Rebar assembly equipment

Abstract

To provide a reinforcement assembly device capable of efficiently assembling a plurality of reinforcements.SOLUTION: A reinforcement assembly device 10 comprises: beams 21L and 21R spaced from each other in the lateral direction and extending in the longitudinal direction at an interval; a first girder 23 positioned across the beams 21L and 21R and slidable in the longitudinal direction with respect to the beams 21L and 21R; a second girder 24 positioned across the beams 21L and 21R in front of or behind the first girder 23 and slidable in the longitudinal direction with respect to the beams 21L and 21R; two or more first arm parts 25L and 25b attached to the first girder 23 so as to be slidable in the lateral direction with respect to the first girder 23, extending in the up-down direction, and having a first gripping part 25b for gripping a reinforcement at a lower end part; and one or more second arm parts 26 which are attached to the second girder 24 so as to be slidable in the lateral direction with respect to the second girder 24, extend in the vertical direction, and have a second gripping part 26b for gripping the reinforcement at a lower end part.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a reinforcing bar assembly device used for assembling a plurality of reinforcing bars. [Background technology]

[0002] Patent Document 1 discloses a rebar assembly system that automatically arranges and ties rebars. In this rebar assembly system, the base end of a robot arm body is fixed to the ceiling of a frame erected on the factory floor. A gripping attachment capable of gripping rebars and a bundling attachment for bundling rebars that cross each other can be selectively attached to the free end of the robot arm body. This robot arm body is provided with multiple joints so that the gripping attachment can move the gripped rebar. Paragraph 0036 of Patent Document 1 describes that multiple gripping attachments are prepared so that they can be replaced according to the length of the rebar to be gripped (see FIG. 7 of Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-49567 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology disclosed in Patent Document 1, a single articulated robot arm automatically grips a rebar and places it on a stand on a conveyor for assembled rebars. Therefore, in order to suppress the deflection of the rebar when gripping it, as described above, it is necessary to select and replace the gripping attachment according to the length of the rebar to be gripped, and this replacement work is time-consuming.

[0005] In view of the above circumstances, the present invention has an object to provide a reinforcing bar assembly device capable of efficiently assembling a plurality of reinforcing bars. [Means for solving the problem]

[0006] Therefore, the present invention In the first and second aspects of The reinforcing bar assembly device is used for assembling a plurality of reinforcing bars. The reinforcing bar assembly device according to the present invention includes a pair of left and right beam members extending in the front-rear direction with a gap between them in the left-right direction, a first girder arranged to straddle the pair of beam members and slidable in the front-rear direction relative to the pair of beam members, a second girder arranged to straddle the pair of beam members in front or behind the first girder and slidable in the front-rear direction relative to the pair of beam members, two or more first arm parts attached to the first girder so as to be slidable in the left-right direction relative to the first girder, extending in the vertical direction, and having a first grip part for gripping reinforcing bars at a lower end, and one or more second arm parts attached to the second girder so as to be slidable in the left-right direction relative to the second girder, extending in the vertical direction, and having a second grip part for gripping reinforcing bars at a lower end. In a first aspect of the present invention, the lower end of the first arm portion and / or the lower end of the second arm portion has a binding machine holding portion that holds a rebar binding machine for binding intersecting rebars at their intersections. In a second aspect of the present invention, the rebar assembly device further includes a laser tracker that irradiates laser light onto a target provided on the first arm section and / or the second arm section, receives the laser light reflected from the target, and detects the position of the target. Effect of the Invention

[0007] According to the present invention, since the two or more first arm parts and one or more second arm parts whose relative positions can be changed are provided, the above-mentioned task of replacing the gripping attachment is not required, and therefore multiple reinforcing bars can be assembled efficiently. [Brief description of the drawings]

[0008] [Figure 1] Plan view of a deck manufacturing facility in one embodiment of the present invention. [Diagram 2] Flowchart showing how to manufacture a deck [Diagram 3] A diagram showing the schematic configuration of a rebar assembly device. [Figure 4] A diagram showing the lowering and rising states of the rebar binding machine [Diagram 5] Diagram showing how to replace a rebar binding machine [Figure 6] Diagram showing how to replace a rebar binding machine [Figure 7]A plan view showing the movable area of ​​the assembly robot of the rebar assembly device. [Figure 8] Flowchart showing rebar assembly method [Figure 9] Plan view showing longitudinal installation of underbar [Figure 10] Plan view showing short side installation of lower reinforcement [Figure 11] A diagram showing the upper reinforcing bar assembly hardware of the reinforcing bar positioning jig [Figure 12] Illustration of measurement of each axis unit vector using a laser tracker [Figure 13] Illustration of coordinate conversion (coordinate correction) associated with relocation of rebar assembly device [Figure 14] Diagram showing the configuration of the coordinate correction system [Figure 15] Flowchart showing the coordinate correction procedure DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a plan view of a deck fabrication facility according to one embodiment of the present invention.

[0010] A bridge such as a road bridge includes, for example, a plurality of piers, a plurality of bridge girders each extending in the bridge axis direction over the plurality of piers, and a deck arranged over the plurality of bridge girders. The deck is made of, for example, reinforced concrete. Such decks may require replacement (removal of the existing deck and installation of a new deck) due to reasons such as deterioration of the concrete due to long-term use and corrosion of the internal reinforcing bars. In this regard, JP 2021-38512 A discloses that a precast concrete deck to be used as a new deck is manufactured in a deck manufacturing facility that can be relocated (moved).

[0011] The deck slab production facility 1 shown in FIG. 1 may have the same functions as the deck slab production facility disclosed in JP 2021-38512 A. The deck slab production facility 1 is a facility for producing precast concrete deck slabs. The deck slab production facility 1 has a rebar assembly yard 2, a deck slab production yard 3, and a stockyard 4.

[0012] Assembly work (ground assembly work) of reinforcing bars that constitute the deck is carried out in the reinforcing bar assembly yard 2. The reinforcing bar assembly yard 2 is provided with a reinforcing bar assembly device 10 (see FIG. 3) which will be described later.

[0013] In the deck slab fabrication yard 3, work is carried out to fabricate decks including the rebars (rebar units) assembled in the rebar assembly yard 2. The fabricated decks are transported to the stockyard 4 for storage.

[0014] FIG. 2 is a flow chart showing a method for manufacturing a deck. In the deck slab manufacturing method, first, in step S1, reinforcing bars are assembled (reinforcing bar assembly process) using a reinforcing bar assembly device 10 in a reinforcing bar assembly yard 2. The assembled reinforcing bars (reinforcing bar units) are transported to a deck slab manufacturing yard 3.

[0015] Next, in step S2, the above-mentioned reinforcing bar units are set in a steel formwork in the deck slab production yard 3 (formwork installation process). Next, in step S3, concrete is filled into the formwork (concrete pouring step).

[0016] Next, in step S4, the poured concrete is cured (curing step). Next, in step S5, the above-mentioned formwork is dismantled and removed (form removal process). In this manner, a precast concrete deck containing reinforcing bars (reinforcing bar units) is produced.

[0017] Fig. 3 is a diagram showing a schematic configuration of the reinforcing bar assembly device 10. For ease of explanation, the following description will be given with the front, back, left and right defined as shown in Fig. 3, but it goes without saying that the relationship between each component of the reinforcing bar assembly device 10 and the front, back, left and right directions is not limited to that shown in the figure.

[0018] The reinforcing bar assembly device 10 is used for assembling a plurality of reinforcing bars. In other words, the reinforcing bar assembly device 10 assembles a plurality of reinforcing bars to form a reinforcing bar unit.

[0019] The reinforcing bar assembly device 10 includes a three-dimensional orthogonal coordinate system assembly robot (hereinafter simply referred to as an "assembly robot") 11 that assembles reinforcing bars, a reinforcing bar positioning jig 12, reinforcing bar supply devices 13 and 14, reinforcing bar binding machine exchange systems 16 and 17, and a control device 18 (see FIG. 14 described later). The control device 18 controls the operation of the assembly robot 11, the reinforcing bar supply devices 13 and 14, and the reinforcing bar binding machine exchange systems 16 and 17.

[0020] The assembly robot 11 includes multiple (four in this embodiment) pillars 20LF, 20LR, 20RF, 20RR, a pair of beam members 21L, 21R, a first girder 23, a second girder 24, at least two (two in this embodiment) first arm portions 25L, 25R, and at least one (one in this embodiment) second arm portion 26.

[0021] The pair of left and right beam members 21L, 21R extend in the front-rear direction with a gap between them in the left-right direction. The left beam member 21L is supported from below at its front and rear ends by pillars 20LF, 20LR. The right beam member 21R is supported from below at its front and rear ends by pillars 20RF, 20RR.

[0022] The first girder 23 is disposed so as to straddle the beam members 21L, 21R, and is configured to be slidable in the front-rear direction relative to the beam members 21L, 21R. It is preferable that the drive system for the sliding of the first girder 23 is configured so as to be capable of controlling the sliding (in other words, controlling the position of the first girder 23) with high accuracy. From this point of view, the drive system may be configured to include, for example, a ball screw or a rack and pinion. Alternatively, a belt drive may be adopted as the drive system.

[0023] The second girder 24 is disposed so as to straddle the beam members 21L, 21R in front or behind (in front in this embodiment) the first girder 23, and is configured to be slidable in the front-rear direction relative to the beam members 21L, 21R. It is preferable that the drive system for sliding the second girder 24 is also configured so as to be able to precisely control the sliding, similar to the first girder 23 described above.

[0024] The first arm portions 25L, 25R arranged on the left and right are attached to the first girder 23 so as to be slidable in the up-down and left-right directions relative to the first girder 23. It is preferable that the drive system for sliding the first arm portions 25L, 25R is also configured so as to be able to precisely control the sliding, similar to the first girder 23 and the second girder 24 described above.

[0025] Each of the first arm parts 25L, 25R has a main body part 25a extending in the vertical direction, and a first grip part (first hand part) 25b for gripping reinforcing bars provided at the lower end part of the main body part 25a. The upper part of the main body part 25a is attached to the first girder 23 so as to be slidable in the vertical direction and the left and right direction with respect to the first girder 23. The first grip part 25b is attached to the lower end part of the main body part 25a so as to be rotatable around a vertical axis with respect to the main body part 25a. The first grip part 25b is configured to be able to grip reinforcing bars. In this embodiment, the first grip part 25b is configured to be able to hold reinforcing bars by pinching them between two claw parts, but it goes without saying that other configurations are also possible.

[0026] The second arm portion 26 is attached to the second girder 24 so as to be slidable in the up-down and left-right directions relative to the second girder 24. It is preferable that the drive system for sliding the second arm portion 26 is also configured so as to be able to precisely control the sliding, similar to the above-described first girder 23, second girder 24, and first arm portions 25L and 25R.

[0027] The second arm portion 26 has a main body portion 26a extending in the vertical direction, and a second gripping portion (second hand portion) 26b for gripping rebar provided at the lower end of the main body portion 26a. The upper portion of the main body portion 26a is attached to the second girder 24 so as to be slidable in the vertical and horizontal directions relative to the second girder 24. The second gripping portion 26b is attached to the lower end of the main body portion 26a so as to be rotatable about a vertical axis relative to the main body portion 26a. The second gripping portion 26b is configured to be able to grip rebar. In this embodiment, the second gripping portion 26b is configured to be able to hold the rebar by pinching it between two claw portions, but it goes without saying that other configurations are also possible.

[0028] Although not shown in Fig. 3, at least one of the first arm portions 25L, 25R and the second arm portion 26 is provided with a binder holding portion 30. In this regard, in this embodiment, the binder holding portion 30 is provided at the lower end portion (the lower end portion of the main body portion 25a) of the first arm portion 25R and the lower end portion (the lower end portion of the main body portion 26a) of the second arm portion 26. The binder holding portion 30 is configured to hold a reinforcing bar binder 40.

[0029] Fig. 4 is a diagram showing the lowered and raised states of the reinforcing bar binding machine 40 held by the binding machine holding part 30. In detail, Fig. 4(A) shows the lowered state of the reinforcing bar binding machine 40, and Fig. 4(B) shows the raised state of the reinforcing bar binding machine 40.

[0030] The reinforcing bar tying machine 40 is a device that ties reinforcing bars that are positioned by the reinforcing bar positioning jig 12 and cross each other at their intersections. The reinforcing bar tying machine 40 includes a tip tying part 41, a grip 42, and a trigger 43. The reinforcing bar tying machine 40 is also equipped with a wire reel (not shown) and a battery 44. The reinforcing bar tying machine 40 may be a commercially available portable reinforcing bar tying machine. The reinforcing bar tying machine 40 is movable up and down relative to the first arm section 25R via the bundling machine holding part 30 provided at the lower end of the first arm section 25R. The reinforcing bar tying machine 40 is also movable up and down relative to the second arm section 26 via the bundling machine holding part 30 provided at the lower end of the second arm section 26.

[0031] The tip bundling part 41 is formed at the lower end (tip) of the rebar tying machine 40, and ties the intersections of the rebars together with a wire. The tip bundling part 41 winds a predetermined length of wire supplied from a wire reel around the intersections of the rebars, and then twists both ends of the wire to fix (bind) the rebars together.

[0032] The grip 42 is a handle for holding the rebar binding machine 40, and is provided protruding from the upper end (the end opposite the tip binding part 41) of the rebar binding machine 40. The grip 42 has a shape that allows it to be held by a human hand.

[0033] The trigger 43 is a switch for controlling the drive of the tip binding part 41, and is formed at the base of the grip 42. The trigger 43 is provided at a position where it can be pressed with the index finger when a person is holding the grip 42.

[0034] The binding machine holding unit 30 includes a gripping unit 31 that grips a grip 42 of the rebar binding machine 40, an operating unit 32 that is attached to a trigger 43 of the rebar binding machine 40 and can press the trigger 43, and a lifting unit 33 that lifts and lowers the gripping unit 31 and the operating unit 32. For the binding machine holding unit 30 provided at the lower end (lower end of the main body 25a) of the first arm unit 25R, the lifting unit 33 is attached to the lower end (lower end of the main body 25a) of the first arm unit 25R via a bracket 34. For the binding machine holding unit 30 provided at the lower end (lower end of the main body 26a) of the second arm unit 26, the lifting unit 33 is attached to the lower end (lower end of the main body 26a) of the second arm unit 26 via a bracket 34.

[0035] As shown in Figure 4(a), when the rebar binding machine 40 is in the lowered state, the binding machine holding portion 30 can be configured so that the lower end 41t of the tip binding portion 41 of the rebar binding machine 40 is lower than the lower end 25d of the first gripping portion 25b and the lower end 26d of the second gripping portion 26b, and preferably so that the entire tip binding portion 41 of the rebar binding machine 40 is lower (in other words, so that the length L1 shown in Figure 4(a) is longer than the vertical length of the tip binding portion 41).

[0036] As shown in FIG. 4(A), the bundling machine holding unit 30 may be configured such that the lower end 41t of the tip bundling unit 41 of the rebar bundling machine 40 is higher than the lower end 25d of the first gripping unit 25b and the lower end 26d of the second gripping unit 26b when the rebar bundling machine 40 is in the raised state. Here, the length L2 shown in FIG. 4(A) may be appropriately set so that the rebar bundling machine 40 does not interfere with the rebars gripped by the first gripping unit 25b and / or the second gripping unit 26b when the rebar bundling machine 40 is in the raised state. Therefore, the rebar bundling machine 40 held by the bundling machine holding unit 30 may be retracted above the rebars gripped by the first gripping unit 25b and / or the second gripping unit 26b so as not to interfere with the rebars.

[0037] Returning to FIG. 3, when viewed from above the reinforcing bar assembly device 10, the reinforcing bar positioning jig 12 is disposed between a pair of beam members 21L, 21R. The first arm portions 25L, 25R and the second arm portion 26 may be positioned above the reinforcing bar positioning jig 12. Here, in FIG. 3, the reinforcing bar positioning jig 12 is illustrated in a simplified rectangular parallelepiped shape, but the reinforcing bar positioning jig 12 is composed of, for example, a ladder-shaped frame 12a extending in the front-rear direction and a rectangular frame 12b for punching a box, as shown in FIG. 7 described later. These frames 12a, 12b are provided with a plurality of comb-shaped grooves 12c for positioning the reinforcing bar at a predetermined position during assembly of the reinforcing bar (see FIG. 11 described later).

[0038] A reinforcing bar supplying device 13 is disposed adjacent to the right or left side (right side in this embodiment) of the reinforcing bar positioning jig 12. The reinforcing bar supplying device 13 includes a storage section 13a, a reinforcing bar feed section 13b, and a robot access section 13c, in that order from the side farther from the reinforcing bar positioning jig 12 to the side closer to the reinforcing bar positioning jig 12. The storage section 13a stores a plurality of reinforcing bars extending in the front-rear direction. The reinforcing bar feed section 13b transports the reinforcing bars stored in the storage section 13a one by one to the robot access section 13c. Here, at least the robot access section 13c of the reinforcing bar supplying device 13 is disposed between the pair of beam members 21L, 21R, as viewed from above the reinforcing bar assembly device 10. Note that the robot access section 13c and the reinforcing bar feed section 13b of the reinforcing bar supplying device 13 may be disposed between the pair of beam members 21L, 21R, as viewed from above the reinforcing bar assembly device 10, or the entire reinforcing bar supplying device 13 may be disposed. However, since the storage section 13a of the reinforcing bar supplying device 13 requires access by workers, it is placed outside the movable area of ​​the assembly robot 11.

[0039] A reinforcing bar supplying device 14 is disposed adjacent to the front or rear (rear in this embodiment) of the reinforcing bar positioning jig 12. The reinforcing bar supplying device 14 includes a storage section 14a, a reinforcing bar feed section 14b, and a robot access section 14c, in that order from the side farther from the reinforcing bar positioning jig 12 to the side closer to the reinforcing bar positioning jig 12. The storage section 14a stores a plurality of reinforcing bars extending in the left-right direction. The reinforcing bar feed section 14b transports the reinforcing bars stored in the storage section 14a one by one to the robot access section 14c. Here, at least the robot access section 14c of the reinforcing bar supplying device 14 is disposed between the pair of beam members 21L, 21R, as viewed from above the reinforcing bar assembly device 10. Note that the robot access section 14c and the reinforcing bar feed section 14b of the reinforcing bar supplying device 14 may be disposed between the pair of beam members 21L, 21R, as viewed from above the reinforcing bar assembly device 10, or the entire reinforcing bar supplying device 14 may be disposed. However, since the storage section 14a of the reinforcing bar supplying device 14 requires access by workers, it is placed outside the movable area of ​​the assembly robot 11.

[0040] In this embodiment, a reinforcing bar binding machine exchange system 16 for exchanging the reinforcing bar binding machine 40 held by the binding machine holding unit 30 at the lower end (lower end of the main body unit 25a) of the first arm unit 25R is disposed adjacent to the rear of the reinforcing bar supply device 13 and to the right of the reinforcing bar supply device 14. The reinforcing bar binding machine exchange system 16 includes a binding machine standby unit 16a, a binding machine traverser 16b, and a robot access unit 16c, in this order from the side farther from the reinforcing bar supply device 13 to the side closer to the reinforcing bar supply device 13. The binding machine standby unit 16a is configured to be able to hold a plurality of reinforcing bar binding machines 40 (three in this embodiment) side by side on standby. The binding machine traverser 16b is configured to be able to transport the reinforcing bar binding machine 40 between the binding machine standby unit 16a and the robot access unit 16c. Here, at least the robot access unit 16c of the rebar binding machine replacement system 16 is disposed between the pair of beam members 21L, 21R as viewed from above the rebar assembly apparatus 10. Note that, the robot access unit 16c and the binding machine traverser 16b of the rebar binding machine replacement system 16 may be disposed between the pair of beam members 21L, 21R as viewed from above the rebar assembly apparatus 10, or the entire rebar binding machine replacement system 16 may be disposed. However, the binding machine standby unit 16a is disposed outside the movable area of ​​the assembly robot 11 because it requires access by an operator. Note that the binding machine standby unit 16a corresponds to the "standby unit" of the present invention, and the binding machine traverser 16b corresponds to the "transport unit" of the present invention.

[0041] In this embodiment, a reinforcing bar binder exchange system 17 for replacing the reinforcing bar binder 40 held by the binder holder 30 at the lower end of the second arm section 26 (the lower end of the main body section 26a) is disposed adjacent to the front of the reinforcing bar supplying device 13. The reinforcing bar binder exchange system 17 includes a binder standby section 17a, a binder traverser 17b, and a robot access section (not shown) in this order from the side farther from the reinforcing bar supplying device 13 to the side closer to the reinforcing bar supplying device 13. The binder standby section 17a is configured to be able to hold a plurality of reinforcing bar binders 40 (three in this embodiment) side by side and wait for them. The binder traverser 17b is configured to be able to transport the reinforcing bar binder 40 between the binder standby section 17a and the robot access section. Here, as viewed from above the reinforcing bar assembly device 10, at least the robot access section of the reinforcing bar binder exchange system 17 is disposed between the pair of beam members 21L and 21R. In addition, the robot access section and the bundling machine traverser 17b of the rebar binding machine exchange system 17 may be placed between the pair of beam members 21L, 21R when viewed from above the rebar assembly device 10, or the entire rebar binding machine exchange system 17 may be placed between the pair of beam members 21L, 21R. However, the bundling machine standby section 17a is placed outside the movable area of ​​the assembly robot 11 because it requires access by an operator. Also, the rebar binding machine exchange system 17 may be placed adjacent to the front of the rebar positioning jig 12 instead of being placed adjacent to the front of the rebar supply device 13. In addition, the bundling machine standby section 17a corresponds to the "standby section" of the present invention, and the bundling machine traverser 17b corresponds to the "transport section" of the present invention.

[0042] 5(a) to 6(f) show a method for replacing a reinforcing bar binding machine 40 using the reinforcing bar binding machine replacement system 16. FIG.

[0043] First, as shown in FIG. 5(A), with the holder 16h1 waiting in the robot access section 16c, the reinforcing bar binding machine 40 to be replaced is positioned above it. Next, as shown in FIG. 5(a), the lifting unit 33 of the binding tool holding unit 30 is operated to lower the reinforcing bar binding tool 40 to be replaced into the holder 16h1.

[0044] Next, the gripping portion 31 and the operating portion 32 of the binding machine holding portion 30 are detached from the lifting portion 33, and the rebar binding machine 40 to be replaced is transported together with the holder 16h1 by the binding machine traverser 16b to the binding machine waiting portion 16a, as shown in Figures 5 (c) and 6 (d).

[0045] 6(e) and (f), the new rebar binding machine 40 is transported together with the holder 16h2 from the binding machine standby section 16a to the robot access section 16c by the binding machine traverser 16b. Then, the gripping section 31 and the operating section 32 of the binding machine holding section 30 are attached to the lifting section 33, so that the new rebar binding machine 40 is held by the binding machine holding section 30.

[0046] In this manner, the rebar tie machine 40 can be automatically replaced using the rebar tie machine replacement system 16. The method of replacing the rebar tie machine 40 using the rebar tie machine replacement system 17 is similar to the above, so a description thereof will be omitted.

[0047] 7 is a plan view showing a movable area F of the assembly robot 11 of the reinforcing bar assembly device 10. The movable area F includes areas F1 to F3.

[0048] Area F1 includes the reinforcing bar positioning jig 12 and the robot access units 13c, 14c of the reinforcing bar supplying devices 13, 14. In area F1, the first arm units 25L, 25R and the second arm unit 26 of the assembly robot 11 cooperate to transport the reinforcing bar from the robot access units 13c, 14c of the reinforcing bar supplying devices 13, 14 to a predetermined position on the reinforcing bar positioning jig 12.

[0049] Area F2 is adjacent to the right side of the rear end of area F1, and includes the robot access unit 16c of the rebar tie machine replacement system 16. Area F2 is an area where the first arm unit 25R can be located when replacing the rebar tie machine 40 held by the tie machine holding unit 30 at the lower end (the lower end of the main body unit 25a) of the first arm unit 25R of the assembly robot 11.

[0050] Area F3 is adjacent to the right side of the front end of area F1, and includes a robot access portion of the rebar tie machine replacement system 17. Area F3 is an area where the second arm unit 26 can be located when replacing the rebar tie machine 40 held by the tie machine holding unit 30 at the lower end (the lower end of the main body unit 26a) of the second arm unit 26 of the assembly robot 11.

[0051] Returning to Fig. 3, the crane apparatus (lifting apparatus) 19 is used to lift the reinforcing bars (the reinforcing bar units described above) assembled on the reinforcing bar positioning jig 12 and carry them out of the reinforcing bar assembling apparatus 10. The crane apparatus 19 can also be used when relocating the reinforcing bar assembling apparatus 10 (when dismantling and installing it).

[0052] The assembly robot 11 is configured to operate according to instructions from a control device 18 based on a three-dimensional orthogonal coordinate system in which the forward / backward direction is the x-axis, the left / right direction is the y-axis, and the up / down direction is the z-axis.

[0053] The binding machine holding unit 30 or the reinforcing bar binding machine 40 is provided with a counting means (not shown) for counting the number of bindings for each reinforcing bar binding machine 40. When the number of bindings counted by this counting means reaches a predetermined value, the control device 18 instructs the reinforcing bar binding machine replacement system 16, 17 to replace the reinforcing bar binding machine 40, and the reinforcing bar binding machine replacement system 16, 17 is configured to automatically perform the replacement work in response to the instruction.

[0054] The control device 18 is wirelessly connected to the assembly robot 11, the reinforcing bar supply devices 13 and 14, and the reinforcing bar binding machine exchange systems 16 and 17 (i.e., they can wirelessly communicate with each other). This allows the reinforcing bar assembly device 10 to be wireless.

[0055] Next, a method for forming the above-mentioned reinforcing bar unit by assembling a plurality of reinforcing bars using the reinforcing bar assembly device 10 will be described with reference to Figs. 8 to 11 in addition to Figs. 1 to 7 mentioned above. Fig. 8 is a flow chart showing a reinforcing bar assembling method using the reinforcing bar assembling device 10. Fig. 9 and Fig. 10 are plan views showing installation of lower bars in the longitudinal direction and in the lateral direction, respectively. Fig. 11(a) to (c) show upper bar assembling hardware 12d of the reinforcing bar positioning jig 12.

[0056] In the reinforcing bar assembling method using the reinforcing bar assembling device 10, first, as shown in FIG. 7, a plurality of reinforcing bars are arranged in the reinforcing bar supplying device 13, 14 ...

[0057] Next, as shown in Fig. 8, in step S11, the rebars are assembled in the order of N1, N2, and N3 to set the lower rebars in the longitudinal direction. In step S11, one of the first arm units 25L, 25R of the assembly robot 11 and the second arm unit 26 work together to transport the rebar from the robot access unit 13c of the rebar supplying device 13 to a predetermined position on the rebar positioning jig 12. Fig. 9 shows the state after step S11 is completed.

[0058] Next, in step S12, the lower reinforcing bars are installed in the short side direction by assembling the reinforcing bars in the order of N4, N5, N6, and N7. In step S12, the first arm units 25L and 25R of the assembly robot 11 work together to transport the reinforcing bars from the robot access unit 14c of the reinforcing bar supply device 14 to a predetermined position on the reinforcing bar positioning jig 12. Figures 10 and 11(A) show the state after step S12 is completed. After this, the upper reinforcing bar assembly hardware 12d is set as shown in Figure 11(B).

[0059] Next, in step S13, the rebars are assembled in the order of N8, N9, N10, and N11 to install the upper rebar in the short side direction. In step S13, the first arm units 25L and 25R of the assembly robot 11 work together to transport the rebar from the robot access unit 14c of the rebar supply device 14 to a predetermined position on the rebar positioning jig 12. Figure 11(c) shows the state after step S13 is completed. Note that the configuration of the upper rebar assembly hardware 12d is not limited to that shown in Figure 11.

[0060] Next, in step S14, the upper reinforcing bars are installed in the longitudinal direction by assembling the reinforcing bars in the order of N12, N13, and N14. In step S14, one of the first arm units 25L, 25R of the assembly robot 11 and the second arm unit 26 cooperate to transport the reinforcing bars from the robot access unit 13c of the reinforcing bar supply device 13 to a predetermined position on the reinforcing bar positioning jig 12.

[0061] At any timing between steps S11 to S14, the rebars are tied at their intersections by the rebar tie machine 40 held by the tie machine holding unit 30. The coordinates of the intersections are known in advance by the control device 18, so that the tie can be performed automatically. In this manner, the reinforcing bar unit described above is formed by assembling a plurality of reinforcing bars using the reinforcing bar assembly device 10.

[0062] Next, a coordinate correction method when relocating the reinforcing bar assembly device 10 will be described with reference to Figs.

[0063] Fig. 12 is an explanatory diagram of measurement of each axis unit vector using a laser tracker 91. Fig. 13 is an explanatory diagram of coordinate transformation (coordinate correction) accompanying relocation of the reinforcing bar assembly device 10. Fig. 14 is a diagram showing the configuration of a coordinate correction system. Fig. 15 is a flowchart showing the coordinate correction procedure.

[0064] As shown in Fig. 12, after the relocation of the reinforcing bar assembly device 10 is completed, the movement of the target (corner cube) 92 accompanying the movement in each axial direction of the first arm units 25L, 25R and the second arm unit 26 can be grasped by the laser tracker 91, and the unit vector of each axis can be obtained. In addition, by measuring the reference positions of the reinforcing bar positioning jig 12, the reinforcing bar supply devices 13, 14, etc., and measuring the positions, the coordinates can be converted to match the program points of each axis to the installation positions.

[0065] As shown in Figure 13, when the rebar assembly device 10 is relocated and installed, the orthogonality of the axes of the assembly robot 11 cannot be maintained. However, even if the axis system is not orthogonal to represent the same point P, it is possible to represent point P in a new coordinate system as long as each axis is independent. This makes it possible to eliminate the need to adjust the x, y, and z axes after on-site installation by measuring the unit vectors of each axis at the time of installation.

[0066] 14, in the coordinate correction system, the assembly robot 11 and the control device 18 are connected to a coordinate correction computer (e.g., a personal computer) 93, and the coordinate correction computer 93 is connected to acquire coordinate data from a laser tracker 91. Each step operation completion signal of the coordinate correction operation of the control device 18 is received by the coordinate correction computer 93, and the coordinates are taken into the coordinate correction computer 93. After acquiring all the coordinate correction data, the control device 18 performs coordinate correction.

[0067] As shown in FIG. 15, in the coordinate correction procedure, first, in step S21, the assembly robot 11, the reinforcing bar positioning jig 12, the reinforcing bar supplying devices 13 and 14, and the laser tracker 91 are installed in predetermined positions.

[0068] Next, in step S22, targets 92 are placed at predetermined positions of the assembly robot 11, the reinforcing bar positioning jig 12, and the reinforcing bar supplying devices 13 and 14. In addition, targets 92 are also placed at arbitrary reference points.

[0069] Next, in step S23, the positions of the reference point, two points on each axis of the assembly robot 11, the reinforcing bar positioning jig 12, and the reinforcing bar supplying devices 13 and 14 are measured.

[0070] Next, in step S24, the coordinate correction computer 93 performs correction coordinate calculations. Next, in step S25, the coordinates of the control device 18 are changed.

[0071] Thereafter, the assembly robot 11 may be subjected to a test operation to measure the position and check for any errors in the correction. In this manner, coordinate correction can be performed.

[0072] By carrying out this coordinate correction method, the deviation of the three-dimensional orthogonal coordinate system when the reinforcing bar assembly device 10 is relocated can be easily corrected and the device can be put back into operation.

[0073] According to this embodiment, the reinforcing bar assembly device 10 is an apparatus used for assembling a plurality of reinforcing bars. The reinforcing bar assembly device 10 comprises a pair of left and right beam members 21L, 21R extending in the front-rear direction with a gap between them in the left-right direction, a first girder 23 arranged to straddle the pair of beam members 21L, 21R and slidable in the front-rear direction relative to the pair of beam members 21L, 21R, a second girder 24 arranged to straddle the pair of beam members 21L, 21R in front or rear of the first girder 23 and slidable in the front-rear direction relative to the pair of beam members 21L, 21R, two or more first arm portions 25L, 25R attached to the first girder 23 so as to be slidable in the left-right direction relative to the first girder 23, extending in the vertical direction, and having a first gripping portion 25b for gripping reinforcing bars at their lower ends, and one or more second arm portions 26 attached to the second girder 24 so as to be slidable in the left-right direction relative to the second girder 24, extending in the vertical direction, and having a second gripping portion 26b for gripping reinforcing bars at their lower ends. This eliminates the need for replacing the gripping attachment as described in Patent Document 1. Therefore, multiple reinforcing bars can be assembled efficiently.

[0074] According to this embodiment, the reinforcing bar assembly device 10 includes two first arm portions 25L, 25R aligned in the left-right direction, and one second arm portion 26 located in front of or behind the first arm portions 25L, 25R. This allows the reinforcing bar assembly device 10 to have a simple configuration.

[0075] According to this embodiment, the first arm portions 25L, 25R are attached to the first girder 23 so as to be slidable in the vertical direction relative to the first girder 23, and the second arm portion 26 is attached to the second girder 24 so as to be slidable in the vertical direction relative to the second girder 24. This allows the first grip portion 25b provided at the lower end of the first arm portion 25L, 25R and the second grip portion 26b provided at the lower end of the second arm portion 26 to be raised and lowered with a simple configuration. In addition to or instead of this configuration, at least one of the main body portion 25a of the first arm portion 25L, 25R and the main body portion 26a of the second arm portion 26 may be configured to be extendable and retractable in the vertical direction (for example, a retractable rod), and the first grip portion 25b and / or the second grip portion 26b may be raised and lowered by the extension and retraction operation.

[0076] According to this embodiment, the first gripping portion 25b and / or the second gripping portion 26b are configured to be rotatable about a vertical axis, which allows the orientation of the first gripping portion 25b and / or the second gripping portion 26b to be easily changed according to the extension direction of the rebar to be gripped.

[0077] According to the present embodiment, the reinforcing bar assembly apparatus 10 further includes a control device 18 that controls the operation of each of the first girder 23, the second girder 24, the first arm units 25L and 25R, and the second arm unit 26. The control device 18 controls the operation of each of the first girder 23, the second girder 24, the first arm units 25L and 25R, and the second arm unit 26 based on a three-dimensional orthogonal coordinate system in which the front-rear direction is the x-axis, the left-right direction is the y-axis, and the up-down direction is the z-axis. When relocating the reinforcing bar assembly apparatus 10, it is preferable to correct the three-dimensional orthogonal coordinate system that is the basis of control by the control device 18 based on the position of the target 92 detected by the laser tracker 91.

[0078] According to this embodiment, the lower end of the first arm portion 25L, 25R and / or the lower end of the second arm portion 26 has a binding machine holding portion 30 that holds a rebar binding machine 40 for binding rebars that intersect with each other at their intersections. This makes it possible to automate the binding of rebars at their intersections. It is preferable that the rebar binding machine 40 held by the binding machine holding portion 30 be retractable so as not to interfere with the rebars gripped by the first gripping portion 25b and / or the second gripping portion 26b (see FIG. 4(A)).

[0079] According to this embodiment, the reinforcing bar assembly device 10 further includes a standby section (binder standby section 16a, 17a) where a plurality of reinforcing bar binding machines 40 are on standby, and a transport section (binder traverser 16b, 17b) capable of transporting the reinforcing bar binding machines 40 between the standby section (binder standby section 16a, 17a) and the movable area F of the first arm section 25L, 25R and / or the second arm section 26. This makes it possible to automate the replacement of the reinforcing bar binding machines 40 attached to the first arm section 25L, 25R and / or the second arm section 26.

[0080] According to the present embodiment, the control device 18 controls the operation of the reinforcing bar binding machine 40 so as to bind the reinforcing bars at their intersections. Therefore, the control device 18 can coordinate the operation control of the reinforcing bar binding machine 40 with the operation control of the first girder 23, the second girder 24, the first arm portions 25L and 25R, and the second arm portion 26.

[0081] According to this embodiment, the reinforcing bar assembling apparatus 10 further includes a laser tracker 91 that irradiates a laser beam onto a target 92 provided on the first arm unit 25L, 25R and / or the second arm unit 26, receives the laser beam reflected by the target 92, and detects the position of the target 92. This allows for easy coordinate correction of the control device 18 when the reinforcing bar assembling apparatus 10 is relocated. In this regard, it is preferable that the reinforcing bar assembling apparatus 10 has a coordinate correction system that corrects a three-dimensional orthogonal coordinate system that is the basis for control by the control device 18, based on the position of the target 92 detected by the laser tracker 91.

[0082] In this embodiment, the control device 18 may have a function to calculate the relationship between the gripping position and the deflection of a rebar gripped by the first gripping portion 25b of either one of the first arm portions 25L, 25R of the assembly robot 11 and the second gripping portion 26b of the second arm portion 26 in cooperation with each other, and to correct the gripping position so as to minimize the deflection. Similarly, the control device 18 may have a function to calculate the relationship between the gripping position and the deflection of a rebar gripped by the first gripping portions 25b of both the first arm portions 25L, 25R of the assembly robot 11 in cooperation with each other, and to correct the gripping position so as to minimize the deflection. The control device 18 may also calculate the above-mentioned gripping position based on the diameter and length of the rebar to be gripped.

[0083] The precast concrete floor slab manufactured in the floor slab manufacturing facility 1 in this embodiment may be a prestressed concrete floor slab (precast PC floor slab). In the case of a precast PC floor slab, the floor slab may include a tendon.

[0084] In this embodiment, an example has been described in which the reinforcing bars (reinforcing bar units) assembled by the reinforcing bar assembly device 10 are included in a precast concrete floor slab, but it goes without saying that the reinforcing bar units may also be included in precast concrete columns or walls.

[0085] As is apparent from the above description, the illustrated embodiments are merely illustrative of the present invention, and it goes without saying that the present invention encompasses various improvements and modifications made by those skilled in the art within the scope of the claims, in addition to those directly shown in the described embodiments. The claims as originally filed were as follows: [Claim 1] A reinforcing bar assembly device used to assemble a plurality of reinforcing bars, A pair of left and right beam members extending in the front-rear direction and spaced apart from each other in the left-right direction; A first girder arranged to straddle the pair of beam members and slidable in the front-rear direction relative to the pair of beam members; A second girder arranged to straddle the pair of beam members in front of or behind the first girder and capable of sliding in the front-rear direction relative to the pair of beam members; Two or more first arm portions attached to the first girder so as to be slidable in the left-right direction relative to the first girder, extending in the up-down direction, and having a first gripping portion for gripping reinforcing bars at a lower end; One or more second arm portions attached to the second girder so as to be slidable in the left-right direction relative to the second girder, extending in the up-down direction, and having a second gripping portion for gripping rebar at a lower end; A rebar assembly device comprising: [Claim 2] 2. The reinforcing bar assembly device according to claim 1, comprising two of the first arm units and one of the second arm units. [Claim 3] The first arm portion is attached to the first girder so as to be slidable in the up and down direction relative to the first girder, 3. The reinforcing bar assembly device according to claim 1 or 2, wherein the second arm portion is attached to the second girder so as to be slidable in an up-down direction relative to the second girder. [Claim 4] 4. The reinforcing bar assembly device according to claim 1, wherein the first gripping portion and / or the second gripping portion is configured to be rotatable about a vertical axis. [Claim 5] 5. The reinforcing bar assembly device according to claim 1, further comprising a control device that controls the operation of each of the first girder, the second girder, the first arm portion, and the second arm portion. [Claim 6] The control device controls the operation of each of the first girder, the second girder, the first arm section, and the second arm section based on a three-dimensional Cartesian coordinate system in which the forward / backward direction is the x-axis, the left / right direction is the y-axis, and the up / down direction is the z-axis. The reinforcing bar assembly device according to claim 5. [Claim 7] 7. The reinforcing bar assembly device according to claim 1, wherein a lower end of the first arm portion and / or a lower end of the second arm portion has a binding machine holding portion that holds a reinforcing bar binding machine for binding mutually intersecting reinforcing bars at their intersections. [Claim 8] 8. The reinforcing bar assembly device according to claim 7, wherein the reinforcing bar binding machine held by the binding machine holding part is retractable so as not to interfere with the reinforcing bar gripped by the first gripping part and / or the second gripping part. [Claim 9] A standby section in which a plurality of the rebar binding machines are on standby; A transport unit capable of transporting the rebar binding machine between the standby unit and a movable area of ​​the first arm unit and / or the second arm unit; The reinforcing bar assembly device according to claim 7 or claim 8, further comprising: [Claim 10] The reinforcing bar assembly device according to any one of claims 7 to 9, when claim 7 is dependent on claim 5 or claim 6, wherein the control device controls the operation of the reinforcing bar tying machine so as to restrain the reinforcing bars at their intersections. [Claim 11] The reinforcing bar assembly device according to any one of claims 1 to 10, further comprising a laser tracker that irradiates a laser light onto a target provided on the first arm section and / or the second arm section, receives the laser light reflected by the target, and detects the position of the target. [Claim 12] The reinforcing bar assembly device according to claim 11 when claim 11 is dependent on claim 6, further comprising a coordinate correction system that corrects the three-dimensional orthogonal coordinate system that is the basis of control by the control device based on the position of the target detected by the laser tracker. [Explanation of symbols]

[0086] 1... Deck slab production facility, 2... Reinforcement bar assembly yard, 3... Deck slab production yard, 4... Stockyard, 10... Reinforcement bar assembly device, 11... Assembly robot, 12... Reinforcement bar positioning jig, 12a, 12b... Frame, 12c... Groove, 12d... Upper bar assembly hardware, 13... Reinforcement bar supply device, 13a... Storage section, 13b... Reinforcement bar feed section, 13c... Robot access section, 14... Reinforcement bar supply device, 14a... Storage section, 14b... Reinforcement bar feed section, 14c... Robot access section, 16... Reinforcement bar binding machine replacement system, 16a... Binding machine standby section, 16b... Binding machine traverser, 16c... Robot access section, 16h1, 16h2... Holder, 17... Reinforcement bar binding machine replacement system, 17a... Binding machine standby section, 17b... Binding machine traverser, 18... Control device placement, 19...crane device, 20LF, 20LR, 20RF, 20RR...pillars, 21L, 21R...beam members, 23...first girder, 24...second girder, 25L, 25R...first arm portion, 25a...main body portion, 25b...first gripping portion, 25d...lower end, 26...second arm portion, 26...second arm portion, 26a...main body portion, 26b...second gripping portion, 26d...lower end, 30...binding machine holding portion, 31...gripping portion, 32...operation portion, 33...lifting portion, 34...bracket, 40...rebar binding machine, 41...tip binding portion, 41t...lower end, 42...grip, 43...trigger, 44...battery, 91...laser tracker, 92...target (reflector), 93...coordinate correction computer, F...movable area, F1 to F3...areas

Claims

1. A reinforcing bar assembly device used to assemble a plurality of reinforcing bars, A pair of left and right beam members extending in the front-rear direction and spaced apart from each other in the left-right direction; A first girder arranged to straddle the pair of beam members and slidable in the front-rear direction relative to the pair of beam members; A second girder arranged to straddle the pair of beam members in front of or behind the first girder and capable of sliding in the front-rear direction relative to the pair of beam members; Two or more first arm portions attached to the first girder so as to be slidable in the left-right direction relative to the first girder, extending in the up-down direction, and having a first gripping portion for gripping reinforcing bars at a lower end; One or more second arm portions attached to the second girder so as to be slidable in the left-right direction relative to the second girder, extending in the up-down direction, and having a second gripping portion for gripping rebar at a lower end; Equipped with A rebar assembly device, wherein the lower end of the first arm portion and / or the lower end of the second arm portion has a binding machine holding portion that holds a rebar tying machine for tying intersecting rebars at their intersections.

2. The reinforcing bar assembly device according to claim 1, wherein the reinforcing bar binding machine held by the binding machine holding portion is retractable so as not to interfere with the reinforcing bar gripped by the first gripping portion and / or the second gripping portion.

3. A standby section in which a plurality of the rebar binding machines are standby; A transport unit capable of transporting the rebar binding machine between the standby unit and a movable area of ​​the first arm unit and / or the second arm unit; The reinforcing bar assembly device according to claim 1 or 2, further comprising:

4. The reinforcing bar assembly device according to any one of claims 1 to 3, further comprising a control device that controls the operation of each of the first girder, the second girder, the first arm portion, and the second arm portion.

5. The control device is based on a three-dimensional orthogonal coordinate system in which the front-rear direction is the x-axis, the left-right direction is the y-axis, and the up-down direction is the z-axis. The reinforcing bar assembly device according to claim 4, wherein the control device controls the operation of each of the first girder, the second girder, the first arm portion, and the second arm portion based on a three-dimensional orthogonal coordinate system in which the front-rear direction is the x-axis

6. The reinforcing bar assembly device according to claim 4 or claim 5, wherein the control device controls the operation of the reinforcing bar binding machine so as to bind the reinforcing bars at their intersections.

7. A reinforcing bar assembly device used to assemble a plurality of reinforcing bars, A pair of left and right beam members extending in the front-rear direction and spaced apart from each other in the left-right direction; A first girder arranged to straddle the pair of beam members and slidable in the front-rear direction relative to the pair of beam members; A second girder arranged to straddle the pair of beam members in front of or behind the first girder and capable of sliding in the front-rear direction relative to the pair of beam members; Two or more first arm portions attached to the first girder so as to be slidable in the left-right direction relative to the first girder, extending in the up-down direction, and having a first gripping portion for gripping reinforcing bars at a lower end; One or more second arm portions attached to the second girder so as to be slidable in the left-right direction relative to the second girder, extending in the up-down direction, and having a second gripping portion for gripping rebar at a lower end; a laser tracker that irradiates a laser light onto a target provided on the first arm unit and / or the second arm unit, receives the laser light reflected by the target, and detects a position of the target; A rebar assembly device comprising:

8. The reinforcing bar assembly device according to claim 7, further comprising a control device that controls the operation of each of the first girder, the second girder, the first arm portion, and the second arm portion.

9. The control device is based on a three-dimensional orthogonal coordinate system in which the front-rear direction is the x-axis, the left-right direction is the y-axis, and the up-down direction is the z-axis. The reinforcing bar assembly device according to claim 8, wherein the control device controls the operation of each of the first girder, the second girder, the first arm portion, and the second arm portion.

10. The reinforcing bar assembly device according to claim 9, further comprising a coordinate correction system that corrects the three-dimensional Cartesian coordinate system that serves as a reference for control by the control device based on the position of the target detected by the laser tracker.

11. The reinforcing bar assembly device according to any one of claims 1 to 10, comprising two of the first arm portions and one of the second arm portions.

12. The first arm portion is attached to the first girder so as to be slidable in the vertical direction relative to the first girder, The reinforcing bar assembly device according to any one of claims 1 to 11, wherein the second arm portion is attached to the second girder so as to be slidable in the vertical direction relative to the second girder.

13. The reinforcing bar assembly device according to any one of claims 1 to 12, wherein the first gripping portion and / or the second gripping portion is configured to be rotatable around a vertical axis.

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