JP2019093404A - Reinforcing bar bending apparatus - Google Patents

Abstract

To provide a reinforcing bar bending apparatus, which allows a reinforcing bar to be safely supplied to and taken out from a reinforcing bar machine without efforts and time.SOLUTION: The reinforcing bar bending apparatus is provided with robot arm devices 7 equipped with: reinforcing bar bending machines 3 equipped with fulcrum parts 1 and force point parts 2 that turn around the fulcrum parts to bend a reinforcing bar; arms 5 that can be freely moved in separating and approaching directions with respect to the reinforcing bar bending machines 3 and can be swingably operated in vertical and lateral directions; and clamp parts 6 that can freely perform clamp operation of the reinforcing bar at tip sides of the arms 5. The robot arm devices 7 are provided with first control means that performs: reinforcing bar supply operation control by which the reinforcing bar is clamped by the clamp parts 6 and supplied to the reinforcing bar bending machines 3; following arm operation control by which the clamp parts 6 are moved and operated following movements of the reinforcing bar which is swung by bending operation by the reinforcing bar bending machines 3 while clamping the reinforcing bar supplied to the reinforcing bar bending machines 3 by the clamp parts 6; and reinforcing bar take-out operation control by which the reinforcing bar being clamped by the clamp parts 6 is taken out from the reinforcing bar bending machines 3.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a reinforcing bar bending apparatus.

Conventionally, in order to bend reinforcing bars, a reinforcing bar bending apparatus is provided with a reinforcing bar bending machine provided with a fulcrum portion and a power point portion which turns around the fulcrum portions to bend the reinforcing bar, and the reinforcing bar bending machine Manually feed and supply reinforcing bars, or manually take out reinforcing bars bent by a reinforcing bar bending machine, or move a guide frame above the reinforcing bar bending machine while rolling the reinforcing bars in the circumferential direction. Some are provided so that the reinforcing bar can be supplied to the reinforcing bar bending machine from above with little effort.
In order to take out the reinforcing bars in a reinforcing bar bending machine, it is common to manually take out the bars (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2012-218000

  In the above-described conventional reinforcing bar bending apparatus, it takes a lot of time to supply and take out reinforcing bars, and there is a problem in that it involves a risk.

  Therefore, the object of the present invention is to solve the above-mentioned problems and to carry out unmanned rebar processing even in an apparatus which can not be operated without human intervention without supplying and removing rebar to the rebar bending machine. To be able to perform and safely.

  According to a first aspect of the present invention, there is provided a reinforcing bar bending machine having a fulcrum portion and a power point portion which is turned around the fulcrum portion to bend the rebar in order to bend the rebar. There is provided a robot arm device provided with an arm which can be moved by perspective movement and vertical and horizontal movement with respect to the machine, and a clamp portion which can clamp the rebar at the tip end side of the arm. Rebar supply operation control for supplying reinforcing bars to the machine by clamping the reinforcing bar, and movement of the reinforcing bars which are oscillated by the bending operation of the reinforcing bar bending machine while the reinforcing bars supplied to the reinforcing bar bending machine are clamped by the clamps And following arm operation control for moving the clamp portion following the operation, and removing the reinforcing bar clamped by the clamp portion from the reinforcing bar bending machine There is to provided a first control means for performing an operation control issues.

According to the first characteristic configuration of the present invention, since the reinforcing bar supply operation control, the following arm operation control, and the reinforcing bar extraction operation control can be performed by the first control means provided in the robot arm device, as in the prior art In addition, it is possible to provide a bent rebar safely and with less labor than manually supplying rebar to the rebar bending machine or removing it from the rebar bending machine.
In addition, in the case of simultaneously bending a plurality of reinforcing bars at the same time, there is a possibility that the respective reinforcing bars do not bend in the same direction but are twisted and bent separately and interfere with each other, but in the following arm operation control In order to move and operate the clamp unit following the movement of the reinforcing bar oscillated by the bending operation of the reinforcing bar while holding the reinforcing bar supplied to the reinforcing bar bending machine by the clamp unit, a plurality of reinforcing bars are attached to the clamp unit It moves based on the bending operation of the reinforcing bar bending machine while being restrained.
Therefore, the problem that the respective reinforcing bars are twisted and bent separately and interfere with each other is eliminated, and it is easy to obtain a finished finished bending shape.

  According to a second aspect of the present invention, there is provided an idler mechanism between the arm and the clamp for permitting relative movement between the arm distal end and the clamp base end within a set range, the arm A state switching mechanism for switching between a relative movement permitting state between the distal end portion and the proximal end portion of the clamp portion and a locked state in which the distal end portion of the arm and the proximal end portion of the clamp portion are rigidly connected; The robot arm apparatus is provided with second control means for setting the locked state in the reinforcing bar supply operation control and the reinforcing bar removal operation control and setting the relative movement permission state in the following arm operation control.

According to the second feature of the present invention, in addition to the above-mentioned action and effect of the first feature of the present invention being able to be obtained, an arm tip portion is provided between the arm and the clamp portion. A play mechanism is provided to allow relative movement of the clamp base end within the set range, and a relative movement allowance state between the arm tip and the clamp base end, the arm tip and the clamp The play switching mechanism is provided with a state switching mechanism for switching to a locked state in which the base end portion is rigidly connected, and the state switching mechanism is brought into the locked state in the rebar supply operation control and the rebar extraction operation control. Since the robot arm apparatus is provided with the second control means for setting the relative movement permission state in arm operation control, the state switching mechanism locks the play mechanism. In Rukoto, rebar clamped to the clamp portion, or can be supplied stably to the reinforcing bar bending machine, or removed from the reinforcing bar bending machine.
Moreover, in the follow-up arm operation control, the play switching mechanism is switched to the relative movement permitting state between the arm tip and the clamp base end by the state switching mechanism, and the movement of the reinforcing bar bending machine and the robot arm device In the meantime, even if there is some relative movement error, it is possible to prevent the robot arm device from being damaged.

  According to a third characteristic configuration of the present invention, a plurality of reinforcing bar bending machines are arranged side by side, and the robot arm device is disposed in a pair direction in the direction in which the plurality of reinforcing bar bending machines are arranged The first control means in the robot arm device clamps different portions in the longitudinal direction of the reinforcing bar in the reinforcing bar supply operation control with respective clamps and supplies the clamps to the reinforcing bar bending machine, and in the tracking arm operation control, The clamp portions are set so as to individually follow the movement of the rebar associated with the bending operation of the adjacent rebar bending machine.

According to the third characteristic configuration of the present invention, the first control means in the pair of left and right robot arm devices clamps different portions in the longitudinal direction of the rebar in the rebar supply operation control with the respective clamps By supplying the reinforcing bar bending machine, the reinforcing bar can be supplied to and removed from the reinforcing bar bending machine in a stable posture without requiring manual operation.
Moreover, in the following arm operation control, since the clamp portions are set to individually follow the movement of the reinforcing bar accompanying the bending operation of the reinforcing bar bending machine which is adjacent to each other, reinforcing bars having different bending shapes are used. Can be provided.

  According to a fourth aspect of the present invention, in the following arm operation control, interference prevention guiding control for guiding both ends of the reinforcing bar clamped by the clamp portion of each of the pair of robot arm devices to avoid interference is provided, It is in the place integrated in the said 1st control means.

  According to the fourth feature configuration of the present invention, the interference preventing and guiding control can prevent both ends of the reinforcing bars from interfering with each other, and therefore, bending a plurality of reinforcing bars simultaneously into the same shape to improve work efficiency It can be done.

It is a whole front view of a reinforcing bar bending apparatus. It is a perspective view of a robot arm device. It is a perspective view which shows the locked state of a state switching mechanism. It is a perspective view which shows the relative movement permission state of a state switching mechanism. It is a front view of the state which supplies a reinforcement to a reinforcement bending machine. It is a front view of the state which carries out bending operation of the reinforcement with a reinforcement bending machine. It is a front view of the state which carries out bending operation of the reinforcement with a reinforcement bending machine. It is a front view of the state which carries out bending operation of the reinforcement with a reinforcement bending machine. It is a front view of the state which carries out bending operation of the reinforcement with a reinforcement bending machine. It is a front view of a state which takes out and operates reinforcing bars from a reinforcing bar bending machine.

Embodiments of the present invention will be described below based on the drawings.
As shown in FIGS. 1 to 4, in order to bend a reinforcing bar, five vertical bending units provided with a supporting point 1 and a power point 2 for rotating the supporting bar 1 to bend the reinforcing bar. The rebar bending machine 3 is attached to one bending machine base 4 so as to be displaceable and fixable in the lateral direction, respectively, and the arm 5 can be moved in perspective and up and down, left and right with respect to the five rebar bending machines 3; A pair of robot arm devices 7 provided with a clamping unit 6 capable of clamping and operating a reinforcing bar on the tip end side of the arm 5 is provided, and each robot arm unit 7 clamps the reinforcing bar to the reinforcing bar bending machine 3 Rebar supply operation control by clamping by the part 6 and following the movement of rebar oscillating by the bending operation of the rebar bending machine 3 while clamping the rebar supplied to the rebar bending machine 3 by the clamping part 6 Follow the move operation A zooming operation control, the rebar being clamped by the clamping unit 6, have configured rebar bending apparatus provided with a first control means for performing the rebar extraction operation control removal from the reinforcing bar bending machine 3.

As shown in FIGS. 2 to 4, the play mechanism 11 allows relative movement between the arm distal end portion 8 and the clamp portion base end portion 9 within the set range between the arm 5 and the clamp portion 6. And a state switching mechanism 10 for switching between the relative movement permission state of the arm distal end 8 and the clamp base end 9 and the locked state in which the arm front end 8 and the clamp proximal end 9 are rigidly connected. The robot arm device 7 is provided with second control means for setting the state switching mechanism 10 in the locked state in the reinforcing bar supply operation control and the reinforcing bar extraction operation control and in the relative movement permission state in the following arm operation control.
Therefore, the robot arm device 7 is the second control means for setting the state switching mechanism 10 in the locked state in the reinforcing bar supply operation control and the reinforcing bar extraction operation control, and in the relative movement permission state in the following arm operation control. Because the play switching mechanism 11 is locked by the state switching mechanism 10, the reinforcing bar F clamped in the clamp unit 6 can be stably supplied to the reinforcing bar bending machine 3, or the reinforcing bar bending machine It can be taken out from 3.
Moreover, in the following arm operation control, the idler mechanism 11 is switched to the relative movement permission state between the arm distal end portion 8 and the clamp portion base end portion 9 by the state switching mechanism 10, and the movement of the reinforcing bar bending machine 3 Even if there is some relative movement error between the and the robot arm device 7, damage to the robot arm device 7 can be prevented.

  As shown in FIGS. 3 to 10, in the play mechanism 11, the arm distal end portion 8 and the clamp portion proximal end portion 9 are relatively movable in the direction orthogonal to their longitudinal direction, and The lock recess 12 is formed on both the left and right sides of the lock plate 12 integrally provided at the proximal end 9 of the clamp portion, and the arm tip 8 A pair of lock recesses 13 formed on the left and right sides of the lock plate 12 by the first actuator 14 from both sides to rigidly connect the arm distal end 8 and the clamp base end 9; (FIG. 3, FIG. 5, FIG. 10), the clamping device 15 capable of locking the relative movement of the clamp base end 9 to the arm tip 8 is provided, and the clamping device 15 is operated by the first actuator 14 Above Switchable between the locked state (see FIGS. 3, 5 and 10) and the relative movement permitted state (see FIGS. 4 and 5 to 8) between the arm distal end 8 and the clamp base end 9 The mechanism 10 is configured.

  3 and 4, 16 in the second actuator 16 of the clamp unit 6 is configured to be switchably operable between a first state in which the rebar is held by the clamp unit 6 and a second state in which the rebar is not held. is there.

  The first control means in the pair of left and right robot arm devices 7 clamp different portions in the longitudinal direction of the reinforcing bar F by the respective clamp portions 6 in the reinforcing bar supply operation control and supply them to the reinforcing bar bending machine 3, Is set so as to individually follow the movement of the reinforcing bar F involved in the bending operation of the reinforcing bar bending machine 3 in which the clamp portions 6 are adjacent to each other.

  Further, as shown in FIG. 8 to FIG. 9, in the following arm operation control, interference prevention for guiding both ends of the reinforcing bar F clamped by the clamp portions 6 of each of the pair of robot arm devices 7 to avoid interference Guidance control is incorporated into the first control means. That is, while one clamp part 6 in a pair of robot arm devices 7 follows the movement of one end side of the reinforcing bar F by the reinforcing bar bending operation of the reinforcing bar bending machine 3, the other clamp part 6 is on the other end side of the reinforcing bar F When following the movement, when the ends of the reinforcing bars F interfere with each other to collide with each other, the respective clamp portions 6 move in the perspective direction with respect to the reinforcing bar bending machine 3 according to the movement of both ends of the reinforcing bars F The interference prevention guidance control is configured to avoid interference between the two end portions of the reinforcing bar F by guiding and drawing a circular arc so as to move away from.

[Another embodiment]
Other embodiments will be described below.
In the following other embodiments, the same members as those in the above embodiment are denoted by the same reference numerals.
<1> The reinforcing bar bending machine 3 is not limited to the case where five units are attached to the bending machine base 4, and one or more may be sufficient.
<2> The shape of the clamp portion 6 may be a member other than the pair of claws capable of holding the reinforcing bar F as in the embodiment of the present invention.
<3> As shown in this embodiment, the reinforcing bar bending machine 3 is replaced by a longitudinal bending machine capable of operating on the upper and lower surfaces of the fulcrum portion 1 and the power point portion 2 each having a horizontal axis. It may be a lateral bending machine in which the axes are directed vertically, or an oblique bending machine in which the axes are directed obliquely in the vertical direction.

  As mentioned above, although the reference numerals are given to make the contrast with the drawings more convenient, the present invention is not limited to the configuration of the attached drawings by the description. Moreover, of course in the range which does not deviate from the summary of this invention, it can implement in a various aspect.

1 fulcrum 2 force point 3 rebar bending machine 5 arm 6 clamp 7 robot arm device 10 state switching mechanism 11 play mechanism F rebar

Claims (4)

To bend the rebar, provide a rebar bending machine with a fulcrum and a point of force that turns around the fulcrum to bend the rebar.
There is provided a robot arm device provided with an arm which can be moved in a perspective movement and swinging vertically and horizontally with respect to the reinforcing bar bending machine, and a clamp portion which can clamp the reinforcing bar on the tip end side of the arm.
In the robot arm device,
Rebar supply operation control for clamping and supplying rebar to the rebar bending machine by the clamp unit;
Follow-up arm operation control for moving and operating the clamp unit in accordance with the movement of the reinforcing bar oscillated by the bending operation of the reinforcing bar bending machine while the reinforcing bar supplied to the reinforcing bar bending machine is clamped by the clamp unit;
A rebar bending apparatus provided with a first control means for performing a rebar extraction operation control of taking out from the rebar bending machine a rebar clamped by the clamp unit. An play mechanism is provided between the arm and the clamp portion to allow relative movement of the arm distal end portion and the clamp portion proximal end within a set range,
A state switching mechanism is provided to switch between a relative movement permission state between the arm distal end portion and the clamp portion proximal end, and a locked state in which the arm distal end portion and the clamp portion proximal end are rigidly connected.
The robot arm apparatus is provided with second control means for setting the state switching mechanism to the locked state in the reinforcing bar supply operation control and the reinforcing bar removal operation control, and setting the relative movement permission state in the following arm operation control. The reinforcing bar bending apparatus according to claim 1. Install multiple reinforcing bar bending machines side by side,
The robot arm device is disposed in a pair direction in the direction in which the plurality of reinforcing bar bending machines are arranged, and the first control means in the pair of left and right robot arm devices are different in the longitudinal direction of the reinforcing bar in the reinforcing bar supply operation control The position is clamped by each clamp part and supplied to the reinforcing bar bending machine, and in the following arm operation control, the clamping part individually follows the movement of the reinforcing bar accompanying the bending operation of the reinforcing bar bending machine which is adjacent to each other The reinforcing bar bending apparatus according to claim 1 or 2, which is set to. In the follow-up arm operation control, the first control means incorporates interference prevention guidance control for guiding the both end sides of the reinforcing bars clamped by the clamp portion of each of the pair of robot arm devices to avoid interference. The reinforcing bar bending apparatus according to Item 3.

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