JP2023094898A - Reinforcing bar assembly system - Google Patents

Abstract

To provide a reinforcing bar assembly system capable of improving the automation rate of assembly of reinforcing bars placed in two upper and lower stages so as to efficiently assemble the reinforcing bars.SOLUTION: A reinforcing bar assembly system 1 includes a reinforcing bar frame 11, two robot arm bodies 14 to which a gripping device 12 and an upper bar binding device can be selectively attached to one end, and one lower bar binding device 15. One ends of the robot arm bodies 14 are moved above the reinforcing bar frame 11. The lower bar binding device 15 moves below the reinforcing bar frame 11 .SELECTED DRAWING: Figure 2

Description

Application for application of Article 30, Paragraph 2 of the Patent Act (1) Posting date: September 3, 2021, Posting address: https://www. smcon. co. jp/topics/2021/09031300/ (2) Meeting name: 2021 Niihama Issuikai Exchange meeting with young engineers Date: November 16, 2021 (3) Exhibition name: Highway Techno Fair 2021 Date: October 6 and 7, 2021 (4) Exhibition name: Construction Technology Exhibition 2021 Kinki Dates: October 27 and 28, 2021 (5) Exhibition name: Construction Technology Exhibition 2021 Kanto Dates: November 25th and 26th, 2021 (6) Exhibition name: Construction Technology Fair 2021 in Chubu Dates: December 14th and 15th, 2021 (7) Dates: August 4th and September 2021 14th, October 20th, December 6th, 2019, Location: Sumitomo Mitsui Construction Co., Ltd., Notogawa Plant Vol. 63, No. 1. Date of issue: December 22, 2021

TECHNICAL FIELD The present invention relates to a reinforcing bar assembling system for assembling reinforcing bars arranged in two tiers, one above the other.

Conventionally, the work of assembling reinforcing bars in which reinforcing bars are arranged at predetermined positions and tied together has been manually performed by workers. Various means have been proposed to improve the efficiency of such reinforcing bar assembly work.

For example, Patent Literature 1 discloses a reinforcing bar assembly system that automatically supplies, arranges, and binds reinforcing bars using a robot arm or the like.

JP 2021-049567 A

In the reinforcing bar assembly system described in Patent Literature 1, only one stage (one layer) of reinforcing bars is automatically assembled. For this reason, in order to assemble reinforcing bars arranged in two layers, one layer is automatically assembled, then transported to the auxiliary work area, workers manually insert auxiliary reinforcing bars, etc., and then automatic assembly is performed again. It was necessary to move it to the area and automatically assemble the second layer.

In view of the above background, it is an object of the present invention to provide a reinforcing bar assembling system capable of improving the automation rate of assembling reinforcing bars arranged in two upper and lower layers and efficiently assembling reinforcing bars.

In order to solve the above problems, one aspect of the present invention is a reinforcing bar assembling system (1) for assembling reinforcing bars (3) arranged in two upper and lower stages, which is a reinforcing bar frame to support the reinforcing bars (3). (11), a plurality of gripping devices (12) capable of gripping the reinforcing bars (3), a plurality of upper muscle binding devices (13) for binding the reinforcing bars (3) arranged in the upper stage, and A plurality of robot arm bodies (14) to which the grasping device (12) and the upper muscle binding device (13) can be selectively attached, wherein the grasping device (12) is attached to the grasping device (14). 12) is moved above the reinforcing bar frame (11) so that the reinforcing bar (3) can be arranged on the reinforcing bar frame (11), and in a state in which the upper bar binding device (13) is attached In order to bind the reinforcing bars (3) arranged in the upper stage, the upper muscle binding device (13) is moved above the reinforcing bar frame (11) and arranged at a desired position. The robot arm body (14) and one or a plurality of lower reinforcement binding devices (15) configured to move below the reinforcement base (11) and bind the reinforcements (3) arranged in the lower stage. and

According to this aspect, the reinforcing bar assembling system is provided with the upper reinforcing device and the lower reinforcing device, so that the upper reinforcing bar and the lower reinforcing bar are separated from each other. It can be assembled together, improving the efficiency of assembly work and increasing the automation rate.

In the above aspect, the number of robot arm bodies (14) may be greater than the number of lower muscle binding devices (15).

According to this aspect, the number of lower reinforcing bar tying devices that can start tying work after placing the reinforcing bars in the lower stage and before placing the reinforcing bars in the upper stage is the same as the number of upper reinforcing bars that start tying work after placing the reinforcing bars in both the lower stage and the upper stage. Less than the number of robot arm bodies with binding devices attached. Therefore, equipment costs can be suppressed, and even if the number of lower muscle tying devices that can be started earlier is the least, the effect on work efficiency is small.

In the above aspect, an assembly for supporting the reinforcing steel frame (11) and moving the reinforcing steel frame (11) in the longitudinal direction so as to interlock with the robot arm body (14) and the lower muscle binding device (15). further comprising a reinforcing bar conveyor (10) and a rail (44) supporting the lower muscle binding device (15) so as to be movable in a direction intersecting the longitudinal direction; The ends may be immovably fixed and arranged offset from each other in the predetermined direction.

According to this aspect, the robot arm main body and the conveyor for assembly reinforcing bars that are interlocked with each other can efficiently arrange the upper and lower reinforcing bars and bind the upper reinforcing bars. Even if the movable distance of the lower reinforcing bar binding device in a predetermined direction is short, the entire range of the lower reinforcing bars can be bound.

ADVANTAGE OF THE INVENTION According to this invention, the automation rate of assembly of the reinforcing bar arrange|positioned in two steps|paragraphs above and below can be improved, and the reinforcing bar assembling system which can assemble a reinforcing bar efficiently can be provided.

Schematic perspective view showing a factory in which a reinforcing bar assembly system according to an embodiment is installed BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the reinforcing-bar assembly system which concerns on embodiment 1 is a perspective view of a reinforced concrete member including reinforcing bars assembled by the reinforcing bar assembly system according to the embodiment; FIG. Reinforcement arrangement diagram of a reinforced concrete member including reinforcing bars assembled by the reinforcing bar assembly system according to the embodiment Front view showing a gripping device of the reinforcing bar assembly system according to the embodiment Front view showing the upper bar binding machine of the reinforcing bar assembly system according to the embodiment Explanatory drawing showing a reinforcing bar arrangement procedure by the reinforcing bar assembly system according to the embodiment

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic perspective view showing a factory 2 in which a reinforcing bar assembly system 1 is arranged. The factory 2 is provided with a material temporary storage area 4 where materials such as the reinforcing bars 3 are temporarily stored, a reinforcing bar assembly area 5 where the reinforcing bars 3 are assembled, and an assembled reinforcing bar temporary placement area 6 where the assembled reinforcing bars 3 are temporarily placed. ing. Materials and the like are transported from the material temporary storage area 4 to the reinforcing bar assembly area 5 and from the reinforcement assembly area 5 to the assembled reinforcing bar temporary storage area 6 by a portal crane 7 .

FIG. 2 is a perspective view showing the reinforcing bar assembling system 1 arranged in the reinforcing bar assembling area 5. As shown in FIG. The reinforcing bar assembly system 1 includes a plurality of reinforcing bar feeders 8 that store and supply the reinforcing bars 3 before assembly, an individual reinforcing bar conveyor 9 that transports the reinforcing bars 3 supplied from the reinforcing bar supplying machine 8, and an assembled reinforcing bar conveyor 10. , a reinforcing bar frame 11 supported by the assembly reinforcing bar conveyor 10, a gripping device 12 capable of gripping the reinforcing bars 3, an upper reinforcing bar binding device 13 (see FIG. 6) for binding the reinforcing bars 3 arranged on the upper stage, and a base. Equipped with a robot arm body 14 whose end side is immovable and to which a grasping device 12 and an upper muscle tying device 13 can be selectively attached to the free end side, and a lower muscle tying device 15 for tying the reinforcing bars 3 arranged in the lower stage. (The rebar feeder 8 and the individual rebar conveyor 9 on the left side of FIG. 2 are omitted). A robot arm 16 is configured by attaching the grasping device 12 or the upper muscle binding device 13 to the robot arm main body 14 . With the gripping device 12 attached, the robot arm 16 grips the reinforcing bars 3 conveyed by the individual reinforcing bar conveyor 9, places them on the reinforcing bar frame 11 on the assembled reinforcing bar conveyor 10, and binds the upper bars. With the device 13 attached, the crossing portions of the reinforcing bars 3 arranged in the upper stage and the portions constituting the lap joints are bound.

FIG. 3 shows a precast concrete member 17 including rebars 3 assembled by the rebar building system 1 (see FIG. 2), and FIG. 4 shows a bar arrangement diagram thereof. The precast concrete member 17 is a member that is manufactured in large numbers with the same structure, and is a member that constitutes, for example, a concrete floor slab. The concrete portion 18 of the precast concrete member 17 has a generally rectangular contour in plan view. The reinforcing bars 3 are arranged in two upper and lower stages, and the reinforcing bars 3 arranged in the upper stage and the reinforcing bars 3 arranged in the lower stage are arranged so as to substantially overlap when viewed from the vertical direction except for the arrangement of joints. Both sides of the loop reinforcement 19 extending in the transverse direction of the precast concrete member 17 are exposed from the concrete portion 18 . The precast concrete member 17 may be a prestressed concrete structure.

As shown in FIGS. 4 and 7, the reinforcing bars 3 are composed of a plurality of loop reinforcements 19 arranged to extend in the widthwise direction, and a plurality of first loops 19 extending in the widthwise direction and arranged in the upper row. Reinforcing bars 20, a plurality of second reinforcing bars 21 arranged in the lower part so as to extend in the longitudinal direction of the precast concrete member 17, and a plurality of third reinforcing bars 22 arranged in the upper part so as to extend in the longitudinal direction. including.

The loop muscle 19 includes a lower portion 23 extending in the widthwise direction, curved portions 24 extending upward in a semicircular shape from both ends of the lower portion 23 so as to bulge outward in the widthwise direction, It has a pair of upper stepped portions 25 extending in the lateral direction from the upper end portion of the curved portion 24 so that the distal end portions approach each other. An opening 26 is defined between the distal ends of the pair of upper tiers 25 . In other words, the looped muscle 19 has a shape in which an opening 26 is provided by cutting out part of the upper linear portion from a track-type ring shape for athletics. The first reinforcing bar 20 closes the opening 26 of the loop bar 19 and is arranged so that both ends thereof form a lap joint with a pair of upper steps 25 . The second reinforcing bars 21 and the third reinforcing bars 22 are arranged inside the annular shape formed by the loop bars 19 and the first reinforcing bars 20 . Each of the loop reinforcement 19 and the first reinforcement 20 is preferably configured by one steel bar member. Each of the second reinforcing bar 21 and the third reinforcing bar 22 may be configured by a single steel bar member, or may be configured by connecting a plurality of steel bar members with a lap joint. One of the second reinforcing bar 21 and the third reinforcing bar 22 preferably has a hook shape bent 90° toward the other of the second reinforcing bar 21 and the third reinforcing bar 22 at both ends.

Please refer to FIG. A plurality of reinforcing bar feeders 8 are provided, and the reinforcing bars 3 are stored in different reinforcing bar feeders 8 according to their shapes (lengths). The reinforcing bar supplier 8 includes a storage unit 27 for storing the reinforcing bars 3 and a supply reinforcing bar gripping device (not shown) that takes out the reinforcing bars 3 from the storage unit 27 and moves them to the individual reinforcing bar conveyor 9 . The supply reinforcing bar gripping device (not shown) has the same structure as the gripping device 12 and is movable between above the storage section 27 and above the individual reinforcing bar conveyor 9 .

The conveyor 9 for individual reinforcing bars and the conveyor 10 for assembled reinforcing bars are, for example, roller conveyors, and move the placed objects in their extending directions. The extension direction and width direction of the individual reinforcing bar conveyor 9 and assembled reinforcing bar conveyor 10 match the longitudinal direction and width direction of the reinforcing bars 3 to be assembled. Hereinafter, the extension direction and width direction of the individual reinforcing bar conveyor 9 and the assembly reinforcing bar conveyor 10 are referred to as the longitudinal direction and the width direction. The individual reinforcing bar conveyor 9 conveys the reinforcing bar 3 supplied from the reinforcing bar supplier 8 to a position where the robot arm 16 with the gripping device 12 attached can grip it. The assembly reinforcing bar conveyor 10 interlocks with the robot arm 16 during assembly of the reinforcing bars 3 . An individual reinforcing bar stand 47 on which the individual reinforcing bars 3 are placed is placed on the individual reinforcing bar conveyor 9 .

As shown in FIGS. 2 and 7, the reinforcing bar frame 11 includes a base portion 28 supported by the assembly reinforcing bar conveyor 10, a guide portion 29, and an actuator 30 for vertically displacing the guide portion 29. The base portion 28 has a rectangular frame shape in plan view, and supports the loop reinforcement 19 and the second reinforcement 21 at its upper edge. When each of the second reinforcing bars 21 arranged in the longitudinal direction is configured by lap jointing a plurality of steel bar members, the base 28 is arranged so that each steel bar member is supported at two or more points. has a portion (not shown) extending in the lateral direction connected to the middle portion of the two longitudinally extending side edges 28a of the frame shape. The guide part 29 is composed of a plurality of rod-shaped or plate-shaped members that are arranged apart from each other in the longitudinal direction and extend in the lateral direction, and support the third reinforcing bars 22 . A groove 31 is provided in the upper edge of the base portion 28 and the guide portion 29 to receive the supporting reinforcing bar 3 . Actuator 30 is connected to base 28 by connecting member 48 and includes, for example, an electric cylinder. The upper edge of the connecting member 48 is provided with a projection 49 projecting upward in the lateral direction from the groove 31 in order to restrict the movement of the first reinforcing bar 20 in the longitudinal direction. The second reinforcing bar 21 may be supported by the base 28 via the lower part 23 of the loop bar 19. In this case, the second reinforcing bar 21 does not contact the bottom of the groove 31, Movement in the lateral direction is restricted by the side edges.

FIG. 5 is a front view showing the gripping device 12. FIG. The gripping device 12 includes an attachment portion 32 attached to the robot arm main body 14, a clamp 33 that grips the reinforcing bar 3, and a connecting portion 34 that connects the attachment portion 32 and the clamp 33 to each other.

Please refer to FIG. Two robot arms 16 are installed at positions shifted from each other in the longitudinal direction. Two grasping devices 12 and two upper muscle binding devices 13 (see FIG. 6) are prepared. A frame 36 (see FIG. 1) is erected on the floor of the factory 2, and the ceiling of the frame 36 partially covers the assembly reinforcing bar conveyor 10 from above. A base end of the robot arm body 14 is fixed to the ceiling of the frame 36 . The robot arm main body 14 has a plurality of joints so that the reinforcing bar 3 gripped by the gripping device 12 can be moved, and the free end portion of the robot arm main body 14 can rotate about a predetermined axis.

As shown in FIG. 2, the robot arm 16 to which the gripping device 12 is attached automatically grips the reinforcing bar 3 conveyed by the individual reinforcing bar conveyor 9 and is supported on the assembled reinforcing bar conveyor 10. It is controlled to be placed on the reinforcing bar frame 11 . At this time, the assembly reinforcing bar conveyor 10 is interlocked with the robot arm 16 in order to reduce the movement range of the robot arm 16 .

FIG. 6 is a front view showing the upper muscle binding device 13. FIG. As shown in FIG. 6, the upper muscle tying device 13 includes an attachment portion 37 attached to the robot arm body 14, a tying machine body 38, a fixing portion 39 for fixing the tying machine body 38 to the attachment portion 37, and a three-dimensional and a camera 35 . As the binding machine main body 38, a commercially available reinforcing bar binding machine that is carried and used by workers can be used. The binding machine main body 38 includes a grip 40 fixed to a fixing portion 39, a trigger 41, and a wire binding machine main body 38 by moving a lever 42 so as to pull the trigger 41 or by electrically inputting a trigger signal to the binding machine main body 38. A tip binding part 43 wound around the reinforcing bar 3 and twisted is provided.

The robot arm 16 to which the upper reinforcement binding device 13 is attached is controlled so as to automatically bind the parts of the reinforcing bars 3 arranged in the upper stage on the assembly reinforcing bar conveyor 10 to be bound. That is, after inserting the tip binding part 43 of the binding machine main body 38 from above into the portion of the reinforcing bar 3 to be bound, the control of pulling the trigger 41 or inputting the trigger ON signal is repeatedly performed. In order to reduce the movement range of the robot arm 16 while the robot arm 16 is arranging the reinforcing bars and binding the reinforcing bars 3 arranged in the upper stage, the assembly reinforcing bar conveyor 10 on which the reinforcing bar base 11 is mounted interlocks with the robot arm 16 .

Please refer to FIG. The reinforcing bar assembly system 1 includes a first rail 44 that is fixed to the floor of the factory 2 and extends in the lateral direction, and a second rail 44 that is movably supported in the lateral direction and extends in the longitudinal direction. rails 45; The first rail 44 and the second rail 45 are positioned below the reinforcing steel frame 11 . The lower muscle tying device 15 includes a lower portion 46 supported by the second rail 45 so as to be movable in the longitudinal direction, and a binding machine main body 38 ( See FIG. 6). The tying machine main body 38 is controlled so that the leading end tying part 43 (see FIG. 6) is inserted from below into the portion of the reinforcing bar 3 placed in the lower stage to be tyed, and that portion is tyed. The length of the second rail 45 extending in the longitudinal direction may be shorter than the length of the reinforcing bar 3 in the longitudinal direction because the reinforcing bar 3 can be moved in the longitudinal direction by the assembly reinforcing bar conveyor 10 . Instead of the first rail 44 and/or the second rail 45, the lower portion 46 may be an arm structure having joints, and the lower portion 46 may move the binding machine main body 38 in the longitudinal direction and/or the lateral direction.

It is preferable to install a safety fence (not shown) around the outer circumference of the reinforcing bar assembly system 1 and to arrange a sensor for detecting the entrance and exit of a person at the door provided in the safety fence. Movements of the reinforcing bar feeder 8, the individual reinforcing bar conveyor 9, the assembled reinforcing bar conveyor 10, the lower bar binding device 15, the robot arm 16, and the guide section 29 and the actuator 30 of the reinforcing bar base 11 are controlled by a control device (not shown). controlled by

The procedure for assembling the reinforcing bars 3 will be described with reference to FIGS. 2 and 7. FIG. First, the reinforcing bars 3 transported to the reinforcing bar assembly area 5 by the portal crane 7 are arranged by workers on different reinforcing bar feeders 8 according to their shapes. After that, the worker operates the reinforcing bar assembly system 1 . The reinforcing bar feeder 8 places the reinforcing bars 3 to be assembled on the individual reinforcing bar frame 47 on the individual reinforcing bar conveyor 9, and the individual reinforcing bar conveyor 9 is gripped by the robot arm 16 to which the gripping device 12 is attached. The reinforcing bar 3 is transported to a possible position.

A gripping device 12 is attached to each of the two robot arm bodies 14 . Two robot arms 16 perform bar arrangement work. The robot arm 16 to which the gripping device 12 is attached first places the looped bar 19 on the base 28 of the reinforcing bar frame 11 supported on the assembly reinforcing bar conveyor 10 . The loop muscle 19 extends in the transverse direction and is arranged so that the upper step portion 25 is positioned above the lower step portion 23 (FIG. 7(A)). After arranging all the looped bars 19, the robot arm 16 places the second reinforcing bar 21 on the base 28 of the reinforcing bar frame 11 or the lower part 23 of the looped bar 19 (FIG. 7(B)). At this time, the robot arm 16 inserts the second reinforcing bar 21 extending in the longitudinal direction into the inside of the looped bar 19 so as to pass through the opening 26 of the looped bar 19 from above, and moves it in the lateral direction as necessary. , in place.

After all the second reinforcing bars 21 have been placed, the lower-bar binding device 15 performs the intersections of the lower-level portions 23 of the loop bars 19 arranged in the lower stage with the second reinforcing bars 21 and the lap joints of the second reinforcing bars 21 . begins to tie together the parts that make up the The following work is performed in parallel with the work of binding the reinforcing bars 3 arranged in the lower stage by the lower-bar binding device 15 .

The reinforcing bar assembling system 1 inserts the guide part 29 of the reinforcing bar frame 11 from above into the mounting position above the lower part 23 and the second reinforcing bar 21 of the loop bar 19 and below the upper part 25 of the loop bar 19, and the actuator is operated. 30 support. The placement position is a position where the upper edge of the guide portion 29 is separated from the lower edge of the upper step portion 25 of the looped bar 19 by a distance longer than the diameter of the third reinforcing bar 22 . The robot arm 16 arranges the third reinforcing bar 22 on the guide portion 29 of the reinforcing bar frame 11 (FIG. 7(C)). At this time, similarly to the second reinforcing bar 21, the robot arm 16 inserts the third reinforcing bar 22 extending in the longitudinal direction into the inside of the loop reinforcing bar 19 so as to pass through the opening 26 of the loop reinforcing bar 19 from above, and If necessary, move it in the lateral direction and place it in a predetermined position.

After all the third reinforcing bars 22 have been placed, the actuator 30 moves the guide part 29 upward from the placing position, and the third reinforcing bars 22 come into contact with the upper part 25 of the loop bar 19. place in position. The robot arm 16 closes the opening 26 with the first reinforcing bar 20 and is placed on the third reinforcing bar 22 so that both ends thereof form a lap joint with the upper part 25 of the looped bar 19 (FIG. 7(D)). ).

The robot arm body 14 then removes the gripping device 12 and attaches the upper muscle tying device 13 to its free end. The robot arm 16 having the upper muscle tying device 13 is used to connect the upper portion 25 of the looped reinforcement 19 arranged on the upper stage and/or the crossing portion between the first reinforcing bar 20 and the third reinforcing bar 22, and the lap joint in the third reinforcing bar 22. Bind the parts that make up. At this time, the reinforcing bar assembling system 1 moves the upper bar binding device 13 to the designed position for the binding work, and then photographs the reinforcing bar 3 to be bound with the three-dimensional camera 35 . If the deviation of the actual position of the reinforcing bar 3 calculated based on the photographed image from the designed position of the reinforcing bar 3 exceeds the allowable range, the upper muscle tying device 13 adjusts the actual position of the reinforcing bar 3. , the reinforcing bars 3 are tied after moving to a position where the reinforcing bars 3 can be tied.

After the bundling of both the upper and lower reinforcing bars 3 is completed, the assembled reinforcing bars 3 are transported to the assembled reinforcing bar temporary placement area 6 by the assembled reinforcing bar conveyor 10 and the portal crane 7 . Additional reinforcement and tying operations may be performed by workers as needed.

The effects of the above embodiment will be described.

Since the robot arm body 14 to which the upper reinforcement binding device 13 can be attached is arranged above the reinforcing bars 3 being assembled, and the lower reinforcement binding device 15 is arranged below, the reinforcing bars 3 arranged in the upper and lower stages can be bound. Work can be done in parallel. Therefore, the work efficiency is improved, and the automation rate of assembling the reinforcing bars 3 is improved (while the automation rate by the reinforcing bar assembling system 1 described in Patent Document 1 is about 75% and the number of workers is 6, , the automation rate by the reinforcing bar assembly system 1 according to the present embodiment is about 85%, and the number of workers is two).

The work of tying the reinforcing bars 3 arranged in the lower stage by the lower reinforcement binding device 15 can be started before the reinforcement of the third reinforcing bars 22 and the first reinforcing bars 20 is arranged. The bundling work of 3 must be performed after the third reinforcing bars 22 and the first reinforcing bars 20 are arranged. One lower muscle binding device 15 is used for work that can be started first, and two upper muscle binding devices 13 are used for work to be started later, and two robot arm bodies 14 are provided for moving the upper muscle binding device 13. - 特許庁As a result, the standby time of the upper muscle binding device 13, the robot arm main body 14, and the lower muscle binding device 15 can be reduced while suppressing an increase in equipment cost, and the reinforcing bars 3 can be assembled efficiently. Even if the number of the upper muscle binding devices 13 and the robot arm main body 14 is three or more, and the number of the lower muscle binding devices 15 is two or more and less than the number of the upper muscle binding devices 13 and the robot arm main body 14, good. Also in this case, the same effect as above can be obtained.

Since the lower muscle tying device 15 is supported by the first rail 44 and the second rail 45, the coordinates of the lower muscle tying device 15 are lower than when the lower muscle tying device 15 is moved on the floor of the factory 2 by wheels or the like. can be clearly understood.

The looped muscle 19 having the curved portion 24 is formed by curving a straight steel bar. Variation occurs in the position. By using the guide portion 29, even if the position of the upper step portion 25 is uneven, the third reinforcing bar 22 can be brought into contact with the upper step portion 25 of the loop bar 19 to bind the intersection of the two.

By photographing the reinforcing bars 3 to be bound by the three-dimensional camera 35, the reinforcing bar assembling system 1 can grasp the deviation of the actual positions of the reinforcing bars 3 from the designed positions of the reinforcing bars 3, and bind the upper muscles according to the deviation. Device 13 can be moved.

In the reinforcing bar assembling system 1 configured in this way, the base end side of the robot arm 16 is fixed and is immovable with respect to the factory 2. Coordinates can be clearly grasped. Therefore, the reinforcing bar assembly system 1 can accurately arrange and bind the reinforcing bars 3 to be assembled. Further, by arranging the reinforcing bars 3 in the grooves 31 of the reinforcing bar frame 11, the accuracy of the positions of the arranged reinforcing bars 3 is improved.

Since the assembly reinforcing bar conveyor 10 is interlocked with the robot arm 16 , even the reinforcing bars 3 that are out of the motion range of the robot arm 16 can be arranged or bound.

Since the reinforcing bars 3 are automatically supplied by the reinforcing bar supplier 8, work efficiency is improved. Further, even if different reinforcing bar feeders 8 are used for each shape and length of the reinforcing bar 3, the reinforcing bar 3 supplied by the reinforcing bar feeder 8 is conveyed by the individual reinforcing bar conveyor 9, and the movable range of the robot arm 16 is increased. The gripping device 12 can grip the reinforcing bar 3 without increasing .

Although the specific embodiments have been described above, the present invention is not limited to the above embodiments and can be widely modified. The invention is also applicable to the erection of cast-in-place concrete reinforcing bars. The angle at which the second reinforcing bar and the third reinforcing bar cross the loop bar and the first reinforcing bar in a plan view may be an angle other than 90°. Alternatively, the second reinforcing bars and the third reinforcing bars may extend in the lateral direction, and the loop bars and the first reinforcing bars may extend in the longitudinal direction. If the assembly rebar conveyor 10 is not moved while the guides are in use, the actuators that displace the guides may be supported on the factory floor or the like instead of the base of the rebar pedestal. The extending directions of the rails may intersect the longitudinal direction at an angle other than orthogonal.

1: Rebar assembly system 3: Reinforcement bar 10: Conveyor for assembly rebar 11: Reinforcement frame 12: Grasping device 13: Upper bar binding device 14: Robot arm body 15: Lower bar binding device 19: Loop bar 20: First reinforcing bar 21: Second reinforcing bar 22: Third reinforcing bar 23: Lower part 24: Curved part 25: Upper part 26: Opening 28: Base 29: Guide part 35: Three-dimensional camera 44: First rail

Claims (3)

A reinforcing bar assembling system for assembling reinforcing bars arranged in two upper and lower stages,
a reinforcing bar frame to support the reinforcing bar;
a plurality of gripping devices capable of gripping the reinforcing bars;
a plurality of upper reinforcement binding devices for binding the reinforcing bars arranged in the upper stage;
A plurality of robot arm bodies to which the gripping device and the upper muscle binding device can be selectively attached to one end thereof, wherein the gripping device is moved above the reinforcing bar pedestal while the gripping device is attached. The upper reinforcing bar tying device is arranged above the reinforcing bar pedestal in order to bind the reinforcing bars arranged on the upper stage with the upper bar tying device attached. the robot arm body configured to be moved by and placed at a desired position;
A reinforcing bar assembling system, comprising: one or a plurality of lower bar binding devices configured to move below the reinforcing bar frame and bind the reinforcing bars arranged in the lower stage. The reinforcing bar assembly system according to claim 1, wherein the number of said robot arm bodies is greater than the number of said lower muscle binding devices. an assembly reinforcing bar conveyor that supports the reinforcing bar pedestal and moves the reinforcing bar pedestal in the longitudinal direction so as to interlock with the robot arm main body and the lower bar binding device;
a rail supporting the lower muscle binding device movably in a direction intersecting the longitudinal direction;
The reinforcing bar assembly system according to claim 1 or 2, wherein the other end portions of the plurality of robot arm bodies are immovably fixed and are arranged to be shifted from each other in the predetermined direction.

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