JP6984880B2 - Reinforcing bar bending device - Google Patents

Reinforcing bar bending device Download PDF

Info

Publication number
JP6984880B2
JP6984880B2 JP2017223747A JP2017223747A JP6984880B2 JP 6984880 B2 JP6984880 B2 JP 6984880B2 JP 2017223747 A JP2017223747 A JP 2017223747A JP 2017223747 A JP2017223747 A JP 2017223747A JP 6984880 B2 JP6984880 B2 JP 6984880B2
Authority
JP
Japan
Prior art keywords
reinforcing bar
clamp
clamp portion
bending
operation control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2017223747A
Other languages
Japanese (ja)
Other versions
JP2019093405A (en
Inventor
章 宮原
貢生 大野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyo Kensetsu Kohki Co Ltd
Original Assignee
Toyo Kensetsu Kohki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyo Kensetsu Kohki Co Ltd filed Critical Toyo Kensetsu Kohki Co Ltd
Priority to JP2017223747A priority Critical patent/JP6984880B2/en
Publication of JP2019093405A publication Critical patent/JP2019093405A/en
Application granted granted Critical
Publication of JP6984880B2 publication Critical patent/JP6984880B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Manipulator (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Description

本発明は、鉄筋曲げ装置に関する。 The present invention relates to a reinforcing bar bending device.

従来、鉄筋曲げ装置では、３次元構造に曲げ加工するのは困難で、人の手で鉄筋を持ちながら、その鉄筋の軸心回りに回動操作して３次元構造に曲げ操作することが行われている（適当な文献が見当たらない）。 Conventionally, it is difficult to bend a reinforcing bar into a three-dimensional structure with a reinforcing bar bending device, and it is possible to bend the reinforcing bar into a three-dimensional structure by rotating it around the axis of the reinforcing bar while holding the reinforcing bar by hand. (No suitable literature found).

しかし、人手による３次元構造に曲げ加工するには危険が伴うと共に、手間が多くかかるばかりか、加工精度が安定しにくいという問題があった。 However, there is a problem that it is dangerous to manually bend the three-dimensional structure, it takes a lot of time and effort, and it is difficult to stabilize the processing accuracy.

従って、本発明の目的は、上記問題点を解消し、手間が少なく、人を介さなくては作業ができなかった装置でも、無人で鉄筋加工が行え、且つ、安全で高精度に曲げ加工できるようにする鉄筋曲げ装置を提供するところにある。 Therefore, an object of the present invention is to solve the above-mentioned problems, to perform unmanned rebar machining, and to perform safe and highly accurate bending even with a device that requires less labor and requires human intervention. It is in the place to provide a reinforcing bar bending device.

本発明の第１の特徴構成は、鉄筋を曲げ加工するために、支点部と、その支点部周りに回動して鉄筋を屈曲させる力点部とを設けた鉄筋曲げ機を設け、前記鉄筋曲げ機に対して遠近移動及び上下左右に搖動操作自在なアームと、そのアームの先端側で鉄筋をクランプ操作自在なクランプ部とを設けたロボットアーム装置を一対設け、前記鉄筋曲げ機に対して鉄筋を、前記一対のロボットアーム装置における一方の前記クランプ部と他方の前記クランプ部とによってクランプして供給する鉄筋供給操作制御と、前記鉄筋曲げ機に供給した鉄筋の先端側曲げ予定箇所とは異なる基端側固定個所を、少なくとも一つの前記クランプ部によってクランプしたまま前記鉄筋曲げ機による曲げ作動を行う鉄筋曲げ操作制御と、前記クランプ部によってクランプしている鉄筋を、前記鉄筋曲げ機から取り出す鉄筋取り出し操作制御とを行う第１制御手段を設け、前記鉄筋曲げ操作制御において、鉄筋をその軸心回りに所定角度回動させるのに、一方の前記クランプ部と他方の前記クランプ部で鉄筋をクランプしながら、回動操作時に一方のクランプ部で回動操作すると同時に、他方のクランプ部の挟持圧を一方のクランプ部よりも小にするか、又は、他方のクランプ部を非挟持状態にして鉄筋のその軸心回りの回動を許容するように制御する第１鉄筋回動操作制御を、前記第１制御手段に設けたところにある。 The first characteristic configuration of the present invention is to provide a reinforcing bar bending machine provided with a fulcrum portion and a force point portion that rotates around the fulcrum portion to bend the reinforcing bar in order to bend the reinforcing bar. A pair of robot arm devices provided with an arm that can move in perspective and swing up, down, left and right with respect to the machine and a clamping part that can clamp the reinforcing bar on the tip side of the arm are provided, and the reinforcing bar is provided with respect to the reinforcing bar bending machine. Is different from the reinforcing bar supply operation control that is clamped and supplied by the one clamp portion and the other clamp portion in the pair of robot arm devices and the planned bending portion of the reinforcing bar that is supplied to the reinforcing bar bending machine. Reinforcing bar bending operation control in which the bending operation is performed by the reinforcing bar bending machine while the base end side fixing portion is clamped by at least one of the clamping portions, and the reinforcing bar in which the reinforcing bar clamped by the clamping portion is taken out from the reinforcing bar bending machine. A first control means for performing take-out operation control is provided, and in the reinforcing bar bending operation control, the reinforcing bar is clamped by one of the clamping portions and the other of the clamping portions in order to rotate the reinforcing bar by a predetermined angle around its axis. At the same time as the rotation operation is performed with one clamp portion during the rotation operation, the holding pressure of the other clamp portion is made smaller than that of one clamp portion, or the other clamp portion is placed in a non-pinching state to rebar. The first rebar rotation operation control for controlling the rotation around the axis of the rebar is provided in the first control means.

本発明の第１の特徴構成によれば、鉄筋曲げ機に対して、一対のロボットアーム装置によって、鉄筋供給操作制御と鉄筋曲げ操作制御と鉄筋取り出し操作制御とを行う第１制御手段を設けることにより、人手の代わりにロボットアーム装置によって、安全で且つ手間少なく鉄筋を複雑な形状に曲げ加工できる。
その上、前記鉄筋曲げ操作制御において、鉄筋をその軸心回りに所定角度回動させるのに、一方の前記クランプ部と他方の前記クランプ部で鉄筋をクランプしながら、回動操作時に一方のクランプ部で回動操作すると同時に、他方のクランプ部の挟持圧を一方のクランプ部よりも小にするか、又は、他方のクランプ部を非挟持状態にして鉄筋のその軸心回りの回動を許容するように制御する第１鉄筋回動操作制御を、前記第１制御手段に設けたことにより、鉄筋を３次元構造に曲げ加工できる。
つまり、第１鉄筋回動操作制御を設けることで、鉄筋は一対のクランプ部によって鉄筋を安定支持しながら鉄筋をその軸心回りに回動操作を行うことが出来、その鉄筋が軸心回りに回動操作されることで、鉄筋の曲げ加工された部分の先端側の向きが自在に変更されて、３次元形状に曲げ加工できる。
従って、鉄筋曲げ機と一対のロボットアーム装置によって、人手操作で行う曲げ加工に比べて、高精度な製品を安定して提出できる。 According to the first characteristic configuration of the present invention, the rebar bending machine is provided with a first control means for performing rebar supply operation control, rebar bending operation control, and rebar removal operation control by a pair of robot arm devices. As a result, the reinforcing bar can be bent into a complicated shape safely and with less effort by using a robot arm device instead of a human hand.
Further, in the reinforcing bar bending operation control, one clamp is performed during the rotation operation while the reinforcing bar is clamped by one of the clamp portions and the other clamp portion in order to rotate the reinforcing bar by a predetermined angle around the axis thereof. At the same time as the rotation operation is performed by the portion, the holding pressure of the other clamp portion is made smaller than that of one clamp portion, or the other clamp portion is placed in a non-clamping state to allow rotation of the reinforcing bar around its axis. By providing the first control means with the first reinforcing bar rotation operation control for controlling the reinforcing bar, the reinforcing bar can be bent into a three-dimensional structure.
That is, by providing the first reinforcing bar rotation operation control, the reinforcing bar can be rotated around the axis while the reinforcing bar is stably supported by the pair of clamps, and the reinforcing bar is rotated around the axis. By rotating the reinforcing bar, the direction of the tip end side of the bent portion of the reinforcing bar can be freely changed, and the reinforcing bar can be bent into a three-dimensional shape.
Therefore, by using the reinforcing bar bending machine and the pair of robot arm devices, it is possible to stably submit a product with high accuracy as compared with the bending processing performed by manual operation.

本発明の第２の特徴構成は、前記鉄筋曲げ操作制御において、前記第１鉄筋回動操作制御によって鉄筋を曲げ操作した後に、鉄筋を更にその軸心回りに所定角度回動させるのに、鉄筋の基端側を一方の前記クランプ部でクランプしたまま、他方の前記クランプ部で曲げた先端側を掴みかえて、回動操作時に他方の前記クランプ部で回動操作すると同時に、一方の前記クランプ部の挟持圧を他方の前記クランプ部よりも小にするか、又は、一方の前記クランプ部を非挟持状態にして鉄筋のその軸心回りの回動を許容するように制御する第２鉄筋回動操作制御を第１制御手段に設けたところにある。 The second characteristic configuration of the present invention is that in the reinforcing bar bending operation control, after the reinforcing bar is bent by the first reinforcing bar rotation operation control, the reinforcing bar is further rotated by a predetermined angle around the axis thereof. While the base end side of the is clamped by one of the clamp portions, the tip side bent by the other clamp portion is grasped, and the rotation operation is performed by the other clamp portion at the time of the rotation operation, and at the same time, one of the clamps is used. A second rebar rotation that controls the pinching pressure of the portion to be smaller than that of the other clamp portion, or to allow one of the clamp portions to rotate around the axis of the reinforcing bar in a non-clamping state. The dynamic operation control is provided in the first control means.

本発明の第２の特徴構成によれば、本発明の第１の特徴構成による上述の作用効果を叶えることができるのに加えて、第２鉄筋回動操作制御によって、前記第１鉄筋回動操作制御で鉄筋を曲げ操作した後に、鉄筋の基端側を一方の前記クランプ部でクランプしたまま、他方の前記クランプ部で曲げた先端側を掴みかえて、鉄筋を更にその軸心回りに所定角度回動させることにより、より複雑な３次元形状に曲げ加工できる。
従って、人手による曲げ加工に比べてより複雑な形状の曲げ加工を、安定して安全に行えるようになる。 According to the second characteristic configuration of the present invention, in addition to being able to realize the above-mentioned action and effect by the first characteristic configuration of the present invention, the first rebar rotation is performed by the second rebar rotation operation control. After bending the reinforcing bar by operation control, while the base end side of the reinforcing bar is clamped by one of the clamp portions, the tip end side bent by the other clamp portion is grasped, and the reinforcing bar is further determined around its axis. By rotating it by an angle, it can be bent into a more complicated three-dimensional shape.
Therefore, it becomes possible to stably and safely perform bending work having a more complicated shape than manual bending work.

鉄筋曲げ装置の全体平面図である。It is the whole plan view of the reinforcing bar bending apparatus. ロボットアーム装置の斜視図である。It is a perspective view of the robot arm device. クランプ部の斜視図で、（ａ）非クランプ状態、（ｂ）はクランプ状態を示す。In the perspective view of the clamp portion, (a) the non-clamped state and (b) show the clamped state. 一対のクランプ部と曲げ機との関係を表す作用説明斜視図で、（ａ）は第１段階の曲げ加工前を示し、（ｂ）は曲げ加工後を示す。In the operation explanatory perspective view showing the relationship between the pair of clamp portions and the bending machine, (a) shows before the first stage bending process, and (b) shows after bending processing. 一対のクランプ部と鉄筋の関係を表す斜視図で、一方のクランプ部で鉄筋をその軸心回りに回し、引き続いて鉄筋を曲げ機に押し込む操作を示す。It is a perspective view showing the relationship between a pair of clamp portions and a reinforcing bar, and shows an operation of turning a reinforcing bar around its axis with one clamp portion and subsequently pushing the reinforcing bar into a bending machine. 一対のクランプ部と鉄筋の関係を表す斜視図で、一方のクランプ部と他方のクランプ部とのクランプする箇所を入れ替える操作を示す。It is a perspective view showing the relationship between a pair of clamp portions and a reinforcing bar, and shows an operation of exchanging a clamped portion between one clamp portion and the other clamp portion. 一対のクランプ部と鉄筋の関係を表す斜視図で、クランプ箇所を変更した後に、一方のクランプ部で鉄筋をその軸心回りに回転させて３次元形状に曲げ加工する操作を示す。It is a perspective view showing the relationship between a pair of clamp portions and a reinforcing bar, and shows an operation of bending a reinforcing bar into a three-dimensional shape by rotating the reinforcing bar around its axis with one clamp portion after changing the clamp portion. 一対のクランプ部と鉄筋の関係を表す斜視図である。It is a perspective view which shows the relationship between a pair of clamp portions and a reinforcing bar. 曲げ加工後の鉄筋の斜視図である。It is a perspective view of the reinforcing bar after bending.

以下に本発明の実施の形態を図面に基づいて説明する。
図１〜図２に示すように、鉄筋を曲げ加工するために、上下方向に軸心を沿わせてある支点ローラーから成る支点部１と、その支点部１周りに回動して鉄筋を屈曲させる回動ローラーから成る力点部２とを設けた鉄筋横曲げ用の鉄筋曲げ機３を設け、その鉄筋曲げ機３に対して、遠近移動及び上下左右に搖動操作自在なアーム４と、そのアーム４の先端側で鉄筋をクランプ操作自在なクランプ部５とを設けたロボットアーム装置６を、横方向に一対並べて設け、鉄筋曲げ機３に対して複数本の鉄筋を、個別に順次提供できるように搬送する鉄筋搬送装置７を設けて、鉄筋曲げ装置を構成してある。
尚、鉄筋曲げ操作においては、支点部１と力点部２との間に鉄筋を配置して支点部１周りの力点部２の回動操作で鉄筋を曲げるのであるが、鉄筋曲げ時の反力を受ける反力受部８を鉄筋曲げ機３には設けてある。従って、鉄筋を鉄筋曲げ機３に供給する際には、支点部１と反力受部８との間に鉄筋を供給配置する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, in order to bend the reinforcing bar, a fulcrum portion 1 composed of a fulcrum roller along the axis in the vertical direction and the fulcrum portion 1 are rotated around the fulcrum portion 1 to bend the reinforcing bar. A reinforcing bar bending machine 3 for lateral bending of the reinforcing bar provided with a force point portion 2 composed of a rotating roller is provided, and an arm 4 capable of moving in perspective and swinging up, down, left and right with respect to the reinforcing bar bending machine 3 and an arm thereof. A pair of robot arm devices 6 provided with a clamping portion 5 capable of clamping reinforcing bars on the tip side of 4 are provided side by side in the lateral direction so that a plurality of reinforcing bars can be individually and sequentially provided to the reinforcing bar bending machine 3. A reinforcing bar conveying device 7 is provided to convey the reinforcing bar to the reinforcing bar.
In the reinforcing bar bending operation, the reinforcing bar is arranged between the fulcrum portion 1 and the force point portion 2, and the reinforcing bar is bent by the rotation operation of the force point portion 2 around the fulcrum portion 1. The rebar bending machine 3 is provided with a reaction force receiving portion 8 for receiving the receiving force. Therefore, when supplying the reinforcing bar to the reinforcing bar bending machine 3, the reinforcing bar is supplied and arranged between the fulcrum portion 1 and the reaction force receiving portion 8.

一対のロボットアーム装置６には、図１〜図５に示すように、一対のロボットアーム装置６における一方のクランプ部５Ｒ（５）と他方のクランプ部５Ｌ（５）とによってクランプして鉄筋搬送装置７から鉄筋Ｆを取り出して、鉄筋曲げ機３の支点部１と力点部２との間に供給する鉄筋供給操作制御と、鉄筋曲げ機３に供給した鉄筋Ｆの先端側曲げ予定箇所とは異なる基端側固定個所を、少なくとも一つのクランプ部５によってクランプしたまま鉄筋曲げ機３による曲げ作動を行う鉄筋曲げ操作制御と（図４）、クランプ部５によってクランプしている鉄筋Ｆを、鉄筋曲げ機３から取り出す鉄筋取り出し操作制御とを行う第１制御手段を設け、鉄筋曲げ操作制御において、鉄筋Ｆを３次元形状に曲げ加工する場合、鉄筋Ｆをその軸心回りに所定角度回動させるのに、一方のクランプ部５Ｒと他方のクランプ部５Ｌで鉄筋Ｆをクランプしながら、図５に示すように、回動操作時に一方のクランプ部５Ｒで回動操作すると同時に、他方のクランプ部５Ｌの挟持圧を一方のクランプ部５Ｒよりも小にするか、又は、他方のクランプ部５Ｌを非挟持状態にして鉄筋Ｆのその軸心回りの回動を許容するように制御する第１鉄筋回動操作制御を、第１制御手段に設けてある（図５）。 As shown in FIGS. 1 to 5, the pair of robot arm devices 6 are clamped by one clamp portion 5R (5) and the other clamp portion 5L (5) in the pair of robot arm devices 6 to convey the reinforcing bars. What is the reinforcing bar supply operation control that takes out the reinforcing bar F from the device 7 and supplies it between the fulcrum portion 1 and the force point portion 2 of the reinforcing bar bending machine 3 and the planned bending point on the tip side of the reinforcing bar F supplied to the reinforcing bar bending machine 3? Reinforcing bar bending operation control in which the bending operation is performed by the reinforcing bar bending machine 3 while the different base end side fixing points are clamped by at least one clamping portion 5 (FIG. 4), and the reinforcing bar F clamped by the clamping portion 5 is rebared. A first control means for controlling the rebar taking out from the bending machine 3 is provided, and when the rebar F is bent into a three-dimensional shape in the rebar bending operation control, the rebar F is rotated by a predetermined angle around its axis. However, as shown in FIG. 5, while the reinforcing bar F is clamped by one clamp portion 5R and the other clamp portion 5L, the rotation operation is performed by one clamp portion 5R at the time of rotation operation, and at the same time, the other clamp portion 5L is operated. The first reinforcing bar rotation that controls the pinching pressure of the reinforcing bar F to be smaller than that of one clamp portion 5R or to allow the rotation of the reinforcing bar F around its axis by putting the other clamping portion 5L in a non-pinching state. Dynamic operation control is provided in the first control means (FIG. 5).

つまり、鉄筋Ｆの先端側を力点部２の回動操作で曲げ加工する第１曲げ工程の後、鉄筋Ｆの基端側を、先端側の曲げ加工部分を含む第１仮想面とは異なる第２仮想面上に、曲げ加工して３次元形状に曲げ加工するのに、クランプ部５で挟持して支持している基端側の鉄筋部分を、その軸心回りに回動させ、前述の第１鉄筋回動操作制御を行う。 That is, after the first bending step of bending the tip end side of the reinforcing bar F by the rotation operation of the force point portion 2, the base end side of the reinforcing bar F is different from the first virtual surface including the bent portion on the tip side. 2 In order to bend and bend into a three-dimensional shape on a virtual surface, the reinforcing bar portion on the base end side that is sandwiched and supported by the clamp portion 5 is rotated around its axis, and is described above. The first reinforcing bar rotation operation control is performed.

更に図６〜図８に示すように、前記鉄筋曲げ操作制御において、前記第１鉄筋回動操作制御によって鉄筋Ｆを曲げ操作した後に、鉄筋Ｆを更にその軸心回りに所定角度回動させるのに、鉄筋Ｆの基端側を他方の前記クランプ部５Ｌでクランプすると共に、一方の前記クランプ部５Ｒで曲げた先端側を掴みかえて（図６→図７→図８）、回動操作時に一方の前記クランプ部５Ｒで回動操作すると同時に、他方の前記クランプ部５Ｌの挟持圧を一方の前記クランプ部５Ｒよりも小にするか、又は、他方の前記クランプ部５Ｌを非挟持状態にして鉄筋Ｆのその軸心回りの回動を許容するように制御する第２鉄筋回動操作制御を前記第１制御手段に設け、結果として、例えば、図９に示すような３次元形状に鉄筋Ｆを曲げ加工できるように構成してある。 Further, as shown in FIGS. 6 to 8, in the reinforcing bar bending operation control, after the reinforcing bar F is bent by the first reinforcing bar rotation operation control, the reinforcing bar F is further rotated by a predetermined angle around the axis thereof. In addition, the base end side of the reinforcing bar F is clamped by the other clamp portion 5L, and the bent tip side is grasped by one of the clamp portions 5R (FIG. 6 → FIG. 7 → FIG. 8) during the rotation operation. At the same time as the rotation operation is performed by one of the clamp portions 5R, the pinching pressure of the other clamp portion 5L is made smaller than that of the one clamp portion 5R, or the other clamp portion 5L is placed in a non-pinching state. The first control means is provided with a second reinforcing bar rotation operation control for controlling the rotation of the reinforcing bar F around its axis, and as a result, for example, the reinforcing bar F has a three-dimensional shape as shown in FIG. Is configured so that it can be bent.

〔別実施形態〕
以下に他の実施の形態を説明する。
〈１〉 前記一対のロボットアーム装置６の夫々のクランプ部５Ｒ、５Ｌで鉄筋を軸心回りに回動させたり、持ち替えたりする操作制御は、上記の曲げ加工形状の例に限らず、加工予定の３次元形状によって種々様々に変更して実施しても良い。 [Another Embodiment]
Other embodiments will be described below.
<1> The operation control for rotating or changing the reinforcing bar around the axis by the clamp portions 5R and 5L of the pair of robot arm devices 6 is not limited to the above example of the bending shape, and is scheduled to be machined. It may be changed in various ways depending on the three-dimensional shape of the above.

１ 支点部
２ 力点部
３ 鉄筋曲げ機
４ アーム
５ クランプ部
６ ロボットアーム装置 1 fulcrum part 2 power point part 3 rebar bending machine 4 arm 5 clamp part 6 robot arm device

Claims (2)

鉄筋を曲げ加工するために、支点部と、その支点部周りに回動して鉄筋を屈曲させる力点部とを設けた鉄筋曲げ機を設け、
前記鉄筋曲げ機に対して遠近移動及び上下左右に搖動操作自在なアームと、そのアームの先端側で鉄筋をクランプ操作自在なクランプ部とを設けたロボットアーム装置を一対設け、
前記鉄筋曲げ機に対して鉄筋を、前記一対のロボットアーム装置における一方の前記クランプ部と他方の前記クランプ部とによってクランプして供給する鉄筋供給操作制御と、
前記鉄筋曲げ機に供給した鉄筋の先端側曲げ予定箇所とは異なる基端側固定個所を、少なくとも一つの前記クランプ部によってクランプしたまま前記鉄筋曲げ機による曲げ作動を行う鉄筋曲げ操作制御と、
前記クランプ部によってクランプしている鉄筋を、前記鉄筋曲げ機から取り出す鉄筋取り出し操作制御とを行う第１制御手段を設け、
前記鉄筋曲げ操作制御において、鉄筋をその軸心回りに所定角度回動させるのに、一方の前記クランプ部と他方の前記クランプ部で鉄筋をクランプしながら、回動操作時に一方のクランプ部で回動操作すると同時に、他方のクランプ部の挟持圧を一方のクランプ部よりも小にするか、又は、他方のクランプ部を非挟持状態にして鉄筋のその軸心回りの回動を許容するように制御する第１鉄筋回動操作制御を、前記第１制御手段に設けてある鉄筋曲げ装置。 In order to bend the reinforcing bar, a reinforcing bar bending machine provided with a fulcrum portion and a force point portion that rotates around the fulcrum portion to bend the reinforcing bar is provided.
A pair of robot arm devices provided with an arm capable of moving in perspective and swinging up, down, left and right with respect to the reinforcing bar bending machine and a clamp portion capable of clamping the reinforcing bar on the tip side of the arm are provided.
Reinforcing bar supply operation control in which the reinforcing bar is clamped and supplied to the reinforcing bar bending machine by one clamp portion and the other clamp portion in the pair of robot arm devices.
Reinforcing bar bending operation control in which the reinforcing bar bending operation is performed while the base end side fixing portion different from the tip end side bending scheduled portion of the reinforcing bar supplied to the reinforcing bar bending machine is clamped by at least one clamp portion.
A first control means for controlling the rebar removal operation for taking out the rebar clamped by the clamp portion from the rebar bending machine is provided.
In the reinforcing bar bending operation control, in order to rotate the reinforcing bar around its axis by a predetermined angle, the reinforcing bar is clamped by one clamp portion and the other clamp portion, and the reinforcing bar is rotated by one clamp portion during the rotation operation. At the same time as the dynamic operation, the holding pressure of the other clamp part is made smaller than that of one clamp part, or the other clamp part is put in a non-clamping state to allow the rebar to rotate around its axis. A reinforcing bar bending device provided in the first control means for controlling a first reinforcing bar rotation operation to be controlled. 前記鉄筋曲げ操作制御において、前記第１鉄筋回動操作制御によって鉄筋を曲げ操作した後に、鉄筋を更にその軸心回りに所定角度回動させるのに、
鉄筋の基端側を一方の前記クランプ部でクランプしたまま、他方の前記クランプ部で曲げた先端側を掴みかえて、回動操作時に他方の前記クランプ部で回動操作すると同時に、一方の前記クランプ部の挟持圧を他方の前記クランプ部よりも小にするか、又は、一方の前記クランプ部を非挟持状態にして鉄筋のその軸心回りの回動を許容するように制御する第２鉄筋回動操作制御を前記第１制御手段に設けてある請求項１に記載の鉄筋曲げ装置。 In the reinforcing bar bending operation control, after the reinforcing bar is bent by the first reinforcing bar rotation operation control, the reinforcing bar is further rotated by a predetermined angle around its axis.
While the base end side of the reinforcing bar is clamped by one of the clamp portions, the bent tip side is grasped by the other clamp portion, and the rotation operation is performed by the other clamp portion during the rotation operation, and at the same time, one of the above. A second reinforcing bar that controls the holding pressure of the clamp portion to be smaller than that of the other clamp portion, or to allow the rotation of the reinforcing bar around its axis by leaving one of the clamp portions in a non-clamping state. The reinforcing bar bending device according to claim 1, wherein the rotation operation control is provided in the first control means.
JP2017223747A 2017-11-21 2017-11-21 Reinforcing bar bending device Active JP6984880B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2017223747A JP6984880B2 (en) 2017-11-21 2017-11-21 Reinforcing bar bending device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017223747A JP6984880B2 (en) 2017-11-21 2017-11-21 Reinforcing bar bending device

Publications (2)

Publication Number Publication Date
JP2019093405A JP2019093405A (en) 2019-06-20
JP6984880B2 true JP6984880B2 (en) 2021-12-22

Family

ID=66970562

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017223747A Active JP6984880B2 (en) 2017-11-21 2017-11-21 Reinforcing bar bending device

Country Status (1)

Country Link
JP (1) JP6984880B2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115030562B (en) * 2022-06-30 2024-02-06 中国建筑第五工程局有限公司 Support device for house composite floor slab

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61172623A (en) * 1985-01-28 1986-08-04 Usui Internatl Ind Co Ltd Automatic bending method and apparatus for metal pipe
JPH0335820A (en) * 1989-06-30 1991-02-15 Chuo Electric Mfg Co Ltd Bending apparatus
US7373797B2 (en) * 2003-08-05 2008-05-20 Rosenberger Ag Method for bending workpieces
JP2008036676A (en) * 2006-08-07 2008-02-21 Opton Co Ltd Bending apparatus
JP5545322B2 (en) * 2012-06-20 2014-07-09 株式会社安川電機 Robot system and fitting manufacturing method
JP6654351B2 (en) * 2015-03-02 2020-02-26 株式会社オプトン Bending equipment

Also Published As

Publication number Publication date
JP2019093405A (en) 2019-06-20

Similar Documents

Publication Publication Date Title
JP6250900B2 (en) Method of machining a workpiece by cooperation between a machine tool and a robot
US10639693B2 (en) Bending device
JP6823390B2 (en) Work reversing device
TW201836754A (en) Machine for bending a thread-like material such as a pipe equipped with an aboard cutting device
JP6984880B2 (en) Reinforcing bar bending device
CN107803819A (en) Robot system
TR201809784T4 (en) A bending press with a bending unit and a forming method.
JP7085823B2 (en) How to cut a turbine blade
JP2011235412A (en) Clamping device
JP2014014888A (en) Chamfering machine
KR101063266B1 (en) Bending machine
WO2018155688A1 (en) Robot and robot system
JP4655477B2 (en) Tool conveying device, method for determining turning speed of tool conveying device, and computer program
WO2010117038A1 (en) Bending device
JP2010240716A (en) Bending device
EP2922187A1 (en) Coil winding apparatus, and coil winding method
JP2008073707A (en) Device for automatically feeding bar
JP5762468B2 (en) Processing equipment
JP2020049500A (en) Reinforcement bending method
JP2002082710A (en) Method and system for bending
JP6503163B2 (en) Robot hand position correction method and press brake system
JPH11179430A (en) Bend straightening device for long size shaft and its method
JP5405878B2 (en) Bending machine
JP2019155540A (en) Processing device and processing method using the same
WO2021015064A1 (en) Tool information setting device and machine tool

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20201111

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20210825

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20211102

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20211117

R150 Certificate of patent or registration of utility model

Ref document number: 6984880

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150