Bar gripping device, bar gripping system, and bar handling method

Abstract

The present invention provides a rod gripping device and system that can stably grip a rod even when its mass increases, as well as a method for handling a rod to safely grip and / or release it. [Solution] The first bar gripping device 5a comprises an articulated robot 109a and a first bar gripping section 13a connected to the tip of the articulated robot 109a. The first bar gripping section 13a includes a first gripping right section 63aa that rotates from one side of the bar B to support the other side of the bar B, and a first gripping left front section 63ab1 that is positioned adjacent to the first gripping right section 63aa in a direction substantially perpendicular to the direction in which the first gripping right section 63aa rotates, and rotates from the other side of the bar B to support the one side of the bar B so as to overlap with the first gripping right section 63aa.

Description

Technical Field

[0001] The present invention relates to a bar gripping device and a bar gripping system for gripping a bar, and a bar handling method for gripping and / or releasing a bar.

Background Art

[0002] Conventionally, a bar gripping device for gripping a bar has been known.

[0003] For example, it is recognized that Patent Document 1 describes a robot hand 4 that sandwiches a rod-shaped object Q by relatively moving a first hand portion 41 and a second hand portion 42 in the lateral direction (see FIGS. 3 and 4, etc.).

[0004] The robot hand 4 described in Patent Document 1 sandwiches the rod-shaped object Q by relatively moving the first hand portion 41 and the second hand portion 42 in the lateral direction. Specifically, the V-shaped first gripping surface 412 of the first hand portion 41 and the V-shaped second gripping surface 422 of the second hand portion 42 sandwich the rod-shaped object Q (see FIGS. 3 and 4, etc.).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, although the robot hand 4 described in Cited Document 1 sandwiches the rod-shaped object Q by the V-shaped first gripping surface 412 of the first hand portion 41 and the V-shaped second gripping surface 422 of the second hand portion 42, when the weight of the object Q increases, there is a problem that the object Q is likely to fall from the robot hand 4 described in Cited Document 1.

[0007] Furthermore, the robotic hand 4 described in Reference 1 had a problem in that it was difficult to stably grasp the object Q when its length increased.

[0008] Furthermore, in robotic hands used to grip rod-shaped objects (hereinafter referred to as "rod gripping devices"), it is also important to be able to accommodate the length of the rod-shaped object (hereinafter referred to as "rod").

[0009] The present invention addresses the aforementioned problems of the prior art and aims to provide a rod gripping device and rod gripping system that can stably grip a rod even when the mass of the rod increases, as well as a rod handling method for safely gripping and / or releasing a rod. [Means for solving the problem]

[0010] To solve the above-mentioned problems, a first aspect of the present invention provides a rod gripping device comprising an articulated robot and a gripping portion connected to the tip of the articulated robot, wherein the gripping portion comprises a first claw portion that rotates from one side of the rod to support the other side of the rod, and a second claw portion that is positioned adjacent to the first claw portion in a direction substantially perpendicular to the direction in which the first claw portion rotates, and rotates from the other side of the rod to support the one side of the rod so as to overlap with the first claw portion.

[0011] Furthermore, a second aspect of the present invention is a rod gripping device according to the first aspect, characterized in that the second claw portion is arranged adjacent to the first claw portion on both sides in a direction substantially perpendicular to the direction in which the first claw portion rotates, and rotates from the other side of the rod to cover and support the rod so as to overlap with the first claw portion.

[0012] Furthermore, a third aspect of the present invention is a rod gripping device according to the first aspect, characterized in that the first claw portion and the second claw portion each include a flat surface for supporting the rod, a tip portion located on the tip side of the flat surface, and a base end portion located on the base end side of the flat surface.

[0013] Furthermore, a fourth aspect of the present invention is a rod gripping device according to the second aspect, characterized in that the first claw portion and the second claw portion each include a flat surface for supporting the rod, a tip portion located on the tip side of the flat surface, and a base end portion located on the base end side of the flat surface.

[0014] Furthermore, a fifth aspect of the present invention is the rod gripping device of the third aspect, wherein the tip portion is Towards the tip side of the flat surface It is characterized by being formed extending in an obtuse angle direction with respect to the flat surface.

[0015] Furthermore, a sixth aspect of the present invention is the rod gripping device of the fourth aspect, wherein the tip portion is Towards the tip side of the flat surface It is characterized by being formed extending in an obtuse angle direction with respect to the flat surface.

[0016] Furthermore, a seventh aspect of the present invention is a rod gripping device according to the third aspect, wherein the tip portion The flat surface toward the tip side, The aforementioned base end is, Towards the base end side of the flat surface, It is characterized by being formed extending in a direction substantially the same angle as the flat surface.

[0017] Furthermore, an eighth aspect of the present invention is the rod gripping device of the fourth aspect, wherein the tip portion The flat surface toward the tip side, The aforementioned base end is, Towards the base end side of the flat surface, It is characterized by being formed extending in a direction substantially the same angle as the flat surface.

[0018] Furthermore, a ninth aspect of the present invention is a rod gripping device according to the fifth aspect, wherein the tip portion The flat surface toward the tip side, The aforementioned base end is, Towards the base end side of the flat surface, It is characterized by being formed extending in a direction substantially the same angle as the flat surface.

[0019] Further, in the bar gripping device according to the tenth aspect of the present invention, the tip portion The flat surface toward the tip side, The base end portion Towards the base end side of the flat surface, is formed to extend in a direction substantially the same angle with respect to the flat surface.

[0020] Moreover, the bar gripping system according to the eleventh aspect of the present invention includes a mounting table and a plurality of bar gripping devices according to any one of the first to tenth aspects arranged on the mounting table.

[0021] Further, the bar gripping system according to the twelfth aspect of the present invention includes a mounting table, a first rail arranged on the mounting table and extending in a predetermined direction, and a plurality of bar gripping devices according to any one of the first to tenth aspects arranged movably along the first rail.

[0022] Moreover, the bar handling method according to the thirteenth aspect of the present invention includes a first step of moving the gripping portion below the bar with the first claw portion and the second claw portion of the bar gripping device according to any one of the first to tenth aspects open, a second step of closing the first claw portion and the second claw portion with the bar sandwiched therebetween after the first step, and a third step of moving the gripping portion upward with the first claw portion and the second claw portion closed after the second step.

[0023] Further, in the bar handling method according to the fourteenth aspect of the present invention, after placing the bar, there are provided a fourth step of moving the gripping portion downward with the first claw portion and the second claw portion closed, a fifth step of opening the first claw portion and the second claw portion after the fourth step, and a sixth step of moving the gripping portion upward with the first claw portion and the second claw portion open after the fifth step.

[0024] Furthermore, the rod handling method of the 15th aspect of the present invention is characterized by comprising: a fourth step of moving the gripping portion downward after placing the rod, with the first claw portion and the second claw portion of the rod gripping device of any of the first to tenth aspects closed; a fifth step of opening the first claw portion and the second claw portion after the fourth step; and a sixth step of moving the gripping portion upward after the fifth step with the first claw portion and the second claw portion open. [Effects of the Invention]

[0025] According to a first aspect of the present invention, the rod gripping device comprises an articulated robot and a gripping part connected to the tip of the articulated robot, wherein the gripping part includes a first claw portion that rotates from one side of the rod to support the other side of the rod, and a second claw portion that is positioned adjacent to the first claw portion in a direction substantially perpendicular to the direction in which the first claw portion rotates, and rotates from the other side of the rod to support the other side of the rod so as to overlap with the first claw portion, thereby enabling stable gripping of the rod even when the mass of the rod increases.

[0026] Furthermore, according to a second aspect of the present invention, in the bar gripping device of the first aspect, the second claw portion is arranged adjacent to the first claw portion on both sides in a direction substantially perpendicular to the direction in which the first claw portion rotates, and rotates from the other side of the bar to cover and support the bar so as to overlap with the first claw portion. In addition to the effects of the bar gripping device of the first aspect, the bar can be gripped even more stably when the mass of the bar increases.

[0027] Furthermore, according to a third aspect of the present invention, in the rod gripping device of the first aspect, the first claw portion and the second claw portion each include a flat surface for supporting the rod, a tip portion located on the tip side of the flat surface, and a base portion located on the base side of the flat surface. Therefore, in addition to the effects of the rod gripping device of the first aspect, the rod can be gripped even more stably.

[0028] Furthermore, according to a fourth aspect of the present invention, in the rod gripping device of the second aspect, the first claw portion and the second claw portion each include a flat surface for supporting the rod, a tip portion located on the tip side of the flat surface, and a base portion located on the base side of the flat surface. Therefore, in addition to the effects of the rod gripping device of the second aspect, the rod can be gripped even more stably.

[0029] Furthermore, according to a fifth aspect of the present invention, in the rod gripping device of the third aspect, the tips of the first claw portion and the second claw portion are Towards the tip of the flat surface Since it is formed extending in an obtuse angle direction with respect to a flat surface, in addition to the effects of the rod gripping device of the third embodiment, it can easily grip the rod.

[0030] Furthermore, according to a sixth aspect of the present invention, in the rod gripping device of the fourth aspect, the tips of the first claw portion and the second claw portion are Towards the tip of the flat surface Since it is formed extending in an obtuse angle direction with respect to a flat surface, in addition to the effects of the rod gripping device of the fourth embodiment, it can easily grip the rod.

[0031] Furthermore, according to the seventh aspect of the present invention, in the rod gripping device of the third aspect, the tip portion It is directed toward the leading edge of the flat surface, The base is, Towards the base end of the flat surface, each Since it is formed extending in a direction approximately the same angle as the flat surface, in addition to the effects of the rod gripping device of the third embodiment, the rod can be gripped even more stably.

[0032] Furthermore, according to the eighth aspect of the present invention, in the rod gripping device of the fourth aspect, the tip portion It is directed toward the leading edge of the flat surface, The base is, Towards the base end of the flat surface, each Since it is formed extending in a direction approximately the same angle as the flat surface, in addition to the effects of the rod gripping device of the fourth embodiment, the rod can be gripped even more stably.

[0033] Furthermore, according to the ninth aspect of the present invention, in the rod gripping device of the fifth aspect, the tip portion It is directed toward the leading edge of the flat surface, The base is, Towards the base end of the flat surface, each Since it is formed extending in a direction approximately the same angle as the flat surface, in addition to the effects of the rod gripping device of the fifth embodiment, the rod can be gripped even more stably.

[0034] Furthermore, according to the tenth aspect of the present invention, in the rod gripping device of the sixth aspect, the tip portion It is directed toward the leading edge of the flat surface, The base is, Towards the base end of the flat surface, each Since it is formed extending in a direction approximately the same angle as the flat surface, in addition to the effects of the rod gripping device of the sixth embodiment, the rod can be gripped even more stably.

[0035] Furthermore, according to the 11th aspect of the present invention, the rod gripping system comprises a mounting base and a plurality of rod gripping devices of any of the 1st to 10th aspects arranged on the mounting base. Therefore, even when the rod becomes long and its mass increases, the rod can be stably gripped by the plurality of rod gripping devices.

[0036] Furthermore, according to the twelfth aspect of the present invention, the rod gripping system comprises a mounting base, a first rail disposed on the mounting base and extending in a predetermined direction, and a plurality of rod gripping devices of any of the first to tenth aspects arranged to be movable along the first rail. Therefore, it is possible to grip rods of various lengths, and even when the rod becomes long and its mass increases, the rod can be stably gripped by the plurality of rod gripping devices.

[0037] Furthermore, according to the thirteenth aspect of the present invention, the method for handling bar stock includes a first step of moving the gripping part down to the bar stock with the first claw and second claw of any of the first to tenth aspects open, a second step of closing the first claw and second claw after the first step to sandwich the bar stock, and a third step of moving the gripping part upward with the first claw and second claw closed after the second step. As such, the bar stock can be safely gripped without the first claw and second claw touching the bar stock.

[0038] Furthermore, according to the 14th aspect of the present invention, the rod handling method of the 13th aspect includes a fourth step of moving the gripping portion downward with the first claw portion and the second claw portion closed after the rod material has been placed, a fifth step of opening the first claw portion and the second claw portion after the fourth step, and a sixth step of moving the gripping portion upward with the first claw portion and the second claw portion open after the fifth step, Method for handling bar materials according to the 13th aspect In addition to the above effect, the rod can be safely released without the first and second claws touching the rod.

[0039] Furthermore, according to the rod handling method of the 15th aspect of the present invention, after placing the rod, a fourth step is to move the gripping part downward with the first claw and second claw of any of the first to 10 aspects of the rod gripping device closed; a fifth step is to open the first claw and second claw after the fourth step; and a sixth step is to move the gripping part upward with the first claw and second claw open after the fifth step. As a result, the rod can be safely released without the first claw and second claw touching the rod. [Brief explanation of the drawing]

[0040] [Figure 1] This is a plan view of a bar unit in an embodiment of the present invention. [Figure 2] This is a side view of AA in Figure 1. [Figure 3] This is an enlarged view of section D in Figure 2. [Figure 4] Figure 3 is a plan view of the EE (East East) area. [Figure 5] This is an overall view of the binding member in this embodiment. [Figure 6] This is an overall plan view of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment. [Figure 7] This is an overall right side view of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment. [Figure 8] This is an overall plan view of the bar material unit manufacturing apparatus using the bar material gripping device of this embodiment, excluding the upper bar material removal section. [Figure 9] This is an overall right side view of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment, excluding the upper bar material removal section. [Figure 10] This is an overall view of the bar gripping device of this embodiment. [Figure 11] This is a perspective view of the bar gripping device of this embodiment. [Figure 12] This is a bottom view of the bar gripping device of this embodiment. [Figure 13] This is an overall front view of the bar gripping device of this embodiment before gripping the bar. [Figure 14] This is an overall front view of the bar gripping device of this embodiment after the bar has been gripped. [Figure 15] This is an overall view of the bundling robot in this embodiment. [Figure 16] This is an overall front view of the binding section in this embodiment, before the binding member is gripped. [Figure 17] This is an overall front view of the binding section after the binding member has been gripped in this embodiment. [Figure 18] This is an explanatory cross-sectional view of the clamp base plate when it is fixed in this embodiment. [Figure 19] This is an explanatory cross-sectional view of the clamp base plate when it is floating in this embodiment. [Figure 20] This is an overall front view of the binding portion of this embodiment before the binding member container is gripped. [Figure 21] This is an overall front view of the binding portion after the binding member container has been gripped in this embodiment. [Figure 22] This is an overall plan view of the rod material extraction section in this embodiment. [Figure 23] This is an overall right side view of the rod material extraction and fixing section of the rod material extraction section in this embodiment. [Figure 24] This is an overall right side view of the rod material extraction movable part of the rod material extraction section in this embodiment, when the swinging cam is lowered. [Figure 25] This is an overall right side view of the rod material extraction movable part of the rod material extraction section in this embodiment, when the swing cam is raised. [Figure 26] This is a block diagram of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment. [Figure 27] This is a block diagram of the main controller in a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment. [Figure 28] This is a flowchart of the bar material removal control program in a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment. [Figure 29] 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 gripping device of this embodiment. [Figure 30] 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 gripping device of this embodiment. [Figure 31] This is a flowchart of the binding control program for the binding member in a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment. [Figure 32] This is a diagram illustrating the first stage in which the rod gripping device of this embodiment grips a rod. [Figure 33] This diagram illustrates the second stage in which the rod gripping device of this embodiment grips a rod. [Figure 34] This diagram illustrates the final stage in which the rod gripping device of this embodiment grips a rod. [Figure 35] This diagram illustrates the first stage in which the rod gripping device of this embodiment releases the rod. [Figure 36] This diagram illustrates the second stage in which the rod gripping device of this embodiment releases the rod. [Figure 37] This diagram illustrates the final stage in which the rod gripping device of this embodiment releases the rod.

[0041] Embodiments of the present invention will be described below with reference to the drawings.

[0042] In the bar material unit manufacturing apparatus using the bar material gripping 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 of this embodiment is not limited to reinforcing steel, and can manufacture units made of general bar materials without limitations on material or length.

[0043] However, the bar unit manufacturing apparatus of the embodiment described later is particularly effective when manufacturing units consisting of multiple reinforcing bars, which have a large overall area and are heavy in weight, as will be described later.

[0044] (Embodiment) First, the bar stock units manufactured by the bar stock unit manufacturing apparatus of this embodiment will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0045] 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.

[0046] As shown in Figures 1 and 2, the bar unit 100 manufactured by the bar unit manufacturing apparatus 1 using the bar gripping device 5 of this embodiment is an extremely large object with an overall area of ​​several tens of meters in length and several tens of meters in width, and weighs several tons. It is manufactured using two types of bar materials (see Figure 6): a bar B1 of a predetermined length and a bar B2 that is shorter than bar B1.

[0047] As shown in Figures 1 and 2, the rod unit 100 is constructed by alternately arranging lower rods Bd1 (hereinafter referred to as "vertical rod Bd1") made of rod B1 and lower rods Bd2 (hereinafter referred to as "vertical rod Bd2") made of rod B2 at predetermined intervals in the lower 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 lower vertical rods Bd1 and Bd2 and the upper horizontal rods Bu1 and Bu2 are fastened together with fastening members 66.

[0048] 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.

[0049] 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 lower vertical bar Bd1 or vertical bar Bd2 from below.

[0050] 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.

[0051] Furthermore, the left side portion 66a2a of the binding member has a roughly J-shape in side view (see Figure 3), protrudes beyond the upper portion 66a1 of the binding member in plan view (see Figure 4), and includes a left protruding portion 66a3a of the binding member that abuts against the side of the lower vertical bar Bd1 or vertical bar Bd2, a left bottom portion 66a4a of the binding member that abuts against the lower part of the lower vertical bar Bd1 or vertical bar Bd2, a left tip protrusion 66a5a of the binding member that abuts against the lower opposite side of the lower vertical bar Bd1 or vertical bar Bd2, and a left side hole 67a for fitting into the first binding member gripping projection 43ab of the binding robot 3 (see Figures 14, 15, 18 and 19), which will be described later, and for releasing gas accumulated at the bottom of the upper portion 66a1 of the binding member.

[0052] 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.

[0053] 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.

[0054] Furthermore, if the number of types of rod materials changes, the number of rod material dispensing sections, as described later, may be increased or decreased according to the type of rod material, or multiple types of rod materials may be placed in the same rod material dispensing section.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] Next, a rod material unit manufacturing apparatus using the rod material gripping device of this embodiment will be described.

[0059] In this embodiment, the direction in which the first base 93 of the bar material unit manufacturing apparatus 1, described later, moves is defined as the +Y·-Y direction (the longitudinal direction of the bar material unit manufacturing apparatus 1, described later) (see Figures 6 and 7, etc.), the direction approximately perpendicular to the +Y·-Y direction in a plan view is defined as the +X·-X direction (the width direction of the bar material unit manufacturing apparatus 1, described later) (see Figure 6, etc.), and the direction approximately perpendicular to the +Y·-Y direction in a side view is defined as the +Z·-Z direction (the height direction of the bar material unit manufacturing apparatus 1, described later) (see Figure 7, etc.).

[0060] 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 17, etc.).

[0061] 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 20, etc.).

[0062] Figure 6 is an overall plan view of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment, Figure 7 is an overall right side view of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment, Figure 8 is an overall plan view of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment, excluding the upper bar material removal section, and Figure 9 is an overall right side view of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment, excluding the upper bar material removal section.

[0063] As shown in Figures 6 to 9, the rod material unit manufacturing apparatus 1 using the rod material gripping device 5 of this embodiment consists of a base section 9, a rod material gripping device 5, a bundling robot 3, a lower rod material removal section 7, and an upper rod material removal section 107, all of which are arranged on the base section 9.

[0064] The base section 9 comprises a base section body 90a, four first rails 91a, 91b, 91c, and 91d extending from the -X end to the +X end, positioned on the base section body 90a and moving the first base 93 (described later) in the +Y·-Y direction, and a first base section 90b positioned at the -Y end of the rod material unit manufacturing apparatus 1, with the lower rod material extraction section 7 positioned across the upper part (+Z direction) of the four rails 91a~91d in the +X·-X direction, and a first rod material gripping device 5a(5) extending across the upper part (+Z direction) of the four rails 91a~91d in the +X·-X direction. The system comprises a second base section 90c (corresponding to the "mounting platform" of the present invention) on which the second bar material gripping device 5b(5) is arranged, a third base section 90d arranged adjacent to the second base section 90c in the +Y direction (the direction of movement of the first base section 93 and the second base section 95, described later), on which the first binding robot 3a(3) and the second binding robot 3b(3) are arranged, straddling the upper part (+Z direction) of the four rails 91a to 91d in the +X·-X direction, and a fourth base section 90e located on the +Y direction side of the first base section 90b, on which the upper bar material extraction section 107 is arranged, straddling the upper part (+Z direction) of the lower bar material extraction section 7 in the +X·-X direction.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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).

[0070] The second base section 90c, the first bar gripping device 5a and the second bar gripping device 5b described later, or the second base section 90c, the rail for the bar gripping device described later (not shown, corresponding to the "first rail" of the present invention), the first bar gripping device 5a and the second bar gripping device 5b described later constitute the "bar gripping system" of the present invention.

[0071] Figure 10 is an overall view of the bar gripping device of this embodiment, Figure 11 is a perspective view of the bar gripping device, Figure 12 is a bottom view of the bar gripping device, Figure 13 is an overall front view of the bar gripping device of this embodiment before gripping a bar, and Figure 14 is an overall front view of the bar gripping device of this embodiment after gripping a bar.

[0072] As shown in Figures 6 to 14, the rod gripping device 5 of this embodiment is positioned facing the -Y direction on the upper surface of a second base portion 90c (corresponding to the "mounting platform" of the present invention), which is arranged to straddle the upper parts of four rails 91a to 91d in the +X·-X direction. Specifically, two rod gripping devices, the first rod gripping device 5a and the second rod gripping device 5b, are spaced apart in the +X·-X direction and are positioned on the upper surface of the second base portion 90c, each facing the -Y direction.

[0073] In the bar gripping device 5 of this embodiment, since the weight of bar materials B1 and B2 is heavy, two devices are placed on the second base portion 90c spaced apart in the +X and -X directions to ensure safety. However, if bar materials B1 and B2 are lightweight, one device may suffice, and in some cases, three or more devices may be placed.

[0074] Since the first bar gripping device 5a and the second bar gripping device 5b in this embodiment have the same specifications, for the sake of explanation, the drawings will mainly show the first bar gripping device 5a, and the second bar gripping device 5b will be shown in parentheses.

[0075] As shown in Figures 10 to 14, the first rod gripping device 5a consists of a multi-joint robot 109a and a first rod gripping section 13a (corresponding to the "gripping section" of the present invention) connected to the tip of the multi-joint robot 109a.

[0076] The articulated robot 109a comprises a first base 50a positioned on the upper surface of a second base 90c, a second base 51a that rotates 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, and an upper arm 55a that rotates up and down relative to the upper middle arm 54a.

[0077] The first rod gripping section 13a comprises a first gripping section base plate 56a connected to the tip of the upper arm section 55a, four first gripping column sections 57aa, 57ab, 57ac, and 57ad (see Figure 12) extending from the first gripping section base plate 56a toward the tip, 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 below the first gripping movable section 58a.

[0078] Furthermore, the first rod gripping section 13a includes two first rod gripping cylinders 59aa and 59ab positioned on the first gripping movable section 58a, a first gripping right rod 60aa and a first gripping left rod 60ab provided on each of the two first rod gripping cylinders 59aa and 59ab, and a first gripping right section 63aa (corresponding to the "first claw section" of the present invention) connected to the tip of the first gripping right rod 60aa and rotating about the first gripping center 61a of the first gripping section plate 62a, and its first The first gripping left front part 63ab1 (corresponding to the "second claw part" of the present invention) is positioned on one side of the gripping right part 63aa, connected to the tip of the first gripping left part rod 60ab, and rotates about the first gripping center 61a; and the first gripping left rear part 63ab2 (corresponding to the "second claw part" of the present invention) is positioned on the other side opposite to the first gripping left front part 63ab1, across the first gripping right part 63aa, connected to the tip of the first gripping left part rod 60ab, and rotates about the first gripping center 61a.

[0079] Furthermore, the first gripping right portion 63aa includes a first gripping right portion flat surface 64aa (corresponding to the "flat surface" of the present invention) for stably gripping the rod B, a first gripping right portion 63aa base end (corresponding to the "base end" of the present invention) located on the base end side of the first gripping right portion flat surface 64aa, and a first gripping right tip portion 65aa (corresponding to the "tip portion" of the present invention) located on the tip side of the first gripping right portion flat surface 64aa, which wraps around and contacts the rod B in order to prevent the rod B from falling.

[0080] Here, as shown in Figure 13, the first gripping right tip portion 65aa of this embodiment extends in a direction of approximately 120 degrees with respect to the first gripping right flat surface 64aa, and is configured to not only stably grip the rod B but also to easily grip the rod B.

[0081] In this embodiment, the first gripping right tip portion 65aa is assumed to extend at a direction of approximately 120 degrees with respect to the first gripping right flat surface portion 64aa. However, if the first gripping right tip portion 65aa extends at an obtuse angle with respect to the first gripping right flat surface portion 64aa, it will not only be able to grip the rod B stably but also be able to grip the rod B to a certain extent more easily.

[0082] However, as in this embodiment, if the first gripping right tip portion 65aa extends in a direction of approximately 120 degrees with respect to the first gripping right flat surface portion 64aa, the rod material B can be gripped more stably and the rod material B can be gripped more easily.

[0083] This also applies to the first gripping left front tip 65ab1, the first gripping left rear tip 65ab2, the second gripping right tip 65ba, the second gripping left front tip 65bb1, and the second gripping left rear tip 65bb2, which will be described later.

[0084] Furthermore, in this embodiment, the first gripping right tip portion 65aa and the base end portion of the first gripping right portion 63aa extend in the same angle direction in opposite directions to the flat surface 64aa of the first gripping right portion, so that the rod B can be gripped stably when gripping it.

[0085] This also applies to the angles of the first left front tip 65ab1 and the base end of the first left front part 63ab1 of the grip with respect to the first left front flat surface 64ab1, the angles of the first left rear tip 65ab2 and the base end of the first left rear part 63ab2 of the grip with respect to the first left rear flat surface 64ab2, the angles of the second right tip 65ba and the base end of the second right part 63ba of the grip with respect to the second right flat surface 64ba, the angles of the second left front tip 65bb1 and the base end of the second left front part 63bb1 of the grip with respect to the second left front flat surface 64bb1, and the angles of the second left rear tip 65bb2 and the base end of the second left rear part 63bb2 of the grip with respect to the second left rear flat surface 64bb2.

[0086] Furthermore, the first left front gripping portion 63ab1 includes a first left front gripping portion flat surface 64ab1 (corresponding to the "flat surface" of the present invention) for stably gripping the rod B, a base end portion of the first left front gripping portion 63ab1 (corresponding to the "base end portion" of the present invention) located on the base end side of the first left front gripping portion flat surface 64ab1, and a first left front tip portion 65ab1 (corresponding to the "tip portion" of the present invention) located on the tip side of the first left front gripping portion flat surface 64ab1, which wraps around and contacts the rod B in order to prevent the rod B from falling.

[0087] Furthermore, the first left rear grip portion 63ab2 includes a first left rear flat surface 64ab2 (not shown, but similar to the first left front flat surface 64ab1, and corresponding to the "flat surface" of the present invention) for stably gripping the rod B, a base end portion of the first left rear grip portion 63ab2 (corresponding to the "base end portion" of the present invention) located on the base end side of the first left rear flat surface 64ab2, and a first left rear tip portion 65ab2 (not shown, but the same shape as the first left front tip portion 65ab1, and corresponding to the "tip portion" of the present invention) located on the tip side of the first left rear flat surface 64ab2, which wraps around and contacts the rod B to prevent the rod B from falling.

[0088] 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.

[0089] In the first bar gripping device 5a described above, when the first gripping right rod 60aa and the first gripping left rod 60ab of the first bar 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 and the first gripping left rear part 63ab2 will be in an open state, as shown in Figure 13. When the first gripping right rod 60aa and the first gripping left rod 60ab of the first bar 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 and the first gripping left rear part 63ab2 will be in a closed state, as shown in Figure 14, and the bar B can be gripped.

[0090] Furthermore, the second bar gripping device 5b, which is positioned on the second base portion 90c in the +X direction relative to the first bar gripping device 5a, consists of a multi-joint robot 109b and a second bar gripping portion 13b (corresponding to the "gripping portion" of the present invention) connected to the tip of the multi-joint robot 109b, as shown in Figures 10 to 14.

[0091] The articulated robot 109a comprises a first base 50b positioned on the upper surface of a second base 90c, a second base 51b that rotates 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, and an upper arm 55b that rotates up and down relative to the upper middle arm 54b.

[0092] The second rod gripping section 13b comprises a second gripping section base plate 56b connected to the upper arm section 55b, four second gripping column sections 57ba, 57bb, 57bc, and 57bd (see Figure 12) extending from the second gripping section base plate 56b toward the tip, 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.

[0093] Furthermore, the second rod gripping section 13b includes two second rod gripping cylinders 59ba and 59bb positioned on the second gripping movable section 58b, a second gripping right section rod 60ba and a second gripping left section rod 60bb provided on the two second rod gripping cylinders 59ba and 59bb, a second gripping right section 63ba (corresponding to the "first claw section" of the present invention) 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 its second gripping The device comprises a second left front gripping portion 63bb1 (corresponding to the "second claw portion" of the present invention), which is positioned on one side of the right portion 63ba and connected to the tip of the second left gripping portion rod 60bb, and rotates about the second gripping portion center 61b; and a second left rear gripping portion 63bb2 (corresponding to the "second claw portion" of the present invention), which is positioned on the other side opposite to the second left front gripping portion 63bb1, with the second right portion 63ba in between, and connected to the tip of the second left gripping portion rod 60bb, and rotates about the second gripping portion center 61b.

[0094] Furthermore, the second gripping right portion 63ba includes a second gripping right portion flat surface 64ba (corresponding to the "flat surface" of the present invention) for stably gripping the rod B, a second gripping right portion 63ba base end (corresponding to the "base end" of the present invention) located on the base end side of the second gripping right portion flat surface 64ba, and a second gripping right tip portion 65ba (corresponding to the "tip portion" of the present invention) located on the tip side of the second gripping right portion flat surface 64ba, which wraps around and contacts the rod B in order to prevent the rod B from falling.

[0095] Furthermore, the second left front gripping portion 63bb1 includes a second left front gripping portion flat surface 64bb1 (corresponding to the "flat surface" of the present invention) for stably gripping the rod B, a base end portion of the second left front gripping portion 63bb1 (corresponding to the "base end portion" of the present invention) located on the base end side of the second left front gripping portion flat surface 64bb1, and a second left front tip portion 65bb1 (corresponding to the "tip portion" of the present invention) located on the tip side of the second left front gripping portion flat surface 64bb1, which wraps around and contacts the rod B in order to prevent the rod B from falling.

[0096] Furthermore, the second left rear grip portion 63bb2 includes a second left rear flat surface 64bb2 (not shown, but having the same shape as the second left front flat surface 64bb1 and corresponding to the "flat surface" of the present invention) for stably gripping the rod B, a base end portion of the first left rear grip portion 63bb2 (corresponding to the "base end portion" of the present invention) located on the base end side of the second left rear flat surface 64bb2, and a second left rear tip portion 65bb2 (not shown, but having the same shape as the second left front tip portion 65bb1 and corresponding to the "tip portion" of the present invention) located on the tip side of the second left rear flat surface 64bb2, which wraps around and contacts the rod B to prevent the rod B from falling.

[0097] 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.

[0098] In the second bar gripping device 5b described above, when the second gripping right rod 60ba and the second gripping left rod 60bb of the second bar 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 and the second gripping left rear part 63bb2 will be in an open state, as shown in Figure 13. When the second gripping right rod 60ba and the second gripping left rod 60bb of the second bar 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 and the second gripping left rear part 63bb2 will be in a closed state, as shown in Figure 14, and the bar B can be gripped.

[0099] In this embodiment, the first bar gripping device 5a and the second bar gripping device 5b are fixed and arranged on the upper surface of the second base portion 90c spaced apart in the +X·-X direction. However, as in the binding robot 3 described later, the first bar gripping device 5a and the second bar gripping device 5b may be arranged to be movable along a rail for bar gripping devices (not shown, corresponding to the "first rail" of the present invention) laid on the upper surface of the second base portion 90c in the +X·-X direction.

[0100] When the first bar gripping device 5a and the second bar gripping device 5b are arranged to be movable along a rail for bar gripping devices (not shown) laid on the upper surface of the second base portion 90c in the +X·-X direction, the bar unit 100 can be manufactured by easily placing bar materials B of various lengths on the bar.

[0101] Figure 15 is an overall view of the binding robot in this embodiment, Figure 16 is an overall front view of the binding unit before gripping the binding member in this embodiment, and Figure 17 is an overall front view of the binding unit after gripping the binding member in this embodiment.

[0102] Furthermore, Figure 18 is an explanatory cross-sectional view when the clamp base plate is fixed in this embodiment, Figure 19 is an explanatory cross-sectional view when the clamp base plate is floating in this embodiment, Figure 20 is an overall front view of the binding part before gripping the binding member container in this embodiment, and Figure 21 is an overall front view of the binding part after gripping the binding member container in this embodiment.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 15 to 21, the bundling robot 3a is equipped with a bundling robot travel motor 98a for moving the bundling robot 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.

[0108] 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.

[0109] 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).

[0110] 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).

[0111] 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 18 and 19) and positioning bushes 69aa and 69ab on the clamp base plate 21a, in order to allow the clamp base plate 21a to rotate on a plane perpendicular to the plane of paper relative to the base plate 15a.

[0112] 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.

[0113] Furthermore, the first binding portion 11a includes, below the clamp base plate 21a, a pair of first binding member gripping cylinders 40aa and 40ab connected to the clamp base plate 21a, first binding member gripping cylinder rods 41aa and 41ab provided on each of the first binding member gripping cylinders 40aa and 40ab and capable of protruding from each of the first binding member gripping cylinders 40aa and 40ab, a pair of first binding member gripping portions 42aa and 42ab connected to the ends of each of the first binding member gripping cylinder rods 41aa and 41ab, and first binding member gripping projections 43ab and 43aa (see Figures 20 and 21) provided on each of the first binding member gripping portions 42aa and 42ab and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66.

[0114] Furthermore, as shown in Figures 20 and 21, 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.

[0115] Furthermore, the first binding unit 11a is equipped with a camera 25a (see Figures 26 and 27) 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.

[0116] Furthermore, the first binding portion 11a comprises, on the +X1 direction surface of the first gripping portion housing 36a, a pair of first binding member container gripping cylinders 37aa and 37ab, first binding member container gripping cylinder rods 38aa and 38ab provided on each of the first binding member container gripping cylinders 37aa and 37ab and capable of protruding from each of the first binding member container gripping cylinders 37aa and 37ab, a pair of first binding member container gripping portions 39aa and 39ab connected to the ends of each of the first binding member container gripping cylinder rods 38aa and 38ab, and first binding member container gripping rubber portions 39aa1 and 39ab1 provided on each of the first binding member container gripping portions 39aa and 39ab.

[0117] 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 16. 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 17, and the first binding member gripping projections 43aa and 43ab will fit into the left side hole 67a and the right side hole 67b of the binding member 66, allowing the binding member 66 to be gripped.

[0118] 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 20. 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 21, and the first bundling member container C1 can be gripped.

[0119] 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 18, 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.

[0120] 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 19, 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.

[0121] 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 15 to 21, 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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 18 and 19) and positioning bushes 69ba and 69bb on the clamp base plate 21b, 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.

[0126] 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.

[0127] Furthermore, the second binding portion 11b includes, below the clamp base plate 21b, a pair of second binding member gripping cylinders 40ba and 40bb connected to the clamp base plate 21b, second binding member gripping cylinder rods 41ba and 41bb provided on each of the second binding member gripping cylinders 40ba and 40bb and capable of protruding from each of the second binding member gripping cylinders 40ba and 40bb, a pair of second binding member gripping portions 42ba and 42bb connected to the ends of each of the second binding member gripping cylinder rods 41ba and 41bb, and second binding member gripping projections 43ba (see Figures 20 and 21) and 43bb provided on each of the second binding member gripping portions 42ba and 42bb and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66.

[0128] Furthermore, the second binding portion 11b includes a pair of second binding member gripping timing pulleys 47ba and 47bb rotatably mounted below the clamp base plate 21b, a second binding member gripping timing belt 48b wound around the second binding member gripping timing pulleys 47ba and 47bb, a second binding member timing belt connection portion 49ba connected to the second binding member gripping portion 42ba and one side of the second binding member gripping timing belt 48b, and a second binding member timing belt connection portion 49bb connected to the second binding member gripping portion 42bb and the other side of the second binding member gripping timing belt 48b.

[0129] Furthermore, the first binding unit 11b is equipped with a camera 25b (see Figures 26 and 27) 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.

[0130] 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.

[0131] 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 16. 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 17, and the second binding member gripping projections 43ba and 43bb will fit into the left side hole 67a and the right side hole 67b of the binding member 66, allowing the binding member 66 to be gripped.

[0132] 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 20. 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 21, and the second bundling member container C2 can be gripped.

[0133] 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 18, 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.

[0134] 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 19, 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, allowing them to move in their respective directions.

[0135] Figure 22 is an overall plan view of the rod extraction section in this embodiment, Figure 23 is an overall right side view of the rod extraction fixing section of the rod extraction section in this embodiment, Figure 24 is an overall right side view of the rod extraction movable section of the rod extraction section in this embodiment when the oscillating cam is lowered, and Figure 25 is an overall right side view of the rod extraction movable section of the rod extraction section in this embodiment when the oscillating cam is raised.

[0136] 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.

[0137] Furthermore, since the lower upstream rod extraction movable parts 70a and 70b of this embodiment, the lower downstream rod extraction movable parts 70c and 70d (described later), the upper upstream rod extraction movable parts 170a and 170b (described later), and the upper downstream rod extraction movable parts 170c and 170d (described later) all have the same specifications, for the sake of explanation, the drawings will mainly show the lower upstream rod extraction movable parts 70a and 70b, and other elements will be shown in parentheses.

[0138] As shown in Figures 6 and 8, the lower rod material extraction unit 7 of this embodiment is responsible for extracting one rod material B2 at a time from the bundle of shorter rod materials B2, transporting the extracted rod materials B2 in the +Y direction, and transporting them to a position where the first rod material gripping device 5a and the second rod material gripping device 5b can grip them.

[0139] As shown in Figures 8 and 9, the lower rod material removal section 7 of this embodiment has four lower first rod material transport conveyors 80a, 80b, 80c, and 80d (hereinafter referred to as "80a~80d") extending from the -X direction end to the +X direction end at the -Y direction end in order to transport the bundle of rod material B2 before removal in the +Y direction, and four lower first rod material transport motors 81a, 81b, 81c, and 81d (hereinafter referred to as "81a~81d") for driving these lower first rod material transport conveyors 80a~80d, and the bundle of rod material B2 is in the lower section The system includes four lower second bar material conveying conveyors 82a, 82b, 82c, and 82d (hereinafter referred to as "82a-82d") positioned adjacent to the lower first bar material conveying conveyors 80a-80d in the +Y direction, extending from the -X end to the +X end, so as to be transported continuously from the first bar material conveying conveyors 80a-80d, and four lower second bar material conveying motors 83a, 83b, 83c, and 83d (hereinafter referred to as "83a-83d") for driving these lower second bar material conveying conveyors 82a-82d.

[0140] Furthermore, the lower rod material extraction section 7 is equipped with a lower upstream rod material extraction fixing section 71a located adjacent to the lower second rod material transport conveyors 82a to 82d in the +Y direction and in the center in the -X·+X direction, so that the bundles of rod material B2 are transported continuously from the lower second rod material transport conveyors 82a to 82d in order to extract one rod material B2 at a time from the bundle of rod material B2. The lower upstream rod material extraction movable section 70a is located in the -X direction from the lower upstream rod material extraction fixing section 71a, and the lower upstream rod material extraction movable section 70b is located in the +X direction from the lower upstream rod material extraction fixing section 71a.

[0141] Furthermore, the lower rod material removal section 7 includes, at positions adjacent to the lower upstream rod material removal fixing section 71a, the lower upstream rod material removal movable sections 70a and 70b in the +Y direction, four lower third rod material transport conveyors 84a, 84b, 84c and 84d (hereinafter referred to as "84a~84d") extending from the -X direction end to the +X direction end, so that the rod material B2 is transported continuously from the lower upstream rod material removal fixing section 71a, the lower upstream rod material removal movable sections 70a and 70b, and four lower third rod material transport motors 85a, 85b, 85c and 85d (hereinafter referred to as "85a~85d") for driving these lower third rod material transport conveyors 84a~84d.

[0142] Furthermore, in order to more reliably remove the rods B2 one by one, the lower rod material removal section 7 is located adjacent to the lower third rod material transport conveyors 84a to 84d in the +Y direction, and in the center in the -X and +X directions, and includes a lower downstream rod material removal fixing section 71b, a lower downstream rod material removal movable section 70c located in the -X direction from the lower downstream rod material removal fixing section 71b, and a lower downstream rod material removal movable section 70d located in the +X direction from the lower downstream rod material removal fixing section 71b.

[0143] Furthermore, the lower rod material removal section 7 includes, at positions adjacent to the lower downstream rod material removal fixing section 71b, the lower downstream rod material removal movable sections 70c and 70d in the +Y direction, four lower fourth rod material transport conveyors 86a, 86b, 86c and 86d (hereinafter referred to as "86a~86d") extending from the -X direction end to the +X direction end, so that the rod material B2 is transported continuously from the lower downstream rod material removal fixing section 71b, the lower downstream rod material removal movable sections 70c and 70d, and four lower fourth rod material transport motors 87a, 87b, 87c and 87d (hereinafter referred to as "87a~87d") for driving these lower fourth rod material transport conveyors 86a~86d.

[0144] Furthermore, the lower rod material removal section 7 includes four lower fifth rod material conveying conveyors 88a, 88b, 88c, and 88d (hereinafter referred to as "88a~88d") located adjacent to the lower fourth rod material conveying conveyors 86a~86d in the +Y direction from the -X direction end to the +X direction end, so that the rod material B2 is continuously conveyed from the lower fourth rod material conveying conveyors 86a~86d, and four lower fifth rod material conveying motors 89a, 89b, 89c, and 89d (hereinafter referred to as "89a~89d") for driving these lower fourth rod material conveying conveyors 88a~88d.

[0145] Furthermore, the lower rod material handling section 7 includes two rod material sensors 99a and 99b, spaced apart in the -X and +X directions, to detect when the rod material B2 has been transported to a position where it can be gripped by the first rod material gripping device 5a and the second rod material gripping device 5b, and to support the rod material B2 so that it can slide from below when the rod material B2 has been transported to a position where it can be gripped by the first rod material gripping device 5a and the second rod material gripping device 5b, from the end in the -X direction to the end in the +X direction The system comprises four rod slide pulleys 105a, 105b, 105c, and 105d (hereinafter referred to as "105a to 105d") arranged toward the section, a pusher section 104 for pushing the rod B2 supported by the rod slide pulleys 105a to 105d toward the rod reference plate 106 located at the +X end in the +X direction, and a rod slide motor 103 for driving the pusher section 104 in the +X direction.

[0146] As shown in Figures 8, 9, 22, and 23, the lower upstream rod extraction and fixing section 71a comprises two lower upstream rod extraction and fixing section plates 78aa and 78ab erected parallel to each other in the +X·-X direction, a lower upstream rod extraction and fixing section housing 77aa provided on the upper surface of the first base section 90b and positioned adjacent to the lower upstream rod extraction and fixing section plate 78aa in the -X direction, fixing the lower upstream rod extraction and fixing section plate 78aa at two locations spaced apart in the +Y·-Y direction, and a lower upstream rod extraction and fixing section housing 77ab provided on the upper surface of the first base section 90b and positioned adjacent to the lower upstream rod extraction and fixing section plate 78ab in the +X direction, fixing the lower upstream rod extraction and fixing section plate 78ab at two locations spaced apart in the +Y·-Y direction.

[0147] Furthermore, the lower upstream rod extraction and fixing plate 78aa has an upper surface 79aa of the lower upstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b described later, and the lower upstream rod extraction and fixing plate 78ab also has an upper surface 79ab of the lower upstream rod extraction and fixing part that has a curve similar to the curve formed by continuously connecting the fixing cam tooth valleys K1b, K2b, K3b, and K4b described later.

[0148] As shown in Figures 8, 9, 22, 24, and 25, the lower upstream rod extraction movable section 70a comprises two lower upstream rod extraction oscillating cams 76aa and 76ab erected parallel to each other in the center of the +X·-X direction, a lower upstream rod extraction housing 72aa erected on the -X direction side of the lower upstream rod extraction oscillating cam 76aa and connected to the first base section 90b, and a lower upstream rod extraction housing 72ab erected on the +X direction side of the lower upstream rod extraction oscillating cam 76ab and connected to the first base section 90b.

[0149] Furthermore, as shown in Figures 8, 9, 22, 24, and 25, the lower upstream rod extraction movable part 70a is connected to the lower upstream rod extraction housing 72aa and includes a lower upstream rod extraction fixed cam 75aa erected between the lower upstream rod extraction swing cam 76aa and the lower upstream rod extraction housing 72aa, and a lower upstream rod extraction fixed part cam 75ab connected to the lower upstream rod extraction housing 72ab and erected between the lower upstream rod extraction swing cam 76ab and the lower upstream rod extraction housing 72ab.

[0150] The lower upstream rod extraction oscillating cam 76aa is rotatably connected to the +Z end of the lower upstream rod extraction cylinder rod 74a at the lower upstream rod extraction oscillating cam action point 76ad. The lower upstream rod extraction cylinder 73a, connected to the first base portion 90b, causes the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a to move in the +Z·-Z direction, thereby allowing the cam to rotate around the lower upstream rod extraction oscillating cam center 76ac formed in the lower upstream rod extraction housing 72aa.

[0151] Furthermore, the lower upstream rod extraction oscillating cam 76aa is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0152] 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.

[0153] Furthermore, the lower upstream rod extraction oscillating cam 76ab also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0154] The lower upstream rod extraction fixing cam 75aa is fixed to the upstream rod extraction housing 72aa and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0155] The lower upstream rod extraction fixing cam 75ab has substantially the same form as the lower upstream rod extraction fixing cam 75aa, and, like the lower upstream rod extraction fixing cam 75aa, is fixed to the lower upstream rod extraction housing 72aa. On its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t, and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b, and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0156] As shown in Figures 8, 9, 22, 24, and 25, the lower upstream rod extraction movable section 70b comprises two lower upstream rod extraction oscillating cams 76ba and 76bb erected parallel to each other in the center of the +X·-X direction, a lower upstream rod extraction housing 72ba erected on the -X direction side of the lower upstream rod extraction oscillating cam 76ba and connected to the first base section 90b, and a lower upstream rod extraction housing 72bb erected on the +X direction side of the lower upstream rod extraction oscillating cam 76bb and connected to the first base section 90b.

[0157] Furthermore, as shown in Figures 8, 9, 22, 24, and 25, 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 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 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.

[0158] The lower upstream rod extraction oscillating cam 76ba is rotatably connected to the +Z direction end of the lower upstream rod extraction cylinder rod 74b at the lower upstream rod extraction oscillating cam action point 76bd. The lower upstream rod extraction cylinder 73b, connected to the first base portion 90b, causes the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b to move in the +Z·-Z direction, thereby allowing it to rotate around the lower upstream rod extraction oscillating cam center 76bc formed in the upstream rod extraction housing 72ba.

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

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

[0161] 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.

[0162] Furthermore, the lower upstream rod extraction oscillating cam 76bb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0163] The lower upstream rod extraction fixing cam 75bb has substantially the same form as the lower upstream rod extraction fixing cam 75ba, and, like the lower upstream rod extraction fixing cam 75ba, is fixed to the upstream rod extraction housing 72bb. On its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t, and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b, and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0164] As shown in Figures 8, 9, 22, and 23, the lower downstream rod extraction and fixing section 71b comprises two lower downstream rod extraction and fixing section plates 78ba and 78bb erected parallel to each other in the +X·-X direction, a lower downstream rod extraction and fixing section housing 77ba provided on the upper surface of the first base section 90b and positioned adjacent to the lower downstream rod extraction and fixing section plate 78ba in the -X direction, fixing the lower downstream rod extraction and fixing section plate 78ba at two locations spaced apart in the +Y·-Y direction, and a lower downstream rod extraction and fixing section housing 77bb provided on the upper surface of the first base section 90b and positioned adjacent to the lower downstream rod extraction and fixing section plate 78bb in the +X direction, fixing the lower downstream rod extraction and fixing section plate 78bb at two locations spaced apart in the +Y·-Y direction.

[0165] 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.

[0166] As shown in Figures 8, 9, 22, 24, and 25, the lower downstream rod extraction movable section 70c comprises two lower downstream rod extraction oscillating cams 76ca and 76cb erected parallel to each other in the center of the +X·-X direction, a lower downstream rod extraction housing 72ca erected on the -X direction side of the lower downstream rod extraction oscillating cam 76ca and connected to the first base section 90b, and a lower downstream rod extraction housing 72cb erected on the +X direction side of the lower downstream rod extraction oscillating cam 76cb and connected to the first base section 90b.

[0167] Furthermore, as shown in Figures 8, 9, 22, 24, and 25, the lower downstream rod extraction movable part 70c is connected to the lower downstream rod extraction housing 72ca and includes a lower downstream rod extraction fixed cam 75ca erected between the lower downstream rod extraction swing cam 76ca and the lower downstream rod extraction housing 72ca, and a lower downstream rod extraction fixed part cam 75cb connected to the lower downstream rod extraction housing 72cb and erected between the lower downstream rod extraction swing cam 76cb and the lower downstream rod extraction housing 72cb.

[0168] The lower downstream rod extraction oscillating cam 76ca is rotatably connected to the +Z direction end of the lower downstream rod extraction cylinder rod 74c at the lower downstream rod extraction oscillating cam action point 76cd. The lower downstream rod extraction cylinder 73c, connected to the first base portion 90b, causes the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c to move in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream rod extraction oscillating cam center 76cc formed in the lower downstream rod extraction housing 72ca.

[0169] Furthermore, the lower downstream rod extraction oscillating cam 76ca is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0170] The lower downstream bar extraction oscillating cam 76cb has substantially the same form as the lower downstream bar extraction oscillating cam 76ca, and, similar to the lower downstream bar extraction oscillating cam 76ca, is rotatably connected to the +Z direction end of the lower downstream bar extraction cylinder rod 74c at the lower downstream bar extraction oscillating cam action point 76cd. The lower downstream bar extraction cylinder 73c, connected to the first base portion 90b, moves the lower downstream bar extraction cylinder rod 74c of the lower downstream bar extraction cylinder 73c in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream bar extraction oscillating cam center 76cc formed in the lower downstream bar extraction housing 72ca.

[0171] Furthermore, the lower downstream rod extraction oscillating cam 76cb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0172] The lower downstream bar material extraction fixing cam 75ca is fixed to the lower downstream bar material extraction housing 72ca, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0173] The lower downstream bar material extraction fixing cam 75cb has substantially the same form as the lower downstream bar material extraction fixing cam 75ca, and, like the lower downstream bar material extraction fixing cam 75ca, is fixed to the lower downstream bar material extraction housing 72cb, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0174] As shown in Figures 8, 9, 22, 24, and 25, the lower downstream rod extraction movable section 70d comprises two lower downstream rod extraction oscillating cams 76da and 76db erected parallel to each other in the center of the +X·-X direction, a lower downstream rod extraction housing 72da erected on the -X direction side of the lower downstream rod extraction oscillating cam 76da and connected to the first base section 90b, and a lower downstream rod extraction housing 72db erected on the +X direction side of the lower downstream rod extraction oscillating cam 76db and connected to the first base section 90b.

[0175] Furthermore, as shown in Figures 8, 9, 22, 24, and 25, 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 fixed cam 75da erected between the lower downstream rod extraction swing cam 76da and the lower downstream rod extraction housing 72da, and a lower downstream rod extraction fixed part cam 75db connected to the lower downstream rod extraction housing 72db and erected between the lower downstream rod extraction swing cam 76db and the lower downstream rod extraction housing 72db.

[0176] The lower downstream rod extraction oscillating cam 76da is rotatably connected to the +Z direction end of the lower downstream rod extraction cylinder rod 74d at the lower downstream rod extraction oscillating cam action point 76dd. The lower downstream rod extraction cylinder 73d, connected to the first base portion 90b, causes the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d to move in the +Z·-Z direction, thereby allowing it to rotate around the lower downstream rod extraction oscillating cam center 76dc formed in the lower downstream rod extraction housing 72da.

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

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

[0179] 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.

[0180] Furthermore, the lower downstream rod extraction oscillating cam 76db also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0181] The lower downstream bar stock extraction fixing cam 75db has substantially the same form as the lower downstream bar stock extraction fixing cam 75da, and like the lower downstream bar stock extraction fixing cam 75da, it is fixed to the lower downstream bar stock extraction housing 72db, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0182] In the lower rod extraction section 7 of this embodiment described above, a lower upstream rod extraction fixing section 71a is positioned in the center in the -X·+X direction, and a lower upstream rod extraction movable section 70a and a lower upstream rod extraction movable section 70b are positioned in the +X and -X directions of the lower upstream rod extraction fixing section 71a. By repeatedly moving the lower upstream rod extraction cylinder rod 74a of the lower upstream rod extraction cylinder 73a and the lower upstream rod extraction cylinder rod 74b of the lower upstream rod extraction cylinder 73b back and forth in the +Z·-Z direction, one rod B2 can be extracted from the bundle of rods B2 at a time.

[0183] Furthermore, in the lower rod extraction section 7, the lower downstream rod extraction fixing section 71b is positioned in the center of the -X·+X direction, downstream of the lower upstream rod extraction fixing section 71a, the lower upstream rod extraction movable section 70a, and the lower upstream rod extraction movable section 70b in the +Y direction. The lower downstream rod extraction movable section 70c and the lower downstream rod extraction movable section 70d are positioned in the +X and -X directions of the lower downstream rod extraction fixing section 71b. By repeatedly moving the lower downstream rod extraction cylinder rod 74c of the lower downstream rod extraction cylinder 73c and the lower downstream rod extraction cylinder rod 74d of the lower downstream rod extraction cylinder 73d back and forth in the +Z·-Z direction, even if it is not possible to extract the rods B2 one by one on the upstream side, the rods B2 can be reliably extracted one by one from the bundle of rods B2.

[0184] Furthermore, in the lower rod material removal section 7, the rod materials B2, which are removed one by one, can be transported to a position where the first rod material gripping device 5a and the second rod material gripping device 5b can grip them, by the lower first rod material transport conveyors 80a to 80d, the lower second rod material transport conveyors 82a to 82d, the lower third rod material transport conveyors 84a to 84d, the lower fourth rod material transport conveyors 86a to 86d, and the lower fifth rod material transport conveyors 88a to 88d.

[0185] Furthermore, the lower bar material handling section 7 includes a plurality of bar material slide pulleys 105a to 105d arranged from the -X end to the +X end to support the bar material B2 so that it can slide from below when the bar material B2 is transported to a position where it can be gripped by the first bar material gripping device 5a and the second bar material gripping device 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.

[0186] As shown in Figure 6, the upper rod material extraction unit 107 is responsible for extracting one rod material B1 at a time from the bundle of longer rod materials B1, and for transporting each extracted rod material B1 in the +Y direction to the lower fifth rod material transport conveyor 88a to 88d.

[0187] As shown in Figures 6 and 7, the lower rod material removal section 107 of this embodiment has four upper first rod material transport conveyors 180a, 180b, 180c, and 180d (hereinafter referred to as "180a~180d") extending from the -X direction end to the +X direction end at the -Y direction end in order to transport the bundle of rod material B1 before removal in the +Y direction, and four upper first rod material transport motors 181a, 181b, 181c, and 181d (hereinafter referred to as "181a~181d") for driving these upper first rod material transport conveyors 180a~180d, and the bundle of rod material B1 is transported in the upper first The system includes four upper second bar material conveying conveyors 182a, 182b, 182c, and 182d (hereinafter referred to as "182a-182d") positioned adjacent to the upper first bar material conveying conveyors 180a-180d in the +Y direction, extending from the -X end to the +X end, and four lower second bar material conveying motors 183a, 183b, 183c, and 183d (hereinafter referred to as "183a-183d") for driving these upper second bar material conveying conveyors 182a-182d.

[0188] Furthermore, the upper rod material removal section 107 includes, in order to remove one rod material B1 at a time from a bundle of rod materials B1, an upper upstream rod material removal fixing section 171a located adjacent to the upper second rod material transport conveyors 182a to 182d in the +Y direction and in the center in the -X and +X directions, an upper upstream rod material removal movable section 170a located in the -X direction from the upper upstream rod material removal fixing section 171a, and an upper upstream rod material removal movable section 170b located in the +X direction from the upper upstream rod material removal fixing section 171a.

[0189] Furthermore, the upper rod material removal section 107 includes, at positions adjacent to the upper upstream rod material removal fixing section 171a, the upper upstream rod material removal movable sections 170a and 170b in the +Y direction, four upper third rod material transport conveyors 184a, 184b, 184c and 184d (hereinafter referred to as "184a~184d") extending from the -X direction end to the +X direction end, so that the rod material B1 is transported continuously from the upper upstream rod material removal fixing section 171a, the upper upstream rod material removal movable sections 170a and 170b, and four lower third rod material transport motors 185a, 185b, 185c and 185d (hereinafter referred to as "185a~185d") for driving the upper third rod material transport conveyors 184a~184d.

[0190] Furthermore, in order to more reliably remove the bar materials B1 one by one, the upper bar material removal section 107 is equipped with an upper downstream bar material removal fixing section 171b located adjacent to the upper third bar material transport conveyors 184a to 184d in the +Y direction, in the center in the -X and +X directions, an upper downstream bar material removal movable section 170c located in the -X direction from the upper downstream bar material removal fixing section 171b, and an upper downstream bar material removal movable section 170d located in the +X direction from the upper downstream bar material removal fixing section 171b.

[0191] Furthermore, the upper rod material removal section 107 includes, at positions adjacent to the upper downstream rod material removal fixing section 171b, the upper downstream rod material removal movable sections 170c and 170d in the +Y direction, four upper fourth rod material transport conveyors 186a, 186b, 186c and 186d (hereinafter referred to as "186a~186d") extending from the -X direction end to the +X direction end, so that the rod material B1 is transported continuously from the upper downstream rod material removal fixing section 171b, the upper downstream rod material removal movable sections 170c and 170d, and four upper fourth rod material transport motors 187a, 187b, 187c and 187d (hereinafter referred to as "187a~187d") for driving the lower fourth rod material transport conveyors 186a~186d.

[0192] 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 the first bar material gripping device 5a and the second bar material gripping device 5b can grip it.

[0193] In the case of bar material B1, as with bar material B2, when it is transported to a position where the first bar material gripping device 5a and the second bar material gripping device 5b can grip 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.

[0194] As shown in Figures 6, 7, 22, and 23, the upper upstream rod extraction and fixing section 171a comprises two upper upstream rod extraction and fixing section plates 178aa and 178ab erected parallel to each other in the +X·-X direction, an upper upstream rod extraction and fixing section housing 177aa provided on the upper surface of the fourth base section 90e and positioned adjacent to the upper upstream rod extraction and fixing section plate 178aa in the -X direction, fixing the upper upstream rod extraction and fixing section plate 178aa at two locations spaced apart in the +Y·-Y direction, and an upper upstream rod extraction and fixing section housing 177ab provided on the upper surface of the fourth base section 90e and positioned adjacent to the upper upstream rod extraction and fixing section plate 178ab in the +X direction, fixing the upper upstream rod extraction and fixing section plate 178ab at two locations spaced apart in the +Y·-Y direction.

[0195] 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.

[0196] As shown in Figures 6, 7, 22, 24, and 25, the upper upstream rod extraction movable section 170a comprises two upper upstream rod extraction oscillating cams 176aa and 176ab erected parallel to each other in the center of the +X·-X direction, an upper upstream rod extraction housing 172aa erected on the -X direction side of the upper upstream rod extraction oscillating cam 176aa and connected to the fourth base section 90e, and an upper upstream rod extraction housing 172ab erected on the +X direction side of the upper upstream rod extraction oscillating cam 176ab and connected to the fourth base section 90e.

[0197] Furthermore, as shown in Figures 6, 7, 22, 24, and 25, the upper upstream rod extraction movable part 170a is connected to the upper upstream rod extraction housing 172aa and includes an upper upstream rod extraction fixed cam 175aa erected between the upper upstream rod extraction swing cam 176aa and the upper upstream rod extraction housing 172aa, and an upper upstream rod extraction fixed part cam 175ab connected to the upper upstream rod extraction housing 172ab and erected between the upper upstream rod extraction swing cam 176ab and the upper upstream rod extraction housing 172ab.

[0198] The upper upstream rod extraction oscillating cam 176aa is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174a at the upper upstream rod extraction oscillating cam action point 176ad. The upper upstream rod extraction cylinder 173a, connected to the fourth base 90e, causes the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a to move in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176ac formed in the upper upstream rod extraction housing 172aa.

[0199] Furthermore, the upper upstream rod extraction oscillating cam 176aa is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0200] The upper upstream rod extraction oscillating cam 176ab has substantially the same form as the upper upstream rod extraction oscillating cam 176aa, and, similar to the upper upstream rod extraction oscillating cam 176aa, is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174a at the upper upstream rod extraction oscillating cam action point 176ad. The upper upstream rod extraction cylinder 173a, connected to the fourth base portion 90e, moves the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176ac formed in the upstream rod extraction housing 172aa.

[0201] Furthermore, the upper upstream rod extraction oscillating cam 176ab also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0202] The upper upstream rod extraction fixing cam 175aa is fixed to the upstream rod extraction housing 172aa and has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction, and four fixing cam tooth sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0203] The upper upstream rod extraction fixing cam 175ab has substantially the same form as the upper upstream rod extraction fixing cam 175aa, and, like the upper upstream rod extraction fixing cam 175aa, is fixed to the upper upstream rod extraction housing 172ab, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0204] As shown in Figures 6, 7, 22, 24, and 25, the upper upstream rod extraction movable section 170b comprises two upper upstream rod extraction oscillating cams 176ba and 176bb erected parallel to each other in the center of the +X·-X direction, an upper upstream rod extraction housing 172ba erected on the -X direction side of the upper upstream rod extraction oscillating cam 176ba and connected to the fourth base section 90e, and an upper upstream rod extraction housing 172bb erected on the +X direction side of the upper upstream rod extraction oscillating cam 176bb and connected to the fourth base section 90e.

[0205] Furthermore, as shown in Figures 6, 9, 22, 24, and 25, the upper upstream rod extraction movable part 170b is connected to the upper upstream rod extraction housing 172ba and includes an upper upstream rod extraction fixed cam 175ba erected between the upper upstream rod extraction swing cam 176ba and the upper upstream rod extraction housing 172ba, and an upper upstream rod extraction fixed part cam 175bb connected to the upper upstream rod extraction housing 172bb and erected between the upper upstream rod extraction swing cam 176bb and the upper upstream rod extraction housing 172bb.

[0206] The upper upstream rod extraction oscillating cam 176ba is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174b at the upper upstream rod extraction oscillating cam action point 176bd. The upper upstream rod extraction cylinder 173b, connected to the fourth base 90e, causes the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b to move in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176bc formed in the upstream rod extraction housing 172ba.

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

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

[0209] The upper upstream rod extraction oscillating cam 176bb has substantially the same form as the upper upstream rod extraction oscillating cam 176ba, and, similar to the upper upstream rod extraction oscillating cam 176ba, is rotatably connected to the +Z direction end of the upper upstream rod extraction cylinder rod 174b at the upper upstream rod extraction oscillating cam action point 176bd. The upper upstream rod extraction cylinder 173b, connected to the fourth base portion 90e, moves the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b in the +Z·-Z direction, thereby allowing it to rotate around the upper upstream rod extraction oscillating cam center 176bc formed in the upstream rod extraction housing 172ba.

[0210] Furthermore, the upper upstream rod extraction oscillating cam 176bb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0211] The upper upstream rod extraction fixing cam 175bb has substantially the same form as the upper upstream rod extraction fixing cam 175ba, and like the upper upstream rod extraction fixing cam 175ba, it is fixed to the upstream rod extraction housing 172ba, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0212] As shown in Figures 6, 7, 22, and 23, the upper downstream rod extraction and fixing section 171b comprises two upper downstream rod extraction and fixing section plates 178ba and 178bb erected parallel to each other in the +X·-X direction, an upper downstream rod extraction and fixing section housing 177ba provided on the upper surface of the fourth base section 90e and positioned adjacent to the -X direction side of the upper downstream rod extraction and fixing section plate 178ba at two locations spaced apart in the +Y·-Y direction, and an upper downstream rod extraction and fixing section housing 177bb provided on the upper surface of the fourth base section 90e and positioned adjacent to the +X direction side of the upper downstream rod extraction and fixing section plate 178bb at two locations spaced apart in the +Y·-Y direction.

[0213] 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.

[0214] As shown in Figures 6, 7, 22, 24, and 25, the upper downstream rod extraction movable section 170c comprises two upper downstream rod extraction oscillating cams 176ca and 176cb erected parallel to each other in the center of the +X·-X direction, an upper downstream rod extraction housing 172ca erected on the -X direction side of the upper downstream rod extraction oscillating cam 176ca and connected to the fourth base section 90e, and an upper downstream rod extraction housing 172cb erected on the +X direction side of the upper downstream rod extraction oscillating cam 176cb and connected to the fourth base section 90e.

[0215] Furthermore, as shown in Figures 6, 7, 22, 24, and 25, the upper downstream rod extraction movable part 170c is connected to the upper downstream rod extraction housing 172ca and includes an upper downstream rod extraction fixed cam 175ca erected between the upper downstream rod extraction swing cam 176ca and the upper downstream rod extraction housing 172ca, and an upper downstream rod extraction fixed part cam 175cb connected to the upper downstream rod extraction housing 172cb and erected between the upper downstream rod extraction swing cam 176cb and the upper downstream rod extraction housing 172cb.

[0216] The upper downstream bar extraction oscillating cam 176ca is rotatably connected to the +Z end of the upper downstream bar extraction cylinder rod 174c at the upper downstream bar extraction oscillating cam action point 176cd. The upper downstream bar extraction cylinder 173c, connected to the fourth base 90e, causes the upper downstream bar extraction cylinder rod 174c of the upper downstream bar extraction cylinder 173c to move in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar extraction oscillating cam center 176cc formed in the upper downstream bar extraction housing 172ca.

[0217] Furthermore, the upper downstream rod extraction oscillating cam 176ca is equipped with four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0218] 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.

[0219] Furthermore, the upper downstream rod extraction oscillating cam 176cb also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0220] The upper downstream bar material extraction fixing cam 175ca is fixed to the upper downstream bar material extraction housing 172ca, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0221] The upper downstream bar material extraction fixing cam 175cb has substantially the same form as the upper downstream bar material extraction fixing cam 175ca, and like the upper downstream bar material extraction fixing cam 175ca, it is fixed to the upper downstream bar material extraction housing 172ca, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0222] As shown in Figures 6, 7, 22, 24, and 25, the upper downstream rod extraction movable section 170d comprises two upper downstream rod extraction oscillating cams 176da and 176db erected parallel to each other in the center of the +X·-X direction, an upper downstream rod extraction housing 172da erected on the -X direction side of the upper downstream rod extraction oscillating cam 176da and connected to the fourth base section 90e, and an upper downstream rod extraction housing 172db erected on the +X direction side of the upper downstream rod extraction oscillating cam 176db and connected to the fourth base section 90e.

[0223] Furthermore, as shown in Figures 6, 7, 22, 24, and 25, the upper downstream rod extraction movable part 170d is connected to the upper downstream rod extraction housing 172da and includes an upper downstream rod extraction fixed cam 175da erected between the upper downstream rod extraction swing cam 176da and the upper downstream rod extraction housing 172da, and an upper downstream rod extraction fixed part cam 175db connected to the upper downstream rod extraction housing 172db and erected between the upper downstream rod extraction swing cam 176db and the upper downstream rod extraction housing 172db.

[0224] The upper downstream bar extraction oscillating cam 176da is rotatably connected to the +Z direction end of the upper downstream bar extraction cylinder rod 174d at the upper downstream bar extraction oscillating cam action point 176dd. The upper downstream bar extraction cylinder 173d, connected to the fourth base 90e, causes the upper downstream bar extraction cylinder rod 174d of the upper downstream bar extraction cylinder 173d to move in the +Z·-Z direction, thereby allowing it to rotate around the upper downstream bar extraction oscillating cam center 176dc formed in the upper downstream bar extraction housing 172da.

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

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

[0227] 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.

[0228] Furthermore, the upper downstream rod extraction oscillating cam 176db also has four oscillating cam teeth S1, S2, S3, and S4 on its upper surface in the +Z direction, extending from the -Y direction to the +Y direction.

[0229] The upper downstream bar material extraction fixing cam 175db has substantially the same form as the upper downstream bar material extraction fixing cam 175da, and like the upper downstream bar material extraction fixing cam 175da, it is fixed to the upper downstream bar material extraction housing 172db, and on its upper surface in the +Z direction, it has five fixing cam tooth sections K1t, K2t, K3t, K4t and K5t extending from the -Y direction to the +Y direction, and four fixing cam tooth valley sections K1b, K2b, K3b and K4b between the fixing cam tooth sections K1t and K2t, between the fixing cam tooth sections K2t and K3t, between the fixing cam tooth sections K3t and K4t, and between the fixing cam tooth sections K4t and K5t.

[0230] In the upper rod extraction section 107 of this embodiment described above, an upper upstream rod extraction fixing section 171a is positioned in the center in the -X·+X direction, and an upper upstream rod extraction movable section 170a and an upper upstream rod extraction movable section 170b are positioned in the +X and -X directions of the upper upstream rod extraction fixing section 171a. By repeatedly moving the upper upstream rod extraction cylinder rod 174a of the upper upstream rod extraction cylinder 173a and the upper upstream rod extraction cylinder rod 174b of the upper upstream rod extraction cylinder 173b back and forth in the +Z·-Z direction, one rod B1 can be extracted from the bundle of rods B1 at a time.

[0231] Furthermore, in the upper rod material extraction section 107, the upper upstream rod material extraction fixing section 171a, the upper upstream rod material extraction movable section 170a, and the upper upstream rod material extraction movable section 170b are positioned downstream in the +Y direction, with the upper downstream rod material extraction fixing section 171b located in the center in the -X and +X directions. The upper downstream rod material extraction movable section 170c and the upper downstream rod material extraction movable section 170 are positioned in the +X and -X directions of the upper downstream rod material extraction fixing section 171b. With d positioned, the upper downstream rod extraction cylinder rod 174c of the upper downstream rod extraction cylinder 173c and the upper downstream rod extraction cylinder rod 174d of the upper downstream rod extraction cylinder 173d are repeatedly moved back and forth in the +Z·-Z direction. This ensures that even if it is not possible to extract one rod B1 at a time on the upstream side, one rod B1 can be reliably extracted from the bundle of rod B1.

[0232] Furthermore, in the upper rod material removal section 107, the rod materials B1, which are removed one by one, can be transported to the lower fifth rod material transport conveyors 88a to 88d by the upper first rod material transport conveyors 180a to 180d, the upper second rod material transport conveyors 182a to 182d, the upper third rod material transport conveyors 184a to 184d, and the upper fourth rod material transport conveyors 186a to 186d.

[0233] Furthermore, downstream of the upper bar material removal section 107, the bar material B1 is supported by a plurality of bar material slide pulleys 105a to 105d arranged from the -X end to the +X end, in order to support the bar material B1 so that it can slide from below when the bar material B1 is transported to a position where the first bar material gripping device 5a and the second bar material gripping device 5b can grip it. This includes a pusher section 104 for pushing the bar material B1 supported by these bar material slide pulleys 105a to 105d toward the bar material reference plate 106 located at the +X end in the +X direction. As a result, the reference position of the bar material B1 can be set, and when manufacturing the bar material unit 100, the bar material B1 can be accurately positioned according to the specifications of the bar material unit 100.

[0234] Next, a block diagram of the bar material unit manufacturing apparatus 1 using the bar material gripping device 5 of this embodiment will be described.

[0235] Figure 26 is a block diagram of a bar material unit manufacturing apparatus using the bar material gripping device of this embodiment, and Figure 27 is a block diagram of the main controller in the bar material unit manufacturing apparatus using the bar material gripping device of this embodiment.

[0236] In Figure 26, the bar stock unit manufacturing apparatus 1 using the bar stock gripping device 5 comprises 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 bar stock gripping device 5a, the second bar stock gripping device 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 The device comprises 173d, first bar gripping cylinders 59aa and 59ab, second bar gripping cylinders 59ba and 59bb, first binding member gripping cylinders 40aa and 40ab, second binding member gripping cylinders 40ba and 40bb, first binding member container gripping cylinders 37aa and 37ab, second binding member container gripping cylinders 37ba and 37bb, first floating cylinders 45aa and 45ab, and a compressor 12 for driving the second floating cylinders 45ba and 45bb.

[0237] Furthermore, in Figure 26, the bar material unit manufacturing apparatus 1 using the bar material gripping device 5 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 material slide motor 103, and the bar material transport 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 material 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.

[0238] Furthermore, in Figure 27, 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.

[0239] 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.

[0240] ROM18 includes a rod feeding control program 18a that controls, as a periodic interrupt process, the operation of taking out one rod B at a time from a bundle of rod B and transporting them to a position where the first rod gripping device 5a and the second rod gripping device 5b can grip them in the rod unit manufacturing apparatus 1 using the rod gripping device 5 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 member 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 member 66 is stored becomes empty.

[0241] Next, the operation of the bar material unit manufacturing apparatus 1 with the above configuration will be described.

[0242] Figure 28 is a flowchart of the rod removal control program in a rod unit manufacturing apparatus using the rod gripping device of this embodiment, Figures 29 and 30 are flowcharts of the rod unit manufacturing program in a rod unit manufacturing apparatus using the rod gripping device of this embodiment, and Figure 31 is a flowchart of the binding member binding control program in a rod unit manufacturing apparatus using the rod gripping device of this embodiment.

[0243] Furthermore, Figure 32 is an explanatory diagram showing the first stage in which the bar gripping device of this embodiment grips a bar, Figure 33 is an explanatory diagram showing the second stage in which the bar gripping device of this embodiment grips a bar, and Figure 34 is an explanatory diagram showing the final stage in which the bar gripping device of this embodiment grips a bar.

[0244] Furthermore, Figure 35 is an explanatory diagram showing the first stage in which the bar gripping device of this embodiment releases the bar, Figure 36 is an explanatory diagram showing the second stage in which the bar gripping device of this embodiment releases the bar, and Figure 37 is an explanatory diagram showing the final stage in which the bar gripping device of this embodiment releases the bar.

[0245] First, after the user of the bar stock unit manufacturing device 1 turns on the power switch of the device, they input the specifications of the bar stock unit 100 (number of bar stocks B in vertical and horizontal rows, length of bar stocks B in vertical and horizontal rows, number of bar stock units 100 to be manufactured, etc.) using the operation buttons on the control panel 8, and then press the start button. At this point, the bar stock feeding control program 18a, the bar stock unit manufacturing program 18b, and the binding member binding control program 18c are executed almost simultaneously.

[0246] In the interrupt processing program, the bar feed control program 18a, as shown in Figure 28, first, the bar sensors 99a and 99b determine whether the bar B is in a position where it can be gripped by the first bar gripping device 5a and the second bar gripping device 5b (S1).

[0247] If it is determined that the bar B is in a position where it can be gripped by the first bar gripping device 5a and the second bar gripping device 5b (S1: Yes), the bar B is supported by the bar slide pulleys 105a to 105d, and the bar B is pressed against the bar reference plate 106 located at the +X end by the pusher part 104 to set the reference position of the bar B (S7), after which the interrupt process is terminated (S9).

[0248] On the other hand, if it is determined that the bar B is not in a position where it can be gripped by the first bar gripping device 5a and the second bar gripping device 5b (S1: No), then the bar B2 is picked up one by one from the bundle of bar B2 and transported in the +Y direction by the lower first bar conveying conveyor 80a~80d, the lower second bar conveying conveyor 82a~82d, the lower third bar conveying conveyor 84a~84d, the lower fourth bar conveying conveyor 86a~86d, the lower fifth bar conveying conveyor 88a~88d, the lower upstream bar pick-up and fixing part 71a, the lower upstream bar pick-up movable parts 70a and 70b, the lower downstream bar pick-up and fixing part 71b, and the lower downstream bar pick-up movable parts 70c and 70d (S3).

[0249] 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).

[0250] Then, it is determined again whether the rod B is in a position where it can be gripped by the first rod gripping device 5a and the second rod gripping device 5b (S5). If it is determined that the rod B is not in a position where it can be gripped by the first rod gripping device 5a and the second rod gripping device 5b (S5: No), the rod B is transported in the +Y direction until it reaches a position where it can be gripped by the first rod gripping device 5a and the second rod gripping device 5b (S3).

[0251] Then, if it is determined that the bar material B is in a position where it can be gripped by the first bar material gripping device 5a and the second bar material gripping device 5b (S5: Yes), the bar material B is supported by the bar material slide pulleys 105a to 105d, and the bar material B is pressed against the bar material reference plate 106 located at the +X end by the pusher part 104 to set the reference position of the bar material B (S7), and then the interrupt process is terminated (S9).

[0252] In the rod unit manufacturing program 18b, as shown in Figures 29 and 30, 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).

[0253] 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.

[0254] Then, it is determined whether the bar material B is in a position where it can be gripped by the first bar material gripping device 5a and the second bar material gripping device 5b (S21). If it is determined that the bar material B is not in a position where it can be gripped by the first bar material gripping device 5a and the second bar material gripping device 5b (S21: No), the bar material feeding control program 18a is processed until the bar material B is transported to a position where it can be gripped by the first bar material gripping device 5a and the second bar material gripping device 5b.

[0255] On the other hand, if it is determined that the bar B is in a position where it can be gripped by the first bar gripping device 5a and the second bar gripping device 5b (S21: Yes), the first bar gripping device 5a and the second bar gripping device 5b grip the bar B (hereinafter referred to as "vertical bar Bd1", "vertical bar Bd2", "horizontal bar Bu1", or "horizontal bar Bu2") (S23), and place the 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).

[0256] In this embodiment, in order to prevent the first gripping right tip 65aa, the first gripping left front tip 65ab1 and the first gripping left rear tip 65ab2, as well as the second gripping right tip 65ba, the second gripping left front tip 65bb1 and the second gripping left rear tip 65bb2 from coming into contact with the rod B during operation, the first gripping right tip 65aa, the first gripping left front tip 65ab1 and the first gripping left rear tip When the end portion 65ab2, and the second gripping right tip portion 65ba, the second gripping left front tip portion 65bb1, and the second gripping left rear tip portion 65bb2 grip the rod B, the first gripping right tip portion 65aa, the first gripping left front tip portion 65ab1, and the first gripping left rear tip portion 65ab2, as well as the second gripping right tip portion 65ba, the second gripping left front tip portion 65bb1, and the second gripping left rear tip portion 65bb2 open. With the first gripping right tip 65aa, the first gripping left front tip 65ab1 and the first gripping left rear tip 65ab2, as well as the second gripping right tip 65ba, the second gripping left front tip 65bb1 and the second gripping left rear tip 65bb2, are temporarily lowered to a position below the rod material B, and then the first gripping right tip 65aa, the first gripping left front tip 65ab1 and the first gripping left rear tip 65ab2, Furthermore, the second gripping right tip 65ba, the second gripping left front tip 65bb1, and the second gripping left rear tip 65bb2 are closed, and then the first gripping right tip 65aa, the first gripping left front tip 65ab1, and the first gripping left rear tip 65ab2, as well as the second gripping right tip 65ba, the second gripping left front tip 65bb1, and the second gripping left rear tip 65bb2 are raised to grip the object.

[0257] Figure 32 shows the first gripping right tip 65aa, the first gripping front left tip 65ab1 and the first gripping rear left tip 65ab2, as well as the second gripping right tip 65ba, the second gripping front left tip 65bb1 and the second gripping rear left tip 65bb2, in order to prevent the first gripping right tip 65aa, the first gripping front left tip 65ab1 and the first gripping rear left tip 65ab2 from coming into contact with the rod B during operation. This figure shows the state in which the right end portion 65ba, the second front left end portion 65bb1, and the second rear left end portion 65bb2 are in an open position, and the first right end portion 65aa, the first front left end portion 65ab1, and the first rear left end portion 65ab2, as well as the second right end portion 65ba, the second front left end portion 65bb1, and the second rear left end portion 65bb2 are temporarily lowered to a position below the bar material B.

[0258] Figure 33 then shows the state in which the first gripping right tip 65aa, the first gripping front left tip 65ab1 and the first gripping rear left tip 65ab2, as well as the second gripping right tip 65ba, the second gripping front left tip 65bb1 and the second gripping rear left tip 65bb2 are closed.

[0259] Furthermore, Figure 34 shows the state in which the rod B is gripped by raising the first gripping right tip 65aa, the first gripping front left tip 65ab1 and the first gripping rear left tip 65ab2, as well as the second gripping right tip 65ba, the second gripping front left tip 65bb1 and the second gripping rear left tip 65bb2.

[0260] After placing the bar B at a predetermined position, while keeping the first gripping right tip 65aa, the first gripping left front tip 65ab1, and the first gripping left rear tip 65ab2 closed, and while keeping the second gripping right tip 65ba, the second gripping left front tip 65bb1, and the second gripping left rear tip 65bb2 closed, the first bar gripping portion 13a and the second bar gripping portion 13b are temporarily lowered (S27). Then, the first gripping right portion 63aa, the first gripping left front portion 63ab1, the first gripping left rear portion 63ab2, and the second gripping right portion 63ba, the second gripping left front portion 63bb1, and the second gripping left rear portion 63bb2 are opened to release the bar B from the first bar gripping portion 13a and the second bar gripping portion 13b (S29).

[0261] Here, while keeping the first gripping right tip 65aa, the first gripping left front tip 65ab1, and the first gripping left rear tip 65ab2 closed, and while keeping the second gripping right tip 65ba, the second gripping left front tip 65bb1, and the second gripping left rear tip 65bb2 closed, after temporarily lowering the first bar gripping portion 13a and the second bar gripping portion 13b, the reason for opening the first gripping right portion 63aa, the first gripping left front portion 63ab1, the first gripping left rear portion 63ab2, and the second gripping right portion 63ba, the second gripping left front portion 63bb1, and the second gripping left rear portion 63bb2 is to prevent the first gripping right portion 63aa, the first gripping left front portion 63ab1, the first gripping left rear portion 63ab2, and the second gripping right portion 63ba, the second gripping left front portion 63bb1, and the second gripping left rear portion 63bb2 from contacting the bar B during the operation of the first gripping right portion 63aa, the first gripping left front portion 63ab1, the first gripping left rear portion 63ab2, and the second gripping right portion 63ba, the second gripping left front portion 63bb1, and the second gripping left rear portion 63bb2.

[0262] FIG. 35 is a diagram showing a state in which the first bar gripping portion 13a and the second bar gripping portion 13b are temporarily lowered while keeping the first gripping right tip 65aa, the first gripping left front tip 65ab1, and the first gripping left rear tip 65ab2 closed, and while keeping the second gripping right tip 65ba, the second gripping left front tip 65bb1, and the second gripping left rear tip 65bb2 closed.

[0263] Further, FIG. 36 is a diagram showing a state in which the first gripping right portion 63aa, the first gripping left front portion 63ab1 and the first gripping left rear portion 63ab2, and the second gripping right portion 63ba, the second gripping left front portion 63bb1 and the second gripping left rear portion 63bb2 are then opened.

[0264] Thereafter, the first bar gripping portion 13a and the second bar gripping portion 13b are raised (S31), the first base 93 and the second base 95 are moved a predetermined amount in the +Y direction by rotating the base traveling motors 102a and 102b (S33), it is determined whether the number of placed vertical bars Bd1 and Bd2 has ended (S35), and if it is determined that the number of placed vertical bars Bd1 and Bd2 has not ended (S35: No), the processes of S21 to S35 are repeated until it is determined that the number of placed vertical bars Bd1 and Bd2 has ended.

[0265] Note that FIG. 37 is a diagram showing a state in which the first bar gripping portion 13a and the second bar gripping portion 13b are raised while keeping the first gripping right tip portion 65aa, the first gripping left front tip portion 65ab1 and the first gripping left rear tip portion 65ab2 open, and while keeping the second gripping right tip portion 65ba, the second gripping left front tip portion 65bb1 and the second gripping left rear tip portion 65bb2 open, and the bar B is released from the first bar gripping portion 13a and the second bar gripping portion 13b.

[0266] Note that FIGS. 6 to 9 are diagrams showing the manufacturing state of the bar unit 100 in S11 to S35.

[0267] On the other hand, if it is determined that the number of placed bars B has ended (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 base portion 90d in the +Y direction (S37), the base rotation motor 101 is rotated to rotate the second base 95 approximately 90 degrees with respect to the first base 93 (S39), and then the first base 93 and the second base 95 are returned to the initial position (S41).

[0268] Then, via α (S43), the first bar gripping device 5a and the second bar gripping device 5b grip 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 grooves 96a, so as to contact the upper surface of the vertical bar Bd1 or vertical bar Bd2 (S47).

[0269] In this case as well, in order to prevent the first gripping right tip 65aa and the first gripping left front tip 65ab1, and the second gripping right tip 65ba and the second gripping left front tip 65bb1 from coming into contact with the rod B during operation, the first gripping right part 63aa and the first gripping left front part 63ab1, and the second gripping right part 63ba and the second gripping left front part 63bb1 are opened when gripping the rod B. With the rod in this position, the first gripping right tip 65aa and the first gripping left front tip 65ab1, as well as the second gripping right tip 65ba and the second gripping left front tip 65bb1 are lowered to a position below the rod B. 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 closed, 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 raised to grip the rod.

[0270] 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).

[0271] 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, and the second gripping right part 63ba and the second gripping left front part 63bb1 are opened, just as in the case of a vertical rod, in order to prevent the first gripping right tip part 65aa and the first gripping left front part 63ab1, and 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, and the second gripping right part 63ba and the second gripping left front part 63bb1.

[0272] 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.

[0273] 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).

[0274] 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 rod gripping device 5a and the second rod gripping device 5b contact the upper surfaces of the vertical rods Bd1 and Bd2 and place the horizontal rods Bu1 and Bu2 in the numerous horizontal rod grooves 96b, and the second base 95 is transported in the +Y direction, and when it is transported in the +Y direction from the third base part 90d, as shown in Figure 29, first it is determined whether or not there is a binding position for the binding member 66 at the intersection of the vertical rods Bd1 and Bd2 and the horizontal rods Bu1 and Bu2 (S71).

[0275] If it is determined that there is no binding position for the binding member 66 at the intersection of vertical bars Bd1 and Bd2 and horizontal bars Bu1 and Bu2 (S71: No), the interrupt process is terminated (S95).

[0276] On the other hand, if it is determined that the binding position for the binding member 66 is at the intersection of vertical bars Bd1 and Bd2 and horizontal bars Bu1 and Bu2 (S71: Yes), the robot closest to the binding position is selected from the first binding robot 3a and the second binding robot 3b (S73), the selected robot moves to the binding position (S75), and grasps the binding member 66 from the binding member container C1 or C2 in which the binding member 66 is stored (S77).

[0277] Here, when the first binding robot 3a grasps the binding member 66 from the first binding member container C1, first the compressor 12 sucks outwards the first binding member gripping cylinder rods 41aa and 41ab of the first binding member gripping cylinders 40aa and 40ab, opening the first binding member gripping parts 42aa and 42ab. While recognizing the binding member 66 with the camera 25a, the robot 3a aligns the positions of the first binding member gripping projections 43aa and 43ab with the left side hole 67a and the right side hole 67b of the binding member 66.

[0278] Next, the compressor 12 sucks the first binding member gripping cylinder rods 41aa and 41ab of the first binding member gripping cylinders 40aa and 40ab inward, closing the first binding member gripping portions 42aa and 42ab. This causes the first binding member gripping projections 43aa and 43ab to fit into the left side hole 67a and the right side hole 67b of the binding member 66, thereby gripping the binding member 66 (see Figures 16 and 17).

[0279] Similarly, when the second binding robot 3b grasps the binding member 66 from the second binding member container C2, first, the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb are sucked outwards by the compressor 12, opening the second binding member gripping parts 42ba and 42bb, and while recognizing the binding member 66 with the camera 25b, the positions of the second binding member gripping projections 43ba and 43bb are aligned with the left side hole 67a and the right side hole 67b of the binding member 66.

[0280] Next, the compressor 12 sucks the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb inward, closing the second binding member gripping parts 42ba and 42bb. This causes the second binding member gripping projections 43ba and 43bb to fit into the left side hole 67a and the right side hole 67b of the binding member 66, allowing the binding member 66 to be gripped (see Figures 16 and 17).

[0281] Then, after the first binding robot 3a or the second binding robot 3b grasps the binding member 66, the binding member 66 is lowered so that the left side portion 66a2a and the right side portion 66a2b of the binding member body 66a straddle the horizontal bar Bu1 or horizontal bar Bu2, and the left bottom portion 66a4a and the right bottom portion 66a4b of the binding member body 66a are brought into contact with the lower surface of the vertical bar Bd1 or Bd2 so as to support the vertical bar Bd1 or Bd2 from below (S79).

[0282] Then, the first binding robot 3a or the second binding robot 3b raises the binding member 66 to lift the vertical bar Bd1 or Bd2 (S81), and then sets the binding member 66 into a floating state to allow it to conform to the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 (S83).

[0283] Here, when the first tying robot 3a makes the tying member 66 in a floating state, as shown in FIG. 17, the first floating cylinder pistons 46aa and 46ab of the first floating cylinders 45aa and 45ab are sucked upward by the compressor 12, and the contact portions 108aa and 108ab are separated upward from the positioning bushes 69aa and 69ab formed on the clamp base plate 21a. By doing so, the intermediate slide plate 17a, the lower slide plate 19a, and the clamp base plate 21a can move in their respective directions with respect to the base plate 15a, and the tying member 66 becomes in a floating state.

[0284] Also, when the second tying robot 3b makes the tying member 66 in a floating state, similar to the first tying robot 3a, as shown in FIG. 17, the second floating cylinder pistons 46ba and 46bb of the second floating cylinders 45ba and 45bb are sucked upward by the compressor 12, and the contact portions 108ba and 108bb are separated upward from the positioning bushes 69ba and 69bb formed on the clamp base plate 21b. By doing so, the intermediate slide plate 17b, the lower slide plate 19b, and the clamp base plate 21b can move in their respective directions with respect to the base plate 15b, and the tying member 66 becomes in a floating state.

[0285] Then, with the binding member 66 in a floating state, the screw portion 66b of the binding member 66 is temporarily tightened to bind the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 by rotating the screw tightening motor 26a or 26b (S85), and after that, the first binding member gripping projections 43aa and 43ab are released from the left side hole 67a and the right side hole 67b of the binding member 66, or, After releasing the second binding member gripping projections 43ba and 43bb from the left side hole 67a and the right side hole 67b of the binding member 66 (S87), the screw portion 66b of the binding member 66 is further tightened by rotating the screw tightening motor 26a or 26b to fasten the binding member 66 to fasten the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 (S89), and it is determined whether the screw tightening torque is sufficient (S91).

[0286] If it is determined that the screw tightening torque is insufficient (S91: No), the screw tightening motor 26a or 26b is rotated further to rotate the screw portion 66b further until sufficient screw tightening torque is achieved, thereby pressing the binding member 66 against the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2.

[0287] On the other hand, if it is determined that the screw tightening torque is sufficient (S91: Yes), the first binding robot 3a or the second binding robot 3b is moved away from the binding member 66 (S93), and the interrupt processing is terminated (S95).

[0288] Returning to the bar unit manufacturing program, the first bar gripping device 5a and the second bar gripping device 5b position the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2, and the first binding robot 3a and the second binding robot 3b bind the intersections of the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 with binding members 66. Then it is determined whether or not the binding of all binding members 66 in the bar unit 100 has been completed (S59).

[0289] If it is determined that the binding of all binding members 66 in the rod unit 100 has not been completed (S59: No), the device waits until the binding of all binding members 66 has been completed. If it is determined that the binding of all binding members 66 in the rod unit 100 has been completed (S59: Yes), the rod unit manufacturing apparatus 1 rotates the base travel motors 102a and 102b to move the first base 93 on which the rod unit 100 is placed to the discharge position at the +Y end (S61).

[0290] Then, it is determined whether or not the rod unit 100 has been removed from the discharge position (S63). If it is determined that the rod unit 100 has not been removed from the discharge position (S63: No), the system waits until the rod unit 100 is removed from the discharge position. If it is determined that the rod unit 100 has been removed from the discharge position (S63: Yes), the system rotates the base travel motors 102a and 102b to move the first base 93 to its initial position (S65).

[0291] Then, it is determined whether or not the production of all bar stock units 100 has been completed (S67). If it is determined that the production of all bar stock units 100 has not been completed (S67: No), the process from S21 to S67 is repeated via β (S19) until the production of all bar stock units 100 has been completed. If it is determined that the production of all bar stock units 100 has been completed (S67: Yes), the production of bar stock units 100 is completed (S69).

[0292] In addition, in S23 and S45, as shown in Figure 32, the first step of the present invention is to move the first gripping right tip 65aa, the first gripping front tip 65ab1, and the first gripping rear tip 65ab2 to below the rod B with the first gripping right part 63aa, the first gripping front left part 63ab1, and the first gripping rear left part 63ab2 of the first rod gripping device 5a open, or to move the second gripping right tip 65ba, the second gripping front tip 65bb1, and the second gripping rear left tip 65bb2 to below the rod B with the second gripping right part 63ba, the second gripping front left part 63bb1, and the second gripping rear left part 63bb2 of the second rod gripping device 5b open.

[0293] Furthermore, in S23 and S45, as shown in Figure 33, the step of closing the first gripping right part 63aa, the first gripping left front part 63ab1, and the first gripping left rear part 63ab2 of the first bar material gripping device 5a, or the step of closing the second gripping right part 63ba, the second gripping left front part 63bb1, and the second gripping left rear part 63bb2 of the second bar material gripping device 5b functions as the "second step" of the present invention.

[0294] Furthermore, in steps S23 and S45, as shown in Figure 34, the steps of moving the first bar gripping portion 13a upward with the first gripping right portion 63aa, the first gripping front left portion 63ab1, and the first gripping rear left portion 63ab2 of the first bar gripping device 5a closed, or moving the second bar gripping portion 13b upward with the second gripping right portion 63ba, the second gripping front left portion 63bb1, and the second gripping rear left portion 63bb2 of the second bar gripping device 5b closed, function as the "third step" of the present invention.

[0295] Furthermore, the processes in S27 and S49 function as the "fourth step" of the present invention, the processes in S29 and S51 function as the "fifth step" of the present invention, and the processes in S31 and S53 function as the "sixth step" of the present invention.

[0296] The first bar gripping device 5a described above comprises an articulated robot 109a and a first bar gripping section 13a connected to the tip of the articulated robot 109a. The first bar gripping section 13a includes a first gripping right section 63aa that rotates from one side of the bar B to support the other side of the bar B, and a first gripping left front section 63ab1 that is positioned adjacent to the first gripping right section 63aa in a direction substantially perpendicular to the direction in which the first gripping right section 63aa rotates, and rotates from the other side of the bar B to support the one side of the bar B so as to overlap with the first gripping right section 63aa. Therefore, even when the mass of the bar B increases, the bar B can be gripped stably.

[0297] Furthermore, the second bar material gripping device 5b comprises an articulated robot 109b and a second bar material gripping section 13b connected to the tip of the articulated robot 109b. The second bar material gripping section 13b includes a second gripping right section 63ba that rotates from one side of the bar material B to support the other side of the bar material B, and a second gripping left front section 63bb1 that is positioned adjacent to the second gripping right section 63ba in a direction substantially perpendicular to the direction in which the second gripping right section 63ba rotates, and rotates from the other side of the bar material B to support the one side of the bar material B so as to overlap with the second gripping right section 63ba. Therefore, even when the mass of the bar material B increases, the bar material B can be gripped stably.

[0298] Furthermore, according to the first bar gripping device 5a, the first left front gripping portion 63ab1 and the first left rear gripping portion 63ab2 are arranged adjacent to the first right gripping portion 63aa on both sides in a direction substantially perpendicular to the direction in which the first right gripping portion 63aa rotates, and are supported by rotating from the other side of the bar B so as to overlap with the first right gripping portion 63aa and cover the bar B. Therefore, even when the mass of the bar B increases, the bar B can be gripped even more stably.

[0299] Furthermore, according to the second bar gripping device 5b, the second left front gripping part 63bb1 and the second left rear gripping part 63bb2 are arranged adjacent to the second right gripping part 63ba on both sides in a direction substantially perpendicular to the direction in which the second right gripping part 63ba rotates, and they support the bar B by rotating from the other side of the bar B so as to overlap with the second right gripping part 63ba, so that the bar B can be gripped even more stably even when the mass of the bar B increases.

[0300] Furthermore, according to the first rod gripping device 5a, the first gripping right portion 63aa, the first gripping left front portion 63ab1, and the first gripping left rear portion 63ab2 are equipped with a first gripping right portion flat surface 64aa, a first gripping left front portion flat surface 64ab1, and a first gripping left rear portion flat surface 64ab2 that support the rod B, a first gripping right tip portion 65aa, a first gripping left front tip portion 65ab1, and a first gripping left rear tip portion 65ab2 located on the tip side of each flat surface, and a base end portion located on the base end side of each flat surface, so that the rod B can be gripped even more stably.

[0301] Furthermore, according to the second rod gripping device 5b, the second gripping right portion 63ba, the second gripping left front portion 63bb1, and the second gripping left rear portion 63bb2 are equipped with a second gripping right portion flat surface 64ba, a second gripping left front portion flat surface 64bb1, and a second gripping left rear portion flat surface 64bb2 that support the rod B, a second gripping right tip portion 65ba, a second gripping left front tip portion 65bb1, and a second gripping left rear tip portion 65bb2 located on the tip side of each flat surface, and a base end portion located on the base end side of each flat surface, so that the rod B can be gripped even more stably.

[0302] Furthermore, with respect to the first rod gripping device 5a, the first gripping right tip portion 65aa, the first gripping left front tip portion 65ab1, and the first gripping left rear tip portion 65ab2 are formed to extend in an obtuse angle direction with respect to the first gripping right flat surface 64aa, the first gripping left front flat surface 64ab1, and the first gripping left rear flat surface 64ab2, so that the rod B can be easily gripped.

[0303] Furthermore, according to the second rod gripping device 5b, the second gripping right tip 65ba, the second gripping left front tip 65bb1, and the second gripping left rear tip 65bb2 are formed to extend at an obtuse angle with respect to the second gripping right flat surface 64ba, the second gripping left front flat surface 64bb1, and the second gripping left rear flat surface 64bb2, so that the rod B can be easily gripped.

[0304] Furthermore, with the first rod gripping device 5a, the first gripping right tip 65aa and the base end of the first gripping right part 63aa, the first gripping left front tip 65ab1 and the base end of the first gripping left front part 63ab1, and the first gripping left rear tip 65ab2 and the base end of the first gripping left rear part 63ab2 are formed to extend in substantially the same angular direction with respect to the first gripping right flat surface 64aa, the first gripping left front flat surface 64ab1, and the first gripping left rear flat surface 64ab2, respectively, so that the rod B can be gripped even more stably.

[0305] Furthermore, with respect to the second rod gripping device 5b, the second gripping right tip portion 65ba and the base end of the second gripping right portion 63ba, the second gripping left front tip portion 65bb1 and the base end of the second gripping left front portion 63bb1, and the second gripping left rear tip portion 65bb2 and the base end of the second gripping left rear portion 63bb2 are formed to extend in substantially the same angular direction with respect to the second gripping right portion flat surface 64ba, the second gripping left front portion flat surface 64bb1, and the second gripping left rear portion flat surface 64bb2, respectively, so that the rod B can be gripped even more stably.

[0306] Furthermore, according to the rod gripping system of this embodiment, since it includes a second base portion 90c and a plurality of first rod gripping devices 5a and second rod gripping devices 5b arranged on the second base portion 90c, even when the rod B becomes long and its mass increases, the rod B can be stably gripped by the plurality of first rod gripping devices 5a and second rod gripping devices 5b.

[0307] Furthermore, the rod gripping system of this embodiment includes a second base portion 90c, a first rail disposed on the second base portion 90c and extending in a predetermined direction, and a plurality of first rod gripping devices 5a and second rod gripping devices 5b arranged to be movable along the first rail. Therefore, it can grip rods B of various lengths, and even when the rod B becomes long and its mass increases, the rod can be stably gripped by the plurality of first rod gripping devices 5a and second rod gripping devices 5b.

[0308] Furthermore, according to the rod handling method of this embodiment, with the first right gripping part 63aa, the first left front gripping part 63ab1, and the first left rear gripping part 63ab2 of the first rod gripping device 5a open, the first right tip 65aa, the first left front gripping tip 65ab1, and the first left rear gripping tip 65ab2 are moved to below the rod B, and after the first step, the first right gripping part 63aa and the first left front gripping part The device includes a second step of closing 63ab1 and the first left rear grip 63ab2, and a third step of moving the first right grip 63aa, the first left front grip 63ab1, and the first left rear grip 63ab2 upward after the second step, while keeping them closed. As such, the rod B can be safely gripped without touching it.

[0309] Furthermore, according to the rod handling method of this embodiment, with the second right gripping part 63ba, the second left front gripping part 63bb1, and the second left rear gripping part 63bb2 of the second rod gripping device 5b open, a first step is to move the second right tip 65ba, the second left front tip 65bb1, and the second left rear tip 65bb2 to below the rod B, and after the first step, the second right gripping part 63ba and the second left front gripping part The device includes a second step of closing 63bb1 and the second left rear grip 63bb2, and a third step of moving the second right grip 63ba, the second left front grip 63bb1, and the second left rear grip 63bb2 upward after the second step, while the second right grip 63ba, the second left front grip 63bb1, and the second left rear grip 63bb2 are closed. As such, the rod B can be safely gripped without touching it.

[0310] Furthermore, according to the rod handling method of this embodiment, after placing the rod B, a fourth step is to move the first gripping right part 63aa, the first gripping left front part 63ab1, and the first gripping left rear part 63ab2 of the first rod gripping device 5a downwards while the first gripping right part 63aa, the first gripping left front part 63ab1, and the first gripping left rear part 63ab2 are closed, and after the fourth step, the first gripping right part 63aa, the first gripping left front part 63ab The method includes a fifth step of opening the first grip right portion 63aa, the first grip left front portion 63ab1, and the first grip left rear portion 63ab2, and after the fifth step, moving the first grip right portion 63aa, the first grip left front portion 63ab1, and the first grip left rear portion 63ab2 upward while the first grip right portion 63aa, the first grip left front portion 63ab1, and the first grip left rear portion 63ab2 are open. Therefore, the rod B can be safely released without touching it.

[0311] Furthermore, according to the rod handling method of this embodiment, after placing the rod B, a fourth step is to move the second gripping right part 63ba, the second gripping left front part 63bb1, and the second gripping left rear part 63bb2 of the second rod gripping device 5b downwards while the second gripping right part 63ba, the second gripping left front part 63bb1, and the second gripping left rear part 63bb2 are closed, and after the fourth step, the second gripping right part 63ba, the second gripping left front part 63b The method includes a fifth step of opening b1 and the second left rear grip 63bb2, and a sixth step of moving the second right grip 63ba, the second left front grip 63bb1, and the second left rear grip 63bb2 upward after the fifth step, while the second right grip 63ba, the second left front grip 63bb1, and the second left rear grip 63bb2 are open. Therefore, the rod B can be safely released without touching it. [Explanation of Symbols]

[0312] 1. Bar material unit manufacturing equipment 2. Main Controller 3a(3)···First bundling robot 3b(3)···Second bundling robot 4. Robot Controller 5a(5)...First bar gripping device 5b(5)...Second bar gripping device 6...Power supply 7. Lower section for removing rod material. 8. Control Panel 9...Foundation part 10. Driver Circuit 11a...1st binding part 11b...Second binding part 12. Compressor 13a...First bar gripping part (gripping part) 13b...Second bar gripping part (gripping part) 14..CPU 15a, 15b... Base plate 16...RAM 17a, 17b... Intermediate slide plate 18···ROM 19a, 19b... Lower slide plate 20aa, 20ab, 20ba, 20bb... Carriage for intermediate slide plate 21a, 21b... Clamp base plate 22aa, 22ab, 22ba, 22bb... Rails for intermediate slide plates 23aa, 23ab, 23ba, 23bb... Rails for lower slide plates 24aa, 24ab, 24ba, 24bb... Carriage for lower slide plate 25a, 25b... Camera 26a, 26b... Screw tightening motors 28a, 28b... Screw fitting section 30a...First base (first bundling robot) 30b...First base (second bundling robot) 31a...Second base (first bundling robot) 31b...Second base (second bundling robot) 32a...Lower arm (first binding robot) 32b... Forearm (Second binding robot) 33a...Lower mid-arm section (first binding robot) 33b...Lower mid-arm section (second binding robot) 34a...Upper and mid-arm section (first binding robot) 34b...Upper and mid-arm section (second binding robot) 35a...Upper arm (First binding robot) 35b...Upper arm (second binding robot) 36a...First enclosure 36b...Second cabinet 37aa, 37ab... First bundling member container gripping cylinder 37ba, 37bb... Second bundling member container gripping cylinder 38aa, 38ab... First binding member container gripping cylinder rod 38aa1, 38aa2, 38ab1, 38ab2... First binding member container gripping cylinder rod guide 38ba, 38bb... Second binding member container gripping cylinder rod 38ba1, 38ba2, 38bb1, 38bb2... Second binding member container gripping cylinder rod guide 39aa, 39ab... First binding member container gripping part 39aa1, 39ab1...First binding member, container gripping rubber part 39ba, 39bb... Second binding member container gripping part 39ba1, 39bb1... Second binding member, container gripping rubber part 40aa, 40ab...First binding member gripping cylinder 40ba, 40bb...Second binding member gripping cylinder 41aa, 41ab...First binding member gripping cylinder rod 41ba, 41bb...Second binding member gripping cylinder rod 42aa,42ab...first binding member gripping part 42ba,42bb...Second binding member gripping part 43aa,43ab...Protrusion for gripping the first binding member 43ba,43bb...Protrusion for gripping the second binding member 44aa, 44ab... Cavity section for the first floating cylinder 44ba, 44bb... Second floating cylinder gap 45aa, 45ab... First floating cylinder 45ba, 45bb... Second floating cylinder 46aa, 46ab... First floating cylinder piston 46ba, 46bb... Second floating cylinder piston 47aa, 47ab... First binding member gripping part timing pulley 47ba, 47bb... Second binding member gripping part timing pulley 48a...First binding member gripping part timing belt 48b...Second binding member gripping part timing belt 49aa, 49ab... First binding member timing belt connection part 49ba, 49bb... Second binding member, timing belt connection part 50a...First base (first rod gripping device) 50b...First base (second rod gripping device) 51a...Second base (first rod gripping device) 51b...Second base (second rod gripping device) 52a...Lower arm (first bar gripping device) 52b...Lower arm (second bar gripping device) 53a...Lower middle arm (first bar gripping device) 53b...Lower middle arm (second bar gripping device) 54a...Upper middle arm (first bar gripping device) 54b...Upper middle arm (second bar gripping device) 55a...Upper arm section (First rod gripping device) 55b...Upper arm section (second rod gripping device) 56a...First gripping base plate 56b...Second gripping base plate 57aa, 57ab, 57ac, 57ad... 1st gripping column 57ba,57bb,57bc,57bd...Second gripping column 58a...First gripping movable part 58b...Second gripping movable part 59aa, 59ab... First bar gripping cylinder 59ba, 59bb... Second bar gripping cylinder 60aa...First gripping rod for the right side 60ab...First gripping left rod 60ba...Second gripping rod for the right side 60bb...Second gripping left rod 61a...Center of the first gripping part 61b...Center of second gripping part 62a...Plate for the first gripping section 62b...Plate for the second gripping section 63aa...First gripping right part (first claw part) 63ab1···The first left front part of the grip (the second claw part) 63ab2···First grip on the left rear part (second claw part) 63ba···Second right grip (first claw) 63bb1···The second left front part of the grip (the second claw part) 63bb2···Second grip on the left rear part (second claw part) 64aa···First grip on the right flat surface 64ab1···First grip, left front flat surface 64ab2···First grip on the left rear flat surface 64ba···Second grip on the right flat surface 64bb1···Second grip, left front flat surface 64bb2···Second grip, left rear flat surface 65aa···First grip right tip 65ab1···First grip on the left front end 65ab2···First grip left rear tip end 65ba···Second grip right tip 65bb1···Second grip, left front tip 65bb2···Second grip, left rear tip 66···End of Parts 66a···End of Part Body 66a1··· Upper part of the end component 66a2a···End of material, left side 66a2b···End part right side 66a3a···End part left protrusion 66a3b···End part right protrusion 66a4a···End of section, bottom left 66a4b... End part, bottom right 66a5a··· End part left tip protrusion 66a5b···Right tip protrusion of the end part 66b···ネジBU (Fu Shibu) 67a···Left side hole 67b···Right side hole 68a, 68b, 68c, 68d... Upper holes 69aa, 69ab, 69ba, 69bb···The position is determined by the use of ブッシュ 69aag, 69abg, 69bag, 69bbg... Positioning bushing holes 70a, 70b... Lower upstream rod material extraction movable part 70c, 70d...Lower section downstream rod material extraction movable part 71a... Lower upstream side rod material extraction and fixing section 71b...Lower section downstream rod material extraction and fixing part 72aa, 72ab, 72ba, 72bb... Lower upstream rod material extraction movable part housing 72ca, 72cb, 72da, 72db... Lower downstream rod material extraction movable part housing 73a, 73b... Lower upstream rod extraction cylinder 73c, 73d... Lower downstream rod extraction cylinder 74a, 74b... Lower upstream rod extraction cylinder rod 74c, 74d... Lower downstream side rod material extraction cylinder rod 75aa, 75ab, 75ba, 75bb... Lower upstream rod material extraction and fixing cam 75ca, 75cb, 75da, 75db... Lower downstream rod material extraction and fixing cam 76aa, 76ab, 76ba, 76bb... Lower upstream rod extraction oscillating cam 76ca, 76cb, 76da, 76db... Lower downstream rod extraction oscillating cam 76ac, 76bc... Lower upstream rod extraction oscillating cam rotation center 76cc, 76dc... Lower downstream side rod material extraction oscillating cam rotation center 76ad, 76bd... Lower upstream rod extraction oscillating cam action point 76cd, 76dd... Lower downstream side rod material extraction oscillating cam action point 77aa, 77ab... Lower upstream side rod material extraction and fixing section housing 77ba, 77bb...Lower section downstream rod material extraction and fixing housing 78aa, 78ab... Lower upstream rod material extraction and fixing plate 78ba, 78bb... Lower downstream rod material extraction and fixing plate 79aa, 79ab... Upper surface of the lower upstream rod material extraction and fixing section 79ba, 79bb... Upper surface of the lower downstream rod material extraction and fixing section 80a~80d... Lower first bar material conveyor 81a~81d...Motor for conveying the first bar material in the lower section 82a~82d... Lower second bar material conveyor 83a~83d...Motor for transporting the second bar material in the lower section 84a~84d... Lower third bar material conveyor 85a~85d...Motor for conveying the third bar material in the lower section 86a~86d... Lower section 4th bar material conveyor 87a~87d...Motor for conveying the fourth bar material in the lower section 88a~88d...Lower section 5th bar material conveyor 89a~89d...Motor for conveying the 5th bar material in the lower section 90a...Foundation main body 90b...First foundation 90c...Second base section (mounting platform, rod gripping system) 90d...Third foundation 90e...Fourth foundation 91a...First rail 91b...Second rail 91c...3rd rail 91d...4th rail 92a...First roller 92b... Second Laura 92c...3rd roller 92d...4th roller 93...First base 94... Rotary bearings 95...Second base 96a... Groove for vertical bar 96b... Groove for horizontal bar 97... Rack for bundling robot 98a, 98b... Motors for binding robots 99a, 99b... Rod material sensor 100... bar stock unit 101...Motor for base rotation 102a, 102b...Motors for base traction 103... Bar material slide motor 104...Pusher section 105a, 105b, 105c, 105d... Bar stock slide pulleys 106... Bar reference plate 107... Upper section for removing rod material 108aa,108ab,108ba,108bb...Contact part 109a...First articulated robot (articulated robot) 109b...Second articulated robot (articulated robot) 170a, 170b... Lower upstream rod material extraction movable part 170c, 170d...Lower section downstream rod material extraction movable part 171a... Upper upstream side rod material extraction and fixing section 171b... Upper downstream side rod material extraction and fixing section 172aa, 172ab, 172ba, 172bb... Upper upstream rod material extraction movable part housing 172ca, 172cb, 172da, 172db... Upper downstream rod material extraction movable part housing 173a, 173b... Upper upstream rod extraction cylinder 173c, 173d... Upper downstream rod extraction cylinder 174a, 174b... Upper upstream rod extraction cylinder rod 174c, 174d... Upper downstream side rod extraction cylinder rod 175aa, 175ab, 175ba, 175bb... Upper upstream rod material extraction and fixing cam 175ca, 175cb, 175da, 175db... Upper downstream rod material extraction and fixing cam 176aa, 176ab, 176ba, 176bb... Upper upstream rod extraction oscillating cam 176ca, 176cb, 176da, 176db... Upper downstream rod extraction oscillating cam 176ac, 176bc... Upper upstream rod extraction oscillating cam rotation center 176cc, 176dc... Upper downstream rod extraction oscillating cam rotation center 176ad, 176bd... Upper upstream rod material extraction oscillating cam action point 176cd, 176dd... Upper downstream side rod material extraction oscillating cam action point 177aa, 177ab... Upper upstream side rod material extraction and fixing section housing 177ba, 177bb... Upper downstream side rod material extraction and fixing section housing 178aa, 178ab... Upper upstream rod material extraction and fixing plate 178ba, 178bb... Upper downstream side rod material extraction and fixing plate 179aa, 179ab... Upper section of the upper upstream rod material extraction and fixing part 179ba, 179bb... Upper section of the lower downstream rod material extraction and fixing part 180a~180d... Upper first bar material conveyor 181a~181d...Motor for conveying the first bar material in the upper section 182a~182d... Upper second bar material conveyor 183a~183d...Motor for transporting the second bar material in the upper section 184a~184d... Upper third bar material conveyor 185a~185d...Motor for transporting the third bar material in the upper section 186a~186d... Upper fourth bar material conveyor 187a~187d...Motor for conveying the fourth bar material in the upper section B,B1,B2...Bar material Bd1, Bd2(B)...Vertical bar Bu1, Bu2(B)... horizontal bar C1(C)···First Binding Member Container C2(C)···Second Binding Member Container K1t, K2t, K3t, K4t, K5t... Fixed cam tooth section K1b, K2b, K3b, K4b... Fixed cam tooth valley S1, S2, S3, S4... Oscillating cam teeth

Claims

1. Articulated robots and The gripping part connected to the tip of the articulated robot, Equipped with, The gripping portion includes a first claw portion that rotates from one side of the rod to support and cover the other side of the rod, A second claw portion is positioned adjacent to the first claw portion in a direction substantially perpendicular to the direction in which the first claw portion rotates, and rotates from the other side of the rod to cover and support the one side of the rod, overlapping with the first claw portion. A rod gripping device characterized by being equipped with the following features.

2. The rod gripping device according to claim 1, characterized in that the second claw portion is arranged adjacent to the first claw portion on both sides in a direction substantially perpendicular to the direction in which the first claw portion rotates, and rotates from the other side of the rod to cover the rod so as to overlap with the first claw portion.

3. The rod gripping device according to claim 1, characterized in that the first claw portion and the second claw portion each comprise a flat surface for supporting the rod, a tip portion located on the tip side of the flat surface, and a base end portion located on the base end side of the flat surface.

4. The rod gripping device according to claim 2, characterized in that the first claw portion and the second claw portion each comprise a flat surface for supporting the rod, a tip portion located on the tip side of the flat surface, and a base end portion located on the base end side of the flat surface.

5. The rod gripping device according to claim 3, characterized in that the tip portion is formed to extend in an obtuse angle direction with respect to the flat surface.

6. The rod gripping device according to claim 4, characterized in that the tip portion is formed to extend in an obtuse angle direction with respect to the flat surface.

7. The rod gripping device according to claim 3, characterized in that the tip portion and the base portion are formed to extend in a direction substantially the same angle with respect to the flat surface.

8. The rod gripping device according to claim 4, characterized in that the tip portion and the base portion are formed to extend in substantially the same angular direction with respect to the flat surface.

9. The rod gripping device according to claim 5, characterized in that the tip portion and the base portion are formed to extend in substantially the same angular direction with respect to the flat surface.

10. The rod gripping device according to claim 6, characterized in that the tip portion and the base portion are formed to extend in substantially the same angular direction with respect to the flat surface.

11. Mounting platform and A plurality of rod gripping devices according to any one of claims 1 to 10 are arranged on the mounting base, A rod gripping system characterized by having the following features.

12. Mounting platform and The mounting platform is arranged and a first rail extends in a predetermined direction, A plurality of rod gripping devices according to any one of claims 1 to 10, arranged to be movable along the first rail, A rod gripping system characterized by having the following features.

13. A first step of moving the gripping portion down to the bottom of the rod with the first claw portion and the second claw portion of the rod gripping device according to any one of claims 1 to 10 open, After the first step, the second step is to close the first claw portion and the second claw portion by sandwiching the rod material, After the second step, a third step is to move the gripping portion upward with the first claw portion and the second claw portion closed, A method for handling rod materials, characterized by comprising the following:

14. A fourth step is to move the gripping portion downward while the rod material is placed, with the first claw portion and the second claw portion closed, Following the fourth step, a fifth step is to open the first claw portion and the second claw portion, After the fifth step, the sixth step is to move the gripping portion upward with the first claw portion and the second claw portion open, The method for handling bar materials according to claim 13, characterized by comprising the above.

15. After placing the rod, a fourth step is to move the gripping portion downward with the first claw portion and the second claw portion of the rod gripping device according to any one of claims 1 to 10 closed, Following the fourth step, a fifth step is to open the first claw portion and the second claw portion, After the fifth step, the sixth step is to move the gripping portion upward with the first claw portion and the second claw portion open, A method for handling rod materials, characterized by comprising the following:

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