JP2019093405A - Reinforcing bar bending apparatus - Google Patents

Abstract

To provide a reinforcing bar bending apparatus, which allows a reinforcing bar to be safely be bent with high accuracy without efforts and time.SOLUTION: A reinforcing bar bending machine 3 is provided with first control means that performs: reinforcing bar supply operation control by which the reinforcing bar is clamped by clamp parts 5 in a pair of robot arm devices 6 and supplied to the machine; reinforcing bar bending operation control by which the reinforcing bar supplied to the reinforcing bar bending machine 3 is bent by the reinforcing bar bending machine 3, with a stationary position at a base end side of the reinforcing bar being clamped by the clamp parts 5; and reinforcing bar take-out operation control by which the reinforcing bar is taken out from the reinforcing bar bending machine 3. In the reinforcing bar bending operation control, the first control means performs first reinforcing bar turning operation control by which the bar is turned by one clamp part 5 when turning the bar while clamping the reinforcing bar with both clamp part 5 in order to turn the reinforcing bar around the shaft center thereof at a predetermined angle and at the same time holding pressure of the other clamp part 5 is set smaller than the one clamp part 5 or the other clamp part 5 is brought into a non-holding state to allow the reinforcing bar to turn around the shaft center thereof.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a reinforcing bar bending apparatus.

  Conventionally, in a reinforcing bar bending apparatus, it is difficult to perform bending processing into a three-dimensional structure, and while holding a reinforcing bar by hand, performing bending operation to a three-dimensional structure by rotating around the axis of the reinforcing bar Yes (no suitable literature is found).

  However, bending to a three-dimensional structure by hand is not only dangerous but also takes time and effort, and there is a problem that the processing accuracy is difficult to stabilize.

  Therefore, the object of the present invention is to solve the above-mentioned problems, and even with an apparatus which requires little labor and can not work without human intervention, rebar processing can be performed by unmanned operation, and bending processing can be performed safely and with high accuracy. It is in place to provide a rebar bending apparatus.

  According to a first aspect of the present invention, there is provided a reinforcing bar bending machine having a fulcrum portion and a power point portion which is turned around the fulcrum portion to bend the rebar in order to bend the rebar. A pair of robot arm devices provided with an arm that can be moved in perspective and in the vertical and horizontal directions with respect to the machine and a clamp that can clamp the rebar at the tip end of the arm is provided. Are different from the rebar supply operation control to be supplied by being clamped and supplied by one clamp part and the other clamp part in the pair of robot arm devices, and the tip side bending scheduled part of the rebar supplied to the rebar bending machine Rebar bending operation control in which bending operation is performed by the reinforcing bar bending machine while the proximal fixing position is clamped by the at least one clamp portion; Providing a first control means for taking out the reinforcing bar taking out operation control for taking out the reinforcing bar from the reinforcing bar bending machine, and in the reinforcing bar bending operation control, to rotate the reinforcing bar by a predetermined angle around its axis Whether the clamping pressure of the other clamp part is made smaller than that of one of the clamps at the same time that the rebars are clamped by the clamp part of the other and the clamp part of the other at the same time. Alternatively, the first control means is provided with a first reinforcing bar turning operation control for controlling the turning of the reinforcing bar about its axis with the other clamp portion in the non-sandwich state.

According to the first feature configuration of the present invention, the reinforcing bar bending machine is provided with the first control means for performing the reinforcing bar supply operation control, the reinforcing bar bending operation control, and the reinforcing bar extraction operation control by the pair of robot arm devices. By means of the robot arm device, instead of human hands, it is possible to bend reinforcing bars into complex shapes safely and with little effort.
Furthermore, in the reinforcing bar bending operation control, while rotating the reinforcing bar by a predetermined angle around its axis, one clamp at the time of the rotating operation while clamping the reinforcing bar by the one clamp portion and the other clamp portion. Make the clamping pressure of the other clamp part smaller than that of one of the clamps at the same time as turning operation at one part, or make the other clamp part non-sandwich and allow rotation of the rebar around its axis The reinforcing bar can be bent into a three-dimensional structure by providing the first control means with the first control means for controlling the rotation of the reinforcing bar.
That is, by providing the first reinforcing bar rotational operation control, the reinforcing bar can stably rotate the reinforcing bar around its axis while stably supporting the reinforcing bar by the pair of clamp portions, and the reinforcing bar can rotate around the axial center By turning, the direction of the tip side of the bent portion of the reinforcing bar can be freely changed, and bending can be performed into a three-dimensional shape.
Therefore, it is possible to stably deliver a high-precision product by means of a reinforcing bar bending machine and a pair of robot arm devices, as compared to manual bending.

  According to a second feature of the present invention, in the reinforcing bar bending operation control, the reinforcing bar is further rotated about its axis by a predetermined angle after bending operation of the reinforcing bar by the first reinforcing bar rotational operation control. While clamping the proximal end side of one of the clamps while grasping the bent end of the other clamp, and at the same time rotating the other clamp at the time of rotational operation, the one clamp The second rebar turn to make the clamping pressure of the part smaller than the other clamp part or to make one of the clamp parts unclamped to allow the rebar to rotate around its axis The dynamic operation control is provided to the first control means.

According to the second feature configuration of the present invention, in addition to the above-mentioned operation and effect by the first feature configuration of the present invention can be obtained, the first reinforcing rod rotation is controlled by the second reinforcing rod rotation operation control. After bending the rebar by operation control, while holding the proximal end side of the rebar clamped by one of the above clamps, grasp the tip side bent by the other one of the above clamps, and further predetermine the rebar around its axial center By turning it at an angle, it can be bent into a more complicated three-dimensional shape.
Therefore, bending with a more complicated shape can be performed stably and safely as compared to manual bending.

It is a whole top view of a reinforcing bar bending apparatus. It is a perspective view of a robot arm device. The perspective view of a clamp part, (a) non clamp state, (b) shows a clamp state. It is an effect | action explanatory perspective view showing the relationship of a pair of clamp part and a bending machine, (a) shows before bending of a 1st step, (b) shows after bending. It is a perspective view showing a relation of a pair of clamp parts and a reinforcing bar, and shows operation of turning a reinforcing bar in the one clamp part to the circumference of its axis, and pushing a reinforcing bar into a bending machine succeedingly. It is a perspective view showing a relation of a pair of clamp parts and reinforcing bars, and shows operation which replaces a part which clamps with one clamp part and the other clamp part. It is a perspective view showing a relation of a pair of clamp parts and a reinforcing bar, and after changing a clamp location, it is an operation which rotates a reinforcing bar in the one clamp part to the circumference of the axial center, and bends it into three dimensional shape. It is a perspective view showing a relation of a pair of clamp parts and reinforcing bars. It is a perspective view of the reinforcing bar after bending.

Embodiments of the present invention will be described below based on the drawings.
As shown in FIGS. 1 and 2, in order to bend the rebar, the fulcrum portion 1 consisting of a fulcrum roller along the axis in the vertical direction and the fulcrum portion 1 are turned to bend the rebar There is provided a reinforcing bar bending machine 3 for reinforcing bar lateral bending provided with a power point section 2 composed of a rotating roller, and an arm 4 which can be moved in perspective and up and down, left and right, and its arm with respect to the reinforcing bar bending machine 3 A pair of robot arm devices 6 provided with clamps 5 capable of clamping and operating reinforcing bars on the tip end side of 4 are provided side by side in the horizontal direction so that a plurality of reinforcing bars can be sequentially provided to the reinforcing bar bending machine 3 one by one The reinforcing bar conveying apparatus 7 which conveys to is provided, and the reinforcing bar bending apparatus is comprised.
In the reinforcing bar bending operation, a reinforcing bar is disposed between the fulcrum portion 1 and the load point portion 2 and the reinforcing bar is bent by the rotation operation of the load point portion 2 around the fulcrum portion 1. The rebar bending machine 3 is provided with a reaction force receiving portion 8 that receives the force. Therefore, when the reinforcing bar is supplied to the reinforcing bar bending machine 3, the reinforcing bar is supplied and disposed between the fulcrum portion 1 and the reaction force receiving portion 8.

  As shown in FIGS. 1 to 5, the pair of robot arm devices 6 is clamped by one clamp portion 5R (5) and the other clamp portion 5L (5) of the pair of robot arm devices 6 and conveyed by reinforcing steel Rebar supply operation control which takes out the reinforcing bar F from the device 7 and supplies it between the fulcrum part 1 and the load point part 2 of the reinforcing bar bending machine 3 and the tip side bending scheduled part of the reinforcing bar F supplied to the reinforcing bar bending machine 3 Rebar bending operation control that performs bending operation by the reinforcing bar bending machine 3 while clamping different proximal end fixing points by at least one clamp unit 5 (FIG. 4), reinforcing bar F clamped by the clamp unit 5, There is provided a first control means for carrying out the reinforcing bar takeout operation control to be taken out from the bending machine 3 and in the case of bending the reinforcing bar F into a three dimensional shape in the reinforcing bar bending operation control, place the reinforcing bar F around its axis While the reinforcing bar F is clamped by one clamp part 5R and the other clamp part 5L to rotate at an angle, as shown in FIG. Control the clamping force of the clamp portion 5L to be smaller than that of one of the clamp portions 5R, or make the other clamp portion 5L unclamped to allow rotation of the reinforcing bar F about its axis The first reinforcing bar turning operation control is provided to the first control means (FIG. 5).

  That is, after the first bending step of bending the distal end side of the reinforcing bar F by the turning operation of the power point portion 2, the base end side of the reinforcing bar F is different from the first virtual surface including the bending portion at the distal end side (2) In order to perform bending processing into a three-dimensional shape by bending on a virtual surface, the base end rebar part supported by being held by the clamp part 5 is rotated about its axis, The first reinforcing bar turning operation control is performed.

  Furthermore, as shown in FIGS. 6-8, in the reinforcing bar bending operation control, after reinforcing bar F is bent by the first reinforcing bar rotational operation control, reinforcing bar F is further rotated about its axis by a predetermined angle. While the base end side of the reinforcing bar F is clamped by the other clamp part 5L, the tip side bent by one of the clamp parts 5R is grasped again (FIG. 6 → FIG. 7 → FIG. 8) At the same time as the turning operation is performed by one clamp unit 5R, the clamping pressure of the other clamp unit 5L is made smaller than that of one clamp unit 5R, or the other clamp unit 5L is not clamped. The first control means is provided with a second reinforcing bar rotational operation control that controls rotation of the reinforcing bar F so as to allow rotation about its axis, and as a result, for example, the reinforcing bar F has a three-dimensional shape as shown in FIG. To be able to bend .

[Another embodiment]
Other embodiments will be described below.
<1> The operation control of rotating the rebar around the axis by the respective clamps 5R and 5L of the pair of robot arm devices 6 and changing the holding position is not limited to the example of the above-mentioned bending shape, and is scheduled for processing It may be changed variously and implemented depending on the three-dimensional shape of.

1 fulcrum 2 force point 3 rebar bending machine 4 arm 5 clamp 6 robot arm device

Claims (2)

To bend the rebar, provide a rebar bending machine with a fulcrum and a point of force that turns around the fulcrum to bend the rebar.
A pair of robot arm devices provided with an arm which can be moved in a perspective movement and swinging vertically and horizontally with respect to the reinforcing bar bending machine and a clamp portion which can clamp the reinforcing bar on the tip end side of the arm are provided.
Rebar supply operation control to be supplied by clamping a reinforcing bar to the reinforcing bar bending machine by the one clamp portion and the other clamp portion in the pair of robot arm devices;
Rebar bending operation control for performing bending operation by the rebar bending machine while clamping a proximal end side fixing point different from a tip end bending expected place of the rebar supplied to the rebar bending machine by at least one clamp unit;
The first control means is provided to perform a reinforcing bar takeout operation control for taking out the reinforcing bar clamped by the clamp unit from the reinforcing bar bending machine,
In the reinforcing bar bending operation control, in order to rotate the reinforcing bar by a predetermined angle around its axis, the reinforcing bar is clamped by one of the clamp portion and the other clamp portion while rotating by one of the clamp portions during the rotating operation. At the same time as the movement operation, make the clamping pressure of the other clamp part smaller than that of one clamp part, or make the other clamp part non-clasping state so as to allow rotation of the rebar around its axis The rebar bending apparatus which is provided with the first control means for controlling a first rebar rotation operation control. In the reinforcing bar bending operation control, after the reinforcing bar is bent by the first reinforcing bar rotational operation control, the reinforcing bar is further rotated about its axis by a predetermined angle.
While the proximal end side of the reinforcing bar is clamped by one of the clamps, the other clamp side bends the bent distal end, and at the same time the other clamp performs the turning operation at the same time, A second reinforcing bar which controls the clamping pressure of the clamping unit to be smaller than the other clamping unit, or controls one of the clamping units to be unclamping to allow rotation of the reinforcing bar about its axis The reinforcing bar bending apparatus according to claim 1, wherein a rotational operation control is provided to the first control means.

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