EP0813457A1 - Method for assembling reinforcements for concrete elements, and apparatus therefor - Google Patents

Method for assembling reinforcements for concrete elements, and apparatus therefor

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Publication number
EP0813457A1
EP0813457A1 EP96905890A EP96905890A EP0813457A1 EP 0813457 A1 EP0813457 A1 EP 0813457A1 EP 96905890 A EP96905890 A EP 96905890A EP 96905890 A EP96905890 A EP 96905890A EP 0813457 A1 EP0813457 A1 EP 0813457A1
Authority
EP
European Patent Office
Prior art keywords
robot
assembly
tool
tracing
area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP96905890A
Other languages
German (de)
French (fr)
Other versions
EP0813457B1 (en
Inventor
Gilles Primot
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Individual
Original Assignee
Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP0813457A1 publication Critical patent/EP0813457A1/en
Application granted granted Critical
Publication of EP0813457B1 publication Critical patent/EP0813457B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
    • B21F27/20—Making special types or portions of network by methods or means specially adapted therefor of plaster-carrying network

Definitions

  • the invention relates to the preparation and assembly of elements of metal reinforcements for the reinforcement of construction elements or of products which it is desired to produce in so-called reinforced concrete.
  • the structure of a structure to be produced is conventionally the subject of a study by a design office which determines, in particular as a result of resistance calculations of the materials, the characteristics (constitution and geometry) of the framework ( therefore reinforcements) to be integrated into each element (panel, slab, pre-slab, etc.) of the structure. These characteristics are notably materialized by a design plan.
  • the basic elements of a reinforcement are concrete rods of various diameters, and the design of the reinforcement of the flat elements to be made of reinforced concrete can provide for the use of a wide variety of such concrete rods to allow a suitable reinforcement of each zone of each planar element (for example, it is easily understood that in a vertical panel the reinforcement must be greater above the opening of a door than in a solid zone without opening).
  • this reinforcement in each zone must be sufficient to guarantee good mechanical strength, but with a sufficiently moderate safety coefficient not to correspond to an unnecessary excess of reinforcement.
  • this need for reinforcement exists in principle differently in various directions of an element. any plane (for example along the horizontal and vertical directions of a vertical panel).
  • Optimal reinforcement of a given planar element therefore justifies choosing types, diameters, numbers and spacing of concrete rounds that can vary significantly from one area to another.
  • the reinforcing elements are placed and assembled on site, in the formwork to receive the concrete or in the immediate vicinity thereof, using a plan on a reduced scale supplied to the reinforcement team leader.
  • the position of the reinforcements is identified by transferring the dimensions of the plans using meters or decameters, then materialized by manual tracing using industrial chalks.
  • the reinforcement element is complex, it is sometimes carried out a sketch on a concrete area, representing the characteristic points of the formwork.
  • the reinforcements are produced using prefabricated pieces of reinforcement which, after cutting, are placed on the part of the work to be concreted and then completed by reinforcing elements which either do not could be part of the prefabricated pieces, either used to assemble the various parts hides.
  • this prefabrication requires heavy installations located at a distance from the site, which means that this option is only possible provided that the prefabricated pieces are produced in panels respecting the road gauge (to be able to be transported and then cut on site ), or are precut in the workshop and then transported (provided of course that the pieces thus precut themselves respect the road gauge.
  • This option however has the disadvantage of a small number of possible meshes for the prefabricated pieces and of a low choice in the diameters of the rounds used, - it is ultimately quite difficult to manage (supply, assembly, etc.)
  • document FR-2,639,390 teaches to position reinforcement components, according to a previously defined distribution diagram which corresponds in particular to the longitudinal distribution of the components or families of components, by memorizing this diagram, in effect killing an electronic reading of the memory and automatically transposing the data on a support to display the distribution of at least one component or family of components.
  • This display is done using longitudinal rules provided with hardware markers, for example luminous (diodes) admitting several states.
  • hardware markers for example luminous (diodes) admitting several states.
  • this solution has the disadvantage of only applying to simple diagrams involving longitudinal components having an imposed initial configuration (in abutment against a cross member) and transverse components which in principle must have fixed transverse positions. .
  • this solution does not make it possible to dispense with the obligation of an indirect location when the reinforcement components are installed.
  • their assembly is conventionally carried out (see in particular document FR-2,691.996): - by ligating with annealed wire,
  • the object of the invention is to overcome the aforementioned drawbacks by means of a method and an installation intended for its implementation, which allows in a simple manner, fast and yet reliable, the preparation and assembly of a concrete reinforcement, in. strict compliance with a design plan, whatever the complexity of this plan (whether it corresponds to a slab, a pre-slab or a vertical panel). Consequently, it aims to alleviate the practical constraints that design offices have to take into account when determining a reinforcement design plan and therefore to allow better optimization of reinforcement taking into account the calculations of strength of materials.
  • the assembly is a welding by addition of metal
  • the carriage further comprises a degree of freedom in vertical translation and the assembly operation comprises a sub-operation d bringing the assembly tool successively to each assembly point provided by the design plane
  • the carriage further comprises a degree of freedom in rotation
  • a surveillance field surrounding a specific action area of said tool is made to be monitored by an optical sensor integral with the tool, and the configuration of the carriage is corrected by the robot if this specific action area is at deviation of a crossover zone between reinforcing elements detected in the surveillance field, so as to cancel this deviation
  • an optical field of view is chosen for the optical sensor which is on the work surface an area whose dimensions are substantially equal to predetermined tolerances between real assembly points and theoretical points conforming to the design plan, and triggers an alarm when no crossing zone is detected in the surveillance field and the tool is at an assembly point provided by the plan,
  • the tracing operation includes a shuttering tracing sub-operation.
  • the invention also provides an installation for the preparation and assembly of a flat reinforcement for a concrete product according to a predetermined design plane, comprising a work plane having two reference directions and an assembly tool for assembling the reinforcing elements previously placed on the work surface at a plurality of crossing points, characterized in that it also comprises, for the assembly tool, a robot comprising a memory area intended for contain all the data of the design plan, and a carriage carrying said assembly tool, having at least two degrees of freedom parallel to the reference directions, and adapted to be moved, with said assembly tool, by the robot in accordance with all the data in the memory area for assembly.
  • the assembly tool is a device for welding by adding metal
  • the carriage further comprises a degree of freedom in vertical translation
  • the carriage further comprises a degree of freedom in rotation
  • the trolley also carries a vision equipment secured to the tool having a surveillance field surrounding a punctual zone of action of said tool, the robot comprising software making the robot correct the configuration of the trolley if this punctual zone of action is away from a crossing zone between reinforcing elements detected in the surveillance field, so as to cancel this gap,
  • the vision equipment has a field of view intercepting on the work plan an area whose dimensions are substantially equal to predetermined tolerances between real assembly points and theoretical points in accordance with the design plan, and is adapted to trigger an alarm when no crossing zone is detected in the surveillance field and the tool is at an assembly point provided by the plan,
  • a tracing tool for drawing in real size on the work plan a plan indicating the location and the type provided by the design plan for each element of the frame to be produced, and a carriage carrying said tool plotting, having at least two degrees of freedom parallel to the reference directions, and adapted to be moved, with said plotting tool, by the robot in accordance with all of the data in the memory area for plotting
  • the tool for tracing comprises a reserve of ink or paint whose color is chosen as representative of a particular type of reinforcing elements
  • the installation comprises, for the tool of tracing, reserves of ink or paint respectively having the colors representative of the various types of reinforcing elements
  • the installation also includes a supply of ink or paint for tracing.
  • each of the layout and assembly tools is fixed to the cart of the same robot, the layout and assembly tools are attached to different robot carts,
  • the robot has a gantry movable longitudinally along its working area, and the carriage is movable on this gantry transverse to this working area,
  • the robot has, parallel to its direction of movement, a dimension smaller than its dimension measured transversely to this direction of movement and to the maximum width of the road gauge.
  • - Figure 1 is a plan view of a possibility of the installation according to the invention, intended for the preparation and assembly of the frames;
  • - Figure 2 shows the plan view of the first work phase, that is to say the tracing of the position of the frames by the gantry on scale 1;
  • FIG. 3 shows the plan view of the second work phase, that is to say the placement of the frames according to the tracings made in the previous phase;
  • FIG. 4 shows the plan view of the third work phase, that is to say the bonding of the frames by the welding robot gantry;
  • FIG. 6A, 6B and 6C show the welding robot in front view, side view and bottom view
  • FIG. 7A and 7B show the diagram of the kinematics of the installation of a concrete ring which "rolls";
  • FIG. 9 shows the field of the optical sensor with the end of the welding gun. According to the invention, it is therefore possible to trace directly the plane of the reinforcement panel from the established plane by the design office using a CAD system specific for reinforcements (of any suitable known type).
  • the information is entered on site using a D.A.O. system.
  • the positioning of the reinforcements during the realization of the plan using the computer-aided drafting system (CAD) is advantageously carried out with the help of particular points of the formwork (concreting stops, reservation, locations of the incorporated metal parts ).
  • the concordance with the formwork plan can be checked in detail, the only tracing of the reinforcements on scale 1 using a robot designed for this use becomes sufficient to achieve the positioning of the reinforcements in perfect agreement with the plans formwork.
  • the tracing robot is for example constituted by a gantry ensuring the tracing of the locations of the reinforcements to be positioned to make the panel.
  • This robot is in the form of a gantry crane whose chassis of mechanically welded design ensures both its framework, the support of the transverse guides with its tracing unit and the natural fairing of the mechanical transmissions and on-board equipment. Its width is adapted on a case-by-case basis depending on the width of the panels to be produced.
  • the measurement along the longitudinal axis can be ensured either by a smooth large diameter wheel fitted with cleaning devices, located between the two drive wheels and rolling on the reference rail, or by a toothed wheel also located between the two wheels and meshing on a shooting rack located along the track.
  • the transverse axis is materialized by two precision guides of length adapted to the width of the panels and between which moves a carriage mounted on precision rollers. On this axis, the measurement is taken directly on the motorization, the drive being without slip.
  • the motorizations of the two axes are of robotic type and the transmissions are made by toothed belts which allows the plotting robot to make bias and curved plots with very high precision.
  • the materialization of the tracing is done using water-based paint, which has the particularity of being very visible while permanently adhering to the work surface.
  • the automation is managed by a central unit integrated into the chassis of the plotting robot. This, on the one hand, stores the orders of the layout of the panels in the format
  • HPGL HPGL and, on the other hand, manages all manual and automatic functionality. Data transfer is carried out by means of rigid magnetic cards or by serial link.
  • the power supply will be by reel.
  • the site foreman who received from the design office a memory card containing the data for tracing the sketch necessary for the implementation of the reinforcements of the panel to be assembled, introduces this card into the reader of the plotting robot.
  • the site manager transfers the data to the memory of the plotting robot.
  • the plotting robot is then operational.
  • the plotting robot is positioned at the start of the process by the site manager using manual controls.
  • the plotting robot can be started.
  • the reinforcements are arranged by operators according to the traces of the reinforcements produced by the tracing portal.
  • the realization of the traces on the scale allows a quick visual control of the shape parameters of the reinforcement that it has just set up.
  • the reinforcements when the diameter of the reinforcements specified by the plan and its nomenclature allows, the reinforcements come from a decoiler-stiffener-shaping machine installed near the work trays, using armatures supplied in reels.
  • the characteristics of the reinforcements (length, shapes %) come directly from the nomenclature established by the CAD system. For the characteristics of reinforcements that do not allow it, the reinforcements will be cut and shaped in traditional workshops.
  • the characteristics of the reinforcements can come directly from the computerized nomenclature of the plan established by the D.A.O. system. without new entry operation.
  • the frames are bonded by adding metal.
  • the welding gun is, as for tracing, guided by the information coming from the computer system having been used to draw the execution plan for the reinforcements.
  • a digital vision system or, more generally, an optical sensor allowing shape recognition, makes it possible to correct the trajectory of the welding gun in order to adapt the position of this welding gun relative to the intersection to be bonded (distance torch / point , angle of approach, point of impact of the arc).
  • To the movement of the carriage in two horizontal directions is preferably added a rotation about a horizontal axis. There is also a vertical movement near each assembly to be produced.
  • a control unit manages the welding system and the optical sensor. From the analysis of the diameters of the reinforcements constituting the intersection and from the location of the precise position of these reinforcements, are deduced the very optimal welding parameters (positioning angle of the gun, welding current intensity, wire feed speed welding flux-cored wire, etc.).
  • This capacity for self-adaptation of the welding system enables quality bonding of the concrete rods, whatever the diameter of the reinforcements, despite the shape parameters of the concrete rods (height, spacing, length, inclination of the locks or of the indentations) which cause a natural displacement of this concrete ring compared to the theoretical positioning of the plan.
  • the adjustment of the digital vision system or of the optical sensor is carried out so that the bonding of the intersections of the reinforcements is carried out only within the tolerances defined by the regulations for the calculation of reinforced concrete, or even within the tighter tolerances required for a structure. particular.
  • a work station, intended for the assembly of concrete reinforcing bars, is shown in FIG. 1.
  • the tracing gantry for the reinforcements 10 is positioned at the start of its raceway 20 which will allow it to cover the work platform 30
  • the site manager introduces the computer diskette 11 into a reader connected to the central unit 12 (FIG. 5) integrated into the frame of the gantry.
  • the computer diskette 11 contains the tracing data of the reinforcement plan established using the software of D.A.O. After transferring the data from the diskette to a memory in the central unit, the site manager removes the diskette.
  • the tracing portal is operational.
  • the tracing gantry 10 at the end of its raceway 20, has materialized the future positioning of the reinforcements on the work plate 30.
  • the plate 30 has been moved to the area where the reinforcements will be arranged according to the traces produced by the gantry 10.
  • the work trays move along the raceway 21 thanks to the roller skates on which they are fixed.
  • the reinforcements when their characteristics allow it, according to an example of a particular organization of the position for implementing the reinforcements of the invention, given only as an indication, are straightened, cut, shaped using the straightening-cutting machine.
  • -moulder 40 from reels of reinforcing wire 41.
  • the characteristics ques shaping these frames can come from the information contained on the disk 11 and then loaded on a central unit 42 controlling the rectifier-cutter-moulder in a new entry is necessary.
  • the gantry after loading the data, traces another reinforcement element on the plate 31.
  • the plate 30 has been transferred into the zone of evolution of the welding gantry 50 which can move along the raceway 23.
  • the possibility of being able to move the plate 30 from the zone for fitting the armatures towards the evolution area of the gantry 50 and vice-versa gives the possibility of assembling sheets with a number of beds greater than 2. For example, after assembling the first two beds, the tray is brought back to the laying area for the establishment of a third bed which will be assembled to the second bed after movement in the area of evolution of the gantry 50.
  • the computer diskette 11 supporting the information coming from the D.A.O. system. , is inserted into the floppy drive 51 of the central unit 52 (FIG. 6).
  • the information transmitted makes it possible to guide the mobile assembly 53 comprising an arm 54 articulated along 4 axes supporting a welding gun 55 and an optical sensor 56.
  • the trajectory of the mobile assembly 53 is controlled by the information coming from the CAD system following, in a preferential manner, the trace of the upper reinforcements.
  • the optical sensor 56 analyzes the position of the upper reinforcement 71 and the position of the lower reinforcement 72, then compares their respective respective positions (marked by the centers) 73 with their theoretical positions 74 given by the information contained in the computer file generated by the CAD / CAM system.
  • the optical sensor 56 also compares these measured diameters with the theoretical diameters of these reinforcements given by the information contained in the computer file of the plan of the reinforcement element created by the D.A.O. system. and transferred to the central processing unit 52 of the welding robot.
  • the programming of the system is done in such a way that the welding process can only be carried out if the diameters comply with the plan and the positioning of the reinforcements constituting the intersection is within the defined execution tolerances.
  • the optical sensor 56 acquires the profile of the intersection.
  • the analysis makes it possible to deduce the optimal welding parameters, then to adapt the trajectory of the welding gun for positioning optimal of this welding gun compared to the intersection to be glued (torch / point distance, approach angle, point of impact of the arc).
  • the invention provides a great improvement to the existing technique by providing a device for the production of reinforcing elements for reinforced concrete, allowing the assembly with great flexibility (and therefore, consequently, the design of plans likewise with great flexibility), with the possibility of manufacturing either in the factory or on site under the same quality conditions as using computerized self-checking.
  • the vision system is more generally an optical sensor: it is for example the optical laser triangulation sensor proposed by the Canadian company SERVOROBOT under the reference SPOT,
  • the gantries are for example of the type used in another application, namely ROBOTRACE from the French company
  • the invention is not limited to the sole production of flat panels, but that it also applies to the manufacture, under the same conditions, of curved panels or other shapes with the use of conventional negatives or folding systems. Similarly, productivity concerns can lead to mounting several tools on a gantry.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Rod-Shaped Construction Members (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Reinforcement Elements For Buildings (AREA)
  • Manipulator (AREA)
  • Sewage (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Panels For Use In Building Construction (AREA)

Abstract

PCT No. PCT/FR96/00318 Sec. 371 Date Aug. 29, 1997 Sec. 102(e) Date Aug. 29, 1997 PCT Filed Feb. 29, 1996 PCT Pub. No. WO96/27462 PCT Pub. Date Sep. 12, 1996A method for preparing and assembling a planar reinforcement for a concrete element according to a pre-determined design plan, wherein a full-sized plan including the position and type of each element in the reinforcent to be achieved is mapped onto a working surface (30) having two reference directions, a suitable reinforcement element is positioned in each of a plurality of crossing points. The method is characterised in that one or both of the mapping and assembling operations are performed by a tool attached to the carriage of a robot (10), said carriage (10) having at least two degrees of freedom parallel to the reference directions. The method further comprises storing all the design plan data in a storage area of the robot, and using the robot to move the carriage (10) automatically in accordance with said data.

Description

Procédé d'assemblage d'armatures pour produits en béton et installation adaptée à sa mise en oeuyre.Method of assembling reinforcements for concrete products and installation adapted to its implementation.
L'invention concerne la préparation et l'assem¬ blage d'éléments d'armatures métalliques pour le renforcement d'éléments de construction ou de produits que l'on veut réaliser en un béton dit armé. La structure d'un ouvrage à réaliser fait classiquement l'objet d'une étude par un bureau d'études qui détermine, notamment en conséquence de calculs de résistance des matériaux, les caractéristiques (constitution et géomé¬ trie) de l'ossature (donc des armatures) à intégrer dans chaque élément (panneau, dalle, prédalle, etc.) de l'ouvrage. Ces caractéristiques sont notamment concrétisées par un plan de conception.The invention relates to the preparation and assembly of elements of metal reinforcements for the reinforcement of construction elements or of products which it is desired to produce in so-called reinforced concrete. The structure of a structure to be produced is conventionally the subject of a study by a design office which determines, in particular as a result of resistance calculations of the materials, the characteristics (constitution and geometry) of the framework ( therefore reinforcements) to be integrated into each element (panel, slab, pre-slab, etc.) of the structure. These characteristics are notably materialized by a design plan.
Les éléments de base d'une armature sont des ronds à béton de diamètres divers, et la conception de l'armature des éléments plans à réaliser en béton armé peut prévoir l'utilisation d'une grande variété de tels ronds à béton pour permettre un renforcement convenable de chaque zone de chaque élément plan (à titre d'exemple, on comprend aisément que dans un panneau vertical le renforcement devra être plus important au-dessus de l'ouverture d'une porte que dans une zone pleine sans ouverture) . Or ce renforcement en chaque zone doit être suffisant pour garantir une bonne tenue mécanique mais avec un coefficient de sécurité suffisamment modéré pour ne pas correspondre à un excès inutile d'arma- ture. En outre, ce besoin de renforcement existe en principe de manière différente selon diverses directions d'un élément plan quelconque (par exemple selon les directions horizontale et verticale d'un panneau vertical) .The basic elements of a reinforcement are concrete rods of various diameters, and the design of the reinforcement of the flat elements to be made of reinforced concrete can provide for the use of a wide variety of such concrete rods to allow a suitable reinforcement of each zone of each planar element (for example, it is easily understood that in a vertical panel the reinforcement must be greater above the opening of a door than in a solid zone without opening). However, this reinforcement in each zone must be sufficient to guarantee good mechanical strength, but with a sufficiently moderate safety coefficient not to correspond to an unnecessary excess of reinforcement. In addition, this need for reinforcement exists in principle differently in various directions of an element. any plane (for example along the horizontal and vertical directions of a vertical panel).
Un renforcement optimal d'un élément plan donné justifie en conséquence de choisir des types, des diamètres, des nombres et des écartements de ronds de béton pouvant varier sensiblement d'une zone à l'autre.Optimal reinforcement of a given planar element therefore justifies choosing types, diameters, numbers and spacing of concrete rounds that can vary significantly from one area to another.
Or les procédures habituelles de préparation et d'assemblage ne se prêtent pas à une grande complexité dans l'armature d'un élément quelconque. En effet, selon une première option, les éléments d'armature sont posés et assemblés sur le chantier, dans le coffrage devant recevoir le béton ou à proximité immédiate de celui-ci, à l'aide d'un plan à échelle réduite fourni au chef de l'équipe chargée des armatures. Le repérage de la position des armatures est réalisé par report des cotations des plans à l'aide de mètres ou de décamètres, puis matérialisé par traçage manuel à l'aide de craies industrielles. Quand l'élément d'armatures est complexe, il est parfois réalisé une épure sur une aire bétonnée, représentant les points caractéristiques du coffrage. Cette mise en oeuvre est longue et délicate (impliquant notamment diverses vérifications) , compte tenu notamment de l'environnement qui existe sur le chantier et du fait que la pose des armatures (ou "ferrailla- ge") est un métier peu valorisé généralement confié à du personnel peu qualifié (peu motivé) , souvent dans le cadre d'une sous-traitance. Ces circonstances expliquent que les bureaux d'études simplifient parfois leurs plans, quitte à renoncer à l'optimisation de l'armature vis-à-vis des besoins, pour faciliter au mieux la conformité au moment de 1 ' exécution.However, the usual preparation and assembly procedures do not lend themselves to great complexity in the reinforcement of any element. According to a first option, the reinforcing elements are placed and assembled on site, in the formwork to receive the concrete or in the immediate vicinity thereof, using a plan on a reduced scale supplied to the reinforcement team leader. The position of the reinforcements is identified by transferring the dimensions of the plans using meters or decameters, then materialized by manual tracing using industrial chalks. When the reinforcement element is complex, it is sometimes carried out a sketch on a concrete area, representing the characteristic points of the formwork. This implementation is long and delicate (notably involving various verifications), taking into account in particular the environment that exists on the site and the fact that the installation of reinforcements (or "scrap metal") is a low-valued profession generally entrusted to unskilled (poorly motivated) staff, often in the context of subcontracting. These circumstances explain why the design offices sometimes simplify their plans, even if it means giving up optimizing the framework vis-à-vis requirements, to best facilitate compliance at the time of execution.
Selon une autre option, plus récente, les armatures sont réalisées à l'aide de morceaux d'armature préfabriqués qui, après découpe sont posés sur la partie d'ouvrage à bétonner puis complétés par des éléments d'arma- ture qui, soit ne pouvaient faire partie des morceaux préfabriqués, soit servent à l'assemblage des divers mor- ceaux. Bien entendu, cette préfabrication nécessite des installations lourdes situées à distance du chantier, ce qui fait que cette option n'est envisageable que sous réserve que les morceaux préfabriqués soient réalisés dans des panneaux respectant le gabarit routier (pour pouvoir être transportés puis découpés sur place) , ou soient prédécoupés en atelier puis transportés (sous réserve bien sûr que les morceaux ainsi prédécoupés respectent eux-mêmes le gabarit routier. Cette option présente toutefois l'inconvénient d'un faible nombre de mailles possibles pour les morceaux préfabriqués et d'un faible choix dans les diamètres des ronds utilisés ,- elle est finalement assez délicate à gérer (approvisionne¬ ment, assemblage, etc.)According to another, more recent option, the reinforcements are produced using prefabricated pieces of reinforcement which, after cutting, are placed on the part of the work to be concreted and then completed by reinforcing elements which either do not could be part of the prefabricated pieces, either used to assemble the various parts hides. Of course, this prefabrication requires heavy installations located at a distance from the site, which means that this option is only possible provided that the prefabricated pieces are produced in panels respecting the road gauge (to be able to be transported and then cut on site ), or are precut in the workshop and then transported (provided of course that the pieces thus precut themselves respect the road gauge. This option however has the disadvantage of a small number of possible meshes for the prefabricated pieces and of a low choice in the diameters of the rounds used, - it is ultimately quite difficult to manage (supply, assembly, etc.)
Des solutions ont été proposées pour tenter de combiner souplesse dans la conception des plans et facilité et fiabilité dans la réalisation des armatures. Leur mise en oeuvre se fait en principe en atelier (ce qui, on l'a vu, implique de tenir compte des contraintes de gabarit routier) .Solutions have been proposed in an attempt to combine flexibility in the design of the plans and ease and reliability in the production of the frames. Their implementation is in principle done in the workshop (which, as we have seen, implies taking into account the constraints of road gauge).
Ainsi par exemple, le document FR-2.639.390 enseigne de positionner des composants d'armature, selon un schéma de distribution défini préalablement qui correspond en particulier à la répartition longitudinale des composants ou familles de composants, en mémorisant ce schéma, en effec¬ tuant une lecture électronique de la mémoire et en transpo- sant automatiquement les données sur un support pour afficher la répartition d'au moins un composant ou famille de compo¬ sants. Cet affichage se fait à l'aide de règles longitudina¬ les munies de repères matériels, par exemple lumineux (diodes) admettant plusieurs états. Cette solution a toute- fois l'inconvénient de ne s'appliquer qu'à des schémas simples faisant intervenir des composants longitudinaux ayant une configuration de départ imposée (en butée contre une traverse) et des composants transversaux devant en principe avoir des positions transversales fixes. En outre, cette solution ne permet pas de s'affranchir de l'obligation d'un repérage indirect au moment de la pose des composants d'armature. La combinaison de l'obligation de prévoir des plans simples (mais respectant partout les règles de sécuri¬ té) , des difficultés liées aux opérations de préparation manuelle ou des surcoûts imposés par les solutions plus rationnelles, conduit à une pénalité que certains maîtres d'ouvrage ont évalué à plus de 8 kg par mètre cube de béton. Lorsque les éléments ou morceaux d'armatures ont été positionnés, leur assemblage est classiquement réalisé (voir notamment le document FR-2.691.996) : - par ligature au fil de fer recuit,Thus, for example, document FR-2,639,390 teaches to position reinforcement components, according to a previously defined distribution diagram which corresponds in particular to the longitudinal distribution of the components or families of components, by memorizing this diagram, in effect killing an electronic reading of the memory and automatically transposing the data on a support to display the distribution of at least one component or family of components. This display is done using longitudinal rules provided with hardware markers, for example luminous (diodes) admitting several states. However, this solution has the disadvantage of only applying to simple diagrams involving longitudinal components having an imposed initial configuration (in abutment against a cross member) and transverse components which in principle must have fixed transverse positions. . In addition, this solution does not make it possible to dispense with the obligation of an indirect location when the reinforcement components are installed. The combination of the obligation to plan simple plans (but respecting safety rules everywhere), difficulties linked to manual preparation operations or the additional costs imposed by more rational solutions, leads to a penalty that some masters of structure evaluated at more than 8 kg per cubic meter of concrete. When the elements or pieces of reinforcement have been positioned, their assembly is conventionally carried out (see in particular document FR-2,691.996): - by ligating with annealed wire,
- par soudure par résistance,- by resistance welding,
- par collage par apport de métal .- by gluing by adding metal.
Ces techniques d'assemblage ont cependant chacune leurs inconvénients : - la ligature au fil de fer recuit est une opération manuelle dont la productivité est très faible,However, these assembly techniques each have their drawbacks: - ligating with annealed wire is a manual operation, the productivity of which is very low,
- la soudure par résistance nécessite des puissances électri¬ ques augmentant très rapidement avec la dimension des diamètres à assembler, - le collage par apport de métal, exécuté manuellement, est une méthode où la dextérité de l'opérateur constitue le facteur fondamental de la qualité des assemblages réalisés .- resistance welding requires electrical power which increases very rapidly with the size of the diameters to be assembled, - bonding by adding metal, performed manually, is a method where the operator's dexterity constitutes the fundamental factor of quality assemblies made.
Lors des opérations d'assemblage, qui se font en pratique à plat au sol, dès lors que l'encombrement de l'armature dépasse 1 ou 2 m2 , la circulation des opérateurs chargés de cet assemblage fait courir des risques de déplace¬ ment des éléments non encore fixés, ce qui oblige à prévoir à chaque fois une séquence très particulière de fixation des éléments pour garantir autant que possible d'avoir toujours fixé en au moins deux points les éléments susceptibles d'être déplacés lors d'une opération d'assemblage en un point donné, même en une portion centrale de l'armature. Il en découle une grande complexité et donc des risques de retard ou d'erreur.During assembly operations, which are done in practice flat on the ground, as soon as the size of the frame exceeds 1 or 2 m 2 , the movement of the operators responsible for this assembly creates the risk of displacement. elements which are not yet fixed, which means that each time a very specific sequence for fixing the elements has to be provided in order to guarantee as much as possible that the elements capable of being moved during at least two points are always fixed '' assembly at a given point, even in a central portion of the frame. This results in great complexity and therefore risks of delay or error.
L'invention a pour objet de pallier les inconvé- nients précités grâce à un procédé, et à une installation destinée à sa mise en oeuvre, qui permette de façon simple, rapide et pourtant fiable, la préparation et l'assemblage d'une armature pour béton, en. stricte conformité avec un plan de conception, quelle que soit la complexité de ce plan (qu'il corresponde à une dalle, à une prédalle ou à un panneau vertical) . Par voie de conséquence, elle vise à alléger les contraintes pratiques que les bureaux d'études ont à prendre en considération lors de la détermination d'un plan de conception d'armature et donc à permettre une meilleure optimisation des armatures compte tenu des calculs de résistance des matériaux.The object of the invention is to overcome the aforementioned drawbacks by means of a method and an installation intended for its implementation, which allows in a simple manner, fast and yet reliable, the preparation and assembly of a concrete reinforcement, in. strict compliance with a design plan, whatever the complexity of this plan (whether it corresponds to a slab, a pre-slab or a vertical panel). Consequently, it aims to alleviate the practical constraints that design offices have to take into account when determining a reinforcement design plan and therefore to allow better optimization of reinforcement taking into account the calculations of strength of materials.
Elle propose à cet effet un procédé de prépara¬ tion et d'assemblage d'une armature plane pour un produit en béton selon un plan de conception prédéterminé, selon lequel on place sur un plan de travail ayant deux directions de référence les éléments de l'armature à réaliser conformément à ce plan de conception et on assemble deux à deux les éléments de l'armature à réaliser en une pluralité de points de croisement, caractérisé en ce que cette opération d'assem¬ blage est réalisée postérieurement à l'opération de mise en place, par un outil d'assemblage fixé au chariot d'un robot, ce chariot ayant au moins deux degrés de liberté parallèles aux directions de référence, ce procédé comportant en outre une opération consistant à mettre dans une zone de mémoire de ce robot l'ensemble des données du plan de conception, et une opération consistant à faire déplacer le chariot par le robot, de façon automatique conformément auxdites données.To this end, it proposes a process for preparing and assembling a plane reinforcement for a concrete product according to a predetermined design plane, according to which the elements of the element are placed on a work surface having two reference directions. reinforcement to be produced in accordance with this design plan and the elements of the reinforcement to be produced are assembled in pairs at a plurality of crossing points, characterized in that this assembly operation is carried out after the operation positioning, by an assembly tool fixed to the robot carriage, this carriage having at least two degrees of freedom parallel to the reference directions, this method further comprising an operation consisting in putting in a memory area of this robot all the data of the design plan, and an operation consisting in making the carriage move by the robot, automatically in accordance with said data.
Selon des enseignements préférés de l'invention, éventuellement combinés : - l'assemblage est un soudage par apport de métal, - le chariot comporte en outre un degré de liberté en translation verticale et l'opération d'assemblage comporte une sous-opération d'amenée de l'outil d'assemblage successi¬ vement en chaque point d'assemblage prévu par le plan de conception, - le chariot comporte en outre un degré de liberté en rotation, - on fait surveiller par un capteur optique solidaire de l'outil un champ de surveillance entourant une zone ponc¬ tuelle d'action dudit outil, et on fait corriger par le robot la configuration du chariot si cette zone ponctuelle d'action est à l'écart d'une zone de croisement entre éléments d'armature détectée dans le champ de surveillance, en sorte d'annuler cet écart,According to preferred teachings of the invention, possibly combined: - the assembly is a welding by addition of metal, - the carriage further comprises a degree of freedom in vertical translation and the assembly operation comprises a sub-operation d bringing the assembly tool successively to each assembly point provided by the design plane, the carriage further comprises a degree of freedom in rotation, - A surveillance field surrounding a specific action area of said tool is made to be monitored by an optical sensor integral with the tool, and the configuration of the carriage is corrected by the robot if this specific action area is at deviation of a crossover zone between reinforcing elements detected in the surveillance field, so as to cancel this deviation,
- on choisit pour le capteur optique un champ de vue inter¬ ceptant sur le plan de travail une aire dont les dimensions sont sensiblement égales à des tolérances prédéterminées entre points réels d'assemblage et points théoriques confor¬ mes au plan de conception, et on provoque le déclenchement d'une alarme lorsqu'aucune zone de croisement n'est détectée dans le champ de surveillance et que l'outil est en un point d'assemblage prévu par le plan,- an optical field of view is chosen for the optical sensor which is on the work surface an area whose dimensions are substantially equal to predetermined tolerances between real assembly points and theoretical points conforming to the design plan, and triggers an alarm when no crossing zone is detected in the surveillance field and the tool is at an assembly point provided by the plan,
- on fait surveiller par ce capteur optique le diamètre des éléments d'armature à assembler,- the diameter of the reinforcing elements to be assembled is monitored by this optical sensor,
- préalablement à l'opération de mise en place, on trace en grandeur réelle sur le plan de travail un plan indiquant l'emplacement et le type prévus par le plan de conception pour chaque élément de l'armature à réaliser, la mise en place de ces éléments d'armature se faisant en ces emplace¬ ments conformément aux types prévus, cette opération de traçage étant réalisé par un outil de traçage fixé au chariot d'un robot, ce chariot ayant au moins deux degrés de liberté parallèles aux directions de référence, ce procédé comportant en outre une opération consistant à mettre dans une zone de mémoire de ce robot l'ensemble des données du plan de conception, et une opération consistant à faire déplacer le chariot par le robot, de façon automatique conformément auxdites données,- prior to the installation operation, a full-scale drawing is drawn on the work plan indicating the location and the type provided by the design plan for each element of the reinforcement to be produced, the installation of these reinforcing elements being made in these locations in accordance with the types provided, this tracing operation being carried out by a tracing tool fixed to the carriage of a robot, this carriage having at least two degrees of freedom parallel to the directions of reference, this method further comprising an operation consisting in putting in a memory area of this robot all the data of the design plan, and an operation consisting in making the carriage move by the robot, automatically in accordance with said data,
- on connecte à l'outil de traçage une réserve d'encre ou de peinture dont la couleur est choisie comme représentative d'un type particulier d'éléments d'armature, - on connecte successivement à l'outil de traçage des réserves d'encre ou de peinture ayant respectivement les couleurs représentatives des plusieurs types d'éléments d'armature,- We connect to the tracing tool a supply of ink or paint, the color of which is chosen as representative of a particular type of reinforcing element, - we successively connect to the tracing tool reserves of ink or paint having respectively the colors representative of the various types of reinforcement elements,
- l'encre ou peinture de chaque réserve est lavable, grâce à quoi le plan de travail est réutilisable, - chacune des opérations de traçage et d'assemblage est réalisée par un outil fixé au chariot d'un même robot,- the ink or paint of each reserve is washable, thanks to which the work surface is reusable, - each of the tracing and assembly operations is carried out by a tool fixed to the carriage of the same robot,
- les opérations de traçage et d'assemblage sont réalisées par des outils fixés aux chariots de robots différents,- the tracing and assembly operations are carried out by tools attached to different robot carriages,
- ces robots différents ont des zones de travail différentes, et on fait passer le plan de travail successivement par une zone de travail pour le robot de traçage, par une zone pour la pose des éléments d'armature, et par une zone de travail pour le robot d'assemblage,- These different robots have different work areas, and the work plan is passed successively through a work area for the plotting robot, through an area for installing the reinforcing elements, and through a work area for the assembly robot,
- la mise en mémoire de l'ensemble des données est réalisée par introduction d'une disquette dans un lecteur de disquette, l'opération de traçage comporte une sous-opération de traçage de coffrage.- All data is stored in memory by inserting a floppy disk into a floppy disk drive, the tracing operation includes a shuttering tracing sub-operation.
L' invention propose également une installation pour la préparation et l'assemblage d'une armature plane pour un produit en béton selon un plan de conception prédéterminé, comportant un plan de travail ayant deux directions de référence et un outil d'assemblage pour assembler les éléments d'armature préalablement posés sur le plan de travail en une pluralité de points de croisement, caractéri¬ sée en ce qu'elle comporte en outre, pour l'outil d'assem¬ blage, un robot comportant une zone de mémoire destinée à contenir l'ensemble des données du plan de conception, et un chariot portant ledit outil d'assemblage, ayant au moins deux degrés de liberté parallèles aux directions de référence, et adapté à être déplacé, avec ledit outil d'assemblage, par le robot en conformité avec l'ensemble des données de la zone de mémoire pour l'assemblage.The invention also provides an installation for the preparation and assembly of a flat reinforcement for a concrete product according to a predetermined design plane, comprising a work plane having two reference directions and an assembly tool for assembling the reinforcing elements previously placed on the work surface at a plurality of crossing points, characterized in that it also comprises, for the assembly tool, a robot comprising a memory area intended for contain all the data of the design plan, and a carriage carrying said assembly tool, having at least two degrees of freedom parallel to the reference directions, and adapted to be moved, with said assembly tool, by the robot in accordance with all the data in the memory area for assembly.
Selon d'autres enseignements préférés de l' inven- tion éventuellement combinés : - l'outil d'assemblage est un dispositif de soudage par apport de métal, le chariot comporte en outre un degré de liberté en translation verticale, - le chariot comporte en outre un degré de liberté en rotation,According to other preferred teachings of the invention possibly combined: the assembly tool is a device for welding by adding metal, the carriage further comprises a degree of freedom in vertical translation, the carriage further comprises a degree of freedom in rotation,
- le chariot porte en outre un équipement de vision solidaire de l'outil ayant un champ de surveillance entourant une zone ponctuelle d'action dudit outil, le robot comportant un logiciel faisant corriger par le robot la configuration du chariot si cette zone ponctuelle d'action est à l'écart d'une zone de croisement entre éléments d'armature détectés dans le champ de surveillance, en sorte d'annuler cet écart,the trolley also carries a vision equipment secured to the tool having a surveillance field surrounding a punctual zone of action of said tool, the robot comprising software making the robot correct the configuration of the trolley if this punctual zone of action is away from a crossing zone between reinforcing elements detected in the surveillance field, so as to cancel this gap,
- l'équipement de vision a un champ de vue interceptant sur le plan de travail une aire dont les dimensions sont sensi¬ blement égales à des tolérances prédéterminées entre points réels d'assemblage et points théoriques conformes au plan de conception, et est adapté à déclencher une alarme lorsqu' au¬ cune zone de croisement n'est détectée dans le champ de surveillance et que l'outil est en un point d'assemblage prévu par le plan,- the vision equipment has a field of view intercepting on the work plan an area whose dimensions are substantially equal to predetermined tolerances between real assembly points and theoretical points in accordance with the design plan, and is adapted to trigger an alarm when no crossing zone is detected in the surveillance field and the tool is at an assembly point provided by the plan,
- elle comporte en outre un outil de traçage pour tracer en grandeur réelle sur le plan de travail un plan indiquant l'emplacement et le type prévus par le plan de conception pour chaque élément de l'armature à réaliser, et un chariot portant ledit outil de traçage, ayant au moins deux degrés de liberté parallèles aux directions de référence, et adapté à être déplacé, avec ledit outil de traçage, par le robot en conformité avec l'ensemble des données de la zone de mémoire pour le traçage, l'outil de traçage comporte une réserve d'encre ou de peinture dont la couleur est choisie comme représentative d'un type particulier d'éléments d'armature, l'installation comporte, pour l'outil de traçage, des réserves d'encre ou de peinture ayant respectivement les cou¬ leurs représentatives des divers types d'éléments d'armature, - l'installation comporte en outre une réserve d'encre ou de peinture pour un traçage de. coffrage,- It further comprises a tracing tool for drawing in real size on the work plan a plan indicating the location and the type provided by the design plan for each element of the frame to be produced, and a carriage carrying said tool plotting, having at least two degrees of freedom parallel to the reference directions, and adapted to be moved, with said plotting tool, by the robot in accordance with all of the data in the memory area for plotting, the tool for tracing comprises a reserve of ink or paint whose color is chosen as representative of a particular type of reinforcing elements, the installation comprises, for the tool of tracing, reserves of ink or paint respectively having the colors representative of the various types of reinforcing elements, - the installation also includes a supply of ink or paint for tracing. formwork,
- l'encre ou peinture de chaque réserve est lavable, grâce à quoi le plan de travail est réutilisable, - chacun des outils de traçage et d'assemblage est fixé au chariot d'un même robot, les outils de traçage et d'assemblage sont fixés aux chariots de robots différents,- the ink or paint of each reserve is washable, thanks to which the work surface is reusable, - each of the layout and assembly tools is fixed to the cart of the same robot, the layout and assembly tools are attached to different robot carts,
- ces robots différents ont des zones de travail différentes, le plan de travail étant muni de moyens de déplacement permettant son déplacement depuis la zone de travail du robot de traçage jusqu'à la zone de travail du robot d'assemblage, en passant par une zone de pose pour les éléments d'armature.- These different robots have different work areas, the work surface being provided with displacement means allowing its movement from the work area of the plotting robot to the work area of the assembly robot, passing through a installation area for reinforcement elements.
- le robot comporte un portique mobile longitudinalement le long de sa zone de travail, et le chariot est mobile sur ce portique transversalement à cette zone de travail,the robot has a gantry movable longitudinally along its working area, and the carriage is movable on this gantry transverse to this working area,
- le robot a, parallèlement à sa direction de déplacement, une dimension inférieure à sa dimension mesurée transversale¬ ment à cette direction de déplacement et à la largeur maximale du gabarit routier.- The robot has, parallel to its direction of movement, a dimension smaller than its dimension measured transversely to this direction of movement and to the maximum width of the road gauge.
On appréciera que l' invention permet, notamment :It will be appreciated that the invention allows, in particular:
- de supprimer les temps de repérage et de traçage, ou de vérification, nécessaires à la pose ou à l'assemblage d'un ensemble d'armatures. Ceci entraîne des gains de productivité de l'ordre de 20 à 25 % du temps total de montage. Elle permet, de plus, de supprimer les erreurs éventuelles liées au calcul et à la mesure ou au contrôle manuel des interval¬ les ;- to remove the tracking and tracing times, or verification, necessary for the installation or assembly of a set of reinforcements. This results in productivity gains of the order of 20 to 25% of the total assembly time. It also makes it possible to eliminate any errors linked to the calculation and to the measurement or manual control of the intervals;
- de réduire les temps d'assemblage des ronds à béton ; - de souder tous les diamètres de ronds à béton, y compris les gros ronds à béton (de 10 à 56 mm de diamètre, voire plus) ;- to reduce the assembly times of the concrete bars; - weld all diameters of concrete rods, including large concrete rods (from 10 to 56 mm in diameter, or even more);
- de garantir la résistance de l'assemblage ;- to guarantee the resistance of the assembly;
- de garantir le respect des caractéristiques des armatures assemblées ;- guarantee compliance with the characteristics of the assembled fittings;
- de réduire les temps de manutention ; - de contrôler automatiquement, juste avant l'assemblage, le respect des tolérances de positionnement des armatures, et la conformité avec le plan de ferraillage du positionnement des armatures mises en place par les opérateurs ; - d'améliorer la sécurité par diminution des manutentions et suppression de l'exposition des opérateurs aux rayons ionisants générés par l'arc de soudure.- reduce handling times; - to automatically check, just before assembly, compliance with the positioning tolerances of the reinforcements, and compliance with the reinforcement plan for the positioning of the reinforcements installed by the operators; - improve safety by reducing handling and eliminating operator exposure to ionizing rays generated by the welding arc.
Des objets, caractéristiques et avantages de l'invention ressortent de la description qui suit, donnée à titre d'exemple non limitatif, en regard des dessins annexés sur lesquels :Objects, characteristics and advantages of the invention appear from the following description, given by way of nonlimiting example, with reference to the appended drawings in which:
- la figure 1 est une vue en plan d'une possibi¬ lité de l'installation selon l'invention, destinée à la préparation et à l'assemblage des armatures ; - la figure 2 représente la vue en plan de la première phase de travail, c'est-à-dire le traçage de la position des armatures par le portique à l'échelle 1 ;- Figure 1 is a plan view of a possibility of the installation according to the invention, intended for the preparation and assembly of the frames; - Figure 2 shows the plan view of the first work phase, that is to say the tracing of the position of the frames by the gantry on scale 1;
- la figure 3 représente la vue en plan de la deuxième phase de travail, c'est-à-dire la mise en place des armatures selon les traçages réalisés en phase précédente ;- Figure 3 shows the plan view of the second work phase, that is to say the placement of the frames according to the tracings made in the previous phase;
- la figure 4 représente la vue en plan de la troisième phase de travail, c'est-à-dire le collage des armatures par le portique robot de soudage ;- Figure 4 shows the plan view of the third work phase, that is to say the bonding of the frames by the welding robot gantry;
- les figures 5A, 5B, 5C représentent le robot de traçage en vue de face, en vue de côté et en vue de dessus ;- Figures 5A, 5B, 5C show the plotting robot in front view, in side view and in top view;
- les figures 6A, 6B et 6C représentent le robot de soudage en vue de face, en vue de côté et en vue de dessous ;- Figures 6A, 6B and 6C show the welding robot in front view, side view and bottom view;
- les figures 7A et 7B représentent le schéma de la cinématique de la pose d'un rond à béton qui "roule" ;- Figures 7A and 7B show the diagram of the kinematics of the installation of a concrete ring which "rolls";
- la figure 8 représente le champ de balayage du capteur optique ; et- Figure 8 shows the scanning field of the optical sensor; and
- la figure 9 représente le champ du capteur optique avec l'extrémité du pistolet de soudure. Selon l'invention, on peut donc tracer directe¬ ment le plan du panneau d'armatures à partir du plan établi par le bureau d'études à l'aide d'un système D.A.O. spécifi¬ que pour les armatures (de tout type connu approprié) .- Figure 9 shows the field of the optical sensor with the end of the welding gun. According to the invention, it is therefore possible to trace directly the plane of the reinforcement panel from the established plane by the design office using a CAD system specific for reinforcements (of any suitable known type).
En variante, les informations sont saisies sur place à l'aide d'un système de D.A.O. Le positionnement des armatures lors de la réalisation du plan à l'aide du système de dessin assisté par ordinateur (DAO) est avantageusement réalisé en s'aidant de points particuliers du coffrage (arrêts de bétonnage, réservation, emplacements des pièces métalliques incorpo- rées) . La concordance avec le plan de coffrage pouvant être vérifiée dans le détail, le seul traçage des armatures à l'échelle 1 à l'aide d'un robot conçu pour cet usage devient suffisant pour réaliser le positionnement des armatures en parfaite concordance avec les plans de coffrages. Le robot de traçage est par exemple constitué par un portique assurant le traçage des implantations des armatures à positionner pour réaliser le panneau.Alternatively, the information is entered on site using a D.A.O. system. The positioning of the reinforcements during the realization of the plan using the computer-aided drafting system (CAD) is advantageously carried out with the help of particular points of the formwork (concreting stops, reservation, locations of the incorporated metal parts ). The concordance with the formwork plan can be checked in detail, the only tracing of the reinforcements on scale 1 using a robot designed for this use becomes sufficient to achieve the positioning of the reinforcements in perfect agreement with the plans formwork. The tracing robot is for example constituted by a gantry ensuring the tracing of the locations of the reinforcements to be positioned to make the panel.
Ce robot se présente sous la forme d'un portique roulant dont le châssis de conception mécano-soudée assure à la fois l'ossature de celui-ci, le support des guides transversaux avec son unité de traçage et le carénage naturel des transmissions mécaniques et des équipements embarqués. Sa largeur est adaptée au cas par cas en fonction de la largeur des panneaux à produire. La mesure selon l'axe longitudinal peut être assuré soit par une roue lisse de grand diamètre équipée de dispositifs de nettoyage, implantée entre les deux roues motrices et roulant sur le rail de référence, soit par une roue dentée implantée également entre les deux roues et engrenant sur une crémaillère filante implantée le long de la piste .This robot is in the form of a gantry crane whose chassis of mechanically welded design ensures both its framework, the support of the transverse guides with its tracing unit and the natural fairing of the mechanical transmissions and on-board equipment. Its width is adapted on a case-by-case basis depending on the width of the panels to be produced. The measurement along the longitudinal axis can be ensured either by a smooth large diameter wheel fitted with cleaning devices, located between the two drive wheels and rolling on the reference rail, or by a toothed wheel also located between the two wheels and meshing on a shooting rack located along the track.
L'axe transversal est matérialisé par deux guidages de précision de longueur adaptée à la largeur des panneaux et entre lesquels se déplace un chariot monté sur galets de précision. Sur cet axe, la mesure est prise directement sur la motorisation, l'entraînement étant sans glissement .The transverse axis is materialized by two precision guides of length adapted to the width of the panels and between which moves a carriage mounted on precision rollers. On this axis, the measurement is taken directly on the motorization, the drive being without slip.
Les motorisations des deux axes sont de type robotique et les transmissions se font par des courroies crantées ce qui permet au robot de traçage d'effectuer des tracés biais et courbes avec une très grande précision.The motorizations of the two axes are of robotic type and the transmissions are made by toothed belts which allows the plotting robot to make bias and curved plots with very high precision.
La matérialisation du traçage se fait à l'aide de peinture à l'eau ayant la particularité d'être très visible tout en adhérant de manière permanente à la surface de travail . L'automatisme est géré par une unité centrale intégrée au châssis du robot de traçage. Celle-ci, d'une part, stocke les ordres des tracés des panneaux au formatThe materialization of the tracing is done using water-based paint, which has the particularity of being very visible while permanently adhering to the work surface. The automation is managed by a central unit integrated into the chassis of the plotting robot. This, on the one hand, stores the orders of the layout of the panels in the format
HPGL et, d'autre part, gère toutes les fonctionnalités manuelles et automatiques. Le transfert de données s'effectue au moyen de cartes magnétiques rigides ou par liaison série.HPGL and, on the other hand, manages all manual and automatic functionality. Data transfer is carried out by means of rigid magnetic cards or by serial link.
L'alimentation électrique se fera par enrouleur. Le chef de chantier qui a reçu du bureau d'études une carte mémoire contenant les données de traçage de l'épure nécessaire à la mise en oeuvre des armatures du panneau à assembler, introduit cette carte dans le lecteur du robot de traçage. Le chef de chantier effectue le transfert des données dans la mémoire du robot de traçage. Le robot de traçage est alors opérationnel. Le robot de traçage est positionné en début d'épuré par le chef de chantier à l'aide des commandes manuelles. Le robot de traçage peut être lancé.The power supply will be by reel. The site foreman who received from the design office a memory card containing the data for tracing the sketch necessary for the implementation of the reinforcements of the panel to be assembled, introduces this card into the reader of the plotting robot. The site manager transfers the data to the memory of the plotting robot. The plotting robot is then operational. The plotting robot is positioned at the start of the process by the site manager using manual controls. The plotting robot can be started.
Les armatures sont disposées par des opérateurs selon les traces des armatures réalisées par le portique de traçage. La réalisation des traces à l'échelle permet un contrôle visuel rapide des paramètres de forme de l'armature qu'il vient de mettre en place.The reinforcements are arranged by operators according to the traces of the reinforcements produced by the tracing portal. The realization of the traces on the scale allows a quick visual control of the shape parameters of the reinforcement that it has just set up.
Selon une méthode préférée de l'invention, quand le diamètre des armatures spécifié par le plan et sa nomen- clature le permet, les armatures proviennent d'une dérou- leuse-raidisseuse-façonneuse installée à proximité des plateaux de travail, utilisant des armatures livrées en bobines. Les caractéristiques des armatures (longueur, formes... ) proviennent directement de la nomenclature établie par le système de D.A.O. Pour des caractéristiques d'armatures ne le permettant pas, les armatures seront coupées et façonnées dans les ateliers traditionnels.According to a preferred method of the invention, when the diameter of the reinforcements specified by the plan and its nomenclature allows, the reinforcements come from a decoiler-stiffener-shaping machine installed near the work trays, using armatures supplied in reels. The characteristics of the reinforcements (length, shapes ...) come directly from the nomenclature established by the CAD system. For the characteristics of reinforcements that do not allow it, the reinforcements will be cut and shaped in traditional workshops.
Les caractéristiques des armatures pourront provenir directement de la nomenclature informatique du plan établie par le système de D.A.O. sans nouvelle opération de saisie .The characteristics of the reinforcements can come directly from the computerized nomenclature of the plan established by the D.A.O. system. without new entry operation.
Selon une méthode préférée de l'invention, les armatures font l'objet d'un collage par apport de métal. Le pistolet de soudage est, comme pour le traçage, guidé par les informations provenant du système informatique ayant servi à dessiner le plan d'exécution pour les armatures. Un système de vision numérique ou plus généralement un capteur optique permettant la reconnaissance de forme, permet de corriger la trajectoire du pistolet de soudage afin d'adapter la position de ce pistolet de soudage par rapport à l'intersection à coller (distance torche/point, angle d'approche, point d'impact de l'arc) . Au déplacement du chariot selon deux directions horizontales s'ajoute de préférence une rotation autour d'un axe horizontal. Il y a en outre un mouvement vertical auprès de chaque assemblage à réaliser.According to a preferred method of the invention, the frames are bonded by adding metal. The welding gun is, as for tracing, guided by the information coming from the computer system having been used to draw the execution plan for the reinforcements. A digital vision system or, more generally, an optical sensor allowing shape recognition, makes it possible to correct the trajectory of the welding gun in order to adapt the position of this welding gun relative to the intersection to be bonded (distance torch / point , angle of approach, point of impact of the arc). To the movement of the carriage in two horizontal directions is preferably added a rotation about a horizontal axis. There is also a vertical movement near each assembly to be produced.
Une unité de contrôle gère le système de soudage et le capteur optique. De l'analyse des diamètres des armatures constituant l'intersection et du repérage de la position précise de ces armatures, sont déduits les paramè- très optimaux de soudage (angle de positionnement du pisto¬ let, intensité du courant de soudage, vitesse de dévidage du fil fourré de soudage, etc.) .A control unit manages the welding system and the optical sensor. From the analysis of the diameters of the reinforcements constituting the intersection and from the location of the precise position of these reinforcements, are deduced the very optimal welding parameters (positioning angle of the gun, welding current intensity, wire feed speed welding flux-cored wire, etc.).
Cette capacité d'auto-adaptation du système de soudage permet d'effectuer un collage de qualité des ronds à béton, quels que soit le diamètre des armatures, malgré les paramètres de forme des ronds à béton (hauteur, écartement, longueur, inclinaison des verrous ou des empreintes) qui entraînent un déplacement naturel de ce rond à béton par rapport au positionnement théorique du plan.This capacity for self-adaptation of the welding system enables quality bonding of the concrete rods, whatever the diameter of the reinforcements, despite the shape parameters of the concrete rods (height, spacing, length, inclination of the locks or of the indentations) which cause a natural displacement of this concrete ring compared to the theoretical positioning of the plan.
Le réglage du système de vision numérique ou du capteur optique est effectué de manière que le collage des intersections des armatures ne s'effectue que dans les tolérances définies par les règlements de calcul de béton armé, voire dans des tolérances plus étroites exigées pour un ouvrage particulier. Un poste de travail, destiné à l'assemblage des ronds à béton, est représenté sur la figure 1. Le portique de traçage pour les armatures 10 est positionné au début de son chemin de roulement 20 qui lui permettra de couvrir le plateau de travail 30. Le chef de chantier introduit la disquette informatique 11 dans un lecteur relié à l'unité centrale 12 (figure 5) intégré au châssis du portique. La disquette informatique 11 contient les données de traçage du plan d'armatures établi à l'aide du logiciel de D.A.O. Après le transfert des données de la disquette dans une mémoire de l'unité centrale, le chef de chantier retire la disquette. Le portique de traçage est opérationnel.The adjustment of the digital vision system or of the optical sensor is carried out so that the bonding of the intersections of the reinforcements is carried out only within the tolerances defined by the regulations for the calculation of reinforced concrete, or even within the tighter tolerances required for a structure. particular. A work station, intended for the assembly of concrete reinforcing bars, is shown in FIG. 1. The tracing gantry for the reinforcements 10 is positioned at the start of its raceway 20 which will allow it to cover the work platform 30 The site manager introduces the computer diskette 11 into a reader connected to the central unit 12 (FIG. 5) integrated into the frame of the gantry. The computer diskette 11 contains the tracing data of the reinforcement plan established using the software of D.A.O. After transferring the data from the diskette to a memory in the central unit, the site manager removes the diskette. The tracing portal is operational.
Sur la figure 2, le portique de traçage 10, au bout de son chemin de roulement 20, a matérialisé le posi¬ tionnement futur des armatures sur le plateau de travail 30. Sur la figure 3, le plateau 30 a été déplacé jusqu'à la zone où seront disposées les armatures selon les traces réalisées par le portique 10. Selon une disposition préférentielle, les plateaux de travail se déplacent le long du chemin de roulement 21 grâce aux patins rouleurs sur lesquels ils sont fixés.In FIG. 2, the tracing gantry 10, at the end of its raceway 20, has materialized the future positioning of the reinforcements on the work plate 30. In FIG. 3, the plate 30 has been moved to the area where the reinforcements will be arranged according to the traces produced by the gantry 10. According to a preferred arrangement, the work trays move along the raceway 21 thanks to the roller skates on which they are fixed.
Les armatures, quand leurs caractéristiques le permettent, selon un exemple d'organisation particulier du poste de mise en oeuvre des armatures de l'invention, donné uniquement à titre indicatif, sont redressée, coupées, façonnées à l'aide de la redresseuse-coupeuse-façonneuse 40 à partir de bobines de fil d'armatures 41. Les caractéristi- ques de façonnage de ces armatures peuvent provenir des informations contenues sur.la disquette 11 et alors chargées sur une unité centrale 42 commandant la redresseuse-coupeuse- façonneuse dans qu'une nouvelle saisie soit nécessaire. Le portique 1, après chargement des données, effectue le traçage d'un autre élément d'armatures sur le plateau 31.The reinforcements, when their characteristics allow it, according to an example of a particular organization of the position for implementing the reinforcements of the invention, given only as an indication, are straightened, cut, shaped using the straightening-cutting machine. -moulder 40 from reels of reinforcing wire 41. The characteristics ques shaping these frames can come from the information contained on the disk 11 and then loaded on a central unit 42 controlling the rectifier-cutter-moulder in a new entry is necessary. The gantry 1, after loading the data, traces another reinforcement element on the plate 31.
Sur la figure 4, le plateau 30 a été transféré dans la zone d'évolution du portique de soudage 50 pouvant se déplacer le long du chemin de roulement 23. La possibilité de pouvoir déplacer le plateau 30 de la zone de mise en place des armatures vers la zone d'évolution du portique 50 et vice-versa donne la possibilité d'assembler des nappes avec un nombre de lits supérieur à 2. Par exemple, après assemblage des deux premiers lits, le plateau est ramené sur la zone de pose pour la mise en place d'un troisième lit qui sera assemblé au deuxième lit après déplacement dans la zone d'évolution du portique 50. Egale¬ ment, il est possible de poser une deuxième nappe sur la première, cette deuxième nappe étant supportée par des écarteurs de nappes, puis de relier ces deux nappes par des épingles, les têtes d'épingles étant collées par apport de métal après un nouveau transfert du plateau 30 dans la zone d'évolution du portique 50.In FIG. 4, the plate 30 has been transferred into the zone of evolution of the welding gantry 50 which can move along the raceway 23. The possibility of being able to move the plate 30 from the zone for fitting the armatures towards the evolution area of the gantry 50 and vice-versa gives the possibility of assembling sheets with a number of beds greater than 2. For example, after assembling the first two beds, the tray is brought back to the laying area for the establishment of a third bed which will be assembled to the second bed after movement in the area of evolution of the gantry 50. Also, it is possible to lay a second sheet on the first, this second sheet being supported by tablecloth spacers, then connect these two plies by pins, the pin heads being glued by adding metal after a new transfer of the plate 30 in the area of evolution of the gantry 50.
La disquette informatique 11, supportant les informations provenant du système de D.A.O. , est introduite dans le lecteur de disquettes 51 de l'unité centrale 52 (figure 6) .The computer diskette 11, supporting the information coming from the D.A.O. system. , is inserted into the floppy drive 51 of the central unit 52 (FIG. 6).
Les informations transmises permettent de guider l'ensemble mobile 53 comportant un bras 54 articulé selon 4 axes supportant un pistolet de soudage 55 et un capteur optique 56.The information transmitted makes it possible to guide the mobile assembly 53 comprising an arm 54 articulated along 4 axes supporting a welding gun 55 and an optical sensor 56.
La trajectoire de l'ensemble mobile 53 est commandée par les informations provenant du système de D.A.O. suivant, d'une manière préférentielle, la trace des armatures supérieures. Aux intersections (voir les figures 7A, 7B, 8 et 9) , le capteur optique 56 analyse la position de l'armature supérieure 71 et la position de l'armature inférieure 72, puis compare leurs positions (repérées par les centres) respectives réelles 73 avec leurs positions théoriques 74 données par les informations contenues dans le fichier informatique généré par le système de CAO/DAO.The trajectory of the mobile assembly 53 is controlled by the information coming from the CAD system following, in a preferential manner, the trace of the upper reinforcements. At the intersections (see FIGS. 7A, 7B, 8 and 9), the optical sensor 56 analyzes the position of the upper reinforcement 71 and the position of the lower reinforcement 72, then compares their respective respective positions (marked by the centers) 73 with their theoretical positions 74 given by the information contained in the computer file generated by the CAD / CAM system.
En effet, les paramètres de formes des ronds à béton : - hauteur des verrous 81,Indeed, the shape parameters of the concrete bars: - height of the locks 81,
- écartement des verrous 82,- spacing of the locks 82,
- longueur des verrous,- length of locks,
- orientation, au moment de la pose, des nervures 83,- orientation, at the time of installation, of the ribs 83,
- dimensions de ces nervures, engendrent une rotation 75 du rond à béton, entraînant un déplacement du rond à béton par rapport au positionnement théorique du plan. Parallèlement, le capteur optique 56 mesure le diamètre de l'armature 71 et celui de l'armature inférieure 72 constituant l'intersection. Il est important de noter ici qu'en pratique le roulage des barres au moment de la pose dépend de multiples paramètres et est donc en pratique impossible à modéliser.- Dimensions of these ribs, generate a rotation 75 of the concrete ring, causing a movement of the concrete ring relative to the theoretical positioning of the plane. In parallel, the optical sensor 56 measures the diameter of the armature 71 and that of the lower armature 72 constituting the intersection. It is important to note here that in practice the rolling of the bars at the time of installation depends on multiple parameters and is therefore in practice impossible to model.
Le capteur optique 56 compare également ces diamètres mesurés avec les diamètres théoriques de ces armatures donnés par les informations contenues dans le fichier informatique du plan de l'élément d'armatures créé par le système de D.A.O. et transféré dans l'unité centrale 52 du robot de soudage.The optical sensor 56 also compares these measured diameters with the theoretical diameters of these reinforcements given by the information contained in the computer file of the plan of the reinforcement element created by the D.A.O. system. and transferred to the central processing unit 52 of the welding robot.
La programmation du système est faite de manière que le processus de soudage ne peut s'effectuer que si les diamètres sont conformes au plan et que le positionnement des armatures constituant l'intersection est dans les tolérances d'exécution définies. A ce moment, le capteur optique 56 acquiert le profil de l'intersection. L'analyse permet de déduire les paramètres de soudage optimaux, puis d'adapter la trajectoire du pistolet de soudage pour un positionnement optimal de ce pistolet de soudage par rapport à l'intersec¬ tion à coller (distance torche/point, angle d'approche, point d'impact de l'arc) .The programming of the system is done in such a way that the welding process can only be carried out if the diameters comply with the plan and the positioning of the reinforcements constituting the intersection is within the defined execution tolerances. At this time, the optical sensor 56 acquires the profile of the intersection. The analysis makes it possible to deduce the optimal welding parameters, then to adapt the trajectory of the welding gun for positioning optimal of this welding gun compared to the intersection to be glued (torch / point distance, approach angle, point of impact of the arc).
L'invention apporte une grande amélioration à la technique existante en fournissant un dispositif pour la fabrication d'éléments d'armatures pour béton armé, permet¬ tant l'assemblage avec une très grande flexibilité (et donc, par conséquence, la conception de plans avec de même une grande flexibilité) , avec possibilité de fabrication soit en usine, soit sur chantier dans les mêmes conditions de qualité car utilisant un auto-contrôle informatisé.The invention provides a great improvement to the existing technique by providing a device for the production of reinforcing elements for reinforced concrete, allowing the assembly with great flexibility (and therefore, consequently, the design of plans likewise with great flexibility), with the possibility of manufacturing either in the factory or on site under the same quality conditions as using computerized self-checking.
On appréciera que l'invention met en oeuvre des éléments qui, individuellement, sont connus en soi.It will be appreciated that the invention employs elements which, individually, are known per se.
Ainsi, par exemple : - le système de vision est plus généralement un capteur optique : il s'agit par exemple du capteur optique à triangu¬ lation laser proposé par la Société canadienne SERVOROBOT sous la référence SPOT,Thus, for example: - the vision system is more generally an optical sensor: it is for example the optical laser triangulation sensor proposed by the Canadian company SERVOROBOT under the reference SPOT,
- les portiques sont par exemple du type utilisé dans une autre application, à savoir ROBOTRACE de la Société française- the gantries are for example of the type used in another application, namely ROBOTRACE from the French company
ARIA (Automatismes Robotiques Informatiques Appliqués) à Avignon,ARIA (Applied Robotics Automatisms) in Avignon,
- en ce qui concerne les programmes commandant la marche des robots, il est à la portée de l'homme de métier de les élaborer, compte tenu des programmes utilitaires d'aide à la programmation et des éléments indiqués ci-dessus.- With regard to the programs controlling the operation of the robots, it is within the reach of the skilled person to develop them, taking into account the utility programs for programming assistance and the elements indicated above.
Il va de soi que l'invention ne se limite pas à la seule production de panneaux plats, mais qu'elle s'appli¬ que aussi à la fabrication, dans les mêmes conditions, à des panneaux courbes ou d'autres formes avec l'utilisation de négatifs ou de systèmes de pliage conventionnels. De même des soucis de productivité peuvent conduire à monter plusieurs outils sur un portique. It goes without saying that the invention is not limited to the sole production of flat panels, but that it also applies to the manufacture, under the same conditions, of curved panels or other shapes with the use of conventional negatives or folding systems. Similarly, productivity concerns can lead to mounting several tools on a gantry.

Claims

REVENDICATIONS
1. Procédé de préparation et d'assemblage d'une armature plane pour un produit en béton selon un plan de conception prédéterminé, selon lequel on place sur un plan de travail ayant deux directions de référence les éléments de l'armature à réaliser conformément à ce plan de conception et on assemble deux à deux les éléments de l'armature à réaliser en une pluralité de points de croisement, caractérisé en ce que cette opération d'assemblage est réalisée postérieurement à l'opération de mise en place, par un outil d'assemblage fixé au chariot d'un robot, ce chariot ayant au moins deux degrés de liberté parallèles aux directions de référence, ce procédé comportant en outre une opération consistant à mettre dans une zone de mémoire de ce robot l'ensemble des données du plan de conception, et une opération consistant à faire déplacer le chariot par le robot, de façon automatique conformément auxdites données.1. Method for preparing and assembling a flat reinforcement for a concrete product according to a predetermined design plane, according to which the elements of the reinforcement to be produced are placed on a work surface having two reference directions this design plane and the elements of the reinforcement to be produced are assembled in pairs at a plurality of crossing points, characterized in that this assembly operation is carried out after the establishment operation, by a tool assembly fixed to the cart of a robot, this cart having at least two degrees of freedom parallel to the reference directions, this method further comprising an operation consisting in putting in a memory area of this robot all the data of the design plan, and an operation consisting in moving the carriage by the robot, automatically in accordance with said data.
2. Procédé selon la revendication 1, caractérisé en ce que l'assemblage est un soudage par apport de métal. 2. Method according to claim 1, characterized in that the assembly is welding by addition of metal.
3. Procédé selon la revendication 1 ou 2 , carac¬ térisé en ce que le chariot comporte en outre un degré de liberté en translation verticale et l'opération d'assemblage comporte une sous-opération d'amenée de l'outil d'assemblage successivement en chaque point d'assemblage prévu par le plan de conception.3. Method according to claim 1 or 2, carac¬ terized in that the carriage further comprises a degree of freedom in vertical translation and the assembly operation comprises a sub-operation of supplying the assembly tool successively at each assembly point provided for in the design plan.
4. Procédé selon la revendication 3, caractérisé en ce que le chariot comporte en outre un degré de liberté en rotation.4. Method according to claim 3, characterized in that the carriage further comprises a degree of freedom in rotation.
5. Procédé selon la revendication 3 ou 4, caractérisé en ce qu'on fait surveiller par un capteur optique solidaire de l'outil un champ de surveillance entourant une zone ponctuelle d'action dudit outil, et on fait corriger par le robot la configuration du chariot si cette zone ponctuelle d'action est à l'écart d'une zone de croisement entre éléments d'armature détectée dans le champ de surveillance, en sorte d'annuler cet écart. 5. Method according to claim 3 or 4, characterized in that one makes monitor by an optical sensor integral with the tool a monitoring field surrounding a point area of action of said tool, and the configuration is corrected by the robot of the carriage if this punctual action area is away from a crossing area between reinforcing elements detected in the surveillance field, so as to cancel this deviation.
6. Procédé selon la revendication 5, caractérisé en ce qu'on choisit pour le capteur optique un champ de vue interceptant sur le plan de travail une aire dont les dimensions sont sensiblement égales à des tolérances prédé- terminées entre points réels d'assemblage et points théori¬ ques conformes au plan de conception, et on provoque le déclenchement d'une alarme lorsqu' aucune zone de croisement n'est détectée dans le champ de surveillance et que l'outil est en un point d'assemblage prévu par le plan. 6. Method according to claim 5, characterized in that one chooses for the optical sensor a field of view intercepting on the work surface an area whose dimensions are substantially equal to predetermined tolerances between real points of assembly and theoretical points in accordance with the design plan, and an alarm is triggered when no crossing zone is detected in the surveillance field and the tool is at an assembly point provided by the plan .
7. Procédé selon la revendication 5 ou 6, caractérisé en ce qu'on fait surveiller par ce capteur optique le diamètre des éléments d'armature à assembler.7. Method according to claim 5 or 6, characterized in that the diameter of the reinforcing elements to be assembled is monitored by this optical sensor.
8. Procédé selon l'une quelconque des revendica¬ tions 1 à 7, caractérisé en ce que, préalablement à l'opéra- tion de mise en place, on trace en grandeur réelle sur le plan de travail un plan indiquant l'emplacement et le type prévus par le plan de conception pour chaque élément de l'armature à réaliser, la mise en place de ces éléments d'armature se faisant en ces emplacements conformément aux types prévus, cette opération de traçage étant réalisé par un outil de traçage fixé au chariot d'un robot, ce chariot ayant au moins deux degrés de liberté parallèles aux directions de référence, ce procédé comportant en outre une opération consistant à mettre dans une zone de mémoire de ce robot l'ensemble des données du plan de conception, et une opéra¬ tion consistant à faire déplacer le chariot par le robot, de façon automatique conformément auxdites données.8. A method according to any one of claims 1 to 7, characterized in that, prior to the setting-up operation, a plan indicating the location and in real size is plotted on the work surface. the type provided by the design plan for each element of the reinforcement to be produced, the positioning of these reinforcement elements taking place in these locations in accordance with the types provided, this tracing operation being carried out by a tracing tool fixed to the cart of a robot, this cart having at least two degrees of freedom parallel to the reference directions, this method further comprising an operation consisting in putting in a memory area of this robot all the data of the design plan, and an operation consisting in making the carriage move by the robot, automatically in accordance with said data.
9. Procédé selon la revendication 8, caractérisé en ce qu'on connecte à l'outil de traçage une réserve d'encre ou de peinture dont la couleur est choisie comme représenta¬ tive d'un type particulier d'éléments d'armature.9. Method according to claim 8, characterized in that connects to the tracing tool a supply of ink or paint whose color is chosen as representative of a particular type of reinforcing elements.
10. Procédé selon la revendication 9, caractérisé en ce qu'on connecte successivement à l'outil de traçage des réserves d'encre ou de peinture ayant respectivement les couleurs représentatives des plusieurs types d'éléments d' armature . 10. Method according to claim 9, characterized in that successively connects to the tracing tool ink or paint reserves respectively having the colors representative of the several types of reinforcing elements.
11. Procédé selon la revendication 9 ou 10, caractérisé en ce que l'encre ou peinture de chaque réserve est lavable, grâce à quoi le plan de travail est réutilisable. 11. Method according to claim 9 or 10, characterized in that the ink or paint of each reserve is washable, whereby the work surface is reusable.
12. Procédé selon l'une quelconque des revendica¬ tions 8 à 11, caractérisé en ce que chacune des opérations de traçage et d'assemblage est réalisée par un outil fixé au chariot d'un même robot.12. Method according to any one of claims 8 to 11, characterized in that each of the tracing and assembly operations is carried out by a tool fixed to the carriage of the same robot.
13. Procédé selon l'une quelconque des revendica- tion 8 à 11, caractérisé en ce que les opérations de traçage et d'assemblage sont réalisées par des outils fixés aux chariots de robots différents.13. Method according to any one of claims 8 to 11, characterized in that the tracing and assembly operations are carried out by tools fixed to the carts of different robots.
14. Procédé selon la revendication 13, caracté¬ risé en ce que ces robots différents ont des zones de travail différentes, et on fait passer le plan de travail successive¬ ment par une zone de travail pour le robot de traçage, par une zone pour la pose des éléments d'armature, et par une zone de travail pour le robot d'assemblage.14. The method of claim 13, caracté¬ ized in that these different robots have different work areas, and the work plan is passed successively through a work area for the plotting robot, through an area for the fitting of reinforcement elements, and by a work area for the assembly robot.
15. Procédé selon l'une quelconque des revendica- tions 1 à 14 , caractérisé en ce que la mise en mémoire de l'ensemble des données est réalisée par introduction d'une disquette dans un lecteur de disquette.15. Method according to any one of claims 1 to 14, characterized in that the storage of all the data is carried out by inserting a floppy disk into a floppy disk drive.
16. Procédé selon l'une quelconque des revendica¬ tions 8 à 11, caractérisé en ce que l'opération de traçage comporte une sous-opération de traçage de coffrage.16. Method according to any one of claims 8 to 11, characterized in that the tracing operation includes a shuttering tracing sub-operation.
17. Installation pour la préparation et l'assem¬ blage d'une armature plane pour un produit en béton selon un plan de conception prédéterminé, comportant un plan de travail ayant deux directions de référence et un outil d'assemblage pour assembler les éléments d'armature préala¬ blement posés sur le plan de travail en une pluralité de points de croisement, caractérisée en ce qu'elle comporte en outre, pour l'outil d'assemblage, un robot comportant une zone de mémoire destinée à contenir l'ensemble des données du plan de conception, et un chariot portant ledit outil d'assemblage, ayant au moins deux degrés de liberté parallè- les aux directions de référence, et adapté à être déplacé, avec ledit outil d'assemblage, par le robot en conformité avec l'ensemble des données de la zone de mémoire pour 1' assemblage. 17. Installation for the preparation and assembly of a flat reinforcement for a concrete product according to a predetermined design plan, comprising a work plan having two reference directions and an assembly tool for assembling the elements d 'armature previously placed on the work surface at a plurality of crossing points, characterized in that it also comprises, for the assembly tool, a robot comprising a memory area intended to contain the assembly data from the design plan, and a carriage carrying said assembly tool, having at least two parallel degrees of freedom the reference directions, and adapted to be moved, with said assembly tool, by the robot in accordance with all of the data of the memory area for assembly.
18. Installation selon la revendication 17, caractérisée en ce que l'outil d'assemblage est un dispositif de soudage par apport de métal .18. Installation according to claim 17, characterized in that the assembly tool is a welding device by metal supply.
19. Installation selon la revendication 17 ou 18, caractérisée en ce que le chariot comporte en outre un degré de liberté en translation verticale.19. Installation according to claim 17 or 18, characterized in that the carriage further comprises a degree of freedom in vertical translation.
20. Installation selon la revendication 19, caractérisée en ce que le chariot comporte en outre un degré de liberté en rotation.20. Installation according to claim 19, characterized in that the carriage further comprises a degree of freedom in rotation.
21. Installation selon la revendication 19 ou 20, caractérisée en ce que le chariot porte en outre un équipe¬ ment de vision solidaire de l'outil ayant un champ de surveillance entourant une zone ponctuelle d'action dudit outil, le robot comportant un logiciel faisant corriger par le robot la configuration du chariot si cette zone ponctuelle d'action est à l'écart d'une zone de croisement entre éléments d'armature détectés dans le champ de surveillance, en sorte d'annuler cet écart.21. Installation according to claim 19 or 20, characterized in that the carriage further carries a vision equipment integral with the tool having a surveillance field surrounding a point-action area of said tool, the robot comprising software causing the robot to correct the configuration of the carriage if this punctual action area is away from a crossover area between reinforcing elements detected in the surveillance field, so as to cancel this deviation.
22. Installation selon la revendication 21, caractérisée en ce que l'équipement de vision a un champ de vue interceptant sur le plan de travail une aire dont les dimensions sont sensiblement égales à des tolérances prédé¬ terminées entre points réels d'assemblage et points théori¬ ques conformes au plan de conception, et est adapté à déclen¬ cher une alarme lorsqu' aucune zone de croisement n'est détectée dans le champ de surveillance et que l'outil est en un point d'assemblage prévu par le plan.22. Installation according to claim 21, characterized in that the vision equipment has a field of view intercepting on the work surface an area whose dimensions are substantially equal to pre-terminated tolerances between real assembly points and points theoretically conform to the design plan, and is suitable for triggering an alarm when no crossing zone is detected in the surveillance field and the tool is at an assembly point provided by the plan.
23. Installation selon l'une quelconque des revendications 18 à 22, caractérisée en ce qu'elle comporte en outre un outil de traçage pour tracer en grandeur réelle sur le plan de travail un plan indiquant l'emplacement et le type prévus par le plan de conception pour chaque élément de 22 l'armature à réaliser, et un chariot portant ledit outil de traçage, ayant au moins deux, degrés de liberté parallèles aux directions de référence, et adapté à être déplacé, avec ledit outil de traçage, par le robot en conformité avec l'ensemble des données de la zone de mémoire pour le traçage.23. Installation according to any one of claims 18 to 22, characterized in that it further comprises a tracing tool for drawing in real size on the work plan a plan indicating the location and the type provided by the plan of design for each element of 22 the armature to be produced, and a carriage carrying said tracing tool, having at least two degrees of freedom parallel to the reference directions, and adapted to be moved, with said tracing tool, by the robot in accordance with the all the data in the memory area for tracing.
24. Installation selon la revendication 23, caractérisée en ce que l'outil de traçage comporte une réserve d'encre ou de peinture dont la couleur est choisie comme représentative d'un type particulier d'éléments d'armature.24. Installation according to claim 23, characterized in that the tracing tool comprises a reserve of ink or paint whose color is chosen as representative of a particular type of reinforcing elements.
25. Installation selon la revendication 24, caractérisée en ce que l'installation comporte, pour l'outil de traçage, des réserves d'encre ou de peinture ayant respectivement les couleurs représentatives des divers types d'éléments d'armature.25. Installation according to claim 24, characterized in that the installation comprises, for the tracing tool, ink or paint reserves respectively having the colors representative of the various types of reinforcing elements.
26. Installation selon la revendication 25, caractérisée en ce que l'installation comporte en outre une réserve d'encre ou de peinture pour un traçage de coffrage.26. Installation according to claim 25, characterized in that the installation further comprises a supply of ink or paint for tracing formwork.
27. Installation selon l'une quelconque des revendications 24 à 26, caractérisée en ce que l'encre ou peinture de chaque réserve est lavable, grâce à quoi le plan de travail est réutilisable.27. Installation according to any one of claims 24 to 26, characterized in that the ink or paint of each reserve is washable, whereby the work surface is reusable.
28. Installation selon l'une quelconque des revendications 18 à 27, caractérisée en ce que chacun des outils de traçage et d'assemblage est fixé au chariot d'un même robot .28. Installation according to any one of claims 18 to 27, characterized in that each of the tracing and assembly tools is fixed to the carriage of the same robot.
29. Installation selon l'une quelconque des revendications 18 à 27, caractérisée en ce que les outils de traçage et d'assemblage sont fixés aux chariots de robots différents.29. Installation according to any one of claims 18 to 27, characterized in that the layout and assembly tools are fixed to the carts of different robots.
30. Installation selon la revendication 29, caractérisée en ce que ces robots différents ont des zones de travail différentes, le plan de travail étant muni de moyens de déplacement permettant son déplacement depuis la zone de travail du robot de traçage jusqu'à la zone de travail du robot d'assemblage, en passant par une zone de pose pour les 23 éléments d'armature.30. Installation according to claim 29, characterized in that these different robots have different work areas, the work surface being provided with displacement means allowing its movement from the work area of the plotting robot to the area of work of the assembly robot, passing through a laying area for 23 reinforcing elements.
31. Installation selon l'une quelconque des revendications 18 à 30, caractérisée en ce que le robot comporte un portique mobile longitudinalement le long de sa zone de travail, et le chariot est mobile sur ce portique transversalement à cette zone de travail.31. Installation according to any one of claims 18 to 30, characterized in that the robot has a gantry movable longitudinally along its working area, and the carriage is movable on this gantry transverse to this working area.
32. Installation selon la revendication 31, caractérisée en ce que le robot a, parallèlement à sa direction de déplacement, une dimension inférieure à sa dimension mesurée transversalement à cette direction de déplacement et à la largeur maximale du gabarit routier. 32. Installation according to claim 31, characterized in that the robot has, parallel to its direction of movement, a dimension less than its dimension measured transversely to this direction of movement and the maximum width of the road gauge.
EP96905890A 1995-03-03 1996-02-29 Method for assembling reinforcements for concrete elements, and apparatus therefor Expired - Lifetime EP0813457B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9502500A FR2731247B1 (en) 1995-03-03 1995-03-03 METHOD OF ASSEMBLING REINFORCEMENTS FOR CONCRETE PRODUCTS AND INSTALLATION SUITABLE FOR IMPLEMENTING IT
FR9502500 1995-03-03
PCT/FR1996/000318 WO1996027462A1 (en) 1995-03-03 1996-02-29 Method for assembling reinforcements for concrete elements, and apparatus therefor

Publications (2)

Publication Number Publication Date
EP0813457A1 true EP0813457A1 (en) 1997-12-29
EP0813457B1 EP0813457B1 (en) 1999-09-01

Family

ID=9476716

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96905890A Expired - Lifetime EP0813457B1 (en) 1995-03-03 1996-02-29 Method for assembling reinforcements for concrete elements, and apparatus therefor

Country Status (11)

Country Link
US (1) US6029880A (en)
EP (1) EP0813457B1 (en)
AT (1) ATE183952T1 (en)
AU (1) AU4947096A (en)
CA (1) CA2212555A1 (en)
DE (1) DE69604055T2 (en)
DK (1) DK0813457T3 (en)
ES (1) ES2138325T3 (en)
FR (1) FR2731247B1 (en)
GR (1) GR3031949T3 (en)
WO (1) WO1996027462A1 (en)

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AT17865U1 (en) * 2020-11-25 2023-05-15 Progress Maschinen & Automation Ag Method for calculating production parameters of at least one reinforcement

Also Published As

Publication number Publication date
DE69604055T2 (en) 2000-03-09
DE69604055D1 (en) 1999-10-07
AU4947096A (en) 1996-09-23
DK0813457T3 (en) 2000-03-27
ES2138325T3 (en) 2000-01-01
FR2731247A1 (en) 1996-09-06
FR2731247B1 (en) 1997-04-25
US6029880A (en) 2000-02-29
WO1996027462A1 (en) 1996-09-12
EP0813457B1 (en) 1999-09-01
CA2212555A1 (en) 1996-09-12
ATE183952T1 (en) 1999-09-15
GR3031949T3 (en) 2000-03-31

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