A shield segment steel reinforcement framework forming assembly line and forming method

Abstract

The application relates to the field of steel bar processing, and provides a shield segment steel bar framework forming flow line and a forming method, wherein the shield segment steel bar framework forming flow line comprises an automatic unloading system, a steel bar mold table, a stirrup mounting station and a main bar assembly mounting station; the automatic unloading system is located above the main bar assembly mounting station and provides bar assembly grabbing and unloading; the steel bar mold table is located on the main bar assembly mounting station or the stirrup mounting station, and the steel bar mold table undertakes the transfer of the flow line, the automatic assembly of the main bar assembly, the stirrup sleeving, the secondary pushing and resetting of the main bar assembly and the secondary bending of the stirrup bending angle; and the stirrup mounting station is arranged on one side of the main bar assembly mounting station. The application has the advantages of convenient stirrup sleeving and stable provision of the stirrup bending effect meeting the specifications.

Description

TECHNICAL FIELD

[0001] The application relates to the field of steel bar processing, in particular to a shield segment steel bar framework forming flow line and forming method. BACKGROUND

[0002] The shield segment steel bar framework is an indispensable key component in tunnel construction, and the quality thereof is directly related to the safety and durability of the entire tunnel structure. The traditional manual production method cannot meet the needs of modern construction, and the industry is gradually developing towards mechanization and automation to improve production efficiency and ensure product quality.

[0003] According to design drawings and requirements of relevant specifications, the bending angle of the hook-shaped end of the stirrup should be greater than or equal to 135°, and the length after bending should be greater than or equal to 10 times the diameter of the stirrup. However, the 135° hook-shaped end brings great inconvenience to the sleeving of the inner and outer arc main bars, and it is basically difficult to sleeve. Therefore, in the steel bar framework manufacturing technology, in order to solve the assembly problem of the inner and outer arc main bars and the stirrup, the stirrup end is usually connected with the main body by welding to form a closed ring type stirrup. However, when the closed ring type stirrup is used, long distance welding is required at the stirrup end, which not only increases the operation difficulty, but also easily leads to unstable welding quality. SUMMARY

[0004] In order to improve the above problems, the application provides a shield segment steel bar framework forming flow line and forming method.

[0005] The shield segment steel bar framework forming flow line and forming method provided by the application adopts the following technical scheme:

[0006] A shield segment steel bar framework forming flow line comprises an automatic unloading system, a steel bar mold table, a stirrup installation station and a main bar assembly installation station. The automatic unloading system is located above the main bar assembly installation station to provide grabbing and unloading of the main bar assembly. The steel bar mold table is located on the main bar assembly installation station or the stirrup installation station. The steel bar mold table undertakes the transfer of the flow line, the automatic assembly of the main bar assembly, the sleeving of the stirrup, the secondary pushing and resetting of the main bar assembly and the secondary bending of the stirrup bending angle. The stirrup installation station is arranged on one side of the main bar assembly installation station and located on the transfer path of the steel bar mold table. The stirrup installation station comprises a stirrup bending device to perform the sleeving, bending and secondary bending of the stirrup on the main bar assembly.

[0007] By adopting the technical scheme, after the main reinforcement assembly is assembled, the automatic unloading system is used to grab the cast assembly, and then the cast assembly is moved to the main reinforcement assembly installation station and placed on the reinforcement mold table. The reinforcement mold table drives the main reinforcement assembly to move to the stirrup installation station. After the stirrup is manually inserted into the main reinforcement assembly, the stirrup bending forming device is used to bend the end of the stirrup to 135°. Without welding, the operation is more convenient, and the quality of the connection is ensured.

[0008] Optionally, the automatic unloading system comprises an unloading steel frame, a mounting seat, a grabbing mechanism, a transverse walking positioning mechanism, a longitudinal walking positioning mechanism, and a lifting mechanism. The unloading steel frame covers the main reinforcement assembly installation station. The lifting mechanism is installed on the mounting seat, and the grabbing mechanism is composed of two single-acting cylinders and steel reinforcement clamping blocks and is connected in parallel. The longitudinal walking positioning mechanism is located on the unloading steel frame, and the transverse walking positioning mechanism is located on the mounting seat. The longitudinal walking positioning mechanism provides driving for the longitudinal movement of the mounting seat along the unloading steel frame, and the transverse walking positioning mechanism provides driving for the transverse movement of the lifting mechanism along the mounting seat. The grabbing mechanism is connected with the lifting mechanism and provides lifting driving for the grabbing mechanism.

[0009] By adopting the technical scheme, after the main reinforcement assembly is assembled, the automatic unloading system is used to grab the cast assembly, and then the cast assembly is moved to the main reinforcement assembly installation station and placed on the reinforcement mold table. The reinforcement mold table drives the main reinforcement assembly to move to the stirrup installation station. After the stirrup is manually inserted into the main reinforcement assembly, the stirrup bending forming device is used to bend the end of the stirrup to 135°. Without welding, the operation is more convenient, and the quality of the connection is ensured.

[0010] Optionally, the reinforcement mold table is provided with a main beam, a secondary beam, a baffle, a limiting angle steel, and a pushing cylinder. The baffle is provided with a main reinforcement assembly slot on the front face. The main reinforcement assembly slot adopts a "Y" type structure with a guide and is formed by bending a steel plate. The baffle is provided with a movable slot on both sides, and the movable slot is provided with a movable steel plate. The movable steel plate is limited on the back side of the baffle by the limiting angle steel, and the movable steel plate is connected with the pushing cylinder. The main reinforcement assembly is inserted into the main reinforcement assembly slot. By the extension and retraction of the pushing cylinder, the movable steel plate is driven to move along the movable slot, and the secondary pushing reset of the main reinforcement assembly at the "jaw" of the stirrup is completed.

[0011] By adopting the technical scheme, the main reinforcement assembly is fixed in the baffle through the slot of the main reinforcement assembly, and the main reinforcement assembly is fixed by the movable steel plate through the pushing cylinder, after the stirrup is sleeved, the movable steel plate is pushed by the pushing cylinder, moves along the movable slot, and the main reinforcement assembly is secondarily pushed and reset, so that the main reinforcement assembly moves in the direction of separating from the baffle, and the lifting structure is matched to facilitate separation or material taking.

[0012] Optionally, the baffle is arranged obliquely along the reinforcement formwork table, and a support rib plate connected with the secondary beam is arranged on the back of the baffle to form a stable structure.

[0013] By adopting the technical scheme, the support rib plate provides the force dissipation of the baffle, so that when the baffle receives the main reinforcement assembly, the force can be transmitted to the secondary beam through the support rib plate, the secondary beam is connected with the main beam, thereby dispersing the force and forming a more stable structure.

[0014] Optionally, the stirrup installation station further comprises a stirrup steel frame and a laser line instrument; the stirrup steel frame is connected with an elastic rope, and the stirrup bending forming device is connected with the elastic rope; the laser line instrument is installed on the stirrup steel frame, and the laser line instrument provides laser marking for the main reinforcement assembly.

[0015] By adopting the technical scheme, the main reinforcement assembly is arc-shaped, the elastic rope can manually pull the stirrup bending forming device to rise or fall to adjust the height, so as to adapt to the installation height required by the stirrup on the main reinforcement assembly, when the reinforcement formwork table reaches the stirrup installation station, the background control system starts the laser line instrument after receiving the signal of the sensor, and the "I" type infrared ray emitted by the laser line instrument can mark the binding position of the stirrup at the inner and outer arc main reinforcements of the main reinforcement assembly, so as to ensure the accuracy of the binding position.

[0016] Optionally, the stirrup installation station and the main reinforcement assembly installation station are both provided with a conveying mechanism comprising a plurality of fixed columns, guide wheels and a driving wheel set; the guide wheels are pivotally connected with the fixed columns, and the reinforcement formwork table is placed on the guide wheels; the driving wheel set has a lifting function and contacts the bottom surface of the reinforcement formwork table when lifting.

[0017] By adopting the technical scheme, the reinforcement formwork table is placed on the guide wheels on the top of the fixed columns, the driving wheel set contacts the bottom surface of the reinforcement formwork table and provides driving force to drive the reinforcement formwork table to roll along the guide wheels, so as to quickly and conveniently change the position of the reinforcement formwork table and stably switch the reinforcement formwork table from the main reinforcement assembly installation station to the stirrup installation station.

[0018] Optionally, an inspection station is arranged between the stirrup installation station and the main reinforcement assembly installation station, and the inspection station is provided with the conveying mechanism.

[0019] Through the above technical scheme, when the reinforcing bar mold platform is moved from the main reinforcing bar assembly body installation station to the stirrup installation station by the conveying mechanism, the reinforcing bar mold platform passes through the inspection station, the main reinforcing bar assembly body on the reinforcing bar mold platform can be inspected through the inspection station, the integrity or damage of the main reinforcing bar assembly body is ensured, and the conveying mechanism continues to convey to move the reinforcing bar mold platform to the stirrup installation station for stirrup installation, thereby reducing the rate of defective products.

[0020] Optionally, one group of the main reinforcing bar assembly body installation stations corresponds to one group of the stirrup installation stations, and the automatic unloading system is provided with at least two groups of the main reinforcing bar assembly installation stations, so that the bending and forming of the stirrup and the installation of the main reinforcing bar assembly body are cross performed.

[0021] Through the above technical scheme, when the main reinforcing bar assembly body is installed with the stirrup at the stirrup installation station, the automatic unloading system grabs and conveys another main reinforcing bar assembly body to the empty reinforcing bar mold platform, so that the cross performance is realized, and the forming efficiency is improved.

[0022] Optionally, the automatic unloading system is further provided with a main reinforcing bar assembly body welding production area away from one side of the main reinforcing bar assembly body installation station, and the main reinforcing bar assembly body welding production area comprises a rotating manipulator, a rotating disc, an automatic unloading station, an adjusting station, a welding station and an automatic loading station; the rotating disc is provided with clockwise rotation, and is divided into four stations around the rotating disc, and the four stations are sequentially the automatic loading station, the adjusting station, the welding station and the automatic unloading station in the clockwise direction; the rotating manipulator is located at the center of the rotating disc; when the rotating disc rotates clockwise, the automatic loading station loads the main reinforcing bar material on the rotating disc, the rotating disc is rotated to the adjusting station to adjust the position of the main reinforcing bar material, then the rotating disc is rotated to the welding station to weld the main reinforcing bar material into a main reinforcing bar assembly body, and finally the rotating disc is rotated to the automatic unloading station, and the automatic unloading station is located on the unloading path of the automatic unloading system.

[0023] Through the above technical scheme, when the main reinforcing bar assembly body needs to be assembled, the rotating disc rotates clockwise, the automatic loading station loads the main reinforcing bar material on the rotating disc, the adjusting station adjusts the position of the main reinforcing bar material to ensure the accuracy of the assembly position and the stability of the connection, the welding station welds the main reinforcing bar material into a main reinforcing bar assembly body, and the automatic unloading station is located on the unloading path of the automatic unloading system, so that the automatic unloading system can grab and move the assembled main reinforcing bar assembly body to the main reinforcing bar assembly body installation station, the rotating disc rotates synchronously, and each station performs its own function to quickly form the main reinforcing bar assembly body.

[0024] A forming method of a reinforcing bar framework of a shield segment, comprising the following steps:

[0025] The main reinforcing bar assembly body is automatically assembled; the main reinforcing bar assembly body welding production area assembles and welds the main reinforcing bar material into a main reinforcing bar assembly body;

[0026] The automatic unloading system grabs the main reinforcement assembly and places it on the reinforcement mold table;

[0027] The reinforcement mold table is conveyed to the stirrup installation station;

[0028] Stirrup installation: the laser line instrument emits infrared rays to mark the binding position of the stirrup on the inner and outer arc main reinforcement of the main reinforcement assembly; the worker separates the two limbs of the prepared stirrup by pulling horizontally; the separated two limbs are horizontally sleeved towards the main reinforcement assembly; the stirrup is turned by 90° to complete the sleeving of the stirrup, and all the stirrups are sleeved in turn; the push cylinders at both ends of the reinforcement mold table are started to make the main reinforcement assembly on both sides of the stirrup reset under the push of the cylinders; the stirrup bending device is used to further bend the end of the horizontal side of the stirrup from 90° to 135° on the reinforcement cage, thereby completing the assembly of the main reinforcement and the stirrup of the entire segment reinforcement cage;

[0029] Hoisting collection.

[0030] By adopting the above technical scheme, the main reinforcement assembly and the stirrup are stably connected by using the forming method, and the stirrup can complete the bending of 135°.

[0031] In summary, the present application includes at least one of the following beneficial technical effects:

[0032] 1. After the main reinforcement assembly is assembled, the automatic unloading system grabs the casting assembly, moves to the main reinforcement assembly installation station, and places it on the reinforcement mold table on the main reinforcement assembly installation station. The reinforcement mold table drives the main reinforcement assembly to move to the stirrup installation station. After the stirrup is manually sleeved to the main reinforcement assembly at the stirrup installation station, the stirrup bending forming device is used for bending to bend the end of the stirrup to 135°, without using welding, providing more convenient operation, while meeting the requirements of relevant specifications and ensuring the quality of the connection.

[0033] 2. After the main reinforcement assembly is grabbed by the grabbing mechanism, the lifting mechanism lifts the main reinforcement assembly, the longitudinal walking positioning mechanism drives the mounting seat to move along the unloading steel gantry until above the main reinforcement assembly installation station. The horizontal walking positioning mechanism drives the lifting mechanism and the grabbing mechanism to move horizontally along the mounting seat to adjust the placement position. Then the lifting mechanism lowers the grabbing mechanism, so that the main reinforcement assembly is on the reinforcement mold table. After the grabbing mechanism is released, the main reinforcement assembly is separated from the grabbing mechanism. The lifting mechanism pulls back the grabbing mechanism in turn to conveniently move the main reinforcement assembly.

[0034] 3. The main reinforcement assembly is fixed in the baffle through the main reinforcement assembly insertion slot. After the stirrup is sleeved, the movable steel plate is pushed by the push cylinder to fix the main reinforcement assembly. After the stirrup is sleeved, the movable steel plate is pushed by the push cylinder to move along the movable insertion slot and to reset the main reinforcement assembly. The main reinforcement assembly can be moved away from the baffle, which is convenient for separation or material taking with the hoisting structure.

[0035] 4. The support rib plate provides a baffle to release force, so that the baffle can transmit force to the secondary beam through the support rib plate when the main reinforcement assembly is received, the secondary beam is connected with the main beam, thereby dispersing the force and forming a more stable structure. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a top view structural schematic diagram of a pipeline in an embodiment of the present application;

[0037] Figure 2 is a front view structural schematic diagram of a pipeline in some embodiments of the present application;

[0038] Figure 3 is a sectional structural schematic diagram of a stirrup bending device in some embodiments of the present application;

[0039] Figure 4 is a top view structural schematic diagram of an automatic unloading system in some embodiments of the present application;

[0040] Figure 5 is a front view structural schematic diagram of an automatic unloading system in some embodiments of the present application;

[0041] Figure 6 is an enlarged structural schematic diagram of A in the present application; Figure 5

[0042] Figure 7 is a sectional structural schematic diagram of a baffle in a top view direction in some embodiments of the present application;

[0043] Figure 8 is a sectional structural schematic diagram of a baffle in a side view direction in some embodiments of the present application;

[0044] Figure 9 is a partial front view structural schematic diagram of a stirrup installation station in some embodiments of the present application;

[0045] Figure 10 is a top view structural schematic diagram of a main reinforcement assembly welding production area in some embodiments of the present application;

[0046] ​The labels in the drawings are as follows: 1, automatic unloading system, 11, unloading steel frame, 12, mounting seat, 13, grabbing mechanism, 14, transverse walking positioning mechanism, 15, longitudinal walking positioning mechanism, 16, lifting mechanism, 2, steel bar mold table, 21, main beam, 22, secondary beam, 23, baffle, 231, main reinforcement assembly slot, 232, movable slot, 24, limiting angle steel, 241, upper angle steel, 242, lower angle steel, 25, pushing cylinder, 26, supporting rib plate, 27, movable steel plate, 3, stirrup installation station, 31, stirrup bending device, 32, stirrup steel frame, 321, elastic rope, 33, laser leveling instrument, 4, main reinforcement assembly installation station, 5, conveying mechanism, 51, fixed column, 52, guide wheel, 53, drive wheel set, 6, inspection station, 7, lifting station, 8, main reinforcement assembly welding production area, 81, automatic feeding station, 82, adjustment station, 83, welding station, 84, automatic unloading station, 85, rotary disc, 86, rotary manipulator. DETAILED DESCRIPTION

[0047] The specific embodiments of the present application are described below with reference to the accompanying drawings. The skilled in the art can easily understand other advantages and effects of the present application from the disclosed information. The present application can also be implemented or applied in other different specific embodiments or systems, and the details in the present application can be modified or changed according to different views and application systems without departing from the spirit of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0048] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The present application can be embodied in various different forms, and is not limited to the embodiments described herein.

[0049] In the description of the present application, the expressions of "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that the specific features, structures, materials or characteristics expressed in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics expressed can be combined in any one or more embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples expressed in the present application and the features of the different embodiments or examples without conflict.

[0050] Further, the terms "first", "second", etc. are used herein only to describe various objects, and are not used to denote or imply relative importance or a number of the objects indicated. Thus, a feature with a "first", "second" designation can explicitly or implicitly include at least one of the feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly specifically limited otherwise.

[0051] Throughout the specification, when it is said that a device is "connected" to another device, this includes not only the case of "direct connection", but also the case of "indirect connection" in which other elements are interposed therebetween. In addition, when it is said that a device "includes" a certain constituent element, other constituent elements are not excluded unless specifically stated to the contrary, but it means that other constituent elements can also be included.

[0052] The following will be described in detail with reference to the accompanying drawings. Figure 1 - The accompanying drawings Figure 10 The present application will be described in further detail.

[0053] The embodiment of the present application discloses a shield segment steel reinforcement framework forming assembly line and a forming method.

[0054] A shield segment steel reinforcement framework forming assembly line, referring to Figure 1 and Figure 2 As shown, it comprises an automatic unloading system 1, a steel reinforcement mold table 2, a stirrup installation station 3 and a main reinforcement assembly installation station 4. The automatic unloading system 1 is located above the main reinforcement assembly installation station 4. After the automatic unloading system 1 picks up the completed main reinforcement assembly, it is transported to the main reinforcement assembly installation station 4 for unloading, mainly providing the picking up and unloading of the main reinforcement assembly.

[0055] The steel reinforcement mold table 2 is located on the main reinforcement assembly installation station 4 or the stirrup installation station 3. The steel reinforcement mold table 2 provides the bearing and position switching of the main reinforcement assembly. The steel reinforcement mold table 2 can be used for the circulation of the assembly line, the automatic assembly of the main reinforcement assembly, the stirrup sleeving, the secondary pushing and resetting of the main reinforcement assembly and the secondary bending of the stirrup bending angle.

[0056] The stirrup installation station 3 is arranged on one side of the main reinforcement assembly installation station 4 and located on the circulation path of the steel reinforcement mold table 2, so that the main reinforcement assembly can be moved from the main reinforcement assembly installation station 4 to the stirrup installation station 3 through the steel reinforcement mold table 2.

[0057] The stirrup installation station 3 comprises a stirrup bending forming device, which can perform stirrup sleeving, bending and secondary bending on the main reinforcement assembly, so that the stirrup can be bent to 135°.

[0058] Specifically, the main reinforcement assembly is moved to the main reinforcement assembly installation station 4 after being grabbed by the automatic unloading system 1 after assembly is completed, and is placed on the reinforcement mold table 2 of the main reinforcement assembly installation station 4. The reinforcement mold table 2 drives the main reinforcement assembly to move to the stirrup installation station 3. After the stirrup is manually inserted into the main reinforcement assembly, the stirrup bending forming device is used for bending to bend the end of the stirrup to 135°, without welding, providing more convenient operation, while meeting the relevant specification requirements to ensure the quality of the connection.

[0059] As shown in the reference Figure 3 The stirrup bending forming device includes a rack, a driving member, a push rod, and a stirrup positioning plate. The driving member is installed at one end of the rack and extends a preset distance in the horizontal direction of the rack. The driving member can be a cylinder.

[0060] The stirrup positioning plate is installed on the rack and is engaged with the stirrup to provide fixation of the stirrup. The stirrup positioning plate clamps the part of the stirrup that is not needed to be bent, which can prevent the stirrup from shifting during bending and determine the position of the stirrup. The push rod is connected to the output end of the driving member, and the driving direction of the driving member is consistent with the extension direction of the rack. The extension direction of the push rod is consistent with the driving direction of the driving member. The driving member can drive the push rod to move towards the desired bending section of the stirrup, so that the push rod exerts pressure on the stirrup.

[0061] The rack is attached to the main reinforcement, and then the stirrup is engaged into the stirrup positioning plate to ensure accurate position during bending. The driving member drives the push rod to move towards the stirrup, and the stirrup is bent along the main reinforcement under pressure, thereby forming the stirrup.

[0062] As shown in the reference

[0063] Further, as shown in the reference Figure 4 and Figure 5 The automatic unloading system 1 includes an unloading steel frame 11, a mounting seat 12, an encoder, a grabbing mechanism 13, a transverse walking positioning mechanism 14, a longitudinal walking positioning mechanism 15, and a lifting mechanism 16. The mounting seat 12 is slidingly connected to the top of the unloading steel frame 11, and the unloading steel frame 11 covers the main reinforcement assembly installation station 4. The gear strip is installed on the inner side wall of the top of the unloading steel frame 11, and the unloading steel frame 11 provides the load bearing of the main reinforcement assembly during grabbing or unloading.

[0064] The encoder and the lifting mechanism 16 are both installed on the mounting seat 12. The encoder is electrically connected to a background control system. The background control system cooperates with the encoder to provide coding of the travel path data, which can control the travel of the transverse walking positioning mechanism 14, the longitudinal walking positioning mechanism 15, and the lifting mechanism 16.

[0065] The gripping mechanism 13 consists of two single-acting cylinders and a steel bar clamping block, which are linked and controlled to grip the main reinforcement assembly.

[0066] Both the lateral walking positioning mechanism 14 and the longitudinal walking positioning mechanism 15 can be a combination of servo motor and rack and pinion. The servo motor is connected to a gear and meshes with the rack and pinion. The rack and pinion are mounted on the unloading steel gantry 11 and the mounting base 12. When the servo motor of the longitudinal walking positioning mechanism 15 drives the gear to rotate, it can drive the mounting base 12 to move along the unloading steel gantry 11. When the servo motor of the lateral walking mechanism drives the gear to rotate, it drives the lifting mechanism 16 to move laterally along the mounting base 12. Therefore, the longitudinal walking positioning mechanism 15 and the lateral walking positioning mechanism 14 can be collectively referred to as the walking mechanism.

[0067] The lifting mechanism 16 can be a structure consisting of several cylinders or electric winding wheels.

[0068] Specifically, after the gripping mechanism 13 grips the main reinforcement assembly, the lifting mechanism 16 lifts the main reinforcement assembly. The longitudinal travel positioning mechanism 15 drives the mounting base 12 to move along the unloading steel gantry 11 until it is above the main reinforcement assembly installation position 4. The lateral travel positioning mechanism 14 drives the lifting mechanism 16 and the gripping mechanism 13 to move laterally along the mounting base 12 to adjust the placement position. Then, the lifting mechanism 16 drives the gripping mechanism 13 to descend, so that the main reinforcement assembly is located on the steel bar formwork 2. After the gripping mechanism 13 is released, the main reinforcement assembly separates from the gripping mechanism 13. The lifting mechanism 16 pulls the gripping mechanism 13 back. This process is repeated to facilitate the movement of the main reinforcement assembly.

[0069] The automatic unloading system 1 is electrically connected to the background control system. It uses inductive sensors and weighing sensors at the workstations to determine whether there is an empty steel bar formwork 2 at the main reinforcement assembly installation workstation 4. If there is an empty formwork 2 at both workstations, the workstation closest to the installation workstation will start the installation first.

[0070] Furthermore, refer to Figures 6-8 As shown, the rebar formwork 2 is equipped with a main beam 21, a secondary beam 22, a baffle 23, a limiting angle steel 24, a jacking cylinder 25, and a supporting rib plate 26. The overall load of the rebar formwork 2 is relatively small. For example, for a 7.5-8.3-1.8m pipe segment, the standard block rebar weighs only 0.6 tons. Therefore, the design of the rebar formwork 2 is mainly to meet the needs of the flow of the production line, the automated assembly of the main reinforcement assembly, the manual threading of the stirrups, the secondary jacking and resetting of the main reinforcement assembly, and the secondary re-bending of the stirrup bending angle.

[0071] The structure of the rebar formwork 2 in this embodiment is designed with 5.5-6.2-1.5m pipe segments as an example. The formwork is 1730mm wide and 4300mm long, which can meet the needs of pipe segments with an outer diameter of 8.3m and a width of 1.6m.

[0072] The main beam 21 and the secondary beam 22 provide the load bearing of the steel reinforcement formwork 2, the main beam 21 is provided with 16 grooves, and the secondary beam 22 is provided with 10 grooves.

[0073] The baffle 23 is made of 10mm Q235 steel plate, the baffle 23 at both ends of the steel reinforcement formwork 2 is in close contact with both ends of the steel reinforcement framework, the inclination angle of the baffle 23 is consistent with the end face angle of the main reinforcement assembly, the baffle 23 forms limiting for the entire main reinforcement assembly, the front of the baffle 23 is provided with a main reinforcement assembly insertion groove 231, the main reinforcement assembly insertion groove 231 is formed by bending a 3mm steel plate into a "Y" type structure with a guide.

[0074] The baffle 23 is provided with a movable insertion groove 232 in the shape of a 98*87mm window on both sides, and the movable insertion groove 232 is provided with a movable steel plate 27, the movable steel plate 27 is limited on the back side of the baffle 23 by a limiting angle steel 24, and the movable steel plate 27 is connected with a pushing air cylinder 25.

[0075] The main reinforcement assembly is inserted into the main reinforcement assembly insertion groove 231, and the main reinforcement assembly is moved by the extension and retraction of the pushing air cylinder 25, the movable steel plate 27 and the insertion groove, and the main reinforcement assembly at the "jaw" of the stirrup is secondarily pushed and reset.

[0076] Specifically, the main reinforcement assembly is fixed in the baffle 23 through the main reinforcement assembly insertion groove 231, the main reinforcement assembly is fixed and pushed by the movable steel plate 27 through the pushing air cylinder 25, the main reinforcement assembly is lifted by the first pushing, and the stirrup can be conveniently sleeved, after the stirrup is sleeved, the movable steel plate 27 is moved along the movable insertion groove 232 by the pushing of the pushing air cylinder 25, and the main reinforcement assembly is secondarily pushed and reset, the main reinforcement assembly can be moved in the direction away from the baffle 23, and the lifting structure can be conveniently separated or taken out.

[0077] Further, as shown in Figure 6 and Figure 7 , the baffle 23 is arranged obliquely along the steel reinforcement formwork 2, and the back of the baffle 23 is provided with a supporting rib plate 26 connected with the secondary beam 22, the supporting rib plate 26 provides the force relief of the baffle 23, so that when the baffle 23 receives the main reinforcement assembly, the stress can be transmitted to the secondary beam 22 through the supporting rib plate 26, the secondary beam 22 is connected with the main beam 21, thereby dispersing the stress and forming a more stable structure.

[0078] In some embodiments, as shown in Figure 2 , the stirrup installation station 3 further comprises a stirrup steel frame 32 and a laser line instrument 33; the stirrup steel frame 32 can have a size of 4600*2800*3000mm, and is entirely composed of 100 channel steels, elastic ropes 321 are arranged on the top of the two outer sides of the main beam 21 of the stirrup steel frame 32 respectively, and each elastic rope suspends one stirrup bending forming device.

[0079] As shown in Figure 9As shown, the laser line marker 33 is arranged on the inner side longitudinal beam of the stirrup steel portal 32, and the number of the laser line markers is consistent with the number of the single skeleton stirrup, the laser line marker 33 provides laser marking for the main reinforcement assembly, and the installation angle of the laser line marker 33 is consistent with the arc angle of the main reinforcement assembly, so as to make the marking position of the laser line marker 33 more accurate. The dashed line part in the figure represents the direction of the laser marking and the positioning center line of the stirrup sleeve.

[0080] The laser line marker 33 is electrically connected with the background control system, and the background control system is electrically connected with the sensor, which provides a feedback signal by using the sensor. The sensor can be an inductive sensor or a photoelectric sensor.

[0081] Specifically, the main reinforcement assembly is arc-shaped, and the elastic effect of the elastic rope 321 can manually pull the stirrup bending forming device to rise or fall to adjust the height, so as to adapt to the installation height required by the stirrup on the main reinforcement assembly. When the reinforcement mold table 2 reaches the stirrup installation station 3, the background control system starts the laser line marker 33 after receiving the signal of the sensor. The "I" type infrared ray emitted by the laser line marker 33 can mark the binding position of the stirrup at the inner and outer arc main reinforcement of the main reinforcement assembly, so as to ensure the accuracy of the binding position.

[0082] In some embodiments, reference is made to Figure 5 and Figure 6 As shown, the stirrup installation station 3 and the main reinforcement assembly installation station 4 are both provided with a conveying mechanism 5, which provides automatic conveying of the reinforcement mold table 2. The conveying mechanism 5 includes a plurality of fixed columns 51, guide wheels 52 and drive wheel groups 53. The fixed columns 51 form a support structure, the guide wheels 52 are pivotally connected to the top of the fixed columns 51, and the reinforcement mold table 2 is placed on the guide wheels 52, so it can be pushed along the guide wheels 52. The bottom surface of the reinforcement mold table 2 can be provided with a guide groove, and the guide wheels 52 can be embedded in the guide groove, so that the moving track of the reinforcement mold table 2 is fixed, preventing deviation.

[0083] The drive wheel group 53 has a lifting function and is in contact with the bottom surface of the reinforcement mold table 2 when lifted. Specifically, the drive wheel group 53 can include a lifting cylinder, a fixed hinge frame, a lifting hinge frame, a drive motor and a rotating wheel. The fixed hinge frame and the lifting hinge frame are both fixedly installed on the ground or the working plane. The lifting hinge frame is connected with the lifting cylinder. One end of the drive motor is hinged with the fixed hinge frame, and the other end is hinged with the lifting cylinder. When the lifting cylinder provides the telescopic effect, it drives the drive motor to tilt along the fixed hinge frame to lift to a certain height. The rotating wheel is connected with the driving end of the drive motor. After lifting to a certain height, the rotating wheel abuts against the bottom of the reinforcement mold table 2, so as to transmit the driving force to the reinforcement mold table 2, drive the reinforcement mold table 2 to move along the guide wheels 52 and the rotating wheel, and vice versa. When the rotating wheel descends, it is separated from the reinforcement mold table 2.

[0084] Specifically, the rebar formwork 2 is placed on the guide wheel 52 at the top of the fixed column 51. The drive wheel set 53 is raised to contact the bottom surface of the rebar formwork 2 and provides driving force to drive the rebar formwork 2 to roll along the guide wheel 52, thereby achieving the function of quickly and conveniently changing the position of the rebar formwork 2, allowing the rebar formwork 2 to be switched more stably from the main reinforcement assembly installation position 4 to the stirrup installation position 3.

[0085] Further reference Figure 1 As shown, an inspection station 6 is provided between the stirrup installation station 3 and the main reinforcement assembly installation station 4. The inspection station 6 is equipped with a conveying mechanism 5. The inspection station 6 is a space between the stirrup installation station 3 and the main reinforcement assembly installation station 4, into which the conveying mechanism 5 is installed. This allows the rebar formwork 2 to move from the main reinforcement assembly installation station 4 to the stirrup installation station 3, first passing through the inspection station 6 and then through the conveying mechanism 5 to enter the stirrup installation station 3.

[0086] Inspection station 6 can inspect the main reinforcement assembly. The inspection items can include whether the main reinforcement assembly is fully formed, whether its placement is accurate, and whether it is damaged. The inspection method can be manual inspection or mechanical scanning inspection. If mechanical scanning inspection is used, an inspection steel gantry needs to be set up. An image sensor, such as a CCD image acquisition camera, is set up on the inspection steel gantry to acquire images of the main reinforcement assembly on inspection station 6 and the rebar formwork 2. The images are then compared through the background control system to check and judge whether the main reinforcement assembly is complete or whether its position is accurate.

[0087] When the stirrups are threaded onto the main reinforcement assembly and bent, the conveying mechanism 5 can be used to transfer the reinforcement formwork 2 back to the inspection station 6 for stirrup binding inspection to ensure accurate stirrup binding.

[0088] Among them, reference Figure 1 As shown, a hoisting station 7 can also be set on the side of the stirrup installation station 3 away from the inspection station 6. The hoisting station 7 is also equipped with a conveying mechanism 5. When the steel bar formwork 2 is transferred to the hoisting station 7 through the conveying mechanism 5, a hoisting structure can be set on the hoisting station 7 to lift the steel bar skeleton of the segment formed by binding the stirrups of the main reinforcement assembly for recycling.

[0089] Specifically, when the rebar formwork 2 is moved from the main rebar assembly installation station 4 to the stirrup installation station 3 by the conveying mechanism 5, it passes through the inspection station 6. The main rebar assembly on the rebar formwork 2 can be inspected through the inspection station 6 to ensure that the main rebar assembly is intact or undamaged. After the inspection is completed, the conveying mechanism 5 continues to convey the rebar formwork 2 to the stirrup installation station 3 for stirrup installation, thereby reducing the defect rate.

[0090] In some embodiments, reference Figure 1As shown, the single main reinforcement assembly mounting station 4 is provided with a group of stirrup mounting stations 3, that is, the single main reinforcement assembly mounting station 4 is matched with only one group of stirrup mounting stations 3, so as to avoid the disorder of the reinforcement mold table 2 conveying position, and the automatic unloading system 1 is provided with at least two groups of main reinforcement assembly mounting stations, so that the bending and forming of the stirrup and the installation of the main reinforcement assembly are cross performed, and two groups are taken as an example in the figure.

[0091] The cross performance can improve the forming efficiency. When the stirrup mounting station 3 performs the stirrup installation on the main reinforcement assembly, the automatic unloading system 1 grabs and conveys another main reinforcement assembly to the empty reinforcement mold table 2, and the cross performance is performed in the interval, that is, when the tubular steel reinforcement skeleton is formed on one group of stirrup mounting stations 3, another group of reinforcement mold tables 2 on which the main reinforcement assemblies are placed starts to move to the stirrup mounting station 3 for installation through the conveying mechanism 5, which saves the assembly time of the main reinforcement assembly and improves the forming efficiency.

[0092] In some embodiments, reference is made to Figure 1 and Figure 10 As shown, the automatic unloading system 1 is further provided with a main reinforcement assembly welding production area 8 away from the side of the main reinforcement assembly mounting station 4, and the main reinforcement assembly welding production area 8 mainly performs assembly and welding on the main reinforcement material, that is, the tubular steel reinforcement, to form the required main reinforcement assembly.

[0093] The main reinforcement assembly welding production area 8 includes a rotating manipulator 86, a rotating disc 85, an automatic unloading station 84, an adjusting station 82, a welding station 83 and an automatic loading station 81; the rotating disc 85 provides clockwise rotation (the clockwise or counterclockwise rotation can be adjusted according to the requirement, and the specific rotation direction is not limited here), and the rotating disc 85 is divided into four stations in the clockwise direction, that is, the automatic loading station 81, the adjusting station 82, the welding station 83 and the automatic unloading station 84, and the four stations perform their respective functions and can be provided with worker supervision or assistance.

[0094] The rotating manipulator 86 is located at the center of the rotating disc 85, and the rotating manipulator 86 can extend to each station to adjust or grab the materials of each station.

[0095] Specifically, when the main reinforcement assembly needs to be assembled, the rotating disc 85 rotates clockwise, the automatic loading station 81 loads the main reinforcement material on the rotating disc 85, the adjusting station 82 adjusts the position of the main reinforcement material to ensure the assembly position accurate and the connection stable, the welding station 83 welds the main reinforcement material to form the main reinforcement assembly, and the automatic unloading station 84 is located on the unloading path of the automatic unloading system 1, so that the automatic unloading system 1 can grab and move the completed main reinforcement assembly to the main reinforcement assembly mounting station 4. The rotating disc 85 rotates synchronously, and each station performs its respective function to quickly form the main reinforcement assembly.

[0096] The application also provides a forming method of a shield segment steel reinforcement framework, which is applied to the assembly line in the above embodiment and comprises the following steps.

[0097] S100, automatically assembling the main reinforcement assembly: the main reinforcement assembly welding production area 8 assembles and welds the main reinforcement material into the main reinforcement assembly;

[0098] S110, the automatic loading station 81 loads the main reinforcement material on the rotating disc 85, the adjusting station 82 adjusts the main reinforcement material, the welding station 83 welds the main reinforcement material into the main reinforcement assembly through the rotating mechanical arm 86, and the automatic unloading system 1 can grab the completed main reinforcement assembly on the automatic unloading station 84;

[0099] S120, the rotating disc 85 rotates synchronously, and the main reinforcement material is gradually switched to each station of the main reinforcement assembly welding production area 8;

[0100] S200, the automatic unloading system 1 grabs the main reinforcement assembly and places it on the reinforcement mold table 2:

[0101] S210, the flow production line control system determines whether there is an empty mold table in the main reinforcement assembly installation station 4 through the inductive sensor and the weighing sensor on the station, if there are empty mold tables in two stations, the station closest to the installation station is used to start installation first;

[0102] S220, when the automatic unloading system 1 completes the grabbing of the main reinforcement assembly on the automatic unloading station 84, the main reinforcement assembly is lifted from the working plane +0.663 to +1.500 at a speed of 2 m / min, and is walked to the main reinforcement assembly installation station 4 through the longitudinal walking positioning mechanism 15 according to a predetermined program. When the number of the main reinforcement assembly installation station 4 is more than two, for example, two groups, the walking speed of the longitudinal walking positioning mechanism 15 is 2 m / min to the nearest installation station, and is 4 m / min to the farthest installation station, and when the baffle 23 is approached to 320 cm, the walking speed is reduced to 10 mm / s, and gradually reduced until stopped, and the 20 cm walking distance is completed;

[0103] S230, after the longitudinal walking positioning mechanism 15 and the transverse walking positioning mechanism 14 complete positioning, in order to prevent the shaking of the main reinforcement assembly, the lifting mechanism 16 is first stopped for 5 s and then started, and is lowered at a speed of 20 mm / s, so that the main reinforcement assembly is lowered along the main reinforcement assembly slot 231 of the baffle 23;

[0104] S240, when the lowering stroke is 215 mm, the two ends of the main reinforcement assembly have completely entered the main reinforcement assembly slot 231, and there are still 85 mm to the bottom, at this time, the lifting mechanism 16 stops lowering, and the two cylinders of the grabbing mechanism 13 are loosened, and the main reinforcement assembly falls into the main reinforcement assembly slot 231;

[0105] S250, when the cylinder is loosened, the lifting mechanism 16 and the walking mechanism start at the same time, return to the automatic unloading station 84, and start to grab the next main reinforcement assembly, so that the steel reinforcement mold table 2 main reinforcement assembly is completely installed, and the installation of another installation station is prepared to start;

[0106] S300, the steel reinforcement mold table 2 is conveyed to the stirrup installation station 3:

[0107] S310, the driving wheel set 53 is lifted, contacts the bottom of the steel reinforcement mold table 2, and provides driving force to make the steel reinforcement mold table 2 move towards the stirrup installation station 3 through the guide wheel 52;

[0108] S320, during the movement of the steel reinforcement mold table 2, pass through the inspection station 6, and use the inspection station 6 to check whether the main reinforcement assembly is damaged or assembled with defects, and after inspection, the driving wheel set 53 at the inspection station 6 drives the steel reinforcement mold table 2 to continue to move;

[0109] S400, stirrup installation:

[0110] S410, when the steel reinforcement mold table 2 reaches the stirrup installation station 3, the background control system receives feedback information from the sensor, starts the laser line instrument 33, and marks the binding position of the stirrup at the inner and outer arc main reinforcement of the main reinforcement assembly through the "I" type infrared line emitted by the laser line instrument 33;

[0111] S420, the worker separates the two limbs of the prepared stirrup by about 360mm, and the distance needs to be greater than the inner and outer arc of the main reinforcement assembly;

[0112] S430, the separated two limbs are horizontally sleeved to the main reinforcement assembly, and when all the main reinforcement assemblies enter the stirrup, the stirrup is turned by 90°, the sleeve of the stirrup is completed, and all the stirrups are sleeved in turn;

[0113] S440, the push cylinder 25 at both ends of the steel reinforcement mold table 2 is started, so that the main reinforcement assembly on both sides of the stirrup is reset under the push of the cylinder;

[0114] S450, the stirrup bending device 31 is used to further bend the end of the horizontal side of the stirrup from 90° to 135° on the steel reinforcement skeleton, so as to complete the assembly of the main reinforcement and the stirrup of the whole segmental steel reinforcement skeleton;

[0115] S500, lifting and collecting: the steel reinforcement mold table 2 moves to the lifting station 7 through the conveying mechanism 5, uses the lifting equipment to take out the formed segmental steel reinforcement skeleton from the steel reinforcement mold table 2 for recycling, and the empty steel reinforcement mold table 2 is conveyed back to the main reinforcement assembly installation station 4 through the conveying mechanism 5.

[0116] Wherein, before the lifting device takes out the segmental reinforced skeleton, step S510 can be set: the conveying mechanism 5 moves the reinforced formwork 2 to the inspection station 6 to perform the inspection of the stirrup penetration and bending, so as to ensure the complete formation of the segmental reinforced skeleton, and then the reinforced formwork 2 is conveyed to the lifting station 7 by the conveying mechanism 5, and is taken out and recycled by the lifting device.

[0117] The embodiments of the present specific embodiment are the preferred embodiments of the present application, and are not intended to limit the protection scope of the present application, wherein the same parts are denoted by the same reference numerals. Therefore, any equivalent changes made according to the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A shield segment reinforcement framework forming assembly line, characterized in that, The application relates to an automatic unloading system (1), a steel bar mold table (2), a stirrup installation station (3) and a main reinforcement assembly installation station (4); the automatic unloading system (1) is located above the main reinforcement assembly installation station (4) and provides main reinforcement assembly grabbing and unloading; the steel bar mold table (2) is located on the main reinforcement assembly installation station (4) or the stirrup installation station (3), and the steel bar mold table (2) undertakes the flow transfer of the production line, the automatic assembly of the main reinforcement assembly, the stirrup sleeving, the secondary pushing reset of the main reinforcement assembly and the secondary bending of the stirrup bending angle; the stirrup installation station (3) is arranged on one side of the main reinforcement assembly installation station (4) and located on the flow transfer path of the steel bar mold table (2); the stirrup installation station (3) comprises a stirrup bending device (31) and is used for performing stirrup sleeving, bending and secondary bending on the main reinforcement assembly; the steel bar mold table (2) is provided with a main beam (21), a secondary beam (22), a baffle (23), a limiting angle steel (24) and a pushing air cylinder (25); the baffle (23) is provided with a main reinforcement assembly insertion slot (231) in the front face, the main reinforcement assembly insertion slot (231) adopts a "Y" type structure with a guide and is formed by bending a steel plate; the baffle (23) is provided with movable insertion slots (232) on the two sides, the movable insertion slots (232) are provided with movable steel plates (27), the movable steel plates (27) are limited on the back side of the baffle (23) through the limiting angle steel (24), the movable steel plates (27) are connected with the pushing air cylinder (25), the main reinforcement assembly is inserted into the main reinforcement assembly insertion slot (231), the stretching and retracting of the pushing air cylinder (25) drives the movable steel plates (27) to move along the movable insertion slots (232), and the secondary pushing reset of the main reinforcement assembly at the stirrup jaw is completed.

2. The shield segment steel reinforcement framework forming assembly line according to claim 1, characterized in that, The automatic unloading system (1) comprises an unloading steel frame (11), a mounting base (12), a grabbing mechanism (13), a transverse walking positioning mechanism (14), a longitudinal walking positioning mechanism (15) and a lifting mechanism (16); the unloading steel frame (11) covers the main reinforcement assembly installation station (4); the lifting mechanism (16) is mounted on the mounting base (12), the grabbing mechanism (13) is composed of two single-acting cylinders and steel reinforcement clamping blocks and is connected in parallel and driven; the longitudinal walking positioning mechanism (15) is located on the unloading steel frame (11), and the transverse walking positioning mechanism (14) is located on the mounting base (12); the longitudinal walking positioning mechanism (15) drives the mounting base (12) to move longitudinally along the unloading steel frame (11), the transverse walking positioning mechanism (14) drives the lifting mechanism (16) to move transversely along the mounting base (12), the grabbing mechanism (13) is connected with the lifting mechanism (16) and provides lifting driving of the grabbing mechanism (13).

3. The shield segment steel reinforcement framework forming assembly line according to claim 1, characterized in that, The baffle (23) is arranged to be inclined along the steel bar mold table (2), and the back face of the baffle (23) is provided with a supporting rib plate (26) connected with the secondary beam (22), so that a stable structure is formed.

4. The shield segment steel reinforcement framework forming assembly line according to claim 1, characterized in that, The stirrup mounting station (3) further comprises a stirrup steel frame (32) and a laser line instrument (33); the stirrup steel frame (32) is connected with an elastic rope (321), and the stirrup bending device (31) is connected with the elastic rope (321); the laser line instrument (33) is installed on the stirrup steel frame (32), and the laser line instrument (33) provides laser marking for the main reinforcement assembly.

5. The reinforced segmental lining forming assembly according to any one of claims 1-4, wherein, The stirrup mounting station (3) and the main reinforcement assembly mounting station (4) are both provided with a conveying mechanism (5) comprising a plurality of fixed columns (51), guide wheels (52) and drive wheel groups (53); the guide wheels (52) are pivotally connected with the fixed columns (51), and the steel reinforcement mold table (2) is placed on the guide wheels (52); the drive wheel groups (53) have a lifting function and are in contact with the bottom surface of the steel reinforcement mold table (2) when being lifted.

6. The shield segment steel reinforcement framework forming assembly line according to claim 5, characterized in that, The stirrup mounting station (3) and the main reinforcement assembly mounting station (4) are provided with an inspection station (6), and the inspection station (6) is also provided with the conveying mechanism (5).

7. The shield segment steel reinforcement framework forming assembly line according to claim 6, characterized in that, One group of the main reinforcement assembly mounting stations (4) corresponds to one group of the stirrup mounting stations (3), and the automatic unloading system (1) is provided with at least two groups of the main reinforcement assembly mounting stations, so that the bending and forming of the stirrup and the installation of the main reinforcement assembly are performed in a cross manner.

8. The shield segment steel reinforcement framework forming assembly line according to claim 7, characterized in that, The automatic unloading system (1) is further provided with a main reinforcement assembly welding production area (8) away from one side of the main reinforcement assembly mounting station (4), which comprises a rotating mechanical arm (86), a rotating disc (85), an automatic unloading station (84), an adjusting station (82), a welding station (83) and an automatic loading station (81); the rotating disc (85) rotates clockwise, and is divided into four stations, which are sequentially the automatic loading station (81), the adjusting station (82), the welding station (83) and the automatic unloading station (84) in a clockwise direction, and the rotating mechanical arm (86) is located at the center of the rotating disc (85); when the rotating disc (85) rotates clockwise, the automatic loading station (81) loads the main reinforcement material on the rotating disc (85), and then rotates to the adjusting station (82) to adjust the position of the main reinforcement material, and then rotates to the welding station (83) to weld the main reinforcement material into a main reinforcement assembly, and finally rotates to the automatic unloading station (84), and the automatic unloading station (84) is on the unloading path of the automatic unloading system (1).

9. A method for forming the reinforcing steel skeleton of a tunnel segment, characterized in that, The shield segment steel reinforcement framework forming assembly line is applied to the shield segment steel reinforcement framework forming assembly line of claim 8, and comprises the following steps: The automatic loading station (81) loads the main reinforcement material on the rotating disc (85), and then rotates to the adjusting station (82) to adjust the position of the main reinforcement material, and then rotates to the welding station (83) to weld the main reinforcement material into a main reinforcement assembly, and finally rotates to the automatic unloading station (84), and the automatic unloading station (84) is on the unloading path of the automatic unloading system (1). The automatic unloading system (1) grabs the main reinforcement assembly and places it on the steel reinforcement mold table (2); The steel reinforcement mold table (2) is conveyed to the stirrup mounting station (3); The steel reinforcement mold table (2) is conveyed to the stirrup mounting station (3); Stirrup installation: the laser line instrument (33) emits infrared rays to mark the binding position of the stirrup at the inner and outer arc main reinforcement of the main reinforcement assembly; the workers separate the two limbs of the prepared stirrup horizontally; the separated two limbs are horizontally sleeved to the main reinforcement assembly; the stirrup is turned by 90° to complete the sleeving of the stirrup, and all the stirrups are sleeved in turn; the jacking cylinders (25) at both ends of the steel reinforcement mold platform (2) are started to make the main reinforcement assemblies on both sides of the stirrup reset under the jacking of the cylinders; the stirrup bending device (31) is used to further bend the end of the horizontal side of the stirrup from 90° to 135° on the steel reinforcement framework, thereby completing the assembly of the main reinforcement and the stirrup of the entire pipe piece steel reinforcement framework; Hoist collection.

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