CN118140031A - Reinforcing bar assembly quality - Google Patents

Abstract

The invention provides a device for automating the assembly of reinforcing bars of columns and beams according to reinforcing bar information of reinforcing bars included in design information of buildings and the like. The solution of the present invention is provided with: a storage area 3 for storing the reinforcement pile; an assembly area 1 for arranging the pile of reinforcing bars at a predetermined position and binding the intersection; conveying units 8 and 9 for conveying the reinforcing bars from the storage area to the assembly area; bundling means 5, 6, 7 for bundling the intersections where the plurality of reinforcing bars intersect; and a control unit that controls the conveyance unit and the bundling unit. The control unit is provided with: a reinforcing bar information acquisition unit that acquires, from the design information, information on the arrangement of each reinforcing bar of the reinforcing bar stack used for constructing the column or beam; a calculation unit that calculates control information including the number and the conveyance distance of the reinforcing bars to be conveyed from the storage area to the assembly area and coordinates of intersections between the reinforcing bar stacks; a first output unit that outputs a control signal to the conveyance unit in accordance with the control information; and a second output unit that outputs a control signal to the strapping unit based on the control information calculated by the calculation unit.

Description

Reinforcing bar assembly quality

Technical Field

The present invention relates to a device for assembling a pile of reinforcing bars used for a building or a column or a beam of the building, and more particularly, to a device for assembling a pile of reinforcing bars by arranging the reinforcing bars at predetermined positions based on pre-fabricated design information related to the building or the building, and joining crossing portions of the reinforcing bars by strapping or the like.

Background

In general, a building or structure constructed of reinforced concrete is constructed of columns, beams or walls formed by fixing reinforcing bars, which are reinforced in advance, with concrete, and reinforcing bars are reinforced before the concrete is poured. Accordingly, the reinforcement work of the reinforcing bars is performed exclusively at a construction site, and predetermined main bars and shear bars are carried into the construction site, and are moved to predetermined positions by a crane or the like, and then assembled by bundling intersections of the respective reinforcing bars or the like (so-called site assembly method). However, in the field operation, there is a limit to saving labor and improving efficiency of the operation, and therefore, a method (preassembly method) of preassembling in a processing plant or the like is used to assemble a pile of reinforcing bars (preassembly unit) preassembled in the processing plant or the like, and the assembled pile of reinforcing bars is carried into a construction site. For this reason, devices (rebar placement devices) for placing main tendons and shear tendons at predetermined positions have been developed in order to improve the efficiency of operations in processing plants and the like (see patent documents 1 and 2).

However, the reinforcing bar assembling apparatus as described above is an apparatus for moving the shear bars in the longitudinal direction of the main bars, in which the shear bars are set in a state (unitized) at predetermined intervals, and the unitized shear bars are conveyed by a chain conveyor or an endless belt. Therefore, in the assembly work, the process of disposing the shear steel bars at predetermined intervals is not automated, and the work efficiency is not significantly improved. Further, the operation such as bundling is not automated.

For this reason, a reinforcing bar assembling apparatus has been proposed in which a manipulator robot is provided that moves parallel to the axial direction of the main bar, and the manipulator robot sequentially performs operations such as bundling (see patent document 3). According to this technique, the manipulator robot can be caused to perform the operation of arranging the shear bars, in addition to the operation of bundling or the like.

On the other hand, a technique has been developed in which arrangement information (reinforcement data) of reinforcing bars in design information of a building or the like is electronically changed (see patent document 4). In this technique, in order to electronically information reinforcement data which has not been described in detail before, three-dimensional structure information of the reinforcing bars is created from information concerning the installation positions of the reinforcing bars in the three-dimensional structure of the reinforced concrete structure, information identifying the types (characteristic elements such as the radial length and the length) of the reinforcing bars, and the like.

As described above, techniques have been developed for reconstructing reinforcement data by checking the interference of the reinforcing bars using the three-dimensional structural information of the reinforcing bars (see patent document 5), and techniques for further assisting the reconstructed reinforcement data at the construction site (see patent document 6).

[ Prior Art literature ]

[ Patent literature ]

[ Patent document 1] Japanese unexamined patent publication No. 4-130659

[ Patent document 2] Japanese patent laid-open No. 6-218475

Patent document 3 Japanese patent application laid-open No. 2013-204257

[ Patent document 4] Japanese patent laid-open No. 2006-318257

Patent document 5 japanese patent laid-open publication No. 2009-30403

[ Patent document 6] Japanese patent application laid-open No. 2011-253484

Disclosure of Invention

[ Problem to be solved by the invention ]

In the techniques disclosed in patent documents 1 and 2 related to the reinforcing bar mounting apparatus, basically, the main bar is provided on the work table, and the binding operation such as bundling is performed after the shear bar (unit) is moved, and even if the binding operation such as bundling is performed automatically, the main bar must be disposed at a plurality of positions inside the shear bar, and the range of automation is limited. In the technique disclosed in patent document 3, the arrangement and the bonding of the shear bars are performed by a robot arm, and the rapid bar assembly is dependent on the speed of the robot arm.

On the other hand, the techniques disclosed in patent documents 4 to 5 are processing techniques for storing reinforcement data in design information of a building or the like as electronic data and reconstructing correction data so as to avoid interference of the reinforcement. However, first, only the reinforcement data is electronically provided, and the operator can grasp and understand the reinforcement data, but the electronic data is displayed as a drawing, and the operator performs an operation based on the drawing. Further, since the disturbance to the reinforcing bars occurs mainly in the joint portion between the column and the beam or the slab and the joint portion between the beam and the slab, the reinforcement data of the column unit or the beam unit need not be corrected. Further, these reinforcement data are mapped to assist the work on the construction site, and are not used in the reinforcement bar assembly apparatus.

The present invention has been made in view of the above points, and an object of the present invention is to provide a device capable of automating the assembly of reinforcing bars in columns and beams based on reinforcing bar information included in design information of a building or the like.

[ Solution to problem ]

Accordingly, the present invention is an apparatus for assembling a pile of reinforcing bars used for columns or beams of a building or a structure based on design information about the building or the structure, which is prepared in advance, the apparatus comprising: a storage area for storing the used reinforcing bar piles for each type; an assembly area for arranging the reinforcement pile at a predetermined position and combining the predetermined positions of the intersecting portions to assemble the reinforcement pile; a conveying unit that conveys desired reinforcing bars from the storage area to the mounting area for each type; a coupling unit coupling crossing portions where a plurality of reinforcing bars cross in the assembly area; and a control unit that controls the conveyance by the conveyance unit and the coupling operation by the coupling unit, respectively, the control unit including: a reinforcing bar information acquisition unit that acquires information on the arrangement of at least each type of reinforcing bars of a reinforcing bar stack used for constructing a column or a beam from design information related to a building or a structure; a calculation unit that calculates control information including at least the number and the conveying distance of each type of reinforcing bars to be conveyed from the storage area to the assembly area and the coordinates of the intersection of the reinforcing bar stacks to be conveyed to the assembly area, from the information acquired by the reinforcing bar information acquisition unit; a first output unit that outputs a control signal to the conveying unit based on the control information calculated by the calculation unit; and a second output unit that outputs a control signal for the coupling means based on the control information calculated by the calculation unit.

According to the invention configured as described above, the control unit can acquire information (reinforcement data) concerning the construction of the column and the beam from design information of a building or the like to be constructed, calculate information concerning the movement of the pile and positional information concerning coordinates at which the pile intersects each other, and output a control signal based on the information. The control signals are individually outputted to the conveying unit, which controls the pile of reinforcing bars stored in the storage area to convey the reinforcing bars of a predetermined type to the mounting area in a predetermined order by a predetermined number, and to the coupling unit, which controls the coupling position and state based on the calculated coordinates of the crossing position. In addition, as the bonding, bonding by welding is also used in addition to the bundling, and as the bonding means in the case of bonding by bundling, a bundling machine may be used, and in the case of bonding by welding, a welding torch may be used. In the case of such a configuration, the joining operation means a state such as a disposition, orientation, or operation of the strapping machine, a state such as a disposition, orientation, or the like of the welding torch.

As design information of a building or the like used in the present invention, three-dimensional information called BIM (Building Information Modeling ·management, building information modeling Management) or CIM (Construction Information Modeling ·management, constituting information modeling Management) may be used in addition to the reinforcement data disclosed in the above-described patent document 4 or the like. The BIM and CIM are combined with information about members and the like given to the three-dimensional model as attribute information, in addition to a three-dimensional model of a shape of a building and the like (information representing the shape in three dimensions), and include information about reinforcing bars (reinforcing bar data). Heretofore, the data of BIM and CIM have been used to confirm the correctness of the construction by comparing the image of the construction or after the success with the above three-dimensional model, but the present invention can assemble the reinforcing bars based on the reinforcing bar data included in the three-dimensional model of BIM and CIM.

In the above-described construction of the invention, the reinforcement stack may include a main reinforcement and a shear reinforcement, the conveying means may include a main reinforcement conveying portion for conveying the main reinforcement and a reinforcing reinforcement conveying portion for conveying the shear reinforcement, in which case, the reinforcement stack conveyed to the mounting area may be arranged in a state in which the axis of the main reinforcement is set to be horizontal and the entire shear reinforcement is set to be upright so that the axes of the constituent parts of the shear reinforcement are orthogonal to the axis of the main reinforcement, and the operation unit may be configured to calculate the order of conveyance of the reinforcement stack, and the operation condition may be such that a predetermined number of shear reinforcements are conveyed as a first order and then the main reinforcement is conveyed as a second order.

According to such a constitution, the main bars and the shear bars can be basically transported to the assembly area in sequence. At this time, the main bar is transported with the axis line set as the horizontal direction, and the shear bar is transported in the first order, and thereafter, the main bar is transported. As shear bars, bars formed in a rectangular ring shape are typically arranged around a main bar in columns such as a strap bar (hoop) and in beams such as a stirrup bar (stirrup). The shear bars are reinforced in a state where each element bar (four side portions) forming the rectangle is orthogonal to the axis of the main bar, and when the axis of the main bar is set to be horizontal, the shear bars are set in a state where the rectangular portions stand upright. The posture of the shear bar in the erected state is not particularly limited, and in general, when a rectangular shear bar is provided, one side of the rectangle is taken as the bottom side. The main reinforcement and the shear reinforcement are arranged in relation to each other along the longitudinal direction of the main reinforcement, and the plurality of shear reinforcements are arranged at predetermined intervals. Accordingly, the shear bars are arranged at predetermined intervals in advance, and finally the main bars are inserted into the inner sides of the shear bars, whereby the bars can be reinforced in a predetermined relationship with each other. The installation position of the shear bar and the insertion position of the main bar are controlled based on the result calculated by the calculation unit, respectively, and the coordinates of the intersection where the main bar is inserted eventually match the control information of the calculation unit.

In the invention configured as described above, the assembly area may include a holding unit that holds the shear bars conveyed as the first order in an upright state while maintaining a predetermined interval based on the information related to the arrangement of the bars acquired by the bar information acquisition unit, and the main bar conveying unit may include a main bar support unit and a main bar delivery unit that are capable of being lifted and lowered in a gap of the shear bars held by the holding unit, and may be configured to support the main bars by the main bar support unit and to convey the shear bars by delivery of the main bar delivery unit.

According to such a configuration, the holding unit can hold the shear steel bar in a prescribed position and state in the fitting area. In order to maintain the state of the shear bar, there is a configuration in which two sets of opposite sides (bar constituting portions) form a rectangular shear bar, one set of opposite sides in the rectangular structure is set as a horizontal direction, and the other set of opposite sides is set as a vertical direction. Such a state can be referred to as an upright setting state. As a method for holding the shear bar by the holding means, for example, in the case of holding in the above-described state, a holder for holding the peripheries of the apexes at both ends of the bottom edge at two places may be used. As the holder in this case, a holder that opens the top corner and is integrated with a locking groove into which the reinforcing bar portions (only part of each of the horizontal portion and the vertical portion) on both sides of the top corner can be locked can be used. By disposing the holders near the top corners of the two sides, the two sides of the bottom edge of the shear bar are partially and simultaneously engaged with the engagement grooves of the holders on the two sides, whereby the shear bar can be held in the erected state. Therefore, the holders may be disposed on both sides of the position to be disposed according to the number of the shear bars to be held. As another holding method, there is a method of magnetizing by magnets arranged at predetermined intervals. The magnets may be permanent magnets or electromagnets, but in the case of permanent magnets, the positions of the electromagnets must be adjusted in accordance with the intervals (pitches) between the shear bars to be arranged, and therefore, it is preferable to arrange a plurality of electromagnets in advance and to set the magnetization positions by selectively energizing them. In addition, when using a core bar, for example, the core bar may be held at the same time as the tie bar by previously joining (strapping or welding) the core bar to the tie bar or the like as a shear bar other than the tie bar or the tie bar.

On the other hand, the main bars may constitute the conveying section by using gaps (pitch spaces) formed between the shear bars to be provided. That is, the main bar support portions can be lifted from the gaps of the shear bars, and the main bar support portions disposed at several positions are dispersed during transportation (insertion into the inner side of the shear bars), so that the main bar is supported partially and advanced by the main bar transportation portions, thereby enabling transportation. The installation interval (pitch) of the shear bars varies according to the reinforcement data of the bars to be assembled, and thus must be movably installed in such a manner that the main bar support portion is disposed in the gap of the shear bars. In order to select the locations and the number of the main bar support portions according to the length and the weight of the main bar, a plurality of main bar support portions are prepared in advance, and a part or all of the main bar support portions selected from the plurality of main bar support portions are used for supporting the main bar.

In addition, in the conveyance of the shear bar and the delivery of the main bar, a slider is provided that can reciprocate in a range from the storage area to the mounting area, and by providing a grip portion having a grip function of the bar on the slider, the shear bar and the main bar can be gripped and moved by a predetermined distance, and by controlling the movement distance, the conveyance to a position to be supplied can be realized. The slider having these holding portions may be provided with a slider for the shear bar and a slider for the main bar, respectively, but the same slider may be used for both cases because the timings of carrying them are different.

In the above-described aspect of the invention, a posture adjustment region may be formed between the storage region and the mounting region, the posture adjustment region being configured to change the posture of the reinforcing bar to a desired state in accordance with the type of the reinforcing bar during conveyance, and at least the reinforcing bar conveying unit may be configured to convey the reinforcing bar through the posture adjustment region, and the posture of the reinforcing bar may be changed in the posture adjustment region in accordance with a control signal from the control unit.

According to this configuration, the shear bar is transported to the mounting area via the posture adjustment area, and therefore the posture of the shear bar taken out of the storage area can be appropriately changed during transportation. For example, in the case of reinforcing the band or the stirrup, the reinforcing bar may be reversed to adjust the position of the hook. The step of bonding (strapping or welding) may be performed in a state where the core rib is brought into contact with a predetermined position such as a tie rib.

In the above-described configuration of the invention, the control means may be configured by a mobile terminal, the transport means and the coupling means may be configured to be capable of transmitting and receiving data to and from the mobile terminal, and the mobile terminal may be configured to store the design information, calculate the control information, output a control signal based on the control information to the transport means and the coupling means, input transmission information transmitted from the transport means and the coupling means, and store the transmission information as operation progress information.

According to the above configuration, the conveying means and the coupling means, which are the main parts of the reinforcing bar fitting apparatus, can transmit and receive signals to and from the mobile terminal, and thus operate in accordance with the control signal output from the mobile terminal. The transmission/reception may be wired or wireless, and may be performed at the outside of a factory (e.g., a construction site such as a building) based on data transmission/reception. In particular, it is possible to appropriately select a pile of reinforcing bars (whether a column or a beam is different, or which portion of a column or a beam is used) to be assembled depending on the progress of construction at a construction site. The mobile terminal inputs the transmission information by sequentially transmitting the state of the operation of the carrying unit and the coupling unit, and stores the transmission information as the job progress information, thereby allowing management as a so-called log.

In the invention of each configuration, the control means may be configured by a cloud server and a mobile terminal, the transport means and the coupling means may be configured to be capable of transmitting and receiving data to and from the mobile terminal, the cloud server may store the design information, calculate the control information, and store the control information, and the mobile terminal may receive the control information stored in the cloud server, output a control signal according to the control information to the transport means and the coupling means, input transmission information transmitted from the transport means and the coupling means, and store the transmission information as operation progress information.

In the case of such a constitution, the present invention can be used outside the factory. Further, by storing basic design information in the cloud server in advance and calculating control information in advance, the mobile terminal can receive only necessary control information, and the load of the mobile terminal can be reduced.

In the configuration using such a mobile terminal or the configuration using the mobile terminal and the cloud server, the design information is subdivided for each operation process, and the control information is calculated for each operation process. In the case of calculating the control information in the cloud server, the mobile terminal may be configured to acquire the control information for each operation step stored in the cloud server for each operation step.

In the case of the above configuration, the information concerning the position, the type, the order of construction, and the like is extracted from the information included in the design information, and the control information is calculated in advance for each of the extracted design information by dividing the information for each of the operation steps determined by the information, whereby the assembly of the reinforcing bars for the required operation step can be started immediately. For these divided design information and control information, indexes may be given to each and desired information may be obtained from the stored information using the indexes as markers. In the case where the index is associated with a bar code, the index can be easily obtained by reading the bar code.

[ Efficacy of the invention ]

According to the present invention, since the conveying means and the coupling means are controlled based on the calculation result in addition to the control information based on the reinforcement information of the reinforcement included in the design information of the building or the like, the reinforcement can be assembled while being faithful to the design information of the building or the like. Moreover, the above can be automated. In particular, the present invention can effectively utilize the gap (pitch space) of the shear bars by disposing the shear bars in advance and then inserting the main bars, and can rapidly form the crossing state of the two. Further, since the conveyance state of both is controlled and the coordinates of the intersection are calculated, the joining by the joining means can be started immediately in a state where the main bar is inserted into the inner side of the shear bar.

In the case where the control unit is made to function by the mobile terminal or the cloud server and the mobile terminal, the reinforcing bar attachment device may be provided so as to be capable of transmitting and receiving data to and from the mobile terminal, and the main part of the conveying unit and the coupling unit may be operated by providing the reinforcing bar attachment device outside the factory (for example, at the construction site) and inputting only the signal output from the mobile terminal.

Further, the present invention has a configuration in which control information based on reinforcing bar information of reinforcing bars included in design information of a building or the like is calculated, and therefore, by using various kinds of information obtained, the assembled state can be verified in a virtual space. In the case of using this technology in a developing manner, by adopting an AR (Augmented Reality ) technology, it is possible to perform verification by visually checking AR goggles and augmented reality using an AR application for a mobile device (simultaneously visually checking a pile of reinforcing bars where an existing portion is assembled with a predetermined portion). In the case of using a 3D scanner, the data of the real object of the 3D chemical Cheng Zhongtu can be combined with the assembled data and verified, or can be visually confirmed.

Drawings

FIG. 1 is an explanatory view showing the whole assembly device according to the embodiment of the present invention.

FIG. 2 is an explanatory view showing the constitution of one block constituting the mounting device.

Fig. 3 is an explanatory diagram illustrating the conveying unit.

Fig. 4 is an explanatory view illustrating a method of holding the shear steel bar.

Fig. 5 is an explanatory diagram illustrating a coupling unit.

Fig. 6 is an explanatory diagram illustrating a configuration of the control unit.

Fig. 7 is an explanatory view showing an assembled state of the pile.

Fig. 8 is an explanatory diagram showing a state of the crossing portion of the reinforcing bars.

Fig. 9 is an explanatory diagram showing states of the shear steel bars and the core bars.

Fig. 10 is an explanatory view illustrating a holding state of the bead and a guide portion for holding the bead.

Fig. 11 is an explanatory diagram showing a modification of the control unit.

Fig. 12 is an explanatory diagram showing a modification of the control unit.

Fig. 13 is an explanatory diagram showing a modification of the processing unit.

Detailed Description

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

Device summary

Fig. 1 is a schematic view showing an embodiment of the reinforcing bar fitting apparatus of the present invention. As shown in the drawing, the present embodiment is configured by arranging a plurality of blocks BL constituted by a plurality of frames FL. By connecting these blocks BL, an assembly area 1, an attitude adjustment area 2, and a storage area 3 are provided in this order. The standby area 4 of the conveyance units 8 and 9 described later is provided at the end.

In the mounting region 1, an upper coupling unit 5 and lower coupling units 6, 7 are arranged. As described later, the lower coupling units 6 and 7 also function as a part of the transport unit for the main bar.

The storage area 3 is an area where a proper space is secured, and is configured to store the shear bars SM1, the core bars SM2, and the like at an upper position and store the main bars SM3 at a lower position. The shear bars SM1, the core bars SM2, and the like are suspended and stored at a predetermined height in an aligned state, and the main bars SM3 can be stored in a state of being placed on the frame FL of the block BL.

The posture adjustment region 2 is disposed between the mounting region 1 and the storage region 3, and is a region where an appropriate space is secured. As will be described later, the conveyance units 8 and 9 may be provided so as to be rotated when the posture (orientation) of the conveyance units 8 and 9 is changed in a state where the conveyance units 8 and 9 hold the shear bars SM1, the core bars SM2, and the like. Therefore, the shear bars SM1, the core bars SM2, and the like can be omitted without changing the posture (orientation) thereof.

The standby area 4 is a standby space in which the movement of the conveyance units 8 and 9 is not required, and is an area that serves as a starting point (origin) in controlling the movement amount. The start point may be set in the storage area 3, and the standby area 4 may be omitted when the position at which the transfer of the shear bars SM1, the core bars SM2, and the like is started is set as the start point.

In each block BL constituting the reinforcing bar assembling device, rails LD1, LD2, LU1, LU2 are provided at appropriate positions, and the movement directions of the coupling units 6, 7 and the conveying units 8, 9 are guided. For example, the two rails LU1, LU2 for the upper coupling unit 6 and the conveying units 8, 9 are provided as a pair in the upper frame F of the block BL, and the two units 6, 8, 9 can be moved while crossing the two rails LU1, and the two rails LD1, LD2 for the lower coupling unit 7 are provided as a pair in the lower frame, so that the unit 7 can be moved while crossing the two rails LD1, LD 2.

The rails LD1 to LU2 may be provided on the cross members of the frame FL constituting the block BL, and the coupling units 6 and 7 and the conveying units 8 and 9 may be moved by linear movement by using the rails LD1 to LU2 as linear guides.

Fig. 2 shows a block BL. Each block BL is basically formed of a lower-level cross frame FL1, an upper-level cross frame FL2, and a plurality of pillar frames FL3 erected in the vertical direction, which constitute the base portion. The reference of coordinates can be made by taking the cube as the longitudinal direction X, the width direction Y, and the height direction Z as the Z axis. Further, by forming cubes of the same size, transportation to the construction site and installation and connection at the construction site can be simplified.

In each of the frames FL1, FL2, and FL3, the frame frames FL2a and FL2b arranged in the X direction of the upper frame FL2 may function as bases for installing the tracks LU1 and LU2, and the tracks LU1 and LU2 having the same length as the frame frames FL2a and FL2b may be provided in advance.

Further, the sub frames FL4a, FL4b disposed parallel to the lower side frame FL1 are provided in the vicinity of the lower side frame FL1, and function exclusively as bases for providing the rails LD1, LD2 to be provided at the lower side. In the sub frames FL4a, FL4b, the rails LD1, LD2 may be provided in advance.

The axes of the tracks LD1 to LU2 are aligned with the longitudinal direction X of the block BL, and by connecting a plurality of identical blocks BL in the longitudinal direction X, the tracks LD1 to LU2 are continuous and have a desired length. In the case where the tracks LD1 to LU2 do not need to be continuous (there are unnecessary areas), the blocks BL in which none of the tracks LD1 to LU2 are provided in the same type of block BL may be prepared in advance, and the blocks BL may be appropriately selected to be continuous.

The block BL having the above-described configuration may be appropriately adjusted in the length dimension L, the width dimension W, and the height dimension H by the reinforcement information to be assembled, but may be configured to have a certain margin size so as to be able to assemble reinforcement stacks having various sizes. For example, the length L is 1m on the premise of connecting the plurality of blocks BL, the width W is 2m so that the space inside the apparatus can be sufficiently ensured, and the height can be 3m.

Exemplary carrying Unit

Here, the conveyance units 8 and 9 of the reinforcing bars (other than the main bars) that can be used in the present embodiment are exemplified. Fig. 3 is a perspective view showing an example of the two conveying units 8 and 9. In the figures, both of the conveying units 8 and 9 are shown as conveying in the same conveying direction C, and a power supply system (power cable or the like) for a driving device provided individually is omitted. As shown in the figure, the sliders 81a, 81b, 91a, 91b slidable in the longitudinal direction X (X-axis direction) are attached to the upper frames FL2a, FL2b along rails (linear motion guides) LU1, LU2, respectively, and the frames 82, 92 are suspended so as to span the sliders 81a to 92 b. The one-side sliders 81a, 91a are provided with motors 83, 93, and are provided with driving forces for sliding along the rails LU1, LU 2. The frames 82 and 92 are provided with second linear motion guides, and the conveyance bases 84 and 94 can be slid in the axial direction Y (Y axis direction) of the guides.

The one-side conveying unit 8 exemplifies a device dedicated to conveying the shear steel bar SM 1. Therefore, the lifting/lowering unit 85 can be lifted and lowered by an actuator provided in the conveyance base 84. As the actuator in this case, a Zip Chain transmission actuator (registered trademark) or the like may be used, or other actuators may be used as appropriate. A horizontal arm 86 is provided to the lifting section 85 via an appropriate motor or the like, and a vertical arm 87 is provided at the tip of the horizontal arm 86. The horizontal arm 86 can be rotated about the center of the lifting unit 85 by an operation of a motor or the like, and the vertical arm 87 can be rotated at the same time by the rotation of the horizontal arm 86. The arms 86 and 87 are provided with grippers 88 and 89 slidable in the axial direction, respectively, and are configured to hold a part of the shear bar at an appropriate position.

When the opposite sides of the rectangular shear bar (with bars, stirrups, etc.) are arranged up, down, and left and right, the state in which the clamps 88 and 89 clamp the bar is such that the clamp 88 of the horizontal arm 86 clamps one bar component in a horizontal state in the upper part, and the rotation of the lifting part 85 of one bar component in a vertical state in which the clamp 89 of the vertical arm 87 clamps the side is a rotation in the XY plane around the Z axis, the horizontal arm 86 changes its orientation in the longitudinal direction by the rotation, and the vertical arm 87 changes its position around the axis. The clamping by the clamps 88, 89 of the arms 86, 87 can change only the posture (position and orientation) of the rectangular bar while maintaining the state of the rectangular bar with its opposite sides up and down and left and right.

The other conveyance unit 9 is exemplified as a device dedicated to conveyance of the bead SM 2. In this conveying unit 9, the lifting/lowering unit 95 can be lifted and lowered by an actuator provided in the conveying base 94. As an actuator in this case, there is a Zip Chain transmission actuator (registered trademark) or the like. The elevating portion 95 is provided with a turning portion 96 that is linked to a motor or the like, and a chuck 97 is provided at a part of the turning portion 96. The turning part 96 turns around the Z axis in the XY plane, and the chuck 97 can be turned around the base by another motor or the like, and the posture of the chuck can be changed by turning and turning in a state where the chuck is held by the shaft part other than the hook of the bead.

The conveyance units 8 and 9 are rotated at a predetermined angle or the like, and slide along rails (linear guides) LU1 and LU2 provided in the upper frames FL2a and FL2b, respectively, to convey the shear bars or the core bars formed in a predetermined posture to a predetermined position.

In the conveyance units 8 and 9 having the above-described configuration, a servo motor is used as a driving device (motor) for driving the respective movement, rotation, and the like, and the rotational speed at which the driving force is applied can be detected, and the movement amount, the rotation angle, and the like can be calculated from the rotational speed. In addition, a general-purpose cable or the like may be used for the power supply to these components in addition to the battery, but this is not particularly required to be described, and therefore is omitted.

Exemplary method of holding shear Rebar

As described above, the shear bars are supplied to the mounting area 1 by the conveyance unit 8, but in order to be able to perform the supply of the main bars after the supply of the shear bars, it is necessary to keep the shear bars that were supplied first in a predetermined state at a predetermined position. In order to enable the above-described bundling by the bundling units 5 to 7, the posture of the shear steel bar is exemplified by the posture of maintaining the two opposite sides of one group forming a rectangle horizontally and the two opposite sides of the other group vertically. Therefore, in order to maintain the shear steel bar while maintaining the above posture, there is a method using a holder as a physical means, for example.

As an example, a holder as shown in fig. 4 is shown. The retainer is configured to simultaneously retain the peripheries of the apex angles SM11, SM12 located on both sides of the bottom edge portion SM1a of the shear bar SM1 to be retained. The holders 10a and 10b shown in the drawings are provided in a state in which the holders of the same shape are reversed, but the holders 10a and 10b may be configured in the shape of the respective objects.

Each of the holders 10a and 10b has engaging grooves 11a, 12a, 11b, 12b into which reinforcing bar constituent parts (both sides) located on both sides of the vertices SM11 and SM12 are engaged, and these engaging grooves are connected by connecting parts 13a and 13b, and the connecting parts 13a and 13b are formed in an offset state separated from the axis of the shear reinforcing bar SM 1. The connection portions 13a and 13b are set in an offset state so as not to interfere with the function of the coupling means (such as the binding means) when coupled (bound) with the main bar. In this sense, the connecting portions 13a and 13b may be bent in addition to the case of straight connection, and may be connected in a shape other than the offset state as long as the connecting portions (intersecting portions) with the main ribs are exposed.

Therefore, the edges (reinforcing bar constituting parts) SM1a and SM1b located on both sides of the one vertex angle SM11 of the shear reinforcing bar SM1 are simultaneously engaged with the engagement grooves 11a and 12a of the one holder 10a, thereby being integrally held. In the simultaneous engagement of the two sides SM1a, SM1b into the two engagement grooves 11a, 12a, the vertical side SM1b is first engaged into the side engagement groove 12a by lowering from above with respect to the holder 10a, and the bottom side SM1a can be engaged into the lower engagement groove 11a by further lowering, whereby simultaneous engagement is enabled. The other holder 10b can integrally hold the sides SM1a and SM1c located on both sides of the other vertex angle SM 12. In this way, by simultaneously holding the vicinity of the apex angles SM11, SM12 on both sides of the bottom edge SMa of the shear bar SM1, the shear bar SM1 is not tilted, but is held in a state of being erected at a predetermined position.

Since the plurality of shear bars SM1 are arranged at predetermined intervals, the holders 10a and 10b are arranged in a required number of groups with both the holders 10a and 10b as a group at the respective positions. Accordingly, the holders 10a, 10b can move along the rails 14a, 14b, respectively. The rails 14a and 14b are provided with a plurality of holders 10a and 10b in advance, and are arranged at predetermined positions by sliding along the rails 14a and 14 b. Since the shear steel SM1 is to be provided at a predetermined interval, the plurality of holders 10a and 10b may be arranged in cooperation with the predetermined interval, or a spacer may be arranged between the holders 10a and 10b so as to maintain the interval at a constant level. The spacers may be mounted on the rails 14a and 14b, or may be attached to the holders 10a and 10b.

On the other hand, since the shear bar SM1 to be supplied changes its size according to the object to be reinforced (column, beam, etc.), the rails 14a, 14b for allowing the holders 10a, 10b to slide are further mounted on the other rails 15 arranged in the straight direction, and can slide along the rails 15. By sliding the holder mounting rails 14a, 14b along this rail 15, the positions of each other can be separated or approximated, thereby being applied to the size. For convenience of explanation, only one rail 15 is shown, but the holder mounting rails 14a and 14b are constituted by a plurality of rails arranged in parallel to each other for stable support. In the sliding along these rails 14a, 14b, and 15, a slider, not shown, is provided in the rail, and a stopper for stopping the sliding of the slider is provided, so that the arrangement state of the slider at a predetermined position is maintained.

Exemplary combination unit

Next, the coupling units 5, 6, 7 usable in the present embodiment are exemplified. Fig. 5 is a perspective view showing an example of two coupling units 5, 6, 7 arranged vertically apart. The binding units described here are binding units capable of binding by binding, and in the following, binding units are sometimes referred to as binding units, and binding machines are described as binding devices. Although the pillar frame FL3 is omitted in the drawing, the upper strapping unit 5 and the lower strapping units 6 and 7 are arranged vertically apart from each other by the pillar frame FL 3.

As shown in fig. 5, the upper strapping unit 5 can slide in the longitudinal direction Y (X-axis direction) of the rails by the sliders 51a, 51b attached to the rails (linear motion guides) LU1, LU2 provided in the upper frames FL2a, FL2b, like the conveying units 8, 9. The frame 52 is suspended so as to span the two sliders 51a, 51b, and a driving force for sliding is applied by the motor 53. The frame 52 is provided with a second linear motion guide, and the bundling base 54 can be slid in the axial direction Y (Y axis direction) of the guide.

An actuator is provided on the bundling base 54 to enable the lifting/lowering unit 55 to be lifted and lowered. A turning portion 56 is provided at a lower portion of the lifting portion 55 via an appropriate motor or the like, and can turn in a horizontal plane (XY plane). A binding machine 57 is provided in the turning portion 56, and binding of the reinforcing bars is possible. The binding machine 57 is rotatable about a horizontal axis with respect to the turning portion 56, and the direction of the tip of the binding machine 57 can be changed.

With the upper strapping unit 5 configured as described above, the sliders 51a and 51b are moved in the X direction, and the strapping base 54 is moved in the Y direction, so that the lifting/lowering unit 55 can move the strapping machine 57 at a predetermined position in the XY plane. In addition, when the lifting/lowering unit 55 is lifted, the strapping machine 67 can be moved to a target position. Further, since the orientation of the strapping machine 57 can be freely changed by the rotation performed by the rotation portion 56 and the rotation about the horizontal axis, the orientation of the strapping machine can be adjusted in response to the strapping.

Therefore, assuming that the opposite sides of the rectangular shear bar are up and down and left and right, and the main bar is disposed inside the rectangular shear bar, the strapping machine 57 can be moved to the strapping positions of the upper side and the left and right sides, and strapping can be performed appropriately. As the strapping machine 57, a so-called automatic strapping machine is used, and for example, a "vertical strapping machine" manufactured by MAX corporation may be used. The device can hang the binding wire between the claws of two parts by arranging the claws of the two parts on two sides of the steel bar, thereby completing the binding.

On the other hand, the lower strapping units 6 and 7 are 2 units arranged in parallel and configured identically. The two strapping units 6, 7 are provided on rails (linear motion guides) LD1, LD2 provided on the sub frames FL4a, FL4 b. The sliders 61a, 61b, 71a, 71b are attached to the rails LD1, LD2 so as to be slidable in the longitudinal direction Y (X-axis direction) of the rails. Further, the slide members 61a, 61b, 71a, 71b are suspended so as to span both sides of the respective frames 62, 72, and a driving force for sliding is applied by the motors 63, 73. The frame 52 is provided with a second linear motion guide, and the bundling bases 64 and 74 can be slid in the axial direction Y (Y axis direction) of the guide. The strapping machines 65 and 75 are provided in the strapping bases 64 and 74, and the strapping machines 65 and 75 can be moved to the strapping positions by the positional fluctuation of the strapping bases 64 and 74.

Therefore, assuming that the opposite sides of the rectangular shear bar are up and down and left and right, and the main bar is disposed inside, the strapping machine 57 can be moved to the strapping position at the bottom side thereof, and strapping can be performed appropriately. The strapping machine 65, 75 used herein may be a "vertical strapping machine" manufactured by MAX corporation.

By using the above-described upper bundling unit 5, the entire circumference of the rectangular shear steel bars can be distributed and bundled. As a driving device (motor) for driving the movement of the strapping units 5, 6, 7, etc., a servo motor may be used. By detecting the rotational speed at which the driving force is applied, the amount of movement and the like can be calculated from the rotational speed.

The upper strapping unit 5 may also function as a strapping (coupling) unit for integrating the shear steel bars and the core bars. That is, the two conveying units 8 and 9 are simultaneously operated to temporarily convey the shear steel bars and the core bars to the posture adjustment area 2, and after the postures of the shear steel bars and the core bars are maintained in a predetermined state in the posture adjustment area 2, the upper strapping unit 5 is moved to the posture adjustment area 2, whereby strapping in the posture adjustment area 2 can be performed. The core bar coupled to the shear bar by strapping can be inevitably supplied to a predetermined position by supplying the shear bar.

Exemplary carrying Unit of Main tendon

Next, a transport unit for a main bar usable in the present embodiment is exemplified. The lower strapping units 6 and 7 in fig. 5 are mounted with a part of the main bar conveying unit (conveying auxiliary unit). The driving force for conveying the main bars is by using the conveying units 8 and 9 described above. That is, the conveyance unit is constituted by the lower strapping units 6 and 7 and the conveyance units 8 and 9.

At the upper portions of the bundling bases 64, 74 constituting the lower bundling units 6, 7, conveyance assisting units 66, 76 each having two conveyance rollers in a V-shape are provided upright. The two conveying rollers are V-shaped, and two points on two lower sides are abutted against the supporting main ribs. By using the conveying roller as a driven roller, the main rib receiving the driving force (pushing force) can be supported at a predetermined position. On the other hand, since the conveying units 8 and 9 that apply driving force to the main bars are provided with the chucks 88, 89, and 97, respectively, as described above, these chucks 88, 89, and 97 are appropriately selected to clamp and convey the main bars. At this time, the two types of conveying units 8 and 9 are sequentially and alternately carried and released from the gripping and retracted, so that the main bar is forcibly moved by a predetermined distance, and this acts as a driving force (pushing force) toward the main bar of the mounting area 1. After the main bar is moved to a predetermined position in the mounting area 1, the main bar is supported only by the conveyance assisting sections 66 and 76. The conveying rollers constituting the conveyance assisting sections 66, 76 may be formed of one flat roller instead of two V-shaped conveying rollers. In the case of a flat roller, guide plates or the like for preventing the main rib from rotating may be provided on both sides thereof.

Here, the conveyance assisting sections 66 and 76 have shaft sections that can be extended and contracted by the actuators, and can be extended appropriately depending on the position of the main bar in the height direction (Z direction) when the main bar is conveyed. Since the main bars should be disposed inside the shear bars, the conveyance assisting sections 66 and 76 are adjusted to be able to move inward and outward from the gaps between the shear bars conveyed by the shear bar conveyance units 8 and 9. In addition, since the arrangement interval of the shear bars is about 60mm between the centers even in the narrowest case, the gap formed between the shear bars is about 50mm, and the outer diameter sizes of the conveying rollers and the shaft portions of the conveyance assisting portions 66 and 76 are adjusted to be smaller than 50mm.

In this case, the conveyance unit also serves as the bundling means 6 and 7, and in the case of functioning as the bundling means 6 and 7, as described above, since the bundling means is the bundling of the bottom edges of the shear bars, there is a method in which at least 2 conveyance assisting portions 66 and 76 support the main bars at first and the remaining bundling means (not shown) perform bundling at the time of bundling the main bars at that position. Or in a state where the main bar is placed inside the bottom edge of the shear bar, if the position is stabilized by the self weight of the main bar, the task for assisting conveyance can be ended, and thus the strapping units 8 and 9 can be operated in this state. On the other hand, when the main bar is supported at an appropriate height, the bundling of the bottom edges of the shear bars is not required, and therefore the main bar can function exclusively as the conveyance assisting sections 66 and 76. In this case, the main bar is supported at a predetermined height until the bundling by the upper bundling unit 5 is completed.

In the case where the conveyance units 8 and 9 are caused to function as conveyance units (driving units) for the main bars as described above, the same servo motor may be used to detect the rotation speed at which the driving force is applied, and the movement amount or the like may be calculated from the rotation speed, so that the conveyance distance of the main bars (the position of the main bars after conveyance) may be controlled.

< Control Unit >)

As the control unit used in the present embodiment, for example, a portable terminal 100 as shown in fig. 6 can be used. As the mobile terminal 100, a tablet PC or the like capable of transmitting and receiving with the outside can be used. That is, the reception unit 111 and the transmission unit 112 provided in the tablet PC may be used to receive external information and to transmit the processed control information. The external information may be information stored in a cloud server or the like, and may be transmitted and received to and from each other via a network line. The transmission and reception may be performed with the external device via a network line by using, for example, the LTE (Long Term Evolution ) router 120, or may be configured to transmit and receive information with the respective operation units 5 to 9. The mobile terminal 100 can also output control signals to the operation units 5 to 9 that can transmit and receive signals, and can be used for detecting the operation states (operation states) of the operation units 5 to 9.

The portable terminal includes a processing device 200 as a control unit, and the processing device 200 includes an information acquisition unit (rebar information acquisition unit in the present embodiment) 221, a storage unit 222 such as an HDD (HARD DISK DRIVE ) or SSD (Solid STATE DRIVE), another memory, and a processing unit (arithmetic unit) 223. The device further includes output units 224 and 225 for outputting the calculation results.

As the reinforcement information acquired via the receiving unit 111, there are information in which reinforcement data in design information of a building or the like is stored as electronic data, or electronic data in which correction values are reflected for these electronic data in order to avoid interference of the reinforcement. Further, there is information (reinforcement data) concerning the reinforcing bars as attribute information included in the BIM or CIM. The reinforcing bar information includes information such as the type (reinforcing bar diameter, size, etc.) of the reinforcing bar pile to be used for constructing the column or beam, the position to be arranged, the number of reinforcing bars, etc., and the reinforcing bar can be assembled as desired by reinforcing the various reinforcing bar piles based on the information.

The receiving unit 111 may receive, from the outside, the entire information of the constructed building or the like, the reinforcement information concerning the reinforcing bars, or the like, and store the information in the storage unit 222. The construction order of the columns and beams to be constructed is determined from the overall information, and the detailed information of the pile to be assembled is determined from the reinforcement information. Since the entire information and the reinforcement information are both design information, the drawing information of a column, a beam, or the like, which is a specific construction site, can be obtained by specifying the column or the like.

The processing unit (calculating unit) 223 calculates the assembly information of the various reinforcing bars from the drawing information of the reinforcing bars such as the specific column, and the like, based on the positions where the main bars, the shear bars, the core bars, and the like should be arranged. Specifically, the position information for preferentially disposing the shear bars, the core bars, and the like is calculated based on the principle of inserting the main bars last, and the operation sequence and the conveyance distance of the conveyance units 6 to 9 are calculated. At the same time, the transport distance of the main bar is calculated, and each position of the pile of bars to be assembled is digitized as coordinates.

The positions of the piles are numerically controlled in terms of coordinates, so that the positions of the intersections between the reinforcing bars can be numerically controlled in terms of coordinates. In this case, the intersecting portion is not intersected by the center line, but is brought into contact with the surface of the intersected reinforcing bar, and therefore, the center position to be strapped and the state in which the strapping line passes through can be calculated by referring to the diameter dimensions of the reinforcing bars intersected with each other.

The information of the calculated result is temporarily stored in the storage unit 222, and is outputted via the output units 224 and 225 in accordance with the operation order. The output sequence is output according to the priority by presetting the priority. The first output unit 224 performs output to the conveying unit, and the second output unit 225 performs output to the bundling unit. In particular, when the outputs do not overlap, the output may be performed via a single output unit. As the output information, it may be output as a state of a control signal.

The conveying units 6 to 9 and the bundling units 5 to 7 are configured as follows: as a group of client devices 300, one PLC (Programmable Logic Controller ) is used as a representative (representative PLC) 130, and idiomatic signals (control information) output from the mobile terminal 100 are received via the LTE router 120 and transferred to individual PLCs 301 ₁～301₅ of the client devices 300. In the transfer of information, an Access Point (AP) may be set up to transceive wirelessly, for example, via Wi-Fi. Of course, other wireless standards may be used, as well as wired. The configuration of the setting representative PLC130 is to allow the IP address and the like to manage by setting the representative PLC130 in each client device 300 in consideration of the case where a plurality of client devices 300 are simultaneously operated. Therefore, in the case where only control of a single client device 300 is assumed, the representative PLC130 may be omitted.

The individual PLCs 301 ₁～301₅ to 9 provided in each of the operation units 5 to 9 of the client device 300 receive control signals (control information), and the operation units 5 to 9 connected to each other execute predetermined operations based on the control signals. The operation states of the operation units 5 to 9 are input from the respective PLCs 301 ₁～301₅ to the mobile terminal 100 via the representative PLC 130. This operation status can be used for analyzing the progress status of the work in addition to the operation order of the operation units 5 to 9 that individually operate. The progress information of the job may be stored separately in the storage unit 222, and may be stored as a so-called log (operation log) for management. The operation log can be used for adjusting the traveling speed of the reinforcement work according to the construction condition of a building or the like, and also can be used as verification data when the operation of each of the operation units 5 to 9 is defective or the reinforcement state is defective.

< Reinforcement method >)

Next, a specific example of a control signal based on the reinforcement information will be described. Fig. 7 shows an example of a pile of reinforcing bars showing an assembled state according to reinforcing bar information (reinforcing bar information) of the column. As shown in fig. 7 (a), the reinforcing bars for constituting the column are configured such that the main bars SM3 are oriented in the vertical direction, and shear bars SM1 are disposed around the main bars. In the present invention, as shown in fig. 7 (b), even in the case of the reinforcement bar assembly in the case of constructing the column, the main reinforcement SM3 is assembled in the horizontal direction with the entire direction being the lateral direction. At this time, by setting the axial direction (longitudinal direction) of the main bar SM3 as the X-axis direction, the rectangular plane of the shear bar SM1 can be set as the Y-Z plane, and aligned at predetermined intervals in the X-axis direction. When a pair of two opposite sides (opposite reinforcing bar constituting parts) SM1a, SM1d among four sides (reinforcing bar constituting parts) SM1a to SM1d of the rectangle constituting the shear bar SM1 at this time are set to be in the horizontal direction (Y-axis direction), the other two sides (other reinforcing bar constituting parts) SM1b, SM1c are set to be in the vertical direction (Z-axis direction), and the shear bar SM1 in such a state is referred to as an erect state. When the shear bar SM1 is set in the erected state, the bottom edge (one bar constituting portion) SM1a can be placed at a predetermined position in the installation area. When the plurality of shear reinforcements SM1 placed in the upright position are aligned at appropriate intervals, the axis of the main reinforcement SM3 is arranged in the horizontal direction. Since the assembled state based on the reinforcing bar information (reinforcing bar information) for the beam is initially a state in which the main bar SM3 is horizontal, the assembly can be performed in the same manner as described above.

In the case where the shear bar SM1 is held in the above state, for example, as shown in fig. 7 (b), the shear bar SM1 may be mechanically erected using the holders 10a and 10b described above. In the case of holding by the magnetizing means, for example, the magnetizing means may be configured to: magnetizing units are appropriately provided below and at the sides of the shear bar SM1, and the lower and side portions of the shear bar SM1 are magnetized to perform positioning. In this case, the magnetizing units may be configured to intermittently arrange the magnets by matching the arrangement intervals of the shear bars SM 1. In addition to the configuration in which a plurality of permanent magnets are arranged at appropriate positions, the magnetizing means may be configured to magnetize the electromagnet at appropriate intervals by energizing the electromagnet at predetermined positions.

As shown in these drawings, the shear bar SM1 is formed by bending a bar-shaped member into a rectangular shape, and the straight line portions constitute the four sides (bar-constituting portions) SM1a to SM1d, but the general shear bar SM1 is formed by bending the tip end of the bar-shaped member to form the hook F. The hook F includes a 90-degree hook (bent to 90 degrees), a 135-degree hook (bent to 135 degrees), and the like, but a 135-degree hook is exemplified here. The hooks F are required to be aligned in a right-left reverse manner (alternately arranged in the Y-axis direction) so as not to be aligned at the same position (not aligned in the X-axis direction). Therefore, the supply is performed while the orientation is adjusted.

From the above, the conveyance unit 8 for conveying the shear bar SM1 receives the shear bar SM1 from the storage area 3, adjusts the posture of the shear bar SM1 in the posture adjustment area 2 in the middle of the movement to the mounting area 1, lowers the shear bar SM1 to a predetermined position according to the conveyance distance of the shear bar SM1, and is held by the holders 10a and 10b arranged in advance to operate. In this way, the required number of shear reinforcements SM1 are sequentially aligned from the front and retained, thereby completing the reinforcement of the shear reinforcements SM 1.

On the other hand, since the main bar SM3 is reinforced in a state of being in contact with the inner side of the rectangular shear bar SM1, it is sufficient to insert the reinforced shear bar SM1 from the rear of the last shear bar SM1 in the axial direction (X direction) so as to pass through the inner side of the shear bar SM 1. Further, since the main bar SM3 does not have a holding member, it is transported one by one and held by completing the binding with the shear bar SM1 at a predetermined position.

< Bundling method >)

As described above, the entire reinforcing bars are assembled by bundling the intersecting portions of the main bars inserted into the inner sides of the shear bars SM1 aligned in advance and holding (connecting) the main bars SM3, and the bundling operation is performed by the bundling units 5, 6, and 7.

Therefore, in the case of the bundling by the bundling means 5, 6, 7, it is necessary to determine the bundling position and the intersecting state. Fig. 8 shows a state of the intersecting portion of each of the components SM1a to SM1d of the shear bar SM1 and the main bar SM 3. As shown in fig. 8 (a) and (b), the axis of the main bar SM3 is in the X direction at the portion where the main bar SM3 intersects the horizontal bar constituting portions SM1a and SM1b, whereas the axis of the bar constituting portions SM1a and SM1b arranged above and below is in the Y axis direction, and intersects the X direction and the Y direction. The intersecting state is indicated as an intersection O of the center lines (axes) of the normal drawing information, and the outer diameters D1 and D2 of the reinforcing bar constituent parts SM1 (SM 1a and SM1 b) and SM3 are presented as other drawing information.

However, as shown in the figure, the portions actually intersecting each other are the contact points P of the reinforcing bar constituting portions SM1 (SM 1a, SM1 b) and SM3 on the outer peripheral surface, and therefore, are points different from the intersection point O of the center lines in the drawing information. Therefore, the coordinates of the contact point P are calculated from the intersection point O in the drawing information using the information of the outer diameters D1, D2. The coordinate of the intersection point O (or the abutment point P) in the axial direction (X direction) of the main rib SM3 is the distance L from the front end to the intersection point O, and can be obtained directly from the drawing information.

Since the intersecting state at the contact point P is orthogonal to the X-direction and the Y-direction, the tying wire is placed in an inclined manner (tied up obliquely to both axes), and the direction inclined 45 degrees from the X-axis (or the Y-axis) is set as the tying direction. When the above-described "vertical strapping machine" manufactured by MAX corporation is used as a strapping machine for strapping, for example, in order to tie up the intersection between the upper reinforcing bar component SM1a and the main bar SM3 (see fig. 8 a), the strapping machine is placed above the intersection and rotated 45 degrees from the X axis (or Y axis), and two claws are placed on both sides of the contact point with the contact point P as the center, whereby the strapping line can be obliquely erected and the strapping can be performed. In addition, when the lower reinforcing bar forming portion SM1b and the intersecting portion of the main bar SM3 (see fig. 8 b) are bundled, the bundling machine is disposed from below the intersecting portion. Only in this case, the lower strapping units 6, 7 are used.

As shown in fig. 8 (c) and (d), in a portion where the main rib SM3 intersects with the reinforcing bar constituting portions SM1c and SM1d in the vertical direction, the axis of the main rib SM3 is in the X direction, whereas the axes of the reinforcing bar constituting portions SM1c and SM1d are in the Z axis direction and intersect in the X direction and the Z direction. In this case, since the intersection of the drawing information is also the intersection of the center lines, the coordinates of the contact point are determined by the outer diameters of the main bar SM3 and the bar constituting portions SM1c, SM1 d.

In this case, for example, in order to use a "vertical strapping machine" manufactured by MAX corporation as a strapping machine, two claws are set to be lateral and rotated 45 degrees with respect to the X axis (or Z axis), and two claws are disposed on both sides of the contact point, whereby strapping can be performed with an oblique frame.

In addition, when the main bar SM3 and the shear bar SM1 are bound at the intersection, since the conveyance assisting sections 66 and 76 for the main bars of the binding units 6 and 7 provided at the lower stage need to be extended upward in order to support the main bar SM3 at the upper stage, the conveyance and support of the main bar SM3 at the upper stage is hindered when the main bar SM3 at the lower stage is bound. Therefore, the binding is performed sequentially from the upper main rib SM 3.

Reinforcing method of core rib

As shown in fig. 9, the core bar SM2 is reinforced together with the shear bars SM1, and finally, is joined (bound) with the main bars SM 3. The shear bars SM1 are arranged around the main bars SM3, while the core metal SM2 is arranged so as to be bridged over the main bars SM3 of the opposite two groups and to be arranged so as to intersect or longitudinally penetrate the rectangular interior of the shear bars SM 1. The core rib SM2 is provided in a state of being adjacent to the shear steel bar SM1 and in a state of being in contact with a part thereof. Therefore, the shear bars SM1 and the core bars SM2 are integrated in advance, and the core bars SM2 can be necessarily arranged by arranging the shear bars SM 1. However, not all the shear bars SM1 are provided with the core bars SM2, but one for each of several shear bars SM 1. The orientation of the axis of the bead SM2 (the axis of the central portion other than the hooks at both ends) is not constant (in fig. 9 (a) and (b)).

For example, as shown in fig. 9 (a), there is a case where the core rib SM2 is provided so as to intersect the shear rib SM 1. Such a core rib SM2 is suspended on a set of main ribs SM3 reinforced to the side, and the axis of the central portion of the core rib SM2 is in a horizontal state. In the drawings, a state in which one core rib SM2 is provided each time two shear reinforcements SM1 are arranged is illustrated.

As shown in fig. 9 (b), the core rib SM2 may be provided so as to longitudinally penetrate the shear steel bar SM 1. The core rib SM2 in this case is suspended from a set of upper and lower main ribs SM3 with the axis being in the vertical direction. With respect to the arrangement interval in this drawing, a case where one core rib SM2 is arranged each time two shear reinforcements SM1 are arranged is also illustrated.

Although not shown, there are cases where the structure of the core bar SM2 crossing the shear bar SM1 and the structure of the longitudinal penetration are mixed. In this case, two are not provided at the same place at the same time, but are provided close to different shear rebars SM 1. Since the reinforcing-bar core bars SM2 are disposed in contact with the shear bars SM1 in this way, the above-described conveying units 8, 9 are disposed in front of the shear bar conveying unit 8 and in rear of the shear bar conveying unit 9 (see fig. 1). When the reinforcing bars SM2 are to be reinforced, the shear bar conveyance unit 8 and the core bar conveyance unit 9 hold and convey the reinforcing bars SM1 and SM2, respectively, and join them in the posture adjustment area 2. After the core bar SM2 and the shear bar SM1 are coupled, the core bar conveyance unit 9 releases conveyance (clamping) and is retracted to return to the original position, and the shear bar conveyance unit 8 clamps the shear bar SM1 and performs reinforcement at a predetermined position, whereby both the bars SM1 and SM2 can be simultaneously supplied.

As described above, in order to join the core bar SM2 to the shear bar SM1, for example, as shown in fig. 10, hooks SM2b and SM2c at both ends of the core bar SM2 are joined (bound) to the shear bar SM 1. The bead SM2 is formed by bending both ends of a single rod-shaped member, and is formed by forming hooks SM2b and SM2c at both ends of a linear body forming portion SM2a and both ends thereof. Hooks SM2b and SM2c for the bead SM2 also include a 90 degree hook (bent to 90 degrees), a 135 degree hook (bent to 135 degrees), and the like, and the 135 degree hooks are illustrated in the figure.

In the case of joining the two SM1, SM2, the core rib SM2 is brought into contact with the shear bar SM1 at a predetermined orientation and position using the above-described conveying means 8, 9, but in the case of reinforcing the core rib SM2 so as to traverse the shear bar SM1, for example, the hooks SM2b, SM2c are brought into contact with the two sides SM1b, SM1c of the side edge of the shear bar SM1 as shown in fig. 10 (a). In this state, the hooks SM2b, SM2c can be fixedly coupled by bundling the vertex portions thereof.

In the case of reinforcing the core bar SM2 so as to vertically penetrate the shear bar SM1, as shown in fig. 10 (b), the hooks SM2b and SM2c are brought into contact with the upper and lower sides SM1a and SM1d of the shear bar SM 1. In this state, the binding hooks SM2b and SM2c can be fixedly coupled by their vertex portions, as in the above.

In any of the above cases, since the core rib SM2 is coupled to the shear bar SM1, the core rib SM2 can be inevitably arranged at a desired position by managing only the shear bar SM1, moving it to the specific position as described above, and maintaining the shear bar SM1 in the erected state.

< Summary >

As described above, the embodiments of the present invention can calculate the positions where the respective reinforcing bars should be arranged and the positions of the intersections from the reinforcing bar arrangement information of the reinforcing bar stack included in the design information of the prefabricated building or the like, and digitize the positions as coordinates. According to the calculation result (coordinates), the steel bar pile is arranged at a predetermined position by controlling the conveying amount of the conveying unit, and the position of the bundling part of the bundling unit can be controlled and changed to perform bundling, so that the steel bars can be assembled in a state faithful to the design information (reinforcement information) of the building and the like, and the assembly operations can be automated.

The pile of reinforcing bars to be assembled is a reinforcing bar for a column and a beam, and in the above-described calculation, the main bar is directly disposed horizontally with respect to the beam. In contrast, in the column, the original main bar is rotated by 90 degrees with respect to the pile of bars in the vertical direction, and the main bar is operated in a horizontal state, whereby the column can be assembled as the same coordinates as in the case of the beam.

As described above, according to the technique illustrated in the embodiment, as the information to be used by the processing device 200 as the control means, information (reinforcement data) on the reinforcing bars as attribute information included in the BIM or CIM is included, and all information related to the design of the building or the like is included in the BIM or CIM, so that the entire building and the installation state of the pile of the reinforcing bars can be displayed in the virtual space by using the information and various information such as the calculated reinforcement information. In the case of being displayed in such a virtual space, the state of the pile of reinforcing bars in the virtual space can be verified. In the case of further development and utilization, by adopting an AR (Augmented Reality ) technique, if AR goggles or the like are used, visual verification can be performed as augmented reality in which a physical object in the middle of the engineering and an assembled reinforcement pile are synthesized. Even in the case of using a 3D scanner, the synthesized data of the real object and the assembled pile of reinforcing bars during the engineering process can be visually confirmed and verified.

The above-described embodiment shows an example of the present invention, and the present invention is not limited to the above-described embodiment. Therefore, some of the above embodiments may be modified, and other configurations may be further added. For example, the respective configurations of the conveying unit, the bundling unit, and the like are not limited to the examples shown in the embodiments.

The control means is not limited to the use example of the portable terminal as exemplified, and may be any means capable of controlling the respective means (respective devices) as a whole while using other control devices. That is, in the above-described embodiment, the processing unit (calculating unit) 223 of the mobile terminal is configured to calculate the conveying positions of the various reinforcing bars based on the reinforcing bar information and the like, and further output a control signal to the conveying means and the like, but the processing unit (calculating unit) 223 may be configured to function by another processing device.

For example, as shown in fig. 11, it may be configured such that: using a processing device (e.g., a cloud server) 400 provided outside the mobile terminal 10, the cloud server 400 calculates coordinate information of reinforcement information of the reinforcement pile included in the design information, receives the calculation result (coordinate information) via the transceiver 111 of the mobile terminal 100, returns a control signal for each unit (device) via the processing 223 of the mobile terminal 100, and transmits the control signal to each unit (device) via the transceiver 111. In addition, in the case where the representative PLC130 (fig. 6) is provided as in the above-described embodiment, the processing section 223 may function as a means for determining an output destination from among a plurality of representative PLCs to perform processing.

In the case of the above configuration, the cloud server 400 is provided with a reinforcing bar information acquisition unit 421, and reinforcing bar information is input via an input unit 426, and a storage unit 422 stores reinforcing bar information and also stores the calculation result processed by a processing unit (calculation unit) 423, and can be transmitted to the mobile terminal 100 via a network line via an output unit 425. On the other hand, since the mobile terminal 100 inputs information via the transceiver 111, the input information inputted via the processing unit 223 can be stored in the storage unit 222, and the stored information can be determined via the output unit 224 and transmitted from the transceiver 111 to the representative PLC130 or the individual client device 300.

As an example of the configuration modification of fig. 11, as shown in fig. 12, the mobile terminal 100 may output information of the cloud server 400 to the representative PLC without storing the information, and may transmit information transmitted from the client device 300 via the representative PLC to the client server 400. As such a mobile terminal 100, a smart phone or the like may be used. In the case of such a configuration, the information received from the client server 400 is sequentially transmitted as individual information to the representative PLC130.

As shown in fig. 13, an assembly line (line 1, line 2, line 3 …) may be constructed by a plurality of client devices 300a, 300b, 300c … and a plurality of mobile terminals 100a, 100b, 100c … corresponding to these client devices, and information may be transmitted and received to and from the respective lines via the representative PLCs 130a, 130b, 130c ….

In any of the modes, in order to transmit the operation states of the respective units 5 to 9 by the client device 300, sensors may be appropriately provided, and the state of the installation of the reinforcing bars, the positions of the reinforcing bars before bundling, and the like may be fed back from the sensor data of these sensors, whereby the feedback control can be performed by a program stored in the individual PLC 301.

[ Description of reference numerals ]

1: Assembly area

2: Gesture adjustment region

3: Storage area

4: Standby area

5: Strapping unit (Upper strapping unit)

6,7: Strapping unit (lower strapping unit) and conveying unit (for main reinforcement)

8: Conveying unit (for shear steel bar)

9: Conveying unit (for core bar)

10A,10b: retaining member

11A,11b,12a,12b: clamping groove

13A,13b: connecting part

14A,14b: rail (holder carrying rail)

15: Rail track

41,42,43,44: Magnetizing unit

45,46,47,48: Guide part

51A,51b,61a,61b,71a,71b,81a,81b,91a,91b: sliding piece

52,62,72,82,92: Frame

53,63,73,83,93: Motor with a motor housing having a motor housing with a motor housing

54,64,74: Strapping base

55: Lifting part

56,96: Rotary part

57,65,75: Strapping machine

66,76: Conveying auxiliary part

84,94: Conveying base

85,95: Lifting part

86: Horizontal arm

87: Vertical arm

88,89,97: Clamping head

100: Portable terminal

111: Receiving antenna

112: Transmitting antenna

113: Receiving part

114: Transmitting unit

115: Input unit

116: Processing unit

117: Storage unit

118: Output unit

120: TLE router

130: Representing PLC

200: Processing device

221: Reinforcing bar information acquisition unit (information acquisition unit)

222: Storage unit

223: Processing unit (computing unit)

224: Output part (first)

225: Output part (second)

226: Input unit

300: Client device

301 ₁: Individual PLC

400: Cloud server

421: Reinforcing bar information acquisition unit

422: Storage unit

423: Processing unit (computing unit)

425: Output unit

526: Input unit

BL: block and method for manufacturing the same

FL: frame

LD1, LD2, LU1, LU2: rail track

SM1: shear steel bar

SM11, SM12: apex angle of shear steel bar

SM1a, SM1b, SM1c, SM1d: shear reinforcement edge (reinforcing bar constitution part)

SM2: core rib

SM2a: main body forming part of core rib

SM2b, SM2c: hook of core rib

SM3: and a main tendon.

Claims (8)

1. A reinforcing bar assembling apparatus for assembling a pile of reinforcing bars used for columns or beams of a building or a structure according to pre-made design information related to the building or the structure, characterized in that,

The reinforcing steel bar assembling device comprises: a storage area for storing the used reinforcing bar piles for each type; an assembly area for arranging the reinforcement pile at a predetermined position and combining the predetermined positions of the intersecting portions to assemble the reinforcement pile; a conveying unit that conveys desired reinforcing bars from the storage area to the mounting area for each type; a coupling unit coupling crossing portions where a plurality of reinforcing bars cross in the assembly area; and a control unit for controlling the conveying of the conveying unit and the combination operation of the combination unit,

The control unit is provided with: a reinforcing bar information acquisition unit that acquires information on the arrangement of at least each type of reinforcing bars of a reinforcing bar stack used for constructing a column or a beam from design information related to a building or a structure; a calculation unit that calculates control information including at least the number and the conveying distance of each type of reinforcing bars to be conveyed from the storage area to the assembly area and the coordinates of the intersection of the reinforcing bar stacks to be conveyed to the assembly area, from the information acquired by the reinforcing bar information acquisition unit; a first output unit that outputs a control signal to the conveying unit based on the control information calculated by the calculation unit; and a second output unit that outputs a control signal for the coupling means based on the control information calculated by the calculation unit.

2. The bar assembly apparatus of claim 1, wherein,

The pile of reinforcement comprises main reinforcement and shear reinforcement,

The conveying unit is provided with a main reinforcement conveying part for conveying main reinforcements and a reinforcing reinforcement conveying part for conveying shear reinforcements,

The pile of bars carried to the mounting area is configured such that the axes of the main bars are oriented horizontally, the entire shear bar is set in an upright position so that the axes of the constituent parts of the shear bar are orthogonal to the axes of the main bars,

The operation unit calculates the order of conveyance of the pile of reinforcing bars, and the operation condition is to take a predetermined number of shear bars to be conveyed as a first order and then take a main bar to be conveyed as a second order.

3. The bar assembly apparatus of claim 2, wherein,

The assembly area includes a holding unit that holds the shear bars conveyed as the first order in an upright state while maintaining a predetermined interval based on the information on the arrangement of the bars acquired by the bar information acquisition unit,

The main bar conveying part is provided with a main bar supporting part capable of lifting in a gap of the shear bar held by the holding unit and a main bar delivering part, and the main bar is supported by the main bar supporting part and conveyed by delivering of the main bar delivering part.

4. The bar assembly machine of claim 3, wherein,

A posture adjustment area is formed between the storage area and the mounting area, the posture adjustment area is used for changing the posture of the reinforcing steel bar into a desired state according to the type of the reinforcing steel bar in the conveying process,

At least the reinforcing bar conveying section conveys the reinforcing bar via the posture adjustment area, and can change the posture of the reinforcing bar in the posture adjustment area according to a control signal of the control unit.

5. The reinforcing bar assembling apparatus according to any one of claims 1 to 4,

The control unit is constituted by a portable terminal,

The carrying unit and the coupling unit are configured to be capable of transmitting and receiving data to and from the portable terminal,

The mobile terminal stores the design information, calculates the control information, outputs a control signal based on the control information to the conveying unit and the coupling unit, inputs transmission information transmitted from the conveying unit and the coupling unit, and stores the transmission information as job progress information.

6. The bar assembly machine of claim 5, wherein,

The design information is subdivided for each working process, and the control information is calculated for each working process.

7. The reinforcing bar assembling apparatus according to any one of claims 1 to 4,

The control unit is composed of a cloud server and a portable terminal,

The carrying unit and the coupling unit are configured to be capable of transmitting and receiving data to and from the portable terminal,

The cloud server stores the design information, calculates the control information, stores the control information,

The mobile terminal receives the control information stored in the cloud server, outputs a control signal according to the control information to the conveying unit and the bundling unit, inputs transmission information transmitted from the conveying unit and the combining unit, and stores the transmission information as job progress information.

8. The bar assembly apparatus of claim 7, wherein,

The design information is subdivided for each working process, the control information is calculated for each working process,

The mobile terminal acquires the control information of each working procedure stored in the cloud server for each working procedure.