Automatic machining and production method for large-diameter shield segment reinforcement cage

Abstract

The invention relates to the field of processing and production methods for segment reinforcing steel bars in shield construction, in particular to an automatic processing and production method for a large-diameter shield segment reinforcing cage. The problems that in the prior art, a segment reinforcement cage is high in machining cost and low in construction efficiency are solved. The method comprises the following steps: (1) processing a reinforcement cage material; (2) assembling a reinforcement cage; and (3) fixing the reinforcement cage. The automatic production line has the advantages that work arrangement is overall planned on the whole, the efficient automatic line production line of the large-diameter shield segment reinforcement cage is achieved, and therefore the problems that manual machining of shield segment steel bars is low in efficiency, unstable in quality and the like are solved, and the labor intensity is effectively relieved.

Description

Technical Field

[0001] The invention relates to the field of segment steel bar processing and production methods in shield construction, in particular to an automated processing and production method for a large-diameter shield segment steel bar cage. Background Art

[0002] In recent years, my country's shield industry has developed rapidly. At present, some domestic prefabrication factories have realized the automatic operation of equipment for segment concrete pouring, and its efficiency, quality and safety production have been guaranteed. However, as an important process in the production of shield reinforced concrete segments, the production and installation of segment steel skeletons are still mainly manual processing methods with simple machines operated by humans. The manpower input and labor intensity are large, the production efficiency is low, the material waste is large, there are many safety hazards, and the welding quality is greatly affected by the workers' operation, which is easy to cause problems such as uneven welding thermal stress and irregular deformation. Therefore, it is an inevitable trend to accelerate the reform and innovation of steel processing.

[0003] Our technical personnel have proposed corresponding improvements to the existing technology and submitted a patent application for protection. For details, please refer to the patent application number 202410785303.2 entitled "Automatic Steel Bar Feeding Line and Method", which discloses a device including multiple magnetic feeding gantry frames, and steel bar shearing and sorting conveying equipment and steel bar compartment storage devices are set up in the mobile area below the magnetic feeding gantry frames. The present invention realizes the full automation of steel bar feeding, which can achieve 24-hour continuous and uninterrupted operation. At the same time, the single feeding quantity can be set according to the processing rhythm requirements, which greatly improves work efficiency. The layout makes full use of the three-dimensional space to maximize the use of the site, and the processing process completely avoids the problem of high noise in mechanized construction. At the same time, the patent application number is 202410785298.5, named "Rebar Shearing and Sorting Storage Equipment and Method", which adopts magnetic loading, including a rebar shearing machine, a feeding rack, a receiving rack, and a feeding rack which are sequentially erected along the rebar construction process; the feeding rack is arranged along the stretching direction of the rebar sheared by the rebar shearing machine, and the receiving rack is multiple and arranged in an array on both sides of the feeding rack, and the feeding rack is arranged next to the receiving rack.

[0004] However, the technicians found that although the current technology uses automatic loading, automatic sorting, and automatic welding, there are still the following problems: 1. They are all improvements of various components, and there are adjustments between the processing steps. Each process step is relatively independent, and there is no regulation on the dependence on the sequence, which leads to the problem of waiting time; 2. Multiple steel cages are often processed independently one after another, and the finishing efficiency is low; 3. The situation of insufficient or excessive raw materials is difficult to solve. Summary of the invention

[0005] The purpose of the present invention is to solve the problem of lack of coordination among the various working steps in the prior art.

[0006] The specific scheme of the present invention is: Design a large diameter shield segment steel cage automatic processing production method, through the PLC master control system scheduling, including the following steps: (1) Processing of steel cage materials: S1: The steel cage material processing equipment includes a shearing line and a shearing mechanism. The steel processing and supply capacity of the shearing line is greater than 90 tons / 22 hours. The shearing line uses a gantry crane to lift the required steel bar raw materials into bundles and place them in the raw material loading and storage bin. After breaking the bundles, a magnetic gripper is used to suck the steel bar raw materials according to the processing sequence and lift them to the steel bar shearing conveyor roller. The steel bars are transported to the shearing mechanism to complete the fixed-length shearing to form bar A. S2: Multiple bins are set according to size and model. The bar A is transported to the storage bins on both sides of the conveyor roller according to the predetermined bins. The storage bins have the functions of automatic opening and closing of the bin door and automatic counting of the storage quantity. Then, the magnetic gripper is used to select the bin through the control program according to the processing requirements to grab the steel bars and put them on the bar steel bar processing feeding bin; there are 16 storage bins in total, and the storage capacity of each storage bin is not less than 32 steel bars; the magnetic feeding speed of a single bar is about 25s; S3: According to different models, each feeding bin is respectively transported to the bending and folding machine station and the five-head hoop bending machine station to be processed into bottom ribs, surface ribs and hoop bars. The processed bottom ribs, surface ribs and hoop bars are grabbed by truss grippers and put on the corresponding buffer rack 1; the processing efficiency of the bending and folding machine station is 20s / piece, and the five-head hoop bending machine is 4 pieces / 10s; (2) Assembly of steel cage: S4: According to the construction requirements, after the bottom reinforcement and surface reinforcement buffer racks are full, they are transported forward to the loading station on the single mesh automatic processing table by chain slide rails. Each arc bending machine is equipped with two left and right chain slide rails, and the chain slide rails operate crosswise; the stirrups in step S3 are transported to the stirrup loading station by a trolley; the transportation speed is not less than 0.5m / s; S5: The single mesh processing table processes the bottom ribs, surface ribs and connecting ribs into single meshes. The processed single meshes are grabbed and transported to the single mesh loading table through the cantilever truss. A single loading table stores all the single meshes required for a pipe segment and limits the freedom of the single meshes. The assembly and welding time of a single single mesh is less than 75s / piece. S6: After the stirrup loading platform and the single mesh loading platform are fully loaded, the loading platforms are transported to their corresponding reinforcement threading assembly stations using the AGV trolley; (3) Fixing of steel cage: S7: Use stirrup profiling grippers and single mesh profiling grippers to grab stirrups and single mesh as a whole, and place them on the reinforcement threading tooling. Then, assemble the stirrups and single mesh as a whole. After assembly, the top of the steel cage is welded by a row welding mechanism. At least two welding points are welded simultaneously during each welding. The assembly and welding speed of the steel cage is not less than 15 minutes per piece. S8: After welding is completed, the steel cage is hoisted to the unloading area by a gantry crane, and finally transferred to the manual processing station for detailed steel bar processing, completing the automated processing of the steel cage of the large-diameter shield segment in a single round; In each single round of processing, after step (3), the next round of step (1) is started.

[0007] Each of the storage positions and the PLC master control system is electrically connected to control the scheduling of the shearing stations when the storage position is full.

[0008] The 14mm diameter HRB400 steel bar storage bin is equipped with an automatic shaking frame.

[0009] One side of the chain slide rail is located above the buffer tray (2), and the other side is located at the feeding port of the loading station on the single mesh automatic processing table. The buffer tray is provided with multiple sets of limit clamps according to the curvature of the pipe segment, and abuts against the front and rear sides of the assembly. Push plates are correspondingly provided on the left and right sides of the assembly. The top of the clamp is designed in a trumpet shape, and an assembly truss is provided in the direction of the trumpet.

[0010] The welding mechanism includes sliding modules in the X and Y directions, and a rotating module. The rotating module includes a welding gun turntable, and the sliding module includes a chain slide rail for the welding mechanism. The welding gun turntable is installed on the chain slide rail for the welding mechanism via a crossbeam so as to slide on the chain slide rail for the welding mechanism. The crossbeam is also provided with a driving motor that provides power to the sliding module. The output end of the driving motor is meshed with a fixed rack that cooperates with the driving motor. Two welding guns are connected to the lower part of the rotating module, and the spacing between the two welding guns is consistent with the bottom rib and the surface rib.

[0011] The stirrup loading platform in S6 includes a clamping mechanism, and a plurality of cache trays are arranged at intervals on the bracket transport ground rail. The cache tray includes a tray bottom reinforcement support plate and a tray bottom plate. Stirrup clamps are correspondingly arranged on the tray bottom plate to clamp both sides of the stirrups. The distribution of the stirrup clamps is consistent with the distribution of the segment stirrups. A top gantry structure auxiliary beam is arranged above the end of the bracket transport ground rail for connection.

[0012] The top of the welding mechanism adopts a row welding system, with a total of four welding machines; the row welding system is independently provided with a fixed gantry, which is lower than the transport gantry of the gripper and leaves a safe clearance.

[0013] The cantilever truss in S5 includes a single mesh gripper that can slide on a guide rail, and an independent lifting fixture is arranged on the single mesh gripper, and the lifting fixture includes a gripper and a pneumatic finger.

[0014] The arc bending machine in S3 includes a mounting frame, on which a movable tensioning mechanism assembly is mounted to bend stirrups, a lower swing arm mechanism is mounted correspondingly below the movable tensioning mechanism assembly, and a stirrup positioning block is disposed on the lower swing arm mechanism.

[0015] The stirrup loading platform in S6 also includes a loading platform base and a pre-positioning component; the cantilever truss in S5 also includes a card clamp assembly and a card clamp mechanism; the single mesh loading platform in S5 includes a single mesh loading platform base 801 and a bottom support.

[0016] The beneficial effects of the present invention are: The present invention aims to develop new equipment for automated processing of steel cages for pipe segments and optimize the construction process. Through systematic analysis and research on the production process of steel cages for shield pipe segments and steel processing equipment, the present invention develops the design schemes and parameters of automated equipment and tooling such as automatic magnetic suction feeding, shearing and classified storage of bar steel bars, single mesh automated processing table, single mesh automatic storage and material taking system, and integrated welding and forming of steel cage three-dimensional mesh, thus realizing an efficient automated assembly line for steel cages for large-diameter shield pipe segments, thereby solving the problems of low efficiency and unstable quality of manual processing of steel bars for shield pipe segments, effectively reducing labor intensity, greatly improving construction efficiency, reducing cost investment, and improving safety, and promoting the mechanization, informatization, and automation of steel processing in the construction industry; The work of welding two welding points at the same time during the welding stage ensures good welding effect on the one hand and improves assembly efficiency on the other hand; Each work step in the feeding and assembly process can include more than two workstations, which can be carried out alternately, with high work efficiency and good overall coordination effect.

[0017] The stirrup loading platform realizes the function of pre-positioning, and the feeding trolley is used to achieve stable work station conversion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the process of the present invention; Figure 2 It is a schematic diagram of the structure of feeding, welding and clamping; Figure 3 It is a three-dimensional diagram of the welding mechanism; Figure 4 yes Figure 3 Enlarged view of point A in the middle; Figure 5 yes Figure 3 Enlarged view of point B in the middle; Figure 6 It is a three-dimensional diagram of a cache rack; Figure 7 It is the main view of the cache shelf; Figure 8 is a top view of the cache rack; Fig. 9 is a stereogram of the clamping mechanism; Fig.10 It is the front view of the clamping mechanism; Fig.11 is a top view of the clamping mechanism; Fig.12 It is a three-dimensional diagram of the reinforcing bar mechanism; Fig.13 It is a top view of the reinforcing bar mechanism; Fig.14 It is a three-dimensional picture of the stirrup loading platform; Fig.15 It is a schematic diagram of the overall assembly of a single-piece gripper; Fig.16 It is a schematic diagram of a single-piece loading platform; Fig.17 yes Figure 2 The enlarged schematic diagram at E in the middle; Fig.18 yes Fig. 9 The enlarged schematic diagram at C in the middle; Fig.19 It is the raw material feeding, dividing and conveying equipment in the steel cage material processing equipment; Names of components in the figure: 1. Loading station of single mesh automatic processing table; 2. Cache tray; 3. Bracket transport rail; 4. Clamping mechanism; 5. Welding mechanism; 101. assembly; 102. push plate; 103. assembly truss; 201. Pallet bottom reinforcement support plate; 202. Stirrup clamp; 203. Pallet bottom plate; 301. welding gun; 302. welding gun turntable; 303. chain slide; 304. driving motor; 305. fixed rack matched with driving motor; 306. chain slide for welding mechanism; 401. Guide rail; 402. Gripper; 403. Pneumatic finger; 501. Mounting frame; 502. Moving reinforcement mechanism assembly; 503. Lower swing arm mechanism; 504. Stirrup positioning block; 601. Loading table base; 602. Pre-positioning components; 701. Card clamp assembly; 702. Card clamp mechanism; 801. Single-piece loading platform base; 802. Bottom support. DETAILED DESCRIPTION

[0019] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. Example 1

[0020] A method for automated processing and production of steel cages for large-diameter shield segments, see Figures 1 to 17 , through the scheduling of the PLC master control system, including the following steps: (1) Processing of steel cage materials: S1: The steel cage material processing equipment includes a shearing line and a shearing mechanism. The steel processing and supply capacity of the shearing line is greater than 90 tons / 22 hours. The shearing line uses a gantry crane to lift the required steel raw materials into bundles and place them in the raw material loading and storage bin. After breaking the bundles, a magnetic gripper is used to suck the steel raw materials according to the processing sequence and lift them to the steel shearing conveyor roller. The steel bars are transported to the shearing mechanism to complete the cut-to-length shearing to form bar A. S2: Multiple bins are set up according to size and model. Bar A is transported to the storage bins on both sides of the conveyor roller according to the predetermined bins. The storage bins have the functions of automatic opening and closing of the bin door and automatic counting of the storage quantity. Then, the magnetic gripper is used to select the bin through the control program according to the processing requirements to grab the steel bars and put them on the bar steel bar processing feeding bin; there are 16 storage bins in total, and the storage capacity of each storage bin is not less than 32 bars; the magnetic feeding speed of a single bar is about 25s; S3: According to different models, each feeding bin is respectively transported to the bending and folding machine station and the five-head hoop bending machine station to be processed into bottom ribs, surface ribs and hoop bars. The processed bottom ribs, surface ribs and hoop bars are grabbed by truss grippers and put on the corresponding buffer rack 1; the processing efficiency of the bending and folding machine station is 20s / piece, and the five-head hoop bending machine is 4 pieces / 10s; (2) Assembly and welding of single mesh of steel cage: S4: According to the construction requirements, after the bottom reinforcement and the surface reinforcement buffer rack are full, the chain slide rail 303 is used to transport them forward to the loading station 1 on the single mesh automatic processing table. Each arc bending machine is equipped with two left and right chain slide rails 303, and the chain slide rails 303 work crosswise; the stirrups in step S3 are transported to the stirrup loading station by a trolley; the transportation speed is not less than 0.5m / s; S5: The single mesh processing table processes the bottom ribs, surface ribs and connecting ribs into single meshes. The processed single meshes are grabbed and transported to the single mesh loading table through the cantilever truss. A single loading table stores all the single meshes required for a pipe segment and limits the freedom of the single meshes. The assembly and welding time of a single single mesh is less than 75s / piece. S6: After the stirrup loading platform and the single mesh loading platform are fully loaded, the loading platforms are transported to their corresponding reinforcement threading assembly stations using the AGV trolley; (3) Fixed assembly and molding of steel cage: S7: Use stirrup profiling grippers and single mesh profiling grippers to grab stirrups and single mesh as a whole, and place them on the reinforcement threading tooling, then assemble the stirrups and single mesh as a whole, and after assembly, weld the top of the steel cage using welding mechanism 5 during row welding, and keep at least two welding points welded simultaneously during each welding; the assembly and welding speed of the steel cage is not less than 15min / piece; S8: After welding is completed, the steel cage is hoisted to the unloading area by a gantry crane, and finally transferred to the manual processing station for detailed steel bar processing, completing the automated processing of the steel cage of the large-diameter shield segment in a single round; In each single round of processing, after step (23), the next round of step (1) is started.

[0021] Each bin is electrically connected to the PLC master control system to control the scheduling of the shearing stations when the bin is full.

[0022] HRB400 steel bar storage bin with a diameter less than 14mm needs to be equipped with an automatic shaking rack.

[0023] One side of the chain slide rail 303 is above the cache tray 2, and the other side is at the feeding port of the loading station on the single mesh automatic processing table. The cache tray is provided with multiple sets of limit clamps according to the curvature of the pipe segment, and abuts against the front and rear sides of the assembly 101. Push plates 102 are correspondingly arranged on the left and right sides of the assembly 101. The top of the clamp is designed in a trumpet shape, and an assembly truss 103 is arranged in the direction of the trumpet.

[0024] The welding mechanism 5 includes sliding modules in the X and Y directions, and a rotating module. The rotating module includes a welding gun turntable 302, and the sliding module includes a chain slide rail 306 for the welding mechanism; the welding gun turntable 302 is installed on the chain slide rail 306 for the welding mechanism via a crossbeam so as to slide on the chain slide rail 306 for the welding mechanism. The crossbeam is also provided with a driving motor 304 for providing power to the sliding module. The output end of the driving motor 304 is meshed with a fixed rack 305 matched with the driving motor 304. Two welding guns 301 are connected to the lower part of the rotating module, and the spacing between the two welding guns 301 is consistent with the bottom ribs and the surface ribs.

[0025] During S4 and S5, the buffer tray itself is movable, and two sets of trusses are set above it. When the buffer tray is in place, the cantilever truss drives it into the assembly, and then the welding equipment is in place to carry out subsequent welding work until the single mesh processing is completed, and then it is transported to the subsequent workstation. The stirrup loading platform in S6 includes a clamping mechanism 4, and a plurality of cache trays 2 are arranged at intervals on the bracket transport ground rail 3. The cache tray 2 includes a tray bottom reinforcement support plate 201 and a tray bottom plate 203. Stirrup clamps 202 are correspondingly arranged on the tray bottom plate 203 to clamp the two sides of the stirrups. The distribution of the stirrup clamps 202 is consistent with the distribution of the segment stirrups. A top gantry structure auxiliary beam is arranged above the end of the bracket transport ground rail 3 for connection.

[0026] The top of the welding mechanism 5 adopts a row welding system, with a total of four welding machines; the row welding system is independently equipped with a fixed gantry, which is lower than the transport gantry of the gripper and leaves a safe clearance. During the working process, they can work simultaneously or alternately.

[0027] The cantilever truss in S5 includes a single mesh gripper that can slide on the guide rail 401, and an independent lifting fixture is configured on the single mesh gripper, and the lifting fixture includes a gripper 402 and a pneumatic finger 403. In the present application, the position of the welding machine is free and flexible, and the processing efficiency is high. After being combined with the additional equipment, the welding work of multiple welding points can be quickly processed.

[0028] The arc bending machine in S3 includes a mounting frame 501, on which a movable reinforcement mechanism assembly 502 is mounted to bend stirrups, and a lower swing arm mechanism 503 is mounted correspondingly below the movable reinforcement mechanism assembly 502, and a stirrup positioning block 504 is arranged on the lower swing arm mechanism 503. The bending machine, as a prior art, mainly functions to realize rapid prototyping of stirrups in this application.

[0029] The stirrup loading platform in S6 also includes a loading platform base 601 and a pre-positioning component 602; the cantilever truss in S5 also includes a card clamp assembly 701 and a card clamp mechanism 702; the single mesh loading platform in S5 includes a single-piece loading platform base 801 and a bottom support 802. Fig.14 , it has good molding effect and high working efficiency.

[0030] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automated processing and production method for large-diameter shield segment steel cages, characterized in that: The scheduling through the PLC master control system includes the following steps: (1) Processing of steel cage materials: S1: The steel cage material processing equipment includes a shearing line and a shearing mechanism. The steel processing and supply capacity of the shearing line is greater than 90 tons / 22 hours. The shearing line uses a gantry crane to lift the required steel bar raw materials into bundles and place them in the raw material loading and storage bin. After breaking the bundles, a magnetic gripper is used to suck the steel bar raw materials according to the processing sequence and lift them to the steel bar shearing conveyor roller. The steel bars are transported to the shearing mechanism to complete the fixed-length shearing to form bar A. S2: Multiple bins are set according to size and model. The bar A is transported to the storage bins on both sides of the conveyor roller according to the predetermined bins. The storage bins have the functions of automatic opening and closing of the bin door and automatic counting of the storage quantity. Then, the magnetic gripper is used to select the bin through the control program according to the processing requirements to grab the steel bars and put them on the bar steel bar processing feeding bin; there are 16 storage bins in total, and the storage capacity of each storage bin is not less than 32 steel bars; the magnetic feeding speed of a single bar is about 25s; S3: Depending on the model, each feeding bin is respectively transported to the arc bending machine station and the five-head hoop bending machine station to be processed into bottom ribs, surface ribs and hoop bars. The processed bottom ribs, surface ribs and hoop bars are grabbed by truss grippers and placed on the corresponding buffer rack (1); the processing efficiency of the arc bending machine station is 20s / piece, and the five-head hoop bending machine is 4 pieces / 10s; (2) Assembly of steel cage: S4: According to construction requirements, after the bottom reinforcement and the surface reinforcement buffer rack are full, they are transported forward to the loading station (1) on the single mesh automatic processing table by a chain slide rail (303), and each arc bending machine is equipped with two left and right chain slide rails (303), and the chain slide rails (303) are operated crosswise; the stirrups in step S3 are transported to the stirrup loading station by a trolley; the transportation speed is not less than 0.5 m / s; S5: The single mesh processing table processes the bottom ribs, surface ribs and connecting ribs into single meshes. The processed single meshes are grabbed and transported to the single mesh loading table through the cantilever truss. A single loading table stores all the single meshes required for a pipe segment and limits the freedom of the single meshes. The assembly and welding time of a single single mesh is less than 75s / piece. S6: After the stirrup loading platform and the single mesh loading platform are fully loaded, the loading platforms are transported to their corresponding reinforcement threading assembly stations using the AGV trolley; (3) Fixing of steel cage: S7: using a stirrup profiling gripper and a single mesh profiling gripper to grab the stirrup and the single mesh as a whole, and placing them on the reinforcement threading tooling, and then assembling the stirrup and the single mesh as a whole. After the assembly is formed, the top of the steel cage is welded by the row welding welding mechanism (5), and at least two welding points are welded simultaneously during each welding. The speed of the steel cage assembly welding is not less than 15 minutes per piece. S8: After welding is completed, the steel cage is hoisted to the unloading area by a gantry crane, and finally transferred to the manual processing station for detailed steel bar processing, completing the automated processing of the steel cage of the large-diameter shield segment in a single round; In each single round of processing, after step (3), the next round of step (1) is started.

2. The automated processing and production method for large-diameter shield segment steel cage according to claim 1, characterized in that: Each bin is electrically connected to the PLC master control system to control the scheduling of the shearing stations when the bin is full.

3. The method for automated processing and production of steel cages for large-diameter shield segments according to claim 1, characterized in that: The HRB400 steel bar storage bin with a diameter less than 14mm is equipped with an automatic shaking rack.

4. The automated processing and production method for large-diameter shield segment steel cage according to claim 1, characterized in that: One side of the chain slide rail (303) is located above the buffer tray (2), and the other side is located at the feeding port of the loading station on the single mesh automatic processing table. The buffer tray is provided with multiple sets of limit clamps according to the curvature of the pipe segment, and abuts against the front and rear sides of the assembly (101). Push plates (102) are correspondingly provided on the left and right sides of the assembly (101). The top of the clamp is designed in a trumpet shape, and an assembly truss (103) is provided in the direction of the trumpet.

5. The automated processing and production method for large-diameter shield segment steel cage according to claim 4, characterized in that: The welding mechanism 5 comprises sliding modules for X and Y directions, and a rotating module, wherein the rotating module comprises a welding gun turntable (302), and the sliding module comprises a chain slide rail (306) for the welding mechanism; the welding gun turntable (302) is mounted on the chain slide rail (306) for the welding mechanism via a crossbeam so as to slide on the chain slide rail (306) for the welding mechanism, and a driving motor (304) for providing power to the sliding module is also arranged on the crossbeam, and the output end of the driving motor (304) is meshed with a fixed rack (305) matched with the driving motor (304); two welding guns (301) are connected to the lower part of the rotating module, and the spacing between the two welding guns (301) is consistent with the bottom rib and the surface rib.

6. The automated processing and production method for large-diameter shield segment steel cage according to claim 1, characterized in that: The stirrup loading platform in S6 comprises a clamping mechanism (4), a plurality of buffer trays (2) are arranged at intervals on the bracket transport ground rail (3), the buffer tray (2) comprises a tray bottom reinforcement support plate (201) and a tray bottom plate (203), stirrup clamps (202) are correspondingly arranged on the tray bottom plate (203) to clamp the two sides of the stirrups, the distribution of the stirrup clamps (202) is consistent with the distribution of the segment stirrups, and a top gantry structure auxiliary beam is arranged above the end of the bracket transport ground rail (3) for connection.

7. The automated processing and production method for large-diameter shield segment steel cage according to claim 1, characterized in that: The top of the welding mechanism (5) adopts a row welding system, with a total of four welding machines; the row welding system is independently provided with a fixed gantry, which is lower than the transport gantry of the gripper and leaves a safe clearance.

8. The automated processing and production method for large-diameter shield segment steel cage according to claim 1, characterized in that: The cantilever truss in S5 comprises a single mesh gripper capable of sliding on a guide rail (401), wherein an independent lifting fixture is arranged on the single mesh gripper, and wherein the lifting fixture comprises a gripper (402) and a pneumatic finger (403).

9. The automated processing and production method for large-diameter shield segment steel cage according to claim 1, characterized in that: The arc bending machine in S3 comprises a mounting frame (501), on which a movable reinforcement mechanism assembly (502) is mounted for bending stirrups, and a lower swing arm mechanism (503) is mounted correspondingly below the movable reinforcement mechanism assembly (502), and a stirrup positioning block (504) is arranged on the lower swing arm mechanism (503).

10. The automated processing and production method for large-diameter shield segment steel cage according to claim 1, characterized in that: The stirrup loading platform in S6 further comprises a loading platform base (601) and a pre-positioning component (602); the cantilever truss in S5 further comprises a card clamp assembly (701) and a card clamp mechanism (702); and the single mesh loading platform in S5 comprises a single mesh loading platform base 801 and a bottom support (802).

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