Flexible automatic production line for beam column steel reinforcement framework

Abstract

The invention discloses a flexible automatic production line for beam column steel reinforcement frameworks, which relates to the technical field of steel reinforcement framework assembly and comprises a steel reinforcement shearing assembly, a three-dimensional stock bin, a door type truss mechanical arm, a double-gantry welding head, a welding station platform, a positioning assembly, a transfer device, a split stock bin and a control system. The control system is electrically connected with the steel bar shearing assembly, the three-dimensional stock bin, the door type truss mechanical arm, the positioning assembly and the double-gantry welding head. The steel bar shearing assembly is used for shearing steel bars according to needs, then the sheared steel bars are transferred into the three-dimensional stock bin through the door type truss mechanical arm to be temporarily stored, the three-dimensional stock bin is used for storing stress bars and stirrups, and when assembling is needed, the stored stress bars and stirrups are transferred to the welding station platform through the door type truss mechanical arm; and the stress bars and the stirrups are positioned through the rotary positioning assembly on the welding station platform. The device has the advantages that automatic transfer is achieved, and the beam column steel reinforcement framework assembling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel bar skeleton assembly, in particular to a flexible automatic production line for beam and column steel bar skeletons. Background Art

[0002] The beam-column reinforcement cage, a crucial load-bearing component in reinforced concrete structures, refers to a meticulously pre-assembled assembly of steel bars within beams and columns to resist external loads and ensure overall structural stability. Rather than simply piling up steel bars, it comprises multiple longitudinal main bars and densely distributed transverse stirrups connected through precision welding or tying. This rigorous combination forms a cage-like or lattice-like framework with precise geometric dimensions and specific mechanical properties. Its primary function is to effectively transmit axial pressure, bending moment, and shear forces, while providing effective restraint for the concrete, thereby significantly enhancing the member's load-bearing capacity, ductility, and seismic performance.

[0003] Against the backdrop of the current transformation and upgrading of the construction industry, the industry has put forward unprecedented high standards for construction efficiency and project quality, which has made automated and intelligent production technologies an irreversible trend in leading the development of building industrialization.

[0004] However, in stark contrast to this trend, the current manufacturing process for beam and column reinforcement frames still predominantly relies on traditional, manual assembly. This highly manual approach not only fragments and inefficiencies the production process, significantly increasing labor costs and workload, but also, due to the introduction of human error, makes it difficult to effectively guarantee the uniformity and reliability of product quality, thus restricting the overall construction project schedule and quality control. Summary of the Invention

[0005] The present application provides a flexible automated production line for beam-column steel reinforcement skeletons, which has the advantages of automated transportation and improved assembly efficiency of beam-column steel reinforcement skeletons.

[0006] This application provides a flexible automated production line for beam and column reinforcement frames, which adopts the following technical solutions: A flexible automated production line for beam and column steel frame, comprising a steel bar shearing assembly, a three-dimensional silo, a portal truss robotic arm, a double gantry welding head, a welding station platform, a positioning assembly, a transfer device, a split silo, and a control system, wherein the control system is electrically connected to the steel bar shearing assembly, the three-dimensional silo, the portal truss robotic arm, the positioning assembly, and the double gantry welding head; The steel bar shearing assembly is used to shear steel bars on demand, and then the sheared steel bars are transferred to the interior of the three-dimensional silo for temporary storage through the portal truss robotic arm. The three-dimensional silo is used to store stress-bearing bars and stirrups. When assembly is required, the portal truss robotic arm transfers the stored stress-bearing bars and stirrups to the welding station platform. The stress-bearing bars and stirrups are positioned by the rotary positioning assembly on the welding station platform, and multi-point and multi-angle welding is achieved by the positioning rotation of the positioning assembly and the double gantry welding head on the welding station platform. After welding is completed, the welded beam-column steel bar skeleton is transferred to the interior of the split silo through the transfer device. The split silo facilitates rapid deployment and adjustment of the production line. The entire process is monitored and optimized in real time by the data-driven system.

[0007] Preferably, the steel bar shearing assembly includes a shearing platform, on which an input frame, an output frame and a straightening frame located between the input frame and the output frame are fixedly mounted, the straightening frame includes two upper and lower rows of correcting wheels, the rotation axis of the correcting wheels is parallel to the extension direction of the shearing platform, and the outer peripheral surface of the correcting wheels forms an inwardly recessed guide channel.

[0008] Preferably, the three-dimensional silo includes a silo body and a multi-layer storage trough arranged in the silo body and stacked vertically, the storage trough is divided into a stress reinforcement storage area and a stirrup storage area, and the open end of the storage trough faces the working range of the robotic arm.

[0009] Preferably, the portal truss robotic arm includes a frame leg and a crossbeam fixed on the top of the frame leg, an X-axis guide rail is provided at the bottom of the crossbeam, a first driving slider is provided on the X-axis guide rail, a Y-axis guide rail is provided at the bottom of the first driving slider, a second driving slider is provided on the Y-axis guide rail, an electric telescopic rod is provided at the bottom of the second driving slider, and the bottom output end of the electric telescopic rod is connected to a robotic arm for clamping the stressed reinforcement and stirrups.

[0010] Preferably, the positioning assembly includes four positioning rods distributed in a ring shape, the positioning rods are symmetrically arranged around a common central axis, the positioning rods are transmission-connected to a driving assembly, and the driving assembly is used to drive the positioning rods to move synchronously radially along the central axis.

[0011] Preferably, the positioning rod is L-shaped, and the long side wall of the L-shaped rod is provided with a positioning slot extending along the length direction.

[0012] Preferably, a positioning slot matching the stress-bearing reinforcement extends from the corner end of the L-shaped rod.

[0013] Preferably, the driving assembly includes a positioning plate, the interior of the positioning plate is provided with four strip-shaped sliding holes, the four strip-shaped sliding holes are arranged at equal angles around the center point of the positioning plate, and the center extension line of the strip-shaped sliding hole passes through the center point of the positioning plate, and a sliding seat is provided inside the strip-shaped sliding hole of the positioning plate, and the sliding seat is fixed between the sliding seat and the L-shaped rod, and a driving motor is provided at the center point of the positioning plate, and the output end of the driving motor is connected to a driving rotary block, and the driving rotary block and the slide are connected by a bent connecting rod, and the two ends of the bent connecting rod are respectively hinged to the driving rotary block and the slide.

[0014] Preferably, the welding station platform is provided with a double gantry welding head, the double gantry welding head comprises two welding gun brackets arranged in parallel along the longitudinal direction, and the welding gun brackets slide along the transverse guide rail to adjust the welding spacing.

[0015] Preferably, the transfer device includes a forklift, and the end of the fork of the forklift is provided with a supporting platform separated from the positioning assembly, and the height of the supporting platform is flush with the supporting surface of the welding station platform.

[0016] In summary, this application has the following beneficial effects: 1. The rebar shearing assembly precisely cuts to pre-set dimensions, ensuring the accuracy of the raw materials. The cut main bars and stirrups are automatically transferred by a gantry-type truss robotic arm to an intelligent three-dimensional silo, enabling efficient, on-demand storage and dispatching. During the assembly phase, the robotic arm precisely positions the rebar on the welding platform. The rotary positioning assembly, combined with the dual gantry welding heads, performs precision welding at multiple locations and angles, ensuring weld strength and accuracy. The welded beam and column skeletons are transferred by forklift to a split silo, a design that optimizes production line deployment and adjustment flexibility. A core data-driven system monitors and coordinates the entire process in real time, significantly improving the efficiency of beam and column rebar skeleton assembly.

[0017] 2. The precise positioning of the stirrups by the L-shaped rods and the slots, as well as the precise guidance of the stressed steel bars by the positioning slots, greatly ensure the accuracy of the geometric dimensions and spacing of the steel cage. Therefore, the stirrups and stressed steel bars are automatically and accurately positioned in three-dimensional space to form a skeleton to be welded, ensuring that the quality of the structural parts meets the design requirements.

[0018] 3. The position of the L-shaped rod is adjusted by the drive assembly, eliminating the need for time-consuming disassembly and assembly, greatly shortening production preparation time. After welding is completed, the frame removal process becomes smoother and faster, reducing waiting time or potential rework caused by difficult removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the flexible automated production line for beam-column steel reinforcement skeletons in this embodiment; Figure 2Schematic diagram of the internal structure of the steel bar shearing assembly in this embodiment; Figure 3 Schematic diagram of the overall structure of the portal truss robotic arm in this embodiment; Figure 4 Schematic diagram of the connection structure between the fixing seat and the driving assembly in this embodiment; Figure 5 Schematic diagram of the internal structure of the positioning component in this embodiment; Explanation of reference numerals: 1. steel bar shearing assembly; 101. shearing platform; 102. input frame; 103. output frame; 104. straightening frame; 105. shearing end; 106. cutting blade; 107. deviation-correcting wheel; 108. driving shaft; 2. three-dimensional silo; 201. silo body; 202. storage tank; 3. portal truss robot arm; 301. frame leg; 302. crossbeam; 303. X-axis guide rail; 304. first driving slider; 305. 5. Y-axis guide rail; 306. Second drive slider; 307. Electric telescopic rod; 308. Robot; 4. Double gantry welding head; 5. Welding station platform; 6. Positioning assembly; 601. L-shaped rod; 602. Slot; 603. Positioning slot; 604. Drive assembly; 60401. Positioning plate; 60402. Strip slide hole; 60403. Slide seat; 60404. Drive rotary block; 60405. Bending connecting rod; 7. Fixed seat. DETAILED DESCRIPTION

[0020] The present application is described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technicians in this field can make some non-essential improvements and adjustments to the present application based on the above application content. Example

[0021] The present invention discloses a flexible automatic production line for beam and column steel bar skeletons, such as Figure 1 As shown, it includes a steel bar shearing component 1, a three-dimensional silo 2, a portal truss robot arm 3, a double gantry welding head 4, a welding station platform 5, a positioning component 6, a forklift, a split silo and a data-driven system. Each component works together through the data-driven system to form a complete automated production line.

[0022] like Figure 1As shown, the steel bar shearing assembly 1 is used to shear steel bars on demand, and then the sheared steel bars are transferred to the interior of the three-dimensional silo 2 for temporary storage through the gantry truss robot arm 3. The three-dimensional silo 2 is used to store stress-bearing bars and stirrups. When assembly is required, the gantry truss robot arm 3 transfers the stored stress-bearing bars and stirrups to the welding station platform 5. The stress-bearing bars and stirrups are positioned by the rotary positioning assembly 6 on the welding station platform 5, and the positioning rotation of the positioning assembly 6 and the double gantry welding head 4 on the welding station platform 5 are used to achieve multi-point and multi-angle welding. After welding is completed, the welded beam-column steel bar skeleton is transferred to the interior of the split silo by a forklift. The split silo facilitates rapid deployment and adjustment of the production line. The entire process is monitored and optimized in real time by the data-driven system.

[0023] like Figure 1 As shown, the rebar cutting assembly 1 first precisely cuts the required length of rebar according to preset dimensions. This ensures the accuracy of the raw materials. The cut rebar (including stress bars and stirrups) is automatically transferred by the gantry truss robot arm 3 and temporarily stored in the three-dimensional silo 2. This silo not only serves as storage but also serves as an intelligent "warehouse," enabling efficient retrieval of required rebar according to production needs. When assembly is required, the gantry truss robot arm 3 precisely places the stress bars and stirrups onto the welding platform 5. The rotary positioning assembly 6 on the welding platform 5 precisely positions and rotates the rebar, enabling the double gantry welding head 4 to weld the rebar at multiple locations and angles, ensuring strong and precise welds. The welded beam and column rebar skeletons are then transferred by forklift to the split silo. This split silo is designed to improve the efficiency of production line deployment and adjustment. The core of the entire production process is a data-driven system. It monitors the operating status of each link in real time, coordinates the collaborative work of various components (cutting, storage, transportation, positioning, welding, etc.), and analyzes and optimizes based on production data to ensure production efficiency and product quality.

[0024] like Figure 1 As shown, automation replaces a significant amount of manual labor, shortening production cycles and improving overall production efficiency. Automated equipment, such as the portal truss robotic arm 3 and the double gantry welding head 4, work in tandem to achieve continuous and rapid production. The flexible automated production line and split silo design enable rapid deployment, adjustment, and reconfiguration to accommodate the production needs of beam and column reinforcement frames of varying specifications and types, enhancing production flexibility.

[0025] like Figure 2As shown, specifically, the steel bar shearing assembly 1 includes a shearing platform 101, an input frame 102 and an output frame 103 are fixedly installed on the upper surface of the shearing platform 101, a straightening frame 104 for correcting the deviation of the straightened steel bars is provided between the input frame 102 and the output frame 103, and a shearing end 105 is provided on the output frame 103, and a cutting head 106 is provided inside the shearing end 105 for relative movement up and down. like Figure 2 As shown, the straightening frame 104 is further equipped with two upper and lower rows of correcting wheels 107. A drive shaft 108 is coaxially connected to the center of each correcting wheel 107. This drive shaft 108 is coaxially connected to a first drive motor mounted on the straightening frame 104. The first drive motor drives the correcting wheels 107 on the drive shaft 108 to rotate. Because the correcting wheels 107 are in contact with the rebar, their rotation drives or assists the rebar in moving forward, achieving stable conveyance of the rebar and ensuring smooth and continuous passage of the rebar through the equipment.

[0026] like Figure 2 As shown, a concave portion is formed in the middle of the correcting wheel 107, and a guide channel for the steel bar to pass through is formed between the concave portions of the upper and lower rows of correcting wheels 107. The concave portion is used to correct the steel bar. When the steel bar is bent or crooked, it will be subjected to continuous contact and pressure from the concave portion of the correcting wheel 107 when passing through the upper and lower rows of multiple actively rotating correcting wheels 107. The concave portions of the upper and lower rows of correcting wheels 107 are arranged relative to each other to form a channel whose size matches the diameter of the steel bar. When the steel bar enters this channel, it is confined to a center line. Due to the rotation of the correcting wheel 107 and the constraint of the concave portion, the steel bar will be forced to undergo multiple reverse bends during the passage. When the bending stress exceeds the yield limit of the steel bar, it will cause plastic deformation of the steel bar. This plastic deformation will eliminate the original bending and stress of the steel bar, so that it remains in a straight state after leaving the correcting wheel 107.

[0027] like Figure 2 As shown, the actively rotating deviation-correcting wheel 107 and the design of the inner recess can effectively correct the steel bars, effectively eliminate the bending and deviation of the steel bars, and ensure that the straightness of the steel bars meets the requirements.

[0028] like Figure 3 As shown, the three-dimensional silo 2 comprises a silo body 201, which is arranged from top to bottom with a number of storage slots 202 for storing tension bars and stirrups, respectively. This vertical stacking maximizes the use of the three-dimensional space, making it particularly suitable for limited space in factory workshops or construction sites, allowing for greater storage of materials. Separate storage slots 202 for different types of tension bars and stirrups enable clear categorization and management. This helps prevent material confusion and ensures that each type of rebar can be quickly identified and accurately accessed.

[0029] like Figure 3 As shown, the portal truss robot arm 3 includes legs 301 and a crossbeam 302 fixed to the top of the legs 301. An X-axis guide rail 303 is provided at the bottom of the crossbeam 302. A first drive slider 304 is mounted on the X-axis guide rail 303. A Y-axis guide rail 305 is provided at the bottom of the first drive slider 304. A second drive slider 306 is mounted on the Y-axis guide rail 305. An electric telescopic rod 307 is provided at the bottom of the second drive slider 306. The bottom output end of the electric telescopic rod 307 is connected to a manipulator 308 for clamping the stress reinforcement and stirrups. The X-axis guide rail 303 is mounted at the bottom of the crossbeam 302. The first drive slider 304 moves horizontally along this guide rail. A first linear motor on the X-axis guide rail 303 precisely positions the first drive slider 304 on the X-axis. Similarly, based on the Y-axis movement of the second drive slider 306, through the coordinated motion of the X and Y axes, the manipulator 308 can reach any designated point within the two-dimensional plane. Furthermore, the motorized telescopic rod 307, driven by an internal motor, achieves vertical telescopic movement. This provides the manipulator 308 with precise height adjustment capabilities.

[0030] like Figure 3 As shown, the entire system coordinates the X-, Y-, and Z-axis drives through a central control system. First, the X-axis's first drive slider 304 moves the Y-axis guide rail to the target X coordinate. Next, the Y-axis's second drive slider 306 moves the electric telescopic rod 307 to the target Y coordinate. Finally, the electric telescopic rod 307 extends to the target Z coordinate, allowing the robotic arm 308 at the bottom to accurately reach any target location in three-dimensional space, completing the grabbing, transporting, and placement of rebar.

[0031] like Figure 4 and Figure 5 As shown, a fixing seat 7 for supporting a positioning assembly 6 is fixedly installed on the upper surface of the welding station platform 5. Specifically, the positioning assembly 6 includes four L-shaped rods 601 that match the four corners of the inner ring of the stirrups. The four L-shaped rods 601 are distributed at equal angles around the central axis. The L-shaped rod 601 is provided with a plurality of slots 602 along its own long side direction. The slots 602 are used to match the inner ring surface of the stirrups. Positioning slots 603 for positioning the stressed steel bars are provided at the corners of the L-shaped rod 601. The positioning slots 603 are provided for positioning four groups of stressed steel bars.

[0032] like Figure 4 and Figure 5As shown, the shapes of the four L-shaped rods 601 match the four corners of the stirrups, ensuring the initial positioning of the stirrups on the platform. The several slots 602 set along the long side of the L-shaped rod 601 are tightly matched with the inner ring surface of the stirrups. This allows the stirrups to be limited at multiple points in the horizontal direction, avoiding horizontal displacement or rotation during the welding process, thereby ensuring the accurate spacing and direction of the stirrups in the entire steel cage. When the stressed steel bars are inserted into these positioning slots 603, they are automatically guided to the positions corresponding to the corners of the stirrups. This ensures that the relative positional relationship between the stressed steel bars and the stirrups is accurate, thereby ensuring the overall size and shape accuracy of the steel cage.

[0033] like Figure 4 and Figure 5 In short, the entire system uses preset geometric shapes and limiting structures to automatically and precisely position stirrups and tensioned steel bars in three-dimensional space, forming a framework ready for welding. The precise positioning of the stirrups by L-shaped rods 601 and slots 602, and the precise guidance of the tensioned steel bars by positioning slots 603, greatly ensure the accuracy of the cage's geometric dimensions and spacing, ensuring that the structural component meets design requirements.

[0034] like Figure 4 and Figure 5 As shown, the positioning assembly 6 further includes a drive assembly 604, which is configured to synchronously move the four L-shaped rods 601 at equal intervals around the center point. This drive assembly 604 ensures that the four L-shaped rods 601 always maintain equal spacing from the center point during movement and move inward or outward synchronously. This means that no matter what position the L-shaped rods 601 are in, the "hollow box" they form is always upright, and the relative positional relationship of the four L-shaped rods 601 remains unchanged.

[0035] like Figure 4 and Figure 5 As shown, when the drive assembly 604 causes the four L-shaped rods 601 to expand outward synchronously, the size of the inner ring of stirrups they can enclose increases, thereby accommodating stirrups with larger inner diameters. Conversely, when the L-shaped rods 601 simultaneously contract inward, the inner diameter of the stirrups they can accommodate decreases. This variable size feature allows a single positioning assembly 6 to accommodate stirrups of various sizes, eliminating the need for frequent tooling changes.

[0036] like Figure 4 and Figure 5As shown, after the reinforcement cage is welded, the L-shaped rods 601 fit tightly against the inner ring of the stirrups. Directly extracting the cage may be difficult due to excessive friction or jamming, or even damage the cage. When the drive assembly 604 causes the four L-shaped rods 601 to retract synchronously inward, they disengage from the inner ring of the stirrups, creating a gap. This gap allows the welded beam-column reinforcement cage to be easily and smoothly lifted or slid out of the positioning assembly 6, greatly simplifying the removal process.

[0037] like Figure 4 and Figure 5 As shown, when switching from processing one specification of stirrups to another, the position of the L-shaped rod 601 can be adjusted simply by using the drive assembly 604, eliminating the need for time-consuming disassembly and assembly, significantly reducing production preparation time. After welding is completed, the skeleton removal process becomes smoother and faster, reducing waiting time or potential rework caused by difficult removal.

[0038] like Figure 4 and Figure 5 As shown, the driving assembly 604 includes a positioning plate 60401, and four strip-shaped sliding holes 60402 are provided inside the positioning plate 60401. The four strip-shaped sliding holes 60402 are arranged at equal angles around the center point of the positioning plate 60401, and the center extension line of the strip-shaped sliding hole 60402 passes through the center point of the positioning plate 60401. A slide seat 60403 is provided inside the strip-shaped sliding hole 60402 of the positioning plate 60401, and the slide seat 60403 is connected to the L-shaped rod. 601. A drive motor is located at the center of the positioning plate 60401. The output end of the drive motor is connected to the drive block 60404. The drive block 60404 is connected to the slide 60403 via a curved connecting rod 60405. It is worth noting that the ends of the curved connecting rod 60405 are hingedly connected between the drive block 60404 and the slide 60403. The drive motor serves as the power source, and its output end is connected to the drive block 60404. When the motor is operating, the drive block 60404 rotates. The curved connecting rod 60405 plays the role of connecting and transmitting force. Its ends are hingedly connected to the drive block 60404 and the slide 60403. This means that the curved connecting rod 60405 can swing with the rotation of the drive block 60404 and can push and pull the slide 60403. When the driving block 60404 rotates, the slide 60403 is forced to slide back and forth along the extension line of the strip slide hole 60402 through the push-pull action of the bent connecting rod 60405, thereby converting the rotational motion of the driving block 60404 into the linear reciprocating motion of the slide 60403.

[0039] The transfer device includes a forklift, and the end of the fork of the forklift is provided with a supporting platform separated from the positioning assembly 6, and the height of the supporting platform is flush with the supporting surface of the welding station platform 5.

[0040] Working principle: When the entire system is in operation, the stressed reinforcement passes between the upper and lower rows of correcting wheels 107. The rotation of the correcting wheels 107 guides the stressed reinforcement, and the cutting head 106 on the shear end 105 cuts the stressed reinforcement.

[0041] The sheared steel bars are transferred to the interior of the three-dimensional silo 2 for temporary storage by the portal truss robot arm 3, and the stirrups are stacked inside the three-dimensional silo 2 by the external loading device.

[0042] When assembly is required, the portal truss robot arm 3 transfers the stress-bearing bars and inserts them into the positioning slots 603. After inserting the four positioning slots 603 and positioning the four stress-bearing bars, the stirrups are transferred to the slots 602 of the L-shaped rod 601 by the portal truss robot arm 3. At this time, the four L-shaped rods 601 are synchronously expanded outward by the driving assembly 604, so that the stress-bearing bars and the four inner corners of the stirrups are offset from each other, which is used to locate the positions of the stress-bearing bars and the stirrups in all directions.

[0043] The positioning plate 60401 is rotated by the second driving motor on the fixed seat 7. A double gantry welding head is provided with the help of the welding station platform 5. The double gantry welding head includes two welding gun brackets arranged in parallel along the longitudinal direction. The welding gun brackets slide along the transverse guide rail to adjust the welding spacing, thereby realizing multi-point and multi-angle welding. After welding, a beam-column steel bar skeleton is formed. At this time, the beam-column steel bar skeleton is separated from the L-shaped rod 601 by the driving component 604. Subsequently, the welded beam-column steel bar skeleton is transported to the interior of the split silo by a forklift. The split silo facilitates rapid deployment and adjustment of the production line. The entire process is monitored and optimized in real time by the data-driven system.

[0044] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A flexible automated production line for beam and column steel reinforcement skeleton, characterized in that: The invention comprises a steel bar shearing assembly (1), a three-dimensional silo (2), a gantry truss mechanical arm (3), a double gantry welding head (4), a welding station platform (5), a positioning assembly (6), a transfer device, a split silo and a control system, wherein the control system is electrically connected to the steel bar shearing assembly (1), the three-dimensional silo (2), the gantry truss mechanical arm (3), the positioning assembly (6) and the double gantry welding head (4); The steel bar shearing assembly (1) is used to shear steel bars on demand, and then the sheared steel bars are transferred to the interior of the three-dimensional silo (2) for temporary storage through the portal truss mechanical arm (3). The three-dimensional silo (2) is used to store stress bars and stirrups. When assembly is required, the portal truss mechanical arm (3) transfers the stored stress bars and stirrups to the welding station platform (5). The stress bars and stirrups are positioned through the rotary positioning assembly (6) on the welding station platform (5). The positioning rotation of the positioning assembly (6) and the double gantry welding head (4) on the welding station platform (5) realize multi-point and multi-angle welding. After welding is completed, the welded beam and column steel bar skeleton is transferred to the interior of the split silo through the transfer device. The split silo facilitates rapid deployment and adjustment of the production line. The entire process is monitored and optimized in real time by the data-driven system.

2. The flexible automated production line for beam and column reinforcement skeleton according to claim 1 is characterized in that: The steel bar shearing assembly (1) comprises a shearing platform (101), on which an input frame (102), an output frame (103) and a straightening frame (104) located between the input frame (102) and the output frame (103) are fixedly mounted, and the straightening frame (104) comprises two upper and lower rows of correcting wheels (107), wherein the rotation axis of the correcting wheels (107) is parallel to the extension direction of the shearing platform (101), and the outer peripheral surface of the correcting wheels (107) forms an inwardly concave guide channel.

3. The flexible automated production line for beam and column reinforcement skeleton according to claim 1 is characterized in that: The three-dimensional silo (2) comprises a silo body (201) and vertically stacked multi-layer storage troughs (202) arranged in the silo body (201), wherein the storage troughs (202) are divided into a stress reinforcement storage area and a stirrup reinforcement storage area, and the open end of the storage trough (202) faces the working range of the robotic arm.

4. The flexible automated production line for beam and column reinforcement skeleton according to claim 1 is characterized in that: The portal truss manipulator (3) comprises a frame leg (301) and a crossbeam (302) fixed to the top of the frame leg (301); an X-axis guide rail (303) is provided at the bottom of the crossbeam (302); a first driving slider (304) is provided on the X-axis guide rail (303); a Y-axis guide rail (305) is provided at the bottom of the first driving slider (304); a second driving slider (306) is provided on the Y-axis guide rail (305); an electric telescopic rod (307) is provided at the bottom of the second driving slider (306); and a manipulator (308) for clamping stress reinforcement and stirrups is connected to the bottom output end of the electric telescopic rod (307).

5. The flexible automated production line for beam and column reinforcement skeleton according to claim 1 is characterized in that: The positioning assembly (6) comprises four positioning rods distributed in a ring shape, the positioning rods being symmetrically arranged around a common central axis, the positioning rods being in transmission connection with a driving assembly (604), and the driving assembly (604) being used to drive the positioning rods to move synchronously along the radial direction of the central axis.

6. The flexible automated production line for beam and column reinforcement skeleton according to claim 5 is characterized in that: The positioning rod is L-shaped, and the long side wall of the L-shaped rod (601) is provided with a positioning slot (602) extending along the length direction.

7. The flexible automated production line for beam and column reinforcement skeletons according to claim 5 is characterized in that: A positioning slot (603) matching the stress-bearing rib extends from the corner end of the L-shaped rod (601).

8. The flexible automated production line for beam and column reinforcement skeletons according to claim 5 is characterized in that: The driving assembly (604) includes a positioning plate (60401), wherein the interior of the positioning plate (60401) is provided with four strip-shaped sliding holes (60402), wherein the four strip-shaped sliding holes (60402) are arranged at equal angles around the center point of the positioning plate (60401), and the center extension lines of the strip-shaped sliding holes (60402) pass through the center point of the positioning plate (60401), and the interior of the strip-shaped sliding holes (60402) of the positioning plate (60401) is provided with a slide seat (60403). The slide (60403) is fixedly arranged between the L-shaped rod (601), and a driving motor is provided at the center point of the positioning plate (60401). The output end of the driving motor is connected to a driving block (60404), and the driving block (60404) and the slide (60403) are connected via a bent connecting rod (60405). The two ends of the bent connecting rod (60405) are respectively hinged to the driving block (60404) and the slide (60403).

9. The flexible automated production line for beam and column reinforcement skeleton according to claim 1 is characterized in that: The welding station platform (5) is provided with a double gantry welding head, the double gantry welding head comprising two welding gun supports arranged in parallel along the longitudinal direction, the welding gun supports sliding along a transverse guide rail to adjust the welding spacing.

10. The flexible automated production line for beam and column reinforcement skeleton according to claim 1, characterized in that: The transfer device comprises a forklift, wherein the end of the fork of the forklift is provided with a supporting platform separated from the positioning assembly (6), and the height of the supporting platform is flush with the supporting surface of the welding station platform (5).

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