JP7332410B2 - Rebar assembly system - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act (1) Posting date: May 15, 2019, Posting address: https://www. smcon. co. jp/topics/2019/05151300/ (2) Publisher name: Nikkei BP Inc., Publication name: Nikkei Construction, Issue number: No. 717, Date of issue: August 12, 2019

TECHNICAL FIELD The present disclosure relates to rebar assembly systems, and more particularly to rebar assembly systems that automatically place and tie rebar.

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 Document 1 discloses a method in which a plurality of rebars arranged parallel to each other and connected to a spacing line are wound around a core material, and the rebars are arranged at predetermined intervals by pulling out the rebars from the core material. Are listed. Further, Patent Document 2 describes a method of binding reinforcing bars by a self-propelled robot having a binding machine body. Further, Patent Document 3 describes a method of arranging and tying shear reinforcements to main reinforcements by a robot supported so as to be able to travel on rails.

JP 2019-37994 A Japanese Patent Application Laid-Open No. 2019-39170 JP 2013-204257 A

The method described in Patent Literature 1 can shorten the work time at the construction site, but requires the work of winding the reinforcing bar around the core material in advance. In the method described in Patent Literature 2, since it is self-propelled, the position of the tying machine body is not stable, and there is a concern that the accuracy of tying the reinforcing bars will be insufficient. In the method described in Patent Literature 3, workers had to manually arrange the main reinforcing bars.

SUMMARY OF THE INVENTION In view of such problems, it is an object of the present invention to provide a reinforcing bar assembling system that can largely automate the placement and binding of reinforcing bars and that can accurately place and tie the reinforcing bars.

At least some embodiments of the present invention are a rebar building system (1) comprising a building rebar conveyor (11) and a gripping attachment (13) capable of gripping rebars (20, 21) intersecting each other. A binding attachment (14) for binding the reinforcing bars, and a robot arm body (15) having an immovable proximal end and capable of selectively attaching the gripping attachment and the binding attachment to a free end, wherein the gripping attachment is attached to the reinforcing bar on the assembly reinforcing bar conveyor, and the robot is configured to bind the crossing reinforcing bars on the assembly reinforcing bar conveyor with the binding attachment attached. and an arm body. The reinforcing bar assembling system is for a concrete structure, and the conveyor for assembling reinforcing bars moves the moving range of the robot arm body during the placement and binding of the reinforcing bars by the robot arm body, the gripping attachment, and the binding attachment. In order to reduce the size, it is preferable to be configured to be interlocked with the robot arm main body.

According to this configuration, since the base end side of the robot arm body is immovable, it is possible to accurately grasp the coordinates of the gripping attachment and the binding attachment attached to the robot arm body. Therefore, it is possible to accurately arrange and bind the reinforcing bars to be assembled.

At least some embodiments of the present invention are characterized in that the above configuration further comprises a pedestal (12) having a groove (46) that is placed on the conveyor for assembled reinforcing bars and holds the reinforcing bars.

By placing the reinforcing bars in the grooves of the gantry, the accuracy of the positions of the placed reinforcing bars is improved.

In at least some embodiments of the present invention, in any of the above configurations, a plurality of reinforcing bar feeders (9, 61) for storing the reinforcing bars before assembly, the reinforcing bars supplied from the reinforcing bar feeding machines, It is characterized by further comprising a processed reinforcing bar conveyer (11) that conveys to a position where the gripping attachment attached to the robot arm body can grip.

According to this configuration, the working efficiency can be increased by the reinforcing bar feeder, and the burden of movement of the robot arm can be reduced by the processed reinforcing bar conveyor.

In at least some embodiments of the present invention, in the above configuration, the reinforcing bars include reinforcing bars with hooks (20, 21) having both ends bent in the same direction, and the reinforcing bars with the hooks are stored. The feeder (9) has a transporting part (24) for transporting the reinforcing bars with hooks with the both ends facing downward, and directing the both ends of the reinforcing bars with hooks transported by the transporting part upwards. A supply port (25) is provided, and the supply port has a rail (33) for sliding the reinforcing bar, and the reinforcing bar with the hook during sliding movement on the rail collides at the both ends. and an impactor (34) for changing the orientation of the

According to this configuration, the directions of the hook-shaped ends of the reinforcing bar can be aligned in a predetermined direction.

In at least some embodiments of the present invention, instead of the above configuration, the rebars include rebars with hooks (20, 21) having both ends bent in the same direction, and the rebars with hooks are stored The reinforcing bar feeder (61) includes a transporting part (62) that transports the reinforcing bars with hooks with both ends facing downward, and a supply port that supports the reinforcing bars with hooks transported by the transporting part ( 63), wherein the supply port includes a rebar reversing portion (69) capable of reversing the direction of the both ends of the rebar by a rotary actuator.

According to this configuration, the direction of the hook-shaped ends of the reinforcing bar can be aligned upward or downward.

In at least some embodiments of the present invention, in any one of the configurations described above, the conveyor for assembly reinforcing bars is configured to move the robot during placement and binding of the reinforcing bars by the robot arm body, the gripping attachment, and the binding attachment. It is characterized in that it is configured to be interlocked with the arm body.

According to this configuration, the moving distance of the robot arm body is shortened by interlocking the assembly reinforcing bar conveyor and the robot arm body, and the load on the robot arm body can be reduced.

According to the present invention, it is possible to provide a system that can largely automate the placement and tying of rebar and can accurately place and tie rebar.

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 Reinforced concrete members including reinforcing bars assembled by the reinforcing bar assembly system according to the embodiment (A: plan view, B: front view) 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 reinforcing bar feeder and a processed reinforcing bar conveyor of the reinforcing bar assembly system according to the embodiment Front view showing a modified example of the reinforcing bar feeder and the processed reinforcing bar conveyor of the reinforcing bar assembly system according to the embodiment The front view which shows the holding|grip attachment of the reinforcing-bar assembly system which concerns on embodiment. The front view which shows the binding attachment of the reinforcing-bar assembly system which concerns on embodiment.

Hereinafter, a reinforcing bar assembly system 1 according to an embodiment of the present invention will be described with reference to the drawings. The reinforcing bar assembly system 1 is used, for example, to assemble reinforcing bars of precast concrete members that constitute a concrete floor slab, etc., and in particular, rebars 3 (see FIGS. 3 and 4) of a track slab 8 that constitutes a railway concrete floor slab. ), it is suitable for assembling rebars of precast concrete members in which a large number of identical structures are manufactured. On the track slab 8, rails are fixed on which railroad vehicles run.

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 .

In the reinforcing bar assembly area 5, the reinforcing bars 3 of the track slab 8, which is a precast concrete member shown in FIGS. 3 and 4, are assembled. The reinforcing bars 3 of the track slab 8 are arranged in two stages of upper reinforcing bars and lower reinforcing bars. As shown in FIG. 1, the reinforcing bar assembling area 5 includes a first area 5a where the reinforcing bar assembling system 1 is arranged to assemble main parts of the upper and lower reinforcing bars, and the remaining reinforcing bars 3 are assembled. A second area 5b is provided for tying and uniting hook-shaped ends of the muscle and the lower muscle.

FIG. 2 is a perspective view showing the reinforcing bar assembly system 1 arranged in the first area 5a. The reinforcing bar assembly system 1 includes a plurality of reinforcing bar feeders 9 that store and supply the reinforcing bars 3 before assembly, a processed reinforcing bar conveyor 10 that conveys the reinforcing bars 3 supplied from the reinforcing bar supplying machine 9, and an assembled reinforcing bar conveyor 11. , a frame 12 placed on a conveyor 11 for assembled reinforcing bars, a gripping attachment 13 capable of gripping the reinforcing bars 3, a binding attachment 14 (see FIG. 8) for binding the reinforcing bars 3 crossing each other, and a base end that is immovable. It is equipped with a robot arm body 15 to which a gripping attachment 13 and a binding attachment 14 can be selectively attached to the free end side (the rebar feeder 9 and the processing rebar conveyor 10 on the left side of FIG. 2 are not shown) there). A robot arm 16 is configured by attaching a grasping attachment 13 or a binding attachment 14 to a robot arm main body 15 . With the gripping attachment 13 attached, the robot arm 16 grips the reinforcing bar 3 conveyed by the processed reinforcing bar conveyor 10 and places it on the pedestal 12 on the assembled reinforcing bar conveyor 11, and the binding attachment 14 is attached. In the attached state, the mutually intersecting portions of the reinforcing bars 3 supported by the frame 12 on the assembly reinforcing bar conveyor 11 are bound.

As shown in FIGS. 3 and 4, the track slab 8 has a substantially rectangular outer contour in plan view, with an opening 17 penetrating vertically in the center and notches provided in the center of both longitudinal edges. 18 and a plug 19 is provided. The reinforcing bars 3 include longitudinal bars 20 extending in the longitudinal direction, horizontal bars 21 extending in the lateral direction, and reinforcing bars 22 arranged near the openings 17 and the cutouts 18 . The vertical reinforcement 20 and the horizontal reinforcement 21 are rebars with hooks in which short sections at both ends thereof are bent in the same direction by 90° with respect to the extension direction of the main part to form a hook shape. As shown in FIG. 1, in the first area 5a, vertical reinforcements 20 and horizontal reinforcements 21 are automatically assembled by the reinforcement assembly system 1 for each of the upper reinforcement and the lower reinforcement, and reinforcement is performed manually by workers in the second area 5b. A muscle 22 is added, and the hooked portions of the upper muscle and the lower muscle are tied and united.

FIG. 5 is a front view showing the reinforcing bar feeder 9 and the processed reinforcing bar conveyor 10. As shown in FIG. A plurality of reinforcing bar feeders 9 are provided, and the vertical bars 20 and the horizontal bars 21 are stored in different reinforcing bar feeders 9 according to their shapes (lengths). The reinforcing bar supplier 9 includes a storage unit 23 that stores the reinforcing bars 3, a transport unit 24 that receives the reinforcing bars 3 from the storage unit 23 and transports them toward the processed reinforcing bar conveyor 10, and the reinforcing bars 3 transported by the transport unit 24. It has a supply port 25 with both ends facing upward, and a moving unit 26 that moves the rebars 3 whose direction has been changed at both ends at the supply port 25 to the processed rebar conveyor 10 .

The storage section 23 slopes downward toward the carriage section 24 and comprises a pair of parallel first rails 27 . The reinforcing bars 3 are placed on the first rails 27 so as to be orthogonal to the first rails 27 and slide to the transporting section 24 by their own weight.

The carriage 24 comprises a pair of tracks 28 parallel to each other. The endless track 28 includes a chain 29, a plurality of protrusions 30 projecting outward from the outer peripheral edge of the chain 29, a pair of sprockets 31 fitted to the chain 29, and a power source 32 for rotating the sprockets 31. . The reinforcing bars 3 supplied from the storage unit 23 are placed on the endless track 28 so as to be perpendicular to each other, and arranged one by one between the projections 30 adjacent to each other along the moving direction of the endless track 28 . Instead of chain 29 and sprocket 31, belts and pulleys may be used.

The supply port 25 is inclined downward toward the processed reinforcing bar conveyor 10, and includes a pair of second rails 33 parallel to each other and a pair of second rails 33 on the outer sides and near the lower ends in the extending direction. A collision body 34 arranged below and a holding part 35 connected to the lower ends of the pair of second rails 33 are provided. The reinforcing bars 3 supplied from the transporting unit 24 are placed perpendicular to the second rails 33 and slide toward the processed reinforcing bar conveyor 10 by their own weight. The hook-shaped ends facing downward due to their own weight change their orientation when they collide with the collision body 34 . The holding portion 35 includes a bottom portion 36 that supports the reinforcing bars 3 from below, and two pairs of supports 37 positioned above the bottom portion 36 and supporting both ends of the reinforcing bars 3 . The pair of supports 37 are separated from each other by a width equal to or larger than the diameter of the reinforcing bar 3, and are dropped from the second rail 33 to the bottom 36 so that both ends of the reinforcing bar 3 supported by the bottom 36 face upward. It guides the hook-shaped ends of the rebar 3 that is to be inserted. The impact body 34 and the support body 37 are preferably rollers rotatable around axes parallel to the extending direction of the reinforcing bars 3 .

The moving portion 26 includes an arm portion 38 and a clamp 39 attached to the tip of the arm portion 38 . The clamp 39 grips the reinforcing bar 3 supported by the bottom portion 36 and the support 37 , and the arm portion 38 moves to translate the reinforcing bar 3 onto the processed reinforcing bar frame 40 placed on the processed reinforcing bar conveyor 10 . be placed on. The machined reinforcing bar frame 40 has grooves 41 for holding the reinforcing bars 3, and the frictional force between the reinforcing bars 3 and the wall surfaces forming the grooves 41 keeps the hook-shaped ends of the reinforcing bars 3 facing upward. be.

The processed reinforcing bar conveyor 10 and the assembled reinforcing bar conveyor 11 are, for example, roller conveyors. The machined reinforcing bar conveyor 10 conveys the vertical bars 20 and the horizontal bars 21 supplied from the reinforcing bar supplier 9 to a position where the robot arm 16 with the gripping attachment 13 attached can grip them. The assembled reinforcing bar conveyor 11 interlocks with the robot arm 16 during assembly of the reinforcing bar 3, and conveys the reinforcing bar 3 assembled by the robot arm 16 to the second area 5b.

FIG. 6 shows a reinforcing bar feeder 61 according to a modification. Configurations common to those shown in FIG. 5 are denoted by the same reference numerals, and descriptions thereof are omitted. The reinforcing bar feeder 61 includes a storage unit 23, a transporting unit 62 that receives the reinforcing bars 3 from the storing unit 23 and transports them toward the processed reinforcing bar conveyor 10, and the directions of both ends of the reinforcing bars 3 transported by the transporting unit 62. A changing supply port 63 and moving parts 70 to 73 for moving the reinforcing bars 3 to the conveyor 10 for processed reinforcing bars are provided.

The conveying part 62 includes an endless track part 64 that transports the reinforcing bars 3 received from the storage part 23 and a reinforcing bar cutting part 65 that receives the reinforcing bars 3 one by one from the endless track part 64 and transports them to the supply port 63 . The endless track portion 64 has a configuration similar to that of the carrier portion 24 (see FIG. 5) of the above embodiment, except that the projection 30 (see FIG. 5) is not provided. The reinforcing bar cut-out portion 65 includes a stepped fixed side cut-out portion 66 that extends obliquely upward as a whole, and an air moving portion 65 that slides the reinforcing bar 3 supported by the stepped fixed-side cut-out portion 66 obliquely upward. A movable cut-out portion 68 that moves up and down by an actuator 67 such as a cylinder is provided. The stepped upper surfaces of the fixed-side cut-out portion 66 and the movable-side cut-out portion 68 are formed obliquely as a whole by repeating a diagonally upward portion and a diagonally downward portion from the endless track portion 64 to the supply port 63 . going upwards.

The supply port 63 includes a rebar reversing portion 69 such as a rotary actuator arranged near both ends of the rebar 3 so as to direct the hook-shaped ends of the rebar 3 upward. If it is desired to assemble the reinforcing bar 3 with both hook-shaped ends of the reinforcing bar 3 directed downward, the reinforcing bar reversing part 69 does not reverse the hook-shaped ends of the reinforcing bar 3 but keeps them facing downward.

The moving parts 70 to 73 are provided with a lifter 71 including a reinforcing bar chuck 70 at its upper end that holds the reinforcing bar 3 reversed by the reinforcing bar reversing part 69 and maintains its posture. and an upper part 73 that moves up and down with respect to the cylinder 72 . The lifter 71 moves the reinforcing bar chuck 70 up and down to move the reinforcing bar 3 to the processed reinforcing bar conveyor 10 .

FIG. 7 is a front view showing the gripping attachment 13. FIG. As shown in FIG. 7, a plurality of gripping attachments 13 are prepared so that they can be exchanged according to the length of the reinforcing bar 3 to be gripped. The gripping attachment 13 includes an attachment portion 42 attached to the robot arm body 15, one or more clamps 43 for gripping the reinforcing bar 3, and a connecting portion 44 connecting the attachment portion 42 and the clamps 43 to each other. The gripping attachment 13 shown in FIG. 7(A) grips the longitudinal reinforcement 20 extending substantially over the entire longitudinal length of the track slab 8 (see FIGS. 3 and 4), and the connecting portion 44 is Four clamps 43 are arranged at substantially equal intervals, including long members such as shaped steel extending substantially parallel to the reinforcing bars 3 to be gripped. The gripping attachment 13 shown in FIG. 7(B) grips the lateral ribs 21 extending over substantially the entire length of the track slab 8 (see FIGS. 3 and 4) in the lateral direction. Two clamps 43 are arranged at both ends of a connecting portion 44 including a long member such as shaped steel extending substantially parallel to the reinforcing bar 3 to be gripped. The gripping attachment 13 shown in FIG. 7(C) includes a vertical stripe 20 arranged between the opening 17 and the notch 18 (see FIGS. 3 and 4), and a side edge of the notch 18 and the track slab 8 (see FIG. 3). and FIG. 4 ), and is provided with one clamp 43 .

A frame 45 (see FIG. 1) is erected on the floor of the factory 2, and the ceiling of the frame 45 partially covers the assembly reinforcing bar conveyor 11 from above. The base end side of the robot arm main body 15 is fixed to the ceiling of the frame 45 . The robot arm main body 15 has a plurality of joints so that the reinforcing bar 3 gripped by the gripping attachment 13 can be moved, and the free end portion of the robot arm main body 15 can rotate about a predetermined axis. The robot arm body 15 is preferably controlled so that the gripped reinforcing bar 3 is always horizontal and the free end portion rotates about the vertical direction. Instead of the free end portion of the robot arm body 15 being rotatable, the connecting portion 44 of the gripping attachment 13 may be rotatable with respect to the mounting portion 42 .

As shown in FIG. 2, the robot arm 16 to which the gripping attachment 13 is attached automatically grips the reinforcing bar 3 conveyed by the processed reinforcing bar conveyor 10 and places it on the assembly reinforcing bar conveyor 11. It is controlled so as to be placed on the pedestal 12 . At this time, the assembly reinforcing bar conveyor 11 is interlocked with the robot arm 16 in order to reduce the movement range of the robot arm 16 . In addition, the frame 12 is provided with grooves 46 for holding the reinforcing bars 3 at predetermined positions. state is preserved.

FIG. 8 is a longitudinal sectional view showing the binding attachment 14. As shown in FIG. As shown in FIG. 8 , the binding attachment 14 includes an attachment portion 47 attached to the robot arm body 15 , a binding machine body 48 , and a fixing portion 49 fixing the binding machine body 48 to the mounting portion 47 . As the binding machine main body 48, a commercially available reinforcing bar binding machine that is carried and used by workers can be used. The binding machine main body 48 includes a grip 50 fixed to a fixing portion 49, a trigger 51, and a wire by moving a lever 53 so as to pull the trigger 51 or electrically inputting a trigger signal to the binding machine main body 48. A tip binding part 52 to be wound around and twisted around the reinforcing bar 3 is provided.

The robot arm 16 to which the binding attachment 14 is attached is controlled to automatically bind the reinforcing bars 3 crossing each other on the assembly reinforcing bar conveyor 11 . That is, after inserting the tip binding portion 52 of the binding machine main body 48 into the intersecting portion of the reinforcing bars 3, the control of pulling the trigger 51 or inputting the trigger ON signal is repeatedly performed. At this time, the assembly reinforcing bar conveyor 11 is interlocked with the robot arm 16 in order to reduce the movement range of the robot arm 16 .

A procedure for assembling the reinforcing bars 3 will be described. First, the vertical bars 20 and the horizontal bars 21 transported to the first area 5a of the reinforcing bar assembly area 5 by the portal crane 7 are arranged by workers on different reinforcing bar feeders 9 according to their shapes. The vertical bars 20 and the horizontal bars 21 are placed one by one from the reinforcing bar feeder 9 on the machined reinforcing bar frame 40 on the machined reinforcing bar conveyor 10, and the robot arm 16 to which the gripping attachment 13 is attached by the machined reinforcing bar conveyor 10. is transported to a position where it can be grasped, and transferred to the frame 12 on the assembly reinforcing bar conveyor 11 by the robot arm 16 . The gripping attachment 13 is replaced with an appropriate size depending on the length of the vertical reinforcement 20 and the horizontal reinforcement 21 arranged on the frame 12 .

After all of the target vertical reinforcements 20 and horizontal reinforcements 21 are placed on the base 12 , the attachment attached to the robot arm body 15 is changed from the gripping attachment 13 to the binding attachment 14 . The robot arm 16 to which the binding attachment 14 is attached binds the crossing portions of the vertical reinforcements 20 and the horizontal reinforcements 21 on the frame 12 .

After tying, the assembled vertical reinforcement 20 and horizontal reinforcement 21 are transported to the second area 5b by the assembled reinforcement conveyor 11, and the reinforcing reinforcement 22 is added to the assembled vertical reinforcement 20 and horizontal reinforcement 21 by a worker. are arranged and tied together. After completing the binding of the lower reinforcing bars with both ends of the reinforcing bars 3 facing upward, the binding attachment 14 is replaced with the gripping attachment 13, and the upper reinforcing bars with both ends of the reinforcing bars 3 facing downward are placed on the frame 12 in the same manner as the lower reinforcing bars. place. Again, the gripping attachment 13 is replaced with the binding attachment 14 to bind the crossing portions of the vertical and horizontal muscles 20 and 21 of the upper muscles as well as the lower muscles. When the upper reinforcing bars are tied, they are conveyed to the second area 5b by the assembly reinforcing bar conveyor 11, and the reinforcing bars 22 are additionally arranged and tied to the assembled vertical bars 20 and horizontal bars 21 by the worker, and are tied together for the track slab 8. is the assembled reinforcing bar 3. The assembled reinforcing bars 3 are transported to an assembled reinforcing bar temporary placement area 6 by a portal crane 7 .

In the reinforcing bar assembly system 1 configured in this manner, the base end side of the robot arm 16 is fixed and immovable with respect to the factory 2, so the coordinates of the gripping attachment 13 and the binding attachment 14 attached to the robot arm main body 15 are can be clearly understood. Therefore, the reinforcing bars 3 to be assembled can be accurately arranged and bundled. A camera or a sensor (not shown) may also be used to adjust the positions of the gripping attachment 13 and the binding attachment 14 with respect to the base 12 or the reinforcing bar 3 . Further, by arranging the reinforcing bars 3 in the grooves 46 of the frame 12, the accuracy of the positions of the arranged reinforcing bars 3 is improved.

Since the assembly reinforcing bar conveyor 11 is interlocked with the robot arm 16, the moving distance of the robot arm 16 is shortened when arranging and binding the reinforcing bars 3, the load on the robot arm 16 is reduced, and the work time is shortened.

Even when using the reinforcing bar 3 having both ends bent in a hook shape, both ends are directed upward by the impactor 34 and the holding part 35 of the reinforcing bar feeder 9, and the grooves 41 and 46 of the frame 40 for processed reinforcing bars and the frame 12 are formed. can maintain its orientation by In the modified example, the rebar reversing unit 69 of the rebar supply device 61 can be used to select whether to keep both ends of the rebars 3 facing downward or to reverse them upward.

Since the reinforcing bar supplier 9 automatically supplies the vertical reinforcing bars 20 and the horizontal reinforcing bars 21, work efficiency is improved. Further, even if different reinforcing bar feeders 9 are used for each length of the vertical bar 20 and the horizontal bar 21, the processed reinforcing bar conveyor 10 conveys the vertical bar 20 and the horizontal bar 21 supplied by the reinforcing bar feeder 9, The gripping attachment 13 can grip the vertical muscle 20 and the horizontal muscle 21 without increasing the movable range of the robot arm 16 .

Although the specific embodiments have been described above, the present invention is not limited to the above embodiments and can be widely modified. The present invention can also be applied to the construction of precast concrete and cast-in-place concrete reinforcing bars other than track slabs.

1: Reinforcing bar assembly system 3: Reinforcing bars 9, 61: Reinforcing bar feeder 10: Conveyor for processing reinforcing bars 11: Conveyor for assembling reinforcing bars 12: Stand 13: Grasping attachment 14: Binding attachment 15: Robot arm body 20: Vertical bar 21: Horizontal bar 22: Reinforcing bars 24, 62: Conveying parts 25, 63: Supply ports 26, 70 to 73: Moving part 28: Endless track 33: Second rail (rail)
34: Collision body 69: Reinforcement reversing part

Claims (5)

A rebar assembly system for a concrete structure , comprising:
a conveyor for assembly reinforcing bars;
a gripping attachment capable of gripping a reinforcing bar;
a binding attachment for binding the reinforcing bars that cross each other;
A robot arm body having a base end that is immovable and capable of selectively attaching the gripping attachment and the binding attachment to the free end, wherein the reinforcing bars are placed on the assembly reinforcing bar conveyor with the gripping attachments attached. a robot arm body configured to bind the reinforcing bars that intersect each other on the assembled reinforcing bar conveyor with the binding attachment attached;
with
The conveyor for assembling reinforcing bars is arranged to be interlocked with the robot arm body in order to reduce the moving range of the robot arm body during placement and binding of the reinforcing bars by the robot arm body, the gripping attachment, and the binding attachment. A system characterized by comprising : A rebar assembly system,
a conveyor for assembly reinforcing bars;
a gripping attachment capable of gripping a reinforcing bar;
a binding attachment for binding the reinforcing bars that cross each other;
A robot arm body having a base end that is immovable and capable of selectively attaching the gripping attachment and the binding attachment to the free end, wherein the reinforcing bars are placed on the assembly reinforcing bar conveyor with the gripping attachments attached. a robot arm body configured to bind the reinforcing bars that intersect each other on the assembled reinforcing bar conveyor with the binding attachment attached;
a plurality of rebar feeders for storing the pre-assembled rebar;
a processed reinforcing bar conveyor that conveys the reinforcing bar supplied from the reinforcing bar supplier to a position where the grasping attachment attached to the robot arm body can grasp the reinforcing bar;
with
The reinforcing bar includes a hooked reinforcing bar with both ends bent in the same direction,
The rebar feeder in which the rebars with hooks are stored includes a transporter that transports the rebars with hooks with both ends facing downward, and both ends of the rebars with hooks transported by the transporter. and a supply port that faces upward,
The supply port includes a rail that slides the reinforcing bar, and a collision body that changes the direction of the both ends by colliding the hooked reinforcing bar while sliding on the rail at the both ends. characterized system . A rebar assembly system,
a conveyor for assembly reinforcing bars;
a gripping attachment capable of gripping a reinforcing bar;
a binding attachment for binding the reinforcing bars that cross each other;
A robot arm body having a base end that is immovable and capable of selectively attaching the gripping attachment and the binding attachment to the free end, wherein the reinforcing bars are placed on the assembly reinforcing bar conveyor with the gripping attachments attached. a robot arm body configured to bind the reinforcing bars that intersect each other on the assembled reinforcing bar conveyor with the binding attachment attached;
a plurality of rebar feeders for storing the pre-assembled rebar;
a processed reinforcing bar conveyor that conveys the reinforcing bar supplied from the reinforcing bar supplier to a position where the grasping attachment attached to the robot arm body can grasp the reinforcing bar;
with
The reinforcing bar includes a hooked reinforcing bar with both ends bent in the same direction,
The reinforcing bar supplier in which the reinforcing bars with hooks are stored includes a transporting part that transports the reinforcing bars with hooks with both ends facing downward, and a supply that supports the reinforcing bars with hooks transported by the transporting part. having a mouth and
The system according to claim 1, wherein the supply port includes a rebar reversing section capable of reversing the direction of the ends of the rebar by a rotary actuator. 2. The assembly reinforcing bar conveyor is configured to be interlocked with the robot arm main body during placement and binding of the reinforcing bars by the robot arm main body, the gripping attachment, and the binding attachment. or the system according to 3 . 5. The system according to any one of claims 1 to 4, further comprising a pedestal mounted on the conveyor for assembled reinforcing bars and having grooves for holding the reinforcing bars.

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