JPH05169261A - Reinforcing bar joining robot welding equipment - Google Patents

Abstract

PURPOSE:To improve workability of the reinforcing bar joining robot welding equipment by providing a turning lever on the tip of a manipulator main body connected with a turning base supported on a stand of a welding pedestal and arranging a welding torch thereon. CONSTITUTION:The welding equipment is provided with the stand 31 erected on the reinforcing bar joining welding pedestal, the turning base 32 supported on the stand, the manipulator main body 3-7 connected therewith via a parallel link mechanism L, a handling chuck 40 and the welding torch 41 provided on the tip thereof and a touch rope 45 freely rotatable on a part of the welding torch 41. Consequently, the workability of the reinforcing bar joining robot welding equipment can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic reinforcing bar assembly robot welding apparatus for an automatic reinforcing bar assembling apparatus for automatically assembling vertical reinforcing bars and horizontal reinforcing bars in a rebar builder for a building construction work in civil engineering and construction.

[0002]

2. Description of the Related Art Conventionally, such an assembled reinforcing bar has been manufactured by vertically crossing a horizontal reinforcing bar and a vertical reinforcing bar and manually binding and connecting the intersecting part with an annealed iron wire.

This manual joining work requires skill and is poor in workability, and the working time is long. In addition, the binding part made of iron wire is easy to release the binding, it is unsafe at the time of handling and raising the assembled reinforcing bar, there are problems such as the worker walking when placing concrete, pulsation of concrete piping, etc. there were.

In order to solve the above problems, the present applicant has proposed an automatic rebar assembling apparatus in Japanese Patent Application No. 2-400400. This device will be described with reference to FIGS. 14 and 15.

In FIG. 14, the automatic reinforcing bar assembling apparatus is equipped with a turntable 2 and rails R, a pallet carrier 1 which is self-propelled on the R, a bar arrangement pallet 3 placed on the turntable 2, and a rail. It is composed of a vertical bar arrangement frame 4, a horizontal bar arrangement frame 4a, and a reinforcing bar connection welding frame 5A which are arranged across R and R from one direction. In FIG. 15, a joining jig hopper 7 is provided on the upper surface of the main body 6A of the reinforcing bar joining welding stand 5A, and a joining jig feeder 8 is provided in front of the hopper 7. A joint welding robot 9 is provided on the side of the hopper 7 and the feeder 8. In the illustrated example, 5 sets of this set are provided.
Each set is welded. A robot arm 11 is vertically installed at a front end portion of an arm 10 extending to the front F of the robot 9.
A reinforcing bar detection sensor 12, a joining jig placer 13, and a joining jig welding torch 14 are provided at the lower end of the.

The reinforcing bar connecting jig 15 having the above-mentioned configuration and put into the hopper 7 is supplied to the feeder 8 and aligned, and is fed to the jig passing portion 8a of the feeder 8.
The robot 9 receives the connecting jig 15 at the placer 13, and the sensor 12 detects the position of the intersection C of the vertical stripe A and the horizontal stripe B and both the stripes A and B, and the connecting jig 15 is attached to the intersection C. Place it. Then, the welding torch 14 welds the connecting jig 15 and the reinforcing bars A and B at the welding portions 16 and 17, respectively, and connects the reinforcing bars A and B via the connecting jig 15.

[0007]

Although the above proposal itself is effective, the joint welding robot 9 is not sufficient and the workability is not good.

It is an object of the present invention to provide a rebar-joining robot welding device with good workability of an automatic rebar assembly device.

[0009]

According to the present invention, a pallet carrier having a turntable and self-propelled on a rail, and a bar arrangement pallet placed on the turntable,
An automatic reinforcing bar provided with a vertical bar reinforcing bar arranged across the rail, a horizontal bar bar, and a reinforcing bar connecting welding frame equipped with a plurality of sets of reinforcing bar connecting robot welding devices and a reinforcing bar connecting jig feeder. In the assembling apparatus, a stand installed upright on the reinforcing bar connecting welding stand, a swing base supported by the stand, and a manipulator main body connected to the rotating stand via a parallel link mechanism in the reinforcing bar connecting robot welding apparatus. A swivel lever provided at the tip of the manipulator body, a handling chuck provided at one end of the swivel lever, a welding torch provided at the other end of the swivel lever, and a part of the welding torch. And a touch probe movably provided.

The handling chuck and the welding torch are preferably attached to the swivel lever so that the swivel lever swivels to alternate vertical postures.

Further, it is preferable that the touch probe is connected to a touch probe control device that obtains the positions of the vertical streak, the horizontal streak and the intersection of both the streaks based on the signal from the touch probe.

[0012]

In the rebar-reinforcing robot welding apparatus configured as described above, when the rebars are joined, the turning arm and the parallel link mechanism are actuated, and the position of the intersection of the two rebars roughly positioned by the touch probe is moved. From the positions of the vertical and horizontal stripes. Next, the position of the node part of the upper muscle closest to the position of this intersection is determined, and the node position of the lower muscle is determined from the dimensions of the reinforcing bar connecting jig. Next, the turning lever is rotated to make the handling chuck vertical, and the reinforcing bar connecting jig is gripped from the parts feeder and placed on the intersection C. Next, the swivel lever is swiveled to make the welding torch vertical, and the joining jig is welded to the nodes of the upper and lower muscles to join the two muscles through the joining jig. Then, when the rebar joining in the turning work range of the manipulator main body is completed, the pallet carrier truck is moved by a predetermined pitch, and the above-mentioned work is repeated to join both the bars for one carrying pallet.

[0013]

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

The parts corresponding to those in FIGS. 1 and 2 are designated by the same reference numerals, and duplicate description will be omitted.

In FIGS. 1 to 3, a main body 6 of a reinforcing bar coupling welding stand 5 is provided with a plurality of parts feeders indicated by the reference numeral 20 and a plurality of sets of a reinforcing rod coupling robot and a robot control device 46 indicated by the reference numeral 30. (6 in the illustrated example
Set) is provided.

4 and 5, the parts feeder 2 is shown.
A bowl feeder 23 is connected to a hopper 21 for accommodating the reinforcing rod coupling jig 15 of No. 0 via a linear feeder 22. An escapement 26 for cutting out the joining jig 15 is provided at the joining jig supply point 25 in front of the tip of the linear feeder portion 24 of the bowl feeder 23. Note that the reference numeral 27 in the drawing indicates the connecting jig 15 in the bowl feeder 23.
Is a level switch for detecting the remaining amount of the linear movement feeder, and 28 is a full-work detecting phototube for detecting the full amount of the coupling jig 15 in the straight-moving feeder section 24 and controlling the delivery amount of the straight-moving feeder 24.

6 to 8 show an example of a reinforcing bar connecting robot 30 in which a stand 31 is provided on the upper surface of the main body 6 of the reinforcing bar connecting stand 5. The stand 31 of the robot 30 is erected on the main body 6. A swivel base 32 is rotatably provided on the stand 31, and a yoke portion 33 is integrally formed on the top of the base 32. An end of an arm 34 is pivotally attached to the yoke portion 33 by a shaft 34a, and an upper portion of a manipulator body 37 is pivotally attached to the other end of the arm 34. Further, one end of a link arm 35 is pivotally attached to the yoke portion 33 side of the arm 34, and one end of a link rod 36 is pivotally attached to the other end of the link arm 35. The other end of the link rod 36 is connected to the manipulator body 37.
Is pivotally attached to the top of. The axis a of this body 37 is shown in FIG.
As shown in FIG. 5, the arm 34 and the link rod 36 are slightly inclined with respect to the perpendicular b, and the pivot points of the arm 34 and the link rod 36 are provided on the perpendicular b. The members 34 to 37 form a parallel link mechanism L. Therefore, the axis a of the manipulator body 37 is always held at a constant inclination angle with respect to the bar arrangement pallet 3.

At the tip of the manipulator main body 37, a rotary base 38 is provided so as to be rotatable around an axis c inclined with respect to the axis a, and a rotary lever 39 is fixedly mounted on the rotary base 38. ing. A handling chuck 40 is provided at one end of the turning lever 39, and a welding torch 41 is provided at the other end. The handling chuck 40 and the welding torch 41 are tilted so that their tips approach each other with respect to the axis c, and the rotation base 38 is provided.
Is always held perpendicular to the bar arrangement pallet 3 by rotating. Further, a touch probe 45 is provided on the upper part of the welding torch 41 so as to be rotatable 180 degrees (FIG. 10). It is connected to the welding power source interface 49. The reference numeral 46 in FIG. 7 indicates a robot controller.
48 is a welding power source. With such a configuration, the reinforcing bar coupling robot 30 can work within the work range S by turning the turning base 31 and undulating the parallel link mechanism L. 9 and 10 show another embodiment of the swiveling lever 39a, the handling chuck 40, and the welding torch 41. The rotation base 38a is rotatably provided around an axis d orthogonal to the axis a of the manipulator body. In addition, the handling chuck 40
Is provided parallel to the swiveling lever 39a and has a welding torch 41.
Is provided so that its axis intersects with the axis c.
In this embodiment, when the rotation base 38a rotates counterclockwise by the angle θ with respect to the axis line a1 of the main body 37, the welding torch 4 is moved.
1 is rotated vertically.

Next, the mode of connecting the reinforcing bars will be described. The reinforcing bar connecting jig 15 corresponding to the daily usage amount is put into the hopper 21 of the parts feeder 20 in advance. The inserted jig 15 is moved to the bowl feeder 23 by the straight feeder 22.
Be transported to. In the bowl feeder 23, the jig 15
Are aligned one by one and conveyed to the straight feeder section 24. At the tip of the straight feeder section 24, the jig 15
Connecting jig supply point 25 by escapement 26 one by one
Sent to.

On the other hand, the reinforcing bar coupling robot 30 first actuates the turning base 32 and the parallel link mechanism L to cross the intersection C of the longitudinal stripes A and the transverse stripes B which are roughly positioned (see FIG. 1).
The position of 1) is accurately detected by the touch probe 45. The touch probe 45 is located at the position shown in FIG. 9 in order to avoid welding spatter during welding, but is rotated 180 degrees as indicated by the arrow during detection. The detection of the intersection C is
First, the vertical streak A is touched while moving the touch probe 45 in the axial direction of the horizontal streak B where it is desired to connect. Based on the signal from the touch probe 45, the touch probe control device 47 stores the position of the vertical stripe A. Then, similarly, the position of the lateral stripe B is stored, and the position of the crossing portion C is calculated from these memories. Touch the position C of the intersecting portion C from directly above with the touch probe to obtain and store the height of the upper reinforcing bar, that is, the vertical reinforcing bar A. Next, the ribs 19 and 1 on the side of the vertical stripe A closest to the obtained intersection C are obtained.
The position of the knuckle portion 18 (FIG. 11) that continues 9 is obtained by scanning the touch probe 45 in the axial direction of the vertical stripe A and stored.
Next, the horizontal height of the transverse muscle B is obtained from the position of the intersection C,
The touch probe 45 is scanned in the axial direction of the horizontal streak B, and the position of the node portion 18 of the horizontal streak B is obtained and stored from the dimensions of the coupling jig 15. Next, the touch probe 45 is rotated upward by 180 degrees, the rotation lever 39 is rotated by 180 degrees to make the handling chuck 40 vertical, and the main body 37 is moved to the connecting jig supply point 2.
5, and the coupling jig 15 is gripped. Therefore, the main body 3
7 is moved, and the jig 15 is placed on the stored intersection C. Next, the swiveling lever 39 is swiveled 180 degrees to make the welding torch 41 vertical, and the welding torch 41 welds the nodes 18, 19 of the vertical bar A and the horizontal bar B stored as described above at the welding parts 16, 17. Both muscles A and B through the connecting jig 15.
Are joined together (FIGS. 11 and 12). This operation is repeated, and as shown in FIG. 6, all intersections C of both muscles A and B within the range S are connected.

The above is the work for one robot 30, but as shown in FIG. 1, six robots 30, 30 are provided.
After performing work within the work range S for ...
The pallet carrier 1 is moved in the direction of arrow X by a pitch P corresponding to six intersections C shown in FIG. 6, and the same work as described above is performed. This operation is repeated, and the joining of both streaks A and B for one transport pallet 3 minutes is completed.

[0022]

EFFECTS OF THE INVENTION Since the present invention is constructed as described above, it is possible to automatically connect the vertical stripes and the horizontal stripes with good workability.

Therefore, it is possible to improve safety by not requiring skilled workers and reduce the product cost.

[Brief description of drawings]

FIG. 1 is a top view showing a reinforcing bar joint welding stand equipped with a reinforcing bar joint robot according to the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a front view of FIG.

FIG. 4 is a side view showing a parts feeder.

5 is a top view of FIG.

FIG. 6 is a side view showing an embodiment of the present invention.

FIG. 7 is a top view of FIG.

FIG. 8 is a front view of FIG.

FIG. 9 is a side view showing another embodiment around a rotating lever.

FIG. 10 is a front view of FIG.

FIG. 11 is a top view showing a state in which a vertical bar and a horizontal bar are welded and joined together by a reinforcing bar joining jig.

12 is a side view of FIG.

FIG. 13 is an enlarged side view of a welded portion.

FIG. 14 is a perspective view showing an automatic reinforcing bar assembling apparatus previously proposed by the applicant.

FIG. 15 is a perspective view showing the reinforcing bar connection welding stand of FIG. 14;

[Explanation of symbols]

 A ... Vertical stripe B ... Horizontal stripe C ... Cross section L ... Parallel link mechanism R ... Rail S ... Work range 1 ... Pallet carrier 2 ... Turntable 3 ...・ ・ Reinforcement pallet 4 ・ ・ ・ Vertical reinforcement arrangement 4a ・ ・ ・ Horizontal reinforcement arrangement 5, 5A ・ ・ ・ Reinforcing bar welding welding stand 6, 6A ・ ・ ・ Main body 7 ・ ・ ・ Joining jig hopper ・ ・・ Joint jig feeder 9 ・ ・ ・ Join welding robot 10 ・ ・ ・ Arm 11 ・ ・ ・ Robot arm 12 ・ ・ ・ Reinforcing bar detection sensor 13 ・ ・ ・ Joint jig placer 14 ・ ・ ・ Join jig welding torch 15 ・ ・・ Reinforcing bar connecting jig 16, 17 ... Welding part 18 ... Node part 19 ... Rib part 20 ... Parts feeder 21 ... Hopper 22 ... Straight feeder 23 ... Ball feeder 24. ..Straight line feeder section 25 ... Connecting jig feeding point 26・ ・ ・ Escapement 27 ・ ・ ・ Level switch 28 ・ ・ ・ Photoelectric tube for full work detection 30 ・ ・ ・ Reinforcing rod coupling robot 31 ・ ・ ・ Stand 32 ・ ・ ・ Swivel base 33 ・ ・ ・ Yoke part 34 ・ ・ ・ Arm 34a・ ・ ・ Shaft 35 ・ ・ ・ Link arm 36 ・ ・ ・ Link rod 37 ・ ・ ・ Manipulator main body 38, 38a ・ ・ ・ Rotating base 39, 39a ・ ・ ・ Slewing lever 40 ・ ・ ・ Handling chuck 41 ・ ・ ・ Welding Torch 42 ... Code 43 ... Code feeding device 44 ... Code reel 45 ... Touch probe 46 ... Robot control device 47 ... Touch probe control device 48 ... Welding power source 49 ...・ Welding power interface

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kenichi Takemura Inventor Kenichi Takemura 1-2-7 Moto-Akasaka Minato-ku, Tokyo Kashima Construction Co., Ltd.

Claims (1)

[Claims] 1. A pallet transporting trolley equipped with a turntable and self-propelled on a rail, a bar arrangement pallet placed on the turntable, a vertical bar arranging frame installed across the rail, and a horizontal bar. In an automatic rebar assembling apparatus provided with a reinforcing bar joint and a reinforcing bar joint welding pedestal equipped with a plurality of sets of reinforcing bar joint robot welding devices and reinforcing bar joint jig feeders, the reinforcing bar joint robot welding device is provided with the reinforcing bar joint welding device. A stand erected on a stand, a swivel base supported by the stand, a manipulator main body connected to the swivel via a parallel link mechanism, a swivel lever provided at the tip of the manipulator main body, A handling chuck provided at one end of the swivel lever, a welding torch provided at the other end of the swivel lever, and a tuck rotatably provided at a part of the welding torch. A rebar-jointed robot welding device, which is provided with a chi-probe.