A precast beam three-in-one stirrup positioning mechanism and method

Abstract

This application relates to the technical field of building component production equipment, and provides a positioning mechanism and method for a three-in-one stirrup in precast beams. The positioning mechanism includes a gantry frame, a bottom pushing mechanism, and two side pushing mechanisms. The bottom pushing mechanism is located below the gantry frame and includes a bottom support for supporting the bottom plate stirrups. The side pushing mechanisms include side supports for supporting the side plate stirrups, and the side supports and bottom supports are distributed at the front and rear ends of the three-in-one stirrups to clamp and support them, maintaining their target posture and translating them to the target position. This fundamentally solves the problem of stirrup skeleton deformation and misalignment caused by friction, requiring manual intervention, and realizes the transformation from passive picking to active correction and conveying, breaking through the key bottleneck of the fully automated production line and improving production efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of building component production equipment, specifically relating to a three-in-one stirrup positioning mechanism and method for precast beams. Background Technology

[0002] Chinese Patent Publication No. CN118905110A discloses a raw material supply device for the production of steel reinforcement cages for precast highway box girders. This device enables automated production of steel reinforcement cages for precast highway box girders. The steel reinforcement cage for the precast highway box girders includes multiple stirrup cages and multiple longitudinal bars. Each stirrup cage includes bottom plate stirrups and side plate stirrups welded to both ends of the bottom plate stirrups. In this invention, the stirrup cage is also referred to as a three-in-one stirrup. During operation, the stirrup clamping unit of the stirrup-pulling mechanism removes the stirrup cage (or three-in-one stirrup) from the stirrup magazine, pushes it to the welding station, and then uses welding equipment to weld the stirrup cage to the longitudinal bars at the welding station. Chinese Patent Publication No. CN118720595A discloses a fixed welding workstation for the production of steel reinforcement cages for precast highway box girders, which is a related patent to the aforementioned raw material supply device. Among them, the welding workstation discloses a rebar tensioning module. The working process of the rebar tensioning module is that the gantry beam drives the stirrup positioning mechanism to move backward along the gantry beam guide rail to the stirrup removal mechanism, and the stirrup positioning mechanism picks up the stripped stirrup skeleton. The rebar tensioning module solves the problem of positioning and tensioning contact between the stirrup skeleton and the longitudinal bar before welding.

[0003] However, in actual production, when the stirrup skeleton is pushed along the longitudinal bars to the longitudinal bars of the welding station by the stirrup-pulling mechanism, the stirrup skeleton is deformed and misaligned due to the large friction between the longitudinal bars and the stirrup skeleton. For example, the spacing of the box girder stirrup skeleton increases or decreases, or some stirrup skeletons tilt. Manual intervention is required to correct these issues so that the stirrup skeleton can be picked up smoothly by the stirrup positioning mechanism. This makes it impossible to achieve automated production and has become a bottleneck for the entire production line and for cost reduction and efficiency improvement. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a precast beam three-in-one stirrup positioning mechanism and method, which automatically corrects the pre-positioning of the three-in-one stirrups before they enter the welding station, overcoming the problem of manual intervention required for correction in existing production lines.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention proposes a positioning mechanism for a precast beam's three-in-one stirrup, wherein the three-in-one stirrup includes a bottom plate stirrup and side plate stirrups connected to both sides of the bottom plate stirrup; the positioning mechanism includes a gantry frame, a bottom pushing mechanism, and two side pushing mechanisms; the gantry frame includes a gantry beam configured to translate along the length direction of a longitudinal reinforcement for welding with the three-in-one stirrup; the bottom pushing mechanism is disposed below the gantry frame and includes a bottom support member and a translation component for driving the bottom support member to translate along the length direction of the longitudinal reinforcement. The system includes a lifting assembly that drives the bottom support member to rise and fall; the bottom support member is used to support the bottom plate stirrups; two side pushing mechanisms are connected to the gantry beam to follow the gantry beam in translation; the side pushing mechanism includes a side support member and a telescopic assembly that drives the side support member to extend and retract; the side support member is used to support the side plate stirrups, and the side support member and the bottom support member are distributed at the front and rear ends of the three-in-one stirrups along the translation direction of the three-in-one stirrups to clamp and support the three-in-one stirrups to maintain the target posture and translate to the target position.

[0006] Furthermore, the bottom support includes a bottom support plate, the upper end of which is provided with a notch for limiting and supporting the bottom plate stirrups.

[0007] This notch structure can hold the bottom plate stirrups from below and provide a certain degree of horizontal constraint, preventing them from shifting laterally during the pushing process. This not only improves the stability of the support, but more importantly, ensures the initial positional accuracy of the bottom plate stirrups during translation, laying a reliable foundation for subsequent precise alignment and welding with the longitudinal reinforcement.

[0008] Furthermore, there are multiple bottom support plates distributed along the length of the bottom plate stirrups, and the notches of each bottom support plate are at the same height.

[0009] Multiple support plates provide uniform and reliable distributed support. This design effectively avoids bending deformation of the bottom plate stirrups due to their own weight or pushing resistance, which could occur with single-point support. By distributing multiple support points along the length direction to share the load, the entire three-in-one stirrup remains horizontal and straight during the pushing process, further ensuring its stability and consistency with the target posture.

[0010] Furthermore, the translation assembly includes a horizontal mounting plate, a horizontal working guide rail, a translation connecting plate, and a translation drive component; the horizontal mounting plate is mounted on the lifting assembly; the horizontal working guide rail is mounted on the horizontal mounting plate, and the translation drive component is connected to the translation connecting plate mounted on the horizontal working guide rail to drive the translation connecting plate to translate on the horizontal working guide rail, and the translation direction is consistent with the translation direction of the gantry beam; the bottom support plate is mounted on the translation connecting plate.

[0011] Furthermore, the lifting assembly includes a horizontal frame, a vertical working guide rail, a lifting connecting plate, and a lifting drive component; the horizontal mounting plate and the lifting connecting plate are mounted on the horizontal frame; the lifting connecting plate cooperates with the vertical working guide rail; the lifting drive component is connected to the lifting connecting plate to drive the lifting connecting plate to move up and down along the vertical working guide rail.

[0012] Furthermore, the lifting assembly also includes a guide rail housing and a mounting floor; the bottom of the guide rail housing is connected to the mounting floor; the vertical working guide rail is installed on one side of the guide rail housing.

[0013] Furthermore, the side support member includes a side support positioning plate and a telescopic connecting plate; the side support positioning plate includes a connecting part and a support positioning part; the connecting part is connected to the telescopic connecting plate, and the support positioning part is provided with a support positioning surface for limiting and supporting the side plate stirrups.

[0014] The support positioning surface fits snugly against the side ends of the side plate stirrups to prevent the stirrups from tipping over or shifting during the pushing process. It corrects and maintains the vertical posture of the side plate stirrups, working in conjunction with the bottom support to ensure the overall stability of the three-in-one stirrup structure.

[0015] Furthermore, the telescopic connecting plate is provided with a through groove, the length direction of which is the length direction of the side plate stirrup; the connecting part is provided with a protrusion, which is embedded in the through groove and slides in cooperation with the through groove; the connecting part is also provided with a fastener for fastening the connecting part and the telescopic connecting plate.

[0016] The sliding fit between the protrusion and the through groove provides the ability to adjust the relative position between the side support positioning plate and the telescopic connecting plate, thereby facilitating the adjustment of the relative position of the side support positioning plate and allowing the side support positioning plate to be adjusted to the optimal stress point of the side plate stirrups it controls, such as being at the center of the side plate stirrups.

[0017] Furthermore, the telescopic assembly includes a side mounting plate and a telescopic drive component, the telescopic drive component is mounted on the side mounting plate, and the telescopic drive component is connected to the telescopic connecting plate; a stirrup positioning mechanism is suspended below the gantry beam, the stirrup positioning mechanism includes a clamp fixing frame and stirrup clamps disposed on the clamp fixing frame; the upper end of the clamp fixing frame is connected to the gantry beam; the side mounting plate is connected to the clamp fixing frame.

[0018] Secondly, the present invention also proposes a method for positioning the three-in-one stirrups of precast beams, which is implemented using the aforementioned positioning mechanism for the three-in-one stirrups of precast beams. The method includes the following steps: The bottom support of the bottom pushing mechanism supports the bottom plate stirrup of the three-in-one stirrup; the side support of the side support mechanism supports the side plate stirrup of the three-in-one stirrup, so that the bottom support and side support distributed at the front and rear ends of the three-in-one stirrup clamp and support the three-in-one stirrup to maintain the target posture. The three-in-one stirrups are synchronously driven to maintain the target posture and move to the target position by using the gantry beam of the gantry frame and the translation component of the bottom pushing mechanism.

[0019] The beneficial effects of this invention are as follows: By distributing the bottom support and side support members along the translational direction of the three-in-one stirrup at its front and rear ends, a clamping and supporting effect is formed on the three-in-one stirrup. This arrangement can actively counteract the tendency of the stirrup to twist, tilt, or misalignment caused by uneven friction when it is pushed onto the longitudinal reinforcement. It constrains the stirrup from two directions (bottom and side) and two points (front and rear), forcing it to maintain the target posture during translation. This fundamentally solves the problem of manual intervention required for stirrup skeleton deformation and misalignment caused by friction in the prior art, realizing the transformation from passive picking to active correction and conveying, breaking through the key bottleneck of the fully automated production line, and improving production efficiency. It achieves full-process attitude control and precise positioning of the three-in-one stirrup from the starting position to the target welding position, ultimately ensuring that the spacing and relative position of the reinforcing bars before welding meet the strict process requirements, especially the precision requirements of the densified section. Attached Figure Description

[0020] Figure 1 This is a schematic diagram showing how some of the three-in-one stirrups deform or misalign when they are pushed sequentially along the longitudinal bars. Figure 2 This is a schematic diagram of the structure of the three-in-one stirrup of the present invention; Figure 3 A schematic diagram of an existing welding workstation used for the production of steel reinforcement cages for precast box girders in highways. Figure 4 for Figure 3A schematic diagram of the precast beam three-in-one stirrup positioning mechanism of the present invention installed on the medium steel bar tensioning module; Figure 5 This is a schematic diagram of the bottom pushing mechanism of the present invention; Figure 6 This is a schematic diagram of the side pushing mechanism of the present invention.

[0021] In the picture: 100-Raw Material Cable Tray Module; 200 - Stirrup magazine; 260 - Three-in-one stirrup; 261 - Bottom slab stirrup; 262 - Side slab stirrup; 300-Rebar tensioning module; 360-Stirrup positioning mechanism; 361-Claw fixing frame; 362-Stirrup claw; 363-Stirrup support; 400 - Stirrup Mechanism; 500 - Finished cable tray module; 600-Positioning mechanism; 610-Gantry frame; 611-Gantry crossbeam; 620-Bottom pushing mechanism; 621-Bottom support component; 622-Guide rail housing; 623-Vertical working guide rail; 624-Lifting drive component; 625-First support rib; 626-Lifting connecting plate; 627-Second support rib; 628-Horizontal frame; 629-Horizontal mounting plate; 6210-Horizontal working guide rail; 6211-Translation drive component; 6212-Translation connecting plate; 6213-Mounting floor; 630-Side pushing mechanism; 631-Side support component; 6311-Side support positioning plate; 6312-Telescopic connecting plate; 632-Side mounting plate; 633-Linear bearing; 634-Optical axis; 635-Telescopic drive component. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] The precast beam three-in-one stirrup positioning mechanism provided by this invention is applied in the automated production line of steel reinforcement cage for precast box girders of highways. This automated production line belongs to the prior art, and for details, please refer to the records in CN118720595A and CN118905110A.

[0024] The precast beam three-in-one stirrup positioning mechanism of the present invention is integrated into the existing welding station of the production line, specifically the welding workstation, and cooperates with the steel bar tensioning module 300 of the welding workstation.

[0025] like Figure 3 As shown, the production line or workstation includes a raw material cable tray module 100, a stirrup magazine 200, a rebar tensioning module 300, a welding module, and a finished cable tray module 500 arranged longitudinally. The stirrup magazine 200 is further equipped with stirrup-pulling mechanisms 400 on both sides.

[0026] The three-in-one stirrup 260 is taken out of the stirrup magazine 200 by the stirrup-pulling mechanism 400 and initially pushed to the front of the welding station. However, due to the friction between the longitudinal bars and the three-in-one stirrup 260, the three-in-one stirrup 260 is prone to deformation and misalignment. Figure 1 As shown. The positioning mechanism of this invention intervenes at this stage, ensuring that the three-in-one stirrup 260 enters the welding station in the correct posture through automatic correction.

[0027] like Figure 4 As shown, the positioning mechanism 600 of the present invention includes a gantry frame 610, a bottom pushing mechanism 620, and two side pushing mechanisms 630.

[0028] The gantry frame 610 includes a gantry beam 611, which moves along a guide rail via a gantry drive mechanism. A bottom pushing mechanism 620 is located below the gantry frame 610 and fixed to the ground or base. Two side pushing mechanisms 630 are mirror-distributed, connected to the gantry beam 611, and move synchronously with it.

[0029] Among them, the gantry 610 can be an existing piece of equipment in the automated production line for the steel reinforcement skeleton of precast box girders for highways. In the existing automated production line for the steel reinforcement skeleton of precast box girders for highways, the steel reinforcement tensioning module 300 includes a gantry. Therefore, the side pushing mechanism 630 can be directly installed on the gantry of the steel reinforcement tensioning module 300 in the existing production line.

[0030] like Figure 2 The three-in-one stirrup 260 shown includes a bottom plate stirrup 261 and side plate stirrups 262 welded to both ends. A bottom pushing mechanism 620 supports the bottom plate stirrup 261, and a side pushing mechanism 630 supports the side plate stirrups 262. The key design feature is that the bottom support 621 and the side support 631 are distributed along the translational direction (longitudinal) of the three-in-one stirrup 260 at its front and rear ends, forming a clamping support that forces the three-in-one stirrup 260 to maintain its target posture (i.e., preset shape, spacing, and orientation) as it moves to the welding station.

[0031] like Figure 4 As shown, the welding station is equipped with a rebar tensioning module 300, which includes a stirrup positioning mechanism 360. The stirrup positioning mechanism 360 mainly includes a gripper fixing frame 361, multiple stirrup grippers 362, and stirrup supports 363. The gripper fixing frame 361 is connected to the gantry frame 610 and is distributed on both sides of the three-in-one stirrup 260 to be welded. The stirrup grippers 362 and stirrup supports 363 are installed on the gripper fixing frame 361. The stirrup grippers 362 on both sides are used to clamp the side plate stirrups 262 on both sides of the three-in-one stirrup 260, and the stirrup supports 363 are used to support the two ends of the bottom plate stirrups 261.

[0032] The problem with existing automated production lines for precast box girder steel reinforcement cages is that when the three-in-one stirrup 260 is taken out of the stirrup magazine 200 by the stirrup-pulling mechanism 400 and initially pushed to the welding station where the steel tensioning module 300 is located, the three-in-one stirrup 260 tilts due to friction from the longitudinal reinforcement. When the stirrup-pulling mechanism 400 releases its grip on the three-in-one stirrup 260, it may deform or tilt, causing the stirrup claws 362 of the steel tensioning module 300 to fail to accurately grip the side plate stirrups 262, and the stirrup support 363 to fail to effectively support the bottom plate stirrups 261. Manual correction is required, otherwise the welding quality will be affected.

[0033] The precast beam three-in-one stirrup positioning mechanism of the present invention is also set at the welding station. Before the steel bar tensioning module 300 clamps and supports the three-in-one stirrup 260, the three-in-one stirrup 260 is positioned and corrected in advance, so that the steel bar tensioning module 300 can smoothly clamp and support the three-in-one stirrup 260 for subsequent welding work.

[0034] like Figure 4 , Figure 5 As shown, the bottom pushing mechanism 620 of the present invention includes a bottom support member 621, a translation component for driving the bottom support member 621 to translate along the length direction of the longitudinal rib, and a lifting component for driving the bottom support member 621 to rise and fall.

[0035] The bottom support member 621 includes multiple bottom support plates, each with a notch at its upper end for limiting and supporting the bottom plate stirrups. The multiple bottom support plates are distributed along the length of the bottom plate stirrups, with the notches on each bottom support plate at the same height. Each bottom support plate has a horizontal and a vertical surface at the notch; the horizontal surface supports the bottom of the bottom plate stirrups, and the vertical surface blocks the sides of the bottom plate stirrups. A translation component drives the bottom support plates to pull the bottom plate stirrups.

[0036] The translation assembly includes a horizontal mounting plate 629, a horizontal working guide rail 6210, a translation connecting plate 6212, and a translation drive component 6211. The horizontal mounting plate 629 is mounted on the lifting assembly. The horizontal working guide rail 6210 is mounted on the horizontal mounting plate 629. The translation drive component 6211 is connected to the translation connecting plate 6212 mounted on the horizontal working guide rail 6210 to drive the translation connecting plate 6212 to translate on the horizontal working guide rail 6210, and the translation direction is consistent with the translation direction of the gantry beam. A bottom support plate is mounted on the translation connecting plate 6212.

[0037] The translation drive component 6211 adopts a horizontal cylinder. The translation drive component 6211 drives the translation connecting plate 6212 to translate, and the bottom support plate on the translation connecting plate 6212 translates synchronously. The translation direction is the length direction of the longitudinal reinforcement, which is also the movement direction of the three-in-one stirrup 260.

[0038] The lifting assembly includes a horizontal frame 628, a vertical working guide rail 623, a lifting connecting plate 626, and a lifting drive component 624. A horizontal mounting plate 629 and a lifting connecting plate 626 are mounted on the horizontal frame 628. The lifting connecting plate 626 cooperates with the vertical working guide rail 623. The lifting drive component 624 is connected to the lifting connecting plate 626 to drive the lifting connecting plate 626 to move up and down along the vertical working guide rail 623. The lifting drive component 624 drives the lifting connecting plate 626 to move up and down, thereby causing the horizontal frame 628 to move up and down, adjusting the overall height of the translation assembly and the bottom support component 621.

[0039] The lifting assembly also includes a guide rail housing 622 and a mounting floor 6213; the bottom of the guide rail housing 622 is connected to the mounting floor 6213; a vertical working guide rail 623 is installed on one side of the guide rail housing 622. The bottom of the lifting drive component 624 is also installed on the mounting floor 6213. In this embodiment, the lifting drive component 624 is a lifting cylinder. A set of lifting drive components 624 is provided at each end of the horizontal frame 628. Ribs are also provided on the side of the lifting connecting plate 626 to improve structural strength. The horizontal frame 628 is made of four rectangular steel pipes welded end to end.

[0040] like Figure 4 , Figure 6 As shown, the side support member 631 of the present invention includes a side support positioning plate 6311 and a telescopic connecting plate 6312; the side support positioning plate 6311 includes a connecting part and a support positioning part; the connecting part is connected to the telescopic connecting plate 6312, and the support positioning part is provided with a support positioning surface for limiting and supporting the side plate stirrups. The telescopic connecting plate 6312 is provided with a through groove, the length direction of the through groove being the length direction of the side plate stirrups; the connecting part is provided with a protrusion, the protrusion being embedded in the through groove and slidingly engaging with the through groove; the connecting part is also provided with fasteners for fastening the connecting part and the telescopic connecting plate 6312. The telescopic assembly includes a side mounting plate 632 and a telescopic drive component 635. The telescopic drive component 635 is mounted on the side mounting plate 632 and is connected to a telescopic connecting plate 6312. A stirrup positioning mechanism is suspended below the gantry beam. The stirrup positioning mechanism includes a gripper fixing frame and stirrup grippers mounted on the gripper fixing frame. The upper end of the gripper fixing frame is connected to the gantry beam. The side mounting plate 632 is connected to the gripper fixing frame. The telescopic drive component 635 is a telescopic cylinder. A linear bearing 633 and an optical shaft 634 that cooperates with the linear bearing 633 are also mounted on the side mounting plate 632. The length direction of the optical shaft 634 is parallel to the telescopic direction of the telescopic cylinder, and the optical shaft 634 is connected to the telescopic connecting plate 6312.

[0041] Based on the same inventive concept, the precast beam three-in-one stirrup positioning method proposed in this invention is implemented using the aforementioned precast beam three-in-one stirrup positioning mechanism, and the method includes the following steps: In standby mode, both the lifting drive 624 and the telescopic drive 635 are in a retracted and reset state to avoid interfering with the operation of other mechanisms. After the previous process's stirrup-shifting mechanism 400 moves the three-in-one stirrup 260 to the designated position, the lifting drive 624 of the bottom pushing mechanism 620 is activated, driving the bottom support plate to rise to the working height. The bottom support member 621 of the bottom pushing mechanism 620 supports the bottom plate stirrup of the three-in-one stirrup, limiting the notch of the bottom support plate and supporting the bottom plate stirrup. Simultaneously, the telescopic drive 635 of the side pushing mechanism 630 is activated, entering the working state, adjusting the support positioning surface of the side support positioning plate 6311 to the limit and supporting the side plate stirrup. This causes the bottom support member 621 and the side support member 631, distributed at the front and rear ends of the three-in-one stirrup, to simultaneously clamp and support the three-in-one stirrup, maintaining its target posture.

[0042] The gantry beam of the gantry frame and the translation component of the bottom pushing mechanism 620 are used to synchronously drive the three-in-one stirrup to maintain the target posture and translate it to the target position, thus overcoming the positional error caused by the friction between the longitudinal reinforcement and the three-in-one stirrup.

[0043] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A three-in-one stirrup positioning mechanism for precast beams, wherein the three-in-one stirrup includes bottom plate stirrups and side plate stirrups connected to both sides of the bottom plate stirrups; characterized in that, The positioning mechanism includes a gantry frame, a bottom pushing mechanism, and two side pushing mechanisms. The gantry frame includes a gantry beam configured to translate along the length of the longitudinal reinforcement used for welding with the three-in-one stirrup. The bottom pushing mechanism is located below the gantry frame and includes a bottom support, a translation component for driving the bottom support to translate along the length of the longitudinal reinforcement, and a lifting component for driving the bottom support to rise and fall. The bottom support is used to support the bottom plate stirrup. The two side pushing mechanisms are connected to the gantry beam to follow the translation of the gantry beam. The side pushing mechanism includes a side support and a telescopic component for driving the side support to extend and retract. The side support is used to support the side plate stirrup, and the side support and the bottom support are distributed at the front and rear ends of the three-in-one stirrup along the translation direction of the stirrup to clamp and support the three-in-one stirrup, maintaining its target posture while translating to the target position.

2. The precast beam three-in-one stirrup positioning mechanism according to claim 1, characterized in that, The bottom support includes a bottom support plate, and the upper end of the bottom support plate is provided with a notch for limiting and supporting the bottom plate stirrups.

3. The precast beam three-in-one stirrup positioning mechanism according to claim 2, characterized in that, There are multiple bottom support plates, distributed along the length of the bottom plate stirrups, and the notches of each bottom support plate are at the same height.

4. A precast beam three-in-one stirrup positioning mechanism according to claim 2 or 3, characterized in that, The translation assembly includes a horizontal mounting plate, a horizontal working guide rail, a translation connecting plate, and a translation drive component; the horizontal mounting plate is mounted on the lifting assembly; the horizontal working guide rail is mounted on the horizontal mounting plate, and the translation drive component is connected to the translation connecting plate mounted on the horizontal working guide rail to drive the translation connecting plate to translate on the horizontal working guide rail, and the translation direction is consistent with the translation direction of the gantry beam; the bottom support plate is mounted on the translation connecting plate.

5. The three-in-one stirrup positioning mechanism for precast beams according to claim 4, characterized in that, The lifting assembly includes a horizontal frame, a vertical working guide rail, a lifting connecting plate, and a lifting drive component; the horizontal mounting plate and the lifting connecting plate are mounted on the horizontal frame; the lifting connecting plate cooperates with the vertical working guide rail; the lifting drive component is connected to the lifting connecting plate to drive the lifting connecting plate to move up and down along the vertical working guide rail.

6. The precast beam three-in-one stirrup positioning mechanism according to claim 5, characterized in that, The lifting assembly also includes a guide rail housing and a mounting floor; the bottom of the guide rail housing is connected to the mounting floor; the vertical working guide rail is installed on one side of the guide rail housing.

7. The precast beam three-in-one stirrup positioning mechanism according to claim 1, characterized in that, The side support includes a side support positioning plate and a telescopic connecting plate; the side support positioning plate includes a connecting part and a support positioning part; the connecting part is connected to the telescopic connecting plate, and the support positioning part is provided with a support positioning surface for limiting and supporting the side plate stirrups.

8. The precast beam three-in-one stirrup positioning mechanism according to claim 7, characterized in that, The telescopic connecting plate is provided with a through groove, the length direction of which is the length direction of the side plate stirrup; the connecting part is provided with a protrusion, which is embedded in the through groove and slides in cooperation with the through groove; the connecting part is also provided with a fastener for fastening the connecting part and the telescopic connecting plate.

9. A precast beam three-in-one stirrup positioning mechanism according to claim 7, characterized in that, The telescopic assembly includes a side mounting plate and a telescopic drive component. The telescopic drive component is mounted on the side mounting plate and connected to the telescopic connecting plate. A stirrup positioning mechanism is suspended below the gantry beam. The stirrup positioning mechanism includes a clamp fixing frame and stirrup clamps disposed on the clamp fixing frame. The upper end of the clamp fixing frame is connected to the gantry beam. The side mounting plate is connected to the clamp fixing frame.

10. A method for positioning three-in-one stirrups in a precast beam, characterized in that, The method, implemented using the precast beam three-in-one stirrup positioning mechanism as described in claim 1, includes the following steps: The bottom support of the bottom pushing mechanism supports the bottom plate stirrup of the three-in-one stirrup; the side support of the side support mechanism supports the side plate stirrup of the three-in-one stirrup, so that the bottom support and side support distributed at the front and rear ends of the three-in-one stirrup clamp and support the three-in-one stirrup to maintain the target posture. The three-in-one stirrups are synchronously driven to maintain the target posture and move to the target position by using the gantry beam of the gantry frame and the translation component of the bottom pushing mechanism.

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