WO2024089830A1 - Dispositif de liaison de barre de renforcement dans un dispositif d'assemblage de barre de renforcement - Google Patents

Dispositif de liaison de barre de renforcement dans un dispositif d'assemblage de barre de renforcement Download PDF

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Publication number
WO2024089830A1
WO2024089830A1 PCT/JP2022/040037 JP2022040037W WO2024089830A1 WO 2024089830 A1 WO2024089830 A1 WO 2024089830A1 JP 2022040037 W JP2022040037 W JP 2022040037W WO 2024089830 A1 WO2024089830 A1 WO 2024089830A1
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WIPO (PCT)
Prior art keywords
binding
shear reinforcement
reinforcing bar
reinforcement
bars
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PCT/JP2022/040037
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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
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Priority to PCT/JP2022/040037 priority Critical patent/WO2024089830A1/fr
Publication of WO2024089830A1 publication Critical patent/WO2024089830A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F15/00—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire
    • B21F15/02—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire wire with wire
    • B21F15/06—Connecting wire to wire or other metallic material or objects; Connecting parts by means of wire wire with wire with additional connecting elements or material
    • 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
    • E04C5/18—Spacers of metal or substantially of metal
    • 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

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.
  • the technology disclosed in the above-mentioned Patent Documents 4 and 5 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 exclusively at the joints between columns and beams or slabs, and between beams and slabs, 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 object of the present invention is to provide a reinforcing bar binding device that can be used in the reinforcing bar assembly device.
  • the present invention provides a reinforcing bar assembly device that includes a storage area in which reinforcing bar groups can be stored by type, an assembly area in which reinforcing bar groups are arranged in predetermined positions while being joined at predetermined positions of intersections, a transport means for transporting desired reinforcing bars by type from the storage area to the assembly area, and a control means for controlling transport of the transport means, and that assembles reinforcing bar groups 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, with the axis of the main bar in a horizontal direction.
  • the reinforcing bar assembly device ties together the intersections of multiple reinforcing bars transported to the assembly area, and divides the shear reinforcement bar into a base component part and another component part when the shear reinforcement bar is held in the assembly area so that one of the component sides of the shear reinforcement bar, which is formed into an approximately rectangular shape, becomes the base.
  • the system includes a lower bundling part that binds the intersection between the bottom component of the shear reinforcement and the main reinforcement, an upper bundling part that binds the intersection between other components of the shear reinforcement and the main reinforcement, and an operating means for moving the lower bundling part and the upper bundling part to a predetermined position and performing the bundling operation, the lower bundling part is arranged below the bottom component of the shear reinforcement and is arranged so that it can rise at least to a position where it reaches the intersection between the bottom component and the main reinforcement, and the upper bundling part is arranged above the shear reinforcement and is arranged so that it can descend until it reaches the intersection between other components of the shear reinforcement except the bottom component and the main reinforcement, and the control means controls the movement and bundling operation of the lower bundling part and the upper bundling part by the operating means.
  • the shear reinforcement is formed into an approximately rectangular shape by two sets of two opposing parallel sides (opposing sides), and by arranging one of these sides (constituent side) to be the bottom side (bottom side constituent part), the approximately rectangular shear reinforcement can be distinguished into the bottom side constituent part and other constituent parts.
  • the main reinforcement when assembling with the axis of the main reinforcement horizontal, the main reinforcement is inserted inside the shear reinforcement (inside the approximate rectangle) and intersects with each constituent part (each side) of the shear reinforcement to form an intersection, and it is possible to distinguish and bind the intersection formed by the bottom side constituent part and the main reinforcement from the intersection formed by the other constituent parts and the main reinforcement.
  • the lower binding part that binds the intersection of the base side constituent part and the main reinforcement is located lower than the shear reinforcement, and is raised to reach the intersection and perform binding. This is because it is necessary to approach only the intersections from below the shear reinforcement while avoiding the installation structure for arranging the shear reinforcement with one side of the approximate rectangle as the base as described above and the retaining device for holding the shear reinforcement.
  • the upper tying part descends to the required position to tie them.
  • the shear reinforcement is formed into an approximately rectangular shape, but this is formed by bending a single rod-shaped member, with the bent portion forming a gentle arc, and the straight portions excluding the bent portion forming the four sides (each side component). Also, general shear reinforcement is configured so that a hook is formed by bending the tip of the rod-shaped member. Hooks include 90-degree hooks (bent at 90 degrees) and 135-degree hooks (bent at 135 degrees).
  • Main reinforcement is also placed inside the bent portion (part formed into an arc) and the hook, and an intersection is also formed here, but the intersection of the main reinforcement with the boundary portion (bent portion) between the base component and a pair of opposing sides continuing from it may be recognized as an intersection between the base component and the main reinforcement, or an intersection between another component and the main reinforcement. If either the lower binding section or the upper binding section is reachable, binding will be performed by the one, and if both are reachable, it can be determined in advance which one will be given priority for binding.
  • the reinforcing bar assembly device used in the present invention utilizes design information of buildings, etc., and as design information for this type of building, etc., in addition to the reinforcing bar 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 be used.
  • BIM Building Information Modeling Management
  • CIM Construction Information Modeling Management
  • BIM and CIM combine information on components, etc., to be added to the three-dimensional model as attribute information, which also includes information on reinforcing bars (reinforcing bar data).
  • the present invention is capable of assembling reinforcing bars based on the reinforcing bar data contained in the three-dimensional model of BIM or CIM.
  • the control means constituting the reinforcing bar assembly device appropriately performs calculations based on the above-mentioned design information and controls each device.
  • the lower binding section includes a first rail that is long in the axial direction of the main reinforcement, a first slider that can advance and retreat along the first rail, a first binding base that is supported by the first slider and is movable in a horizontal direction perpendicular to the advance and retreat direction of the first slider and movable up and down in a vertical direction, and a first electric binding machine installed on the first binding base
  • the upper binding section includes a second rail that is long in the axial direction of the main reinforcement, a first slider that can advance and retreat along the second rail
  • the first electric binding machine includes a second binding base supported by the second slider and movable in a horizontal direction perpendicular to the forward and backward movement direction of the second slider and movable up and down in the vertical direction, and a second electric binding machine installed on the second binding base
  • the first binding base is entirely or partially rotatable in forward and reverse directions around at least one axis in the vertical direction
  • the second binding base is entirely or partially rotatable in
  • the lower binding section can be positioned in a desired orientation at a desired intersection position by controlling the movement and rotation of the first binding base on which the first electric binding machine is installed.
  • the upper binding section can also be positioned in a desired position and orientation by controlling the second binding base on which the second electric binding machine is installed.
  • the first binding base constituting the lower binding section can rotate around a single vertical axis, the relative positional relationship between the axis of the main reinforcement and the intersecting direction (orthogonal direction) of the axis of the base component of the shear reinforcement can be positioned in an angular state. This makes it possible to bind the intersections that intersect in the orthogonal direction.
  • the second binding base that constitutes the upper binding part is designed to be rotatable around two axes, one vertical and one perpendicular to it, so that it is possible to adjust the orientation of the binding base when binding the intersection between the upper edge component (the edge component located on the upper edge of the rectangle) and the main reinforcement, as well as to change the orientation when binding the intersection between the side edge component (the edge component located on the upright side of the rectangle) and the main reinforcement.
  • control means controls the movement of the first and second binding bases based on information on the intersection positions between various rebars calculated from the design information, and controls the rotation angles about the single axis and the second axis, respectively, and can adjust the orientation of the electric binding machine so that the binding wire is stretched diagonally across both axes of the two rebars that intersect perpendicularly at the intersection position.
  • the arrangement information (reinforcing bar information) of the reinforcing bars used in the columns or beams of the building or structure is calculated based on the design information of the building or structure that has been created in advance, and the control unit controls the arrangement (supply) of the reinforcing bars according to the calculation results. Since the reinforcing bar information includes the position and state of the intersection, information on the intersection positions between various reinforcing bars can be obtained based on the reinforcing bar information, and the first and second binding bases can be moved from that information and controlled to rotate around each axis.
  • the position of the intersection is the position where the center lines of two reinforcing bars intersect with each other, but if the reinforcing bar diameter is reflected in this, the point where both reinforcing bars abut can be calculated as coordinate information, and the position of the intersection in the strict sense is this abutting point.
  • the state of the intersection means the axial direction of the intersecting reinforcing bars, the presence of other members, the presence of members on the device side such as retainers, etc.
  • the invention having the above configuration may further include a controller that individually controls the advancement and retreat distances of the first and second sliders, as well as the movement and rotation of the first and second binding bases.
  • control section of the assembly device controls the other components, and when encoding data is output from a servo motor for driving the rotation of the lower binding section or upper binding section, or a signal is output from a sensing sensor for detecting rebar, control can be performed while referring to the sensing data of these sensors.
  • the first and second electric binding machines can include a wire feed section for feeding out the binding wire for binding, a wire reel around which the binding wire is wound to supply the binding wire to the wire feed section, a detection section for detecting an insufficient remaining amount of the binding wire wound around the wire reel and a defective feed of the binding wire by the feed section as an abnormal state, and an output section for outputting the abnormal state detected by the detection section to the controller.
  • This electric binding machine is basically a machine that appropriately feeds out a long binding wire wound on a wire reel for continuous binding. In normal operation, it feeds out a specified length of wire, receives the fed wire and binds it, but it can detect a case where the wire is not fed out as an abnormality. Possible causes for the wire not being fed out include an insufficient remaining length of wire, as well as the wire being clogged in the feed section, etc.
  • the detection section can detect the load on the feed roller arranged in the feed section, and detect that the wire is not being fed out if the magnitude of the load does not exceed a threshold (the load has dropped significantly).
  • the first and second electric binding machines can be configured to be detachably installed on the first and second binding bases, respectively.
  • the electric binding machine can be replaced with respect to the first and second binding bases as appropriate.
  • a binding machine storage area for storing a plurality of electric binding machines may be further provided, and the first and second binding bases may be provided with a gripping means capable of gripping any of the electric binding machines stored in the binding machine storage area, and when the controller receives an output of an abnormal state from the electric binding machine, the controller may control the first and second binding bases to move to the binding machine storage area, release the gripping of the electric binding machine in use, and grip the other electric binding machines stored in the binding machine storage area.
  • the electric binding machine can be attached by being gripped by the gripping means of the first and second binding bases, and can be attached and detached by operating this gripping means. Furthermore, by storing multiple electric binding machines in the binding machine storage area in advance and replacing the electric binding machines as appropriate or sequentially, it is possible to respond appropriately to abnormal operation of the electric binding machine.
  • a rebar assembly device that assembles rebar groups based on rebar arrangement information included in design information for buildings, etc.
  • the rebar assembly device can output control signals to various operation units from the design information using a control means, it is possible to automate the binding device by instructing operations such as movement and rotation in response to those signals and by having an electric binding machine perform binding. This contributes to realizing the automation of the entire rebar assembly device.
  • 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. 2 is an explanatory diagram illustrating an outline of a binding device.
  • FIG. 2 is an explanatory diagram showing the state of reinforcing bars at an intersection to be bound by a binding device.
  • FIG. 13 is an explanatory diagram showing the rotation state of the binding base.
  • 10 is an explanatory diagram showing a change in the posture of an electric binding machine installed at a binding base.
  • FIG. 11 is an explanatory diagram showing the binding posture of an intersection portion by an electric binding machine.
  • FIG. 13 is an explanatory diagram showing the state of the intersection of reinforcing bars.
  • 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. 1 is an explanatory diagram showing the state of shear reinforcement bars and core bars.
  • 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 showing the overall structure of a reinforcing bar assembly machine in which the reinforcing bar supplying device of the present invention is used.
  • the reinforcing bar assembly machine is constructed by lining up a number of blocks BL, each of which is made up of a number of frames FL. These blocks BL are connected to each other to form an assembly area 1, a posture adjustment area 2, and a storage area 3, in that order.
  • a waiting area 4 for transport means 8 and 9, which will be described later, is provided.
  • the binding devices 5, 6, and 7 are located in the assembly area 1, and the binding work is carried out inside this assembly area 1.
  • the binding devices 5 to 7 are divided into two parts: one (upper binding section) 5, which is located above the assembly area 1, and one (lower binding section) 6, 7, which is located below.
  • the lower binding devices 6, 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, and LU2 are provided at appropriate locations on each block BL that constitutes the rebar assembly device to guide the movement direction of the upper binding part 5 and the transport means 8 and 9.
  • the upper frame F of the block BL is provided with a pair of rails LU1 and LU2 for the upper binding part 5 and the transport means 8 and 9, allowing both means 5, 8, and 9 to move while straddling both rails LU1 and LU1
  • the lower frame is provided with a pair of rails LD1 and LD2 for the lower binding parts 7 and 8, allowing the means 7 to move while straddling both rails LD1 and 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 binding sections 5, 6, 7 and the 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 configured 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, in principle, exemplified as maintaining one set of two opposing sides forming a rectangle horizontally and the other set of two opposing sides vertically. 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 retaining structure shown in Figure 4 is shown.
  • This auxiliary structure is designed to simultaneously retain 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 retained.
  • the retaining portions 10a and 10b shown in the figure are of the same shape, but are shown installed in an inverted manner. However, the retaining devices 10a and 10b may also 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 binding part (binding device) 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 connection 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.
  • Figure 5 shows the binding device according to this embodiment.
  • the binding device is arranged separately above and below, and is composed of two types of binding parts: an upper binding part 5 and lower binding parts 6, 7. Note that the figure omits the support frame FL3, but both the upper binding part 5 and the lower binding parts 6, 7 are arranged separately above and below while being supported by the support frame FL3.
  • the lower binding units 6, 7 are two units of the same configuration arranged in parallel. As described later, multiple units are provided to serve as the transport auxiliary units 66, 76, and when multiple intersections are bound simultaneously using multiple units, the process can be completed quickly, but when a unit is provided exclusively for binding, a single binding unit may be provided.
  • both binding units 6, 7 are mounted on rails (first rails) LD1, LD2 mounted on auxiliary frames FL4a, FL4b.
  • Sliders (first sliders) 61a, 61b, 71a, 71b are attached to these rails LD1, LD2, and can slide in the longitudinal direction X (X-axis direction) of the first rails LD1, LD2 using linear motion guides.
  • Each of them 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, which allows the first binding base 64, 74 to slide in the axial direction Y (Y-axis direction) of the guide.
  • An electric binding machine (first electric binding machine) 65, 75 is installed on the first binding base 64, 74, and the electric binding machine 65, 75 can be moved to the binding position by changing the position of the first binding base 64, 74.
  • the first electric binding machines 65 and 75 used here can also use the "Twin Tire” manufactured by Max.
  • rails (corresponding to second rails) LU1, LU2 are installed on the (common) upper frames FL2a, FL2b, similar to the conveying means 8, 9, and the upper bundling section 5 is slidable in the longitudinal direction X (X-axis direction) of the rails by sliders (second sliders) 51a, 51b attached to the rails (linear motion guides) LU1, LU2.
  • a frame 52 is suspended so as to straddle both sliders 51a, 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, and the lifting base 54 is slidable in the axial direction Y (Y-axis direction) of the guide.
  • the second bundling base 55 is supported by the lifting base 54, and is provided so as to be liftable and lowerable by an actuator (not shown) provided on the lifting base 54. Therefore, the position of the second binding base 55 can be adjusted in the height direction Z by operating the actuator.
  • a rotating section 56 is provided at the bottom of the second binding base 55 via an appropriate motor or the like, allowing it to rotate in a horizontal plane (XY plane).
  • An electric binding machine (second electric binding machine) 57 is installed on this rotating section 56, allowing it to bind reinforcing bars. Note that, relative to the rotating section 56, the electric binding machine 57 can rotate around a horizontal axis, allowing the direction of the tip of the electric binding machine 57 to be changed.
  • the sliders 51a, 51b can be moved in the X direction and the lifting base 54 can be moved in the Y direction to move the binding base 55 and the electric binding machine 57 to a predetermined position in the XY plane. Then, by raising and lowering the binding base 55, it is possible to move the electric binding machine 67 to the target position.
  • the orientation of the electric binding machine 57 can be freely changed by rotating the swivel unit 56 and rotating around the horizontal axis, so it can be adjusted to the desired orientation for binding.
  • the electric binding machine 57 for example, a "Twin Tire” manufactured by Max can be used. This device places two claws on both sides of the rebar, and can suspend the binding wire between the two claws to complete the binding.
  • a servo motor can be used as the driving device (motor) for driving the movement, etc. of these bundling parts 5, 6, and 7.
  • the driving device motor
  • the upper bundling unit 5 shown in the figure is only a single bundling unit, multiple units may be installed to perform multiple bundling simultaneously.
  • the upper bundling unit 5 may also be operated as a bundling (binding) 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 bars in a specified state in this posture adjustment area 2, the upper bundling unit 5 is moved to the posture adjustment area 2, enabling bundling in the posture adjustment area 2.
  • the tangential bars bound to the shear reinforcement by bundling can be inevitably supplied to the specified position by supplying the shear reinforcement.
  • each component (side component) of the shear reinforcement SM1 is arranged on an axis perpendicular to the horizontal axis of the main reinforcement SM3. Therefore, even in the case of a column in which the main reinforcement SM3 is vertical as shown in Fig. 6(a), the shear reinforcement SM1 is arranged in advance so that the main reinforcement is horizontal as shown in Fig. 6(b).
  • the main reinforcement SM3 is appropriately supported while being inserted inside the shear reinforcement SM1, and the intersections of the two reinforcement bars SM1 and SM3 are formed.
  • the main reinforcement SM3 is supported by the main reinforcement support parts 66, 76 arranged in the gaps of the already arranged shear reinforcement SM1, and the main reinforcement support parts 66, 76 confirm the gap state of the shear reinforcement SM1 from the arrangement information of the reinforcing bars to be assembled in advance (information calculated based on design information), and perform the support by moving the above-mentioned lower binding bases 64, 74. In this way, the main reinforcement SM3 is held (connected) by binding the intersections with the main reinforcement inserted inside the shear reinforcement SM1 that has been aligned in advance, and the entire reinforcing bars are assembled.
  • each of the binding machines 5-7 allows the binding bases 55, 64, 74 to move in a horizontal plane by sliding of the sliders 51a-71b, etc.
  • the upper binding unit 55 is configured to be able to move up and down based on the lifting base 54.
  • the electric binding machines 57, 65, 75 provided on each binding base 55, 64, 74 are configured to be able to rotate around one or two axes. That is, the upper binding unit 55 is rotatable around the vertical axis Z1, allowing the part including the swivel unit 56 to rotate, and is also rotatable around the orthogonal axis Y1 provided on the swivel unit 56 (see Figure 7(a)).
  • the lower binding units 6, 7 have electric binding machines 65, 75 installed facing upward, and the main body of the electric binding machine 65, 75 (part of the binding base) is configured to be rotatable around a vertical axis Z2 (see Figure 7 (b)).
  • the posture of the electric binding machines 57, 65, and 75 installed on each binding base 55, 64, and 74 can be freely changed.
  • the second binding base 55 can rotate around an axis perpendicular to the vertical direction, so the electric binding machine 57 can be placed in a posture with a large inclination (see Figures 8(a) to (d)).
  • Figure 10 shows the state of the intersections between the main bar SM3 and each component SM1a-SM1d of the shear reinforcement SM1.
  • the axis of the main bar 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 intersect 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 diagonally hung (binding is performed 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 an electric binding machine for binding, for example, in order to bind the intersection of the upper rebar component SM1a and the main rebar SM3 (see FIG. 10(a)), it 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.
  • the electric binding machine is placed below the intersection. Only in this case will the lower binding parts 6 and 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 main reinforcement SM3 and 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 main reinforcement transport auxiliary sections 66, 76 provided on the lower tying sections 6, 7 must be extended upward to support the main reinforcement SM3 at the top. Therefore, tying the lower main reinforcement SM3 first will interfere with the transport and support of the upper main reinforcement SM3. Therefore, the main reinforcement SM3 is tied in order, starting from the upper main reinforcement SM3.
  • main reinforcing bar transport means that can be used in the reinforcing bar assembly device.
  • a part of the main reinforcing bar transport means (transport auxiliary unit) is mounted on the lower bundling parts 6 and 7 (see FIG. 5).
  • the driving force for transporting the main reinforcing bars is provided by the transport means 8 and 9 described above.
  • the transport means is composed of the lower bundling parts 6 and 7 and the transport means 8 and 9. Therefore, examples of the transport means will be described with reference to FIG. 5.
  • the upper part of the binding base 64, 74 constituting the lower binding part 6, 7 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 transport means is also used as the lower bundling parts 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 transport auxiliary parts 66, 76 support the main reinforcement and the remaining bundling parts (not shown) bundling it.
  • the role of transport auxiliary can be completed, and in this state, it can be operated as the bundling parts 6, 7.
  • 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 transport auxiliary parts 66, 76 for the main reinforcement. In this case, the main reinforcement is supported at a specified height until bundling by the upper bundling part 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. 11 can be used.
  • a tablet PC capable of transmitting and receiving with the outside can be used. That is, the tablet PC can receive external information and transmit processed control information using a receiving unit 111 and a transmitting unit 112.
  • 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 output via the output units 224, 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 binding device. 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 aforementioned conveying means 6-9 and bundling units 5-7 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 301-301-5 of the client devices 300.
  • PLC Programmable Logic Controller
  • an access point AP
  • 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 to enable management by IP addresses, etc., by providing the representative PLC 130 to each client device 300. 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. 12 shows an example of a reinforcing bar group showing an assembly state based on the reinforcing bar information (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 shear reinforcement SM1 in this state is called the standing state.
  • the bottom side (one reinforcing bar component) SM1a can be placed at a predetermined position in the assembly area.
  • the axis of the main reinforcement SM3 is arranged horizontally.
  • 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 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 some of them in contact. Therefore, it is possible to integrate 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 for each of several shear reinforcement bars SM1. Furthermore, 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. 13).
  • 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 bind them together 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 place the shear reinforcement bar SM1 in the specified position while gripping it, allowing both reinforcing bars SM1 and SM2 to be supplied simultaneously.
  • the hooks SM2b, SM2c at both ends of the core bar SM2 are tied (bound) to the shear reinforcement 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 hooks SM2b and SM2c can be tied together securely by tying the apex portions of the hooks SM2b and SM2c together.
  • the core bar SM2 is tied to the shear reinforcement bar SM1, so by managing only the shear reinforcement bar SM1 and moving it to a specific position as described above, and keeping the shear reinforcement bar 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 the intersections can be calculated and quantified as coordinates based on the reinforcing bar group arrangement information included in the design information of a building or the like created in advance.
  • the conveying amount of the conveying means is controlled to arrange the reinforcing bar group at a predetermined position, and the positions of each binding part of the binding device are controlled and changed to enable binding, so that the reinforcing bars can be assembled in a state faithful to the design information (reinforcing bar arrangement information) of the building or the like, and these assembly operations can also be automated.
  • the binding devices 5 to 7 are divided into an upper binding part 5 and lower binding parts 6, 7, and the reinforcing bars to be assembled are divided into a range where they are bound from above and a range where they are bound from below, thereby enabling binding of all intersections to be bound.
  • 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.
  • the configurations of the conveying means, binding device, 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.

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Abstract

[Problème] Fournir un dispositif de liaison utilisé dans un dispositif d'assemblage de barre de renforcement avec lequel l'ensemble de barres de renforcement dans des colonnes et des poutres peut être automatisé. [Solution] Un dispositif d'assemblage de barre de renforcement, avec lequel l'ensemble de barres de renforcement peut être automatisé, comprend : une unité de liaison inférieure qui divise une barre de renforcement de cisaillement en un composant inférieur et un autre composant, et lie l'intersection du composant inférieur et de la barre principale ; une unité de liaison supérieure qui lie l'intersection de la barre principale et de l'autre composant de la barre de renforcement de cisaillement ; et un moyen d'actionnement pour déplacer l'unité de liaison inférieure et l'unité de liaison supérieure vers des positions prédéterminées et effectuer une opération de liaison. L'unité de liaison inférieure est disposée plus bas que le composant inférieur de la barre de renforcement de cisaillement, et peut s'élever au moins jusqu'à une position d'atteinte de l'intersection du composant inférieur et de la barre principale. L'unité de liaison supérieure est disposée au-dessus de la barre de renforcement de cisaillement, et peut tomber jusqu'à atteindre l'intersection de la barre principale et de l'autre composant à l'exclusion du composant inférieur de la barre de renforcement de cisaillement. Le moyen de commande commande l'opération de liaison et les mouvements selon lesquels l'unité de liaison inférieure et l'unité de liaison supérieure sont amenées à passer par le moyen d'actionnement.
PCT/JP2022/040037 2022-10-26 2022-10-26 Dispositif de liaison de barre de renforcement dans un dispositif d'assemblage de barre de renforcement WO2024089830A1 (fr)

Priority Applications (1)

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PCT/JP2022/040037 WO2024089830A1 (fr) 2022-10-26 2022-10-26 Dispositif de liaison de barre de renforcement dans un dispositif d'assemblage de barre de renforcement

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PCT/JP2022/040037 WO2024089830A1 (fr) 2022-10-26 2022-10-26 Dispositif de liaison de barre de renforcement dans un dispositif d'assemblage de barre de renforcement

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS642751A (en) * 1987-06-26 1989-01-06 Taisei Corp Reinforcement assembly device
JP2019039170A (ja) * 2017-08-23 2019-03-14 大成建設株式会社 自走式鉄筋結束機

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JPS642751A (en) * 1987-06-26 1989-01-06 Taisei Corp Reinforcement assembly device
JP2019039170A (ja) * 2017-08-23 2019-03-14 大成建設株式会社 自走式鉄筋結束機

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