Rebar assembly system

Abstract

To provide a rebar assembly system capable of assembling rebars arranged in two vertically stacked stages.SOLUTION: The rebar assembly system places loop rebars 19, places a second rebar 21 intersecting a lower-stage portion 23 of the loop rebars 19, places a guide portion 29, and places a third rebar 22 on the guide portion 29. The rebar assembly system moves the guide portion 29 upward to bring the third rebar 22 into contact with an upper-stage portion 25 of the loop rebars 19. The rebar assembly system places a first rebar 20 on the third rebar 22.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a reinforcing bar assembly system and an assembly method for assembling a reinforcing bar structure including reinforcing bars arranged in upper and lower two tiers.

Background Art

[0002] Conventionally, the work of assembling reinforcing bars by arranging them at predetermined positions and binding them has been carried out manually by workers. Various means for improving the efficiency of such reinforcing bar assembly work have been proposed.

[0003] For example, Patent Document 1 discloses a reinforcing bar assembly system that automatically supplies, arranges, and binds reinforcing bars by means of a robot arm or the like.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the reinforcing bar assembly system described in Patent Document 1, only one tier (one layer) of reinforcing bars can be automatically assembled. Therefore, in order to assemble the reinforcing bars arranged in upper and lower two tiers, after automatically assembling one layer of reinforcing bars, they are transported to an auxiliary work area, and workers manually insert auxiliary reinforcing bars and the like, and then move them to the automatic assembly area again to automatically assemble the second layer.

[0006] Conventional precast concrete members, which include reinforcing bars arranged in two layers, may include loop reinforcement bars that are exposed from the concrete portion in order to form joints with the reinforcing bars of other precast concrete members. Loop reinforcement bars are formed by combining two J-shaped reinforcement bars to form a ring. The assembly of such reinforcing bars, including loop reinforcement bars, is performed by first placing the J-shaped reinforcement bar to be placed below, then placing a reinforcement bar perpendicular to it, and finally inserting the J-shaped reinforcement bar to be placed above from its extending direction. However, in systems that automatically assemble reinforcing bars, it has been difficult to insert reinforcement bars from the side.

[0007] In view of the above background, the object of the present invention is to provide a rebar assembly system that can assemble rebars arranged in two layers, upper and lower. [Means for solving the problem]

[0008] To solve the above problems, one aspect of the present invention provides a rebar assembly system (1) for assembling reinforcing bars (3) arranged in upper and lower tiers, comprising a rebar frame (11) for supporting the reinforcing bars (3), an upper rebar tying device (13) for tying the reinforcing bars (3) arranged in the upper tier, and a lower rebar tying device (15) for tying the reinforcing bars (3) arranged in the lower tier, wherein the rebar frame (11) includes a base (28) configured to support the reinforcing bars (3) including the portion to be arranged in the lower tier, and a guide portion (29) that can be positioned at a mounting position above the base (28) to support the reinforcing bars (3) to be arranged in the upper tier, and is configured to be displaceable upward from the aforementioned mounting position.

[0009] According to this embodiment, after placing the reinforcing bars on the guide section, the guide section is displaced upward, allowing the reinforcing bars positioned above it and the reinforcing bars placed on the guide section to come into contact with each other so that they can be tied together. This makes it possible to assemble reinforcing bars arranged in two layers.

[0010] In the above embodiment, the robot arm body (14) to which the upper reinforcement tying device (13) can be attached may further be provided, wherein the upper reinforcement tying device (13) includes a three-dimensional camera (35) configured to capture images of the intersections of the reinforcement bars (3) to be tied, and the robot arm body (14) may be configured to move the upper reinforcement tying device (13) to the position where the reinforcement bars (3) should be tied according to the design, and to correct the position where the upper reinforcement tying device (13) should be positioned to tie the reinforcement bars (3) based on the image of the reinforcement bars (3) captured by the three-dimensional camera (35).

[0011] According to this embodiment, the deviation of the actual reinforcing bar position from the designed reinforcing bar position can be determined based on images captured by a 3D camera, and the upper reinforcing bar tying device can be moved to correspond to this deviation, thereby tying the reinforcing bars.

[0012] One aspect of the present invention is a method for assembling reinforcing bars (3) arranged in upper and lower tiers, comprising: a reinforcing step in which a gripping device (12) movable above the reinforcing bar frame (11) by a robot arm body (14) is used to position the reinforcing bars (3) on the reinforcing bar frame (11); a lower tying step in which a lower tying device (15) movable below the reinforcing bars (3) positioned on the reinforcing bar frame (11) is used to tie the reinforcing bars (3) located in the lower tier; and an upper tying device (13) movable above the reinforcing bar frame (11) by the robot arm body (14) to tie the reinforcing bars (3) located in the upper tier. The device comprises an upper binding step for binding the reinforcing bars (3), and the reinforcing bars (3) are a loop bar (19) having a lower section (23), curved sections (24) extending upward in a semicircular shape from both ends of the lower section (23) so as to bulge outward in the direction of extension, and a pair of upper sections (25) extending from the upper end of the curved section (24) so ​​as to be closer to each other and defining an opening (26) between the upper sections, and a first reinforcing bar (20) arranged on top of the pair of upper sections (25) so as to close the opening of the loop bar (19), and intersecting the lower section (23) of the loop bar (19) The rebar stand (11) includes a second reinforcing bar (21) which is tied together, and a third reinforcing bar (22) which is tied to the upper portion (25) and / or the first reinforcing bar (20) of the loop reinforcing bar (19), and the rebar stand (11) includes a base (28) configured to support the lower portion (23) of the loop reinforcing bar (19) and a guide portion (29) configured to support the third reinforcing bar (22), and the rebar placement step includes the step of placing the loop reinforcing bar (19) on the base (28) of the rebar stand (11), and placing the second reinforcing bar (21) on the lower portion (23) of the loop reinforcing bar (19). The process includes the steps of: positioning the guide portion (29) above the lower portion (23) and below the upper portion (25) of the loop reinforcement (19); placing the third reinforcement (22) on the guide portion (29); moving the guide portion (29) upward so as to press the third reinforcement (22) against the upper portion (25) of the loop reinforcement (19); and placing the first reinforcement (20) on the third reinforcement (22) such that both ends of the first reinforcement (20) overlap the pair of upper portions (25) of the loop reinforcement (19).

[0013] According to this embodiment, after installing the loop reinforcement, the second and third reinforcement bars can be moved from top to bottom to be positioned in the predetermined location, thereby assembling two layers of reinforcement bars, upper and lower.

[0014] In the above embodiment, the upper tying step may include the steps of moving the upper reinforcement tying device (13) to the vicinity of the design tying position, photographing the reinforcement bars (3) to be tied with a three-dimensional camera (35), and calculating the deviation of the actual position of the reinforcement bars (3) to be tied from the design position based on the captured image, and if the deviation exceeds an acceptable range, moving the upper reinforcement tying device (35) to a position where the reinforcement bars (3) to be tied can be tied.

[0015] Loop reinforcement bars with curved sections are prone to variations in shape, which may cause the position of the upper section relative to the lower section to deviate from the design. In this embodiment, a 3D camera can be used to determine the deviation of the actual reinforcement bar position from the design position, and by moving the upper reinforcement tying device according to this deviation, the reinforcement bars placed in the upper section can be reliably tied. [Effects of the Invention]

[0016] According to the above embodiment, a rebar assembly system capable of assembling rebars arranged in two upper and lower tiers can be provided. [Brief explanation of the drawing]

[0017] [Figure 1] A schematic perspective view showing a factory where the rebar assembly system according to the embodiment is installed. [Figure 2] Perspective view showing a reinforced concrete assembly system according to an embodiment. [Figure 3] Perspective view of a reinforced concrete member including reinforcing bars assembled by the reinforcing bar assembly system according to the embodiment. [Figure 4]Reinforcement drawing of a reinforced concrete member including reinforcement assembled by the reinforcement assembly system according to the embodiment [Figure 5] Front view showing the gripping device of the reinforcement assembly system according to the embodiment [Figure 6] Front view showing the upper reinforcement binding machine of the reinforcement assembly system according to the embodiment [Figure 7] Explanatory drawing showing the reinforcement arrangement procedure by the reinforcement assembly system according to the embodiment

Mode for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0019] FIG. 1 is a schematic perspective view showing a factory 2 in which a reinforcement assembly system 1 is arranged. In the factory 2, there are provided a material temporary storage area 4 for temporarily storing materials such as reinforcements 3, a reinforcement assembly area 5 for assembling the reinforcements 3, and an assembled reinforcement temporary storage area 6 for temporarily storing the assembled reinforcements 3. The transportation of materials and the like from the material temporary storage area 4 to the reinforcement assembly area 5 and from the reinforcement assembly area 5 to the assembled reinforcement temporary storage area 6 is carried out by a gantry crane 7.

[0020] FIG. 2 is a perspective view showing a reinforcing bar assembling system 1 disposed in a reinforcing bar assembling area 5. The reinforcing bar assembling system 1 includes a plurality of reinforcing bar supply machines 8 for storing and supplying reinforcing bars 3 before assembly, a conveyor 9 for individual reinforcing bars for transporting the reinforcing bars 3 supplied from the reinforcing bar supply machines 8, a conveyor 10 for assembled reinforcing bars, a reinforcing bar support 11 supported by the conveyor 10 for assembled reinforcing bars, a gripping device 12 capable of gripping the reinforcing bars 3, an upper bar binding device 13 (see FIG. 6) for binding the reinforcing bars 3 disposed in the upper stage, a robot arm main body 14 having a fixed proximal end side and selectively attachable with the gripping device 12 and the upper bar binding device 13 at the free end side, and a lower bar binding device 15 for binding the reinforcing bars 3 disposed in the lower stage (the reinforcing bar supply machine 8 and the conveyor 9 for individual reinforcing bars on the left side in FIG. 2 are not shown). The robot arm 16 is configured by attaching the gripping device 12 or the upper bar binding device 13 to the robot arm main body 14. In a state where the gripping device 12 is attached, the robot arm 16 grips the reinforcing bar 3 transported by the conveyor 9 for individual reinforcing bars and places it on the reinforcing bar support 11 on the conveyor 10 for assembled reinforcing bars, and in a state where the upper bar binding device 13 is attached, binds the intersecting portions of the reinforcing bars 3 disposed in the upper stage and the portions constituting the lap joint.

[0021] FIG. 3 shows a precast concrete member 17 including the reinforcing bars 3 assembled by the reinforcing bar assembling system 1 (see FIG. 2), and FIG. 4 shows the reinforcement drawing thereof. The precast concrete member 17 is a member in which a large number of members having the same structure are manufactured, for example, a member constituting a concrete floor slab or the like. The concrete portion 18 of the precast concrete member 17 has a generally rectangular outer contour in plan view. The reinforcing bars 3 are disposed in two upper and lower stages, and the reinforcing bars 3 disposed in the upper stage and the reinforcing bars 3 disposed in the lower stage are disposed so as to be substantially overlapped when viewed from the vertical direction, except for the arrangement of the joints. Both sides of the loop bar 19 extending in the short side direction of the precast concrete member 17 are exposed from the concrete portion 18. The precast concrete member 17 may be a prestressed concrete structure.

[0022] As shown in Figures 4 and 7, the reinforcing bar 3 includes a plurality of loop bars 19 arranged to extend in the short direction, a plurality of first reinforcing bars 20 arranged in the upper section extending in the short direction, a plurality of second reinforcing bars 21 arranged in the lower section extending in the longitudinal direction of the precast concrete member 17, and a plurality of third reinforcing bars 22 arranged in the upper section extending in the longitudinal direction.

[0023] The loop reinforcement bar 19 has a lower section 23 extending in the short direction, curved sections 24 extending upward in a semicircular shape from both ends of the lower section 23 so as to bulge outward in the short direction, and a pair of upper sections 25 extending in the short direction from the upper end of the curved section 24 so as to be closer to each other. An opening 26 is defined between the ends of the pair of upper sections 25. In other words, the loop reinforcement bar 19 has a shape that is like a track-shaped ring for athletics, with a part of the upper straight section cut out to provide the opening 26. The first reinforcement bar 20 is positioned to close the opening 26 of the loop reinforcement bar 19, with both ends forming lap joints with the pair of upper sections 25. The second reinforcement bar 21 and the third reinforcement bar 22 are positioned inside the ring shape formed by the loop reinforcement bar 19 and the first reinforcement bar 20. Preferably, each of the loop reinforcement bar 19 and the first reinforcement bar 20 is made of a single steel bar member. Each of the second reinforcing bar 21 and the third reinforcing bar 22 may be made up of a single steel bar member, or it may be made up of multiple steel bar members connected by lap joints. Preferably, one of the second reinforcing bar 21 and the third reinforcing bar 22 has a hook shape at both ends that is bent at a 90° angle toward the other of the second reinforcing bar 21 and the third reinforcing bar 22.

[0024] Refer to Figure 2. Multiple rebar supply machines 8 are provided, and rebars 3 are stored in different rebar supply machines 8 according to their shape (length). The rebar supply machine 8 includes a storage section 27 for storing rebars 3 and a supply rebar gripping device (not shown) for taking rebars 3 from the storage section 27 and moving them to the individual rebar conveyor 9. The supply rebar gripping device (not shown) has the same structure as the gripping device 12 and is movable between above the storage section 27 and above the individual rebar conveyor 9.

[0025] The individual rebar conveyor 9 and the assembled rebar conveyor 10 are, for example, roller conveyors that move the placed objects in their extending direction. The extending direction and width direction of the individual rebar conveyor 9 and the assembled rebar conveyor 10 coincide with the longitudinal direction and width direction of the rebars 3 being assembled. Hereinafter, the extending direction and width direction of the individual rebar conveyor 9 and the assembled rebar conveyor 10 will be referred to as the longitudinal direction and width direction. The individual rebar conveyor 9 transports the rebars 3 supplied from the rebar supply machine 8 to a position where the robot arm 16, equipped with a gripping device 12, can grip them. The assembled rebar conveyor 10 is linked to the robot arm 16 during the assembly of the rebars 3. An individual rebar stand 47 on which individual rebars 3 are placed is placed on the individual rebar conveyor 9.

[0026] As shown in Figures 2 and 7, the rebar support frame 11 includes a base 28 supported by a rebar assembly conveyor 10, a guide section 29, and an actuator 30 for displacing the guide section 29 vertically. The base 28 has a rectangular frame shape in plan view and supports the loop reinforcement 19 and the second rebar 21 at its upper edge. If each of the second rebars 21 arranged in the longitudinal direction is constructed by overlapping multiple steel bar members, the base 28 has a portion (not shown) that extends in the short direction, connected to the intermediate portion of two side edges 28a extending in the longitudinal direction of the frame shape, so that each steel bar member is supported at two or more places. The guide section 29 consists of multiple rod-shaped or plate-shaped members that are spaced apart from each other in the longitudinal direction and extend in the short direction, and supports the third rebar 22. Grooves 31 for receiving the rebars 3 to be supported are provided on the upper edges of the base 28 and the guide section 29. The actuator 30 is connected to the base 28 by a connecting member 48 and includes, for example, an electric cylinder. The upper edge of the connecting member 48 is provided with a projection 49 that protrudes upward outward in the shorter direction than the groove 31 in order to restrict the longitudinal movement of the first reinforcing bar 20. The second reinforcing bar 21 may also be supported by the base 28 via the lower part 23 of the loop reinforcement 19. In this case, the second reinforcing bar 21 does not come into contact with the bottom of the groove 31, and its movement in the shorter direction is restricted by the side edge of the groove 31.

[0027] Figure 5 is a front view showing the gripping device 12. The gripping device 12 includes a mounting portion 32 that is attached to the robot arm body 14, a clamp 33 for gripping the reinforcing bar 3, and a connecting portion 34 that connects the mounting portion 32 and the clamp 33 to each other.

[0028] Refer to Figure 2. Two robot arms 16 are installed at positions offset from each other in the longitudinal direction. Two gripping devices 12 and two upper rebar tying devices 13 (see Figure 6) are provided. A frame 36 (see Figure 1) is erected on the floor of the factory 2, and the ceiling of the frame 36 partially covers the area above the rebar assembly conveyor 10. The base end of the robot arm body 14 is fixed to the ceiling of the frame 36. The robot arm body 14 is also equipped with multiple joints so that the rebar 3 gripped by the gripping device 12 can be moved, and is rotatable around a predetermined axis at its free end.

[0029] As shown in Figure 2, the robot arm 16, with the gripping device 12 attached, is controlled to automatically grip the reinforcing bars 3 transported by the individual reinforcing bar conveyor 9 and place them on the reinforcing bar frame 11 supported on the assembled reinforcing bar conveyor 10. At this time, the assembled reinforcing bar conveyor 10 is linked to the robot arm 16 in order to reduce the range of movement of the robot arm 16.

[0030] Figure 6 is a front view showing the upper rebar tying device 13. As shown in Figure 6, the upper rebar tying device 13 includes a mounting part 37 attached to the robot arm body 14, a tying machine body 38, a fixing part 39 that fixes the tying machine body 38 to the mounting part 37, and a 3D camera 35. A commercially available rebar tying machine that can be carried and used by a worker can be used as the tying machine body 38. The tying machine body 38 includes a grip 40 fixed to the fixing part 39, a trigger 41, and a tip tying part 43 that wraps and twists the wire around the rebar 3 by moving a lever 42 to pull the trigger 41, or by electrically inputting a trigger signal to the tying machine body 38.

[0031] With the upper rebar tying device 13 attached, the robot arm 16 is controlled to automatically tie the portions of the rebars 3 that need to be tied, which are positioned on the upper level of the assembled rebar conveyor 10. Specifically, the robot arm repeatedly inserts the tip tying section 43 of the tying machine body 38 into the portion of the rebar 3 that needs to be tied from above, and then pulls the trigger 41 or inputs a trigger ON signal. During the rebar placement and tying of the rebars 3 positioned on the upper level by the robot arm 16, the assembled rebar conveyor 10, on which the rebar stand 11 is placed, moves in conjunction with the robot arm 16 to reduce the range of movement of the robot arm 16.

[0032] Refer to Figure 2. The rebar assembly system 1 comprises a first rail 44 fixed to the floor of the factory 2 and extending in the short direction, and a second rail 45 supported by the first rail 44 so as to be movable in the short direction and extending in the longitudinal direction. The first rail 44 and the second rail 45 are located below the rebar frame 11. The lower rebar tying device 15 includes a lower part 46 supported by the second rail 45 so as to be movable in the longitudinal direction, and a tying machine body 38 (see Figure 6) supported by the lower part 46 so as to be rotatable around a vertical axis and movable in the vertical direction. The tying machine body 38 is controlled to insert its tip tying part 43 (see Figure 6) from below into the portion of the rebar 3 to be tied, which is located on the lower level, and tie that portion. The length of the second rail 45 extending in the longitudinal direction may be shorter than the length of the rebar 3 in the longitudinal direction, since the rebar 3 can be moved in the longitudinal direction by the rebar assembly conveyor 10. The lower part 46 may be an arm structure with an articulated joint instead of the first rail 44 and / or the second rail 45, and the binding machine body 38 may be moved in the shorter direction by the lower part 46.

[0033] It is preferable to install a safety fence (not shown) around the outer perimeter of the rebar assembly system 1 and to place sensors that detect the entry and exit of people in the doors provided in the safety fence. The movements of the rebar supply machine 8, the individual rebar conveyor 9, the assembled rebar conveyor 10, the lower rebar tying device 15, the robot arm 16, and the guide section 29 and actuator 30 of the rebar stand 11 are controlled by a control device (not shown).

[0034] The assembly procedure for the reinforcing bars 3 will be explained with reference to Figures 2 and 7. First, the reinforcing bars 3, transported to the reinforcing bar assembly area 5 by the gantry crane 7, are placed by workers into different reinforcing bar supply machines 8 according to their shape. Then, the workers operate the reinforcing bar assembly system 1. The reinforcing bar supply machine 8 places the reinforcing bars 3 to be assembled onto the individual reinforcing bar stands 47 on the individual reinforcing bar conveyor 9, and the individual reinforcing bar conveyor 9 transports the reinforcing bars 3 to a position where they can be gripped by the robot arm 16 equipped with a gripping device 12.

[0035] Each of the two robotic arm bodies 14 is fitted with a gripping device 12. The two robotic arms 16 perform the rebar placement work. The robotic arms 16 fitted with the gripping devices 12 first place the loop bars 19 on the base 28 of the rebar frame 11, which is supported on the rebar assembly conveyor 10. The loop bars 19 extend in the short direction and are positioned so that the upper section 25 is above the lower section 23 (Figure 7(A)). After all the loop bars 19 have been placed, the robotic arms 16 place the second rebars 21 on the base 28 of the rebar frame 11 or on the lower section 23 of the loop bars 19 (Figure 7(B)). At this time, the robotic arms 16 insert the second rebars 21, which extend in the long direction, into the loop bars 19 from above, passing through the opening 26 of the loop bars 19, and move them in the short direction as needed to place them in the predetermined position.

[0036] After all the second reinforcing bars 21 have been placed, the lower reinforcing bar tying device 15 begins tying the intersections between the lower part 23 of the loop reinforcing bars 19 placed in the lower section and the second reinforcing bars 21, as well as the parts of the second reinforcing bars 21 that form lap splices. The following operations are performed in parallel with the tying of the lower reinforcing bars 3 placed in the lower section by the lower reinforcing bar tying device 15.

[0037] The rebar assembly system 1 inserts the guide portion 29 of the rebar frame 11 from above into a placement position above the lower portion 23 of the loop reinforcement 19 and the second reinforcement 21, and below the upper portion 25 of the loop reinforcement 19, and is supported by the actuator 30. The placement position is such that the upper edge of the guide portion 29 is spaced at a distance longer than the diameter of the third reinforcement 22 from the lower edge of the upper portion 25 of the loop reinforcement 19. The robot arm 16 places the third reinforcement 22 into the guide portion 29 of the rebar frame 11 (Figure 7(C)). At this time, the robot arm 16 inserts the third reinforcement 22, which extends in the longitudinal direction, into the loop reinforcement 19 from above, passing through the opening 26 of the loop reinforcement 19, similar to the second reinforcement 21, and moves it in the shortened direction as necessary to place it in the predetermined position.

[0038] After all the third reinforcing bars 22 have been placed, the actuator 30 moves the guide section 29 upward from its placement position to position the third reinforcing bar 22 in contact with the upper section 25 of the loop reinforcement 19. The robot arm 16 places the first reinforcing bar 20 on the third reinforcing bar 22 so that it closes the opening 26 and both ends of the first reinforcing bar 20 form a lap joint with the upper section 25 of the loop reinforcement 19 (Figure 7(D)).

[0039] Next, the robot arm body 14 removes the gripping device 12 and attaches the upper reinforcement tying device 13 to its free end. The robot arm 16, equipped with the upper reinforcement tying device 13, ties the upper portion 25 of the loop reinforcement 19 and / or the intersection of the first reinforcement 20 and the third reinforcement 22, as well as the portion of the third reinforcement 22 that constitutes the lap joint. At this time, the reinforcement assembly system 1 moves the upper reinforcement tying device 13 to the design position where the tying work will be performed, and then photographs the reinforcement 3 to be tied with the 3D camera 35. If the deviation of the actual position of the reinforcement 3 calculated based on the captured image from the design position of the reinforcement 3 exceeds the allowable range, the upper reinforcement tying device 13 moves to a position where the reinforcement 3 can be tied, aligning with the actual position of the reinforcement 3, and then ties the reinforcement 3.

[0040] Once the binding of the reinforcing bars 3 in both the upper and lower sections is complete, the assembled reinforcing bars 3 are transported to the temporary storage area 6 by the assembled reinforcing bar conveyor 10 and the gantry crane 7. Additional reinforcing bar placement and binding work may be performed by workers as needed.

[0041] The effects and advantages of the above embodiment will now be explained.

[0042] By positioning a robot arm body 14 to which an upper reinforcement tying device 13 can be attached above the reinforcement bars 3 being assembled, and a lower reinforcement tying device 15 below it, the tying work of the upper and lower reinforcement bars 3 can be performed in parallel. As a result, work efficiency is improved, and the automation rate of the assembly of the reinforcement bars 3 is increased (compared to an automation rate of approximately 75% and 6 workers with the reinforcement bar assembly system 1 described in Patent Document 1, the automation rate of the reinforcement bar assembly system 1 according to this embodiment is approximately 85% and 2 workers).

[0043] The tying work of the lower reinforcing bars 3 using the lower reinforcing bar tying device 15 can begin before the placement of the third reinforcing bar 22 and the first reinforcing bar 20, but the tying work of the upper reinforcing bars 3 using the upper reinforcing bar tying device 13 must be performed after the placement of the third reinforcing bar 22 and the first reinforcing bar 20. By using one lower reinforcing bar tying device 15 for the work that can be started earlier, and two upper reinforcing bar tying devices 13 and two robotic arm bodies 14 to move the upper reinforcing bar tying device 13 for the work that can be started later, it is possible to reduce the waiting time of the upper reinforcing bar tying device 13, the robotic arm bodies 14, and the lower reinforcing bar tying device 15 while suppressing an increase in equipment costs, and enabling efficient assembly of the reinforcing bars 3. Alternatively, the number of upper reinforcing bar tying devices 13 and robotic arm bodies 14 may be set to three or more each, and the number of lower reinforcing bar tying devices 15 may be set to two or more and less than the number of upper reinforcing bar tying devices 13 and robotic arm bodies 14. In this case as well, the same effect as above can be obtained.

[0044] Since the lower reinforcement tying device 15 is supported by the rail 45, the coordinates of the lower reinforcement tying device 15 can be clearly determined compared to when the lower reinforcement tying device 15 is moved across the floor of the factory 2 using wheels or the like.

[0045] Loop reinforcement bars 19 having a curved portion 24 are formed by curving a straight steel bar, but errors are likely to occur in the shape of the curved portion 24, resulting in variations in the position of the upper portion 25 relative to the lower portion 23. By using the guide portion 29, even if there are variations in the position of the upper portion 25, the third reinforcement bar 22 can be brought into contact with the upper portion 25 of the loop reinforcement bar 19, and the intersection of the two can be tied together.

[0046] By having the 3D camera 35 photograph the reinforcing bars 3 to be tied, the reinforcing bar assembly system 1 can determine the deviation of the actual position of the reinforcing bars 3 from the design position of the reinforcing bars 3, and move the upper reinforcing bar tying device 13 according to that deviation.

[0047] In this configuration, the base end of the robot arm 16 of the rebar assembly system 1 is fixed and immobile relative to the factory 2, allowing for clear determination of the coordinates of the gripping device 12 and the upper rebar tying device 13 attached to the robot arm body 14. Therefore, the rebar assembly system 1 can accurately position and tie the rebars 3 to be assembled. Furthermore, by placing the rebars 3 in the grooves 31 of the rebar support frame 11, the accuracy of the position of the rebars 3 is improved.

[0048] Since the assembly rebar conveyor 10 is linked to the robot arm 16, rebars 3 that are outside the operating range of the robot arm 16 can also be placed or tied.

[0049] The rebar supply machine 8 automatically supplies the rebars 3, increasing work efficiency. Furthermore, even if different rebar supply machines 8 are used for each rebar with a different shape and length, the individual rebar conveyor 9 transports the rebars 3 supplied by the rebar supply machines 8, allowing the gripping device 12 to grip the rebars 3 without increasing the range of motion of the robot arm 16.

[0050] This concludes the description of specific embodiments, but the present invention is not limited to the above embodiments and can be broadly modified and implemented. The present invention can also be applied to the assembly of reinforcing bars in cast-in-place concrete. Note that the angle at which the second and third reinforcing bars intersect with the loop reinforcement and the first reinforcing bar in a plan view may be an angle other than 90°. Also, the second and third reinforcing bars may extend in the short direction, and the loop reinforcement and the first reinforcing bar may extend in the longitudinal direction. If the assembly reinforcing bar conveyor 10 is not moved while the guide section is in use, the actuator that displaces the guide section may be supported on the factory floor or the like instead of the base of the reinforcing bar stand. The direction of extension of the rails may intersect in the longitudinal direction at an angle other than orthogonal. [Explanation of Symbols]

[0051] 1: Rebar assembly system 3: Reinforcement bars 10: Conveyor for assembled rebar 11: Reinforcement bar frame 12: Gripping device 13: Upper muscle binding device 14: Robot arm body 15:Lower muscle binding device 19: Loop muscle 20: First reinforcing bar 21: Second reinforcing bar 22: Third reinforcing bar 23: Lower section 24: Curved section 25: Upper section 26:Aperture 28: Base 29: Guide Department 35: 3D camera 44: First rail

Claims

1. A rebar assembly system for assembling reinforcing bars arranged in two layers, upper and lower, A reinforcing bar support frame for supporting the aforementioned reinforcing bars, An upper reinforcing bar tying device for tying the aforementioned reinforcing bars arranged in the upper section, A rail located below the aforementioned reinforcing frame, A lower reinforcing bar tying device is supported on the rail so as to be movable along the rail, and ties the reinforcing bars arranged in the lower section, A conveyor for assembled reinforcing bars supports the aforementioned reinforcing bar frame so that it can move in the longitudinal direction. Equipped with, The rebar assembly system includes a base configured to support the rebar, including the portion to be placed in the lower section, and a guide section that can be positioned at a location above the base to support the rebar to be placed in the upper section, and is configured to be displaceable upward from the aforementioned position.

2. The rebar assembly system according to claim 1, wherein the rail comprises a first rail extending in the short direction and a second rail supported by the first rail so as to be movable in the short direction and extending in the longitudinal direction, and supporting the lower rebar tying device so as to be movable in the longitudinal direction.

Images