Binding member, binding member handling device for handling the binding member, binding member handling system for handling the binding member, and binding member binding method.

Abstract

The present invention provides a binding member that can automate the binding of a first member and a second member, and that can prevent air from accumulating inside even when the first member and the second member, including the binding member, are covered with a hardening fluid; a binding member that can easily and firmly bind the first member and the second member; and a binding member handling device and a binding member handling system that can rapidly and continuously perform binding operations using these binding members, thereby providing a binding member binding method that efficiently, stably, and firmly binds the first member and the second member. [Solution] The binding member 66 is for binding the intersections of the upper horizontal bar and the lower bar material which intersect each other, and has a plurality of through holes on its surface. Of the plurality of through holes, the left side hole 67a and the right side hole serve both as holes to be gripped by the first binding member gripping part or the second binding member gripping part, and as air vents when covering the lower bar material and the upper horizontal bar with a hardenable fluid.

Description

Technical Field

[0001] The present invention relates to a binding member for binding an intersection of two members intersecting each other, a binding member handling device for handling the binding member, a binding member handling system for handling the binding member, and a binding member binding method.

Background Art

[0002] Conventionally, a binding member for binding an intersection of two members intersecting each other has been known.

[0003] For example, it is recognized that Patent Document 1 describes a reinforcing bar connecting fitting 10 and 20 for joining an intersection of reinforcing bars 15A and 15B intersecting each other, and having bolt holes 13 and 23 and reinforcing bar insertion holes 14 and 24 (see FIGS. 5, 6, etc.).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the reinforcing bar connecting fittings 10 and 20 described in Cited Document 1, since the reinforcing bar 15A penetrates through the bolt holes 13 and 23 and the reinforcing bar 15B penetrates through the reinforcing bar insertion holes 14 and 24, there is a problem that it is very difficult to automatically join the intersection of the reinforcing bars 15A and 15B with the reinforcing bar connecting fittings 10 and 20.

[0006] Further, in the reinforcing bar connecting fittings 10 and 20 (hereinafter referred to as "binding members"), since the reinforcing bar 15A simply penetrates through the bolt holes 13 and 23 and the reinforcing bar 15B simply penetrates through the reinforcing bar insertion holes 14 and 24, there is a problem that it is also difficult to firmly bind the reinforcing bars 15A and 15B.

[0007] On the other hand, even when the intersection of reinforcing bar 15A (hereinafter referred to as "the first member") and reinforcing bar 15B (hereinafter referred to as "the second member") is automatically joined, the area around reinforcing bars 15A and 15B, including the binding member, may be covered with a hardening fluid. In such cases, it is necessary to prevent air from accumulating inside.

[0008] Furthermore, in devices that handle binding materials, it is necessary to ensure that the binding operation using the binding materials is performed quickly and continuously.

[0009] The present invention addresses the aforementioned problems of the prior art and provides a binding member that can automate the binding of a first member and a second member, and can prevent air from accumulating inside even when the first member and the second member, including the binding member, are covered with a curable fluid. Furthermore, the objective is to provide a fastening member that can easily and securely fasten a first member and a second member together, a fastening member handling device and a fastening member handling system that can perform fastening operations using these fastening members quickly and continuously, and a fastening member fastening method that can efficiently, stably, and securely fasten a first member and a second member together. [Means for solving the problem]

[0010] To solve the above-mentioned problems, a first aspect of the present invention is a fastening member for fastening the intersection of a first member and a second member that intersect each other, characterized in that it has a plurality of through holes on its surface, and some of the plurality of through holes, the first through holes, serve both as holes to be gripped by a fastening member gripping portion and as air vents when covering the first member and the second member with a hardenable fluid.

[0011] Furthermore, a second aspect of the present invention is characterized in that, in the binding member of the first aspect, some of the second through holes among the plurality of through holes serve both as holes for regulating the position of the binding member and as air vents when covering the first member and the second member with a curable fluid.

[0012] Furthermore, a third aspect of the present invention is a fastening member according to the first aspect, characterized in that it comprises a joint body that can abut against the surface of the first member, two support members having a first through hole and extending from both ends of the joint body toward the second member, sandwiching the first member, and supporting the second member from below, and a biasing portion that biases the first member toward the second member with respect to the joint body.

[0013] Furthermore, a fourth aspect of the present invention is a fastening member according to the second aspect, characterized in that it comprises: a joint body having the second through hole and capable of contacting the surface of the first member; two support members having the first through hole and extending from both ends of the joint body toward the second member, sandwiching the first member, and supporting the second member from below; and a biasing portion that biases the first member toward the second member with respect to the joint body.

[0014] Furthermore, a fifth aspect of the present invention is the fastening member according to the third aspect, characterized in that the two support members are inclined in a direction that intersects with respect to the longitudinal axes of the first member and the second member in a plan view, as described in 3.

[0015] Furthermore, a sixth aspect of the present invention is characterized in that, in the binding member of the fourth aspect, the two support members are inclined in a direction that intersects with the longitudinal axes of the first member and the second member in a plan view.

[0016] Furthermore, the seventh aspect of the present invention is a binding member handling device comprising: an articulated robot; a binding member gripping unit connected to the tip of the articulated robot and capable of gripping any of the first to sixth aspects of the binding member; and a storage unit gripping unit connected to the tip of the articulated robot and capable of gripping a binding member storage unit that stores a plurality of the binding members of any of the first to sixth aspects.

[0017] Furthermore, the eighth aspect of the present invention provides a binding member handling system comprising: a mounting base; a first rail extending in a predetermined direction and positioned on the mounting base; two binding member handling devices of the seventh aspect arranged spaced apart and movable along the first rail; a first binding member storage section positioned in one of the binding member handling devices and capable of storing a plurality of binding members; a second binding member storage section positioned in the other binding member handling device and capable of storing a plurality of binding members; and a device positioned at one end of the first rail and capable of storing a plurality of the binding members. The device comprises a third fastening member storage section and a fourth fastening member storage section located at the other end of the first rail and storing a plurality of the fastening members, and is configured such that one fastening member handling device is moved to the one end of the first rail to exchange the first fastening member storage section and the third fastening member storage section, and the other fastening member handling device is moved to the other end of the first rail to exchange the second fastening member storage section and the fourth fastening member storage section.

[0018] Furthermore, a ninth aspect of the present invention is a method for fastening a fastening member to fasten the intersection of a first member and a second member that intersects below the first member, comprising: a first step of gripping a fastening member, which includes a joint body, two support members extending downward from both ends of the joint body and having a first through hole, and a biasing part disposed on the joint body and capable of biasing downward from the joint body, through the first through hole with a fastening member gripping part of a fastening member handling device; and after the first step, bringing the joint body of the fastening member into contact with the upper part of the first member with the fastening member handling device. The present invention is characterized by comprising: a second step of supporting the second member from below with the two support members sandwiching the first member; a third step of making the binding member gripping portion floating after the second step; a fourth step of biasing the first member downward by a first length relative to the joint body with the biasing portion after the third step; a fifth step of separating the binding member gripping portion from the first through hole after the fourth step; and a sixth step of biasing the first member downward by a second length relative to the joint body with the biasing portion after the fifth step.

[0019] Furthermore, a tenth aspect of the present invention is a method for fastening a fastening member to fasten the intersection of a first member and a second member that intersects below the first member, comprising: an eleventh step of gripping a fastening member, which comprises a joint body having a second through hole and capable of contacting the surface of the first member; two support members extending downward from both ends of the joint body and having a first through hole; and a biasing part disposed on the joint body and capable of biasing downward from the joint body, through the first through hole by a fastening member gripping part of a fastening member handling device; a twelfth step of placing the joint body of the fastening member, which has been gripped by the fastening member gripping part, through the second through hole on a temporary placement stand having a projection that can be fitted into the second through hole, after the eleventh step; and after the twelfth step of placing the placed fastening member on the first The invention is characterized by comprising: a 13th step of gripping the binding member again with the binding member gripping portion through the through hole; a 14th step after the 13th step of using the binding member handling device to bring the joint body of the binding member into contact with the upper part of the first member, and having the two support members support the second member from below, sandwiching the first member; a 15th step after the 14th step of making the binding member gripping portion float; a 16th step after the 15th step of biasing the first member downward by a first length relative to the joint body with the biasing portion; a 17th step after the 16th step of separating the binding member gripping portion from the first through hole; and a 18th step after the 17th step of biasing the first member downward by a second length relative to the joint body with the biasing portion.

[0020] Furthermore, an eleventh aspect of the present invention is a method for fastening fastening members according to the ninth aspect, wherein a plurality of fastening member handling devices are arranged on a first rail extending in a predetermined direction on a mounting base, and the fastening member handling device includes a first fastening member storage section arranged on one of the fastening member handling devices and capable of storing a plurality of fastening members, a second fastening member storage section arranged on the other fastening member handling device and capable of storing a plurality of fastening members, and a third fastening member storage section arranged at one end of the first rail and storing a plurality of the fastening members. The device comprises a fourth binding member storage section located at the other end of the first rail and housing a plurality of the binding members, and is characterized by comprising a ninth step of moving one of the binding member handling devices to the one end of the first rail and exchanging the first binding member storage section with the third binding member storage section, and a tenth step of moving the other binding member handling device to the other end of the first rail and exchanging the second binding member storage section with the fourth binding member storage section.

[0021] Furthermore, a twelfth aspect of the present invention is a method for fastening fastening members according to the tenth aspect, wherein a plurality of fastening member handling devices are arranged on a first rail extending in a predetermined direction on a mounting base, and the fastening member handling device includes a first fastening member storage section arranged on one of the fastening member handling devices and capable of storing a plurality of fastening members, a second fastening member storage section arranged on the other fastening member handling device and capable of storing a plurality of fastening members, and a third fastening member storage section arranged at one end of the first rail and storing a plurality of the fastening members. The device comprises a fourth binding member storage section located at the other end of the first rail and housing a plurality of the binding members, and is characterized by comprising a ninth step of moving one of the binding member handling devices to the one end of the first rail and exchanging the first binding member storage section with the third binding member storage section, and a tenth step of moving the other binding member handling device to the other end of the first rail and exchanging the second binding member storage section with the fourth binding member storage section. [Effects of the Invention]

[0022] According to the binding member of the first aspect of the present invention, it is a binding member for binding the intersection of a first member and a second member that intersect each other, having a plurality of through-holes on its surface. Among the plurality of through-holes, some of the first through-holes serve both as holes to be gripped by a gripping device and as air vent holes when covering the surroundings of the first member and the second member with a curable fluid. Therefore, by gripping the binding member with a gripping device, the binding can be automated, and even when covering the surroundings of the first member and the second member including the binding member with a curable fluid, it is possible to prevent air from remaining inside.

[0023] Further, according to the second aspect of the present invention, in the binding member of the first aspect, among the plurality of through-holes, some of the second through-holes serve both as holes for restricting the position of the binding member and as air vent holes when covering the surroundings of the first member and the second member with a curable fluid. Therefore, in addition to the effect of the binding member of the first aspect, by restricting the position of the binding member, it is possible to make it easier to grip the binding member, and even when covering the surroundings of the first member and the second member including the binding member with a curable fluid, it is possible to prevent air from remaining inside.

[0024] Further, according to the third aspect of the present invention, in the binding member of the first aspect, there are a joint body capable of abutting on the surface of the first member, two support members having the first through-hole and extending from both ends of the joint body to sandwich the first member and extend to the second member side to support the second member from below, and a biasing portion for biasing the first member toward the second member side with respect to the joint body. Therefore, in addition to the effect of the binding member of the first aspect, the first member and the second member can be simply and firmly bound.

[0025] Further, according to the fourth aspect of the present invention, in the binding member of the second aspect, a joint body having a second through-hole and capable of abutting against the surface of the first member, a first through-hole, and two support members extending from both ends of the joint body to the second member side across the first member and supporting the second member from below, and a biasing portion for biasing the first member toward the second member side with respect to the joint body are provided. Therefore, in addition to the effects of the binding member of the second aspect, the first member and the second member can be simply and firmly bound.

[0026] Further, according to the fifth aspect of the present invention, in the binding member of the third aspect, the two support members are inclined in a direction intersecting the longitudinal axis direction of the first member and the second member in a plan view. Therefore, in addition to the effects of the binding member of the third aspect, the first member and the second member can be more firmly bound.

[0027] Further, according to the sixth aspect of the present invention, in the binding member of the fourth aspect, the two support members are inclined in a direction intersecting the longitudinal axis direction of the first member and the second member in a plan view. Therefore, in addition to the effects of the binding member of the fourth aspect, the first member and the second member can be more firmly bound.

[0028] Further, according to the binding member handling device of the seventh aspect of the present invention, an articulated robot, a binding member gripping portion connected to the tip of the articulated robot and capable of gripping any one of the binding members of the first aspect to the sixth aspect, and a storage portion gripping portion connected to the tip of the articulated robot and gripping a binding member storage portion storing a plurality of any one of the binding members of the first aspect to the sixth aspect are provided. Therefore, the binding operation by the binding member can be performed quickly and continuously.

[0029] Furthermore, according to the eighth aspect of the present invention, the binding member handling system comprises a mounting base, a first rail extending in a predetermined direction and arranged on the mounting base, two binding member handling devices according to claim 7 arranged spaced apart and movable along the first rail, a first binding member storage section arranged in one binding member handling device and capable of storing a plurality of binding members, a second binding member storage section arranged in the other binding member handling device and capable of storing a plurality of binding members, and a device arranged at one end of the first rail and capable of storing a plurality of binding members. The system includes a third fastening member storage section and a fourth fastening member storage section located at the other end of the first rail, which houses multiple fastening members. The system is configured such that one fastening member handling device can be moved to one end of the first rail to exchange the first fastening member storage section with the third fastening member storage section, and the other fastening member handling device can be moved to the other end of the first rail to exchange the second fastening member storage section with the fourth fastening member storage section. This allows for efficient and continuous fastening operations using fastening members.

[0030] Furthermore, according to a ninth aspect of the present invention, a method for fastening a fastening member to fasten the intersection of a first member and a second member that intersects below the first member, comprising: a first step of gripping a fastening member, which includes a joint body, two support members extending downward from both ends of the joint body and having a first through hole, and a biasing part disposed on the joint body and capable of biasing downward from the joint body, through the first through hole with a fastening member gripping part of a fastening member handling device; and after the first step, bringing the joint body of the fastening member into contact with the upper part of the first member by the fastening member handling device, and the two aforementioned The method includes a second step of supporting the second member from below by sandwiching the first member with the support member; a third step of making the binding member gripping portion float after the second step; a fourth step of biasing the first member downward by a first length relative to the joint body with the biasing portion after the third step; a fifth step of separating the binding member gripping portion from the first through hole after the fourth step; and a sixth step of biasing the first member downward by a second length relative to the joint body with the biasing portion after the fifth step. As a result, the first member and the second member can be stably and firmly bound together.

[0031] Furthermore, according to a tenth aspect of the present invention, a method for fastening a fastening member to fasten the intersection of a first member and a second member intersecting below the first member, comprising: an eleventh step of gripping a fastening member, which comprises a joint body having a second through hole and capable of contacting the surface of the first member, two support members extending downward from both ends of the joint body and having a first through hole, and a biasing part disposed on the joint body and capable of biasing downward from the joint body, through the first through hole with a fastening member gripping part of a fastening member handling device; a twelfth step of placing the joint body of the fastening member gripped by the fastening member gripping part, through the second through hole, on a temporary placement stand having a projection that can be fitted into the second through hole, after the eleventh step; and after the twelfth step of again The method includes a 13th step of gripping the binding member with a binding member gripping part, a 14th step after the 13th step of using a binding member handling device to bring the joint body of the binding member into contact with the upper part of the first member, and to support the second member from below with the two support members sandwiching the first member, a 15th step after the 14th step of making the binding member gripping part floating, a 16th step after the 15th step of biasing the first member downward by a first length relative to the joint body with a biasing part, a 17th step after the 16th step of separating the binding member gripping part from the first through hole, and a 18th step after the 17th step of biasing the first member downward by a second length relative to the joint body with a biasing part. As a result, the first member and the second member can be efficiently, stably, and firmly bound together.

[0032] Furthermore, according to the 11th aspect of the present invention, in the binding member binding method of the 9th aspect, a plurality of binding member handling devices are arranged on a first rail extending in a predetermined direction on a mounting base, and include a first binding member storage section arranged on one binding member handling device and capable of storing a plurality of binding members, a second binding member storage section arranged on the other binding member handling device and capable of storing a plurality of binding members, a third binding member storage section arranged at one end of the first rail and storing a plurality of binding members, and an arrangement at the other end of the first rail The method includes a fourth binding member storage section that houses multiple binding members, and a ninth step of moving one binding member handling device to one end of the first rail and exchanging the first binding member storage section with the third binding member storage section, and a tenth step of moving the other binding member handling device to the other end of the first rail and exchanging the second binding member storage section with the fourth binding member storage section. In addition to the effects of the binding member binding method described in claim 9, the binding operation with the binding members can be performed efficiently and continuously.

[0033] Furthermore, according to the twelfth aspect of the present invention, in the binding member binding method of the tenth aspect, a plurality of binding member handling devices are arranged on a first rail extending in a predetermined direction on a mounting base, and one binding member handling device is arranged on a first binding member storage section capable of storing a plurality of binding members, the other binding member handling device is arranged on a second binding member storage section capable of storing a plurality of binding members, the third binding member storage section is arranged at one end of the first rail and stores a plurality of binding members, and the other end of the first rail is arranged The method further includes a fourth binding member storage section that houses multiple binding members, and a ninth step of moving one binding member handling device to one end of the first rail and exchanging the first binding member storage section with the third binding member storage section, and a tenth step of moving the other binding member handling device to the other end of the first rail and exchanging the second binding member storage section with the fourth binding member storage section. In addition to the effects of the binding member binding method described in claim 10, the binding operation with the binding members can be performed efficiently and continuously. [Brief explanation of the drawing]

[0034] [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 perspective view of the binding member of this embodiment. [Figure 6] This is an overall plan view of the binding member of this embodiment. [Figure 7] This is an overall left side view of the binding member of this embodiment. [Figure 8] This is an overall front view of the fastening member of this embodiment before screw tightening. [Figure 9] This is an overall front view of the fastening member of this embodiment after the screws have been tightened. [Figure 10] This figure shows the state when a rod unit using the binding member of this embodiment is covered with concrete. [Figure 11] This is an overall plan view of the bar material unit manufacturing apparatus according to this embodiment. [Figure 12] This is an overall right side view of the bar material unit manufacturing apparatus according to this embodiment. [Figure 13] This embodiment is an overall plan view of the bar material unit manufacturing apparatus, excluding the upper bar material extraction section. [Figure 14] This embodiment is an overall right side view of the bar material unit manufacturing apparatus, excluding the upper bar material extraction section. [Figure 15] This is an overall view of the mounted robot in this embodiment. [Figure 16] This is an overall front view of the rod gripping section in this embodiment before gripping the rod. [Figure 17] This is an overall front view of the rod gripping section in this embodiment after the rod has been gripped. [Figure 18] This is an overall view of the bundling robot in this embodiment. [Figure 19] This is an overall perspective view of the binding section of the binding robot in this embodiment, viewed from diagonally above. [Figure 20] This is an overall perspective view of the binding section of the binding robot in this embodiment, viewed from diagonally below. [Figure 21] This is an overall front view of the binding section in this embodiment, before the binding member is gripped. [Figure 22] This is an overall front view of the binding section after the binding member has been gripped in this embodiment. [Figure 23] Figure 19 is a cross-sectional view of GG. [Figure 24] Figure 19 is a cross-sectional view of HH. [Figure 25] This is an explanatory cross-sectional view of the clamp base plate when it is fixed in this embodiment. [Figure 26] This is an explanatory cross-sectional view of the clamp base plate when it is floating in this embodiment. [Figure 27] This is an overall front view of the binding portion of this embodiment before the binding member container is gripped. [Figure 28] This is an overall front view of the binding portion after the binding member container has been gripped in this embodiment. [Figure 29] This figure shows a temporary stand for temporarily placing the binding members of this embodiment. [Figure 30] This figure shows the binding member of this embodiment placed on a temporary support stand. [Figure 31] This is an overall plan view of the rod material extraction section in this embodiment. [Figure 32] 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 33] 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 34] 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 35] This is a block diagram of the bar material unit manufacturing apparatus according to this embodiment. [Figure 36] This is a block diagram of the main controller in the bar material unit manufacturing apparatus according to this embodiment. [Figure 37] This is a flowchart of the bar material extraction control program in the bar material unit manufacturing apparatus according to this embodiment. [Figure 38] This is a flowchart of the first half of the bar material unit manufacturing program in the bar material unit manufacturing apparatus of this embodiment. [Figure 39] This is a flowchart of the latter half of the bar material unit manufacturing program in the bar material unit manufacturing apparatus of this embodiment. [Figure 40] This is a flowchart of the binding control program for the binding member in the rod material unit manufacturing apparatus according to this embodiment. [Figure 41] This is a flowchart of the binding member box replacement program in the rod material unit manufacturing apparatus according to this embodiment. [Figure 42] This embodiment shows the first stage of replacement when replacing the binding member container. [Figure 43] This embodiment shows the second stage of replacement when replacing the binding member container. [Figure 44] This figure shows the third stage of replacement when replacing the binding member container in this embodiment. [Figure 45] This embodiment shows the fourth stage of replacement when replacing the binding member container. [Figure 46] This embodiment shows the final replacement state when replacing the binding member container.

[0035] Embodiments of the present invention will be described below with reference to the drawings.

[0036] In the bar material unit manufacturing apparatus 1 (corresponding to the "binding member handling system" of the present invention) described later, it is assumed that a unit made of reinforcing steel will be manufactured as an example of a bar material. However, the bar material unit manufacturing apparatus in this embodiment is not limited to reinforcing steel, and can manufacture units made of general bar materials without limitations on material or length.

[0037] However, the bar unit manufacturing apparatus described later is particularly effective when manufacturing units consisting of multiple reinforcing bars, which have a large overall surface area and are heavy in weight.

[0038] (Embodiment) First, we will describe the rod unit using the binding member of this embodiment. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and their dimensions differ from the actual dimensions.

[0039] Figure 1 is a plan view of a bar 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, and Figure 4 is a plan view of section EE in Figure 3.

[0040] Furthermore, Figure 5 is an overall perspective view of the binding member of this embodiment, Figure 6 is an overall plan view of the binding member, Figure 7 is an overall left side view of the binding member, Figure 8 is an overall front view of the binding member before screw tightening, Figure 9 is an overall front view of the binding member after screw tightening, and Figure 10 shows the state when the rod unit using the binding member of this embodiment is covered with concrete (filler).

[0041] As shown in Figures 1 and 2, the rod unit 100 manufactured by the rod unit manufacturing apparatus 1 in this embodiment is an extremely large object with an overall area of ​​several tens of meters in length and several tens of meters in width, and weighs several tons. It is manufactured using two types of rods (see Figure 11): a rod B1 of a predetermined length and a rod B2 that is shorter than rod B1.

[0042] As shown in Figures 1 and 2, the rod member unit 100 has a lower rod member Bd1 made of rod member B1 (corresponding to the "first member" of the present invention; hereinafter, the lower rod member Bd1 will be referred to as "vertical rod Bd1") and a lower rod member Bd2 made of rod member B2 (corresponding to the "first member" of the present invention; hereinafter, the lower rod member Bd2 will be referred to as "vertical rod Bd2") arranged alternately at predetermined intervals in the lower section, and above the arranged vertical rods Bd1 and Bd2, the upper part made of rod member B1 A stepped horizontal bar Bu1 (corresponding to the "second member" of the present invention; hereafter, the upper bar Bu1 will be referred to as "horizontal bar Bu1") and an upper bar Bu2 made of bar B2 (corresponding to the "second member" of the present invention; hereafter, the upper bar Bu2 will be referred to as "horizontal bar Bu2") are arranged alternately at predetermined intervals and stacked in two layers in a grid pattern, and some of the intersections of the vertical bars Bd1 and Bd2 of the lower layer and the horizontal bars Bu1 and Bu2 of the upper layer are fastened together with fastening members 66.

[0043] The fastening member 66 is made of steel and, as shown in Figures 3 to 9, consists of a fastening member body 66a and a screw portion 66b (corresponding to the "biasing portion" of the present invention) which is rotatably arranged on the upper part of the fastening member body 66a, the fastening member upper part 66a1 (corresponding to the "joint body" of the present invention), and biases the upper horizontal bar Bu1 or horizontal bar Bu2 downward relative to the fastening member body 66a.

[0044] Furthermore, as shown in Figures 3 to 9, the binding member body 66a comprises a binding member upper part 66a1 located at the top, and two binding member left parts 66a2a and binding member right parts 66a2b (corresponding to the "support members" of the present invention) that extend downward from both ends of the binding member upper part 66a1, sandwiching the upper horizontal bar Bu1 or horizontal bar Bu2, and supporting the lower vertical bar Bd1 or vertical bar Bd2 from below.

[0045] As shown in Figures 4 and 6, the upper part 66a1 of the fastening member has a substantially parallelogram shape in plan view and includes a hole for screwing into the threaded portion 66b, and four upper holes 68a, 68b, 68c, and 68d (corresponding to the "second through hole" of the present invention) around the hole to restrict the position of the fastening member 66 (details will be described later) and to release gas accumulated at the bottom of the upper part 66a1 of the fastening member, and a projection 66a6 for the threaded portion that protrudes downward from the lower surface of the fastening member 66a1 and has a threaded portion formed on its inner circumference for screwing into the threaded portion 66b.

[0046] Furthermore, by making the upper part 66a1 of the binding member have a roughly parallelogram shape in plan view, the left side 66a2a and the right side 66a2b of the two binding members are inclined in a direction that intersects with the long axis of the upper horizontal bar Bu1 or horizontal bar Bu2 and the lower vertical bar Bd1 or vertical bar Bd2 in plan view, as shown in Figures 4 and 6.

[0047] Specifically, although two sides of the approximately parallelograms formed in plan view of the left side 66a2a and right side 66a2b of the two binding members are not inclined with respect to the long axis direction of the lower vertical bar Bd1 or vertical bar Bd2, the other two sides of the approximately parallelograms formed in plan view of the left side 66a2a and right side 66a2b of the two binding members are inclined at approximately 10 degrees with respect to the long axis direction of the upper horizontal bar Bu1 or horizontal bar Bu2, and at approximately 80 degrees with respect to the long axis direction of the lower vertical bar Bd1 or vertical bar Bd2, as shown in Figures 4 and 6.

[0048] By inclining the left side portion 66a2a and the right side portion 66a2b of the two fastening members in a direction that intersects with the long axis of the upper horizontal bar Bu1 or horizontal bar Bu2 and the lower vertical bar Bd1 or vertical bar Bd2 in a plan view, misalignment between the upper horizontal bar Bu1 or horizontal bar Bu2 and the lower vertical bar Bd1 or vertical bar Bd2 can be prevented, and consequently, the upper horizontal bar Bu1 or horizontal bar Bu2 and the lower vertical bar Bd1 or vertical bar Bd2 can be further firmly fastened together.

[0049] Furthermore, if there is no problem with the binding strength between the upper horizontal bar Bu1 or Bu2 and the lower vertical bar Bd1 or Bd2, it is not necessary to make the two binding members as shown in this embodiment, with the left side 66a2a and the right side 66a2b. The two binding members can be made into roughly rectangular or roughly square shapes in plan view, with all sides in plan view not inclined with respect to the long axis of the upper horizontal bar Bu1 or Bu2, and not inclined with respect to the long axis of the lower vertical bar Bd1 or Bd2.

[0050] Furthermore, the left side portion 66a2a of the binding member has a roughly J-shape in side view (see Figures 3, 5, and 7), protrudes beyond the upper portion 66a1 of the binding member in plan view (see Figures 4 and 6), 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 (corresponding to the "first through hole" of the present invention) for fitting into the first binding member gripping projection 43ab of the binding robot 3 (see Figures 21, 22, 24, 27, and 28) described later, and for releasing gas accumulated at the bottom of the upper portion 66a1 of the binding member.

[0051] Furthermore, the right side portion 66a2b of the binding member, like the left side portion 66a2a of the binding member, exhibits a roughly J-shape in side view (see Figures 3, 5, and 7), protrudes beyond the upper portion 66a1 of the binding member in plan view (see Figures 4 and 6), and has a right protruding portion 66a3b of the binding member that abuts against the side of the lower vertical bar Bd1 or vertical bar Bd2, and a right bottom portion 66a4 of the binding member that abuts against the lower part of the lower vertical bar Bd1 or vertical bar Bd2. The b comprises a right-tip projection 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 (corresponding to the "first through hole" of the present invention) for fitting into the first binding member gripping projection 43aa of the binding robot 3 (see Figures 24, 27, and 28) described later, and for releasing gas accumulated at the bottom of the upper part 66a1 of the binding member.

[0052] In the binding member 66 described above, first, as shown in Figures 7 and 8, with the screw portion 66b raised upward, the first binding member gripping projections 43aa and 43ab of the binding robot 3 are fitted into the left side hole 67a and the right side hole 67b, and the lower surface of the upper part 66a1 of the binding member is brought into contact with the upper horizontal bar Bu1 or horizontal bar Bu2, and the lower vertical bar Bd1 or vertical bar Bd2 is supported from below by the two left side parts 66a2a and right side parts 66a2b of the binding member that extend downward from both ends of the upper part 66a1 of the binding member.

[0053] Subsequently, the screw fitting recess 29a or 29b, which will be described later, fitted into the screw portion 66b can be tightened as shown in Figure 9 by rotating the screw tightening motor 26a or 26b, which will be described later. As a result, the upper horizontal bar Bu1 or horizontal bar Bu2 and the lower vertical bar Bd1 or vertical bar Bd2 are bound together by the binding member 66 as shown in Figures 3 and 4, and the bar unit 100 is manufactured.

[0054] Furthermore, the rod unit 100 will later be used with the binding member 66, the upper horizontal bar Bu1 or horizontal bar Bu2, and the lower vertical bar Bd1 or vertical bar Bd2 covered with a hardening fluid (filler) F such as concrete. However, the binding member 66 has multiple through holes on its surface, namely the left side hole 67a, the right side hole 67b, and the upper holes 68a, 68b, 68c, and 68d, which prevents gases such as air from accumulating inside the binding member 66.

[0055] 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.

[0056] 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 types of rod materials, or multiple types of rod materials may be placed in the same rod material dispensing section.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] Next, the rod material unit manufacturing apparatus in this embodiment will be described.

[0061] 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 11 and 12, 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 11, 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 12, etc.).

[0062] Furthermore, in this embodiment, the direction in which the binding member gripping parts (42ab, 42ab, 42ba, and 42bb), described later, open and close in a front view of the mounting robot 5 (5a and 5b), described later, is set to the +X1·-X1 direction (see Figure 21, etc.).

[0063] Furthermore, in this embodiment, the direction in which the binding member container gripping parts (39aa, 39ab, 39ba, and 39bb (corresponding to the "storage part gripping part of the present invention")) open and close in a side view of the mounting robot 5 (5a and 5b) described later is set to the +X2·-X2 direction (see Figure 27, etc.).

[0064] Figure 11 is an overall plan view of the bar stock unit manufacturing apparatus in this embodiment, Figure 12 is an overall right side view of the bar stock unit manufacturing apparatus in this embodiment, Figure 13 is an overall plan view of the bar stock unit manufacturing apparatus in this embodiment excluding the upper bar stock extraction section, and Figure 14 is an overall right side view of the bar stock unit manufacturing apparatus in this embodiment excluding the upper bar stock extraction section.

[0065] As shown in Figures 11 to 14, the rod material unit manufacturing apparatus 1 in this embodiment consists of a base section 9, a mounting robot 5, a binding robot 3 (corresponding to the "binding member handling apparatus" of the present invention), 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.

[0066] The base section 9 consists of a base section body 90a, four first rails 91a, 2nd rail 91b, 3rd rail 91c, and 4th rail 91d that are positioned on the base section body 90a and extend in the +Y·-Y direction from the -X direction end to the +X direction end in order to move the first base 93, which will be described later, in the +Y·-Y direction, and a first base section 90b that is positioned at the -Y direction end of the rod material unit manufacturing apparatus 1 and has a 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 mounting robot 5a(5) and a second mounting robot that are positioned across the upper part (+Z direction) of the four rails 91a~91d in the +X·-X direction The structure comprises a second base section 90c on which a 5b(5) is placed, a third base section 90d (corresponding to the "mounting platform" of the present invention) positioned adjacent to the second base section 90c in the +Y direction, with a first binding robot 3a(3) (corresponding to the "binding member handling device" of the present invention) and a second binding robot 3b(3) (corresponding to the "binding member handling device" of the present invention) positioned across the upper parts (+Z direction) of the four rails 91a to 91d in the +X·-X direction, and a fourth base section 90e positioned on the +Y direction side of the first base section 90b, with an upper rod material removal section 107 positioned across the upper part (+Z direction) of the lower rod material removal section 7 in the +X·-X direction.

[0067] Furthermore, the base section 9 is equipped with a binding robot rack 97 (corresponding to the "first rail" of the present invention) extending in the +X·-X direction on the upper surface of the third base section 90d, so that the first binding robot 3a and the second binding robot 3b can move in the +X·-X direction, respectively.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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).

[0072] Figure 15 is an overall view of the mounting robot in this embodiment, Figure 16 is an overall front view of the rod gripping unit in this embodiment before gripping the rod, and Figure 17 is an overall front view of the rod gripping unit in this embodiment after gripping the rod.

[0073] As shown in Figures 11 to 14, the mounting robot 5 of this embodiment is positioned on the upper surface of a second base portion 90c, which is arranged to straddle the upper parts of four rails 91a to 91d in the +X·-X direction, and faces the -Y direction. Specifically, two mounting robots, the first mounting robot 5a and the second mounting robot 5b, are positioned spaced apart in the +X·-X direction on the upper surface of the second base portion 90c, and both face the -Y direction.

[0074] In the mounted robot 5 of this embodiment, since the weight of the rods B1 and B2 is heavy, two robots are placed on the second base 90c spaced apart in the +X and -X directions to ensure safety. However, if the rods B1 and B2 are lightweight, one robot may suffice, and in some cases, three or more robots may be placed.

[0075] Since the first mounting robot 5a and the second mounting robot 5b in this embodiment have the same specifications, for the sake of explanation, the drawings will mainly show the first mounting robot 5a, and the second mounting robot 5b will be shown in parentheses.

[0076] As shown in Figures 15 to 17, the first mounted robot 5a comprises a first base 50a positioned on the upper surface of the second base 90c, a second base 51a that pivots relative to the first base 50a, a lower arm 52a that rotates forward and backward relative to the second base 51a, a lower middle arm 53a that rotates up and down relative to the lower arm 52a, an upper middle arm 54a that rotates relative to the lower middle arm 53a, an upper arm 55a that rotates up and down relative to the upper middle arm 54a, and a first rod gripping part 13a connected to the tip of the upper arm 55a.

[0077] The first rod gripping section 13a is connected to the upper arm section 55a and comprises a first gripping section base plate 56a, four first gripping column sections 57aa, 57ab, 57ac, and 57ad extending from the first gripping section base plate 56a toward the tip (the first gripping column sections 57ac and 57ad are not shown, but are located on the reverse side of the paper of the first gripping column sections 57aa and 57ab), a first gripping movable section 58a that can move vertically on the four first gripping column sections 57aa, 57ab, 57ac, and 57ad, and a first gripping section plate 62a connected to the first gripping movable section 58a located below the first gripping movable section 58a.

[0078] Furthermore, the first rod gripping section 13a comprises two first rod gripping cylinders 59aa and 59ab arranged on the first gripping movable section 58a, a first gripping right section rod 60aa and a first gripping left section rod 60ab provided on the two first rod gripping cylinders 59aa and 59ab, a first gripping right section 63aa connected to the tip of the first gripping right section rod 60aa and rotating about the first gripping center 61a of the first gripping section plate 62a, and a first gripping left front section 63ab1 connected to the tip of the first gripping left section rod 60ab and rotating about the first gripping center 61a.

[0079] Furthermore, the first gripping right portion 63aa includes a first gripping right portion flat surface 64aa for stably gripping the rod B, and a first gripping right claw portion 65aa that wraps around and contacts the rod B to prevent the rod B from falling. The first gripping left front portion 63ab1 includes a first gripping left front portion flat surface 64ab1 for stably gripping the rod B, and a first gripping left front claw portion 65ab1 that wraps around and contacts the rod B to prevent the rod B from falling.

[0080] 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 on the four first gripping columns 57aa, 57ab, 57ac, and 57ad.

[0081] In the first mounting robot 5a described above, when the first gripping right rod 60aa and the first gripping left rod 60ab of the first rod gripping cylinders 59aa and 59ab are sucked upward by the compressor 12 described later, the first gripping right part 63aa and the first gripping left front part 63ab1 will be in an open state, as shown in Figure 16. When the first gripping right rod 60aa and the first gripping left rod 60ab of the first rod gripping cylinders 59aa and 59ab are sucked downward by the compressor 12 described later, the first gripping right part 63aa and the first gripping left front part 63ab1 will be in a closed state, as shown in Figure 17, and the rod B can be gripped.

[0082] Furthermore, the second mounted robot 5b, which is positioned on the second base 90c in the +X direction relative to the first mounted robot 5a, comprises, as shown in Figures 15 to 17, a first base 50b positioned on the upper surface of the second base 90c, a second base 51b that pivots relative to the first base 50b, a lower arm 52b that rotates forward and backward relative to the second base 51b, a lower middle arm 53b that rotates up and down relative to the lower arm 52b, an upper middle arm 54b that rotates relative to the lower middle arm 53b, an upper arm 55b that rotates up and down relative to the upper middle arm 54b, and a second rod gripping part 13b connected to the tip of the upper arm 55b.

[0083] The second rod gripping section 13b is connected to the upper arm section 55b and comprises a second gripping section base plate 56b, four second gripping column sections 57ba, 57bb, 57bc, and 57bd extending from the second gripping section base plate 56b toward the tip (the second gripping column sections 57bc and 57bd are not shown, but are located on the reverse side of the paper of the second gripping column sections 57ba and 57bb), a second gripping movable section 58b that can move vertically on 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.

[0084] Furthermore, the second rod gripping section 13b comprises two second rod gripping cylinders 59ba and 59bb arranged on the second gripping movable section 58b, a second right gripping rod 60ba and a second left gripping rod 60bb provided on the two second rod gripping cylinders 59ba and 59bb, a second right gripping section 63ba connected to the tip of the second right gripping rod 60ba and rotating about the second gripping section center 61b of the second gripping section plate 62b, and a second left gripping section 63bb1 connected to the tip of the second left gripping rod 60bb and rotating about the second gripping section center 61b.

[0085] Furthermore, the second gripping right portion 63ba includes a second gripping right flat surface 64ba for stably gripping the rod B, and a second gripping right claw portion 65ba that wraps around and contacts the rod B to prevent the rod B from falling. The second gripping left front portion 63bb1 includes a second gripping left front flat surface 64bb1 for stably gripping the rod B, and a second gripping left front claw portion 65bb1 that wraps around and contacts the rod B to prevent the rod B from falling.

[0086] Normally, the second gripping movable part 58b is supported by the 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 on the four first gripping columns 57ba, 57bb, 57bc, and 57bd.

[0087] In the first mounting robot 5b described above, when the second gripping right rod 60ba and the second gripping left rod 60bb of the second rod gripping cylinders 59ba and 59bb are sucked upward by the compressor 12 described later, the second gripping right part 63ba and the second gripping left front part 63bb1 will be in an open state, as shown in Figure 16. When the second gripping right rod 60ba and the second gripping left rod 60bb of the second rod gripping cylinders 59ba and 59bb are sucked downward by the compressor 12 described later, the second gripping right part 63ba and the second gripping left front part 63bb1 will be in a closed state, as shown in Figure 17, and the rod B can be gripped.

[0088] In this embodiment, the first mounting robot 5a and the second mounting robot 5b are fixed and arranged on the upper surface of the second base 90c spaced apart in the +X·-X direction. However, as with the binding robot 3 described later, the first mounting robot 5a and the second mounting robot 5b may each be arranged to be movable on a mounting robot rail (not shown) laid on the upper surface of the second base 90c in the +X·-X direction.

[0089] When the first mounting robot 5a and the second mounting robot 5b are arranged to be movable on a mounting robot rail (not shown) laid on the upper surface of the second base 90c in the +X·-X direction, it is possible to manufacture a rod unit 100 by making it easy to place rods B of various lengths.

[0090] Figure 18 is an overall view of the binding robot in this embodiment, Figure 19 is an overall perspective view of the binding section of the binding robot in this embodiment, viewed from diagonally above, and Figure 20 is an overall perspective view of the binding section of the binding robot in this embodiment, viewed from diagonally below.

[0091] Furthermore, Figure 21 is an overall front view of the binding part in this embodiment before the binding member is gripped, Figure 22 is an overall front view of the binding part in this embodiment after the binding member is gripped, Figure 23 is a cross-sectional view of GG in Figure 19, and Figure 24 is a cross-sectional view of HH in Figure 19.

[0092] Furthermore, Figure 25 is an explanatory cross-sectional view when the clamp base plate is fixed in this embodiment, Figure 26 is an explanatory cross-sectional view when the clamp base plate is floating in this embodiment, Figure 27 is an overall front view of the binding part before gripping the binding member container in this embodiment, and Figure 28 is an overall front view of the binding part after gripping the binding member container in this embodiment.

[0093] Furthermore, Figure 29 shows a temporary stand for temporarily placing the binding member of this embodiment, and Figure 30 shows the binding member of this embodiment placed on the temporary stand.

[0094] As shown in Figures 11 to 14, the binding robot 3 of this embodiment is arranged on a third base 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 90d, facing the +Y direction, along a binding robot rack 97 laid in the +X·-X direction.

[0095] 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.

[0096] However, considering the binding efficiency of the binding members 66 and the replacement of the binding member containers C1 and C2, which house the binding members 66 and will be described later, it is better to place two binding robots 3 on the third base section 90d.

[0097] 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.

[0098] As described above, the first binding robot 3a is movably positioned along a binding robot rack 97 laid on the upper surface of the third base 90d in the +X·-X direction. As shown in Figure 18, it consists of a binding robot travel motor 98a for moving the first binding robot 3a along the binding robot rack 97 in the +X·-X direction, an articulated robot 109a, and a first binding unit 11a connected to the tip of the articulated robot 109a.

[0099] As shown in Figure 18, the articulated robot 109a comprises a first base 30a arranged to be movable in the +X·-X direction along the binding robot rack 97, a second base 31a that pivots relative to the first base 30a, a lower arm 32a that rotates forward and backward relative to the second base 31a, a lower middle arm 33a that rotates up and down relative to the lower arm 32a, an upper middle arm 34a that rotates relative to the lower middle arm 33a, an upper arm 35a that rotates up and down relative to the upper middle arm 34a, and a first binding unit 11a connected to the tip of the upper arm 35a.

[0100] As shown in Figures 18 to 28, 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.

[0101] Furthermore, the first binding section 11a is provided with intermediate slide plate carriages 20aa and 20ab (see Figures 19 and 23) on the base plate 15a, and intermediate slide plate rails 22aa and 22ab (see Figures 19 and 23) on the intermediate slide plate 17a, in order to allow the intermediate slide plate 17a to slide in the +X1·-X1 direction relative to the base plate 15a.

[0102] 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).

[0103] 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 25 and 26) 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.

[0104] The first floating cylinders 45aa and 45ab are arranged on the base plate 15a in a plan view, symmetrically with respect to the screw tightening motor 26a, which will be described later. Each of the first floating cylinders 45aa and 45ab contains, as shown in Figures 25 and 26, 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.

[0105] Furthermore, the first binding section 11a is located below the clamp base plate 21a and includes 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 protruding from each of the first binding member gripping cylinders 40aa and 40ab, and a pair of first binding member gripping sections 42a connected to the ends of each of the first binding member gripping cylinder rods 41aa and 41ab. The device comprises a and 42ab (corresponding to the "binding member gripping portion" of the present invention), first binding member gripping projections 43aa (see Figures 27 and 28) and 43ab provided on each first binding member gripping portion 42aa and 42ab and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66, and first binding member gripping stoppers 110aa and 110ab provided on the upper part of the first binding member gripping projections 43aa and 43ab of each first binding member gripping portion 42aa and 42ab to restrict the position of the binding member 66.

[0106] Furthermore, as shown in Figures 27 and 28, 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.

[0107] Furthermore, the first fastening unit 11a is equipped with a camera 25a (see Figures 23, 35, and 36) for detecting the fastening member 66 on the base plate 15a, and a screw tightening motor 26a that fits onto the threaded portion 66b of the fastening member 66 and rotates the threaded portion 66b. The screw tightening motor 26a is equipped with a screw fitting portion 28a located at its tip and having a screw fitting recess 29a (see Figure 23), and a release spring 27a located between the screw tightening motor 26a and the screw fitting portion 28a to suppress the impact when the threaded portion 66b of the fastening member 66 engages with the screw fitting recess 29a.

[0108] Furthermore, the first binding section 11a includes, on the +X1 direction surface of the first gripping section housing 36a, a pair of first binding member container gripping cylinders 37aa and 37ab, a first binding member container gripping cylinder rod 38aa provided on the first binding member container gripping cylinder 37aa and capable of protruding from the first binding member container gripping cylinder 37aa, first binding member container gripping cylinder guides 38aa1 and 38aa2, and a first binding member container gripping cylinder rod 38ab provided on the first binding member container gripping cylinder 37ab and capable of protruding from the first binding member container gripping cylinder 37ab, the first binding section The device comprises material container gripping cylinder guides 38ab1 and 38ab2, a first binding member container gripping portion 39aa connected to the tip of the first binding member container gripping cylinder rod 38aa, the first binding member container gripping portion 39ab connected to the tip of the first binding member container gripping cylinder guides 38aa1 and 38aa2, a first binding member container gripping portion 39ab connected to the tip of the first binding member container gripping cylinder rod 38ab, the first binding member container gripping portion 38ab1 and 38ab2, 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.

[0109] Furthermore, the first binding section 11a includes a first binding member temporary placement section 115a for temporarily placing a binding member 66 that has been selected and grasped by the first binding section 11a from among the multiple binding members 66 stored in the first binding member container C1, in order to stably bind the binding member 66 to the intersection of the rod material.

[0110] The first temporary fastening member mounting section 115a is a flat plate and includes two first fastening member positioning projections 117a1 and 117a2 for fitting into the upper holes 68a and 68c, or upper holes 68b and 68d, of the upper holes 68a, 68b, 68c, and 68d of the fastening member 66, and a first fastening member fitting hole 119a for engaging with the screw projection 66a6 of the fastening member 66. The first temporary fastening member mounting section 115a is fixed substantially horizontally to the upper surface of the first temporary fastening member column 113a which is erected on the first temporary fastening member mounting base 111a which is fixed to the first base 30a. Figure 30 shows the state in which the fastening member 66 is temporarily placed on the first temporary fastening member mounting section 115a.

[0111] 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 21. 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 22, 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.

[0112] 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 27. 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 28, and the first bundling member container C1 can be gripped.

[0113] 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 25, 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.

[0114] 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 26, 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 in their respective directions.

[0115] 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 Figure 18, it consists of a binding robot travel motor 98b for moving the first binding robot 3a along the binding robot rack 97 in the +X·-X direction, an articulated robot 109b, and a second binding unit 11b connected to the tip of the articulated robot 109b.

[0116] As shown in Figure 18, the articulated robot 109b comprises a first base 30b arranged to be movable in the +X·-X direction along the binding robot rack 97, a second base 31b that pivots relative to the first base 30b, a lower arm 32b that rotates forward and backward 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 binding unit 11b connected to the tip of the upper arm 35b.

[0117] As shown in Figures 18 to 28, 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.

[0118] Furthermore, the second fastening section 11b is equipped with intermediate slide plate carriages 20ba and 20bb (see Figures 19 and 23) on the base plate 15b and intermediate slide plate rails 22ba and 22bb (see Figures 19 and 23) 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.

[0119] 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.

[0120] 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 25 and 26) 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.

[0121] 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. As shown in Figures 25 and 26, each of the second floating cylinders 45ba and 45bb contains, internally, substantially cylindrical second floating cylinder gaps 44ba and 44bb, second floating cylinder pistons 46ba and 46bb that are movable within the second floating cylinder gaps 44ba and 44bb, and contact portions 108ba and 108bb connected to the tips of the second floating cylinder pistons 46ba and 46bb.

[0122] Furthermore, the second binding section 11b is located below the clamp base plate 21b and includes 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 protruding from each of the second binding member gripping cylinders 40ba and 40bb, and a pair of second binding member gripping sections 42b connected to the ends of each of the second binding member gripping cylinder rods 41ba and 41bb. The device comprises a and 42bb (corresponding to the "binding member gripping portion" of the present invention), a second binding member gripping projection 43ba (see Figures 27 and 28) and 43bb provided on each second binding member gripping portion 42ba and 42bb and capable of fitting into the left side hole 67a and the right side hole 67b of the binding member 66, and a second binding member gripping stopper 110ba and 110bb provided on the upper part of the second binding member gripping projection 43ba and 43bb of each second binding member gripping portion 42ba and 42bb for regulating the position of the binding member 66.

[0123] Furthermore, as shown in Figures 27 and 28, 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.

[0124] Furthermore, the first fastening unit 11b is equipped with a camera 25b (see Figures 23, 35, and 36) for detecting the fastening member 66 on the base plate 15b, and a screw tightening motor 26b that fits onto the threaded portion 66b of the fastening member 66 and rotates the threaded portion 66b. The screw tightening motor 26b is equipped with a screw fitting portion 28b located at its tip and having a screw fitting recess 29b (see Figure 23), and a release spring 27b located between the screw tightening motor 26b and the screw fitting portion 28b to suppress the impact when the threaded portion 66b of the fastening member 66 engages with the screw fitting recess 29b.

[0125] Furthermore, the second binding section 11b has a pair of second binding member container gripping cylinders 37ba and 37bb on the +X1 direction surface of the second gripping section housing 36b, a second binding member container gripping cylinder rod 38ba provided on the second binding member container gripping cylinder 37ba and capable of protruding from the second binding member container gripping cylinder 37ba, second binding member container gripping cylinder guides 38ba1 and 38ba2, and a second binding member container gripping cylinder rod 38bb provided on the second binding member container gripping cylinder 37bb and capable of protruding from the second binding member container gripping cylinder 37bb, second binding section The device comprises material container gripping cylinder guides 38bb1 and 38bb2, a second binding member container gripping portion 39ba connected to the tip of the second binding member container gripping cylinder rod 38ba and the second binding member container gripping cylinder guides 38ba1 and 38ba2, a second binding member container gripping portion 39bb connected to the tip of the second binding member container gripping cylinder rod 38bb and the second binding member container gripping cylinder guides 38bb1 and 38bb2, 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.

[0126] Furthermore, the second binding section 11b includes a second temporary binding member placement section 115b for temporarily placing a binding member 66 that has been selected and grasped by the second binding member container C2, in order to stably bind the binding member 66 to the intersection of the rod material.

[0127] The temporary fastening member mounting section 115b is a flat plate and includes two second fastening member positioning projections 117b1 and 117b2 for fitting into the upper holes 68a and 68c, or upper holes 68b and 68d, of the upper holes 68a, 68b, 68c, and 68d of the fastening member 66, and a second fastening member fitting hole 119b for engaging with the screw projection 66a6 of the fastening member 66. The temporary fastening member mounting section 115b is fixed substantially horizontally to the upper surface of the second fastening member temporary fastening column 113b which is erected on the temporary fastening member mounting base 111b which is fixed to the first base 30a. Figure 30 shows the state in which the fastening member 66 is temporarily placed on the temporary fastening member mounting section 115b.

[0128] 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 21. 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 22, 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.

[0129] 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 27. 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 28, and the second bundling member container C2 can be gripped.

[0130] 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 25, 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.

[0131] 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 26, the contact portions 108ba and 108bb move upward away from the positioning bushes 69ba and 69bb formed on the clamp base plate 21b, so that the intermediate slide plate 17b, the lower slide plate 19b and the clamp base plate 21b become floating relative to the base plate 15b in their respective directions.

[0132] Figure 31 is an overall plan view of the rod extraction section in this embodiment, Figure 32 is an overall right side view of the rod extraction fixing section of the rod extraction section in this embodiment, Figure 33 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 34 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.

[0133] In this embodiment, the lower upstream rod extraction fixing part 71a, the lower upstream rod extraction movable parts 70a and 70b, the lower downstream rod extraction fixing part 71b, the lower downstream rod extraction movable parts 70c and 70d (described later), the upper upstream rod extraction fixing part 171a, the upper upstream rod extraction movable parts 170a and 170b (described later), and the upper downstream rod extraction fixing part 171b, the lower downstream rod extraction movable parts 170c and 170d (described later) are all of the same specifications. Therefore, for the sake of explanation, the drawings will mainly show the lower upstream rod extraction fixing part 71a and the lower upstream rod extraction movable parts 70a and 70b, with other elements shown in parentheses.

[0134] As shown in Figures 11 and 13, the lower rod material extraction unit 7 of this embodiment is responsible for extracting one rod material B2 at a time from the bundle of shorter rod materials B2, transporting the extracted rod materials B2 in the +Y direction, and transporting them to a position where the first loading robot 5a and the second loading robot 5b can grasp them.

[0135] As shown in Figures 13 and 14, the lower rod material removal section 7 of this embodiment includes, in order to transport the bundle of rod material B2 before removal in the +Y direction, four lower first rod material transport conveyors 80a, 80b, 80c, and 80d (hereinafter referred to as "80a~80d") from the -X direction end to the +X direction end at the -Y direction end, 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 lower The system includes four lower second bar material conveyors 82a, 82b, 82c, and 82d (hereinafter referred to as "82a~82d") positioned adjacent to the lower first bar material conveyors 80a~80d in the +Y direction, extending from the -X end to the +X end, so as to be transported continuously from the lower first bar material conveyors 80a~80d, and four lower second bar material conveying motors 83a, 83b, 83c, and 83d (hereinafter referred to as "83a~83d") for driving these lower second bar material conveyors 82a~82d.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] Furthermore, the lower rod material handling section 7 includes two rod material sensors 99a and 99b, spaced apart in the -X and +X directions, to detect when the rod material B2 has been transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b; four rod material slide pulleys 105a, 105b, 105c and 105d (hereinafter referred to as "105a~105d"), arranged from the -X end to the +X end, to support the rod material B2 so that it can slide from below when the rod material B2 has been transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b; a pusher section 104 for pushing the rod material B2 supported by the rod material slide pulleys 105a~105d toward the rod material reference plate 106 located at the +X end in the +X direction; and a rod material slide motor 103 for driving the pusher section 104 in the +X direction.

[0142] As shown in Figures 13, 14, 31, and 32, 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.

[0143] 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.

[0144] As shown in Figures 13, 14, 31, 33, and 34, 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.

[0145] Furthermore, as shown in Figures 13, 14, 31, 33, and 34, 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] As shown in Figures 13, 14, 31, 33, and 34, 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.

[0153] Furthermore, as shown in Figures 13, 14, 31, 33, and 34, 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] As shown in Figures 13, 14, 31, and 32, 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, and 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, and fixing the lower downstream rod extraction and fixing section plate 78bb at two locations spaced apart in the +Y·-Y direction.

[0161] 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.

[0162] As shown in Figures 13, 14, 31, 33, and 34, 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.

[0163] Furthermore, as shown in Figures 13, 14, 31, 33, and 34, 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] As shown in Figures 13, 14, 31, 33, and 34, 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.

[0171] Furthermore, as shown in Figures 13, 14, 31, 33, and 34, the lower downstream rod extraction movable part 70d is connected to the lower downstream rod extraction housing 72da and includes a lower downstream rod extraction fixing cam 75da erected between the lower downstream rod extraction swing cam 76da and the lower downstream rod extraction housing 72da, and a lower downstream rod extraction fixing part cam 75db connected to the lower downstream rod extraction housing 72db and erected between the lower downstream rod extraction swing cam 76db and the lower downstream rod extraction housing 72db.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] The lower downstream bar material extraction fixing cam 75db has substantially the same form as the lower downstream bar material extraction fixing cam 75da, and like the lower downstream bar material extraction fixing cam 75da, it is fixed to the lower downstream bar material extraction housing 72db, and on 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.

[0178] 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.

[0179] 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.

[0180] Furthermore, in the lower rod material extraction section 7, the rod materials B2 extracted one by one can be transported to a position where the first and second mounting robots 5b can grasp them, using the lower first rod material transport conveyors 80a-80d, the lower second rod material transport conveyors 82a-82d, the lower third rod material transport conveyors 84a-84d, the lower fourth rod material transport conveyors 86a-86d, and the lower fifth rod material transport conveyors 88a-88d.

[0181] Furthermore, the lower rod material handling section 7 includes a plurality of rod material slide pulleys 105a to 105d arranged from the -X end to the +X end to support the rod material B2 so that it can slide from below when the rod material B2 is transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b, and a pusher section 104 for pushing the rod material B2 supported by these rod material slide pulleys 105a to 105d toward the rod material reference plate 106 located at the +X end in the +X direction. As a result, the reference position of each rod material B2 can be set, and when manufacturing the rod material unit 100, each rod material B2 can be accurately positioned according to the specifications of the rod material unit 100.

[0182] As shown in Figure 11, 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.

[0183] As shown in Figures 11 and 12, 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 in the upper The system includes four upper second bar material conveying conveyors 182a, 182b, 182c, and 182d (hereinafter referred to as "182a-182d") positioned adjacent to the upper first bar material conveying conveyors 180a-180d in the +Y direction, extending from the -X end to the +X end, and four lower second bar material conveying motors 183a, 183b, 183c, and 183d (hereinafter referred to as "183a-183d") for driving these upper second bar material conveying conveyors 182a-182d.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] Then, the bar material B1, which has been transported by the upper fourth bar material transport conveyors 186a to 186d, is moved onto the lower fifth bar material transport conveyors 88a to 88d, and subsequently transported by the lower fifth bar material transport conveyors 88a to 88d to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b.

[0189] In the case of bar material B1, similar to bar material B2, when it is transported to a position where the first mounting robot 5a and the second mounting robot 5b can grasp it, it is detected by bar material sensors 99a and 99b, supported by bar material slide pulleys 105a to 105d, and then the bar material slide motor 103 is driven so that the pusher part 104 presses the end of bar material B1 against the bar material reference plate 106, setting the reference position of bar material B1.

[0190] As shown in Figures 11, 12, 31, and 32, 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.

[0191] 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.

[0192] As shown in Figures 11, 12, 31, 33, and 34, 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.

[0193] Furthermore, as shown in Figures 11, 12, 31, 33, and 34, 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.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] As shown in Figures 11, 12, 31, 33, and 34, 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.

[0201] Furthermore, as shown in Figures 11, 12, 31, 33, and 34, 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.

[0202] 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.

[0203] 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.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] 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.

[0208] As shown in Figures 11, 12, 31, and 32, 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 and -X directions, 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 and -Y directions, 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 and -Y directions.

[0209] 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.

[0210] As shown in Figures 11, 12, 31, 33, and 34, 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.

[0211] Furthermore, as shown in Figures 11, 12, 31, 33, and 34, 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.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] As shown in Figures 11, 12, 31, 33, and 34, 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.

[0219] Furthermore, as shown in Figures 11, 12, 31, 33, and 34, 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.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] Furthermore, downstream of the upper bar material removal section 107, the system includes a plurality of bar material slide pulleys 105a to 105d arranged from the -X end to the +X end to support the bar material B1 so that it can slide from below when the bar material B1 is transported to a position where the first mounting robot 5a and the second mounting robot 5b can grasp it, and a pusher section 104 for pushing the bar material B1 supported by these bar material slide pulleys 105a to 105d toward the bar material reference plate 106 located at the +X end in the +X direction. This allows for setting a reference position for each bar material B1, and enables accurate positioning of each bar material B1 according to the specifications of the bar material unit 100 when manufacturing the bar material unit 100.

[0230] Next, a block diagram of the bar material unit manufacturing apparatus 1 of this embodiment will be described.

[0231] Figure 35 is a block diagram of the bar stock unit manufacturing apparatus in this embodiment, and Figure 36 is a block diagram of the main controller in the bar stock unit manufacturing apparatus in this embodiment.

[0232] In Figure 35, the bar stock unit manufacturing apparatus 1 includes a power supply 6, a main controller 2 electrically connected to the power supply 6, a robot controller 4 electrically connected to the main controller 2 for driving the first mounting robot 5a, the second mounting robot 5b, the first bundling robot 3a, and the second bundling robot 3b, and a lower bar stock removal cylinder 73a, 73b, 73c, and 73d, an upper bar stock removal cylinder 173a, 173c, 173c, and 173d, and The system comprises: 1. Bar gripping cylinders 59aa and 59ab; 2. Bar gripping cylinders 59ba and 59bb; 1. Binding member gripping cylinders 40aa and 40ab; 2. Binding member gripping cylinders 40ba and 40bb; 1. Binding member container gripping cylinders 37aa and 37ab; 2. Binding member container gripping cylinders 37ba and 37bb; 1. Floating cylinders 45aa and 45ab; and a compressor 12 for driving the 2. Floating cylinders 45ba and 45bb.

[0233] Furthermore, in Figure 35, the bar stock unit manufacturing apparatus 1 is electrically connected to the main controller 2 and includes a driver circuit 10 for driving the base travel motors 102a and 102b, the base rotation motor 101, the screw tightening motors 26a and 26b, the binding robot travel motors 98a and 98b, the bar stock slide motor 103, and the bar stock conveying motors 81a-81d, 83a-83d, 85a-85d, 87a-87d and 89a-89d, as well as cameras 25a and 25b electrically connected to the main controller 2, bar stock sensors 99a and 99b also electrically connected to the main controller 2, and an operation panel 8 that receives input from the user of the apparatus.

[0234] Furthermore, in Figure 36, 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.

[0235] 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.

[0236] ROM18 includes a rod feed control program 18a that controls, as a periodic interrupt process, the operation of taking out rods B one by one from a bundle of rods B and transporting them to a position where the first mounting robot 5a and the second mounting robot 5b can grasp them in the rod unit manufacturing apparatus 1 of this embodiment; a rod unit manufacturing program 18b that controls the operation of the entire rod unit manufacturing apparatus 1; a binding member binding control program 18c that controls, as a periodic interrupt process, the operation of binding the binding members 66 to the binding position; and a binding member container exchange program 18d that controls, as an interrupt process, the operation of moving the first binding robot 3a to the -X direction end or moving the second binding robot 3b to the +X direction end to exchange the binding member container when the first binding container C1 or the second binding member container C2 in which the binding members 66 are stored becomes empty.

[0237] Next, the operation of the bar material unit manufacturing apparatus 1 with the above configuration will be described.

[0238] Figure 37 is a flowchart of the rod extraction control program in the rod unit manufacturing apparatus according to this embodiment, and Figures 38 and 39 are flowcharts of the rod unit manufacturing program in the rod unit manufacturing apparatus according to this embodiment.

[0239] Furthermore, Figure 40 is a flowchart of the binding member binding control program in the rod material unit manufacturing apparatus according to this embodiment, and Figure 41 is a flowchart of the binding member container exchange program in the rod material unit manufacturing apparatus according to this embodiment.

[0240] Furthermore, Figure 42 shows the first stage of replacement when replacing the binding member container in this embodiment, Figure 43 shows the second stage of replacement, Figure 44 shows the third stage of replacement, Figure 45 shows the fourth stage of replacement, and Figure 46 shows the final stage of replacement.

[0241] 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.

[0242] In the interrupt processing program, the bar material feeding control program 18a, as shown in Figure 37, first, the bar material sensors 99a and 99b determine whether the bar material B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S1).

[0243] If it is determined that the rod B is in a position where it can be gripped by the first mounting robot 5a and the second mounting robot 5b (S1: Yes), the rod B is supported by the rod slide pulleys 105a to 105d, and the rod B is pressed against the rod reference plate 106 located at the +X end by the pusher unit 104 to set the reference position of the rod B (S7), after which the interrupt process is terminated (S9).

[0244] On the other hand, if it is determined that the bar material B is not in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S1: No), the bar material B2 is taken out one by one from the bundle of bar material B2 by the lower first bar material transport conveyor 80a~80d, the lower second bar material transport conveyor 82a~82d, the lower third bar material transport conveyor 84a~84d, the lower fourth bar material transport conveyor 86a~86d, the lower fifth bar material transport conveyor 88a~88d, the lower upstream bar material removal and fixing part 71a, the lower upstream bar material removal movable parts 70a and 70b, the lower downstream bar material removal and fixing part 71b, and the lower downstream bar material removal movable parts 70c and 70d, and transported in the +Y direction (S3).

[0245] 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).

[0246] Then, it is determined again whether the rod B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S5). If it is determined that the rod B is not in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S5: No), the rod B is transported in the +Y direction until it reaches a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S3).

[0247] Then, if it is determined that the rod B is in a position where it can be gripped by the first mounting robot 5a and the second mounting robot 5b (S5: Yes), the rod B is supported by the rod slide pulleys 105a to 105d, and the rod B is pressed against the rod reference plate 106 located at the +X end by the pusher unit 104 to set the reference position of the rod B (S7), and then the interrupt process is terminated (S9).

[0248] In the rod unit manufacturing program 18b, as shown in Figures 38 and 39, first the rod unit manufacturing apparatus 1 is set to its initial state (S11), the number of rod units to be manufactured is set (S13), rod unit information such as the number of rods B in the vertical and horizontal rows and the length of rods B in the vertical and horizontal rows, stored in the rod unit specification data table 16a of RAM 16 is acquired (S15), and the binding position information of the binding members 66 stored in the binding member binding position data table 16b is acquired (S17).

[0249] In the initial state, the bar material unit manufacturing apparatus 1 is in the state shown in Figures 11 and 12, 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.

[0250] Then, it is determined whether the bar material B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S21). If it is determined that the bar material B is not in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S21: No), the process of the bar material feeding control program 18a is waited until the bar material B is transported to a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b.

[0251] On the other hand, if it is determined that the bar B is in a position where it can be grasped by the first mounting robot 5a and the second mounting robot 5b (S21: Yes), the first mounting robot 5a and the second mounting robot 5b grasp the bar B (hereinafter referred to as "vertical bar Bd1", "vertical bar Bd2", "horizontal bar Bu1", or "horizontal bar Bu2") (S23), and place vertical bar Bd1 or vertical bar Bd2 in the bar grooves 96a formed in multiple parallel rows on the upper surface of the second base 95 (S25).

[0252] In this embodiment, in order to prevent the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, and the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 from coming into contact with the rod B during operation, when the first gripping right portion 63aa and the first gripping left front portion 63ab1, and the second gripping right portion 63ba and the second gripping left front portion 63bb1 grip the rod B, the first gripping right portion 63aa and the first gripping left front portion 63ab1, and the second gripping right portion 63ba and the second gripping left front portion 63bb1 are opened. With the rod in this state, the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, as well as the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 are lowered to a position below the rod B. Then, the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are closed, and then the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are raised to grip the rod.

[0253] After placing the rod B, the first rod gripping section 13a and the second rod gripping section 13b are lowered once, while keeping the first gripping right section 63aa and the first gripping left front section 63ab1 closed, and keeping the second gripping right section 63ba and the second gripping left front section 63bb1 closed (S27). Then, the first gripping right section 63aa and the first gripping left front section 63ab1, as well as the second gripping right section 63ba and the second gripping left front section 63bb1, are opened to release the rod B from the first rod gripping section 13a and the second rod gripping section 13b (S29).

[0254] Here, while keeping the first gripping right portion 63aa and the first gripping left front portion 63ab1 closed, and keeping the second gripping right portion 63ba and the second gripping left front portion 63bb1 closed, the first rod gripping portion 13a and the second rod gripping portion 13b are lowered once, and then the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are opened to prevent the first gripping right claw portion 65aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 from coming into contact with the rod B.

[0255] Subsequently, the first bar gripping section 13a and the second bar gripping section 13b are raised (S31), and the first base 93 and the second base 95 are moved by a predetermined amount in the +Y direction by rotating the base travel motors 102a and 102b (S33). It is then determined whether or not the number of vertical bars Bd1 and Bd2 to be placed has been completed (S35). If it is determined that the number of vertical bars Bd1 and Bd2 to be placed has not been completed (S35: No), the process from S21 to S35 is repeated until it is determined that the number of vertical bars Bd1 and Bd2 to be placed has been completed.

[0256] Figures 11 to 14 show the manufacturing state of the rod unit 100 in steps S11 to S35.

[0257] On the other hand, if it is determined that the number of rods B to be placed has been exhausted (S35: Yes), the -Y direction ends of the first base 93 and the second base 95 are moved to a position separated from the third foundation 90d in the +Y direction (S37), the base rotation motor 101 is rotated to rotate the second base 95 by approximately 90 degrees relative to the first base 93 (S39), and then the first base 93 and the second base 95 are returned to their initial positions (S41).

[0258] Then, via α (S43), the first mounting robot 5a and the second mounting robot 5b grasp the horizontal bar Bu1 or horizontal bar Bu2 (S45) and place it in the horizontal bar grooves 96b, which are formed in multiple parallel rows on the upper surface of the second base 95 that is transported in the +Y direction and are formed substantially perpendicular to the bar material grooves 96a, so as to contact the upper surface of the vertical bar Bd1 or vertical bar Bd2 (S47).

[0259] In this case as well, in order to prevent the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, and the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 from coming into contact with the rod B during operation, the first gripping right portion 63aa and the first gripping left front portion 63ab1, and the second gripping right portion 63ba and the second gripping left front portion 63bb1 are opened when gripping the rod B. With the rod in this position, the first gripping right claw portion 65aa and the first gripping left front claw portion 65ab1, as well as the second gripping right claw portion 65ba and the second gripping left front claw portion 65bb1 are lowered to a position below the rod B. Then, the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are closed, and then the first gripping right portion 63aa and the first gripping left front portion 63ab1, as well as the second gripping right portion 63ba and the second gripping left front portion 63bb1 are raised to grip the rod.

[0260] 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).

[0261] Here, while keeping the first gripping right part 63aa and the first gripping left front part 63ab1 closed, and while keeping the second gripping right part 63ba and the second gripping left front part 63bb1 closed, after once lowering the first bar gripping part 13a and the second bar gripping part 13b, opening 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, is to prevent the first gripping right claw part 65aa and the first gripping left front claw part 65ab1, as well as the second gripping right claw part 65ba and the second gripping left front claw part 65bb1 from contacting the bar B during the operation of the first gripping right part 63aa and the first gripping left front part 63ab1, as well as the second gripping right part 63ba and the second gripping left front part 63bb1, similar to the case of the vertical bar.

[0262] Thereafter, the first bar gripping part 13a and the second bar gripping part 13b are raised (S53), the first base 93 and the second base 95 are moved a predetermined amount in the +Y direction (S55), it is determined whether the number of placed horizontal bars Bu1 and Bu2 has ended (S57), and if it is determined that the number of placed horizontal bars Bu1 and Bu2 has not ended (S57: No), the processes of S45 to S57 are repeated until it is determined that the number of placed horizontal bars Bu1 and Bu2 has ended.

[0263] On the other hand, if it is determined that the number of placed horizontal bars Bu1 and Bu2 has ended (S57: Yes), it is determined whether the binding of the binding member 66 has ended (S59).

[0264] Here, the binding member binding control program 18c, which is an interrupt processing program, will be described. In the binding member binding control program 18c, by the first placement robot 5a and the second placement robot 5b, when the horizontal bars Bu1 and Bu2 are placed in contact with the upper surfaces of the vertical bars Bd1 and Bd2 and the second base 95 is conveyed in the +Y direction and conveyed in the +Y direction from the third base part 90d, first, it is determined whether there is a binding position of the binding member 66 at the intersection of the vertical bars Bd1 and Bd2 and the horizontal bars Bu1 and Bu2 (S71).

[0265] 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).

[0266] 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 (S74), and grasps the binding member 66 from the binding member container C1 or C2 in which the binding member 66 is stored (S75).

[0267] 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.

[0268] Next, the compressor 12 sucks the first binding member gripping cylinder rods 41aa and 41ab of the first binding member gripping cylinders 40aa and 40ab inward, closing the first binding member gripping portions 42aa and 42ab. This causes the first binding member gripping projections 43aa and 43ab to fit into the left side hole 67a and the right side hole 67b of the binding member 66, allowing the binding member 66 to be gripped (see Figures 21 and 22).

[0269] 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.

[0270] 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 21 and 22).

[0271] Then, the first binding robot 3a grasps the binding member 66, fits the screw projection 66a6 of the binding member 66 into the first binding member fitting hole 119a, and fits the upper holes 68b and 68d of the upper holes 68a, 68b, 68c and 68d of the binding member 66 into the first binding member positioning projections 117a1 and 117a2, and temporarily places the grasped binding member 66 on the first binding member temporary placement mounting section 115a installed near the first binding robot 3a (S76), and then moves the first binding robot 3a away from the binding member 66 (S77).

[0272] Furthermore, in the second binding robot 3b, after temporarily gripping the binding member 66, the screw projection 66a6 of the binding member 66 is fitted into the second binding member fitting hole 119b, and the upper holes 68b and 68d of the upper holes 68a, 68b, 68c, and 68d of the binding member 66 are fitted into the second binding member positioning projections 117b1 and 117b2, and the gripped binding member 66 is temporarily placed on the second binding member temporary placement mounting section 115b installed near the second binding robot 3b (S76), and the second binding robot 3b is temporarily separated from the binding member 66 (S77).

[0273] Subsequently, the first binding robot 3a or the second binding robot 3b grips the binding member 66 again (S78), and 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).

[0274] 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).

[0275] Here, when the first binding robot 3a puts the binding member 66 into a floating state, as shown in Figure 26, the compressor 12 sucks upward the first floating cylinder pistons 46aa and 46ab of the first floating cylinders 45aa and 45ab, and moves the contact portions 108aa and 108ab upward away from the positioning bushes 69aa and 69ab formed on the clamp base plate 21a. By doing so, the intermediate slide plate 17a, the lower slide plate 19a and the clamp base plate 21a become movable in their respective directions relative to the base plate 15a, and the binding member 66 becomes floating.

[0276] Furthermore, when the second binding robot 3b puts the binding member 66 into a floating state, similar to the first binding robot 3a, as shown in Figure 26, the compressor 12 sucks the second floating cylinder pistons 46ba and 46bb of the second floating cylinders 45ba and 45bb upward, and moves the contact portions 108ba and 108bb upward away from the positioning bushes 69ba and 69bb formed on the clamp base plate 21b. By doing so, the intermediate slide plate 17b, the lower slide plate 19b, and the clamp base plate 21b become movable in their respective directions relative to the base plate 15b, and the binding member 66 becomes floating.

[0277] Then, with the binding member 66 in a floating state, the screw portion 66b of the binding member 66 is temporarily tightened to a first length of 1 cm or more by rotating the screw tightening motor 26a or 26b to bind the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 (S85). 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 a second length of 1 cm or less to bind the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 by rotating the screw tightening motor 26a or 26b (S89), and it is determined whether the screw tightening torque is sufficient (S91).

[0278] 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.

[0279] 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).

[0280] Returning to the bar unit manufacturing program, the first placement robot 5a and the second placement robot 5b position the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2, and the first binding robot 3a and the second binding robot 3b bind the intersections of the vertical bar Bd1 or Bd2 and the horizontal bar Bu1 or Bu2 with binding members 66. Then it is determined whether or not the binding of all binding members 66 in the bar unit 100 has been completed (S59).

[0281] 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).

[0282] 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).

[0283] 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).

[0284] Furthermore, the process in S75 described above functions as the "first step" and the "eleventh step" of the present invention, the process in S76 functions as the "twelfth step" of the present invention, and the process in S78 functions as the "thirteenth step" of the present invention.

[0285] In addition, the process of S79 described above functions as the "second step" and "fourteenth step" of the present invention, the process of S83 functions as the "third step" and "fifteenth step" of the present invention, the process of S85 functions as the "fourth step" and "sixteenth step" of the present invention, the process of S87 functions as the "fifth step" and "seventeenth step" of the present invention, and the process of S89 functions as the "sixth step" and "eighteenth step" of the present invention.

[0286] Here, the binding member container replacement program 18d, which is an interrupt processing program, will be described. Note that the binding member container replacement program 18d is for the first binding robot 3a and the second binding robot 3b to efficiently and continuously perform the binding operation using the binding member 66.

[0287] In the binding member container replacement program 18d, first, it is determined whether the binding member 66 stored in the mounted first binding member container C1a (corresponding to the "first binding member storage part" of the present invention) mounted on the first binding robot 3a and the second binding robot 3b or the binding member 66 stored in the mounted second binding member container C2a (corresponding to the "second binding member storage part" of the present invention) is empty (S2).

[0288] If it is determined that the binding member 66 stored in the mounted first binding member container C la or the binding member 66 stored in the mounted second binding member container C2a is not empty (S2: No), the interrupt processing is terminated (S24). If it is determined that the binding member 66 stored in the mounted first binding member container C1a or the binding member 66 stored in the mounted second binding member container C2a is empty (S2: Yes), the first binding robot 3a and / or the second binding robot 3b determined to be empty are moved to the end (S4).

[0289] Specifically, if it is determined that the first binding member container C1a mounted on the first binding robot 3a is empty, the first binding robot 3a is moved to the -X end, and if it is determined that the second binding member container C2a mounted on the second binding robot 3b is empty, the second binding robot 3b is moved to the +X end.

[0290] Then, the tip of the first binding robot 3a is rotated 90 degrees in the forward direction, so that the first binding member gripping parts 42aa and 42ab and / or the second binding member gripping parts 42ba and 42bb, which were previously facing downwards, are turned to face sideways, and the first binding member container gripping parts 39aa and 39ab and / or the second binding member container gripping parts 39ba and 39bb are turned downwards (S6).

[0291] This enables the first binding member container gripping portions 39aa and 39ab and / or the second binding member container gripping portions 39ba and 39bb to grip the mounted first binding member container C1a and / or the mounted second binding member container C2a.

[0292] Then, the first binding member container gripping parts 39aa and 39ab and / or the second binding member container gripping parts 39ba and 39bb are determined to be empty and grip the mounted first binding member container C1a and / or mounted second binding member container C2a (S8), and the empty mounted first binding member container C1a and / or mounted second binding member container C2a are returned to the empty container return position at the end (S10), and the unit moves away from the empty container return position (S12).

[0293] Figure 42 shows the state before the first binding robot 3a is moved to the -X end after it has been determined that the first binding member container C1a mounted on the first binding robot 3a is empty. Figure 43 shows the state after the first binding robot 3a has been moved to the -X end after it has been determined that the first binding member container C1a mounted on the first binding robot 3a is empty, and the empty first binding member container C1a has been grasped. Figure 44 shows the state after the empty first binding member container C1a has been returned to the empty container return position at the end as the first binding member empty container C1b.

[0294] Subsequently, the first binding member container gripping parts 39aa and 39ab and / or the second binding member container gripping parts 39ba and 39bb grip the first binding member filling container C1c (corresponding to the "third binding member storage part" of the present invention) and / or the second binding member filling container C2c (corresponding to the "fourth binding member storage part" of the present invention) located at the end filling container position (S14), load them onto the first binding robot 3a and / or the second binding robot 3b (S16), and move away from the first binding member filling container C1c and / or the second binding member filling container C2c (S18).

[0295] Figure 45 shows the first bundling robot 3a gripping the first bundling member filling container C1c located at the end of the filling container, and Figure 46 shows the first bundling robot 3a mounting the first bundling member filling container C1c onto the first bundling robot 3a.

[0296] Then, the tips of the first binding robot 3a and / or the second binding robot 3b are rotated 90 degrees in the opposite direction, so that the first binding member container gripping parts 39aa and 39ab and / or the second binding member container gripping parts 39ba and 39bb, which were previously facing downwards, face sideways, and the first binding member gripping parts 42aa and 42ab and / or the second binding member gripping parts 42ba and 42bb face downwards, so that the binding member 66 can be gripped and bound (S20), and the first binding robot 3a and / or the second binding robot 3b are moved to a position where binding is possible (S22), and the interrupt processing is terminated (S24).

[0297] Furthermore, the processing of the binding member container replacement program 18d described above functions as the "ninth step" and "tenth step" of the present invention.

[0298] As described above, the binding member 66 of this embodiment is for binding the intersections of the mutually intersecting upper horizontal bar Bu1 (upper bar material Bu2) and lower bar material Bd1 (lower bar material Bd2), and has a plurality of through holes on its surface, of which the left side hole 67a and the right side hole 67b are holes that are gripped by the first binding member gripping parts 42aa and 42ab or the second binding member gripping parts 42ba and 42bb, and the lower bar material Bd1 (lower bar material Bd2) and upper horizontal bar Bu1 (upper bar material B Since the air vents for covering u2) with a curable fluid F also serve as air vents, the binding can be automated by gripping the binding member 66 with the first binding member gripping parts 42aa and 42ab or the second binding member gripping parts 42ba and 42bb gripping device, and even when the lower rod Bd1 (lower rod Bd2) and upper horizontal rod Bu1 (upper rod Bu2) are covered with a curable fluid F including the binding member 66, it is possible to prevent air from accumulating inside.

[0299] Furthermore, according to the binding member 66 of this embodiment, among the multiple through holes, the upper holes 68a, 68b, 68c and 68d serve both as holes to restrict the position of the binding member 66 and as air vents when covering the lower rod Bd1 (lower rod Bd2) and upper horizontal bar Bu1 (upper rod Bu2) with a curable fluid F. Therefore, by restricting the position of the binding member 66, it is possible to make it easier to grip the binding member 66, and even when the lower rod Bd1 (lower rod Bd2) and upper horizontal bar Bu1 (upper rod Bu2) are covered with a curable fluid F including the binding member 66, it is possible to prevent air from accumulating inside.

[0300] Furthermore, according to the fastening member 66 of this embodiment, the fastening member 66 has an upper part 66a1 that can abut the surface of the upper horizontal bar Bu1 (upper bar material Bu2), a left side hole 67a and a right side hole 67b, two left side parts 66a2a and right side parts 66a2b of the fastening member that extend from both ends of the upper part 66a1 of the fastening member towards the lower bar material Bd1 (lower bar material Bd2) sandwiching the upper horizontal bar Bu1 (upper bar material Bu2) and supporting the lower bar material Bd1 (lower bar material Bd2) from below, and a screw part 66b that biases the upper horizontal bar Bu1 (upper bar material Bu2) toward the lower bar material Bd1 (lower bar material Bd2) relative to the upper part 66a1 of the fastening member, so the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be fastened together easily and firmly.

[0301] Furthermore, according to the binding member 66 of this embodiment, the binding member upper part 66a1 has upper holes 68a, 68b, 68c and 68d and can abut the surface of the upper horizontal bar Bu1 (upper bar material Bu2), and the binding member upper part 66a1 has left side hole 67a and right side hole 67b and extends from both ends of the binding member upper part 66a1 toward the lower bar material Bd1 (lower bar material Bd2), sandwiching the upper horizontal bar Bu1 (upper bar material Bu2), and the lower bar material Bd1 (lower bar The device includes two fastening members, left side 66a2a and right side 66a2b, which support the material Bd2) from below, and a screw portion 66b that biases the upper horizontal bar Bu1 (upper bar material Bu2) toward the lower bar material Bd1 (lower bar material Bd2) relative to the upper part 66a1 of the fastening member. Therefore, the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be fastened together easily and securely.

[0302] Furthermore, according to the binding member 66 of this embodiment, the left side portion 66a2a and the right side portion 66a2b of the binding member are inclined in a direction that intersects with the long axis of the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) in a plan view, so that the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be bound together even more firmly.

[0303] Furthermore, the first binding robot 3a of this embodiment includes an articulated robot 109a, first binding member gripping parts 42aa and 42ab connected to the tip of the articulated robot 109a and capable of gripping the binding member 66, and binding member container gripping parts 39aa and 39ab connected to the tip of the articulated robot 109a and capable of gripping the mounted first binding member container C1a which houses a plurality of binding members 66. Therefore, the binding operation using the binding member 66 can be performed quickly and continuously.

[0304] Furthermore, the second binding robot 3b of this embodiment includes an articulated robot 109b, second binding member gripping parts 42ba and 42bb connected to the tip of the articulated robot 109b and capable of gripping the binding member 66, and binding member container gripping parts 39ba and 39bb connected to the tip of the articulated robot 109b and capable of gripping the mounted second binding member container C2a which houses a plurality of binding members 66. Therefore, the binding operation using the binding member 66 can be performed quickly and continuously.

[0305] Furthermore, according to the rod material unit manufacturing apparatus 1, a third base portion 90d, a binding robot rack 97 extending in a predetermined direction and positioned on the third base portion 90d, a first binding robot 3a and a second binding robot 3b positioned spaced apart and movable along the binding robot rack 97, a mounted first binding member container C1a positioned on the first binding robot 3a and capable of storing a plurality of binding members 66, a mounted second binding member container C2a positioned on the second binding robot 3b and capable of storing a plurality of binding members 66, and a first binding portion positioned at one end of the binding robot rack 97 and storing a plurality of binding members 66 The system includes a material filling container C1c and a second binding member filling container C2c located at the other end of the binding robot rack 97, which houses a plurality of binding members 66. The system is configured such that the first binding robot 3a is moved to one end of the binding robot rack 97 to exchange the mounted first binding member container C1a with the first binding member filling container C1c, and the second binding robot 3b is moved to the other end of the binding robot rack 97 to exchange the mounted second binding member container C2a with the second binding member filling container C2c. This allows for efficient and continuous binding operations using the binding members 66.

[0306] Furthermore, according to the fastening member fastening method of this embodiment, which fastens the intersection of the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) that intersects below the upper horizontal bar Bu1 (upper bar material Bu2), the fastening member fastening member upper part 66a1, and two fastening member left part 66a2a and fastening member right part 66a2b that extend downward from both ends of the fastening member upper part 66a1 and have left side holes 67a and right side holes 67b, and the fastening member upper part 66a1 The first step is to grip the binding member 66, which is positioned and has a screw portion 66b that can be biased downward from the upper part 66a1 of the binding member, through the left side hole 67a and the right side hole 67b of the first binding robot 3a by the first binding member gripping portions 42aa and 42ab, and after the first step, the first binding robot 3a brings the upper part 66a1 of the binding member 66 into contact with the upper part of the upper horizontal bar Bu1 (upper bar material Bu2), and the two left side parts 66a2 of the binding member A second step is to support the lower rod Bd1 (lower rod Bd2) from below by sandwiching the upper horizontal bar Bu1 (upper rod Bu2) between a and the right side portion 66a2b of the binding member; a third step is to make the first binding member gripping portions 42aa and 42ab floating after the second step; a fourth step is to bias the upper horizontal bar Bu1 (upper rod Bu2) downward by a first length relative to the upper part 66a1 of the binding member by the screw portion 66b; and The method includes a fourth step, followed by a fifth step of separating the first binding member gripping portions 42aa and 42ab from the left side hole 67a and the right side hole 67b, and a sixth step of biasing the upper horizontal bar Bu1 (upper bar material Bu2) downward by a second length relative to the upper part 66a1 of the binding member by the screw portion 66b. As a result, the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be securely and firmly bound together.

[0307] Furthermore, according to the binding member binding method of this embodiment, which binds the intersection of the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) that intersects below the upper horizontal bar Bu1 (upper bar material Bu2), after the first step, the upper part 66a1 of the binding member 66, which is gripped by the first binding member gripping parts 42aa and 42ab, is fitted into the upper holes 68b and 68d of the upper holes 68a, 68b, 68c and 68d, by the first binding member positioning projections 117a1 and 117a2 The device includes a seventh step of placing the first binding member 66 on the temporary placement section 115a, which has upper holes 68b and 68d, and an eighth step of gripping the first binding member 66, which has been placed on the temporary placement section 115a, again with the first binding member gripping sections 42aa and 42ab, through the left side hole 67a and the right side hole 67b, so that the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be fastened together efficiently, stably and firmly.

[0308] Furthermore, according to the fastening member fastening method of this embodiment, which fastens the intersection of the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) that intersects below the upper horizontal bar Bu1 (upper bar material Bu2), the fastening member fastening member upper part 66a1, and two fastening member left part 66a2a and fastening member right part 66a2b that extend downward from both ends of the fastening member upper part 66a1 and have left side holes 67a and right side holes 67b, and the fastening member upper part 66a1 The first step is to grip the binding member 66, which is positioned and has a screw portion 66b that can be biased downward from the upper part 66a1 of the binding member, through the left side hole 67a and the right side hole 67b of the first binding robot 3a by the first binding member gripping portions 42aa and 42ab, and after the first step, the first binding robot 3a brings the upper part 66a1 of the binding member 66 into contact with the upper part of the upper horizontal bar Bu1 (upper bar material Bu2), and the two left side parts 66a2 of the binding member A second step is to support the lower rod Bd1 (lower rod Bd2) from below by sandwiching the upper horizontal bar Bu1 (upper rod Bu2) between a and the right side portion 66a2b of the binding member; a third step is to make the first binding member gripping portions 42aa and 42ab floating after the second step; a fourth step is to bias the upper horizontal bar Bu1 (upper rod Bu2) downward by a first length relative to the upper part 66a1 of the binding member by the screw portion 66b; and The method includes a fourth step, followed by a fifth step of separating the first binding member gripping portions 42aa and 42ab from the left side hole 67a and the right side hole 67b, and a sixth step of biasing the upper horizontal bar Bu1 (upper bar material Bu2) downward by a second length relative to the upper part 66a1 of the binding member by the screw portion 66b. As a result, the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be securely and firmly bound together.

[0309] Furthermore, according to the fastening member fastening method of this embodiment, which fastens the intersection of the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) that intersects below the upper horizontal bar Bu1 (upper bar material Bu2), the fastening member fastening member upper part 66a1, and two fastening member left part 66a2a and fastening member right part 66a2b that extend downward from both ends of the fastening member upper part 66a1 and have left side holes 67a and right side holes 67b, and the fastening member upper part 66a1 The first step is to grip the binding member 66, which is positioned and has a screw portion 66b that can be biased downward from the upper part 66a1 of the binding member, through the left side hole 67a and the right side hole 67b by the second binding member gripping portions 42ba and 42bb of the second binding robot 3b, and after the first step, the second binding robot 3b brings the upper part 66a1 of the binding member 66 into contact with the upper part of the upper horizontal bar Bu1 (upper bar material Bu2), and the two left side parts 66a2 of the binding member A second step is to support the lower rod Bd1 (lower rod Bd2) from below by sandwiching the upper horizontal bar Bu1 (upper rod Bu2) between a and the right side portion 66a2b of the binding member; a third step is to make the second binding member gripping portions 42ba and 42bb floating after the second step; a fourth step is to bias the upper horizontal bar Bu1 (upper rod Bu2) downward by a first length relative to the upper part 66a1 of the binding member by the screw portion 66b; and The method includes a fifth step after the fourth step of separating the second fastening member gripping portions 42ba and 42bb from the left side hole 67a and the right side hole 67b, and a sixth step after the fifth step of biasing the upper horizontal bar Bu1 (upper bar material Bu2) downward by a second length relative to the upper part 66a1 of the fastening member with the screw portion 66b, so that the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be stably and firmly fastened together.

[0310] Furthermore, according to the fastening member fastening method of this embodiment, which fastens the intersection of the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) that intersects below the upper horizontal bar Bu1 (upper bar material Bu2), the fastening member fastening member upper part 66a1 has upper holes 68a, 68b, 68c and 68d and can abut the surface of the upper horizontal bar Bu1 (upper bar material Bu2), and two fastening member left part 66a2a and fastening member right part 66a2b extend downward from both ends of the fastening member upper part 66a1 and have left part hole 67a and right part hole 67b, and is disposed on the fastening member upper part 66a1 An eleventh step is to grip a binding member 66, which has a screw portion 66b that can be biased downward from the upper part 66a1 of the binding member, through the left side hole 67a and the right side hole 67b by the second binding member gripping portions 42ba and 42bb of the second binding robot 3b; and after the eleventh step, the upper part 66a1 of the binding member 66 gripped by the second binding member gripping portions 42ba and 42bb is temporarily placed in a second binding member positioning A 12th step is to place the binding member 66 on the mounting section 115b via the upper holes 68b and 68d; a 13th step is to grip the binding member 66 placed on the temporary mounting section 115b after the 12th step using the second binding member gripping sections 42ba and 42bb via the left side hole 67a and the right side hole 67b; and after the 13th step is to bring the upper part 66a1 of the binding member 66 into contact with the upper part of the upper horizontal bar Bu1 (upper bar material Bu2) using the second binding robot 3b, and the two left side parts 66a2a and right side parts 66a2b of the binding member into contact with the upper horizontal bar Bu1 A 14th step in which the lower rod member Bd1 (lower rod member Bd2) is supported from below by sandwiching the upper rod member Bu2, a 15th step in which the second binding member gripping parts 42ba and 42bb are made to float after the 14th step, a 16th step in which the upper horizontal rod Bu1 (upper rod member Bu2) is biased downward by a first length relative to the upper part 66a1 of the binding member by the screw part 66b, a 17th step in which the second binding member gripping parts 42ba and 42bb are separated from the left side hole 67a and the right side hole 67b, after the 17th step,The device includes a 18th step in which the upper horizontal bar Bu1 (upper bar material Bu2) is biased downward by a second length relative to the upper part 66a1 of the fastening member by the screw portion 66b. Therefore, the upper horizontal bar Bu1 (upper bar material Bu2) and the lower bar material Bd1 (lower bar material Bd2) can be efficiently, stably, and firmly fastened together.

[0311] Furthermore, according to the binding member binding method of this embodiment, which binds the intersection of an upper horizontal bar Bu1 (upper bar material Bu2) and a lower bar material Bd1 (lower bar material Bd2) that intersects below the upper horizontal bar Bu1 (upper bar material Bu2), a plurality of first binding robots 3a and second binding robots 3b are arranged on a binding robot rack 97 that extends in a predetermined direction and is arranged on the third base portion 90d, a mounted first binding member container C1a is arranged on the first binding robot 3a and capable of storing a plurality of binding members 66, a mounted second binding member container C2a is arranged on the second binding robot 3b and capable of storing a plurality of binding members 66, and a plurality of are arranged at one end of the binding robot rack 97. The system includes a first binding member filling container C1c that houses the binding members 66, and a second binding member filling container C2c that is located at the other end of the binding robot rack 97 and houses a plurality of binding members 66. The system includes a ninth step of moving the first binding robot 3a to one end of the binding robot rack 97 and exchanging the mounted first binding member container C1a with the first binding member filling container C1c, and a tenth step of moving the second binding robot 3b to the other end of the binding robot rack 97 and exchanging the mounted second binding member container C2a with the second binding member filling container C2c. This allows for efficient and continuous binding operations using the binding members 66. [Explanation of symbols]

[0312] 1. Bar material unit manufacturing equipment (binding material handling system) 2. Main Controller 3a(3)···First bundling robot (device for handling bundling materials) 3b(3)···Second bundling robot (device for handling bundling materials) 4. Robot Controller 5a(5)···First mounted robot 5b(5)···Second mounted robot 6...Power supply 7. Lower section for removing rod material. 8. Control Panel 9...Foundation part 10. Driver Circuit 11a...1st binding part 11b...Second binding part 12. Compressor 13a...First bar gripping part 13b...Second bar gripping part 14..CPU 15a, 15b... Base plate 16...RAM 17a, 17b... Intermediate slide plate 18···ROM 19a, 19b... Lower slide plate 20aa, 20ab, 20ba, 20bb... Carriage for intermediate slide plate 21a, 21b... Clamp base plate 22aa, 22ab, 22ba, 22bb... Rails for intermediate slide plates 23aa, 23ab, 23ba, 23bb... Rails for lower slide plates 24aa, 24ab, 24ba, 24bb... Carriage for lower slide plate 25a, 25b... Camera 26a, 26b... Screw tightening motors 28a, 28b... Screw fitting section 29a, 29b... Screw-fitting recess 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 (storage part gripping part) 39aa1, 39ab1...First binding member, container gripping rubber part 39ba, 39bb...Second binding member container gripping part (storage part 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 (binding member gripping part) 42ba,42bb...Second binding member gripping part (binding member gripping part) 43aa,43ab...Protrusion for gripping the first binding member 43ba,43bb...Protrusion for gripping the second binding member 44aa, 44ab... Cavity section for the first floating cylinder 44ba, 44bb... Second floating cylinder gap 45aa, 45ab... First floating cylinder 45ba, 45bb... Second floating cylinder 46aa, 46ab... First floating cylinder piston 46ba, 46bb... Second floating cylinder piston 47aa, 47ab... First binding member gripping part timing pulley 47ba, 47bb... Second binding member gripping part timing pulley 48a...First binding member gripping part timing belt 48b...Second binding member gripping part timing belt 49aa, 49ab... First binding member timing belt connection part 49ba, 49bb... Second binding member, timing belt connection part 50a...First base (first mounted robot) 50b...First base (second mounted robot) 51a...Second base (first mounted robot) 51b...Second base (second mounted robot) 52a... Forearm (first mounted robot) 52b... Forearm (second mounted robot) 53a...Lower mid-arm (first mounted robot) 53b...Lower mid-arm (second mounted robot) 54a...Upper and mid-arm section (first mounted robot) 54b...Upper and mid-arm section (second mounted robot) 55a...Upper arm (first mounted robot) 55b...Upper arm (second mounted robot) 56a...First gripping base plate 56b...Second gripping base plate 57aa, 57ab, 57ac, 57ad... 1st gripping column 57ba, 57bb, 57bc, 57bd... Second gripping column 58a···First movable part 58b···Second movable part 59aa, 59ab···The first bar holding material 59ba, 59bb···Second rod holding シリンダー 60aa···The 1st right hand gripper 60ab···The first control left part is made of ロッド 60ba···The second control right part is made of ロッド 60bb···The second control left part is made of ロッド 61a···First Control Center 61b···Second Control Center 62a···The first holding part is made of プレート 62b···Handrail for the second holding part 63aa···First control of the right side 63ab1···First grip on the left front 63ba···Second control of the right side 63bb1···Second grip, left front part 64aa···First grip on the right flat surface 64ab1···First grip, left front flat surface 64ba···Second grip on the right flat surface 64bb1···Second grip, left front flat surface 65aa···First grip on the right claw 65ab1···First grip on the left forepaw 65ba···Second grip on the right claw 65bb1···Second grip on the left front paw 66···End of Parts 66a···End of Part Body 66a1···Finishing the upper part of the material (ジョイント main body) 66a2a... End of section, left side (support section) 66a2b... End of section, right side (support section) 66a3a···End part left protrusion 66a3b···End part right protrusion 66a4a···End of section, bottom left 66a4b... End part, bottom right 66a5a...Bonding member, left end protrusion 66a5b... Right end protrusion of the fastening member 66a6...Protrusion for screw thread 66b...Screw part (biasing part) 67a...Left side hole (first through hole) 67b...Right side hole (first through hole) 68a, 68b, 68c, 68d... Upper holes (second through holes) 69aa, 69ab, 69ba, 69bb... Positioning bushings 69aag, 69abg, 69bag, 69bbg... Positioning bushing holes 70a, 70b... Lower upstream rod material extraction movable part 70c, 70d...Lower section downstream rod material extraction movable part 71a... Lower upstream side rod material extraction and fixing section 71b...Lower section downstream rod material extraction and fixing part 72aa, 72ab, 72ba, 72bb... Lower upstream rod material extraction movable part housing 72ca, 72cb, 72da, 72db... Lower downstream rod material extraction movable part housing 73a, 73b... Lower upstream rod extraction cylinder 73c, 73d... Lower downstream rod extraction cylinder 74a, 74b... Lower upstream side 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 material 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 side 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 foundation 90d...Third base (mounting platform) 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 (first rail) 98a, 98b... Motors for binding robots 99a, 99b... Rod material sensor 100... bar stock unit 101...Motor for base rotation 102a, 102b...Motors for base traction 103... Bar material slide motor 104...Pusher section 105a, 105b, 105c, 105d... Bar stock slide pulleys 106... Bar reference plate 107... Upper section for removing rod material 108aa,108ab,108ba,108bb...Contact part 109a...First articulated robot (articulated robot) 109b...Second articulated robot (articulated robot) 110aa,110ab... Stopper for holding the first binding member 110ba,110bb... Stopper for holding the second binding member 111a... Temporary base for first binding member 111b...Second binding member temporary base 113a... Temporary support column for first binding member 113b... Temporary support column for the second binding member 115a...Temporary placement section for first binding member 115b...Second fastening member temporary placement section 117a1, 117a2...Protrusions for positioning the first binding member 117b1, 117b2... Second binding member positioning projection 119a...First fastening member fitting hole 119b...Second fastening member fitting hole 170a, 170b... Lower upstream rod material extraction movable part 170c, 170d...Lower section downstream rod material extraction movable part 171a... Upper upstream side rod material extraction and fixing section 171b... Upper downstream side rod material extraction and fixing section 172aa, 172ab, 172ba, 172bb... Upper upstream rod material extraction movable part housing 172ca, 172cb, 172da, 172db... Upper downstream rod material extraction movable part housing 173a, 173b... Upper upstream rod extraction cylinder 173c, 173d... Upper downstream rod extraction cylinder 174a, 174b... Upper upstream rod extraction cylinder rod 174c, 174d... Upper downstream side rod extraction cylinder rod 175aa, 175ab, 175ba, 175bb... Upper upstream rod material extraction and fixing cam 175ca, 175cb, 175da, 175db... Upper downstream rod material extraction and fixing cam 176aa, 176ab, 176ba, 176bb... Upper upstream rod extraction oscillating cam 176ca, 176cb, 176da, 176db... Upper downstream rod extraction oscillating cam 176ac, 176bc... Upper upstream rod extraction oscillating cam rotation center 176cc, 176dc... Upper downstream rod extraction oscillating cam rotation center 176ad, 176bd... Upper upstream rod material extraction oscillating cam action point 176cd, 176dd... Upper downstream side rod material extraction oscillating cam action point 177aa, 177ab... Upper upstream side rod material extraction and fixing section housing 177ba, 177bb... Upper downstream side rod material extraction and fixing section housing 178aa, 178ab... Upper upstream rod material extraction and fixing plate 178ba, 178bb... Upper downstream side rod material extraction and fixing plate 179aa, 179ab... Upper section of the upper upstream rod material extraction and fixing part 179ba, 179bb... Upper section of the lower downstream rod material extraction and fixing part 180a~180d... Upper first bar material conveyor 181a~181d...Motor for conveying the first bar material in the upper section 182a~182d... Upper second bar material conveyor 183a~183d...Motor for transporting the second bar material in the upper section 184a~184d... Upper third bar material conveyor 185a~185d...Motor for transporting the third bar material in the upper section 186a~186d... Upper fourth bar material conveyor 187a~187d...Motor for conveying the fourth bar material in the upper section B,B1,B2...Bar material Bd1, Bd2(B)...Vertical bars (first component) Bu1, Bu2(B).... Horizontal bar (second component) C1(C)···First Binding Member Container C2(C)···Second Binding Member Container C1a(C)···First binding member container (first binding member storage section) C2a(C)...Second fastening member container (second fastening member storage section) C1c(C)···First binding member filling container (third binding member storage section) C2c(C)···Second binding member filling container (fourth binding member storage section) C1b(C)···First binding member empty container C2b(C)···Second binding member empty container F... Concrete (fluid) K1t, K2t, K3t, K4t, K5t... Fixed cam tooth section K1b, K2b, K3b, K4b... Fixed cam tooth valley S1, S2, S3, S4... Oscillating cam teeth

Claims

1. A fastening member for fastening the intersection points of a first member and a second member that intersect each other, The surface has multiple through holes, A binding member characterized in that, among the plurality of through holes, some of the first through holes serve both as holes for being gripped by the binding member gripping portion and as air vents when covering the first member and the second member with a hardenable fluid.

2. The binding member according to claim 1, characterized in that some of the multiple through holes, the second through holes, serve both as holes for regulating the position of the binding member and as air vents when covering the first member and the second member with a hardenable fluid.

3. A joint body that can contact the surface of the first member, The joint body has two support members, each having the first through-hole, extending from both ends of the joint body toward the second member, sandwiching the first member, and supporting the second member from below. A biasing part that biases the first member toward the second member relative to the joint body, The fastening member according to claim 1, characterized by having the following features.

4. A joint body having the second through hole and capable of contacting the surface of the first member, The joint body has two support members, each having the first through-hole, extending from both ends of the joint body toward the second member, sandwiching the first member, and supporting the second member from below. A biasing part that biases the first member toward the second member relative to the joint body, The fastening member according to claim 2, characterized by comprising the above.

5. The fastening member according to claim 3, characterized in that the two support members are inclined in a direction that intersects with the longitudinal axes of the first member and the second member in a plan view.

6. The fastening member according to claim 4, characterized in that the two support members are inclined in a direction that intersects with the longitudinal axes of the first member and the second member in a plan view.

7. Articulated robots and A binding member gripping portion connected to the tip of the articulated robot, capable of gripping the binding member described in any one of claims 1 to 6, A storage unit gripping unit connected to the tip of the articulated robot, which can grip a storage unit containing a plurality of the binding members described in any one of claims 1 to 6, A binding member handling device characterized by being equipped with the following.

8. Mounting platform and A first rail extending in a predetermined direction is placed on the mounting platform, Two binding member handling devices according to claim 7, arranged spaced apart and movable along the first rail, One of the fastening member handling devices is provided with a first fastening member storage section capable of storing multiple fastening members, The other fastening member handling device is provided with a second fastening member storage section capable of storing multiple fastening members, A third fastening member storage section is located at one end of the first rail and houses a plurality of the fastening members, A fourth fastening member storage section is located at the other end of the first rail and houses a plurality of the fastening members, Equipped with, The one binding member handling device is moved to the one end of the first rail, and the first binding member storage section and the third binding member storage section are to be exchanged. A binding member handling system characterized by being configured to move the other binding member handling device to the other end of the first rail, thereby exchanging the second binding member storage section and the fourth binding member storage section.

9. A method for fastening fastening members, comprising fastening the intersection point of a first member and a second member that intersects below the first member, A first step of gripping a binding member, which comprises a joint body, two support members extending downward from both ends of the joint body and having a first through hole, and a biasing part disposed on the joint body and capable of biasing downward from the joint body, through the first through hole by a binding member gripping part of a binding member handling device, Following the first step, the second step involves using the binding member handling device to bring the joint body of the binding member into contact with the upper part of the first member, and having the two support members support the second member from below, sandwiching the first member. Following the second step, a third step is taken to make the binding member gripping portion a floating state, Following the third step, a fourth step is performed in which the biasing unit biases the first member downward by a first length relative to the joint body, Following the fourth step, a fifth step is performed in which the binding member gripping portion is separated from the first through hole, Following the fifth step, the sixth step involves biasing the first member downward by a second length relative to the joint body using the biasing unit, A method for fastening fastening members, characterized by comprising the following features.

10. A method for fastening fastening members, comprising fastening the intersection point of a first member and a second member that intersects below the first member, An eleventh step of gripping a binding member, which comprises a joint body having a second through hole and capable of contacting the surface of the first member, two support members extending downward from both ends of the joint body and having a first through hole, and a biasing part disposed on the joint body and capable of biasing downward from the joint body, through the first through hole by the binding member gripping part of a binding member handling device, Following the first step, the twelfth step is to place the joint body of the binding member, which is gripped by the binding member gripping portion, onto a temporary mounting base having a projection that can be fitted into the second through hole, via the second through hole. After the 12th step, the 13th step is to grip the placed binding member again with the binding member gripping part through the first through hole, Following the 13th step, the 14th step involves using the binding member handling device to bring the joint body of the binding member into contact with the upper part of the first member, and having the two support members support the second member from below, sandwiching the first member. After the 14th step, the 15th step is to make the binding member gripping portion floating, After the 15th step, the 16th step involves biasing the first member downward by a first length relative to the joint body using the biasing unit, After the 16th step, the 17th step is to separate the binding member gripping portion from the first through hole, After the 17th step, the 18th step involves biasing the first member downward by a second length relative to the joint body using the biasing unit, A method for fastening fastening members, characterized by comprising the following features.

11. Multiple binding member handling devices are arranged on a first rail extending in a predetermined direction, which is placed on a mounting base. One of the fastening member handling devices is provided with a first fastening member storage section capable of storing multiple fastening members, The other fastening member handling device is provided with a second fastening member storage section capable of storing multiple fastening members, A third fastening member storage section is located at one end of the first rail and houses a plurality of the fastening members, A fourth fastening member storage section is located at the other end of the first rail and houses a plurality of the fastening members, Equipped with, A ninth step involves moving the one binding member handling device to the one end of the first rail and exchanging the first binding member storage section with the third binding member storage section. A tenth step involves moving the other binding member handling device to the other end of the first rail and exchanging the second binding member storage section and the fourth binding member storage section. The method for fastening fastening members according to claim 9, characterized by comprising the above.

12. Multiple binding member handling devices are arranged on a first rail extending in a predetermined direction, which is placed on a mounting base. One of the fastening member handling devices is provided with a first fastening member storage section capable of storing multiple fastening members, The other fastening member handling device is provided with a second fastening member storage section capable of storing multiple fastening members, A third fastening member storage section is located at one end of the first rail and houses a plurality of the fastening members, A fourth fastening member storage section is located at the other end of the first rail and houses a plurality of the fastening members, Equipped with, A ninth step involves moving the one binding member handling device to the one end of the first rail and exchanging the first binding member storage section with the third binding member storage section. A tenth step involves moving the other binding member handling device to the other end of the first rail and exchanging the second binding member storage section and the fourth binding member storage section. The method for fastening fastening members according to claim 10, characterized by comprising the above.

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