Gantry type steel bar distribution robot for precast beam and precast beam steel bar distribution method

Abstract

The application relates to the technical field of building engineering automation equipment, and provides a gantry type steel bar laying robot for a precast beam and a precast beam steel bar laying method. The robot comprises a gantry main body, a crown block movably arranged on a cross beam at the top of the gantry main body and movable in a direction perpendicular to the space of the gantry track, a lifting module comprising a scissor lifting mechanism connected with the crown block and a ball screw mechanism for driving the scissor lifting mechanism to stretch and retract, a truss mechanism arranged at the bottom of the scissor lifting mechanism and capable of stretching and retracting, a storage mechanism comprising a plurality of storage units arranged at intervals on the truss mechanism, and a mechanical arm arranged on the outer wall of the limiting column, which clamps the steel bars in the to-be-taken area and lays the steel bars to a precast beam steel bar laying point. The application can realize the unity of automatic steel bar feeding, root-by-root sorting and multi-station collaborative laying, and significantly improves the laying precision of the precast beam steel cage.

Description

Technical Field

[0001] This invention relates to the field of automated equipment technology for building construction, and in particular to a gantry-type rebar placement robot for precast beams and a method for placing rebar in precast beams. Background Technology

[0002] With the rapid development of infrastructure construction, precast beams, as key load-bearing components in bridge engineering, directly affect the construction progress and structural safety of the entire project through their production efficiency and quality. In the industrialized production process of precast beams, the preparation and placement of the reinforcing steel cage is a crucial step—longitudinal main bars, transverse stirrups, web reinforcement, diaphragm reinforcement, and prestressed duct positioning reinforcement must be precisely placed and temporarily fixed according to the design positions. The accuracy of this placement directly determines the subsequent binding effect and the overall load-bearing capacity, durability, and seismic performance of the cage.

[0003] Currently, the placement of reinforcing bars in precast beam cages still relies primarily on manual labor. While manual placement offers some flexibility in small-scale, non-standardized production, it has gradually revealed several systemic technical shortcomings in large-scale, standardized, assembly-line precast beam yard production scenarios: First, the working environment is limited and the labor intensity is high. Precast beam steel cages have the characteristics of complex three-dimensional structure and dispersed working surfaces. Workers need to carry, drag, align and temporarily fix steel bars in narrow spaces such as the bottom of the steel cage, the inside of the web, and the gaps between the transverse diaphragms for a long time. The limited working space makes it difficult to deploy automated equipment, and it is difficult to achieve standardized operation by manual operation.

[0004] Secondly, the accuracy and consistency of the placement are difficult to guarantee. When placing rebars manually, the positioning accuracy depends heavily on the visual judgment and operational experience of the workers. There are significant differences in the work quality between different workers and at different times. Problems such as rebar spacing deviation, skewing, and interference with the position of prestressed ducts occur frequently, which directly affect the subsequent binding quality.

[0005] Third, there is a serious mismatch between production efficiency and the demand for large-scale production. Manual placement is a serial operation mode, and a single steel bar needs to go through multiple steps such as handling, alignment, and temporary fixing. In large precast beam yards, the number of steel bars in a single beam can reach thousands, and manual placement has become the main bottleneck restricting the improvement of production capacity.

[0006] To address these challenges, the industry has begun exploring the introduction of automation technology into rebar placement operations. However, existing rebar placement equipment still suffers from the following technical limitations: First, there is a lack of effective integration between storage and loading processes. Existing equipment mostly uses decentralized silos or simple stacking methods, resulting in a disconnect between the loading, storage, and sorting processes of steel bars. It lacks the ability to accurately limit the position of individual steel bars and sort them one by one, making it difficult to form a continuous automated connection with the upstream steel bar straightening machine and unable to realize the assembly line operation of "incoming material-storage-retrieving-placement".

[0007] Second, the coordination between the rebar positioning and pick-up / placement mechanisms is insufficient. Most existing robots use open racks or planar conveyor belts to store rebars, lacking precise positioning and directional transfer mechanisms for individual rebars. This makes positioning difficult for the robotic arm when picking up materials, and it is also difficult to adapt to the rapid switching of different rebar specifications, thus limiting the success rate of material picking and placement efficiency.

[0008] Third, the operating range and spatial adaptability are limited. Existing equipment mostly adopts fixed or simple mobile structures, which are difficult to cover the overall operating area of ​​large precast beams with large longitudinal spans (usually 25-40m) and significant changes in cross-sectional height; and lacks flexible angle adjustment capabilities, which cannot adapt to the complex three-dimensional space (horizontal bottom surface, inclined web, etc.) of precast beam reinforcement cages and the production needs of different beam types.

[0009] Fourth, achieving both wide-area coverage and precise positioning is difficult. Existing solutions mostly employ a single-level positioning strategy—if a cantilevered robotic arm is used to meet the large-span requirement, the end effector's dynamic stiffness is insufficient, leading to decreased positioning accuracy; if a high-precision guide rail is used to cover the entire stroke, equipment costs surge and movement speed is limited. The existing positioning system lacks a hierarchical collaborative mechanism for coarse and fine positioning, making it difficult to simultaneously meet the dual requirements of large-area rapid movement and precise end effector placement, resulting in large deviations in rebar placement and affecting subsequent binding quality. Summary of the Invention

[0010] The purpose of this invention is to solve at least one technical problem in the background art and to provide a gantry-type rebar placement robot for precast beams and a method for placing rebar in precast beams.

[0011] To achieve the above objectives, the present invention provides a gantry-type rebar placement robot for precast beams, comprising: A gantry frame includes: a gantry frame track fixed on the ground and a gantry frame body movable along the gantry frame track; The overhead crane is movably mounted on the crossbeam at the top of the gantry frame body and can move in a direction perpendicular to the gantry frame track space. The lifting module includes: a scissor lift mechanism connected to the overhead crane and a ball screw mechanism for driving the scissor lift mechanism to extend and retract; A truss mechanism, located at the bottom of the scissor lift mechanism, is capable of telescopic movement; The storage mechanism includes multiple storage units spaced apart on the truss mechanism. Each storage unit includes a bent column and a limiting column fixed to the truss. The bent column and the limiting column are arranged opposite to each other, and the bottom of the limiting column is adjacent to the upper surface of the bottom horizontal section of the bent column. One end of the bottom horizontal section of the bent column protrudes from the outer wall of the limiting column to form a retrieval area, and the end is provided with a limiting structure. The bent column and the limiting column cooperate to limit the reinforcing bars entering the storage mechanism between the bent column and the limiting column. The bending column is equipped with a flip-up feeding platform, and the bottom of the limiting column is equipped with a steel bar sorting gear for transferring steel bars one by one; after receiving the externally sent steel bars, the feeding platform flips up to place the steel bars between the bending column and the limiting column, and then the steel bar sorting gear moves the steel bars to the waiting area. A robotic arm, mounted on the outer wall of the limiting column, grips the reinforcing bars in the area to be retrieved and places the reinforcing bars at the placement points of the precast beam reinforcing bars.

[0012] According to one aspect of the present invention, the truss mechanism includes: a truss fixed base connected to the lower end of the scissor lift mechanism, and a telescopic truss rotatably connected to the truss fixed base via a truss central pivot mechanism. The telescopic truss includes: a primary truss, two secondary trusses symmetrically nested within both ends of the primary truss and capable of telescopic movement, and two tertiary trusses nested within the two secondary trusses and capable of telescopic movement, wherein the axes of the primary truss, the secondary trusses, and the tertiary trusses coincide.

[0013] According to one aspect of the present invention, the truss center pivot mechanism includes: a center pivot, a transmission gear and a motor, wherein the transmission gear is mounted on the output shaft of the motor, and the top end of the center pivot is provided with a tooth structure that meshes with the transmission gear; The primary truss is connected to the bottom end of the central pivot.

[0014] According to one aspect of the present invention, the secondary truss is driven to extend and retract by an active wheel disposed within the primary truss, the active wheel being driven by a telescopic drive motor via a transmission belt; the tertiary truss is linked to the secondary truss via a transmission wire mechanism, the transmission wire mechanism driving the tertiary truss to extend and retract synchronously when the secondary truss extends and retracts; electromagnetic pins are provided on the secondary and tertiary trusses for automatically locking their positions after extension and retraction.

[0015] According to one aspect of the present invention, positioning rollers are provided on the inner sides of the primary truss and the secondary truss, and the positioning rollers form a sliding fit with the outer surface of the next-level truss and limit the extension range of the next-level truss.

[0016] According to one aspect of the present invention, the transmission wire mechanism consists of two wire pulleys and a wire rope, wherein the wire pulleys are fixed at both ends on one side of the secondary truss, and the wire rope surrounds the two wire pulleys to form a closed loop; The corresponding position of the steel wire rope facing the first-level truss is connected to the steel wire fixing point on the inner side of the first-level truss; the corresponding position of the steel wire rope facing the second-level truss is connected to the steel wire fixing point on the inner side of the second-level truss.

[0017] According to one aspect of the present invention, the robotic arm includes: a geared motor fixed on the limiting post, a robotic arm upper arm connected to the output shaft of the geared motor, and a robotic arm lower arm connected to the robotic arm upper arm; The robotic arm includes: an arm mounting base, a telescopic arm telescopic rod, and a forearm mounting base connected to the bottom end of the arm telescopic rod. The robotic arm includes: a forearm drive motor supported on the outer wall of the forearm mounting base, a forearm transmission gear connected to the output shaft of the forearm drive motor, a forearm rod coaxially connected to the forearm transmission gear, and a steel bar clamp fixed to the end of the forearm rod.

[0018] According to one aspect of the invention, the robotic arm is equipped with a 3D vision sensor for scanning and identifying the location of the reinforcing bars.

[0019] According to one aspect of the invention, the loading platform is rotated by a loading platform motor, and each loading platform is at the same height; the loading platform and the rotating shaft connected to it have an axial angle, such that the loading side of the loading platform is lower than the other side.

[0020] According to one aspect of the present invention, the rebar sorting gear is driven by a rebar sorting motor, and the rebar sorting gears on each limiting post rotate synchronously to transfer the rebars one by one from the storage position to the pick-up area.

[0021] To achieve the above objectives, the present invention also provides a method for laying out reinforcing bars in precast beams using the aforementioned robot, comprising: S1: Adjust the axis of the truss mechanism to be parallel to the discharge port of the external rebar straightening machine, and align the loading platform with the discharge port of the rebar straightening machine. Use the power of the rebar straightening machine to transfer the straightened rebar to each loading platform. After cutting the rebar, flip the loading platform so that the rebar slides down the inner wall of the bent column to the storage position. Return the loading platform to the horizontal position and repeat the above steps until loading is completed. S2: Move the truss mechanism, the storage mechanism and the robotic arm above the area where the precast beam reinforcement is to be laid using the gantry, the overhead crane and the lifting module; adjust the unfolded length of the truss mechanism and turn the direction of the truss mechanism to be parallel to the axis of the precast beam, so that the robotic arm faces the plane where the reinforcement is to be laid. S3: The visual sensor on the robotic arm scans the area to be laid out to identify the actual location of the steel bar placement point, and at the same time scans the surrounding space to avoid collisions. S4: Adjust the positions of the gantry, the overhead crane, the lifting module and the truss mechanism according to the scanning results so that the robotic arm reaches a suitable position for gripping and placing; S5: Synchronously drive each of the steel bar sorting gears to move a steel bar from the storage location to the pick-up area; S6: Control each robotic arm to move synchronously, cooperate to grip the steel bar and place it at the designated placement point; S7: Repeat steps S3 to S6 until all rebar placement work in the current area is completed.

[0022] According to the present invention, the gantry crane, overhead crane, and scissor lift mechanism constitute the initial positioning system, achieving large-area rapid coverage; the multi-level nested telescopic truss can be flexibly deployed according to the longitudinal span of the precast beam and rotate around the central axis to adjust the working angle, effectively adapting to complex three-dimensional spaces such as horizontal bottom surfaces and inclined webs; the storage mechanism adopts a structure in which bent columns and limiting columns are arranged opposite each other, and works with a flip-over loading platform to achieve seamless docking with the upstream straightening machine; the rebar sorting gears transfer the rebars one by one to the waiting area, solving the sorting problem when multiple rebars are stacked; multiple sets of robotic arms work together, with 3D vision sensors to identify the placement points in real time and avoid obstacles, and achieve precise alignment through the extension and retraction of the large arm and the swing of the arm. This solution, while ensuring large-area operation coverage, achieves the unification of automatic rebar loading, precise storage, rebar sorting one by one, and multi-station collaborative placement, significantly improving the production efficiency and placement accuracy of precast beam rebar cages, and providing reliable technical support for the large-scale and standardized production of precast beams. Attached Figure Description

[0023] Figure 1 A perspective view schematically illustrating a gantry-type rebar placement robot for precast beams according to an embodiment of the present invention; Figure 2 A schematic diagram illustrating the movable structure at the bottom of a gantry according to an embodiment of the present invention; Figure 3 This schematic diagram illustrates the connection structure between the overhead crane and the lifting module according to one embodiment of the present invention. Figure 4A schematic perspective view showing the connection of a truss mechanism, a lifting module, a storage mechanism, and a robotic arm according to an embodiment of the present invention; Figure 5 A schematic side view illustrating the connection of a truss mechanism, a storage mechanism, and a robotic arm according to an embodiment of the present invention; Figure 6 This schematic diagram shows a cross-sectional view of the top structure of a truss mechanism according to one embodiment of the present invention; Figure 7 A schematic perspective view showing the connection between a storage mechanism and a robotic arm according to an embodiment of the present invention; Figure 8 The diagram schematically illustrates the structural arrangement of a truss mechanism according to one embodiment of the present invention. Detailed Implementation

[0024] The invention will now be discussed with reference to exemplary embodiments. It should be understood that the described embodiments are merely intended to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0025] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment".

[0026] Figure 1 A perspective view schematically illustrating a gantry-type rebar placement robot for precast beams according to an embodiment of the present invention; Figure 2 A schematic diagram illustrating the movable structure at the bottom of a gantry according to an embodiment of the present invention; Figure 3 This schematic diagram illustrates the connection structure between the overhead crane and the lifting module according to one embodiment of the present invention. Figure 4 A schematic perspective view showing the connection of a truss mechanism, a lifting module, a storage mechanism, and a robotic arm according to an embodiment of the present invention; Figure 5 A schematic side view illustrating the connection of a truss mechanism, a storage mechanism, and a robotic arm according to an embodiment of the present invention; Figure 6 This schematic diagram shows a cross-sectional view of the top structure of a truss mechanism according to one embodiment of the present invention; Figure 7 A schematic perspective view showing the connection between a storage mechanism and a robotic arm according to an embodiment of the present invention; Figure 8 This schematic diagram illustrates the structural arrangement of a truss mechanism according to one embodiment of the present invention. Figures 1-8 As shown, in this embodiment, the gantry-type rebar placement robot for precast beams includes: The gantry frame 1 includes: a gantry frame track 11 fixed on the ground and a gantry frame body 12 that can move along the gantry frame track 11; The overhead crane 2 is movably mounted on the crossbeam at the top of the gantry frame body 12 and can move in a direction perpendicular to the space of the gantry frame track 11; The lifting module includes: a scissor lift mechanism 27 connected to the overhead crane 2 and a ball screw mechanism 28 for driving the extension and retraction of the scissor lift mechanism 27; Truss mechanism 3 is located at the bottom of scissor lift mechanism 27 and is capable of telescopic movement; The storage mechanism 4 includes multiple storage units spaced apart on the truss mechanism 3. Each storage unit includes a bent column 41 and a limiting column 43 fixed on the truss. The bent column 41 and the limiting column 43 are arranged opposite to each other, and the bottom of the limiting column 43 is close to the upper surface of the bottom horizontal section of the bent column 41. One end of the bottom horizontal section of the bent column 41 protrudes from the outer wall of the limiting column 43 to form a waiting area 6, and the end is provided with a limiting structure. The bent column 41 and the limiting column 43 cooperate to limit the steel bars entering the storage mechanism 4 between the bent column 41 and the limiting column 43. The bending column 41 is equipped with a feeding platform and its drive 42. The feeding platform and its drive 42 include a flip-up feeding platform 423. The bottom of the limiting column 43 is equipped with a rebar sorting mechanism 44. The rebar sorting mechanism 44 includes a rebar sorting gear 443 for transferring rebars one by one. After receiving the outgoing rebar, the feeding platform 423 flips to place the rebar between the bending column 41 and the limiting column 43. Then, the rebar is transferred to the waiting area 6 by the rebar sorting gear 443. The robotic arm 5 is set on the outer wall of the limiting column, which clamps the steel bars in the area to be picked up 6 and places the steel bars to the steel bar placement point of the precast beam.

[0027] In this embodiment, the gantry 1 moves longitudinally along the gantry track 11, the overhead crane 2 moves laterally along the crossbeam, and the scissor lift mechanism 27 extends vertically to form a rapid initial positioning system. This system moves the truss mechanism 3, the storage mechanism 4, and the robotic arm 5 as a whole to the area where the steel bars are to be laid, effectively covering the overall working space with a large longitudinal span and significant changes in cross-sectional height of the precast beam. The truss mechanism 3 can be extended and retracted according to the placement position to further expand the working range of the robotic arm 5 and adapt to the needs of different beam types and complex spatial structures. The storage mechanism 4 adopts a structure in which a bent column 41 and a limiting column 43 are arranged opposite each other. The two work together to confine the steel bars between them. The bottom horizontal section of the bent column 41 protrudes from the outer wall of the limiting column 43 to form the waiting area 6. The end is equipped with a limiting structure 7 to ensure accurate positioning of the steel bars. The loading platform 423 receives the steel bars transported from the outside and flips over, so that the steel bars slide down the inner wall of the bent column 41 to the storage position, achieving seamless docking with the upstream steel bar straightening machine. The steel bar sorting gear 443 moves the steel bars one by one from the storage position to the waiting area 6, solving the sorting problem when multiple steel bars are stacked. The robotic arm 5 is set on the outer wall of the limiting column 43 and directly picks up the steel bars from the waiting area 6 without additional positioning action, resulting in a high success rate of material retrieval. Through the linkage control of multiple sets of robotic arms 5, a long steel bar can be picked up at the same time and placed in coordination to the placement point of the precast beam steel bars. Through the synergistic effect of the above structures, this solution ensures large-scale operation coverage while realizing automatic feeding, precise storage, individual sorting, and multi-station collaborative placement of steel bars. It effectively solves the technical problems of disconnected storage and feeding links, insufficient coordination of picking and placing mechanisms, and difficulty in balancing large-scale and precise positioning in existing technologies.

[0028] Furthermore, such as Figure 2 As shown, in this embodiment, the gantry 1 includes: a gantry track 11, a gantry body 12, a gantry drive wheel 13, a synchronous belt drive mechanism 14, a worm gear transmission 15, a gantry travel motor 16, and gantry driven wheels 17. In this embodiment, one gantry drive wheel 13 and four gantry driven wheels 17 are provided at the bottom of each of the two columns of the gantry body 12; wherein the drive wheel is driven by the gantry travel motor 16, and the power is transmitted to the gantry drive wheel 13 in sequence through the worm gear transmission 15 and the synchronous belt drive mechanism 14, thereby achieving the smooth movement of the gantry by the gantry drive wheel 13 and the gantry driven wheels 17 rolling on the gantry track 11.

[0029] Furthermore, such as Figure 1 and Figure 3As shown, in this embodiment, the overhead crane includes: a driven wheel and axle 21, a motor mounting base 22, a moving motor 23, a synchronous belt 24, a driving wheel and axle 25, and a main body 26. In this embodiment, the driven wheel and axle 21 and the driving wheel and axle 25 roll along the track at the top of the gantry frame; the moving motor 23 is fixed to the top surface of the main body 26 via the motor mounting base 22, and then transmits power to the driving wheel and axle 25 via the synchronous belt 24, thereby controlling the position of the overhead crane 2 on the crossbeam track of the gantry frame 1.

[0030] Furthermore, such as Figure 3 As shown, in this embodiment, the lifting module 5 includes a scissor mechanism 27 and a ball screw mechanism 28 that drives the scissor mechanism 27 to extend and retract. The top of the scissor lift mechanism is mounted on the bottom of the crane body 26. One end of the top is connected to the bottom of the crane body 26 via a rotating joint, while the other end of the top is connected to a slot 29 on the bottom of the crane body 26 via a shaft to form a sliding joint. The shaft can move linearly along the slot 29, and the position of this end is precisely controlled by a ball screw mechanism 28, thereby controlling the extension and retraction posture of the scissor lift mechanism.

[0031] Furthermore, such as Figures 4-6 As shown, in this embodiment, the truss mechanism 3 includes: a truss fixing seat 31 connected to the lower end of the scissor lift mechanism 27, and a telescopic truss 33 rotatably connected to the truss fixing seat 31 via a truss center pivot mechanism 32. The telescopic truss 33 includes: a primary truss 331, two secondary trusses 332 symmetrically nested within both ends of the primary truss 331 and capable of telescopic movement, and two tertiary trusses 333 nested within the two secondary trusses 332 and capable of telescopic movement. The axes of the primary truss 331, the secondary trusses 332 and the tertiary trusses 333 coincide.

[0032] In this embodiment, the telescopic truss 33 adopts a coaxial nested structure of a primary truss 331, a secondary truss 332, and a tertiary truss 333. The secondary truss 332 is symmetrically nested within both ends of the primary truss 331 and is telescopic. The tertiary truss 333 is nested within the secondary truss 332 and is also telescopic. Through this multi-level telescopic mechanism, the truss mechanism 3 can flexibly adjust its unfolded length according to the longitudinal span of the precast beam. In the non-working state, it can retract to reduce the space occupied, and in the working state, it can extend to cover the entire beam body, solving the technical problem that fixed structures are difficult to adapt to different beam types and spans. The truss central rotating shaft mechanism 32 connects the truss fixed seat 31 and the telescopic truss 33. By driving the central rotating shaft to rotate, the entire telescopic truss 33 can rotate around the vertical axis, adjusting the direction of the truss axis to be parallel or perpendicular to the axis of the precast beam. This allows the robotic arm 5 to face different spatial orientations such as the horizontal bottom surface and the inclined web, realizing omnidirectional operation capability for the three-dimensional complex structure of the precast beam reinforcement cage. The coincident axis design of the primary truss 331, secondary truss 332, and tertiary truss 333 ensures that each truss level maintains coaxiality during extension and retraction, avoiding jamming or accuracy reduction caused by eccentric loads and providing a stable installation foundation for the robotic arm 5. Through the synergistic effect of the above structures, this truss mechanism achieves flexible adjustment of the working angle and smooth and precise extension and retraction while ensuring a wide longitudinal coverage range, providing a reliable motion platform for the robotic arm to accurately place reinforcing bars across the full width of the precast beam.

[0033] Furthermore, such as Figure 6 As shown, in this embodiment, the truss center rotating shaft mechanism 32 includes: a center rotating shaft 321, a transmission gear 322 and a motor 323. The transmission gear 322 is mounted on the output shaft of the motor 323, and the top end of the center rotating shaft 321 is provided with a tooth structure that meshes with the transmission gear 322. The top center of the primary truss 331 is connected to the bottom end of the central pivot 321.

[0034] Furthermore, such as Figures 4-6 As shown, in this embodiment, the top of the telescopic truss fixed seat 31 is connected to the scissor lift mechanism 27 of the overhead crane 2, and the telescopic truss 33 is connected through the central rotating shaft 321 and the anti-compression bearing 324. The central rotating shaft 321 of the telescopic truss is driven to rotate through the motor 323 and the transmission gear 322, thereby controlling the angle between the telescopic truss 33 and the precast beam platform.

[0035] Furthermore, such as Figure 8As shown, in this embodiment, the secondary truss 332 is driven to extend and retract by a drive wheel 337 located within the primary truss 331. The drive wheel is driven by a telescopic drive motor 338 via a transmission belt. The tertiary truss 333 is linked to the secondary truss 332 via a transmission wire mechanism 334. When the secondary truss 332 extends and retracts, the transmission wire mechanism 334 drives the tertiary truss 333 to extend and retract synchronously. Electromagnetic pins 339 are provided on the secondary truss 332 and the tertiary truss 333 to automatically lock their positions after extension and retraction.

[0036] Furthermore, in this embodiment, positioning rollers 336 are provided on the inner sides of the primary truss 331 and the secondary truss 332. The positioning rollers 336 form a sliding fit with the outer surface of the next-level truss and limit the extension range of the next-level truss.

[0037] Furthermore, in this embodiment, the transmission wire mechanism 334 consists of two wire pulleys 3341 and a wire rope 3342. The wire pulleys 3341 are fixed to both ends of one side of the secondary truss 332, and the wire rope 3342 surrounds the two wire pulleys to form a closed loop. The corresponding position of the steel wire rope 3342 facing the primary truss 331 is connected to the steel wire fixing point 335 on the inner side of the primary truss 331; the corresponding position of the steel wire rope 3342 facing the secondary truss 332 is connected to the steel wire fixing point 335 on the inner side of the secondary truss 332.

[0038] In this embodiment, the secondary truss 332 is controlled to extend and retract via the drive wheel 337 on the inner side of the primary truss 331, and is driven by the extension drive motor 338 and the drive belt. The transmission wire mechanism 334 mainly consists of two wire pulleys and a wire rope, wherein the wire pulleys are fixed at both ends of the secondary truss 332, and the wire rope forms a closed loop around the two wire pulleys. The corresponding position of the upper half of the wire rope is connected to the steel bar fixing point 335 on the primary truss 331 (this steel bar fixing point 335 is located at the overlapping part of the primary truss 331 and the secondary truss 332 after the secondary truss 332 extends), so that the wire rope can be driven to rotate around the wire pulley when the secondary truss 332 extends and retracts. The corresponding position of the lower half of the wire rope is connected to the steel bar fixing point on the outer side of the inner end of the tertiary truss 333 (this steel bar fixing point is located at the overlapping part of the secondary truss 332 and the tertiary truss 333 after the tertiary truss 333 extends). In this way, the extension and retraction of the secondary truss causes the steel wire rope to rotate, which in turn enables the tertiary truss 333 to extend and retract relative to the secondary truss 332 in a synchronous manner.

[0039] In this embodiment, the truss mechanism, through the integrated design of hierarchical drive and synchronous linkage, combined with precise guidance and reliable locking mechanism, realizes the smooth, synchronous, and high-precision extension and retraction of multi-level trusses over a large stroke range, providing key technical support for the robotic arm to cover the entire width of the precast beam. Specifically, the secondary truss 332 adopts an independent active wheel drive scheme—the telescopic drive motor 338 drives the active wheel set in the primary truss 331 to rotate through the transmission belt. The flexible buffering characteristics of the belt drive can effectively absorb the start-stop impact and ensure the smoothness of the extension and retraction process of the secondary truss 332. The tertiary truss 333 achieves powerless synchronous linkage with the secondary truss 332 through the transmission wire mechanism 334—the wire rope 3342 forms a closed loop around the wire pulleys 3341 fixed at both ends of the secondary truss 332. Its upper and lower sides are respectively connected to the wire fixing points 335 on the inner side of the primary truss 331 and the wire fixing points 335 on the inner side of the secondary truss 332. When the secondary truss 332 extends and retracts, the wire rope 3342 rotates on the pulleys and drives the tertiary truss 333 to move synchronously at the same speed and direction. This linkage method simplifies the drive system structure and avoids motion interference that may be caused by multiple power sources. Positioning rollers 336, located on the inner sides of the primary truss 331 and secondary truss 332, slide against the outer surface of the next-level truss. This serves both a guiding function, ensuring smooth movement of each truss along its axis, and a limiting of the extension / retraction range through the contact between the rollers and the truss surface, preventing derailment or jamming due to excessive extension / retraction. When the truss extends to the preset position, electromagnetic pins 339 on the secondary truss 332 and tertiary truss 333 automatically extend and insert into the corresponding positioning holes, reliably locking the truss. This eliminates gaps in the extension / retraction mechanism, preventing truss displacement due to load changes or vibrations during robotic arm operation, thus ensuring the positioning accuracy and operational stability of the robotic arm. Through the synergistic effects of the aforementioned drive, linkage, guidance, and locking mechanisms, this truss mechanism can flexibly extend to the required length according to the longitudinal span of the precast beam. In non-working mode, it can be completely retracted to reduce space occupation, and in working mode, it can stably maintain its extended posture, providing a reliable motion platform for the robotic arm to accurately place reinforcing bars across the full width of large precast beams.

[0040] Furthermore, such as Figure 5 and Figure 7 As shown, in this embodiment, the robotic arm 5 includes: a reduction motor 51 fixed on the limiting post 43, a robotic arm upper arm 52 connected to the output shaft of the reduction motor 51, and a robotic arm lower arm 53 connected to the robotic arm upper arm 52. The robotic arm 52 includes: an arm mounting base 521, a telescopic arm telescopic rod 522, and a forearm mounting base 523 connected to the bottom end of the arm telescopic rod 522. The robotic arm forearm 53 includes: a forearm drive motor 531 supported on the outer wall of the forearm mounting base 523, a forearm transmission gear 532 connected to the output shaft of the forearm drive motor 531, a forearm rod 533 coaxially connected to the forearm transmission gear 532, and a steel bar gripper 54 fixed to the end of the forearm rod 533.

[0041] In this embodiment, the reduction motor 51 is fixed on the limiting post 43, and its output shaft directly drives the robotic arm 52 to rotate, constituting the first rotational degree of freedom of the robotic arm, enabling the entire robotic arm to rotate around the vertical axis and adjust the working position; the upper arm fixing seat 521 is connected to the output shaft of the reduction motor 51, and the telescopic upper arm telescopic rod 522 is telescopically adjusted according to the height and distance of the deployment point, expanding the vertical working range of the robotic arm and adapting to the needs of changes in the height of the precast beam section and different deployment depths; the forearm... The fixed base 523 is connected to the bottom end of the telescopic boom 522, providing a mounting foundation for the forearm. The forearm 53 of the robotic arm adopts an independent drive design. The forearm drive motor 531 is supported on the outer wall of the fixed base 523, and its output shaft is coaxially connected to the forearm rod 533 through the forearm transmission gear 532, forming the swing freedom of the forearm. The gear transmission method has the characteristics of accurate transmission ratio, no slippage, and rapid response, which can realize precise control of the angle of the forearm rod 533, so that the end effector 54 of the rebar gripper is aligned with the placement point in the best posture. As an end effector, the rebar gripper 54 directly grips the rebar in the area to be picked up 6. Its structure is simple and reliable, and its precise movement in conjunction with the robotic arm ensures that the rebar can be accurately placed in the designated position. Through the aforementioned multi-degree-of-freedom serial layout, this robotic arm can achieve a unified approach of wide-range movement and precise end-effector posture adjustment in three-dimensional space. It can cover a wide working area of ​​the precast beam while also enabling precise alignment of local points. The coordinated control of multiple robotic arms 5 allows for the simultaneous gripping and placement of a long rebar, significantly improving work efficiency. The robotic arm integrates its drive components into the outer wall of the limiting column 43, resulting in a compact structure that does not occupy additional working space, providing a feasible solution for parallel operation of multiple robotic arms.

[0042] Furthermore, in this embodiment, the robotic arm 5 is equipped with a 3D vision sensor for scanning and identifying the location of the reinforcing bars.

[0043] In this embodiment, the 3D vision sensor, through the combination of environmental perception and real-time feedback control, provides precise visual guidance and closed-loop correction capabilities for automated robot operations, fundamentally ensuring the positional accuracy and operational reliability of rebar placement. Specifically, during the preparation phase, the 3D vision sensor performs a global scan of the area to be placed on the precast beam, quickly acquiring the three-dimensional spatial coordinates of the rebar placement points. These coordinates are then compared and calibrated with preset rebar template parameters to achieve preliminary positioning of the placement nodes. During the precise positioning phase, the sensor detects the actual positional deviation of the rebar to be placed in real time, feeding the deviation data back to the control system. This drives the gantry crane, overhead crane, lifting module, and robotic arm to perform dynamic compensation, ensuring that the rebar grippers can align with the placement points with sub-millimeter precision. This effectively solves the positioning deviation problem caused by rebar cage deformation, template errors, or mechanical motion errors. During operation, the sensors continuously scan the area around the deployment point to detect obstacles such as diaphragms, prestressed corrugated pipes, and existing reinforcing bars. Based on this feedback, the control system automatically plans obstacle avoidance paths or adjusts the robotic arm's posture to prevent rigid collisions between the equipment and the reinforcing cage, ensuring equipment safety and the structural integrity of the cage. Simultaneously, the 3D vision sensors detect the position and posture of the deployed reinforcing bars, identifying issues such as skewness and spacing discrepancies, enabling online monitoring and closed-loop control of deployment quality. Through the synergistic effect of visual perception and feedback control, the equipment achieves intelligent management throughout the entire process, from deployment node identification, precise positioning compensation, obstacle avoidance to quality monitoring, significantly improving its autonomous operation capabilities, environmental adaptability, and operational reliability.

[0044] Furthermore, such as Figure 7 As shown, in this embodiment, the loading platform 423 is driven to rotate by the loading platform motor 421 fixed on the loading platform motor mounting base 422, and each loading platform 423 is at the same height; the loading platform 423 and the rotating shaft connected to it have an angle in the axial direction, so that the loading side of the loading platform 423 is lower than the other side.

[0045] In this embodiment, all feeding platforms 423 are at the same height, facilitating precise docking with the discharge port of the upstream rebar straightening machine and ensuring consistent height at all positions after a long rebar is fed. During feeding, adjacent feeding platforms 423 have a suspended section. When a rebar is fed from one feeding platform to an adjacent platform, the feeding side of the feeding platform 423 is lower than the other side, effectively preventing feeding jams caused by bending deformation due to gravity, thus ensuring feeding quality and efficiency. After the rebar is transferred to the feeding platform, the feeding platform motor 421 drives the platform to rotate, allowing the rebar to slide naturally along the inner wall of the bending column 41 to the storage position. The rotation angle matches the curvature of the bending column 41, ensuring smooth descent and neat arrangement of the rebar, laying the foundation for subsequent individual sorting. After rotation, the feeding platform returns to a horizontal position to receive the next rebar, achieving continuous automatic feeding operation. Through the above structure, the feeding platform seamlessly connects the upstream straightening machine and the downstream storage mechanism, eliminating the need for manual intervention in the transfer process and solving the problem of disconnect between the feeding and storage processes in the existing technology. At the same time, the multi-platform linkage control enables multiple steel bars to be fed simultaneously, further improving the overall operation efficiency.

[0046] Furthermore, such as Figure 7 As shown, in this embodiment, the rebar sorting gear 443 is driven by the rebar sorting motor 441 fixed on the rebar sorting motor mounting base 442. The rebar sorting gears 443 on each limiting post 43 rotate synchronously, transferring the rebars one by one from the storage position to the waiting area 6.

[0047] In this embodiment, the rebar sorting motor 441 drives the rebar sorting gears 443 on each limiting post 43 to rotate synchronously. The gear teeth contact the outermost and bottommost rebars, and through friction or a pushing action, the single rebar is moved forward from the storage position along the bottom horizontal section of the bending post 41 until it enters the waiting area 6. This rebar-by-rebar sorting mechanism effectively solves the problems of adhesion and jamming when multiple rebars are stacked and stored, ensuring that only one rebar is moved to the waiting area at a time, avoiding the clamping chaos caused by multiple rebars entering the picking position at the same time. The synchronous rotation of the rebar sorting gears 443 on each limiting post 43 ensures that all parts of a rebar located in multiple sets of storage units can move forward at the same time and speed, making the rebar parts in each waiting area 6 consistent, creating conditions for multi-robotic arm collaborative picking - the robotic arms do not need to adjust the picking posture separately, and can directly clamp the rebar from the fixed position, greatly shortening the picking auxiliary time. The waiting area 6 is formed by the horizontal section of the bottom of the bent column 41 protruding from the outer wall of the limiting column 43. A limiting structure is provided at the end. When the rebar is moved to the waiting area, the limiting structure prevents it from moving forward, ensuring that the rebar stays in the precise clamping position and eliminating the impact of rebar position deviation on the success rate of material retrieval. Through the synergistic effect of the above-mentioned synchronous drive and precise limiting, this mechanism achieves fully automated connection of the entire process of rebar storage, sorting, and waiting to be retrieved. It solves the problems of difficult material retrieval positioning and insufficient multi-station coordination in existing technologies, providing a reliable material supply guarantee for the robotic arm to perform efficient and stable placement operations.

[0048] Furthermore, to achieve the above objectives, the present invention also provides a method for laying out reinforcing bars in precast beams using the aforementioned robot, comprising: S1: Adjust the axis of the truss mechanism 3 to be parallel to the discharge port of the external rebar straightener, and align the loading platform 423 with the discharge port of the rebar straightener. Use the power of the rebar straightener to transfer the straightened rebar to each loading platform 423. After cutting the rebar, flip the loading platform 423 so that the rebar slides down the inner wall of the bent column 41 to the storage position. Return the loading platform 423 to the horizontal position and repeat the above steps until the loading is completed. S2: Move the truss mechanism 3, storage mechanism 4 and robotic arm 5 above the area where the precast beam reinforcement is to be laid using the gantry 1, overhead crane 2 and lifting module. Adjust the unfolded length of the truss mechanism 3 and turn the direction of the truss mechanism 3 to be parallel to the axis of the precast beam, so that the robotic arm 5 faces the plane where the reinforcement is to be laid. S3: The visual sensor on the robotic arm 5 scans the area to be laid out to identify the actual location of the steel bar placement point, and at the same time scans the surrounding space to avoid collisions. S4: Adjust the positions of gantry 1, overhead crane 2, lifting module and truss mechanism 3 according to the scanning results so that the robotic arm 5 can reach a suitable position for gripping and placing. S5: Synchronously drive each steel bar sorting gear 443 to move a steel bar from the storage location to the pick-up area; S6: Control each robotic arm 5 to move synchronously, cooperate in gripping the steel bar and placing it at the designated placement point; S7: Repeat steps S3 to S6 until all rebar placement work in the current area is completed.

[0049] In this embodiment, the precast beam reinforcement placement method, through its streamlined and automated step design, organically integrates the various functional modules of the robot, achieving closed-loop control of the entire process from automatic reinforcement feeding to precise placement, and thus achieving the following technical effects: First, seamless integration with upstream equipment is achieved to build a continuous automated production flow. Step S1 involves adjusting the axis of the truss mechanism to be parallel to the discharge port of the rebar straightener and aligning the loading platform with the discharge port. The straightener itself is used to transfer the straightened rebar directly to the loading platform. After cutting, the platform is flipped so that the rebar slides to the storage position. This process eliminates the need for manual intervention in the transfer process, streamlining the "rebar straightening - fixed-length cutting - automatic loading - batch storage" process chain. This avoids the cumbersome procedures of manual handling or secondary stacking of straightened rebar in traditional production, improving the automation continuity of the production line from the source.

[0050] Second, the coarse and fine positioning are coordinated in a hierarchical manner, balancing large-area coverage with precise alignment. Step S2 uses an initial positioning system consisting of a gantry, overhead crane, and lifting module to move the truss mechanism, storage mechanism, and robotic arm as a whole above the area to be deployed, and adjusts the truss deployment length and angle to achieve rapid coverage over a large area. Step S4 makes secondary adjustments to the gantry, overhead crane, lifting module, and truss mechanism based on the visual scan results, so that the robotic arm reaches the precise gripping and deployment position. This hierarchical positioning strategy of "macro-to-micro" not only solves the coverage requirements of large precast beams with large longitudinal spans and wide operating ranges, but also ensures the high-precision alignment capability of the robotic arm's end effector.

[0051] Third, the combination of visual guidance and intelligent obstacle avoidance ensures operational accuracy and safety. Step S3 uses visual sensors on the robotic arm to scan the area to be deployed, identifying the actual location of the rebar placement points, while simultaneously scanning the surrounding space to avoid collisions. This step integrates environmental perception and path planning. On the one hand, it compensates for mechanical motion errors and rebar cage deformation deviations through real-time feedback, ensuring the accuracy of rebar placement. On the other hand, it actively identifies obstacles such as diaphragms and prestressed corrugated pipes, preventing rigid collisions between the equipment and the rebar cage, thus ensuring equipment safety and the structural integrity of the rebar cage.

[0052] Fourth, multi-mechanism collaborative operation significantly improves deployment efficiency. Step S5 synchronously drives each rebar sorting gear, transferring the rebars one by one from the storage location to the pick-up area, solving the sorting problem when multiple rebars are stacked, and providing precise positioning for the robotic arm to pick up the material; Step S6 controls the synchronous movement of each robotic arm to cooperate in gripping the rebars and placing them at the designated deployment point, realizing the simultaneous deployment of a long rebar at multiple points, greatly shortening the deployment time of a single rebar and improving the overall operation cycle.

[0053] Fifth, modular cyclical operation adapts to the needs of large-scale continuous production. Step S7 repeats steps S3 to S6 to complete the placement of all steel bars in the current area, and then quickly switches to the next area, forming a standardized operation cycle of "area positioning - visual recognition - fine-tuning alignment - material picking and placement". This mode enables the equipment to automatically traverse the entire precast beam steel cage, completing the orderly placement of a large number of steel bars without manual intervention, meeting the needs of large-scale and standardized production in large precast beam yards.

[0054] In summary, this rebar placement method, through process reengineering and multi-mechanism collaboration, achieves full automation from the upstream straightening machine to the downstream placement operation. While ensuring placement accuracy, it significantly improves operational efficiency and provides a complete technical solution for the automated production of precast beam rebar cages.

[0055] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0056] It should be understood that the sequence number of each step in the invention and its embodiments does not absolutely imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. A gantry-type rebar placement robot for precast beams, characterized in that, include: The gantry (1) includes: a gantry track (11) fixed on the ground and a gantry body (12) that can move along the gantry track (11). The overhead crane (2) is movably mounted on the crossbeam at the top of the gantry main body (12) and can move in a direction perpendicular to the space of the gantry track (11); The lifting module includes: a scissor lift mechanism (27) connected to the overhead crane (2) and a ball screw mechanism (28) for driving the scissor lift mechanism (27) to extend and retract. The truss mechanism (3) is located at the bottom of the scissor lift mechanism (27) and is capable of telescopic movement; The storage mechanism (4) includes multiple storage units spaced apart on the truss mechanism (3). Each storage unit includes a bent column (41) and a limiting column (43) fixed on the truss. The bent column (41) and the limiting column (43) are arranged opposite to each other, and the bottom of the limiting column (43) is close to the upper surface of the bottom horizontal section of the bent column (41). One end of the bottom horizontal section of the bent column (41) protrudes from the outer wall of the limiting column (43) to form a waiting area, and the end is provided with a limiting structure. The bent column (41) and the limiting column (43) cooperate to limit the steel bars entering the storage mechanism (4) between the bent column (41) and the limiting column (43). The bending column (41) is provided with a flip-up feeding platform (423), and the bottom of the limiting column (43) is provided with a steel bar sorting gear (443) for transferring steel bars one by one; after receiving the outgoing steel bars, the feeding platform (423) flips up to place the steel bars between the bending column (41) and the limiting column (43), and then the steel bars are transferred to the waiting area by the steel bar sorting gear (443); The robotic arm (5) is set on the outer wall of the limiting column, clamps the steel bars in the area to be picked, and places the steel bars to the steel bar placement point of the precast beam.

2. The gantry-type rebar placement robot for precast beams according to claim 1, characterized in that, The truss mechanism (3) includes: a truss fixed seat (31) connected to the lower end of the scissor lift mechanism (27), and a telescopic truss (33) rotatably connected to the truss fixed seat (31) through a truss center pivot mechanism (32). The telescopic truss (33) includes: a primary truss (331), two secondary trusses (332) symmetrically nested at both ends of the primary truss (331) and capable of telescopic movement, and two tertiary trusses (333) nested in the two secondary trusses (332) and capable of telescopic movement. The axes of the primary truss (331), the secondary truss (332) and the tertiary truss (333) coincide.

3. The gantry-type rebar placement robot for precast beams according to claim 2, characterized in that, The truss center rotating shaft mechanism (32) includes: a center rotating shaft (321), a transmission gear (322) and a motor (323). The transmission gear (322) is mounted on the output shaft of the motor (323). The top end of the center rotating shaft (321) is provided with a tooth structure that meshes with the transmission gear (322). The first-stage truss (331) is connected to the bottom end of the central pivot (321).

4. The gantry-type rebar placement robot for precast beams according to claim 2, characterized in that, The secondary truss (332) is driven to extend and retract by an active wheel located in the primary truss (331). The active wheel is driven by a telescopic drive motor (338) via a transmission belt. The tertiary truss (333) is linked to the secondary truss (332) via a transmission wire mechanism (334). When the secondary truss (332) extends and retracts, the transmission wire mechanism (334) drives the tertiary truss (333) to extend and retract synchronously. The secondary truss (332) and the tertiary truss (333) are equipped with electromagnetic pins (339) for automatically locking their positions after extension and retraction.

5. The gantry-type rebar placement robot for precast beams according to claim 4, characterized in that, The inner sides of the first-level truss (331) and the second-level truss (332) are provided with positioning rollers (336). The positioning rollers (336) form a sliding fit with the outer surface of the next-level truss and limit the extension range of the next-level truss.

6. The gantry-type rebar placement robot for precast beams according to claim 5, characterized in that, The transmission wire mechanism (334) consists of two wire pulleys (3341) and a wire rope (3342). The wire pulleys (3341) are fixed at both ends on one side of the secondary truss (332), and the wire rope (3342) surrounds the two wire pulleys to form a closed loop. The corresponding position of the steel wire rope (3342) facing the first-level truss (331) is connected to the steel wire fixing point (335) on the inner side of the first-level truss (331); the corresponding position of the steel wire rope (3342) facing the second-level truss (331) is connected to the steel wire fixing point (335) on the inner side of the second-level truss (331).

7. The gantry-type rebar placement robot for precast beams according to claim 1, characterized in that, The robotic arm (5) includes: a reduction motor (51) fixed on the limiting post (43), a robotic arm upper arm (52) connected to the output shaft of the reduction motor (51), and a robotic arm lower arm (53) connected to the robotic arm upper arm (52). The robotic arm (52) includes: an arm mounting base (521), a telescopic arm telescopic rod (522), and a forearm mounting base (523) connected to the bottom end of the arm telescopic rod (522). The robotic arm forearm (53) includes: a forearm drive motor (531) supported on the outer wall of the forearm mounting base (523), a forearm transmission gear (532) connected to the output shaft of the forearm drive motor (531), a forearm rod (533) coaxially connected to the forearm transmission gear (532), and a steel bar clamp (54) fixed at the end of the forearm rod (533).

8. The gantry-type rebar placement robot for precast beams according to claim 1, characterized in that, The robotic arm (5) is equipped with a 3D vision sensor for scanning and identifying the location of the reinforcing bars.

9. The gantry-type rebar placement robot for precast beams according to claim 1, characterized in that, The loading platform (423) is driven to rotate by the loading platform motor (421), and each loading platform (423) is at the same height; the loading platform (423) and the rotating shaft connected to it have an angle in the axial direction, so that the loading side of the loading platform (423) is lower than the other side.

10. The gantry-type rebar placement robot for precast beams according to claim 1, characterized in that, The steel bar sorting gear (443) is driven by the steel bar sorting motor (441). The steel bar sorting gear (443) on each limiting post (43) rotates synchronously, transferring the steel bars one by one from the storage position to the waiting area.

11. A method for laying out precast beam reinforcement using a robot according to any one of claims 1-10, characterized in that, include: S1: Adjust the axis of the truss mechanism (3) to be parallel to the discharge port of the external steel bar straightening machine, and align the loading platform (423) with the discharge port of the steel bar straightening machine. Use the power of the steel bar straightening machine to transfer the straightened steel bars to each loading platform (423). After cutting the steel bars, flip the loading platform (423) so that the steel bars slide down the inner wall of the bent column (41) to the storage position. Return the loading platform (423) to the horizontal position and repeat the above steps until the loading is completed. S2: Move the truss mechanism (3), the storage mechanism (4) and the robotic arm (5) above the area where the precast beam reinforcement is to be laid out by the gantry (1), the overhead crane (2) and the lifting module, adjust the unfolded length of the truss mechanism (3) and turn the direction of the truss mechanism (3) to be parallel to the axis of the precast beam, so that the robotic arm (5) faces the plane where the reinforcement is to be laid out; S3: Scan the area to be laid out using the vision sensor on the robotic arm (5) to identify the actual location of the steel bar placement point, and scan the surrounding space at the same time to avoid collision; S4: Adjust the positions of the gantry (1), the overhead crane (2), the lifting module and the truss mechanism (3) according to the scanning results so that the robotic arm (5) reaches a suitable position for gripping and placing; S5: Synchronously drive each of the steel bar sorting gears (443) to move a steel bar from the storage location to the pick-up area; S6: Control each of the robotic arms (5) to move synchronously, cooperate to clamp the steel bar and place it at the designated placement point; S7: Repeat steps S3 to S6 until all rebar placement work in the current area is completed.

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