The present invention provides an assembling structure of prefabricated concrete components. The sleeve includes a non-grout connection section and a grout connection section. The steel frame includes an inner barbed structure and an outer barbed structure. The diameter of the channel surrounded by a plurality of inner barbed structures is smaller than the diameter of the second to-be-connected steel bar. The diameter of the contour surrounded by a plurality of outer barbed structures is larger than the diameter of the inner chamber of the grout connection section. The alignment device includes a lower bearer and an upper bearer. The upper bearer and lower bearer are both electromagnets. The same magnetic poles of the upper bearer and the lower bearer are oppositely arranged, and the upper bearer and the lower bearer are connected in series in the same circuit.