Single drive multi-output relay transmission mechanism and automatic stirrup wire distribution device

Abstract

A single drive and multiple output relay transmission mechanism and an automatic stirrup arranging device, the transmission mechanism is an independent original structure, single power input, pure mechanical clamping relay, convex body time sequence trigger, self-adaptive elastic meshing intermittent meshing, full-range mechanical relay integrated transmission system, the position of the clamping, relay top rod, non-adjacent clamping, convex body, articulated clamping and the configuration of relay gear transmission assembly can be adjusted to realize the arbitrary adjustment of the output linear power time sequence and length; and in the reset completion stage, the reset time sequence end rack trigger switch is restored to standby state; the automatic stirrup arranging device comprises a prefabricated stirrup warehouse and a bending function assembly symmetrically arranged on the left and right sides of the prefabricated stirrup warehouse; the bending function assembly comprises an upper bending function assembly, a lower bending function assembly, a pull rod transmission assembly and a screw driving assembly.

Description

Technical Field

[0001] This application relates to a single-drive multi-output relay transmission mechanism and an actuator for a building construction automation system platform—a stirrup placement device. Background Technology

[0002] Existing automated sequential operation equipment mostly adopts multi-power source separate drive, and works with an electronic control sequence system to realize power output process switching. This type of structure has problems such as overall structural redundancy, complex control logic, high equipment failure rate, and high construction and maintenance costs.

[0003] In existing technologies, the industry's long-standing technological mindset generally involves designing equipment by adding power sources and optimizing electrical control programs. No independent, universally applicable transmission mechanism has yet been found that can achieve single-power-input, fully automated, multi-process sequential relay of mechanical power transmission based solely on a mechanical structure. Furthermore, no structurally sound and reliable integrated structure for automated stirrup deployment has been found in existing construction automation equipment.

[0004] In addition, most existing rack and pinion relay structures can only achieve point-to-point sequential transmission between adjacent racks, which cannot adapt to working conditions where there is interference between adjacent racks or sequential action across components. Furthermore, conventional hinged stops do not have a gap compensation structure. When there is an axial distance between the relay stops, defects such as idle stroke, incomplete engagement, and force transmission failure are likely to occur. The transmission layout is limited, the mechanism has poor adaptability, and it cannot meet the high-order transmission requirements of multiple sets of racks with misaligned arrangement and non-adjacent sequential linkage.

[0005] In the field of automated construction equipment, most existing stirrups and reinforcement bending rely on manual alignment and bending, or mechanical bending, and manual threading and binding. Manual construction has many drawbacks, such as low efficiency, high labor costs, high labor intensity, poor positioning accuracy, and weak consistency of construction standards. Summary of the Invention

[0006] To address the aforementioned issues, this application proposes a single-drive multi-output relay transmission mechanism, comprising a slide rail base, on which a power drive unit is mounted, sequentially driving the active rack assembly and connecting it to the driven rack assembly via a relay gear transmission assembly to achieve ordered linear output of multiple power sources. The output end of the power drive unit is provided with a drive gear. The drive rack assembly and the driven rack assembly are slidably assembled inside the slide rail base. The slide rail base is provided with initial locking points and target locking points for the drive rack assembly and the driven rack assembly, respectively. The drive rack assembly is provided with an elastic locking component and a stroke relay blocking structure, and the driven rack assembly is provided with an elastic locking component. The elastic locking component and the locking point form a locking mechanism. The slide rail base is provided with a stroke triggering boss, which pushes the end of the stroke of the preceding active rack assembly to the live joint stop, and drags the upper stop of the following active rack assembly to realize the timing relay start of the following active rack assembly; The active rack assembly is divided into a forward first rack, several intermediate racks and a timing last rack according to a preset action sequence, and a reverse reset first rack, several intermediate racks and a timing last rack. The active rack assembly at the beginning of the forward operation sequence is initially configured with an adaptive elastic meshing tooth body at the front end that elastically meshes with the active gear, and is positioned by a hard limit lock at the rear end to achieve instantaneous meshing transmission during the start-up phase. In the initial state, the forward middle timing rack and the timing end rack of the active rack assembly are locked with the initial locking point on the slide rail base by the elastic locking component, and maintain a preset gap with the active gear to form a non-meshing standby structure, and automatically disengage and lock by sliding the curved surface with the target locking point on the slide rail base at the end of the stroke. The slide rail base has a stroke trigger contact at the end of the stroke of the active rack assembly at the end of the forward timing sequence, which is used to control the motor to stop and reverse. The driven rack assembly is equipped with elastic locking components, which cooperate with the initial locking recess and the target locking recess on the slide rail base to lock the initial and target positions. The locking is synchronized with the timing of the active rack assembly to output linear drive power.

[0007] The front end of the active rack assembly at the first step of the reverse reset timing is equipped with a hard limit stop and no target locking point is set. The rear end is equipped with an adaptive elastic meshing tooth body that elastically meshes with the active gear to achieve instantaneous meshing transmission during the reset phase.

[0008] The elastic locking components of the active rack assembly reverse reset intermediate timing rack and reverse reset timing end rack, together with the target locking recess on the slide rail base, maintain a preset gap with the active gear through locking, forming a non-meshing standby structure, and then automatically disengage and lock by the curved surface sliding action of the initial locking recess on the slide rail base at the end of the reverse reset stroke. The slide rail base has a stroke trigger contact at the end of the stroke of the active rack assembly at the end of the reverse reset sequence, which is used to control the motor to stop and enter the standby state; Preferably, the elastic locking assembly includes a spring ball and an initial locking recess and a target locking recess corresponding to the slide rail base. The elastic locking assembly relies on the elastic force of the curved surface of the spring ball and the action of the concave surface of the recess to achieve automatic positioning of the rack and smooth disengagement without impact.

[0009] Preferably, the active rack assembly is provided with a stroke relay stop on its side, and the stroke relay stop is divided into a bottom stop, a conventional upper stop, a slip knot stop, and a non-adjacent upper stop; For positions where there is no structural interference in the transmission path and the transmission is between adjacent rack and pinion drives, the drag relay can be completed directly by using a through-bottom stop or a conventional upper stop. For adjacent rack transmission positions where structural interference exists in the transmission path, a conventional upper-position stop, a hinged stop, and a slide rail base stroke trigger boss are used to form an unobstructed timing relay structure. In situations where cross-station, non-adjacent active rack assemblies require cross-station relay force transmission, the preceding and following sequence stops, in conjunction with the relay top rod or non-adjacent upper stop, form a cross-station relay transmission structure to realize cross-station sequential relay and power transmission between non-adjacent active rack assemblies. In some relay operation conditions, there is a preset axial gap between the hinge block and the corresponding upper block that is being dragged. An extended hinge block is configured accordingly to compensate for the gap difference between the blocks, ensure reliable force transmission over long distances, and prevent idle dragging and force transmission failure. In non-relay operation, the swivel stop slides at a low position and avoids misalignment with various types of upper stops; in relay operation, the swivel stop is lifted when it passes the travel trigger boss, and engages with the corresponding stop to transmit force, completing the mechanical timing switch.

[0010] On the other hand, this application also proposes an automated stirrup placement device using a single-drive multi-output relay transmission mechanism, including a prefabricated stirrup chamber and bending functional components symmetrically arranged on the left and right sides of the prefabricated stirrup chamber. The bending functional components symmetrically arranged on the left and right sides can select the left or right side to operate with minimal working gap. The bending function component includes an upper bending function component, a lower bending function component, a pull rod transmission component, and a lead screw drive component; The upper bending function component is connected to the power output of a single-drive multi-output relay transmission mechanism via a connecting rod to drive the front pressure plate connecting rod and the rear pressure plate connecting rod to rotate. The power output of the single-drive multi-output relay transmission mechanism is connected to the upper gear of the lead screw drive component to drive the lead screw drive component to rotate. The upper lead screw of the lead screw drive component is connected to the slider nut. The slider nut is connected to the slider slide rail of the bottom plate of the upper bending function component to drive the upper bending function component to rotate. The lower bending functional component is connected to the tie rod transmission component via a connecting rod hinge. The tie rod transmission component is connected to the power output of a single-drive multi-output relay transmission mechanism to drive the upper pressure plate connecting rod to rotate. The lower end of the lead screw of the lead screw drive component is connected to the slider nut. The slider nut is connected to the slider slide rail of the lower bending functional component base plate to drive the lower bending functional component to rotate. The upper bending functional component and the lower bending functional component are initially in an open avoidance position, and their inner sides together form an interference-free avoidance channel that adapts to the longitudinal and corner ribs.

[0011] Preferably, the bending function component includes a front pressure plate execution unit, a rear pressure plate execution unit, and an upper pressure plate execution unit, which are respectively arranged in their respective annular guide rails. In the initial state, the end of the front pressure plate connecting rod is positioned at the rear, the end of the rear pressure plate connecting rod is positioned at the rear, and the end of the upper pressure plate connecting rod is positioned at the bottom. Each pressure plate execution unit works in sequence according to the preset mechanical timing. The front pressure plate moves forward to press and bend the steel bar to the required angle, the rear pressure plate moves forward without stopping, and the upper pressure plate presses and bends the steel bar upward to the required angle, so that the bending section enters the area between the front pressure plate connecting rod and the rear pressure plate connecting rod. Each pressure plate execution unit and its annular guide rail longitudinal rib inlet is located on the front side of the mechanism. After the longitudinal rib enters through the pressure plate inlet, it is arranged coaxially with the corresponding pressure plate. A rebar holder is installed on the front pressure plate connecting rod. The rebar holder's elastic rotating shaft is installed in the rebar holder's bushing. Initially, the rebar holder's stop bar is horizontal in the area between the front pressure plate connecting rod and the rear pressure plate connecting rod. The rebar holder is equipped with a stop bar rotation limit. The upper section of the stirrup bar pressed up by the upper pressure plate presses against the rebar holder's stop bar. After the stop bar is compressed and rotates to avoid it, it elastically resets to the lateral limit position. As the front pressure plate connecting rod resets and rotates backward, the rebar holder's stop bar spins the stirrup bar and slides past the elastic telescopic rebar locking mechanism provided with the rear pressure plate execution unit. The elastic telescopic rebar locking mechanism is a pin "lock tongue". The upper part of the precast stirrup bar pressed up by the upper pressure plate and collected and spun by the rebar holder sweeps against the "lock tongue", pressing the "lock tongue" into the chamber. After sweeping past the "lock tongue", it pops out. The rear pressure plate drives the "lock tongue" of the elastic telescopic rebar locking mechanism to spin the stirrup bar backward to the required angle.

[0012] Preferably, the precast stirrup compartment is an integral structure with left and right mirror symmetry.

[0013] Preferably, the inner edge dimension of the precast stirrup compartment is not less than the outer edge dimension of the precast stirrup, the compartment frame is provided with baffles at both ends, and a precast stirrup pushing spring is provided in the middle of the compartment. The middle part of the pushing spring is fixed to the inner wall of the stirrup compartment, and pushes the pre-stored precast stirrups to both sides, and clamps and fixes them with the baffles at both ends of the compartment frame. The precast stirrup compartment is equipped with corner bar alignment and calibration structures at both ends, which are used to position the stirrup bar arranger when it enters the working position. The upper and lower corner bars on the left and right sides are locked with the upper and lower calibration structures to position the stirrup bar arranger in the working position. The precast stirrup silo frame is equipped with a tie rod guide seat, which provides guidance for the first tie rod and the second tie rod respectively. The first tie rod transmits the linear power output of a single-drive multi-output relay transmission mechanism to the upper pressure plate connecting rod to complete the spinning. The second tie rod transmits the sliding power of the front and rear pressure plate chassis of the upper bending functional component to the upper pressure plate chassis.

[0014] Preferably, the two ends of the lead screw drive assembly adopt a bidirectional lead screw structure with positive and negative leads, which, together with the slider nut and the sliding track of the upper and lower bending functional components, drives the upper and lower bending functional components to rotate and open and close synchronously.

[0015] Preferably, operate as follows: S1. The single power drive unit starts in the forward direction. The first active rack assembly in the forward direction relies on the front adaptive elastic meshing tooth body to mesh instantaneously. It is connected to the relay gear transmission assembly and the driven rack assembly to realize the output of the first process power. S2. By dragging the upper stop of the next process's active rack assembly at the end of its stroke, relaying the force through the intermediate push rod, or triggering the boss to push through the slide rail base, the timing relay start is achieved. By adjusting the positions of the stops, intermediate push rods, non-adjacent stops, bosses, and hinged stops, as well as the configuration of the relay gear transmission components, the timing and length of the power output can be arbitrarily adjusted. For non-adjacent cross-station transmission requirements, cross-station rack relay force transmission is completed through the intermediate push rod or non-adjacent upper stop, achieving cross-station timing start. For working conditions where there is axial spacing between stops, the spacing is compensated by lengthening the hinged stop to ensure smooth relay force transmission. S3. Each set of active rack assemblies sequentially engages with the active gear and automatically disengages at the end of the stroke, driving the driven rack assembly through the relay gear assembly to complete the corresponding power output; S4. After the forward process is completed, the last active rack and pinion assembly in the timing sequence triggers the stroke contact to control the motor to stop and reverse direction; S5. The power unit reverses and resets the first active rack assembly by relying on the rear adaptive elastic meshing tooth body to engage instantaneously. Each mechanism is reset sequentially by relying on the mechanical relay structure. S6. The entire machine mechanism is reset sequentially. When the last rack in the reset sequence reaches the initial position, it touches the stop switch, the power stops, and the entire machine returns to the initial avoidance standby position, completing one fully automatic closed-loop operation cycle.

[0016] This application can bring the following beneficial effects: 1. The transmission mechanism provided in this application is an independent and original structure, forming an integrated transmission system with single power input, pure mechanical clamping relay, boss timing trigger, adaptive elastic meshing of the gear body, and full-process mechanical clamping. At the same time, the power output timing and length can be arbitrarily adjusted by adjusting the position of the clamp, relay push rod, non-adjacent clamp, boss, and hinged clamp, as well as the configuration of the relay gear transmission components. Furthermore, during the reset completion stage, the machine is stopped and reset to the initial standby state by the last rack of the reset timing touching the stop switch.

[0017] 2. This application innovates industry technology design thinking, bypassing the traditional design ideas of multi-power drive and electronic control timing, and expands the mechanical structure to realize self-closed-loop timing control; at the same time, it is equipped with differentiated relay avoidance structures such as through bottom clamp, relay top rod, conventional upper clamp, non-adjacent upper clamp, and movable clamp, and has created a unique extended movable clamp spacing compensation structure, which effectively solves the problems of idle drag and force transmission failure caused by the axial spacing of the clamp. It also solves the technical shortcomings of traditional structures that can only relay adjacent racks and cannot cross-station timing linkage, and can flexibly adjust the power output timing and extension length, and automatically stop the machine and return to standby state after resetting.

[0018] 3. This application features a unique non-adjacent upper-position locking mechanism, a relay rod span relay structure, and an extended hinge locking compensation structure. This allows it to adapt to complex working conditions such as multiple sets of racks with misaligned arrangements, non-adjacent timing linkages, and gaps between locking points. The mechanical structure enables free switching of the timing and stroke of linear power output. It is also equipped with a reset mechanism, which greatly expands the layout freedom and equipment adaptability of the mechanical timing transmission. The core mechanism can be independently applied to the timing requirements of various automated equipment, not limited to single equipment with stirrups and reinforcement. It has strong versatility and a wide range of industrial applications.

[0019] 4. This application has a compact overall structure, high mechanical operation reliability, strong anti-interference ability, and can realize closed-loop operation of feeding, alignment, bending, rib forming, rib locking, fully automatic reset, and automatic standby after reset, and has good industrial applicability. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of a stirrup placement device.

[0021] Figure 2 This is a schematic diagram of the transmission mechanism.

[0022] Figure 3 This is a schematic diagram of the slide rail base.

[0023] Figure 4 This is a schematic diagram of the outer tie rod transmission assembly and guide seat of the stirrup placement device.

[0024] Figure 5 This is a schematic diagram of the elastic locking assembly, the slip-lock stop, and the elastic engaging body.

[0025] Figure 6 This is a schematic diagram showing the rack and pinion mechanism with bottom stop, upper stop, and non-adjacent stops.

[0026] Figure 7 This is a schematic diagram of the rack and pinion joint stop, the upper stop, and the elastic locking assembly.

[0027] Figure 8 This is a structural diagram of the rib-retaining device.

[0028] Figure 9 This is a structural schematic diagram of the relay top rod section.

[0029] Figure 10 This is a structural diagram of the relay top rod assembly. Detailed Implementation

[0030] To clearly illustrate the technical features of this solution, the following detailed description, in conjunction with the accompanying drawings, will be provided.

[0031] like Figure 1-10 As shown, for a single-drive multi-output relay transmission mechanism, there is a slide rail base 1, on which a power drive unit 2 is provided, which sequentially drives the active rack assembly 3 and connects it with the relay gear transmission assembly 4 and the driven rack assembly 5 to achieve orderly linear output of multiple power. The output end of the power drive unit 2 is coaxially connected to the drive gear 6. The drive rack assembly 3 is slidably assembled inside the slide rail base 1. The drive rack assembly 3 is respectively equipped with an elastic locking component 7 and a stroke relay slip knot blocking structure 8, a bottom blocking block 14a and an upper blocking block 14. The active rack assembly 3 is divided into a forward first rack, a middle timing rack and a last timing rack according to a preset action sequence. In the initial state, the active rack assembly 3 has an adaptive elastic meshing tooth body 12 at the front end of the first rack that elastically meshes with the active gear 6. Its bottom stop and hard limit abut against each other to maintain the state, so as to realize instantaneous meshing transmission during the start-up phase. The others maintain a preset gap with the active gear 6 to form a non-meshing standby structure. The elastic locking component 7 and the initial locking recess 9a on the slide rail base 1 are used to achieve locking and retention, and the end of the stroke is automatically disengaged and locked by the curved surface action of the target locking recess 9b on the slide rail base 1. The slide rail base 1 is provided with a stroke triggering boss 9. The relay of each rack in the active rack assembly 3 is achieved by the active rack 10 at the end of the stroke of the sliding joint blocking the upper position of the subsequent active rack 11 through the push of the stroke triggering boss 9 and other cooperative methods, so as to realize the timing relay start of the subsequent active rack 11. An end-of-stroke trigger contact 13 of the timing last position rack stroke of the active rack assembly 3 is set on the slide rail base 1 to control the motor to stop and reverse direction; The rear end of the active rack at the first position of the reverse reset timing is equipped with a one-way adaptive elastic meshing tooth body 12, which engages with the hard limit stop to maintain the state, so as to realize instantaneous meshing transmission during reset start-up.

[0032] The driven rack assembly 5 is equipped with elastic locking components 7, which are connected to the gear transmission assembly 4 and move synchronously with the driving rack assembly 3 to output a number of linear drive forces.

[0033] The elastic locking assembly includes a spring ball 7, and an initial locking recess 9a and a target locking recess 9b correspondingly opened on the slide rail base 1. The spring ball 7 of the elastic locking assembly achieves automatic positioning of the rack and smooth disengagement without impact by relying on the elastic force of the curved surface and the action of the locking recess.

[0034] The active rack assembly is laterally configured with a stroke relay bottom stop 14a, a conventional upper stop 14, a non-adjacent upper stop 16, and a slip knot stop 15 as required to achieve drag relay. For positions where there is no structural interference in the transmission path and the transmission is between adjacent rack and pinion drives, the drag relay can be completed directly by using a through-bottom stop or a conventional upper stop. For adjacent rack transmission positions where there is structural interference in the transmission path, a conventional upper stop, together with the hinge stop 15 and the travel trigger boss 9 of the slide rail base 1, are used to form an unobstructed timing relay structure. In situations where cross-station, non-adjacent active rack assemblies require cross-station force transmission relay, the relay top rod 52 or the non-adjacent upper stop 16 form a cross-station relay transmission structure to realize the time-sequential relay and power transmission between non-adjacent active rack assemblies. In some stroke relay conditions, there is a preset axial gap between the hinge block 15 and the corresponding upper block 14 that is being dragged. The corresponding extended hinge block 15a is configured to compensate for the gap difference between the blocks, ensure reliable long-distance contact and force transmission, and prevent idle dragging and force transmission failure. In non-relay operation, the hinge block 15 slides in a low position and avoids misalignment with the upper blocks 14 and 16 of various types; in relay operation, the hinge block 15 is lifted when it passes the stroke trigger boss 9, and engages with the corresponding block to transmit force, completing the mechanical timing switch.

[0035] The automated stirrup placement device is based on a single-drive multi-output relay transmission mechanism with several linear power outputs, including a prefabricated stirrup compartment 17 and bending function components 18 symmetrically arranged on the left and right sides of the prefabricated stirrup compartment 17. The bending function component 18 includes an upper bending function component 19, a lower bending function component 20, a pull rod transmission component 21, and a lead screw drive component 22. The upper bending functional component 19 is hinged to a single-drive multi-output relay transmission mechanism linear power output point 23a via a connecting rod to drive the front pressure plate connecting rod 24. The single-drive multi-output relay transmission mechanism linear power output point 23b drives the rear pressure plate connecting rod 25 to rotate. The single-drive multi-output relay transmission mechanism linear power output point 23c is connected to the upper gear of the lead screw drive component 22 to drive the lead screw drive component 22 to rotate. The upper lead screw of the lead screw drive component 22 is connected to the slide nut. The slide nut is connected to the slide on the upper bending functional component 19 to drive the upper bending functional component 19 to rotate. The front pressure plate is set in the annular guide rail 29, and the rear pressure plate is set in the annular guide rail 30. The lower bending function component 20 is connected to the tie rod transmission component 21 via a connecting rod. The tie rod transmission component 21 is connected to a linear power output point 23d of a single-drive multi-output relay transmission mechanism to drive the upper pressure plate connecting rod to rotate. The lower end of the lead screw of the lead screw drive component 22 is connected to the slider nut and the sliding track. The sliding track is slidably connected to the bottom plate of the lower bending function component 20 to drive the lower bending function component 20 to rotate. The upper pressure plate is set in the annular guide rail 35. The upper bending functional component 19 and the lower bending functional component 20 are initially in the open avoidance position, and their inner sides enclose each other to form an interference-free avoidance channel that adapts to the longitudinal and corner ribs.

[0036] The longitudinal rib inlets of each pressure plate execution unit are located on the front side of the mechanism. After the longitudinal ribs enter through the inlets of the pressure plate execution units, they are arranged coaxially with the corresponding pressure plates. The bending functional component 18 includes an annular guide rail 29 and a front pressure plate execution unit 26, an annular guide rail 30 and a rear pressure plate execution unit 27, and an annular guide rail 35 and an upper pressure plate execution unit 28. In the initial state, the end of the connecting rod 24 of the front pressure plate execution unit 26 is positioned rearward, the end of the connecting rod 25 of the rear pressure plate execution unit 27 is positioned rearward, and the end of the connecting rod of the upper pressure plate execution unit 28 is positioned downward. Each pressure plate execution unit operates in sequence according to the preset mechanical timing. The front pressure plate execution unit 26 moves forward to press and bend the steel bar, the rear pressure plate execution unit 27 moves forward without stopping, and the upper pressure plate execution unit 28 presses and bends the steel bar upward, so that the bent section enters the area between the front pressure plate connecting rod 24 and the rear pressure plate connecting rod 25. The front pressure plate connecting rod 24 is fixedly installed with a rib retractor 51, and the rear pressure plate execution unit 27 is equipped with an elastic telescopic rib locking mechanism.

[0037] The precast stirrup compartment 17 is a one-piece structure with left and right mirror symmetry.

[0038] The inner edge dimension of the precast stirrup compartment 17 is the same as the outer edge dimension of the precast stirrup. The compartment frame is provided with baffles at both ends and a precast stirrup pushing spring is provided in the middle of the compartment. The middle part of the pushing spring is fixed to the inner wall of the stirrup compartment and pushes the precast stirrups stored on both sides, and clamps and fixes them with the baffles at both ends of the compartment frame. The precast stirrup compartment 17 has corner rib alignment and calibration structures at both ends, which are used to position the stirrup placement device when it enters the working position. The upper and lower corner ribs on the left and right sides are locked with the upper and lower calibration structures to position the stirrup placement device in the working position. The upper bending functional component 19 and the lower bending functional component 20 are respectively hinged to the upper and lower frames of the precast stirrup compartment 17. The screw drive component 22 is set on the bearing seat of the rear frame of the precast stirrup compartment 17. The positive and negative screws at its upper and lower ends drive the upper bending functional component 19 and the lower bending functional component 20 to rotate and open and close synchronously. The precast stirrup compartment 17 is equipped with a tie rod guide seat 31 and a tie rod guide seat 32 outside the frame, which provide guidance for the first tie rod 33 and the second tie rod 34 respectively. The first tie rod 33 transmits the power of the driven rack to the upper pressure plate connecting rod to complete the spinning. The second tie rod 34 transmits the sliding power of the upper bending functional component 19 slide rail base to the upper pressure plate base, so as to realize that the upper corner ribs and lower corner ribs enter or exit the upper and lower pressure plate inlets simultaneously.

[0039] The upper and lower ends of the lead screw drive assembly 22 adopt a bidirectional lead screw structure with positive and negative leads, which, together with the slider nut and the sliding track, drive the upper and lower bending function assembly 20 to rotate and open and close synchronously.

[0040] When using it, please operate as follows: S1. The single power drive unit 2 starts in the forward direction. The first active rack assembly in the forward direction relies on the front adaptive elastic meshing tooth body 12 to instantly mesh with the active gear 6. It is connected to the relay gear transmission assembly and the driven rack assembly to realize the output of the first process power. S2. The active rack assembly 10, through its end stroke, is triggered by the sliding rail base 1 and pushed by the movable joint stop, which then engages with the upper stop of the next active rack assembly, initiating a sequential relay start. By adjusting the positions of the stops, relay push rods, non-adjacent stops, the boss, and the movable joint stop 15, as well as the configuration of the relay gear transmission assembly 4, the timing and length of the power output can be arbitrarily adjusted. For non-adjacent cross-station transmission requirements, the relay push rod or the non-adjacent upper stop 16 completes the long-distance rack relay power transmission, achieving cross-station sequential start. For cases where there is axial spacing between the stops, the movable joint stop 15 is lengthened to compensate for the spacing and ensure smooth relay power transmission. S3. Each set of active rack and pinion assemblies meshes with the active gear in sequence and automatically disengages at the end of the stroke, and drives the driven rack and pinion assembly through the relay gear assembly to complete the corresponding power output; S4. After the forward process is completed, the last active rack and pinion assembly in the timing sequence triggers the stroke contact to control the motor to stop and reverse direction; S5. The power unit reverses and resets the first active rack assembly by relying on the rear adaptive elastic meshing tooth body 12 to instantly mesh with the active gear, and each mechanism is reset sequentially by relying on the mechanical relay structure. S6. The entire machine mechanism is reset sequentially. When the last rack in the reset sequence reaches the initial position, it touches the stop reset switch, the power stops, and the entire machine returns to the initial avoidance standby position, completing one fully automatic closed-loop operation cycle.

[0041] The specific operation method of the stirrup placement device is as follows: Step 1: Upon entering the initial state, both the active rack assembly and the driven rack assembly are engaged with the relay gear transmission assembly. The lower slide rail of the first positive rack of the active rack assembly 3 does not have an initial point concave point, and is held by a hard limit and the rack's through-bottom stop, adaptive elastic meshing teeth, and the active gear. The lower slide rail of the last sequential rack does not have a target point concave point, and is held by a hard limit and the rack's through-bottom stop, adaptive elastic meshing teeth, and the active gear before resetting.

[0042] The stirrup placement device is delivered by a robotic arm or gantry crane to the side where the longitudinal reinforcement has been deployed. It moves forward along the opening between the upper and lower bending functional components and enters the upper and lower corner reinforcements on the left and right sides of the opening, as well as the upper and lower calibration structures on the left and right sides, to position the stirrup placement device in its working position.

[0043] Step 2: The first precast stirrup is launched on the left (or right): the motor starts to drive the drive gear 6, the front end of the stirrup push rod drive rack assembly is provided with an adaptive elastic meshing tooth 12, which meshes elastically with the drive gear 6, the stirrup push rod drive rack assembly immediately slides forward, driving the stirrup push rod relay gear transmission assembly to rotate, thereby driving the stirrup push rod drive rack forward; The driven rack of the stirrup push rod is hinged to the groove of the stirrup push rod, which drives the stirrup push rod to push the first precast stirrup on the left side to the calibration position through the guide hole of the stirrup push rod. The upper limb of the precast stirrup is pushed out above the outer upper corner bar, and the lower limb of the precast stirrup is pushed out below the outer lower corner bar.

[0044] The precast stirrups are pushed to the position calibration position, and the elastic locking component of the stirrup push rod driven rack locks at the target point concave point.

[0045] The last tooth of the stirrup push rod active rack assembly disengages from the stirrup push rod relay gear transmission assembly and continues forward (this process occurs for all active rack assemblies). The rear stop drags the front stop of the movable rack active rack assembly, which then moves forward and engages with the drive gear. The stirrup push rod active rack assembly continues forward, and the spring convex ball 7 on the stirrup push rod active rack assembly enters the edge of the target locking recess on the slide rail base 1. The last tooth of the stirrup push rod active rack assembly disengages from the drive gear and locks into the target recess. Result: The precast stirrup's upper and lower bends clamp the inner upper and lower corner ribs, and the precast stirrup is pushed into place.

[0046] Step 3: The active rack assembly drives the driven rack via the relay gear transmission assembly. The end shaft of the driven rack is connected to the slot of the active rack. The active rack is slidably installed in the guide hole of the active rack seat. The side rack of the active rack is connected to the top gear of the upper and lower base plate drive screw as a rack gear. The top gear of the upper and lower base plate drive screw and the other end of the upper and lower base plate drive screw are provided with screws. The upper and lower screws are positive and negative screws and are threaded to the slider nut of the upper and lower bending mechanism. The slider nut is provided with slides on both sides. The slides are slidably connected to the specific slide 41 of the slide rail base 1. The height meets the stroke requirements of the rack and slide rail assembly.

[0047] The upper and lower base plates are driven by a movable rack to rotate the top gear of the drive screw. The upper and lower bending mechanisms are then driven by a nut slider to rotate along the hinge axis until they reach a hard limit at the front end, where they lock with the driven rack of the movable rack at the target position. As a result, the opening of the annular guide rail of the upper and lower bending mechanisms and the opening of the rotating bending pressure plate are horizontally aligned with the outer upper and lower corner ribs.

[0048] Step 4: The active rack assembly moves forward, and the side-mounted bottom stop pushes the relay push rod 52 through the bottom stop. The relay push rod 52 has guide holes 53 in the middle of both ends of the bottom stop. A guide shaft seat 54 is provided at the corresponding position on the rack and slide rail assembly. The other end of the relay push rod 52, through the bottom stop, drags the active rack assembly of the slide rail assembly base plate. The active rack assembly of the slide rail assembly base plate drives the slide rail assembly base plate relay gear transmission assembly, which in turn drives the driven rack assembly of the slide rail assembly base plate. The driven rack assembly of the slide rail assembly base plate has a drive rack on its side. A drive intermediate wheel drives the lateral rack of the upper bending mechanism base plate, which in turn drives the slide rail assembly base plate forward. The slide rail assembly base plate is equipped with a connecting rod, and the end shaft of the connecting rod is connected to the arc-shaped groove of the second pull rod 34. The second pull rod 34 is installed in the second pull rod guide seat 31. The other end arc-shaped groove of the second pull rod 34 is connected to the end shaft of the lower bending mechanism slide rail connecting rod, which simultaneously drives the lower slide rail forward. The upper and lower corner ribs enter the axis position of the rotating bending pressure plate, and the elastic locking component of the slide rail assembly base plate drive rack assembly is locked in the concave point of the target point.

[0049] Step 5: The active rack assembly on the slide rail assembly base plate disengages from the relay gear transmission assembly on the slide rail assembly base plate and continues to move forward.

[0050] The sliding rail assembly base plate active rack assembly side hinge block 15 moves to the boss and is lifted, dragging the non-adjacent upper block 16 of the front pressure plate active rack assembly forward, and the sliding rail assembly base plate active rack assembly moves forward to its target concave point locking position.

[0051] Step 6: The front pressure plate active rack assembly meshes with the active gear 6, drives the front pressure plate relay gear transmission assembly, drives the front pressure plate driven rack assembly, drives the front pressure plate connecting rod 24, drives the front pressure plate to rotate, and drives the front pressure plate pressing surface to apply force to the precast stirrups to bend them to a set angle.

[0052] The hinged stop 15 on the side of the front pressure plate active rack assembly slides onto the boss, pushing the upper stop 14 on the side of the rear pressure plate active rack assembly forward to mesh with the active gear, driving the rear pressure plate active rack assembly forward, driving the rear pressure plate relay gear transmission assembly, driving the rear pressure plate driven rack assembly forward, driving the rear pressure plate connecting rod 25, and driving the rear pressure plate to rotate at a set angle.

[0053] Step 7: The front pressure plate active rack assembly moves forward and stops at the hard limit position of the front pressure plate active rack assembly. The adaptive elastic meshing tooth body 12 at the rear end of the front pressure plate active rack assembly elastically meshes with the active gear 6 to ensure synchronous meshing when the active gear 6 resets and rotates.

[0054] The active gear 6 drives the rear pressure plate active rack assembly, drives the rear pressure plate relay gear transmission assembly, drives the rear pressure plate driven rack assembly, drives the rear pressure plate connecting rod 25, and drives the rear pressure plate to rotate to a set angle. The rear pressure plate active rack assembly and the rear pressure plate driven rack assembly are both locked at the target concave point.

[0055] The hinged stop 15 on the side of the rear pressure plate active rack assembly slides onto the boss, dragging the upper stop 14 on the side of the upper pressure plate active rack assembly, and the upper pressure plate active rack assembly meshes with the active gear 6.

[0056] Step 8: The active gear 6 drives the active rack assembly of the upper pressure plate, drives the relay gear transmission assembly of the upper pressure plate, and drives the driven rack assembly of the upper pressure plate. The end shaft of the driven rack assembly of the upper pressure plate is connected to the arc-shaped groove of the first pull rod 33. The first pull rod 33 passes through the first pull rod guide seat 32, and the other end arc-shaped groove is connected to the end shaft of the pull rod b. The other end of the pull rod b is hinged to the pull rod a, and the other end of the pull rod a is hinged to the upper pressure plate connecting rod. The upper pressure plate connecting rod drives the upper pressure plate to rotate to a set angle. The driven rack assembly of the rear pressure plate is locked at the target concave point. The upper bent section of the reinforcing bar enters between the front pressure plate connecting rod 24 and the rear pressure plate, inside the rebar retractor 51.

[0057] The driven rack assembly of the upper pressure plate is locked at the target concave point. The driving rack assembly of the upper pressure plate continues to move forward and disengages from the relay gear transmission assembly of the upper pressure plate. The driving rack assembly of the upper pressure plate continues to move forward and locks at the target concave point when it reaches the signal trigger point. It disengages from the driving gear 6 and the signal triggers, causing the motor to stop and reverse to reset.

[0058] Step 9: When the motor reverses, the adaptive elastic meshing tooth 12 at the rear end of the front pressure plate active rack assembly elastically meshes with the active gear 6, dragging the front pressure plate active rack assembly to reset. It then moves to the front pressure plate drive relay gear transmission assembly and meshes with it, driving the front pressure plate relay gear transmission assembly to reset and reverse, driving the front pressure plate driven rack assembly to exit the target concave point position, and the front pressure plate driven rack assembly to reset. The drive link c drives the front pressure plate connecting rod 24 to reset. The rebar gatherer 51, which is connected to the arm of the front pressure plate connecting rod 24, gathers the upwardly bent upper rebar towards the axis to the rear pressure plate pressing surface. The rear pressure plate pressing surface is located on the rear pressure plate pressing seat. The rear pressure plate pressing surface seat is an elastic, retractable "locking tongue" mechanism. When the rebar gatherer 51 gathers the bent rebar from below, it is pulled in from the back of the arc surface. The "locking tongue" retracts into the chamber under the pressure of the rebar end. After the rebar passes, it springs back and enters the rear pressure plate pressing surface.

[0059] Step 10: The extended hinged stop 15a on the side of the front pressure plate active rack assembly slides onto the boss, dragging the upper stop 14 on the side of the rear pressure plate active rack assembly. The rear pressure plate active rack assembly meshes with the active gear 6, and the opening of the front pressure plate is reset to the front end, coinciding with the opening of its annular guide rail.

[0060] The rear pressure plate active rack assembly returns to its original position, drives the rear pressure plate relay gear transmission assembly, drives the rear pressure plate driven rack, drives the rear pressure plate connecting rod 25, drives the rear pressure plate pressing and bending surface to bend the precast stirrups to a set angle, and the rear pressure plate opening returns to its original position so that its front end coincides with the opening of its annular guide rail.

[0061] Step 11: The extended hinge stop 15a on the side of the rear pressure plate active rack assembly slides into the boss, dragging the upper stop 16 on the side of the upper pressure plate active rack assembly. The upper pressure plate active rack assembly meshes with the active gear 6, driving the upper pressure plate relay gear transmission assembly, driving the upper pressure plate driven rack assembly, driving the first pull rod 33 to reset, driving pull rod b, pull rod a, upper pressure plate connecting rod, and upper pressure plate to reset. The spring convex balls 7 of the rear pressure plate active rack assembly and the rear pressure plate driven rack assembly are respectively locked in their initial state concave points. The opening of the upper pressure plate is reset to the point where the front end coincides with the opening of its annular guide rail.

[0062] The top of the upper pressure plate active rack assembly is not adjacent to the upper position stop 16, which drags the upper position stop 14 of the active rack assembly of the slide rail assembly base plate. The active rack assembly of the slide rail assembly base plate meshes with the active gear 6, driving the slide rail assembly base plate relay gear transmission assembly, driving the slide rail assembly base plate driven rack assembly, the side rack of the driven rack assembly of the slide rail assembly base plate drives the intermediate wheel, the intermediate wheel drives the rack on the rotating plate, driving the upper and lower bending mechanism to move backward, and the front pressure plate opening, the rear pressure plate opening, the upper pressure plate opening and each annular guide rail exit the outer upper and lower corner ribs.

[0063] Step 12: The side of the active rack assembly of the slide rail assembly is blocked by a bottom-mounted stop, which pulls the relay top rod 52. The relay top rod drives the active rack assembly of the movable rack to be blocked by the side of the bottom-mounted stop. The active rack assembly of the movable rack meshes with the active gear 6, drives the relay gear transmission assembly of the movable rack, drives the driven rack assembly of the movable rack, drives the movable rack, drives the upper and lower base plates to drive the lead screw to rotate, and drives the upper and lower bending assembly base plates to rotate and reset.

[0064] Step 13: The active rack and pinion assembly with a movable head has a side-through bottom-blocking mechanism that pulls the stirrup push rod. The active rack and pinion assembly with the stirrup push rod meshes with the active gear 6, driving the stirrup push rod to drive the relay gear transmission assembly, driving the stirrup push rod to drive the driven rack, driving the stirrup push rod to reset, and the precast stirrup on the inner side of the stirrup push rod pops outward to fill the gap with the baffle. The active rack and pinion assembly with the stirrup push rod resets to the initial position concave point, and the side-through bottom-blocking mechanism is locked in the hard limit position.

[0065] Step 14: The machine returns to its initial standby position to complete one fully automatic closed-loop operation, and then exits in a loop.

[0066] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A single-drive multi-output relay transmission mechanism, characterized in that: It includes a slide rail base, on which a power drive unit is installed. The active rack assembly is driven in sequence and connected to the driven rack assembly through the relay gear transmission assembly to achieve orderly linear output of multiple power. The output end of the power drive unit is provided with a drive gear. The drive rack assembly and the driven rack assembly are slidably assembled inside the slide rail base. The slide rail base is provided with initial locking points and target locking points for the drive rack assembly and the driven rack assembly, respectively. The drive rack assembly is provided with an elastic locking component and a stroke relay blocking structure, and the driven rack assembly is provided with an elastic locking component. The elastic locking component and the locking point form a locking mechanism. The slide rail base is provided with a stroke triggering boss, which can be used to push the upper stop of the subsequent active rack assembly at the end of its stroke to achieve relay start; The active rack assembly maintains a preset gap with the active gear in the initial state to form a non-meshing standby structure, or it elastically meshes with the active gear through an adaptive elastic meshing tooth body and maintains its posture in cooperation with the hard limit. At the end of the stroke, the active rack assembly's elastic locking component cooperates with the locking recess to achieve automatic disengagement and positioning locking. The driven rack assembly outputs linear drive power by sequentially connecting the relay gear transmission assembly and the driving rack assembly connected thereto.

2. The single-drive multi-output relay transmission mechanism as described in claim 1, characterized in that: The active rack assembly is divided into a forward first rack, a middle timing rack and a timing last rack according to a preset action sequence, and the reverse resets the first rack, the middle timing rack and the timing last rack. The active rack assembly, which is the first in the forward operation sequence, is equipped with an adaptive elastic meshing tooth body at its front end to achieve instantaneous meshing transmission during the start-up phase. The slide rail base has a stroke trigger contact at the end of the stroke of the active rack assembly at the end of the forward timing sequence, which is used to control the motor to stop and reverse. An adaptive elastic meshing tooth body is set at the rear end of the active rack assembly at the first step of the reverse reset timing to achieve instantaneous meshing transmission during the reset start-up phase; The slide rail base has a stroke trigger contact at the end of the stroke of the active rack assembly at the end of the reverse reset sequence, which is used to control the motor to stop and enter the standby state.

3. The single-drive multi-output relay transmission mechanism as described in claim 1, characterized in that: The elastic locking assembly includes a spring ball, which is located in a pin hole at a specific position on the bottom surface of the rack, and an initial locking recess and a target locking recess corresponding to the opening on the slide rail base. The elastic locking assembly achieves automatic positioning of the rack and smooth disengagement without impact by relying on the elastic force of the curved surface of the spring ball and the concave surface of the locking recess.

4. The single-drive multi-output relay transmission mechanism as described in claim 1, characterized in that: The relay mechanism of the active rack assembly includes a stroke relay stop and a relay top rod. The stroke relay stop is divided into a bottom stop, a conventional upper stop, a non-adjacent upper stop, and a hinged stop. The transmission path has no structural interference and is the position of the transmission of adjacent active rack and pinion assemblies. The drag relay can be completed directly by using a through-bottom stop or a conventional upper stop. The relay transmission setting for adjacent active rack assemblies with structural interference in the transmission path adopts a conventional upper position stop combined with a hinge stop and a slide rail base stroke trigger boss to form an unobstructed timing relay structure. In situations where cross-station, non-adjacent active rack assemblies require cross-station relay force transmission, the non-adjacent upper-position clamps form a spaced-position relay transmission structure, thereby realizing the sequential relay and power transmission between non-adjacent active rack assemblies. In some stroke relay operations, there is a preset axial gap between the hinge block and the corresponding upper block that is being dragged. An extended hinge block is configured accordingly to compensate for the gap difference between the blocks, ensuring reliable force transmission over long distances and preventing idle dragging and force transmission failure. In non-relay operation, the swivel stop slides in a low position and avoids misalignment with various types of upper stops; in relay operation, the swivel stop is lifted when it passes the travel trigger boss, and engages with the corresponding upper stop to transmit force, completing the mechanical timing switch. The relay push rod has bottom-through stops at both ends, one on the side of a non-adjacent preceding active rack assembly and the other on the side of a non-adjacent following active rack assembly. Each bottom-through stop has a guide hole and is slidably connected to the guide shaft of the guide seats at both ends. The guide seats at both ends are mounted on a slide rail base, with an appropriate gap between the bottom-through stops and the guide seats. The bottom-through stops on the sides of both the preceding and following active rack assemblies have guide holes and are slidably connected to the guide shaft of the guide seats. The end stroke of the preceding active rack assembly drags the bottom-through stops of the relay push rod, and the bottom-through stops on the other end of the relay push rod drag the bottom-through stops of the following active rack assembly forward to mesh with the active gear, completing the relay output.

5. The single-drive multi-output relay transmission mechanism as described in claim 1, characterized in that: Follow these steps: S1. The single power drive unit starts in the forward direction. The first active rack assembly relies on the front adaptive elastic meshing tooth body to mesh with the active gear, driving the relay gear transmission assembly and the driven rack assembly to output the first process power. S2. The next process's active rack assembly is triggered mechanically by pulling the upstream active rack assembly at the end of its stroke, or by using a relay push rod or the slide rail base to push the upper stop of the active rack assembly. This triggers the sequential relay start of the next process's active rack assembly. By adjusting the positions of the boss, stops, non-adjacent stops, hinged stops, and relay push rod, as well as the configuration of the relay gear transmission assembly and the driven rack assembly, the timing, position, and length of the extended reset push rod can be arbitrarily adjusted. For non-adjacent cross-station transmission requirements, the relay force transmission of the rack is completed through non-adjacent upper stops or relay push rods, achieving cross-station sequential start. For cases where there is axial spacing between stops, the spacing is compensated by lengthening the hinged stops to ensure smooth relay force transmission. S3. Each group of active rack and pinion assemblies engages and transmits power sequentially and automatically disengages and locks at the end of the stroke, driving the driven rack and pinion assembly through the relay gear assembly to complete the corresponding power output; S4. After the forward process is completed, the last active rack and pinion assembly in the timing sequence triggers the travel contact on the slide rail base to control the motor to stop and reverse direction. S5. The power unit reverses, and the first-order active rack assembly is reset by relying on the rear adaptive elastic meshing tooth body to instantly mesh with the active gear. Each mechanism is reset sequentially by relying on the mechanical relay structure. S6. The entire machine mechanism is reset sequentially. When the last rack in the reset sequence reaches the initial position, it touches the stop switch on the slide rail base, the power stops, the entire machine returns to the standby position, and one fully automatic closed-loop operation cycle is completed.

6. An automated stirrup placement device using the single-drive multi-output relay transmission mechanism as described in claims 1-5, characterized in that: It includes a precast stirrup compartment and bending functional components symmetrically arranged on the left and right sides of the precast stirrup compartment; The bending function component includes an upper bending function component, a lower bending function component, a pull rod transmission component, and a lead screw drive component; The upper bending functional component includes an upper functional component and a base plate, which are slidably connected. A lateral rack is set at a specific position on the base plate, which meshes with an intermediate wheel through a reserved hole in the slide rail base of the upper functional component. The intermediate wheel meshes with a linear power output lateral rack of a single-drive multi-output relay transmission mechanism, driving the upper functional component to slide back and forth relative to the base plate. The base plate is hinged to the upper wall of the precast stirrup compartment. Several connecting rods of the upper bending functional component are hinged to several linear power outputs of the single-drive multi-output relay transmission mechanism, driving the front pressure plate connecting rod and the rear pressure plate connecting rod to rotate. The upper gear of the screw drive component is connected to a linear power output of the single-drive multi-output relay transmission mechanism to drive the upper bending functional component to rotate. The screw drive component is installed in the bearing seat on the rear wall of the precast stirrup compartment. The lower bending functional component includes a lower functional component and a base plate, which are slidably connected. The base plate is hinged to the lower wall of the precast stirrup compartment. It is connected to the linear power output of the single-drive multi-output relay transmission mechanism through a connecting rod transmission component to drive the upper pressure plate connecting rod to rotate. The lower end of the screw drive component is connected to a slider nut, which is slidably connected to the slide rail of the lower bending functional component base plate to drive its rotation. The upper bending functional component and the lower bending functional component are initially in the opening and avoidance position, and their inner sides are closed to form an interference-free avoidance channel that adapts to the longitudinal and corner ribs.

7. The automated stirrup placement device as described in claim 6, characterized in that: The bending function component includes a front pressure plate execution unit, a rear pressure plate execution unit, and an upper pressure plate execution unit, which are respectively set in their respective annular guide rails; Each pressure plate execution unit and its annular guide rail longitudinal rib inlet is located on the front side of the mechanism. After the longitudinal rib enters through the inlet, it is arranged coaxially with the corresponding pressure plate. Each pressure plate execution unit operates in sequence according to the preset mechanical timing. The front pressure plate first presses and bends the steel bar, the rear pressure plate moves forward without stopping, and the upper pressure plate presses and bends the steel bar upward, so that the bent section enters the area between the front pressure plate connecting rod and the rear pressure plate connecting rod. A rib retractor is provided on the front pressure plate connecting rod, and an elastic telescopic rib locking mechanism is provided on the rear pressure plate execution unit.

8. The automated stirrup placement device as described in claim 6, characterized in that: The precast stirrup compartment is a one-piece structure with left and right mirror symmetry; The inner edge dimension of the precast stirrup compartment is not less than the outer edge dimension of the precast stirrup. The compartment frame is provided with baffles at both ends and a precast stirrup pushing spring is provided in the middle of the compartment. The middle part of the pushing spring is fixed to the inner wall of the stirrup compartment and pushes the precast stirrups stored on both sides, and clamps and fixes them with the baffles at both ends of the compartment frame. The precast stirrup compartment is equipped with corner bar alignment and calibration structures at both ends, which are used to position the stirrup bar arranger when it enters the working position. The upper and lower corner bars on the left and right sides are locked with the upper and lower calibration structures to position the stirrup bar arranger in the working position. Two tie rod guide seats are installed outside the precast stirrup silo frame to provide guidance for the first tie rod and the second tie rod respectively. The first tie rod transmits the linear power output of a single-drive multi-output relay transmission mechanism to the upper pressure plate connecting rod to complete the spinning. The second tie rod transmits the forward and backward sliding power of the upper functional component slide rail base to the upper pressure plate chassis. The upper and lower ends of the first tie rod and the second tie rod are provided with arc grooves and shaft connections at the ends of the connecting rods.

9. An automated stirrup placement device as described in claim 6, characterized in that: The upper and lower ends of the lead screw drive assembly adopt a bidirectional lead screw structure with positive and negative leads, connecting its slider nut to the base plate sliding track, driving the upper and lower bending function components to rotate and open synchronously.

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