Apparatus and method for manufacturing bar stock units

Abstract

The present invention provides a rod material manufacturing apparatus and a rod material manufacturing method that can automatically and easily manufacture rod material units, reduce the time required for manufacturing rod material units, and manufacture rod material units safely. [Solution] The rod material unit manufacturing apparatus 1 comprises a second base 95 that is movable and rotatable in a predetermined direction, a rod material mounting mechanism that can place a plurality of vertical rods Bd1 or vertical rods Bd2 on the second base 95 which moves in a predetermined direction before rotation, and can place a plurality of horizontal rods Bu1 or horizontal rods Bu2 on the plurality of vertical rods Bd1 or vertical rods Bd2 on the second base 95 which moves in a predetermined direction after rotation by a predetermined angle, and a rod material binding mechanism that can bind the intersections of the vertical rods Bd1 or vertical rods Bd2 and the horizontal rods Bu1 or horizontal rods Bu2.

Description

Technical Field

[0001] The present invention relates to a bar unit manufacturing apparatus for manufacturing a bar unit in which a plurality of bars are arranged in a lattice pattern and the intersections of the bars arranged in the lattice pattern are bound by binding members, and a bar unit manufacturing method for manufacturing the bar unit.

Background Art

[0002] Conventionally, a bar unit manufacturing apparatus for manufacturing a bar unit in which a plurality of bars are arranged in a lattice pattern and the intersections of the bars arranged in the lattice pattern are bound has been known.

[0003] For example, in Patent Document 1, it is recognized that a reinforcing bar assembly system 1 is described, which includes an assembly conveyor 11 for reinforcing bars, a gripper attachment 13 capable of arranging a plurality of horizontal bars 21 on a gantry 12 supported on the assembly conveyor 11 for reinforcing bars and capable of arranging a plurality of vertical bars 20 on the plurality of horizontal bars 21, a binding attachment 14 capable of binding the intersections of the horizontal bars 21 and the vertical bars 20, and a robot arm 16 capable of selectively connecting the gripper attachment 13 or the binding attachment 14 (see FIG. 2 etc.).

[0004] According to the reinforcing bar assembly system 1 described in Patent Document 1, the gripper attachment 13 is connected to the tip of the robot arm 16, a plurality of horizontal bars 21 and a plurality of vertical bars 20 on the plurality of horizontal bars 21 are arranged on a gantry 12 supported on the assembly conveyor 11 for reinforcing bars, the binding attachment 14 is connected to the tip of the robot arm 16, and the reinforcing bars can be assembled by winding and screwing a wire around the intersections of the horizontal bars 21 and the vertical bars 20.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

[0006] However, the rebar assembly system 1 described in Reference 1 has the problem that, because the rebar is assembled by wrapping and twisting wire around the intersections of the horizontal bars 21 and vertical bars 20, the rebar assembly system 1 itself has a complex structure and requires a great deal of time to assemble the rebar.

[0007] Furthermore, the rebar assembly system 1 described in Reference 1 has the problem that, because the gripping attachment 13 or the tying attachment 14 is selectively connected to the robot arm 16, the arrangement of the horizontal bars 21 and vertical bars 20, and the tying of the intersections between the horizontal bars 21 and vertical bars 20 must be done at different times, which further increases the amount of time required to assemble the rebar.

[0008] Furthermore, the rebar assembly system 1 described in Reference 1 had the problem of being cumbersome to use because it required selectively connecting either a gripping attachment 13 or a binding attachment 14 to the robot arm 16.

[0009] Furthermore, in the rebar assembly system (hereinafter referred to as "bar unit manufacturing device") 1 described in Reference 1, the gripping attachment 13 connected to the robot arm 16 must rotate the horizontal rebar 21 and place it on the frame 12. Therefore, if the weight of the horizontal rebar 20 is heavy, the load on the robot arm 16 and the gripping attachment 13 becomes large, which could cause the horizontal rebar 20 to fall from the gripping attachment 13, posing a safety issue for the work.

[0010] The present invention addresses the aforementioned problems of the prior art and aims to provide a rod material unit manufacturing apparatus and a rod material unit manufacturing method that can automatically and easily manufacture rod material units, shorten the time required to manufacture rod material units, and manufacture rod material units safely. [Means for solving the problem]

[0011] To solve the above-mentioned problems, the rod material unit manufacturing apparatus of the first aspect of the present invention includes a base that is movable and rotatable in a predetermined direction, By the mounted robot positioned on top of the base, The invention is characterized by comprising: a rod-mounting mechanism capable of placing a plurality of first rods on a base that moves in a predetermined direction before rotation, and capable of placing a plurality of second rods on the plurality of first rods on the base that moves in a predetermined direction after rotation by a predetermined angle; and a rod-binding mechanism capable of binding the intersections of the first rods and the second rods.

[0012] Furthermore, a second aspect of the present invention is a rod material unit manufacturing apparatus of the first aspect, wherein the rod material bundling mechanism is provided with respect to the rod material placement mechanism and the base Transfer It is characterized by being arranged adjacent to each other in the direction of movement.

[0013] Furthermore, a third aspect of the present invention is a rod material unit manufacturing apparatus according to the first aspect, wherein the rod material placement mechanism is a robot placement platform extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base. Equipped with , The aforementioned mounting robot is On the robot mounting platform multiple Placed doing It is characterized by the following:

[0014] Furthermore, a fourth aspect of the present invention is a rod material unit manufacturing apparatus according to the second aspect, wherein the rod material placement mechanism is a robot placement platform extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base. Equipped with , The aforementioned mounting robot is On the robot mounting platform multiple Placed doing It is characterized by the following:

[0015] Furthermore, a fifth aspect of the present invention is a rod material unit manufacturing apparatus according to the first aspect, wherein the rod material placement mechanism is provided on the upper part of the base, and a first rail extends across the base in a direction substantially perpendicular to the direction of movement of the base. Equipped with , The aforementioned mounting robot is Movable along the first rail multiple Placed doing It is characterized by the following:

[0016] Further, in the bar unit manufacturing apparatus according to the sixth aspect of the present invention, in the bar unit manufacturing apparatus of the second aspect, the bar placement mechanism includes a first rail that extends across the base on the upper part of the base in a direction substantially orthogonal to the moving direction of the base. Equipped with , The aforementioned mounting robot is is movably arranged along the first rail multiple and is arranged doing characterized by this.

[0017] Further, in the bar unit manufacturing apparatus according to the seventh aspect of the present invention, in the bar unit manufacturing apparatus of the third aspect, the bar bundling mechanism includes a second rail that extends across the base on the upper part of the base in a direction substantially orthogonal to the moving direction of the base, and at least one bundling robot that is movably arranged along the second rail, the placement robot is arranged facing the upstream side in the moving direction of the base, and the bundling robot is arranged facing the downstream side in the moving direction of the base, which is characterized by this.

[0018] Further, in the bar unit manufacturing apparatus according to the eighth aspect of the present invention, in the bar unit manufacturing apparatus of the fourth aspect, the bar bundling mechanism includes a second rail that extends across the base on the upper part of the base in a direction substantially orthogonal to the moving direction of the base, and at least one bundling robot that is movably arranged along the second rail, the placement robot is arranged facing the upstream side in the moving direction of the base, and the bundling robot is arranged facing the downstream side in the moving direction of the base, which is characterized by this.

[0019] Further, in the bar unit manufacturing apparatus according to the ninth aspect of the present invention, in the bar unit manufacturing apparatus of the fifth aspect, the bar bundling mechanism includes a second rail that extends across the base on the upper part of the base in a direction substantially orthogonal to the moving direction of the base, and at least one bundling robot that is movably arranged along the second rail, the placement robot is arranged facing the upstream side in the moving direction of the base, and the bundling robot is arranged facing the downstream side in the moving direction of the base, which is characterized by this.

[0020] Further, in the bar unit manufacturing apparatus according to the tenth aspect of the present invention, in the bar bundling mechanism, on the upper part of the base, there is a second rail extending across the base in a direction substantially orthogonal to the moving direction of the base, and at least one bundling robot arranged to be movable along the second rail. The placing robot is arranged facing the upstream side in the moving direction of the base, and the bundling robot is arranged facing the downstream side in the moving direction of the base.

[0021] Further, in the bar unit manufacturing apparatus according to any one of the first to tenth aspects of the present invention, the bar bundling mechanism uses a bundling member having a bundling member body capable of abutting on the upper part of the second bar, two support members extending downward from both ends of the bundling member body across the second bar and supporting the first bar from below, and a biasing portion for biasing the second bar downward with respect to the bundling member body, and is characterized in that the intersection of the first bar and the second bar can be bundled.

[0022] Further, the bar unit manufacturing method according to the twelfth aspect of the present invention includes a first step of placing a plurality of first bars spaced apart by a bar placing mechanism on a base moving in a first direction, a second step of rotating the base in a direction substantially orthogonal to the first direction after the first step, a third step of moving the base in a direction opposite to the first direction beyond the bar placing mechanism after the second step, a fourth step of placing a plurality of second bars spaced apart on the first bars by the bar placing mechanism after the third step, and a fifth step of bundling the intersection of the first bar and the second bar by a bar bundling mechanism after the fourth step.

[0023] Further, in the bar unit manufacturing method according to the thirteenth aspect of the present invention, the bar placing mechanism and the bar bundling mechanism can be operated simultaneously.

[0024] Furthermore, a fourteenth aspect of the present invention is a method for manufacturing a rod unit according to the twelfth aspect, wherein the rod placement mechanism is characterized in that it places the plurality of first rods and the plurality of second rods on the upper part of the base by a robot placement platform that extends across the base in a direction substantially perpendicular to the direction of movement of the base, and a plurality of placement robots arranged on the robot placement platform.

[0025] Furthermore, a 15th aspect of the present invention is a method for manufacturing a rod unit according to the 13th aspect, wherein the rod placement mechanism is characterized in that it places the plurality of first rods and the plurality of second rods by means of a robot placement platform extending on the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and a plurality of placement robots arranged on the robot placement platform.

[0026] Furthermore, a sixteenth aspect of the present invention is a method for manufacturing a rod unit according to the twelfth aspect, wherein the rod placement mechanism is characterized in that it places the plurality of first rods and the plurality of second rods on the upper part of the base by a first rail extending across the base in a direction substantially perpendicular to the first direction, and a plurality of placement robots arranged to be movable along the first rail.

[0027] Furthermore, a 17th aspect of the present invention is a method for manufacturing a rod unit according to the 13th aspect, wherein the rod placement mechanism is characterized in that it places the plurality of first rods and the plurality of second rods on the upper part of the base by a first rail extending across the base in a direction substantially perpendicular to the first direction, and a plurality of placement robots arranged to be movable along the first rail.

[0028] Furthermore, an 18th aspect of the present invention is a method for manufacturing a rod unit according to the 14th aspect, wherein the rod placement robot of the rod placement mechanism faces in a direction opposite to the first direction and places the plurality of first rods and the plurality of second rods on it, and the rod binding mechanism comprises a second rail extending on the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the binding robot faces in the first direction and binds the intersection of the first rods and the second rods.

[0029] Furthermore, a 19th aspect of the present invention is a method for manufacturing a rod material unit according to the 15th aspect, wherein the rod material placement robot of the rod material placement mechanism faces in a direction opposite to the first direction and places the plurality of first rod materials and the plurality of second rod materials on it, and the rod material binding mechanism comprises a second rail extending on the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the binding robot faces in the first direction and binds the intersection of the first rod materials and the second rod materials.

[0030] Furthermore, a 20th aspect of the present invention is a method for manufacturing a rod unit according to the 16th aspect, wherein the rod placement robot of the rod placement mechanism faces in a direction opposite to the first direction and places the plurality of first rods and the plurality of second rods on it, and the rod binding mechanism comprises a second rail extending on the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the binding robot faces in the first direction and binds the intersection of the first rods and the second rods.

[0031] Furthermore, a 21st aspect of the present invention is a method for manufacturing a rod unit according to the 17th aspect, wherein the rod placement robot of the rod placement mechanism faces in a direction opposite to the first direction and places the plurality of first rods and the plurality of second rods on it, and the rod binding mechanism comprises a second rail extending on the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the binding robot faces in the first direction and binds the intersection of the first rods and the second rods.

[0032] Furthermore, a 22nd aspect of the present invention is a method for manufacturing a rod unit according to any 12th to 21st aspect, wherein the rod binding mechanism uses a binding member having a binding member body that can abut against the upper part of the second rod, two support members that extend downward from both ends of the binding member body, sandwiching the second rod and supporting the first rod from below, and a biasing part that biases the second rod downward relative to the binding member body, thereby binding the intersection of the first rod and the second rod. [Effects of the Invention]

[0033] According to the rod material unit manufacturing apparatus of the first aspect of the present invention, in order to solve the above-mentioned problems, the rod material unit manufacturing apparatus of the first aspect of the present invention includes a base that is movable and rotatable in a predetermined direction, By the mounted robot positioned on top of the base, The rod material mounting mechanism allows for the placement of multiple first rod materials on a base that moves in a predetermined direction before rotation, and allows for the placement of multiple second rod materials on the multiple first rod materials on the base that moves in a predetermined direction after rotation by a predetermined angle. The rod material binding mechanism allows for the binding of the intersections of the first rod materials and the second rod materials. Therefore, rod material units can be manufactured automatically, safely, and easily.

[0034] Furthermore, according to a second aspect of the present invention, in the rod unit manufacturing apparatus of the first aspect, the rod binding mechanism is arranged adjacent to the rod placement mechanism in the direction of movement of the base. Therefore, in addition to the effects of the rod unit manufacturing apparatus of the first aspect, the placement of the second rod and the binding of the intersection of the first rod and the second rod can be performed simultaneously, thereby shortening the time required to manufacture the rod unit.

[0035] Furthermore, according to a third aspect of the present invention, in the rod material unit manufacturing apparatus of the first aspect, the rod material placement mechanism is a robot placement platform extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base. Equipped with , The mounted robot is, On the robot mounting platform multiple Placed hand Therefore, in addition to the effects of the rod material unit manufacturing apparatus of the first embodiment, even when the rod material is long, multiple first rod materials and multiple second rod materials can be stably placed by multiple placement robots.

[0036] Furthermore, according to a fourth aspect of the present invention, in the rod material unit manufacturing apparatus of the second aspect, the rod material placement mechanism is a robot placement platform extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base. Equipped with , The mounted robot is, On the robot mounting platform multiple Placed hand Therefore, in addition to the effects of the rod material unit manufacturing apparatus of the second embodiment, even when the rod material is long, multiple first rod materials and multiple second rod materials can be stably placed by multiple placement robots.

[0037] Furthermore, according to a fifth aspect of the present invention, in the rod material unit manufacturing apparatus of the first aspect, the rod material placement mechanism is located on the upper part of the base, Direction of movement of the base A first rail extending across the base in a direction approximately perpendicular to it. Equipped with , The mounted robot is, Movable along the first rail multiple Placed hand Therefore, in addition to the effects of the rod unit manufacturing apparatus of the first embodiment, it is possible to manufacture rod units corresponding to first and second rods of various lengths.

[0038] Furthermore, according to a sixth aspect of the present invention, in the rod material unit manufacturing apparatus of the second aspect, the rod material placement mechanism is located on the upper part of the base, Direction of movement of the base A first rail extending across the base in a direction approximately perpendicular to it. Equipped with , The mounted robot is, Movable along the first rail multiple Placed hand Therefore, in addition to the effects of the rod unit manufacturing apparatus of the second embodiment, it is possible to manufacture rod units corresponding to first and second rods of various lengths.

[0039] Furthermore, according to a seventh aspect of the present invention, in the rod material unit manufacturing apparatus of the third aspect, the rod material binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the placement robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base. In addition to the effects of the rod material unit manufacturing apparatus of the third aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod material and bind the intersection of the first rod material and the second rod material can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0040] Furthermore, according to an eighth aspect of the present invention, in the rod material unit manufacturing apparatus of the fourth aspect, the rod material binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the placement robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base. In addition to the effects of the rod material unit manufacturing apparatus of the fourth aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod material and bind the intersection of the first rod material and the second rod material can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0041] Furthermore, according to the ninth aspect of the present invention, in the rod material unit manufacturing apparatus of the fifth aspect, the rod material binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the placement robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base. In addition to the effects of the rod material unit manufacturing apparatus of the fifth aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod material and bind the intersection of the first rod material and the second rod material can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0042] Furthermore, according to a tenth aspect of the present invention, in the rod material unit manufacturing apparatus of the sixth aspect, the rod material binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail, wherein the placement robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base. In addition to the effects of the rod material unit manufacturing apparatus of the sixth aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod material and bind the intersection of the first rod material and the second rod material can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0043] Furthermore, according to the 11th aspect of the present invention, in a rod material unit manufacturing apparatus of the first to 10th aspects, the rod material binding mechanism uses a binding member having a binding member body that can abut against the upper part of the second rod material, two support parts that extend downward from both ends of the binding member body, sandwiching the second rod material and supporting the first rod material from below, and a biasing part that biases the second rod material downward relative to the binding member body, so that the intersection of the first rod material and the second rod material can be bound together. In addition to the effects of the rod material unit manufacturing apparatus of the first to 10th aspects, the intersection of the first rod material and the second rod material can be easily bound together.

[0044] Furthermore, according to the rod unit manufacturing method of the twelfth aspect of the present invention, the method includes a first step of placing a plurality of first rods spaced apart on a base that moves in a first direction using a rod placement mechanism; a second step of rotating the base in a direction substantially perpendicular to the first direction after the first step; a third step of moving the base in a direction opposite to the first direction, beyond the rod placement mechanism, after the second step; a fourth step of placing a plurality of second rods spaced apart on the first rod using the rod placement mechanism after the third step; and a fifth step of binding the intersections of the first rods and the second rods using a rod binding mechanism after the fourth step. Therefore, a rod unit can be manufactured automatically, safely, and easily.

[0045] Furthermore, according to the 13th aspect of the present invention, in the rod unit manufacturing method of the 12th aspect, the rod placement mechanism and the rod binding mechanism are made operable simultaneously. Therefore, in addition to the effects of the rod unit manufacturing method of the 12th aspect, the placement of the second rod and the binding of the intersection of the first rod and the second rod can be performed simultaneously, thereby shortening the time required to manufacture the rod unit.

[0046] Furthermore, according to the 14th aspect of the present invention, in the rod material unit manufacturing method of the 12th aspect, the rod material placement mechanism is configured such that a plurality of first rod materials and a plurality of second rod materials are placed on the upper part of the base by a robot placement platform that extends across the base in a direction substantially perpendicular to the direction of movement of the base, and a plurality of placement robots arranged on the robot placement platform. In addition to the effects of the rod material unit manufacturing method of the 12th aspect, even when the rod materials are long, a plurality of first rod materials and a plurality of second rod materials can be stably placed by the plurality of placement robots.

[0047] Furthermore, according to the 15th aspect of the present invention, in the rod material unit manufacturing method of the 13th aspect, the rod material placement mechanism is configured such that a plurality of first rod materials and a plurality of second rod materials are placed on the upper part of the base by a robot placement platform that extends across the base in a direction substantially perpendicular to the direction of movement of the base, and a plurality of placement robots arranged on the robot placement platform. In addition to the effects of the rod material unit manufacturing method of the 13th aspect, even when the rod material is long, the plurality of first rod materials and a plurality of second rod materials can be stably placed by the plurality of placement robots.

[0048] Furthermore, according to the sixteenth aspect of the present invention, in the rod material unit manufacturing method of the twelfth aspect, the rod material placement mechanism places a plurality of first rod materials and a plurality of second rod materials on the upper part of the base, which is a first rail extending across the base in a direction substantially perpendicular to the first direction, and a plurality of placement robots arranged to be movable along the first rail. In addition to the effects of the rod material unit manufacturing method of the twelfth aspect, even when the rod materials are long, the plurality of first rod materials and a plurality of second rod materials can be stably placed by the plurality of placement robots moving along the first rail.

[0049] Furthermore, according to the 17th aspect of the present invention, in the rod material unit manufacturing method of the 13th aspect, the rod material placement mechanism places a plurality of first rod materials and a plurality of second rod materials on the upper part of the base, which is a first rail extending across the base in a direction substantially perpendicular to the first direction, and a plurality of placement robots arranged to be movable along the first rail. In addition to the effects of the rod material unit manufacturing method of the 13th aspect, even when the rod materials are long, the plurality of first rod materials and a plurality of second rod materials can be stably placed by the plurality of placement robots moving along the first rail.

[0050] Furthermore, according to the 18th aspect of the present invention, in the rod material unit manufacturing method of the 14th aspect, the rod material placement robot of the rod material placement mechanism faces in a direction opposite to the first direction and places a plurality of first rod materials and a plurality of second rod materials on it, and the rod material binding mechanism includes a second rail on the upper part of the base that extends across the base in a direction substantially perpendicular to the direction of movement of the base, and at least one binding robot that is movably arranged along the second rail, and the binding robot faces in the first direction and binds the intersections of the first rod materials and the second rod materials. In addition to the effects of the rod material unit manufacturing method of the 14th aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod materials and bind the intersections of the first rod materials and the second rod materials can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0051] Furthermore, according to the 19th aspect of the present invention, in the rod material unit manufacturing method of the 15th aspect, the rod material placement robot of the rod material placement mechanism faces in a direction opposite to the first direction and places a plurality of first rod materials and a plurality of second rod materials on it, and the rod material binding mechanism includes a second rail on the upper part of the base that extends across the base in a direction substantially perpendicular to the direction of movement of the base, and at least one binding robot that is movably arranged along the second rail, and the binding robot faces in the first direction and binds the intersections of the first rod materials and the second rod materials. In addition to the effects of the rod material unit manufacturing method of the 15th aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod materials and bind the intersections of the first rod materials and the second rod materials can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0052] Furthermore, according to the 20th aspect of the present invention, in the rod material unit manufacturing method of the 16th aspect, the rod material placement robot of the rod material placement mechanism faces in a direction opposite to the first direction and places a plurality of first rod materials and a plurality of second rod materials on it, and the rod material binding mechanism includes a second rail on the upper part of the base that extends across the base in a direction substantially perpendicular to the direction of movement of the base, and at least one binding robot that is movable along the second rail, and the binding robot faces in the first direction and binds the intersections of the first rod materials and the second rod materials. In addition to the effects of the rod material unit manufacturing method of the 16th aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod materials and bind the intersections of the first rod materials and the second rod materials can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0053] Furthermore, according to the 21st aspect of the present invention, in the rod material unit manufacturing method of the 17th aspect, the rod material placement robot of the rod material placement mechanism faces in a direction opposite to the first direction and places a plurality of first rod materials and a plurality of second rod materials on it, and the rod material binding mechanism includes a second rail on the upper part of the base that extends across the base in a direction substantially perpendicular to the direction of movement of the base, and at least one binding robot that is movable along the second rail, and the binding robot faces in the first direction and binds the intersections of the first rod materials and the second rod materials. In addition to the effects of the rod material unit manufacturing method of the 17th aspect, the distance between the rod material placement mechanism and the rod material binding mechanism can be further shortened, the time required to simultaneously place the second rod materials and bind the intersections of the first rod materials and the second rod materials can be extended, and the time required to manufacture the rod material unit can be further shortened.

[0054] Furthermore, according to the 22nd aspect of the present invention, in the rod unit manufacturing method of any 12th to 21st aspects, the rod binding mechanism uses a binding member having a binding member body that can abut against the upper part of the second rod, two support members that extend downward from both ends of the binding member body, sandwiching the second rod and supporting the first rod from below, and a biasing part that biases the second rod downward relative to the binding member body, thereby binding the intersection of the first rod and the second rod. In addition to the effects of the rod unit manufacturing method of any 12th to 21st aspects, the intersection of the first rod and the second rod can be easily bound. [Brief explanation of the drawing]

[0055] [Figure 1] This is a plan view of a bar unit in an embodiment of the present invention. [Figure 2] This is a side view of AA in Figure 1. [Figure 3] This is an enlarged view of section D in Figure 2. [Figure 4] Figure 3 is a plan view of the EE (East East) area. [Figure 5] This is an overall view of the binding member in this embodiment. [Figure 6] This embodiment shows an overall plan view of the bar material unit manufacturing apparatus, illustrating the first stage of manufacturing the bar material unit. [Figure 7] This embodiment is an overall right side view of the bar material unit manufacturing apparatus showing the first stage of manufacturing the bar material unit. [Figure 8] This embodiment shows the second stage of manufacturing the bar stock unit, and is an overall plan view of the bar stock unit manufacturing apparatus, excluding the upper bar stock removal section. [Figure 9] This embodiment shows the second stage of manufacturing the bar stock unit, and is an overall right side view of the bar stock unit manufacturing apparatus, excluding the upper bar stock removal section. [Figure 10] This is an overall view of the mounted robot in this embodiment. [Figure 11] This is an overall front view of the rod gripping section in this embodiment before gripping the rod. [Figure 12]This is an overall front view of the rod gripping section in this embodiment after the rod has been gripped. [Figure 13] This is an overall view of the bundling robot in this embodiment. [Figure 14] This is an overall front view of the binding section in this embodiment, before the binding member is gripped. [Figure 15] This is an overall front view of the binding section after the binding member has been gripped in this embodiment. [Figure 16] This is an explanatory cross-sectional view of the clamp base plate when it is fixed in this embodiment. [Figure 17] This is an explanatory cross-sectional view of the clamp base plate when it is floating in this embodiment. [Figure 18] This is an overall front view of the binding portion of this embodiment before the binding member container is gripped. [Figure 19] This is an overall front view of the binding portion after the binding member container has been gripped in this embodiment. [Figure 20] This is an overall plan view of the rod material extraction section in this embodiment. [Figure 21] This is an overall right side view of the rod material extraction and fixing section of the rod material extraction section in this embodiment. [Figure 22] This is an overall right side view of the rod material extraction movable part of the rod material extraction section in this embodiment, when the swinging cam is lowered. [Figure 23] This is an overall right side view of the rod material extraction movable part of the rod material extraction section in this embodiment, when the swing cam is raised. [Figure 24] This is a block diagram of the bar material unit manufacturing apparatus of this embodiment. [Figure 25] This is a block diagram of the main controller in the bar material unit manufacturing apparatus of this embodiment. [Figure 26] This is a flowchart of the bar material extraction control program in the bar material unit manufacturing apparatus of this embodiment. [Figure 27] This is a flowchart of the first half of the bar material unit manufacturing program in the bar material unit manufacturing apparatus of this embodiment. [Figure 28]This is a flowchart of the latter half of the bar material unit manufacturing program in the bar material unit manufacturing apparatus of this embodiment. [Figure 29] This is a flowchart of the binding control program for the binding member in the rod material unit manufacturing apparatus of this embodiment. [Figure 30] This embodiment shows an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material extraction section) illustrating the third stage of manufacturing the bar material unit. [Figure 31] This embodiment shows the third stage of manufacturing the rod unit, and is an overall right side view of the rod unit manufacturing apparatus (excluding the upper rod removal section). [Figure 32] This embodiment shows an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material removal section) illustrating the fourth stage of manufacturing the bar material unit. [Figure 33] This embodiment shows the fourth stage of manufacturing the rod unit, and is an overall right side view of the rod unit manufacturing apparatus (excluding the upper rod removal section). [Figure 34] This embodiment shows an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material removal section) illustrating the fifth stage of manufacturing the bar material unit. [Figure 35] This embodiment shows the fifth stage of manufacturing the rod unit, and is an overall right side view of the rod unit manufacturing apparatus (excluding the upper rod removal section). [Figure 36] This embodiment shows an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material removal section) illustrating the sixth stage of manufacturing the bar material unit. [Figure 37] This embodiment shows the sixth stage of manufacturing the rod unit, and is an overall right side view of the rod unit manufacturing apparatus (excluding the upper rod removal section). [Figure 38] This embodiment is an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material removal section) showing the seventh stage of manufacturing of the bar material unit. [Figure 39]This embodiment shows the seventh stage of manufacturing the rod unit, and is an overall right side view of the rod unit manufacturing apparatus (excluding the upper rod removal section). [Figure 40] This embodiment shows an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material removal section) illustrating the final stage of manufacturing the bar material unit. [Figure 41] This embodiment shows the final stage of manufacturing the rod unit, and is an overall right side view of the rod unit manufacturing apparatus (excluding the upper rod removal section).

[0056] Embodiments of the present invention will be described below with reference to the drawings.

[0057] In the bar unit manufacturing apparatus of the embodiment described later, the explanation assumes that a unit made of reinforcing steel is manufactured as an example of a bar material. However, the bar unit manufacturing apparatus of this embodiment is not limited to reinforcing steel, and can manufacture units made of general bar materials without limitations on material or length.

[0058] However, the bar unit manufacturing apparatus of the embodiment described later is particularly effective when manufacturing units consisting of multiple reinforcing bars, which have a large overall area and are heavy in weight, as will be described later.

[0059] (Embodiment) First, the bar stock units manufactured by the bar stock unit manufacturing apparatus of this embodiment will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0060] Figure 1 is a plan view of the rod unit in an embodiment of the present invention, Figure 2 is a side view of section AA in Figure 1, Figure 3 is an enlarged view of section D in Figure 2, Figure 4 is a plan view of section EE in Figure 3, and Figure 5 is an overall view of the binding member in this embodiment.

[0061] As shown in Figures 1 and 2, the rod unit 100 manufactured by the rod unit manufacturing apparatus 1 of this embodiment is an extremely large object with an overall area of ​​several tens of meters in length and several tens of meters in width, and weighs several tons. It is manufactured using two types of rods (see Figure 6): a rod B1 of a predetermined length and a rod B2 that is shorter than rod B1.

[0062] As shown in Figures 1 and 2, the rod member unit 100 has a lower rod member Bd1 made of rod member B1 (corresponding to the "first rod member" of the present invention; hereinafter, the lower rod member Bd1 will be referred to as "vertical rod Bd1") and a lower rod member Bd2 made of rod member B2 (corresponding to the "first rod member" of the present invention; hereinafter, the lower rod member Bd2 will be referred to as "vertical rod Bd2") arranged alternately at predetermined intervals in the lower section, and above the arranged vertical rods Bd1 and Bd2, the upper rod member Bd1 is made of rod member B1. A stepped horizontal bar Bu1 (corresponding to the "second bar material" of the present invention; hereinafter, the upper bar material Bu1 will be referred to as "horizontal bar Bu1") and an upper bar material Bu2 made of bar material B2 (corresponding to the "second bar material" of the present invention; hereinafter, the upper bar material Bu2 will be referred to as "horizontal bar Bu2") are arranged alternately at predetermined intervals and stacked in two layers in a grid pattern, and some of the intersections of the vertical bars Bd1 and Bd2 of the lower layer and the horizontal bars Bu1 and Bu2 of the upper layer are fastened together with fastening members 66.

[0063] The fastening member 66 is made of steel and, as shown in Figures 3 to 5, consists of a fastening member body 66a and a screw portion 66b (corresponding to the "biasing portion" of the present invention) which is rotatably disposed on the upper part 66a1 of the fastening member body 66a and biases the upper horizontal bar Bu1 or horizontal bar Bu2 downward relative to the fastening member body 66a.

[0064] Furthermore, as shown in Figures 3 to 5, the binding member body 66a comprises a binding member upper part 66a1 located at the top, and two binding member left parts 66a2a and binding member right parts 66a2b (corresponding to the "support members" of the present invention) that extend downward from both ends of the binding member upper part 66a1, sandwiching the upper horizontal bar Bu1 or horizontal bar Bu2, and supporting the lower vertical bar Bd1 or vertical bar Bd2 from below.

[0065] As shown in Figure 4, the upper part 66a1 of the fastening member has a substantially parallelogram shape in plan view and includes a hole for screwing in the threaded portion 66b, and four upper holes 68a, 68b, 68c, and 68d around the hole for releasing gas accumulated at the bottom of the upper part 66a1 of the fastening member.

[0066] Furthermore, the left side portion 66a2a of the binding member has a roughly J-shape in side view (see Figure 3), protrudes beyond the upper portion 66a1 of the binding member in plan view (see Figure 4), and includes a left protruding portion 66a3a of the binding member that abuts against the side of the lower vertical bar Bd1 or vertical bar Bd2, a left bottom portion 66a4a of the binding member that abuts against the lower part of the lower vertical bar Bd1 or vertical bar Bd2, a left tip protrusion 66a5a of the binding member that abuts against the lower opposite side of the lower vertical bar Bd1 or vertical bar Bd2, and a left side hole 67a for fitting into the first binding member gripping projection 43ab of the binding robot 3 (see Figures 14, 15, 18 and 19), which will be described later, and for releasing gas accumulated at the bottom of the upper portion 66a1 of the binding member.

[0067] Furthermore, the right side portion 66a2b of the binding member, like the left side portion 66a2a of the binding member, has a roughly J-shape in side view (see Figure 3), protrudes beyond the upper portion 66a1 of the binding member in plan view (see Figure 4), and includes a right protruding portion 66a3b of the binding member that abuts against the side of the lower vertical bar Bd1 or vertical bar Bd2, a right bottom portion 66a4b of the binding member that abuts against the lower part of the lower vertical bar Bd1 or vertical bar Bd2, a right tip protrusion 66a5b of the binding member that abuts against the lower opposite side of the lower vertical bar Bd1 or vertical bar Bd2, and a right side hole 67b for fitting into the first binding member gripping projection 43aa of the binding robot 3 (see Figures 14, 15, 18 and 19) described later, and for releasing gas accumulated at the bottom of the upper portion 66a1 of the binding member.

[0068] In this embodiment, the rod unit 100 consists of two types of rods: a rod B1 of a predetermined length and a rod B2 shorter than rod B1. These two types of rods are arranged alternately at predetermined intervals and stacked in a grid pattern in two layers. However, the types of rods used are not limited to two; one or more types are sufficient.

[0069] Furthermore, if the number of types of rod materials changes, the number of rod material dispensing sections, as described later, may be increased or decreased according to the type of rod material, or multiple types of rod materials may be placed in the same rod material dispensing section.

[0070] Furthermore, in the rod unit 100 of this embodiment, two types of rods, a rod B1 of a predetermined length and a rod B2 shorter than rod B1, are arranged alternately at predetermined intervals and stacked in two layers in a grid pattern. However, it is not necessary to arrange the two types of rods alternately, and the arrangement of the rods may be changed as appropriate depending on the specifications of the rod unit 100.

[0071] For example, one rod B2 may be placed next to several rods B1 placed in a row, or multiple rods B2 may be placed next to one rod B1 placed in a row.

[0072] Furthermore, in the rod unit 100 of this embodiment, the binding member 66 is configured to bind some of the intersections between the lower vertical rods Bd1 and Bd2 and the upper horizontal rods Bu1 and Bu2. However, the binding positions and number of binding members 66 can be appropriately changed according to the specifications of the rod unit 100, and it is also possible to bind all of the intersections between the lower vertical rods Bd1 and Bd2 and the upper horizontal rods Bu1 and Bu2.

[0073] Next, the rod material unit manufacturing apparatus of this embodiment will be described.

[0074] In this embodiment, the direction in which the first base 93 of the bar material unit manufacturing apparatus 1, described later, moves is defined as the +Y·-Y direction (the longitudinal direction of the bar material unit manufacturing apparatus 1, described later) (see Figures 6 and 7, etc.), the direction approximately perpendicular to the +Y·-Y direction in a plan view is defined as the +X·-X direction (the width direction of the bar material unit manufacturing apparatus 1, described later) (see Figure 6, etc.), and the direction approximately perpendicular to the +Y·-Y direction in a side view is defined as the +Z·-Z direction (the height direction of the bar material unit manufacturing apparatus 1, described later) (see Figure 7, etc.).

[0075] Furthermore, in this embodiment, the direction in which the binding member gripping parts (42aa, 42ab, 42ba, and 42bb), described later, open and close in a front view of the binding robot 3 (3a and 3b), described later, is set to the +X1·-X1 direction (see Figure 13, etc.).

[0076] Furthermore, in this embodiment, the direction in which the binding member container gripping parts (39aa, 39ab, 39ba, and 39bb), described later, open and close in a side view of the binding robot 3 (3a and 3b), described later, is set to the +X2·-X2 direction (see Figure 18, etc.).

[0077] Figure 6 is an overall plan view of the bar material unit manufacturing apparatus showing the first stage of manufacturing of the bar material unit in this embodiment; Figure 7 is an overall right side view of the bar material unit manufacturing apparatus showing the first stage of manufacturing of the bar material unit in this embodiment; Figure 8 is an overall plan view of the bar material unit manufacturing apparatus excluding the upper bar material removal section, showing the second stage of manufacturing of the bar material unit in this embodiment; and Figure 9 is an overall right side view of the bar material unit manufacturing apparatus excluding the upper bar material removal section, showing the second stage of manufacturing of the bar material unit in this embodiment.

[0078] As shown in Figures 6 to 9, the rod material unit manufacturing apparatus 1 of this embodiment consists of a base section 9, a mounting robot 5, a bundling robot 3, a lower rod material removal section 7, and an upper rod material removal section 107, all of which are arranged on the base section 9.

[0079] The base section 9 comprises a base section body 90a, four first rails 91a, 2nd rail 91b, 3rd rail 91c, and 4th rail 91d positioned on the base section body 90a and extending in the +Y·-Y direction from the -X direction end to the +X direction end in order to move the first base 93, which will be described later, in the +Y·-Y direction, a first base section 90b positioned at the -Y direction end of the rod material unit manufacturing apparatus 1, with the lower rod material extraction section 7 positioned across the upper part (+Z direction) of the four rails 91a~91d in the +X·-X direction, and the first mounting robot 5a(5) and The system comprises a second base section 90c (corresponding to the "robot mounting base" of the present invention) on which the second mounting robot 5b(5) is placed; a third base section 90d positioned adjacent to the second base section 90c in the +Y direction (the direction of movement of the first base section 93 and the second base section 95, described later), on which the first binding robot 3a(3) and the second binding robot 3b(3) are placed, straddling the upper part (+Z direction) of the four rails 91a to 91d in the +X·-X direction; and a fourth base section 90e positioned on the +Y direction side of the first base section 90b, on which the upper part (+Z direction) of the lower part (+X·-X direction) of the lower part (+Z direction) of the lower part (+X

[0080] Furthermore, by arranging the second base section 90c and the third base section 90d adjacent to each other in the +Y·-Y direction, the placement of the rod B and the binding of the intersections of the rod B can be performed simultaneously, thereby shortening the time required to manufacture the rod unit.

[0081] Furthermore, the base section 9 is equipped with a binding robot rack 97 (corresponding to the "second rail" of the present invention) extending in the +X·-X direction on the upper surface of the third base section 90d, so that the first binding robot 3a and the second binding robot 3b can move in the +X·-X direction, respectively.

[0082] Furthermore, the base section 9 includes a first base 93 (corresponding to the "base" of the present invention) that moves in the +Y·-Y direction on four rails 91a to 91d, a plurality of rotating bearings 94 arranged on the upper surface of the first base 93, a second base 95 (corresponding to the "base" of the present invention) that is rotatably mounted on the plurality of rotating bearings 94, a plurality of vertical bar grooves 96a formed on the upper surface of the second base 95 for arranging vertical bars, and a plurality of horizontal bar grooves 96b formed on the upper surface of the second base 95 substantially perpendicular to the vertical bar grooves 96a for arranging horizontal bars.

[0083] Furthermore, the base section 9 is equipped with a total of 16 rollers on the four rails 91a to 91d, consisting of a first roller 92a, a second roller 92b, a third roller 92c, and a fourth roller 92d, arranged in the +Y and -Y directions on each of the four rails 91a to 91d, in order to move the first base section 93 in the +Y and -Y directions on the four rails 91a to 91d.

[0084] Furthermore, the base section 9 includes, within the first base 93, base travel motors 102a and 102b for moving the first base 93 in the +Y·-Y direction, and a base rotation motor 101 for rotating the second base 95 on the rotation bearing 94 relative to the first base 93.

[0085] Furthermore, the base section 9 has a first binding member container C1 on the upper surface of the -X direction end of the third base section 90d, which houses the binding members 66 to be bound by the first binding robot 3a (described later), and a second binding member container C2 on the upper surface of the +X direction end of the third base section 90d, which houses the binding members 66 to be bound by the second binding robot 3b (described later).

[0086] The third base section 90d, the rack for the binding robot 97, and the first binding robot 3a and the second binding robot 3b, which will be described later, constitute the "rod material binding mechanism" of the present invention.

[0087] Furthermore, the second base section 90c, the first mounting robot 5a and the second mounting robot 5b described later, or the second base section 90c, the rail for the mounting robot described later (not shown, but corresponding to the "first rail" of the present invention), and the first mounting robot 5a and the second mounting robot 5b described later constitute the "bar material mounting mechanism" of the present invention.

[0088] Figure 10 is an overall view of the mounting robot in this embodiment, Figure 11 is an overall front view of the rod gripping unit in this embodiment before gripping the rod, and Figure 12 is an overall front view of the rod gripping unit in this embodiment after gripping the rod.

[0089] As shown in Figures 6 to 9, the mounting robot 5 of this embodiment is positioned on the upper surface of a second base portion 90c, which is arranged to straddle the upper parts of four rails 91a to 91d in the +X and -X directions, facing the -Y direction. Specifically, two mounting robots, the first mounting robot 5a and the second mounting robot 5b, are spaced apart in the +X and -X directions and are positioned on the upper surface of the second base portion 90c, each facing the -Y direction.

[0090] In the mounted robot 5 of this embodiment, since the weight of the rods B1 and B2 is heavy, two robots are placed on the second base 90c spaced apart in the +X and -X directions to ensure safety. However, if the rods B1 and B2 are lightweight, one robot may suffice, and in some cases, three or more robots may be placed.

[0091] Since the first mounting robot 5a and the second mounting robot 5b in this embodiment have the same specifications, for the sake of explanation, the drawings will mainly show the first mounting robot 5a, and the second mounting robot 5b will be shown in parentheses.

[0092] As shown in Figures 10 to 12, the first mounted robot 5a comprises a first base 50a positioned on the upper surface of the second base 90c, a second base 51a that pivots relative to the first base 50a, a lower arm 52a that rotates forward and backward relative to the second base 51a, a lower middle arm 53a that rotates up and down relative to the lower arm 52a, an upper middle arm 54a that rotates relative to the lower middle arm 53a, an upper arm 55a that rotates up and down relative to the upper middle arm 54a, and a first rod gripping part 13a connected to the tip of the upper arm 55a.

[0093] The first rod gripping section 13a is connected to the upper arm section 55a and comprises a first gripping section base plate 56a, four first gripping column sections 57aa, 57ab, 57ac, and 57ad extending from the first gripping section base plate 56a toward the tip (the first gripping column sections 57ac and 57ad are not shown, but are located on the reverse side of the paper of the first gripping column sections 57aa and 57ab), a first gripping movable section 58a that is movable vertically along the four first gripping column sections 57aa, 57ab, 57ac, and 57ad, and a first gripping section plate 62a connected to the first gripping movable section 58a located below the first gripping movable section 58a.

[0094] Furthermore, the first rod gripping section 13a comprises two first rod gripping cylinders 59aa and 59ab positioned on the first gripping movable section 58a, a first gripping right section rod 60aa and a first gripping left section rod 60ab provided on each of the two first rod gripping cylinders 59aa and 59ab, a first gripping right section 63aa connected to the tip of the first gripping right section rod 60aa and rotating about the first gripping center 61a of the first gripping section plate 62a, and a first gripping left front section 63ab1 connected to the tip of the first gripping left section rod 60ab and rotating about the first gripping center 61a.

[0095] Furthermore, the first gripping right portion 63aa includes a first gripping right portion flat surface 64aa for stably gripping the rod B, and a first gripping right claw portion 65aa that wraps around and contacts the rod B to prevent the rod B from falling. The first gripping left front portion 63ab1 includes a first gripping left front portion flat surface 64ab1 for stably gripping the rod B, and a first gripping left front claw portion 65ab1 that wraps around and contacts the rod B to prevent the rod B from falling.

[0096] Normally, the first gripping movable part 58a is supported by four first gripping columns 57aa, 57ab, 57ac, and 57ad and hangs down. However, if any upward force is applied to the first gripping movable part 58a, it is configured to be able to move upward along the four first gripping columns 57aa, 57ab, 57ac, and 57ad.

[0097] In the first mounting robot 5a described above, when the first gripping right rod 60aa and the first gripping left rod 60ab of the first rod gripping cylinders 59aa and 59ab are sucked upward by the compressor 12 described later, the first gripping right part 63aa and the first gripping left front part 63ab1 will be in an open state, as shown in Figure 11. When the first gripping right rod 60aa and the first gripping left rod 60ab of the first rod gripping cylinders 59aa and 59ab are sucked downward by the compressor 12 described later, the first gripping right part 63aa and the first gripping left front part 63ab1 will be in a closed state, as shown in Figure 12, and the rod B can be gripped.

[0098] Furthermore, the second mounted robot 5b, which is positioned on the second base 90c in the +X direction relative to the first mounted robot 5a, comprises, as shown in Figures 10 to 12, a first base 50b positioned on the upper surface of the second base 90c, a second base 51b that pivots relative to the first base 50b, a lower arm 52b that rotates forward and backward relative to the second base 51b, a lower middle arm 53b that rotates up and down relative to the lower arm 52b, an upper middle arm 54b that rotates relative to the lower middle arm 53b, an upper arm 55b that rotates up and down relative to the upper middle arm 54b, and a second rod gripping part 13b connected to the tip of the upper arm 55b.

[0099] The second rod gripping section 13b is connected to the upper arm section 55b and comprises a second gripping section base plate 56b, four second gripping column sections 57ba, 57bb, 57bc, and 57bd extending from the second gripping section base plate 56b toward the tip (the second gripping column sections 57bc and 57bd are not shown, but are located on the reverse side of the paper of the second gripping column sections 57ba and 57bb), a second gripping movable section 58b that is movable vertically along the four first gripping column sections 57ba, 57bb, 57bc, and 57bd, and a second gripping section plate 62b connected to the second gripping movable section 58b below the second gripping movable section 58b.

[0100] Furthermore, the second rod gripping section 13b comprises two second rod gripping cylinders 59ba and 59bb arranged on the second gripping movable section 58b, a second right gripping rod 60ba and a second left gripping rod 60bb provided on the two second rod gripping cylinders 59ba and 59bb, a second right gripping section 63ba connected to the tip of the second right gripping rod 60ba and rotating about the second gripping section center 61b of the second gripping section plate 62b, and a second left gripping section 63bb1 connected to the tip of the second left gripping rod 60bb and rotating about the second gripping section center 61b.

[0101] Furthermore, the second gripping right portion 63ba includes a second gripping right flat surface 64ba for stably gripping the rod B, and a second gripping right claw portion 65ba that wraps around and contacts the rod B to prevent the rod B from falling. The second gripping left front portion 63bb1 includes a second gripping left front flat surface 64bb1 for stably gripping the rod B, and a second gripping left front claw portion 65bb1 that wraps around and contacts the rod B to prevent the rod B from falling.

[0102] Normally, the second gripping movable part 58b is supported by four second gripping columns 57ba, 57bb, 57bc, and 57bd and hangs down. However, if any upward force is applied to the second gripping movable part 58b, it is configured to be able to move upward along the four first gripping columns 57ba, 57bb, 57bc, and 57bd.

[0103] In the first mounting robot 5b described above, when the second gripping right rod 60ba and the second gripping left rod 60bb of the second rod gripping cylinders 59ba and 59bb are sucked upward by the compressor 12 described later, the second gripping right part 63ba and the second gripping left front part 63bb1 will be in an open state, as shown in Figure 11. When the second gripping right rod 60ba and the second gripping left rod 60bb of the second rod gripping cylinders 59ba and 59bb are sucked downward by the compressor 12 described later, the second gripping right part 63ba and the second gripping left front part 63bb1 will be in a closed state, as shown in Figure 12, and the rod B can be gripped.

[0104] In this embodiment, the first mounting robot 5a and the second mounting robot 5b are fixed and arranged on the upper surface of the second base 90c spaced apart in the +X·-X direction. However, as with the binding robot 3 described later, the first mounting robot 5a and the second mounting robot 5b may be arranged to be movable along a rail for mounting robots (not shown) laid on the upper surface of the second base 90c in the +X·-X direction.

[0105] When the first mounting robot 5a and the second mounting robot 5b are positioned to be movable along a mounting robot rail (not shown) laid on the upper surface of the second base 90c in the +X·-X direction, it is possible to manufacture a rod unit 100 by easily mounting rods B of various lengths.

[0106] Figure 13 is an overall view of the binding robot in this embodiment, Figure 14 is an overall front view of the binding unit before gripping the binding member in this embodiment, and Figure 15 is an overall front view of the binding unit after gripping the binding member in this embodiment.

[0107] Furthermore, Figure 16 is an explanatory cross-sectional view when the clamp base plate is fixed in this embodiment, Figure 17 is an explanatory cross-sectional view when the clamp base plate is floating in this embodiment, Figure 18 is an overall front view of the binding part before gripping the binding member container in this embodiment, and Figure 19 is an overall front view of the binding part after gripping the binding member container in this embodiment.

[0108] As shown in Figures 6 to 9, the binding robot 3 of this embodiment is arranged on a third base section 90d that spans the upper parts of four rails 91a to 91d in the +X·-X direction. Two binding robots, the first binding robot 3a and the second binding robot 3b, are spaced apart in the +X·-X direction and are movably arranged on the upper surface of the third base section 90d, facing the +Y direction, along a binding robot rack 97 laid in the +X·-X direction.

[0109] Therefore, as described above, the two mounting robots 5a and 5b of this embodiment are arranged on the upper surface of the second base 90c facing the -Y direction, and the two binding robots 3a and 3b of this embodiment are arranged on the upper surface of the third base 90d adjacent to the second base 90c facing the +Y direction. This allows for a longer time to simultaneously perform the mounting of the rods B and the binding of the intersections of the rods B, thereby further shortening the time required to manufacture the rod unit 100.

[0110] In this embodiment, two binding robots 3 are arranged on the third base 90d spaced apart in the +X and -X directions in order to efficiently bind the intersections of the lower vertical bars Bd1 and Bd2 and the upper horizontal bars Bu1 and Bu2 with the binding member 66. However, if it does not interfere with the manufacturing time of the bar material unit 100, one binding robot 3 may suffice.

[0111] However, considering the binding efficiency of the binding members 66 and the replacement of the binding member containers C1 and C2 that house the binding members 66, it is better to place two binding robots 3 on the third base section 90d.

[0112] Since the first bundling robot 3a and the second bundling robot 3b in this embodiment have the same specifications, for the sake of explanation, the drawings will mainly show the first bundling robot 3a, and the second bundling robot 3b will be shown in parentheses.

[0113] As described above, the first bundling robot 3a is movably positioned along the bundling robot rack 97 laid on the upper surface of the third base 90d in the +X·-X direction, and as shown in Figures 13 to 19, the bundling robot travel motor 98a for moving the first bundling robot 3a along the bundling robot rack 97 in the +X·-X direction, and is movably positioned along the bundling robot rack 97 in the +X·-X direction. It comprises a first base 30a, a second base 31a that pivots relative to the first base 30a, a lower arm portion 32a that rotates back and forth relative to the second base 31a, a lower middle arm portion 33a that rotates up and down relative to the lower arm portion 32a, an upper middle arm portion 34a that rotates relative to the lower middle arm portion 33a, an upper arm portion 35a that rotates up and down relative to the upper middle arm portion 34a, and a first fastening portion 11a connected to the tip of the upper arm portion 35a.

[0114] The first binding section 11a is connected to the upper arm section 35a and comprises a first housing 36a, a base plate 15a connected below the first housing 36a, an intermediate slide plate 17a slidably connected to the base plate 15a in the +X1·-X1 direction, a lower slide plate 19a slidably connected to the intermediate slide plate 17a in a direction substantially perpendicular to the +X1·-X1 direction (the front-to-back direction of the paper) relative to the base plate 15a, and a clamp base plate 21a rotatably connected to the base plate 15a on a plane perpendicular to the paper plane relative to the base plate 15a.

[0115] Furthermore, the first binding section 11a is provided with intermediate slide plate carriages 20aa and 20ab on the base plate 15a (the intermediate slide plate carriage 20ab is not shown, but is located on the back side of the paper of the intermediate slide plate carriage 20aa) and intermediate slide plate rails 22aa and 22ab on the intermediate slide plate 17a (the intermediate slide plate rail 22ab is not shown, but is located on the back side of the paper of the intermediate slide plate rail 22aa).

[0116] Furthermore, the first binding section 11a is equipped with rails 23aa and 23ab for the lower slide plate on the intermediate slide plate 17a, and carriages 24aa and 24ab for the lower slide plate on the lower slide plate 19a, in order to enable the lower slide plate 19a to slide in a direction substantially perpendicular to the +X1·-X1 direction relative to the base plate 15a (the front and back directions of the paper).

[0117] Furthermore, the first binding section 11a is provided with first floating cylinders 45aa and 45ab on the base plate 15a, and the clamp base plate 21a is provided with positioning bush holes 69aag and 69abg (see Figures 16 and 17) and positioning bushes 69aa and 69ab on the base plate 15a, in order to enable the clamp base plate 21a to rotate on a plane perpendicular to the plane of paper relative to the base plate 15a.

[0118] The first floating cylinders 45aa and 45ab are arranged on the base plate 15a in positions symmetrical to the screw tightening motor 26a, which will be described later, in a plan view. Each of the first floating cylinders 45aa and 45ab contains, internally, a substantially cylindrical first floating cylinder gap 44aa and 44ab, first floating cylinder pistons 46aa and 46ab that are movable within the first floating cylinder gap 44aa and 44ab, and contact portions 108aa and 108ab connected to the tips of the first floating cylinder pistons 46aa and 46ab.

[0119] Furthermore, the first binding portion 11a includes, below the clamp base plate 21a, a pair of first binding member gripping cylinders 40aa and 40ab connected to the clamp base plate 21a, first binding member gripping cylinder rods 41aa and 41ab provided on each of the first binding member gripping cylinders 40aa and 40ab and capable of protruding from each of the first binding member gripping cylinders 40aa and 40ab, a pair of first binding member gripping portions 42aa and 42ab connected to the ends of each of the first binding member gripping cylinder rods 41aa and 41ab, and first binding member gripping projections 43ab and 43aa (see Figures 18 and 19) provided on each of the first binding member gripping portions 42aa and 42ab and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66.

[0120] Furthermore, as shown in Figures 18 and 19, the first binding portion 11a includes a pair of first binding member gripping timing pulleys 47aa and 47ab rotatably mounted below the clamp base plate 21a, a first binding member gripping timing belt 48a wound around the first binding member gripping timing pulleys 47aa and 47ab, a first binding member timing belt connection portion 49aa connected to the first binding member gripping portion 42aa and one side of the first binding member gripping timing belt 48a, and a first binding member timing belt connection portion 49ab connected to the first binding member gripping portion 42ab and the other side of the first binding member gripping timing belt 48a.

[0121] Furthermore, the first binding unit 11a is equipped with a camera 25a (see Figures 24 and 25) for detecting the binding member 66 on the base plate 15a, and a screw tightening motor 26a that fits onto the screw portion 66b of the binding member 66 and rotates the screw portion 66b, and the screw tightening motor 26a is equipped with a screw fitting portion 28a connected to its tip.

[0122] Furthermore, the first binding portion 11a comprises, on the +X1 direction surface of the first gripping portion housing 36a, a pair of first binding member container gripping cylinders 37aa and 37ab, first binding member container gripping cylinder rods 38aa and 38ab provided on each of the first binding member container gripping cylinders 37aa and 37ab and capable of protruding from each of the first binding member container gripping cylinders 37aa and 37ab, a pair of first binding member container gripping portions 39aa and 39ab connected to the ends of each of the first binding member container gripping cylinder rods 38aa and 38ab, and first binding member container gripping rubber portions 39aa1 and 39ab1 provided on each of the first binding member container gripping portions 39aa and 39ab.

[0123] In the first binding robot 3a described above, when the first binding member gripping cylinder rods 41aa and 41ab of the first binding member gripping cylinders 40aa and 40ab are sucked outward by the compressor 12 described later, the first binding member gripping parts 42aa and 42ab will be in an open state, as shown in Figure 14. When the first binding member gripping cylinder rods 41aa and 41ab of the first binding member gripping cylinders 40aa and 40ab are sucked inward by the compressor 12 described later, the first binding member gripping parts 42aa and 42ab will be in a closed state, as shown in Figure 15, and the first binding member gripping projections 43aa and 43ab will fit into the left side hole 67a and the right side hole 67b of the binding member 66, allowing the binding member 66 to be gripped.

[0124] Furthermore, in the first bundling robot 3a, when the first bundling member container gripping cylinder rods 38aa and 38ab of the first bundling member container gripping cylinders 37aa and 37ab are sucked outward by the compressor 12 described later, the first bundling member container gripping parts 39aa and 39ab will be in an open state, as shown in Figure 18. When the first bundling member container gripping cylinder rods 38aa and 38ab of the first bundling member container gripping cylinders 37aa and 37abb are sucked inward by the compressor 12 described later, the first bundling member container gripping parts 39aa and 39ab will be in a closed state, as shown in Figure 19, and the first bundling member container C1 can be gripped.

[0125] Furthermore, in the first binding robot 3a, when the first floating cylinder pistons 46aa and 46ab of the first floating cylinders 45aa and 45ab are sucked downward by the compressor 12 described later, as shown in Figure 16, the contact portions 108aa and 108ab fit into the positioning bushes 69aa and 69ab formed on the clamp base plate 21a, thereby fixing the intermediate slide plate 17a, the lower slide plate 19a and the clamp base plate 21a to the base plate 15a.

[0126] On the other hand, in the first binding robot 3a, when the first floating cylinder pistons 46aa and 46ab of the first floating cylinders 45aa and 45ab are sucked upward by the compressor 12 described later, as shown in Figure 17, the contact portions 108aa and 108ab move upward away from the positioning bushes 69aa and 69ab formed on the clamp base plate 21a, so that the intermediate slide plate 17a, the lower slide plate 19a and the clamp base plate 21a become floating relative to the base plate 15a, allowing them to move in their respective directions.

[0127] Furthermore, the second binding robot 3b, positioned on the third base 90d in the +X direction relative to the first binding robot 3a, is also, as described above, positioned to be movable along the binding robot rack 97 laid on the upper surface of the third base 90d in the +Y direction and in the +X·-X direction. As shown in Figures 13 to 19, the second binding robot 3b is equipped with a binding robot travel motor 98b for moving it along the binding robot rack 97 in the +X·-X direction, and the binding robot rack The device comprises a first base 30b arranged to be movable in the +X·-X direction along 97, a second base 31b that pivots relative to the first base 30b, a lower arm 32b that rotates back and forth relative to the second base 31b, a lower middle arm 33b that rotates up and down relative to the lower arm 32b, an upper middle arm 34b that rotates relative to the lower middle arm 33b, an upper arm 35b that rotates up and down relative to the upper middle arm 34b, and a second fastening portion 11b connected to the tip of the upper arm 35b.

[0128] The second fastening section 11b is connected to the upper arm section 35b and comprises a second housing 36b, a base plate 15b connected below the second housing 36b, an intermediate slide plate 17b slidably connected to the base plate 15b in the +X1·-X1 direction, a lower slide plate 19b slidably connected to the intermediate slide plate 17b in a direction substantially perpendicular to the +X1·-X1 direction with respect to the base plate 15b, and a clamp base plate 21b rotatably connected to the base plate 15b on a plane perpendicular to the plane of the paper.

[0129] Furthermore, the second fastening section 11b is provided with intermediate slide plate carriages 20ba and 20bb (the intermediate slide plate carriage 20bb is not shown, but is located on the back side of the paper) on the base plate 15b, and intermediate slide plate rails 22ba and 22bb (the intermediate slide plate rail 22bb is not shown, but is located on the back side of the paper) on the intermediate slide plate 17b, in order to allow the intermediate slide plate 17b to slide in the +X1·-X1 direction relative to the base plate 15b, and intermediate slide plate rails 22ba and 22bb (the intermediate slide plate rail 22bb is not shown, but is located on the back side of the paper) on the intermediate slide plate rail 22ba.

[0130] Furthermore, the second fastening section 11b is equipped with rails 23ba and 23bb for the lower slide plate on the intermediate slide plate 17b and carriages 24ba and 24bb for the lower slide plate on the lower slide plate 19b, in order to enable the lower slide plate 19b to slide in a direction substantially perpendicular to the +X1·-X1 direction relative to the base plate 15b.

[0131] Furthermore, the second fastening section 11b is provided with second floating cylinders 45ba and 45bb on the base plate 15b, and the clamp base plate 21b is provided with positioning bush holes 69bag and 69bbg (see Figures 16 and 17) and positioning bushes 69ba and 69bb on the base plate 15b, in order to allow the clamp base plate 21b to rotate on a plane perpendicular to the plane of paper relative to the base plate 15b.

[0132] The second floating cylinders 45ba and 45bb are arranged on the base plate 15b in positions symmetrical to the screw tightening motor 26b, which will be described later. Each of the second floating cylinders 45ba and 45bb contains, internally, a substantially cylindrical second floating cylinder gap 44ba and 44bb, second floating cylinder pistons 46ba and 46bb that are movable within the second floating cylinder gap 44ba and 44bb, and contact portions 108ba and 108bb connected to the tips of the second floating cylinder pistons 46ba and 46bb.

[0133] Furthermore, the second binding portion 11b includes, below the clamp base plate 21b, a pair of second binding member gripping cylinders 40ba and 40bb connected to the clamp base plate 21b, second binding member gripping cylinder rods 41ba and 41bb provided on each of the second binding member gripping cylinders 40ba and 40bb and capable of protruding from each of the second binding member gripping cylinders 40ba and 40bb, a pair of second binding member gripping portions 42ba and 42bb connected to the ends of each of the second binding member gripping cylinder rods 41ba and 41bb, and second binding member gripping projections 43ba (see Figures 18 and 19) and 43bb provided on each of the second binding member gripping portions 42ba and 42bb and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66.

[0134] Furthermore, the second binding portion 11b includes a pair of second binding member gripping timing pulleys 47ba and 47bb rotatably mounted below the clamp base plate 21b, a second binding member gripping timing belt 48b wound around the second binding member gripping timing pulleys 47ba and 47bb, a second binding member timing belt connection portion 49ba connected to the second binding member gripping portion 42ba and one side of the second binding member gripping timing belt 48b, and a second binding member timing belt connection portion 49bb connected to the second binding member gripping portion 42bb and the other side of the second binding member gripping timing belt 48b.

[0135] Furthermore, the first binding unit 11b is equipped with a camera 25b (see Figures 24 and 25) for detecting the binding member 66 on the base plate 15b, and a screw tightening motor 26b that fits onto the screw portion 66b of the binding member 66 and rotates the screw portion 66b, and the screw tightening motor 26b is equipped with a screw fitting portion 28b connected to its tip.

[0136] Furthermore, the second binding portion 11b comprises, on the +X1 direction surface of the second gripping portion housing 36b, a pair of second binding member container gripping cylinders 37ba and 37bb, second binding member container gripping cylinder rods 38ba and 38bb provided on each of the second binding member container gripping cylinders 37ba and 37bb and protruding from each of the second binding member container gripping cylinders 37ba and 37bb, a pair of second binding member container gripping portions 39ba and 39bb connected to the ends of each of the second binding member container gripping cylinder rods 38ba and 38bb, and second binding member container gripping rubber portions 39ba1 and 39bb1 provided on each of the second binding member container gripping portions 39ba and 39bb.

[0137] In the second binding robot 3b described above, when the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb are sucked outward by the compressor 12 described later, the second binding member gripping parts 42ba and 42bb will be in an open state, as shown in Figure 14. When the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb are sucked inward by the compressor 12 described later, the second binding member gripping parts 42ba and 42bb will be in a closed state, as shown in Figure 15, and the second binding member gripping projections 43ba and 43bb will fit into the left side hole 67a and the right side hole 67b of the binding member 66, allowing the binding member 66 to be gripped.

[0138] Furthermore, in the second bundling robot 3b, when the second bundling member container gripping cylinder rods 38ba and 38bb of the second bundling member container gripping cylinders 37ba and 37bb are sucked outward by the compressor 12 described later, the second bundling member container gripping parts 39ba and 39bb will be in an open state, as shown in Figure 18. When the second bundling member container gripping cylinder rods 38ba and 38bb of the second bundling member container gripping cylinders 37ba and 37bb are sucked inward by the compressor 12 described later, the second bundling member container gripping parts 39ba and 39bb will be in a closed state, as shown in Figure 19, and the second bundling member container C2 can be gripped.

[0139] Furthermore, in the second binding robot 3b, when the second floating cylinder pistons 46ba and 46bb of the second floating cylinders 45ba and 45bb are sucked downward by the compressor 12 described later, as shown in Figure 16, the contact portions 108ba and 108bb fit into the positioning bushes 69ba and 69bb formed on the clamp base plate 21b, thereby fixing the intermediate slide plate 17b, the lower slide plate 19b and the clamp base plate 21b to the base plate 15b.

[0140] On the other hand, in the second binding robot 3b, when the second floating cylinder pistons 46ba and 46bb of the second floating cylinders 45ba and 45bb are sucked upward by the compressor 12 described later, as shown in Figure 17, the contact portions 108ba and 108bb move upward away from the positioning bushes 69ba and 69bb formed on the clamp base plate 21b, so that the intermediate slide plate 17b, the lower slide plate 19b and the clamp base plate 21b become floating relative to the base plate 15b in their respective directions.

[0141] Figure 20 is an overall plan view of the rod extraction section in this embodiment, Figure 21 is an overall right side view of the rod extraction fixing section of the rod extraction section in this embodiment, Figure 22 is an overall right side view of the rod extraction movable section of the rod extraction section in this embodiment when the oscillating cam is lowered, and Figure 23 is an overall right side view of the rod extraction movable section of the rod extraction section in this embodiment when the oscillating cam is raised.

[0142] In this embodiment, the lower upstream rod extraction and fixing section 71a, the lower downstream rod extraction and fixing section 71b (described later), the upper upstream rod extraction and fixing section 171a (described later), and the upper downstream rod extraction and fixing section 171b (described later) are all of the same specifications. Therefore, for the sake of explanation, the drawings will focus on the lower upstream rod extraction and fixing section 71a, and other elements will be shown in parentheses.

[0143] Furthermore, since the lower upstream rod extraction movable parts 70a and 70b of this embodiment, the lower downstream rod extraction movable parts 70c and 70d (described later), the upper upstream rod extraction movable parts 170a and 170b (described later), and the upper downstream rod extraction movable parts 170c and 170d (described later) all have the same specifications, for the sake of explanation, the drawings will mainly show the lower upstream rod extraction movable parts 70a and 70b, and other elements will be shown in parentheses.

[0144] As shown in Figures 6 and 8, the lower rod material extraction unit 7 of this embodiment is responsible for extracting one rod material B2 at a time from the bundle of shorter rod materials B2, transporting the extracted rod materials B2 in the +Y direction, and transporting them to a position where the first loading robot 5a and the second loading robot 5b can grasp them.

[0145] As shown in Figures 8 and 9, the lower rod material removal section 7 of this embodiment has four lower first rod material transport conveyors 80a, 80b, 80c, and 80d (hereinafter referred to as "80a~80d") extending from the -X direction end to the +X direction end at the -Y direction end in order to transport the bundle of rod material B2 before removal in the +Y direction, and four lower first rod material transport motors 81a, 81b, 81c, and 81d (hereinafter referred to as "81a~81d") for driving these lower first rod material transport conveyors 80a~80d, and the bundle of rod material B2 is in the lower section The system includes four lower second bar material conveying conveyors 82a, 82b, 82c, and 82d (hereinafter referred to as "82a-82d") positioned adjacent to the lower first bar material conveying conveyors 80a-80d in the +Y direction, extending from the -X end to the +X end, so as to be transported continuously from the first bar material conveying conveyors 80a-80d, and four lower second bar material conveying motors 83a, 83b, 83c, and 83d (hereinafter referred to as "83a-83d") for driving these lower second bar material conveying conveyors 82a-82d.

[0146] Furthermore, the lower rod material extraction section 7 is equipped with a lower upstream rod material extraction fixing section 71a located adjacent to the lower second rod material transport conveyors 82a to 82d in the +Y direction and in the center in the -X·+X direction, so that the bundles of rod material B2 are transported continuously from the lower second rod material transport conveyors 82a to 82d in order to extract one rod material B2 at a time from the bundle of rod material B2. The lower upstream rod material extraction movable section 70a is located in the -X direction from the lower upstream rod material extraction fixing section 71a, and the lower upstream rod material extraction movable section 70b is located in the +X direction from the lower upstream rod material extraction fixing section 71a.

[0147] Furthermore, the lower rod material removal section 7 includes, at positions adjacent to the lower upstream rod material removal fixing section 71a, the lower upstream rod material removal movable sections 70a and 70b in the +Y direction, four lower third rod material transport conveyors 84a, 84b, 84c and 84d (hereinafter referred to as "84a~84d") extending from the -X direction end to the +X direction end, so that the rod material B2 is transported continuously from the lower upstream rod material removal fixing section 71a, the lower upstream rod material removal movable sections 70a and 70b, and four lower third rod material transport motors 85a, 85b, 85c and 85d (hereinafter referred to as "85a~85d") for driving these lower third rod material transport conveyors 84a~84d.

[0148] Furthermore, in order to more reliably remove the rods B2 one by one, the lower rod material removal section 7 is located adjacent to the lower third rod material transport conveyors 84a to 84d in the +Y direction, and in the center in the -X and +X directions, and includes a lower downstream rod material removal fixing section 71b, a lower downstream rod material removal movable section 70c located in the -X direction from the lower downstream rod material removal fixing section 71b, and a lower downstream rod material removal movable section 70d located in the +X direction from the lower downstream rod material removal fixing section 71b.

[0149] Furthermore, the lower rod material removal section 7 includes, at positions adjacent to the lower downstream rod material removal fixing section 71b, the lower downstream rod material removal movable sections 70c and 70d in the +Y direction, four lower fourth rod material transport conveyors 86a, 86b, 86c and 86d (hereinafter referred to as "86a~86d") extending from the -X direction end to the +X direction end, so that the rod material B2 is transported continuously from the lower downstream rod material removal fixing section 71b, the lower downstream rod material removal movable sections 70c and 70d, and four lower fourth rod material transport motors 87a, 87b, 87c and 87d (hereinafter referred to as "87a~87d") for driving these lower fourth rod material transport conveyors 86a~86d.

[0150] Furthermore, the lower rod material removal section 7 includes four lower fifth rod material conveying conveyors 88a, 88b, 88c, and 88d (hereinafter referred to as "88a~88d") located adjacent to the lower fourth rod material conveying conveyors 86a~86d in the +Y direction from the -X direction end to the +X direction end, so that the rod material B2 is continuously conveyed from the lower fourth rod material conveying conveyors 86a~86d, and four lower fifth rod material conveying motors 89a, 89b, 89c, and 89d (hereinafter referred to as "89a~89d") for driving these lower fourth rod material conveying conveyors 88a~88d.

[0151] Furthermore, the lower rod material handling section 7 includes two rod material sensors 99a and 99b, spaced apart in the -X and +X directions, to detect when the rod material B2 has been transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b; four rod material slide pulleys 105a, 105b, 105c and 105d (hereinafter referred to as "105a~105d"), arranged from the -X end to the +X end, to support the rod material B2 so that it can slide from below when the rod material B2 has been transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b; a pusher section 104 for pushing the rod material B2 supported by the rod material slide pulleys 105a~105d toward the rod material reference plate 106 located at the +X end in the +X direction; and a rod material slide motor 103 for driving the pusher section 104 in the +X direction.

[0152] As shown in Figures 8, 9, 20, and 21, the lower upstream rod extraction and fixing section 71a comprises two lower upstream rod extraction and fixing section plates 78aa and 78ab erected parallel to each other in the +X·-X direction, a lower upstream rod extraction and fixing section housing 77aa provided on the upper surface of the first base section 90b and positioned adjacent to the lower upstream rod extraction and fixing section plate 78aa in the -X direction, fixing the lower upstream rod extraction and fixing section plate 78aa at two locations spaced apart in the +Y·-Y direction, and a lower upstream rod extraction and fixing section housing 77ab provided on the upper surface of the first base section 90b and positioned adjacent to the lower upstream rod extraction and fixing section plate 78ab in the +X direction, fixing the lower upstream rod extraction and fixing section plate 78ab at two locations spaced apart in the +Y·-Y direction.

[0153] Furthermore, the lower upstream rod extraction and fixing plate 78aa has an upper surface 79aa of the lower upstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b described later, and the lower upstream rod extraction and fixing plate 78ab also has an upper surface 79ab of the lower upstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b described later.

[0154] As shown in Figures 8, 9, 20, 22, and 23, the lower upstream rod extraction movable section 70a comprises two lower upstream rod extraction oscillating cams 76aa and 76ab erected parallel to each other in the center of the +X·-X direction, a lower upstream rod extraction housing 72aa erected on the -X direction side of the lower upstream rod extraction oscillating cam 76aa and connected to the first base section 90b, and a lower upstream rod extraction housing 72ab erected on the +X direction side of the lower upstream rod extraction oscillating cam 76ab and connected to the first base section 90b.

[0155] Furthermore, as shown in Figures 8, 9, 20, 22, and 23, the lower upstream rod extraction movable part 70a is connected to the lower upstream rod extraction housing 72aa and includes a lower upstream rod extraction fixed cam 75aa erected between the lower upstream rod extraction swing cam 76aa and the lower upstream rod extraction housing 72aa, and a lower upstream rod extraction fixed part cam 75ab connected to the lower upstream rod extraction housing 72ab and erected between the lower upstream rod extraction swing cam 76ab and the lower upstream rod extraction housing 72ab.

[0156] The lower upstream rod extraction oscillating cam 76aa is rotatably connected to the +Z end of the lower upstream rod extraction cylinder rod 74a at the lower upstream rod extraction oscillating cam action point 76ad. The lower upstream rod extraction cylinder 73a, connected to the first base portion 90b, causes the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a to move in the +Z·-Z direction, thereby allowing the cam to rotate around the lower upstream rod extraction oscillating cam center 76ac formed in the lower upstream rod extraction housing 72aa.

[0157] Furthermore, the lower upstream rod extraction oscillating cam 76aa is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0158] The lower upstream rod extraction oscillating cam 76ab has substantially the same form as the lower upstream rod extraction oscillating cam 76aa, and, similar to the lower upstream rod extraction oscillating cam 76aa, is rotatably connected to the +Z direction end of the lower upstream rod extraction cylinder rod 74a at the lower upstream rod extraction oscillating cam action point 76ad. The lower upstream rod extraction cylinder 73a, connected to the first base portion 90b, moves the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a in the +Z·-Z direction, thereby allowing it to rotate around the lower upstream rod extraction oscillating cam center 76ac formed in the upstream rod extraction housing 72aa.

[0159] Furthermore, the lower upstream rod extraction oscillating cam 76ab also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0160] The lower upstream rod extraction fixing cam 75aa is fixed to the upstream rod extraction housing 72aa and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0161] The lower upstream rod extraction fixing cam 75ab has substantially the same form as the lower upstream rod extraction fixing cam 75aa, and, like the lower upstream rod extraction fixing cam 75aa, is fixed to the lower upstream rod extraction housing 72aa. On its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t, and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b, and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0162] As shown in Figures 8, 9, 20, 22, and 23, the lower upstream rod extraction movable section 70b comprises two lower upstream rod extraction oscillating cams 76ba and 76bb erected parallel to each other in the center of the +X·-X direction, a lower upstream rod extraction housing 72ba erected on the -X direction side of the lower upstream rod extraction oscillating cam 76ba and connected to the first base section 90b, and a lower upstream rod extraction housing 72bb erected on the +X direction side of the lower upstream rod extraction oscillating cam 76bb and connected to the first base section 90b.

[0163] Furthermore, as shown in Figures 8, 9, 20, 22, and 23, the lower upstream rod extraction movable part 70b is connected to the lower upstream rod extraction housing 72ba and includes a lower upstream rod extraction fixed cam 75ba erected between the lower upstream rod extraction swing cam 76ba and the lower upstream rod extraction housing 72ba, and a lower upstream rod extraction fixed part cam 75bb connected to the lower upstream rod extraction housing 72bb and erected between the lower upstream rod extraction swing cam 76bb and the lower upstream rod extraction housing 72bb.

[0164] The lower upstream rod extraction oscillating cam 76ba is rotatably connected to the +Z direction end of the lower upstream rod extraction cylinder rod 74b at the lower upstream rod extraction oscillating cam action point 76bd. The lower upstream rod extraction cylinder 73b, connected to the first base portion 90b, causes the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b to move in the +Z·-Z direction, thereby allowing it to rotate around the lower upstream rod extraction oscillating cam center 76bc formed in the upstream rod extraction housing 72ba.

[0165] Furthermore, the lower upstream rod extraction oscillating cam 76ba has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0166] The lower upstream rod extraction fixing cam 75ba is fixed to the upstream rod extraction housing 72ba and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0167] The lower upstream rod extraction oscillating cam 76bb has substantially the same form as the lower upstream rod extraction oscillating cam 76ba, and, similar to the lower upstream rod extraction oscillating cam 76ba, is rotatably connected to the +Z direction end of the lower upstream rod extraction cylinder rod 74b at the lower upstream rod extraction oscillating cam action point 76bd. The lower upstream rod extraction cylinder 73b, connected to the first base portion 90b, moves the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b in the +Z·-Z direction, thereby allowing it to rotate around the lower upstream rod extraction oscillating cam center 76bc formed in the upstream rod extraction housing 72ba.

[0168] Furthermore, the lower upstream rod extraction oscillating cam 76bb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0169] The lower upstream rod extraction fixing cam 75bb has substantially the same form as the lower upstream rod extraction fixing cam 75ba, and, like the lower upstream rod extraction fixing cam 75ba, is fixed to the upstream rod extraction housing 72bb. On its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t, and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b, and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0170] As shown in Figures 8, 9, 20, and 21, the lower downstream rod extraction and fixing section 71b comprises two lower downstream rod extraction and fixing section plates 78ba and 78bb erected parallel to each other in the +X·-X direction, a lower downstream rod extraction and fixing section housing 77ba provided on the upper surface of the first base section 90b and positioned adjacent to the lower downstream rod extraction and fixing section plate 78ba in the -X direction, fixing the lower downstream rod extraction and fixing section plate 78ba at two locations spaced apart in the +Y·-Y direction, and a lower downstream rod extraction and fixing section housing 77bb provided on the upper surface of the first base section 90b and positioned adjacent to the lower downstream rod extraction and fixing section plate 78bb in the +X direction, fixing the lower downstream rod extraction and fixing section plate 78bb at two locations spaced apart in the +Y·-Y direction.

[0171] Furthermore, the lower downstream rod extraction and fixing plate 78ba has an upper surface 79ba of the lower downstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b, and the lower downstream rod extraction and fixing plate 78bb also has an upper surface 79bb of the lower downstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b.

[0172] As shown in Figures 8, 9, 20, 22, and 23, the lower downstream rod extraction movable section 70c comprises two lower downstream rod extraction oscillating cams 76ca and 76cb erected parallel to each other in the center of the +X·-X direction, a lower downstream rod extraction housing 72ca erected on the -X direction side of the lower downstream rod extraction oscillating cam 76ca and connected to the first base section 90b, and a lower downstream rod extraction housing 72cb erected on the +X direction side of the lower downstream rod extraction oscillating cam 76cb and connected to the first base section 90b.

[0173] Furthermore, as shown in Figures 8, 9, 20, 22, and 23, the lower downstream rod extraction movable part 70c is connected to the lower downstream rod extraction housing 72ca and includes a lower downstream rod extraction fixed cam 75ca erected between the lower downstream rod extraction swing cam 76ca and the lower downstream rod extraction housing 72ca, and a lower downstream rod extraction fixed part cam 75cb connected to the lower downstream rod extraction housing 72cb and erected between the lower downstream rod extraction swing cam 76cb and the lower downstream rod extraction housing 72cb.

[0174] The lower downstream rod extraction oscillating cam 76ca is rotatably connected to the +Z direction end of the lower downstream rod extraction cylinder rod 74c at the lower downstream rod extraction oscillating cam action point 76cd. The lower downstream rod extraction cylinder 73c, connected to the first base portion 90b, causes the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c to move in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream rod extraction oscillating cam center 76cc formed in the lower downstream rod extraction housing 72ca.

[0175] Furthermore, the lower downstream rod extraction oscillating cam 76ca is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0176] The lower downstream bar extraction oscillating cam 76cb has substantially the same form as the lower downstream bar extraction oscillating cam 76ca, and, similar to the lower downstream bar extraction oscillating cam 76ca, is rotatably connected to the +Z direction end of the lower downstream bar extraction cylinder rod 74c at the lower downstream bar extraction oscillating cam action point 76cd. The lower downstream bar extraction cylinder 73c, connected to the first base portion 90b, moves the lower downstream bar extraction cylinder rod 74c of the lower downstream bar extraction cylinder 73c in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream bar extraction oscillating cam center 76cc formed in the lower downstream bar extraction housing 72ca.

[0177] Furthermore, the lower downstream rod extraction oscillating cam 76cb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0178] The lower downstream bar material extraction fixing cam 75ca is fixed to the lower downstream bar material extraction housing 72ca, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0179] The lower downstream bar material extraction fixing cam 75cb has substantially the same form as the lower downstream bar material extraction fixing cam 75ca, and, like the lower downstream bar material extraction fixing cam 75ca, is fixed to the lower downstream bar material extraction housing 72cb, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0180] As shown in Figures 8, 9, 20, 22, and 23, the lower downstream rod extraction movable section 70d comprises two lower downstream rod extraction oscillating cams 76da and 76db erected parallel to each other in the center of the +X·-X direction, a lower downstream rod extraction housing 72da erected on the -X direction side of the lower downstream rod extraction oscillating cam 76da and connected to the first base section 90b, and a lower downstream rod extraction housing 72db erected on the +X direction side of the lower downstream rod extraction oscillating cam 76db and connected to the first base section 90b.

[0181] Furthermore, as shown in Figures 8, 9, 20, 22, and 23, the lower downstream rod extraction movable part 70d is connected to the lower downstream rod extraction housing 72da and includes a lower downstream rod extraction fixing cam 75da erected between the lower downstream rod extraction swing cam 76da and the lower downstream rod extraction housing 72da, and a lower downstream rod extraction fixing part cam 75db connected to the lower downstream rod extraction housing 72db and erected between the lower downstream rod extraction swing cam 76db and the lower downstream rod extraction housing 72db.

[0182] The lower downstream rod extraction oscillating cam 76da is rotatably connected to the +Z direction end of the lower downstream rod extraction cylinder rod 74d at the lower downstream rod extraction oscillating cam action point 76dd. The lower downstream rod extraction cylinder 73d, connected to the first base portion 90b, causes the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d to move in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream rod extraction oscillating cam center 76dc formed in the lower downstream rod extraction housing 72da.

[0183] Furthermore, the lower downstream rod extraction oscillating cam 76da is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0184] The lower downstream bar material extraction fixing cam 75da is fixed to the lower downstream bar material extraction housing 72da, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0185] The lower downstream bar extraction oscillating cam 76db has substantially the same form as the lower downstream bar extraction oscillating cam 76da, and, similar to the lower downstream bar extraction oscillating cam 76da, is rotatably connected to the +Z direction end of the lower downstream bar extraction cylinder rod 74d at the lower downstream bar extraction oscillating cam action point 76dd. The lower downstream bar extraction cylinder 73d, connected to the first base portion 90b, moves the lower downstream bar extraction cylinder rod 74d of the lower downstream bar extraction cylinder 73d in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream bar extraction oscillating cam center 76dc formed in the lower downstream bar extraction housing 72da.

[0186] Furthermore, the lower downstream rod extraction oscillating cam 76db also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0187] The lower downstream bar stock extraction fixing cam 75db has substantially the same form as the lower downstream bar stock extraction fixing cam 75da, and like the lower downstream bar stock extraction fixing cam 75da, it is fixed to the lower downstream bar stock extraction housing 72db, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0188] In the lower rod extraction section 7 of this embodiment described above, a lower upstream rod extraction fixing section 71a is positioned in the center in the -X·+X direction, and a lower upstream rod extraction movable section 70a and a lower upstream rod extraction movable section 70b are positioned in the +X and -X directions of the lower upstream rod extraction fixing section 71a. By repeatedly moving the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a and the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b back and forth in the +Z·-Z direction, one rod B2 can be extracted from the bundle of rods B2 at a time.

[0189] Furthermore, in the lower rod extraction section 7, the lower downstream rod extraction fixing section 71b is positioned in the center of the -X·+X direction, downstream of the lower upstream rod extraction fixing section 71a, the lower upstream rod extraction movable section 70a, and the lower upstream rod extraction movable section 70b in the +Y direction. The lower downstream rod extraction movable section 70c and the lower downstream rod extraction movable section 70d are positioned in the +X and -X directions of the lower downstream rod extraction fixing section 71b. By repeatedly moving the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c and the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d back and forth in the +Z·-Z direction, even if it is not possible to extract the rods B2 one by one on the upstream side, the rods B2 can be reliably extracted one by one from the bundle of rods B2.

[0190] Furthermore, in the lower rod material extraction section 7, the rod materials B2 extracted one by one can be transported to a position where the first and second mounting robots 5b can grasp them, using the lower first rod material transport conveyors 80a-80d, the lower second rod material transport conveyors 82a-82d, the lower third rod material transport conveyors 84a-84d, the lower fourth rod material transport conveyors 86a-86d, and the lower fifth rod material transport conveyors 88a-88d.

[0191] Furthermore, the lower bar material removal section 7 includes a plurality of bar material slide pulleys 105a to 105d arranged from the -X end to the +X end to support the bar material B2 so that it can slide from below when the bar material B2 is transported to a position where the first mounting robot 5a and the second mounting robot 5b can grasp it, and a pusher section 104 for pushing the bar material B2 supported by these bar material slide pulleys 105a to 105d toward the bar material reference plate 106 located at the +X end in the +X direction. As a result, the reference position of the bar material B2 can be set, and when manufacturing the bar material unit 100, the bar material B2 can be accurately positioned according to the specifications of the bar material unit 100.

[0192] As shown in Figure 6, the upper rod material extraction unit 107 is responsible for extracting one rod material B1 at a time from the bundle of longer rod materials B1, and for transporting each extracted rod material B1 in the +Y direction to the lower fifth rod material transport conveyor 88a to 88d.

[0193] As shown in Figures 6 and 7, the lower rod material removal section 107 of this embodiment has four upper first rod material transport conveyors 180a, 180b, 180c, and 180d (hereinafter referred to as "180a~180d") extending from the -X direction end to the +X direction end at the -Y direction end in order to transport the bundle of rod material B1 before removal in the +Y direction, and four upper first rod material transport motors 181a, 181b, 181c, and 181d (hereinafter referred to as "181a~181d") for driving these upper first rod material transport conveyors 180a~180d, and the bundle of rod material B1 is transported in the upper first The system includes four upper second bar material conveying conveyors 182a, 182b, 182c, and 182d (hereinafter referred to as "182a-182d") positioned adjacent to the upper first bar material conveying conveyors 180a-180d in the +Y direction, extending from the -X end to the +X end, and four lower second bar material conveying motors 183a, 183b, 183c, and 183d (hereinafter referred to as "183a-183d") for driving these upper second bar material conveying conveyors 182a-182d.

[0194] Furthermore, the upper rod material removal section 107 includes, in order to remove one rod material B1 at a time from a bundle of rod materials B1, an upper upstream rod material removal fixing section 171a located adjacent to the upper second rod material transport conveyors 182a to 182d in the +Y direction and in the center in the -X and +X directions, an upper upstream rod material removal movable section 170a located in the -X direction from the upper upstream rod material removal fixing section 171a, and an upper upstream rod material removal movable section 170b located in the +X direction from the upper upstream rod material removal fixing section 171a.

[0195] Furthermore, the upper rod material removal section 107 includes, at positions adjacent to the upper upstream rod material removal fixing section 171a, the upper upstream rod material removal movable sections 170a and 170b in the +Y direction, four upper third rod material transport conveyors 184a, 184b, 184c and 184d (hereinafter referred to as "184a~184d") extending from the -X direction end to the +X direction end, so that the rod material B1 is transported continuously from the upper upstream rod material removal fixing section 171a, the upper upstream rod material removal movable sections 170a and 170b, and four lower third rod material transport motors 185a, 185b, 185c and 185d (hereinafter referred to as "185a~185d") for driving the upper third rod material transport conveyors 184a~184d.

[0196] Furthermore, in order to more reliably remove the bar materials B1 one by one, the upper bar material removal section 107 is equipped with an upper downstream bar material removal fixing section 171b located adjacent to the upper third bar material transport conveyors 184a to 184d in the +Y direction, in the center in the -X and +X directions, an upper downstream bar material removal movable section 170c located in the -X direction from the upper downstream bar material removal fixing section 171b, and an upper downstream bar material removal movable section 170d located in the +X direction from the upper downstream bar material removal fixing section 171b.

[0197] Furthermore, the upper rod material removal section 107 includes, at positions adjacent to the upper downstream rod material removal fixing section 171b, the upper downstream rod material removal movable sections 170c and 170d in the +Y direction, four upper fourth rod material transport conveyors 186a, 186b, 186c and 186d (hereinafter referred to as "186a~186d") extending from the -X direction end to the +X direction end, so that the rod material B1 is transported continuously from the upper downstream rod material removal fixing section 171b, the upper downstream rod material removal movable sections 170c and 170d, and four upper fourth rod material transport motors 187a, 187b, 187c and 187d (hereinafter referred to as "187a~187d") for driving the lower fourth rod material transport conveyors 186a~186d.

[0198] Then, the bar material B1, which has been transported by the upper fourth bar material transport conveyors 186a to 186d, is moved onto the lower fifth bar material transport conveyors 88a to 88d, and subsequently transported by the lower fifth bar material transport conveyors 88a to 88d to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b.

[0199] In the case of bar material B1, similar to bar material B2, when it is transported to a position where the first mounting robot 5a and the second mounting robot 5b can grasp it, it is detected by bar material sensors 99a and 99b, supported by bar material slide pulleys 105a to 105d, and then the bar material slide motor 103 is driven so that the pusher part 104 presses the end of bar material B1 against the bar material reference plate 106, setting the reference position of bar material B1.

[0200] As shown in Figures 6, 7, 20, and 21, the upper upstream rod extraction and fixing section 171a comprises two upper upstream rod extraction and fixing section plates 178aa and 178ab erected parallel to each other in the +X·-X direction, an upper upstream rod extraction and fixing section housing 177aa provided on the upper surface of the fourth base section 90e and positioned adjacent to the upper upstream rod extraction and fixing section plate 178aa in the -X direction, fixing the upper upstream rod extraction and fixing section plate 178aa at two locations spaced apart in the +Y·-Y direction, and an upper upstream rod extraction and fixing section housing 177ab provided on the upper surface of the fourth base section 90e and positioned adjacent to the upper upstream rod extraction and fixing section plate 178ab in the +X direction, fixing the upper upstream rod extraction and fixing section plate 178ab at two locations spaced apart in the +Y·-Y direction.

[0201] Furthermore, the upper upstream rod extraction and fixing plate 178aa has an upper surface 179aa of the upper upstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixed cam tooth valleys K1b, K2b, K3b, and K4b, and the upper upstream rod extraction and fixing plate 178ab also has an upper surface 179ab of the upper upstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixed cam tooth valleys K1b, K2b, K3b, and K4b.

[0202] As shown in Figures 6, 7, 20, 22, and 23, the upper upstream rod extraction movable section 170a comprises two upper upstream rod extraction oscillating cams 176aa and 176ab erected parallel to each other in the center of the +X·-X direction, an upper upstream rod extraction housing 172aa erected on the -X direction side of the upper upstream rod extraction oscillating cam 176aa and connected to the fourth base section 90e, and an upper upstream rod extraction housing 172ab erected on the +X direction side of the upper upstream rod extraction oscillating cam 176ab and connected to the fourth base section 90e.

[0203] Furthermore, as shown in Figures 6, 7, 20, 22, and 23, the upper upstream rod extraction movable part 170a is connected to the upper upstream rod extraction housing 172aa and includes an upper upstream rod extraction fixed cam 175aa erected between the upper upstream rod extraction swing cam 176aa and the upper upstream rod extraction housing 172aa, and an upper upstream rod extraction fixed part cam 175ab connected to the upper upstream rod extraction housing 172ab and erected between the upper upstream rod extraction swing cam 176ab and the upper upstream rod extraction housing 172ab.

[0204] The upper upstream rod extraction oscillating cam 176aa is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174a at the upper upstream rod extraction oscillating cam action point 176ad. The upper upstream rod extraction cylinder 173a, connected to the fourth base 90e, causes the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a to move in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176ac formed in the upper upstream rod extraction housing 172aa.

[0205] Furthermore, the upper upstream rod extraction oscillating cam 176aa is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0206] The upper upstream rod extraction oscillating cam 176ab has substantially the same form as the upper upstream rod extraction oscillating cam 176aa, and, similar to the upper upstream rod extraction oscillating cam 176aa, is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174a at the upper upstream rod extraction oscillating cam action point 176ad. The upper upstream rod extraction cylinder 173a, connected to the fourth base portion 90e, moves the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176ac formed in the upstream rod extraction housing 172aa.

[0207] Furthermore, the upper upstream rod extraction oscillating cam 176ab also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0208] The upper upstream rod extraction fixing cam 175aa is fixed to the upstream rod extraction housing 172aa and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and four fixing cam tooth sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0209] The upper upstream rod extraction fixing cam 175ab has substantially the same form as the upper upstream rod extraction fixing cam 175aa, and, like the upper upstream rod extraction fixing cam 175aa, is fixed to the upper upstream rod extraction housing 172ab, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0210] As shown in Figures 6, 7, 20, 22, and 23, the upper upstream rod extraction movable section 170b comprises two upper upstream rod extraction oscillating cams 176ba and 176bb erected parallel to each other in the center of the +X·-X direction, an upper upstream rod extraction housing 172ba erected on the -X direction side of the upper upstream rod extraction oscillating cam 176ba and connected to the fourth base section 90e, and an upper upstream rod extraction housing 172bb erected on the +X direction side of the upper upstream rod extraction oscillating cam 176bb and connected to the fourth base section 90e.

[0211] Furthermore, as shown in Figures 6, 9, 20, 22, and 23, the upper upstream rod extraction movable part 170b is connected to the upper upstream rod extraction housing 172ba and includes an upper upstream rod extraction fixed cam 175ba erected between the upper upstream rod extraction swing cam 176ba and the upper upstream rod extraction housing 172ba, and an upper upstream rod extraction fixed part cam 175bb connected to the upper upstream rod extraction housing 172bb and erected between the upper upstream rod extraction swing cam 176bb and the upper upstream rod extraction housing 172bb.

[0212] The upper upstream rod extraction oscillating cam 176ba is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174b at the upper upstream rod extraction oscillating cam action point 176bd. The upper upstream rod extraction cylinder 173b, connected to the fourth base 90e, causes the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b to move in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176bc formed in the upstream rod extraction housing 172ba.

[0213] Furthermore, the upper upstream rod extraction oscillating cam 176ba has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0214] The upper upstream rod extraction fixing cam 175ba is fixed to the upstream rod extraction housing 172ba and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0215] The upper upstream rod extraction oscillating cam 176bb has substantially the same form as the upper upstream rod extraction oscillating cam 176ba, and, similar to the upper upstream rod extraction oscillating cam 176ba, is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174b at the upper upstream rod extraction oscillating cam action point 176bd. The upper upstream rod extraction cylinder 173b, connected to the fourth base portion 90e, moves the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176bc formed in the upstream rod extraction housing 172ba.

[0216] Furthermore, the upper upstream rod extraction oscillating cam 176bb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0217] The upper upstream rod extraction fixing cam 175bb has substantially the same form as the upper upstream rod extraction fixing cam 175ba, and like the upper upstream rod extraction fixing cam 175ba, it is fixed to the upstream rod extraction housing 172ba, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0218] As shown in Figures 6, 7, 20, and 21, the upper downstream rod extraction and fixing section 171b comprises two upper downstream rod extraction and fixing section plates 178ba and 178bb erected parallel to each other in the +X·-X direction, an upper downstream rod extraction and fixing section housing 177ba provided on the upper surface of the fourth base section 90e and positioned adjacent to the -X direction side of the upper downstream rod extraction and fixing section plate 178ba at two locations spaced apart in the +Y·-Y direction, and an upper downstream rod extraction and fixing section housing 177bb provided on the upper surface of the fourth base section 90e and positioned adjacent to the +X direction side of the upper downstream rod extraction and fixing section plate 178bb at two locations spaced apart in the +Y·-Y direction.

[0219] Furthermore, the upper downstream rod extraction and fixing plate 178ba has an upper surface 179ba of the upper downstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b, and the upper downstream rod extraction and fixing plate 178bb also has an upper surface 179bb of the upper downstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b.

[0220] As shown in Figures 6, 7, 20, 22, and 23, the upper downstream rod extraction movable section 170c comprises two upper downstream rod extraction oscillating cams 176ca and 176cb erected parallel to each other in the center of the +X·-X direction, an upper downstream rod extraction housing 172ca erected on the -X direction side of the upper downstream rod extraction oscillating cam 176ca and connected to the fourth base section 90e, and an upper downstream rod extraction housing 172cb erected on the +X direction side of the upper downstream rod extraction oscillating cam 176cb and connected to the fourth base section 90e.

[0221] Furthermore, as shown in Figures 6, 7, 20, 22, and 23, the upper downstream rod extraction movable part 170c is connected to the upper downstream rod extraction housing 172ca and includes an upper downstream rod extraction fixed cam 175ca erected between the upper downstream rod extraction swing cam 176ca and the upper downstream rod extraction housing 172ca, and an upper downstream rod extraction fixed part cam 175cb connected to the upper downstream rod extraction housing 172cb and erected between the upper downstream rod extraction swing cam 176cb and the upper downstream rod extraction housing 172cb.

[0222] The upper downstream bar extraction oscillating cam 176ca is rotatably connected to the +Z end of the upper downstream bar extraction cylinder rod 174c at the upper downstream bar extraction oscillating cam action point 176cd. The upper downstream bar extraction cylinder 173c, connected to the fourth base 90e, causes the upper downstream bar extraction cylinder rod 174c of the upper downstream bar extraction cylinder 173c to move in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar extraction oscillating cam center 176cc formed in the upper downstream bar extraction housing 172ca.

[0223] Furthermore, the upper downstream rod extraction oscillating cam 176ca is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0224] The upper downstream bar extraction oscillating cam 176cb has substantially the same form as the upper downstream bar extraction oscillating cam 176ca, and, similar to the upper downstream bar extraction oscillating cam 176ca, is rotatably connected to the +Z direction end of the upper downstream bar extraction cylinder rod 174c at the upper downstream bar extraction oscillating cam action point 176cd. The upper downstream bar extraction cylinder 173c, connected to the fourth base portion 90e, moves the upper downstream bar extraction cylinder rod 174c of the upper downstream bar extraction cylinder 173c in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar extraction oscillating cam center 176cc formed in the upper downstream bar extraction housing 172ca.

[0225] Furthermore, the upper downstream rod extraction oscillating cam 176cb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0226] The upper downstream bar material extraction fixing cam 175ca is fixed to the upper downstream bar material extraction housing 172ca, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0227] The upper downstream bar material extraction fixing cam 175cb has substantially the same form as the upper downstream bar material extraction fixing cam 175ca, and like the upper downstream bar material extraction fixing cam 175ca, it is fixed to the upper downstream bar material extraction housing 172ca, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0228] As shown in Figures 6, 7, 20, 22, and 23, the upper downstream rod extraction movable section 170d comprises two upper downstream rod extraction oscillating cams 176da and 176db erected parallel to each other in the center of the +X·-X direction, an upper downstream rod extraction housing 172da erected on the -X direction side of the upper downstream rod extraction oscillating cam 176da and connected to the fourth base section 90e, and an upper downstream rod extraction housing 172db erected on the +X direction side of the upper downstream rod extraction oscillating cam 176db and connected to the fourth base section 90e.

[0229] Furthermore, as shown in Figures 6, 7, 20, 22, and 23, the upper downstream rod extraction movable part 170d is connected to the upper downstream rod extraction housing 172da and includes an upper downstream rod extraction fixed cam 175da erected between the upper downstream rod extraction swing cam 176da and the upper downstream rod extraction housing 172da, and an upper downstream rod extraction fixed part cam 175db connected to the upper downstream rod extraction housing 172db and erected between the upper downstream rod extraction swing cam 176db and the upper downstream rod extraction housing 172db.

[0230] The upper downstream bar extraction oscillating cam 176da is rotatably connected to the +Z direction end of the upper downstream bar extraction cylinder rod 174d at the upper downstream bar extraction oscillating cam action point 176dd. The upper downstream bar extraction cylinder 173d, connected to the fourth base 90e, causes the upper downstream bar extraction cylinder rod 174d of the upper downstream bar extraction cylinder 173d to move in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar extraction oscillating cam center 176dc formed in the upper downstream bar extraction housing 172da.

[0231] Furthermore, the upper downstream rod extraction oscillating cam 176da has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0232] The upper downstream bar material extraction fixing cam 175da is fixed to the upper downstream bar material extraction housing 172da, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valleys K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0233] The upper downstream bar extraction oscillating cam 176db has substantially the same form as the upper downstream bar extraction oscillating cam 176ba, and, similar to the upper downstream bar extraction oscillating cam 176da, is rotatably connected to the +Z direction end of the upper downstream bar extraction cylinder rod 174d at the upper downstream bar extraction oscillating cam action point 176dd. The upper downstream bar extraction cylinder 173d, connected to the fourth base portion 90e, moves the upper downstream bar extraction cylinder rod 174d of the upper downstream bar extraction cylinder 173d in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar extraction oscillating cam center 176dc formed in the upper downstream bar extraction housing 172da.

[0234] Furthermore, the upper downstream rod extraction oscillating cam 176db also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0235] The upper downstream bar material extraction fixing cam 175db has substantially the same form as the upper downstream bar material extraction fixing cam 175da, and like the upper downstream bar material extraction fixing cam 175da, it is fixed to the upper downstream bar material extraction housing 172db, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0236] In the upper rod extraction section 107 of this embodiment described above, an upper upstream rod extraction fixing section 171a is positioned in the center in the -X·+X direction, and an upper upstream rod extraction movable section 170a and an upper upstream rod extraction movable section 170b are positioned in the +X and -X directions of the upper upstream rod extraction fixing section 171a. By repeatedly moving the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a and the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b back and forth in the +Z·-Z direction, one rod B1 can be extracted from the bundle of rods B1 at a time.

[0237] Furthermore, in the upper rod material extraction section 107, the upper upstream rod material extraction fixing section 171a, the upper upstream rod material extraction movable section 170a, and the upper upstream rod material extraction movable section 170b are positioned downstream in the +Y direction, with the upper downstream rod material extraction fixing section 171b located in the center in the -X and +X directions. The upper downstream rod material extraction movable section 170c and the upper downstream rod material extraction movable section 170 are positioned in the +X and -X directions of the upper downstream rod material extraction fixing section 171b. With d positioned, the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c and the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d are repeatedly moved back and forth in the +Z·-Z direction. This ensures that even if it is not possible to extract one rod B1 at a time on the upstream side, one rod B1 can be reliably extracted from the bundle of rod B1.

[0238] Furthermore, in the upper rod material removal section 107, the rod materials B1, which are removed one by one, can be transported to the lower fifth rod material transport conveyors 88a to 88d by the upper first rod material transport conveyors 180a to 180d, the upper second rod material transport conveyors 182a to 182d, the upper third rod material transport conveyors 184a to 184d, and the upper fourth rod material transport conveyors 186a to 186d.

[0239] Furthermore, downstream of the upper bar material removal section 107, the system includes a plurality of bar material slide pulleys 105a to 105d arranged from the -X end to the +X end to support the bar material B1 so that it can slide from below when the bar material B1 is transported to a position where the first mounting robot 5a and the second mounting robot 5b can grasp it, and a pusher section 104 for pushing the bar material B1 supported by these bar material slide pulleys 105a to 105d toward the bar material reference plate 106 located at the +X end in the +X direction. This allows the reference position of the bar material B1 to be set, and when manufacturing the bar material unit 100, the bar material B1 can be accurately positioned according to the specifications of the bar material unit 100.

[0240] Next, a block diagram of the bar material unit manufacturing apparatus 1 of this embodiment will be described.

[0241] Figure 24 is a block diagram of the bar stock unit manufacturing apparatus of this embodiment, and Figure 25 is a block diagram of the main controller in the bar stock unit manufacturing apparatus of this embodiment.

[0242] In Figure 24, the bar stock unit manufacturing apparatus 1 includes a power supply 6, a main controller 2 electrically connected to the power supply 6, a robot controller 4 electrically connected to the main controller 2 for driving the first mounting robot 5a, the second mounting robot 5b, the first bundling robot 3a, and the second bundling robot 3b, and a lower bar stock removal cylinder 73a, 73b, 73c, and 73d, an upper bar stock removal cylinder 173a, 173c, 173c, and 173d, and The system comprises: 1. Bar gripping cylinders 59aa and 59ab; 2. Bar gripping cylinders 59ba and 59bb; 1. Binding member gripping cylinders 40aa and 40ab; 2. Binding member gripping cylinders 40ba and 40bb; 1. Binding member container gripping cylinders 37aa and 37ab; 2. Binding member container gripping cylinders 37ba and 37bb; 1. Floating cylinders 45aa and 45ab; and a compressor 12 for driving the 2. Floating cylinders 45ba and 45bb.

[0243] Furthermore, in Figure 24, the bar stock unit manufacturing apparatus 1 is electrically connected to the main controller 2 and includes a driver circuit 10 for driving the base travel motors 102a and 102b, the base rotation motor 101, the screw tightening motors 26a and 26b, the binding robot travel motors 98a and 98b, the bar stock slide motor 103, and the bar stock conveying motors 81a-81d, 83a-83d, 85a-85d, 87a-87d and 89a-89d, as well as cameras 25a and 25b electrically connected to the main controller 2, bar stock sensors 99a and 99b also electrically connected to the main controller 2, and an operation panel 8 that receives input from the user of the apparatus.

[0244] Furthermore, in Figure 25, the main controller 2 includes a CPU (Central Processing Unit) 14, a RAM (Random Access Memory) 16 connected to the CPU 14 for input / output, and a ROM (Read Only Memory) 18 connected to the CPU 14 for input / output.

[0245] RAM16 includes a rod unit specification data table 16a that stores the specifications of the rod unit 100, such as the number of rods B in the vertical and horizontal rows and the length of the rods B in the vertical and horizontal rows, and a binding member binding position data table 16b that stores the binding positions of the binding members 66 in the rod unit 100.

[0246] The ROM 18 includes a rod feed control program 18a that controls the operation of taking out rods B one by one from a bundle of rods B and transporting them to a position where the first mounting robot 5a and the second mounting robot 5b can grasp them, as a periodic interrupt process in the rod unit manufacturing apparatus 1 of this embodiment; a rod unit manufacturing program 18b that controls the operation of the entire rod unit manufacturing apparatus 1; and a binding member binding control program 18c that controls the operation of binding the binding member 66 to the binding position, as a periodic interrupt process.

[0247] Next, the operation of the bar material unit manufacturing apparatus 1 with the above configuration will be described.

[0248] Figure 26 is a flowchart of the rod extraction control program in the rod unit manufacturing apparatus of this embodiment, Figures 27 and 28 are flowcharts of the rod unit manufacturing program in the rod unit manufacturing apparatus of this embodiment, and Figure 29 is a flowchart of the binding member binding control program in the rod unit manufacturing apparatus of this embodiment.

[0249] Furthermore, Figure 6 is an overall plan view of the bar material unit manufacturing apparatus showing the first stage of manufacturing of the bar material unit in this embodiment, Figure 7 is an overall right side view of the bar material unit manufacturing apparatus showing the first stage of manufacturing of the bar material unit in this embodiment, Figure 8 is an overall plan view of the bar material unit manufacturing apparatus excluding the upper bar material removal section, showing the second stage of manufacturing of the bar material unit in this embodiment, and Figure 9 is an overall right side view of the bar material unit manufacturing apparatus excluding the upper bar material removal section, showing the second stage of manufacturing of the bar material unit in this embodiment.

[0250] Furthermore, Figure 30 is an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material extraction section) showing the third stage of manufacturing of the bar material unit in this embodiment, Figure 31 is an overall right side view of the bar material unit manufacturing apparatus (excluding the upper bar material extraction section) showing the third stage of manufacturing of the bar material unit in this embodiment, Figure 32 is an overall plan view of the bar material unit manufacturing apparatus (excluding the upper bar material extraction section) showing the fourth stage of manufacturing of the bar material unit in this embodiment, and Figure 33 is an overall right side view of the bar material unit manufacturing apparatus (excluding the upper bar material extraction section) showing the fourth stage of manufacturing of the bar material unit in this embodiment.

[0251] Further, FIG. 34 is an overall plan view of a bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the fifth stage in this embodiment, FIG. 35 is an overall right side view of the bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the fifth stage in this embodiment, FIG. 36 is an overall plan view of the bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the sixth stage in this embodiment, and FIG. 37 is an overall right side view of the bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the sixth stage in this embodiment.

[0252] Furthermore, FIG. 38 is an overall plan view of a bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the seventh stage in this embodiment, FIG. 39 is an overall right side view of the bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the seventh stage in this embodiment, FIG. 40 is an overall plan view of the bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the final stage in this embodiment, and FIG. 41 is an overall right side view of the bar unit manufacturing apparatus (excluding the upper bar take-out section) showing the manufacturing state of the bar unit at the final stage in this embodiment.

[0253] First, after the user of the bar unit manufacturing apparatus 1 turns on the power switch of the apparatus, the specifications of the bar unit 100 (the number of vertical and horizontal rows of the bar B, the length of the bar B in the vertical and horizontal rows, the number of bar units 100 to be manufactured, etc.) are input by operating buttons on the operation panel 8, and when the start button is pressed, the bar feeding control program 18a, the bar unit manufacturing program 18b, and the binding member binding control program 18c are executed almost simultaneously.

[0254] In the bar feeding control program 18a, which is an interrupt processing program, first, as shown in FIG. 26, it is determined by the bar sensors 99a and 99b whether the bar B is at a position where the first placing robot 5a and the second placing robot 5b can grip it (S1).

[0255] Here, when it is determined that the bar B is at a position where it can be gripped by the first placing robot 5a and the second placing robot 5b (S1: Yes), the bar B is supported by the bar slide pulleys 105a to 105d, and the bar B is pressed against the bar reference plate 106 located at the +X direction end by the pusher portion 104. After setting the reference position of the bar B (S7), the interrupt process is terminated (S9).

[0256] On the other hand, when it is determined that the bar B is not at a position where it can be gripped by the first placing robot 5a and the second placing robot 5b (S1: No), for the bar B2, the lower first bar conveying conveyors 80a to 80d, the lower second bar conveying conveyors 82a to 82d, the lower third bar conveying conveyors 84a to 84d, the lower fourth bar conveying conveyors 86a to 86d, the lower fifth bar conveying conveyors 88a to 88d, the lower upstream bar take-out fixing portion 71a, the lower upstream bar take-out movable portions 70a and 70b, the lower downstream bar take-out fixing portion 71b, and the lower downstream bar take-out movable portions 70c and 70d are used to take out the bar B2 one by one from the bundle of the bar B2 and convey it in the +Y direction (S3).

[0257] Also, for the bar B1, the upper first bar conveying conveyors 180a to 180d, the upper second bar conveying conveyors 182a to 182d, the upper third bar conveying conveyors 184a to 184d, the upper fourth bar conveying conveyors 186a to 186d, the lower fifth bar conveying conveyors 88a to 88d, the upper upstream bar take-out fixing portion 171a, the upper upstream bar take-out movable portions 170a and 170b, the upper downstream bar take-out fixing portion 171b, and the upper downstream bar take-out movable portions 170c and 170d are used to take out the bar B1 one by one from the bundle of the bar B1 and convey it in the +Y direction (S3).

[0258] Then, it is determined again whether the rod B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S5). If it is determined that the rod B is not in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S5: No), the rod B is transported in the +Y direction until it reaches a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S3).

[0259] Then, if it is determined that the rod B is in a position where it can be gripped by the first mounting robot 5a and the second mounting robot 5b (S5: Yes), the rod B is supported by the rod slide pulleys 105a to 105d, and the rod B is pressed against the rod reference plate 106 located at the +X end by the pusher unit 104 to set the reference position of the rod B (S7), and then the interrupt process is terminated (S9).

[0260] In the rod unit manufacturing program 18b, as shown in Figures 27 and 28, first the rod unit manufacturing apparatus 1 is set to its initial state (S11), the number of rod units to be manufactured is set (S13), rod unit information such as the number of rods B in the vertical and horizontal rows and the length of rods B in the vertical and horizontal rows, stored in the rod unit specification data table 16a of RAM 16 is acquired (S15), and the binding position information of the binding members 66 stored in the binding member binding position data table 16b is acquired (S17).

[0261] In the initial state, the rod material unit manufacturing apparatus 1 is in the state shown in Figures 6 and 7, with the +Y direction end of the first base 93 and the +Y direction end of the second base 95 on the first base 93 located on the -Y direction side of the second foundation 90c.

[0262] Then, it is determined whether the bar material B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S21). If it is determined that the bar material B is not in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S21: No), the process of the bar material feeding control program 18a is waited until the bar material B is transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b.

[0263] On the other hand, if it is determined that the bar B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S21: Yes), the first mounting robot 5a and the second mounting robot 5b grasp the bar B (hereinafter referred to as "vertical bar Bd1", "vertical bar Bd2", "horizontal bar Bu1", or "horizontal bar Bu2") (S23), and place vertical bar Bd1 or vertical bar Bd2 in the bar grooves 96a formed in multiple parallel rows on the upper surface of the second base 95 (S25).

[0264] In this embodiment, in order to prevent the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, and the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 from coming into contact with the rod B during operation, when the first gripping right portion 63aa and the first gripping left front portion 63ab1, and the second gripping right portion 63ba and the second gripping left front portion 63bb1 grip the rod B, the first gripping right portion 63aa and the first gripping left front portion 63ab1, and the second gripping right portion 63ba and the second gripping left front portion 63bb1 are opened. With the rod in this state, the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, as well as the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 are lowered to a position below the rod B. Then, the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are closed, and then the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are raised to grip the rod.

[0265] Then, with the first gripping right part 63aa and the first gripping left front part 63ab1 in a closed state, and with the second gripping right part 63ba and the second gripping left front part 63bb1 in a closed state, the first rod gripping part 13a and the second rod gripping part 13b are lowered once (S27), and then the first gripping right part 63aa and the first gripping left front part 63ab1, as well as the second gripping right part 63ba and the second gripping left front part 63bb1 are opened to release the rod B from the first rod gripping part 13a and the second rod gripping part 13b (S29).

[0266] Here, while keeping the first gripping right portion 63aa and the first gripping left front portion 63ab1 closed, and keeping the second gripping right portion 63ba and the second gripping left front portion 63bb1 closed, the first rod gripping portion 13a and the second rod gripping portion 13b are lowered once, and then the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are opened to prevent the first gripping right claw portion 65aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 from coming into contact with the rod B.

[0267] Subsequently, the first bar gripping section 13a and the second bar gripping section 13b are raised (S31), and the first base 93 and the second base 95 are moved by a predetermined amount in the +Y direction by rotating the base travel motors 102a and 102b (S33). It is then determined whether or not the number of vertical bars Bd1 and Bd2 to be placed has been completed (S35). If it is determined that the number of vertical bars Bd1 and Bd2 to be placed has not been completed (S35: No), the process from S21 to S35 is repeated until it is determined that the number of vertical bars Bd1 and Bd2 to be placed has been completed.

[0268] Figures 6 to 9 show the manufacturing state of the rod unit 100 in steps S11 to S35.

[0269] On the other hand, if it is determined that the number of rods B to be placed has been exhausted (S35: Yes), the -Y direction ends of the first base 93 and the second base 95 are moved to a position separated from the third foundation 90d in the +Y direction (S37), the base rotation motor 101 is rotated to rotate the second base 95 by approximately 90 degrees relative to the first base 93 (S39), and then the first base 93 and the second base 95 are returned to their initial positions (S41).

[0270] Figures 30 and 31 show the state in which the -Y direction ends of the first base 93 and the second base 95 have been moved to a position separated from the third foundation 90d in the +Y direction. Figures 32 and 33 then show the state in which the second base 95 has been rotated approximately 90 degrees relative to the first base 93. Figures 34 and 35 then show the state in which the first base 93 and the second base 95 have been returned to their initial positions.

[0271] Then, via α (S43), the first mounting robot 5a and the second mounting robot 5b grasp the horizontal bar Bu1 or horizontal bar Bu2 (S45) and place it in the horizontal bar grooves 96b, which are formed in multiple parallel rows on the upper surface of the second base 95 that is transported in the +Y direction and are formed substantially perpendicular to the bar material grooves 96a, so as to contact the upper surface of the vertical bar Bd1 or vertical bar Bd2 (S47).

[0272] In this case as well, in order to prevent the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, and the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 from coming into contact with the rod B during operation, the first gripping right portion 63aa and the first gripping left front portion 63ab1, and the second gripping right portion 63ba and the second gripping left front portion 63bb1 are opened when gripping the rod B. With the rod in this position, the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, as well as the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 are lowered to a position below the rod B. Then, the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are closed, and then the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are raised to grip the rod.

[0273] Then, with the first gripping right part 63aa and the first gripping left front part 63ab1 in a closed state, and with the second gripping right part 63ba and the second gripping left front part 63bb1 in a closed state, the first rod gripping part 13a and the second rod gripping part 13b are lowered once (S49), and then the first gripping right part 63aa and the first gripping left front part 63ab1, as well as the second gripping right part 63ba and the second gripping left front part 63bb1 are opened to release the rod B from the first rod gripping part 13a and the second rod gripping part 13b (S51).

[0274] Here, while keeping the first gripping right part 63aa and the first gripping left front part 63ab1 closed, and keeping the second gripping right part 63ba and the second gripping left front part 63bb1 closed, the first rod gripping part 13a and the second rod gripping part 13b are lowered once, and then the first gripping right part 63aa and the first gripping left front part 63ab1, as well as the second gripping right part 63ba and the second gripping left front part 63bb1 are opened, in order to prevent the first gripping right claw part 65aa and the first gripping left front part 63ab1, as well as the second gripping right part 63ba and the second gripping left front part 63bb1 from coming into contact with the rod B during the operation of the first gripping right part 63aa and the first gripping left front part 63ab1, as well as the second gripping right part 63ba and the second gripping left front part 63bb1.

[0275] Subsequently, the first bar gripping section 13a and the second bar gripping section 13b are raised (S53), the first base 93 and the second base 95 are moved by a predetermined amount in the +Y direction (S55), and it is determined whether or not the number of horizontal bars Bu1 and horizontal bars Bu2 has been placed (S57). If it is determined that the number of horizontal bars Bu1 and horizontal bars Bu2 has not been placed (S57: No), the process from S45 to S57 is repeated until it is determined that the number of horizontal bars Bu1 and horizontal bars Bu2 has been placed.

[0276] Figures 36 to 39 show the manufacturing state of the rod unit 100 in S45 to S57. As shown in Figure 39, the mounting robots 5a and 5b and the bundling robots 3a and 3b operate simultaneously, thus shortening the time required to manufacture the rod unit 100.

[0277] On the other hand, when it is determined that the number of placed horizontal bars Bu1 and Bu2 has been completed (S57: Yes), it is determined whether or not the bundling of the bundling member 66 has been completed (S59).

[0278] Here, the bundling member bundling control program 18c, which is an interrupt processing program, will be described. In the bundling member bundling control program 18c, the first placing robot 5a and the second placing robot 5b cause the horizontal bars Bu1 and Bu2 to be placed in a number of horizontal bar grooves 96b by abutting on the upper surfaces of the vertical bars Bd1 and Bd2, and when the second base 95 is transported in the +Y direction and is transported in the +Y direction from the third base portion 90d, as shown in FIG. 29, first, it is determined whether or not there is a bundling position of the bundling member 66 at the intersection of the vertical bars Bd1 and Bd2 and the horizontal bars Bu1 and Bu2 (S71).

[0279] And when it is determined that there is no bundling position of the bundling member 66 at the intersection of the vertical bars Bd1 and Bd2 and the horizontal bars Bu1 and Bu2 (S71: No), the interrupt processing is terminated (S95).

[0280] On the other hand, when it is determined that there is a bundling position of the bundling member 66 at the intersection of the vertical bars Bd1 and Bd2 and the horizontal bars Bu1 and Bu2 (S71: Yes), among the first bundling robot 3a and the second bundling robot 3b, the robot closer to the bundling position is selected (S73), the selected robot moves to the bundling position (S75), and the bundling member 66 is gripped from the bundling member container C1 or C2 in which the bundling member 66 is stored (S77).

[0281] Here, when the first bundling robot 3a grips the bundling member 66 from the first bundling member container C1, first, the first bundling member gripping cylinder rods 41aa and 41ab of the first bundling member gripping cylinders 40aa and 40ab are sucked outward by the compressor 12, the first bundling member gripping portions 42aa and 42ab are opened, and while recognizing the bundling member 66 by the camera 25a, the positions of the first bundling member gripping protrusions 43aa and 43ab are aligned with the left side holes 67a and the right side holes 67b of the bundling member 66.

[0282] Next, the compressor 12 sucks the first binding member gripping cylinder rods 41aa and 41ab of the first binding member gripping cylinders 40aa and 40ab inward, closing the first binding member gripping portions 42aa and 42ab. This causes the first binding member gripping projections 43aa and 43ab to fit into the left side hole 67a and the right side hole 67b of the binding member 66, allowing the binding member 66 to be gripped (see Figures 14 and 15).

[0283] Similarly, when the second binding robot 3b grasps the binding member 66 from the second binding member container C2, first, the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb are sucked outwards by the compressor 12, opening the second binding member gripping parts 42ba and 42bb, and while recognizing the binding member 66 with the camera 25b, the positions of the second binding member gripping projections 43ba and 43bb are aligned with the left side hole 67a and the right side hole 67b of the binding member 66.

[0284] Next, the compressor 12 sucks the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb inward, closing the second binding member gripping parts 42ba and 42bb. This causes the second binding member gripping projections 43ba and 43bb to fit into the left side hole 67a and the right side hole 67b of the binding member 66, thereby gripping the binding member 66 (see Figures 14 and 15).

[0285] Then, after the first binding robot 3a or the second binding robot 3b grasps the binding member 66, the binding member 66 is lowered so that the left side portion 66a2a and the right side portion 66a2b of the binding member body 66a straddle the horizontal bar Bu1 or horizontal bar Bu2, and the left bottom portion 66a4a and the right bottom portion 66a4b of the binding member body 66a are brought into contact with the lower surface of the vertical bar Bd1 or Bd2 so as to support the vertical bar Bd1 or Bd2 from below (S79).

[0286] Then, the first binding robot 3a or the second binding robot 3b raises the binding member 66 to lift the vertical bar Bd1 or Bd2 (S81), and then sets the binding member 66 into a floating state to allow it to conform to the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 (S83).

[0287] Here, when the first binding robot 3a puts the binding member 66 into a floating state, as shown in Figure 17, the compressor 12 sucks the first floating cylinder pistons 46aa and 46ab of the first floating cylinders 45aa and 45ab upward, and moves the contact portions 108aa and 108ab upward away from the positioning bushes 69aa and 69ab formed on the clamp base plate 21a. By doing so, the intermediate slide plate 17a, the lower slide plate 19a and the clamp base plate 21a become movable in their respective directions relative to the base plate 15a, and the binding member 66 becomes floating.

[0288] Furthermore, when the second binding robot 3b puts the binding member 66 into a floating state, similar to the first binding robot 3a, as shown in Figure 17, the compressor 12 sucks the second floating cylinder pistons 46ba and 46bb of the second floating cylinders 45ba and 45bb upward, and moves the contact portions 108ba and 108bb upward away from the positioning bushes 69ba and 69bb formed on the clamp base plate 21b. By doing so, the intermediate slide plate 17b, the lower slide plate 19b, and the clamp base plate 21b become movable in their respective directions relative to the base plate 15b, and the binding member 66 becomes floating.

[0289] Then, with the binding member 66 in a floating state, the screw portion 66b of the binding member 66 is temporarily tightened to bind the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 by rotating the screw tightening motor 26a or 26b (S85), and after that, the first binding member gripping projections 43aa and 43ab are released from the left side hole 67a and the right side hole 67b of the binding member 66, or, After releasing the second binding member gripping projections 43ba and 43bb from the left side hole 67a and the right side hole 67b of the binding member 66 (S87), the screw portion 66b of the binding member 66 is further tightened by rotating the screw tightening motor 26a or 26b to fasten the binding member 66 to fasten the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 (S89), and it is determined whether the screw tightening torque is sufficient (S91).

[0290] If it is determined that the screw tightening torque is insufficient (S91: No), the screw tightening motor 26a or 26b is rotated further to rotate the screw portion 66b further until sufficient screw tightening torque is achieved, thereby pressing the binding member 66 against the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2.

[0291] On the other hand, if it is determined that the screw tightening torque is sufficient (S91: Yes), the first binding robot 3a or the second binding robot 3b is moved away from the binding member 66 (S93), and the interrupt processing is terminated (S95).

[0292] Returning to the bar unit manufacturing program, the first placement robot 5a and the second placement robot 5b position the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2, and the first binding robot 3a and the second binding robot 3b bind the intersections of the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 with binding members 66. Then it is determined whether or not the binding of all binding members 66 in the bar unit 100 has been completed (S59).

[0293] If it is determined that the binding of all binding members 66 in the rod unit 100 has not been completed (S59: No), the device waits until the binding of all binding members 66 has been completed. If it is determined that the binding of all binding members 66 in the rod unit 100 has been completed (S59: Yes), the rod unit manufacturing apparatus 1 rotates the base travel motors 102a and 102b to move the first base 93 on which the rod unit 100 is placed to the discharge position at the +Y end (S61).

[0294] Figures 40 and 41 show the state in which the first base 93 on which the bar material unit 100 is placed has been moved to the discharge position at the +Y end.

[0295] Then, it is determined whether or not the rod unit 100 has been removed from the discharge position (S63). If it is determined that the rod unit 100 has not been removed from the discharge position (S63: No), the system waits until the rod unit 100 is removed from the discharge position. If it is determined that the rod unit 100 has been removed from the discharge position (S63: Yes), the system rotates the base travel motors 102a and 102b to move the first base 93 to its initial position (S65).

[0296] Then, it is determined whether or not the production of all bar stock units 100 has been completed (S67). If it is determined that the production of all bar stock units 100 has not been completed (S67: No), the process from S21 to S67 is repeated via β (S19) until the production of all bar stock units 100 has been completed. If it is determined that the production of all bar stock units 100 has been completed (S67: Yes), the production of bar stock units 100 is completed (S69).

[0297] Furthermore, the processes described in S21 to S35 function as the "first step" of the present invention, the process described in S39 function as the "second step" of the present invention, the process described in S41 function as the "third step" of the present invention, the processes described in S45 to S57 function as the "fourth step" of the present invention, and the binding member binding control program 18c function as the "fifth step" of the present invention.

[0298] As described above, the rod material unit manufacturing apparatus 1 includes a second base 95 that is movable and rotatable in a predetermined direction, a rod material mounting mechanism that can place a plurality of vertical rods Bd1 or vertical rods Bd2 on the second base 95 which moves in a predetermined direction before rotation, and can place a plurality of horizontal rods Bu1 or horizontal rods Bu2 on the plurality of vertical rods Bd1 or vertical rods Bd2 on the second base 95 which moves in a predetermined direction after rotation by a predetermined angle, and a rod material binding mechanism that can bind the intersections of the vertical rods Bd1 or vertical rods Bd2 and the horizontal rods Bu1 or horizontal rods Bu2, so that rod material units 100 can be manufactured automatically, safely and easily.

[0299] Furthermore, in the rod unit manufacturing apparatus 1, since the rod binding mechanism is positioned adjacent to the rod placement mechanism in the direction of movement of the second base 95, the placement of the horizontal bar Bu1 or horizontal bar Bu2 and the binding of the intersections of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2 can be performed simultaneously, thereby shortening the time required to manufacture the rod unit 100.

[0300] Furthermore, according to the bar material unit manufacturing apparatus 1, the bar material placement mechanism includes a second base portion 90c extending from the upper part of the second base 95 in a direction substantially perpendicular to the direction of movement of the second base 95, sandwiching the second base 95, and a first placement robot 5a and a second placement robot 5b positioned on the second base portion 90c. Therefore, even when the bar material B is long, multiple vertical bars Bd1 or vertical bars Bd2 and multiple horizontal bars Bu1 or horizontal bars Bu2 can be stably placed by multiple first placement robots 5a and second placement robots 5b.

[0301] Furthermore, according to the bar material unit manufacturing apparatus 1, the bar material placement mechanism includes a rail for a placement robot that extends from the upper part of the second base 95 in a direction substantially perpendicular to a predetermined direction, sandwiching the second base 95, and a plurality of first placement robots 5a and second placement robots 5b that are movably arranged on the rail for the placement robot. Therefore, bar material units 100 can be manufactured to accommodate bar materials B of various lengths.

[0302] Furthermore, according to the bar material unit manufacturing apparatus 1, the bar material binding mechanism includes a binding robot rack 97 extending from the upper part of the second base 95 in a direction substantially perpendicular to the direction of movement of the second base 95, sandwiching the second base 95, and at least one binding robot 3a or 3b arranged to be movable along the binding robot rack 97. The first mounting robot 5a and the second mounting robot 5b are positioned facing the upstream side (-Y direction side) of the direction of movement of the second base 95, and the binding robot 3a or 3b is positioned facing the downstream side (+Y direction side) of the direction of movement of the second base 95. This allows the distance between the bar material mounting mechanism and the bar material binding mechanism to be further shortened, increasing the time required to simultaneously perform the mounting of the horizontal bar Bu1 or horizontal bar Bu2 and the binding of the intersections of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2, thereby further shortening the time required to manufacture the bar material unit 100.

[0303] Furthermore, according to the rod material unit manufacturing apparatus 1, the rod material binding mechanism uses a binding member 66 having an upper binding member 66a1 that can abut against the upper part of the horizontal bar Bu1 or horizontal bar Bu2, two left binding member parts 66a2a and right binding member parts 66a2b that extend downward from both ends of the upper binding member 66a1, sandwiching the horizontal bar Bu1 or horizontal bar Bu2 and supporting the vertical bar Bd1 or vertical bar Bd2 from below, and a screw part 66b that biases the horizontal bar Bu1 or horizontal bar Bu2 downward relative to the upper binding member 66a1, so that the intersection of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2 can be bound together, thus the intersection of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2 can be easily bound together.

[0304] Furthermore, according to the rod unit manufacturing method of this rod unit manufacturing apparatus 1, the first step is to place multiple vertical rods Bd1 or vertical rods Bd2 spaced apart on a second base 95 that moves in a first direction (+Y direction) using a rod placement mechanism; a second step is to rotate the second base 95 in a direction (+X direction) substantially perpendicular to the first direction (+Y direction) after the first step; and a third step is to rotate the second base 95 in the opposite direction (-Y direction) to the first direction (+Y direction) after the second step. The rod material unit 100 can be manufactured automatically, safely, and easily, as it includes a third step of moving the rod material beyond the rod material placement mechanism, a fourth step of placing a plurality of horizontal bars Bu1 or Bu2 spaced apart on a vertical bar Bd1 or vertical bar Bd2 using the rod material placement mechanism after the third step, and a fifth step of binding the intersections of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2 using the rod material binding mechanism after the fourth step.

[0305] Furthermore, according to the rod unit manufacturing method of this rod unit manufacturing apparatus 1, the rod placement mechanism and the rod binding mechanism can be operated simultaneously, so that the placement of the horizontal bar Bu1 or horizontal bar Bu2 and the binding of the intersections of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2 can be performed at the same time, thereby shortening the time required to manufacture the rod unit 100.

[0306] Furthermore, according to the rod unit manufacturing method of the rod unit manufacturing apparatus 1, the rod mounting mechanism has a second base portion 90c that extends on top of the second base 95 in a direction substantially perpendicular to the direction of movement of the second base 95, sandwiching the second base 95, and a plurality of first mounting robots 5a and second mounting robots 5b positioned on the second base portion 90c to mount a plurality of vertical rods Bd1 or vertical rods Bd2 and a plurality of horizontal rods Bu1 or horizontal rods Bu2. Therefore, even when the rod B is long, the plurality of vertical rods Bd1 or vertical rods Bd2 and a plurality of horizontal rods Bu1 or horizontal rods Bu2 can be stably mounted by the plurality of first mounting robots 5a and second mounting robots 5b.

[0307] Furthermore, according to the rod unit manufacturing method of this rod unit manufacturing apparatus 1, the rod mounting mechanism includes a rail for mounting robots that extends on the upper part of the second base 95 in a direction substantially perpendicular to the first direction (+Y direction) and sandwiches the second base 95, and a plurality of first mounting robots 5a and second mounting robots 5b that are movably arranged on the rail for mounting robots, thereby mounting a plurality of vertical rods Bd1 or vertical rods Bd2 and a plurality of horizontal rods Bu1 or horizontal rods Bu2. This makes it possible to manufacture rod unit 100 in accordance with rods B of various lengths.

[0308] Furthermore, according to the rod unit manufacturing method of the rod unit manufacturing apparatus 1, the multiple first mounting robots 5a and second mounting robots 5b of the rod mounting mechanism face in the opposite direction (-Y direction) to the first direction (+Y direction) and mount multiple vertical rods Bd1 or vertical rods Bd2 and multiple horizontal rods Bu1 or horizontal rods Bu2. The rod binding mechanism includes a binding robot rack 97 on the upper part of the second base 95, extending across the second base 95 in a direction substantially perpendicular to the direction of movement of the second base 95, and a first binding robot movably arranged on the binding robot rack 97. The system comprises either a first binding robot 3a or a second binding robot 3b, and the first binding robot 3a or the second binding robot 3b faces a first direction (+Y direction) and binds the intersections of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2. This allows the distance between the bar material placement mechanism and the bar material binding mechanism to be further shortened, and the time required to simultaneously place the horizontal bar Bu1 or horizontal bar Bu2 and bind the intersections of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2 can be increased, thereby further shortening the time required to manufacture the bar material unit 100.

[0309] Furthermore, according to the rod unit manufacturing method of the rod unit manufacturing apparatus 1, the rod binding mechanism uses a binding member 66 having an upper binding member 66a1 that can abut against the upper part of the horizontal bar Bu1 or horizontal bar Bu2, two left binding member parts 66a2a and right binding member parts 66a2b that extend downward from both ends of the upper binding member 66a1, sandwiching the horizontal bar Bu1 or horizontal bar Bu2 and supporting the vertical bar Bd1 or vertical bar Bd2 from below, and a screw part 66b that biases the horizontal bar Bu1 or horizontal bar Bu2 downward relative to the upper binding member 66a1, thereby binding the intersection of the vertical bar Bd1 or vertical bar Bd2 and the horizontal bar Bu1 or horizontal bar Bu2. [Explanation of Symbols]

[0310] 1. Bar material unit manufacturing equipment 2. Main Controller 3a(3)···First binding robot (rod material binding mechanism) 3b(3)...Second bundling robot (bar bundling mechanism) 4. Robot Controller 5a(5)···First mounting robot (rod material mounting mechanism) 5b(5)···Second mounting robot (rod material mounting mechanism) 6...Power supply 7. Lower section for removing rod material. 8. Control Panel 9...Foundation part 10. Driver Circuit 11a...1st binding part 11b...Second binding part 12. Compressor 13a...First bar gripping part 13b...Second bar gripping part 14..CPU 15a, 15b... Base plate 16...RAM 17a, 17b... Intermediate slide plate 18···ROM 19a, 19b... Lower slide plate 20aa, 20ab, 20ba, 20bb... Carriage for intermediate slide plate 21a, 21b... Clamp base plate 22aa, 22ab, 22ba, 22bb... Rails for intermediate slide plates 23aa, 23ab, 23ba, 23bb... Rails for lower slide plates 24aa, 24ab, 24ba, 24bb... Carriage for lower slide plate 25a, 25b... Camera 26a, 26b... Screw tightening motors 28a, 28b... Screw fitting section 30a...First base (first bundling robot) 30b...First base (second bundling robot) 31a...Second base (first bundling robot) 31b...Second base (second bundling robot) 32a...Lower arm (first binding robot) 32b... Forearm (Second binding robot) 33a...Lower mid-arm section (first binding robot) 33b...Lower mid-arm section (second binding robot) 34a...Upper and mid-arm section (first binding robot) 34b...Upper and mid-arm section (second binding robot) 35a...Upper arm (First binding robot) 35b...Upper arm (second binding robot) 36a...First enclosure 36b...Second cabinet 37aa, 37ab... First bundling member container gripping cylinder 37ba, 37bb... Second bundling member container gripping cylinder 38aa, 38ab... First binding member container gripping cylinder rod 38aa1, 38aa2, 38ab1, 38ab2... First binding member container gripping cylinder rod guide 38ba, 38bb... Second binding member container gripping cylinder rod 38ba1, 38ba2, 38bb1, 38bb2... Second binding member container gripping cylinder rod guide 39aa, 39ab... First binding member container gripping part 39aa1, 39ab1...First binding member, container gripping rubber part 39ba, 39bb... Second binding member container gripping part 39ba1, 39bb1... Second binding member, container gripping rubber part 40aa, 40ab...First binding member gripping cylinder 40ba, 40bb...Second binding member gripping cylinder 41aa, 41ab...First binding member gripping cylinder rod 41ba, 41bb...Second binding member gripping cylinder rod 42aa,42ab...first binding member gripping part 42ba,42bb...Second binding member gripping part 43aa,43ab...Protrusion for gripping the first binding member 43ba,43bb...Protrusion for gripping the second binding member 44aa, 44ab... Cavity section for the first floating cylinder 44ba, 44bb... Second floating cylinder gap 45aa, 45ab... First floating cylinder 45ba, 45bb... Second floating cylinder 46aa, 46ab... First floating cylinder piston 46ba, 46bb... Second floating cylinder piston 47aa, 47ab... First binding member gripping part timing pulley 47ba, 47bb... Second binding member gripping part timing pulley 48a...First binding member gripping part timing belt 48b...Second binding member gripping part timing belt 49aa, 49ab... First binding member timing belt connection part 49ba, 49bb... Second binding member, timing belt connection part 50a...First base (first mounted robot) 50b...First base (second mounted robot) 51a...Second base (first mounted robot) 51b...Second base (second mounted robot) 52a... Forearm (first mounted robot) 52b... Forearm (second mounted robot) 53a...Lower mid-arm (first mounted robot) 53b...Lower mid-arm (second mounted robot) 54a...Upper and mid-arm section (first mounted robot) 54b...Upper and mid-arm section (second mounted robot) 55a...Upper arm (first mounted robot) 55b...Upper arm (second mounted robot) 56a...First gripping base plate 56b...Second gripping base plate 57aa, 57ab, 57ac, 57ad... 1st gripping column 57ba,57bb,57bc,57bd...Second gripping column 58a...First gripping movable part 58b...Second gripping movable part 59aa, 59ab... First bar gripping cylinder 59ba, 59bb... Second bar gripping cylinder 60aa...First gripping rod for the right side 60ab...First gripping left rod 60ba...Second gripping rod for the right side 60bb...Second gripping left rod 61a...Center of the first gripping part 61b...Center of second gripping part 62a...Plate for the first gripping section 62b...Plate for the second gripping section 63aa...1st grip right part 63ab1...1st grip left front part 63ba...2nd grip right part 63bb1...2nd grip left front part 64aa...1st grip right flat surface 64ab1...1st grip left front flat surface 64ba...2nd grip right flat surface 64bb1...2nd grip left front flat surface 65aa...1st gripping right claw part (first claw part) 65ab1...First gripping left front claw portion (second claw portion) 65ba...Second gripping right claw portion (first claw portion) 65bb1...Second gripping left front claw portion (second claw portion) 65bb2...Second gripping left rear claw part (second claw part) 66... ​​Binding materials 66a... Binding component body 66a1... Upper part of the binding member 66a2a... Left side of the binding member (support member) 66a2b...Right side of the binding member (support member) 66a3a...Left protrusion of binding member 66a3b...Right protrusion of binding member 66a4a...Bottom left of binding member 66a4b...Bottom right of binding member 66a5a...Bonding member, left end protrusion 66a5b... Right end protrusion of the fastening member 66b...Screw part (biasing part) 67a...Left side hole 67b...Right side hole 68a,68b,68c,68d...upper hole 69aa, 69ab, 69ba, 69bb... Positioning bushings 69aag, 69abg, 69bag, 69bbg... Positioning bushing holes 70a, 70b... Lower upstream rod material extraction movable part 70c, 70d...Lower section downstream rod material extraction movable part 71a... Lower upstream side rod material extraction and fixing section 71b...Lower section downstream rod material extraction and fixing part 72aa, 72ab, 72ba, 72bb... Lower upstream rod material extraction movable part housing 72ca, 72cb, 72da, 72db... Lower downstream rod material extraction movable part housing 73a, 73b... Lower upstream rod extraction cylinder 73c, 73d... Lower downstream rod extraction cylinder 74a, 74b... Lower upstream rod extraction cylinder rod 74c, 74d... Lower downstream side rod material extraction cylinder rod 75aa, 75ab, 75ba, 75bb... Lower upstream rod material extraction and fixing cam 75ca, 75cb, 75da, 75db... Lower downstream rod material extraction and fixing cam 76aa, 76ab, 76ba, 76bb... Lower upstream rod extraction oscillating cam 76ca, 76cb, 76da, 76db... Lower downstream rod extraction oscillating cam 76ac, 76bc... Lower upstream rod extraction oscillating cam rotation center 76cc, 76dc... Lower downstream side rod material extraction oscillating cam rotation center 76ad, 76bd... Lower upstream rod extraction oscillating cam action point 76cd, 76dd... Lower downstream side rod material extraction oscillating cam action point 77aa, 77ab... Lower upstream side rod material extraction and fixing section housing 77ba, 77bb...Lower section downstream rod material extraction and fixing housing 78aa, 78ab... Lower upstream rod material extraction and fixing plate 78ba, 78bb... Lower downstream rod material extraction and fixing plate 79aa, 79ab... Upper surface of the lower upstream rod material extraction and fixing section 79ba, 79bb... Upper surface of the lower downstream rod material extraction and fixing section 80a~80d... Lower first bar material conveyor 81a~81d...Motor for conveying the first bar material in the lower section 82a~82d... Lower second bar material conveyor 83a~83d...Motor for transporting the second bar material in the lower section 84a~84d... Lower third bar material conveyor 85a~85d...Motor for conveying the third bar material in the lower section 86a~86d... Lower section 4th bar material conveyor 87a~87d...Motor for conveying the fourth bar material in the lower section 88a~88d...Lower section 5th bar material conveyor 89a~89d...Motor for conveying the 5th bar material in the lower section 90a...Foundation main body 90b...First foundation 90c...Second base section (rod material mounting mechanism, robot mounting platform) 90d...Third base section (rod binding mechanism) 90e...Fourth foundation 91a...First rail 91b...Second rail 91c...3rd rail 91d...4th rail 92a...First roller 92b... Second Laura 92c...3rd roller 92d...4th roller 93...First base (base) 94... Rotary bearings 95...Second base (base) 96a... Groove for vertical bar 96b... Groove for horizontal bar 97. Rack for binding robot (rod binding mechanism, second rail) 98a, 98b... Motors for binding robots 99a, 99b... Rod material sensor 100... bar stock unit 101...Motor for base rotation 102a, 102b...Motors for base traction 103... Bar material slide motor 104...Pusher section 105a, 105b, 105c, 105d... Bar stock slide pulleys 106... Bar reference plate 107... Upper section for removing rod material 108aa,108ab,108ba,108bb...Contact part 170a, 170b... Lower upstream rod material extraction movable part 170c, 170d...Lower section downstream rod material extraction movable part 171a... Upper upstream side rod material extraction and fixing section 171b... Upper downstream side rod material extraction and fixing section 172aa, 172ab, 172ba, 172bb... Upper upstream rod material extraction movable part housing 172ca, 172cb, 172da, 172db... Upper downstream rod material extraction movable part housing 173a, 173b... Upper upstream rod extraction cylinder 173c, 173d... Upper downstream rod extraction cylinder 174a, 174b... Upper upstream rod extraction cylinder rod 174c, 174d... Upper downstream side rod extraction cylinder rod 175aa, 175ab, 175ba, 175bb... Upper upstream rod material extraction and fixing cam 175ca, 175cb, 175da, 175db... Upper downstream rod material extraction and fixing cam 176aa, 176ab, 176ba, 176bb... Upper upstream rod extraction oscillating cam 176ca, 176cb, 176da, 176db... Upper downstream rod extraction oscillating cam 176ac, 176bc... Upper upstream rod extraction oscillating cam rotation center 176cc, 176dc... Upper downstream rod extraction oscillating cam rotation center 176ad, 176bd... Upper upstream rod material extraction oscillating cam action point 176cd, 176dd... Upper downstream side rod material extraction oscillating cam action point 177aa, 177ab... Upper upstream side rod material extraction and fixing section housing 177ba, 177bb... Upper downstream side rod material extraction and fixing section housing 178aa, 178ab... Upper upstream rod material extraction and fixing plate 178ba, 178bb... Upper downstream side rod material extraction and fixing plate 179aa, 179ab... Upper section of the upper upstream rod material extraction and fixing part 179ba, 179bb... Upper section of the lower downstream rod material extraction and fixing part 180a~180d... Upper first bar material conveyor 181a~181d...Motor for conveying the first bar material in the upper section 182a~182d... Upper second bar material conveyor 183a~183d...Motor for transporting the second bar material in the upper section 184a~184d... Upper third bar material conveyor 185a~185d...Motor for transporting the third bar material in the upper section 186a~186d... Upper fourth bar material conveyor 187a~187d...Motor for conveying the fourth bar material in the upper section B,B1,B2...Bar material Bd1, Bd2(B)...Vertical bars (first bar material) Bu1, Bu2(B)....Crossbar (second bar material) C1(C)···First Binding Member Container C2(C)···Second Binding Member Container K1t, K2t, K3t, K4t, K5t... Fixed cam tooth section K1b, K2b, K3b, K4b... Fixed cam tooth valley S1, S2, S3, S4... Oscillating cam teeth

Claims

1. A base that is movable and rotatable in a predetermined direction, A rod holder mechanism that allows a plurality of first rods to be placed on the base which moves in the predetermined direction before rotation, and allows a plurality of second rods to be placed on the plurality of first rods on the base which moves in the predetermined direction after rotation by a predetermined angle, A rod binding mechanism capable of binding the intersection of the first rod and the second rod, A rod material unit manufacturing apparatus characterized by being equipped with the following features.

2. The rod material unit manufacturing apparatus according to claim 1, characterized in that the rod material bundling mechanism is arranged adjacent to the rod material placement mechanism in the direction of movement of the base.

3. The rod material mounting mechanism includes a robot mounting platform extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, Multiple mounted robots are placed on the robot mounting platform, The rod material unit manufacturing apparatus according to claim 1, characterized by comprising the above.

4. The rod material mounting mechanism includes a robot mounting platform extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, Multiple mounted robots are placed on the robot mounting platform, The rod material unit manufacturing apparatus according to claim 2, characterized by comprising the above.

5. The rod support mechanism includes a first rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, Multiple mounted robots arranged to be movable along the first rail, The rod material unit manufacturing apparatus according to claim 1, characterized by comprising the above.

6. The rod support mechanism includes a first rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, Multiple mounted robots arranged to be movable along the first rail, The rod material unit manufacturing apparatus according to claim 2, characterized by comprising the above.

7. The rod binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, A binding robot, at least one of which is movably positioned along the second rail, Equipped with, The rod material unit manufacturing apparatus according to claim 3, characterized in that the mounting robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base.

8. The rod binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, A binding robot, at least one of which is movably positioned along the second rail, Equipped with, The rod material unit manufacturing apparatus according to claim 4, characterized in that the mounting robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base.

9. The rod binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, A binding robot, at least one of which is movably positioned along the second rail, Equipped with, The rod material unit manufacturing apparatus according to claim 5, characterized in that the mounting robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base.

10. The rod binding mechanism includes a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, A binding robot, at least one of which is movably positioned along the second rail, Equipped with, The rod material unit manufacturing apparatus according to claim 6, characterized in that the mounting robot is positioned facing the upstream side in the direction of movement of the base, and the binding robot is positioned facing the downstream side in the direction of movement of the base.

11. The rod binding mechanism is characterized in that the intersection of the first rod and the second rod can be bound using a binding member having a binding member body that can abut against the upper part of the second rod, two support members that extend downward from both ends of the binding member body, sandwiching the second rod and supporting the first rod from below, and a biasing part that biases the second rod downward relative to the binding member body, as described in any one of claims 1 to 10.

12. A first step involves placing multiple first rods spaced apart on a base that moves in a first direction using a rod placement mechanism, Following the first step, a second step is performed in which the base is rotated in a direction substantially perpendicular to the first direction, Following the second step, a third step is to move the base in a direction opposite to the first direction, beyond the rod material mounting mechanism, Following the third step, the fourth step involves placing a plurality of second rods spaced apart on the first rod using the rod placement mechanism, Following the fourth step, a fifth step is performed in which the intersection of the first rod and the second rod is bound together by a rod binding mechanism, A method for manufacturing a rod material unit, characterized by comprising the following features.

13. The method for manufacturing a rod unit according to claim 12, characterized in that the rod placement mechanism and the rod bundling mechanism can be operated simultaneously.

14. The rod material placement mechanism is characterized in that it places the plurality of first rod materials and the plurality of second rod materials on the upper part of the base, the robot placement platform extending on the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, and a plurality of placement robots arranged on the robot placement platform.

15. The rod material placement mechanism is characterized in that it places the plurality of first rod materials and the plurality of second rod materials on the upper part of the base, the robot placement platform extending on the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, and a plurality of placement robots arranged on the robot placement platform.

16. The rod material placement mechanism is characterized in that it places the plurality of first rod materials and the plurality of second rod materials on the upper part of the base, by a first rail extending across the base in a direction substantially perpendicular to the first direction, and a plurality of placement robots arranged to be movable along the first rail.

17. The rod material placement mechanism is characterized in that it places the plurality of first rod materials and the plurality of second rod materials on the upper part of the base, by a first rail extending on the upper part of the base in a direction substantially perpendicular to the first direction, sandwiching the base, and a plurality of placement robots arranged to be movable along the first rail.

18. The aforementioned rod placement robot of the rod placement mechanism faces in the direction opposite to the first direction and places the plurality of first rods and the plurality of second rods on it. The rod binding mechanism comprises a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail. The method for manufacturing a rod material unit according to claim 14, characterized in that the binding robot faces the first direction and binds the intersection of the first rod material and the second rod material.

19. The aforementioned rod placement robot of the rod placement mechanism faces in the direction opposite to the first direction and places the plurality of first rods and the plurality of second rods on it. The rod binding mechanism comprises a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail. The method for manufacturing a rod material unit according to claim 15, characterized in that the binding robot faces the first direction and binds the intersection of the first rod material and the second rod material.

20. The aforementioned rod placement robot of the rod placement mechanism faces in the direction opposite to the first direction and places the plurality of first rods and the plurality of second rods on it. The rod binding mechanism comprises a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail. The method for manufacturing a rod material unit according to claim 16, characterized in that the binding robot faces the first direction and binds the intersection of the first rod material and the second rod material.

21. The aforementioned rod placement robot of the rod placement mechanism faces in the direction opposite to the first direction and places the plurality of first rods and the plurality of second rods on it. The rod binding mechanism comprises a second rail extending from the upper part of the base in a direction substantially perpendicular to the direction of movement of the base, sandwiching the base, and at least one binding robot arranged to be movable along the second rail. The method for manufacturing a rod material unit according to claim 17, characterized in that the binding robot faces the first direction and binds the intersection of the first rod material and the second rod material.

22. The rod binding mechanism is characterized by using a binding member to bind the intersection of the first rod and the second rod according to any one of claims 12 to 21, wherein the binding mechanism has a binding member body that can abut against the upper part of the second rod, two support members that extend downward from both ends of the binding member body, sandwiching the second rod and supporting the first rod from below, and a biasing part that biases the second rod downward relative to the binding member body.

Images