Rod material extraction device

Abstract

The present invention provides a rod extraction device that can be made compact and reliably extract one rod at a time from a bundle of rods. [Solution] The lower rod material extraction device 7 comprises a lower upstream rod material extraction fixed cam 75aa having a plurality of fixed cam tooth crests K1t, a plurality of fixed cam tooth valleys K1b, and a plurality of inclined portions K1s1 connecting the fixed cam tooth crests K1t and the fixed cam tooth valleys K1b, and a lower upstream rod material extraction oscillating cam 76aa arranged adjacent to the lower upstream rod material extraction fixed cam 75aa and having a plurality of oscillating cam tooth crests S1t, a plurality of oscillating cam tooth valleys S1b, and a plurality of inclined portions S1s1 connecting the oscillating cam tooth crests S1t and the oscillating cam tooth valleys S1b, and the lower upstream rod material extraction oscillating cam 76aa is rotatable with respect to the lower upstream rod material extraction oscillating cam center 76a near the other end.

Description

Technical Field

[0001] The present invention relates to a bar extraction device that extracts bars one by one from a bundle of bars.

Background Art

[0002] Conventionally, a bar extraction device that extracts bars one by one from a bundle of bars has been known.

[0003] For example, in Citation Document 1, there are provided a fixed support 20 having a plurality of first ridges and a plurality of first valleys and having a sawtooth shape, and a movable support 22M and 22E that are arranged adjacent to the fixed support 20 and have a plurality of second ridges and a plurality of second valleys and have a sawtooth shape. The second ridges and second valleys of the movable supports 22M and 22E protrude upward from between the first ridges and first valleys of the fixed support 20 and retract downward between the first ridges and first valleys of the fixed support 20. By repeating this, a plurality of bars 14 placed at one end are separated one by one while being placed on the fixed support 20 and the movable supports 22M and 22E, and a step feed device 16 that feeds them out to the other end side is described (see FIGS. 2 and 4, etc.).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the step feed device 16 described in Citation Document 1, in order to reciprocate the movable supports 22M and 22E in an inclined direction with respect to the fixed support 20, the driving force of the motor 24 is transmitted through a transmission rod 26, a lifting plate 46, etc. and inclined to be transmitted to the movable supports 22M and 22. Therefore, there is a problem that the projected area of the step feed device 16 becomes large and the device itself becomes large-sized.

[0006] Furthermore, the step feed device 16 described in Reference 1 has the problem that the structure of the step feed device 16 itself is complex because it transmits the driving force of the motor 24 to the movable support 22M and movable support 22 by tilting them via the transmission rod 26, lifting plate 46, etc.

[0007] Furthermore, it is desirable that the cutting and feeding device (hereinafter referred to as the "bar material extraction device") be improved to more reliably extract one bar material at a time from the bundle of bar materials.

[0008] This invention addresses the aforementioned problems of the prior art and aims to provide a rod extraction device that can compactly extract rods one by one from a bundle of rods and stably extract rods one by one from a bundle of rods. [Means for solving the problem]

[0009] To solve the above-mentioned problems, a rod material extraction device according to a first aspect of the present invention includes a first fixing member having a plurality of first peaks, a plurality of first valleys, and a plurality of first inclined portions connecting the first peaks and first valleys, extending from one end to the other in a first direction, and a first fixing member disposed adjacent to the first fixing member, having a plurality of second peaks, a plurality of second valleys, and a plurality of second inclined portions connecting the second peaks and second valleys, extending from one end to the other in the first direction. A rod material removal device comprising a movable member and a rod material removal device, wherein the second peak and second valley of the first movable member repeatedly protrude above the first inclined portion of the first fixed member and retract below the first inclined portion of the first fixed member, thereby separating a plurality of rod materials placed on one end and removing them one by one to the other end while placing them on the first fixed member and the first movable member, characterized in that the first movable member is rotatable with respect to a first pivot point near the other end.

[0010] Furthermore, a second aspect of the present invention is characterized in that, in the rod material extraction device of the first aspect, the surface on one end of the first inclined portion of the first fixed member, or the surface on one end of the second inclined portion of the first movable member, is formed to exhibit a substantially circular shape with respect to the first fulcrum.

[0011] Furthermore, a third aspect of the present invention is characterized in that, in the rod material extraction device of the first aspect, the surface on one end of the first inclined portion of the first fixed member and the surface on one end of the second inclined portion of the first movable member are formed to exhibit a substantially circular shape with respect to the first fulcrum.

[0012] Furthermore, a fourth aspect of the present invention is a rod material extraction device according to the first aspect, characterized in that it comprises a housing, a first fixing member connected to the housing, a second fixing member connected to the housing in parallel with the first fixing member and having a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions, extending from one end to the other end in the first direction, a cylinder connected to the housing, and a first movable member disposed between the first fixing member and the second fixing member and connected to the cylinder.

[0013] Furthermore, a fifth aspect of the present invention is a rod material extraction device according to the second aspect, characterized in that it comprises a housing, a first fixing member connected to the housing, a second fixing member connected to the housing in parallel with the first fixing member and having a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions, extending from one end to the other end in the first direction, a cylinder connected to the housing, and a first movable member disposed between the first fixing member and the second fixing member and connected to the cylinder.

[0014] Furthermore, a sixth aspect of the present invention is a rod material extraction device according to the third aspect, characterized in that it comprises a housing, a first fixing member connected to the housing, a second fixing member connected to the housing in parallel with the first fixing member and having a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions, extending from one end to the other end in the first direction, a cylinder connected to the housing, and a first movable member disposed between the first fixing member and the second fixing member and connected to the cylinder.

[0015] Furthermore, a seventh aspect of the present invention is a rod material extraction device according to the fourth aspect, wherein the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, extending from one end to the other end in the first direction, and is connected to the cylinder, and is characterized in that it comprises a second movable member.

[0016] Furthermore, an eighth aspect of the present invention is a rod material extraction device according to the fifth aspect, wherein the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, extending from one end to the other end in the first direction, and is equipped with a second movable member connected to the cylinder.

[0017] Furthermore, a ninth aspect of the present invention is a rod material extraction device according to the sixth aspect, wherein the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has, extending from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, and has a plurality of second peaks, a plurality of second valleys, and a plurality of second inclined portions connecting the second peaks and second valleys, and is characterized in that it comprises a second movable member connected to the cylinder.

[0018] Furthermore, a tenth aspect of the present invention is a rod material extraction device according to the fourth aspect, characterized in that it comprises a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of the movable member units positioned on both sides of the third fixing member in the second direction.

[0019] Furthermore, an eleventh aspect of the present invention is a rod material extraction device according to the fifth aspect, characterized in that it comprises a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of the movable member units positioned on both sides of the third fixing member in the second direction.

[0020] Furthermore, a twelfth aspect of the present invention is a rod material extraction device according to the sixth aspect, characterized in that it comprises a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of the movable member units positioned on both sides of the third fixing member in the second direction.

[0021] Furthermore, a thirteenth aspect of the present invention is a rod material extraction device according to the seventh aspect, characterized in that it comprises a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of the movable member units positioned on both sides of the third fixing member in the second direction.

[0022] Further, in a 14th aspect of the present invention, in the bar extracting device of the 8th aspect, a third fixing member disposed at a central portion in a second direction substantially perpendicular to the first direction, and a plurality of the movable member units disposed on both sides of the third fixing member in the second direction, sandwiching the third fixing member, are provided.

[0023] Further, in a 15th aspect of the present invention, in the bar extracting device of the 9th aspect, a third fixing member disposed at a central portion in a second direction substantially perpendicular to the first direction, and a plurality of the movable member units disposed on both sides of the third fixing member in the second direction, sandwiching the third fixing member, are provided.

[0024] Further, in a 16th aspect of the present invention, in the bar extracting device of the 10th aspect, a plurality of the third fixing members and a plurality of the movable member units are arranged in the first direction.

[0025] Further, in a 17th aspect of the present invention, in the bar extracting device of the 10th aspect, a fourth fixing member disposed adjacent to the third fixing member at a central portion in the second direction and having a mounting surface substantially the same as that of the third fixing member is provided.

[0026] Further, in a 18th aspect of the present invention, in the bar extracting device of the 11th aspect, a fourth fixing member disposed adjacent to the third fixing member at a central portion in the second direction and having a mounting surface substantially the same as that of the third fixing member is provided.

[0027] Further, in a 19th aspect of the present invention, in the bar extracting device of the 12th aspect, a fourth fixing member disposed adjacent to the third fixing member at a central portion in the second direction and having a mounting surface substantially the same as that of the third fixing member is provided.

[0028] Furthermore, a 20th aspect of the present invention is a rod material dispensing device according to the 13th aspect, characterized in that a fourth fixing member is provided in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member.

[0029] Furthermore, a 21st aspect of the present invention is a rod material dispensing device according to the 14th aspect, characterized in that a fourth fixing member is provided in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member.

[0030] Furthermore, a 22nd aspect of the present invention is a rod material dispensing device according to the 15th aspect, characterized in that a fourth fixing member is provided in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member.

[0031] Furthermore, a 23rd aspect of the present invention is a rod material dispensing device according to the 16th aspect, characterized in that a fourth fixing member is provided in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member.

[0032] Furthermore, a 24th aspect of the present invention is characterized in that, in the rod material extraction device of the 17th aspect, the third fixing member, the fourth fixing member, and the plurality of the movable member units are arranged in the first direction.

[0033] Furthermore, a 25th aspect of the present invention is a rod material dispensing device according to any of the 10th to 16th aspects, characterized in that the third fixing member has a mounting surface located above the plurality of first valleys of the first fixing member.

[0034] Furthermore, a 26th aspect of the present invention is a rod material dispensing device according to any of the 10th to 16th aspects, characterized in that the third fixing member has a mounting surface formed by continuously connecting a plurality of first valleys of the first fixing member.

[0035] Furthermore, a 27th aspect of the present invention is a rod material dispensing device according to any of the 17th to 24th aspects, characterized in that the third fixing member and the fourth fixing member have mounting surfaces located above the plurality of first valleys of the first fixing member.

[0036] Furthermore, a 28th aspect of the present invention is a rod material dispensing device according to any of the 17th to 24th aspects, characterized in that the third fixing member and the fourth fixing member have a mounting surface formed by continuously connecting a plurality of first valleys of the first fixing member. [Effects of the Invention]

[0037] According to a first aspect of the present invention, a rod material extraction device comprises a first fixed member having a plurality of first peaks, a plurality of first valleys, and a plurality of first inclined portions connecting the first peaks and first valleys, extending from one end to the other in a first direction, and a first movable member disposed adjacent to the first fixed member, having a plurality of second peaks, a plurality of second valleys, and a plurality of second inclined portions connecting the second peaks and second valleys, extending from one end to the other in a first direction, and the first movable In a rod extraction device that separates multiple rods placed on one end and places them on the first fixed member and the first movable member, by having the second peak and second valley of the member repeatedly protrude above the first inclined portion of the first fixed member and retract below the first inclined portion, the first movable member is made rotatable with respect to a first fulcrum near the other end, thereby making the device for extracting rods one by one from a bundle of rods more compact.

[0038] Furthermore, according to a second aspect of the present invention, in the rod extraction device of the first aspect, the surface on one end of the first inclined portion of the first fixed member, or the surface on one end of the second inclined portion of the first movable member, is formed to be substantially circular with respect to the first fulcrum. In addition to the effects of the rod extraction device of the first aspect, it is possible to stably extract rods one by one from a bundle of rods.

[0039] Furthermore, according to a third aspect of the present invention, in the rod extraction device of the first aspect, the surface on one end of the first inclined portion of the first fixed member and the surface on one end of the second inclined portion of the first movable member are formed to be substantially circular with respect to the first fulcrum. Therefore, in addition to the effects of the rod extraction device of the first aspect, it is possible to stably extract rods one by one from a bundle of rods.

[0040] Furthermore, according to a fourth aspect of the present invention, the rod extraction device of the first aspect includes a housing, a first fixing member connected to the housing, a second fixing member connected to the housing in parallel with the first fixing member and having a plurality of peaks identical in shape to a plurality of first peaks, a plurality of valleys identical in shape to a plurality of first valleys, and a plurality of inclined portions identical in shape to a plurality of first inclined portions, extending from one end to the other in a first direction, a cylinder connected to the housing, and a first movable member disposed between the first fixing member and the second fixing member and connected to the cylinder. In addition to the effects of the rod extraction device of the first aspect, the movable member unit includes a housing, a first movable member unit, and a first movable member unit that allows for the stable extraction of rods one by one from a bundle of rods.

[0041] Furthermore, according to a fifth aspect of the present invention, the rod extraction device of the second aspect includes a housing, a first fixing member connected to the housing, a second fixing member connected to the housing in parallel with the first fixing member and having a plurality of peaks identical in shape to a plurality of first peaks, a plurality of valleys identical in shape to a plurality of first valleys, and a plurality of inclined portions identical in shape to a plurality of first inclined portions, extending from one end to the other in a first direction, a cylinder connected to the housing, and a first movable member disposed between the first fixing member and the second fixing member and connected to the cylinder. In addition to the effects of the rod extraction device of the second aspect, the movable member unit includes a housing, a first movable member unit, and a first movable member unit.

[0042] Furthermore, according to a sixth aspect of the present invention, the rod extraction device of the third aspect includes a housing, a first fixing member connected to the housing, a second fixing member connected to the housing in parallel with the first fixing member and having a plurality of peaks identical in shape to a plurality of first peaks, a plurality of valleys identical in shape to a plurality of first valleys, and a plurality of inclined portions identical in shape to a plurality of first inclined portions, extending from one end to the other in a first direction, a cylinder connected to the housing, and a first movable member disposed between the first fixing member and the second fixing member and connected to the cylinder. In addition to the effects of the rod extraction device of the third aspect, the movable member unit includes a housing, a first movable member unit, and a first movable member unit.

[0043] Furthermore, according to a seventh aspect of the present invention, in the rod extraction device of the fourth aspect, the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has a second movable member connected to a cylinder, having a plurality of peaks identical in shape to a plurality of second peaks, a plurality of valleys identical in shape to a plurality of second valleys, and a plurality of inclined portions identical in shape to a plurality of second inclined portions, extending from one end to the other in the first direction. In addition to the effects of the rod extraction device of the fourth aspect, it is possible to extract rods one by one from a bundle of rods with even greater stability.

[0044] Furthermore, according to the eighth aspect of the present invention, in the rod extraction device of the fifth aspect, the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has a second movable member connected to a cylinder, having a plurality of peaks identical in shape to a plurality of second peaks, a plurality of valleys identical in shape to a plurality of second valleys, and a plurality of inclined portions identical in shape to a plurality of second inclined portions, extending from one end to the other in the first direction. In addition to the effects of the rod extraction device of the fifth aspect, it is possible to extract rods one by one from a bundle of rods with even greater stability.

[0045] Furthermore, according to the ninth aspect of the present invention, in the rod extraction device of the sixth aspect, the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has a second movable member connected to a cylinder, having a plurality of peaks identical in shape to a plurality of second peaks, a plurality of valleys identical in shape to a plurality of second valleys, and a plurality of inclined portions identical in shape to a plurality of second inclined portions, extending from one end to the other in the first direction. In addition to the effects of the rod extraction device of the sixth aspect, it is possible to extract rods one by one from a bundle of rods with even greater stability.

[0046] Furthermore, according to the tenth aspect of the present invention, the rod extraction device of the fourth aspect includes a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of movable member units positioned on both sides of the third fixing member in the second direction. Therefore, in addition to the effects of the rod extraction device of the fourth aspect, even when the rods are long, the rods can be extracted one by one stably from the bundle of rods.

[0047] Furthermore, according to the eleventh aspect of the present invention, the rod extraction device of the fifth aspect includes a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of movable member units positioned on both sides of the third fixing member in the second direction. Therefore, in addition to the effects of the rod extraction device of the fifth aspect, even when the rods are long, the rods can be extracted one by one stably from the bundle of rods.

[0048] Furthermore, according to the twelfth aspect of the present invention, the rod extraction device of the sixth aspect includes a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of movable member units positioned on both sides of the third fixing member in the second direction. Therefore, in addition to the effects of the rod extraction device of the sixth aspect, even when the rods are long, the rods can be extracted one by one stably from the bundle of rods.

[0049] Furthermore, according to the 13th aspect of the present invention, the rod extraction device of the 7th aspect includes a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of movable member units positioned on both sides of the third fixing member in the second direction. Therefore, in addition to the effects of the rod extraction device of the 7th aspect, even when the rods are long, the rods can be extracted one by one stably from the bundle of rods.

[0050] Furthermore, according to the 14th aspect of the present invention, the rod extraction device of the 8th aspect includes a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of movable member units positioned on both sides of the third fixing member in the second direction. Therefore, in addition to the effects of the rod extraction device of the 8th aspect, even when the rods are long, the rods can be extracted one by one stably from the bundle of rods.

[0051] Furthermore, according to the 15th aspect of the present invention, the rod extraction device of the 9th aspect includes a third fixing member positioned in the center of a second direction substantially perpendicular to the first direction, and a plurality of movable member units positioned on both sides of the third fixing member in the second direction. Therefore, in addition to the effects of the rod extraction device of the 9th aspect, even when the rods are long, the rods can be extracted one by one stably from the bundle of rods.

[0052] Furthermore, according to the sixteenth aspect of the present invention, in the rod extraction device of the tenth aspect, the third fixed member and the plurality of movable member units are arranged in the first direction, so in addition to the effects of the rod extraction device of the tenth aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0053] Furthermore, according to the 17th aspect of the present invention, the rod extraction device of the 10th aspect is provided with a fourth fixing member located in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member. In addition to the effects of the rod extraction device of the 10th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0054] Furthermore, according to the 18th aspect of the present invention, the rod extraction device of the 11th aspect is provided with a fourth fixing member located in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member. In addition to the effects of the rod extraction device of the 11th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0055] Furthermore, according to the 19th aspect of the present invention, the rod extraction device of the 12th aspect is provided with a fourth fixing member located in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member. In addition to the effects of the rod extraction device of the 12th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0056] Furthermore, according to the 20th aspect of the present invention, in the rod extraction device of the 13th aspect, a fourth fixing member is provided in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member. Therefore, in addition to the effects of the rod extraction device of the 13th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0057] Furthermore, according to the 21st aspect of the present invention, the rod extraction device of the 14th aspect is provided with a fourth fixing member located in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member. In addition to the effects of the rod extraction device of the 14th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0058] Furthermore, according to the 22nd aspect of the present invention, the rod extraction device of the 15th aspect is provided with a fourth fixing member located in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member. In addition to the effects of the rod extraction device of the 15th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0059] Furthermore, according to the 23rd aspect of the present invention, the rod extraction device of the 16th aspect is provided with a fourth fixing member located in the center of the second direction, adjacent to the third fixing member, and having substantially the same mounting surface as the third fixing member. In addition to the effects of the rod extraction device of the 16th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0060] Furthermore, according to the 24th aspect of the present invention, in the rod extraction device of the 17th aspect, the third fixing member, the fourth fixing member, and the plurality of movable member units are arranged in the first direction in multiple locations. Therefore, in addition to the effects of the rod extraction device of the 17th aspect, even when the rods are long, the rods can be extracted one by one from the bundle of rods with even greater stability.

[0061] Furthermore, according to the 25th aspect of the present invention, in the rod material extraction device of any 10th to 16th aspects, the third fixing member has a mounting surface located above the first valley of the first fixing member. Therefore, in addition to the effects of the rod material extraction device of any 10th to 16th aspects, even when the rod material is long, it is possible to extract the rod material one by one from the bundle of rod material with even greater stability.

[0062] Furthermore, according to the 26th aspect of the present invention, in the rod material extraction device of any 10th to 16th aspects, the third fixing member has a mounting surface formed by continuously connecting a plurality of first valleys of the first fixing member. Therefore, in addition to the effects of the rod material extraction device of any 10th to 16th aspects, even when the rod material is long, it is possible to extract the rod material one by one from the bundle of rod material with even greater stability.

[0063] Furthermore, according to the 27th aspect of the present invention, in the rod material extraction device of any 17th to 24th aspects, the third fixing member and the fourth fixing member have mounting surfaces located above the plurality of first valleys of the first fixing member. Therefore, in addition to the effects of the rod material extraction device of any 17th to 24th aspects, even when the rod material is long, it is possible to extract the rod material one by one from the bundle of rod material with even greater stability.

[0064] Furthermore, according to the 28th aspect of the present invention, in the rod material extraction device of any 17th to 24th aspects, the third fixing member has a mounting surface formed by continuously connecting a plurality of first valleys of the first fixing member. Therefore, in addition to the effects of the rod material extraction device of any 17th to 24th aspects, even when the rod material is long, it is possible to extract the rod material one by one from the bundle of rod material with even greater stability. [Brief explanation of the drawing]

[0065] [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 Exhaust) area. [Figure 5] This is an overall view of the binding member in this embodiment. [Figure 6] This is an overall plan view of a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment. [Figure 7]This is an overall right side view of a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment. [Figure 8] This is an overall plan view of the bar material unit manufacturing apparatus using the bar material extraction device of this embodiment, excluding the upper bar material extraction device. [Figure 9] This is an overall right side view of the bar material unit manufacturing apparatus using the bar material extraction device of this embodiment, excluding the upper bar material extraction device. [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 device 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 device in this embodiment. [Figure 22] This is an overall right side view of the rod extraction movable part of the rod extraction device in this embodiment when the oscillating cam is lowered. [Figure 23] This is an overall right side view of the rod extraction movable part of the rod extraction device in this embodiment when the swing cam is raised. [Figure 24] This is a block diagram of a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment. [Figure 25] This is a block diagram of the main controller in a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment. [Figure 26] This is a flowchart of the bar material extraction control program in the bar material extraction device of this embodiment. [Figure 27] This is an explanatory diagram showing the first stage of rod extraction in the rod extraction device of this embodiment. [Figure 28] This is an explanatory diagram showing the second stage of rod extraction in the rod extraction device of this embodiment. [Figure 29] This is an explanatory diagram showing the third stage of rod extraction in the rod extraction device of this embodiment. [Figure 30] This is an explanatory diagram showing the fourth stage of rod extraction in the rod extraction device of this embodiment. [Figure 31] This is an explanatory diagram showing the fifth stage of rod extraction in the rod extraction device of this embodiment. [Figure 32] This is an explanatory diagram showing the rod extraction state at the first stage after one cycle in the rod extraction device of this embodiment. [Figure 33] This is an explanatory diagram showing the rod extraction state in the second stage after one cycle in the rod extraction device of this embodiment. [Figure 34] This is an explanatory diagram showing the rod extraction state at the third stage after one cycle in the rod extraction device of this embodiment. [Figure 35] This is an explanatory diagram showing the rod extraction state at the fourth stage after one cycle in the rod extraction device of this embodiment. [Figure 36] This is an explanatory diagram showing the rod extraction state at the fifth stage after one cycle in the rod extraction device of this embodiment. [Figure 37]This is an explanatory diagram showing the rod extraction state after two cycles in the rod extraction device of this embodiment. [Figure 38] This is a flowchart of the first half of the bar material unit manufacturing program in a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment. [Figure 39] This is a flowchart of the latter half of the bar material unit manufacturing program in a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment. [Figure 40] This is a flowchart of the binding control program for the binding member in a rod unit manufacturing apparatus using the rod material extraction device of this embodiment.

[0066] Embodiments of the present invention will be described below with reference to the drawings.

[0067] In the bar material unit manufacturing apparatus using the bar material extraction device of the embodiment described later, the explanation will assume that a unit made of reinforcing steel is manufactured as an example of a bar material. However, the bar material unit manufacturing apparatus using the bar material extraction device of this embodiment is not limited to reinforcing steel, and can manufacture units made of general bar materials without limitations on material or length.

[0068] However, the bar unit manufacturing apparatus using the bar material extraction device 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.

[0069] (Embodiment) First, we will describe the bar unit manufactured by the bar unit manufacturing apparatus using the bar extracting device of this embodiment. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0070] 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.

[0071] As shown in Figures 1 and 2, the bar unit 100 manufactured by the bar unit manufacturing apparatus 1 using the lower bar unit extraction device 7 described later in 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 bar materials (see Figure 6): a bar B1 of a predetermined length and a bar B2 that is shorter than bar B1.

[0072] As shown in Figures 1 and 2, the rod unit 100 is constructed by alternately arranging upper rods Bd1 (hereinafter referred to as "vertical rod Bd1") made of rod B1 and upper rods Bd2 (hereinafter referred to as "vertical rod Bd2") made of rod B2 at predetermined intervals in the upper section. Above the vertical rods Bd1 and Bd2, upper horizontal rods Bu1 (hereinafter referred to as "horizontal rod Bu1") made of rod B1 and upper rods Bu2 (hereinafter referred to as "horizontal rod Bu2") made of rod B2 are alternately arranging at predetermined intervals to form a grid in two layers, and some of the intersections of the upper vertical rods Bd1 and Bd2 with the upper horizontal rods Bu1 and Bu2 are fastened together with fastening members 66.

[0073] 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 that is rotatably positioned 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.

[0074] 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 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 upper vertical bar Bd1 or vertical bar Bd2 from below.

[0075] 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.

[0076] 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 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.

[0077] 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.

[0078] 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.

[0079] Furthermore, if the number of types of bar stock changes, the number of bar stock dispensing devices described later may be increased or decreased according to the type of bar stock, or multiple types of bar stock may be placed on the same bar stock dispensing device.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] Next, a rod material unit manufacturing apparatus using the rod material extraction device of this embodiment will be described.

[0084] 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, corresponding to the "first direction" of the present invention) (see Figures 6 and 7, etc.), the direction substantially 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 substantially 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.).

[0085] 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.).

[0086] 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.).

[0087] Figure 6 is an overall plan view of a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment, Figure 7 is an overall right side view of a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment, Figure 8 is an overall plan view of a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment, excluding the upper bar material extraction device, and Figure 9 is an overall right side view of a bar material unit manufacturing apparatus using the bar material extraction device of this embodiment, excluding the upper bar material extraction device.

[0088] As shown in Figures 6 to 9, the rod material unit manufacturing apparatus 1 using the rod material extraction devices 7 and 107 of this embodiment consists of a base section 9, a mounting robot 5, a bundling robot 3, a lower rod material extraction device 7, and an upper rod material extraction device 107, all of which are arranged on the base section 9.

[0089] The base section 9 consists of 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, and a first base section 90b positioned at the -Y direction end of the rod material unit manufacturing device 1, with the lower rod material extraction device 7 positioned across the upper part (+Z direction) of the four rails 91a~91d in the +X·-X direction, and the upper part (+Z direction) of the four rails 91a~91d in the +X·-X The system comprises a second base section 90c on which the first mounting robot 5a(5) and the second mounting robot 5b(5) are arranged spanning in the direction; a third base section 90d positioned adjacent to the second base section 90c in the +Y direction, on which the first binding robot 3a(3) and the second binding robot 3b(3) are arranged spanning the upper part (+Z direction) of the four rails 91a~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 bar material removal device 7 is arranged spanning the +X·-X direction, on which the upper bar material removal device 107 is arranged.

[0090] Furthermore, the base section 9 is equipped with a rack 97 for the binding robots 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.

[0091] Furthermore, the base section 9 includes a first base 93 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 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.

[0092] 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.

[0093] 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.

[0094] 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).

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 gripping right section rod 60ba and a second gripping left section rod 60bb provided on each of the two second rod gripping cylinders 59ba and 59bb, a second gripping right section 63ba connected to the tip of the second gripping right section rod 60ba and rotating about the second gripping center 61b of the second gripping section plate 62b, and a second gripping left section 63bb1 connected to the tip of the second gripping left section rod 60bb and rotating about the second gripping center 61b.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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).

[0122] 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).

[0123] 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.

[0124] 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.

[0125] Furthermore, the first binding section 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 sections 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 sections 42aa and 42ab and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66.

[0126] 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.

[0127] 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.

[0128] Furthermore, the first binding portion 11a includes, 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.

[0129] 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 right side hole 67b and the left side hole 67a of the binding member 66, and the binding member 66 can be gripped.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] Furthermore, the second binding section 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 sections 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 43bb and 43ba (see Figures 18 and 19) provided on each of the second binding member gripping sections 42ba and 42bb and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66.

[0140] Furthermore, the second fastening portion 11b includes a pair of second fastening member gripping timing pulleys 47ba and 47bb rotatably mounted below the clamp base plate 21b, a second fastening member gripping timing belt 48b wound around the second fastening member gripping timing pulleys 47ba and 47bb, a second fastening member timing belt connection portion 49ba connected to the second fastening member gripping portion 42ba and one side of the second fastening member gripping timing belt 48b, and a second fastening member timing belt connection portion 49bb connected to the second fastening member gripping portion 42bb and the other side of the second fastening member gripping timing belt 48b.

[0141] 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.

[0142] 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.

[0143] 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 right side hole 67b and the left side hole 67a of the binding member 66, allowing the binding member 66 to be gripped.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] Figure 20 is an overall plan view of the bar stock extraction device in this embodiment, Figure 21 is an overall right side view of the bar stock extraction fixing part of the bar stock extraction device in this embodiment, Figure 22 is an overall right side view of the bar stock extraction movable part of the bar stock extraction device in this embodiment when the oscillating cam is lowered, and Figure 23 is an overall right side view of the bar stock extraction movable part of the bar stock extraction device in this embodiment when the oscillating cam is raised.

[0148] 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.

[0149] 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 part 70a, and the other elements will be shown in parentheses.

[0150] As shown in Figures 6 and 8, the lower rod material extraction device 7 of this embodiment (corresponding to the "rod material extraction device" of the present invention) 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 mounting robot 5a and the second mounting robot 5b can grasp them.

[0151] As shown in Figures 8 and 9, the lower rod material removal device 7 of this embodiment includes four lower first rod material transport conveyors 80a, 80b, 80c, and 80d (hereinafter referred to as "80a~80d") from the -X direction end to the +X direction end, which 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 lower rod material B2 bundle The system includes four lower second bar material conveyors 82a, 82b, 82c, and 82d (hereinafter referred to as "82a~82d") positioned adjacent to the lower first bar material conveyors 80a~80d in the +Y direction, extending from the -X end to the +X end, so as to be transported continuously from the lower first bar material 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 conveyors 82a~82d.

[0152] Furthermore, the lower rod material removal device 7 includes, in order to remove one rod material B2 at a time from a bundle of rod material B2, a lower upstream rod material removal fixing part 71a (fixing member unit) 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, and a lower upstream rod material removal movable part 70a (corresponding to the "movable member unit" of the present invention) located in the -X direction from the lower upstream rod material removal fixing part 71a, and a lower upstream rod material removal movable part 70b (corresponding to the "movable member unit" of the present invention) located in the +X direction from the lower upstream rod material removal fixing part 71a.

[0153] Furthermore, the lower rod material removal device 7 includes four lower third rod material transport conveyors 84a, 84b, 84c, and 84d (hereinafter referred to as "84a~84d") positioned 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, 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.

[0154] Furthermore, in order to more reliably remove the rods B2 one by one, the lower rod material removal device 7 includes a lower downstream rod material removal fixing part 71b (fixing member unit) located adjacent to the lower third rod material transport conveyors 84a to 84d in the +Y direction, in the center in the -X and +X directions, a lower downstream rod material removal movable part 70c (corresponding to the "movable member unit" of the present invention) located in the -X direction from the lower downstream rod material removal fixing part 71b, and a lower downstream rod material removal movable part 70d (corresponding to the "movable member unit" of the present invention) located in the +X direction from the lower downstream rod material removal fixing part 71b.

[0155] Furthermore, the lower rod material removal device 7 includes four lower fourth rod material transport conveyors 86a, 86b, 86c, and 86d (hereinafter referred to as "86a~86d") positioned 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 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.

[0156] Furthermore, the lower rod material removal device 7 includes four lower fifth rod material transport conveyors 88a, 88b, 88c, and 88d (hereinafter referred to as "88a~88d") located adjacent to the lower fourth rod material transport conveyors 86a~86d in the +Y direction, extending from the -X direction end to the +X direction end, so that the rod material B2 is transported continuously from the lower fourth rod material transport conveyors 86a~86d, and four lower fifth rod material transport motors 89a, 89b, 89c, and 89d (hereinafter referred to as "89a~89d") for driving these lower fourth rod material transport conveyors 88a~88d.

[0157] Furthermore, the lower bar material removal device 7 includes two bar material sensors 99a and 99b, spaced apart in the -X and +X directions, to detect when the bar 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 bar material slide pulleys 105a, 105b, 105c and 105d (hereinafter referred to as "105a~105d"), arranged from the -X direction end to the +X direction end, to support the bar material B2 so that it can slide from below when the bar 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 bar material B2 supported by the bar material slide pulleys 105a~105d toward the bar material reference plate 106 located at the +X direction end in the +X direction; and a bar material slide motor 103 for driving the pusher section 104 in the +X direction.

[0158] 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 (corresponding to the "third fixing member" of the present invention) and 78ab (corresponding to the "fourth fixing member" of the present invention) 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.

[0159] Furthermore, the lower upstream rod extraction and fixing plate 78aa has an upper surface 79aa (corresponding to the "mounting surface" of the present invention) 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 (corresponding to the "first valley" of the present invention) described later, and the lower upstream rod extraction and fixing plate 78ab also has an upper surface 79ab (corresponding to the "mounting surface" of the present invention) 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.

[0160] Furthermore, the lower upstream rod extraction fixing plate 78aa has an upper surface 79aa of the lower upstream rod extraction fixing part that has a curve similar to the curve formed by continuously connecting the fixed cam tooth valleys K1b, K2b, K3b, and K4b described later, and the lower upstream rod extraction fixing plate 78ab also has an upper surface 79ab of the lower upstream rod extraction fixing part that has a curve similar to the curve formed by continuously connecting the fixed cam tooth valleys K1b, K2b, K3b, and K4b described later, thereby suppressing the rotation of the rod B2 extracted by the lower upstream extraction movable parts 70a and 70b, and enabling stable extraction of the rod B2.

[0161] Furthermore, in this embodiment, the lower upstream rod extraction fixing plate 78aa is described as having an upper surface 79aa of the lower upstream rod extraction fixing part that has a curve similar to the curve formed by continuously connecting the fixed cam tooth valleys K1b, K2b, K3b, and K4b described later. However, the embodiment is not limited to this form, and if the upper surface 79aa of the lower upstream rod extraction fixing part is located above the curve formed by continuously connecting the fixed cam tooth valleys K1b, K2b, K3b, and K4b described later, the rotation of the rod B2 extracted by the lower upstream extraction movable parts 70a and 70b is suppressed, and the rod B2 can be extracted stably.

[0162] However, if the lower upstream rod extraction fixing plate 78aa has an upper surface 79aa of the lower upstream rod extraction 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, the rotation of the rod B2 extracted by the lower upstream extraction movable parts 70a and 70b will be further suppressed, and the rod B2 will be extracted more stably.

[0163] These effects are the same for the lower downstream rod extraction and fixing plates 78ba and 78bb, the upper upstream rod extraction and fixing plates 178aa and 178ab, and the upper downstream rod extraction and fixing plates 178ba and 178bb, which will be described later.

[0164] 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 (corresponding to the "first movable member" of the present invention) and 76ab (corresponding to the "second movable member" of the present invention) erected parallel to each other in the center of the +X·-X direction, a lower upstream rod extraction housing 72aa (corresponding to the "housing" of the present invention) erected on the -X direction side of the lower upstream rod extraction oscillating cam 76aa and connected to the first base section 90b (corresponding to the "housing" of the present invention), and a lower upstream rod extraction housing 72ab (corresponding to the "housing" of the present invention) erected on the +X direction side of the lower upstream rod extraction oscillating cam 76ab and connected to the first base section 90b.

[0165] 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 fixing cam 75aa (corresponding to the "first fixing member" of the present invention) erected between the lower upstream rod extraction swing cam 76aa and the lower upstream rod extraction housing 72aa, and a lower upstream rod extraction fixing part cam 75ab (corresponding to the "second fixing member" of the present invention) 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.

[0166] 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 (corresponding to the "cylinder" of the present invention), 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 it to rotate around the lower upstream rod extraction oscillating cam center 76ac (corresponding to the "first fulcrum" of the present invention) formed in the lower upstream rod extraction housing 72aa.

[0167] Furthermore, the lower upstream rod extraction oscillating cam 76aa has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S3t, S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0168] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 76ac.

[0169] In the lower upstream rod extraction oscillating cam 76aa, the inclined portions S1s1, S2s1, S3s1, and S4s1 each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 76ac. As a result, when the lower upstream rod extraction oscillating cam 76aa rotates around the lower upstream rod extraction oscillating cam center 76ac, the movement of the rods B2 placed on the lower upstream rod extraction fixed cams 75aa and 75ab is minimized, enabling the rods B2 to be fed out one by one in a stable manner.

[0170] This effect is similar for the lower upstream bar extraction oscillating cams 76ab, 76ba, and 76bb, the lower downstream bar extraction oscillating cams 76ca, 76cb, 76da, and 76db, the upper upstream bar extraction oscillating cams 176aa, 176ab, 176ba, and 176bb, and the upper downstream bar extraction oscillating cams 176ca, 176cb, 176da, and 176db, which will be described later.

[0171] 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.

[0172] Furthermore, the lower upstream rod extraction oscillating cam 76ab also has, on its upper surface in the +Z direction, four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S3t, S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0173] The lower upstream rod extraction fixing cam 75aa (corresponding to the "first fixing member" of the present invention) is fixed to the upstream rod extraction housing 72aa, and on its upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and between fixing cam tooth sections K1t and K2t, between fixing cam tooth sections K2t and K3t, between fixing cam tooth sections K3t and K4t, and between fixing cam tooth sections K4t and K5t Between them are four fixed cam tooth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention) and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect five fixed cam tooth peaks K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0174] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 76ac.

[0175] In the lower upstream rod extraction fixing cam 75aa, the inclined portions K1s1, K2s1, K3s1, K4s1, and S5s1 each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 76ac. This minimizes the movement of the rods B2 placed on the lower upstream rod extraction oscillating cams 76aa and 76ab, enabling the rods B2 to be fed out stably one by one.

[0176] This effect is the same for the lower upstream bar material extraction and fixing cams 75ab, 75ba, and 75bb, the lower downstream bar material extraction and fixing cams 75ca, 75cb, 75da, and 75db, the upper upstream bar material extraction and fixing cams 175aa, 175ab, 175ba, and 175bb, and the upper downstream bar material extraction and fixing cams 175ca, 175cb, 175da, and 175db, which will be described later.

[0177] The lower upstream rod extraction fixing cam 75ab (corresponding to the "second fixing member" of the present invention) has substantially the same form as the lower upstream rod extraction fixing cam 75aa, and is fixed to the lower upstream rod extraction housing 72aa, similar to the lower upstream rod extraction fixing cam 75aa, and on the upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and between fixing cam tooth sections K1t and K2t, between fixing cam tooth sections K2t and K3t, and fixing cam tooth section Between K3t and K4t, and between the fixed cam tooth crests K4t and K5t, there are four fixed cam tooth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention), and 10 inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth crests K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b, extending from the -Y direction to the +Y direction.

[0178] 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 (corresponding to the "first movable member" of the present invention) and 76bb erected parallel to each other in the center in the +X and -X directions, a lower upstream rod extraction housing 72ba (corresponding to the "housing" of the present invention) 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.

[0179] 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 fixing cam 75ba (corresponding to the "first fixing member" of the present invention) erected between the lower upstream rod extraction swing cam 76ba and the lower upstream rod extraction housing 72ba, and a lower upstream rod extraction fixing part cam 75bb (corresponding to the "second fixing member" of the present invention) 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.

[0180] 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 (corresponding to the "cylinder" of the present invention), 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 (corresponding to the "first fulcrum" of the present invention) formed in the upstream rod extraction housing 72ba.

[0181] Furthermore, the lower upstream rod extraction oscillating cam 76ba has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S3t, S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0182] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a substantially circular shape with respect to the center 76bc of the lower upstream rod extraction oscillating cam.

[0183] The lower upstream rod extraction fixing cam 75ba is fixed to the upstream rod extraction housing 72ba, and on its upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and four fixings 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. The cam tooth includes cam tooth valleys K1b, K2b, K3b, and K4b (corresponding to the "first valley" of the present invention), and 10 inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined section" of the present invention) that connect five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t with four fixed cam tooth valleys K1b, K2b, K3b, and K4b, extending from the -Y direction to the +Y direction.

[0184] 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.

[0185] Furthermore, the lower upstream rod extraction oscillating cam 76bb also has, on its upper surface in the +Z direction, four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S3t, S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0186] 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, and on its upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, and between the fixing cam tooth sections K3t and K4t The device also includes, between the fixed cam tooth crests K4t and K5t, four fixed cam tooth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth crests K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b, extending from the -Y direction to the +Y direction.

[0187] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 76bc.

[0188] 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 (corresponding to the "third fixing member" of the present invention) and 78bb (corresponding to the "fourth fixing member" of the present invention) 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.

[0189] 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.

[0190] 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 (corresponding to the "first movable member" of the present invention) and 76cb erected parallel to each other in the center of the +X·-X direction, a lower downstream rod extraction housing 72ca (corresponding to the "housing" of the present invention) 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.

[0191] 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 fixing cam 75ca (corresponding to the "first fixing member" of the present invention) erected between the lower downstream rod extraction swing cam 76ca and the lower downstream rod extraction housing 72ca, and a lower downstream rod extraction fixing part cam 75cb (corresponding to the "second fixing member" of the present invention) 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.

[0192] 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 (corresponding to the "cylinder" of the present invention), 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 (corresponding to the "first fulcrum" of the present invention) formed in the lower downstream rod extraction housing 72ca.

[0193] Furthermore, the lower downstream rod extraction oscillating cam 76ca has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S1b, S2t, S2t, S3t, and S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0194] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a roughly circular shape with respect to the center of the lower upstream rod extraction oscillating cam, 76cc.

[0195] The lower downstream rod extraction oscillating cam 76cb has substantially the same form as the lower downstream rod extraction oscillating cam 76ca, and, similar to 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, moves the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c 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.

[0196] Furthermore, the lower downstream rod extraction oscillating cam 76cb also has, on its upper surface in the +Z direction, four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S3t, S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0197] The lower downstream rod extraction fixing cam 75ca is fixed to the lower downstream rod extraction housing 72ca, and on its upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and four fixed cam tooth sections between K1t and K2t, between K2t and K3t, between K3t and K4t, and between K4t and K5t. The device comprises fixed cam tooth valleys K1b, K2b, K3b, and K4b (corresponding to the "first valley" of the present invention), and 10 inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined section" of the present invention) that connect five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t with four fixed cam tooth valleys K1b, K2b, K3b, and K4b, extending from the -Y direction to the +Y direction.

[0198] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a roughly circular shape with respect to the lower upstream rod extraction oscillating cam center of 76cc.

[0199] 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 is fixed to the lower downstream bar material extraction housing 72cb, similar to the lower downstream bar material extraction fixing cam 75ca, and on the upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and between fixing cam tooth sections K1t and K2t, between fixing cam tooth sections K2t and K3t, and between fixing cam tooth sections K3t and K4t Between the fixed cam teeth, and between the fixed cam tooth teeth K4t and K5t, there are four fixed cam tooth teeth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth teeth K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b, moving from the -Y direction to the +Y direction.

[0200] 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 (corresponding to the "first movable member" of the present invention) and 76db erected parallel to each other in the center of the +X·-X direction, a lower downstream rod extraction housing 72da (corresponding to the "housing" of the present invention) 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.

[0201] 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 (corresponding to the "first fixing member" of the present invention) 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 (corresponding to the "second fixing member" of the present invention) 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.

[0202] The lower downstream bar material extraction oscillating cam 76da is rotatably connected to the +Z direction end of the lower downstream bar material extraction cylinder rod 74d at the lower downstream bar material extraction oscillating cam action point 76dd. The lower downstream bar material extraction cylinder 73d (corresponding to the "cylinder" of the present invention), which is connected to the first base portion 90b, causes the lower downstream bar material extraction cylinder rod 74d of the lower downstream bar material extraction cylinder 73d to move in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream bar material extraction oscillating cam center 76dc (corresponding to the "first fulcrum" of the present invention) formed in the lower downstream bar material extraction housing 72da.

[0203] Furthermore, the lower downstream rod extraction oscillating cam 76da has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S1b, S2t, S2t, S3t, and S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0204] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a substantially circular shape with respect to the center 76dc of the lower upstream rod extraction swing cam.

[0205] The lower downstream rod extraction fixing cam 75da is fixed to the lower downstream rod extraction housing 72da, and on its upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and four fixed cam tooth sections between K1t and K2t, between K2t and K3t, between K3t and K4t, and between K4t and K5t. The device comprises fixed cam tooth valleys K1b, K2b, K3b, and K4b (corresponding to the "first valley" of the present invention), and 10 inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined section" of the present invention) that connect five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t with four fixed cam tooth valleys K1b, K2b, K3b, and K4b, extending from the -Y direction to the +Y direction.

[0206] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 76dc.

[0207] 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.

[0208] Furthermore, the lower downstream rod extraction oscillating cam 76db also has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b, S1b, S2t, S2t, S3t, and S4t between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises 2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0209] The lower downstream bar material extraction fixing cam 75db has substantially the same form as the lower downstream bar material extraction fixing cam 75da, and like the lower downstream bar material extraction fixing cam 75da, it is fixed to the lower downstream bar material extraction housing 72db, and on the upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, and between the fixing cam tooth sections K3t and K4t Between the fixed cam teeth, and between the fixed cam tooth teeth K4t and K5t, there are four fixed cam tooth teeth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth teeth K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b, moving from the -Y direction to the +Y direction.

[0210] In the lower rod extraction device 7 of this embodiment described above, a lower upstream rod extraction fixing part 71a is positioned in the center in the -X·+X direction, and a lower upstream rod extraction movable part 70a and a lower upstream rod extraction movable part 70b are positioned in the +X and -X directions of the lower upstream rod extraction fixing part 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.

[0211] Furthermore, in the lower rod material extraction device 7, the lower downstream rod material extraction fixing part 71b is positioned in the center of the -X·+X direction, downstream of the lower upstream rod material extraction fixing part 71a, the lower upstream rod material extraction movable part 70a, and the lower upstream rod material extraction movable part 70b in the +Y direction, and the lower downstream rod material extraction movable part 70c and the lower downstream rod material extraction movable part 70d are positioned in the +X and -X directions of the lower downstream rod material extraction fixing part 71b. By repeatedly moving the lower downstream rod material extraction cylinder rod 74c of the lower downstream rod material extraction cylinder 73c and the lower downstream rod material extraction cylinder rod 74d of the lower downstream rod material extraction cylinder 73d back and forth in the +Z·-Z direction, even if it is not possible to extract the rod material B2 one by one on the upstream side, it is possible to reliably extract the rod material B2 one by one from the bundle of rod material B2.

[0212] Furthermore, in the lower bar material extraction device 7, the bar 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 bar material transport conveyors 80a to 80d, the lower second bar material transport conveyors 82a to 82d, the lower third bar material transport conveyors 84a to 84d, the lower fourth bar material transport conveyors 86a to 86d, and the lower fifth bar material transport conveyors 88a to 88d.

[0213] Furthermore, the lower bar material removal device 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 in a slidable manner from below when the bar material B2 is transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b, 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.

[0214] As shown in Figure 6, the upper bar material removal device 107 is responsible for removing one bar material B1 at a time from the bundle of longer bar materials B1, and for transporting the removed bar materials B1 in the +Y direction to the lower fifth bar material transport conveyors 88a to 88d.

[0215] As shown in Figures 6 and 7, the upper bar material removal device 107 of this embodiment includes four upper first bar material transport conveyors 180a, 180b, 180c, and 180d (hereinafter referred to as "180a~180d") that transport the bundle of bar material B1 in the +Y direction from the -X direction end to the +X direction end at the -Y direction end, and four upper first bar material transport motors 181a, 181b, 181c, and 181d (hereinafter referred to as "181a~181d") that drive the upper first bar material transport conveyors 180a~180d, and the bundle of bar material B1 is in the upper 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.

[0216] Furthermore, the upper rod material removal device 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 part 171a (fixing member unit) located adjacent to the upper second rod material transport conveyors 182a to 182d in the +Y direction and in the center in the -X·+X direction, such that the bundles of rod materials B1 are transported continuously from the upper second rod material transport conveyors 182a to 182d, an upper upstream rod material removal movable part 170a (corresponding to the "movable member unit" of the present invention) located in the -X direction from the upper upstream rod material removal fixing part 171a, and an upper upstream rod material removal movable part 170b (corresponding to the "movable member unit" of the present invention) located in the +X direction from the upper upstream rod material removal fixing part 171a.

[0217] Furthermore, the upper rod material removal device 107 includes four upper third rod material transport conveyors 184a, 184b, 184c, and 184d (hereinafter referred to as "184a~184d") positioned 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, 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.

[0218] Furthermore, in order to more reliably remove the bar materials B1 one by one, the upper bar material removal device 107 includes an upper downstream bar material removal fixing part 171b (fixing member unit) 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 part 170c (corresponding to the "movable member unit" of the present invention) located in the -X direction from the upper downstream bar material removal fixing part 171b; and an upper downstream bar material removal movable part 170d (corresponding to the "movable member unit" of the present invention) located in the +X direction from the upper downstream bar material removal fixing part 171b.

[0219] Furthermore, the upper rod material removal device 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.

[0220] 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.

[0221] 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.

[0222] As shown in Figures 6, 7, 20, and 21, the upper upstream rod extraction and fixing section 171a is provided on the upper surface of the fourth base section 90e (corresponding to the "housing" of the present invention), which is located adjacent to the upper upstream rod extraction and fixing section plate 178aa in the -X direction, and is positioned adjacent to the upper upstream rod extraction and fixing section plate 178aa in the -X direction. The device comprises an upper upstream rod extraction and fixing housing 177aa that fixes the upper upstream rod extraction and fixing plate 178aa at two locations spaced apart in the +Y·-Y directions, and an upper upstream rod extraction and fixing housing 177ab provided on the upper surface of the fourth base 90e and positioned adjacent to the upper upstream rod extraction and fixing plate 178ab in the +X direction, and that fixes the upper upstream rod extraction and fixing plate 178ab at two locations spaced apart in the +Y·-Y directions.

[0223] 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.

[0224] 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 (corresponding to the "first movable member" of the present invention) and 176ab erected parallel to each other in the center of the +X·-X direction, an upper upstream rod extraction housing 172aa (corresponding to the "housing" of the present invention) 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.

[0225] 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 fixing cam 175aa (corresponding to the "first fixing member" of the present invention) erected between the upper upstream rod extraction swing cam 176aa and the upper upstream rod extraction housing 172aa, and an upper upstream rod extraction fixing part cam 175ab (corresponding to the "second fixing member" of the present invention) 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.

[0226] The upper upstream rod extraction oscillating cam 176aa is rotatably connected to the +Z 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 (corresponding to the "cylinder" of the present invention), which is connected to the fourth base portion 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 (corresponding to the "first pivot point" of the present invention) formed in the upper upstream rod extraction housing 172aa.

[0227] Furthermore, the upper upstream rod extraction oscillating cam 176aa has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0228] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 176ac.

[0229] 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, 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 upstream rod extraction housing 172aa.

[0230] Furthermore, the upper upstream rod extraction oscillating cam 176ab also has, on its upper surface in the +Z direction, four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0231] The upper upstream rod extraction fixing cam 175aa is fixed to the upstream rod extraction housing 172aa, and on its upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and four fixed cam tooth sections between K1t and K2t, between K2t and K3t, between K3t and K4t, and between K4t and K5t. The device comprises fixed cam tooth valleys K1b, K2b, K3b, and K4b (corresponding to the "first valley" of the present invention), and 10 inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined section" of the present invention) that connect five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t with four fixed cam tooth valleys K1b, K2b, K3b, and K4b, extending from the -Y direction to the +Y direction.

[0232] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 176ac.

[0233] The upper upstream rod extraction fixing cam 175ab has substantially the same form as the upper upstream rod extraction fixing cam 175aa, and is fixed to the upper upstream rod extraction housing 172ab, similar to the upper upstream rod extraction fixing cam 175aa, and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction on the upper surface in the +Z direction, and between fixing cam tooth sections K1t and K2t, between fixing cam tooth sections K2t and K3t, and between fixing cam tooth sections K3t and K4t Between and between fixed cam tooth crests K4t and K5t, there are four fixed cam tooth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention), and 10 inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth crests K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b, extending from the -Y direction to the +Y direction.

[0234] 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 (corresponding to the "first movable member" of the present invention) and 176bb erected parallel to each other in the center of the +X·-X direction, an upper upstream rod extraction housing 172ba (corresponding to the "housing" of the present invention) 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.

[0235] 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 fixing cam 175ba (corresponding to the "first fixing member" of the present invention) erected between the upper upstream rod extraction swing cam 176ba and the upper upstream rod extraction housing 172ba, and an upper upstream rod extraction fixing part cam 175bb (corresponding to the "second fixing member" of the present invention) 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.

[0236] 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 (corresponding to the "cylinder" of the present invention), which is connected to the fourth base portion 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 (corresponding to the "first fulcrum" of the present invention) formed in the upstream rod extraction housing 172ba.

[0237] Furthermore, the upper upstream rod extraction oscillating cam 176ba has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0238] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 176bc.

[0239] The upper upstream rod extraction fixing cam 175ba is fixed to the upstream rod extraction housing 172ba, and on its upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and four fixed cam tooth sections between K1t and K2t, between K2t and K3t, between K3t and K4t, and between K4t and K5t. The device comprises fixed cam tooth valleys K1b, K2b, K3b, and K4b (corresponding to the "first valley" of the present invention), and 10 inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined section" of the present invention) that connect five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t with four fixed cam tooth valleys K1b, K2b, K3b, and K4b, extending from the -Y direction to the +Y direction.

[0240] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 176bc.

[0241] 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, 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.

[0242] Furthermore, the upper upstream rod extraction oscillating cam 176bb also has, on its upper surface in the +Z direction, four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0243] The upper upstream rod extraction fixing cam 175bb has substantially the same form as the upper upstream rod extraction fixing cam 175ba, and is fixed to the upstream rod extraction housing 172ba, similar to the upper upstream rod extraction fixing cam 175ba, and on the upper surface in the +Z direction, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and between fixing cam tooth sections K1t and K2t, between fixing cam tooth sections K2t and K3t, and between fixing cam tooth sections K3t and K4t Between the fixed cam tooth crests K4t and K5t, there are four fixed cam tooth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth crests K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b, extending from the -Y direction to the +Y direction.

[0244] As shown in Figures 6, 7, 20, and 21, the upper downstream rod extraction and fixing section 171b consists of two upper downstream rod extraction and fixing section plates 178ba (corresponding to the "third fixing member" of the present invention) and 178bb (corresponding to the "fourth fixing member" of the present invention) erected parallel to each other in the +X and -X directions, and a fourth base section 90e provided on the upper surface of the fourth base section 90e, positioned adjacent to the upper downstream rod extraction and fixing section plate 178ba on the -X direction side, and upper downstream The device comprises an upper downstream rod extraction and fixing housing 177ba that fixes the rod extraction and fixing plate 178ba at two locations spaced apart in the +Y and -Y directions, and an upper downstream rod extraction and fixing housing 177bb that is provided on the upper surface of the fourth base 90e and is positioned adjacent to the +X direction side of the upper downstream rod extraction and fixing plate 178bb, and fixes the upper downstream rod extraction and fixing plate 178bb at two locations spaced apart in the +Y and -Y directions.

[0245] 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.

[0246] 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 (corresponding to the "first movable member" of the present invention) and 176cb erected parallel to each other in the center of the +X·-X direction, an upper downstream rod extraction housing 172ca (corresponding to the "housing" of the present invention) 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.

[0247] 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 fixing cam 175ca (corresponding to the "first fixing member" of the present invention) erected between the upper downstream rod extraction swing cam 176ca and the upper downstream rod extraction housing 172ca, and an upper downstream rod extraction fixing part cam 175cb (corresponding to the "second fixing member" of the present invention) 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.

[0248] The upper downstream bar material extraction oscillating cam 176ca is rotatably connected to the +Z direction end of the upper downstream bar material extraction cylinder rod 174c at the upper downstream bar material extraction oscillating cam action point 176cd. The upper downstream bar material extraction cylinder 173c (corresponding to the "cylinder" of the present invention), connected to the fourth base portion 90e, causes the upper downstream bar material extraction cylinder rod 174c of the upper downstream bar material extraction cylinder 173c to move in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar material extraction oscillating cam center 176cc (corresponding to the "first fulcrum" of the present invention) formed in the upper downstream bar material extraction housing 172ca.

[0249] Furthermore, the upper downstream rod extraction oscillating cam 176ca has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0250] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a roughly circular shape with respect to the lower upstream rod extraction oscillating cam center of 176cc.

[0251] 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.

[0252] Furthermore, the upper downstream rod extraction oscillating cam 176cb also has, on its upper surface in the +Z direction, four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0253] 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, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and 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, The device comprises fixed cam tooth valleys K1b, K2b, K3b, and K4b (corresponding to the "first valley" of the present invention), and 10 inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined section" of the present invention) that connect five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t with four fixed cam tooth valleys K1b, K2b, K3b, and K4b, extending from the -Y direction to the +Y direction.

[0254] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a roughly circular shape with respect to the lower upstream rod extraction oscillating cam center of 176cc.

[0255] 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 is fixed to the upper downstream bar material extraction housing 172ca, similar to the upper downstream bar material extraction fixing cam 175ca, and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction on the upper surface in the +Z direction, and between fixing cam tooth sections K1t and K2t, between fixing cam tooth sections K2t and K3t, and between fixing cam tooth sections K3t and K4t Between and between fixed cam tooth crests K4t and K5t, there are four fixed cam tooth valleys K1b, K2b, K3b and K4b (corresponding to the "first valley" of the present invention), and 10 inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth crests K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valleys K1b, K2b, K3b and K4b, extending from the -Y direction to the +Y direction.

[0256] 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 (corresponding to the "first movable member" of the present invention) and 176db erected parallel to each other in the center of the +X·-X direction, an upper downstream rod extraction housing 172da (corresponding to the "housing" of the present invention) 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.

[0257] 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 fixing cam 175da (corresponding to the "first fixing member" of the present invention) erected between the upper downstream rod extraction swing cam 176da and the upper downstream rod extraction housing 172da, and an upper downstream rod extraction fixing part cam 175db (corresponding to the "second fixing member" of the present invention) 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.

[0258] The upper downstream bar material extraction oscillating cam 176da is rotatably connected to the +Z direction end of the upper downstream bar material extraction cylinder rod 174d at the upper downstream bar material extraction oscillating cam action point 176dd. The upper downstream bar material extraction cylinder 173d (corresponding to the "cylinder" of the present invention), which is connected to the fourth base portion 90e, causes the upper downstream bar material extraction cylinder rod 174d of the upper downstream bar material extraction cylinder 173d to move in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar material extraction oscillating cam center 176dc (corresponding to the "first pivot point" of the present invention) formed in the upper downstream bar material extraction housing 172da.

[0259] Furthermore, the upper downstream rod extraction oscillating cam 176da has four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0260] Of the inclined sections S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2, the inclined sections S1s1, S2s1, S3s1, and S4s1 on the -Y direction side each have a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 176dc.

[0261] 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, there are five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t (corresponding to the "first section" of the present invention) extending from the -Y direction to the +Y direction, and 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, The device comprises fixed cam tooth valleys K1b, K2b, K3b, and K4b (corresponding to the "first valley" of the present invention), and 10 inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined section" of the present invention) that connect five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t with four fixed cam tooth valleys K1b, K2b, K3b, and K4b, extending from the -Y direction to the +Y direction.

[0262] Of the inclined sections K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2, the inclined sections K1s1, K2s1, K3s1, K4s1, and K5s1 on the -Y direction side each exhibit a substantially circular shape with respect to the lower upstream rod extraction oscillating cam center 176dc.

[0263] 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.

[0264] Furthermore, the upper downstream rod extraction oscillating cam 176db also has, on its upper surface in the +Z direction, four oscillating cam tooth crests S1t, S2t, S3t, and S4t (corresponding to the "second crest" of the present invention) extending from the -Y direction to the +Y direction, and three oscillating cam tooth valleys S1b between the oscillating cam tooth crests S1t and S2t, between the oscillating cam tooth crests S2t and S3t, and between the oscillating cam tooth crests S3t and S4t. The device comprises S2b and S3b (corresponding to the "second valley" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1, and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b, extending from the -Y direction to the +Y direction.

[0265] The upper-stage downstream-side bar extraction and fixing cam 175db has substantially the same form as the upper-stage downstream-side bar extraction and fixing cam 175da. Similar to the upper-stage downstream-side bar extraction and fixing cam 175da, it is fixed to the upper-stage downstream-side bar extraction housing 172db. On the upper surface in the +Z direction, there are five fixing cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention) extending from the -Y direction to the +Y direction, and between the fixing cam tooth crest portions K1t and K2t, between the fixing cam tooth crest portions K2t and K3t, between the fixing cam tooth crest portions K3t and K4t, and between the fixing cam tooth crest portions K4t and K5t, there are four fixing cam tooth trough portions K1b, K2b, K3b, and K4b (corresponding to the "first trough portion" of the present invention). Connecting the five fixing cam tooth crest portions K1t, K2t, K3t, K4t, and K5t and the four fixing cam tooth trough portions K1b, K2b, K3b, and K4b, there are ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined portion" of the present invention) extending from the -Y direction to the +Y direction.

[0266] In the upper-stage bar extraction device 107 of the present embodiment described above, the upper-stage upstream-side bar extraction and fixing portion 171a is arranged at the central portion in the -X·+X directions. After arranging the upper-stage upstream-side bar extraction movable portion 170a and the upper-stage upstream-side bar extraction movable portion 170b in the +X direction and -X direction of the upper-stage upstream-side bar extraction and fixing portion 171a, by repeatedly reciprocating the upper-stage upstream-side bar extraction cylinder rod 174a of the upper-stage upstream-side bar extraction cylinder 173a and the upper-stage upstream-side bar extraction cylinder rod 174b of the upper-stage upstream-side bar extraction cylinder 173b in the +Z·-Z directions, the bar B1 can be taken out one by one from the bundle of bars B1.

[0267] In the upper bar extraction device 107, a lower stream side bar extraction fixing part 171b in the -X·+X direction center is arranged on the +Y direction lower stream side of the upper stream side bar extraction fixing part 171a, the upper stream side bar extraction movable part 170a, and the upper stream side bar extraction movable part 170b. After arranging the upper stream side bar extraction movable part 170c and the upper stream side bar extraction movable part 170d in the +X direction and -X direction of the lower stream side bar extraction fixing part 171b, by repeating the reciprocating movement of the upper stream side bar extraction cylinder rod 174c of the lower stream side bar extraction cylinder 173c and the upper stream side bar extraction cylinder rod 174d of the lower stream side bar extraction cylinder 173d in the +Z·-Z direction, even if it is impossible to extract the bars B1 one by one on the upper stream side, the bars B1 can be surely extracted one by one from the bundle of the bars B1.

[0268] In the upper bar extraction device 107, the bars B1 extracted one by one can be conveyed onto the lower stream side fifth bar conveying conveyors 88a to 88d by the upper stream side first bar conveying conveyors 180a to 180d, the upper stream side second bar conveying conveyors 182a to 182d, the upper stream side third bar conveying conveyors 184a to 184d, and the upper stream side fourth bar conveying conveyors 186a to 186d.

[0269] Furthermore, on the lower stream side of the upper bar extraction device 107, when the bar B1 is conveyed to a position where the first placing robot 5a and the second placing robot 5b can grip it, in order to slidably support the bar B1 from the lower side, a plurality of bar slide pulleys 105a to 105d arranged from the -X direction end to the +X direction end, and a pusher part 104 for pushing the bar B1 supported by the bar slide pulleys 105a to 105d toward the bar reference plate 106 located at the +X direction end are provided. Therefore, the reference position of the bar B1 can be set, and when manufacturing the bar unit 100, the bar B1 can be accurately arranged according to the specifications of the bar unit 100.

[0270] Next, a block diagram of the bar material unit manufacturing apparatus 1 of this embodiment will be described.

[0271] 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.

[0272] 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.

[0273] 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.

[0274] 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.

[0275] 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.

[0276] ROM18 includes a rod feed control program 18a that controls, as a periodic interrupt process, 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 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; a binding member binding control program 18c that controls, as a periodic interrupt process, the operation of binding the binding members 66 to the binding position; and a binding member container exchange program 18d that controls, as an interrupt process, the operation of moving the first binding robot 3a to the -X direction end or moving the second binding robot 3b to the +X direction end to exchange the binding member container when the first binding container C1 or the second binding member container C2 in which the binding members 66 are stored becomes empty.

[0277] Next, the operation of the lower bar material extraction device 7 and the upper bar material extraction device 107 with the above configuration will be explained. As mentioned above, the lower upstream bar material extraction movable parts 70a and 70b, the lower downstream bar material extraction movable parts 70c and 70d, the upper upstream bar material extraction movable parts 170a and 170b, and the upper downstream bar material extraction movable parts 170c and 170d, which will be described later, have the same specifications. Therefore, in this explanation of operation, the lower upstream bar material extraction movable parts 70a and 70b will be the main focus of the illustrations, and the other elements will be shown in parentheses.

[0278] Figure 26 is a flowchart of the bar material extraction control program in the bar material extraction device of this embodiment.

[0279] Furthermore, Figure 27 is an explanatory diagram showing the first stage of rod extraction in the rod extraction device of this embodiment, Figure 28 is an explanatory diagram showing the second stage of rod extraction, Figure 29 is an explanatory diagram showing the third stage of rod extraction, Figure 30 is an explanatory diagram showing the fourth stage of rod extraction, and Figure 31 is an explanatory diagram showing the fifth stage of rod extraction.

[0280] Furthermore, Figure 32 is an explanatory diagram showing the first stage of rod extraction after one cycle in the rod extraction device of this embodiment, Figure 33 is an explanatory diagram showing the second stage of rod extraction after one cycle, Figure 34 is an explanatory diagram showing the third stage of rod extraction after one cycle, Figure 35 is an explanatory diagram showing the fourth stage of rod extraction after one cycle, Figure 36 is an explanatory diagram showing the fifth stage of rod extraction after one cycle, and Figure 37 is an explanatory diagram showing the rod extraction after two cycles.

[0281] First, after the user of the bar unit manufacturing apparatus 1, which uses the lower bar material extraction device 7 and the upper bar material extraction device 107, turns on the power switch of the apparatus, the user inputs the specifications of the bar unit 100 (number of bar materials B in the vertical and horizontal rows, length of bar materials B in the vertical and horizontal rows, number of bar unit 100 to be manufactured, etc.) using the operation buttons on the operation panel 8, and then presses the start button. At this point, the bar material feeding control program 18a, the bar unit manufacturing program 18b, the binding member binding control program 18c, and the binding member container exchange program are executed almost simultaneously.

[0282] In the interrupt processing program, the bar feed control program 18a, as shown in Figure 26, first, the bar sensors 99a and 99b determine whether the bar B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S1).

[0283] 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 (S1: 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), after which the interrupt process is terminated (S9).

[0284] On the other hand, 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 (S1: No), the bar material B2 is taken out one by one from the bundle of bar material B2 by the lower first bar material transport conveyor 80a~80d, the lower second bar material transport conveyor 82a~82d, the lower third bar material transport conveyor 84a~84d, the lower fourth bar material transport conveyor 86a~86d, the lower fifth bar material transport conveyor 88a~88d, the lower upstream bar material removal and fixing part 71a, the lower upstream bar material removal movable parts 70a and 70b, the lower downstream bar material removal and fixing part 71b, and the lower downstream bar material removal movable parts 70c and 70d, and transported in the +Y direction (S3).

[0285] Furthermore, for the bar material B1, the upper first bar material transport conveyor 180a~180d, the upper second bar material transport conveyor 182a~182d, the upper third bar material transport conveyor 184a~184d, the upper fourth bar material transport conveyor 186a~186d, the lower fifth bar material transport conveyor 88a~88d, the upper upstream bar material extraction and fixing section 171a, the upper upstream bar material extraction movable sections 170a and 170b, the upper downstream bar material extraction and fixing section 171b, and the upper downstream bar material extraction movable sections 170c and 170d extract the bar material B1 one by one from the bundle of bar material B1 and transport them in the +Y direction (S3).

[0286] 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).

[0287] 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).

[0288] Here, we will describe the process in S3 in which one bar B2 is taken out at a time from the bundle of bar B2.

[0289] First, when a bundle of bars B2 is conveyed by the lower-stage first bar conveyors 80a to 80d and the lower-stage second bar conveyors 82a to 82d to the lower-stream-side bar extraction fixing part 71a, and the lower-stream-side bar extraction movable parts 70a and 70b, the bundle of bars B2 is, as shown in Fig. 27, conveyed between the fixing cam tooth parts K1t and K2t of the lower-stream-side bar extraction movable parts 70a and 70b in a state where the lower-stream-side bar extraction cylinder rods 74a and 74b of the lower-stream-side bar extraction cylinders 73a and 73b are lowered.

[0290] Then, in the lower-stream-side bar extraction movable part 70a, when the lower-stream-side bar extraction cylinder rod 74a of the lower-stream-side bar extraction cylinder 73a is moved in the +Z direction and the lower-stream-side bar extraction swing cam action point 76ad is moved in the +Z direction, the two lower-stream-side bar extraction swing cams 76aa and 76ab rotate counterclockwise (CCW direction) around the lower-stream-side bar extraction swing cam rotation center 76ac, and the four swing cam tooth parts S1t, S2t, S3t, and S4t of each of the lower-stream-side bar extraction swing cams 76aa and 76ab project above the respective inclined parts K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the two lower-stream-side bar extraction fixing cams 75aa and 75ab between the two lower-stream-side bar extraction fixing cams 75aa and 75ab.

[0291] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved in the +Z direction, and the lower upstream rod extraction oscillating cam action point 76bd is moved in the +Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb move around the lower upstream rod extraction oscillating cam rotation center 76bc. With the center rotated counterclockwise (CCW direction), the four oscillating cam teeth S1t, S2t, S3t, and S4t of the lower upstream rod extraction oscillating cams 76ba and 76bb respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them.

[0292] As a result, one of the bundles of rods B2 that had been transported to the space between the fixed cam teeth K1t and K2t of the lower upstream rod extraction movable parts 70a and 70b moves, as shown in Figure 28, between the oscillating cam teeth S1t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam teeth K2t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam teeth S1t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam teeth K2t of the lower upstream rod extraction fixed cams 75ba and 75bb.

[0293] Then, in the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a is moved further in the +Z direction, and the lower upstream rod extraction oscillating cam action point 76ad is moved further in the +Z direction, the two lower upstream rod extraction oscillating cams 76aa and 76ab rotate further counterclockwise (CCW direction) around the lower upstream rod extraction oscillating cam rotation center 76ac, and the lower upstream The four oscillating cam tooth crests S1t, S2t, S3t, and S4t and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the rod material extraction oscillating cams 76aa and 76ab respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod material extraction fixing cams 75aa and 75ab, respectively, between them and the two lower upstream rod material extraction fixing cams 75aa and 75ab.

[0294] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved further in the +Z direction, and the lower upstream rod extraction oscillating cam action point 76bd is moved further in the +Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb move counterclockwise (CCW direction) around the lower upstream rod extraction oscillating cam rotation center 76bc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower upstream rod extraction oscillating cams 76ba and 76bb respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them and the two lower upstream rod extraction fixing cams 75ba and 75bb.

[0295] As a result, one rod B2 (hereinafter referred to as "Ba") that had been moved between the oscillating cam tooth portion S1t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth portion K2t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth portion S1t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth portion K2t of the lower upstream rod extraction fixed cams 75ba and 75bb, moves to the oscillating cam tooth valley portion S1b of the lower upstream rod extraction oscillating cams 76aa and 76ab (see Figure 23), as shown in Figure 29, and then separates to the oscillating cam tooth valley portion S1b of the lower upstream rod extraction oscillating cams 76aa and 76ab, as shown in Figure 30.

[0296] Subsequently, in the lower upstream rod extraction movable section 70a, the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a is moved in the opposite direction (-Z), and the lower upstream rod extraction oscillating cam action point 76ad is moved in the -Z direction, causing the two lower upstream rod extraction oscillating cams 76aa and 76ab to rotate clockwise around the lower upstream rod extraction oscillating cam rotation center 76ac. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower upstream rod extraction oscillating cams 76aa and 76ab retract downwards from the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75aa and 75ab, respectively, between them.

[0297] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved in the opposite direction to -Z, and the lower upstream rod extraction oscillating cam action point 76bd is moved in the -Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb rotate while the lower upstream rod extraction oscillating cam is rotating. The center 76bc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower upstream rod extraction oscillating cams 76ba and 76bb respectively retract downwards from the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them.

[0298] As a result, the rod Ba, which was separated by the oscillating cam tooth root S1b of the lower upstream rod extraction oscillating cams 76aa and 76ab, moves between the oscillating cam tooth root S2t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth root K2t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth root S2t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth root K2t of the lower upstream rod extraction fixed cams 75ba and 75bb, as shown in Figure 31.

[0299] Then, in the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a is moved further in the -Z direction, and the lower upstream rod extraction swing cam action point 76ad is moved further in the -Z direction, the two lower upstream rod extraction swing cams 76aa and 76ab rotate further clockwise (CW direction) around the lower upstream rod extraction swing cam rotation center 76ac, and the lower upstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 76aa and 76ab, respectively, retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction and fixing cams 75aa and 75ab, respectively, between them and the two lower upstream rod extraction and fixing cams 75aa and 75ab.

[0300] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved further in the -Z direction, and the lower upstream rod extraction oscillating cam action point 76bd is moved further in the -Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb move clockwise (CW direction) around the lower upstream rod extraction oscillating cam rotation center 76bc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower upstream rod extraction oscillating cams 76ba and 76bb, respectively, retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them.

[0301] As a result, the rod Ba that had been moving between the oscillating cam tooth portions S2t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth portions K2t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth portions S2t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth portions K2t of the lower upstream rod extraction fixed cams 75ba and 75bb, is separated to the fixed cam tooth valleys K2b of the lower upstream rod extraction fixed cams 75aa and 75ab, as shown in Figure 32, and the operation of the first cycle is completed.

[0302] Then, entering the second cycle, the lower upstream rod extraction movable part 70a again moves the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a in the +Z direction, and moves the lower upstream rod extraction oscillating cam action point 76ad in the +Z direction, causing the two lower upstream rod extraction oscillating cams 76aa and 76ab to move counterclockwise around the lower upstream rod extraction oscillating cam rotation center 76ac. Rotating in the CCW direction, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the lower upstream rod extraction oscillating cams 76aa and 76ab respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75aa and 75ab, respectively, between them.

[0303] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved again in the +Z direction, and the lower upstream rod extraction oscillating cam action point 76bd is moved in the +Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb move the lower upstream rod extraction oscillating cam rotation center 76bc Rotating counterclockwise (CCW direction) around the center, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the lower upstream rod extraction oscillating cams 76ba and 76bb respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them.

[0304] As a result, as shown in Figure 33, the rod Ba, which was separated by the fixed cam tooth root K2b of the lower upstream rod extraction fixed cams 75aa and 75ab, moves between the oscillating cam tooth root S2t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth root K3t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth root S2t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth root K3t of the lower upstream rod extraction fixed cams 75ba and 75bb.

[0305] Furthermore, as shown in Figure 33, a new bar Bb from the bundle of bar B2 that had been transported to the space between the fixed cam teeth K1t and K2t of the lower upstream bar extraction movable parts 70a and 70b moves between the oscillating cam teeth S1t of the lower upstream bar extraction oscillating cams 76aa and 76ab and the fixed cam teeth K2t of the lower upstream bar extraction fixed cams 75aa and 75ab, and between the oscillating cam teeth S1t of the lower upstream bar extraction oscillating cams 76ba and 76bb and the fixed cam teeth K2t of the lower upstream bar extraction fixed cams 75ba and 75bb.

[0306] Then, in the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a is moved further in the +Z direction, and the lower upstream rod extraction oscillating cam action point 76ad is moved further in the +Z direction, the two lower upstream rod extraction oscillating cams 76aa and 76ab rotate further counterclockwise (CCW direction) around the lower upstream rod extraction oscillating cam rotation center 76ac, and the lower upstream The four oscillating cam tooth crests S1t, S2t, S3t, and S4t and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the rod material extraction oscillating cams 76aa and 76ab respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod material extraction fixing cams 75aa and 75ab, respectively, between them and the two lower upstream rod material extraction fixing cams 75aa and 75ab.

[0307] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved further in the +Z direction, and the lower upstream rod extraction oscillating cam action point 76bd is moved further in the +Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb move counterclockwise (CCW direction) around the lower upstream rod extraction oscillating cam rotation center 76bc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower upstream rod extraction oscillating cams 76ba and 76bb respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them and the two lower upstream rod extraction fixing cams 75ba and 75bb.

[0308] As a result, one rod Ba, which had been moved between the oscillating cam tooth portion S2t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth portion K3t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth portion S2t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth portion K3t of the lower upstream rod extraction fixed cams 75ba and 75bb, detaches from the fixed cam tooth portion K3t of the lower upstream rod extraction fixed cams 75aa and 75ab, as shown in Figure 34, and separates into the oscillating cam tooth valley portion S2b (see Figure 23) of the lower upstream rod extraction oscillating cams 76aa and 76ab, as shown in Figure 35.

[0309] Furthermore, one rod Bb that had been moved between the oscillating cam tooth portion S1t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth portion K2t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth portion S1t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth portion K2t of the lower upstream rod extraction fixed cams 75ba and 75bb, moves to the oscillating cam tooth valley portion S1b of the lower upstream rod extraction oscillating cams 76aa and 76ab (see Figure 23), as shown in Figure 34, and then separates to the oscillating cam tooth valley portion S1b of the lower upstream rod extraction oscillating cams 76aa and 76ab, as shown in Figure 35.

[0310] Subsequently, in the lower upstream rod extraction movable section 70a, the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a is moved in the opposite direction (-Z), and the lower upstream rod extraction oscillating cam action point 76ad is moved in the -Z direction, causing the two lower upstream rod extraction oscillating cams 76aa and 76ab to rotate clockwise around the lower upstream rod extraction oscillating cam rotation center 76ac. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower upstream rod extraction oscillating cams 76aa and 76ab retract downwards from the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75aa and 75ab, respectively, between them.

[0311] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved in the opposite direction to -Z, and the lower upstream rod extraction oscillating cam action point 76bd is moved in the -Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb rotate while the lower upstream rod extraction oscillating cam is rotating. The center 76bc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower upstream rod extraction oscillating cams 76ba and 76bb respectively retract downwards from the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them.

[0312] As a result, the rod Ba, which was separated by the oscillating cam tooth roots S2b of the lower upstream rod extraction oscillating cams 76aa and 76ab, moves between the oscillating cam tooth roots S3t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth roots K3t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth roots S3t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth roots K3t of the lower upstream rod extraction fixed cams 75ba and 75bb, as shown in Figure 36.

[0313] Furthermore, the rod Bb, which was separated by the oscillating cam tooth root S1b of the lower upstream rod extraction oscillating cams 76aa and 76ab, moves between the oscillating cam tooth root S2t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth root K2t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth root S2t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth root K2t of the lower upstream rod extraction fixed cams 75ba and 75bb, as shown in Figure 36.

[0314] Then, in the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a is moved further in the -Z direction, and the lower upstream rod extraction swing cam action point 76ad is moved further in the -Z direction, the two lower upstream rod extraction swing cams 76aa and 76ab rotate further clockwise (CW direction) around the lower upstream rod extraction swing cam rotation center 76ac, and the lower upstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 76aa and 76ab, respectively, retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction and fixing cams 75aa and 75ab, respectively, between them and the two lower upstream rod extraction and fixing cams 75aa and 75ab.

[0315] Furthermore, in the lower upstream rod extraction movable part 70b located on the +X direction side of the lower upstream rod extraction movable part 70a, when the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b is moved further in the -Z direction, and the lower upstream rod extraction oscillating cam action point 76bd is moved further in the -Z direction, the two lower upstream rod extraction oscillating cams 76ba and 76bb move clockwise (CW direction) around the lower upstream rod extraction oscillating cam rotation center 76bc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower upstream rod extraction oscillating cams 76ba and 76bb, respectively, retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream rod extraction fixing cams 75ba and 75bb, respectively, between them.

[0316] As a result, the rod Ba that had been moving between the oscillating cam tooth portions S3t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth portions K3t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth portions S3t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth portions K3t of the lower upstream rod extraction fixed cams 75ba and 75bb, is separated to the fixed cam tooth valleys K3b of the lower upstream rod extraction fixed cams 75aa and 75ab, as shown in Figure 37.

[0317] Furthermore, the rod Bb that had been moving between the oscillating cam tooth portions S2t of the lower upstream rod extraction oscillating cams 76aa and 76ab and the fixed cam tooth portions K2t of the lower upstream rod extraction fixed cams 75aa and 75ab, and between the oscillating cam tooth portions S2t of the lower upstream rod extraction oscillating cams 76ba and 76bb and the fixed cam tooth portions K2t of the lower upstream rod extraction fixed cams 75ba and 75bb, is separated to the fixed cam tooth valleys K2b of the lower upstream rod extraction fixed cams 75aa and 75ab, as shown in Figure 37, and the operation of the second cycle is completed.

[0318] Subsequently, by repeatedly moving the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a in the +Z·-Z direction, and repeatedly moving the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b in the +Z·-Z direction, the rods B2 can be extracted one by one from the bundle of rods B2, from the -Y direction end (corresponding to "one end" in the present invention) to the +Y direction end (corresponding to "the other end" in the present invention).

[0319] Furthermore, in the lower upstream rod extraction movable part 70a, by moving the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a in the +Z and -Z directions, the lower upstream rod extraction oscillating cams 76aa and 76ab are rotated around the lower upstream rod extraction oscillating cam rotation center 76ac, and rods B2 are extracted one by one from the bundle of rods B2. As a result, the projected area of ​​the lower upstream rod extraction movable part 70a can be reduced, and consequently, the projected area of ​​the lower rod extraction device 7 can be reduced, making it more compact.

[0320] This effect is also true for the lower upstream rod extraction movable section 70b, the lower downstream rod extraction movable sections 70c and 70d (described later), the upper upstream rod extraction movable sections 170a and 170b, and the upper downstream rod extraction movable sections 170c and 170d (described later).

[0321] In addition, regarding the bundle of rod material B2, the lower upstream rod material extraction fixing part 71a and the lower upstream rod material extraction movable parts 70a and 70b basically ensure that the rod material B2 is extracted one by one. However, in the lower rod material extraction device 7 of this embodiment, the lower downstream rod material extraction fixing part 71b and the lower downstream rod material extraction movable parts 70c and 70d are also arranged on the downstream side to ensure that even if the rod material B2 is not extracted one by one by any chance, the rod material B2 is extracted one by one with even greater certainty.

[0322] Therefore, when the rods B2 that have been taken out one by one are transported by the lower third rod transport conveyors 84a to 84d to the lower downstream rod extraction fixing section 71b and the lower downstream rod extraction movable sections 70c and 70d, the rods B2 are transported to the space between the fixed cam teeth K1t and K2t of the lower downstream rod extraction movable sections 70c and 70d, with the lower downstream rod extraction cylinder rods 74c and 74d of the lower downstream rod extraction cylinders 73c and 73d lowered, as shown in Figure 27.

[0323] Then, in the lower downstream rod extraction movable section 70c, when the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76cd is moved in the +Z direction, the two lower downstream rod extraction oscillating cams 76ca and 76cb move counterclockwise (CCW direction) around the lower downstream rod extraction oscillating cam rotation center 76cc. ) rotates, and the four oscillating cam teeth S1t, S2t, S3t, and S4t of the lower downstream rod extraction oscillating cams 76ca and 76cb respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75ca and 75cb, respectively, between them.

[0324] Furthermore, in the lower downstream rod extraction movable part 70d, which is located on the +X direction side of the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76dd is moved in the +Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db move around the lower downstream rod extraction oscillating cam rotation center 76dc. With the center rotated counterclockwise (CCW direction), the four oscillating cam teeth S1t, S2t, S3t, and S4t of the lower downstream bar material extraction oscillating cams 76da and 76db respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream bar material extraction fixing cams 75da and 75db, respectively, between them.

[0325] As a result, one rod B2, which had been transported to the space between the fixed cam teeth K1t and K2t of the lower downstream rod extraction movable parts 70c and 70d, moves between the oscillating cam teeth S1t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam teeth K2t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam teeth S1t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam teeth K2t of the lower downstream rod extraction fixed cams 75da and 75db, as shown in Figure 28.

[0326] Then, in the lower downstream rod extraction movable section 70c, when the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved further in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76cd is moved further in the +Z direction, the two lower downstream rod extraction oscillating cams 76ca and 76cb rotate further counterclockwise (CCW direction) around the lower downstream rod extraction oscillating cam rotation center 76cc, and the lower downstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the material extraction oscillating cams 76ca and 76cb respectively, protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75ca and 75cb, respectively, between them.

[0327] Furthermore, in the lower downstream rod extraction movable part 70d, which is located on the +X direction side of the lower downstream rod extraction movable part 70c, if the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved further in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76dd is moved further in the +Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db move counterclockwise (CCW direction) around the lower downstream rod extraction oscillating cam rotation center 76dc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower downstream rod extraction oscillating cams 76da and 76db respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75da and 75db, respectively, between them.

[0328] As a result, one rod B2 (hereinafter referred to as "Ba") that had been moved between the oscillating cam tooth portion S1t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth portion S1t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75da and 75db, moves to the oscillating cam tooth valley portion S1b of the lower downstream rod extraction oscillating cams 76ca and 76cb (see Figure 23), as shown in Figure 29, and then separates to the oscillating cam tooth valley portion S1b of the lower downstream rod extraction oscillating cams 76ca and 76cb, as shown in Figure 30.

[0329] Subsequently, in the lower downstream rod extraction movable section 70c, the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved in the opposite direction (-Z), and the lower downstream rod extraction oscillating cam action point 76cd is moved in the -Z direction, causing the two lower downstream rod extraction oscillating cams 76ca and 76cb to rotate clockwise around the lower downstream rod extraction oscillating cam rotation center 76cc. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower downstream rod extraction oscillating cams 76ca and 76cb retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75ca and 75cb, respectively, between them.

[0330] Furthermore, in the lower downstream rod extraction movable part 70d located on the +X direction side of the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved in the opposite direction to -Z, and the lower downstream rod extraction oscillating cam action point 76dd is moved in the -Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db rotate during the rotation of the lower downstream rod extraction oscillating cam. The center 76dc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower downstream rod extraction oscillating cams 76da and 76db retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75da and 75db, respectively, between them.

[0331] As a result, the rod Ba, which was separated by the oscillating cam tooth root S1b of the lower downstream rod extraction oscillating cams 76ca and 76cb, moves between the oscillating cam tooth root S2t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth root K2t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth root S2t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth root K2t of the lower downstream rod extraction fixed cams 75da and 75db, as shown in Figure 31.

[0332] Then, in the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved further in the -Z direction, and the lower downstream rod extraction swing cam action point 76cd is moved further in the -Z direction, the two lower downstream rod extraction swing cams 76ca and 76cb rotate further clockwise (CW direction) around the lower downstream rod extraction swing cam rotation center 76cc, and the lower downstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 76ca and 76cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1, respectively, of the lower downstream rod extraction and fixing cams 75ca and 75cb, respectively.

[0333] Furthermore, in the lower downstream rod extraction movable part 70d located on the +X direction side of the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved further in the -Z direction, and the lower downstream rod extraction oscillating cam action point 76dd is moved further in the -Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db move clockwise (CW direction) around the lower downstream rod extraction oscillating cam rotation center 76dc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower downstream rod extraction oscillating cams 76da and 76db, respectively, retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75da and 75db, respectively, between them.

[0334] As a result, the rod Ba that had been moving between the oscillating cam tooth portion S2t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth portion S2t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75da and 75db, is separated to the fixed cam tooth valley portion K2b of the lower downstream rod extraction fixed cams 75ca and 75cb, as shown in Figure 32, and the operation of the first cycle is completed.

[0335] Then, entering the second cycle, in the lower downstream rod extraction movable part 70c, the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76cd is moved in the +Z direction, causing the two lower downstream rod extraction oscillating cams 76ca and 76cb to move counterclockwise around the lower downstream rod extraction oscillating cam rotation center 76cc. Rotating in the CCW direction, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the lower downstream bar material extraction oscillating cams 76ca and 76cb respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream bar material extraction fixing cams 75ca and 75cb, respectively, between them.

[0336] Furthermore, in the lower downstream rod extraction movable part 70d, which is located on the +X direction side of the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved again in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76dd is moved in the +Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db move the lower downstream rod extraction oscillating cam rotation center 76dc Rotating counterclockwise (CCW direction) around the center, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the lower downstream bar material extraction oscillating cams 76da and 76db respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream bar material extraction fixing cams 75da and 75db, respectively, between them.

[0337] As a result, as shown in Figure 33, the rod Ba, which was separated by the fixed cam tooth root K2b of the lower downstream rod extraction fixed cams 75ca and 75cb, moves between the oscillating cam tooth root S2t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth root K3t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth root S2t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth root K3t of the lower downstream rod extraction fixed cams 75da and 75db.

[0338] Furthermore, as shown in Figure 33, a new bar Bb from the bundle of bar B2 that had been transported to the space between the fixed cam teeth K1t and K2t of the lower downstream bar extraction movable parts 70c and 70d moves between the oscillating cam teeth S1t of the lower downstream bar extraction oscillating cams 76ca and 76cb and the fixed cam teeth K2t of the lower downstream bar extraction fixed cams 75ca and 75cb, and between the oscillating cam teeth S1t of the lower downstream bar extraction oscillating cams 76da and 76db and the fixed cam teeth K2t of the lower downstream bar extraction fixed cams 75da and 75db.

[0339] Then, in the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved further in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76cd is moved further in the +Z direction, the two lower downstream rod extraction oscillating cams 76ca and 76cb rotate further counterclockwise (CCW direction) around the lower downstream rod extraction oscillating cam rotation center 76cc, and the lower downstream The four oscillating cam tooth crests S1t, S2t, S3t, and S4t and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the rod material extraction oscillating cams 76ca and 76cb respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod material extraction fixing cams 75ca and 75cb, respectively, between them and the two lower downstream rod material extraction fixing cams 75ca and 75cb.

[0340] Furthermore, in the lower downstream rod extraction movable part 70d, which is located on the +X direction side of the lower downstream rod extraction movable part 70c, if the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved further in the +Z direction, and the lower downstream rod extraction oscillating cam action point 76dd is moved further in the +Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db move counterclockwise (CCW direction) around the lower downstream rod extraction oscillating cam rotation center 76dc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower downstream rod extraction oscillating cams 76da and 76db respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75da and 75db, respectively, between them.

[0341] As a result, one rod Ba, which had been moving between the oscillating cam tooth portion S2t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth portion K3t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth portion S2t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth portion K3t of the lower downstream rod extraction fixed cams 75da and 75db, detaches from the fixed cam tooth portion K3t of the lower downstream rod extraction fixed cams 75ca and 75cb, as shown in Figure 34, and separates into the oscillating cam tooth valley portion S2b (see Figure 23) of the lower downstream rod extraction oscillating cams 76ca and 76cb, as shown in Figure 35.

[0342] Furthermore, one rod Bb that had been moved between the oscillating cam tooth portion S1t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth portion S1t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75da and 75db, moves to the oscillating cam tooth valley portion S1b of the lower downstream rod extraction oscillating cams 76ca and 76cb (see Figure 23), as shown in Figure 34, and then separates to the oscillating cam tooth valley portion S1b of the lower downstream rod extraction oscillating cams 76ca and 76cb, as shown in Figure 35.

[0343] Subsequently, in the lower downstream rod extraction movable section 70c, the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved in the opposite direction (-Z), and the lower downstream rod extraction oscillating cam action point 76cd is moved in the -Z direction, causing the two lower downstream rod extraction oscillating cams 76ca and 76cb to rotate clockwise around the lower downstream rod extraction oscillating cam rotation center 76cc. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower downstream rod extraction oscillating cams 76ca and 76cb retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75ca and 75cb, respectively, between them.

[0344] Furthermore, in the lower downstream rod extraction movable part 70d located on the +X direction side of the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved in the opposite direction to -Z, and the lower downstream rod extraction oscillating cam action point 76dd is moved in the -Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db rotate during the rotation of the lower downstream rod extraction oscillating cam. The center 76dc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the lower downstream rod extraction oscillating cams 76da and 76db retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75da and 75db, respectively, between them.

[0345] As a result, the rod Ba, which was separated by the oscillating cam tooth root S2b of the lower downstream rod extraction oscillating cams 76ca and 76cb, moves between the oscillating cam tooth root S3t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth root K3t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth root S3t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth root K3t of the lower downstream rod extraction fixed cams 75da and 75db, as shown in Figure 36.

[0346] Furthermore, the rod Bb, which was separated by the oscillating cam tooth root S1b of the lower downstream rod extraction oscillating cams 76ca and 76cb, moves between the oscillating cam tooth root S2t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth root K2t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth root S2t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth root K2t of the lower downstream rod extraction fixed cams 75da and 75db, as shown in Figure 36.

[0347] Then, in the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c is moved further in the -Z direction, and the lower downstream rod extraction swing cam action point 76cd is moved further in the -Z direction, the two lower downstream rod extraction swing cams 76ca and 76cb rotate further clockwise (CW direction) around the lower downstream rod extraction swing cam rotation center 76cc, and the lower downstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 76ca and 76cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1, respectively, of the lower downstream rod extraction and fixing cams 75ca and 75cb, respectively.

[0348] Furthermore, in the lower downstream rod extraction movable part 70d located on the +X direction side of the lower downstream rod extraction movable part 70c, when the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d is moved further in the -Z direction, and the lower downstream rod extraction oscillating cam action point 76dd is moved further in the -Z direction, the two lower downstream rod extraction oscillating cams 76da and 76db move clockwise (CW direction) around the lower downstream rod extraction oscillating cam rotation center 76dc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the lower downstream rod extraction oscillating cams 76da and 76db, respectively, retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream rod extraction fixing cams 75da and 75db, respectively, between them.

[0349] As a result, the rod Ba that had been moving between the oscillating cam tooth portion S3t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth portion K3t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth portion S3t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth portion K3t of the lower downstream rod extraction fixed cams 75da and 75db, is separated to the fixed cam tooth valley portion K3b of the lower downstream rod extraction fixed cams 75ca and 75cb, as shown in Figure 37.

[0350] Furthermore, the rod Bb that had been moving between the oscillating cam tooth portion S2t of the lower downstream rod extraction oscillating cams 76ca and 76cb and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75ca and 75cb, and between the oscillating cam tooth portion S2t of the lower downstream rod extraction oscillating cams 76da and 76db and the fixed cam tooth portion K2t of the lower downstream rod extraction fixed cams 75da and 75db, is separated to the fixed cam tooth valley portion K2b of the lower downstream rod extraction fixed cams 75ca and 75cb, as shown in Figure 37, and the operation of the second cycle is completed.

[0351] Subsequently, by repeatedly moving the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c in the +Z·-Z direction, and repeatedly moving the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d in the +Z·-Z direction, the rods B2 can be reliably extracted one by one from the -Y direction end (corresponding to "one end" in this invention) to the +Y direction end (corresponding to "the other end" in this invention).

[0352] Next, we will describe the process in S3 in which one bar B1 is taken out at a time from the bundle of bar B1.

[0353] First, the bundle of bar material B1 is transported by the upper first bar material transport conveyor 180a~180d and the upper second bar material transport conveyor 182a~182d to the upper upstream bar material extraction fixing section 171a and the upper upstream bar material extraction movable sections 170a and 170b. Then, as shown in Figure 27, the bundle of bar material B1 is transported between the fixed cam teeth K1t and K2t of the upper upstream bar material extraction movable sections 170a and 170b, with the upper upstream bar material extraction cylinder rods 174a and 174b of the upper upstream bar material extraction cylinders 173a and 173b lowered.

[0354] Then, in the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved in the +Z direction, and the upper upstream rod extraction oscillating cam action point 176ad is moved in the +Z direction, the two upper upstream rod extraction oscillating cams 176aa and 176ab move counterclockwise (CCW) around the upper upstream rod extraction oscillating cam rotation center 176ac. As they rotate in the direction, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper upstream rod extraction oscillating cams 176aa and 176ab respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175aa and 175ab, respectively, between them.

[0355] Furthermore, in the upper upstream rod extraction movable part 170b located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved in the +Z direction, and the upper upstream rod extraction oscillating cam action point 176bd is moved in the +Z direction, the two upper upstream rod extraction oscillating cams 176ba and 176bb move the upper upstream rod extraction oscillating cam rotation center 176bc Rotating counterclockwise (CCW direction) around the center, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper upstream rod extraction oscillating cams 176ba and 176bb respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175ba and 175bb, respectively, between them.

[0356] As a result, one of the bundles of bar stock B1 that had been transported to the space between the fixed cam teeth K1t and K2t of the upper upstream bar stock extraction movable parts 170a and 170b moves, as shown in Figure 28, between the oscillating cam teeth S1t of the upper upstream bar stock extraction oscillating cams 176aa and 176ab and the fixed cam teeth K2t of the upper upstream bar stock extraction fixed cams 175aa and 175ab, and between the oscillating cam teeth S1t of the upper upstream bar stock extraction oscillating cams 176ba and 176bb and the fixed cam teeth K2t of the upper upstream bar stock extraction fixed cams 175ba and 175bb.

[0357] Then, in the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved further in the +Z direction, and the upper upstream rod extraction swing cam action point 176ad is moved further in the +Z direction, the two upper upstream rod extraction swing cams 176aa and 176ab rotate further counterclockwise (CCW direction) around the upper upstream rod extraction swing cam rotation center 176ac, and the upper upstream The four oscillating cam tooth crests S1t, S2t, S3t, and S4t and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the rod material extraction oscillating cams 176aa and 176ab respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod material extraction fixing cams 175aa and 175ab, respectively, between them and the two upper upstream rod material extraction fixing cams 175aa and 175ab.

[0358] Furthermore, in the upper upstream rod extraction movable part 170b, which is located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved further in the +Z direction, and the upper upstream rod extraction oscillating cam action point 176bd is moved further in the +Z direction, the two upper upstream rod extraction oscillating cams 176ba and 176bb move counterclockwise (CCW direction) around the upper upstream rod extraction oscillating cam rotation center 176bc. ) rotate further, and the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper upstream rod extraction oscillating cams 176ba and 176bb respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175ba and 175bb, respectively, between them.

[0359] As a result, one rod B1 (hereinafter referred to as "Ba") that had been moved between the oscillating cam tooth portion S1t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth portion S1t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream rod extraction fixed cams 175ba and 175bb, moves to the oscillating cam tooth valley portion S1b of the upper upstream rod extraction oscillating cams 176aa and 176ab (see Figure 23), as shown in Figure 29, and then separates to the oscillating cam tooth valley portion S1b of the upper upstream rod extraction oscillating cams 176aa and 176ab, as shown in Figure 30.

[0360] Subsequently, in the upper upstream rod extraction movable part 170a, the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved in the opposite direction to the -Z direction, and the upper upstream rod extraction oscillating cam action point 176ad is moved in the -Z direction, causing the two upper upstream rod extraction oscillating cams 176aa and 176ab to rotate clockwise around the upper upstream rod extraction oscillating cam rotation center 176ac. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper upstream rod extraction oscillating cams 176aa and 176ab retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175aa and 175ab, respectively, between them.

[0361] Furthermore, in the upper upstream rod extraction movable part 170b located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved in the opposite direction to -Z, and the upper upstream rod extraction oscillating cam action point 176bd is moved in the -Z direction, the two upper upstream rod extraction oscillating cams 176ba and 176bb rotate during the rotation of the upper upstream rod extraction oscillating cam. The center 176bc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper upstream rod extraction oscillating cams 176ba and 176bb retract downwards from the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175ba and 175bb, respectively, between them.

[0362] As a result, the rod Ba, which was separated by the oscillating cam tooth root S1b of the upper upstream rod extraction oscillating cams 176aa and 176ab, moves between the oscillating cam tooth root S2t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth root K2t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth root S2t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth root K2t of the upper upstream rod extraction fixed cams 175ba and 175bb, as shown in Figure 31.

[0363] Then, in the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved further in the -Z direction, and the upper upstream rod extraction swing cam action point 176ad is moved further in the -Z direction, the two upper upstream rod extraction swing cams 176aa and 176ab rotate further clockwise (CW direction) around the upper upstream rod extraction swing cam rotation center 176ac, and the upper upstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 176aa and 176ab, respectively, retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction and fixing cams 175aa and 175ab, respectively, between them and the two upper upstream rod extraction and fixing cams 175aa and 175ab.

[0364] Furthermore, in the upper upstream rod extraction movable part 170b located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved further in the -Z direction, and the upper upstream rod extraction swing cam action point 176bd is moved further in the -Z direction, the two upper upstream rod extraction swing cams 176ba and 176bb move clockwise (CW direction) around the upper upstream rod extraction swing cam rotation center 176bc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper upstream rod extraction oscillating cams 176ba and 176bb, respectively, retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175ba and 175bb, respectively, between them.

[0365] As a result, the rod Ba that had been moving between the oscillating cam tooth portions S2t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth portions K2t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth portions S2t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth portions K2t of the upper upstream rod extraction fixed cams 175ba and 175bb, is separated to the fixed cam tooth valleys K2b of the upper upstream rod extraction fixed cams 175aa and 175ab, as shown in Figure 32, and the operation of the first cycle is completed.

[0366] Then, entering the second cycle, in the upper upstream rod extraction movable part 170a, the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved in the +Z direction, and the upper upstream rod extraction oscillating cam action point 176ad is moved in the +Z direction, causing the two upper upstream rod extraction oscillating cams 176aa and 176ab to move counterclockwise around the upper upstream rod extraction oscillating cam rotation center 176ac. Rotating in the CCW direction, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper upstream rod extraction oscillating cams 176aa and 176ab respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175aa and 175ab, respectively, between them.

[0367] Furthermore, in the upper upstream rod extraction movable part 170b located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved again in the +Z direction, and the upper upstream rod extraction oscillating cam action point 176bd is moved in the +Z direction, the two upper upstream rod extraction oscillating cams 176ba and 176bb move to the upper upstream rod extraction oscillating cam rotation center 176bc The upper upstream rod extraction oscillating cams 176ba and 176bb rotate counterclockwise (CCW direction) around the center, and the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper upstream rod extraction oscillating cams 176ba and 176bb respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction oscillating cams 175ba and 175bb, respectively, between them.

[0368] As a result, as shown in Figure 33, the rod Ba, which was separated by the fixed cam tooth roots K2b of the upper upstream rod extraction fixed cams 175aa and 175ab, moves between the oscillating cam tooth roots S2t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth roots K3t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth roots S2t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth roots K3t of the upper upstream rod extraction fixed cams 175ba and 175bb.

[0369] Furthermore, as shown in Figure 33, a new bar Bb from the bundle of bar B1 that had been transported to the space between the fixed cam teeth K1t and K2t of the upper upstream bar removal movable parts 170a and 170b moves between the oscillating cam teeth S1t of the upper upstream bar removal oscillating cams 176aa and 176ab and the fixed cam teeth K2t of the upper upstream bar removal fixed cams 175aa and 175ab, and between the oscillating cam teeth S1t of the upper upstream bar removal oscillating cams 176ba and 176bb and the fixed cam teeth K2t of the upper upstream bar removal fixed cams 175ba and 175bb.

[0370] Then, in the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved further in the +Z direction, and the upper upstream rod extraction swing cam action point 176ad is moved further in the +Z direction, the two upper upstream rod extraction swing cams 176aa and 176ab rotate further counterclockwise (CCW direction) around the upper upstream rod extraction swing cam rotation center 176ac, and the upper upstream The four oscillating cam tooth crests S1t, S2t, S3t, and S4t and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the rod material extraction oscillating cams 176aa and 176ab respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod material extraction fixing cams 175aa and 175ab, respectively, between them and the two upper upstream rod material extraction fixing cams 175aa and 175ab.

[0371] Furthermore, in the upper upstream rod extraction movable part 170b, which is located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved further in the +Z direction, and the upper upstream rod extraction oscillating cam action point 176bd is moved further in the +Z direction, the two upper upstream rod extraction oscillating cams 176ba and 176bb move counterclockwise (CCW direction) around the upper upstream rod extraction oscillating cam rotation center 176bc. ) rotate further, and the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper upstream rod extraction oscillating cams 176ba and 176bb respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175ba and 175bb, respectively, between them.

[0372] As a result, one rod Ba, which had been moved between the oscillating cam tooth portion S2t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth portion K3t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth portion S2t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth portion K3t of the upper upstream rod extraction fixed cams 175ba and 175bb, detaches from the fixed cam tooth portion K3t of the upper upstream rod extraction fixed cams 175aa and 175ab, as shown in Figure 34, and separates into the oscillating cam tooth valley portion S2b (see Figure 23) of the upper upstream rod extraction oscillating cams 176aa and 176ab, as shown in Figure 35.

[0373] Furthermore, one rod Bb that had been moved between the oscillating cam tooth portion S1t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth portion S1t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream rod extraction fixed cams 175ba and 175bb, moves to the oscillating cam tooth valley portion S1b of the upper upstream rod extraction oscillating cams 176aa and 176ab (see Figure 23), as shown in Figure 34, and then separates to the oscillating cam tooth valley portion S1b of the upper upstream rod extraction oscillating cams 176aa and 176ab, as shown in Figure 35.

[0374] Subsequently, in the upper upstream rod extraction movable part 170a, the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved in the opposite direction to the -Z direction, and the upper upstream rod extraction oscillating cam action point 176ad is moved in the -Z direction, causing the two upper upstream rod extraction oscillating cams 176aa and 176ab to rotate clockwise around the upper upstream rod extraction oscillating cam rotation center 176ac. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper upstream rod extraction oscillating cams 176aa and 176ab retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175aa and 175ab, respectively, between them.

[0375] Furthermore, in the upper upstream rod extraction movable part 170b located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved in the opposite direction to -Z, and the upper upstream rod extraction oscillating cam action point 176bd is moved in the -Z direction, the two upper upstream rod extraction oscillating cams 176ba and 176bb rotate during the rotation of the upper upstream rod extraction oscillating cam. The center 176bc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper upstream rod extraction oscillating cams 176ba and 176bb retract downwards from the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175ba and 175bb, respectively, between them.

[0376] As a result, the rod Ba, which was separated by the oscillating cam tooth root S2b of the upper upstream rod extraction oscillating cams 176aa and 176ab, moves between the oscillating cam tooth root S3t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth root K3t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth root S3t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth root K3t of the upper upstream rod extraction fixed cams 175ba and 175bb, as shown in Figure 36.

[0377] Furthermore, the rod Bb, which was separated by the oscillating cam tooth root S1b of the upper upstream rod extraction oscillating cams 176aa and 176ab, moves between the oscillating cam tooth root S2t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth root K2t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth root S2t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth root K2t of the upper upstream rod extraction fixed cams 175ba and 175bb.

[0378] Then, in the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a is moved further in the -Z direction, and the upper upstream rod extraction swing cam action point 176ad is moved further in the -Z direction, the two upper upstream rod extraction swing cams 176aa and 176ab rotate further clockwise (CW direction) around the upper upstream rod extraction swing cam rotation center 176ac, and the upper upstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 176aa and 176ab, respectively, retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction and fixing cams 175aa and 175ab, respectively, between them and the two upper upstream rod extraction and fixing cams 175aa and 175ab.

[0379] Furthermore, in the upper upstream rod extraction movable part 170b located on the +X direction side of the upper upstream rod extraction movable part 170a, when the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b is moved further in the -Z direction, and the upper upstream rod extraction swing cam action point 176bd is moved further in the -Z direction, the two upper upstream rod extraction swing cams 176ba and 176bb move clockwise (CW direction) around the upper upstream rod extraction swing cam rotation center 176bc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper upstream rod extraction oscillating cams 176ba and 176bb, respectively, retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream rod extraction fixing cams 175ba and 175bb, respectively, between them.

[0380] As a result, the rod Ba that had been moving between the oscillating cam tooth portions S3t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth portions K3t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth portions S3t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth portions K3t of the upper upstream rod extraction fixed cams 175ba and 175bb, is separated to the fixed cam tooth valleys K3b of the upper upstream rod extraction fixed cams 175aa and 175ab, as shown in Figure 37.

[0381] Furthermore, the rod Bb that had been moving between the oscillating cam tooth sections S2t of the upper upstream rod extraction oscillating cams 176aa and 176ab and the fixed cam tooth sections K2t of the upper upstream rod extraction fixed cams 175aa and 175ab, and between the oscillating cam tooth sections S2t of the upper upstream rod extraction oscillating cams 176ba and 176bb and the fixed cam tooth sections K2t of the upper upstream rod extraction fixed cams 175ba and 175bb, is separated to the fixed cam tooth sections K2b of the upper upstream rod extraction fixed cams 175aa and 175ab, as shown in Figure 37, and the operation of the second cycle is completed.

[0382] Subsequently, by repeatedly moving the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a in the +Z·-Z direction, and repeatedly moving the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b in the +Z·-Z direction, the rods B1 can be extracted one by one from the bundle of rods B1, from the -Y direction end (corresponding to "one end" in the present invention) to the +Y direction end (corresponding to "the other end" in the present invention).

[0383] In addition, regarding the bundle of rods B1, the upper upstream rod extraction fixing part 171a and the upper upstream rod extraction movable parts 170a and 170b ensure that each rod B1 is reliably extracted one by one. However, in the upper rod extraction device 107 of this embodiment, an upper downstream rod extraction fixing part 171b and upper downstream rod extraction movable parts 170c and 170d are also arranged on the downstream side to ensure that even if the rods B1 are not extracted one by one, they are still reliably extracted one by one.

[0384] Therefore, when the rods B1 taken out one by one are transported by the upper third rod transport conveyors 184a to 184d to the upper downstream rod extraction fixing section 171b and the upper downstream rod extraction movable sections 170c and 170d, the rods B1 are transported to the space between the fixed cam teeth K1t and K2t of the upper downstream rod extraction movable sections 170c and 170d, with the upper downstream rod extraction cylinder rods 174c and 174d of the upper downstream rod extraction cylinders 173c and 173d lowered, as shown in Figure 27.

[0385] Then, in the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved in the +Z direction, and the upper downstream rod extraction oscillating cam action point 176cd is moved in the +Z direction, the two upper downstream rod extraction oscillating cams 176ca and 176cb move counterclockwise (CCW) around the upper downstream rod extraction oscillating cam rotation center 176cc. As they rotate in the direction, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper downstream bar material extraction oscillating cams 176ca and 176cb respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175ca and 175cb, respectively, between them.

[0386] Furthermore, in the upper downstream rod extraction movable part 170d located on the +X direction side of the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved in the +Z direction, and the upper downstream rod extraction oscillating cam action point 176dd is moved in the +Z direction, the two upper downstream rod extraction oscillating cams 176da and 176db move the upper downstream rod extraction oscillating cam rotation center 176dc Rotating counterclockwise (CCW direction) around the center, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper downstream bar material extraction oscillating cams 176da and 176db respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0387] As a result, a single rod B1, which had been transported to the space between the fixed cam teeth K1t and K2t of the upper downstream rod extraction movable parts 170c and 170d, moves between the oscillating cam teeth S1t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam teeth K2t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam teeth S1t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam teeth K2t of the upper downstream rod extraction fixed cams 175da and 175db, as shown in Figure 28.

[0388] Then, in the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved further in the +Z direction, and the upper downstream rod extraction swing cam action point 176cd is moved further in the +Z direction, the two upper downstream rod extraction swing cams 176ca and 176cb rotate further counterclockwise (CCW direction) around the upper downstream rod extraction swing cam rotation center 176cc, and the upper downstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the material extraction oscillating cams 176ca and 176cb respectively, protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream rod extraction fixing cams 175ca and 175cb, respectively, between them.

[0389] Furthermore, in the upper downstream rod extraction movable part 170d, which is located on the +X direction side of the upper downstream rod extraction movable part 170c, if the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved further in the +Z direction, and the upper downstream rod extraction swing cam action point 176dd is moved further in the +Z direction, the two upper downstream rod extraction swing cams 176da and 176db move counterclockwise (CCW direction) around the upper downstream rod extraction swing cam rotation center 176dc. ) rotate further, and the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper downstream bar material extraction oscillating cams 176da and 176db respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0390] As a result, one rod B1 (hereinafter referred to as "Ba") that had been moving between the oscillating cam tooth portion S1t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth portion S1t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175da and 175db, moves to the oscillating cam tooth valley portion S1b of the upper downstream rod extraction oscillating cams 176ca and 176cb (see Figure 23), as shown in Figure 29, and then separates to the oscillating cam tooth valley portion S1b of the upper downstream rod extraction oscillating cams 176ca and 176cb, as shown in Figure 30.

[0391] Subsequently, in the upper downstream rod extraction movable part 170c, the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved in the opposite direction to the -Z direction, and the upper downstream rod extraction oscillating cam action point 176cd is moved in the -Z direction, causing the two upper downstream rod extraction oscillating cams 176ca and 176cb to rotate clockwise around the upper downstream rod extraction oscillating cam rotation center 176cc. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper downstream rod extraction oscillating cams 176ca and 176cb retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream rod extraction fixing cams 175ca and 175cb, respectively, between them.

[0392] Furthermore, in the upper downstream rod extraction movable part 170d located on the +X direction side of the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved in the opposite direction to -Z, and the upper downstream rod extraction oscillating cam action point 176dd is moved in the -Z direction, the two upper downstream rod extraction oscillating cams 176da and 176db rotate during the rotation of the upper downstream rod extraction oscillating cam. The center 176dc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper downstream bar material extraction oscillating cams 176da and 176db retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0393] As a result, the rod Ba, which was separated by the oscillating cam tooth root S1b of the upper downstream rod extraction oscillating cams 176ca and 176cb, moves between the oscillating cam tooth root S2t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth root K2t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth root S2t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth root K2t of the upper downstream rod extraction fixed cams 175da and 175db, as shown in Figure 31.

[0394] Then, in the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved further in the -Z direction, and the upper downstream rod extraction swing cam action point 176cd is moved further in the -Z direction, the two upper downstream rod extraction swing cams 176ca and 176cb rotate further clockwise (CW direction) around the upper downstream rod extraction swing cam rotation center 176cc, and the upper downstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 176ca and 176cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1, respectively, of the upper downstream rod extraction and fixing cams 175ca and 175cb, respectively.

[0395] Furthermore, in the upper downstream rod extraction movable part 170d, which is located on the +X direction side of the upper downstream rod extraction movable part 170c, if the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved further in the -Z direction, and the upper downstream rod extraction oscillating cam action point 176dd is moved further in the -Z direction, the two upper downstream rod extraction oscillating cams 176da and 176db move clockwise (CW direction) around the upper downstream rod extraction oscillating cam rotation center 176dc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper downstream bar material extraction oscillating cams 176da and 176db retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1, respectively, of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0396] As a result, the rod Ba that had been moving between the oscillating cam tooth portion S2t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth portion S2t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175da and 175db, is separated to the fixed cam tooth valley portion K2b of the upper downstream rod extraction fixed cams 175ca and 175cb, as shown in Figure 32, and the operation of the first cycle is completed.

[0397] Then, entering the second cycle, in the upper downstream rod extraction movable part 170c, the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved in the +Z direction, and the upper downstream rod extraction oscillating cam action point 176cd is moved in the +Z direction, causing the two upper downstream rod extraction oscillating cams 176ca and 176cb to move counterclockwise around the upper downstream rod extraction oscillating cam rotation center 176cc. Rotating in the CCW direction, the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper downstream bar material extraction oscillating cams 176ca and 176cb respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175ca and 175cb, respectively, between them.

[0398] Furthermore, in the upper downstream rod extraction movable part 170d, which is located on the +X direction side of the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved again in the +Z direction, and the upper downstream rod extraction oscillating cam action point 176dd is moved in the +Z direction, the two upper downstream rod extraction oscillating cams 176da and 176db move to the upper downstream rod extraction oscillating cam rotation center 176dc The oscillating cams rotate counterclockwise (CCW direction) around the center, and the four oscillating cam teeth S1t, S2t, S3t, and S4t of the upper downstream bar material extraction oscillating cams 176da and 176db respectively pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0399] As a result, as shown in Figure 33, the rod Ba, which was separated by the fixed cam tooth root K2b of the upper downstream rod extraction fixed cams 175ca and 175cb, moves between the oscillating cam tooth root S2t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth root K3t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth root S2t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth root K3t of the upper downstream rod extraction fixed cams 175da and 175db.

[0400] Furthermore, as shown in Figure 33, a new bar Bb from the bundle of bar B1 that had been transported to the space between the fixed cam teeth K1t and K2t of the upper downstream bar material extraction movable parts 170c and 170d moves between the oscillating cam teeth S1t of the upper downstream bar material extraction oscillating cams 176ca and 176cb and the fixed cam teeth K2t of the upper downstream bar material extraction fixed cams 175ca and 175cb, and between the oscillating cam teeth S1t of the upper downstream bar material extraction oscillating cams 176da and 176db and the fixed cam teeth K2t of the upper downstream bar material extraction fixed cams 175da and 175db.

[0401] Then, in the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved further in the +Z direction, and the upper downstream rod extraction oscillating cam action point 176cd is moved further in the +Z direction, the two upper downstream rod extraction oscillating cams 176ca and 176cb rotate further counterclockwise (CCW direction) around the upper downstream rod extraction oscillating cam rotation center 176cc, and the upper downstream The four oscillating cam tooth crests S1t, S2t, S3t, and S4t and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the rod material extraction oscillating cams 176ca and 176cb respectively protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream rod material extraction fixing cams 175ca and 175cb, respectively, between them.

[0402] Furthermore, in the upper downstream rod extraction movable part 170d, which is located on the +X direction side of the upper downstream rod extraction movable part 170c, if the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved further in the +Z direction, and the upper downstream rod extraction swing cam action point 176dd is moved further in the +Z direction, the two upper downstream rod extraction swing cams 176da and 176db move counterclockwise (CCW direction) around the upper downstream rod extraction swing cam rotation center 176dc. ) rotate further, and the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper downstream bar material extraction oscillating cams 176da and 176db respectively, pop out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0403] As a result, one rod Ba, which had been moving between the oscillating cam tooth portion S2t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth portion K3t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth portion S2t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth portion K3t of the upper downstream rod extraction fixed cams 175da and 175db, detaches from the fixed cam tooth portion K3t of the upper downstream rod extraction fixed cams 175ca and 175cb, as shown in Figure 34, and separates into the oscillating cam tooth valley portion S2b (see Figure 23) of the upper downstream rod extraction oscillating cams 176ca and 176cb, as shown in Figure 35.

[0404] Furthermore, one rod Bb that had been moved between the oscillating cam tooth portion S1t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth portion S1t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175da and 175db, moves to the oscillating cam tooth valley portion S1b of the upper downstream rod extraction oscillating cams 176ca and 176cb (see Figure 23), as shown in Figure 34, and then separates to the oscillating cam tooth valley portion S1b of the upper downstream rod extraction oscillating cams 176ca and 176cb, as shown in Figure 35.

[0405] Subsequently, in the upper downstream rod extraction movable part 170c, the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved in the opposite direction to the -Z direction, and the upper downstream rod extraction oscillating cam action point 176cd is moved in the -Z direction, causing the two upper downstream rod extraction oscillating cams 176ca and 176cb to rotate clockwise around the upper downstream rod extraction oscillating cam rotation center 176cc. As they rotate in the CW direction, the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper downstream rod extraction oscillating cams 176ca and 176cb retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream rod extraction fixing cams 175ca and 175cb, respectively, between them.

[0406] Furthermore, in the upper downstream rod extraction movable part 170d located on the +X direction side of the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved in the opposite direction to -Z, and the upper downstream rod extraction oscillating cam action point 176dd is moved in the -Z direction, the two upper downstream rod extraction oscillating cams 176da and 176db rotate during the rotation of the upper downstream rod extraction oscillating cam. The center 176dc rotates clockwise (CW direction), and the three oscillating cam tooth valleys S1b, S2b, and S3b of the upper downstream bar material extraction oscillating cams 176da and 176db retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0407] As a result, the rod Ba, which was separated by the oscillating cam tooth root S2b of the upper downstream rod extraction oscillating cams 176ca and 176cb, moves between the oscillating cam tooth root S3t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth root K3t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth root S3t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth root K3t of the upper downstream rod extraction fixed cams 175da and 175db, as shown in Figure 36.

[0408] Furthermore, the rod Bb, which was separated by the oscillating cam tooth root S1b of the upper downstream rod extraction oscillating cams 176ca and 176cb, moves between the oscillating cam tooth root S2t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth root K2t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth root S2t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth root K2t of the upper downstream rod extraction fixed cams 175da and 175db, as shown in Figure 36.

[0409] Then, in the upper downstream rod extraction movable part 170c, when the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c is moved further in the -Z direction, and the upper downstream rod extraction swing cam action point 176cd is moved further in the -Z direction, the two upper downstream rod extraction swing cams 176ca and 176cb rotate further clockwise (CW direction) around the upper downstream rod extraction swing cam rotation center 176cc, and the upper downstream rod The four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the extraction oscillating cams 176ca and 176cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1, respectively, of the upper downstream rod extraction and fixing cams 175ca and 175cb, respectively.

[0410] Furthermore, in the upper downstream rod extraction movable part 170d, which is located on the +X direction side of the upper downstream rod extraction movable part 170c, if the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d is moved further in the -Z direction, and the upper downstream rod extraction oscillating cam action point 176dd is moved further in the -Z direction, the two upper downstream rod extraction oscillating cams 176da and 176db move clockwise (CW direction) around the upper downstream rod extraction oscillating cam rotation center 176dc. As they rotate further, the four oscillating cam tooth crests S1t, S2t, S3t, and S4t, and the three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of the upper downstream bar material extraction oscillating cams 176da and 176db retract downwards to the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1, respectively, of the upper downstream bar material extraction fixing cams 175da and 175db, respectively, between them.

[0411] As a result, the rod Ba that had been moving between the oscillating cam tooth portion S3t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth portion K3t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth portion S3t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth portion K3t of the upper downstream rod extraction fixed cams 75da and 75db, is separated to the fixed cam tooth valley portion K3b of the upper downstream rod extraction fixed cams 75ca and 75cb, as shown in Figure 37.

[0412] Furthermore, the rod Bb that had been moving between the oscillating cam tooth portion S2t of the upper downstream rod extraction oscillating cams 176ca and 176cb and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175ca and 175cb, and between the oscillating cam tooth portion S2t of the upper downstream rod extraction oscillating cams 176da and 176db and the fixed cam tooth portion K2t of the upper downstream rod extraction fixed cams 175da and 175db, is separated to the fixed cam tooth valley portion K2b of the upper downstream rod extraction fixed cams 175ca and 175cb, as shown in Figure 37, and the operation of the second cycle is completed.

[0413] Subsequently, by repeatedly moving the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c in the +Z·-Z direction, and repeatedly moving the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d in the +Z·-Z direction, the rods B1 can be reliably extracted one by one from the -Y direction end (corresponding to "one end" in this invention) to the +Y direction end (corresponding to "the other end" in this invention).

[0414] Next, we will describe the operation of the bar material unit manufacturing apparatus 1 using the bar material extraction device with the above configuration.

[0415] Figure 38 is a flowchart of the first half of the rod unit manufacturing program in a rod unit manufacturing apparatus using the rod extraction device of this embodiment, Figure 39 is a flowchart of the second half of the rod unit manufacturing program in a rod unit manufacturing apparatus using the rod extraction device of this embodiment, and Figure 40 is a flowchart of the binding member binding control program in a rod unit manufacturing apparatus using the rod extraction device of this embodiment.

[0416] In the rod unit manufacturing program 18b, as shown in Figures 38 and 39, 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).

[0417] 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.

[0418] 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.

[0419] 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).

[0420] 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.

[0421] 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).

[0422] 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.

[0423] 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.

[0424] Figures 6 to 9 show the manufacturing state of the rod unit 100 in steps S11 to S35.

[0425] 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).

[0426] 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).

[0427] 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.

[0428] 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).

[0429] 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.

[0430] 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.

[0431] On the other hand, if it is determined that the number of horizontal bars Bu1 and Bu2 to be placed has been reached (S57: Yes), it is determined whether or not the binding of the binding member 66 has been completed (S59).

[0432] Here, we will explain the binding member binding control program 18c, which is an interrupt processing program. In the binding member binding control program 18c, the first mounting robot 5a and the second mounting robot 5b place the horizontal bars Bu1 and Bu2 in the numerous horizontal bar grooves 96b by contacting the upper surfaces of the vertical bars Bd1 and Bd2, and the second base 95 is transported in the +Y direction. When ...

Claims

1. A first fixing member having a plurality of first peaks, a plurality of first valleys, and a plurality of first inclined portions connecting the first peaks and the first valleys, extending from one end to the other in a first direction, A first movable member is positioned adjacent to the first fixed member and has a plurality of second peaks, a plurality of second valleys, and a plurality of second inclined portions connecting the second peaks and second valleys, extending from one end to the other end in the first direction. Equipped with, In a rod material removal device in which a plurality of rod materials placed on one end are separated one by one and taken out to the other end, by having the second peak and second valley of the first movable member repeatedly protrude above the first inclined portion of the first fixed member and retract below the first inclined portion, A rod material extraction device characterized in that the first movable member is rotatable with respect to a first pivot point near the other end.

2. The rod material extraction device according to claim 1, characterized in that the surface on one end of the first inclined portion of the first fixed member, or the surface on one end of the second inclined portion of the first movable member, is formed to be substantially circular with respect to the first pivot point.

3. The rod material extraction device according to claim 1, characterized in that the surface on one end of the first inclined portion of the first fixed member and the surface on one end of the second inclined portion of the first movable member are formed to exhibit a substantially circular shape with respect to the first fulcrum.

4. The casing and The first fixing member connected to the housing, The housing is connected to the first fixing member in parallel, and has a second fixing member having a plurality of peaks identical in shape to the plurality of first peaks, a plurality of valleys identical in shape to the plurality of first valleys, and a plurality of inclined portions identical in shape to the plurality of first inclined portions, extending from one end to the other end in the first direction. A cylinder connected to the aforementioned housing, The first movable member is positioned between the first fixed member and the second fixed member and is connected to the cylinder, The rod material extraction device according to claim 1, characterized by comprising a movable member unit having

5. The casing and The first fixing member connected to the housing, The housing is connected to the first fixing member in parallel, and has a second fixing member having a plurality of peaks identical in shape to the plurality of first peaks, a plurality of valleys identical in shape to the plurality of first valleys, and a plurality of inclined portions identical in shape to the plurality of first inclined portions, extending from one end to the other end in the first direction. A cylinder connected to the aforementioned housing, The first movable member is positioned between the first fixed member and the second fixed member and is connected to the cylinder, The rod material extraction device according to claim 2, characterized by comprising a movable member unit having

6. The casing and The first fixing member connected to the housing, The housing is connected to the first fixing member in parallel, and has a second fixing member having a plurality of peaks identical in shape to the plurality of first peaks, a plurality of valleys identical in shape to the plurality of first valleys, and a plurality of inclined portions identical in shape to the plurality of first inclined portions, extending from one end to the other end in the first direction. A cylinder connected to the aforementioned housing, The first movable member is positioned between the first fixed member and the second fixed member and is connected to the cylinder, The rod material extraction device according to claim 3, characterized by comprising a movable member unit having

7. The rod material extraction device according to claim 4, wherein the movable member unit is disposed between the first fixed member and the second fixed member, adjacent to the first movable member, and has a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, extending from one end to the other end in the first direction, and comprises a second movable member connected to the cylinder.

8. The rod material extraction device according to claim 5, wherein the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, extending from one end to the other end in the first direction, and comprises a second movable member connected to the cylinder.

9. The rod material extraction device according to claim 6, wherein the movable member unit is positioned between the first fixed member and the second fixed member, adjacent to the first movable member, and has a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, extending from one end to the other end in the first direction, and comprises a second movable member connected to the cylinder.

10. A third fixing member is positioned in the center of a second direction substantially perpendicular to the first direction, In the second direction, a plurality of the movable member units are arranged on both sides of the third fixed member, The rod material extraction device according to claim 4, characterized by being equipped with the following:

11. A third fixing member is positioned in the center of a second direction substantially perpendicular to the first direction, In the second direction, a plurality of the movable member units are arranged on both sides of the third fixed member, The rod material extraction device according to claim 5, characterized by comprising the above.

12. A third fixing member is positioned in the center of a second direction substantially perpendicular to the first direction, In the second direction, a plurality of the movable member units are arranged on both sides of the third fixed member, The rod material extraction device according to claim 6, characterized by being equipped with the following:

13. A third fixing member is positioned in the center of a second direction substantially perpendicular to the first direction, In the second direction, a plurality of the movable member units are arranged on both sides of the third fixed member, The rod material extraction device according to claim 7, characterized by comprising the above.

14. A third fixing member is positioned in the center of a second direction substantially perpendicular to the first direction, In the second direction, a plurality of the movable member units are arranged on both sides of the third fixed member, The rod material extraction device according to claim 8, characterized by comprising the above.

15. A third fixing member is positioned in the center of a second direction substantially perpendicular to the first direction, In the second direction, a plurality of the movable member units are arranged on both sides of the third fixed member, The rod material extraction device according to claim 9, characterized by comprising the above.

16. The rod material extraction device according to claim 10, characterized in that the third fixed member and the plurality of the movable member units are arranged in the first direction.

17. The rod material removal device according to claim 10, further comprising a fourth fixing member positioned adjacent to the third fixing member in the center of the second direction and having substantially the same mounting surface as the third fixing member.

18. The rod material removal device according to claim 11, further comprising a fourth fixing member positioned adjacent to the third fixing member in the center of the second direction and having substantially the same mounting surface as the third fixing member.

19. The rod material removal device according to claim 12, further comprising a fourth fixing member positioned adjacent to the third fixing member in the center of the second direction and having substantially the same mounting surface as the third fixing member.

20. The rod material removal device according to claim 13, further comprising a fourth fixing member positioned adjacent to the third fixing member in the center of the second direction and having substantially the same mounting surface as the third fixing member.

21. The rod material removal device according to claim 14, further comprising a fourth fixing member positioned adjacent to the third fixing member in the center of the second direction and having substantially the same mounting surface as the third fixing member.

22. The rod material removal device according to claim 15, further comprising a fourth fixing member positioned adjacent to the third fixing member in the center of the second direction and having substantially the same mounting surface as the third fixing member.

23. The rod material removal device according to claim 16, further comprising a fourth fixing member positioned adjacent to the third fixing member in the center of the second direction and having substantially the same mounting surface as the third fixing member.

24. The rod material extraction device according to claim 17, characterized in that the third fixing member, the fourth fixing member, and the plurality of the movable member units are arranged in the first direction.

25. The rod material removal device according to any one of claims 10 to 16, characterized in that the third fixing member has a mounting surface located above the plurality of first valleys of the first fixing member.

26. The rod material removal device according to any one of claims 10 to 16, characterized in that the third fixing member has a mounting surface formed by continuously connecting a plurality of first valleys of the first fixing member.

27. The rod material removal device according to any one of claims 17 to 24, characterized in that the third fixing member and the fourth fixing member have mounting surfaces located above the plurality of first valleys of the first fixing member.

28. The rod material removal device according to any one of claims 17 to 24, characterized in that the third fixing member and the fourth fixing member have mounting surfaces formed by continuously connecting a plurality of first valleys of the first fixing member.

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