WO2024075174A1 - Dispositif d'assemblage de barre d'armature - Google Patents

Dispositif d'assemblage de barre d'armature Download PDF

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Publication number
WO2024075174A1
WO2024075174A1 PCT/JP2022/037038 JP2022037038W WO2024075174A1 WO 2024075174 A1 WO2024075174 A1 WO 2024075174A1 JP 2022037038 W JP2022037038 W JP 2022037038W WO 2024075174 A1 WO2024075174 A1 WO 2024075174A1
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WO
WIPO (PCT)
Prior art keywords
information
reinforcing bar
bars
reinforcement
shear reinforcement
Prior art date
Application number
PCT/JP2022/037038
Other languages
English (en)
Japanese (ja)
Inventor
宏明 田中
鈞 馬
圭祐 平尾
Original Assignee
東洋ライト工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 東洋ライト工業株式会社 filed Critical 東洋ライト工業株式会社
Priority to PCT/JP2022/037038 priority Critical patent/WO2024075174A1/fr
Priority to KR1020227037247A priority patent/KR20240049107A/ko
Priority to CN202280003750.7A priority patent/CN118140031A/zh
Publication of WO2024075174A1 publication Critical patent/WO2024075174A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/12—Mounting of reinforcing inserts; Prestressing
    • E04G21/122—Machines for joining reinforcing bars
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C5/00—Reinforcing elements, e.g. for concrete; Auxiliary elements therefor
    • E04C5/01—Reinforcing elements of metal, e.g. with non-structural coatings
    • E04C5/06—Reinforcing elements of metal, e.g. with non-structural coatings of high bending resistance, i.e. of essentially three-dimensional extent, e.g. lattice girders
    • E04C5/0604—Prismatic or cylindrical reinforcement cages composed of longitudinal bars and open or closed stirrup rods
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C5/00—Reinforcing elements, e.g. for concrete; Auxiliary elements therefor
    • E04C5/16—Auxiliary parts for reinforcements, e.g. connectors, spacers, stirrups
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/12—Mounting of reinforcing inserts; Prestressing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions

Definitions

  • the present invention relates to a device for assembling reinforcing bars used in the columns or beams of a building or structure, and in particular to a device that places reinforcing bars in predetermined positions based on pre-created design information for the building or structure, and assembles the bars by bundling or otherwise connecting the intersections of the reinforcing bars.
  • buildings or structures constructed with reinforced concrete are made up of columns, beams or walls in which pre-arranged reinforcing bars are hardened with concrete, and the reinforcing bars are arranged before the concrete is poured.
  • the arrangement of reinforcing bars is carried out exclusively at the construction site, where the designated main bars and shear reinforcing bars are brought to the construction site, moved to the designated position by a crane or the like, and assembled by tying the intersections of the reinforcing bars together (the so-called on-site assembly method).
  • pre-assembly method a method of preassembly at a processing plant or the like (pre-assembly method) has come to be used, whereby pre-assembled reinforcing bars (pre-assembled units) are assembled at a processing plant or the like, and the assembled reinforcing bars are brought to the construction site. Therefore, in order to make the work at the processing plant or the like more efficient, a device (reinforcing bar assembly device) has been developed for arranging the main bars and shear reinforcing bars in the designated positions (see Patent Documents 1 and 2).
  • the above-mentioned rebar assembly device is a device that moves the shear reinforcement in the longitudinal direction of the main reinforcement, and the shear reinforcement is installed at a predetermined interval in advance (unitized), and this unitized shear reinforcement is transported by a chain conveyor or endless belt.
  • the process of installing the shear reinforcement at a predetermined interval during the assembly work was not automated, and work efficiency was not dramatically improved.
  • tasks such as bundling were not automated.
  • a rebar assembly device is configured to install a manipulator robot that moves parallel to the axial direction of the main rebar, and to have this manipulator robot sequentially perform tasks such as bundling (see Patent Document 3).
  • this technology it is possible to have the manipulator robot perform tasks such as bundling, as well as the placement of shear reinforcement bars.
  • Japanese Utility Model Application Publication No. 4-130659 Japanese Patent Application Laid-Open No. 6-218475 JP 2013-204257 A JP 2006-318257 A JP 2009-30403 A JP 2011-253484 A
  • Patent Documents 1 and 2 relating to rebar assembly equipment are basically configured to place the main reinforcement bars on a work table, move the shear reinforcement bars (units), and then perform bundling and other connecting work. Even if bundling and other connecting work were automated, the main reinforcement bars would have to be placed in multiple locations inside the shear reinforcement bars, so the extent to which it could be automated would be limited. Furthermore, in the technology disclosed in Patent Document 3, the placement and connecting of the shear reinforcement bars is ultimately performed by a manipulator robot, and rapid rebar assembly is dependent on the speed of the manipulator robot.
  • Patent Documents 4 and 5 mentioned above is a processing technology that stores rebar data in design information for buildings and the like as electronic data, and reconstructs corrected data to avoid rebar interference.
  • merely digitizing the rebar data can help workers grasp and understand it, but the electronic data is displayed as a drawing, and workers work based on that drawing.
  • rebar interference occurs primarily at the joints between columns and beams or slabs, and between beams and slabs, so there is no need to correct the rebar data for individual columns or beams.
  • this rebar data is presented in the form of drawings to support work at the construction site, and is not used in rebar assembly devices.
  • the present invention was made in consideration of the above points, and its purpose is to provide a device that can automate the assembly of reinforcing bars in columns and beams based on reinforcing bar arrangement information contained in design information for buildings, etc.
  • the present invention provides an apparatus for assembling reinforcing bars to be used in columns or beams of a building or structure based on design information for the building or structure that has been created in advance, the apparatus comprising: a storage area in which the reinforcing bars to be used can be stored by type; an assembly area in which the reinforcing bars are arranged in predetermined positions and then joined at predetermined positions of their intersections for assembly; a transport means for transporting the desired reinforcing bars by type from the storage area to the assembly area; a joining means for joining intersections where multiple reinforcing bars intersect in the assembly area; and a control means for controlling the transport of the transport means and the joining operation of the joining means, the control means controlling the design of the building or structure.
  • the system is characterized by comprising a reinforcing bar information acquisition unit that acquires information on the arrangement of at least each type of reinforcing bar in the reinforcing bar groups used in constructing columns or beams from design information related to the structure, a calculation unit that calculates, from the information acquired by the reinforcing bar information acquisition unit, control information including at least the number and transport distance of each type of reinforcing bar to be transported from the storage area to the assembly area, and the coordinates of the intersections between the reinforcing bar groups transported to the assembly area, a first output unit that outputs a control signal for the transport means based on the control information calculated by the calculation unit, and a second output unit that outputs a control signal for the connection means based on the control information calculated by the calculation unit.
  • the control means obtains information (reinforcement data) on the construction of columns and beams from design information of the building to be constructed, calculates information on the movement of reinforcing bars and position information on the coordinates where the reinforcing bars intersect with each other, and outputs a control signal based on the information.
  • the control signal is output separately to the transport means and the joining means, and the transport means controls the transport of a predetermined number of reinforcing bars of a predetermined type in a predetermined order from the reinforcing bars stored in the storage area to the assembly area, and the joining means controls the position and state of the joining based on the calculated coordinates of the intersection position.
  • joining can be done by welding, and a bundling machine can be used as a joining means when joining by bundling, and a welding torch is used when joining by welding.
  • the joining operation means the state of the bundling machine, such as its position, orientation, operation, etc., and the state of the welding torch, such as its position, orientation, etc.
  • design information for buildings and the like can use the reinforcing bar data disclosed in, for example, Patent Document 4, as well as three-dimensional information called BIM (Building Information Modeling and Management) or CIM (Construction Information Modeling and Management).
  • BIM Building Information Modeling and Management
  • CIM Construction Information Modeling and Management
  • BIM and CIM combine information on components and the like to be added to the three-dimensional model as attribute information, which also includes information on reinforcing bars (reinforcing bar data).
  • the group of reinforcing bars includes main bars and shear reinforcement bars
  • the transport means can include a main reinforcement transport section for transporting the main reinforcement bars and a reinforcement transport section for transporting the shear reinforcement bars.
  • the group of reinforcing bars transported to the assembly area has the axis of the main reinforcement bars horizontal and the entire shear reinforcement bars in an upright state so that the axes of the components that make up the shear reinforcement bars are perpendicular to the axis of the main reinforcement bars
  • the calculation section calculates the order of transport of the group of reinforcing bars, and the calculation conditions can be configured to transport a predetermined number of shear reinforcement bars as the first priority, and then transport the main reinforcement bars as the second priority.
  • the main reinforcement and the shear reinforcement can basically be transported to the assembly area in sequence.
  • the main reinforcement is transported with the shear reinforcement as the first priority, with the axis of the main reinforcement assumed to be horizontal, followed by the main reinforcement.
  • Typical shear reinforcement is a rectangular ring-shaped reinforcing bar arranged around the main reinforcement, such as a hoop for a column and a stirrup for a beam.
  • the shear reinforcement is arranged so that each element reinforcing bar (four sides) forming this rectangle is perpendicular to the axis of the main reinforcement, and when the axis of the main reinforcement is horizontal, the shear reinforcement is in a state where the rectangular part is erected.
  • the orientation of the shear reinforcement in the erected state there are no particular restrictions on the orientation of the shear reinforcement in the erected state, but generally, when a rectangular shear reinforcement is installed, one side of the rectangle is the base.
  • the relationship between the main reinforcement and the shear reinforcement is such that multiple shear reinforcement bars are arranged at a predetermined interval along the longitudinal direction of the main reinforcement. Therefore, by arranging the shear reinforcement bars at a predetermined interval in advance and then inserting the main reinforcement bars inside the shear reinforcement bars, it is possible to arrange the reinforcement bars in a predetermined mutual relationship.
  • the installation positions of the shear reinforcement bars and the insertion positions of the main reinforcement bars are each controlled based on the results of calculations performed by the calculation unit, and the coordinates of the intersections after the insertion of the main reinforcement bars will ultimately match the control information from the calculation unit.
  • the assembly area may be provided with a holding means for holding the shear reinforcement bars transported as the first priority in an upright state while maintaining a predetermined interval based on information regarding the arrangement of the reinforcing bars acquired by the reinforcing bar information acquisition unit
  • the main reinforcement transport unit may be provided with a main reinforcement support unit that can rise and fall in the gaps between the shear reinforcement bars held by the holding means, and a main reinforcement delivery unit, and may be configured so that the main reinforcement bars are supported by the main reinforcement support unit and transported by being delivered by the main reinforcement delivery unit.
  • the holding means can hold the shear reinforcement in a predetermined position and state in the assembly area.
  • shear reinforcement that forms a rectangle with two sets of opposing sides (reinforcing bar components)
  • one set of opposing sides of the rectangular structure is horizontal and the other set of opposing sides is vertical.
  • This state can be called the erected state.
  • a holder that holds the periphery of the apex corner located at both ends of the base at two points can be used as a method of holding the shear reinforcement by the holding means.
  • the holder can be one that has an integrated engagement groove that allows the reinforcing bar parts (only a part of the horizontal part and a part of the vertical part) on both sides of the apex corner to be engaged while leaving the apex corner open.
  • this holder By arranging this holder near the apex corners on both sides, the shear reinforcement can be held in an erected state by partially engaging both sides of the base of the shear reinforcement into the engagement grooves of the holders on both sides at the same time. Therefore, it is sufficient to place holders on both sides of the position where the shear reinforcement is to be placed, depending on the number of shear reinforcement bars to be held.
  • Another possible holding method is to magnetically attach the shear reinforcement bars using magnets placed at a specified interval.
  • the magnets may be permanent magnets or electromagnets.
  • the position of the electromagnets must be adjusted to match the interval (pitch) of the shear reinforcement bars to be placed, so it is preferable to place multiple electromagnets and set the magnetic attachment position by selectively passing current through them.
  • core reinforcement bars can be held together with the ties by previously connecting (tying or welding) them to the ties, etc.
  • the main reinforcement can be transported by utilizing the gaps (pitch spaces) formed between the installed shear reinforcement.
  • the main reinforcement support parts can be raised and lowered through the gaps between the shear reinforcement, and when transporting the main reinforcement (inserting it inside the shear reinforcement), the main reinforcement is partially supported by the main reinforcement support parts distributed in several places while the main reinforcement is advanced by the main reinforcement delivery part, making it possible to transport it.
  • the installation interval (pitch) of the shear reinforcement changes according to the reinforcing bar arrangement data to be assembled, so the main reinforcement support parts are necessarily provided so that they can be moved to be placed in the gaps between the shear reinforcement.
  • many main reinforcement support parts are prepared in advance so that the location and number of support can be selected according to the length and weight of the main reinforcement, and a part or all of these selected from them are used to support the main reinforcement.
  • a slider For transporting the shear reinforcement and sending out the main reinforcement, a slider is provided that can move back and forth between the storage area and the assembly area.
  • This slider By providing this slider with a gripping part that has the function of gripping the rebar, it is possible to move the shear reinforcement and main reinforcement a specified distance while gripping them, and by controlling the distance of movement, it is possible to transport them to the position where they are to be supplied.
  • These sliders with gripping parts may be installed separately for the shear reinforcement and the main reinforcement, but since the timing for transporting both is different, the same slider may be used for both.
  • a posture adjustment area can be formed between the storage area and the assembly area to change the posture of the reinforcing bars to a desired state depending on the type of reinforcing bars during transportation, and at least the reinforcing bar transport unit can be configured to transport the shear reinforcing bars via the posture adjustment area and to enable the posture of the shear reinforcing bars to be changed in the posture adjustment area based on a control signal from the control means.
  • the shear reinforcement is transported to the assembly area via the posture adjustment area, so the posture of the shear reinforcement removed from the storage area can be changed as needed during transport.
  • the posture of the shear reinforcement removed from the storage area can be changed as needed during transport.
  • tie bars or stirrups they can be inverted to adjust the position of the hooks. It is also possible to abut the core bars at a specified position on the tie bars, etc., and then perform a process of joining (tying or welding).
  • control means can be configured as a mobile terminal
  • the transport means and the connecting means are each capable of transmitting and receiving information to and from the mobile terminal
  • the mobile terminal can be configured to store the design information, calculate the control information, output control signals based on the control information to the transport means and the connecting means, input outgoing information transmitted from the transport means and the connecting means, and store the outgoing information as work progress information.
  • the transport means and connecting means which are the main components of the rebar assembly device, can send and receive signals to and from a mobile terminal, and therefore operate based on control signals output from the mobile terminal.
  • Transmission and reception can be wired or wireless, and because it involves sending and receiving data, it can also be used outside of a factory (such as at a construction site for a building, etc.).
  • a factory such as at a construction site for a building, etc.
  • it becomes possible to distinguish and appropriately select the group of rebars to be assembled (whether they are columns or beams, or which parts of the columns or beams they are, etc.) according to the progress of construction at the construction site.
  • the mobile terminal can input the transmitted information and store it as work progress information, making it possible to manage it as a so-called log.
  • control means may be composed of a cloud server and a mobile terminal
  • the transport means and the connecting means are each provided so as to be capable of transmitting and receiving data between the mobile terminal
  • the cloud server stores the design information, calculates the control information, and stores the control information
  • the mobile terminal receives the control information stored in the cloud server, outputs control signals based on the control information to the transport means and the connecting means, inputs information transmitted from the transport means and the connecting means, and stores the information as work progress information.
  • the system can be used outside the factory.
  • the mobile device can receive only the necessary control information, reducing the load on the mobile device.
  • the design information can be information subdivided for each work process, and the control information can be calculated for each work process. If the control information is calculated in the cloud server, the mobile terminal can be configured to obtain the control information for each work process stored in the cloud server individually for each work process.
  • the information contained in the design information is subdivided into work processes determined by information on location, type, construction sequence, etc., and the control information is calculated in advance for each subdivided design information, making it possible to immediately start rebar assembly for the required work process.
  • Each subdivided design information or control information is individually assigned an index, and the desired information can be retrieved from the stored information using the index as a marker. If the index is linked to a barcode, it may be possible to easily retrieve the information by reading the barcode.
  • control information is calculated based on the reinforcing bar arrangement information contained in the design information of a building, etc., and the transport means and connecting means are controlled based on the results of this calculation, so that the reinforcing bars can be assembled in a state that is faithful to the design information of the building, etc.
  • these processes can be automated.
  • the present invention employs a method in which the shear reinforcement bars are placed first and then the main reinforcement bars are inserted, which makes it possible to effectively utilize the gaps (pitch space) between the shear reinforcement bars and quickly form the intersection state between the two.
  • connection by the connecting means can be immediately started with the main reinforcement bars inserted inside the shear reinforcement bars.
  • the rebar assembly device only needs to be set up so that it can send and receive data to and from the mobile terminal. It is also possible to install the rebar assembly device outside the factory (e.g., at a construction site) and operate the main components, the transport means and connecting means, by inputting only the signals output from the mobile terminal.
  • the present invention has a configuration for calculating control information based on rebar arrangement information contained in design information for buildings, etc., it is possible to verify the assembly state in virtual space by using the various pieces of information obtained.
  • AR Augmented Reality
  • the adoption of AR (Augmented Reality) technology makes it possible to visually verify the augmented reality using AR goggles and a mobile AR application (visualizing the existing part and the rebar group to be assembled at the same time).
  • a 3D scanner it is possible to verify or visually confirm by combining 3D data of a real object under construction with data after assembly.
  • FIG. 1 is an explanatory diagram showing an entire assembly device according to an embodiment of the present invention
  • FIG. 2 is an explanatory diagram showing the configuration of one block that constitutes the assembly device.
  • FIG. 4 is an explanatory diagram illustrating a conveying means.
  • FIG. 1 is an explanatory diagram illustrating a method for retaining shear reinforcement bars.
  • FIG. 4 is an explanatory diagram illustrating a coupling means.
  • FIG. 2 is an explanatory diagram illustrating the configuration of a control means.
  • FIG. 2 is an explanatory diagram showing the assembled state of the reinforcing bar group.
  • FIG. 13 is an explanatory diagram showing the state of the intersection of reinforcing bars.
  • FIG. 1 is an explanatory diagram showing the state of shear reinforcement bars and core bars.
  • FIG. 10 is an explanatory diagram illustrating a state in which a core bar is held and a guide portion for holding the core bar.
  • FIG. FIG. 13 is an explanatory diagram showing a modified example of the control means.
  • FIG. 13 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.
  • Fig. 1 is a schematic diagram of an embodiment of a reinforcing bar assembly device according to the present invention. As shown in this figure, this embodiment is constructed by lining up a number of blocks BL, each of which is made up of a number 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 that order. At the very end, a waiting area 4 for transport means 8 and 9, which will be described later, is provided.
  • an upper connecting means 5 and lower connecting means 6 and 7 are arranged in the assembly area 1.
  • the lower connecting means 6 and 7 also function as part of the main reinforcement transport means, as described below.
  • Storage area 3 has an appropriate amount of space, and can store shear reinforcement bars SM1 and core bars SM2 at the top, and main reinforcement bars SM3 at the bottom. Shear reinforcement bars SM1 and core bars SM2 are stored suspended and aligned at a specified height, and main reinforcement bars SM3 can be stored placed on the frame FL of the block BL.
  • the posture adjustment area 2 is disposed between the assembly area 1 and the storage area 3, and ensures an appropriate amount of space. Details will be described later, but the conveying means 8, 9 are provided so that they can rotate when the posture (orientation) of the shear reinforcement SM1, core reinforcement SM2, etc. is changed while the conveying means 8, 9 is holding it. Therefore, it can be omitted if there is no need to change the posture (orientation) of the shear reinforcement SM1, core reinforcement SM2, etc.
  • the waiting area 4 is a waiting space when the operation of the transport means 8, 9 is not required, and serves as the starting point (origin) when controlling the amount of movement.
  • the starting point may be set in the storage area 3, and the waiting area 4 may be omitted when the starting point is the position where the transfer of the shear reinforcement SM1, the core reinforcement SM2, etc. begins.
  • rails LD1, LD2, LU1, LU2 are provided at appropriate locations on each block BL that constitutes the rebar assembly device to guide the movement direction of the connecting means 6, 7 and the transporting means 8, 9.
  • the upper frame F of the block BL is provided with a pair of two rails LU1, LU2 for the upper connecting means 6 and the transporting means 8, 9, allowing both means 6, 8, 9 to move while straddling both rails LU1, LU1,
  • the lower frame is provided with a pair of two rails LD1, LD2 for the lower connecting means 7, allowing said means 7 to move while straddling both rails LD1, LD2.
  • each of the rails LD1 to LU2 can be installed on the cross members of the frame FL that constitutes the block BL. Furthermore, by using these rails LD1 to LU2 as linear guides, the individual connecting means 6, 7 and conveying means 8, 9 can be moved by linear motion.
  • FIG. 2 shows one block BL.
  • Each block BL is basically configured as a cube with a lower cross frame FL1 that forms the foundation, an upper cross frame FL2, and multiple support frames FL3 that are erected vertically.
  • the coordinate system can be established with the length direction X as the X-axis, the width direction Y as the Y-axis, and the height direction Z as the Z-axis.
  • transportation to the construction site and installation and connection at the construction site can be simplified.
  • the horizontal frames FL2a and FL2b that are arranged in the X direction of the upper horizontal frame FL2 function as a base for providing the aforementioned rails LU1 and LU2, and rails LU1 and LU2 of the same length as the horizontal frames FL2a and FL2b can also be installed in advance.
  • auxiliary frames FL4a and FL4b are provided in the vicinity of the lower horizontal frame FL1 and are arranged parallel to the horizontal frame FL1, and function solely as a base for the rails LD1 and LD2 to be installed below. Rails LD1 and LD2 can also be installed in advance on these auxiliary frames FL4a and FL4b.
  • each of the rails LD1 to LU2 is aligned with the length direction X of the block BL, and by connecting multiple blocks BL of the same type in the length direction X, the rails LD1 to LU2 are also continuous, making it possible to obtain the required length. Also, if the rails LD1 to LU2 do not need to be continuous (there are unnecessary areas), it is possible to prepare blocks BL of the same type in which one of the rails LD1 to LU2 is not installed, and to select the blocks BL appropriately to make them continuous.
  • the length dimension L, width dimension W, and height dimension H of the blocks BL in the above configuration can be adjusted as appropriate depending on the reinforcement information to be assembled, but they may also be configured to have a constant size with ample room to allow for the assembly of rebar groups of various sizes.
  • the length dimension L can be 1m, assuming that multiple blocks BL will be connected, the width dimension W can be 2m to ensure sufficient space inside the device, and the height dimension can be 3m.
  • FIG. 3 is a perspective view showing an example of two types of conveying means 8, 9.
  • the figure shows both conveying means 8, 9 as conveying in the same conveying direction C, and the power supply system (power cable, etc.) for the driving device installed individually is omitted.
  • both 8, 9 are equipped with sliders 81a, 81b, 91a, 91b that can slide in the longitudinal direction X (X-axis direction) along rails (linear motion guides) LU1, LU2 installed on upper frames FL2a, FL2b, respectively, and frames 82, 92 are suspended so as to straddle these sliders 81a to 92b.
  • Motors 83, 93 are provided on one of the sliders 81a, 91a, and driving forces for sliding along the rails LU1, LU2 are applied.
  • a second linear motion guide is formed in the frames 82, 92, and the transport bases 84, 94 are slidable in the axial direction Y (Y-axis direction) of the guide.
  • One of the conveying means 8 is an example of a device for conveying the shear reinforcement SM1. Therefore, the lifting section 85 can be raised and lowered by an actuator installed on the conveying base 84. In this case, a Zip Chain Actuator (registered trademark) or the like can be used as the actuator, but other actuators can be used as appropriate.
  • the lifting section 85 is provided with a horizontal arm 86 via a motor or the like as appropriate, and a vertical arm 87 is provided at its tip.
  • the horizontal arm 86 can be rotated around the center of the lifting section 85 by the operation of a motor or the like, and the vertical arm 87 also rotates at the same time when the horizontal arm 86 rotates.
  • Both arms 86, 87 are provided with chucks 88, 89 that can slide in the axial direction, and are configured to be able to grip a part of the shear reinforcement at an appropriate position.
  • the chuck 88 of the horizontal arm 86 grips a horizontal piece of rebar at the top
  • the chuck 89 of the vertical arm 87 grips a vertical piece of rebar at the side.
  • the rotation of the lifting unit 85 rotates within the XY plane about the Z axis, so that the horizontal arm 86 changes its orientation in the longitudinal direction and the vertical arm 87 changes its position around the axis.
  • the gripping by the chucks 88 and 89 of both arms 86 and 87 maintains the rectangular rebar with its two opposing sides vertically and horizontally, while only changing its posture (position and direction).
  • the other conveying means 9 is exemplified as a device solely for conveying the core bar SM2.
  • the lifting section 95 can be raised and lowered by an actuator installed on the conveying base 94.
  • An example of the actuator in this case is a Zip Chain Actuator (registered trademark).
  • the lifting section 95 is provided with a rotating section 96 that is linked to a motor or the like, and a chuck 97 is provided on part of the rotating section 96.
  • the rotating section 96 rotates in the XY plane around the Z axis, and the chuck 97 can be rotated around the base by another motor or the like, so that the shaft part of the core bar other than the hook can be gripped, and the posture can be changed by rotating and swiveling while gripped.
  • Each of the above-mentioned transport means 8, 9 can be rotated to a predetermined angle and slid along rails (linear motion guides) LU1, LU2 installed on the upper frames FL2a, FL2b, to transport the shear reinforcement or core reinforcement in a predetermined position to a predetermined position.
  • rails linear motion guides
  • servo motors are used as the driving devices (motors) for driving the respective movements, rotations, etc., and the number of rotations is detected when a driving force is applied, and the amount of movement and the angle of rotation, etc. can be calculated from the number of rotations.
  • batteries or general-purpose wired cables can be used, but this is omitted as it does not require special explanation.
  • the shear reinforcement is supplied to the assembly area 1 by the conveying means 8, but in order to allow the supply of the main reinforcement to be performed after the supply of the shear reinforcement, it is necessary to hold the shear reinforcement supplied first in a predetermined position and in a predetermined state.
  • the orientation of the shear reinforcement is exemplified as being, in principle, such that one set of two opposing sides forming a rectangle is kept horizontal and the other set of two opposing sides is kept vertical. Therefore, in order to hold the shear reinforcement while maintaining the above orientation, for example, a method using a holder as a physical means is available.
  • the retainer shown in Figure 4 is shown.
  • This retainer is structured to simultaneously hold the periphery of the apex angles SM11 and SM12 located on both sides of the base portion SM1a of the shear reinforcement SM1 to be held.
  • the retainers 10a and 10b shown in the figure are of the same shape, but are shown installed in an inverted state, but the retainers 10a and 10b may be configured to have mutually symmetrical shapes.
  • Each retainer 10a, 10b has grooves 11a, 12a, 11b, 12b into which the reinforcing bar components (two sides) located on both sides of the vertices SM11, SM12 can be inserted, and these are connected by connecting parts 13a, 13b, which are formed in an offset state deviated from the axis of the shear reinforcement SM1.
  • the reason that the connecting parts 13a, 13b are in an offset state is so as not to impede the function of the connecting means (binding means, etc.) when connecting (binding, etc.) with the main reinforcement.
  • the connecting parts 13a, 13b may be curved in addition to being connected in a straight line, and may be connected in a shape other than the offset state as long as the shape exposes the connecting part (intersection) with the main reinforcement.
  • the sides (reinforcing bar components) SM1a, SM1b located on both sides of one apex angle SM11 of the shear reinforcement SM1 can be held together by simultaneously engaging them into the engagement grooves 11a, 12a of one retainer 10a. Simultaneous engagement of the two sides SM1a, SM1b into both engagement grooves 11a, 12a is achieved by lowering the retainer 10a from above, first engaging the vertical side SM1b into the side engagement groove 12a, and then further lowering it so that the base side SM1a can be engaged into the lower engagement groove 11a, making simultaneous engagement possible in this state.
  • the sides SM1a, SM1c located on both sides of the other apex angle SM12 can be held together by the other retainer 10b. In this way, by simultaneously holding the areas near the apex angles SM11 and SM12 on both sides of the base SMa of the shear reinforcement SM1, the shear reinforcement SM1 is held upright in the specified position without tilting.
  • each retainer 10a, 10b is movable along the rails 14a, 14b.
  • the rails 14a, 14b are provided with a plurality of retainers 10a, 10b in advance, and the retainers are arranged at their respective predetermined positions by sliding along the rails 14a, 14b. Since the shear reinforcement SM1 should be installed at a predetermined interval, the retainers 10a, 10b are arranged at the predetermined interval, and spacers may be arranged between the retainers 10a, 10b to maintain the interval constant. The spacers may be mounted on the rails 14a, 14b, or may be configured to be attached to each retainer 10a, 10b.
  • the rails 14a, 14b for allowing the retainers 10a, 10b to slide are mounted on another rail 15 arranged in a perpendicular direction, and are made slidable along this rail 15.
  • the retainer mounting rails 14a, 14b along this rail 15 the mutual positions can be moved apart or closer to each other to accommodate the dimensions.
  • a slider (not shown) is installed in the rail, and by providing a stopper to stop the sliding of this slider, the arrangement state at each specified position is maintained.
  • FIG. 5 is a perspective view showing an example of two types of fastening means 5, 6, and 7 arranged separately above and below.
  • the fastening means illustrated here are all fastening means that enable fastening by fastening, and hereinafter the fastening means may be referred to as fastening means, and a fastening machine is illustrated as an example of a fastening device.
  • the figure omits the support frame FL3, but the upper fastening means 5 and the lower fastening means 6 and 7 are arranged separately above and below by the support frame FL3.
  • the upper binding means is able to slide in the longitudinal direction Y (X-axis direction) of the rails by means of sliders 51a and 51b attached to rails (linear motion guides) LU1 and LU2 installed on the upper frames FL2a and FL2b.
  • a frame 52 is suspended so as to straddle both sliders 51a and 51b, and a driving force for sliding is applied by a motor 53.
  • a second linear motion guide is also configured in the frame 52, allowing the binding base 54 to slide in the axial direction Y (Y-axis direction) of the guide.
  • An actuator is installed in the binding base 54, allowing the lifting section 55 to be raised and lowered.
  • a rotating section 56 is provided at the bottom of this lifting section 55 via a suitable motor or the like, allowing it to rotate in a horizontal plane (XY plane).
  • a binding machine 57 is installed on this rotating section 56, allowing the binding of rebar. Note that relative to the rotating section 56, the binding machine 57 can rotate around a horizontal axis, allowing the direction of the tip of the binding machine 57 to be changed.
  • the sliders 51a, 51b can be moved in the X direction and the binding base 54 can be moved in the Y direction, allowing the lifting unit 55 to move the binding machine 57 to a predetermined position in the XY plane. Then, by raising and lowering the lifting unit 55, it is possible to move the binding machine 67 to the target position.
  • the orientation of the binding machine 57 can be freely changed by rotating the swivel unit 56 and rotating it around the horizontal axis, so it can be adjusted to the orientation required for binding.
  • binding machine 57 it is possible to move the binding machine 57 to the binding positions on the top and left and right sides and bind them appropriately.
  • a so-called automatic binding machine can be used as the binding machine 57, and for example, a "Twin Tire” manufactured by Max can be used. This device places two claws on both sides of the rebar, suspending a binding wire between the two claws and completing the binding.
  • the lower binding means 6, 7 are two similarly configured units arranged in parallel. These binding means 6, 7 are installed on rails (linear motion guides) LD1, LD2 installed on auxiliary frames FL4a, FL4b. Sliders 61a, 61b, 71a, 71b are attached to these rails LD1, LD2, allowing them to slide in the longitudinal direction Y (X-axis direction) of the rails. Each has a frame 62, 72, which is suspended so as to straddle the sliders 61a, 61b, 71a, 71b on both sides, and a driving force for sliding is applied by a motor 63, 73.
  • a second linear motion guide is also configured in the frame 52, allowing the binding bases 64, 74 to slide in the axial direction Y (Y-axis direction) of the guide.
  • a binding machine 65, 75 is installed on the binding base 64, 74, and the binding machine 65, 75 can be moved to the binding position by changing the position of the binding base 64, 74.
  • binding machines 65 and 75 used here can also use the "Twin Tire” manufactured by Max.
  • a servo motor can be used as the drive device (motor) for driving the movement etc. of these bundling means 5, 6, 7.
  • the amount of movement etc. can be calculated from that number of rotations.
  • the upper bundling means 5 may be operated as a bundling (connecting) means for integrating the shear reinforcement and the tangential bars. That is, the two transport means 8, 9 mentioned above are operated simultaneously to temporarily transport the shear reinforcement and the tangential bars to the posture adjustment area 2, and after maintaining the postures of both in a specified state in this posture adjustment area 2, the upper bundling means 5 is moved to the posture adjustment area 2, enabling bundling in the posture adjustment area 2.
  • the tangential bars connected to the shear reinforcement by bundling can be inevitably supplied to the specified position by supplying the shear reinforcement.
  • ⁇ Examples of means for transporting main reinforcement> an example of a main reinforcing bar transport means that can be used in this embodiment will be shown.
  • a part of the main reinforcing bar transport means (transport auxiliary unit) is mounted on the lower bundling means 6, 7 in Fig. 5.
  • the driving force for transporting the main reinforcing bars is provided by the above-mentioned transport means 8, 9.
  • the transport means is composed of the lower bundling means 6, 7 and the transport means 8, 9.
  • the upper part of the binding base 64, 74 constituting the lower binding means 6, 7 described above has a V-shaped conveying auxiliary part 66, 76 having two conveyor rollers.
  • the main reinforcement is supported at two points on both sides below.
  • the conveying means 8, 9 that apply the driving force to the main reinforcement are provided with chucks 88, 89, 97 as described above, and these chucks 88, 89, 97 are appropriately selected to grip and transport the main reinforcement.
  • the two types of conveying means 8, 9 are gripped and transported, and released from gripping and retreated sequentially and alternately, forcing the main reinforcement to move a predetermined distance, which acts as a driving force (propulsion force) for the main reinforcement toward the assembly area 1.
  • a driving force propulsion force
  • the conveyor rollers that make up the transport auxiliary parts 66, 76 do not have to be two V-shaped rollers, but may be a single flat roller. If a flat roller is used, guide plates or the like should be provided on both sides to prevent the main reinforcement from rolling.
  • the transport auxiliary parts 66, 76 are equipped with an axis that can be expanded and contracted by an actuator, and are normally kept in a contracted state. When transporting the main reinforcement, they can be expanded appropriately according to the position of the main reinforcement in the height direction (Z direction). Since the main reinforcement should be placed inside the shear reinforcement, the transport auxiliary parts 66, 76 are adjusted in size to be able to appear and disappear inside through the gaps in the shear reinforcement transported by the shear reinforcement transport means 8, 9.
  • the spacing between the shear reinforcement is about 60 mm between the centers even in the narrowest case, and therefore the gaps formed between the shear reinforcement are about 50 mm, so the outer diameter dimensions of the conveyor rollers and axis parts of the transport auxiliary parts 66, 76 are adjusted to less than 50 mm.
  • the conveying means is also used as the bundling means 6, 7.
  • the bundling is performed at the bottom of the shear reinforcement. Therefore, when bundling the main reinforcement at that position, there is a method in which at least two conveying auxiliary parts 66, 76 support the main reinforcement and the remaining bundling means (not shown) bundling it.
  • the role of conveying auxiliary can be completed, and in this state, it can be operated as the bundling means 8, 9.
  • the main reinforcement when the main reinforcement is supported at an appropriate height, bundling at the bottom of the shear reinforcement is not necessary, so it can function solely as the conveying auxiliary parts 66, 76 for the main reinforcement. In this case, the main reinforcement is maintained supported at a specified height until bundling by the upper bundling means 5 is completed.
  • the conveying means 8, 9 are used to convey the main reinforcing bars (drive units), the number of rotations when the driving force is applied can be detected by a similar servo motor, and the amount of movement, etc. can be calculated from that number of rotations, making it possible to control the conveying distance of the main reinforcing bars (the position of the main reinforcing bars after conveyance).
  • a mobile terminal 100 as shown in FIG. 6 can be used.
  • 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 provided in the tablet PC can be used to receive external information and transmit processed control information.
  • the external information can be information stored in a cloud server or the like, and can be transmitted and received via a network line.
  • transmission and reception can be performed between an external device via a network line by using, for example, an LTE (Long Term Evolution) router 120, and information can be transmitted and received between the mobile terminal 100 and each of the above-mentioned operating means 5 to 9.
  • the mobile terminal 100 outputs a control signal to the operating means 5 to 9 capable of transmitting and receiving, and can also be used to detect the operating status (operating state) of the operating means 5 to 9.
  • This type of mobile terminal is equipped with a processing device 200 as a control means, which includes an information acquisition unit (in this embodiment, a rebar information acquisition unit) 221, a storage unit 222 such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) or other memory, and a processing unit (calculation unit) 223. It also includes output units 224, 225 for outputting the calculation results.
  • a processing device 200 includes an information acquisition unit (in this embodiment, a rebar information acquisition unit) 221, a storage unit 222 such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) or other memory, and a processing unit (calculation unit) 223. It also includes output units 224, 225 for outputting the calculation results.
  • the rebar information acquired via the receiving unit 111 includes rebar arrangement data in design information for buildings and the like stored as electronic data, or electronic data that reflects correction values to avoid interference between rebars. There is also information about rebars (rebar arrangement data) as attribute information included in BIM or CIM. This rebar information includes detailed information such as the type of rebar group (rebar diameter and dimensions, etc.) to be used when constructing columns and beams, as well as the position and number at which they should be placed, and the desired rebar assembly can be achieved by arranging various rebar groups based on this information.
  • the receiving unit 111 can receive from the outside information about the building to be constructed, such as overall information and reinforcing bar arrangement information, and store it in the memory unit 222.
  • the construction order of the columns or beams to be constructed is identified from the overall information, and detailed information about the reinforcing bar groups to be assembled is identified from the reinforcing bar arrangement information. Since both the overall information and the reinforcing bar arrangement information are design information, by identifying a column, beam, etc. as a specific construction part, drawing information for that column, etc. can be obtained.
  • the processing unit (calculation unit) 223 calculates assembly information for various reinforcing bars according to the positions where the main bars, shear reinforcement bars, and tangential bars should be placed, from drawing information related to the reinforcing bars for specific columns, etc. Specifically, it calculates position information for prioritizing the placement of shear reinforcement bars and tangential bars, with the principle that the main bars should be inserted last, and calculates the operating sequence and transport distance of the transport means 6 to 9 mentioned above. At the same time, it calculates the transport distance of the main bars, and quantifies the positions of the reinforcing bars to be assembled as coordinates.
  • the information on the calculated results is temporarily stored in the memory unit 222 and is output via the output units 224 and 225 in accordance with the operating sequence.
  • the order of output is determined by setting a priority order in advance, and the output is sequentially output according to the priority order.
  • the first output unit 224 outputs to the conveying means, and the second output unit 225 outputs to the bundling means. In particular, when the outputs are not overlapping, they may be output via a single output unit.
  • the output information can be output as a control signal.
  • the conveying means 6 to 9 and bundling means 5 to 7 are configured as a group of client devices 300, with one PLC (Programmable Logic Controller) as a representative (representative PLC) 130, which receives a control signal (control information) output from the mobile terminal 100 via the LTE router 120 and transmits it to the individual PLCs 301 1 to 301 5 of the client devices 300.
  • PLC Programmable Logic Controller
  • an access point may be provided to transmit information wirelessly, for example, by Wi-Fi.
  • Wi-Fi Wireless Fidelity
  • the reason for providing the representative PLC 130 is that a case in which multiple client devices 300 are operated at the same time is that providing the representative PLC 130 to each client device 300 makes it possible to manage them by IP addresses or the like. Therefore, when only control of a single client device 300 is assumed, the representative PLC 130 may be omitted.
  • the individual PLCs 301 1 to 301 5 provided for the operating means 5 to 9 of the client machine 300 receive a control signal (control information), and the operating means 5 to 9 connected to the client machine 300 execute a predetermined operation based on the control signal.
  • the operating status of the operating means 5 to 9 is input from the individual PLCs 301 1 to 301 5 to the mobile terminal 100 via the representative PLC 130. This operating status can be used to organize the operating sequence of the operating means 5 to 9 that operate individually, and can also be used to analyze the progress of the work.
  • the progress information of the work can be stored separately in the storage unit 222 and managed as a so-called log (operation log).
  • the operation log can be used to adjust the progress speed of the reinforcing bar work according to the construction status of the building, etc., and can also be used as verification data when a malfunction of the operating means 5 to 9 or a defect in the reinforcing bar state is found.
  • FIG. 7 shows an example of a reinforcing bar group showing an assembly state based on the reinforcing bar arrangement information of a column.
  • the reinforcing bars for constructing a column are configured so that the main reinforcing bars SM3 are vertical and the shear reinforcing bars SM1 are arranged around them.
  • the whole is oriented horizontally and the main reinforcing bars SM3 are assembled in the horizontal direction.
  • the rectangular plane of the shear reinforcing bars SM1 can be set to the Y-Z plane and aligned at a predetermined interval in the X-axis direction.
  • the axis of the main reinforcement SM3 is arranged horizontally. Note that the assembly state based on the reinforcing bar information (reinforcing bar arrangement information) for the beam is such that the main reinforcement SM3 is horizontal from the beginning, so it can be assembled in the same manner as above.
  • the above-mentioned retainers 10a and 10b can be used to mechanically set the shear reinforcement SM1 upright.
  • magnetic means can be provided below and to the sides of the shear reinforcement SM1, and the lower and sides of the shear reinforcement SM1 can be magnetically attached to position it.
  • the magnetic means can be configured by magnets arranged intermittently according to the installation intervals of the shear reinforcement SM1.
  • the magnetic means can be configured to arrange multiple permanent magnets at appropriate positions, or it can be configured to magnetize the shear reinforcement SM1 at appropriate intervals by passing electricity through an electromagnet at a specified position.
  • the shear reinforcement SM1 is formed by bending a rod-shaped member into a rectangle, with the straight lines constituting the four sides (reinforcing bar components) SM1a to SM1d.
  • a typical shear reinforcement SM1 is formed by bending the tip of a rod-shaped member to form a hook F.
  • This hook F can be a 90-degree hook (bent at 90 degrees) or a 135-degree hook (bent at 135 degrees), but a 135-degree hook is shown here.
  • hooks F are required to be aligned by reversing the left and right (alternately arranged in the Y-axis direction) so that they are not aligned in the same position (not in a line in the X-axis direction). Therefore, they are supplied while adjusting their orientation.
  • the transport means 8 for transporting the shear reinforcement SM1 receives the shear reinforcement SM1 from the storage area 3, adjusts the posture of the shear reinforcement SM1 in the posture adjustment area 2 on the way to the assembly area 1, transports it to a predetermined position according to the transport distance, and lowers it so that it is held by the pre-arranged holders 10a, 10b. In this way, the required number of shear reinforcement SM1 are aligned and held in sequence from the front, completing the arrangement of the shear reinforcement SM1.
  • the main reinforcement SM3 since the main reinforcement SM3 is placed in contact with the inside of the rectangular shear reinforcement SM1, it can be inserted from behind the last shear reinforcement SM1 in the axial direction (X direction) so as to pass through the inside of the shear reinforcement SM1 that has already been placed. Note that since the main reinforcement SM3 does not have a member to hold it, it is transported one by one and held in place by completing the connection with the shear reinforcement SM1 at the specified position.
  • the main reinforcement SM3 is held (connected) by tying the intersections with the main reinforcement inserted inside the pre-aligned shear reinforcement SM1, and the entire reinforcing bar is assembled.
  • the tying work is carried out by tying means 5, 6, and 7.
  • Figure 8 shows the state of the intersections between each component SM1a-SM1d of the shear reinforcement SM1 and the main reinforcement SM3.
  • the axis of the main reinforcement SM3 is in the X direction, while the axes of the rebar components SM1a and SM1b arranged above and below are in the Y direction, so they cross in the X and Y directions.
  • this state of intersection is shown as the intersection O of the mutual center lines (axes), and the outer diameters D1 and D2 of both rebar components SM1 (SM1a, SM1b) and SM3 are presented as separate drawing information.
  • the actual intersection point is the point of abutment P on the outer periphery of both reinforcing bar components SM1 (SM1a, SM1b) and SM3, which is a different point from the intersection point O of the center lines in the drawing information. Therefore, the coordinates of the point of abutment P are calculated using the information on the outer diameters D1, D2 from the intersection point O in the drawing information.
  • the coordinates of the intersection point O (or point of abutment P) in the axial direction (X direction) of the main reinforcement SM3 are the distance L from the tip to the intersection point O, and can be obtained directly from the drawing information.
  • the binding wire is hung diagonally (binding is done diagonally with respect to both axes), so the binding direction is inclined by 45 degrees from the X axis (or Y axis).
  • the "Twin Tire” manufactured by Max Co., Ltd. as a binding machine for binding, for example, in order to bind the intersection of the upper reinforcing bar component SM1a and the main reinforcing bar SM3 (see FIG.
  • the binding machine is placed above the intersection and rotated by 45 degrees from the X axis (or Y axis), and two claws are placed on both sides of the contact point P, so that the binding wire can be bound diagonally. Note that when binding the intersection of the lower reinforcing bar component SM1b and the main reinforcing bar SM3 (see FIG. 8(b)), the binding machine is placed below the intersection. Only in this case will the lower binding means 6, 7 be used.
  • the intersection point in the drawing information is the intersection point of the center lines, so the coordinates of the contact point are determined by the outer diameters of the main reinforcement SM3 and the rebar components SM1c, SM1d.
  • the two claws are oriented horizontally and rotated 45 degrees around the X-axis (or Z-axis), and two claws are positioned on either side of the contact point, allowing for diagonal binding.
  • the auxiliary transport parts 66, 76 for the main reinforcement provided on the lower bundling means 6, 7 must be extended upward to support the main reinforcement SM3 at the top. Therefore, bundling the lower main reinforcement SM3 first will interfere with the transport and support of the upper main reinforcement SM3. Therefore, bundling is performed in sequence, starting from the upper main reinforcement SM3.
  • the core bars SM2 are arranged together with the shear reinforcement bars SM1, and are finally connected (tied) to the main reinforcement bars SM3.
  • the shear reinforcement bars SM1 are arranged around the main reinforcement bars SM3, while the core bar SM2 is placed across a pair of opposing main reinforcement bars SM3, and is arranged to cross or cross the rectangular interior of the shear reinforcement bars SM1.
  • the core bars SM2 are arranged adjacent to the shear reinforcement bars SM1, with a part of the core bar being in contact with the shear reinforcement bars SM1.
  • the shear reinforcement bars SM1 and the core bars SM2 in advance, and to arrange the shear reinforcement bars SM1 so that the core bars SM2 are necessarily arranged.
  • the core bars SM2 are not arranged for all the shear reinforcement bars SM1, but one core bar is arranged for each of several shear reinforcement bars SM1.
  • the direction of the axis of the core line SM2 (the axis of the central part excluding the hooks at both ends) is not constant (different between (a) and (b) of FIG. 9).
  • FIG. 9(a) there are cases where the core bars SM2 are arranged so as to cross the shear reinforcement bars SM1.
  • Such core bars SM2 are suspended from a set of main reinforcements SM3 arranged laterally, with the axis of the central part being horizontal. Note that the figure shows an example in which one core bar SM2 is provided for every two shear reinforcement bars SM1.
  • the core bars SM2 are arranged to run vertically through the shear reinforcement bars SM1.
  • the core bars SM2 are suspended from a pair of main reinforcements SM3 arranged above and below, with their axis in the vertical direction.
  • the installation interval in this figure is also exemplified as one core bar SM2 being provided for every two shear reinforcement bars SM1.
  • the core bars SM2 are mixed, some of which cross the shear reinforcement bars SM1, and some that run vertically.
  • the two types are not installed at the same position at the same time, but are installed adjacent to different shear reinforcement bars SM1. Since the core bars SM2 arranged in this way are installed in contact with the shear reinforcement bars SM1, the aforementioned conveying means 8, 9 are arranged with the conveying means 8 for the shear reinforcement bars at the front and the conveying means 9 for the core bars at the rear (see Figure 1).
  • the conveying means 8 for the shear reinforcement bars and the conveying means 9 for the core bars grasp and convey both reinforcing bars SM1, SM2, respectively, and join them in the posture adjustment area 2.
  • the core bar transport means 9 can release the transport (gripping) and retreat to its original position, and the shear reinforcement bar transport means 8 can grip the shear reinforcement bar SM1 and place it in the specified position, allowing both reinforcing bars SM1 and SM2 to be supplied simultaneously.
  • the hooks SM2b, SM2c at both ends of the core bar SM2 are connected (tied) to the shear reinforcement bar SM1.
  • the core bar SM2 is formed by bending both ends of a single rod-shaped member, with a straight main body component SM2a and hooks SM2b, SM2c formed on both ends.
  • the hooks SM2b, SM2c of the core bar SM2 also come in 90-degree hooks (bent at 90 degrees) and 135-degree hooks (bent at 135 degrees), but the figure shows an example of a 135-degree hook.
  • the aforementioned conveying means 8 and 9 are used to bring the core bar SM2 into contact with the shear reinforcement SM1 in a predetermined direction and position.
  • the hooks SM2b and SM2c are brought into contact with the two lateral sides SM1b and SM1c of the shear reinforcement SM1.
  • the apex portions of the hooks SM2b and SM2c can be tied together to secure a fixed connection.
  • the core bar SM2 is connected to the shear reinforcement SM1, so by managing only the shear reinforcement SM1 and moving it to a specific position as described above, and keeping the shear reinforcement SM1 in an upright position, the core bar SM2 can be placed in the desired position.
  • the positions where each reinforcing bar should be placed and the positions of intersections can be calculated and quantified as coordinates based on the reinforcing bar group information included in the design information of a building, etc., which is created in advance.
  • the transport amount of the transport means is controlled to place the reinforcing bar group at a predetermined position, and the position of the bundling means is controlled and changed to enable bundling, so that the reinforcing bars can be assembled in a state faithful to the design information (reinforcing bar information) of the building, etc., and these assembly operations can also be automated.
  • the rebars to be assembled are those used in columns and beams, and in the above calculations, for beams, the main bars are placed horizontally as is. In contrast, for columns, the original vertical main bars are rotated 90 degrees, and calculations are performed with the main bars in a horizontal state, allowing assembly to be performed with the same coordinates as for beams.
  • the information used by the processing device 200 as the control means includes information on reinforcing bars (reinforcing bar data) as attribute information contained in BIM or CIM. Since these BIM or CIM contain all information related to the design of buildings, etc., it is possible to display the entire building and the assembly state of the reinforcing bars in a virtual space by using this information and various other information such as calculated reinforcing bar information. When displayed in such a virtual space, the state of the reinforcing bars in the virtual space can be verified.
  • AR Augmented Reality
  • AR goggles or the like which combines the real object under construction and the reinforcing bars after assembly.
  • composite data of the real object under construction and the reinforcing bars after assembly can be created in a similar manner, and can be visually confirmed and verified.
  • the above embodiment shows one example of the present invention, and is not intended to limit the present invention to the above embodiment. Therefore, the above embodiment may be partially modified and other configurations may be added. For example, the configurations of the conveying means, binding means, etc. are not limited to the examples shown in the embodiment.
  • the control means is not limited to the use of a mobile terminal as in the example, but may be any means that allows control of each means (device) as a whole while using other control devices. That is, in the above embodiment, the processing unit (calculation unit) 223 of the mobile terminal is configured to calculate the transport positions of various rebars based on the rebar arrangement information, and further to output control signals for the transport means, but this processing unit (calculation unit) 223 may also be operated by another processing device.
  • a processing device 400 provided outside the mobile terminal 10 can be used, and the coordinate information based on the reinforcing bar arrangement information included in the design information can be calculated in the cloud server 400.
  • the calculation results (coordinate information) can be received via the transmission/reception unit 111 of the mobile terminal 100, and the processing unit 223 of the mobile terminal 100 can convert them into control signals for each means (device), which can then be transmitted to each means (device) via the transmission/reception unit 111.
  • the processing unit 223 can function as a device that processes to identify the output destination from among multiple representative PLCs.
  • the cloud server 400 is provided with a reinforcing bar information acquisition unit 421, which inputs reinforcing bar information via the input unit 426, and the memory unit 422 stores the reinforcing bar information as well as the results of calculations processed by the processing unit (calculation unit) 423, which can be transmitted to the mobile terminal 100 via the output unit 425 and a network line.
  • the mobile terminal 100 inputs information via the transmission/reception unit 111, so that the input information passed through the processing unit 223 can be stored in the memory unit 222, and the stored information can be identified via the output unit 224 and transmitted from the transmission/reception unit 111 to the representative PLC 130 or an individual client machine 300.
  • the mobile terminal 100 may function as a device that does not store information, but outputs information from the cloud server 400 to the representative PLC, and transmits information sent from the client device 300 to the client server 400 via the representative PLC.
  • a smartphone or the like can also be used as such a mobile terminal 100.
  • the information received from the cloud server 400 is transmitted sequentially to the representative PLC 130 as individual information.
  • an assembly line (line 1, line 2, line 3, etc.) with multiple client machines 300a, 300b, 300c, etc. and multiple corresponding mobile terminals 100a, 100b, 100c, etc., and to configure each line so that information is sent and received via a representative PLC 130a, 130b, 130c, etc.
  • sensors may be provided as appropriate to allow the client device 300 to transmit the operating status of each of the means 5 to 9. Furthermore, by feeding back the state of installation of the rebar and the position of the rebar before binding from the sensing data from these sensors, it is also possible to perform feedback control using a program stored in an individual PLC 301.
  • Binding means (upper binding means) 6, 7 Binding means (sub-binding means) and conveying means (for main reinforcement) 8.
  • Transportation means (for shear reinforcement) 9.
  • Transport means (for core bars) 10a, 10b Holder 11a, 11b, 12a, 12b Engagement groove 13a, 13b Connection portion 14a, 14b Rail (rail with holder mounted) 15 Rail 41, 42, 43, 44 Magnetic attachment means 45, 46, 47, 48 Guide portion 51a, 51b, 61a, 61b, 71a, 71b, 81a, 81b, 91a, 91b Slider 52, 62, 72, 82, 92 Frame 53, 63, 73, 83, 93 Motor 54, 64, 74 Binding base portion 55 Lifting portion 56, 96 Swiveling portion 57, 65, 75 Binding machine 66, 76 Transport auxiliary portion 84, 94 Transport base portion 85, 95 Lifting portion 86 Horizontal arm 87 Vertical arm

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Abstract

Fournir un dispositif qui automatise l'ensemble de barres d'armature pour une colonne ou un faisceau sur la base des informations d'agencement de tiges des barres d'armature incluses dans les informations de conception concernant un bâtiment, etc. [Solution] La présente invention comprend : une région de maintien 3 dans laquelle des groupes de barres d'armature sont maintenus ; une région d'assemblage 1 dans laquelle des sections d'intersection sont liées tandis que les groupes de barres d'armature sont disposés à des positions prédéterminées ; des moyens de transport 8 et 9 qui transportent les barres d'armature de la région de maintien à la région d'assemblage ; des moyens d'attache 5, 6 et 7 qui relient les sections d'intersection où la pluralité de barres d'armature se croisent ; et un moyen de commande qui commande le moyen de transport et le moyen d'attache. Le moyen de commande comprend : une unité d'acquisition d'informations de barre d'armature qui acquiert, à partir des informations de conception, des informations relatives à l'agencement de chaque barre d'armature d'un groupe de barres d'armature à utiliser dans la construction d'une colonne ou d'une poutre ; une unité de calcul qui calcule des informations de commande qui comprennent le nombre et la distance de transport de barres d'armature à transporter de la région de maintien à la région d'assemblage, et les coordonnées des sections d'intersection mutuelles des groupes de barres d'armature ; une première unité de sortie qui délivre un signal de commande au moyen de transport sur la base des informations de commande ; et une seconde unité de sortie qui délivre un signal de commande au moyen de nouage sur la base des informations de commande calculées par l'unité de calcul.
PCT/JP2022/037038 2022-10-03 2022-10-03 Dispositif d'assemblage de barre d'armature WO2024075174A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2022/037038 WO2024075174A1 (fr) 2022-10-03 2022-10-03 Dispositif d'assemblage de barre d'armature
KR1020227037247A KR20240049107A (ko) 2022-10-03 2022-10-03 철근 조립 장치
CN202280003750.7A CN118140031A (zh) 2022-10-03 2022-10-03 钢筋装配装置

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PCT/JP2022/037038 WO2024075174A1 (fr) 2022-10-03 2022-10-03 Dispositif d'assemblage de barre d'armature

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JPS642751A (en) * 1987-06-26 1989-01-06 Taisei Corp Reinforcement assembly device
JP2008279478A (ja) * 2007-05-10 2008-11-20 Runhorn Pretech Engineering Co Ltd 角型螺旋箍成形装置及びその成形方法
JP6907759B2 (ja) * 2017-06-28 2021-07-21 株式会社大林組 鉄筋配列装置並びに鉄筋組立体及び先組鉄筋ユニットの製造方法

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JPH06218475A (ja) 1993-01-20 1994-08-09 Shimizu Corp 鉄筋組立装置
KR100413659B1 (ko) 2001-01-19 2003-12-31 안판상 구조물 고정용 하부받침판
JP2006318257A (ja) 2005-05-13 2006-11-24 Trion:Kk 鉄筋部材の構造情報の提供方法
JP5656041B2 (ja) 2007-07-30 2015-01-21 清水建設株式会社 施工図作図システム
JP5248550B2 (ja) 2010-06-04 2013-07-31 株式会社奥村組 ３次元配筋システムによる現場配筋支援方法
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Publication number Priority date Publication date Assignee Title
JPS642751A (en) * 1987-06-26 1989-01-06 Taisei Corp Reinforcement assembly device
JP2008279478A (ja) * 2007-05-10 2008-11-20 Runhorn Pretech Engineering Co Ltd 角型螺旋箍成形装置及びその成形方法
JP6907759B2 (ja) * 2017-06-28 2021-07-21 株式会社大林組 鉄筋配列装置並びに鉄筋組立体及び先組鉄筋ユニットの製造方法

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CN118140031A (zh) 2024-06-04

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