Reinforcing bar assembly automation system for concrete structure for tunnel

Abstract

The present invention relates to a reinforcing bar assembly automation system for a concrete structure for a tunnel, the reinforcing bar assembly automation system comprising: a reinforcing bar support; a reinforcing bar supply unit; a binding jig; a plurality of robot mechanisms including a rotary body unit and an articulated arm unit; and a control unit for operating the robot mechanisms, wherein the control unit rotates only the articulated arm unit and the rotary body unit to face the reinforcing bar support while a gripping jig is stopped in a state in which a reinforcing bar is lifted in a storage area and the reinforcing bar is arranged on the uppermost end, and then places a first reinforcing bar on the reinforcing bar support while lowering the first reinforcing bar.

Description

Automated rebar assembly system for concrete structures for tunnels

[0001] The present invention relates to an automated rebar assembly system, and more particularly, to an automated rebar assembly system for a tunnel concrete structure that can automatically perform rebar assembly work.

[0002] Typically, civil engineering projects involving tunnel construction in mountainous terrain or urban areas involve drilling a hole in the ground and then installing a concrete structure for reinforcement. These concrete structures are typically constructed on-site using rebar to create a frame that conforms to the shape of the hole. The concrete is then poured to complete the construction.

[0003] Large concrete structures like this, which are built manually on site, not only take a long time to manufacture but also require a lot of labor costs, which increases the overall construction cost.

[0004] There are also precast construction methods that use concrete structures manufactured in advance at a factory and then installed on site. However, even in this case, the amount of manual work involved only reduces the construction time on site. However, considering the manufacturing time at the factory, it is difficult to significantly reduce construction costs.

[0005] In particular, large structures such as tunnels have large main and transverse reinforcing bars, making it difficult to manufacture the structures through automated processes in factories.

[0006] The present invention was created to solve the above-described problems, and more specifically, the technical purpose of the present invention is to provide an automated rebar assembly system for a tunnel concrete structure that enables easy manufacturing of a tunnel concrete structure through an automated process.

[0007] The present invention's automated rebar assembly system for solving the above-described technical purpose is:

[0008] In the automated rebar assembly system for concrete structures for tunnels,

[0009] A steel support that supports multiple first reinforcing bars by spacing them apart from each other in the vertical direction;

[0010] A reinforcing bar supply section that supplies second reinforcing bars in a direction perpendicular to the first reinforcing bars provided on the reinforcing bar support so that the first and second reinforcing bars intersect each other;

[0011] A jig capable of breaking the first reinforcing bar;

[0012] A tying jig capable of tying together the first and second reinforcing bars that are crossed with each other;

[0013] A plurality of robotic mechanisms including a movable part that is arranged between a storage area where first reinforcing bars are stored and the reinforcing bar support and is capable of sliding on the floor, and an articulated arm part that is rotatably installed on the upper part of the movable part and can rotatably mount either a grip jig or a tying jig on the tip;

[0014] Including a control unit that controls the above-mentioned rebar support, rebar supply unit and robot mechanism,

[0015] The above control unit,

[0016] The robot mechanism is operated to move the first reinforcing bar placed in the storage area to the reinforcing bar support, and when adjacent robot mechanisms are equipped with gripping jigs, one side and the other side of one of the first reinforcing bars loaded in the storage area are respectively gripped by a pair of adjacent robot mechanisms and moved vertically and horizontally to the reinforcing bar support, and when the first reinforcing bar is lifted from the storage area and the reinforcing bar is placed at the top, the gripping jig is stopped and the articulated arm part is relatively rotated with respect to the moving part and the gripping jig, and thereafter, the first reinforcing bar is lowered and placed on the reinforcing bar support.

[0017] In the above rebar assembly automation system,

[0018] The above articulated arm portion can be configured to move up and down within a range of 180 degrees.

[0019] In the above rebar assembly automation system,

[0020] At the tip of the above-mentioned joint arm, a 360-degree rotatable rotating mounting part is installed, and a grip jig can be attached to the rotating mounting part.

[0021] In the above rebar assembly automation system,

[0022] A pair of adjacent robotic mechanisms can operate together in synchronization with each other.

[0023] In the above rebar assembly automation system,

[0024] The above rotating body part is installed so as to be able to slide on a guide rail connecting the storage area and the steel support,

[0025] The above robotic mechanism can slide linearly between the storage area and the rebar support along the guide rail.

[0026] In the above rebar assembly automation system,

[0027] The above steel support is,

[0028] A support frame that is erected vertically and has an internal storage space,

[0029] The above support frame is installed spaced apart from each other in the vertical direction, and each is installed so as to be able to slide inside and outside the receiving space of the support frame, and includes a plurality of supports on which the first reinforcing bar is placed at the end.

[0030] The above control unit can sequentially protrude the support frame outward from the bottom in an upward direction, thereby allowing the first reinforcing bar to be sequentially placed on the support frame in an upward direction.

[0031] In the above rebar assembly automation system,

[0032] The above steel support is,

[0033] A plurality of them are arranged and extended apart from each other along the length of the first reinforcing bar,

[0034] The above rebar supply section,

[0035] The second reinforcing bars can be placed across the first reinforcing bars while moving along the arrangement direction of the multiple reinforcing bar supports.

[0036] In the above rebar assembly automation system,

[0037] The first reinforcing bar is supported on multiple horizontally spaced supports,

[0038] The above control unit,

[0039] When the rebar support slides, the movement path of the rebar supply section is opened by sequentially moving one of the multiple supports inside the support frame,

[0040] After the above rebar supply section passes, it can return to its original position and support the first rebar.

[0041] In the above rebar assembly automation system,

[0042] The above binding jig is,

[0043] It can be installed at the tip of the above joint arm,

[0044] After passing through the intersection of the first and second reinforcing bars, the first and second reinforcing bars can be tied together by rolling the belt reinforcing bar into a circle.

[0045] In the above rebar assembly automation system,

[0046] The above binding jig is,

[0047] The intersection of the first and second reinforcing bars can be crossed and tied.

[0048] In the above rebar assembly automation system,

[0049] The above concrete structure is a concrete structure for tunnel reinforcement, and the first reinforcing bar may be a main reinforcing bar and the second reinforcing bar may be a transverse reinforcing bar.

[0050] The present invention has a structure that can move long rebars from a storage area to a rebar support by synchronously operating a plurality of robot mechanisms, and thus has the advantage of automating rebar assembly work.

[0051] The present invention has the advantage of being able to automate a complex steel bar assembly structure by controlling a steel bar support, a steel bar supply unit, and a robot mechanism, thereby reducing assembly costs and assembly time.

[0052] Figure 1 is a perspective view of an automated rebar assembly system according to the present invention.

[0053] Figure 2 is a plan view of Figure 1.

[0054] Figures 3 to 6 are drawings showing the arrangement of the first reinforcing bar on the reinforcing bar support.

[0055] Figures 7 to 9 are drawings showing a second reinforcing bar being installed crosswise on a first reinforcing bar placed on a reinforcing bar support by a reinforcing bar supply unit.

[0056] Figures 10 to 15 are drawings showing how to tie a belt reinforcing bar to the intersection of the first reinforcing bar and the second reinforcing bar.

[0057] Figure 16 is a control block diagram of an automated rebar assembly system according to the present invention.

[0058] The embodiments of this disclosure are provided for the purpose of illustrating the technical concepts of this disclosure. The scope of rights under this disclosure is not limited to the embodiments presented below or the specific descriptions of these embodiments.

[0059] In this disclosure, "embodiment" is an arbitrary distinction used to facilitate the technical concept of the present disclosure, and each embodiment need not be mutually exclusive. For example, the configurations disclosed in one embodiment may be applied and implemented in other embodiments, and may be modified and applied and implemented without departing from the scope of the present disclosure.

[0060] All technical and scientific terms used in this disclosure, unless otherwise defined, have the meanings commonly understood by those of ordinary skill in the art to which this disclosure pertains. All terms used in this disclosure have been selected for the purpose of more clearly explaining this disclosure and are not intended to limit the scope of rights under this disclosure.

[0061] Expressions such as “including,” “comprising,” “having,” and the like used in this disclosure should be understood as open-ended terms that imply the possibility of including other embodiments, unless otherwise stated in the phrase or sentence in which the expression is included.

[0062] Expressions such as “consisting only of” or the like used in this disclosure should be understood as closed-ended terms that exclude the possibility of including other configurations in addition to the configuration in question.

[0063] The singular forms described in this disclosure may include plural meanings unless otherwise stated, and the same applies to the singular forms described in the claims.

[0064] The expressions “first,” “second,” etc. used in this disclosure are used to distinguish between multiple components, and do not limit the order or importance of the components.

[0065] In the present disclosure, “upper and lower directions” means the direction in which a plurality of first reinforcing bars are stacked, and “horizontal directions” means the direction perpendicular to the upper and lower directions and parallel to the ground.

[0066] Hereinafter, embodiments of the present disclosure will be described with reference to the attached drawings. In the attached drawings, identical or corresponding components are assigned the same reference numerals. Furthermore, in the description of the embodiments below, redundant descriptions of identical or corresponding components may be omitted. However, even if a description of a component is omitted, it is not intended that such component is not included in any embodiment.

[0067] The present invention relates to an automated rebar assembly system that facilitates work and significantly reduces the time required for work by automatically completing the entire process from rebar placement to tying using multiple robots in a factory in advance, without requiring workers to directly place rebars on the inner wall of a tunnel or the like and then perform work such as tying, thereby allowing a completed rebar assembly structure to be installed on site.

[0068] This rebar assembly automation system (10) is configured to include a rebar support (20), a rebar supply unit (30), a jigsaw (40), a tying jig (50), a robot mechanism (60), and a control unit (70).

[0069] The above-mentioned reinforcing bar support (20) supports a plurality of first reinforcing bars (80) by spacing them apart from each other in the vertical direction. This reinforcing bar support (20) is a main reinforcing bar that extends long in the radial direction of the tunnel in a tunnel reinforcement concrete structure, and supports the first reinforcing bar (80). A plurality of reinforcing bar supports (20) can be arranged by extending and spacing them apart from each other along the longitudinal direction of the first reinforcing bar (80).

[0070] A plurality of reinforcing bar supports (20) are installed spaced apart from each other along the circumference of the hemispherical reinforcing bar assembly structure. That is, each reinforcing bar support (20) can support a plurality of first reinforcing bars (80). Typically, because the tunnel is large in size, a plurality of first reinforcing bars (80) are connected horizontally to support them. The reinforcing bar support (20) is configured to stably support a plurality of first reinforcing bars (80).

[0071] The steel support (20) includes a support frame (21) and a stand (22).

[0072] The above support frame (21) is formed in the form of a thin, tall, rectangular frame. The support frame (21) is vertically erected and arranged. The support frame (21) is formed of a plurality of side walls that are long in the vertical direction, and an upper plate and a bottom plate that connect the upper and lower ends of the side walls.

[0073] The inside of the above support frame (21) is configured so that a receiving space is formed.

[0074] The above-described supports (22) are installed vertically spaced apart from each other with respect to the support frame (21). Each support (22) is installed so as to be able to slide inside and outside the receiving space of the support frame (21). A first reinforcing bar (80) is placed on the end of the support (22). Specifically, a plurality of supports (22) are sequentially spaced apart in the vertical direction. A gripping portion (221) having a concave shape is formed at the end of each support (22) so as to grip the first reinforcing bar (80). The gripping portion (221) can stably support the first reinforcing bar (80).

[0075] The above-mentioned holder (22) is configured to slide horizontally by a predetermined hydraulic system (10). Specifically, each holder (22) is connected to each hydraulic cylinder constituting the hydraulic system (10). When the load of the hydraulic cylinder is extended, the holder (22) is accommodated inside the support frame (21) or protrudes outward from the support frame (21). When the holder (22) protrudes outward from the support frame (21), the first reinforcing bar (80) can be gripped.

[0076] The control unit (70) sequentially protrudes the supports (22) outward from the support frame (21) from the lowest position upward. Accordingly, the first reinforcing bar (80) can be sequentially placed on the supports (22) in a vertical direction. Specifically, the control unit (70) initially supports the first reinforcing bar (80) by protruding the support (22) arranged at the lowest position outward, and thereafter, sequentially supports the first reinforcing bar (80) by protruding the support (22) immediately above among the plurality of supports (22).

[0077] Meanwhile, after all of the first reinforcing bars (80) are sequentially placed on the reinforcing bar support (20), the reinforcing bar supply section (30) for cross-linking the second reinforcing bar (81) to the first reinforcing bar (80) passes around the first reinforcing bar (80). In order not to impede the sliding movement of the reinforcing bar supply section (30), the reinforcing bar support section (22) is sequentially moved into the interior of the support frame (21).

[0078] That is, the control unit (70) sequentially moves one of the plurality of supports (22) into the support frame (21) when the rebar support (20) slides, thereby opening the movement path of the rebar supply unit (30). After the rebar supply unit (30) passes, it closes the movement path while returning to the original position and supports the first rebar (80).

[0079] That is, when the frontmost holder (22) is open, the holder (22) positioned in the next position still supports the first reinforcing bar (80), so that the first reinforcing bar (80) does not fall. Afterwards, after the reinforcing bar supply unit (30) passes the frontmost holder (22), the frontmost holder (22) slides so as to protrude and supports the first reinforcing bar (80), and afterwards, the holder (22) positioned in the next position opens so as to open the path through which the reinforcing bar supply unit (30) passes. Afterwards, after the reinforcing bar supply unit (30) passes the holder (22) positioned in the next position, the holder (22) slides so as to protrude and supports the first reinforcing bar (80). By repeating this process, after the reinforcing bar supply unit (30) places the second reinforcing bar (81) in the required position, the reinforcing bar supply unit (30) returns to its original position. The stand (22) is configured to open and close sequentially again so as not to obstruct the path through which the rebar supply section (30) passes.

[0080] The above-mentioned reinforcing bar supply unit (30) supplies second reinforcing bars (81) in a direction perpendicular to the longitudinal direction of the first reinforcing bar (80) provided in the reinforcing bar support (20). The reinforcing bar supply unit (30) intersects the first reinforcing bar (80) and the second reinforcing bar (81). Specifically, the reinforcing bar assembly is typically configured such that main reinforcing bars extending long in one direction intersect with transverse reinforcing bars arranged in a direction perpendicular to the direction of the main reinforcing bars. The reinforcing bar supply unit (30) arranges the second reinforcing bars (81) corresponding to the transverse reinforcing bars to intersect the first reinforcing bars (80) corresponding to the main reinforcing bars.

[0081] A plurality of second reinforcing bars (81) are placed in the reinforcing bar storage section (91). After removing one second reinforcing bar (81) from the reinforcing bar storage section (91), the reinforcing bar supply section (30) places the second reinforcing bar (81) so as to intersect the first reinforcing bar (80).

[0082] The rebar supply unit (30) includes a supply platform (31) extending vertically, a plurality of fixed supply units (32) extending horizontally from the supply platform (31) and spaced apart from each other vertically, and a supply moving unit (33) arranged at the bottom of the supply platform (31) and sliding along a rail.

[0083] The rebar supply unit (30) moves to the rebar storage unit (91) and, while holding the second rebar (81) by the support supply unit (31), moves toward the rebar support unit (20) and places the second rebar (81) across the first rebar (80). After the rebar supply unit (30) places the second rebar (81) at the required location, it returns to the rebar storage unit (91), holds a new second rebar (81), and then moves to cross and connect the second rebar (81) to the first rebar (80).

[0084] In this way, after all the necessary second reinforcing bars (81) are combined with the first reinforcing bars (80), the first reinforcing bars (80) and the second reinforcing bars (81) are tied together.

[0085] The above-mentioned grip jig (40) is detachably connected to the robot mechanism (60). The grip jig (40) grips one of the first reinforcing bars (80) stored in the storage area (90). The grip jig (40) grips the first reinforcing bar (80) until the first reinforcing bar (80) moves to the reinforcing bar support (20).

[0086] The gripping jig (40) is formed in a forceps shape so as to be able to grip reinforcing bars from both sides. The gripping jig (40) is rotatably coupled to the articulated arm (62) of the robot mechanism (60). The gripping jig (40) is rotatably coupled to the articulated arm (62) so that, when the first reinforcing bar (80) is gripped, only the articulated arm (62) can be relatively rotated while the position of the first reinforcing bar (80) is maintained. This gripping jig (40) is detachably installed on the rotational mounting portion of the robot mechanism (60). The rotational mounting portion is installed on the tip of the articulated arm (62) so as to be rotatable 360 ​​degrees.

[0087] The tying jig (50) can tie together the first reinforcing bar (80) and the second reinforcing bar (81) that are crossed with each other. After the second reinforcing bar (81) is arranged to cross the first reinforcing bar (80) by the reinforcing bar supply unit (30), the tying jig (50) ties together the first reinforcing bar (80) and the second reinforcing bar (81). The first reinforcing bar (80) and the second reinforcing bar (81) tied together by the tying jig do not separate from each other.

[0088] The tying jig (50) is detachably connected to the articulated arm (62) of the robot mechanism (60). After the robot mechanism (60) places the first reinforcing bar (80) on the reinforcing bar support (20), and then the reinforcing bar supply unit (30) connects the second reinforcing bar (81) to the first reinforcing bar (80) so that it intersects with the first reinforcing bar, the gripping jig (40) connected to the robot mechanism (60) is separated, and then the tying jig (50) is newly installed.

[0089] At this time, the tying jig (50) includes a bending portion (51) capable of wrapping a belt (82) in a circular manner. When a belt is supplied to the bending portion (51) of the tying jig (50), the supplied belt (82) is cut in a circular state. The first reinforcing bar (80) and the second reinforcing bar (81) are tied together by the cut reinforcing bar.

[0090] The tying process is as follows. The bent portion (51) of the rod-shaped tying jig (50) is inserted toward the intersection of the first reinforcing bar (80) and the second reinforcing bar (81). The belt reinforcing bar (82) is fed to one side of the bent portion (51). Thereafter, the bent portion (51) is rolled up into a circle so that the belt reinforcing bar (82) can wrap around the intersection of the first reinforcing bar (80) and the second reinforcing bar (81).

[0091] Meanwhile, the tying jig (50) is configured to cross and tie the intersection of the first reinforcing bar (80) and the second reinforcing bar (81). That is, after first wrapping and tying the belt reinforcing bar (82) on one side of the intersection of the first reinforcing bar (80) and the second reinforcing bar (81), a tying portion is inserted on the other side, and then a new belt reinforcing bar (82) is rolled up into a circle to tie the belt reinforcing bar (82) in an X shape.

[0092] The above robot mechanism (60) includes a movable part (61) that can slide between a storage area (90) where the first reinforcing bar (80) is stored and the reinforcing bar support (20), and an articulated arm part (62) that is rotatably installed on the upper part of the movable part (61). The articulated arm part (62) can rotatably mount either a grip jig (40) or a binding jig (50) on its tip. A plurality of robot mechanisms (60) are arranged in a row around the reinforcing bar support (20).

[0093] Specifically, the moving part (61) is installed so as to be able to slide on a guide rail (63). The guide rail (63) connects the storage area (90) and the steel support (20). A predetermined driving means and wheels are provided at the lower part of the moving part (61) so as to allow the rail to slide. A rotating part (611) capable of rotating 360 degrees is provided at the upper part of the moving part (61). An articulated arm part (62) is installed at the rotating part (611). By connecting the articulated arm part (62) to the rotating part (611) of the moving part (61), the articulated arm part (62) can rotate 360 ​​degrees with respect to the moving part (61).

[0094] The above-mentioned articulated arm (62) is rotatably installed on the upper portion of the above-mentioned moving part (61). Either a grip jig (40) or a binding jig (50) can be rotatably mounted on the articulated arm (62). The articulated arm (62) is composed of a plurality of joints and arms that interconnect the joints. The plurality of arms are configured to be hinge-rotatable by the joints. The articulated arm (62) is configured to rotate vertically within a range of 180 degrees. The articulated arm (62) cannot rotate beyond a range of 180 degrees.

[0095] The tip of the above-mentioned articulated arm (62) is provided with a 360-degree rotatable rotating mounting portion, and as the rotating mounting portion is rotatably coupled to the tip of the articulated arm (62), the grip jig (40) coupled to the rotating mounting portion is configured to be able to rotate relative to the articulated arm (62).

[0096] The above control unit (70) controls the above rebar support (20), rebar supply unit (30), and robot mechanism (60).

[0097] This control unit (70) operates the robot mechanism (60) to move the first reinforcing bar (80) placed in the storage area (90) to the reinforcing bar support (20), and when the adjacent robot mechanisms (60) are equipped with a gripping jig (40), one side and the other side of one of the first reinforcing bars (80) loaded in the storage area (90) are moved vertically and horizontally to the reinforcing bar support (20) while being gripped by a pair of adjacent robot mechanisms (60).

[0098] Afterwards, when the first reinforcing bar (80) is lifted from the storage area (90) and the reinforcing bar is placed at the top, the grip jig (40) is stationary and the joint arm (62) is rotated relative to the moving part (61) and the grip jig (40), and then the first reinforcing bar (80) is lowered and placed on the reinforcing bar support (20). At this time, the control unit (70) can control a pair of adjacent robot mechanisms (60) to operate together by synchronizing them.

[0099] That is, in the adjacent robot mechanisms (60), each articulated arm (62) grips the first reinforcing bar (80) and lifts the first reinforcing bar (80) upward together. Afterwards, after the moving part (61) moves toward the reinforcing bar support (20), only the articulated arm (62) rotates while leaving the gripping jig (40) in place. By allowing the reinforcing bar support (20) to be placed within the rotation radius of the articulated arm (62), the first reinforcing bar (80) can be safely placed on the reinforcing bar support (20).

[0100] The above control unit (70) enables the second reinforcing bar (81) to be placed on the first reinforcing bar (80) by operating the reinforcing bar supply unit (30) after placing the first reinforcing bar (80) on the reinforcing bar support (20). The control unit (70) causes the support unit (22) to retract so that the support unit (22) does not obstruct the path of the reinforcing bar supply unit (30) during the process of moving the reinforcing bar supply unit (30).

[0101] Afterwards, the control unit (70) connects the tying jig (50) to the robot mechanism (60), and then uses the tying jig (50) to connect the belt reinforcing bar (82) to the intersection of the first and second reinforcing bars. After completing the cross-connection of the first and second reinforcing bars in this manner, the reinforcing bar assembly is completed.

[0102] The automatic rebar assembly system (10) according to the present invention can save cost and time by automating all processes from placement to fixing and joining of rebars without a worker.

[0103] In addition, even when the length of the first reinforcing bar (80) is long, multiple robot mechanisms (60) can be operated in sync to stably place the first reinforcing bar (80) at a desired position.

[0104] The present invention exemplifies automation of a steel bar assembly for a concrete structure for a tunnel, but is not limited thereto, and the technology of the present invention can be applied to various steel bar assemblies used in buildings, etc.

[0105] Although the automated rebar assembly system of the present invention has been described above with reference to various examples, it is not limited thereto, and anything that can be reasonably interpreted from the scope of the present invention is naturally included in the scope of the present invention.

Claims

1. In an automated steel assembly system for concrete structures for tunnels, A reinforcing bar support that supports multiple first reinforcing bars by spacing them apart from each other in the vertical direction; A reinforcing bar supply section that supplies second reinforcing bars in a direction perpendicular to the first reinforcing bars provided on the reinforcing bar support, thereby intersecting the first and second reinforcing bars; A jig capable of breaking the first reinforcing bar; A tying jig capable of tying together first and second reinforcing bars that are crossed with each other; A plurality of robotic mechanisms including a movable part that is arranged between a storage area where first reinforcing bars are stored and the reinforcing bar support and is capable of sliding on the floor, and an articulated arm part that is rotatably installed on the upper part of the movable part and can rotatably mount either a grip jig or a tying jig on the tip; Including a control unit for controlling the above-mentioned rebar support, rebar supply unit and robot mechanism, The above control unit, A system for automatically assembling rebars for tunnel concrete structures, characterized in that the robot mechanism is operated to move the first rebar placed in the storage area to the rebar support, and when adjacent robot mechanisms are equipped with gripping jigs, one side and the other side of one of the first rebars loaded in the storage area are gripped by a pair of adjacent robot mechanisms, respectively, and moved vertically and horizontally to the rebar support, and when the first rebar is lifted from the storage area and the rebar is placed at the top, the gripping jig is stopped and the articulated arm part is relatively rotated with respect to the moving part and the gripping jig, and thereafter, the first rebar is lowered and placed on the rebar support.

2. In paragraph 1, An automated rebar assembly system for a tunnel concrete structure, characterized in that the above-mentioned articulated arm part is configured to move up and down within a range of 180 degrees.

3. In paragraph 2, An automated system for assembling reinforcing bars for a tunnel concrete structure, characterized in that a 360-degree rotatable rotating mounting part is installed at the tip of the above-mentioned joint arm part, and a grip jig is attached to the rotating mounting part.

4. In paragraph 3, An automated rebar assembly system for concrete structures for tunnels, characterized in that a pair of adjacent robotic mechanisms operate together in synchronization with each other.

5. In paragraph 1, The above rotating body part is installed so as to be able to slide on a guide rail connecting the storage area and the steel support. An automated rebar assembly system for a tunnel concrete structure, characterized in that the above robotic mechanism slides linearly between a storage area and a rebar support along a guide rail.

6. In paragraph 1, The above steel support is, A support frame that is erected vertically and has an internal storage space, The above support frame is installed spaced apart from each other in the vertical direction, and each is installed so as to be able to slide inside and outside the receiving space of the support frame, and includes a plurality of supports on which the first reinforcing bar is placed at the end. A reinforcing bar assembly automation system for a tunnel concrete structure, characterized in that the control unit sequentially protrudes the brackets outward from the support frame from the lowest to the uppermost position so that the first reinforcing bar is sequentially placed on the brackets in the vertical direction.

7. In paragraph 6, The above steel support is, A plurality of them are arranged and extended apart from each other along the length of the first reinforcing bar, The above rebar supply section, An automated rebar assembly system for a tunnel concrete structure, characterized in that it arranges second rebars intersecting a plurality of first rebars while moving along the arrangement direction of a plurality of rebar supports.

8. In paragraph 7, The first reinforcing bar is supported on multiple horizontally spaced supports. The above control unit, When the rebar support slides, the movement path of the rebar supply section is opened by sequentially moving one of the multiple supports into the support frame. An automated rebar assembly system for a tunnel concrete structure, characterized in that after the above rebar supply section passes, it returns to the original position and supports the first rebar.

9. In paragraph 1, The above bonding jig is, It can be installed at the tip of the above jointed arm, An automated rebar assembly system for tunnel concrete structures characterized by rolling up a belt rebar into a round shape after passing through the intersection of the first and second rebars to tie the first and second rebars together.

10. In paragraph 9, The above bonding jig is, An automated rebar assembly system for tunnel concrete structures, characterized by tying the intersections of first and second rebars by crossing them.

11. In paragraph 1, An automated system for assembling reinforcing bars for a tunnel concrete structure, characterized in that the above concrete structure is a concrete structure for reinforcing a tunnel, the first reinforcing bar is a main reinforcing bar, and the second reinforcing bar is a transverse reinforcing bar.

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