TW202415841A - Steel bar assembly device - Google Patents
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Abstract
[課題]本發明提供一種鋼筋組立裝置，根據建築物等的設計資訊所包含的鋼筋的配筋資訊，將柱、梁的鋼筋的組立自動化。[解決手段]具備：保管區域3，其保管鋼筋群；組立區域1，其在規定的位置配置鋼筋群並且捆紮交叉部；搬送手段8、9，其將鋼筋從保管區域搬送到組立區域；捆紮手段5、6、7，其捆紮多個鋼筋交叉的交叉部；以及控制手段，其控制搬送手段及捆紮手段。控制手段具備：鋼筋資訊取得部，其從設計資訊取得與柱或梁的構築所使用的鋼筋群的每個鋼筋的配置相關的資訊；運算部，其運算控制資訊，該控制資訊包含應從保管區域搬送到組立區域的鋼筋的數量及搬送距離以及鋼筋群彼此的交叉部的座標；第一輸出部，其輸出根據控制資訊的對搬送手段的控制訊號；以及第二輸出部，其輸出根據運算部運算的控制資訊的對捆紮手段的控制訊號。[Topic] The present invention provides a steel bar assembly device that automates the assembly of steel bars of columns and beams based on the steel bar arrangement information included in the design information of buildings, etc. [Solution] It comprises: a storage area 3 that stores steel bar groups; an assembly area 1 that arranges steel bar groups at specified positions and bundles the intersections; transport means 8, 9 that transport the steel bars from the storage area to the assembly area; bundling means 5, 6, 7 that bundle the intersections where multiple steel bars cross; and control means that controls the transport means and the bundling means. The control means comprises: a steel bar information acquisition unit that acquires information related to the arrangement of each steel bar of a steel bar group used for the construction of a column or a beam from design information; a calculation unit that calculates control information, the control information including the number of steel bars to be transported from a storage area to an assembly area, a transportation distance, and coordinates of intersections between steel bar groups; a first output unit that outputs a control signal to a transport means based on the control information; and a second output unit that outputs a control signal to a bundling means based on the control information calculated by the calculation unit.
Description
本發明關於用於將建築物或該構築物的柱或梁所使用的鋼筋群進行組立的裝置，特別關於根據預先製作的與建築物或構築物相關的設計資訊，在規定的位置配置鋼筋，並且藉由捆紮等將鋼筋的交叉部進行結合而組立的裝置。The present invention relates to a device for assembling a group of steel bars used in columns or beams of a building or structure, and in particular to a device for arranging steel bars at predetermined positions based on pre-prepared design information related to the building or structure, and assembling the steel bars by connecting the intersections of the steel bars by tying or the like.
一般而言，由鋼筋混凝土構築的建築物或構築物由以混凝土將預先配筋的鋼筋固定而成的柱、梁或牆壁而構成，在澆築混凝土前會將鋼筋進行配筋。因此，鋼筋的配筋作業專門在施工現場進行，將規定的主筋及剪力鋼筋搬入施工現場，以起重機等移動至規定的位置後，藉由捆紮各鋼筋的交叉部等而組立（所謂的現場組裝方式）。但是，在現場作業中，作業的省力化和高效化存在極限，因此成為使用在加工廠等中預先組立的方法（預組裝方式），將在加工廠等中預組裝後的鋼筋群（預組裝單元）進行組立，將組立後的鋼筋群搬入施工現場。因此，為了高效化加工廠等中的作業，開發有用於將主筋和剪力鋼筋配置到規定位置的裝置（鋼筋組立裝置）（參照專利文獻1及專利文獻2）。Generally speaking, buildings or structures constructed of reinforced concrete are composed of columns, beams or walls in which pre-reinforced steel bars are fixed with concrete, and the steel bars are reinforced before pouring concrete. Therefore, the reinforcement work of the steel bars is carried out exclusively at the construction site, and the specified main bars and shear bars are brought to the construction site, moved to the specified position by a crane, etc., and then assembled by tying the intersections of the steel bars (the so-called on-site assembly method). However, there are limits to labor saving and efficiency in on-site work, so a method of pre-assembly in a processing plant or the like (pre-assembly method) is used, and a group of steel bars (pre-assembly units) pre-assembled in a processing plant or the like is assembled and brought to the construction site. Therefore, in order to improve the efficiency of work in processing plants, etc., a device (rebar assembly device) for arranging main bars and shear bars at predetermined positions has been developed (see Patent Documents 1 and 2).
然而，如上所述的鋼筋組立裝置是使剪力鋼筋在主筋的長度方向上移動的裝置，是將剪力鋼筋設為以預先設定的間隔設置的狀態（單元化），並藉由鏈式輸送機或環形帶搬送此已經單元化的剪力鋼筋。因此，在組立作業中，針對以規定的間隔設置剪力鋼筋的步驟沒有自動化，作業效率沒有飛躍性地提高。又，針對捆紮等作業沒有自動化。However, the above-mentioned steel bar assembly device is a device that moves the shear steel bar in the longitudinal direction of the main bar, sets the shear steel bar to a state of being set at a preset interval (unitized), and transports the unitized shear steel bar by a chain conveyor or an endless belt. Therefore, in the assembly operation, the step of setting the shear steel bar at a predetermined interval is not automated, and the operation efficiency is not dramatically improved. In addition, the operation of bundling, etc. is not automated.
因此，有人提案有設置與主筋的軸線方向平行地移動的機械手機器人，並藉由此機械手機器人使捆紮等作業依次執行的構成的鋼筋組立裝置（參照專利文獻3）。根據此技術，除了捆紮等作業之外，還可使機械手機器人執行剪力鋼筋的配置作業。Therefore, a steel bar assembly device has been proposed that has a robot that moves parallel to the axis of the main bar and uses the robot to sequentially perform operations such as bundling (see Patent Document 3). According to this technology, in addition to operations such as bundling, the robot can also perform the operation of arranging shear bars.
另一方面，開發有電子化建築物等的設計資訊中的鋼筋的配置資訊（配筋資料）的技術（參照專利文獻4）。在此技術中，為了電子資訊化此前未詳細被圖像化的配筋資料，根據關於鋼筋混凝土構造物的三維構造中的鋼筋的組立位置的資訊以及識別鋼筋的種類（徑長、長度等特徵性要素）的資訊等，製作鋼筋的三維構造資訊。On the other hand, a technology has been developed for digitizing the arrangement information (reinforcement data) of steel bars in the design information of buildings, etc. (see Patent Document 4). In this technology, in order to digitize the reinforcement data that has not been visualized in detail before, three-dimensional structural information of steel bars is created based on information on the assembly positions of steel bars in the three-dimensional structure of reinforced concrete structures and information on identifying the types of steel bars (characteristic elements such as diameter and length).
又，還開發有如上述使用鋼筋的三維構造資訊而檢查鋼筋的干涉，重構配筋資料的技術（參照專利文獻5）、以及在施工現場進一步輔助重構的配筋資料的技術（參照專利文獻6）。 [習知技術文獻] [專利文獻] In addition, we have developed a technology for checking the interference of steel bars using the three-dimensional structural information of steel bars and reconstructing the reinforcement data (see Patent Document 5), and a technology for further assisting the reconstruction of reinforcement data at the construction site (see Patent Document 6). [Known Technical Document] [Patent Document]
[專利文獻1]日本實開平4-130659號公報 [專利文獻2]日本特開平6-218475號公報 [專利文獻3]日本特開2013-204257號公報 [專利文獻4]日本特開2006-318257號公報 [專利文獻5]日本特開2009-30403號公報 [專利文獻6]日本特開2011-253484號公報 [Patent Document 1] Japanese Utility Model Publication No. 4-130659 [Patent Document 2] Japanese Patent Publication No. 6-218475 [Patent Document 3] Japanese Patent Publication No. 2013-204257 [Patent Document 4] Japanese Patent Publication No. 2006-318257 [Patent Document 5] Japanese Patent Publication No. 2009-30403 [Patent Document 6] Japanese Patent Publication No. 2011-253484
[發明欲解決的課題] 在與鋼筋組立裝置相關的上述專利文獻1以及2所公開的技術中，基本上是將主筋設置在作業台上，在使剪力鋼筋（單元）移動之後進行捆紮等結合作業的構成，即使假設將捆紮等結合作業自動化，也必須在剪力鋼筋的內側的多個部位配置主筋，能夠自動化的範圍是有限的。又，在專利文獻3所公開的技術中，剪力鋼筋的配置及結合的各作業終究是由機械手機器人執行的，在迅速的鋼筋組立中，依賴於機械手機器人的速度。 [Problems to be solved by the invention] In the technologies disclosed in the above-mentioned patent documents 1 and 2 related to the steel bar assembly device, the main bars are basically set on the workbench, and the shear bars (units) are moved before bundling and other bonding operations are performed. Even if the bundling and other bonding operations are automated, the main bars must be arranged at multiple locations inside the shear bars, and the scope of automation is limited. In addition, in the technology disclosed in patent document 3, the shear bar arrangement and bonding operations are ultimately performed by a robot, and the rapid steel bar assembly depends on the speed of the robot.
另一方面，上述專利文獻4～5所公開的技術是將建築物等的設計資訊中的配筋資料作為電子資料進行存儲，並且為了避免鋼筋的干涉而重構修正資料的處理技術。但是，第一，僅對配筋資料進行電子化，雖然即能夠促使作業員掌握、理解，但要將該電子資料作為圖像進行顯示，作業員根據該圖像進行作業。又，針對鋼筋的干涉，主要在柱與梁或板坯的接合部分、梁與板坯的接合部分產生，因此，只要與柱單體或梁單體的配筋資料有關，就不需要修正。再者，這些配筋資料要被圖像化而輔助施工現場的作業，未被利用於鋼筋組立裝置。On the other hand, the technology disclosed in the above-mentioned patent documents 4 to 5 is a processing technology that stores the reinforcement data in the design information of buildings, etc. as electronic data, and reconstructs and corrects the data to avoid interference with the reinforcement. However, first, although it is possible to enable workers to grasp and understand the reinforcement data by simply digitizing it, the electronic data must be displayed as an image, and the workers must work based on the image. In addition, interference with the reinforcement mainly occurs at the joints between columns and beams or slabs, and at the joints between beams and slabs. Therefore, as long as it is related to the reinforcement data of the column unit or the beam unit, no correction is required. Furthermore, these reinforcement data must be visualized to assist the work at the construction site, and are not used in the reinforcement assembly device.
本發明是鑒於上述各點而完成的，其目的在於提供一種能夠根據建築物等的設計資訊所包含的鋼筋的配筋資訊，將柱、梁中的鋼筋的組立自動化的裝置。The present invention is completed in view of the above points, and its purpose is to provide a device that can automate the assembly of steel bars in columns and beams based on the reinforcement information of steel bars contained in the design information of buildings, etc.
[解決課題的技術手段] 因此，本發明是一種用於根據預先製作的與建築物或構築物相關的設計資訊而將該建築物或該構築物的柱或梁所使用的鋼筋群進行組立的裝置，其特徵在於，具備：保管區域，其可按照每個種類保管所使用的鋼筋群；組立區域，其用於將鋼筋群配置在規定的位置並且使交叉部的規定位置結合而進行組立；搬送手段，其將期望的鋼筋按照每個種類從所述保管區域搬送到所述組立區域；結合手段，其在所述組立區域中結合多個鋼筋交叉的交叉部；以及控制手段，其分別控制所述搬送手段的搬送以及所述結合手段的結合動作，所述控制手段具備：鋼筋資訊取得部，其從與建築物或者構築物相關的設計資訊中，取得與柱或者梁的構築所使用的鋼筋群的至少各鋼筋的每個種類的配置相關的資訊；運算部，其從由所述鋼筋資訊取得部所取得的資訊而運算控制資訊，該控制資訊至少包含應從保管區域搬送到組立區域的鋼筋的每個種類的數量及搬送距離、以及搬送到所述組立區域的鋼筋群彼此的交叉部的座標；第一輸出部，其輸出根據由該運算部所運算出的控制資訊的對於搬送手段的控制訊號；以及第二輸出部，其輸出根據由所述運算部所運算出的控制資訊的對於結合手段的控制訊號。 [Technical means for solving the problem] Therefore, the present invention is a device for assembling a group of steel bars used for columns or beams of a building or structure according to pre-made design information related to the building or structure, and is characterized in that it has: a storage area that can store the steel bars used according to each type; an assembly area that is used to arrange the steel bars at a specified position and assemble them by combining the specified positions of the intersections; a conveying means that conveys the desired steel bars from the storage area to the assembly area according to each type; a combining means that combines the intersections of multiple steel bars in the assembly area; and a control means that controls the conveying of the conveying means and the combining action of the combining means, respectively, and the control means has : A reinforcement information acquisition unit that acquires information related to the arrangement of at least each type of reinforcement in a reinforcement group used in the construction of a column or beam from design information related to a building or structure; a calculation unit that calculates control information from the information acquired by the reinforcement information acquisition unit, the control information at least including the quantity and transportation distance of each type of reinforcement to be transported from a storage area to an assembly area, and the coordinates of the intersections of reinforcement groups transported to the assembly area; a first output unit that outputs a control signal for a transport means based on the control information calculated by the calculation unit; and a second output unit that outputs a control signal for a coupling means based on the control information calculated by the calculation unit.
根據上述構成的發明，控制手段可以從應施工的建築物等的設計資訊，取得關於柱和梁的構築的資訊（配筋資料），運算關於鋼筋群的移動的資訊與關於鋼筋群彼此交叉的座標的位置資訊，輸出根據該資訊的控制訊號。控制訊號個別被輸出至搬送手段與結合手段，在搬送手段中，以對保管在保管區域中的鋼筋群按規定的順序按規定的數量將規定種類的鋼筋搬送至組立區域的方式進行控制，在結合手段中，根據被運算出的交叉位置的座標而控制結合的位置及狀態。此外，作為結合，除了捆紮之外還有由焊接所進行的結合，作為由捆紮所進行的結合的情形下的結合手段，可使用捆紮機，在由焊接所進行的結合的情形下則使用焊炬。在這樣的構成的情形下，結合動作是指捆紮機的配置、朝向、動作等狀態或焊炬的配置、朝向等狀態等。According to the invention of the above configuration, the control means can obtain information (reinforcement data) on the structure of columns and beams from design information of a building to be constructed, calculate information on the movement of a steel bar group and position information on the coordinates of intersections between steel bar groups, and output a control signal based on the information. The control signals are output to the transport means and the connecting means, respectively, and the transport means is controlled to transport a steel bar group stored in a storage area to an assembly area in a specified order and in a specified quantity, and the connecting means is controlled to control the position and state of the connection based on the calculated coordinates of the intersection position. In addition, as a joining method, there is joining by welding in addition to tying. In the case of joining by tying, a tying machine can be used as a joining means, and in the case of joining by welding, a welding torch can be used. In the case of such a configuration, the joining action refers to the state of the arrangement, direction, movement, etc. of the tying machine or the state of the arrangement, direction, etc. of the welding torch.
作為本發明中使用的建築物等的設計資訊，除了使用上述專利文獻4等所公開的配筋資料以外，還可以使用被稱為BIM（Building Information Modeling·Management，建築資訊模型化管理）或CIM（Construction Information Modeling·Management，構成資訊模型化管理）的三維資訊。BIM、CIM除了建築物等的形狀的三維模型（以三維表現形狀的資訊）之外，還組合有作為屬性資訊賦予三維模型的部件等的資訊，其中還包含與鋼筋有關的資訊（配筋資料）。迄今為止，BIM、CIM的資料用於藉由將施工中途或成功後的圖像與上述三維模型進行比較來確認施工的正確性，但本發明可以根據BIM、CIM的三維模型所包含的配筋資料而組立鋼筋。As design information of buildings, etc. used in the present invention, in addition to the reinforcement data disclosed in the above-mentioned Patent Document 4, etc., three-dimensional information called BIM (Building Information Modeling·Management) or CIM (Construction Information Modeling·Management) can also be used. BIM and CIM combine information on components, etc. assigned to the three-dimensional model as attribute information in addition to the three-dimensional model of the shape of the building, etc., and also include information related to steel bars (reinforcement data). Until now, the data of BIM and CIM have been used to confirm the correctness of construction by comparing images taken during or after construction with the above-mentioned three-dimensional model, but the present invention can assemble steel bars based on the reinforcement data included in the three-dimensional model of BIM and CIM.
在上述構成的發明中，所述鋼筋群是包含主筋和剪力鋼筋，所述搬送手段可以具備搬送主筋的主筋搬送部以及搬送剪力鋼筋的加強筋搬送部，在該情形下，被搬送至所述組立區域的該鋼筋群是將主筋的軸線設為水平方向，並以構成剪力鋼筋的構成部的各軸線對於主筋的軸線正交的方式，將該剪力鋼筋整體設為豎立設置狀態，所述運算部運算鋼筋群的搬送的順序，該運算條件可以構成為是將搬送規定數量的剪力鋼筋作為第一順位，之後將搬送主筋作為第二順位。In the invention of the above structure, the steel bar group includes main bars and shear bars, and the conveying means may include a main bar conveying portion for conveying the main bars and a reinforcing bar conveying portion for conveying the shear bars. In this case, the steel bar group conveyed to the assembly area is arranged with the axis of the main bars in a horizontal direction, and the shear bars are arranged as a whole in a vertical arrangement in such a manner that the axes of the components constituting the shear bars are orthogonal to the axis of the main bars. The calculation unit calculates the order of conveying the steel bar group, and the calculation condition may be configured such that conveying a specified number of shear bars is the first priority, and then conveying the main bars is the second priority.
根據這樣的構成，基本上可以將主筋和剪力鋼筋依次搬送到組立區域。此時，主筋以將軸線設為水平方向為前提，同時將剪力鋼筋作為第一順位進行搬送，並在其後搬送主筋。作為剪力鋼筋，代表性的是在柱中如箍筋（hoop），在梁中如肋筋（stirrup）那樣，配置在主筋的周圍的形成為矩形環狀的鋼筋。剪力鋼筋以形成此矩形的各要素鋼筋（四邊部分）與主筋的軸線正交的狀態進行配筋，在將主筋的軸線設為水平方向的情形下，剪力鋼筋成為矩形部分豎立設置的狀態。剪力鋼筋的豎立設置狀態下的姿勢沒有特別限定，通常在設置矩形的剪力鋼筋的情形下，以矩形的一邊為底邊。主筋與剪力鋼筋的彼此關係是沿著主筋的長度方向，多個剪力鋼筋具有規定的間隔而配置。因此，預先以規定間隔配置剪力鋼筋，最後將主筋***剪力鋼筋的內側，由此可以將彼此關係設為規定的狀態進行配筋。此外，剪力鋼筋的設置位置及主筋的***位置分別根據由運算部所運算出的結果進行控制，成為***主筋後的交叉部的座標最終會與運算部的控制資訊一致。According to such a structure, the main reinforcement and shear reinforcement can be transported to the assembly area in sequence. At this time, the main reinforcement is transported as the first priority, with the main reinforcement being transported after the main reinforcement, with the axis being set in the horizontal direction. Shear reinforcement is typically a rectangular ring-shaped reinforcement arranged around the main reinforcement, such as hoops in columns and ribs in beams. Shear reinforcement is arranged in a state where the element reinforcements (four sides) forming this rectangle are perpendicular to the axis of the main reinforcement. When the axis of the main reinforcement is set in the horizontal direction, the shear reinforcement is arranged in a state where the rectangular part is vertically arranged. There is no special restriction on the posture of the shear reinforcement in the vertical setting state. Usually, when rectangular shear reinforcement is set, one side of the rectangle is used as the base. The relationship between the main reinforcement and the shear reinforcement is along the length direction of the main reinforcement, and multiple shear reinforcements are arranged at specified intervals. Therefore, the shear reinforcement is arranged at specified intervals in advance, and the main reinforcement is finally inserted into the inner side of the shear reinforcement, so that the relationship between them can be set to a specified state for reinforcement. In addition, the setting position of the shear reinforcement and the insertion position of the main reinforcement are controlled according to the results calculated by the calculation unit, and the coordinates of the intersection after the main reinforcement is inserted will eventually be consistent with the control information of the calculation unit.
再者，在上述構成的發明中，所述組立區域可以具備保持手段，該保持手段根據由所述鋼筋資訊取得部所取得的與鋼筋的配置相關的資訊，在將作為第一順位被搬送的剪力鋼筋維持規定的間隔的同時以豎立設置狀態進行保持，所述主筋搬送部可以具能夠在由所述保持手段所保持的剪力鋼筋的間隙中升降的主筋支撐部以及主筋送出部，可以構成為藉由該主筋支撐部支撐主筋，同時藉由主筋送出部的送出進行搬送。Furthermore, in the invention having the above-mentioned structure, the assembly area may be provided with a holding means, which holds the shear bars to be transported as the first in the vertical arrangement while maintaining a prescribed interval based on the information related to the arrangement of the bars obtained by the bar information acquisition unit, and the main bar transport unit may have a main bar supporting unit and a main bar delivery unit capable of rising and falling in the gap between the shear bars held by the holding means, and may be configured to support the main bars by the main bar supporting unit and transport them by delivering them by the main bar delivery unit.
根據這樣的構成，在組立區域中，保持手段可以規定的位置以及狀態保持剪力鋼筋。作為保持剪力鋼筋的狀態，在由兩組相向兩邊（鋼筋構成部）形成矩形的剪力鋼筋中，有將該矩形構造中的一組相向兩邊作為水平方向，將另一組相向兩邊作為垂直方向的構成。可稱這樣的狀態為豎立設置狀態。又，作為利用保持手段的剪力鋼筋的保持方法，例如在以上述的狀態進行保持的情形下，可以使用在兩處保持位於底邊的兩端的頂角部周邊的保持件。此情形下的保持件可使用敞開頂角部並且與該頂角部兩側的鋼筋部分（僅水平部分以及垂直部分的各一部分）可卡入的卡入槽一體化的保持件。藉由將此保持件配置在兩側的頂角部附近，而使剪力鋼筋的底邊兩側部分地同時卡入到該兩側的各保持件的各卡入槽，由此能夠將該剪力鋼筋保持為豎立設置狀態。因此，只要依據應保持的剪力鋼筋的數量，在應配設的位置的兩側配置保持件即可。作為其他的保持方法，可以有藉由配置於規定間隔的磁鐵進行磁化的方法。磁鐵可以是永久磁鐵，也可以是電磁鐵，但在電磁鐵的情形下，必須配合應配置的剪力鋼筋的間隔（間距）而調整電磁鐵的位置，因此優選預先配置多個電磁鐵，藉由選擇性地通電而設定磁化位置。此外，作為箍筋、肋筋以外的剪力鋼筋，例如在使用繫筋的情形下，藉由預先將繫筋與箍筋等結合（捆紮或焊接），可與箍筋等同時保持。According to such a structure, in the assembly area, the retaining means can retain the shear steel bar in a prescribed position and state. As a state for retaining the shear steel bar, in the shear steel bar formed into a rectangle by two sets of opposite sides (steel bar components), there is a structure in which one set of opposite sides in the rectangular structure is the horizontal direction, and the other set of opposite sides is the vertical direction. Such a state can be called a vertically arranged state. In addition, as a method for retaining the shear steel bar using a retaining means, for example, in the case of retaining in the above-mentioned state, retainers can be used that retain the top corners at both ends of the bottom side at two places. The retainer in this case can use a retainer that opens the top corner and is integrated with a snap-in groove that can be snapped into the steel bar portion on both sides of the top corner (only a part of the horizontal portion and a part of the vertical portion). By arranging the retaining parts near the top corners on both sides, the bottom sides of the shear steel bars are partially inserted into the insertion grooves of the retaining parts on both sides at the same time, so that the shear steel bars can be maintained in a vertical setting state. Therefore, it is sufficient to arrange the retaining parts on both sides of the position to be arranged according to the number of shear steel bars to be maintained. As another holding method, there can be a method of magnetizing by arranging magnets at specified intervals. The magnet can be a permanent magnet or an electromagnet, but in the case of an electromagnet, the position of the electromagnet must be adjusted in accordance with the interval (spacing) of the shear steel bars to be arranged, so it is preferred to pre-arrange multiple electromagnets and set the magnetization position by selectively energizing. Furthermore, when, for example, tie bars are used as shear reinforcement other than stirrups and ribs, the tie bars can be held together with stirrups by combining them with the stirrups (tying or welding) in advance.
另一方面，主筋可利用被設置的剪力鋼筋彼此形成的間隙（間距空間）而構成搬送部。亦即，能夠從剪力鋼筋的間隙使主筋支撐部升降，在主筋的搬送（往剪力鋼筋的內側***）時，藉由分散配置在數處的主筋支撐部，在部分地支撐主筋的同時藉由主筋搬送部使主筋前進，從而能夠進行搬送。剪力鋼筋的設置間隔（間距）依據應組立的鋼筋的配筋資料而變化，因此必然以主筋支撐部配置於剪力鋼筋的間隙的方式可移動地設置。又，為了能夠根據主筋的長度及重量而選擇支撐的場所及數量，預先準備多個主筋支撐部，使用從其中選擇的一部分或全部而用於主筋的支撐。On the other hand, the main bars can be used to form a conveying part by utilizing the gaps (interval spaces) formed by the installed shear bars. That is, the main bar support part can be raised and lowered from the gaps between the shear bars, and when the main bars are transported (inserted into the inner side of the shear bars), the main bars can be transported by the main bar conveying part while partially supporting the main bars by the main bar support parts dispersedly arranged in several places. The installation interval (spacing) of the shear bars varies according to the reinforcement data of the steel bars to be assembled, so the main bar support part must be arranged in the gaps between the shear bars so that it can be moved. In addition, in order to be able to select the location and amount of support according to the length and weight of the main reinforcement, multiple main reinforcement support parts are prepared in advance, and a part or all of them are used to support the main reinforcement.
此外，在剪力鋼筋的搬送以及主筋的送出中，設置可在從保管區域到組立區域的範圍內往復移動的滑動件，藉由在此滑動件上設置具有鋼筋的把持功能的把持部，能夠把持剪力鋼筋以及主筋並且進行規定距離的移動，藉由控制該移動距離，能夠實現到應供給的位置為止的搬送。具有這些把持部的滑動件可以分別設置用於剪力鋼筋的滑動件和用於主筋的滑動件，但由於搬送兩者的時刻不同，因此也可以兼用相同的滑動件。In addition, in the transportation of shear bars and the delivery of main bars, a slide that can reciprocate within the range from the storage area to the assembly area is provided. By providing a gripping portion having a bar gripping function on the slide, the shear bars and main bars can be gripped and moved a predetermined distance. By controlling the moving distance, the slides can be transported to the positions to be supplied. The slides having these gripping portions can be provided separately for the shear bars and for the main bars, but since the timing of the transport of the two is different, the same slide can also be used for both.
在上述構成的發明中，進一步可以構成為，在所述保管區域與所述組立區域之間形成有姿勢調整區域，該姿勢調整區域用於依據搬送中途的該鋼筋的種類使該鋼筋的姿勢變更為期望狀態，至少所述加強筋搬送部經由所述姿勢調整區域而搬送剪力鋼筋，並能夠根據所述控制手段的控制訊號，在該姿勢調整區域中變更該剪力鋼筋的姿勢。In the invention of the above structure, it can be further configured that a posture adjustment area is formed between the storage area and the assembly area, and the posture adjustment area is used to change the posture of the steel bar to a desired state according to the type of the steel bar during transportation. At least the reinforcement bar transportation part transports the shear steel bar through the posture adjustment area, and can change the posture of the shear steel bar in the posture adjustment area according to the control signal of the control means.
根據這樣的構成，剪力鋼筋經由姿勢調整區域被搬送至組立區域，因此可在搬送中途適當變更從保管區域取出的剪力鋼筋的姿勢。例如，在將箍筋、肋筋進行配筋的情形下，可為了調整鉤的位置而使鋼筋反轉。又，也能夠在使繫筋抵接於箍筋等的規定位置的狀況下，進行結合（捆紮或焊接）的步驟。According to such a structure, the shear steel bar is transported to the assembly area via the posture adjustment area, so the posture of the shear steel bar taken out from the storage area can be appropriately changed during transportation. For example, when stirrups and ribs are reinforced, the steel bar can be reversed to adjust the position of the hook. In addition, the step of connecting (binding or welding) can be performed while the tie bar is in contact with the specified position of the stirrup, etc.
在上述各構成的發明中，所述控制手段可以由攜帶終端構成，所述搬送手段及所述結合手段被設為分別能夠在與所述攜帶終端之間進行收發，所述攜帶終端可以構成為，保存所述設計資訊，運算所述控制資訊，將根據該控制資訊的控制訊號對於所述搬送手段以及結合手段輸出，輸入從所述搬送手段以及所述結合手段所發送的發送資訊，並且將該發送資訊作為作業進展資訊進行保存。In the inventions of the above-mentioned structures, the control means can be composed of a carrying terminal, the transporting means and the combining means are configured to be capable of transmitting and receiving with the carrying terminal respectively, and the carrying terminal can be configured to store the design information, calculate the control information, output the control signal based on the control information to the transporting means and the combining means, input the transmission information sent from the transporting means and the combining means, and store the transmission information as operation progress information.
根據上述構成，鋼筋組立裝置中的主要部分的搬送手段及結合手段能夠在與攜帶終端之間進行收發，因此會成為根據從攜帶終端輸出的控制訊號進行動作。收發既可以是有線也可以是無線，根據資料的收發，就算在工廠外（建築物等施工現場等）也可使用。特別是，會成為可依據施工現場的施工進展而區別應組立的鋼筋群（是柱還是梁的區別，或者是哪個部分的柱、梁等），適當地進行選擇。又，藉由依次發送搬送手段及結合手段動作時的該動作的狀態，攜帶終端輸入發送資訊，將其作為作業進展資訊進行保存，由此也能夠作為所謂的日誌而進行管理。According to the above configuration, the transport means and the connecting means, which are the main parts of the steel bar assembly device, can transmit and receive with the portable terminal, so that it can be operated according to the control signal output from the portable terminal. The transmission and reception can be either wired or wireless, and it can be used even outside the factory (construction site of a building, etc.) according to the transmission and reception of data. In particular, it can be distinguished according to the progress of construction at the construction site (the distinction between columns and beams, or which part of the columns and beams, etc.), and appropriately selected. In addition, by sequentially transmitting the status of the transport means and the connecting means when the action is in progress, the portable terminal inputs the transmission information, and saves it as work progress information, thereby managing it as a so-called log.
又，在各構成的發明中，也可以構成為，所述控制手段由雲端伺服器與攜帶終端構成，所述搬送手段及所述結合手段被設為分別能夠在與所述攜帶終端之間進行收發，所述雲端伺服器保存所述設計資訊，運算所述控制資訊，並保存該控制資訊，所述攜帶終端接收保存在所述雲端伺服器中的所述控制資訊，並且將根據該控制資訊的控制訊號對於所述搬送手段以及所述結合手段輸出，輸入從所述搬送手段以及所述結合手段所發送的發送資訊，並且將該發送資訊作為作業進展資訊進行保存。Furthermore, in the invention of each configuration, it can also be configured that the control means is composed of a cloud server and a portable terminal, the transport means and the combining means are configured to be capable of transmitting and receiving with the portable terminal respectively, the cloud server stores the design information, calculates the control information, and stores the control information, the portable terminal receives the control information stored in the cloud server, and outputs a control signal based on the control information to the transport means and the combining means, inputs the transmission information sent from the transport means and the combining means, and stores the transmission information as operation progress information.
在這樣的構成的情形下，也可在工廠外使用。又，藉由在雲端伺服器中預先保存基本的設計資訊，並且預先運算控制資訊，攜帶終端可僅接收需要的控制資訊，可減輕攜帶終端的負荷。In the case of such a configuration, it can also be used outside the factory. In addition, by pre-saving basic design information in the cloud server and pre-calculating control information, the portable terminal can receive only the necessary control information, which can reduce the load on the portable terminal.
在利用這樣的攜帶終端的構成或者利用攜帶終端和雲端伺服器的構成中，所述設計資訊是按照每個作業步驟被細分化的資訊，所述控制資訊可按照每個作業步驟而進行運算。在雲端伺服器中運算控制資訊的情形下，也可以構成為在攜帶終端中按照每個作業步驟分別取得保存於雲端伺服器的每個作業步驟的控制資訊。In a configuration using such a portable terminal or a configuration using a portable terminal and a cloud server, the design information is information that is broken down into each operation step, and the control information can be calculated for each operation step. In the case where the control information is calculated in the cloud server, the control information of each operation step stored in the cloud server can also be obtained in the portable terminal for each operation step.
在上述構成的情形下，從設計資訊所包含的資訊中關於位置、種類以及施工順序等的資訊，按照由這些資訊決定的每個作業步驟進行細分化，按照細分化的每個設計資訊預先運算控制資訊，由此可立即開始用於需要的作業步驟的鋼筋組立。針對這些被細分化的設計資訊或者控制資訊，可分別賦予索引，並將該索引作為標記而從保存資訊中取得期望的資訊。在索引與條形碼相關聯的情形下，也能夠藉由條形碼的讀取而容易地取得索引。In the case of the above configuration, information on the location, type, and construction sequence included in the design information is subdivided according to each work step determined by the information, and control information is pre-calculated according to each subdivided design information, thereby enabling the steel bar assembly for the required work step to be immediately started. Indexes can be given to each of the subdivided design information or control information, and the indexes can be used as tags to obtain desired information from the stored information. In the case where the index is associated with a bar code, the index can also be easily obtained by reading the bar code.
[發明功效] 根據本發明，除了運算根據建築物等的設計資訊所包含的鋼筋的配筋資訊的控制資訊以外，根據該運算結果而控制搬送手段及結合手段，因此可在忠實於該建築物等的設計資訊的狀態下組立鋼筋。而且，可使上述自動化。特別是，本發明藉由採用先行配置剪力鋼筋然後***主筋的方式，而可以有效地利用剪力鋼筋的間隙（間距空間），並可迅速地形成兩者的交叉狀態。又，由於兩者的搬送狀態被控制並且交叉部的座標已被運算，因此在主筋被***到剪力鋼筋的內側的狀態下，可立即開始由結合手段所進行的結合。 [Effect of the invention] According to the present invention, in addition to calculating the control information of the reinforcement information of the steel bars included in the design information of the building, etc., the conveying means and the connecting means are controlled according to the calculation result, so that the steel bars can be assembled in a state faithful to the design information of the building, etc. Moreover, the above can be automated. In particular, the present invention can effectively utilize the gap (spacing space) between the shear steel bars by adopting a method of first arranging the shear steel bars and then inserting the main bars, and can quickly form a cross state of the two. In addition, since the conveying state of the two is controlled and the coordinates of the intersection have been calculated, the connection by the connecting means can be started immediately when the main bars are inserted into the inner side of the shear steel bars.
又，在藉由攜帶終端使控制手段發揮功能、或者藉由雲端伺服器與攜帶終端發揮功能的情形下，鋼筋組立裝置只要設為能夠在與攜帶終端之間進行收發即可，藉由在工廠外（例如施工現場）設置鋼筋組立裝置且僅輸入從攜帶終端輸出的訊號，也能夠使主要部分的搬送手段與結合手段進行動作。Furthermore, when the control means is made to function by a portable terminal, or when the cloud server and the portable terminal are made to function, the rebar assembly device only needs to be configured to be able to transmit and receive with the portable terminal. By installing the rebar assembly device outside the factory (for example, at a construction site) and inputting only the signal output from the portable terminal, the main part of the transport means and the connecting means can be operated.
再者，本發明具有將根據建築物等的設計資訊所包含的鋼筋的配筋資訊的控制資訊進行運算的構成，因此藉由利用所得到的各種資訊，也能夠在虛擬空間中驗證組立狀態。在發展地利用此技術的情形下，藉由採用AR（Augmented Reality，擴增實境）的技術，而也能夠藉由目視AR護目鏡、使用了移動裝置用AR應用程序的擴增實境（同時目視已設部分與預定組立的鋼筋群）而進行驗證。又，在使用3D掃描器的情形下，也能夠將3D化工程中途的現實物體的資料與組立後的資料進行組合並驗證，或者藉由目視進行確認。Furthermore, the present invention has a structure that calculates control information based on the reinforcement information of the steel bars included in the design information of the building, etc., so by using the various information obtained, it is also possible to verify the assembly state in the virtual space. In the case of developing the use of this technology, by adopting the AR (Augmented Reality) technology, it is also possible to verify by visually viewing the augmented reality using AR goggles or AR applications for mobile devices (visually viewing the installed part and the steel bar group to be assembled at the same time). In addition, when using a 3D scanner, it is also possible to combine and verify the data of the real object in the middle of the 3D process with the assembled data, or to confirm it by visual observation.
以下，根據圖式對本發明的實施方式進行說明。Hereinafter, the implementation of the present invention will be described according to the drawings.
＜裝置概要＞ 圖1是表示本發明的鋼筋組立裝置的實施方式的概略的圖。如此圖所示，本實施方式藉由使由多個框架FL所構築的多個塊BL排列整齊而構成整體。藉由這些塊BL的連結，依次設有組立區域1、姿勢調整區域2、保管區域3。此外，在最末尾設有後述的搬送手段8、9的待機區域4。 <Device Overview> Figure 1 is a diagram showing an outline of an embodiment of the steel bar assembly device of the present invention. As shown in this figure, the present embodiment is formed by arranging a plurality of blocks BL constructed by a plurality of frames FL. By connecting these blocks BL, an assembly area 1, a posture adjustment area 2, and a storage area 3 are provided in sequence. In addition, a standby area 4 for the conveying means 8 and 9 described later is provided at the end.
在組立區域1配置有上位的結合手段5和下位的結合手段6、7。如後所述，下位的結合手段6、7也作為主筋的搬送手段的一部分發揮功能。An upper connecting means 5 and lower connecting means 6 and 7 are arranged in the assembly area 1. As described later, the lower connecting means 6 and 7 also function as a part of the conveying means of the main reinforcement.
保管區域3是確保適度的空間的區域，在上位可保管剪力鋼筋SM1、繫筋SM2等，在下位可保管主筋SM3。剪力鋼筋SM1、繫筋SM2等以排列整齊的狀態懸掛保管於規定的高度，主筋SM3能夠以載置於塊BL的框架FL上的狀態保管。The storage area 3 is an area with an appropriate space, and the shear steel bars SM1, tie bars SM2, etc. can be stored at the upper position, and the main bars SM3 can be stored at the lower position. The shear steel bars SM1, tie bars SM2, etc. are suspended and stored at a specified height in a neatly arranged state, and the main bars SM3 can be stored in a state of being placed on the frame FL of the block BL.
姿勢調整區域2配置在上述組立區域1與保管區域3之間，是確保適當的空間的區域。詳細內容後述，但是以在搬送手段8、9把持剪力鋼筋SM1、繫筋SM2等的狀態下，在變更其姿勢（朝向）時，可使該搬送手段8、9進行回轉動作的方式設置。因此，在不需要使剪力鋼筋SM1、繫筋SM2等的姿勢（朝向）變更的情形下也能夠省略。The posture adjustment area 2 is arranged between the assembly area 1 and the storage area 3, and is an area where an appropriate space is secured. The details will be described later, but the conveying means 8, 9 is arranged so that when the posture (orientation) of the shear steel bar SM1, the tie bar SM2, etc. is changed while the conveying means 8, 9 is holding the shear steel bar SM1, the tie bar SM2, etc., the conveying means 8, 9 can be rotated. Therefore, it can be omitted when it is not necessary to change the posture (orientation) of the shear steel bar SM1, the tie bar SM2, etc.
待機區域4是不需搬送手段8、9的動作時的待機空間，是成為控制移動量時的起點（原點）的區域。此外，起點也可以設定在保管區域3，在以開始剪力鋼筋SM1、繫筋SM2等的交接的位置為起點時，也能夠省略待機區域4。The standby area 4 is a standby space when the transport means 8 and 9 are not required to operate, and is an area that becomes the starting point (origin) when controlling the movement amount. In addition, the starting point can also be set in the storage area 3, and the standby area 4 can be omitted when the starting point is the intersection position of the shear steel bar SM1, the tie bar SM2, etc.
另外，在構成鋼筋組立裝置的各塊BL中，在適當部位設有軌道LD1、LD2、LU1、LU2，且引導結合手段6、7、搬送手段8、9的移動方向。例如，在塊BL的上位的框架FL，設有作為一對的用於上位的結合手段6與搬送手段8、9的兩根軌道LU1、LU2，能夠在跨越兩軌道LU1、LU2的狀態下使兩手段6、8、9移動，又，在下位的框架FL，藉由設置作為一對的用於下位的結合手段7的兩根軌道LD1、LD2，而可在跨越兩軌道LD1、LD2的狀態下使該手段7移動。In addition, in each block BL constituting the steel bar assembly device, rails LD1, LD2, LU1, and LU2 are provided at appropriate positions to guide the movement directions of the coupling means 6, 7, and the conveying means 8, 9. For example, in the upper frame FL of the block BL, two rails LU1 and LU2 are provided as a pair for the upper coupling means 6 and the conveying means 8, 9, and the two means 6, 8, 9 can be moved in a state spanning the two rails LU1 and LU2. In addition, in the lower frame FL, two rails LD1 and LD2 are provided as a pair for the lower coupling means 7, and the means 7 can be moved in a state spanning the two rails LD1 and LD2.
此外，各軌道LD1～LU2可以分別設置在構成塊BL的框架FL中的橫架件上，又，藉由使用這些軌道LD1～LU2作為線性引導件，能夠藉由線性運動使各個結合手段6、7及搬送手段8、9移動。Furthermore, each rail LD1~LU2 can be respectively provided on a cross-frame member in the frame FL constituting the block BL, and by using these rails LD1~LU2 as linear guides, each coupling means 6, 7 and conveying means 8, 9 can be moved by linear motion.
圖2表示了一個塊BL。各個塊BL基本上由構成基礎部分的下位的橫架框架FL1、上位的橫架框架FL2、以及在垂直方向豎立設置的多個支柱框架FL3構成為立方體。藉由以立方體為基礎，可將長度方向X設為X軸，將寬度方向Y設為Y軸，將高度方向Z設為Z軸而構成座標的基準。又，藉由做成相同大小的立方體，能夠使往施工現場的搬送及在施工現場中的設置、連結變得簡單。FIG2 shows a block BL. Each block BL is basically formed into a cube by a lower horizontal frame FL1 constituting the base, an upper horizontal frame FL2, and a plurality of support frames FL3 arranged vertically. By using the cube as the basis, the length direction X can be set as the X-axis, the width direction Y as the Y-axis, and the height direction Z as the Z-axis to form a coordinate reference. In addition, by making the cubes of the same size, it is possible to simplify the transportation to the construction site and the installation and connection at the construction site.
在各框架FL1、FL2、FL3中，被配置在上位的橫架框架FL2的X方向上的橫架框架FL2a、FL2b作為用於設置上述的軌道LU1、LU2的基座而發揮功能，也可以預先設置與橫架框架FL2a、FL2b的長度相同的長度的軌道LU1、LU2。In each frame FL1, FL2, FL3, the transverse frames FL2a, FL2b arranged in the X direction of the upper transverse frame FL2 function as a base for setting the above-mentioned rails LU1, LU2, and the rails LU1, LU2 with the same length as the transverse frames FL2a, FL2b can also be set in advance.
又，在下位的橫架框架FL1的附近設有與該橫架框架FL1平行地配置的輔助框架FL4a、FL4b，專門作為用於設置會設置於下位的軌道LD1、LD2的基座而發揮功能。在此輔助框架FL4a、FL4b中，也可預先設置軌道LD1、LD2。In addition, auxiliary frames FL4a and FL4b are arranged in parallel with the lower horizontal frame FL1 near the lower horizontal frame FL1, and they function as bases for installing the rails LD1 and LD2 to be installed at the lower position. The rails LD1 and LD2 can also be installed in advance in the auxiliary frames FL4a and FL4b.
此外，各軌道LD1～LU2的軸線皆與塊BL的長度方向X一致，藉由在長度方向X上連結多個同種的塊BL，各軌道LD1～LU2也成為連續且可得到所需的長度。又，在軌道LD1～LU2中不需要連續（存在不需要的區域）的情形下，也可以事先準備在同種的塊BL中不設置各軌道LD1～LU2中的任一個的塊BL，適當選擇塊BL而使其連續。Furthermore, the axes of the rails LD1 to LU2 are all consistent with the length direction X of the block BL, and the rails LD1 to LU2 are also continuous and the required length can be obtained by connecting a plurality of the same type of blocks BL in the length direction X. Furthermore, in the case where the rails LD1 to LU2 do not need to be continuous (there is an unnecessary area), a block BL in which any of the rails LD1 to LU2 is not provided in the same type of block BL can be prepared in advance, and the block BL can be appropriately selected to make it continuous.
上述構成的塊BL可藉由應組立的配筋資訊而使用適當地調整了長度尺寸L、寬度尺寸W及高度尺寸H的塊BL，但為了可組立各種大小的鋼筋群，也可以一定地構成為具有餘量的大小。例如，長度尺寸L以連結多個塊BL為前提而設為1m，寬度尺寸W以可充分確保裝置內部的空間的方式而設為2m，並可將高度尺寸設為3m。The block BL configured as described above can be used with the length dimension L, width dimension W, and height dimension H appropriately adjusted according to the reinforcement information to be assembled, but in order to assemble various sizes of reinforcement groups, it can also be configured to have a certain size with a margin. For example, the length dimension L is set to 1m on the premise of connecting a plurality of blocks BL, the width dimension W is set to 2m so that the space inside the device can be sufficiently secured, and the height dimension can be set to 3m.
＜搬送手段的例示＞ 在此，例示可在本實施方式中使用的加強筋（主筋以外）的搬送手段8、9。圖3是表示兩種搬送手段8、9的一個例子的立體圖。此外，圖式中的任一個搬送手段8、9皆表示為向相同的搬送方向C搬送，省略了針對個別設置的驅動裝置的電源供給系統（電源線纜等）。如此圖所示，兩者搬送手段8、9沿著設置於上位框架FL2a、FL2b的軌道（線性運動引導件）LU1、LU2分別安裝有能夠往長度方向X（X軸方向）滑動的滑動件81a、81b、91a、91b，框架82、92以跨越這些滑動件81a～92b的方式懸掛。在一邊的滑動件81a、91a設置有馬達83、93，而被賦予用於沿著軌道LU1、LU2的滑動的驅動力。此外，在框架82、92上構成有第二線性運動引導件，能夠使搬送基部84、94往該引導件的軸線方向Y（Y軸方向）滑動。 <Example of conveying means> Here, conveying means 8 and 9 for reinforcing ribs (other than main ribs) that can be used in the present embodiment are exemplified. FIG. 3 is a perspective view showing an example of two conveying means 8 and 9. In addition, any of the conveying means 8 and 9 in the figure are shown as conveying in the same conveying direction C, and the power supply system (power cable, etc.) for the individually provided drive device is omitted. As shown in this figure, the two conveying means 8 and 9 are respectively installed with slides 81a, 81b, 91a, 91b that can slide in the longitudinal direction X (X-axis direction) along the rails (linear motion guides) LU1 and LU2 provided on the upper frames FL2a and FL2b, and the frames 82 and 92 are suspended in a manner that straddles these slides 81a to 92b. The sliders 81a and 91a on one side are provided with motors 83 and 93, and are given a driving force for sliding along the rails LU1 and LU2. In addition, a second linear motion guide is formed on the frames 82 and 92, which can make the conveying bases 84 and 94 slide in the axial direction Y (Y-axis direction) of the guide.
一邊的搬送手段8例示專門用於搬送剪力鋼筋SM1的裝置。因此，藉由設置於搬送基部84的致動器，而能夠使升降部85升降。作為這種情形下的致動器，可使用ZIP CHAIN ACTUATOR（咬合鏈條傳動裝置）（註冊商標）等，或能夠適當使用除此以外的致動器。又，在升降部85經由適當馬達等設置有水平臂86，在該水平臂86的前端設置有垂直臂87。水平臂86藉由馬達等的動作，能夠以升降部85的中央為中心回轉，藉由此水平臂86的回轉，垂直臂87也同時回轉。在兩臂86、87上分別設有能夠在軸線方向上滑動的夾頭88、89，並以可在適當的位置夾持剪力鋼筋的一部分的方式構成。The transport means 8 on one side is exemplified as a device specifically used for transporting the shear bar SM1. Therefore, the lifting part 85 can be raised and lowered by an actuator provided on the transport base 84. As an actuator in this case, a ZIP CHAIN ACTUATOR (registered trademark) or the like can be used, or an actuator other than this can be used appropriately. In addition, a horizontal arm 86 is provided on the lifting part 85 via an appropriate motor, etc., and a vertical arm 87 is provided at the front end of the horizontal arm 86. The horizontal arm 86 can rotate around the center of the lifting part 85 by the action of the motor, etc., and the vertical arm 87 also rotates simultaneously with the rotation of the horizontal arm 86. The two arms 86 and 87 are provided with clamps 88 and 89 that can slide in the axial direction, respectively, and are configured so as to clamp a part of the shear reinforcement at an appropriate position.
由夾頭88、89所進行的夾持鋼筋的狀態是在將矩形的剪力鋼筋（箍筋、肋筋等）的相向兩邊配置於上下和左右時，水平臂86的夾頭88夾持在上部成為水平狀態的一根鋼筋構成部，並且垂直臂87的夾頭89夾持側邊的垂直狀態的一根鋼筋構成部的升降部85的回轉是以Z軸為中心的XY平面內的回轉，因此，藉由回轉，水平臂86朝長度方向變更朝向，垂直臂87繞軸變更位置。由兩臂86、87的各夾頭88、89所進行的夾持，可一邊維持將相向兩邊設為上下及左右的矩形鋼筋的狀態，一邊僅使其姿勢（位置及朝向）變化。The state of clamping the reinforcement by the clamps 88 and 89 is that when the two opposing sides of the rectangular shear reinforcement (stirrups, ribs, etc.) are arranged vertically and horizontally, the clamp 88 of the horizontal arm 86 clamps a reinforcement component in a horizontal state at the top, and the clamp 89 of the vertical arm 87 clamps a reinforcement component in a vertical state at the side. The rotation of the lifting part 85 is a rotation in the XY plane with the Z axis as the center, so that the horizontal arm 86 changes its direction in the longitudinal direction and the vertical arm 87 changes its position around the axis by the rotation. The clamping by the clamps 88 and 89 of the two arms 86 and 87 can change its posture (position and direction) while maintaining the state of the rectangular reinforcement with the two opposing sides arranged vertically and horizontally.
另一邊的搬送手段9是作為專門用於搬送繫筋SM2的裝置而例示的裝置。在此搬送手段9中，也藉由設置於搬送基部94的致動器，而升降部95能夠進行升降。作為這種情形下的致動器，有ZIP CHAIN ACTUATOR（註冊商標）等。又，在升降部95設有與馬達等聯動的回轉部96，構成為在此回轉部96的一部分設有夾頭97。回轉部96以Z軸為中心在XY平面內回轉，進一步地，夾頭97能夠藉由其他馬達等繞基部轉動，一邊可夾持繫筋的鉤以外的軸部，一邊可在夾持的狀態下藉由轉動及回轉使姿勢變化。The transport means 9 on the other side is an example of a device specifically used for transporting the reinforcing bar SM2. In this transport means 9, the lifting part 95 can be raised and lowered by the actuator provided on the transport base 94. As an actuator in this case, there is a ZIP CHAIN ACTUATOR (registered trademark) and the like. In addition, the lifting part 95 is provided with a rotating part 96 linked to a motor and the like, and a chuck 97 is provided on a part of this rotating part 96. The rotating part 96 rotates in the XY plane with the Z axis as the center. Furthermore, the chuck 97 can rotate around the base by other motors and the like, and can clamp the shaft part other than the hook of the reinforcing bar while changing the posture by rotation and rotation in the clamped state.
在上述的各搬送手段8、9除了皆以規定的角度回轉等以外，藉由沿著設置於上位框架FL2a、FL2b的軌道（線性運動引導件）LU1、LU2滑動，可將形成為規定的姿勢的剪力鋼筋或繫筋搬送至規定的位置。In addition to rotating at a specified angle, each of the above-mentioned conveying means 8, 9 can convey the shear reinforcement or tie bar formed into a specified posture to a specified position by sliding along the rails (linear motion guides) LU1, LU2 provided on the upper frames FL2a, FL2b.
在上述構成的搬送手段8、9中，作為用於驅動各自的移動、回轉等的驅動裝置（馬達），使用伺服馬達，可檢測作用驅動力時的轉速，並從該轉速計算移動量和回轉角等。此外，針對對於這些部件的電源供給，除了使用蓄電池之外還可使用通用的有線線纜等，但這並不特別需要說明，因此省略。In the above-mentioned transport means 8 and 9, as a driving device (motor) for driving each movement, rotation, etc., a servo motor is used, and the rotation speed when the driving force acts can be detected, and the movement amount and the rotation angle can be calculated from the rotation speed. In addition, for the power supply to these components, in addition to using a battery, a general-purpose wired cable can be used, but this does not particularly need to be explained, so it is omitted.
＜剪力鋼筋的保持方法的例示＞ 如上所述，剪力鋼筋藉由搬送手段8被供給到組立區域1，但為了能夠在剪力鋼筋的供給之後執行主筋的供給，需要在規定的位置使先被供給的剪力鋼筋保持為規定的狀態。而且，為了能夠利用上述由捆紮手段5～7所進行的捆紮，作為原則，例示了剪力鋼筋的姿勢是使形成矩形的一組的相向兩邊維持水平、另一組的相向兩邊維持垂直。因此，為了在維持上述姿勢的同時保持剪力鋼筋，例如作為物理手段有使用保持件的方法。 <Example of a method for holding shear bars> As described above, the shear bars are supplied to the assembly area 1 by the conveying means 8, but in order to be able to supply the main bars after the supply of the shear bars, it is necessary to keep the previously supplied shear bars in a specified state at a specified position. In addition, in order to be able to utilize the above-mentioned bundling by the bundling means 5 to 7, as a principle, the posture of the shear bars is illustrated as keeping the two opposing sides of one group forming a rectangle horizontal and the two opposing sides of the other group vertical. Therefore, in order to maintain the above-mentioned posture while holding the shear bars, there is a method of using a retainer as a physical means, for example.
作為其中一例，表示圖4所示那樣的保持件。此保持件為同時保持位於應保持的剪力鋼筋SM1的底邊部SM1a的兩側的頂角SM11、SM12的周邊的構造。圖示的保持件10a、10b表示使相同形狀的保持件反轉而設置的狀態，但保持件10a、10b也可以構成為彼此對稱的形狀。As one example, a retainer as shown in Fig. 4 is shown. This retainer is a structure that simultaneously retains the periphery of the top corners SM11 and SM12 located on both sides of the bottom edge portion SM1a of the shear steel bar SM1 to be retained. The retainers 10a and 10b shown in the figure represent a state in which the retainers of the same shape are reversed and set, but the retainers 10a and 10b can also be configured in shapes symmetrical to each other.
各個保持件10a、10b皆具備可供位於頂點SM11、SM12的兩側的鋼筋構成部（兩邊）卡入的卡入槽11a、12a、11b、12b，藉由連結部13a、13b將這些卡入槽連結，連結部13a、13b是設為從剪力鋼筋SM1的軸線脫離的偏移狀態而形成。將連結部13a、13b設為偏移狀態是為了不對與主筋的結合（捆紮等）時的結合手段（捆紮手段等）的功能造成防礙。根據該意義，連結部13a、13b除了直線連結的情形以外，也可使其彎曲，並且，只要是使與主筋的結合部（交叉部）露出的形狀，也可以藉由偏移狀態以外的形狀進行連結。Each of the retainers 10a, 10b has insertion grooves 11a, 12a, 11b, 12b into which the steel bar components (both sides) located on both sides of the apex SM11, SM12 can be inserted, and these insertion grooves are connected by connecting parts 13a, 13b, and the connecting parts 13a, 13b are formed in an offset state away from the axis of the shear steel bar SM1. The connecting parts 13a, 13b are set in an offset state to prevent the function of the connecting means (binding means, etc.) when connecting (binding, etc.) with the main bar from being hindered. In this sense, the connection portions 13a and 13b may be bent in addition to being connected in a straight line, and may be connected in a shape other than an offset state as long as the connection portion (intersection portion) with the main reinforcement is exposed.
因此，藉由使位於剪力鋼筋SM1的一方的頂角SM11的兩側的邊（鋼筋構成部）SM1a、SM1b同時卡入一方的保持件10a的卡入槽11a、12a，而可一體地保持。在兩邊SM1a、SM1b對兩卡入槽11a、12a的同時卡入中，藉由相對於保持件10a從上方下降，而先將垂直的一邊SM1b卡入側邊的卡入槽12a，並可藉由進一步下降，使底邊SM1a卡入下方的卡入槽11a，在此狀態下能夠進行同時卡入。又，可藉由另一方的保持件10b而將位於另一方的頂角SM12的兩側的邊SM1a、SM1c一體地進行保持。如此，藉由同時保持剪力鋼筋SM1的底邊SMa的兩側的頂角SM11、SM12的附近，而剪力鋼筋SM1不會傾倒，則是以在規定位置豎立設置的狀態被保持。Therefore, the shear bar SM1 can be held integrally by simultaneously engaging the sides (bar components) SM1a and SM1b of the top corner SM11 on one side into the engaging grooves 11a and 12a of the holder 10a on one side. In the simultaneous engaging of the sides SM1a and SM1b into the engaging grooves 11a and 12a, the vertical side SM1b is first engaged into the side engaging groove 12a by descending from above relative to the holder 10a, and the bottom side SM1a is engaged into the lower engaging groove 11a by further descending, and the simultaneous engaging can be performed in this state. In addition, the sides SM1a and SM1c of the top corner SM12 on the other side can be held integrally by the holder 10b on the other side. In this way, by simultaneously maintaining the vicinity of the top corners SM11 and SM12 on both sides of the bottom side SMa of the shear steel bar SM1, the shear steel bar SM1 will not fall down and will be maintained in a state of being vertically arranged at a predetermined position.
又，剪力鋼筋SM1是藉由規定的間隔配置多個，因此，此保持件10a、10b在各自的位置中，將兩者10a、10b作為一組，配置需要的組數。因此，各保持件10a、10b能夠分別沿著軌道14a、14b移動。在此軌道14a、14b上預先設有多個保持件10a、10b，藉由沿著軌道14a、14b滑動，而分別配設於規定的位置。此外，由於剪力鋼筋SM1應以規定的間隔設置，所以多個保持件10a、10b配合該規定間隔配置，為了一定地維持該間隔，也可以在各保持件10a、10b之間配置間隔件。間隔件可以搭載於軌道14a、14b，也可以構成為安裝於各保持件10a、10b。Furthermore, since a plurality of shear bars SM1 are arranged at a predetermined interval, the retainers 10a and 10b are arranged as a group in the required number of groups at their respective positions. Therefore, each retainer 10a and 10b can move along the rails 14a and 14b, respectively. A plurality of retainers 10a and 10b are pre-set on the rails 14a and 14b, and are arranged at predetermined positions by sliding along the rails 14a and 14b. Furthermore, since the shear bars SM1 should be arranged at a predetermined interval, a plurality of retainers 10a and 10b are arranged in accordance with the predetermined interval, and in order to maintain the interval to a certain extent, a spacer may be arranged between each retainer 10a and 10b. The spacers may be mounted on the rails 14a, 14b, or may be configured to be mounted on the respective retaining members 10a, 10b.
又，另一方面，應供給的剪力鋼筋SM1會依據應配筋的對象（柱、梁等）而變更尺寸，因此用於使保持件10a、10b能夠滑動的軌道14a、14b進一步地搭載於被配置在直行方向上的其他軌道15上，並能夠沿著此軌道15滑動。藉由沿著此軌道15使保持件搭載軌道14a、14b滑動，可使彼此的位置分離或者接近，由此應用於該尺寸。此外，為了方便說明，圖示的軌道15僅表示出一根，但為了穩定地支撐保持件搭載軌道14a、14b，是由平行配置的多根構成。又，在沿著這些各軌道14a、14b、15的滑動中，未圖示的滑動件被設置在軌道內，藉由設置使此滑動件的滑動停止的止擋件，從而分別維持規定的位置的配置狀態。On the other hand, the shear reinforcement SM1 to be supplied varies in size depending on the object (column, beam, etc.) to be reinforced, so the rails 14a and 14b for enabling the holders 10a and 10b to slide are further mounted on other rails 15 arranged in the straight direction and can slide along the rails 15. By sliding the holder mounting rails 14a and 14b along the rails 15, the positions of each other can be separated or approached, thereby applying the size. In addition, for the convenience of explanation, the illustrated rail 15 shows only one, but in order to stably support the holder mounting rails 14a and 14b, it is composed of a plurality of rails arranged in parallel. Furthermore, during the sliding along the rails 14a, 14b, and 15, a slider (not shown) is disposed in the rail, and a stopper is provided to stop the sliding of the slider, thereby maintaining the arrangement state at a predetermined position.
＜結合手段的例示＞ 接著，例示可用於本實施方式的結合手段5、6、7。圖5是表示上下分開配置的兩種結合手段5、6、7的一例的立體圖。此外，在此例示的結合手段皆是能夠進行由捆紮所進行的結合的捆紮手段，以下，有將結合手段稱為捆紮手段的情形，針對結合裝置則例示捆紮機。又，雖然圖式中省略了支柱框架FL3，但上位的捆紮手段5與下位的捆紮手段6、7藉由支柱框架FL3被上下分開地配置。 <Examples of connecting means> Next, connecting means 5, 6, and 7 that can be used in the present embodiment are exemplified. FIG. 5 is a perspective view showing an example of two connecting means 5, 6, and 7 that are configured vertically and separately. In addition, the connecting means exemplified here are all bundling means that can perform a connection by bundling. In the following, the connecting means may be referred to as a bundling means, and a bundling machine is exemplified for the connecting device. In addition, although the support frame FL3 is omitted in the figure, the upper bundling means 5 and the lower bundling means 6 and 7 are configured vertically and separately by the support frame FL3.
如此圖5所示，上位的捆紮手段5與搬送手段8、9相同地，藉由在設置於上位框架FL2a、FL2b的軌道（線性運動引導件）LU1、LU2上安裝的滑動件51a、51b，而能夠往軌道的長度方向X（X軸方向）滑動。又，以跨越兩滑動件51a、51b的方式懸掛框架52，並藉由馬達53施加用於滑動的驅動力。又，在框架52構成有第二線性運動引導件，能夠使捆紮基部54往該引導件的軸線方向Y（Y軸方向）滑動。As shown in FIG. 5 , the upper bundling means 5 can slide in the longitudinal direction X (X-axis direction) of the rails (linear motion guides) LU1 and LU2 provided on the upper frames FL2a and FL2b by means of sliders 51a and 51b installed on the rails LU1 and LU2. In addition, the frame 52 is suspended so as to straddle the two sliders 51a and 51b, and a driving force for sliding is applied by a motor 53. In addition, a second linear motion guide is formed on the frame 52, and the bundling base 54 can slide in the axial direction Y (Y-axis direction) of the guide.
在捆紮基部54設置有致動器，能夠使升降部55升降。在此升降部55的下部，經由適當馬達等設置有回轉部56，能夠在水平面（XY平面）內回轉。又，在此回轉部56設置有捆紮機57，可進行鋼筋的捆紮。此外，捆紮機57能夠相對於回轉部56以水平軸為中心轉動，可變更捆紮機57的前端方向。An actuator is provided on the bundling base 54 to enable the lifting part 55 to be raised and lowered. A rotating part 56 is provided at the lower part of the lifting part 55 via an appropriate motor, etc., and can be rotated in a horizontal plane (XY plane). A bundling machine 57 is provided on the rotating part 56 to bundle the steel bars. In addition, the bundling machine 57 can rotate with respect to the rotating part 56 around a horizontal axis, and the front end direction of the bundling machine 57 can be changed.
藉由如此的構成的上位的捆紮手段5，使滑動件51a、51b在X方向移動，使捆紮基部54在Y方向移動，由此可使升降部55在XY平面內的規定的位置移動捆紮機57。除此之外，若使升降部55升降，則能夠使捆紮機67移動至作為目標的位置。又，由於捆紮機57的朝向能夠藉由由回轉部56所進行的回轉與繞水平軸的轉動而自由地變更，因此能夠朝應捆紮的朝向進行調整。By moving the sliders 51a and 51b in the X direction and the bundling base 54 in the Y direction by the upper bundling means 5 of such a configuration, the bundling machine 57 can be moved to a predetermined position in the XY plane by the lifting unit 55. In addition, by lifting and lowering the lifting unit 55, the bundling machine 67 can be moved to a target position. In addition, since the direction of the bundling machine 57 can be freely changed by the rotation of the rotating unit 56 and the rotation around the horizontal axis, it can be adjusted to the direction to be bundling.
因此，在設想將矩形的剪力鋼筋的相向兩邊設為上下及左右、且在其內部配置主筋的狀態的情形下，能夠將捆紮機57移動至上邊及左右的側邊的捆紮位置，並適當地進行捆紮。此外，作為捆紮機57，使用所謂的自動捆紮機，例如可使用MAX公司制的「立式捆紮機」。此裝置藉由將兩個部位的爪配置在鋼筋的兩側，可在該兩個部位的爪之間懸掛捆紮線，從而完成捆紮。Therefore, when it is assumed that the two sides of the rectangular shear bar are set to the upper and lower sides and the left and right sides, and the main bar is arranged inside, the tying machine 57 can be moved to the tying position of the upper side and the left and right sides, and the tying can be performed appropriately. In addition, as the tying machine 57, a so-called automatic tying machine is used, for example, a "vertical tying machine" manufactured by MAX Corporation can be used. This device can complete the tying by arranging claws at two locations on both sides of the steel bar and hanging a tying wire between the claws at the two locations.
另一方面，下位的捆紮手段6、7是相同地構成的2台並列配置的手段。這兩個捆紮手段6、7被設置在設置於輔助框架FL4a、FL4b的軌道（線性運動引導件）LD1、LD2上。在此軌道LD1、LD2上安裝有滑動件61a、61b、71a、71b，能夠往軌道的長度方向X（X軸方向）滑動。又，分別具有框架62、72，以分別跨越兩側的滑動件61a、61b、71a、71b的方式懸掛，並藉由馬達63、73施加用於滑動的驅動力。又，在框架62、72上構成有第二線性運動引導件，能夠使捆紮基部64、74往該引導件的軸線方向Y（Y軸方向）滑動。此外，在捆紮基部64、74設置有捆紮機65、75，藉由上述捆紮基部64、74的位置的變動，可使該捆紮機65、75移動至捆紮位置。On the other hand, the lower strapping means 6 and 7 are two means of the same structure arranged in parallel. These two strapping means 6 and 7 are set on the rails (linear motion guides) LD1 and LD2 set on the auxiliary frames FL4a and FL4b. Sliders 61a, 61b, 71a, and 71b are installed on the rails LD1 and LD2, and can slide in the longitudinal direction X (X-axis direction) of the rails. In addition, frames 62 and 72 are respectively provided, and the sliders 61a, 61b, 71a, and 71b are suspended in a manner that they span the two sides, and the driving force for sliding is applied by motors 63 and 73. Furthermore, a second linear motion guide is formed on the frame 62, 72, which can slide the strapping base 64, 74 in the axial direction Y (Y-axis direction) of the guide. In addition, a strapping machine 65, 75 is provided on the strapping base 64, 74, and the strapping machine 65, 75 can be moved to the strapping position by changing the position of the strapping base 64, 74.
因此，在設想將矩形的剪力鋼筋的相向兩邊設為上下及左右、且在其內部配置主筋的狀態的情形下，能夠移動捆紮機65、75至其底邊的捆紮位置，並適當地進行捆紮。此外，在此使用的捆紮機65、75也可使用MAX公司制的「立式捆紮機」。Therefore, when the two sides of the rectangular shear bar facing each other are assumed to be vertical and horizontal, and the main bar is arranged inside, the strapping machine 65, 75 can be moved to the strapping position at the bottom and strapping can be performed appropriately. In addition, the strapping machine 65, 75 used here can also use the "vertical strapping machine" made by MAX.
藉由與上述的上位的捆紮手段5一起使用，能夠分攤矩形的剪力鋼筋的整周並且進行捆紮。作為用於驅動這些捆紮手段5、6、7的移動等的驅動裝置（馬達），可使用伺服馬達。藉由檢測使驅動力作用時的轉速，可以從該轉速計算移動量等。By using it together with the upper bundling means 5 described above, the entire circumference of the rectangular shearing steel bar can be distributed and bundled. As a driving device (motor) for driving the movement of these bundling means 5, 6, 7, a servo motor can be used. By detecting the rotation speed when the driving force is applied, the movement amount can be calculated from the rotation speed.
此外，上位的捆紮手段5也可以作為用於使剪力鋼筋與繫筋一體化的捆紮（結合）手段而動作。亦即，使上述兩個搬送手段8、9同時動作，將剪力鋼筋和繫筋暫時地搬送至姿勢調整區域2，在此姿勢調整區域2中使兩者的姿勢維持為規定的狀態之後，使上位的捆紮手段5移動至姿勢調整區域2，由此能夠進行該姿勢調整區域2中的捆紮。藉由捆紮與剪力鋼筋結合的繫筋能夠藉由剪力鋼筋的供給而必然往向規定位置進行供給。In addition, the upper bundling means 5 can also be operated as a bundling (combining) means for integrating the shear steel bar and the tie bar. That is, the two conveying means 8 and 9 are operated simultaneously to temporarily convey the shear steel bar and the tie bar to the posture adjustment area 2. After the postures of both are maintained in a predetermined state in the posture adjustment area 2, the upper bundling means 5 is moved to the posture adjustment area 2, thereby enabling bundling in the posture adjustment area 2. The tie bar combined with the shear steel bar by bundling can be necessarily supplied to a predetermined position by supplying the shear steel bar.
＜主筋的搬送手段的例示＞ 接著，例示可在本實施方式中使用的主筋的搬送手段。在圖5中的下位的捆紮手段6、7搭載有主筋的搬送手段的一部分（搬送輔助部）。又，用於搬送主筋的驅動力是使用上述的搬送手段8、9。亦即，搬送手段是由下位的捆紮手段6、7及搬送手段8、9而構成。 <Example of the conveying means for the main reinforcement> Next, the conveying means for the main reinforcement that can be used in this embodiment is exemplified. The lower tying means 6 and 7 in FIG5 carry a part of the conveying means for the main reinforcement (the conveying auxiliary part). In addition, the driving force for conveying the main reinforcement is the above-mentioned conveying means 8 and 9. That is, the conveying means is composed of the lower tying means 6 and 7 and the conveying means 8 and 9.
在構成上述的下位的捆紮手段6、7的捆紮基部64、74的上部，豎立設置有V字狀地具有兩個輸送輥的搬送輔助部66、76。藉由將兩個輸送輥作為V字狀，而在下方兩側的兩點抵接支撐主筋。藉由將輸送輥作為從動輥，可在規定的位置支撐受到驅動力（推進力）的主筋。另一方面，由於在對主筋作用驅動力的搬送手段8、9如上所述分別具備夾頭88、89、97，因此，適當選擇這些夾頭88、89、97而夾持主筋並進行搬送。此時，由於藉由依次且交替地使兩種搬送手段8、9進行夾持及搬送以及夾持解除及後退，從而對主筋強制移動規定距離，因此這作為朝向組立區域1的主筋的驅動力（推進力）而作用。此外，在組立區域1中使主筋移動至規定的位置後，僅藉由搬送輔助部66、76而支撐主筋。又，構成搬送輔助部66、76的輸送輥也可以將兩個不設為V字狀，而是由一個平輥構成。在設為平輥的情形下，只要在其兩側設置用於防止主筋轉動的引導板等即可。On the upper part of the bundling base 64, 74 constituting the above-mentioned lower bundling means 6, 7, a transport auxiliary part 66, 76 having two transport rollers in a V shape is vertically provided. By making the two transport rollers into a V shape, the main bar is supported by contacting at two points on both sides of the lower side. By making the transport rollers into driven rollers, the main bar receiving the driving force (thrusting force) can be supported at a predetermined position. On the other hand, since the transport means 8, 9 that act on the driving force on the main bar are respectively provided with the clamps 88, 89, 97 as described above, these clamps 88, 89, 97 are appropriately selected to clamp the main bar and transport it. At this time, since the main bar is forced to move a predetermined distance by the two conveying means 8 and 9 being clamped and conveyed, and the clamping is released and retreated in sequence and alternately, this acts as a driving force (thrusting force) for the main bar toward the assembly area 1. In addition, after the main bar is moved to a predetermined position in the assembly area 1, the main bar is supported only by the conveying auxiliary parts 66 and 76. In addition, the conveying rollers constituting the conveying auxiliary parts 66 and 76 may be composed of one flat roller instead of two V-shaped ones. In the case of using a flat roller, it is sufficient to provide guide plates or the like on both sides thereof to prevent the main bar from rotating.
在此，搬送輔助部66、76具備能夠藉由致動器伸縮的軸部，平時設為收縮狀態，在搬送主筋時，可依據主筋的高度方向（Z方向）的位置適當地伸長。由於主筋應被配置在剪力鋼筋的內側，因此搬送輔助部66、76被調整為能夠從由剪力鋼筋的搬送手段8、9搬送的剪力鋼筋的間隙朝內側出沒的大小。此外，剪力鋼筋的配置間隔即使是在最窄的情形下在中心間也為60mm左右，因此在剪力鋼筋之間形成的間隙為50mm左右，所以調整搬送輔助部66、76的輸送輥以及軸部的外徑尺寸至小於50mm。Here, the transport auxiliary parts 66 and 76 have a shaft that can be extended and retracted by an actuator. They are usually set to a retracted state. When transporting the main bar, they can be appropriately extended according to the position of the main bar in the height direction (Z direction). Since the main bar should be arranged on the inner side of the shear steel bar, the transport auxiliary parts 66 and 76 are adjusted to a size that can be extended and retracted from the gap between the shear steel bars transported by the shear steel bar transporting means 8 and 9. In addition, the arrangement interval of the shear steel bars is about 60 mm between the centers even in the narrowest case, so the gap formed between the shear steel bars is about 50 mm, so the outer diameter of the conveying roller and the shaft of the transport auxiliary parts 66 and 76 is adjusted to be less than 50 mm.
此外，此情形下的搬送手段兼用作捆紮手段6、7，在作為該捆紮手段6、7發揮功能的情形下，如上所述，由於是剪力鋼筋的底邊的捆紮，因此，在捆紮該位置的主筋時，存在至少先藉由兩個搬送輔助部66、76支撐主筋，並藉由剩餘的捆紮手段（省略圖示）進行捆紮的方法。或者，在將主筋載置於剪力鋼筋的底邊的內側的狀態下，如果先藉由主筋的自重使位置穩定，則可結束用於輔助搬送的任務，因此可藉由此狀態而作為捆紮手段8、9動作。另一方面，在以適當的高度支撐主筋的情形下，由於不需要剪力鋼筋的底邊的捆紮，因此可專門僅作為主筋的搬送輔助部66、76而發揮功能。在此情形下，直到由上位的捆紮手段5所進行的捆紮完成為止，維持將主筋支撐於規定的高度的狀態。In addition, the conveying means in this case also serves as the tying means 6, 7. When the tying means 6, 7 functions, as described above, since the bottom edge of the shear steel bar is to be tied, when tying the main bar at this position, there is a method of first supporting the main bar with at least two conveying auxiliary parts 66, 76, and then tying with the remaining tying means (not shown). Alternatively, when the main bar is placed on the inner side of the bottom edge of the shear steel bar, if the position is stabilized by the dead weight of the main bar first, the task of auxiliary conveying can be completed, so it can act as the tying means 8, 9 in this state. On the other hand, when the main bars are supported at an appropriate height, since the bottom side of the shear bars does not need to be tied, they can function exclusively as the main bar transport auxiliary parts 66, 76. In this case, the main bars are supported at a predetermined height until the tying by the upper tying means 5 is completed.
在使上述那樣使搬送手段8、9作為主筋的搬送用（驅動部）而發揮功能的情形下，也可藉由相同的伺服馬達檢測使驅動力作用時的轉速，根據該轉速計算移動量等，而可控制主筋的搬送距離（搬送後的主筋的位置）。When the conveying means 8 and 9 function as the conveying means (driving unit) for the main reinforcement as described above, the rotation speed when the driving force is applied can be detected by the same servo motor, and the movement amount can be calculated based on the rotation speed, thereby controlling the conveying distance of the main reinforcement (the position of the main reinforcement after conveyance).
＜控制手段＞ 作為在本實施方式中使用的控制手段，例如可使用如圖6所示的攜帶終端100。作為攜帶終端100，可使用能夠與外部進行收發的平板PC等。亦即，可使用平板PC所具備的接收部111及發送部112，接收外部資訊並且發送處理後的控制資訊。此外，外部資訊可為保存於雲端伺服器等的資訊等，可經由網絡線路彼此收發。又，收發除了例如可以藉由使用LTE（Long Term Evolution，長期演進）路由器120而經由網絡線路在與外部設備之間進行之外，也可以構成為在與上述的各操作手段5～9之間進行資訊的收發。攜帶終端100也能夠對能夠收發的操作手段5～9輸出控制訊號，並且為了檢測操作手段5～9的動作狀況（動作狀態）而使用。 <Control means> As the control means used in the present embodiment, for example, a portable terminal 100 as shown in FIG. 6 can be used. As the portable terminal 100, a tablet PC capable of transmitting and receiving with the outside can be used. That is, the receiving unit 111 and the transmitting unit 112 of the tablet PC can be used to receive external information and transmit the processed control information. In addition, the external information can be information stored in a cloud server, etc., which can be transmitted and received to each other via a network line. In addition, in addition to transmitting and receiving with external equipment via a network line by using an LTE (Long Term Evolution) router 120, it can also be configured to transmit and receive information with each of the above-mentioned operating means 5 to 9. The portable terminal 100 can also output control signals to the transceiver operating means 5 to 9, and is used to detect the operating status (operation status) of the operating means 5 to 9.
在這種攜帶終端中具備作為控制手段的處理裝置200，在此處理裝置200中具備資訊取得部（本實施方式中為鋼筋資訊取得部）221、HDD（Hard Disk Drive，硬式磁碟機）或SSD（Solid State Drive，固態硬碟）、其他存儲器等的存儲部222以及處理部（運算部）223。又，具備用於輸出運算結果的輸出部224、225。This portable terminal has a processing device 200 as a control means, and the processing device 200 has an information acquisition unit (a steel bar information acquisition unit in this embodiment) 221, a storage unit 222 such as a HDD (Hard Disk Drive) or SSD (Solid State Drive), or other storage devices, and a processing unit (calculation unit) 223. In addition, output units 224 and 225 for outputting calculation results are provided.
作為經由接收部111取得的鋼筋資訊，存在將建築物等的設計資訊中的配筋資料作為電子資料存儲的資訊，或者針對這些電子資料為了避免鋼筋的干涉而反映校正值的電子資料。又，存在作為BIM或CIM所包含的屬性資訊的關於鋼筋的資訊（配筋資料）。在這些鋼筋資訊中，詳細地包含構築柱、梁時應使用的鋼筋群的種類（鋼筋直徑以及尺寸等）、應配置的位置以及數量等資訊，藉由根據這些資訊將各種鋼筋群進行配筋，能夠進行期望的鋼筋組立。As the steel bar information obtained by the receiving unit 111, there is information in which reinforcement data in design information of buildings, etc. is stored as electronic data, or electronic data in which correction values are reflected in these electronic data to avoid interference of steel bars. In addition, there is information about steel bars (reinforcement data) as attribute information included in BIM or CIM. In these steel bar information, the types of steel bar groups to be used when constructing columns and beams (steel bar diameter and size, etc.), the positions and quantities to be arranged, etc. are included in detail. By arranging various steel bar groups based on this information, it is possible to assemble the desired steel bars.
接收部111可從外部接收構築的建築物等中的整體資訊、關於鋼筋的配筋資訊等，並存儲在存儲部222中。從整體資訊而確定應構築的柱或梁的構築順序等，從配筋資訊而確定應組立的鋼筋群的詳細資訊。整體資訊以及配筋資訊皆為設計資訊，因此藉由確定作為具體的構築部位的柱或者梁等，可得到該柱等的圖像資訊。The receiving unit 111 can receive overall information of the building being constructed, reinforcement information about the reinforcement, etc. from the outside, and store them in the storage unit 222. The construction sequence of the columns or beams to be constructed is determined from the overall information, and the detailed information of the reinforcement group to be assembled is determined from the reinforcement information. The overall information and the reinforcement information are both design information, so by determining the column or beam as a specific construction part, the image information of the column can be obtained.
處理部（運算部）223從關於特定的柱等的關於鋼筋的圖像資訊，依據主筋、剪力鋼筋及繫筋等應配置的位置，而運算各種鋼筋的組立資訊。具體而言，以最後***主筋為原則，運算用於優先配置剪力鋼筋及繫筋等的位置資訊，並運算上述的搬送手段6～9的動作順序及搬送距離。與此同時，運算主筋的搬送距離，將應被組立的鋼筋群的各位置作為座標進行數值化。The processing unit (calculation unit) 223 calculates the assembly information of various steel bars based on the positions where the main bars, shear bars, and tie bars are to be arranged, based on the image information about the steel bars related to the specific column, etc. Specifically, the position information for preferentially arranging the shear bars and tie bars is calculated based on the principle of inserting the main bars last, and the operation sequence and the transport distance of the above-mentioned transport means 6 to 9 are calculated. At the same time, the transport distance of the main bars is calculated, and each position of the steel bar group to be assembled is digitized as a coordinate.
藉由各鋼筋群的位置在座標上被數值化，可在座標上數值化鋼筋間的交叉位置。此時，交叉部不是以中心線交叉，而是成為交叉的鋼筋的表面抵接的狀態，因此，可藉由參照彼此交叉的鋼筋的直徑尺寸，運算使應捆紮的中心位置及捆紮線通過的狀態。By digitizing the position of each bar group on the coordinates, the intersection position between the bars can be digitized on the coordinates. At this time, the intersection is not a center line intersection, but a state where the surfaces of the crossed bars are in contact. Therefore, by referring to the diameter size of the crossed bars, the center position to be tied and the state where the tying line passes can be calculated.
運算出的結果的資訊暫時先存儲於存儲部222，遵從動作順序經由輸出部224、225輸出。輸出的順序藉由預先設定優先順位，依據該優先順位依次輸出。此外，第一輸出部224執行對於搬送手段的輸出，第二輸出部225執行對於捆紮手段的輸出。此外，特別是在輸出不重疊的情形下，也可以經由單一的輸出部輸出。作為輸出資訊，可以作為控制訊號的狀態輸出。The information of the calculated result is temporarily stored in the storage unit 222, and is outputted through the output units 224 and 225 according to the action sequence. The output sequence is determined by presetting the priority, and the output is sequentially outputted according to the priority. In addition, the first output unit 224 performs the output to the conveying means, and the second output unit 225 performs the output to the bundling means. In addition, in particular, when the output does not overlap, the output can also be outputted through a single output unit. As the output information, the state of the control signal can be outputted.
上述的搬送手段6～9及捆紮手段5～7構成為：作為一組客戶端設備300，以一個PLC（Programmable Logic Controller，可編程邏輯控制器）作為代表（代表PLC）130，經由LTE路由器120接收從攜帶終端100輸出的控制訊號（控制資訊），並傳遞給客戶端設備300的個別的PLC301 1～301 5。在資訊的傳遞中，可以設置接入點（AP），藉由例如Wi-Fi以無線收發。當然也可以使用其他的無線標準，也可以是有線。作為設置代表PLC130的構成是由於考慮到同時使多個客戶端設備300進行動作的情形，藉由在各個客戶端設備300中設置代表PLC130，能夠藉由IP地址等進行管理。因此，在僅以對單一的客戶端設備300的控制為前提的情形下，也可以省略代表PLC130。 The above-mentioned conveying means 6 to 9 and bundling means 5 to 7 are configured as follows: as a group of client devices 300, a PLC (Programmable Logic Controller) is used as a representative (representative PLC) 130, and a control signal (control information) output from the portable terminal 100 is received via the LTE router 120, and transmitted to the individual PLCs 301 1 to 301 5 of the client devices 300. In the transmission of information, an access point (AP) can be set up, and wireless transmission and reception can be performed by, for example, Wi-Fi. Of course, other wireless standards can also be used, and wired communication can also be used. The reason for setting the representative PLC 130 is that a plurality of client devices 300 are operated at the same time. By setting the representative PLC 130 in each client device 300, management can be performed by IP addresses, etc. Therefore, in the case of controlling only a single client device 300, the representative PLC 130 may be omitted.
藉由設置於客戶端設備300的每個操作手段5～9的個別的PLC301 1～301 5接收控制訊號（控制資訊），分別連結的操作手段5～9根據該控制訊號執行規定的動作。又，這些操作手段5～9的動作狀況從各個PLC301 1～301 5經由代表PLC130輸入到攜帶終端100。此操作狀況除了可用於整理個別地動作的操作手段5～9的動作順序以外，還可用於作業的進展狀況的解析。作業的進展資訊藉由由存儲部222另行保存，可為了管理而作為所謂的日誌（操作日誌）保存。操作日誌除了可利用於依據建築物等的施工狀況的配筋作業的行進速度的調節以外，還可作為發現各操作手段5～9的動作不良、配筋狀態的不良情形時的驗證資料而使用。 By receiving the control signal (control information) by the individual PLC301 1 to 301 5 of each operating means 5 to 9 provided in the client device 300, the respectively connected operating means 5 to 9 executes the prescribed action according to the control signal. Furthermore, the action status of these operating means 5 to 9 is input to the portable terminal 100 from each PLC301 1 to 301 5 via the representative PLC130. In addition to being used to organize the action sequence of the individually operating operating means 5 to 9, this operation status can also be used to analyze the progress status of the operation. The progress information of the operation can be saved as a so-called log (operation log) for management by being saved separately by the storage unit 222. The operation log can be used not only to adjust the advancing speed of the reinforcement work according to the construction conditions of the building, but also as verification data when a bad operation of each operation means 5 to 9 or a bad reinforcement condition is found.
＜配筋方法＞ 接著，說明根據配筋資訊的控制訊號的具體例。圖7示出表示根據柱的鋼筋資訊（配筋資訊）的組立狀態的鋼筋群的例子。如圖7（a）所示，用於構成柱的鋼筋構成為將主筋SM3設為垂直方向，並在其周圍配置剪力鋼筋SM1。在本發明中，如圖7（b）所示，即使在構成柱的情形下的鋼筋組立中，也將整體作為橫向，將主筋SM3朝向水平方向而進行組立。此時，藉由將主筋SM3的軸線方向（長度方向）設為X軸方向，可將剪力鋼筋SM1的矩形平面設為Y-Z平面，並在X軸方向上以規定間隔排列整齊。在將此時構成剪力鋼筋SM1的矩形的四邊（鋼筋構成部）SM1a～SM1d中的一組相向兩邊（相向的鋼筋構成部）SM1a、SM1d設為水平方向（Y軸方向）時，其他兩邊（其他鋼筋構成部）SM1b、SM1c成為垂直方向（Z軸方向），將如此的狀態的剪力鋼筋SM1稱為豎立設置狀態。在將剪力鋼筋SM1設為豎立設置狀態時，可使底邊（一個鋼筋構成部）SM1a載置於組立區域內的規定位置。而且，在使如此以豎立設置狀態載置的多個剪力鋼筋SM1以適當間隔排列整齊時，主筋SM3的軸線會沿水平方向配置。此外，根據針對梁的鋼筋資訊（配筋資訊）的組立狀態最初就是主筋SM3為水平的狀態，因此，可與上述相同地進行組立。 <Reinforcement method> Next, a specific example of a control signal based on reinforcement information is described. FIG. 7 shows an example of a steel bar group showing an assembly state based on the reinforcement information (reinforcement information) of a column. As shown in FIG. 7 (a), the steel bar structure used to constitute a column is such that the main reinforcement SM3 is set in the vertical direction and the shear reinforcement SM1 is arranged around it. In the present invention, as shown in FIG. 7 (b), even in the steel bar assembly in the case of constituting a column, the main reinforcement SM3 is assembled in the horizontal direction while being made the entirety transverse. At this time, by setting the axial direction (length direction) of the main reinforcement SM3 to the X-axis direction, the rectangular plane of the shear reinforcement SM1 can be set to the Y-Z plane and arranged neatly at a predetermined interval in the X-axis direction. When a pair of two opposing sides (opposite steel bar components) SM1a and SM1d of the four sides (steel bar components) SM1a to SM1d of the rectangle constituting the shear steel bar SM1 are set in the horizontal direction (Y-axis direction), the other two sides (other steel bar components) SM1b and SM1c are set in the vertical direction (Z-axis direction), and the shear steel bar SM1 in such a state is called a vertical setting state. When the shear steel bar SM1 is set in the vertical setting state, the bottom side (one steel bar component) SM1a can be placed at a predetermined position in the assembly area. Moreover, when the plurality of shear steel bars SM1 placed in the vertical setting state are arranged in a proper interval, the axis of the main bar SM3 is arranged in the horizontal direction. In addition, according to the assembly state of the reinforcement information (reinforcement information) for the beam, the main reinforcement SM3 is initially in a horizontal state, so it can be assembled in the same way as above.
在使剪力鋼筋SM1藉由上述狀態保持的情形下，例如，如圖7（b）所示，可使用上述的保持件10a、10b機械地使剪力鋼筋SM1豎立設置。此外，在藉由磁化手段進行保持的情形下，例如也可以構成為：在剪力鋼筋SM1的下方及側方適當設置磁化手段，並藉由將剪力鋼筋SM1的下部及側部進行磁化而進行定位。此時，磁化手段可構成為藉由配合剪力鋼筋SM1的設置間隔，而間歇地配置磁鐵。此外，作為磁化手段，除了以將多個永久磁鐵配置在適當位置的方式構成以外，也可以構成為藉由電磁鐵使規定位置的電磁鐵通電，由此以適當間隔進行磁化。In the case where the shear steel bar SM1 is held in the above-mentioned state, for example, as shown in FIG. 7 (b), the shear steel bar SM1 can be mechanically set vertically using the above-mentioned retaining parts 10a and 10b. In addition, in the case where the shear steel bar SM1 is held by magnetizing means, for example, it can also be configured as follows: magnetizing means are appropriately set below and on the side of the shear steel bar SM1, and the lower part and the side of the shear steel bar SM1 are magnetized to perform positioning. In this case, the magnetizing means can be configured to intermittently arrange magnets by matching the installation interval of the shear steel bar SM1. In addition, as a magnetizing means, in addition to being configured in a manner of arranging multiple permanent magnets at appropriate positions, it can also be configured to energize an electromagnet at a specified position by an electromagnet, thereby magnetizing at appropriate intervals.
又，如這些圖式所示，剪力鋼筋SM1是將棒狀部件折彎而構成為矩形，直線部分構成所述的四邊（鋼筋構成部）SM1a～SM1d，但一般的剪力鋼筋SM1構成為藉由使棒狀部件的前端彎曲而形成鉤F。此鉤F有90度鉤（彎曲成90度）、135度鉤（彎曲成135度）等，但在此例示了135度鉤。這些鉤F以在相同的位置不對齊（在X方向上不成為一列）的方式，被要求左右顛倒（在Y軸方向上交替配置）地排列整齊。因此，在調整朝向的同時進行供給。As shown in these figures, the shear steel bar SM1 is formed into a rectangle by bending a rod-shaped member, and the straight line portion constitutes the four sides (steel bar constituent portion) SM1a to SM1d, but the general shear steel bar SM1 is formed by bending the front end of the rod-shaped member to form a hook F. This hook F has a 90-degree hook (bent at 90 degrees), a 135-degree hook (bent at 135 degrees), etc., but the 135-degree hook is illustrated here. These hooks F are not aligned at the same position (not in a row in the X direction), and are required to be arranged in an inverted manner (alternated in the Y-axis direction). Therefore, the supply is performed while adjusting the direction.
從以上內容，用於搬送剪力鋼筋SM1的搬送手段8從保管區域3接收剪力鋼筋SM1，在往組立區域1移動的中途的姿勢調整區域2中調整剪力鋼筋SM1的姿勢，依據該剪力鋼筋SM1的搬送距離搬送至規定的位置為止，使其下降並藉由預先配置的保持件10a、10b保持來進行動作。如此，從前方依次排列整齊且保持需要數量的剪力鋼筋SM1而完成剪力鋼筋SM1的配筋。From the above, the transport means 8 for transporting the shear steel bar SM1 receives the shear steel bar SM1 from the storage area 3, adjusts the posture of the shear steel bar SM1 in the posture adjustment area 2 on the way to the assembly area 1, transports the shear steel bar SM1 to a predetermined position according to the transport distance of the shear steel bar SM1, and then lowers it and holds it by the pre-arranged holders 10a and 10b. In this way, the required number of shear steel bars SM1 are neatly arranged and held in sequence from the front, and the reinforcement of the shear steel bar SM1 is completed.
另一方面，主筋SM3是以與矩形的剪力鋼筋SM1的內側接觸的狀態進行配筋，因此，以插通已被配筋的剪力鋼筋SM1的內側的方式，朝向軸線方向（X方向）從最後的剪力鋼筋SM1的後方***即可。此外，主筋SM3不具有保持的部件，因此一根一根地搬送，在規定的位置藉由完成與剪力鋼筋SM1的捆紮而進行保持。On the other hand, the main bar SM3 is reinforced in a state of contact with the inner side of the rectangular shear steel bar SM1, so it can be inserted from the rear of the last shear steel bar SM1 in the axial direction (X direction) by inserting through the inner side of the reinforced shear steel bar SM1. In addition, the main bar SM3 does not have a retaining part, so it is transported one by one and retained at a specified position by completing the bundling with the shear steel bar SM1.
＜捆紮方法＞ 如上所述，藉由將***預先排列整齊的剪力鋼筋SM1的內側的主筋SM3的交叉部分進行捆紮，而保持（連結）主筋SM3，從而組立鋼筋整體，而針對捆紮作業是藉由捆紮手段5、6、7而實施。 <Bundling method> As described above, the main bars SM3 are inserted into the inner side of the pre-arranged shear bars SM1 and the cross-sections are bundled to hold (connect) the main bars SM3, thereby assembling the entire bar. The bundling operation is performed by bundling means 5, 6, and 7.
因此，在由捆紮手段5、6、7所進行的捆紮時，需要確定捆紮位置以及交叉狀態。剪力鋼筋SM1的各構成部SM1a～SM1d與主筋SM3的交叉部分的狀態如圖8所示。如此圖8（a）及（b）所示，主筋SM3與水平的鋼筋構成部SM1a、SM1b交叉的部分中，主筋SM3的軸線為X方向，與此相對，配置於上下的鋼筋構成部SM1a、SM1b的軸線為Y軸方向，在X方向和Y方向上交叉。如此的交叉的狀態在通常的圖像資訊中被表示為彼此的中心線（軸線）的交點O，雙方的鋼筋構成部SM1（SM1a、SM1b）、SM3的外徑D1、D2被作為其他的圖像資訊進行提示。Therefore, when bundling is performed by the bundling means 5, 6, and 7, it is necessary to determine the bundling position and the crossing state. The state of the intersection of each component SM1a to SM1d of the shear steel bar SM1 and the main steel bar SM3 is shown in Figure 8. As shown in Figure 8 (a) and (b), in the part where the main steel bar SM3 intersects with the horizontal steel bar components SM1a and SM1b, the axis of the main steel bar SM3 is the X direction, while the axis of the steel bar components SM1a and SM1b arranged above and below is the Y axis direction, and they intersect in the X direction and the Y direction. Such a crossing state is represented as the intersection O of the center lines (axes) of each other in the normal image information, and the outer diameters D1 and D2 of the steel bar components SM1 (SM1a, SM1b) and SM3 on both sides are prompted as other image information.
但是，如圖所示，實際交叉的部分成為雙方的鋼筋構成部SM1（SM1a、SM1b）、SM3在外周面中的抵接點P，因此成為與圖像資訊中的中心線的交點O不同的點。因此，從圖像資訊中的交點O使用外徑D1、D2的資訊而計算抵接點P的座標。此外，主筋SM3的軸線方向（X方向）上的交點O（或者抵接點P）的座標是從前端到交點O的距離L，可從圖像資訊而直接得到。However, as shown in the figure, the actual intersection portion becomes the contact point P of the steel bar components SM1 (SM1a, SM1b) and SM3 on both sides in the outer peripheral surface, and therefore becomes a point different from the intersection point O of the center line in the image information. Therefore, the coordinates of the contact point P are calculated from the intersection point O in the image information using the information of the outer diameters D1 and D2. In addition, the coordinates of the intersection point O (or the contact point P) in the axial direction (X direction) of the main bar SM3 are the distance L from the front end to the intersection point O, which can be directly obtained from the image information.
再者，由於如此的抵接點P處的交叉狀態是與X方向和Y方向正交的情形，因此將捆紮線設為傾斜架設（相對於兩軸線以傾斜狀捆紮），所以將從X軸（或Y軸）傾斜45度的方向設為捆紮方向。作為用於捆紮的捆紮機，例如在使用上述的MAX公司制的「立式捆紮機」的情形下，為了捆紮上位的鋼筋構成部SM1a與主筋SM3的交叉部（參照圖8（a）），在設為配置於交叉部的上方且從X軸（或Y軸）旋轉45度的狀態的同時，以抵接點P為中心，在該抵接點的兩側配置兩處的爪，由此可傾斜架設捆紮線並且進行捆紮。此外，在對下位的鋼筋構成部SM1b與主筋SM3的交叉部（參照圖8（b））進行捆紮的情形下，從交叉部的下方配置捆紮機。僅在此情形下，使用下位的捆紮手段6、7。Furthermore, since the intersection state at the contact point P is orthogonal to the X direction and the Y direction, the bundling wire is set to be inclined (bundled in an inclined state relative to the two axes), so the direction inclined 45 degrees from the X axis (or Y axis) is set as the bundling direction. As a bundling machine used for bundling, for example, when the above-mentioned "vertical bundling machine" made by MAX Corporation is used, in order to bundle the intersection of the upper steel bar structure SM1a and the main bar SM3 (refer to Figure 8 (a)), it is arranged above the intersection and rotated 45 degrees from the X axis (or Y axis). At the same time, two claws are arranged on both sides of the contact point P with the contact point as the center, so that the bundling wire can be inclined and bundling can be performed. When bundling the intersection of the lower steel bar structure SM1b and the main bar SM3 (see FIG8(b)), the bundling machine is arranged from below the intersection. Only in this case, the lower bundling means 6 and 7 are used.
如圖8（c）以及（d）所示，主筋SM3與垂直方向的鋼筋構成部SM1c、SM1d交叉的部分中，主筋SM3的軸線為X方向，與此相對，鋼筋構成部SM1c、SM1d的軸線為Z軸方向，並在X方向和Z方向上交叉。在此情形下，由於圖像資訊的交叉點也是中心線的交點，所以藉由主筋SM3以及鋼筋構成部SM1c、SM1d的外徑而確定抵接點的座標。As shown in Fig. 8 (c) and (d), in the portion where the main bar SM3 intersects with the steel bar components SM1c and SM1d in the vertical direction, the axis of the main bar SM3 is in the X direction, whereas the axis of the steel bar components SM1c and SM1d is in the Z direction, and they intersect in the X and Z directions. In this case, since the intersection of the image 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 steel bar components SM1c and SM1d.
在此情形下也是，例如，為了使用MAX公司制的「立式捆紮機」作為捆紮機，將兩個部位的爪設為橫向，並且設為相對於X軸（或Z軸）旋轉45度的狀態，藉由在抵接點的兩側配置兩個部位的爪，能夠進行傾斜架設的捆紮。In this case as well, for example, in order to use a "vertical strapping machine" manufactured by MAX Corporation as a strapping machine, the claws at two locations are set horizontally and rotated 45 degrees relative to the X-axis (or Z-axis). By arranging the claws at two locations on both sides of the contact point, it is possible to perform strapping with an inclined setting.
此外，在將主筋SM3與剪力鋼筋SM1的交叉部進行捆紮的情形下，為了在上位支撐主筋SM3，需要使設置於下位的捆紮手段6、7的主筋用的搬送輔助部66、76向上延伸，因此在先從下位的主筋SM3進行捆紮時會對上位的主筋SM3的搬送以及支撐造成防礙。因此，從上位的主筋SM3起依次進行捆紮。Furthermore, when bundling the intersection of the main reinforcement SM3 and the shear reinforcement SM1, in order to support the main reinforcement SM3 at the upper position, the main reinforcement conveying auxiliary parts 66 and 76 of the lower bundling means 6 and 7 need to be extended upward, so when bundling the lower main reinforcement SM3 first, it will hinder the conveyance and support of the upper main reinforcement SM3. Therefore, bundling is performed sequentially starting from the upper main reinforcement SM3.
＜繫筋的配筋方法＞ 如圖9所示，繫筋SM2與剪力鋼筋SM1一起配筋，最終與主筋SM3連結（捆紮）。剪力鋼筋SM1配置在主筋SM3的周圍，與此相對，繫筋SM2架設在相向的兩根一組的主筋SM3上，以橫斷或縱斷剪力鋼筋SM1的矩形內部的方式配置。又，繫筋SM2在與剪力鋼筋SM1相鄰的狀態下以接觸一部分的狀態設置。因此，預先將剪力鋼筋SM1與繫筋SM2進行一體化，藉由配置剪力鋼筋SM1，必然也能夠配置繫筋SM2。但是，並非對所有的剪力鋼筋SM1設置繫筋SM2，而是相對於幾根剪力鋼筋SM1各配置一根。再者，繫筋SM2的軸線（除了兩端的鉤之外的中央部分的軸線）的朝向也不是一定的（在圖9的（a）與（b）中不同）。 <Reinforcement method of tie bars> As shown in Fig. 9, tie bars SM2 are reinforced together with shear bars SM1 and finally connected (tied) to main bars SM3. Shear bars SM1 are arranged around main bars SM3, while tie bars SM2 are laid on a set of two opposing main bars SM3 and arranged in a manner that crosses or longitudinally cuts off the inside of the rectangle of shear bars SM1. In addition, tie bars SM2 are arranged in a state of being adjacent to shear bars SM1 and partially in contact with it. Therefore, shear bars SM1 and tie bars SM2 are integrated in advance, and by arranging shear bars SM1, tie bars SM2 can also be arranged. However, the tie bars SM2 are not provided for all the shear bars SM1, but one is provided for each of the several shear bars SM1. Furthermore, the direction of the axis of the tie bar SM2 (the axis of the central part excluding the hooks at both ends) is not constant (it is different in (a) and (b) of Figure 9).
例如圖9（a）所示，存在繫筋SM2以橫斷剪力鋼筋SM1的方式設置的情形。如此的繫筋SM2懸掛在配筋於側邊的一組主筋SM3上，而該繫筋SM2的中央部分的軸線成為水平的狀態。此外，在圖式中，例示了在每次配置兩根剪力鋼筋SM1時設置一根繫筋SM2的狀態。For example, as shown in FIG9 (a), there is a case where the tie SM2 is arranged in a manner that crosses the shear steel bar SM1. Such a tie SM2 is suspended on a set of main bars SM3 arranged on the side, and the axis of the central part of the tie SM2 becomes horizontal. In addition, in the figure, an example is shown in which one tie SM2 is arranged every time two shear steel bars SM1 are arranged.
又，如圖9（b）所示，也存在繫筋SM2以縱斷剪力鋼筋SM1的方式設置的情形。這種情形下的繫筋SM2懸掛被配筋於上下的一組主筋SM3上，而軸線成為垂直方向。針對此圖式中的設置間隔，也例示了在每次配置兩根剪力鋼筋SM1時設置一根繫筋SM2的情形。In addition, as shown in Figure 9 (b), there is also a case where the tie bar SM2 is arranged in a longitudinal manner to the shear steel bar SM1. In this case, the tie bar SM2 is suspended on a set of main bars SM3 arranged above and below, and the axis becomes a vertical direction. Regarding the installation interval in this figure, an example is also shown in which one tie bar SM2 is arranged every time two shear steel bars SM1 are arranged.
再者，雖然省略了圖示，但也存在繫筋SM2橫斷剪力鋼筋SM1的構成與縱斷的構成混合存在的情形。在此情形下，並非在相同的位置同時設置兩種，而是接近不同的剪力鋼筋SM1而設置。如此配筋的繫筋SM2與剪力鋼筋SM1接觸設置，因此上述的搬送手段8、9在前方配置剪力鋼筋用的搬送手段8，在後方配置繫筋用的搬送手段9（參照圖1）。然後，在應配筋繫筋SM2的情形下，剪力鋼筋用的搬送手段8及繫筋用的搬送手段9分別把持兩鋼筋SM1、SM2並進行搬送，在姿勢調整區域2中使兩者結合。在繫筋SM2與剪力鋼筋SM1結合後，繫筋用的搬送手段9解除搬送（夾持），可後退而返回到原來的位置，剪力鋼筋用的搬送手段8夾持剪力鋼筋SM1並且在規定的位置進行配筋，由此可同時供給兩鋼筋SM1、SM2。Furthermore, although the illustration is omitted, there is a situation where the structure of the transverse shear steel bar SM1 of the tie SM2 is mixed with the longitudinal structure. In this case, the two types are not set at the same position at the same time, but are set close to different shear steel bars SM1. The tie SM2 reinforced in this way is set in contact with the shear steel bar SM1, so the above-mentioned conveying means 8 and 9 are arranged with the conveying means 8 for the shear steel bar in the front and the conveying means 9 for the tie bar in the rear (refer to Figure 1). Then, in the case where the tie SM2 should be reinforced, the conveying means 8 for the shear steel bar and the conveying means 9 for the tie bar respectively grasp the two steel bars SM1 and SM2 and convey them, and the two are combined in the posture adjustment area 2. After the tie bar SM2 is combined with the shear bar SM1, the transporting means 9 for the tie bar releases the transport (clamping) and can retreat to its original position, while the transporting means 8 for the shear bar clamps the shear bar SM1 and arranges the reinforcement at a specified position, thereby supplying the two bars SM1 and SM2 at the same time.
如上所述，為了將繫筋SM2與剪力鋼筋SM1結合，例如圖10所示，將繫筋SM2的兩端的鉤SM2b、SM2c與剪力鋼筋SM1進行結合（捆紮）。此外，繫筋SM2是使一根棒狀部件的兩端彎曲而構成，是在直線狀的主體構成部SM2a與其兩端形成有鉤SM2b、SM2c的部件。針對繫筋SM2的鉤SM2b、SM2c也有90度鉤（彎曲成90度）、135度鉤（彎曲成135度）等，而圖中例示了135度鉤。As described above, in order to connect the tie bar SM2 to the shear steel bar SM1, the hooks SM2b and SM2c at both ends of the tie bar SM2 are connected (tied) to the shear steel bar SM1, for example, as shown in FIG10. In addition, the tie bar SM2 is formed by bending both ends of a rod-shaped member, and is a member having hooks SM2b and SM2c formed at both ends of a straight main body member SM2a. There are also 90-degree hooks (bent at 90 degrees), 135-degree hooks (bent at 135 degrees), etc. for the hooks SM2b and SM2c of the tie bar SM2, and the 135-degree hook is illustrated in the figure.
雖然在使兩者SM1、SM2結合的情形下，使用上述的搬送手段8、9，使繫筋SM2對於剪力鋼筋SM1抵接在規定的朝向和位置，但例如在以橫斷剪力鋼筋SM1的方式配筋繫筋SM2的情形下，則如圖10（a）所示，使鉤SM2b、SM2c與剪力鋼筋SM1的側邊的兩邊SM1b、SM1c抵接。在此狀態下，可藉由捆紮該鉤SM2b、SM2c的頂點部分而固定地結合。Although the above-mentioned conveying means 8 and 9 are used to make the tie SM2 contact the shear steel bar SM1 in a predetermined direction and position when the two SM1 and SM2 are connected, for example, when the tie SM2 is arranged to cross the shear steel bar SM1, the hooks SM2b and SM2c are made to contact the two sides SM1b and SM1c of the side of the shear steel bar SM1 as shown in Figure 10 (a). In this state, the hooks SM2b and SM2c can be fixedly connected by tying the top parts.
又，在以縱斷剪力鋼筋SM1的方式配筋繫筋SM2的情形下，如圖10（b）所示，使鉤SM2b、SM2c與剪力鋼筋SM1的上下的兩邊SM1a、SM1d抵接。在此狀態下，與上述相同地，可藉由捆紮鉤SM2b、SM2c的頂點部分而固定地結合。Furthermore, when the reinforcing bar SM2 is arranged in a manner that the shear bar SM1 is longitudinally cut, 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 SM1. In this state, the hooks SM2b and SM2c can be fixedly connected by tying the top points of the hooks SM2b and SM2c in the same manner as described above.
在上述的任一種情形下，由於成為繫筋SM2與剪力鋼筋SM1結合的狀態，所以僅針對剪力鋼筋SM1進行管理並且使其移動到如上述的特定位置，並使剪力鋼筋SM1保持為豎立設置狀態，由此必然地可使繫筋SM2配置在期望的位置。In any of the above cases, since the tie bar SM2 is combined with the shear bar SM1, the tie bar SM2 can be necessarily arranged at the desired position by only managing and moving the shear bar SM1 to the specific position as described above and keeping the shear bar SM1 in a vertically arranged state.
＜總結＞ 本發明的實施方式如上所述，可根據預先製作的建築物等的設計資訊所包含的鋼筋群的配筋資訊，運算各個鋼筋應配置的位置、交叉部的位置，並作為座標進行數值化。根據此運算結果（座標），控制搬送手段的搬送量而在規定的位置配置鋼筋群，能夠控制捆紮手段的捆紮部的位置並且進行變更而進行捆紮，因此可以忠實於建築物等的設計資訊（配筋資訊）的狀態組立鋼筋，也可自動化這些組立作業。 <Summary> The implementation method of the present invention is as described above. Based on the reinforcement information of the steel bar group included in the design information of the building etc. prepared in advance, the position where each steel bar should be arranged and the position of the intersection can be calculated and digitized as coordinates. Based on this calculation result (coordinates), the conveying amount of the conveying means is controlled to arrange the steel bar group at a specified position, and the position of the bundling part of the bundling means can be controlled and changed to perform bundling. Therefore, the steel bars can be assembled in a state faithful to the design information (reinforcement information) of the building etc., and these assembly operations can also be automated.
應組立的鋼筋群是用於柱及梁的鋼筋，在上述的運算中，針對梁，直接以使主筋水平地配置的狀態下執行。與此相對，針對柱，藉由使本來的主筋為垂直方向的主筋旋轉90度，並將主筋作為水平的狀態進行運算，而可作為與梁的情形相同的座標而執行組立。The steel bars to be assembled are the steel bars for columns and beams. In the above calculation, for beams, the main bars are directly arranged horizontally. On the other hand, for columns, the main bars are rotated 90 degrees and the main bars are calculated horizontally, so that the same coordinates as the beams can be used for assembly.
此外，如上所述，根據在實施方式中例示的技術，作為由作為控制手段的處理裝置200利用的資訊，可列舉出作為BIM或CIM所包含的屬性資訊的與鋼筋有關的資訊（配筋資料），由於在這些BIM或CIM中包含有關於建築物等的設計的所有資訊，因此藉由利用該資訊和運算出的配筋資訊等的各種資訊，也能夠使建築物整體及鋼筋群的組立狀態分別顯示於虛擬空間。在顯示於如此的虛擬空間內的情形下，能夠驗證該虛擬空間中的鋼筋群的狀態。在進一步發展利用的情形下，藉由採用AR（Augmented Reality，擴增實境）的技術，如果使用AR護目鏡等，則作為合成了工程中途的現實物體與組立後的鋼筋群的擴增實境，也能夠藉由目視進行驗證。在使用3D掃描器的情形下也是，相同地製作工程中途的現實物體與組立後的鋼筋群的合成資料，能夠藉由目視進行確認、驗證。Furthermore, as described above, according to the technology exemplified in the embodiment, as information used by the processing device 200 as the control means, information related to steel bars (reinforcement data) can be listed as attribute information included in BIM or CIM. Since all information related to the design of buildings, etc. is included in these BIM or CIM, by using various information such as this information and calculated reinforcement information, the entire building and the assembly status of the steel bar group can be displayed in the virtual space. When displayed in such a virtual space, the state of the steel bar group in the virtual space can be verified. In the case of further development and utilization, by adopting AR (Augmented Reality) technology, it is possible to verify by visual inspection by using AR goggles, etc., as an augmented reality that combines the real objects in the process and the assembled steel bars. In the case of using a 3D scanner, similarly, it is possible to create a composite data of the real objects in the process and the assembled steel bars, and to confirm and verify by visual inspection.
此外，上述實施方式表示本發明的一個例子，本發明並不限定於上述的實施方式。因此，也可以變更上述實施方式的一部分，進一步附加其他構成。例如，搬送手段、捆紮手段等各構成並不限定於在實施方式中示出的例示。In addition, the above-mentioned embodiment is an example of the present invention, and the present invention is not limited to the above-mentioned embodiment. Therefore, a part of the above-mentioned embodiment can also be changed, and other structures can be further added. For example, each structure such as a conveying means and a bundling means is not limited to the examples shown in the embodiment.
又，針對控制手段，也不限於例示那樣的攜帶終端的使用例，只要是能夠一邊使用其他的控制裝置一邊進行作為整體的各手段（各裝置）的控制即可。亦即，在上述實施方式中，雖構成為藉由攜帶終端的處理部（運算部）223而運算根據配筋資訊的各種鋼筋的搬送位置等，進一步輸出對於搬送手段等的控制訊號，但也可以使此處理部（運算部）223藉由其他處理裝置發揮功能。Furthermore, the control means is not limited to the use of the portable terminal as illustrated, as long as it is possible to control the various means (devices) as a whole while using other control devices. That is, in the above-mentioned embodiment, although the processing unit (calculation unit) 223 of the portable terminal is configured to calculate the transport position of various steel bars based on the reinforcement information, and further output a control signal for the transport means, etc., this processing unit (calculation unit) 223 can also be made to function through other processing devices.
例如，如圖11所示，可構成為：使用設置於攜帶終端10的外部的處理裝置（例如雲端伺服器）400，針對根據設計資訊所包含的鋼筋群的配筋資訊的座標資訊，先在雲端伺服器400中進行運算，經由攜帶終端100的收發部111’接收此運算結果（座標資訊），藉由攜帶終端100的處理部223返回到針對各個手段（裝置）的控制訊號，然後經由收發部111’朝各手段（各裝置）發送。此外，在如上述的實施方式設置代表PLC130的（圖6）的情形下，處理部223可作為用於從多個代表PLC中確定輸出目的地而進行處理的裝置發揮功能。For example, as shown in FIG. 11 , the configuration may be such that: using a processing device (e.g., a cloud server) 400 disposed outside the portable terminal 10, the coordinate information of the reinforcement information of the steel bar group included in the design information is first calculated in the cloud server 400, the calculation result (coordinate information) is received via the transceiver 111 'of the portable terminal 100, and the control signal for each means (device) is returned by the processing unit 223 of the portable terminal 100, and then sent to each means (device) via the transceiver 111 '. In addition, in the case where the representative PLC 130 is disposed as in the above-mentioned embodiment (FIG. 6), the processing unit 223 may function as a device for processing to determine the output destination from a plurality of representative PLCs.
在上述構成的情形下，在雲端伺服器400中設有鋼筋資訊取得部421，經由輸入部426輸入鋼筋資訊，存儲部422存儲鋼筋資訊，並且也存儲由處理部（運算部）423處理後的運算結果，可經由輸出部425經由網絡線路發送到攜帶終端100。另一方面，攜帶終端100經由收發部111’輸入資訊，因此可使經由處理部223輸入的輸入資訊存儲於存儲部222，又，經由輸出部224確定存儲資訊並且從收發部111’發送到代表PLC130或者個別的客戶端設備300。In the case of the above configuration, a steel bar information acquisition unit 421 is provided in the cloud server 400, steel bar information is inputted via the input unit 426, the storage unit 422 stores the steel bar information, and also stores the calculation result processed by the processing unit (calculation unit) 423, which can be sent to the portable terminal 100 via the network line via the output unit 425. On the other hand, the portable terminal 100 inputs information via the transceiver unit 111', so that the input information inputted via the processing unit 223 can be stored in the storage unit 222, and the storage information is determined via the output unit 224 and sent from the transceiver unit 111' to the representative PLC 130 or an individual client device 300.
又，作為將圖11的構成變形的例子，如圖12所示，攜帶終端100也可以不進行資訊的保存，而是將雲端伺服器400的資訊輸出到代表PLC130，將經由代表PLC130從雲端伺服器400發送的資訊發送到客戶端設備300。作為這樣的攜帶終端100，也可以使用智慧型手機等。在這樣的構成的情形下，將從雲端服務器400接收到的資訊依次作為個別的資訊發送到代表PLC130。As an example of a modification of the configuration of FIG. 11, as shown in FIG. 12, the portable terminal 100 may output the information of the cloud server 400 to the representative PLC 130 instead of storing the information, and transmit the information transmitted from the cloud server 400 to the client device 300 via the representative PLC 130. A smart phone or the like may be used as such a portable terminal 100. In the case of such a configuration, the information received from the cloud server 400 is sequentially transmitted as individual information to the representative PLC 130.
再者，如圖13所示，也可以藉由多個客戶端設備300a、300b、300c…和與這些客戶端設備對應的多個攜帶終端100a、100b、100c…而構築組立線（線1、線2、線3…），以按照該線經由代表PLC130a、130b、130c…進行資訊的收發的方式進行構築。Furthermore, as shown in FIG. 13 , an assembly line (line 1, line 2, line 3…) may be constructed by using a plurality of client devices 300a, 300b, 300c… and a plurality of portable terminals 100a, 100b, 100c… corresponding to these client devices, so as to be constructed in such a manner that information is sent and received via the representative PLCs 130a, 130b, 130c….
此外，在任一方式中，為了發送由客戶端設備300所進行的各手段5～9的動作狀態，也可以適當地設置感測器類，並且也可以從這些感測器類的感測資料，回饋鋼筋的設置的狀態、捆紮前的鋼筋位置等，由此能夠藉由保存在個別的PLC301中的程序進行回饋控制。In addition, in either method, in order to send the action status of each means 5 to 9 performed by the client device 300, sensors can be appropriately set, and the setting status of the steel bars, the position of the steel bars before bundling, etc. can be fed back from the sensing data of these sensors, thereby enabling feedback control through the program stored in the individual PLC301.
1:組立區域 2:姿勢調整區域 3:保管區域 4:待機區域 5:捆紮手段（上位的捆紮手段） 6,7:捆紮手段（下位的捆紮手段）及搬送手段（主筋用） 8:搬送手段（剪力鋼筋用） 9:搬送手段（繫筋用） 10a,10b:保持件 11a,11b,12a,12b:卡入槽 13a,13b:連結部 14a,14b:軌道（保持件搭載軌道） 15:軌道 41,42,43,44:磁化手段 45,46,47,48:引導部 51a,51b,61a,61b,71a,71b,81a,81b,91a,91b:滑動件 52,62,72,82,92:框架 53,63,73,83,93:馬達 54,64,74:捆紮基部 55:升降部 56,96:回轉部 57,65,75:捆紮機 66,76:搬送輔助部 84,94:搬送基部 85,95:升降部 86:水平臂 87:垂直臂 88,89,97:夾頭 100:攜帶終端 111:接收部 112:發送部 120:LTE路由器 130:代表PLC 200:處理裝置 221:鋼筋資訊取得部（資訊取得部） 222:存儲部 223:處理部（運算部） 224:輸出部（第一） 225:輸出部（第二） 300:客戶端設備 301 1:個別PLC 400:雲端伺服器 421:鋼筋資訊取得部 422:存儲部 423:處理部（運算部） 425:輸出部 426:輸入部 BL:塊 FL:框架 LD1,LD2,LU1,LU2:軌道 SM1:剪力鋼筋 SM11,SM12:剪力鋼筋的頂角 SM1a,SM1b,SM1c,SM1d:剪力鋼筋的邊（鋼筋構成部） SM2:繫筋 SM2a:繫筋的主體構成部 SM2b,SM2c:繫筋的鉤 SM3:主筋 1: Assembly area 2: Posture adjustment area 3: Storage area 4: Standby area 5: Binding means (upper binding means) 6,7: Binding means (lower binding means) and transport means (for main reinforcement) 8: Transport means (for shear reinforcement) 9: Transport means (for tying reinforcement) 10a,10b: Holder 11a,11b,12a,12b: Insertion groove 13a,13b: Connection part 14a,14b: Track (holder mounting track) 15: Track 41,42,43,44: Magnetizing means 45,46,47,48: Guide 51a,51b,61a,61b,71a,71b,81a,81b,91a,91b: Slide 52,62,72,82,92: Frame 53,63,73,83,93: Motor 54,64,74: Bundling base 55: Lifting part 56,96: Rotating part 57,65,75: Bundling machine 66,76: Transport auxiliary part 84,94: Transport base 85,95: Lifting part 86: Horizontal arm 87: Vertical arm 88,89,97: Clamp 100: Portable terminal 111: Receiving part 112: Transmitting part 120: LTE router 130: Representative PLC 200: Processing device 221: Rebar information acquisition unit (information acquisition unit) 222: Storage unit 223: Processing unit (calculation unit) 224: Output unit (first) 225: Output unit (second) 300: Client device 301 1 : Individual PLC 400: Cloud server 421: Rebar information acquisition unit 422: Storage unit 423: Processing unit (calculation unit) 425: Output unit 426: Input unit BL: Block FL: Frame LD1, LD2, LU1, LU2: Track SM1: Shear steel bar SM11, SM12: Top angles of shear steel bar SM1a, SM1b, SM1c, SM1d: Sides of shear steel bar (steel bar component) SM2: tie barSM2a: main component of tie barSM2b, SM2c: hook of tie barSM3: main bar
圖1是表示本發明的實施方式的組立裝置整體的說明圖。 圖2是表示構成組立裝置的一個塊的構成的說明圖。 圖3是例示搬送手段的說明圖。 圖4是例示剪力鋼筋的保持方法的說明圖。 圖5是例示結合手段的說明圖。 圖6是例示控制手段的構成的說明圖。 圖7是表示鋼筋群的組立狀態的說明圖。 圖8是表示鋼筋的交叉部分的狀態的說明圖。 圖9是表示剪力鋼筋與繫筋的狀態的說明圖。 圖10是例示繫筋的保持狀態及用於保持繫筋的引導部的說明圖。 圖11是表示控制手段的變形例的說明圖。 圖12是表示控制手段的變形例的說明圖。 圖13是表示處理手段的變形例的說明圖。 FIG. 1 is an explanatory diagram showing the entire assembly device of an embodiment of the present invention. FIG. 2 is an explanatory diagram showing the structure of a block constituting the assembly device. FIG. 3 is an explanatory diagram illustrating an example of a conveying means. FIG. 4 is an explanatory diagram illustrating an example of a method for holding a shear steel bar. FIG. 5 is an explanatory diagram illustrating an example of a coupling means. FIG. 6 is an explanatory diagram illustrating an example of a structure of a control means. FIG. 7 is an explanatory diagram showing an assembly state of a steel bar group. FIG. 8 is an explanatory diagram showing the state of a cross section of a steel bar. FIG. 9 is an explanatory diagram showing the state of a shear steel bar and a tie bar. FIG. 10 is an explanatory diagram illustrating an example of a holding state of a tie bar and a guide portion for holding the tie bar. FIG. 11 is an explanatory diagram showing a modified example of a control means. FIG. 12 is an explanatory diagram showing a modified example of the control means. FIG. 13 is an explanatory diagram showing a modified example of the processing means.
1:組立區域 1: Assembly area
2:姿勢調整區域 2: Posture adjustment area
3:保管區域 3: Storage area
4:待機區域 4: Standby area
5:捆紮手段(上位的捆紮手段) 5: Binding means (superior binding means)
6,7:捆紮手段(下位的捆紮手段)及搬送手段(主筋用) 6,7: Binding means (lower binding means) and transportation means (for main reinforcement)
8:搬送手段(剪力鋼筋用) 8: Transportation means (for shear reinforcement)
9:搬送手段(繫筋用) 9: Transportation means (for tying tendons)
BL:塊 BL: Block
FL:框架 FL:Framework
LD1,LD2,LU1,LU2:軌道 LD1,LD2,LU1,LU2:Track
SM1:剪力鋼筋 SM1: Shear reinforcement
SM2:繫筋 SM2: tendon tying
SM3:主筋 SM3: Main reinforcement
Claims (8)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| WOPCT/JP2022/037038 | 2022-10-03 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TW202415841A true TW202415841A (en) | 2024-04-16 |
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