JPH0213110B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically placing reinforcing bars on slab reinforcing bars. Conventional slab reinforcement work involves temporarily placing bundles of 2 tons on the slab at 20 to 30 m intervals using a crane at a factory, and then
Four people work as a group, and the one-way distance is 10 to 15 meters, which has already been laid out.
Hand transport several pieces at a time over the reinforcing bars, and place two
~The four of us raised each one up and placed them into the slab. As a result, work efficiency was poor and safety was low.

Therefore, an object of the present invention is to provide a reinforcement arrangement method that allows one worker to easily carry out such heavy work of reinforcing slabs.

In order to achieve this object, the present invention grasps a large number of reinforcing bars one by one that are accumulated on a traveling trolley that can run on the assembled slab reinforcing bars, and the reinforcing bars held while running the traveling trolley. It is arranged vertically at a predetermined position, and vertically erected reinforcing bars are inserted into the slab reinforcements.

In the present invention, by having a self-propelled function and having a cart or hopper mechanism,
There is no need to manually transport reinforcing bars. and payload
If the weight is set at 300 kg, almost any type of slab reinforcing work can be done by one worker. By gripping and taking out horizontally stacked reinforcing bars one by one, and providing the function of rotating the tip of the manipulator, the reinforcing bars can be raised vertically. Furthermore, by providing the chuck mechanism of the gripping device of the manipulator with a function of pushing down the reinforcing bars that are held vertically, it is possible to insert the reinforcing bars into the slab reinforcements.

Hereinafter, an apparatus for carrying out the method of the present invention will be described with reference to the accompanying drawings. By this,
The method of the invention may now be understood more clearly.

The automatic slab reinforcing reinforcing bar arrangement machine 1 shown in FIG. It has a pilot's seat 5 and a master slave 6 for controlling the manipulator. Automatic reinforcing reinforcement machine for this slab 1
A reinforcing bar loading trolley 7 is provided in parallel with the reinforcing bar loading trolley 7 to accompany this, and this reinforcing bar loading trolley 7 is provided with a hopper 8 for accumulating a large number of reinforcing bars S and sending them out one by one. There is. Note that the reinforcing bars S are loaded in a direction along the moving direction D of the truck.
A manipulator 4 provided on the automatic reinforcing reinforcement arrangement machine 1 for slab inserts supports a first arm 11 which is raised and lowered by suitable hydraulic means 10 on a disc 9 rotatably mounted on the vehicle body 3, This first arm 11
A second arm 13 that swings relative to the second arm 13 is supported by a pin by a suitable hydraulic means 12, and a third arm 15 that swings relative to the second arm 13 is supported by a pin by a suitable hydraulic means 14. are doing. A rotating wrist 16 is provided at the tip of the third arm 15 to vertically erect the insert. This rotating wrist 1
6 has a T-shaped or Y-shaped branched tip 17, 17
A chuck 18, 18 for gripping the reinforcing bar is provided at each tip. Furthermore, this rotating wrist 16 has a push-down chuck 19 for vertically pushing down the gripped reinforcing bar S in order to insert the reinforcing bar into the slab bar.

Details of this push-down chuck 19 are shown in FIGS. 2 and 3. This chuck 19 is attached to a drive chain 22 via a guide member 21 so as to slide within a guide groove 20. This chain 22 has a driving sprocket 23 and a driven sprocket 24.
Rotationally driven by. The opening and closing movement of the chuck 19 is achieved by a pair of gripping fingers 27, 28 which are pivotally supported by fixing pins 25, 26. In other words, the two gripping fingers 27 and 28 are connected to the pin 29
and by sliding the pin 29 by suitable hydraulic means 30,
The gripping fingers 27, 28 rotate to achieve opening and closing movements.

When performing reinforcing work using the automatic reinforcing bar arrangement machine 1 for slab inserts, a large number of reinforcing bars S on the reinforcing bar loading cart 7 are fed out one by one from the hopper 8, and the reinforcing bars S are transferred to the manipulator 4. Rotate and grip it with the fixing chucks 18, 18 and the push-down chuck 19, and lift the reinforcing bar S a little to create a disk 9.
Rotate. Then each arm is 11, 13, 1
5 to hold the reinforcing bar S to a predetermined position, and then the rotary wrist 16 is rotated to bring the reinforcing bar S into an upright state, and the fixed chucks 18, 18 release the reinforcing bar S gripped by the fixed chucks 18, 18. In this state, the push-down chuck 19 also grips the reinforcing bar S. The drive sprocket 23 is then driven by suitable means to rotate the chain 22 and lower the push-down chuck 19. This allows reinforcing bars S to be inserted into the slab reinforcements. By performing these operations one after another, the reinforcement work for the slab inserts is accomplished. This reinforcement work is performed while the car body is running. In addition, the manipulator is operated by a master operated by an operator, and the manipulator rotates and moves up and down as if it were a slave.

In addition to this, various other structures of the reinforcement arrangement machine can be considered by making appropriate design changes, but as mentioned above, the method of the present invention can be used to Since the reinforcing bars are automatically arranged while the machine is running, only one operator is required instead of the conventional 2 to 4 people per team, which saves worker labor. Become. It also improves safety.

[Brief explanation of drawings]

FIG. 1 is a schematic view of an automatic reinforcing bar arrangement machine for carrying out the method of the present invention, and FIGS. 2 and 3 are partial detailed views of its chuck mechanism. 1...Automatic reinforcing reinforcement machine, 2...Traveling means,
3...Vehicle body, 4...Manipulator, 6...Master slave, 8...Hopper, 16...Rotating wrist, 18...Fixed chuck, 19...Pushing chuck, S...Reinforcing bar.

Claims (1)

[Claims] 1. Grasp a large number of reinforcing bars accumulated on a traveling trolley that can run on the assembled slab reinforcing bars one by one, place the gripped reinforcing bars vertically at a predetermined position while running the traveling trolley, and vertically An automatic reinforcing reinforcement method for insert reinforcing bars that is characterized by inserting erected reinforcing bars into slab reinforcements.