Railway box girder reinforcement framework section integral automatic construction method and process equipment

Abstract

This invention discloses an automated method and equipment for the overall assembly of steel reinforcement cage segments in railway box girders. The method includes: a steel reinforcement cage support system for supporting multiple transverse steel reinforcement cages; a steel reinforcement arrangement system for arranging longitudinal steel bars that sequentially pass through the multiple transverse steel reinforcement cages; the system includes multiple guides for threading the longitudinal steel bars and adjusting their positions; and a welding robot system positioned inside and outside the multiple transverse steel reinforcement cages for welding the transverse steel reinforcement cages and the longitudinal steel bars. This invention improves automation and reduces labor intensity.

Description

Technical Field

[0001] This invention relates to the field of bridge engineering construction technology, specifically to an automated method and equipment for the overall assembly of steel reinforcement skeleton segments of railway box girders. Background Technology

[0002] Simply supported box girders are common precast concrete beams used in railway infrastructure construction. They are produced using a modular production method, with centralized prefabrication at beam yards and on-site installation. However, the steel reinforcement cage forming process still relies on traditional binding techniques. Pre-processed steel reinforcement samples are placed one by one in a steel reinforcement binding jig by hand, and then bound manually. The construction speed and quality are limited by the skill level of the workers, and the level of automation and intelligence in production still needs to be improved. The current construction method suffers from low construction efficiency, poor quality stability, and high labor intensity.

[0003] How to achieve automated and intelligent construction of steel reinforcement cage segments for railway box girders and reduce labor intensity is one of the important problems that urgently need to be solved in this field. Summary of the Invention

[0004] The purpose of this invention is to provide an automated method and equipment for the overall construction of steel reinforcement skeleton segments of railway box girders, in order to overcome the shortcomings of the prior art. It can realize the automated and intelligent construction of steel reinforcement skeleton segments of railway box girders and reduce labor intensity.

[0005] This invention proposes an automated method for the overall assembly of steel reinforcement cage segments of railway box girders, comprising the following steps:

[0006] S1, Multiple steel frame support systems are arranged at predetermined locations;

[0007] S2, arrange multiple transverse steel reinforcement cages along the longitudinal direction on the steel reinforcement cage support system; and snap the transverse steel reinforcement cages to the steel reinforcement cage support system to form a railway box girder;

[0008] S3, the inner and outer sides of the railway box girder are equipped with a steel reinforcement system and a welding robot system;

[0009] S4, Adjust the position of the guide on the rebar arrangement system so that the center lines of the guide openings of the guides corresponding to the same longitudinal rebar are basically on the same straight line;

[0010] S5, pass the longitudinal steel bars through the corresponding guides in sequence;

[0011] S6, adjust the position of each guide to make each longitudinal steel bar abut against the transverse steel bar skeleton at the connection position;

[0012] S7, adjusts the welding robot system to weld the longitudinal and transverse steel reinforcement skeletons.

[0013] This disclosure also proposes an automated assembly device for the integral construction of steel reinforcement skeleton segments of railway box girders, wherein: [the device includes]

[0014] A steel reinforcement cage support system used to support multiple transverse steel reinforcement cages;

[0015] A rebar arrangement system for arranging longitudinal rebars that sequentially pass through multiple transverse rebar cages; it includes multiple guides for threading the longitudinal rebars and adjusting their positions;

[0016] A welding robot system is installed on the inner and outer sides of multiple transverse steel reinforcement frames for welding the transverse steel reinforcement frames and the longitudinal steel reinforcement.

[0017] The automated assembly equipment for the overall construction of the steel reinforcement skeleton segments of the railway box girder as described above, wherein, optionally, the steel reinforcement skeleton support system includes a first support frame, a second support frame, and a third support frame;

[0018] The first support frame and the third support frame are disposed on both sides of the second support frame;

[0019] The second support frame is used to support the middle part of the transverse steel reinforcement skeleton from below, and the first support frame and the third support frame are used to support the flanges of the transverse steel reinforcement skeleton from below.

[0020] In the automated assembly equipment for the steel reinforcement skeleton of railway box girders as described above, optionally, the first support frame forms at least three support points for each of the transverse steel reinforcement skeletons;

[0021] The second support frame provides at least five support points for each of the transverse steel reinforcement skeletons;

[0022] The third support frame provides at least three support points for each of the transverse steel reinforcement skeletons.

[0023] In the automated assembly equipment for the overall steel reinforcement skeleton of railway box girder as described above, optionally: a slot is provided at the support point; the slot is engaged with the steel mesh on the transverse steel reinforcement skeleton.

[0024] The automated assembly equipment for the steel reinforcement skeleton segments of railway box girders described above may optionally include a first arrangement mechanism, a second arrangement mechanism, and a third arrangement mechanism.

[0025] The first arrangement mechanism is used to arrange longitudinal reinforcing bars from the top; the second arrangement mechanism is used to arrange longitudinal reinforcing bars from the bottom; and the third arrangement mechanism is used to arrange longitudinal reinforcing bars from inside the transverse reinforcing bar skeleton.

[0026] The automated assembly equipment for the steel reinforcement skeleton segments of railway box girders described above may optionally include: the first arrangement mechanism comprising a gantry frame capable of sliding longitudinally, a first telescopic component, and a first guide component;

[0027] The first end of the first telescopic member is mounted on the gantry frame, and the second end is connected to the guide member; the first guide member is capable of moving towards or away from the transverse steel reinforcement skeleton.

[0028] The first guide is provided with an openable and closable guide hole.

[0029] The automated assembly equipment for the overall construction of railway box girder steel reinforcement skeleton segments as described above, optionally, includes: a second arrangement mechanism located below the transverse steel reinforcement skeleton; the second arrangement mechanism includes a support, a second telescopic component, and a second guide component;

[0030] The first end of the second telescopic member is connected to the bracket, and the second end is connected to the second guide member, which is capable of moving towards or away from the transverse steel reinforcement skeleton.

[0031] In the railway box girder steel reinforcement skeleton segment integrated automated assembly equipment as described above, optionally, the third arrangement mechanism passes longitudinally through the interior of multiple transverse steel reinforcement skeletons;

[0032] The third arrangement mechanism includes an arrangement frame, a third telescopic component, and a third guide component;

[0033] The first end of the third telescopic member is connected to the arrangement frame, and the second end is connected to the third guide member; the third guide member can move in a direction close to or away from the transverse steel reinforcement skeleton.

[0034] The automated assembly equipment for the steel reinforcement skeleton segments of railway box girders as described above may optionally include: a welding robot system comprising a first welding robot, a second welding robot, a first welding frame, and a second welding frame;

[0035] The first welding frame is a gantry structure, which spans the outside of the first arrangement mechanism and can slide in the longitudinal direction; the first welding robot is mounted on the first welding frame;

[0036] The second welding frame is disposed on the arrangement frame, and the second welding robot is mounted on the second welding frame.

[0037] Compared to existing technologies, this invention supports multiple transverse steel reinforcement cages using a steel reinforcement cage support system, allowing them to be arranged as needed. A steel reinforcement arrangement system forms multiple sets of guide members at predetermined locations, each set arranged substantially in a straight line along the longitudinal direction to allow longitudinal steel reinforcement to pass through. The guide members are used to adjust the position of the longitudinal steel reinforcement to contact the transverse steel reinforcement cage. A welding robot is then used to weld the contact points between the longitudinal steel reinforcement and the transverse steel reinforcement cage. This process improves automation and reduces labor intensity. Attached Figure Description

[0038] Figure 1 This is a flowchart of the construction method proposed in this invention;

[0039] Figure 2 This is a schematic diagram of the construction device proposed in this invention;

[0040] Figure 3 yes Figure 2 The main view;

[0041] Figure 4 This invention relates to a steel reinforcement cage support system.

[0042] Figure 5 This invention proposes a transverse steel reinforcement cage support system.

[0043] Figure 6 This is a partially enlarged schematic diagram of the third support frame proposed in this invention;

[0044] Figure 7 This is a perspective view of the first arrangement mechanism proposed in this invention;

[0045] Figure 8 This is a front view of the first arrangement mechanism proposed in this invention;

[0046] Figure 9 This is a perspective view of the second arrangement mechanism proposed in this invention;

[0047] Figure 10 This is a front view of the second arrangement mechanism proposed in this invention;

[0048] Figure 11 This is a perspective view of the third arrangement mechanism proposed in this invention;

[0049] Figure 12 This is a schematic diagram of the installation structure of the second welding robot proposed in this invention;

[0050] Figure 13 yes Figure 12 The main view;

[0051] Explanation of reference numerals in the attached figures:

[0052] 1 - Rebar cage support system; 2 - Horizontal rebar cage; 3 - Rebar arrangement system; 4 - Guide component; 5 - Welding robot system.

[0053] 11 - First support frame, 12 - Second support frame, 13 - Third support frame, 14 - Slot;

[0054] 31 – First arrangement mechanism, 32 – Second arrangement mechanism, 33 – Third arrangement mechanism;

[0055] 311 - Gantry frame, 312 - First telescopic component;

[0056] 321 - Bracket, 322 - Second telescopic component;

[0057] 331 – Arrangement rack; 332 – Third telescopic component;

[0058] 41 – First guide element, 42 – Second guide element, 43 – Third guide element;

[0059] 51 - First welding robot, 52 - Second welding robot, 53 - First welding frame, 54 - Second welding frame. Detailed Implementation

[0060] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0061] To address the problems in the background art, the present invention proposes the following embodiments.

[0062] Example 1

[0063] Please refer to Figure 1 This embodiment proposes an automated method for the overall assembly of steel reinforcement cage segments of railway box girders, which includes the following steps:

[0064] S1, Multiple steel reinforcement cage support systems 1 are arranged at predetermined locations. Specifically, the steel reinforcement cage support systems 1 should be arranged longitudinally.

[0065] S2, multiple transverse steel reinforcement cages 2 are arranged longitudinally on the steel reinforcement cage support system 1; and the transverse steel reinforcement cages 2 are snapped together with the steel reinforcement cage support system 1 to form a railway box girder. During arrangement, the longitudinal direction is perpendicular to the plane containing the transverse steel reinforcement cages 2.

[0066] S3, the inner and outer sides of the railway box girder are arranged with a steel reinforcement system 3 and a welding robot system 5.

[0067] S4, adjust the position of the guide 4 on the rebar arrangement system 3 so that the center lines of the guide openings of the guide 4 corresponding to the same longitudinal rebar are basically on the same straight line.

[0068] S5, pass the longitudinal steel bars through the corresponding guide 4 in sequence.

[0069] S6, adjust the position of each guide 4 so that each longitudinal steel bar abuts against the transverse steel bar cage 2 at the connection position. Specifically, the adjustment of each guide 4 is achieved by the corresponding expansion joint until the longitudinal steel bar reaches and remains in the predetermined position.

[0070] S7, adjust the welding robot system 5 to weld the longitudinal steel bars and the transverse steel bar skeleton 2.

[0071] S8, open the guide 4, and disassemble the welding robot system 5, the rebar arrangement system 3 and the rebar skeleton support system 1 in sequence.

[0072] Through the above steps, a rebar cage support system supports multiple transverse rebar cages, allowing them to be positioned as needed. A rebar arrangement system forms multiple sets of guide members at designated locations, each set arranged in a roughly straight line along the longitudinal direction to allow the longitudinal rebars to pass through. The guide members are used to adjust the position of the longitudinal rebars, bringing them into contact with the transverse rebar cage. A welding robot is then used to weld the contact points between the longitudinal and transverse rebar cages. This process improves automation and reduces labor intensity.

[0073] Example 2

[0074] This embodiment uses the method of Embodiment 1 to realize the process equipment for the overall automated construction of the steel reinforcement skeleton segments of railway box girders. The similarities will not be repeated here, and only the differences will be explained below.

[0075] Please refer to Figures 2 to 13 This embodiment proposes an automated assembly equipment for the overall construction of steel reinforcement skeleton segments of railway box girders, which includes a steel reinforcement skeleton support system 1, a steel reinforcement arrangement system 3, and a welding robot system 5.

[0076] Please refer to Figures 2 to 6 The reinforcing steel cage support system 1 is used to support multiple transverse reinforcing steel cages 2; that is, the reinforcing steel cage support system 1 supports and fixes the multiple transverse reinforcing steel cages 2, so that the multiple transverse reinforcing steel cages 2 can be held in the required position. Specifically, the multiple transverse reinforcing steel cages 2 are arranged in parallel. In specific implementation, the reinforcing steel cage support system 1 and the transverse reinforcing steel cages 2 should be temporarily fixed in a detachable manner.

[0077] Please refer to Figures 7 to 11The rebar arrangement system 3 is used to arrange the longitudinal rebars that pass sequentially through multiple transverse rebar cages 2; it includes multiple guides 4, which are used to pass through the longitudinal rebars and adjust the position of the longitudinal rebars. That is, the main function of the rebar arrangement system 3 is to arrange the longitudinal rebars, which mainly plays two roles: first, to provide support and convenience for the penetration of the longitudinal rebars; and second, to adjust the position of the longitudinal rebars so that each longitudinal rebar can reach a set position and remain in that position.

[0078] Please refer to Figure 12 and Figure 13 The welding robot system 5 is positioned inside and outside the multiple transverse reinforcing steel skeletons 2, and is used to weld the transverse reinforcing steel skeletons 2 and the longitudinal reinforcing steel bars. That is, the main function of the welding robot system 5 is to weld the contact points between the transverse reinforcing steel skeletons 2 and the longitudinal reinforcing steel bars. In specific implementations, the welding robot system 5 can be an automated welding robot to achieve the welding between the transverse reinforcing steel skeletons 2 and the longitudinal reinforcing steel bars. This approach improves the automation level of the overall assembly of the railway box girder reinforcing steel skeleton segments, and helps reduce labor intensity.

[0079] Please refer to Figures 2 to 6 As a preferred implementation, the steel reinforcement cage support system 1 includes a first support frame 11, a second support frame 12, and a third support frame 13. Specifically, the first support frame 11 and the third support frame 13 are disposed on both sides of the second support frame 12; the second support frame 12 is used to support the middle part of the transverse steel reinforcement cage 2 from below, and the first support frame 11 and the third support frame 13 are used to support the flanges of the transverse steel reinforcement cage 2 from below. In implementation, the first support frame 11 and the third support frame 13 are symmetrically arranged about the second support frame 12. In implementation, the second support frame 12 can be multiple elongated support members, and the first support frame 11 and the third support frame 13 can be a frame arranged from steel rods or the like.

[0080] In practical implementation, to form stable support, the first support frame 11 provides at least three support points for each transverse steel reinforcement skeleton 2. The second support frame 12 provides at least five support points for each transverse steel reinforcement skeleton 2; and the third support frame 13 provides at least three support points for each transverse steel reinforcement skeleton 2. That is, each transverse steel reinforcement skeleton 2 is supported by at least 11 support points, with at least three arranged on the first support frame 11, at least five arranged on the second support frame 12, and at least three arranged on the third support frame 13. To further ensure stable support, a slot 14 is provided at each support point; the slot 14 engages with the steel mesh on the transverse steel reinforcement skeleton 2.

[0081] To facilitate the arrangement of longitudinal reinforcing bars, the reinforcing bar arrangement system 3 includes a first arrangement mechanism 31, a second arrangement mechanism 32, and a third arrangement mechanism 33. The first arrangement mechanism 31 is used to arrange longitudinal reinforcing bars from the top; the first arrangement mechanism 31 includes a gantry frame 311 capable of sliding longitudinally, a first telescopic member 312, and a first guide member 41. Specifically, multiple gantry frames 311 are arranged longitudinally at certain intervals and connected at the bottom to form a whole. The gantry frame 311 is used to guide the longitudinal reinforcing bars in the top section. The first end of the first telescopic member 312 is mounted on the gantry frame 311, and the second end is connected to the guide member 41; the first guide member 41 can move towards or away from the transverse reinforcing bar skeleton 2; specifically, the first guide member 41 faces the transverse reinforcing bar skeleton 2 and has an openable and closable guide hole. In specific implementations, the guide hole can be formed by two curved rods, and the inner wall of the guide hole has protruding balls or rollers to reduce resistance when the longitudinal reinforcing bars penetrate, facilitating convenient and rapid penetration of the longitudinal reinforcing bars.

[0082] The second arrangement mechanism 32 is used to arrange longitudinal reinforcing bars from the bottom; specifically, the second arrangement mechanism 32 is located at the bottom of the transverse reinforcing bar skeleton 2, that is, the very bottom and the bottom of the flange of the transverse reinforcing bar skeleton 2. The second arrangement mechanism 32 is disposed below the transverse reinforcing bar skeleton 2; the second arrangement mechanism 32 includes a bracket 321, a second telescopic member 322, and a second guide member 42; the first end of the second telescopic member 322 is connected to the bracket 321, and the second end is connected to the second guide member 42, which can move towards or away from the transverse reinforcing bar skeleton 2. When the longitudinal reinforcing bar passes through the second guide member 42, the position of the longitudinal reinforcing bar passing through the second guide member 42 is adjusted by the extension and retraction of the second telescopic member 322. In specific implementation, the second guide member 42 and the first guide member 41 can have the same structure.

[0083] In practical implementation, a third arrangement mechanism 33 is also provided to arrange longitudinal reinforcement bars inside the transverse reinforcement cage 2. Specifically, the third arrangement mechanism 33 is used to arrange longitudinal reinforcement bars from inside the transverse reinforcement cage 2. The "inside" of the transverse reinforcement cage 2 refers to the interior of the railway box corresponding to the transverse reinforcement cage 2. The third arrangement mechanism 33 passes longitudinally through the interiors of multiple transverse reinforcement cages 2. The third arrangement mechanism 33 includes an arrangement frame 331, a third telescopic member 332, and a third guide member 43. Specifically, the bottom of the arrangement frame 331 is provided with a front support leg and a rear support leg, and a counterweight is provided at the rear end. The first end of the third telescopic member 332 is connected to the arrangement frame 331, and the second end is connected to the third guide member 43. The third guide member 43 can move in a direction close to or away from the transverse reinforcement cage 2. The third guide member 43 has the same structure as the first guide member 41.

[0084] In specific implementation, the first telescopic member 312, the second telescopic member 322 and the third telescopic member 332 are all electric telescopic rods or electric telescopic cylinders. Of course, under suitable conditions, they can also be set as pneumatic cylinders or hydraulic cylinders.

[0085] To achieve automated welding, the welding robot system 5 includes a first welding robot 51, a second welding robot 52, a first welding frame 53, and a second welding frame 54. The first welding frame 53 is a gantry structure, spanning the outside of the first arrangement mechanism 31 and capable of sliding in the longitudinal direction. The first welding robot 51 is mounted on the first welding frame 53. The second welding frame 54 is disposed on the arrangement frame 331, and the second welding robot 52 is mounted on the second welding frame 54. In a specific implementation, slide rails can be provided on the ground on both sides of the steel reinforcement frame support system 1 for the first welding frame 53 to slide.

[0086] In practical implementation, the guides in the first guide 41, second guide 42, and third guide 43 can be either clamp-type or plate-type. When the guide is a clamp-type structure, multiple guides can be mounted on a frame, with the corresponding telescopic components connected to the frame. When the guide is a plate-type structure, the corresponding telescopic components can be directly connected to it. Regardless of whether it is a clamp-type or plate-type structure, the lower side of the inner wall of the formed guide hole is provided with rollers or ball bearings.

[0087] The above description, based on the embodiments shown in the figures, details the structure, features, and effects of the present invention. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. An automated assembly equipment for the integral construction of steel reinforcement cage segments of railway box girders, characterized in that: include, A steel reinforcement cage support system (1) is used to support multiple transverse steel reinforcement cages (2); A rebar arrangement system (3) is used to arrange longitudinal rebars that pass sequentially through multiple transverse rebar skeletons (2); it includes multiple guides (4) for passing through the longitudinal rebars and adjusting the position of the longitudinal rebars; A welding robot system (5) is set on the inner and outer sides of multiple transverse steel reinforcement skeletons (2) for welding the transverse steel reinforcement skeletons (2) and the longitudinal steel reinforcements; The steel reinforcement arrangement system (3) includes a first arrangement mechanism (31), a second arrangement mechanism (32) and a third arrangement mechanism (33); The first arrangement mechanism (31) is used to arrange longitudinal steel bars from the top; the second arrangement mechanism (32) is used to arrange longitudinal steel bars from the bottom; the third arrangement mechanism (33) is used to arrange longitudinal steel bars from the inside of the transverse steel bar skeleton (2); the first arrangement mechanism (31) includes a gantry frame (311) that can slide longitudinally, a first telescopic member (312) and a guide member (41); The first end of the first telescopic member (312) is mounted on the gantry frame (311), and the second end is connected to the guide member (41); the guide member (41) is capable of moving towards or away from the transverse steel reinforcement skeleton (2); The guide (41) is provided with an openable and closable guide hole.

2. The automated assembly equipment for the steel reinforcement skeleton segments of railway box girders according to claim 1, characterized in that: The steel reinforcement cage support system (1) includes a first support frame (11), a second support frame (12) and a third support frame (13). The first support frame (11) and the third support frame (13) are disposed on both sides of the second support frame (12); The second support frame (12) is used to support the middle part of the transverse steel reinforcement skeleton (2) from below, and the first support frame (11) and the third support frame (13) are used to support the flanges of the transverse steel reinforcement skeleton (2) from below.

3. The automated assembly equipment for the overall construction of railway box girder steel reinforcement skeleton segments according to claim 2, characterized in that: The first support frame (11) forms at least three support points for each of the transverse steel reinforcement skeletons (2); The second support frame (12) forms at least five support points for each of the transverse steel reinforcement skeletons (2); The third support frame (13) forms at least three support points for each of the transverse steel reinforcement skeletons (2).

4. The automated assembly equipment for the integral construction of railway box girder steel reinforcement skeleton segments according to claim 3, characterized in that: A slot (14) is provided at the support point; the slot (14) is engaged with the steel mesh on the transverse steel reinforcement skeleton (2).

5. The automated assembly equipment for the overall construction of railway box girder steel reinforcement skeleton segments according to claim 1, characterized in that: The second arrangement mechanism (32) is located below the transverse steel reinforcement frame (2); the second arrangement mechanism (32) includes a bracket (321), a second telescopic member (322), and a guide member (42); The first end of the second telescopic member (322) is connected to the bracket (321), and the second end is connected to the guide (42), which is capable of moving toward or away from the transverse steel reinforcement skeleton (2).

6. The automated assembly equipment for the integral construction of railway box girder steel reinforcement skeleton segments according to claim 1, characterized in that: The third arrangement mechanism (33) passes longitudinally through the interior of the plurality of transverse steel reinforcement frames (2); The third arrangement mechanism (33) includes an arrangement frame (331), a third telescopic member (332), and a guide member (43). The first end of the third telescopic member (332) is connected to the arrangement frame (331), and the second end is connected to the guide (43); the guide (43) is capable of moving in a direction close to or away from the transverse steel reinforcement skeleton (2).

7. The automated assembly equipment for the steel reinforcement cage segments of railway box girders according to claim 6, characterized in that: The welding robot system (5) includes a first welding robot (51), a second welding robot (52), a first welding frame (53), and a second welding frame (54); The first welding frame (53) is a gantry structure, which spans the outside of the first arrangement mechanism (31) and can slide in the longitudinal direction; the first welding robot (51) is mounted on the first welding frame (53); The second welding frame (54) is disposed on the arrangement frame (331), and the second welding robot (52) is mounted on the second welding frame (54).

8. A method for automated assembly of steel reinforcement cage segments of railway box girders, used in the automated assembly equipment for steel reinforcement cage segments of railway box girders as described in any one of claims 1-7, characterized in that: Includes the following steps: S1, Multiple steel frame support systems are arranged at the set positions (1). S2, arrange multiple transverse steel reinforcement cages (2) along the longitudinal direction on the steel reinforcement cage support system (1); and snap the transverse steel reinforcement cages (2) to the steel reinforcement cage support system (1) to form a railway box girder skeleton; S3, the inner and outer sides of the railway box girder frame are equipped with a steel reinforcement system (3) and a welding robot system (5). S4, adjust the position of the guide (4) on the steel reinforcement arrangement system (3) so that the center lines of the guide openings of the guides (4) corresponding to the same longitudinal steel reinforcement are basically on the same straight line; S5, pass the longitudinal steel bars through the corresponding guides (4) in sequence; S6, adjust the position of each guide (4) so ​​that each longitudinal steel bar and the transverse steel bar skeleton (2) abut at the connection position; S7, adjust the welding robot system (5) to weld the longitudinal steel bars and the transverse steel bar skeleton (2).

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