate to adjust radially via transmission gears, insert rods and insert cylinders, and a radial conversion structure within the support mechanism. The clamping assemblies include a first motor and a lead screw clamping structure. The signal acquisition mechanism is used to acquire the radial movement of the movable plate. The display controller is configured to: generate radial positioning, height adjustment, and clamping control parameters based on the target inner diameter, target height, and main rib specifications; correct the second motor's action based on the radial state of the moving plate; limit or adjust the hydraulic cylinder's action based on the hydraulic cylinder's stroke or layer spacing and the effective insertion margin between the insert rod and the insert cylinder; and control the first motor to perform staged clamping after the radial positioning error, layer spacing error, and effective insertion margin meet preset conditions, and perform corresponding compensation or protection control when radial obstruction, insufficient insertion margin, asynchronous stroke, insufficient clamping, or clamping overload are identified.

[0007] Preferably, the support mechanism includes a mounting plate, a guide groove, a movable plate, a drive rod, a gear disk, a rotating shaft, and a first gear; the movable plate is slidably disposed in the guide groove, the drive rod is disposed on the movable plate and slidably engages with the arcuate groove on the gear disk; the first gear is disposed on the rotating shaft and meshes with the gear disk, and the insert rod and the insert cylinder are respectively disposed at both ends of the rotating shaft; the second motor drives the gear disk to rotate through the drive gear, the driven gear, the insert rod, the insert cylinder, the rotating shaft, and the first gear, so that the arcuate groove pushes the drive rod and drives the movable plate to move along the guide groove; the screw clamping structure includes a mounting box, a bidirectional screw, a screw nut, a movable block, and a clamping block, the first motor drives the bidirectional screw to rotate so that the two clamping blocks move closer to each other or further apart.

[0008] Preferably, the signal acquisition mechanism includes at least one of a radial displacement detector, a height detector, a rotation angle detector, a current detector, and a clamping displacement detector; the radial displacement detector is used to obtain the actual radial position of the moving plate relative to the mounting plate; the height detector is used to obtain the actual stroke of the hydraulic cylinder or the actual layer spacing between adjacent support mechanisms; the rotation angle detector is used to obtain the actual rotation angle of the first motor, the second motor, the rotating shaft, or the gear disk; the current detector is used to obtain the operating current of the first motor or the second motor; and the clamping displacement detector is used to obtain the displacement of the clamping block or the opening distance between two clamping blocks.

[0009] Preferably, the display controller generates the inner diameter positioning control parameters in the following manner: obtaining the target inner diameter. and the diameter of the main reinforcement ; When the target inner diameter When the inner diameter is formed by the inner side of the main reinforcement, according to Determine the target clamping center radius; when the target inner diameter When the diameter of the center circle of the main reinforcement is used, according to Determine the radius of the target clamping center; where, The radius of the target clamping center, The adjustment amount is for the structure of the clamping component; the display controller is based on the target clamping center radius. and the reference clamping center radius of the clamping component Determine the radial displacement of the moving plate target ,in: .

[0010] Preferably, the display controller determines the target rotation angle of the gear disk based on the radial displacement conversion model, and determines the target rotation angle of the second motor based on the transmission relationship between the second motor and the gear disk; the radial displacement conversion model is: Where r is the radial displacement of the moving plate along the guide groove direction. For the gear disk rotation angle, The transformation function is jointly determined by the shape of the arc-shaped groove centerline, the contact position of the drive rod, and the direction of the guide groove; the target rotation angle of the second motor. Determine as follows: ;in, For the target gear disk rotation angle, This is the transmission conversion factor between the second motor and the gear disc. The gear transmission backlash compensation angle is determined based on the current positioning direction of the second motor. This includes positive and negative compensation angles; the display controller selects the corresponding symbol and value based on the current positioning direction of the second motor. The target rotation angle of the second motor is added; the display controller is based on the target radial displacement of the moving plate. and the actual radial state of the moving plate Calculate radial positioning error ,in: ;when When the radial error exceeds a preset threshold, the display controller compensates and corrects the target rotation angle, running direction, or running speed of the second motor.

[0011] Preferably, during the rotation of the gear disk driven by the second motor, the display controller acquires the load parameters of the second motor and the radial displacement increment of the moving plate; the load parameters of the second motor include the second motor current or the second motor torque; when the load parameters of the second motor exceed a preset load threshold and the radial displacement increment of the moving plate is less than a preset displacement increment threshold, the display controller determines that radial obstruction occurs between the drive rod and the arc groove; when radial obstruction is determined to occur, the display controller controls the second motor to perform at least one of the following actions: stop, reverse micro-motion, low-speed forward rotation, and repositioning; the display controller is also used to record the hysteresis between the change in the rotation angle of the second motor and the beginning of radial displacement of the moving plate after the second motor reverses direction, and update the gear transmission clearance compensation angle according to the hysteresis.

[0012] Preferably, the display controller generates the height adjustment control parameters in the following manner: based on the target height. Determine the target layer spacing between adjacent support structures And according to the target layer spacing Determine the target stroke of the corresponding hydraulic cylinder ;in: ; This is the initial interlayer spacing between two adjacent sets of support structures. The layer number of adjacent support mechanisms is indicated; the display controller is based on the initial insertion length of the insertion rod and the insertion cylinder. The change in the distance between adjacent support structures relative to the initial interlayer spacing Safety correction amount and minimum plug length Determine the effective insertion margin ,in: ; ; This represents the current effective insertion length; when the effective insertion margin... Less than the preset safety plug-in margin At this time, the display controller may restrict the corresponding hydraulic cylinder from continuing to extend, or adjust the target stroke of the hydraulic cylinder, or redistribute the target layer spacing, or output a status signal prohibiting entry into the subsequent radial linkage adjustment or main rib clamping stage.

[0013] Preferably, the display controller acquires the actual stroke of multiple hydraulic cylinders. And calculate the average stroke of the hydraulic cylinder. and the stroke deviation of each hydraulic cylinder ,in: ; When the absolute value of the stroke deviation of any hydraulic cylinder When the error exceeds a preset synchronization threshold, the display controller performs hydraulic cylinder synchronization correction. The hydraulic cylinder synchronization correction includes at least one of the following: pausing the hydraulic cylinder with an over-travel stroke, reducing the extension speed of the hydraulic cylinder with an over-travel stroke, increasing the extension speed of the hydraulic cylinder with a lagging stroke, or controlling the hydraulic cylinder to retract to the recalibrated position and then extend again.

[0014] Preferably, the main reinforcement specifications include at least the main reinforcement diameter. The display controller determines the pre-contact opening of the clamping block based on the diameter d of the main rib. The parameters include: the first motor's rapid approach speed, low-speed contact speed, clamping and holding speed, contact recognition threshold, lower clamping limit, and upper clamping limit; among which: ; This establishes a preset safety gap before the clamping blocks contact the main rib; during the rapid approach phase, the display controller controls the first motor to drive the two clamping blocks closer to the pre-contact opening. During the low-speed contact phase, the display controller identifies the contact state between the clamping block and the main rib based on the rate of change of the first motor current, the rate of change of the first motor torque, or the displacement increment of the clamping block. During the clamping and holding phase, the display controller identifies the clamping completion state, the clamping insufficiency state, or the clamping overload state based on the first motor current, the first motor rotation angle, and the displacement change of the clamping block. When the clamping insufficiency state is identified, the display controller controls the first motor to rotate a preset clamping angle along the clamping direction. When the clamping overload state is identified, the display controller controls the first motor to rotate a preset unloading angle along the releasing direction.

[0015] Preferably, during the main rib clamping stage, the display controller acquires contact state parameters of multiple vertical clamping components corresponding to the same main rib when they reach the contact recognition condition; the contact state parameters include at least one of the first motor contact angle, clamping block contact displacement, or contact time; the display controller compares the contact state parameters of each vertical clamping component with the reference contact state parameters; when the deviation of the contact state parameters of any vertical clamping component exceeds a preset vertical deviation threshold, the display controller determines that the main rib of the corresponding layer has vertical skew, has not entered the clamping center, or has uneven clamping force, and controls the corresponding layer clamping component to release and re-clamp at a low speed; when the deviation of the contact state parameters still exceeds the preset vertical deviation threshold after re-clamping, the display controller outputs a status signal prohibiting entry into the welding stage.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. This invention incorporates a mounting plate, guide groove, moving plate, drive rod, gear disk, and arc groove within multiple support mechanisms. A second motor drives the gear disk to rotate via a drive gear, driven gear, insert rod, insert cylinder, rotating shaft, and first gear. This rotation of the gear disk is converted into radial movement of the moving plate along the guide groove, thereby synchronously adjusting the position of the clamping assembly relative to the center of the mounting plate. A display controller determines the target rotation angle of the second motor based on the target inner diameter, main reinforcement specifications, and radial displacement conversion model. Compensation and correction are then performed based on the actual radial state of the moving plate. This ensures that the radial position of the clamping assembly is no longer solely dependent on a fixed rotation angle or fixed time, but is constrained by the radial positioning error of the moving plate. This helps reduce inner diameter positioning deviations caused by factors such as gear meshing clearance, friction between the arc groove and drive rod, and sliding resistance of the moving plate, resulting in more stable circumferential positioning of the main reinforcement during the processing of photovoltaic pile base cages of different specifications.

[0017] 2. This invention, by setting hydraulic cylinders between adjacent support mechanisms and engaging the insert rods and cylinders between them, allows the transmission of rotation input from the second motor through the insert rods and cylinders while the hydraulic cylinders adjust the interlayer spacing between adjacent support mechanisms. Simultaneously, the display controller determines the target stroke of the hydraulic cylinder based on the target height and calculates the effective insertion margin based on the initial insertion length of the insert rod and cylinder, the change in interlayer spacing, and the minimum insertion length required to maintain rotational transmission. When the effective insertion margin is insufficient, the display controller restricts the corresponding hydraulic cylinder from extending further, adjusts the target stroke of the hydraulic cylinder, or redistributes the target interlayer spacing. This achieves ground cage height adjustment while avoiding insufficient insertion length of the insert rods and cylinders due to excessive hydraulic cylinder extension, thus maintaining the reliability of rotational transmission between multi-layer support mechanisms and reducing the adverse effects of height adjustment on subsequent radial synchronous adjustment.

[0018] 3. In this invention, the display controller determines the pre-contact opening, contact recognition threshold, clamping lower limit, and clamping upper limit based on the main rib specifications, and controls the clamping block to sequentially perform rapid approach, low-speed contact, and clamping holding actions. During the clamping process, the display controller identifies the contact state, insufficient clamping state, and clamping overload state based on the first motor current, first motor rotation angle, clamping block displacement, or torque, and performs corresponding supplementary clamping or unloading. The clamping assembly can adjust the clamping action according to different main rib specifications and actual contact states, reducing the possibility of insufficient clamping, main rib slippage, or excessive local compression that may occur with fixed-stroke clamping. Simultaneously, the display controller uses radial positioning error, interlayer spacing error, and effective insertion allowance as prerequisites for entering the main rib clamping stage. This prevents entry into the clamping stage when the inner diameter is not in place, the height is not in place, or the insertion allowance is insufficient, thereby reducing the transmission of preceding mechanical deviations to the main rib clamping and subsequent welding processes. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the assembly structure of the photovoltaic pile foundation cage processing device and the steel cage in this invention; Figure 2 The three-dimensional photovoltaic pile base cage processing device of the present invention Figure 1 ; Figure 3 The three-dimensional photovoltaic pile base cage processing device of the present invention Figure 2 ; Figure 4 This is a schematic diagram of the assembly structure of the support mechanism and the drive mechanism in this invention; Figure 5 This is a perspective view of the support mechanism in this invention; Figure 6 This is a schematic diagram of the assembly structure of the mounting plate, guide groove, and movable plate in this invention; Figure 7 This is a schematic diagram of the assembly structure of the first motor, bidirectional lead screw, lead screw nut, moving block and clamping block in this invention; Figure 8 This is a schematic diagram of the control flow of the display controller in this invention; Reference numerals: 101, base plate; 102, support column; 103, mounting plate; 104, display controller; 200, support mechanism; 201, mounting plate; 202, guide groove; 203, moving plate; 204, drive rod; 205, limiting plate; 206, gear disk; 2061, arc groove; 207, rotating shaft; 2071, first gear; 2072, insertion rod; 2073, insertion cylinder; 210 211. Clamping assembly; 212. Mounting box; 213. First motor; 214. Bidirectional lead screw; 215. Lead screw nut; 216. Moving block; 217. Clamping block; 300. Hydraulic cylinder; 400. Drive mechanism; 401. Second motor; 402. Drive gear; 403. Driven gear; 501. Main rib; 502. Reinforcing rib; 503. Stirrup; 504. Positioning plate; 505. Anchor bolt. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more readily understood, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0022] This invention is described in detail with reference to the accompanying drawings. When detailing the embodiments of this invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not to scale. Furthermore, the accompanying drawings are merely examples and should not be construed as limiting the scope of protection of this invention. In actual fabrication, the three-dimensional spatial dimensions of length, width, and depth should be included.

[0023] Furthermore, it should be noted in the description of this invention that the terms "first," "second," or "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] like Figures 1 to 8 As shown, this embodiment provides a photovoltaic pile foundation cage processing device, including a base plate 101, support columns 102, mounting plate 103, display controller 104, multiple sets of support mechanisms 200, multiple hydraulic cylinders 300, drive mechanism 400, multiple clamping components 210, and signal acquisition mechanism. Multiple sets of support mechanisms 200 are vertically spaced above the base plate 101, and adjacent sets of support mechanisms 200 are connected by multiple hydraulic cylinders 300, which are used to adjust the layer spacing between adjacent support mechanisms 200. Multiple support columns 102 are mounted on the top surface of the base plate 101, and the upper ends of the support columns 102 are fixedly connected to the lowest support mechanism 200 to support the multiple sets of support mechanisms 200. Mounting plate 103 is mounted on base plate 101, and display controller 104 is mounted on mounting plate 103. It is connected to at least one detection element among second motor 401, hydraulic cylinder 300, first motor 212 and signal acquisition mechanism, respectively, for performing coordinated control of inner diameter, height and clamping.

[0025] The signal acquisition mechanism includes at least one of a radial displacement detection element, a height detection element, a rotation angle detection element, a current detection element, and a clamping displacement detection element, which is not shown in the figure. The radial displacement detection element can be a linear displacement sensor, a magnetic scale, a linear encoder, a drawstring displacement sensor, an LVDT displacement sensor, or a proximity switch assembly. The radial displacement detection element can be mounted on the guide groove 202, the moving plate 203, or the mounting plate 201. The radial displacement detection element is used to detect the actual radial position of the moving plate 203 relative to the mounting plate 201. The height detection element can be a hydraulic cylinder built-in stroke sensor, a magnetostrictive displacement sensor, a drawstring displacement sensor, a laser rangefinder, or a linear displacement sensor. The height detection element is used to detect the actual stroke of the hydraulic cylinder 300 or the actual layer spacing between adjacent support mechanisms 200. Angle detection devices can be installed on the second motor 401, the first motor 212, the shaft 207, or the gear disk 206. These devices can be rotary encoders, absolute encoders, incremental encoders, magnetic encoders, Hall effect angle sensors, or rotary transformers. The angle detection devices are used to detect the actual rotation angle of the second motor 401, the first motor 212, the shaft 207, or the gear disk 206. Current detection devices can be integrated into the drivers of the first motor 212 and the second motor 401, or installed in the motor power supply circuit. These devices can be Hall effect current sensors, shunt resistor sampling circuits, current sampling modules built into the motor driver, or current feedback modules from servo drivers. The current detection devices are used to obtain the operating current of the first motor 212 or the second motor 401. The clamping displacement detection element can be set at the mounting box 211, the moving block 215 or the clamping block 216. The clamping displacement detection element can be a linear displacement sensor, a magnetic grating ruler, a grating ruler, a miniature pull rope displacement sensor, an LVDT displacement sensor, a proximity switch or a limit switch. The clamping displacement detection element is used to detect the opening distance between the two clamping blocks 216 or the displacement of the clamping block 216.

[0026] Each support mechanism 200 includes a mounting plate 201, a guide groove 202, a movable plate 203, a drive rod 204, a limiting plate 205, a gear disk 206, a rotating shaft 207, and a clamping assembly 210. The mounting plate 201 has multiple guide grooves 202, and a movable plate 203 is slidably connected within each guide groove 202. The movable plate 203 can move relative to the mounting plate 201 along the length of the guide groove 202. A drive rod 204 is mounted on each movable plate 203, and the drive rod 204 is slidably connected to the guide groove 202. A limiting plate 205 is mounted on the end of the drive rod 204 away from the movable plate 203. A clamping assembly 210 is mounted on the end of the movable plate 203 away from the mounting plate 201, and the clamping assembly 210 is used to clamp and fix the main rib 501.

[0027] A gear disk 206 is rotatably mounted on the bottom surface of a mounting disk 201. Multiple arc-shaped grooves 2061 are formed on the gear disk 206, and multiple drive rods 204 are correspondingly arranged with each arc-shaped groove 2061, with the drive rods 204 slidably connected to their respective arc-shaped grooves 2061. When the gear disk 206 rotates, the arc-shaped grooves 2061 push the drive rods 204 to move along guide grooves 202. The drive rods 204 drive the moving plate 203 to move, thereby causing the clamping assembly 210 to move radially relative to the mounting disk 201. A rotating shaft 207 is also rotatably mounted on the mounting disk 201, penetrating the mounting disk 201. A first gear 2071 is fixedly sleeved on the rotating shaft 207, meshing with the gear disk 206. A sleeve 2073 is installed at the upper end of the rotating shaft 207, and a rod 2072 is installed at the lower end of the rotating shaft 207. The rod 2072 in the upper support mechanism 200 and the sleeve 2073 in the lower support mechanism 200 are inserted into each other, so that rotation can be transmitted between adjacent support mechanisms 200. Specifically, the rod 2072 is a square rod, and the sleeve 2073 is a square sleeve.

[0028] The drive mechanism 400 includes a second motor 401, a drive gear 402, and a driven gear 403. The drive gear 402 is mounted on the power output shaft of the second motor 401, and the driven gear 403 meshes with the drive gear 402. The driven gear 403 is fixedly sleeved on the lowermost insert rod 2072. When the second motor 401 is running, the drive gear 402 drives the driven gear 403 to rotate, and the driven gear 403 drives the lowermost insert rod 2072 to rotate. Through the insertion engagement between the insert rod 2072 and the insert cylinder 2073, the rotating shafts 207 in the multiple sets of support mechanisms 200 rotate synchronously, thereby driving the gear disks 206 on each support mechanism 200 to rotate. Thus, the rotation of the second motor 401 is transmitted to the gear disk 206 via the driving gear 402, driven gear 403, insert rod 2072, insert cylinder 2073, rotating shaft 207 and first gear 2071, and is converted into the radial movement of the moving plate 203 along the direction of the guide groove 202 through the cooperation of the arc groove 2061 and the drive rod 204.

[0029] The display controller 104 at least obtains the target inner diameter. Target height Specifications of main reinforcing bars. Target inner diameter. Used to characterize the design inner diameter of the steel cage to be processed; target height. Used to characterize the design height of the steel cage to be processed in the vertical direction, or to determine the target layer spacing distribution among multiple sets of support mechanisms 200; the main reinforcement specifications include at least the diameter of the main reinforcement 501. It may include the material strength grade, surface condition, or allowable clamping force range.

[0030] During inner diameter adjustment, the display controller 104 adjusts according to the target inner diameter. and the diameter of the main reinforcement Determine the target clamping center radius of the clamping assembly 210 If the target inner diameter The inner diameter formed by the inner side of the main reinforcement bar is the target clamping center radius. It can be represented as: ; in, The structural correction amount between the contact surface of the clamping block 216 and the center of the main rib is determined by the shape of the clamping block 216, the installation position of the clamping assembly 210, and the reference position of the moving plate 203.

[0031] If the target inner diameter If the diameter of the center circle of the main reinforcement is the same as the radius of the target clamping center. It can be represented as: .

[0032] The display controller 104 displays the target clamping center radius. and the reference clamping center radius of clamping assembly 210 Determine the target radial displacement of the moving plate 203. , Radial outward along the mounting plate 201 or the reference component of the support mechanism 200 is positive, and radial inward is negative. When the clamping center of the clamping assembly 210 coincides with the design reference center of the moving plate 203, Take zero: ; in, The clamping center radius of the clamping assembly 210 when the moving plate 203 is in the reference position is obtained by equipment calibration.

[0033] The arcuate groove 2061 of the gear disk 206, the drive rod 204, and the guide groove 202 together define the radial displacement conversion model of the moving plate. This model can be represented as: .

[0034] in, The radial displacement of the moving plate 203 along the direction of the guide groove 202. For the rotation angle of gear disk 206, It is a transformation function jointly determined by the shape of the centerline of the arc groove 2061, the contact position of the drive rod 204, and the direction of the guide groove 202. The radial calibration can be calculated using the geometric parameters of the arc groove 2061, or it can be obtained through prototype calibration. Before the equipment is put into use, the display controller 104 performs the radial calibration process. During calibration, the moving plate 203 is placed in the reference position and the reference clamping center radius of the clamping assembly 210 is recorded. The second motor 401 drives the gear disk 206 to rotate sequentially to multiple preset angle positions. The actual radial displacement of the moving plate 203 is recorded by the radial displacement detection element, forming the gear disk rotation angle. With radial displacement The calibration table shows the controller 104 operating according to the target radial displacement. Call the calibration table and determine the target gear disk rotation angle using linear interpolation or piecewise interpolation. .

[0035] The display controller 104 determines the target rotation angle of the second motor 401 based on the transmission relationship between the second motor 401 and the gear disk 206. : ; in, This is the transmission conversion factor between the second motor 401 and the gear disk 206. This is the gear transmission backlash compensation angle. and All of these can be obtained through equipment structural parameters or prototype calibration.

[0036] During the rotation of the gear disk 206 driven by the second motor 401, the display controller 104 acquires the actual radial state of the moving plate 203. And calculate the radial positioning error. : .

[0037] when Greater than the preset radial error threshold At that time, the display controller 104 according to Determine the compensation amount of the second motor 401. The compensation amount can be the target rotation angle compensation amount, or it can be a short-term reverse micro-motion or a low-speed forward positioning action.

[0038] During radial adjustment, if there are foreign objects, wear, uneven load, or insufficient lubrication between the arc groove 2061 and the drive rod 204, the load on the second motor 401 may increase while the radial displacement increment of the moving plate 203 is insufficient. The display controller 104 acquires the current of the second motor 401 within a preset time window. or torque And obtain the radial displacement increment of the moving plate 203. When satisfied and or satisfy and At that time, the display controller 104 determines that there is obstruction between the drive rod 204 and the arc-shaped groove 2061. , and All values ​​are obtained through calibration. Upon detecting a blockage, the display controller 104 first stops the second motor 401, then controls it to rotate in the opposite direction by a preset micro-motion angle, subsequently rotating it forward at a speed lower than the normal radial adjustment speed, and re-acquiring the radial displacement increment of the moving plate 203. If the moving plate 203 resumes movement, the inner diameter closed-loop positioning continues; if it fails to resume movement after repeating a preset number of times, the machine remains stopped and entry into the main rib clamping stage is prohibited.

[0039] During height adjustment, the hydraulic cylinder 300 adjusts the interlayer spacing between adjacent support mechanisms 200. The insertion rod 2072 and the insertion cylinder 2073 maintain their insertion engagement during the interlayer spacing change to ensure rotational transmission between adjacent support mechanisms 200. The display controller 104 adjusts the height according to the target height. Determine the target interlayer spacing between multiple sets of support mechanisms 200. Let the initial interlayer spacing between two adjacent sets of support mechanisms 200 be... The target interlayer spacing is The target stroke of the hydraulic cylinder 300 is ,but: ; in, This indicates the floor number of adjacent support structures. Target floor spacing. Based on target height The distribution can be uniform, or it can be non-uniform depending on the welding position of the main reinforcement 501, the arrangement position of the reinforcing ribs 502 or the stirrups 503.

[0040] The effective insertion margin characterizes the remaining insertion capacity between the insertion rod 2072 and the insertion cylinder 2073 that can still be used to transmit rotation after the hydraulic cylinder 300 adjusts the spacing between adjacent support mechanisms 200 layers. Effective insertion margin It can be determined in the following way: .

[0041] in, This is the current effective insertion length. The minimum insertion length required to maintain the rotational transmission between the insertion rod 2072 and the insertion cylinder 2073.

[0042] Current effective plug length It can be determined in the following way: .

[0043] in, This is the initial insertion length between the insertion rod 2072 and the insertion tube 2073. This represents the change in spacing between adjacent support structures 200 relative to the initial interlayer spacing. This refers to the amount of correction introduced by chamfering the end of the insert, assembly clearance, or safety adjustments.

[0044] when Less than the preset safety plug-in margin When the display controller 104 determines that continuing to extend the hydraulic cylinder 300 will reduce the reliability of the rotational transmission between the insert rod 2072 and the insert cylinder 2073, it performs at least one of the following actions: suspending the hydraulic cylinder 300 with an over-travel, limiting the corresponding hydraulic cylinder 300 from continuing to extend, reducing the extension speed of the corresponding hydraulic cylinder 300, distributing part of the target stroke to other hydraulic cylinders 300, or outputting a status signal prohibiting entry into the inner diameter adjustment or main rib clamping stage.

[0045] To ensure that the actions of multiple hydraulic cylinders 300 are synchronized, the display controller 104 acquires the actual stroke of the multiple hydraulic cylinders 300. And calculate the average stroke of the hydraulic cylinder. : ; 300 stroke deviation per hydraulic cylinder for: .

[0046] when When the error exceeds the preset synchronization error threshold, the display controller 104 performs synchronization correction on the hydraulic cylinder 300. The synchronization correction includes pausing the hydraulic cylinder with the stroke ahead, reducing the extension speed of the hydraulic cylinder with the stroke ahead, increasing the extension speed of the hydraulic cylinder with the stroke behind, or controlling the hydraulic cylinder to retract to the recalibrated position and then extend again.

[0047] The clamping assembly 210 includes a mounting box 211, a first motor 212, a bidirectional lead screw 213, lead screw nuts 214, moving blocks 215, and clamping blocks 216. The mounting box 211 is fixedly connected to the end of the moving plate 203 away from the mounting disk 201. The first motor 212 is mounted on the mounting box 211, and the power output shaft of the first motor 212 is connected to the bidirectional lead screw 213. The bidirectional lead screw 213 is rotatably mounted inside the mounting box 211, and the threads at both ends of the bidirectional lead screw 213 are in opposite directions. Two lead screw nuts 214 are sleeved on the bidirectional lead screw 213, and the two lead screw nuts 214 are respectively connected to two moving blocks 215, and the two moving blocks 215 are respectively connected to two clamping blocks 216. When the first motor 212 drives the bidirectional lead screw 213 to rotate, the two lead screw nuts 214 can move simultaneously in opposite directions or simultaneously in opposite directions, thereby causing the two clamping blocks 216 to move closer to or further away from each other.

[0048] During the main reinforcement clamping stage, the display controller 104 determines the pre-contact opening of the clamping block 216 according to the main reinforcement specifications. The first motor rapidly approaches at high speed. Low contact speed Clamping and holding speed Contact recognition threshold, clamping lower limit and clamping limit If the first motor 212 directly drives the bidirectional lead screw 213, the pitch of the bidirectional lead screw 213 is... The first motor 212 has a rotation angle of The opening between the two clamping blocks 216 It can be converted as follows: ; in, This is the initial opening for clamping block 216.

[0049] When the first motor 212 drives the bidirectional lead screw 213 via the reduction mechanism, if the transmission ratio of the reduction mechanism is... ,and Given the rotation angle of the output shaft of the first motor 212, then the rotation angle of the bidirectional lead screw 213 is... The opening between the two clamping blocks 216 according to Sure; when When the actual rotation angle of the two-way lead screw 213 is... .

[0050] Pre-contact opening of clamping block 216 Based on the main reinforcement diameter d and the preset safety clearance before contact... Sure: .

[0051] The display controller 104 first controls the first motor 212 to operate at a first speed. Drive the two clamping blocks 216 to quickly approach the main rib 501 until the clamping blocks 216 open. Achieving pre-contact opening Then control the first motor 212 to operate at a speed lower than the first speed. Second speed Continue to drive the two clamping blocks 216 closer to the main reinforcement 501.

[0052] During the low-speed contact phase, when the rate of change of the first motor current reaches the preset contact current rate of change threshold, or the rate of change of the first motor torque reaches the preset contact torque rate of change threshold, or the displacement increment of the clamping block 216 is lower than the contact displacement increment threshold within a preset time, the display controller 104 determines that the clamping block 216 has contacted the main rib 501.

[0053] During the clamping and holding phase, the display controller 104 detects the current of the first motor. First motor rotation angle and the displacement change of the clamping block When satisfied ,and At that time, the clamping is determined to be complete.

[0054] in, To match the diameter of the main reinforcement The corresponding clamping lower limit, To match the diameter of the main reinforcement The corresponding clamping limit, This represents the threshold for allowable displacement change of the clamping block during the clamping and holding phase. Lower clamping limit. Clamping limit and clamping displacement threshold This can be obtained through the specification calibration of the main reinforcement bars. During calibration, select the corresponding diameter. The main rib 501 is controlled to contact and gradually clamp the clamping block 216 at a low speed. The first motor current when the main rib 501 begins to be stably held without slippage is recorded as the lower limit reference value of clamping. The first motor current before the surface of the main rib 501 shows an indentation exceeding the allowable range or the clamping force exceeds the allowable range is recorded as the upper limit reference value of clamping. The average value of multiple test results or after safety correction is stored in the display controller 104.

[0055] when ,or When the display controller 104 determines that the clamping is insufficient or the main rib has slipped, it controls the first motor 212 to continue rotating along the clamping direction at a preset clamping angle. If the torque of the first motor 212 is higher than the clamping limit corresponding to the main rib specification, the display controller 104 determines that the clamping is overloaded and controls the first motor 212 to rotate along the release direction at a preset unloading angle to reduce the local clamping force of the clamping block 216 on the main rib 501.

[0056] The display controller 104 uses the inner diameter positioning state, height adjustment state, and insertion transmission state as necessary conditions for entering the main rib clamping stage. Only when... , and Simultaneously, upon establishment, the display controller 104 allows entry into the main reinforcement clamping stage. Among these, For the radial positioning error of the moving plate 203, The preset radial error threshold is used; This refers to the interlayer spacing error between adjacent support structures (200 units). The preset interlayer spacing error threshold is used; To ensure sufficient insertion margin, A preset safety insertion margin is provided. If any of the above conditions are not met, the display controller 104 will not allow entry into the main reinforcement clamping stage, but will instead execute the corresponding compensation action: when When, radial compensation of the second motor 401 is performed; when At that time, the hydraulic cylinder 300 synchronous correction is executed; when At this time, the hydraulic cylinder 300 is restricted from continuing to extend or the target layer spacing is redistributed.

[0057] After the second motor 401 reverses direction, the display controller 104 records the hysteresis between the change in the rotation angle of the second motor 401 and the initiation of radial displacement of the moving plate 203, and determines the gear transmission backlash compensation amount based on this hysteresis. After the first motor 212 reverses direction, the display controller 104 records the hysteresis between the change in the rotation angle of the first motor 212 and the initiation of displacement of the clamping block 216, and determines the bidirectional lead screw backlash compensation amount based on this hysteresis. In the next operation, the display controller 104 adds the corresponding backlash compensation amount to the target rotation angle.

[0058] When multiple support mechanisms 200 are arranged vertically, the same main rib 501 can correspond to multiple vertical clamping components 210. If the main rib 501 is vertically skewed or not located at the clamping center of some clamping components 210, the contact state parameters of different layers of clamping components 210 when they reach the contact recognition condition will differ. The display controller 104 acquires the contact state parameters of multiple vertical clamping components 210 corresponding to the same main rib 501 when they reach the contact recognition condition. The contact state parameters include at least one of the first motor contact angle, clamping block contact displacement, or contact time. The display controller 104 compares the contact state parameters of each vertical clamping component 210 with the reference contact state parameters; the reference contact state parameters are determined by the average value of the contact state parameters of multiple vertical clamping components 210, the contact state parameters of a preset reference layer, or the equipment calibration parameters.

[0059] When the contact state parameter deviation of any vertical clamping component 210 exceeds the preset vertical deviation threshold, it is determined that the main rib 501 of the corresponding layer is vertically skewed, has not entered the clamping center, or has uneven clamping force. The corresponding layer clamping component 210 is then released and re-clamped at a low speed. If the vertical deviation threshold is still not met after re-clamping, the welding stage is prohibited.

[0060] In a specific processing procedure, the operator inputs the target inner diameter of the steel cage to be processed into the display controller 104 or its human-machine interface. Target height and the diameter of the main reinforcement The display controller 104 displays the target inner diameter. and the diameter of the main reinforcement Calculate the radius of the target clamping center and according to Determine the target radial displacement of the moving plate 203 The display controller 104 calls the calibration table of gear disk rotation angle and moving plate radial displacement to determine the target rotation angle of gear disk 206. Then, the target rotation angle of the second motor 401 is determined based on the transmission relationship between the second motor 401 and the gear disk 206. .

[0061] The display controller 104 controls the rotation of the second motor 401. The second motor 401 drives the gear disk 206 to rotate via the driving gear 402, driven gear 403, insert rod 2072, insert cylinder 2073, rotating shaft 207, and first gear 2071. When the gear disk 206 rotates, the arc-shaped groove 2061 pushes the drive rod 204 to move along the guide groove 202, and the drive rod 204 drives the moving plate 203 and the clamping assembly 210 to move radially. During the movement of the moving plate 203, the display controller 104 acquires the actual radial state of the moving plate 203. And calculate the radial positioning error. .when When the radial error exceeds a preset threshold, the display controller 104 applies a compensating angle to the second motor 401 or performs a low-speed positioning action to make the actual radial state of the moving plate 203 approach the target radial displacement. .

[0062] After the inner diameter adjustment is completed, the display controller 104 displays the target height. The target stroke of each hydraulic cylinder 300 is determined. When controlling the extension and retraction of the hydraulic cylinders 300, the display controller 104 obtains the actual stroke of the hydraulic cylinder or the actual layer spacing of adjacent support mechanisms through a height detection device, and calculates the effective insertion margin between the insertion rod 2072 and the insertion cylinder 2073. When the effective insertion margin is less than the preset safe insertion margin, the display controller 104 adjusts the target stroke of the corresponding hydraulic cylinder 300 or restricts the hydraulic cylinder 300 from extending further. When the effective insertion margin is not less than the preset safe insertion margin, the display controller 104 continues to control multiple hydraulic cylinders 300 to perform height adjustment. When the radial positioning error, layer spacing error, and effective insertion margin all meet the preconditions for main reinforcement clamping, the display controller 104 allows entry into the main reinforcement clamping stage.

[0063] The display controller 104 displays the main reinforcement diameter. The system determines the pre-contact opening, contact recognition threshold, lower clamping limit, and upper clamping limit. The display controller 104 first controls the first motor 212 to drive the clamping block 216 to quickly approach the main rib 501 at a first speed. When the opening of the clamping block 216 reaches the pre-contact opening, the display controller 104 switches the first motor 212 to low-speed contact. When the rate of change of current, the rate of change of torque, or the displacement change of the clamping block of the first motor 212 meets the contact recognition conditions, the display controller 104 determines that the clamping block 216 is in contact with the main rib 501. Subsequently, the display controller 104 controls the first motor 212 to perform a clamping and holding action. During the clamping and holding action, the display controller 104 detects changes in the first motor current, the first motor rotation angle, and the displacement of the clamping block. When the clamping state is between the lower and upper clamping limits, and the displacement change of the clamping block does not exceed a preset sliding threshold, the display controller 104 determines that the main rib 501 is clamped successfully. If insufficient clamping is detected, the display controller 104 performs supplementary clamping; if overload is detected, the display controller 104 performs reverse unloading.

[0064] During an abnormal protection process, while the second motor 401 drives the gear disk 206 to rotate, the display controller 104 continuously acquires the current or torque of the second motor and the radial displacement increment of the moving plate 203. When the load parameter of the second motor exceeds a preset load threshold, and the radial displacement increment of the moving plate 203 is less than a preset displacement increment threshold, the display controller 104 determines that there is obstruction between the drive rod 204 and the arc groove 2061. The display controller 104 controls the second motor 401 to stop, rotates in the opposite direction by a preset micro-motion angle, and then rotates forward at a speed lower than the normal inner diameter adjustment speed. If the moving plate 203 recovers radial displacement, the display controller 104 continues to perform inner diameter closed-loop positioning; if it still does not recover within a preset number of times, the display controller 104 keeps the machine stopped and prohibits entering the main rib clamping stage.

[0065] During the main reinforcement clamping stage, the display controller 104 acquires contact state parameters for multiple vertical clamping components 210 corresponding to the same main reinforcement 501. The display controller 104 compares the contact state parameters of each layer with the reference contact state parameters. When the deviation of the contact state parameters of any layer exceeds a preset vertical deviation threshold, the display controller 104 determines that the main reinforcement 501 in that layer is skewed, has not entered the clamping center, or has uneven clamping force. After determining that the vertical clamping is abnormal, the display controller 104 controls the corresponding layer clamping component 210 to release and then re-clamp at a low speed. If the deviation of the contact state parameters after re-clamping does not exceed the preset vertical deviation threshold, clamping is allowed to continue; if it still exceeds the preset vertical deviation threshold, the welding stage is prohibited.

[0066] Comparative Example 1: The same mechanical device as the above specific processing procedure is used, but the control method is open-loop sequential control. Specifically: the display controller controls the second motor 401 only according to a preset time or preset rotation angle, controls the hydraulic cylinder 300 only according to a preset stroke, and controls the first motor 212 to clamp the main rib 501 only according to a fixed time or fixed rotation angle.

[0067] In this comparative example, the actual radial state of the moving plate 203 is not obtained, the second motor 401 is not compensated according to the radial positioning error, the effective insertion margin of the insertion rod 2072 and the insertion cylinder 2073 is not calculated, the contact state, insufficient clamping state and clamping overload state are not identified according to the first motor current, the first motor rotation angle, the clamping block displacement or torque, and the radial positioning error, the layer spacing error and the effective insertion margin are not used as the preconditions for clamping the main rib.

[0068] By comparing the above specific processing procedure with Comparative Example 1 under the same main reinforcement specifications, the same target inner diameter, and the same target height, the radial positioning error of the moving plate, the deviation of the inner diameter of the steel cage, the layer spacing error of adjacent support mechanisms, the effective insertion allowance of the insert rod and the insert cylinder, the amount of slippage after the main reinforcement is clamped, the number of clamping overloads, and the amount of vertical deviation of the main reinforcement can be measured.

[0069] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0070] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific embodiments described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A photovoltaic pile foundation cage processing device, characterized in that, It includes multiple sets of support mechanisms arranged at vertical intervals, hydraulic cylinders connecting adjacent support mechanisms, drive mechanisms, multiple clamping components, signal acquisition mechanisms, and display controllers; Each of the aforementioned support mechanisms includes a movable plate capable of radial movement, the clamping assembly being disposed on the movable plate, and adjacent support mechanisms being connected to a plug-in cylinder via a plug rod to transmit rotation; The drive mechanism includes a second motor, which drives the moving plate to adjust radially via a transmission gear, a rod and a cylinder, and a radial conversion structure within the support mechanism; the clamping assembly includes a first motor and a lead screw clamping structure. The signal acquisition mechanism is used to acquire the radial state of the moving plate, the stroke of the hydraulic cylinder or the layer spacing, the operating state of the first motor and the second motor, and the clamping state. The display controller is configured to: generate radial positioning, height adjustment, and clamping control parameters based on the target inner diameter, target height, and main rib specifications; correct the second motor's action based on the radial state of the moving plate; limit or adjust the hydraulic cylinder's action based on the hydraulic cylinder stroke or layer spacing and the effective insertion margin between the insert rod and the insert cylinder; and control the first motor to perform staged clamping after the radial positioning error, layer spacing error, and effective insertion margin meet preset conditions, and perform corresponding compensation or protection control when radial obstruction, insufficient insertion margin, asynchronous stroke, insufficient clamping, or clamping overload is detected.

2. The photovoltaic pile foundation cage processing device according to claim 1, characterized in that, The support mechanism includes a mounting plate, a guide groove, a movable plate, a drive rod, a gear disk, a rotating shaft, and a first gear; The movable plate is slidably disposed in the guide groove, and the drive rod is disposed on the movable plate and slidably engages with the arc-shaped groove on the gear disk; The first gear is mounted on the rotating shaft and meshes with the gear disc, and the insert rod and the insert cylinder are respectively mounted at both ends of the rotating shaft; The second motor drives the gear disk to rotate via a driving gear, a driven gear, a plug rod, a plug cylinder, a rotating shaft, and a first gear, so that the arc-shaped groove pushes the drive rod and drives the moving plate to move along the guide groove; The lead screw clamping structure includes a mounting box, a bidirectional lead screw, a lead screw nut, a moving block, and a clamping block. The first motor drives the bidirectional lead screw to rotate so that the two clamping blocks move closer to or further away from each other.

3. The photovoltaic pile foundation cage processing device according to claim 2, characterized in that, The signal acquisition mechanism includes at least one of a radial displacement detection element, a height detection element, a corner detection element, a current detection element, and a clamping displacement detection element; The radial displacement detection element is used to obtain the actual radial position of the moving plate relative to the mounting plate; The height detection device is used to obtain the actual stroke of the hydraulic cylinder or the actual layer spacing between adjacent support mechanisms; The rotation angle detection device is used to obtain the actual rotation angle of the first motor, the second motor, the rotating shaft or the gear disk; The current detection device is used to obtain the operating current of the first motor or the second motor; The clamping displacement detection device is used to obtain the displacement of the clamping block or the opening distance between two clamping blocks.

4. The photovoltaic pile foundation cage processing device according to claim 1, characterized in that, The display controller generates the inner diameter positioning control parameters in the following manner: Obtain the target inner diameter and the diameter of the main reinforcement ; When the target inner diameter When the inner diameter is formed by the inner side of the main reinforcement, according to Determine the radius of the target clamping center; When the target inner diameter When the diameter of the center circle of the main reinforcement is used, according to Determine the radius of the target clamping center; in, The radius of the target clamping center, This is for the structural correction of the clamping component; The display controller is based on the target clamping center radius. and the reference clamping center radius of the clamping component Determine the radial displacement of the moving plate target ,in: 。 5. A photovoltaic pile foundation cage processing device according to claim 4, characterized in that, The display controller determines the target rotation angle of the gear disk based on the radial displacement conversion model, and determines the target rotation angle of the second motor based on the transmission relationship between the second motor and the gear disk; The radial displacement transformation model is as follows: ; Where r is the radial displacement of the moving plate along the guide groove direction. For the gear disk rotation angle, It is a transformation function jointly determined by the shape of the arc groove centerline, the contact position of the drive rod, and the direction of the guide groove; The second motor target angle Determine as follows: ; in, For the target gear disk rotation angle, This is the transmission conversion factor between the second motor and the gear disc. The gear transmission backlash compensation angle is determined based on the current positioning direction of the second motor. This includes positive and negative compensation angles; the display controller selects the corresponding symbol and value based on the current positioning direction of the second motor. Add the target rotation angle of the second motor; The display controller is based on the target radial displacement of the moving plate. and the actual radial state of the moving plate Calculate radial positioning error ,in: ; when When the radial error exceeds a preset threshold, the display controller compensates and corrects the target rotation angle, running direction, or running speed of the second motor.

6. The photovoltaic pile foundation cage processing device according to claim 5, characterized in that, During the rotation of the gear disk driven by the second motor, the display controller acquires the load parameters of the second motor and the radial displacement increment of the moving plate; The second motor load parameters include the second motor current or the second motor torque; When the load parameters of the second motor exceed the preset load threshold and the radial displacement increment of the moving plate is less than the preset displacement increment threshold, the display controller determines that radial obstruction occurs between the drive rod and the arc groove. When radial obstruction is detected, the display controller controls the second motor to perform at least one of the following actions: stop, reverse micro-motion, low-speed forward rotation, and repositioning. The display controller is also used to record the hysteresis between the change in the rotation angle of the second motor and the start of radial displacement of the moving plate after the second motor reverses, and to update the gear transmission clearance compensation angle according to the hysteresis.

7. A photovoltaic pile foundation cage processing device according to claim 1, characterized in that, The display controller generates height adjustment control parameters in the following manner: Based on target altitude Determine the target layer spacing between adjacent support structures And according to the target layer spacing Determine the target stroke of the corresponding hydraulic cylinder ; in: ; This is the initial interlayer spacing between two adjacent sets of support structures. Indicates the floor number of adjacent support structures; The display controller determines the initial insertion length of the plug and the insert. The change in the distance between adjacent support structures relative to the initial interlayer spacing Safety correction amount and minimum plug length Determine the effective insertion margin ,in: ; ; This is the current valid connection length; When the effective insertion margin Less than the preset safety plug-in margin At this time, the display controller may restrict the corresponding hydraulic cylinder from continuing to extend, or adjust the target stroke of the hydraulic cylinder, or redistribute the target layer spacing, or output a status signal prohibiting entry into the subsequent radial linkage adjustment or main rib clamping stage.

8. A photovoltaic pile foundation cage processing device according to claim 7, characterized in that, The display controller acquires the actual stroke of multiple hydraulic cylinders. And calculate the average stroke of the hydraulic cylinder. and the stroke deviation of each hydraulic cylinder ,in: ； ; When the absolute value of the stroke deviation of any hydraulic cylinder When the error exceeds a preset synchronization error threshold, the display controller performs hydraulic cylinder synchronization correction. The hydraulic cylinder synchronization correction includes at least one of the following: pausing the hydraulic cylinder with an over-travel stroke, reducing the extension speed of the hydraulic cylinder with an over-travel stroke, increasing the extension speed of the hydraulic cylinder with a lagging stroke, or controlling the hydraulic cylinder to retract to the recalibrated position and then extend again.

9. A photovoltaic pile foundation cage processing device according to claim 1, characterized in that, The main reinforcement specifications include at least the main reinforcement diameter. ; The display controller determines the pre-contact opening of the clamping block based on the diameter d of the main rib. The parameters include: the first motor's rapid approach speed, low-speed contact speed, clamping and holding speed, contact recognition threshold, lower clamping limit, and upper clamping limit. in: ; This is a pre-set safety clearance before the clamping block contacts the main reinforcement bar; During the rapid approach phase, the display controller controls the first motor to drive the two clamping blocks closer to the pre-contact opening. ; During the low-speed contact phase, the display controller identifies the contact state between the clamping block and the main rib based on the first motor current change rate, the first motor torque change rate, or the clamping block displacement increment. During the clamping and holding phase, the display controller identifies the clamping completion state, clamping insufficiency state, or clamping overload state based on the changes in the first motor current, the first motor rotation angle, and the clamping block displacement. When the clamping is insufficient, the display controller controls the first motor to rotate along the clamping direction by a preset clamping angle; When an overload condition is detected, the display controller controls the first motor to rotate along the release direction at a preset unloading angle.

10. A photovoltaic pile foundation cage processing device according to claim 9, characterized in that, During the main rib clamping stage, the display controller acquires the contact state parameters of multiple vertical clamping components corresponding to the same main rib when they reach the contact recognition condition. The contact state parameters include at least one of the following: the first motor contact angle, the clamping block contact displacement, or the contact time; The display controller compares the contact state parameters of each vertical clamping component with the reference contact state parameters; When the contact state parameter deviation of any vertical clamping component exceeds the preset vertical deviation threshold, the display controller determines that the main rib of the corresponding layer is vertically skewed, has not entered the clamping center, or is unevenly clamped, and controls the corresponding layer clamping component to release and then re-clamp at a low speed. If the contact state parameter deviation still exceeds the preset vertical deviation threshold after re-clamping, the display controller outputs a status signal prohibiting entry into the welding stage.

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