Bar removal device

Abstract

To provide a bar material taking-out device capable of making the device for taking out bars one by one from a bundle of bars compact and stably taking out the bars one by one from the bundle of bars. [Solution] The lower-stage bar stock take-out device 7 comprises a lower-stage upstream bar stock take-out fixed cam 75aa having a plurality of fixed cam tooth crest portions K1t, etc., a plurality of fixed cam tooth valley portions K1b, etc., and a plurality of inclined portions K1s1, etc. connecting the fixed cam tooth crest portions K1t, etc. and the fixed cam tooth valley portions K1b, etc., and a lower-stage upstream bar stock take-out oscillating cam 76aa arranged adjacent to the lower-stage upstream bar stock take-out fixed cam 75aa and having a plurality of oscillating cam tooth crest portions S1t, etc., a plurality of oscillating cam tooth valley portions S1b, etc., and a plurality of inclined portions S1s1, etc. connecting the oscillating cam tooth crest portions S1t, etc. and the oscillating cam tooth valley portions S1b, etc., and the lower-stage upstream bar stock take-out oscillating cam 76aa is rotatable about a lower-stage upstream bar stock take-out oscillating cam center 76a near the other end.

Description

[Technical Field]

[0001] The present invention relates to a bar removal device that removes bars one by one from a bundle of bars. [Background technology]

[0002] BACKGROUND ART Bar material removal devices that remove bars one by one from a bundle of bars have been known.

[0003] For example, Cited Document 1 is recognized to describe a step-by-step feeding device 16 comprising a fixed support 20 having a plurality of first peaks and a plurality of first valleys and forming a sawtooth shape, and movable supports 22M and 22E arranged adjacent to the fixed support 20 and having a plurality of second peaks and a plurality of second valleys and forming a sawtooth shape, in which the second peaks and second valleys of the movable supports 22M and 22E repeatedly protrude upward from between the first peaks and first valleys of the fixed support 20 and retract downward between the first peaks and first valleys of the fixed support 20, thereby separating a plurality of rods 14 placed on one end while placing them on the fixed support 20 and the movable supports 22M and 22E and feeding and removing them one by one to the other end (see Figures 2 and 4, etc.). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-225132 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the stepwise feed device 16 described in cited document 1 has a problem in that, in order to reciprocate the movable support 22M and the movable support 22E in an inclined direction relative to the fixed support 20, the driving force of the motor 24 is transmitted to the movable support 22M and the movable support 22E at an inclination via the transmission rod 26, the lifting plate 46, etc., which increases the projected area of ​​the stepwise feed device 16 and makes the device itself larger.

[0006] Furthermore, the stepping feed device 16 described in the cited document 1 transmits the driving force of the motor 24 to the movable support 22M and the movable support 22 by tilting it via the transmission rod 26, the lifting plate 46, etc., which causes the problem that the structure of the stepping feed device 16 itself is complicated.

[0007] Furthermore, it is desirable to improve the step-feed device (hereinafter referred to as the "bar take-out device") so that it can take out bars one by one from a bundle of bars more stably.

[0008] The present invention has been made in response to the above-mentioned problems of the prior art, and aims to provide a bar material removal device that can make the device for removing bars one by one from a bundle of bars compact and can stably remove bars one by one from the bundle of bars. [Means for solving the problem]

[0009] In order to solve the above-mentioned problems, a bar stock taking device according to a first aspect of the present invention includes a first fixing member having, from one end to the other end in a first direction, a plurality of first peaks, a plurality of first valleys, and a plurality of first inclined portions connecting the first peaks and the first valleys, and a first fixing member disposed adjacent to the first fixing member and having, from the one end to the other end in the first direction, a plurality of second peaks, a plurality of second valleys, and a plurality of second inclined portions connecting the second peaks and the second valleys. and a movable member, wherein the second peak portion and the second valley portion of the first movable member repeatedly protrude above the first inclined portion of the first fixed member and retract below the first inclined portion, thereby separating a plurality of bars placed on the one end side while placing them on the first fixed member and the first movable member and removing them one by one to the other end side, characterized in that the first movable member is rotatable about a first fulcrum near the other end.

[0010] A second aspect of the present invention is characterized in that, in the bar stock removal device of the first aspect, the surface on the one end side of the first inclined portion of the first fixed member or the surface on the one end side of the second inclined portion of the first movable member is formed to have an approximately circular shape with respect to the first fulcrum.

[0011] A third aspect of the present invention is characterized in that, in the bar stock removal device of the first aspect, the surface on the one end side of the first inclined portion of the first fixed member and the surface on the one end side of the second inclined portion of the first movable member are formed to have an approximately circular shape with respect to the first fulcrum.

[0012] In a fourth aspect of the present invention, the bar stock unloading device of the first aspect further comprises a movable member unit including a housing, the first fixed member connected to the housing, a second fixed member connected to the housing in parallel with the first fixed member and having, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions, a cylinder connected to the housing, and the first movable member arranged between the first fixed member and the second fixed member and connected to the cylinder.

[0013] A fifth aspect of the present invention is the bar stock unloading device of the second aspect, characterized in that it further comprises a movable member unit including a housing, the first fixed member connected to the housing, a second fixed member connected to the housing in parallel with the first fixed member and having, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions, a cylinder connected to the housing, and the first movable member arranged between the first fixed member and the second fixed member and connected to the cylinder.

[0014] In a sixth aspect of the present invention, the bar stock unloading device of the third aspect further comprises a movable member unit including a housing, the first fixed member connected to the housing, a second fixed member connected to the housing in parallel with the first fixed member and having, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions, a cylinder connected to the housing, and the first movable member arranged between the first fixed member and the second fixed member and connected to the cylinder.

[0015] A seventh aspect of the present invention is characterized in that, in the bar stock removal device of the fourth aspect, the movable member unit is disposed between the first fixed member and the second fixed member and adjacent to the first movable member, and has, from the one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, and is provided with a second movable member connected to the cylinder.

[0016] An eighth aspect of the present invention is the bar stock removal device of the fifth aspect, characterized in that the movable member unit is disposed adjacent to the first movable member between the first fixed member and the second fixed member, and has, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, and is provided with a second movable member connected to the cylinder.

[0017] A ninth aspect of the present invention is characterized in that, in the bar stock taking-out device of the sixth aspect, the movable member unit is disposed between the first fixed member and the second fixed member and adjacent to the first movable member, and has, from the one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of inclined portions having the same shape as the plurality of second inclined portions, a plurality of the second peaks, a plurality of the second valleys, and a plurality of the second inclined portions connecting the second peaks and the second valleys, and is provided with a second movable member connected to the cylinder.

[0018] A tenth aspect of the present invention is characterized in that, in the bar stock unloading device of the fourth aspect, it comprises a third fixed member arranged in the center in a second direction approximately perpendicular to the first direction, and a plurality of the movable member units arranged on both sides of the third fixed member in the second direction.

[0019] An eleventh aspect of the present invention is characterized in that, in the bar stock unloading device of the fifth aspect, it comprises a third fixed member arranged in the center in a second direction approximately perpendicular to the first direction, and a plurality of the movable member units arranged on both sides of the third fixed member in the second direction.

[0020] A twelfth aspect of the present invention is characterized in that, in the bar stock unloading device of the sixth aspect, it comprises a third fixed member arranged in the center in a second direction approximately perpendicular to the first direction, and a plurality of the movable member units arranged on both sides of the third fixed member in the second direction.

[0021] A thirteenth aspect of the present invention is characterized in that, in the bar stock unloading device of the seventh aspect, it comprises a third fixed member arranged in the center in a second direction approximately perpendicular to the first direction, and a plurality of the movable member units arranged on both sides of the third fixed member in the second direction.

[0022] A fourteenth aspect of the present invention is characterized in that, in the bar stock unloading device of the eighth aspect, it comprises a third fixed member arranged in the center in a second direction approximately perpendicular to the first direction, and a plurality of the movable member units arranged on both sides of the third fixed member in the second direction.

[0023] A 15th aspect of the present invention is characterized in that, in the bar stock unloading device of the 9th aspect, it comprises a third fixed member arranged in the center in a second direction approximately perpendicular to the first direction, and a plurality of the movable member units arranged on both sides of the third fixed member in the second direction.

[0024] A sixteenth aspect of the present invention is characterized in that, in the bar take-out device of the tenth aspect, the third fixed member and the plurality of movable member units are arranged in a plurality in the first direction.

[0025] A seventeenth aspect of the present invention is characterized in that, in the bar stock unloading device of the tenth aspect, a fourth fixing member is arranged adjacent to the third fixing member in the center in the second direction and has a mounting surface that is substantially the same as that of the third fixing member.

[0026] An 18th aspect of the present invention is characterized in that, in the bar stock unloading device of the 11th aspect, a fourth fixing member is arranged adjacent to the third fixing member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixing member.

[0027] A 19th aspect of the present invention is characterized in that, in the bar stock unloading device of the 12th aspect, a fourth fixing member is arranged adjacent to the third fixing member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixing member.

[0028] In addition, a 20th aspect of the present invention is characterized in that, in the bar stock removal device of the 13th aspect, a fourth fixing member is arranged adjacent to the third fixing member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixing member.

[0029] In addition, a 21st aspect of the present invention is characterized in that, in the bar stock unloading device of the 14th aspect, a fourth fixing member is arranged adjacent to the third fixing member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixing member.

[0030] In addition, a 22nd aspect of the present invention is characterized in that, in the bar stock unloading device of the 15th aspect, a fourth fixing member is arranged adjacent to the third fixing member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixing member.

[0031] A 23rd aspect of the present invention is characterized in that, in the bar stock unloading device of the 16th aspect, a fourth fixing member is arranged adjacent to the third fixing member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixing member.

[0032] In addition, a 24th aspect of the present invention is characterized in that, in the bar stock unloading device of the 17th aspect, the third fixed member, the fourth fixed member and the plurality of movable member units are arranged in plurality in the first direction.

[0033] A 25th aspect of the present invention is characterized in that, in the bar stock unloading device of any of the 10th to 16th aspects, the third fixing member has a mounting surface located above the plurality of first valley portions of the first fixing member.

[0034] A 26th aspect of the present invention is characterized in that, in the bar stock unloading device of any of the 10th to 16th aspects, the third fixing member has a mounting surface formed by connecting the multiple first valley portions of the first fixing member.

[0035] A 27th aspect of the present invention is characterized in that, in the bar stock unloading device of any of the 17th to 24th aspects, the third fixing member and the fourth fixing member have mounting surfaces located above the plurality of first valley portions of the first fixing member.

[0036] Furthermore, a 28th aspect of the present invention is characterized in that, in the bar stock unloading device of any of the 17th to 24th aspects, the third fixing member and the fourth fixing member have a mounting surface formed by connecting the multiple first valley portions of the first fixing member. [Effects of the Invention]

[0037] According to a first aspect of the present invention, a bar stock unloading device includes a first fixed member having, from one end to the other end in a first direction, a plurality of first peaks, a plurality of first valleys, and a plurality of first inclined portions connecting the first peaks and the first valleys, and a first movable member disposed adjacent to the first fixed member and having, from one end to the other end in the first direction, a plurality of second peaks, a plurality of second valleys, and a plurality of second inclined portions connecting the second peaks and the second valleys, In a bar stock removal device in which a plurality of bars placed on one end are separated one by one and removed to the other end while being placed on the first fixed member and the first movable member by repeatedly causing the second peak and second valley portions of the member to protrude above the first inclined portion of the first fixed member and retract below the first inclined portion, the first movable member is rotatable about a first fulcrum near the other end, making it possible to make the device for removing bars one by one from a bundle of bars compact.

[0038] Furthermore, according to the second aspect of the present invention, in the bar stock removal device of the first aspect, the surface on one end side of the first inclined portion of the first fixed member or the surface on one end side of the second inclined portion of the first movable member is formed to have an approximately circular shape with respect to the first fulcrum, so that in addition to the effects of the bar stock removal device of the first aspect, it is possible to stably remove bars one by one from a bundle of bars.

[0039] Furthermore, according to the third aspect of the present invention, in the bar stock removal device of the first aspect, the surface on one end side of the first inclined portion of the first fixed member and the surface on one end side of the second inclined portion of the first movable member are formed to have an approximately circular shape with respect to the first fulcrum, so that in addition to the effects of the bar stock removal device of the first aspect, it is possible to stably remove bars one by one from a bundle of bars.

[0040] Furthermore, according to a fourth aspect of the present invention, the bar stock taking-out device of the first aspect is provided with a movable member unit including a housing, a first fixed member connected to the housing, a second fixed member connected to the housing in parallel with the first fixed member and having, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of slopes having the same shape as the plurality of first slopes, a cylinder connected to the housing, and a first movable member disposed between the first fixed member and the second fixed member and connected to the cylinder.Therefore, in addition to the effects of the bar stock taking-out device of the first aspect, it is possible to stably take out bars one by one from a bundle of bars.

[0041] Furthermore, according to a fifth aspect of the present invention, the bar stock taking-out device of the second aspect is provided with a movable member unit including a housing, a first fixed member connected to the housing, a second fixed member connected to the housing in parallel with the first fixed member and having, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of slopes having the same shape as the plurality of first slopes, a cylinder connected to the housing, and a first movable member disposed between the first fixed member and the second fixed member and connected to the cylinder. Thus, in addition to the effects of the bar stock taking-out device of the second aspect, it is possible to more stably take out bars one by one from a bundle of bars.

[0042] Furthermore, according to a sixth aspect of the present invention, the bar stock taking-out device of the third aspect is provided with a movable member unit including a housing, a first fixed member connected to the housing, a second fixed member connected to the housing in parallel with the first fixed member and having, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of slopes having the same shape as the plurality of first slopes, a cylinder connected to the housing, and a first movable member disposed between the first fixed member and the second fixed member and connected to the cylinder. Thus, in addition to the effects of the bar stock taking-out device of the third aspect, it is possible to take out bars one by one from a bundle of bars more stably.

[0043] Furthermore, according to a seventh aspect of the present invention, in the bar stock removal device of the fourth aspect, the movable member unit is arranged between the first fixed member and the second fixed member, adjacent to the first movable member, and has, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of slopes having the same shape as the plurality of second slopes, and is equipped with a second movable member connected to a cylinder.Therefore, in addition to the effects of the bar stock removal device of the fourth aspect, it is possible to more stably remove bars one by one from a bundle of bars.

[0044] Furthermore, according to an eighth aspect of the present invention, in the bar stock removal device of the fifth aspect, the movable member unit is arranged between the first fixed member and the second fixed member, adjacent to the first movable member, and has, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of slopes having the same shape as the plurality of second slopes, and is equipped with a second movable member connected to a cylinder.Therefore, in addition to the effects of the bar stock removal device of the fifth aspect, it is possible to more stably remove bars one by one from a bundle of bars.

[0045] Furthermore, according to a ninth aspect of the present invention, in the bar stock removal device of the sixth aspect, the movable member unit is arranged between the first fixed member and the second fixed member, adjacent to the first movable member, and has, from one end to the other end in the first direction, a plurality of peaks having the same shape as the plurality of second peaks, a plurality of valleys having the same shape as the plurality of second valleys, and a plurality of slopes having the same shape as the plurality of second slopes, and is equipped with a second movable member connected to a cylinder.Therefore, in addition to the effects of the bar stock removal device of the sixth aspect, it is possible to more stably remove bars one by one from a bundle of bars.

[0046] Furthermore, according to a tenth aspect of the present invention, the bar stock removal device of the fourth aspect is provided with a third fixed member arranged in the center in a second direction that is approximately perpendicular to the first direction, and a plurality of movable member units arranged on both sides of the third fixed member in the second direction. Therefore, in addition to the effect of the bar stock removal device of the fourth aspect, even when the bars are long, it is possible to stably remove each bar one by one from a bundle of bars.

[0047] Furthermore, according to an eleventh aspect of the present invention, the bar stock removal device of the fifth aspect is provided with a third fixed member arranged in the center in a second direction that is approximately perpendicular to the first direction, and a plurality of movable member units arranged on both sides of the third fixed member in the second direction. Therefore, in addition to the effect of the bar stock removal device of the fifth aspect, even when the bar stock is long, it is possible to stably remove each bar stock one by one from a bundle of bars.

[0048] Furthermore, according to a twelfth aspect of the present invention, the bar stock removal device of the sixth aspect is provided with a third fixed member arranged in the center in a second direction that is approximately perpendicular to the first direction, and a plurality of movable member units arranged on both sides of the third fixed member in the second direction. Therefore, in addition to the effect of the bar stock removal device of the sixth aspect, even when the bars are long, it is possible to stably remove each bar one by one from a bundle of bars.

[0049] Furthermore, according to a thirteenth aspect of the present invention, the bar stock removal device of the seventh aspect is provided with a third fixed member arranged in the center in a second direction that is approximately perpendicular to the first direction, and a plurality of movable member units arranged on both sides of the third fixed member in the second direction. Therefore, in addition to the effect of the bar stock removal device of the seventh aspect, even when the bar stock is long, it is possible to stably remove each bar stock one by one from a bundle of bars.

[0050] Furthermore, according to a 14th aspect of the present invention, the bar stock removal device of the 8th aspect is provided with a third fixed member arranged in the center in a second direction that is approximately perpendicular to the first direction, and a plurality of movable member units arranged on both sides of the third fixed member in the second direction. Therefore, in addition to the effect of the bar stock removal device of the 8th aspect, even when the bar stock is long, it is possible to stably remove each bar stock one by one from a bundle of bars.

[0051] Furthermore, according to a 15th aspect of the present invention, the bar stock removal device of the 9th aspect is provided with a third fixed member arranged in the center in a second direction that is approximately perpendicular to the first direction, and a plurality of movable member units arranged on both sides of the third fixed member in the second direction. Therefore, in addition to the effect of the bar stock removal device of the 9th aspect, even when the bar stock is long, it is possible to stably remove each bar stock one by one from a bundle of bars.

[0052] Furthermore, according to the 16th aspect of the present invention, in the bar stock removal device of the 10th aspect, the third fixed member and the plurality of movable member units are arranged in a plurality in the first direction, so that in addition to the effect of the bar stock removal device of the 10th aspect, even when the bar stock is long, it is possible to remove the bar stock one by one from the bundle of bar stock more stably.

[0053] Furthermore, according to the 17th aspect of the present invention, the bar stock removal device of the 10th aspect is provided with a fourth fixed member that is arranged adjacent to the third fixed member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixed member.Therefore, in addition to the effects of the bar stock removal device of the 10th aspect, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0054] Furthermore, according to the 18th aspect of the present invention, the bar stock removal device of the 11th aspect is provided with a fourth fixed member that is arranged adjacent to the third fixed member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixed member.Therefore, in addition to the effects of the bar stock removal device of the 11th aspect, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0055] Furthermore, according to a 19th aspect of the present invention, the bar stock removal device of the 12th aspect is provided with a fourth fixed member that is arranged adjacent to the third fixed member in the center in the second direction and has a mounting surface that is approximately the same as that of the third fixed member.Therefore, in addition to the effects of the bar stock removal device of the 12th aspect, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0056] Furthermore, according to the 20th aspect of the present invention, the bar stock removal device of the 13th aspect is provided with a fourth fixed member arranged adjacent to the third fixed member in the center in the second direction and having a mounting surface that is approximately the same as that of the third fixed member.Therefore, in addition to the effects of the bar stock removal device of the 13th aspect, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0057] Furthermore, according to a 21st aspect of the present invention, the bar stock removal device of the 14th aspect is provided with a fourth fixed member arranged adjacent to the third fixed member in the center in the second direction and having a mounting surface that is approximately the same as that of the third fixed member.Therefore, in addition to the effects of the bar stock removal device of the 14th aspect, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0058] Furthermore, according to the 22nd aspect of the present invention, the bar stock removal device of the 15th aspect is provided with a fourth fixed member arranged adjacent to the third fixed member in the center in the second direction and having a mounting surface that is approximately the same as that of the third fixed member. Therefore, in addition to the effects of the bar stock removal device of the 15th aspect, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0059] Furthermore, according to the 23rd aspect of the present invention, the bar stock removal device of the 16th aspect is provided with a fourth fixed member arranged adjacent to the third fixed member in the center in the second direction and having a mounting surface that is approximately the same as that of the third fixed member. Therefore, in addition to the effects of the bar stock removal device of the 16th aspect, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0060] Furthermore, according to the 24th aspect of the present invention, in the bar stock removal device of the 17th aspect, the third fixed member, the fourth fixed member and the plurality of movable member units are arranged in a plurality in the first direction, so that in addition to the effect of the bar stock removal device of the 17th aspect, even when the bar stock is long, it is possible to remove the bar stock one by one from the bundle of bar stock more stably.

[0061] Furthermore, according to the 25th aspect of the present invention, in the bar stock removal device of any of the 10th to 16th aspects, the third fixing member has a mounting surface located above the first valley portion of the first fixing member, so that in addition to the effects of the bar stock removal device of any of the 10th to 16th aspects, even when the bars are long, it is possible to more stably remove the bars one by one from the bundle of bars.

[0062] Furthermore, according to a 26th aspect of the present invention, in the bar stock removal device of any of the 10th to 16th aspects, the third fixing member has a mounting surface formed by connecting the multiple first valley portions of the first fixing member, so that in addition to the effect of any of the 10th to 16th aspects of the bar stock removal device, it is possible to more stably remove the bars one by one from the bundle of bars, even when the bars are long.

[0063] Furthermore, according to the 27th aspect of the present invention, in the bar stock removal device of any of the 17th to 24th aspects, the third fixing member and the fourth fixing member have a mounting surface located above the multiple first valley portions of the first fixing member, so in addition to the effect of the bar stock removal device of any of the 17th to 24th aspects, it is possible to more stably remove bars one by one from a bundle of bars, even when the bars are long.

[0064] Furthermore, according to a 28th aspect of the present invention, in the bar stock removal device of any of the 17th to 24th aspects, the third fixing member has a mounting surface formed by connecting multiple first valley portions of the first fixing member, so that in addition to the effect of any of the 17th to 24th aspects of the bar stock removal device, it is possible to more stably remove bars one by one from a bundle of bars, even when the bars are long. [Brief explanation of the drawings]

[0065] [Figure 1] FIG. 2 is a plan view of a bar unit according to an embodiment of the present invention. [Figure 2] FIG. 2 is a side view AA of FIG. [Figure 3] FIG. 3 is an enlarged view of part D in FIG. 2. [Figure 4] FIG. 4 is an EE plan view of FIG. 3. [Figure 5] FIG. 2 is an overall view of the binding member according to the present embodiment. [Figure 6] 1 is an overall plan view of a bar unit manufacturing apparatus using a bar take-out device according to an embodiment of the present invention; [Figure 7]1 is a right side view of an entire bar unit manufacturing apparatus using a bar take-out device according to the present embodiment. [Figure 8] 1 is a plan view of the entire bar unit manufacturing apparatus using the bar unit taking-out device of this embodiment, excluding the upper bar unit taking-out device. FIG. [Figure 9] 1 is a right side view of the entire bar unit manufacturing apparatus using the bar unit taking-out device of this embodiment, excluding the upper bar unit taking-out device. FIG. [Figure 10] FIG. 2 is an overall view of the placement robot according to the present embodiment. [Figure 11] FIG. 2 is an overall front view of the bar gripping portion of the present embodiment before gripping the bar. [Figure 12] FIG. 2 is an overall front view of the bar gripping portion of the present embodiment after gripping the bar. [Figure 13] 1 is an overall view of a bundling robot according to an embodiment of the present invention. [Figure 14] FIG. 2 is an overall front view of the binding portion of the present embodiment before gripping the binding member. [Figure 15] FIG. 10 is an overall front view of the binding portion of the present embodiment after gripping the binding material. [Figure 16] FIG. 10 is a cross-sectional view illustrating the state when the clamp base plate is fixed in the embodiment. [Figure 17] FIG. 10 is a cross-sectional view illustrating the clamp base plate in the embodiment when floating. [Figure 18] FIG. 2 is an overall front view of the bundling unit in this embodiment before gripping the bundling member container. [Figure 19] 10 is a front view of the entire bundling unit of the present embodiment after gripping the bundling member container. FIG. [Figure 20] 1 is an overall plan view of a bar take-out device according to an embodiment of the present invention; [Figure 21] 3 is a right side view of the entire bar take-out stationary portion of the bar take-out device according to the embodiment; FIG. [Figure 22] 1 is a right side view of the entire bar take-out movable part of the bar take-out device according to the present embodiment, showing that the swing cam is lowered. FIG. [Figure 23] 10 is a right side view of the entire bar take-out movable part of the bar take-out device according to the present embodiment, showing a state in which the swing cam is raised. FIG. [Figure 24] 1 is a block diagram of a bar unit manufacturing device using the bar take-out device of the present embodiment. [Figure 25] 1 is a block diagram of a main controller in a bar unit manufacturing apparatus using the bar take-out device of the present embodiment. FIG. [Figure 26] 4 is a flowchart of a bar take-out control program in the bar take-out device of the present embodiment. [Figure 27] 3 is an explanatory view showing a first stage of bar unloading in the bar unloading device of the present embodiment. FIG. [Figure 28] 10 is an explanatory view showing a second stage of bar unloading in the bar unloading device of the present embodiment. FIG. [Figure 29] 10 is an explanatory view showing a third stage of bar unloading in the bar unloading device of the present embodiment. FIG. [Figure 30] 10 is an explanatory view showing a fourth stage of bar unloading in the bar unloading device of the present embodiment. FIG. [Figure 31] 10 is an explanatory view showing a fifth stage of bar unloading in the bar unloading device of the present embodiment. FIG. [Figure 32] 10 is an explanatory view showing a first stage of bar unloading after one cycle in the bar unloading device of the present embodiment. FIG. [Figure 33] 10 is an explanatory view showing a second stage of bar unloading after one cycle in the bar unloading device of the present embodiment. FIG. [Figure 34] 10 is an explanatory view showing a third stage of bar unloading after one cycle in the bar unloading device of the present embodiment. FIG. [Figure 35] 10 is an explanatory view showing a fourth stage of bar unloading after one cycle in the bar unloading device of the present embodiment. FIG. [Figure 36] 10 is an explanatory view showing a fifth stage of bar unloading after one cycle in the bar unloading device of the present embodiment. FIG. [Figure 37]10 is an explanatory view showing a state in which a bar is taken out after two cycles in the bar take-out device of this embodiment. FIG. [Figure 38] 10 is a flowchart of the first half of a bar unit manufacturing program in a bar unit manufacturing apparatus using the bar take-out device of the present embodiment. [Figure 39] 10 is a flowchart showing the second half of a bar unit manufacturing program in a bar unit manufacturing apparatus using the bar take-out device of the present embodiment. [Figure 40] 10 is a flowchart of a bundling member bundling control program in a bar unit manufacturing apparatus using the bar take-out device of the present embodiment.

[0066] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0067] In addition, in the bar stock unit manufacturing device using the bar stock removal device of the embodiment described below, the description will be given assuming that units made of reinforcing bars are manufactured as an example of bar stock, but the bar stock unit manufacturing device using the bar stock removal device of this embodiment is not limited to reinforcing bars and can manufacture units made of general bar stock with no restrictions on material or length.

[0068] However, the bar unit manufacturing device using the bar removal device of the embodiment described below has the effect described below in particular when manufacturing units made of multiple reinforcing bars, which have a large overall area and are heavy in weight.

[0069] (Embodiment) First, a bar unit manufactured by a bar unit manufacturing apparatus using the bar take-out device of this embodiment will be described. Note that the drawings used in this embodiment are exaggerated for ease of understanding, and the dimensions differ from the actual dimensions.

[0070] FIG. 1 is a plan view of a bar unit in an embodiment of the present invention, FIG. 2 is a side view taken along line AA in FIG. 1, FIG. 3 is an enlarged view of part D in FIG. 2, FIG. 4 is a plan view taken along line EE in FIG. 3, and FIG. 5 is an overall view of a binding member in this embodiment.

[0071] As shown in Figures 1 and 2, the bar unit 100 manufactured by the bar unit manufacturing apparatus 1 using the lower bar removal device 7 of this embodiment, which will be described later, 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, and is manufactured using two types of bar material: a bar material B1 of a predetermined length and a bar material B2 that is shorter than bar material B1 (see Figure 6).

[0072] As shown in FIGS. 1 and 2, the bar unit 100 is formed by alternately arranging upper bar materials Bd1 (hereinafter, the upper bar material Bd1 will be referred to as "vertical bar Bd1") made of bar material B1 and upper bar materials Bd2 (hereinafter, the upper bar material Bd2 will be referred to as "vertical bar Bd2") made of bar material B2 at predetermined intervals in the upper tier, and stacking upper bar materials Bu1 (hereinafter, the upper bar material Bu1 will be referred to as "horizontal bar Bu1") made of bar material B1 and upper bar materials Bu2 (hereinafter, the upper bar material Bu2 will be referred to as "horizontal bar Bu2") made of bar material B2 at predetermined intervals on top of the arranged vertical bars Bd1 and vertical bars Bd2 in a grid-like configuration in two tiers, and binding some of the intersections between the upper tier vertical bars Bd1 and vertical bars Bd2 and the upper tier horizontal bars Bu1 and horizontal bars Bu2 with binding members 66.

[0073] The binding member 66 is made of steel, and as shown in Figures 3 to 5, is composed of a binding member main body 66a and a screw portion 66b that is rotatably arranged on the upper part of the binding member main body 66a, which is a binding member upper part 66a1, and that urges the upper horizontal bar Bu1 or Bu2 downward relative to the binding member main body 66a.

[0074] As shown in Figures 3 to 5, the binding member main body 66a includes an upper binding member portion 66a1 located at the top, and two left binding member portions 66a2a and 66a2b that extend downward from both ends of the upper binding member portion 66a1, sandwiching the upper horizontal bar Bu1 or horizontal bar Bu2 therebetween, and support the upper vertical bar Bd1 or vertical bar Bd2 from below.

[0075] As shown in Figure 4, the upper part 66a1 of the binding member has a roughly parallelogram shape in a plan view, and is provided with a hole that screws into the screw portion 66b, and four upper holes 68a, 68b, 68c, and 68d around the hole for releasing gas that has accumulated in the lower part of the upper part 66a1 of the binding member.

[0076] Furthermore, the left side portion 66a2a of the binding member has a roughly J-shape when viewed from the side (see Figure 3), protrudes beyond the upper portion 66a1 of the binding member when viewed from above (see Figure 4), and is provided with 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 portion of the lower vertical bar Bd1 or vertical bar Bd2, a left tip convex portion 66a5a of the binding member that abuts against the opposite side of the lower vertical bar Bd1 or vertical bar Bd2, and a left side portion hole 67a that is intended to fit into the first binding member grasping protrusion 43ab (see Figures 14, 15, 18 and 19) of the binding robot 3 described later and to release gas that has accumulated at the bottom of the upper portion 66a1 of the binding member.

[0077] Similarly to the left binding member portion 66a2a, the right binding member portion 66a2b has a generally J-shape in side view (see Figure 3), protrudes beyond the binding member upper portion 66a1 in plan view (see Figure 4), and is provided with a binding member right protrusion 66a3b that abuts against the side of the lower vertical bar Bd1 or vertical bar Bd2, a binding member right bottom portion 66a4b that abuts against the lower portion of the lower vertical bar Bd1 or vertical bar Bd2, a binding member right tip convex portion 66a5b that abuts against the lower opposite side surface of the lower vertical bar Bd1 or vertical bar Bd2, and a right side portion hole 67b that is adapted to fit into the first binding member grasping protrusion 43aa (see Figures 14, 15, 18 and 19) of the binding robot 3 described later and that is used to release gas that has accumulated at the bottom of the binding member upper portion 66a1.

[0078] In the bar unit 100 of this embodiment, two types of bar material, bar material B1 of a predetermined length and bar material B2 shorter than bar material B1, are alternately arranged at predetermined intervals and stacked in two tiers in a grid pattern, but the types of bar material used are not limited to two types and may be one or more types.

[0079] Furthermore, if the number of types of bar stock is changed, the number of bar stock removal devices described below may be increased or decreased depending on the type of bar stock, or multiple types of bar stock may be placed on the same bar stock removal device.

[0080] Furthermore, in the bar unit 100 of this embodiment, two types of bar material, bar material B1 of a predetermined length and bar material B2 shorter than bar material B1, are alternately arranged at predetermined intervals and stacked in two tiers in a grid pattern, but it is not necessary to alternately arrange the two types of bar material, and the arrangement of the bar material may be changed as appropriate depending on the specifications of the bar unit 100.

[0081] For example, one bar B2 may be placed next to a plurality of bars B1 placed in succession, or a plurality of bars B2 may be placed in succession next to a single bar B1.

[0082] Furthermore, in the bar unit 100 of this embodiment, the binding members 66 are configured to bind some of the intersections between the lower vertical bars Bd1 and Bd2 and the upper horizontal bars Bu1 and Bu2, but the binding positions and number of the binding members 66 can be changed as appropriate depending on the specifications of the bar unit 100, and it is also possible to bind all of the intersections between the lower vertical bars Bd1 and Bd2 and the upper horizontal bars Bu1 and Bu2.

[0083] Next, a bar unit manufacturing device using the bar take-out device of this embodiment will be described.

[0084] In this embodiment, the direction in which a first base 93 (described later) of the bar unit manufacturing apparatus 1 (described later) moves is defined as the +Y·-Y direction (the longitudinal direction of the bar unit manufacturing apparatus 1 (described later), which corresponds to the "first direction" of the present invention) (see Figures 6 and 7, etc.), the direction approximately perpendicular to the +Y·-Y direction in a plan view is defined as the +X·-X direction (the width direction of the bar unit manufacturing apparatus 1 (described later)) (see Figure 6, etc.), and the direction approximately perpendicular to the +Y·-Y direction in a side view is defined as the +Z·-Z direction (the height direction of the bar unit manufacturing apparatus 1 (described later)) (see Figure 7, etc.).

[0085] In addition, in this embodiment, the direction in which the binding member gripping portions (42aa, 42ab, 42ba, and 42bb) described later open and close when viewed from the front of the binding robot 3 (3a and 3b) described later is defined as the +X1 / -X1 direction (see Figure 13, etc.).

[0086] Furthermore, in this embodiment, the direction in which the bundling member container gripping units (39aa, 39ab, 39ba, and 39bb) described later open and close in a side view of the bundling robot 3 (3a and 3b) described later is the +X2 / -X2 direction (see Figure 18, etc.).

[0087] FIG. 6 is an overall plan view of a bar unit manufacturing apparatus using the bar stock taking-out device of this embodiment, FIG. 7 is an overall right side view of a bar stock unit manufacturing apparatus using the bar stock taking-out device of this embodiment, FIG. 8 is an overall plan view of a bar stock unit manufacturing apparatus using the bar stock taking-out device of this embodiment, excluding the upper bar stock taking-out device, and FIG. 9 is an overall right side view of a bar stock unit manufacturing apparatus using the bar stock taking-out device of this embodiment, excluding the upper bar stock taking-out device.

[0088] As shown in Figures 6 to 9, the bar unit manufacturing apparatus 1 using the bar removal devices 7 and 107 of this embodiment is composed of a base 9, a loading robot 5 arranged on the base 9, a bundling robot 3, a lower bar removal device 7, and an upper bar removal device 107.

[0089] The foundation 9 comprises a foundation main body 90a, four rails (first rail 91a, second rail 91b, third rail 91c and fourth rail 91d) that extend in the +Y and -Y directions from the -X direction end to the +X direction end in order to move a first base 93 (described later) that is disposed on the foundation main body 90a in the +Y and -Y directions, a first foundation 90b that is disposed at the -Y direction end of the bar unit manufacturing apparatus 1 and has a lower bar take-out device 7 that straddles the upper parts (+Z direction) of the four rails 91a to 91d in the +X and -X directions, and a first base 90c that is disposed at the -Y direction end of the bar unit manufacturing apparatus 1 and has a lower bar take-out device 7 that straddles the upper parts (+Z direction) of the four rails 91a to 91d in the +X and -X directions. a second base part 90c on which the first placement robot 5a(5) and the second placement robot 5b(5) are arranged across the +X and -X directions; a third base part 90d arranged adjacent to the second base part 90c in the +Y direction and on which the first bundling robot 3a(3) and the second bundling robot 3b(3) are arranged across the tops (+Z direction) of the four rails 91a to 91d in the +X and -X directions; and a fourth base part 90e located on the +Y direction side of the first base part 90b and on which the upper bar take-out device 107 is arranged across the top (+Z direction) of the lower bar take-out device 7 in the +X and -X directions.

[0090] The base portion 9 also includes a bundling robot rack 97 extending in the +X·−X directions on the top surface of the third base portion 90d so that the first bundling robot 3a and the second bundling robot 3b can each move in the +X·−X directions.

[0091] The base portion 9 also includes a first base 93 that moves in the +Y and -Y directions on four rails 91a to 91d, a plurality of rotary bearings 94 arranged on the upper surface of the first base 93, a second base 95 that is rotatably mounted on the plurality of rotary bearings 94, a plurality of vertical rod grooves 96a formed on the upper surface of the second base 95 for placing vertical rods, and a plurality of horizontal rod grooves 96b formed on the upper surface of the second base 95 approximately perpendicular to the vertical rod grooves 96a for placing horizontal rods.

[0092] In addition, the foundation unit 9 has four rollers, namely, a first roller 92a, a second roller 92b, a third roller 92c, and a fourth roller 92d, arranged in the +Y·-Y direction on each rail, for a total of 16 rollers on the four rails 91a to 91d, on the first base 93, to move the first base 93 in the +Y·-Y direction on the four rails 91a to 91d.

[0093] The base unit 9 also includes, within the first base 93, base running motors 102a and 102b for moving the first base 93 in the +Y and -Y directions, and a base rotation motor 101 for rotating the second base 95 on the rotary bearing 94 relative to the first base 93.

[0094] Furthermore, the base portion 9 has a first binding material container C1, which contains binding materials 66 to be bound by the first binding robot 3a (described later), arranged on the upper surface of the -X direction end of the third base portion 90d, and a second binding material container C2, which contains binding materials 66 to be bound by the second binding robot 3b (described later), arranged on the upper surface of the +X direction end of the third base portion 90d.

[0095] FIG. 10 is an overall view of the loading robot in this embodiment, FIG. 11 is an overall front view of the bar gripping section in this embodiment before gripping the bar, and FIG. 12 is an overall front view of the bar gripping section in this embodiment after gripping the bar.

[0096] As shown in FIGS. 6 to 9, the placement robot 5 of this embodiment is arranged facing the -Y direction on the upper surface of a second base portion 90c, which is arranged across the upper portions of four rails 91a to 91d in the +X and -X directions. Specifically, two placement robots, a first placement robot 5a and a second placement robot 5b, are arranged on the upper surface of the second base portion 90c, spaced apart in the +X and -X directions, each facing the -Y direction.

[0097] In the present embodiment, since the weights of the bars B1 and B2 are heavy, two loading robots 5 are arranged spaced apart in the +X and -X directions on the second base portion 90c to ensure safety. However, if the bars B1 and B2 are light, one robot may suffice, and in some cases, three or more robots may be arranged.

[0098] In addition, since the first placement robot 5a and the second placement robot 5b in this embodiment have the same specifications, for convenience of explanation, the drawings will focus on the first placement robot 5a, and the second placement robot 5b will be shown in parentheses.

[0099] As shown in Figures 10 to 12, the first loading robot 5a comprises a first base 50a arranged on the upper surface of the second foundation 90c, a second base 51a that rotates relative to the first base 50a, a lower arm 52a that rotates back and forth 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 bar gripping unit 13a connected to the tip of the upper arm 55a.

[0100] The first bar gripping portion 13a is connected to the upper arm portion 55a and comprises a first gripping portion base plate 56a, four first gripping pillars 57aa, 57ab, 57ac, and 57ad extending from the first gripping portion base plate 56a toward the tip side (the first gripping pillars 57ac and 57ad are not shown, but are located on the back side of the first gripping pillars 57aa and 57ab as viewed from the page), a first gripping movable portion 58a that is movable in the vertical direction along the four first gripping pillars 57aa, 57ab, 57ac, and 57ad, and a first gripping portion plate 62a connected to the first gripping movable portion 58a below the first gripping movable portion 58a.

[0101] The first bar gripping portion 13a also includes two first bar gripping cylinders 59aa and 59ab arranged on the first gripping movable portion 58a, a first gripping right rod 60aa and a first gripping left rod 60ab provided on each of the two first bar gripping cylinders 59aa and 59ab, a first gripping right portion 63aa connected to the tip of the first gripping right rod 60aa and rotating around the first gripping portion center 61a of the first gripping portion plate 62a, and a first gripping left front portion 63ab1 connected to the tip of the first gripping left rod 60ab and rotating around the first gripping portion center 61a.

[0102] In addition, the first gripping right portion 63aa has a first gripping right portion flat surface 64aa for stably gripping the bar B and a first gripping right claw portion 65aa that wraps around and abuts against the bar B to prevent the bar B from falling, and the first gripping left front portion 63ab1 has a first gripping left front portion flat surface 64ab1 for stably gripping the bar B and a first gripping left front claw portion 65ab1 that wraps around and abuts against the bar B to prevent the bar B from falling.

[0103] The first gripping movable part 58a is normally supported by the four first gripping pillars 57aa, 57ab, 57ac and 57ad and is in a hanging down state, but when any force is applied upward to the first gripping movable part 58a, the first gripping movable part 58a is configured to be able to move upward along the four first gripping pillars 57aa, 57ab, 57ac and 57ad.

[0104] In the first placement robot 5a described above, when the first gripping right rod 60aa and the first gripping left rod 60ab of the first bar material gripping cylinders 59aa and 59ab are sucked upward by the compressor 12 described later, the first gripping right portion 63aa and the first gripping left front portion 63ab1 are in an open state as shown in FIG. 11 , and when the first gripping right rod 60aa and the first gripping left rod 60ab of the first bar material gripping cylinders 59aa and 59ab are sucked downward by the compressor 12 described later, the first gripping right portion 63aa and the first gripping left front portion 63ab1 are in a closed state as shown in FIG. 12 , and the bar material B can be gripped.

[0105] 10 to 12, the second placement robot 5b, which is arranged on the second base 90c in the +X direction relative to the first placement robot 5a, is equipped with a first base 50b arranged on the upper surface of the second base 90c, a second base 51b that rotates relative to the first base 50b, a lower arm 52b that rotates back and forth 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 bar gripper 13b connected to the tip of the upper arm 55b.

[0106] The second bar gripping portion 13b is connected to the upper arm portion 55b and comprises a second gripping portion base plate 56b, four second gripping pillars 57ba, 57bb, 57bc, and 57bd extending from the second gripping portion base plate 56b toward the tip side (the second gripping pillars 57bc and 57bd are not shown, but are located on the back side of the paper of the second gripping pillars 57ba and 57bb), a second gripping movable portion 58b that is movable in the vertical direction along the four first gripping pillars 57ba, 57bb, 57bc, and 57bd, and a second gripping portion plate 62b connected to the second gripping movable portion 58b below the second gripping movable portion 58b.

[0107] The second bar stock gripping portion 13b also includes two second bar stock gripping cylinders 59ba and 59bb arranged in the second gripping movable portion 58b, a second gripping right rod 60ba and a second gripping left rod 60bb provided on each of the two second bar stock gripping cylinders 59ba and 59bb, a second gripping right portion 63ba connected to the tip of the second gripping right rod 60ba and rotating around the second gripping portion center 61b of the second gripping portion plate 62b, and a second gripping left portion 63bb1 connected to the tip of the second gripping left rod 60bb and rotating around the second gripping portion center 61b.

[0108] In addition, the second gripping right portion 63ba has a second gripping right portion flat surface 64ba for stably gripping the bar B and a second gripping right claw portion 65ba that wraps around and abuts against the bar B to prevent the bar B from falling, and the second gripping left front portion 63bb1 has a second gripping left front portion flat surface 64bb1 for stably gripping the bar B and a second gripping left front claw portion 65bb1 that wraps around and abuts against the bar B to prevent the bar B from falling.

[0109] The second gripping movable part 58b is normally supported by the four second gripping pillars 57ba, 57bb, 57bc and 57bd and is in a hanging down state, but when any force is applied upward to the second gripping movable part 58b, the second gripping movable part 58b is configured to be able to move upward along the four first gripping pillars 57ba, 57bb, 57bc and 57bd.

[0110] In the first placement robot 5b described above, when the second gripping right rod 60ba and the second gripping left rod 60bb of the second bar material 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 are in an open state as shown in Figure 11, and when the second gripping right rod 60ba and the second gripping left rod 60bb of the second bar material 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 are in a closed state as shown in Figure 12, and the bar material B can be gripped.

[0111] In this embodiment, the first placement robot 5a and the second placement robot 5b are fixedly arranged on the upper surface of the second base portion 90c at a distance from each other in the +X and -X directions. However, like the bundling robot 3 described later, the first placement robot 5a and the second placement robot 5b may be arranged so as to be movable along placement robot rails (not shown) laid on the upper surface of the second base portion 90c in the +X and -X directions.

[0112] If the first and second placement robots 5a and 5b are each arranged so as to be movable along a placement robot rail (not shown) laid in the +X-X direction on the upper surface of the second base portion 90c, the bar material B can be easily placed and the bar material unit 100 can be manufactured to accommodate bars B of various lengths.

[0113] FIG. 13 is an overall view of the binding robot in this embodiment, FIG. 14 is an overall front view of the binding unit in this embodiment before gripping the binding member, and FIG. 15 is an overall front view of the binding unit in this embodiment after gripping the binding member.

[0114] In addition, Figure 16 is an explanatory cross-sectional view of the clamp base plate when fixed in this embodiment, Figure 17 is an explanatory cross-sectional view of the clamp base plate when floating in this embodiment, Figure 18 is an overall front view of the binding part in this embodiment before gripping the binding member container, and Figure 19 is an overall front view of the binding part in this embodiment after gripping the binding member container.

[0115] As shown in Figures 6 to 9, the bundling robot 3 of this embodiment is arranged on a third base part 90d that is arranged across the top of four rails 91a to 91d in the +X·-X direction, and two bundling robots, a first bundling robot 3a and a second bundling robot 3b, are arranged spaced apart in the +X·-X direction on the top surface of the third base part 90d, facing the +Y direction, and are movable along a bundling robot rack 97 that is laid in the +X·-X direction.

[0116] In the present embodiment, two binding robots 3 are arranged spaced apart in the +X and -X directions on the third base portion 90d 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 members 66; however, if there is no problem in the manufacturing time of the bar unit 100, only one binding robot 3 may be sufficient.

[0117] However, when taking into consideration the bundling efficiency of the bundling members 66 and the replacement of the bundling member containers C1 and C2 containing the bundling members 66, it is better to place two bundling robots 3 on the third base portion 90d.

[0118] In addition, since the first bundling robot 3a and the second bundling robot 3b in this embodiment have the same specifications, for convenience of explanation, the drawings will focus on the first bundling robot 3a, and the second bundling robot 3b will be shown in parentheses.

[0119] As described above, the first bundling robot 3a is disposed so as to be movable along the bundling robot rack 97 laid on the upper surface of the third base portion 90d in the +X and -X directions, and as shown in FIGS. 13 to 19, the first bundling robot 3a is provided with a bundling robot travel motor 98a for moving the first bundling robot 3a along the bundling robot rack 97 in the +X and -X directions, and a bundling robot travel motor 98b for moving the first bundling robot 3a along the bundling robot rack 97 in the +X and -X directions. The robot arm includes a first base 30a, a second base 31a that rotates relative to the first base 30a, a lower arm 32a that rotates back and forth 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 part 11a connected to the tip of the upper arm 35a.

[0120] The first binding portion 11a is connected to the upper arm portion 35a and comprises a first housing 36a, a base plate 15a connected below the first housing 36a, an intermediate slide plate 17a connected below the base plate 15a and slidable in the +X1 / -X1 direction relative to the base plate 15a, a lower slide plate 19a connected below the intermediate slide plate 17a and slidable in a direction approximately perpendicular to the +X1 / -X1 direction relative to the base plate 15a (the front and back direction of the paper), and a clamp base plate 21a connected below the lower slide plate 19a and rotatable on a plane perpendicular to the paper relative to the base plate 15a.

[0121] In addition, the first binding portion 11a is provided with intermediate slide plate carriages 20aa and 20ab (the intermediate slide plate carriage 20ab is not shown, but is located on the back side of the paper of the intermediate slide plate carriage 20aa) on the base plate 15a so that the intermediate slide plate 17a can slide in the +X1 and -X1 directions relative to the base plate 15a, and is provided with intermediate slide plate rails 22aa and 22ab (the intermediate slide plate rail 22ab is not shown, but is located on the back side of the paper of the intermediate slide plate rail 22aa) on the intermediate slide plate 17a.

[0122] In addition, the first binding portion 11a is provided 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, so that the lower slide plate 19a can slide in a direction approximately perpendicular to the +X1 and -X1 directions relative to the base plate 15a (the front and back directions of the paper).

[0123] In addition, the first binding portion 11a is provided with first floating cylinders 45aa and 45ab on the base plate 15a to enable the clamp base plate 21a to rotate on a plane perpendicular to the plane of the paper relative to the base plate 15a, and is provided with positioning bush holes 69aag and 69abg (see Figures 16 and 17) and positioning bushes 69aa and 69ab on the clamp base plate 21a.

[0124] The first floating cylinders 45aa and 45ab are arranged on the base plate 15a in positions symmetrical to the screw tightening motor 26a described below in a plan view, and each of the first floating cylinders 45aa and 45ab has an approximately cylindrical first floating cylinder cavity 44aa and 44ab inside, a first floating cylinder piston 46aa and 46ab that can move within the first floating cylinder cavity 44aa and 44ab, and abutment portions 108aa and 108ab connected to the tips of the first floating cylinder pistons 46aa and 46ab.

[0125] The first binding portion 11a also includes a pair of first binding member gripping cylinders 40aa and 40ab connected to the clamp base plate 21a below the clamp base plate 21a, first binding member gripping cylinder rods 41aa and 41ab provided on the first binding member gripping cylinders 40aa and 40ab, respectively, and capable of protruding from the first binding member gripping cylinders 40aa and 40ab, a pair of first binding member gripping portions 42aa and 42ab connected to the tips of the first binding member gripping cylinder rods 41aa and 41ab, respectively, and first binding member gripping protrusions 43ab and 43aa (see Figures 18 and 19) provided on the first binding member gripping portions 42aa and 42ab, respectively, and capable of fitting into the left and right side holes 67a and 67b of the binding member 66.

[0126] As shown in Figures 18 and 19, the first binding member 11a also includes a pair of first binding member holding portion timing pulleys 47aa and 47ab rotatably mounted below the clamp base plate 21a, a first binding member holding portion timing belt 48a wound around the first binding member holding portion timing pulleys 47aa and 47ab, a first binding member timing belt connection portion 49aa connected to the first binding member holding portion 42aa and one side of the first binding member holding portion timing belt 48a, and a first binding member timing belt connection portion 49ab connected to the first binding member holding portion 42ab and the other side of the first binding member holding portion timing belt 48a.

[0127] In addition, the first binding section 11a is provided with a camera 25a (see Figures 24 and 25) for detecting the binding member 66, and a screw tightening motor 26a for engaging with the screw portion 66b of the binding member 66 and rotating the screw portion 66b, on the base plate 15a, and the screw tightening motor 26a is provided with a screw engaging portion 28a connected to its tip.

[0128] Furthermore, the first binding section 11a is provided, on the +X1 direction surface of the first gripping section housing 36a, with a pair of first binding member container holding cylinders 37aa and 37ab, first binding member container holding cylinder rods 38aa and 38ab provided on each of the first binding member container holding cylinders 37aa and 37ab and capable of protruding from each of the first binding member container holding cylinders 37aa and 37ab, a pair of first binding member container holding sections 39aa and 39ab connected to the tips of each of the first binding member container holding cylinder rods 38aa and 38ab, and first binding member container holding rubber sections 39aa1 and 39ab1 provided on each of the first binding member container holding sections 39aa and 39ab.

[0129] In the first binding member gripping 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 below, the first binding member gripping portions 42aa and 42ab are in an open state, as shown in Figure 14. When the first binding member gripping cylinder rods 41aa and 41ab of the first binding member gripping cylinders 40aa and 40ab are sucked inward by the compressor 12 described below, the first binding member gripping portions 42aa and 42ab are in a closed state, as shown in Figure 15. The first binding member gripping protrusions 43aa and 43ab fit into the right side hole 67b and left side hole 67a of the binding member 66, allowing the binding member 66 to be gripped.

[0130] Furthermore, in the first bundling robot 3a, when the first bundling member container holding cylinder rods 38aa and 38ab of the first bundling member container holding cylinders 37aa and 37ab are sucked outward by the compressor 12 described below, the first bundling member container holding portions 39aa and 39ab are in an open state, as shown in FIG. 18, and when the first bundling member container holding cylinder rods 38aa and 38ab of the first bundling member container holding cylinders 37aa and 37abb are sucked inward by the compressor 12 described below, the first bundling member container holding portions 39aa and 39ab are in a closed state, as shown in FIG. 19, and are able to hold the first bundling member container C1.

[0131] Furthermore, in the first bundling 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 below, as shown in Figure 16, the abutment portions 108aa and 108ab engage with the positioning bushes 69aa and 69ab formed on the clamp base plate 21a, thereby fixing the intermediate slide plate 17a, the lower slide plate 19a and the clamp base plate 21a to the base plate 15a.

[0132] On the other hand, in the first bundling 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 below, as shown in Figure 17, the abutment portions 108aa and 108ab move upward away from the positioning bushes 69aa and 69ab formed on the clamp base plate 21a, and the intermediate slide plate 17a, the lower slide plate 19a and the clamp base plate 21a enter a floating state in which they can move in their respective directions relative to the base plate 15a.

[0133] Furthermore, the second bundling robot 3b, which is disposed on the third base portion 90d in the +X direction relative to the first bundling robot 3a, is also disposed, as described above, facing in the +Y direction on the upper surface of the third base portion 90d and movable along the bundling robot rack 97 laid in the +X and -X directions. As shown in FIGS. 13 to 19, a bundling robot travel motor 98b for moving the second bundling robot 3b in the +X and -X directions along the bundling robot rack 97 and a bundling robot travel motor 98c for moving the second bundling robot 3b in the +X and -X directions along the bundling robot rack 97 are provided. 97, a first base 30b arranged to be movable in the +X and -X directions, a second base 31b that pivots relative to the first base 30b, a lower arm 32b that rotates back and forth relative to the second base 31b, a lower middle arm 33b that rotates up and down relative to the lower arm 32b, an upper middle arm 34b that rotates relative to the lower middle arm 33b, an upper arm 35b that rotates up and down relative to the upper middle arm 34b, and a second binding part 11b connected to the tip of the upper arm 35b.

[0134] The second binding portion 11b is connected to the upper arm portion 35b and comprises a second housing 36b, a base plate 15b connected below the second housing 36b, an intermediate slide plate 17b connected below the base plate 15b and slidable in the +X1 / -X1 direction relative to the base plate 15b, a lower slide plate 19b connected below the intermediate slide plate 17b and slidable in a direction approximately perpendicular to the +X1 / -X1 direction relative to the base plate 15b, and a clamp base plate 21b connected below the lower slide plate 19b and rotatable on a plane perpendicular to the paper surface relative to the base plate 15b.

[0135] In addition, the second binding portion 11b is provided with intermediate slide plate carriages 20ba and 20bb (the intermediate slide plate carriage 20bb is not shown, but is located on the back side of the paper of the intermediate slide plate carriage 20ba) on the base plate 15b so that the intermediate slide plate 17b can slide in the +X1 and -X1 directions relative to the base plate 15b, and is provided with intermediate slide plate rails 22ba and 22bb (the intermediate slide plate rail 22bb is not shown, but is located on the back side of the paper of the intermediate slide plate rail 22ba) on the intermediate slide plate 17b.

[0136] In addition, the second binding portion 11b is provided 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, so that the lower slide plate 19b can slide in a direction approximately perpendicular to the +X1 / -X1 direction relative to the base plate 15b.

[0137] In addition, the second binding portion 11b is provided with second floating cylinders 45ba and 45bb on the base plate 15b so that the clamp base plate 21b can rotate on a plane perpendicular to the plane of the paper relative to the base plate 15b, and is provided with positioning bush holes 69bag and 69bbg (see Figures 16 and 17) and positioning bushes 69ba and 69bb on the clamp base plate 21b.

[0138] The second floating cylinders 45ba and 45bb are arranged on the base plate 15b in positions symmetrical to the screw tightening motor 26b described later, and each of the second floating cylinders 45ba and 45bb has a second floating cylinder cavity 44ba and 44bb that is approximately cylindrical inside, second floating cylinder pistons 46ba and 46bb that are movable within the second floating cylinder cavity 44ba and 44bb, and abutment portions 108ba and 108bb that are connected to the tips of the second floating cylinder pistons 46ba and 46bb.

[0139] The second binding portion 11b also includes a pair of second binding member gripping cylinders 40ba and 40bb connected to the clamp base plate 21b below the clamp base plate 21b, second binding member gripping cylinder rods 41ba and 41bb provided on each of the second binding member gripping cylinders 40ba and 40bb and capable of protruding from each of the second binding member gripping cylinders 40ba and 40bb, a pair of second binding member gripping portions 42ba and 42bb connected to the tips of each of the second binding member gripping cylinder rods 41ba and 41bb, and second binding member gripping protrusions 43bb and 43ba (see Figures 18 and 19) provided on each of the second binding member gripping portions 42ba and 42bb and capable of fitting into the left side hole 67a and right side hole 67b of the binding member 66.

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

[0141] In addition, the first binding section 11b is provided with a camera 25b (see Figures 24 and 25) for detecting the binding member 66, and a screw tightening motor 26b that engages with the screw portion 66b of the binding member 66 and rotates the screw portion 66b, on the base plate 15b, and the screw tightening motor 26b is provided with a screw engaging portion 28b connected to its tip.

[0142] Furthermore, the second binding section 11b is provided, on the +X1 direction surface of the second gripping section housing 36b, with a pair of second binding member container holding cylinders 37ba and 37bb, second binding member container holding cylinder rods 38ba and 38bb provided on each of the second binding member container holding cylinders 37ba and 37bb and capable of protruding from each of the second binding member container holding cylinders 37ba and 37bb, a pair of second binding member container holding sections 39ba and 39bb connected to the tips of each of the second binding member container holding cylinder rods 38ba and 38bb, and second binding member container holding rubber sections 39ba1 and 39bb1 provided on each of the second binding member container holding sections 39ba and 39bb.

[0143] In the second binding robot 3b described above, when the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb are sucked outward by the compressor 12 described below, the second binding member gripping portions 42ba and 42bb are in an open state, as shown in Figure 14. When the second binding member gripping cylinder rods 41ba and 41bb of the second binding member gripping cylinders 40ba and 40bb are sucked inward by the compressor 12 described below, the second binding member gripping portions 42ba and 42bb are in a closed state, as shown in Figure 15. The second binding member gripping protrusions 43ba and 43bb fit into the right side hole 67b and left side hole 67a of the binding member 66, allowing the binding member 66 to be gripped.

[0144] Furthermore, in the second bundling robot 3b, when the second bundling member container holding cylinder rods 38ba and 38bb of the second bundling member container holding cylinders 37ba and 37bb are sucked outward by the compressor 12 described below, the second bundling member container holding portions 39ba and 39bb are in an open state, as shown in FIG. 18, and when the second bundling member container holding cylinder rods 38ba and 38bb of the second bundling member container holding cylinders 37ba and 37bb are sucked inward by the compressor 12 described below, the second bundling member container holding portions 39ba and 39bb are in a closed state, as shown in FIG. 19, and are able to hold the second bundling member container C2.

[0145] Furthermore, in the second binding robot 3b, when the second floating cylinder pistons 46ba and 46bb of the second floating cylinders 45ba and 45bb are sucked downward by the compressor 12 described below, as shown in Figure 16, the abutment portions 108ba and 108bb engage with the positioning bushes 69ba and 69bb formed on the clamp base plate 21b, thereby fixing the intermediate slide plate 17b, the lower slide plate 19b and the clamp base plate 21b to the base plate 15b.

[0146] On the other hand, in the second binding robot 3b, when the second floating cylinder pistons 46ba and 46bb of the second floating cylinders 45ba and 45bb are sucked upward by the compressor 12 described later, as shown in Figure 17, the abutment portions 108ba and 108bb move upward away from the positioning bushes 69ba and 69bb formed on the clamp base plate 21b, and the intermediate slide plate 17b, the lower slide plate 19b and the clamp base plate 21b enter a floating state in which they can move in their respective directions relative to the base plate 15b.

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

[0148] In addition, since the lower upstream bar material removal and fixing portion 71a of this embodiment, the lower downstream bar material removal and fixing portion 71b described later, the upper upstream bar material removal and fixing portion 171a described later, and the upper downstream bar material removal and fixing portion 171b described later are of the same specifications, for convenience of explanation, the drawings will focus on the lower upstream bar material removal and fixing portion 71a, and other elements will be shown in parentheses.

[0149] Furthermore, since the lower upstream bar material removal movable parts 70a and 70b of this embodiment, the lower downstream bar material removal movable parts 70c and 70d described later, the upper upstream bar material removal movable parts 170a and 170b described later, and the upper downstream bar material removal movable parts 170c and 170d described later also have the same specifications, for ease of explanation, the drawings will focus on the lower upstream bar material removal movable part 70a, and the other elements will be shown in parentheses.

[0150] The lower bar material removal device 7 of this embodiment (corresponding to the "bar material removal device" of the present invention) is responsible for removing one bar material B2 at a time from a bundle of shorter bars B2, transporting each removed bar material B2 in the +Y direction, and transporting it to a position where it can be grasped by the first placement robot 5a and the second placement robot 5b, as shown in Figures 6 and 8.

[0151] As shown in FIGS. 8 and 9, the lower bar take-out device 7 of this embodiment includes four lower first bar transfer conveyors 80a, 80b, 80c, and 80d (hereinafter referred to as "80a to 80d") that are arranged from the -X direction end to the +X direction end at the -Y direction end in order to transfer the bundle of bars B2 in the +Y direction before removal, four lower first bar transfer motors 81a, 81b, 81c, and 81d (hereinafter referred to as "81a to 81d") that drive the lower first bar transfer conveyors 80a to 80d, and motors 81a, 81b, 81c, and 81d (hereinafter referred to as "81a to 81d") that drive the lower first bar transfer conveyors 80a to 80d. Four lower-stage second bar material transport conveyors 82a, 82b, 82c, and 82d (hereinafter referred to as "82a-82d") are provided adjacent to the lower-stage first bar material transport conveyors 80a-80d in the +Y direction, from the -X direction end to the +X direction end, so that the bar material is transported continuously from the lower-stage first bar material transport conveyors 80a-80d, and four lower-stage second bar material transport motors 83a, 83b, 83c, and 83d (hereinafter referred to as "83a-83d") for driving these lower-stage second bar material transport conveyors 82a-82d.

[0152] Furthermore, the lower-stage bar take-out device 7 is provided with a lower-stage upstream bar take-out fixed part 71a (fixed member unit) adjacent in the +Y direction to the lower-stage second bar take-out conveyors 82a-82d and in the center in the -X / +X directions so that the bundle of bars B2 can be continuously transported from the lower-stage second bar take-out conveyors 82a-82d, in order to take out the bars B2 one by one from the bundle of bars B2. The lower-stage bar take-out device 7 also includes a lower-stage upstream bar take-out fixed part 71a (fixed member unit) located in the -X direction from the lower-stage upstream bar take-out fixed part 71a, and a lower-stage upstream bar take-out movable part 70a (corresponding to the "movable member unit" of the present invention) located in the +X direction from the lower-stage upstream bar take-out fixed part 71a, and a lower-stage upstream bar take-out movable part 70b (corresponding to the "movable member unit" of the present invention) located in the +X direction from the lower-stage upstream bar take-out fixed part 71a.

[0153] The lower-stage bar stock take-out device 7 also includes four lower-stage third bar stock transport conveyors 84a, 84b, 84c, and 84d (hereinafter referred to as "84a to 84d") located adjacent in the +Y direction from the -X direction end to the +X direction end at positions adjacent to the lower-stage upstream bar stock take-out fixed section 71a and the lower-stage upstream bar stock take-out movable sections 70a and 70b so that the bar stock B2 is continuously transported from the lower-stage upstream bar stock take-out fixed section 71a and the lower-stage upstream bar stock take-out movable sections 70a and 70b, and four lower-stage third bar stock transport motors 85a, 85b, 85c, and 85d (hereinafter referred to as "85a to 85d") for driving the lower-stage third bar stock transport conveyors 84a to 84d.

[0154] In order to more reliably remove the bars B2 one by one, the lower-stage bar removal device 7 is provided with a lower-stage downstream bar removal fixed section 71b (fixed member unit) located adjacent to the lower-stage third bar transport conveyors 84a to 84d in the +Y direction and in the center in the -X to +X directions, a lower-stage downstream bar removal movable section 70c (corresponding to the "movable member unit" of the present invention) located in the -X direction from the lower-stage downstream bar removal fixed section 71b, and a lower-stage downstream bar removal movable section 70d (corresponding to the "movable member unit" of the present invention) located in the +X direction from the lower-stage downstream bar removal fixed section 71b.

[0155] The lower-stage bar stock take-out device 7 also includes four lower-stage fourth bar stock transport conveyors 86a, 86b, 86c, and 86d (hereinafter referred to as "86a to 86d") located adjacent in the +Y direction from the -X direction end to the +X direction end at positions adjacent to the lower-stage downstream bar stock take-out fixed section 71b and the lower-stage downstream bar stock take-out movable sections 70c and 70d so that the bar stock B2 is continuously transported from the lower-stage downstream bar stock take-out fixed section 71b and the lower-stage downstream bar stock take-out movable sections 70c and 70d, and four lower-stage fourth bar stock transport motors 87a, 87b, 87c, and 87d (hereinafter referred to as "87a to 87d") for driving the lower-stage fourth bar stock transport conveyors 86a to 86d.

[0156] The lower-stage bar take-out device 7 also includes four lower-stage fifth bar material transport conveyors 88a, 88b, 88c, and 88d (hereinafter referred to as "88a-88d") located adjacent to the lower-stage fourth bar material transport conveyors 86a-86d in the +Y direction from the -X direction end to the +X direction end, so that the bars B2 are continuously transported from the lower-stage fourth bar material transport conveyors 86a-86d, and four lower-stage fifth bar material transport motors 89a, 89b, 89c, and 89d (hereinafter referred to as "89a-89d") for driving the lower-stage fourth bar material transport conveyors 88a-88d.

[0157] The lower bar take-out device 7 also includes two bar sensors 99a and 99b spaced apart in the -X and +X directions to detect when the bar B2 has been transported to a position where it can be grasped by the first placement robot 5a and the second placement robot 5b; four bar slide pulleys 105a, 105b, 105c, and 105d (hereinafter referred to as "105a to 105d") arranged from the -X end toward the +X end to slidably support the bar B2 from below when the bar B2 has been transported to a position where it can be grasped by the first placement robot 5a and the second placement robot 5b; a pusher unit 104 for pushing the bar B2 supported by the bar slide pulleys 105a to 105d in the +X direction toward a bar reference plate 106 located at the +X end; and a bar slide motor 103 for driving the pusher unit 104 in the +X direction.

[0158] As shown in Figures 8, 9, 20 and 21, the lower upstream bar stock removal fixation section 71a comprises two lower upstream bar stock removal fixation section plates 78aa (corresponding to the "third fixation member" of the present invention) and 78ab (corresponding to the "fourth fixation member" of the present invention) arranged parallel to each other in the +X and -X directions; a lower upstream bar stock removal fixation section casing 77aa provided on the upper surface of the first base section 90b, arranged adjacent to the lower upstream bar stock removal fixation section plate 78aa in the -X direction, and fixing the lower upstream bar stock removal fixation section plate 78aa at two points spaced apart in the +Y and -Y directions; and a lower upstream bar stock removal fixation section casing 77ab provided on the upper surface of the first base section 90b, arranged adjacent to the lower upstream bar stock removal fixation section plate 78ab in the +X direction, and fixing the lower upstream bar stock removal fixation section plate 78ab at two points spaced apart in the +Y and -Y directions.

[0159] The lower upstream bar stock removal fixing portion plate 78aa has a lower upstream bar stock removal fixing portion upper surface 79aa (corresponding to the "mounting surface" of the present invention) with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portion" of the present invention) described below, and the lower upstream bar stock removal fixing portion plate 78ab also has a lower upstream bar stock removal fixing portion upper surface 79ab (corresponding to the "mounting surface" of the present invention) with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b described below.

[0160] Furthermore, the lower upstream bar stock removal fixed portion plate 78aa has a lower upstream bar stock removal fixed portion upper surface 79aa with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b described below, and the lower upstream bar stock removal fixed portion plate 78ab also has a lower upstream bar stock removal fixed portion upper surface 79ab with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b described below.As a result, rotation of the bar stock B2 removed by the lower upstream removal movable portions 70a and 70b is suppressed, and the bar stock B2 can be removed stably.

[0161] Furthermore, in this embodiment, the lower upstream bar stock removal fixed portion plate 78aa is described as having a lower upstream bar stock removal fixed portion upper surface 79aa with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b, and K4b described below, but this is not limited to this form, and if the lower upstream bar stock removal fixed portion upper surface 79aa is positioned above the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b, and K4b described below, rotation of the bar stock B2 removed by the lower upstream removal movable portions 70a and 70b can be suppressed, and the bar stock B2 can be removed stably.

[0162] However, if the lower upstream bar material removal fixed portion plate 78aa has a lower upstream bar material removal fixed portion upper surface 79aa with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b described below, the rotation of the bar material B2 removed by the lower upstream bar material removal movable portions 70a and 70b can be further suppressed, and the bar material B2 can be removed more stably.

[0163] These effects are similar to those of the lower downstream bar removal fixture plates 78ba and 78bb, the upper upstream bar removal fixture plates 178aa and 178ab, and the upper downstream bar removal fixture plates 178ba and 178bb, which will be described later.

[0164] As shown in Figures 8, 9, 20, 22 and 23, the lower upstream bar stock removal movable section 70a comprises two lower upstream bar stock removal swing cams 76aa (corresponding to the "first movable member" of the present invention) and 76ab (corresponding to the "second movable member" of the present invention) arranged parallel to one another in the center in the +X and -X directions, a lower upstream bar stock removal casing 72aa (corresponding to the "casing" of the present invention) arranged on the -X side of the lower upstream bar stock removal swing cam 76aa and connected to a first base section 90b (corresponding to the "casing" of the present invention), and a lower upstream bar stock removal casing 72ab (corresponding to the "casing" of the present invention) arranged on the +X side of the lower upstream bar stock removal swing cam 76ab and connected to the first base section 90b.

[0165] As shown in Figures 8, 9, 20, 22 and 23, the lower upstream bar stock removal movable section 70a is connected to the lower upstream bar stock removal casing 72aa and comprises a lower upstream bar stock removal fixed cam 75aa (corresponding to the "first fixed member" of the present invention) which is connected to the lower upstream bar stock removal casing 72aa and stands between the lower upstream bar stock removal swing cam 76aa and the lower upstream bar stock removal casing 72aa, and a lower upstream bar stock removal fixed section cam 75ab (corresponding to the "second fixed member" of the present invention) which is connected to the lower upstream bar stock removal casing 72ab and stands between the lower upstream bar stock removal swing cam 76ab and the lower upstream bar stock removal casing 72ab.

[0166] The lower-stage upstream bar stock removal swing cam 76aa is rotatably connected to the +Z direction end of the lower-stage upstream bar stock removal cylinder rod 74a at the lower-stage upstream bar stock removal swing cam action point 76ad, and is rotatable about the lower-stage upstream bar stock removal swing cam center 76ac (corresponding to the "first fulcrum" of the present invention) formed in the lower-stage upstream bar stock removal casing 72aa as a center of rotation. The lower-stage upstream bar stock removal cylinder 73a (corresponding to the "cylinder" of the present invention) connected to the first base portion 90b moves the lower-stage upstream bar stock removal cylinder rod 74a of the lower-stage upstream bar stock removal cylinder 73a in the +Z and -Z directions.

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

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

[0169] In the lower-stage upstream bar material removal swing cam 76aa, the inclined portions S1s1, S2s1, S3s1, and S4s1 each have an approximately circular shape relative to the lower-stage upstream bar material removal swing cam center 76ac. As a result, when the lower-stage upstream bar material removal swing cam 76aa rotates around the lower-stage upstream bar material removal swing cam center 76ac, the movement of the bars B2 placed on the lower-stage upstream bar material removal fixed cams 75aa and 75ab is minimized, and the bars B2 can be stably fed out one by one.

[0170] This effect is similarly achieved in the lower upstream bar stock removal swing cams 76ab, 76ba and 76bb, the lower downstream bar stock removal swing cams 76ca, 76cb, 76da and 76db, the upper upstream bar stock removal swing cams 176aa, 176ab, 176ba and 176bb, and the upper downstream bar stock removal swing cams 176ca, 176cb, 176da and 176db, which will be described later.

[0171] The lower-stage upstream bar stock removal swing cam 76ab has substantially the same shape as the lower-stage upstream bar stock removal swing cam 76aa, and like the lower-stage upstream bar stock removal swing cam 76aa, it is rotatably connected to the +Z direction end of the lower-stage upstream bar stock removal cylinder rod 74a at the lower-stage upstream bar stock removal swing cam action point 76ad.The lower-stage upstream bar stock removal cylinder 73a, which is connected to the first base portion 90b, moves the lower-stage upstream bar stock removal cylinder rod 74a of the lower-stage upstream bar stock removal cylinder 73a in the +Z and -Z directions, thereby allowing it to rotate around the lower-stage upstream bar stock removal swing cam center 76ac formed in the upstream bar stock removal casing 72aa.

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

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

[0174] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape relative to the lower upstream bar removal swing cam center 76ac.

[0175] In the lower upstream bar material removal fixed cam 75aa, the inclined portions K1s1, K2s1, K3s1, K4s1 and S5s1 each have an approximately circular shape relative to the lower upstream bar material removal oscillating cam center 76ac, thereby minimizing the movement of the bar material B2 placed on the lower upstream bar material removal oscillating cams 76aa and 76ab, and enabling the bar material B2 to be stably delivered one by one.

[0176] This effect is similar to that of the lower upstream bar stock removal fixed cams 75ab, 75ba and 75bb, which will be described later, the lower downstream bar stock removal fixed cams 75ca, 75cb, 75da and 75db, which will be described later, the upper upstream bar stock removal fixed cams 175aa, 175ab, 175ba and 175bb, which will be described later, and the upper downstream bar stock removal fixed cams 175ca, 175cb, 175da and 175db, which will be described later.

[0177] The lower upstream bar workpiece take-out fixed cam 75ab (corresponding to the "second fixed member" of the present invention) has substantially the same form as the lower upstream bar workpiece take-out fixed cam 75aa, and like the lower upstream bar workpiece take-out fixed cam 75aa, it is fixed to the lower upstream bar workpiece take-out housing 72aa, and on its upper surface in the +Z direction, from the -Y direction to the +Y direction, there are five fixed cam crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention), and between the fixed cam crest portions K1t and K2t, between the fixed cam crest portions K2t and K3t, and between the fixed cam crest portions K5t and K6t. Between K3t and K4t, and between fixed cam tooth crest portions K4t and K5t, there are provided four fixed cam tooth valley portions K1b, K2b, K3b, and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined portions" of the present invention) extending from the -Y direction to the +Y direction, connecting the five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b, and K4b.

[0178] As shown in Figures 8, 9, 20, 22 and 23, the lower upstream bar stock removal movable section 70b comprises two lower upstream bar stock removal swing cams 76ba (corresponding to the "first movable members" of this invention) and 76bb which are erected in parallel in the center in the +X and -X directions, a lower upstream bar stock removal housing 72ba (corresponding to the "housing" of this invention) which is erected on the -X side of the lower upstream bar stock removal swing cam 76ba and connected to the first base section 90b, and a lower upstream bar stock removal housing 72bb which is erected on the +X side of the lower upstream bar stock removal swing cam 76bb and connected to the first base section 90b.

[0179] As shown in Figures 8, 9, 20, 22 and 23, the lower upstream bar stock removal movable section 70b is connected to the lower upstream bar stock removal casing 72ba and comprises a lower upstream bar stock removal fixed cam 75ba (corresponding to the "first fixed member" of the present invention) which is connected to the lower upstream bar stock removal casing 72bb and stands between the lower upstream bar stock removal oscillating cam 76ba and the lower upstream bar stock removal casing 72bb (corresponding to the "second fixed member" of the present invention).

[0180] The lower upstream bar stock removal swing cam 76ba is rotatably connected to the +Z direction end of the lower upstream bar stock removal cylinder rod 74b at the lower upstream bar stock removal swing cam action point 76bd, and is rotatable around the lower upstream bar stock removal swing cam center 76bc (corresponding to the "first fulcrum" of the present invention) formed in the upstream bar stock removal housing 72ba as the lower upstream bar stock removal cylinder 73b (corresponding to the "cylinder" of the present invention) connected to the first base portion 90b moves the lower upstream bar stock removal cylinder rod 74b of the lower upstream bar stock removal cylinder 73b in the +Z-Z direction.

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

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

[0183] The lower upstream bar stock take-out fixed cam 75ba is fixed to the upstream bar stock take-out housing 72ba, and has, on its upper surface in the +Z direction, five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention) from the -Y direction to the +Y direction, and four fixed cam tooth crest portions between the fixed cam tooth crest portions K1t and K2t, between the fixed cam tooth crest portions K2t and K3t, between the fixed cam tooth crest portions K3t and K4t, and between the fixed cam tooth crest portions K4t and K5t. It is provided with cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portion" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portion" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0184] The lower-stage upstream bar stock removal swing cam 76bb has substantially the same shape as the lower-stage upstream bar stock removal swing cam 76ba, and like the lower-stage upstream bar stock removal swing cam 76ba, it is rotatably connected to the +Z direction end of the lower-stage upstream bar stock removal cylinder rod 74b at the lower-stage upstream bar stock removal swing cam action point 76bd.The lower-stage upstream bar stock removal cylinder 73b, which is connected to the first base portion 90b, moves the lower-stage upstream bar stock removal cylinder rod 74b of the lower-stage upstream bar stock removal cylinder 73b in the +Z and -Z directions, thereby allowing it to rotate about the lower-stage upstream bar stock removal swing cam center 76bc formed in the upstream bar stock removal housing 72ba.

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

[0186] The lower upstream bar stock take-out fixed cam 75bb has substantially the same form as the lower upstream bar stock take-out fixed cam 75ba, and like the lower upstream bar stock take-out fixed cam 75ba, it is fixed to the upstream bar stock take-out housing 72bb, and on its upper surface in the +Z direction, from the -Y direction to the +Y direction, there are five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention), and a gap between the fixed cam tooth crest portions K1t and K2t, a gap between the fixed cam tooth crest portions K2t and K3t, and a gap between the fixed cam tooth crest portions K3t and K4t. and between the fixed cam tooth crest portions K4t and K5t, there are four fixed cam tooth valley portions K1b, K2b, K3b, and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined portions" of the present invention) extending from the -Y direction to the +Y direction and connecting the five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b, and K4b.

[0187] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape relative to the lower upstream bar removal swing cam center 76bc.

[0188] As shown in Figures 8, 9, 20 and 21, the lower downstream bar stock removal fixation section 71b comprises two lower downstream bar stock removal fixation section plates 78ba (corresponding to the "third fixation member" of the present invention) and 78bb (corresponding to the "fourth fixation member" of the present invention) arranged parallel to each other in the +X and -X directions; a lower downstream bar stock removal fixation section casing 77ba provided on the upper surface of the first base section 90b, arranged adjacent to the lower downstream bar stock removal fixation section plate 78ba in the -X direction, and fixing the lower downstream bar stock removal fixation section plate 78ba at two points spaced apart in the +Y and -Y directions; and a lower downstream bar stock removal fixation section casing 77bb provided on the upper surface of the first base section 90b, arranged adjacent to the lower downstream bar stock removal fixation section plate 78bb in the +X direction, and fixing the lower downstream bar stock removal fixation section plate 78bb at two points spaced apart in the +Y and -Y directions.

[0189] In addition, the lower downstream bar stock removal fixing portion plate 78ba has a lower downstream bar stock removal fixing portion upper surface 79ba with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b, and the lower downstream bar stock removal fixing portion plate 78bb also has a lower downstream bar stock removal fixing portion upper surface 79bb with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b.

[0190] As shown in Figures 8, 9, 20, 22 and 23, the lower downstream bar stock removal movable section 70c comprises two lower downstream bar stock removal swing cams 76ca (corresponding to the "first movable member" of the present invention) and 76cb which are arranged parallel to one another in the center in the +X and -X directions, a lower downstream bar stock removal housing 72ca (corresponding to the "housing" of the present invention) which is arranged on the -X side of the lower downstream bar stock removal swing cam 76ca and connected to the first base section 90b, and a lower downstream bar stock removal housing 72cb which is arranged on the +X side of the lower downstream bar stock removal swing cam 76cb and connected to the first base section 90b.

[0191] As shown in Figures 8, 9, 20, 22 and 23, the lower downstream bar stock removal movable section 70c is connected to the lower downstream bar stock removal casing 72ca and comprises a lower downstream bar stock removal fixed cam 75ca (corresponding to the "first fixed member" of the present invention) which is connected to the lower downstream bar stock removal casing 72ca and stands between the lower downstream bar stock removal swing cam 76ca and the lower downstream bar stock removal casing 72ca, and a lower downstream bar stock removal fixed section cam 75cb (corresponding to the "second fixed member" of the present invention) which is connected to the lower downstream bar stock removal casing 72cb and stands between the lower downstream bar stock removal swing cam 76cb and the lower downstream bar stock removal casing 72cb.

[0192] The lower-stage downstream bar stock removal swing cam 76ca is rotatably connected to the +Z direction end of the lower-stage downstream bar stock removal cylinder rod 74c at the lower-stage downstream bar stock removal swing cam action point 76cd, and is rotatable about the lower-stage downstream bar stock removal swing cam center 76cc (corresponding to the "first fulcrum" of the present invention) formed in the lower-stage downstream bar stock removal casing 72ca as the lower-stage downstream bar stock removal cylinder 73c (corresponding to the "cylinder" of the present invention) connected to the first base portion 90b moves the lower-stage downstream bar stock removal cylinder rod 74c of the lower-stage downstream bar stock removal cylinder 73c in the +Z and -Z directions.

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

[0194] Of the inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2, the inclined portions S1s1, S2s1, S3s1 and S4s1 on the -Y direction side each have a substantially circular shape with respect to the center 76cc of the lower upstream bar removal swing cam.

[0195] The lower-stage downstream bar stock removal swing cam 76cb has substantially the same shape as the lower-stage downstream bar stock removal swing cam 76ca, and like the lower-stage downstream bar stock removal swing cam 76ca, it is rotatably connected to the +Z direction end of the lower-stage downstream bar stock removal cylinder rod 74c at the lower-stage downstream bar stock removal swing cam action point 76cd.The lower-stage downstream bar stock removal cylinder 73c, which is connected to the first base portion 90b, moves the lower-stage downstream bar stock removal cylinder rod 74c of the lower-stage downstream bar stock removal cylinder 73c in the +Z and -Z directions, thereby allowing it to rotate about the lower-stage downstream bar stock removal swing cam center 76cc formed in the lower-stage downstream bar stock removal casing 72ca.

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

[0197] The lower downstream bar stock take-out fixed cam 75ca is fixed to the lower downstream bar stock take-out housing 72ca, and has, on its upper surface in the +Z direction, five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention) arranged from the -Y direction to the +Y direction, and four fixed cam tooth crest portions between the fixed cam tooth crest portions K1t and K2t, between the fixed cam tooth crest portions K2t and K3t, between the fixed cam tooth crest portions K3t and K4t, and between the fixed cam tooth crest portions K4t and K5t. It is provided with fixed cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0198] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape relative to the center 76 cc of the lower upstream bar removal swing cam.

[0199] The lower downstream bar stock take-out fixed cam 75cb has substantially the same form as the lower downstream bar stock take-out fixed cam 75ca, and like the lower downstream bar stock take-out fixed cam 75ca, it is fixed to the lower downstream bar stock take-out casing 72cb, and on its upper surface in the +Z direction, from the -Y direction to the +Y direction, there are five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t (corresponding to the "first crest portion" of the present invention), and a gap between the fixed cam tooth crest portions K1t and K2t, between the fixed cam tooth crest portions K2t and K3t, and between the fixed cam tooth crest portions K3t and K4t. Between the fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t, and between the fixed cam tooth crest portions K4t and K5t, there are four fixed cam tooth valley portions K1b, K2b, K3b, and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined portions" of the present invention) extending from the -Y direction to the +Y direction, connecting the five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b, and K4b.

[0200] As shown in Figures 8, 9, 20, 22 and 23, the lower downstream bar stock removal movable section 70d comprises two lower downstream bar stock removal swing cams 76da (corresponding to the "first movable member" of this invention) and 76db which are arranged parallel to one another in the center in the +X and -X directions, a lower downstream bar stock removal housing 72da (corresponding to the "housing" of this invention) which is arranged on the -X side of the lower downstream bar stock removal swing cam 76da and connected to the first base section 90b, and a lower downstream bar stock removal housing 72db which is arranged on the +X side of the lower downstream bar stock removal swing cam 76db and connected to the first base section 90b.

[0201] As shown in Figures 8, 9, 20, 22 and 23, the lower downstream bar stock removal movable section 70d is connected to the lower downstream bar stock removal casing 72da and comprises a lower downstream bar stock removal fixed cam 75da (corresponding to the "first fixed member" of the present invention) which is connected to the lower downstream bar stock removal casing 72da and stands between the lower downstream bar stock removal swing cam 76da and the lower downstream bar stock removal casing 72da, and a lower downstream bar stock removal fixed section cam 75db (corresponding to the "second fixed member" of the present invention) which is connected to the lower downstream bar stock removal casing 72db and stands between the lower downstream bar stock removal swing cam 76db and the lower downstream bar stock removal casing 72db.

[0202] The lower-stage downstream bar stock removal swing cam 76da is rotatably connected to the +Z direction end of the lower-stage downstream bar stock removal cylinder rod 74d at the lower-stage downstream bar stock removal swing cam action point 76dd, and is rotatable about the lower-stage downstream bar stock removal swing cam center 76dc (corresponding to the "first fulcrum" of the present invention) formed in the lower-stage downstream bar stock removal casing 72da as the lower-stage downstream bar stock removal cylinder 73d (corresponding to the "cylinder" of the present invention) connected to the first base portion 90b moves the lower-stage downstream bar stock removal cylinder rod 74d of the lower-stage downstream bar stock removal cylinder 73d in the +Z and -Z directions.

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

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

[0205] The lower downstream bar stock take-out fixed cam 75da is fixed to the lower downstream bar stock take-out housing 72da, and has, on its upper surface in the +Z direction, five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention) arranged from the -Y direction to the +Y direction, and four fixed cam crest portions between the fixed cam tooth crest portions K1t and K2t, between the fixed cam tooth crest portions K2t and K3t, between the fixed cam tooth crest portions K3t and K4t, and between the fixed cam tooth crest portions K4t and K5t. It is provided with fixed cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0206] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape relative to the lower upstream bar removal swing cam center 76dc.

[0207] The lower-stage downstream bar stock removal swing cam 76db has substantially the same shape as the lower-stage downstream bar stock removal swing cam 76da, and like the lower-stage downstream bar stock removal swing cam 76da, it is rotatably connected to the +Z direction end of the lower-stage downstream bar stock removal cylinder rod 74d at the lower-stage downstream bar stock removal swing cam action point 76dd, and is rotatable about the lower-stage downstream bar stock removal swing cam center 76dc formed in the lower-stage downstream bar stock removal casing 72da by the lower-stage downstream bar stock removal cylinder 73d connected to the first base portion 90b, which moves the lower-stage downstream bar stock removal cylinder rod 74d of the lower-stage downstream bar stock removal cylinder 73d in the +Z and -Z directions.

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

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

[0210] In the lower bar stock take-out device 7 of this embodiment described above, the lower upstream bar stock take-out fixed part 71a is located in the center in the -X and +X directions, and the lower upstream bar stock take-out movable part 70a and the lower upstream bar stock take-out movable part 70b are located in the +X and -X directions of the lower upstream bar stock take-out fixed part 71a.The lower upstream bar stock take-out cylinder rod 74a of the lower upstream bar stock take-out cylinder 73a and the lower upstream bar stock take-out cylinder rod 74b of the lower upstream bar stock take-out cylinder 73b are repeatedly moved back and forth in the +Z and -Z directions, whereby bar stock B2 can be taken out one by one from the bundle of bar stock B2.

[0211] Furthermore, in the lower-stage bar stock take-out device 7, the lower-stage downstream bar stock take-out fixed part 71b is arranged in the center in the -X and +X directions downstream in the +Y direction of the lower-stage upstream bar stock take-out fixed part 71a, the lower-stage upstream bar stock take-out movable part 70a and the lower-stage upstream bar stock take-out movable part 70b, and the lower-stage downstream bar stock take-out movable part 70c and the lower-stage downstream bar stock take-out movable part 70d are arranged in the +X and -X directions of the lower-stage downstream bar stock take-out fixed part 71b, and the lower-stage downstream bar stock take-out cylinder rod 74c of the lower-stage downstream bar stock take-out cylinder 73c and the lower-stage downstream bar stock take-out cylinder rod 74d of the lower-stage downstream bar stock take-out cylinder 73d are repeatedly moved back and forth in the +Z and -Z directions, so that even in the unlikely event that the bars B2 cannot be taken out one by one on the upstream side, the bars B2 can be reliably taken out one by one from the bundle of bars B2.

[0212] In the lower tier bar removal device 7, the bars B2 removed one by one can be transported by the lower tier first bar transport conveyors 80a to 80d, the lower tier second bar transport conveyors 82a to 82d, the lower tier third bar transport conveyors 84a to 84d, the lower tier fourth bar transport conveyors 86a to 86d, and the lower tier fifth bar transport conveyors 88a to 88d to a position where they can be grasped by the first placement robot 5a and the second placement robot 5b.

[0213] Furthermore, the lower bar removal device 7 is equipped with a plurality of bar slide pulleys 105a to 105d arranged from the -X direction end toward the +X direction end to slidably support the bar B2 from below when the bar B2 is transported to a position where it can be grasped by the first placement robot 5a and the second placement robot 5b, and a pusher unit 104 for pushing the bar B2 supported by the bar slide pulleys 105a to 105d in the +X direction toward a bar reference plate 106 located at the +X direction end, so that the reference position of the bar B2 can be set and the bar B2 can be accurately positioned according to the specifications of the bar unit 100 when manufacturing the bar unit 100.

[0214] As shown in FIG. 6, the upper-stage bar removal device 107 removes a bar B1 one by one from the bundle of longer bars B1, transports the removed bar B1 in the +Y direction, and transports it onto the lower-stage fifth bar transport conveyors 88a to 88d.

[0215] As shown in FIGS. 6 and 7, the upper bar take-out device 107 of this embodiment includes four upper first bar transfer conveyors 180a, 180b, 180c, and 180d (hereinafter referred to as "180a to 180d") arranged from the -X direction end to the +X direction end at the -Y direction end in order to transfer the bundle of bars B1 in the +Y direction before removal, four upper first bar transfer motors 181a, 181b, 181c, and 181d (hereinafter referred to as "181a to 181d") for driving the upper first bar transfer conveyors 180a to 180d, and motors 181a, 181b, 181c, and 181d (hereinafter referred to as "181a to 181d") for driving the upper first bar transfer conveyors 180a to 180d. To allow continuous transport from the first bar material transport conveyors 180a to 180d, four upper-stage second bar material transport conveyors 182a, 182b, 182c, and 182d (hereinafter referred to as "182a to 182d") are provided at positions adjacent to the upper-stage first bar material transport conveyors 180a to 180d in the +Y direction, from the -X direction end to the +X direction end, and four lower-stage second bar material transport motors 183a, 183b, 183c, and 183d (hereinafter referred to as "183a to 183d") for driving these upper-stage second bar material transport conveyors 182a to 182d.

[0216] The upper-stage bar take-out device 107 is also provided with an upper-stage upstream bar take-out fixed part 171a (fixed member unit) located adjacent to the upper-stage second bar take-out conveyors 182a-182d in the +Y direction and in the center in the -X / +X direction so that the bundle of bars B1 can be continuously transported from the upper-stage second bar take-out conveyors 182a-182d to take out each bar B1 one by one from the bundle of bars B1, an upper-stage upstream bar take-out movable part 170a (corresponding to the "movable member unit" of the present invention) located in the -X direction from the upper-stage upstream bar take-out fixed part 171a, and an upper-stage upstream bar take-out movable part 170b (corresponding to the "movable member unit" of the present invention) located in the +X direction from the upper-stage upstream bar take-out fixed part 171a.

[0217] The upper-stage bar stock take-out device 107 also includes four upper-stage third bar stock transport conveyors 184a, 184b, 184c, and 184d (hereinafter referred to as "184a to 184d") located adjacent to the upper-stage upstream bar stock take-out fixed section 171a and the upper-stage upstream bar stock take-out movable sections 170a and 170b in the +Y direction from the -X direction end to the +X direction end, so that the bar stock B1 is continuously transported from the upper-stage upstream bar stock take-out fixed section 171a and the upper-stage upstream bar stock take-out movable sections 170a and 170b, and four lower-stage third bar stock transport motors 185a, 185b, 185c, and 185d (hereinafter referred to as "185a to 185d") for driving the upper-stage third bar stock transport conveyors 184a to 184d.

[0218] In order to more reliably remove the bars B1 one by one, the upper-stage bar removal device 107 is provided with an upper-stage downstream bar removal fixed section 171b (fixed member unit) located adjacent to the upper-stage third bar transport conveyors 184a-184d in the +Y direction and in the center in the -X / +X direction, an upper-stage downstream bar removal movable section 170c (corresponding to the "movable member unit" of the present invention) located in the -X direction from the upper-stage downstream bar removal fixed section 171b, and an upper-stage downstream bar removal movable section 170d (corresponding to the "movable member unit" of the present invention) located in the +X direction from the upper-stage downstream bar removal fixed section 171b.

[0219] The upper-stage bar take-out device 107 also includes four upper-stage fourth bar material transport conveyors 186a, 186b, 186c, and 186d (hereinafter referred to as "186a to 186d") located adjacent to the upper-stage downstream bar material transport fixed section 171b and the upper-stage downstream bar material transport movable sections 170c and 170d in the +Y direction from the -X direction end to the +X direction end, so that the bar material B1 is continuously transported from the upper-stage downstream bar material transport fixed section 171b and the upper-stage downstream bar material transport movable sections 170c and 170d, and four upper-stage fourth bar material transport motors 187a, 187b, 187c, and 187d (hereinafter referred to as "187a to 187d") for driving the lower-stage fourth bar material transport conveyors 186a to 186d.

[0220] The bar B1 transported by the upper-stage fourth bar transport conveyors 186a to 186d is then moved onto the lower-stage fifth bar transport conveyors 88a to 88d, and then transported by the lower-stage fifth bar transport conveyors 88a to 88d to a position where it can be grasped by the first placement robot 5a and the second placement robot 5b.

[0221] As with bar B2, when bar B1 is transported to a position where it can be grasped by the first placement robot 5a and the second placement robot 5b, it is detected by bar sensors 99a and 99b and supported by bar slide pulleys 105a to 105d.Then, by driving the bar slide motor 103, the pusher part 104 presses the end of bar B1 against the bar reference plate 106, and the reference position of bar B1 is set.

[0222] As shown in Figures 6, 7, 20 and 21, the upper upstream bar workpiece removal fixing portion 171a is provided on the upper surface of two upper upstream bar workpiece removal fixing portion plates 178aa (corresponding to the "third fixing member" of the present invention) and (corresponding to the "fourth fixing member" of the present invention) that are erected in parallel in the +X and -X directions, and a fourth base portion 90e (corresponding to the "casing" of the present invention) that is adjacent to the upper upstream bar workpiece removal fixing portion plate 178aa in the -X direction, and an upper The upper-stage upstream bar material removal and fixing portion housing 177aa fixes the upper-stage upstream bar material removal and fixing portion plate 178aa at two locations spaced apart in the +Y·−Y direction, and the upper-stage upstream bar material removal and fixing portion housing 177ab is provided on the upper surface of the fourth base portion 90e, is positioned adjacent to the upper-stage upstream bar material removal and fixing portion plate 178ab in the +X direction, and fixes the upper-stage upstream bar material removal and fixing portion plate 178ab at two locations spaced apart in the +Y·−Y direction.

[0223] The upper upstream bar stock removal fixing portion plate 178aa has an upper upstream bar stock removal fixing portion upper surface 179aa with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b, and K4b, and the upper upstream bar stock removal fixing portion plate 178ab also has an upper upstream bar stock removal fixing portion upper surface 179ab with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b, and K4b.

[0224] As shown in Figures 6, 7, 20, 22 and 23, the upper upstream bar stock removal movable section 170a comprises two upper upstream bar stock removal swing cams 176aa (corresponding to the "first movable member" of this invention) and 176ab which are arranged parallel to one another in the center in the +X and -X directions, an upper upstream bar stock removal housing 172aa (corresponding to the "housing" of this invention) which is arranged on the -X side of the upper upstream bar stock removal swing cam 176aa and connected to the fourth base section 90e, and an upper upstream bar stock removal housing 172ab which is arranged on the +X side of the upper upstream bar stock removal swing cam 176ab and connected to the fourth base section 90e.

[0225] As shown in Figures 6, 7, 20, 22 and 23, the upper upstream bar stock removal movable part 170a is connected to the upper upstream bar stock removal casing 172aa and comprises an upper upstream bar stock removal fixed cam 175aa (corresponding to the "first fixed member" of the present invention) which is connected to the upper upstream bar stock removal casing 172aa and stands between the upper upstream bar stock removal swing cam 176aa and the upper upstream bar stock removal casing 172aa, and an upper upstream bar stock removal fixed part cam 175ab (corresponding to the "second fixed member" of the present invention) which is connected to the upper upstream bar stock removal casing 172ab and stands between the upper upstream bar stock removal swing cam 176ab and the upper upstream bar stock removal casing 172ab.

[0226] The upper upstream bar stock removal swing cam 176aa is rotatably connected to the +Z direction end of the upper upstream bar stock removal cylinder rod 174a at the upper upstream bar stock removal swing cam action point 176ad, and is rotatable around the upper upstream bar stock removal swing cam center 176ac (corresponding to the "first fulcrum" of the present invention) formed in the upper upstream bar stock removal casing 172aa by the upper upstream bar stock removal cylinder 173a (corresponding to the "cylinder" of the present invention) connected to the fourth base portion 90e, which causes the upper upstream bar stock removal cylinder rod 174a of the upper upstream bar stock removal cylinder 173a to move in the +Z and -Z directions.

[0227] The upper upstream bar take-out swing cam 176aa has, on its upper surface in the +Z direction, four swing cam tooth crest portions S1t, S2t, S3t, and S4t (corresponding to the "second crest portion" of the present invention) from the -Y direction to the +Y direction, and three swing cam tooth valley portions S1b, S2t, S3t, S4t, S4t, S5t, S6t, S7t, S8t, S9t, S10t, S11t, S12t, S13t, S14t, S15t, S16t, S17t, S18t, S19t, S20t, S21t, S22t, S23t, S24t, S25t, S26t, S27t, S28t, S29t, S30t, S31t, S32t, S33t, S34t, S35t, S36t, S37t, S38t, S39t, S40t, S41t, S42t, S43t, S44t, S45t, S46t, S47t, S48t, S49t, S50t, S51t, S52t, S53t, S54t, S55t, S56t, S57t, S58t, S59t, S60t, S61t, S62t, S63t, S64t, S65t, S66t, S67t, S68t, S69t, S70t, S71t, S72t, S73t, S74t, S75t, S76t, S77t, S78t, S79t, S80t, S81t, S82t, S83t, S84t, S85t, S8 S2b and S3b (corresponding to the "second valley portion" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect the four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and the three oscillating cam tooth valley portions S1b, S2b and S3b from the -Y direction to the +Y direction.

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

[0229] The upper upstream bar stock removal swing cam 176ab has substantially the same shape as the upper upstream bar stock removal swing cam 176aa, and like the upper upstream bar stock removal swing cam 176aa, it is rotatably connected to the +Z direction end of the upper upstream bar stock removal cylinder rod 174a at the upper upstream bar stock removal swing cam action point 176ad.The upper upstream bar stock removal cylinder 173a connected to the fourth base portion 90e moves the upper upstream bar stock removal cylinder rod 174a of the upper upstream bar stock removal cylinder 173a in the +Z and -Z directions, thereby allowing it to rotate around the upper upstream bar stock removal swing cam center 176ac formed in the upstream bar stock removal housing 172aa.

[0230] The upper upstream bar take-out swing cam 176ab also has, on its upper surface in the +Z direction, four swing cam tooth crest portions S1t, S2t, S3t, and S4t (corresponding to the "second crest portion" of the present invention) on its upper surface in the +Z direction from the -Y direction to the +Y direction, and three swing cam tooth valley portions S1b, S2t, S3t, S4t, S4t, S5t, S6t, S7t, S8t, S9t, S10t, S11t, S12t, S13t, S14t, S15t, S16t, S17t, S18t, S19t, S20t, S21t, S22t, S23t, S24t, S25t, S26t, S27t, S28t, S29t, S30t, S31t, S32t, S33t, S34t, S35t, S36t, S37t, S38t, S39t, S40t, S41t, S42t, S43t, S44t, S45t, S46t, S47t, S48t, S49t, S50t, S51t, S52t, S53t, S54t, S55t, S56t, S57t, S58t, S59t, S60t, S61t, S62t, S63t, S64t, S65t, S66t, S67t, S68t, S69t, S70t, S71t, S72t, S73t, S74t, S75t, S76t, S77t, S78t, S79t, S80t, S81t, S82t, S83t, S84 S2b and S3b (corresponding to the "second valley portion" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect the four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and the three oscillating cam tooth valley portions S1b, S2b and S3b from the -Y direction to the +Y direction.

[0231] The upper upstream bar stock take-out fixed cam 175aa is fixed to the upstream bar stock take-out housing 172aa, and has, on its upper surface in the +Z direction, five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crests" of the present invention) arranged from the -Y direction to the +Y direction, and four fixed crests between the fixed cam tooth crests K1t and K2t, between the fixed cam tooth crests K2t and K3t, between the fixed cam tooth crests K3t and K4t, and between the fixed cam tooth crests K4t and K5t. It is provided with fixed cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0232] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape relative to the lower upstream bar removal swing cam center 176ac.

[0233] The upper upstream bar workpiece take-out fixed cam 175ab has substantially the same configuration as the upper upstream bar workpiece take-out fixed cam 175aa, and like the upper upstream bar workpiece take-out fixed cam 175aa, it is fixed to the upper upstream bar workpiece take-out housing 172ab, and on its upper surface in the +Z direction, from the -Y direction to the +Y direction, there are five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest" of the present invention), and a gap between the fixed cam tooth crests K1t and K2t, a gap between the fixed cam tooth crests K2t and K3t, and a gap between the fixed cam tooth crests K3t and K4t. and between the fixed cam tooth crest portions K4t and K5t, there are four fixed cam tooth valley portions K1b, K2b, K3b, and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b, and K4b from the -Y direction to the +Y direction.

[0234] As shown in Figures 6, 7, 20, 22 and 23, the upper upstream bar stock removal movable section 170b comprises two upper upstream bar stock removal swing cams 176ba (corresponding to the "first movable member" of this invention) and 176bb which are erected parallel to one another in the center in the +X and -X directions, an upper upstream bar stock removal housing 172ba (corresponding to the "housing" of this invention) which is erected on the -X side of the upper upstream bar stock removal swing cam 176ba and connected to the fourth base section 90e, and an upper upstream bar stock removal housing 172bb which is erected on the +X side of the upper upstream bar stock removal swing cam 176bb and connected to the fourth base section 90e.

[0235] As shown in Figures 6, 9, 20, 22 and 23, the upper upstream bar stock removal movable part 170b is connected to the upper upstream bar stock removal casing 172ba and comprises an upper upstream bar stock removal fixed cam 175ba (corresponding to the "first fixed member" of the present invention) which is connected to the upper upstream bar stock removal casing 172bb and stands between the upper upstream bar stock removal swing cam 176bb and the upper upstream bar stock removal casing 172bb (corresponding to the "second fixed member" of the present invention).

[0236] The upper upstream bar stock removal swing cam 176ba is rotatably connected to the +Z direction end of the upper upstream bar stock removal cylinder rod 174b at the upper upstream bar stock removal swing cam action point 176bd, and is rotatable around the upper upstream bar stock removal swing cam center 176bc (corresponding to the "first fulcrum" of the present invention) formed on the upstream bar stock removal housing 172ba as the upper upstream bar stock removal cylinder 173b (corresponding to the "cylinder" of the present invention) connected to the fourth base portion 90e moves the upper upstream bar stock removal cylinder rod 174b of the upper upstream bar stock removal cylinder 173b in the +Z and -Z directions.

[0237] The upper upstream bar take-out swing cam 176ba has, on its upper surface facing the +Z direction, four swing cam tooth crest portions S1t, S2t, S3t, and S4t (corresponding to the "second crest portion" of the present invention) on its upper surface facing the +Z direction from the -Y direction to the +Y direction, and three swing cam tooth valley portions S1b, S2t, S3t, S4t, S4t, S5t, S6t, S7t, S8t, S9t, S10t, S11t, S12t, S13t, S14t, S15t, S16t, S17t, S18t, S19t, S20t, S21t, S22t, S23t, S24t, S25t, S26t, S27t, S28t, S29t, S30t, S31t, S32t, S33t, S34t, S35t, S36t, S37t, S38t, S39t, S40t, S41t, S42t, S43t, S44t, S45t, S46t, S47t, S48t, S49t, S50t, S51t, S52t, S53t, S54t, S55t, S56t, S57t, S58t, S59t, S60t, S61t, S62t, S63t, S64t, S65t, S66t, S67t, S68t, S69t, S70t, S71t, S72t, S73t, S74t, S75t, S76t, S77t, S78t, S79t, S80t, S81t, S82t, S83t, S84t S2b and S3b (corresponding to the "second valley portion" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect the four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and the three oscillating cam tooth valley portions S1b, S2b and S3b from the -Y direction to the +Y direction.

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

[0239] The upper upstream bar stock removal fixed cam 175ba is fixed to the upstream bar stock removal housing 172ba, and has, on its upper surface in the +Z direction, five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention) arranged from the -Y direction to the +Y direction, and four fixed cam tooth crest portions between the fixed cam tooth crest portions K1t and K2t, between the fixed cam tooth crest portions K2t and K3t, between the fixed cam tooth crest portions K3t and K4t, and between the fixed cam tooth crest portions K4t and K5t. It is provided with fixed cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0240] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape with respect to the lower upstream bar removal swing cam center 176bc.

[0241] The upper upstream bar stock removal swing cam 176bb has substantially the same shape as the upper upstream bar stock removal swing cam 176ba, and like the upper upstream bar stock removal swing cam 176ba, it is rotatably connected to the +Z direction end of the upper upstream bar stock removal cylinder rod 174b at the upper upstream bar stock removal swing cam action point 176bd.The upper upstream bar stock removal cylinder 173b, connected to the fourth base portion 90e, moves the upper upstream bar stock removal cylinder rod 174b of the upper upstream bar stock removal cylinder 173b in the +Z and -Z directions, thereby allowing it to rotate around the upper upstream bar stock removal swing cam center 176bc formed in the upstream bar stock removal housing 172ba.

[0242] The upper upstream bar take-out swing cam 176bb also has, on its upper surface in the +Z direction, four swing cam tooth crest portions S1t, S2t, S3t, and S4t (corresponding to the "second crest portion" of the present invention) on its upper surface in the +Z direction from the -Y direction to the +Y direction, and three swing cam tooth valley portions S1b, S2t, S3t, S4t, S4t, S5t, S6t, S7t, S8t, S9t, S10t, S11t, S12t, S13t, S14t, S15t, S16t, S17t, S18t, S19t, S20t, S21t, S22t, S23t, S24t, S25t, S26t, S27t, S28t, S29t, S30t, S31t, S32t, S33t, S34t, S35t, S36t, S37t, S38t, S39t, S40t, S41t, S42t, S43t, S44t, S45t, S46t, S47t, S48t, S49t, S50t, S51t, S52t, S53t, S54t, S55t, S56t, S57t, S58t, S59t, S60t, S61t, S62t, S63t, S64t, S65t, S66t, S67t, S68t, S69t, S70t, S71t, S72t, S73t, S74t, S75t, S76t, S77t, S78t, S79t, S80t, S81t, S82t, S83t, S84 S2b and S3b (corresponding to the "second valley portion" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect the four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and the three oscillating cam tooth valley portions S1b, S2b and S3b from the -Y direction to the +Y direction.

[0243] The upper upstream bar stock take-out fixed cam 175bb has substantially the same form as the upper upstream bar stock take-out fixed cam 175ba, and like the upper upstream bar stock take-out fixed cam 175ba, it is fixed to the upstream bar stock take-out housing 172ba, and on its upper surface in the +Z direction, from the -Y direction to the +Y direction, there are five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention), a gap between the fixed cam tooth crest portions K1t and K2t, a gap between the fixed cam tooth crest portions K2t and K3t, a gap between the fixed cam tooth crest portions K3t and K4t, and a gap between the fixed cam tooth crest portions K5t and K6t. and between the fixed cam tooth crest portions K4t and K5t, there are four fixed cam tooth valley portions K1b, K2b, K3b, and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b, and K4b from the -Y direction to the +Y direction.

[0244] As shown in Figures 6, 7, 20 and 21, the upper downstream bar removal fixing portion 171b is made up of two upper downstream bar removal fixing portion plates 178ba (corresponding to the "third fixing member" of the present invention) and 178bb (corresponding to the "fourth fixing member" of the present invention) that are erected in parallel in the +X and -X directions, and a fourth base portion 90e that is provided on the upper surface of the fourth base portion 90e and is arranged adjacent to the upper downstream bar removal fixing portion plate 178ba on the -X direction side. The fourth base portion 90e is provided with an upper downstream bar material removal and fixing portion housing 177ba that fixes the bar material removal and fixing portion plate 178ba at two locations spaced apart in the +Y·−Y direction, and an upper downstream bar material removal and fixing portion housing 177bb that is provided on the upper surface of the fourth base portion 90e, is positioned adjacent to the +X direction side of the upper downstream bar material removal and fixing portion plate 178bb, and fixes the upper downstream bar material removal and fixing portion plate 178bb at two locations spaced apart in the +Y·−Y direction.

[0245] In addition, the upper downstream bar stock removal fixing portion plate 178ba has an upper downstream bar stock removal fixing portion upper surface 179ba with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b, and the upper downstream bar stock removal fixing portion plate 178bb also has an upper downstream bar stock removal fixing portion upper surface 179bb with a curve similar to the curve formed by connecting the fixed cam tooth valley portions K1b, K2b, K3b and K4b.

[0246] As shown in Figures 6, 7, 20, 22 and 23, the upper downstream bar stock removal movable section 170c comprises two upper downstream bar stock removal swing cams 176ca (corresponding to the "first movable member" of the present invention) and 176cb which are arranged parallel to one another in the center in the +X and -X directions, an upper downstream bar stock removal housing 172ca (corresponding to the "housing" of the present invention) which is arranged on the -X side of the upper downstream bar stock removal swing cam 176ca and connected to the fourth base section 90e, and an upper downstream bar stock removal housing 172cb which is arranged on the +X side of the upper downstream bar stock removal swing cam 176cb and connected to the fourth base section 90e.

[0247] As shown in Figures 6, 7, 20, 22 and 23, the upper downstream bar stock removal movable part 170c is connected to the upper downstream bar stock removal casing 172ca and comprises an upper downstream bar stock removal fixed cam 175ca (corresponding to the "first fixed member" of the present invention) which is connected to the upper downstream bar stock removal casing 172ca and stands between the upper downstream bar stock removal swing cam 176ca and the upper downstream bar stock removal casing 172ca, and an upper downstream bar stock removal fixed part cam 175cb (corresponding to the "second fixed member" of the present invention) which is connected to the upper downstream bar stock removal casing 172cb and stands between the upper downstream bar stock removal swing cam 176cb and the upper downstream bar stock removal casing 172cb.

[0248] The upper downstream bar stock removal swing cam 176ca is rotatably connected to the +Z direction end of the upper downstream bar stock removal cylinder rod 174c at the upper downstream bar stock removal swing cam action point 176cd, and is rotatable around the upper downstream bar stock removal swing cam center 176cc (corresponding to the "first fulcrum" of the present invention) formed in the upper downstream bar stock removal casing 172ca by the upper downstream bar stock removal cylinder 173c (corresponding to the "cylinder" of the present invention) connected to the fourth base portion 90e, which causes the upper downstream bar stock removal cylinder rod 174c of the upper downstream bar stock removal cylinder 173c to move in the +Z and -Z directions.

[0249] The upper downstream bar take-out swing cam 176ca has, on its upper surface in the +Z direction, four swing cam tooth crest portions S1t, S2t, S3t, and S4t (corresponding to the "second crest portion" of the present invention) from the -Y direction to the +Y direction, and three swing cam tooth valley portions S1b, S2t, S3t, S4t, S4t, S5t, S6t, S7t, S8t, S9t, S10t, S11t, S12t, S13t, S14t, S15t, S16t, S17t, S18t, S19t, S20t, S21t, S22t, S23t, S24t, S25t, S26t, S27t, S28t, S29t, S30t, S31t, S32t, S33t, S34t, S35t, S36t, S37t, S38t, S39t, S40t, S41t, S42t, S43t, S44t, S45t, S46t, S47t, S48t, S49t, S50t, S51t, S52t, S53t, S54t, S55t, S56t, S57t, S58t, S59t, S60t, S61t, S62t, S63t, S64t, S65t, S66t, S67t, S68t, S69t, S70t, S71t, S72t, S73t, S74t, S75t, S76t, S77t, S78t, S79t, S80t, S81t, S82t, S83t, S84t, S85t, S86 S2b and S3b (corresponding to the "second valley portion" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect the four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and the three oscillating cam tooth valley portions S1b, S2b and S3b from the -Y direction to the +Y direction.

[0250] Of the inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2, the inclined portions S1s1, S2s1, S3s1 and S4s1 on the -Y direction side each have a substantially circular shape with respect to the center of the lower upstream bar removal swing cam, 176 cc.

[0251] The upper-stage downstream bar stock removal swing cam 176cb has substantially the same shape as the upper-stage downstream bar stock removal swing cam 176ca, and like the upper-stage downstream bar stock removal swing cam 176ca, it is rotatably connected to the +Z direction end of the upper-stage downstream bar stock removal cylinder rod 174c at the upper-stage downstream bar stock removal swing cam action point 176cd, and is rotatable about the upper-stage downstream bar stock removal swing cam center 176cc formed in the upper-stage downstream bar stock removal casing 172ca by the upper-stage downstream bar stock removal cylinder 173c connected to the fourth base part 90e, which moves the upper-stage downstream bar stock removal cylinder rod 174c of the upper-stage downstream bar stock removal cylinder 173c in the +Z and -Z directions.

[0252] The upper downstream bar take-out swing cam 176cb also has, on its upper surface in the +Z direction, four swing cam tooth crest portions S1t, S2t, S3t, and S4t (corresponding to the "second crest portion" of the present invention) on its upper surface in the +Z direction from the -Y direction to the +Y direction, and three swing cam tooth valley portions S1b, S2t, S3t, S4t, S5t, S6t, S7t, S8t, S9t, S10t, S11t, S12t, S13t, S14t, S15t, S16t, S17t, S18t, S19t, S20t, S21t, S22t, S23t, S24t, S25t, S26t, S27t, S28t, S29t, S30t, S31t, S32t, S33t, S34t, S35t, S36t, S37t, S38t, S39t, S40t, S41t, S42t, S43t, S44t, S45t, S46t, S47t, S48t, S49t, S50t, S51t, S52t, S53t, S54t, S55t, S56t, S57t, S58t, S59t, S60t, S61t, S62t, S63t, S64t, S65t, S66t, S67t, S68t, S69t, S70t, S71t, S72t, S73t, S74t, S75t, S76t, S77t, S78t, S79t, S80t, S81t, S82t, S83t, S84t, S S2b and S3b (corresponding to the "second valley portion" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect the four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and the three oscillating cam tooth valley portions S1b, S2b and S3b from the -Y direction to the +Y direction.

[0253] The upper downstream bar take-out fixed cam 175ca is fixed to the upper downstream bar take-out housing 172ca, and has five fixed cam tooth crests K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crests" of the present invention) on its upper surface in the +Z direction from the -Y direction to the +Y direction, and four crests between the fixed cam tooth crests K1t and K2t, between the fixed cam tooth crests K2t and K3t, between the fixed cam tooth crests K3t and K4t, and between the fixed cam tooth crests K4t and K5t. It is provided with fixed cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0254] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape relative to the center of the lower upstream bar removal swing cam, which is 176 cc.

[0255] The upper-stage downstream bar stock take-out fixed cam 175cb has substantially the same form as the upper-stage downstream bar stock take-out fixed cam 175ca, and like the upper-stage downstream bar stock take-out fixed cam 175ca, it is fixed to the upper-stage downstream bar stock take-out housing 172ca, and on its upper surface in the +Z direction, from the -Y direction to the +Y direction, there are five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention), and between the fixed cam tooth crest portions K1t and K2t, between the fixed cam tooth crest portions K2t and K3t, and between the fixed cam tooth crest portions K3t and K4t. and between the fixed cam tooth crest portions K4t and K5t, there are four fixed cam tooth valley portions K1b, K2b, K3b, and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1, and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b, and K4b from the -Y direction to the +Y direction.

[0256] As shown in Figures 6, 7, 20, 22 and 23, the upper downstream bar stock removal movable section 170d comprises two upper downstream bar stock removal swing cams 176da (corresponding to the "first movable member" of the present invention) and 176db which are erected parallel to one another in the center in the +X and -X directions, an upper downstream bar stock removal housing 172da (corresponding to the "housing" of the present invention) which is erected on the -X side of the upper downstream bar stock removal swing cam 176da and connected to the fourth base section 90e, and an upper downstream bar stock removal housing 172db which is erected on the +X side of the upper downstream bar stock removal swing cam 176db and connected to the fourth base section 90e.

[0257] As shown in Figures 6, 7, 20, 22 and 23, the upper downstream bar stock removal movable part 170d is connected to the upper downstream bar stock removal casing 172da and comprises an upper downstream bar stock removal fixed cam 175da (corresponding to the "first fixed member" of the present invention) which is connected to the upper downstream bar stock removal casing 172da and stands between the upper downstream bar stock removal swing cam 176da and the upper downstream bar stock removal casing 172da, and an upper downstream bar stock removal fixed part cam 175db (corresponding to the "second fixed member" of the present invention) which is connected to the upper downstream bar stock removal casing 172db and stands between the upper downstream bar stock removal swing cam 176db and the upper downstream bar stock removal casing 172db.

[0258] The upper downstream bar stock removal swing cam 176da is rotatably connected to the +Z direction end of the upper downstream bar stock removal cylinder rod 174d at the upper downstream bar stock removal swing cam action point 176dd, and is rotatable around the upper downstream bar stock removal swing cam center 176dc (corresponding to the "first fulcrum" of the present invention) formed in the upper downstream bar stock removal casing 172da by the upper downstream bar stock removal cylinder 173d (corresponding to the "cylinder" of the present invention) connected to the fourth base portion 90e, which causes the upper downstream bar stock removal cylinder rod 174d of the upper downstream bar stock removal cylinder 173d to move in the +Z and -Z directions.

[0259] The upper downstream bar take-out swing cam 176da has, on its upper surface in the +Z direction, four swing cam tooth crest portions S1t, S2t, S3t, and S4t (corresponding to the "second crest portion" of the present invention) on the -Y to +Y direction from the -Y direction to the +Y direction, and three swing cam tooth valley portions S1b, S2t, S3t, S4t, S4t, S5t, S6t, S7t, S8t, S9t, S10t, S11t, S12t, S13t, S14t, S15t, S16t, S17t, S18t, S19t, S20t, S21t, S22t, S23t, S24t, S25t, S26t, S27t, S28t, S29t, S30t, S31t, S32t, S33t, S34t, S35t, S36t, S37t, S38t, S39t, S40t, S41t, S42t, S43t, S44t, S45t, S46t, S47t, S48t, S49t, S50t, S51t, S52t, S53t, S54t, S55t, S56t, S57t, S58t, S59t, S60t, S61t, S62t, S63t, S64t, S65t, S66t, S67t, S68t, S69t, S70t, S71t, S72t, S73t, S74t, S75t, S76t, S77t, S78t, S79t, S80t, S81t, S82t, S83t, S84t, S2b and S3b (corresponding to the "second valley portion" of the present invention), and eight inclined portions S1s1, S1s2, S2s1, S2s2, S3s1, S3s2, S4s1 and S4s2 (corresponding to the "second inclined portion" of the present invention) that connect the four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and the three oscillating cam tooth valley portions S1b, S2b and S3b from the -Y direction to the +Y direction.

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

[0261] The upper downstream bar stock take-out fixed cam 175da is fixed to the upper downstream bar stock take-out housing 172da, and on its upper surface in the +Z direction, from the -Y direction to the +Y direction, there are five fixed cam tooth crest portions K1t, K2t, K3t, K4t, and K5t (corresponding to the "first crest portion" of the present invention), and four crest portions between the fixed cam tooth crest portions K1t and K2t, between the fixed cam tooth crest portions K2t and K3t, between the fixed cam tooth crest portions K3t and K4t, and between the fixed cam tooth crest portions K4t and K5t. It is provided with fixed cam tooth valley portions K1b, K2b, K3b and K4b (corresponding to the "first valley portions" of the present invention), and ten inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2 (corresponding to the "first inclined portions" of the present invention) that connect the five fixed cam tooth crest portions K1t, K2t, K3t, K4t and K5t and the four fixed cam tooth valley portions K1b, K2b, K3b and K4b from the -Y direction to the +Y direction.

[0262] Of the inclined portions K1s1, K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, K5s1 and K5s2, the inclined portions K1s1, K2s1, K3s1, K4s1 and K5s1 on the -Y direction side each have an approximately circular shape relative to the lower upstream bar removal swing cam center 176dc.

[0263] The upper-stage downstream bar stock removal swing cam 176db has substantially the same shape as the upper-stage downstream bar stock removal swing cam 176ba, and like the upper-stage downstream bar stock removal swing cam 176da, it is rotatably connected to the +Z direction end of the upper-stage downstream bar stock removal cylinder rod 174d at the upper-stage downstream bar stock removal swing cam action point 176dd, and is rotatable about the upper-stage downstream bar stock removal swing cam center 176dc formed in the upper-stage downstream bar stock removal casing 172da by the upper-stage downstream bar stock removal cylinder 173d connected to the fourth base portion 90e, which moves the upper-stage downstream bar stock removal cylinder rod 174d of the upper-stage downstream bar stock removal cylinder 173d in the +Z and -Z directions.

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

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

[0266] In the upper bar take-out device 107 of this embodiment described above, the upper upstream bar take-out fixed part 171a is located in the center in the -X and +X directions, and the upper upstream bar take-out movable part 170a and the upper upstream bar take-out movable part 170b are located in the +X and -X directions of the upper upstream bar take-out fixed part 171a.The upper upstream bar take-out cylinder rod 174a of the upper upstream bar take-out cylinder 173a and the upper upstream bar take-out cylinder rod 174b of the upper upstream bar take-out cylinder 173b are repeatedly moved back and forth in the +Z and -Z directions, whereby bar B1 can be taken out one by one from the bundle of bar B1.

[0267] In the upper-stage bar take-out device 107, an upper-stage downstream bar take-out fixed part 171b is arranged in the center in the -X and +X directions downstream of the upper-stage upstream bar take-out movable part 170a and the upper-stage upstream bar take-out movable part 170b in the +Y direction, and an upper-stage downstream bar take-out movable part 170c and an upper-stage downstream bar take-out movable part 170b are arranged in the +X and -X directions of the upper-stage downstream bar take-out fixed part 171b. By repeatedly moving the upper downstream bar material removal cylinder rod 174c of the upper downstream bar material removal cylinder 173c and the upper downstream bar material removal cylinder rod 174d of the upper downstream bar material removal cylinder 173d back and forth in the +Z and -Z directions, even in the unlikely event that the bar materials B1 cannot be removed one by one on the upstream side, it is possible to reliably remove the bar materials B1 one by one from the bundle of bar materials B1.

[0268] In the upper-stage bar removal device 107, the bars B1 removed one by one can be transported onto the lower-stage fifth bar removal conveyors 88a to 88d by the upper-stage first bar removal conveyors 180a to 180d, the upper-stage second bar removal conveyors 182a to 182d, the upper-stage third bar removal conveyors 184a to 184d, and the upper-stage fourth bar removal conveyors 186a to 186d.

[0269] Furthermore, downstream of the upper bar removal device 107, there are provided a plurality of bar slide pulleys 105a to 105d arranged from the -X direction end toward the +X direction end to slidably support the bar B1 from below when the bar B1 is transported to a position where it can be grasped by the first placement robot 5a and the second placement robot 5b, and a pusher unit 104 for pushing the bar B1 supported by the bar slide pulleys 105a to 105d in the +X direction toward a bar reference plate 106 located at the +X direction end. This makes it possible to set the reference position of the bar B1, and when manufacturing the bar unit 100, the bar B1 can be accurately positioned in accordance with the specifications of the bar unit 100.

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

[0271] FIG. 24 is a block diagram of the bar unit manufacturing apparatus of this embodiment, and FIG. 25 is a block diagram of the main controller in the bar unit manufacturing apparatus of this embodiment.

[0272] 24, the bar 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 and for driving the first placement robot 5a, the second placement robot 5b, the first bundling robot 3a, and the second bundling robot 3b, and a robot controller 4 electrically connected to the main controller 2 and for driving the lower bar take-out cylinders 73a, 73b, 73c, and 73d, the upper bar take-out cylinders 173a, 173c, 173d, and the The apparatus is equipped with first bar gripping cylinders 59aa and 59ab, second bar gripping cylinders 59ba and 59bb, first binding member gripping cylinders 40aa and 40ab, second binding member gripping cylinders 40ba and 40bb, first binding member container gripping cylinders 37aa and 37ab, second binding member container gripping cylinders 37ba and 37bb, first floating cylinders 45aa and 45ab, and a compressor 12 for driving the second floating cylinders 45ba and 45bb.

[0273] 24, the bar unit manufacturing apparatus 1 is electrically connected to the main controller 2 and includes a driver circuit 10 for driving base travel motors 102a and 102b, a base rotation motor 101, screw tightening motors 26a and 26b, binding robot travel motors 98a and 98b, a bar slide motor 103, and bar transport motors 81a to 81d, 83a to 83d, 85a to 85d, 87a to 87d, and 89a to 89d, cameras 25a and 25b electrically connected to the main controller 2, bar sensors 99a and 99b also electrically connected to the main controller 2, and an operation panel 8 for receiving input from a user of the apparatus.

[0274] Also, in Figure 25, the main controller 2 includes a CPU (Central Processing Unit) 14, a RAM (Random Access Memory) 16 connected to the CPU 14 so as to be able to input and output, and a ROM (Read Only Memory) 18 connected to the CPU 14 so as to be able to input and output.

[0275] The RAM 16 includes a bar unit specification data table 16a that stores specifications of the bar unit 100, such as the number of vertical and horizontal rows of bar material B and the lengths of the bar material 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 bar unit 100.

[0276] In the bar unit manufacturing apparatus 1 of this embodiment, the ROM 18 is equipped with a bar feed control program 18a that controls, as a periodic interrupt process, the operation of taking out each bar B from a bundle of bars B and transporting it to a position where the first placement robot 5a and the second placement robot 5b can grasp it; a bar unit manufacturing program 18b that controls the operation of the entire bar unit manufacturing apparatus 1; a binding member binding control program 18c that controls, as a periodic interrupt process, the operation of binding the binding member 66 to the binding position; and a binding member container replacement program 18d that controls, as an interrupt process, the operation of moving the first binding robot 3a to the end in the -X direction or the second binding robot 3b to the end in the +X direction to replace the binding member container when the first binding container C1 or the second binding member container C2 containing the binding members 66 becomes empty.

[0277] Next, we will explain the operation of the lower-stage bar take-out device 7 and the upper-stage bar take-out device 107 configured as described above. As mentioned above, the lower-stage upstream bar take-out movable parts 70a and 70b, the lower-stage downstream bar take-out movable parts 70c and 70d, the upper-stage upstream bar take-out movable parts 170a and 170b, and the upper-stage downstream bar take-out movable parts 170c and 170d, which will be described later, in this embodiment have the same specifications, so in explaining this operation, the lower-stage upstream bar take-out movable parts 70a and 70b will be mainly illustrated, and the other elements will be shown in parentheses.

[0278] FIG. 26 is a flowchart of a bar take-out control program in the bar take-out device of this embodiment.

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

[0280] In addition, Figure 32 is an explanatory diagram showing the first stage of bar material removal state after one cycle in the bar material removal device of this embodiment, Figure 33 is an explanatory diagram showing the second stage of bar material removal state after one cycle, Figure 34 is an explanatory diagram showing the third stage of bar material removal state after one cycle, Figure 35 is an explanatory diagram showing the fourth stage of bar material removal state after one cycle, Figure 36 is an explanatory diagram showing the fifth stage of bar material removal state after one cycle, and Figure 37 is an explanatory diagram showing the bar material removal state after two cycles.

[0281] First, a user of the bar stock unit manufacturing device 1 using the lower bar stock removal device 7 and the upper bar stock removal device 107 turns on the power switch of the device, then inputs the specifications of the bar stock unit 100 (number of vertical and horizontal rows of bars B, length of the bars B in the vertical and horizontal rows, number of bar stock units 100 to be manufactured, etc.) using the operation buttons on the operation panel 8, and presses the start button.The bar stock feeding control program 18a, bar stock unit manufacturing program 18b, binding member binding control program 18c, and binding member container replacement program are executed almost simultaneously.

[0282] In the bar material feed control program 18a, which is an interrupt processing program, as shown in FIG. 26, 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 placement robot 5a and the second placement robot 5b (S1).

[0283] Here, if it is determined that the bar B is in a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S1: Yes), the bar B is supported by the bar slide pulleys 105a to 105d, and the pusher section 104 presses the bar B against the bar reference plate 106 located at the end in the +X direction, setting the reference position of the bar B (S7), and then the interrupt process is terminated (S9).

[0284] On the other hand, if it is determined that the bar B is not in a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S1: No), then for the bar B2, the lower tier first bar transfer conveyors 80a-80d, the lower tier second bar transfer conveyors 82a-82d, the lower tier third bar transfer conveyors 84a-84d, the lower tier fourth bar transfer conveyors 86a-86d, the lower tier fifth bar transfer conveyors 88a-88d, the lower tier upstream bar transfer fixed part 71a, the lower tier upstream bar transfer movable parts 70a and 70b, the lower tier downstream bar transfer fixed part 71b and the lower tier downstream bar transfer movable parts 70c and 70d remove the bar B2 one by one from the bundle of bars B2 and transport them in the +Y direction (S3).

[0285] Furthermore, with regard to the bars B1, the bars B1 are removed one by one from the bundle of bars B1 and transported in the +Y direction by the upper tier first bar transport conveyors 180a-180d, the upper tier second bar transport conveyors 182a-182d, the upper tier third bar transport conveyors 184a-184d, the upper tier fourth bar transport conveyors 186a-186d, the lower tier fifth bar transport conveyors 88a-88d, the upper tier upstream bar transport fixed part 171a, the upper tier upstream bar transport movable parts 170a and 170b, the upper tier downstream bar transport fixed part 171b and the upper tier downstream bar transport movable parts 170c and 170d (S3).

[0286] Then, it is determined again whether the bar B is in a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S5), and if it is determined that the bar B is not in a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S5: No), the bar B is transported in the +Y direction until it reaches a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S3).

[0287] Then, if it is determined that the bar B is in a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S5: Yes), the bar B is supported by the bar slide pulleys 105a to 105d, and the pusher section 104 presses the bar B against the bar reference plate 106 located at the end in the +X direction, setting the reference position of the bar B (S7), and then terminating the interrupt processing (S9).

[0288] Here, a description will be given of a process in S3 in which the bars B2 are taken out one by one from the bundle of bars B2.

[0289] First, the bundle of bars B2 is transported by the lower first bar transport conveyors 80a-80d and the lower second bar transport conveyors 82a-82d to the lower upstream bar removal fixed section 71a and the lower upstream bar removal movable sections 70a and 70b. As shown in FIG. 27, the bundle of bars B2 is transported to between the fixed cam teeth K1t and K2t of the lower upstream bar removal movable sections 70a and 70b with the lower upstream bar removal cylinder rods 74a and 74b of the lower upstream bar removal cylinders 73a and 73b lowered.

[0290] In the lower upstream bar stock take-out movable portion 70a, when the lower upstream bar stock take-out cylinder rod 74a of the lower upstream bar stock take-out cylinder 73a is moved in the +Z direction and the lower upstream bar stock take-out swing cam action point 76ad is moved in the +Z direction, the two lower upstream bar stock take-out swing cams 76aa and 76ab rotate in the counterclockwise direction (CCW direction) around the lower upstream bar stock take-out swing cam rotation center 76ac. ), and the four swing cam tooth portions S1t, S2t, S3t and S4t of each of the lower upstream bar material removal swing cams 76aa and 76ab protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar material removal fixed cams 75aa and 75ab, respectively, between the two lower upstream bar material removal fixed cams 75aa and 75ab.

[0291] In addition, in the lower upstream bar material take-out movable part 70b arranged on the +X direction side of the lower upstream bar material take-out movable part 70a, when the lower upstream bar material take-out cylinder rod 74b of the lower upstream bar material take-out cylinder 73b is moved in the +Z direction and the lower upstream bar material take-out swing cam action point 76bd is moved in the +Z direction, the two lower upstream bar material take-out swing cams 76ba and 76bb rotate around the lower upstream bar material take-out swing cam rotation center 76bc. The lower upstream bar stock removal oscillating cams 76ba and 76bb rotate counterclockwise (CCW) around the center, and the four oscillating cam tooth portions S1t, S2t, S3t and S4t of each of the lower upstream bar stock removal oscillating cams 76ba and 76bb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar stock removal fixed cams 75ba and 75bb, respectively, between the two lower upstream bar stock removal fixed cams 75ba and 75bb.

[0292] As a result, one of the bundle of bars B2 that had been transported up to the gap between the fixed cam tooth portions K1t and K2t of the lower upstream bar removal movable portions 70a and 70b moves between the swing cam tooth portion S1t of the lower upstream bar removal swing cams 76aa and 76ab and the fixed cam tooth portion K2t of the lower upstream bar removal fixed cams 75aa and 75ab, as shown in FIG. 28, and also between the swing cam tooth portion S1t of the lower upstream bar removal swing cams 76ba and 76bb and the fixed cam tooth portion K2t of the lower upstream bar removal fixed cams 75ba and 75bb.

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

[0294] In addition, in the lower upstream bar stock removal movable part 70b arranged on the +X direction side of the lower upstream bar stock removal movable part 70a, when the lower upstream bar stock removal cylinder rod 74b of the lower upstream bar stock removal cylinder 73b is further moved in the +Z direction and the lower upstream bar stock removal swing cam action point 76bd is further moved in the +Z direction, the two lower upstream bar stock removal swing cams 76ba and 76bb rotate in the counterclockwise (CCW) direction around the lower upstream bar stock removal swing cam rotation center 76bc. The lower upstream bar stock removal oscillating cams 76ba and 76bb rotate further, and the four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of each oscillating cam protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream bar stock removal fixed cams 75ba and 75bb, respectively, between the two lower upstream bar stock removal fixed cams 75ba and 75bb.

[0295] As a result, a bar B2 (hereinafter referred to as "Ba") that had been moving between the swing cam tooth portion S1t of the lower upstream bar take-out swing cams 76aa and 76ab and the fixed cam tooth portion K2t of the lower upstream bar take-out fixed cams 75aa and 75ab, and between the swing cam tooth portion S1t of the lower upstream bar take-out swing cams 76ba and 76bb and the fixed cam tooth portion K2t of the lower upstream bar take-out fixed cams 75ba and 75bb, moves to the swing cam tooth valley portion S1b (see FIG. 23) of the lower upstream bar take-out swing cams 76aa and 76ab, as shown in FIG. 29, and is then separated into the swing cam tooth valley portion S1b of the lower upstream bar take-out swing cams 76aa and 76ab, as shown in FIG. 30.

[0296] Thereafter, in the lower upstream bar material take-out movable portion 70a, the lower upstream bar material take-out cylinder rod 74a of the lower upstream bar material take-out cylinder 73a is moved in the -Z direction opposite to that before, and the lower upstream bar material take-out swing cam action point 76ad is moved in the -Z direction, and the two lower upstream bar material take-out swing cams 76aa and 76ab rotate clockwise around the lower upstream bar material take-out swing cam rotation center 76ac. The lower upstream bar stock removal oscillating cams 76aa and 76ab rotate in the clockwise direction, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower upstream bar stock removal oscillating cams 76aa and 76ab retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar stock removal fixed cams 75aa and 75ab, respectively, between the two lower upstream bar stock removal fixed cams 75aa and 75ab.

[0297] In addition, in the lower upstream bar material take-out movable part 70b arranged on the +X direction side of the lower upstream bar material take-out movable part 70a, when the lower upstream bar material take-out cylinder rod 74b of the lower upstream bar material take-out cylinder 73b is moved in the -Z direction opposite to that before, and the lower upstream bar material take-out swing cam action point 76bd is moved in the -Z direction, the two lower upstream bar material take-out swing cams 76ba and 76bb rotate. The lower upstream bar stock removal oscillating cams 76ba and 76bb rotate clockwise (CW direction) around the center 76bc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower upstream bar stock removal oscillating cams 76ba and 76bb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar stock removal fixed cams 75ba and 75bb, respectively, between the two lower upstream bar stock removal fixed cams 75ba and 75bb.

[0298] As a result, the bar Ba that had been separated at the rocker cam valley portion S1b of the lower-stage upstream bar stock removal rocker cams 76aa and 76ab moves between the rocker cam tooth crest portion S2t of the lower-stage upstream bar stock removal rocker cams 76aa and 76ab and the fixed cam tooth crest portion K2t of the lower-stage upstream bar stock removal fixed cams 75aa and 75ab, and between the rocker cam tooth crest portion S2t of the lower-stage upstream bar stock removal rocker cams 76ba and 76bb and the fixed cam tooth crest portion K2t of the lower-stage upstream bar stock removal fixed cams 75ba and 75bb, as shown in Figure 31.

[0299] In the lower upstream bar stock removal movable portion 70a, when the lower upstream bar stock removal cylinder rod 74a of the lower upstream bar stock removal cylinder 73a is further moved in the -Z direction and the lower upstream bar stock removal swing cam action point 76ad is further moved in the -Z direction, the two lower upstream bar stock removal swing cams 76aa and 76ab are further rotated in the clockwise direction (CW direction) around the lower upstream bar stock removal swing cam rotation center 76ac. The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 76aa and 76ab are recessed below the respective inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower-stage upstream bar stock take-out fixed cams 75aa and 75ab, between the two lower-stage upstream bar stock take-out fixed cams 75aa and 75ab.

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

[0301] As a result, the bar Ba that had been moving between the swing cam tooth portion S2t of the lower upstream bar take-out swing cams 76aa and 76ab and the fixed cam tooth portion K2t of the lower upstream bar take-out fixed cams 75aa and 75ab, and between the swing cam tooth portion S2t of the lower upstream bar take-out swing cams 76ba and 76bb and the fixed cam tooth portion K2t of the lower upstream bar take-out fixed cams 75ba and 75bb, is separated into the fixed cam tooth valley portion K2b of the lower upstream bar take-out fixed cams 75aa and 75ab, as shown in Figure 32, and the first cycle of operation is completed.

[0302] Then, in the second cycle, in the lower upstream bar material take-out movable portion 70a, the lower upstream bar material take-out cylinder rod 74a of the lower upstream bar material take-out cylinder 73a is moved in the +Z direction again, and the lower upstream bar material take-out swing cam action point 76ad is moved in the +Z direction, and the two lower upstream bar material take-out swing cams 76aa and 76ab rotate counterclockwise around the lower upstream bar material take-out swing cam rotation center 76ac. (CCW direction), and the four oscillating cam tooth portions S1t, S2t, S3t and S4t of each of the lower upstream bar stock removal oscillating cams 76aa and 76ab protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar stock removal fixed cams 75aa and 75ab, respectively, between them.

[0303] In addition, in the lower upstream bar material take-out movable part 70b arranged on the +X direction side of the lower upstream bar material take-out movable part 70a, when the lower upstream bar material take-out cylinder rod 74b of the lower upstream bar material take-out cylinder 73b is again moved in the +Z direction and the lower upstream bar material take-out swing cam action point 76bd is moved in the +Z direction, the two lower upstream bar material take-out swing cams 76ba and 76bb move in the +Z direction. The lower upstream bar material removal oscillating cams 76ba and 76bb rotate counterclockwise (CCW) around the center, and the four oscillating cam tooth portions S1t, S2t, S3t and S4t of each of the lower upstream bar material removal oscillating cams 76ba and 76bb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar material removal fixed cams 75ba and 75bb, respectively, between them.

[0304] As a result, as shown in Figure 33, the bar Ba that had been separated at the fixed cam tooth valley portion K2b of the lower-stage upstream bar stock removal fixed cams 75aa and 75ab moves between the swing cam tooth portion S2t of the lower-stage upstream bar stock removal swing cams 76aa and 76ab and the fixed cam tooth portion K3t of the lower-stage upstream bar stock removal fixed cams 75aa and 75ab, and between the swing cam tooth portion S2t of the lower-stage upstream bar stock removal swing cams 76ba and 76bb and the fixed cam tooth portion K3t of the lower-stage upstream bar stock removal fixed cams 75ba and 75bb.

[0305] Furthermore, as shown in FIG. 33, a new bar Bb from the bundle of bars B2 that had been transported up to the gap between the fixed cam tooth land portions K1t and K2t of the lower-stage upstream bar take-out movable parts 70a and 70b moves between the swing cam tooth land portion S1t of the lower-stage upstream bar take-out swing cams 76aa and 76ab and the fixed cam tooth land portion K2t of the lower-stage upstream bar take-out fixed cams 75aa and 75ab, and also between the swing cam tooth land portion S1t of the lower-stage upstream bar take-out swing cams 76ba and 76bb and the fixed cam tooth land portion K2t of the lower-stage upstream bar take-out fixed cams 75ba and 75bb.

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

[0307] In addition, in the lower upstream bar stock removal movable part 70b arranged on the +X direction side of the lower upstream bar stock removal movable part 70a, when the lower upstream bar stock removal cylinder rod 74b of the lower upstream bar stock removal cylinder 73b is further moved in the +Z direction and the lower upstream bar stock removal swing cam action point 76bd is further moved in the +Z direction, the two lower upstream bar stock removal swing cams 76ba and 76bb rotate in the counterclockwise (CCW) direction around the lower upstream bar stock removal swing cam rotation center 76bc. The lower upstream bar stock removal oscillating cams 76ba and 76bb rotate further, and the four oscillating cam tooth crests S1t, S2t, S3t, and S4t and three oscillating cam tooth valleys S1b, S2b, and S3b (see Figure 23) of each oscillating cam protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower upstream bar stock removal fixed cams 75ba and 75bb, respectively, between the two lower upstream bar stock removal fixed cams 75ba and 75bb.

[0308] As a result, a bar Ba that had been moving between the swing cam crest S2t of the lower upstream bar take-out swing cams 76aa and 76ab and the fixed cam crest K3t of the lower upstream bar take-out fixed cams 75aa and 75ab, and between the swing cam crest S2t of the lower upstream bar take-out swing cams 76ba and 76bb and the fixed cam crest K3t of the lower upstream bar take-out fixed cams 75ba and 75bb, is disengaged from the fixed cam crest K3t of the lower upstream bar take-out fixed cams 75aa and 75ab, as shown in FIG. 34, and is separated into the swing cam trough S2b (see FIG. 23) of the lower upstream bar take-out swing cams 76aa and 76ab, as shown in FIG. 35.

[0309] Furthermore, one bar Bb that had been moving between the swing cam crest S1t of the lower upstream bar take-out swing cams 76aa and 76ab and the fixed cam crest K2t of the lower upstream bar take-out fixed cams 75aa and 75ab, and between the swing cam crest S1t of the lower upstream bar take-out swing cams 76ba and 76bb and the fixed cam crest K2t of the lower upstream bar take-out fixed cams 75ba and 75bb, moves to the swing cam crest S1b (see FIG. 23) of the lower upstream bar take-out swing cams 76aa and 76ab as shown in FIG. 34, and then is separated into the swing cam crest S1b of the lower upstream bar take-out swing cams 76aa and 76ab as shown in FIG. 35.

[0310] Thereafter, in the lower upstream bar material take-out movable portion 70a, the lower upstream bar material take-out cylinder rod 74a of the lower upstream bar material take-out cylinder 73a is moved in the -Z direction opposite to that before, and the lower upstream bar material take-out swing cam action point 76ad is moved in the -Z direction, and the two lower upstream bar material take-out swing cams 76aa and 76ab rotate clockwise around the lower upstream bar material take-out swing cam rotation center 76ac. The lower upstream bar stock removal oscillating cams 76aa and 76ab rotate in the clockwise direction, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower upstream bar stock removal oscillating cams 76aa and 76ab retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar stock removal fixed cams 75aa and 75ab, respectively, between the two lower upstream bar stock removal fixed cams 75aa and 75ab.

[0311] In addition, in the lower upstream bar material take-out movable part 70b arranged on the +X direction side of the lower upstream bar material take-out movable part 70a, when the lower upstream bar material take-out cylinder rod 74b of the lower upstream bar material take-out cylinder 73b is moved in the -Z direction opposite to that before, and the lower upstream bar material take-out swing cam action point 76bd is moved in the -Z direction, the two lower upstream bar material take-out swing cams 76ba and 76bb rotate. The lower upstream bar stock removal oscillating cams 76ba and 76bb rotate clockwise (CW direction) around the center 76bc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower upstream bar stock removal oscillating cams 76ba and 76bb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower upstream bar stock removal fixed cams 75ba and 75bb, respectively, between the two lower upstream bar stock removal fixed cams 75ba and 75bb.

[0312] As a result, the bar Ba that had been separated at the rocking cam valley portion S2b of the lower-stage upstream bar stock removal rocking cams 76aa and 76ab moves between the rocking cam tooth crest portion S3t of the lower-stage upstream bar stock removal rocking cams 76aa and 76ab and the fixed cam tooth crest portion K3t of the lower-stage upstream bar stock removal fixed cams 75aa and 75ab, as well as between the rocking cam tooth crest portion S3t of the lower-stage upstream bar stock removal rocking cams 76ba and 76bb and the fixed cam tooth crest portion K3t of the lower-stage upstream bar stock removal fixed cams 75ba and 75bb, as shown in Figure 36.

[0313] Furthermore, as shown in FIG. 36, the bar Bb that was separated at the rocker cam valley portion S1b of the lower upstream bar take-out rocker cams 76aa and 76ab moves between the rocker cam tooth crest portion S2t of the lower upstream bar take-out rocker cams 76aa and 76ab and the fixed cam tooth crest portion K2t of the lower upstream bar take-out fixed cams 75aa and 75ab, and between the rocker cam tooth crest portion S2t of the lower upstream bar take-out rocker cams 76ba and 76bb and the fixed cam tooth crest portion K2t of the lower upstream bar take-out fixed cams 75ba and 75bb.

[0314] In the lower upstream bar stock removal movable portion 70a, when the lower upstream bar stock removal cylinder rod 74a of the lower upstream bar stock removal cylinder 73a is further moved in the -Z direction and the lower upstream bar stock removal swing cam action point 76ad is further moved in the -Z direction, the two lower upstream bar stock removal swing cams 76aa and 76ab are further rotated in the clockwise direction (CW direction) around the lower upstream bar stock removal swing cam rotation center 76ac. The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 76aa and 76ab are recessed below the respective inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower-stage upstream bar stock take-out fixed cams 75aa and 75ab, between the two lower-stage upstream bar stock take-out fixed cams 75aa and 75ab.

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

[0316] As a result, the bar Ba that had been moving between the swing cam tooth portion S3t of the lower upstream bar stock take-out swing cams 76aa and 76ab and the fixed cam tooth portion K3t of the lower upstream bar stock take-out fixed cams 75aa and 75ab, and between the swing cam tooth portion S3t of the lower upstream bar stock take-out swing cams 76ba and 76bb and the fixed cam tooth portion K3t of the lower upstream bar stock take-out fixed cams 75ba and 75bb, is separated into the fixed cam tooth valley portion K3b of the lower upstream bar stock take-out fixed cams 75aa and 75ab, as shown in Figure 37.

[0317] Furthermore, the bar Bb that had been moving between the swing cam crest S2t of the lower upstream bar take-out swing cams 76aa and 76ab and the fixed cam crest K2t of the lower upstream bar take-out fixed cams 75aa and 75ab, and between the swing cam crest S2t of the lower upstream bar take-out swing cams 76ba and 76bb and the fixed cam crest K2t of the lower upstream bar take-out fixed cams 75ba and 75bb, is separated into the fixed cam crest K2b of the lower upstream bar take-out fixed cams 75aa and 75ab, as shown in Figure 37, and the second cycle of operation is completed.

[0318] Thereafter, similarly, by repeatedly moving the lower upstream bar material removal cylinder rod 74a of the lower upstream bar material removal cylinder 73a in the +Z / -Z direction and repeatedly moving the lower upstream bar material removal cylinder rod 74b of the lower upstream bar material removal cylinder 73b in the +Z / -Z direction, bar material B2 can be removed one by one from the bundle of bar materials B2 from the -Y end (corresponding to the "one end" of the present invention) to the +Y end (corresponding to the "other end" of the present invention).

[0319] In the lower upstream bar removal movable section 70a, by moving the lower upstream bar removal cylinder rod 74a of the lower upstream bar removal cylinder 73a in the +Z direction and the -Z direction, the lower upstream bar removal oscillating cams 76aa and 76ab are rotated around the lower upstream bar removal oscillating cam rotation center 76ac, and bar B2 is removed one by one from the bundle of bar B2. This makes it possible to reduce the projected area of ​​the lower upstream bar removal movable section 70a, and ultimately to reduce the projected area of ​​the lower bar removal device 7 and make it more compact.

[0320] This effect is also the same for the lower upstream bar removal movable section 70b, the lower downstream bar removal movable sections 70c and 70d described below, the upper upstream bar removal movable sections 170a and 170b, and the upper downstream bar removal movable sections 170c and 170d described below.

[0321] In addition, with regard to a bundle of bars B2, the bars B2 are basically reliably removed one by one by the lower upstream bar removal fixed section 71a and the lower upstream bar removal movable sections 70a and 70b, but in the lower bar removal device 7 of this embodiment, the lower downstream bar removal fixed section 71b and the lower downstream bar removal movable sections 70c and 70d are also arranged on the downstream side, so that even in the unlikely event that the bars B2 are not removed one by one, the bars B2 are more reliably removed one by one.

[0322] Therefore, when the bars B2 are taken out one by one and transported by the lower third bar transport conveyors 84a to 84d to the lower downstream bar take-out fixed section 71b and the lower downstream bar take-out movable sections 70c and 70d, the bars B2 are transported to between the fixed cam tooth portions K1t and K2t of the lower downstream bar take-out movable sections 70c and 70d with the lower downstream bar take-out cylinder rods 74c and 74d of the lower downstream bar take-out cylinders 73c and 73d lowered, as shown in Figure 27.

[0323] In the lower downstream bar material take-out movable portion 70c, when the lower downstream bar material take-out cylinder rod 74c of the lower downstream bar material take-out cylinder 73c is moved in the +Z direction and the lower downstream bar material take-out swing cam action point 76cd is moved in the +Z direction, the two lower downstream bar material take-out swing cams 76ca and 76cb rotate in the counterclockwise direction (CCW direction) around the lower downstream bar material take-out swing cam rotation center 76cc. ), and the four swing cam tooth portions S1t, S2t, S3t and S4t of each of the lower downstream bar material removal swing cams 76ca and 76cb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar material removal fixed cams 75ca and 75cb, respectively, between the two lower downstream bar material removal fixed cams 75ca and 75cb.

[0324] In addition, in the lower downstream bar material take-out movable part 70d arranged on the +X direction side of the lower downstream bar material take-out movable part 70c, when the lower downstream bar material take-out cylinder rod 74d of the lower downstream bar material take-out cylinder 73d is moved in the +Z direction and the lower downstream bar material take-out swing cam action point 76dd is moved in the +Z direction, the two lower downstream bar material take-out swing cams 76da and 76db rotate around the lower downstream bar material take-out swing cam rotation center 76dc. The lower downstream bar stock take-out swing cams 76da and 76db rotate counterclockwise (CCW) around the center, and the four swing cam teeth S1t, S2t, S3t and S4t of each of the lower downstream bar stock take-out swing cams 76da and 76db jump out above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar stock take-out fixed cams 75da and 75db, respectively, between the two lower downstream bar stock take-out swing cams 75da and 75db.

[0325] As a result, a bar B2 that had been transported up to the gap between the fixed cam tooth portions K1t and K2t of the lower downstream bar removal movable portions 70c and 70d moves between the swing cam tooth portion S1t of the lower downstream bar removal swing cams 76ca and 76cb and the fixed cam tooth portion K2t of the lower downstream bar removal fixed cams 75ca and 75cb, as shown in Figure 28, and between the swing cam tooth portion S1t of the lower downstream bar removal swing cams 76da and 76db and the fixed cam tooth portion K2t of the lower downstream bar removal fixed cams 75da and 75db.

[0326] In the lower downstream bar stock removal movable portion 70c, when the lower downstream bar stock removal cylinder rod 74c of the lower downstream bar stock removal cylinder 73c is further moved in the +Z direction and the lower downstream bar stock removal swing cam action point 76cd is further moved in the +Z direction, the two lower downstream bar stock removal swing cams 76ca and 76cb are further rotated in the counterclockwise direction (CCW direction) around the lower downstream bar stock removal swing cam rotation center 76cc, The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the material removal oscillating cams 76ca and 76cb protrude above the respective inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar removal fixed cams 75ca and 75cb between them.

[0327] In addition, in the lower downstream bar stock take-out movable part 70d arranged on the +X direction side of the lower downstream bar stock take-out movable part 70c, when the lower downstream bar stock take-out cylinder rod 74d of the lower downstream bar stock take-out cylinder 73d is further moved in the +Z direction and the lower downstream bar stock take-out swing cam action point 76dd is further moved in the +Z direction, the two lower downstream bar stock take-out swing cams 76da and 76db rotate in the counterclockwise (CCW) direction around the lower downstream bar stock take-out swing cam rotation center 76dc. The lower downstream bar stock removal oscillating cams 76da and 76db rotate further, and the four oscillating cam tooth crest portions S1t, S2t, S3t, and S4t and three oscillating cam tooth valley portions S1b, S2b, and S3b (see Figure 23) of each of the lower downstream bar stock removal oscillating cams 76da and 76db protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream bar stock removal fixed cams 75da and 75db, respectively, between them.

[0328] As a result, a bar B2 (hereinafter referred to as "Ba") that had been moved between the swing cam tooth portion S1t of the lower downstream bar take-out swing cams 76ca and 76cb and the fixed cam tooth portion K2t of the lower downstream bar take-out fixed cams 75ca and 75cb, and between the swing cam tooth portion S1t of the lower downstream bar take-out swing cams 76da and 76db and the fixed cam tooth portion K2t of the lower downstream bar take-out fixed cams 75da and 75db, moves to the swing cam tooth valley portion S1b of the lower downstream bar take-out swing cams 76ca and 76cb (see FIG. 23) as shown in FIG. 29, and then is separated into the swing cam tooth valley portion S1b of the lower downstream bar take-out swing cams 76ca and 76cb as shown in FIG. 30.

[0329] Thereafter, in the lower downstream bar material take-out movable portion 70c, the lower downstream bar material take-out cylinder rod 74c of the lower downstream bar material take-out cylinder 73c is moved in the -Z direction opposite to that before, and the lower downstream bar material take-out swing cam action point 76cd is moved in the -Z direction, and the two lower downstream bar material take-out swing cams 76ca and 76cb rotate clockwise around the lower downstream bar material take-out swing cam rotation center 76cc. The lower downstream bar stock removal oscillating cams 76ca and 76cb rotate in the clockwise direction, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower downstream bar stock removal oscillating cams 76ca and 76cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar stock removal fixed cams 75ca and 75cb, respectively, between the two lower downstream bar stock removal fixed cams 75ca and 75cb.

[0330] In addition, in the lower downstream bar material take-out movable part 70d arranged on the +X direction side of the lower downstream bar material take-out movable part 70c, when the lower downstream bar material take-out cylinder rod 74d of the lower downstream bar material take-out cylinder 73d is moved in the -Z direction opposite to that before, and the lower downstream bar material take-out swing cam action point 76dd is moved in the -Z direction, the two lower downstream bar material take-out swing cams 76da and 76db rotate. The lower downstream bar stock removal oscillating cams 76da and 76db rotate clockwise (CW direction) around the center 76dc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower downstream bar stock removal oscillating cams 76da and 76db retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar stock removal fixed cams 75da and 75db, respectively, between the two lower downstream bar stock removal fixed cams 75da and 75db.

[0331] As a result, the bar Ba that had been separated into the rocker cam valley portions S1b of the lower-stage downstream bar take-out rocker cams 76ca and 76cb moves between the rocker cam tooth crest portions S2t of the lower-stage downstream bar take-out rocker cams 76ca and 76cb and the fixed cam tooth crest portions K2t of the lower-stage downstream bar take-out fixed cams 75ca and 75cb, as well as between the rocker cam tooth crest portions S2t of the lower-stage downstream bar take-out rocker cams 76da and 76db and the fixed cam tooth crest portions K2t of the lower-stage downstream bar take-out fixed cams 75da and 75db, as shown in FIG.

[0332] In the lower downstream bar stock removal movable portion 70c, when the lower downstream bar stock removal cylinder rod 74c of the lower downstream bar stock removal cylinder 73c is further moved in the -Z direction and the lower downstream bar stock removal swing cam action point 76cd is further moved in the -Z direction, the two lower downstream bar stock removal swing cams 76ca and 76cb are further rotated in the clockwise direction (CW direction) around the lower downstream bar stock removal swing cam rotation center 76cc, The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 76ca and 76cb are recessed below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower-stage downstream bar workpiece take-out fixed cams 75ca and 75cb, respectively, between the two lower-stage downstream bar workpiece take-out fixed cams 75ca and 75cb.

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

[0334] As a result, the bar Ba that had been moving between the swing cam crest S2t of the lower downstream bar take-out swing cams 76ca and 76cb and the fixed cam crest K2t of the lower downstream bar take-out fixed cams 75ca and 75cb, and between the swing cam crest S2t of the lower downstream bar take-out swing cams 76da and 76db and the fixed cam crest K2t of the lower downstream bar take-out fixed cams 75da and 75db, is separated into the fixed cam crest K2b of the lower downstream bar take-out fixed cams 75ca and 75cb, as shown in Figure 32, and the first cycle of operation is completed.

[0335] Then, in the second cycle, in the lower downstream bar material take-out movable part 70c, the lower downstream bar material take-out cylinder rod 74c of the lower downstream bar material take-out cylinder 73c is moved in the +Z direction again, and the lower downstream bar material take-out swing cam action point 76cd is moved in the +Z direction, and the two lower downstream bar material take-out swing cams 76ca and 76cb rotate counterclockwise around the lower downstream bar material take-out swing cam rotation center 76cc. (CCW direction), and the four oscillating cam tooth portions S1t, S2t, S3t and S4t of each of the lower downstream bar material removal oscillating cams 76ca and 76cb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar material removal fixed cams 75ca and 75cb, respectively, between the two lower downstream bar material removal fixed cams 75ca and 75cb.

[0336] In addition, in the lower downstream bar material take-out movable part 70d arranged on the +X direction side of the lower downstream bar material take-out movable part 70c, when the lower downstream bar material take-out cylinder rod 74d of the lower downstream bar material take-out cylinder 73d is moved again in the +Z direction and the lower downstream bar material take-out swing cam action point 76dd is moved in the +Z direction, the two lower downstream bar material take-out swing cams 76da and 76db move around the lower downstream bar material take-out swing cam rotation center 76dc. The lower downstream bar material removal oscillating cams 76da and 76db rotate counterclockwise (CCW) around the center, and the four oscillating cam tooth portions S1t, S2t, S3t and S4t of each of the lower downstream bar material removal oscillating cams 76da and 76db protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar material removal fixed cams 75da and 75db, respectively, between them.

[0337] As a result, as shown in Figure 33, the bar Ba that had been separated into the fixed cam tooth valley portion K2b of the lower-stage downstream bar stock removal fixed cams 75ca and 75cb moves between the swing cam tooth portion S2t of the lower-stage downstream bar stock removal swing cams 76ca and 76cb and the fixed cam tooth portion K3t of the lower-stage downstream bar stock removal fixed cams 75ca and 75cb, and between the swing cam tooth portion S2t of the lower-stage downstream bar stock removal swing cams 76da and 76db and the fixed cam tooth portion K3t of the lower-stage downstream bar stock removal fixed cams 75da and 75db.

[0338] Furthermore, as shown in FIG. 33, a new bar Bb from the bundle of bars B2 that had been transported up to the gap between the fixed cam tooth land portions K1t and K2t of the lower-stage downstream bar removal movable portions 70c and 70d moves between the swing cam tooth land portion S1t of the lower-stage downstream bar removal swing cams 76ca and 76cb and the fixed cam tooth land portion K2t of the lower-stage downstream bar removal fixed cams 75ca and 75cb, and also between the swing cam tooth land portion S1t of the lower-stage downstream bar removal swing cams 76da and 76db and the fixed cam tooth land portion K2t of the lower-stage downstream bar removal fixed cams 75da and 75db.

[0339] In the lower downstream bar take-out movable portion 70c, when the lower downstream bar take-out cylinder rod 74c of the lower downstream bar take-out cylinder 73c is further moved in the +Z direction and the lower downstream bar take-out swing cam action point 76cd is further moved in the +Z direction, the two lower downstream bar take-out swing cams 76ca and 76cb are further rotated in the counterclockwise direction (CCW direction) around the lower downstream bar take-out swing cam rotation center 76cc, The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the bar stock removal oscillating cams 76ca and 76cb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower-stage downstream bar stock removal fixed cams 75ca and 75cb, respectively, between the two lower-stage downstream bar stock removal fixed cams 75ca and 75cb.

[0340] In addition, in the lower downstream bar stock take-out movable part 70d arranged on the +X direction side of the lower downstream bar stock take-out movable part 70c, when the lower downstream bar stock take-out cylinder rod 74d of the lower downstream bar stock take-out cylinder 73d is further moved in the +Z direction and the lower downstream bar stock take-out swing cam action point 76dd is further moved in the +Z direction, the two lower downstream bar stock take-out swing cams 76da and 76db rotate in the counterclockwise (CCW) direction around the lower downstream bar stock take-out swing cam rotation center 76dc. The lower downstream bar stock removal oscillating cams 76da and 76db rotate further, and the four oscillating cam tooth crest portions S1t, S2t, S3t, and S4t and three oscillating cam tooth valley portions S1b, S2b, and S3b (see Figure 23) of each of the lower downstream bar stock removal oscillating cams 76da and 76db protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the lower downstream bar stock removal fixed cams 75da and 75db, respectively, between them.

[0341] As a result, a bar Ba that had been moved between the swing cam crest S2t of the lower downstream bar take-out swing cams 76ca and 76cb and the fixed cam crest K3t of the lower downstream bar take-out fixed cams 75ca and 75cb, and between the swing cam crest S2t of the lower downstream bar take-out swing cams 76da and 76db and the fixed cam crest K3t of the lower downstream bar take-out fixed cams 75da and 75db, is disengaged from the fixed cam crest K3t of the lower downstream bar take-out fixed cams 75ca and 75cb as shown in FIG. 34, and is separated into the swing cam crest S2b (see FIG. 23) of the lower downstream bar take-out swing cams 76ca and 76cb as shown in FIG. 35.

[0342] Furthermore, one bar Bb that had been moved between the swing cam crest S1t of the lower downstream bar take-out swing cams 76ca and 76cb and the fixed cam crest K2t of the lower downstream bar take-out fixed cams 75ca and 75cb, and between the swing cam crest S1t of the lower downstream bar take-out swing cams 76da and 76db and the fixed cam crest K2t of the lower downstream bar take-out fixed cams 75da and 75db, moves to the swing cam crest S1b (see FIG. 23) of the lower downstream bar take-out swing cams 76ca and 76cb as shown in FIG. 34, and then is separated into the swing cam crest S1b of the lower downstream bar take-out swing cams 76ca and 76cb as shown in FIG. 35.

[0343] Thereafter, in the lower downstream bar material take-out movable portion 70c, the lower downstream bar material take-out cylinder rod 74c of the lower downstream bar material take-out cylinder 73c is moved in the -Z direction opposite to that before, and the lower downstream bar material take-out swing cam action point 76cd is moved in the -Z direction, and the two lower downstream bar material take-out swing cams 76ca and 76cb rotate clockwise around the lower downstream bar material take-out swing cam rotation center 76cc. The lower downstream bar stock removal oscillating cams 76ca and 76cb rotate in the clockwise direction, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower downstream bar stock removal oscillating cams 76ca and 76cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar stock removal fixed cams 75ca and 75cb, respectively, between the two lower downstream bar stock removal fixed cams 75ca and 75cb.

[0344] In addition, in the lower downstream bar material take-out movable part 70d arranged on the +X direction side of the lower downstream bar material take-out movable part 70c, when the lower downstream bar material take-out cylinder rod 74d of the lower downstream bar material take-out cylinder 73d is moved in the -Z direction opposite to that before, and the lower downstream bar material take-out swing cam action point 76dd is moved in the -Z direction, the two lower downstream bar material take-out swing cams 76da and 76db rotate. The lower downstream bar stock removal oscillating cams 76da and 76db rotate clockwise (CW direction) around the center 76dc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the lower downstream bar stock removal oscillating cams 76da and 76db retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower downstream bar stock removal fixed cams 75da and 75db, respectively, between the two lower downstream bar stock removal fixed cams 75da and 75db.

[0345] As a result, the bar Ba that had been separated into the rocker cam valley portions S2b of the lower-stage downstream bar stock removal rocker cams 76ca and 76cb moves between the rocker cam tooth crest portions S3t of the lower-stage downstream bar stock removal rocker cams 76ca and 76cb and the fixed cam tooth crest portions K3t of the lower-stage downstream bar stock removal fixed cams 75ca and 75cb, as well as between the rocker cam tooth crest portions S3t of the lower-stage downstream bar stock removal rocker cams 76da and 76db and the fixed cam tooth crest portions K3t of the lower-stage downstream bar stock removal fixed cams 75da and 75db, as shown in FIG.

[0346] Furthermore, as shown in FIG. 36, the bar Bb that was separated into the rocker cam valley portions S1b of the lower-stage downstream bar take-out rocker cams 76ca and 76cb moves between the rocker cam tooth crest portions S2t of the lower-stage downstream bar take-out rocker cams 76ca and 76cb and the fixed cam tooth crest portions K2t of the lower-stage downstream bar take-out fixed cams 75ca and 75cb, and between the rocker cam tooth crest portions S2t of the lower-stage downstream bar take-out rocker cams 76da and 76db and the fixed cam tooth crest portions K2t of the lower-stage downstream bar take-out fixed cams 75da and 75db.

[0347] In the lower downstream bar stock removal movable portion 70c, when the lower downstream bar stock removal cylinder rod 74c of the lower downstream bar stock removal cylinder 73c is further moved in the -Z direction and the lower downstream bar stock removal swing cam action point 76cd is further moved in the -Z direction, the two lower downstream bar stock removal swing cams 76ca and 76cb are further rotated in the clockwise direction (CW direction) around the lower downstream bar stock removal swing cam rotation center 76cc, The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 76ca and 76cb are recessed below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the lower-stage downstream bar workpiece take-out fixed cams 75ca and 75cb, respectively, between the two lower-stage downstream bar workpiece take-out fixed cams 75ca and 75cb.

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

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

[0350] Furthermore, the bar Bb that had been moving between the swing cam crest S2t of the lower downstream bar take-out swing cams 76ca and 76cb and the fixed cam crest K2t of the lower downstream bar take-out fixed cams 75ca and 75cb, and between the swing cam crest S2t of the lower downstream bar take-out swing cams 76da and 76db and the fixed cam crest K2t of the lower downstream bar take-out fixed cams 75da and 75db, is separated into the fixed cam crest K2b of the lower downstream bar take-out fixed cams 75ca and 75cb, as shown in Figure 37, and the second cycle of operation is completed.

[0351] Thereafter, similarly, by repeatedly moving the lower downstream bar material removal cylinder rod 74c of the lower downstream bar material removal cylinder 73c in the +Z / -Z direction and repeatedly moving the lower downstream bar material removal cylinder rod 74d of the lower downstream bar material removal cylinder 73d in the +Z / -Z direction, the bar material B2 can be reliably removed one by one from the -Y direction end (corresponding to the "one end" of the present invention) to the +Y direction end (corresponding to the "other end" of the present invention).

[0352] Next, a description will be given of the process in S3 in which the bars B1 are taken out one by one from the bundle of bars B1.

[0353] First, the bundle of bars B1 is transported by the upper first bar transport conveyors 180a-180d and the upper second bar transport conveyors 182a-182d to the upper upstream bar removal fixed section 171a and the upper upstream bar removal movable sections 170a and 170b. As shown in FIG. 27, the bundle of bars B1 is transported to between the fixed cam teeth K1t and K2t of the upper upstream bar removal movable sections 170a and 170b with the upper upstream bar removal cylinder rods 174a and 174b of the upper upstream bar removal cylinders 173a and 173b lowered.

[0354] In the upper upstream bar workpiece take-out movable portion 170a, when the upper upstream bar workpiece take-out cylinder rod 174a of the upper upstream bar workpiece take-out cylinder 173a is moved in the +Z direction and the upper upstream bar workpiece take-out swing cam action point 176ad is moved in the +Z direction, the two upper upstream bar workpiece take-out swing cams 176aa and 176ab rotate in the counterclockwise direction (CCW direction) around the upper upstream bar workpiece take-out swing cam rotation center 176ac. The upper upstream bar workpiece ejection cams 176aa and 176ab rotate in the forward (upper upstream bar workpiece ejection direction) direction, and the four swing cam tooth portions S1t, S2t, S3t, and S4t of each of the upper upstream bar workpiece ejection cams 176aa and 176ab protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar workpiece ejection fixed cams 175aa and 175ab, respectively, between the two upper upstream bar workpiece ejection fixed cams 175aa and 175ab.

[0355] In addition, in the upper upstream bar material take-out movable part 170b arranged on the +X direction side of the upper upstream bar material take-out movable part 170a, when the upper upstream bar material take-out cylinder rod 174b of the upper upstream bar material take-out cylinder 173b is moved in the +Z direction and the upper upstream bar material take-out swing cam action point 176bd is moved in the +Z direction, the two upper upstream bar material take-out swing cams 176ba and 176bb move around the upper upstream bar material take-out swing cam rotation center 176bc. The upper upstream bar material removal oscillating cams 176ba and 176bb rotate counterclockwise (CCW) around the center, and the four oscillating cam tooth portions S1t, S2t, S3t, and S4t of each oscillating cam protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar material removal fixed cams 175ba and 175bb, respectively, between them.

[0356] As a result, one of the bundle of bars B1 that had been transported up to the gap between the fixed cam tooth portions K1t and K2t of the upper upstream bar removal movable portions 170a and 170b moves between the swing cam tooth portion S1t of the upper upstream bar removal swing cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream bar removal fixed cams 175aa and 175ab, as well as between the swing cam tooth portion S1t of the upper upstream bar removal swing cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream bar removal fixed cams 175ba and 175bb, as shown in FIG. 28.

[0357] In the upper upstream bar take-out movable portion 170a, when the upper upstream bar take-out cylinder rod 174a of the upper upstream bar take-out cylinder 173a is further moved in the +Z direction and the upper upstream bar take-out swing cam action point 176ad is further moved in the +Z direction, the two upper upstream bar take-out swing cams 176aa and 176ab are further rotated in the counterclockwise direction (CCW direction) around the upper upstream bar take-out swing cam rotation center 176ac. The four oscillating cam tooth crests S1t, S2t, S3t and S4t and three oscillating cam tooth valleys S1b, S2b and S3b (see Figure 23) of each of the bar stock removal oscillating cams 176aa and 176ab protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper upstream bar stock removal fixed cams 175aa and 175ab, respectively, between the two upper upstream bar stock removal fixed cams 175aa and 175ab.

[0358] In addition, in the upper upstream bar stock removal movable part 170b arranged on the +X direction side of the upper upstream bar stock removal movable part 170a, when the upper upstream bar stock removal cylinder rod 174b of the upper upstream bar stock removal cylinder 173b is further moved in the +Z direction and the upper upstream bar stock removal swing cam action point 176bd is further moved in the +Z direction, the two upper upstream bar stock removal swing cams 176ba and 176bb rotate in the counterclockwise direction (CCW direction) around the upper upstream bar stock removal swing cam rotation center 176bc. ), and the four oscillating cam tooth crest portions S1t, S2t, S3t, and S4t and three oscillating cam tooth valley portions S1b, S2b, and S3b (see Figure 23) of each of the upper upstream bar stock removal oscillating cams 176ba and 176bb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175ba and 175bb, respectively, between the two upper upstream bar stock removal fixed cams 175ba and 175bb.

[0359] As a result, a bar B1 (hereinafter referred to as "Ba") that had been moving between the swing cam tooth portion S1t of the upper upstream bar take-out swing cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175aa and 175ab, and between the swing cam tooth portion S1t of the upper upstream bar take-out swing cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175ba and 175bb, moves to the swing cam tooth valley portion S1b (see FIG. 23) of the upper upstream bar take-out swing cams 176aa and 176ab, as shown in FIG. 29, and is then separated into the swing cam tooth valley portion S1b of the upper upstream bar take-out swing cams 176aa and 176ab, as shown in FIG. 30.

[0360] Thereafter, in the upper upstream bar material take-out movable portion 170a, the upper upstream bar material take-out cylinder rod 174a of the upper upstream bar material take-out cylinder 173a is moved in the -Z direction opposite to that before, and the upper upstream bar material take-out swing cam action point 176ad is moved in the -Z direction, and the two upper upstream bar material take-out swing cams 176aa and 176ab rotate clockwise around the upper upstream bar material take-out swing cam rotation center 176ac. The upper upstream bar stock removal oscillating cams 176aa and 176ab rotate in the clockwise direction, and the three oscillating cam tooth valley portions S1b, S2b, and S3b of each of the upper upstream bar stock removal oscillating cams 176aa and 176ab retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175aa and 175ab, respectively, between the two upper upstream bar stock removal fixed cams 175aa and 175ab.

[0361] In addition, in the upper upstream bar material take-out movable part 170b arranged on the +X direction side of the upper upstream bar material take-out movable part 170a, when the upper upstream bar material take-out cylinder rod 174b of the upper upstream bar material take-out cylinder 173b is moved in the -Z direction opposite to that before, and the upper upstream bar material take-out swing cam action point 176bd is moved in the -Z direction, the two upper upstream bar material take-out swing cams 176ba and 176bb rotate. The upper upstream bar stock removal oscillating cams 176ba and 176bb rotate clockwise (CW direction) around the center 176bc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the upper upstream bar stock removal oscillating cams 176ba and 176bb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper upstream bar stock removal fixed cams 175ba and 175bb, respectively, between them.

[0362] As a result, the bar Ba that had been separated by the rocker cam valley portion S1b of the upper upstream bar take-out rocker cams 176aa and 176ab moves between the rocker cam tooth crest portion S2t of the upper upstream bar take-out rocker cams 176aa and 176ab and the fixed cam tooth crest portion K2t of the upper upstream bar take-out fixed cams 175aa and 175ab, and between the rocker cam tooth crest portion S2t of the upper upstream bar take-out rocker cams 176ba and 176bb and the fixed cam tooth crest portion K2t of the upper upstream bar take-out fixed cams 175ba and 175bb, as shown in Figure 31.

[0363] In the upper upstream bar take-out movable portion 170a, when the upper upstream bar take-out cylinder rod 174a of the upper upstream bar take-out cylinder 173a is further moved in the -Z direction and the upper upstream bar take-out swing cam action point 176ad is further moved in the -Z direction, the two upper upstream bar take-out swing cams 176aa and 176ab are further rotated in the clockwise direction (CW direction) around the upper upstream bar take-out swing cam rotation center 176ac. The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 176aa and 176ab are recessed below the respective inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper upstream bar workpiece take-out fixed cams 175aa and 175ab, between the two upper upstream bar workpiece take-out fixed cams 175aa and 175ab.

[0364] In addition, in the upper upstream bar material take-out movable part 170b arranged on the +X direction side of the upper upstream bar material take-out movable part 170a, when the upper upstream bar material take-out cylinder rod 174b of the upper upstream bar material take-out cylinder 173b is further moved in the -Z direction and the upper upstream bar material take-out swing cam action point 176bd is further moved in the -Z direction, the two upper upstream bar material take-out swing cams 176ba and 176bb rotate in a clockwise direction (CW direction) around the upper upstream bar material take-out swing cam rotation center 176bc. The upper upstream bar stock removal swing cams 176ba and 176bb then rotate further, and the four swing cam tooth crests S1t, S2t, S3t, and S4t and three swing cam tooth valleys S1b, S2b, and S3b (see FIG. 23) of each of the upper upstream bar stock removal swing cams 176ba and 176bb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175ba and 175bb, respectively, between the two upper upstream bar stock removal fixed cams 175ba and 175bb.

[0365] As a result, the bar Ba that had been moving between the swing cam tooth portion S2t of the upper upstream bar stock take-out swing cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream bar stock take-out fixed cams 175aa and 175ab, and between the swing cam tooth portion S2t of the upper upstream bar stock take-out swing cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream bar stock take-out fixed cams 175ba and 175bb, is separated into the fixed cam tooth valley portion K2b of the upper upstream bar stock take-out fixed cams 175aa and 175ab, as shown in Figure 32, and the first cycle of operation is completed.

[0366] Then, in the second cycle, in the upper upstream bar material take-out movable part 170a, when the upper upstream bar material take-out cylinder rod 174a of the upper upstream bar material take-out cylinder 173a is moved in the +Z direction and the upper upstream bar material take-out swing cam action point 176ad is moved in the +Z direction, the two upper upstream bar material take-out swing cams 176aa and 176ab rotate counterclockwise around the upper upstream bar material take-out swing cam rotation center 176ac. The upper upstream bar stock removal oscillating cams 176aa and 176ab rotate in the CCW direction, and the four oscillating cam tooth portions S1t, S2t, S3t, and S4t of each of the upper upstream bar stock removal oscillating cams 176aa and 176ab protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175aa and 175ab, respectively, between the two upper upstream bar stock removal fixed cams 175aa and 175ab.

[0367] In addition, in the upper upstream bar material take-out movable part 170b arranged on the +X direction side of the upper upstream bar material take-out movable part 170a, when the upper upstream bar material take-out cylinder rod 174b of the upper upstream bar material take-out cylinder 173b is again moved in the +Z direction and the upper upstream bar material take-out swing cam action point 176bd is moved in the +Z direction, the two upper upstream bar material take-out swing cams 176ba and 176bb move in the +Z direction. The upper upstream bar stock removal oscillating cams 176ba and 176bb rotate counterclockwise (CCW) around the center, and the four oscillating cam tooth portions S1t, S2t, S3t, and S4t of each of the upper upstream bar stock removal oscillating cams 176ba and 176bb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175ba and 175bb, respectively, between the two upper upstream bar stock removal fixed cams 175ba and 175bb.

[0368] As a result, as shown in Figure 33, the bar Ba that had been separated by the fixed cam tooth valley portion K2b of the upper upstream bar stock removal fixed cams 175aa and 175ab moves between the swing cam tooth portion S2t of the upper upstream bar stock removal swing cams 176aa and 176ab and the fixed cam tooth portion K3t of the upper upstream bar stock removal fixed cams 175aa and 175ab, and between the swing cam tooth portion S2t of the upper upstream bar stock removal swing cams 176ba and 176bb and the fixed cam tooth portion K3t of the upper upstream bar stock removal fixed cams 175ba and 175bb.

[0369] Furthermore, as shown in FIG. 33, a new bar Bb from the bundle of bars B1 that had been transported up to the gap between the fixed cam tooth portions K1t and K2t of the upper upstream bar take-out movable parts 170a and 170b moves between the swing cam tooth portion S1t of the upper upstream bar take-out swing cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175aa and 175ab, and also between the swing cam tooth portion S1t of the upper upstream bar take-out swing cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175ba and 175bb.

[0370] In the upper upstream bar take-out movable portion 170a, when the upper upstream bar take-out cylinder rod 174a of the upper upstream bar take-out cylinder 173a is further moved in the +Z direction and the upper upstream bar take-out swing cam action point 176ad is further moved in the +Z direction, the two upper upstream bar take-out swing cams 176aa and 176ab are further rotated in the counterclockwise direction (CCW direction) around the upper upstream bar take-out swing cam rotation center 176ac. The four oscillating cam tooth crests S1t, S2t, S3t and S4t and three oscillating cam tooth valleys S1b, S2b and S3b (see Figure 23) of each of the bar stock removal oscillating cams 176aa and 176ab protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper upstream bar stock removal fixed cams 175aa and 175ab, respectively, between the two upper upstream bar stock removal fixed cams 175aa and 175ab.

[0371] In addition, in the upper upstream bar stock removal movable part 170b arranged on the +X direction side of the upper upstream bar stock removal movable part 170a, when the upper upstream bar stock removal cylinder rod 174b of the upper upstream bar stock removal cylinder 173b is further moved in the +Z direction and the upper upstream bar stock removal swing cam action point 176bd is further moved in the +Z direction, the two upper upstream bar stock removal swing cams 176ba and 176bb rotate in the counterclockwise direction (CCW direction) around the upper upstream bar stock removal swing cam rotation center 176bc. ), and the four oscillating cam tooth crest portions S1t, S2t, S3t, and S4t and three oscillating cam tooth valley portions S1b, S2b, and S3b (see Figure 23) of each of the upper upstream bar stock removal oscillating cams 176ba and 176bb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175ba and 175bb, respectively, between the two upper upstream bar stock removal fixed cams 175ba and 175bb.

[0372] As a result, a bar Ba that had been moving between the swing cam crest S2t of the upper upstream bar take-out swing cams 176aa and 176ab and the fixed cam crest K3t of the upper upstream bar take-out fixed cams 175aa and 175ab, and between the swing cam crest S2t of the upper upstream bar take-out swing cams 176ba and 176bb and the fixed cam crest K3t of the upper upstream bar take-out fixed cams 175ba and 175bb, is disengaged from the fixed cam crest K3t of the upper upstream bar take-out fixed cams 175aa and 175ab as shown in FIG. 34, and is separated into the swing cam trough S2b (see FIG. 23) of the upper upstream bar take-out swing cams 176aa and 176ab as shown in FIG. 35.

[0373] Furthermore, a bar Bb that had been moving between the swing cam tooth portion S1t of the upper upstream bar take-out swing cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175aa and 175ab, and between the swing cam tooth portion S1t of the upper upstream bar take-out swing cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175ba and 175bb, moves to the swing cam tooth valley portion S1b (see FIG. 23) of the upper upstream bar take-out swing cams 176aa and 176ab, as shown in FIG. 34, and is then separated into the swing cam tooth valley portion S1b of the upper upstream bar take-out swing cams 176aa and 176ab, as shown in FIG. 35.

[0374] Thereafter, in the upper upstream bar material take-out movable portion 170a, the upper upstream bar material take-out cylinder rod 174a of the upper upstream bar material take-out cylinder 173a is moved in the -Z direction opposite to that before, and the upper upstream bar material take-out swing cam action point 176ad is moved in the -Z direction, and the two upper upstream bar material take-out swing cams 176aa and 176ab rotate clockwise around the upper upstream bar material take-out swing cam rotation center 176ac. The upper upstream bar stock removal oscillating cams 176aa and 176ab rotate in the clockwise direction, and the three oscillating cam tooth valley portions S1b, S2b, and S3b of each of the upper upstream bar stock removal oscillating cams 176aa and 176ab retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175aa and 175ab, respectively, between the two upper upstream bar stock removal fixed cams 175aa and 175ab.

[0375] In addition, in the upper upstream bar material take-out movable part 170b arranged on the +X direction side of the upper upstream bar material take-out movable part 170a, when the upper upstream bar material take-out cylinder rod 174b of the upper upstream bar material take-out cylinder 173b is moved in the -Z direction opposite to that before, and the upper upstream bar material take-out swing cam action point 176bd is moved in the -Z direction, the two upper upstream bar material take-out swing cams 176ba and 176bb rotate. The upper upstream bar stock removal oscillating cams 176ba and 176bb rotate clockwise (CW direction) around the center 176bc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the upper upstream bar stock removal oscillating cams 176ba and 176bb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper upstream bar stock removal fixed cams 175ba and 175bb, respectively, between them.

[0376] As a result, the bar Ba that had been separated by the rocker cam valley portion S2b of the upper upstream bar take-out rocker cams 176aa and 176ab moves between the rocker cam tooth crest portion S3t of the upper upstream bar take-out rocker cams 176aa and 176ab and the fixed cam tooth crest portion K3t of the upper upstream bar take-out fixed cams 175aa and 175ab, and between the rocker cam tooth crest portion S3t of the upper upstream bar take-out rocker cams 176ba and 176bb and the fixed cam tooth crest portion K3t of the upper upstream bar take-out fixed cams 175ba and 175bb, as shown in Figure 36.

[0377] Furthermore, as shown in FIG. 36, the bar Bb that had been separated into the rocker cam valley portion S1b of the upper upstream bar take-out rocker cams 176aa and 176ab moves between the rocker cam tooth crest portion S2t of the upper upstream bar take-out rocker cams 176aa and 176ab and the fixed cam tooth crest portion K2t of the upper upstream bar take-out fixed cams 175aa and 175ab, and between the rocker cam tooth crest portion S2t of the upper upstream bar take-out rocker cams 176ba and 176bb and the fixed cam tooth crest portion K2t of the upper upstream bar take-out fixed cams 175ba and 175bb.

[0378] In the upper upstream bar take-out movable portion 170a, when the upper upstream bar take-out cylinder rod 174a of the upper upstream bar take-out cylinder 173a is further moved in the -Z direction and the upper upstream bar take-out swing cam action point 176ad is further moved in the -Z direction, the two upper upstream bar take-out swing cams 176aa and 176ab are further rotated in the clockwise direction (CW direction) around the upper upstream bar take-out swing cam rotation center 176ac. The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 176aa and 176ab are recessed below the respective inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper upstream bar workpiece take-out fixed cams 175aa and 175ab, between the two upper upstream bar workpiece take-out fixed cams 175aa and 175ab.

[0379] In addition, in the upper upstream bar material take-out movable part 170b arranged on the +X direction side of the upper upstream bar material take-out movable part 170a, when the upper upstream bar material take-out cylinder rod 174b of the upper upstream bar material take-out cylinder 173b is further moved in the -Z direction and the upper upstream bar material take-out swing cam action point 176bd is further moved in the -Z direction, the two upper upstream bar material take-out swing cams 176ba and 176bb rotate in a clockwise direction (CW direction) around the upper upstream bar material take-out swing cam rotation center 176bc. The upper upstream bar stock removal swing cams 176ba and 176bb then rotate further, and the four swing cam tooth crests S1t, S2t, S3t, and S4t and three swing cam tooth valleys S1b, S2b, and S3b (see FIG. 23) of each of the upper upstream bar stock removal swing cams 176ba and 176bb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper upstream bar stock removal fixed cams 175ba and 175bb, respectively, between the two upper upstream bar stock removal fixed cams 175ba and 175bb.

[0380] As a result, the bar Ba that had been moving between the swing cam tooth portion S3t of the upper upstream bar stock removal swing cams 176aa and 176ab and the fixed cam tooth portion K3t of the upper upstream bar stock removal fixed cams 175aa and 175ab, and between the swing cam tooth portion S3t of the upper upstream bar stock removal swing cams 176ba and 176bb and the fixed cam tooth portion K3t of the upper upstream bar stock removal fixed cams 175ba and 175bb, is separated into the fixed cam tooth valley portion K3b of the upper upstream bar stock removal fixed cams 175aa and 175ab, as shown in Figure 37.

[0381] Furthermore, the bar Bb that had been moving between the swing cam tooth portion S2t of the upper upstream bar take-out swing cams 176aa and 176ab and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175aa and 175ab, and between the swing cam tooth portion S2t of the upper upstream bar take-out swing cams 176ba and 176bb and the fixed cam tooth portion K2t of the upper upstream bar take-out fixed cams 175ba and 175bb, is separated into the fixed cam tooth valley portion K2b of the upper upstream bar take-out fixed cams 175aa and 175ab, as shown in Figure 37, and the second cycle of operation is completed.

[0382] Thereafter, by repeatedly moving the upper upstream bar material removal cylinder rod 174a of the upper upstream bar material removal cylinder 173a in the +Z / -Z direction and repeatedly moving the upper upstream bar material removal cylinder rod 174b of the upper upstream bar material removal cylinder 173b in the +Z / -Z direction, the bar materials B1 can be removed one by one from the bundle of bar materials B1 from the -Y end (corresponding to the "one end" of the present invention) to the +Y end (corresponding to the "other end" of the present invention).

[0383] In addition, with regard to a bundle of bars B1, the bars B1 are basically reliably removed one by one by the upper upstream bar removal fixed section 171a and the upper upstream bar removal movable sections 170a and 170b, but in the upper bar removal device 107 of this embodiment, an upper downstream bar removal fixed section 171b and upper downstream bar removal movable sections 170c and 170d are also arranged on the downstream side, so that even in the unlikely event that the bars B1 are not removed one by one, the bars B1 can be removed even more reliably one by one.

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

[0385] In the upper downstream bar workpiece take-out movable portion 170c, when the upper downstream bar workpiece take-out cylinder rod 174c of the upper downstream bar workpiece take-out cylinder 173c is moved in the +Z direction and the upper downstream bar workpiece take-out swing cam action point 176cd is moved in the +Z direction, the two upper downstream bar workpiece take-out swing cams 176ca and 176cb rotate in the counterclockwise direction (CCW direction) around the upper downstream bar workpiece take-out swing cam rotation center 176cc. The upper downstream bar workpiece ejection cams 176ca and 176cb rotate in the forward (upper-downstream) direction, and the four swing cam tooth portions S1t, S2t, S3t, and S4t of each of the upper downstream bar workpiece ejection cams 176ca and 176cb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar workpiece ejection fixed cams 175ca and 175cb, respectively, between the two upper downstream bar workpiece ejection fixed cams 175ca and 175cb.

[0386] In addition, in the upper downstream bar material take-out movable part 170d arranged on the +X direction side of the upper downstream bar material take-out movable part 170c, when the upper downstream bar material take-out cylinder rod 174d of the upper downstream bar material take-out cylinder 173d is moved in the +Z direction and the upper downstream bar material take-out swing cam action point 176dd is moved in the +Z direction, the two upper downstream bar material take-out swing cams 176da and 176db rotate around the upper downstream bar material take-out swing cam rotation center 176dc. The upper downstream bar stock removal oscillating cams 176da and 176db rotate counterclockwise (CCW) around the center, and the four oscillating cam tooth portions S1t, S2t, S3t and S4t of each of the upper downstream bar stock removal oscillating cams 176da and 176db protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper downstream bar stock removal fixed cams 175da and 175db, respectively, between them.

[0387] As a result, a bar B1 that had been transported up to the gap between the fixed cam tooth portions K1t and K2t of the upper downstream bar removal movable portions 170c and 170d moves between the swing cam tooth portion S1t of the upper downstream bar removal swing cams 176ca and 176cb and the fixed cam tooth portion K2t of the upper downstream bar removal fixed cams 175ca and 175cb, as shown in Figure 28, and between the swing cam tooth portion S1t of the upper downstream bar removal swing cams 176da and 176db and the fixed cam tooth portion K2t of the upper downstream bar removal fixed cams 175da and 175db.

[0388] In the upper downstream bar stock removal movable portion 170c, when the upper downstream bar stock removal cylinder rod 174c of the upper downstream bar stock removal cylinder 173c is further moved in the +Z direction and the upper downstream bar stock removal swing cam action point 176cd is further moved in the +Z direction, the two upper downstream bar stock removal swing cams 176ca and 176cb are further rotated in the counterclockwise direction (CCW direction) around the upper downstream bar stock removal swing cam rotation center 176cc, and the upper downstream bar stock removal The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the material removal oscillating cams 176ca and 176cb protrude above the respective inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper downstream bar removal fixed cams 175ca and 175cb between the two upper downstream bar removal fixed cams 175ca and 175cb.

[0389] In addition, in the upper downstream bar stock take-out movable part 170d arranged on the +X direction side of the upper downstream bar stock take-out movable part 170c, when the upper downstream bar stock take-out cylinder rod 174d of the upper downstream bar stock take-out cylinder 173d is further moved in the +Z direction and the upper downstream bar stock take-out swing cam action point 176dd is further moved in the +Z direction, the two upper downstream bar stock take-out swing cams 176da and 176db rotate in the counterclockwise direction (CCW direction) around the upper downstream bar stock take-out swing cam rotation center 176dc. ), and the four swing cam tooth crest portions S1t, S2t, S3t, and S4t and three swing cam tooth valley portions S1b, S2b, and S3b (see FIG. 23) of each of the upper downstream bar stock removal swing cams 176da and 176db protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar stock removal fixed cams 175da and 175db, respectively, between the two upper downstream bar stock removal fixed cams 175da and 175db.

[0390] As a result, a bar B1 (hereinafter referred to as "Ba") that had been moved between the swing cam tooth portion S1t of the upper downstream bar take-out swing cams 176ca and 176cb and the fixed cam tooth portion K2t of the upper downstream bar take-out fixed cams 175ca and 175cb, and between the swing cam tooth portion S1t of the upper downstream bar take-out swing cams 176da and 176db and the fixed cam tooth portion K2t of the upper downstream bar take-out fixed cams 175da and 175db, moves to the swing cam tooth valley portion S1b of the upper downstream bar take-out swing cams 176ca and 176cb (see FIG. 23) as shown in FIG. 29, and is then separated into the swing cam tooth valley portion S1b of the upper downstream bar take-out swing cams 176ca and 176cb as shown in FIG. 30.

[0391] Thereafter, in the upper downstream bar material take-out movable part 170c, the upper downstream bar material take-out cylinder rod 174c of the upper downstream bar material take-out cylinder 173c is moved in the -Z direction opposite to that before, and the upper downstream bar material take-out swing cam action point 176cd is moved in the -Z direction, and the two upper downstream bar material take-out swing cams 176ca and 176cb rotate clockwise around the upper downstream bar material take-out swing cam rotation center 176cc. The upper downstream bar stock removal oscillating cams 176ca and 176cb rotate in the clockwise direction, and the three oscillating cam valley portions S1b, S2b and S3b of each of the upper downstream bar stock removal oscillating cams 176ca and 176cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper downstream bar stock removal fixed cams 175ca and 175cb, respectively, between the two upper downstream bar stock removal fixed cams 175ca and 175cb.

[0392] In addition, in the upper downstream bar material take-out movable part 170d arranged on the +X direction side of the upper downstream bar material take-out movable part 170c, when the upper downstream bar material take-out cylinder rod 174d of the upper downstream bar material take-out cylinder 173d is moved in the -Z direction opposite to that before, and the upper downstream bar material take-out swing cam action point 176dd is moved in the -Z direction, the two upper downstream bar material take-out swing cams 176da and 176db move in the -Z direction. The upper downstream bar stock removal oscillating cams 176da and 176db rotate clockwise (CW direction) around the center 176dc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the upper downstream bar stock removal oscillating cams 176da and 176db retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper downstream bar stock removal fixed cams 175da and 175db, respectively, between the two upper downstream bar stock removal fixed cams 175da and 175db.

[0393] As a result, the bar Ba that had been separated at the rocker cam valley portion S1b of the upper downstream bar take-out rocker cams 176ca and 176cb moves between the rocker cam tooth crest portion S2t of the upper downstream bar take-out rocker cams 176ca and 176cb and the fixed cam tooth crest portion K2t of the upper downstream bar take-out fixed cams 175ca and 175cb, as well as between the rocker cam tooth crest portion S2t of the upper downstream bar take-out rocker cams 176da and 176db and the fixed cam tooth crest portion K2t of the upper downstream bar take-out fixed cams 175da and 175db, as shown in FIG.

[0394] In the upper downstream bar take-out movable part 170c, when the upper downstream bar take-out cylinder rod 174c of the upper downstream bar take-out cylinder 173c is further moved in the -Z direction and the upper downstream bar take-out swing cam action point 176cd is further moved in the -Z direction, the two upper downstream bar take-out swing cams 176ca and 176cb are further rotated in the clockwise direction (CW direction) around the upper downstream bar take-out swing cam rotation center 176cc. The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 176ca and 176cb are recessed below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper-stage downstream bar workpiece take-out fixed cams 175ca and 175cb, respectively, between the two upper-stage downstream bar workpiece take-out fixed cams 175ca and 175cb.

[0395] In addition, in the upper downstream bar stock take-out movable part 170d arranged on the +X direction side of the upper downstream bar stock take-out movable part 170c, when the upper downstream bar stock take-out cylinder rod 174d of the upper downstream bar stock take-out cylinder 173d is further moved in the -Z direction and the upper downstream bar stock take-out swing cam action point 176dd is further moved in the -Z direction, the two upper downstream bar stock take-out swing cams 176da and 176db rotate in a clockwise direction (CW direction) around the upper downstream bar stock take-out swing cam rotation center 176dc. The upper downstream bar stock take-out swing cams 176da and 176db rotate further, and the four swing cam tooth crest portions S1t, S2t, S3t, and S4t and three swing cam tooth valley portions S1b, S2b, and S3b (see FIG. 23) of each of the upper downstream bar stock take-out swing cams 176da and 176db retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar stock take-out fixed cams 175da and 175db, respectively, between the two upper downstream bar stock take-out fixed cams 175da and 175db.

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

[0397] Then, in the second cycle, in the upper downstream bar workpiece take-out movable part 170c, when the upper downstream bar workpiece take-out cylinder rod 174c of the upper downstream bar workpiece take-out cylinder 173c is moved in the +Z direction and the upper downstream bar workpiece take-out swing cam action point 176cd is moved in the +Z direction, the two upper downstream bar workpiece take-out swing cams 176ca and 176cb rotate counterclockwise around the upper downstream bar workpiece take-out swing cam rotation center 176cc. The upper downstream bar stock removal oscillating cams 176ca and 176cb rotate in the CCW direction, and the four oscillating cam tooth portions S1t, S2t, S3t, and S4t of each of the upper downstream bar stock removal oscillating cams 176ca and 176cb protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar stock removal fixed cams 175ca and 175cb, respectively, between the two upper downstream bar stock removal fixed cams 175ca and 175cb.

[0398] In addition, in the upper downstream bar material take-out movable part 170d arranged on the +X direction side of the upper downstream bar material take-out movable part 170c, when the upper downstream bar material take-out cylinder rod 174d of the upper downstream bar material take-out cylinder 173d is again moved in the +Z direction and the upper downstream bar material take-out swing cam action point 176dd is moved in the +Z direction, the two upper downstream bar material take-out swing cams 176da and 176db move in the +Z direction. The upper downstream bar stock removal oscillating cams 176da and 176db rotate counterclockwise (CCW) around the center, and the four oscillating cam tooth portions S1t, S2t, S3t and S4t of each of the upper downstream bar stock removal oscillating cams 176da and 176db protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper downstream bar stock removal fixed cams 175da and 175db, respectively, between the two upper downstream bar stock removal fixed cams 175da and 175db.

[0399] As a result, as shown in Figure 33, the bar Ba that had been separated into the fixed cam tooth valley portion K2b of the upper-stage downstream bar stock removal fixed cams 175ca and 175cb moves between the swing cam tooth portion S2t of the upper-stage downstream bar stock removal swing cams 176ca and 176cb and the fixed cam tooth portion K3t of the upper-stage downstream bar stock removal fixed cams 175ca and 175cb, and between the swing cam tooth portion S2t of the upper-stage downstream bar stock removal swing cams 176da and 176db and the fixed cam tooth portion K3t of the upper-stage downstream bar stock removal fixed cams 175da and 175db.

[0400] Furthermore, as shown in FIG. 33, a new bar Bb from the bundle of bars B1 that had been transported up to the gap between the fixed cam tooth land portions K1t and K2t of the upper downstream bar removal movable parts 170c and 170d moves between the swing cam tooth land portion S1t of the upper downstream bar removal swing cams 176ca and 176cb and the fixed cam tooth land portion K2t of the upper downstream bar removal fixed cams 175ca and 175cb, and also between the swing cam tooth land portion S1t of the upper downstream bar removal swing cams 176da and 176db and the fixed cam tooth land portion K2t of the upper downstream bar removal fixed cams 175da and 175db.

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

[0402] In addition, in the upper downstream bar stock take-out movable part 170d arranged on the +X direction side of the upper downstream bar stock take-out movable part 170c, when the upper downstream bar stock take-out cylinder rod 174d of the upper downstream bar stock take-out cylinder 173d is further moved in the +Z direction and the upper downstream bar stock take-out swing cam action point 176dd is further moved in the +Z direction, the two upper downstream bar stock take-out swing cams 176da and 176db rotate in the counterclockwise direction (CCW direction) around the upper downstream bar stock take-out swing cam rotation center 176dc. ), and the four swing cam tooth crest portions S1t, S2t, S3t, and S4t and three swing cam tooth valley portions S1b, S2b, and S3b (see FIG. 23) of each of the upper downstream bar stock removal swing cams 176da and 176db protrude above the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar stock removal fixed cams 175da and 175db, respectively, between the two upper downstream bar stock removal fixed cams 175da and 175db.

[0403] As a result, a bar Ba that had been moving between the swing cam crest S2t of the upper downstream bar take-out swing cams 176ca and 176cb and the fixed cam crest K3t of the upper downstream bar take-out fixed cams 175ca and 175cb, and between the swing cam crest S2t of the upper downstream bar take-out swing cams 176da and 176db and the fixed cam crest K3t of the upper downstream bar take-out fixed cams 175da and 175db, is disengaged from the fixed cam crest K3t of the upper downstream bar take-out fixed cams 175ca and 175cb as shown in FIG. 34, and is separated into the swing cam trough S2b (see FIG. 23) of the upper downstream bar take-out swing cams 176ca and 176cb as shown in FIG. 35.

[0404] Furthermore, a bar Bb that had been moved between the swing cam tooth portion S1t of the upper downstream bar take-out swing cams 176ca and 176cb and the fixed cam tooth portion K2t of the upper downstream bar take-out fixed cams 175ca and 175cb, and between the swing cam tooth portion S1t of the upper downstream bar take-out swing cams 176da and 176db and the fixed cam tooth portion K2t of the upper downstream bar take-out fixed cams 175da and 175db, moves to the swing cam tooth valley portion S1b (see FIG. 23) of the upper downstream bar take-out swing cams 176ca and 176cb as shown in FIG. 34, and then is separated into the swing cam tooth valley portion S1b of the upper downstream bar take-out swing cams 176ca and 176cb as shown in FIG. 35.

[0405] Thereafter, in the upper downstream bar material take-out movable part 170c, the upper downstream bar material take-out cylinder rod 174c of the upper downstream bar material take-out cylinder 173c is moved in the -Z direction opposite to that before, and the upper downstream bar material take-out swing cam action point 176cd is moved in the -Z direction, and the two upper downstream bar material take-out swing cams 176ca and 176cb rotate clockwise around the upper downstream bar material take-out swing cam rotation center 176cc. The upper downstream bar stock removal oscillating cams 176ca and 176cb rotate in the clockwise direction, and the three oscillating cam valley portions S1b, S2b and S3b of each of the upper downstream bar stock removal oscillating cams 176ca and 176cb retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper downstream bar stock removal fixed cams 175ca and 175cb, respectively, between the two upper downstream bar stock removal fixed cams 175ca and 175cb.

[0406] In addition, in the upper downstream bar material take-out movable part 170d arranged on the +X direction side of the upper downstream bar material take-out movable part 170c, when the upper downstream bar material take-out cylinder rod 174d of the upper downstream bar material take-out cylinder 173d is moved in the -Z direction opposite to that before, and the upper downstream bar material take-out swing cam action point 176dd is moved in the -Z direction, the two upper downstream bar material take-out swing cams 176da and 176db move in the -Z direction. The upper downstream bar stock removal oscillating cams 176da and 176db rotate clockwise (CW direction) around the center 176dc, and the three oscillating cam tooth valley portions S1b, S2b and S3b of each of the upper downstream bar stock removal oscillating cams 176da and 176db retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper downstream bar stock removal fixed cams 175da and 175db, respectively, between the two upper downstream bar stock removal fixed cams 175da and 175db.

[0407] As a result, the bar Ba that had been separated at the rocker cam valley portion S2b of the upper downstream bar take-out rocker cams 176ca and 176cb moves between the rocker cam tooth crest portion S3t of the upper downstream bar take-out rocker cams 176ca and 176cb and the fixed cam tooth crest portion K3t of the upper downstream bar take-out fixed cams 175ca and 175cb, as well as between the rocker cam tooth crest portion S3t of the upper downstream bar take-out rocker cams 176da and 176db and the fixed cam tooth crest portion K3t of the upper downstream bar take-out fixed cams 175da and 175db, as shown in Figure 36.

[0408] Furthermore, as shown in FIG. 36, the bar Bb that was separated into the rocker cam valley portion S1b of the upper downstream bar take-out rocker cams 176ca and 176cb moves between the rocker cam tooth crest portion S2t of the upper downstream bar take-out rocker cams 176ca and 176cb and the fixed cam tooth crest portion K2t of the upper downstream bar take-out fixed cams 175ca and 175cb, and between the rocker cam tooth crest portion S2t of the upper downstream bar take-out rocker cams 176da and 176db and the fixed cam tooth crest portion K2t of the upper downstream bar take-out fixed cams 175da and 175db.

[0409] In the upper downstream bar take-out movable part 170c, when the upper downstream bar take-out cylinder rod 174c of the upper downstream bar take-out cylinder 173c is further moved in the -Z direction and the upper downstream bar take-out swing cam action point 176cd is further moved in the -Z direction, the two upper downstream bar take-out swing cams 176ca and 176cb are further rotated in the clockwise direction (CW direction) around the upper downstream bar take-out swing cam rotation center 176cc. The four oscillating cam tooth crest portions S1t, S2t, S3t and S4t and three oscillating cam tooth valley portions S1b, S2b and S3b (see Figure 23) of each of the take-out oscillating cams 176ca and 176cb are recessed below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2 and K5s1 of the upper-stage downstream bar workpiece take-out fixed cams 175ca and 175cb, respectively, between the two upper-stage downstream bar workpiece take-out fixed cams 175ca and 175cb.

[0410] In addition, in the upper downstream bar stock take-out movable part 170d arranged on the +X direction side of the upper downstream bar stock take-out movable part 170c, when the upper downstream bar stock take-out cylinder rod 174d of the upper downstream bar stock take-out cylinder 173d is further moved in the -Z direction and the upper downstream bar stock take-out swing cam action point 176dd is further moved in the -Z direction, the two upper downstream bar stock take-out swing cams 176da and 176db rotate in a clockwise direction (CW direction) around the upper downstream bar stock take-out swing cam rotation center 176dc. The upper downstream bar stock take-out swing cams 176da and 176db rotate further, and the four swing cam tooth crest portions S1t, S2t, S3t, and S4t and three swing cam tooth valley portions S1b, S2b, and S3b (see FIG. 23) of each of the upper downstream bar stock take-out swing cams 176da and 176db retract below the inclined portions K1s2, K2s1, K2s2, K3s1, K3s2, K4s1, K4s2, and K5s1 of the upper downstream bar stock take-out fixed cams 175da and 175db, respectively, between the two upper downstream bar stock take-out fixed cams 175da and 175db.

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

[0412] Furthermore, the bar Bb that had been moving between the swing cam crest S2t of the upper downstream bar take-out swing cams 176ca and 176cb and the fixed cam crest K2t of the upper downstream bar take-out fixed cams 175ca and 175cb, and between the swing cam crest S2t of the upper downstream bar take-out swing cams 176da and 176db and the fixed cam crest K2t of the upper downstream bar take-out fixed cams 175da and 175db, is separated into the fixed cam crest K2b of the upper downstream bar take-out fixed cams 175ca and 175cb, as shown in Figure 37, and the second cycle of operation is completed.

[0413] Thereafter, by repeatedly moving the upper downstream bar material removal cylinder rod 174c of the upper downstream bar material removal cylinder 173c in the +Z and -Z directions, and repeatedly moving the upper downstream bar material removal cylinder rod 174d of the upper downstream bar material removal cylinder 173d in the +Z and -Z directions, the bar materials B1 can be reliably removed one by one from the -Y direction end (corresponding to the "one end" of the present invention) to the +Y direction end (corresponding to the "other end" of the present invention).

[0414] Next, the operation of the bar unit manufacturing apparatus 1 using the bar take-out device having the above-described configuration will be described.

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

[0416] In the bar unit manufacturing program 18b, as shown in Figures 38 and 39, first, the bar unit manufacturing device 1 is set to an initial state (S11), the number of bar units to be manufactured is set (S13), bar unit information such as the number of vertical and horizontal rows of bar B and the lengths of the bar B in the vertical and horizontal rows stored in the bar unit specification data table 16a of the RAM 16 is obtained (S15), and binding position information of the binding member 66 stored in the binding member binding position data table 16b is obtained (S17).

[0417] In the initial state, the bar unit manufacturing apparatus 1 is in the state shown in Figures 6 and 7, and the +Y direction end of the first base 93 and the +Y direction end of the second base 95 on the first base 93 are located on the -Y direction side of the second base portion 90c.

[0418] Then, it is determined whether the bar B is in a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S21). If it is determined that the bar B is not in a position where it can be grasped by the first placement robot 5a and the second placement robot 5b (S21: No), the processing of the bar feed control program 18a is awaited until the bar B is transported...

Claims

1. a first fixing member having, from one end to the other end in a first direction, a plurality of first peaks, a plurality of first valleys, and a plurality of first inclined portions connecting the first peaks and the first valleys; a first movable member disposed adjacent to the first fixed member and having, from the one end toward the other end in the first direction, a plurality of second peaks, a plurality of second valleys, and a plurality of second inclined portions connecting the second peaks and the second valleys; Equipped with a first movable member that moves from one end of the bar stock to the other end of the bar stock; a second movable member that moves from the first movable member to the first fixed member; a second movable member that moves from the first fixed ... first movable member that moves from the first fixed member to the first fixed member; a second movable member that moves from the first fixed member to the first fixed member; a second movable member that moves from the first fixed member to the first fixed member; a second movable member that moves from the first fixed member to the first fixed member; a second movable member that moves from the first fixed member to the The bar take-out device is characterized in that the first movable member is rotatable about a first fulcrum located near the other end.

2. 2. The bar material extracting device according to claim 1, wherein the surface of the first inclined portion of the first fixed member on the one end side, or the surface of the second inclined portion of the first movable member on the one end side, is formed to have a substantially circular shape with respect to the first fulcrum.

3. 2. The bar material extracting device according to claim 1, wherein the surface of the first inclined portion of the first fixed member on the one end side and the surface of the second inclined portion of the first movable member on the one end side are formed to have a substantially circular shape with respect to the first fulcrum.

4. The housing and the first fixing member connected to the housing; a second fixing member connected to the housing in parallel with the first fixing member, the second fixing member having, from the one end toward the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions; a cylinder connected to the housing; the first movable member disposed between the first fixed member and the second fixed member and connected to the cylinder; 2. The bar extracting device according to claim 1, further comprising a movable member unit having a first end and a second end.

5. The housing and the first fixing member connected to the housing; a second fixing member connected to the housing in parallel with the first fixing member, the second fixing member having, from the one end toward the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions; a cylinder connected to the housing; the first movable member disposed between the first fixed member and the second fixed member and connected to the cylinder; 3. The bar extracting device according to claim 2, further comprising a movable member unit having a first end and a second end.

6. The housing and the first fixing member connected to the housing; a second fixing member connected to the housing in parallel with the first fixing member, the second fixing member having, from the one end toward the other end in the first direction, a plurality of peaks having the same shape as the plurality of first peaks, a plurality of valleys having the same shape as the plurality of first valleys, and a plurality of inclined portions having the same shape as the plurality of first inclined portions; a cylinder connected to the housing; the first movable member disposed between the first fixed member and the second fixed member and connected to the cylinder; 4. The bar extracting device according to claim 3, further comprising a movable member unit having a first end and a second end.

7. 5. The bar extracting device according to claim 4, wherein the movable member unit comprises a second movable member connected to the cylinder, the second movable member being disposed adjacent to the first movable member between the first fixed member and the second fixed member, the second movable member having, from the one end toward the other end in the first direction, a plurality of convex portions having the same shapes as the plurality of second convex portions, a plurality of concave portions having the same shapes as the plurality of second concave portions, and a plurality of inclined portions having the same shapes as the plurality of second inclined portions.

8. 6. The bar extracting device according to claim 5, wherein the movable member unit comprises a second movable member connected to the cylinder, the second movable member being disposed adjacent to the first movable member between the first fixed member and the second fixed member, the second movable member having, from the one end toward the other end in the first direction, a plurality of convex portions having the same shapes as the plurality of second convex portions, a plurality of concave portions having the same shapes as the plurality of second concave portions, and a plurality of concave portions having the same shapes as the plurality of second concave portions.

9. 7. The bar extracting device according to claim 6, wherein the movable member unit comprises a second movable member connected to the cylinder, the second movable member being disposed adjacent to the first movable member between the first fixed member and the second fixed member, the second movable member having, from the one end toward the other end in the first direction, a plurality of convex portions having the same shapes as the plurality of second convex portions, a plurality of concave portions having the same shapes as the plurality of second concave portions, and a plurality of inclined portions having the same shapes as the plurality of second inclined portions.

10. a third fixing member disposed at a center portion in a second direction substantially perpendicular to the first direction; a plurality of the movable member units arranged on both sides of the third fixed member in the second direction; 5. The bar unloading device according to claim 4, further comprising:

11. a third fixing member disposed at a center portion in a second direction substantially perpendicular to the first direction; a plurality of the movable member units arranged on both sides of the third fixed member in the second direction; 6. The bar unloading device according to claim 5, further comprising:

12. a third fixing member disposed at a center portion in a second direction substantially perpendicular to the first direction; a plurality of the movable member units arranged on both sides of the third fixed member in the second direction; 7. The bar extracting device according to claim 6, further comprising:

13. a third fixing member disposed at a center portion in a second direction substantially perpendicular to the first direction; a plurality of the movable member units arranged on both sides of the third fixed member in the second direction; 8. The bar unloading device according to claim 7, further comprising:

14. a third fixing member disposed at a center portion in a second direction substantially perpendicular to the first direction; a plurality of the movable member units arranged on both sides of the third fixed member in the second direction; 9. The bar unloading device according to claim 8, further comprising:

15. a third fixing member disposed at a center portion in a second direction substantially perpendicular to the first direction; a plurality of the movable member units arranged on both sides of the third fixed member in the second direction; 10. The bar unloading device according to claim 9, further comprising:

16. 11. The bar takeout device according to claim 10, wherein the third fixed member and the plurality of movable member units are arranged in a plurality in the first direction.

17. 11. The bar extracting device according to claim 10, further comprising a fourth fixed member disposed adjacent to the third fixed member at a central portion in the second direction and having a mounting surface substantially identical to that of the third fixed member.

18. 12. The bar extracting device according to claim 11, further comprising a fourth fixed member disposed adjacent to the third fixed member at a central portion in the second direction and having a mounting surface substantially identical to that of the third fixed member.

19. 13. The bar extracting device according to claim 12, further comprising a fourth fixed member disposed adjacent to the third fixed member at a central portion in the second direction and having a mounting surface substantially identical to that of the third fixed member.

20. 14. The bar extracting device according to claim 13, further comprising a fourth fixed member disposed adjacent to the third fixed member at a central portion in the second direction and having a mounting surface substantially identical to that of the third fixed member.

21. 15. The bar extracting device according to claim 14, further comprising a fourth fixed member disposed adjacent to the third fixed member at a central portion in the second direction and having a mounting surface substantially identical to that of the third fixed member.

22. 16. The bar extracting device according to claim 15, further comprising a fourth fixed member disposed adjacent to the third fixed member at a central portion in the second direction and having a mounting surface substantially identical to that of the third fixed member.

23. 17. The bar extracting device according to claim 16, further comprising a fourth fixed member disposed adjacent to the third fixed member at a central portion in the second direction and having a mounting surface substantially identical to that of the third fixed member.

24. 18. The bar takeout device according to claim 17, wherein the third fixed member, the fourth fixed member and the plurality of movable member units are arranged in a plurality in the first direction.

25. 17. The bar extracting device according to claim 10, wherein the third fixing member has a mounting surface located above the first recesses of the first fixing member.

26. 17. The bar extracting device according to claim 10, wherein the third fixing member has a mounting surface formed by connecting the first recesses of the first fixing member.

27. 25. The bar extracting device according to claim 17, wherein the third fixing member and the fourth fixing member have mounting surfaces positioned above the first valley portions of the first fixing member.

28. 25. The bar extracting device according to claim 17, wherein the third fixing member and the fourth fixing member have mounting surfaces formed by connecting the plurality of first valley portions of the first fixing member.

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