JPH0343310Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a lateral feed amount control device for a reinforcement arrangement machine used for arranging reinforcing bars in a staggered manner.

[Background of the idea]

In reinforced concrete construction, concrete is poured by combining reinforcing bars into a predetermined configuration. A very commonly used combination of reinforcing bars is one in which the reinforcing bars are stacked vertically and horizontally at regular intervals. Hereinafter, such a configuration will be explained with reference to FIG. 2.

FIG. 2 is an explanatory diagram showing an example of the arrangement of elongated members, and this FIG. 2 shows the arrangement in foundation work of a nuclear power plant. In this figure, 1
2 is a floor, 2 is a board made of concrete blocks, etc., 3, 4, 5, 6, 7 are elongated members such as reinforcing bars, and 8, 9 are binding wires for connecting the reinforcing bars.

In the case of foundation work as shown in Fig. 2, the following steps are taken:
6, 7, etc. are placed. That is, on a pre-formed solid floor 1, for example, 2
is placed, and a reinforcing bar 3 (this reinforcing bar is particularly referred to as a setup bar) is placed on top of this horse 2. Next, reinforcing bars 4 and 5 are placed on this setup bar 3 so as to be orthogonal to the setup bar 3, and these reinforcing bars 4 and 5 are tied to the setup bar 3 with a binding wire 8. The reinforcing bars 4 and 5 are arranged in a staggered manner, for example, as shown in the figure, in order to prevent the strength of the concrete from decreasing due to the binding portions of the reinforcing bars 45 being in a straight line. When the arrangement of reinforcing bars 4 and 5 is completed,
After the reinforcing bars 6 and 7 illustrated by dashed lines are arranged in the same manner as the reinforcing bars 4 and 5, the reinforcing bars 6 and 7 are fastened to each of the reinforcing bars 4 and 5 using binding wires 9. Thereafter, the first reinforcing bars are placed on the horse 2 in the same manner.

Next, although not shown, two steps are placed above the reinforcing bars 4, 5, 6, 7, etc. and perpendicular to these reinforcing bars 4, 5, 6, 7, etc., that is, parallel to the setup bars 3. The reinforcing bars are placed and each is tied with a binding wire. In this way, the first set of lattice structures is completed. Thereafter, a second set of lattice structures is created on top of the first set of lattice structures in the same manner as above. After that, multiple sets of laminated lattice structures are built one after another, and concrete is poured on top of them to complete the foundation.

By the way, the reinforcement work in the foundation construction mentioned above has traditionally been done manually, but
When constructing a strong foundation such as a nuclear power plant as shown in the figure, reinforcing bars 3, 4, 5, 6, 7, etc. have a diameter of approximately 50 mm, a length of approximately 10 m, and a weight of approximately 150 kg. It is necessary to use one with a large diameter and a heavy weight. Therefore, 1
The reality is that several people are working on reinforcing the book. Therefore, this reinforcement work is difficult and dangerous, requires a lot of labor, and there is no hope of improving work efficiency. Therefore, a reinforcement arrangement machine and its control device that can eliminate such drawbacks and automatically perform reinforcement work without requiring human labor have been studied. This reinforcement arrangement machine will be explained below with reference to figures.

FIG. 3 is a perspective view of the reinforcement arrangement machine. In the figure, 1
0 is a main body, which has, for example, a traveling body 13 having a frame 11 and a crawler track 12 held by the frame 11 at the lower part, and a revolving body 14 provided at the upper part so as to be able to rotate with respect to the traveling body 13. . Also 15
16 is the driver's cab provided in the revolving body 14, and the traveling body 13.
The housing section 17 placed above is a reinforcing bar that is housed in this housing section 16.

Further, 18 is a boom mounted on the revolving body 14 so as to be rotatable in the vertical direction, 19 is an arm mounted on the boom 18 so as to be rotatable in the vertical direction, and 20 is mounted on the tip of the arm 19, and the A rotatable bracket 21 is attached to this bracket 20 and is a rod-shaped body that can be rotated in the horizontal direction. Also 2
2 is a hydraulic cylinder whose one end is connected to the revolving body 14 and the other end is connected to the boom 18 to rotate the boom 18; 23 is connected to the boom 18 at one end and the arm 1 at the other end;
9 is a hydraulic cylinder that rotates the arm 19; 24 is a hydraulic cylinder that has one end connected to the arm 19 and the other end connected to the bracket 20 and rotates the bracket 20; 25 has one end that is connected to the bracket 20;
This is a hydraulic cylinder whose other end is connected to the rod-shaped body 21 and rotates the rod-shaped body 21. Reference numeral 26 denotes a feeding device attached to one end of the rod-shaped body 21, which is capable of gripping the reinforcing bar 17 and feeding the reinforcing bar 17 in the axial direction while gripping the reinforcing bar 17. 27 is a feed amount detection device attached to the other end of the rod-shaped body 21, and has a gripping function equivalent to that of the feeder 26, and also has a gripping function similar to that of the feeder 26.
6 and outputs a signal.

Note that the above-mentioned rod-shaped body 21 and bracket 20
constitutes a support member that rotatably supports the feeding device 26 in the vertical and horizontal directions, and this support member, the arm 19, and the boom 18,
It constitutes an arm that moves the feeding device 26 to the position of the housing section 16 and to a position away from the housing section 16.

Reference numeral 28 denotes a turning motor for turning the turning body 14;
9 is a turning angle detector that detects the relative rotation angle θ between the rotating body 14 and the traveling body 13; 30 is a boom angle detector that detects the rotation angle β of the boom 18; and 31 is the arm 19 and the boom 18. an arm angle detector for detecting the relative rotation angle α between the
2 is a bracket angle detector that detects the relative rotation angle γ between the arm 19 and the bracket 20;
33 is a rod-shaped body angle detector that detects the rotation angle φ of the central portion of the rod-shaped body 21. These angle detectors 29, 30, 31, 32, and 33 constitute a detection means for detecting the amount of operation of the movable portion of the arm, which includes the boom 18, arm 19, and the like.

Reinforcement placement work using the reinforcement arrangement machine configured as described above is generally performed as follows. That is, first, the reinforcing bars 1 are placed in the housing section 16 by a crane (not shown) or the like.
7 can be accommodated. On the other hand, as shown in FIG. 3, a horse 2 is placed on a floor 1 on which a foundation will be formed. Next, the traveling body 13 is driven to reach a predetermined reinforcement work position near the horse 2. The position of the reinforcement arrangement machine at this time is different from the position shown in Fig. 3, and is in a position perpendicular to the longitudinal direction of the setup reinforcement 3, and its orientation is also approximately relative to the longitudinal direction of the setup reinforcement 3. It is assumed to be oriented at right angles. Then, at this position, the most advanced reinforcing bar of the reinforcing bars 17 is delivered to the front position of the accommodating portion 16 as shown in FIG. Then,
The hydraulic cylinders 22, 23, and 24 are driven, and the boom 18, arm 19, and bracket 20 are rotated in the vertical direction, and the feeding device 2 supported by the rod-shaped body 21
6. The feed amount detection device 27 reaches the position of the storage portion 16, that is, the position where it grips the reinforcing bar fed forward. Note that, at this time, the feed device 26 and the feed amount detection device 27 are in a state where they can grip the reinforcing bar 17. In this state, the above-mentioned reinforcing bars are gripped by the feed device 26 and the feed amount detection device 27.
Then, the hydraulic cylinders 22, 23, 24 and, if necessary, the hydraulic cylinder 25 are driven, whereby the above-mentioned reinforcing bars are taken out of the storage section 16 and placed on the horse 2 as a set-up bar. The reference numeral 3 shown in FIG. 3 indicates a setup line arranged on the horse 2 in this manner.

Next, the traveling body 13 is driven so that, for example, the traveling body 13 is positioned on the setup strip 3. In this state (the state shown in FIG. 3), the most advanced one of the reinforcing bars in the housing section 16 is fed out as described above. Then, as described above, the boom 18, arm 19, and bracket 20 are appropriately rotated, and the reinforcing bar 17 sent out as described above is gripped by the feeding device 26 and the feeding amount detection device 27, and then,
The boom 18, arm 19, and bracket 20 are rotated, and the gripped reinforcing bar 17 moves to the previously placed setup bar 3.
Position it above and perpendicular to. In this state, the feeding device 26 is driven, and when the material has been fed by a predetermined amount, the gripping by the feeding device 26 and the feeding amount detection device 27 is released. Reference numeral 4 shown in FIG. 2 indicates a reinforcing bar placed on the setup bar 3 in this manner. Next, the reinforcing bar 5 shown by the dashed line is placed on the setup bar 3 and shifted from the reinforcing bar 4 by a similar operation. P ₁ , P ₂ , P ₃ are setup bars 3
Indicates the position of reinforcing bars placed above, each position P ₁ ,
The distance between P ₂ and P ₃ is a certain fixed distance. Reinforcement work is performed by repeating the above operations.

It should be noted that a device for feeding forward only one of the most advanced reinforcing bars among the reinforcing bars 17 in the housing section 16, and a mechanism for gripping this fed-out single reinforcing bar by the feeding device 26 and the feed amount detection device 27, etc. Details are disclosed in the specification and drawings of Japanese Patent Application No. 59-13469.

Now, next, a control device currently under consideration for causing such a reinforcement machine to perform the above operations will be described.

FIG. 4 is a block diagram of the control device. In the figure, blocks showing the same parts as those shown in FIG. 3 are given the same reference numerals, and their explanations will be omitted. 35 is a servo valve that controls the drive of the swing motor 28; 36 is a servo valve that controls the drive of the boom cylinder 22;
37 is a servo valve that controls the drive of the arm cylinder 23; 38 is a servo valve that controls the drive of the bracket cylinder 24; 39 is a servo valve that controls the drive of the rod cylinder 25; 40 is a feed device that drives the feed device 26. It's a motor. 50 is a control unit that controls the operation of the reinforcement arrangement machine, which includes an interval setting unit 51, a number setting unit 52, a storage unit 53, and a calculation/control unit 5.
4, and each setting section 51, 52 is composed of, for example, a switch. The spacing setting section 51 has a predetermined distance between reinforcing bars arranged parallel to each other, that is, positions P ₁ , P ₂ , P ₃ shown in FIG.
...The distance between them is set. The number of reinforcing bars arranged parallel to each other is set in the number setting section 52. The storage unit 53 stores values and the like that have been processed by the calculation/control unit 54. The calculation/control unit 54 will be described later. 55 is a teaching section that outputs a teaching signal. Calculation/control unit 54 and storage unit 53
is composed of, for example, a microcomputer.

Before explaining the operation of reinforcement work using this control device, the calculations in the calculation/control unit 54 will be explained as follows.
This will be explained with reference to FIGS. 5a and 5b. As is clear from the above explanation of the reinforcement work, once the position P ₁ of the reinforcing bars to be placed first on the setup bar 3 is determined, the positions P ₂ , P ₃ , etc. of the reinforcing bars to be placed thereafter are determined. This can be obtained by sequentially shifting by a predetermined interval.
Therefore, in order to place the reinforcing bars at position _P1 , it is necessary to set a specific point of the reinforcing bar arrangement machine, for example, the center point (reinforcing bar center point) between the feeding device 26 and the feed rate detection device 27 of the grasped reinforcing bars. The question is which position should be moved to, and once this position is determined, each subsequent position will be obtained by shifting by a predetermined interval. This initial position can be expressed as the coordinates of the specific location (hereinafter, this location will be referred to as the center point of the reinforcing bar mentioned above) in a three-dimensional space. Since the position of the reinforcing bar center point changes depending on each rotary drive unit of the reinforcement arrangement machine, its coordinates must also take into account the movement of the rotary drive unit. In order to easily show the movement of such a rotary drive unit, it is convenient to represent it in a form that complies with JIS standard B0138 "Industrial robot symbol".

Figures 5a and 5b are a plan view and a side view of a reinforcement arrangement machine indicated using the symbols. In the figure, parts that are the same as those shown in FIG. 3 are given the same reference numerals, and each angle shown has the same letters as described in the description of the angle detector above. The coordinate origin O is determined at the intersection of the surface where the lower surface of the crawler track 12 of the reinforcing machine contacts and the turning center of the rotating body 14, and the x-axis and z-axis are on this surface, and The y-axis is orthogonal to each other. Each character shown in the figure represents the following value.

L ₀ : Boom foot height L ₁ : Distance between center of rotation and boom foot L ₂ : Distance between center of rotation of rod-shaped body 21 and center point of reinforcing bar l _B : Length of boom 18 l _A : Length of arm 19 l _G : Distance between the rotation center of the bracket 20 and the rotation center of the rod-shaped body 21 Then, operate the reinforcement machine to position the first reinforcing bar.
If the above-mentioned rotation angles when the position is placed in P ₁ are angles θ ₁ , β ₁ , α ₁ , γ ₁ , φ ₁ , the coordinates of the reinforcing bar center point at that time are x ₁ , y ₁ , z ₁ is expressed by the following equation.

x ₁ = {L ₁ + (l _B cosβ ₁ ′+l _A sinα ₁ ′+l _G cosγ ₁ ′+L ₂
cosγ ₁ ′・cosφ ₁ )}cosθ ₁ y ₁ =L ₀ +l _B sinβ ₁ ′−l _A cosα ₁ ′+l _G sinγ ₁ ′+L ₂
sinγ ₁ ′・cosφ ₁ z ₁ = {L ₁ + (l _B cosβ ₁ ′+l _A sinα ₁ ′+l _G cosγ ₁ ′+L ₂
cosγ ₁ ′・cosφ ₁ )}sinθ _1However , β ₁ ′=β ₁ −π/2 α ₁ ′=α ₁ +β ₁ ′−π/2 γ ₁ ′=π/2+α ₁ ′−γ ₁ .

Next, from the initial position (x ₁ , y ₁ , z ₁ ) of the reinforcing bar center point obtained in this way, each rotation angle for shifting the reinforcing bar center point by a predetermined interval L is determined by θ ₂ ,
Assuming φ ₂ , α ₂ , β ₂ , and γ ₂ , these angles are calculated by the following equation.

θ ₂ = tan ^-1 {(L ₁ + (l _B cosβ ₁ ′+l _A sinα ₁ ′+l _G
cosγ ₁ ′)・sinθ ₁ −Lsin(θ ₁ +φ ₁ )}/{L ₁ +
l _B cosβ ₁ ′＋l _A sinα ₁ ′＋l _G cosγ ₁ ′)・cosθ ₁ −
Lcos (θ ₁ +φ ₁ )} φ ₂ = θ ₁ +φ ₁ −θ ₂ α ₂ = cos ⁻¹ (l _B ² + l _A ² −X ² −Y ² )/2l _B・l _A β ₂ = β ₂ ′ +π/2 γ ₂ = β ₂ ′+α ₂ −γ ₂ ′ However, β ₂ = sin ^-1 (l _B ² −l _A ² +X ² +Y ² )/2l _B √ ² + ² −
_tan ^-1 _{X ／ Y γ 1 ′ = γ 2 ′} β ₂ ′). The calculation/control unit 54 performs calculations based on the above-mentioned calculation formula, and calculates the placement position of the reinforcing bars and the angle at which each rotary drive unit should rotate in order to move the center of the reinforcing bars to place the reinforcing bars at the placement positions.

Now, the operation of reinforcement work using the control device shown in FIG. 4 will be explained with reference to the flowchart shown in FIG. 6.

First, a predetermined interval L between reinforcing bars is set in the interval setting section 51 (step S ₁ ). In this case, the interval L is set as a function of the components Δx, Δy, Δz of changes in the x, y, and z directions of each coordinate axis, but the third
When arranging reinforcement as shown in the figure, the components of change Δx, Δy, Δz are constant and there is no displacement in the y-axis direction within one work cycle, so Δy=0, and Δx , Δz is L ² = Δx ² +
Satisfies the relationship Δz ² . Therefore, in this case, Δx, Δz, which satisfy the relationship L ² = Δx ² + Δz ²
The interval L that can give Δy=0 is set. Next, the number of reinforcing bars to be arranged in parallel is set in the number setting section 52 (step S ₂ ).
Next, only one of the most advanced reinforcing bars of the reinforcing bars 17 in the housing portion 16 is sent forward. Then, the boom 18, arm 19, and bracket 20 are operated, and the feed device 26 and feed amount detection device 27 supported by the rod-shaped body 21 reach a position where they grip the fed-out reinforcing bar, and grip the reinforcing bar ( procedure
_S3 ). Next, the boom 18, arm 19, and bracket 20 are operated to carry the reinforcing bar to position _P1 (step _S4 ). In this state, the feeding device 26 is driven to feed the reinforcing bars by a predetermined length (to arrange them in a staggered manner), and then the feeding device 26
Then, the reinforcing bar is released from being held by the feed amount detection device 27, and the reinforcing bar is placed at position _P1 (step _S5 ).

Here, a teaching signal is outputted from the teaching section 55 to the calculation/control section 54, and step _S6 is executed. That is, when the teaching signal is input to the calculation/control unit 54, each angle detector 2 in the posture at that time is
9, 30, 31, 32, 33 and the detection signal of the feed rate detection device 27, and based on these detection values, the coordinates x ₁ , y ₁ , z ₁ of the reinforcing bar center point are determined according to the above formula. Calculated. The obtained values x ₁ , y ₁ , z ₁ are stored in the storage unit 53 as arm posture data corresponding to position P ₁ along with the reinforcing bar feed amount (this value is set as D).
(step _S7 ). After that, the operation of automatically arranging reinforcing bars at equal intervals on reinforcing bars 3 starts (procedure
_S8 ).

In step _S9 , the calculation/control unit 54 outputs a command signal to each servo valve 35 to 39, and the rotating body 14, boom 18, arm 19, etc. are driven accordingly, and the next step is automatically performed. The reinforcing bars are taken out from the storage section 16. Next, the calculation/control unit 54
, a new reinforcement position is calculated by shifting the reinforcing bar center point by a predetermined interval L from the coordinates ₁ , y ₁ , z ₁ , and to set this new position, each angle θ, What angles should be used for φ, α, β, and γ are calculated (step S ₁₀ ). These calculations are performed using the values ₁ , y ₁ , z ₁ previously stored in the storage unit 53.
and the interval L set in the interval setting section 51, and calculation of each angle is executed according to the above formula. Next, the calculation/control unit 54 calculates the deviation between the angles θ ₂ , α ₂ , β ₂ , γ ₂ , φ ₂ obtained in step S ₁₀ and the current angle detected by each angle detector, and calculates the deviation. is output to the corresponding servo valve. As a result, the reinforcing bar center point is moved to a new predetermined position, and the reinforcing bar is also transported to that position (step S ₁₁ ). Then move on to step _S12 ,
Based on the command from the calculation/control unit 54, the feeding device 2
6 moves the reinforcing bar by a feed amount D in the opposite direction to the previous feeding direction, and in this state, the grip on the reinforcing bar is released. The released reinforcing bars are placed at position _P2 as reinforcing bars 5, as shown by the dashed line in FIG. 3, and are arranged in a staggered manner with respect to the initially placed reinforcing bars 4.

In the next step _S13 , 1 is added to the number 1 stored in the storage unit 53 to make the stored number 2.
shall be. In other words, two reinforcing bars 4 and 5 are stored. Next, in step _S14 , the calculation/control unit 54 retrieves the number of lines stored in the storage unit 53, and compares this number with the number set in the number setting unit 5. As a result of the comparison, if the set number has not been reached, return to step _S9 again.
Thereafter, the reinforcement work will be automatically executed in the same manner until the number of placed reinforcing bars reaches the set number.

In the reinforcing bar arrangement machine and its control device under consideration as described above, transverse feeding of reinforcing bars will be explained in more detail with reference to FIGS. 7a and 7b.

Figures 7a, b, and c are layout diagrams of reinforcing bars. When using the above-mentioned reinforcing bar arrangement machine, when the reinforcing bars 17 are to be housed in the storage section 16 using a crane or the like, there is a method of storing the reinforcing bars 17 so that the center C of the ironware 17 and the center of the car body 10 of the bar arrangement machine coincide with each other. This is a normally possible method. When such a housing method is adopted, it is necessary to align the center of the vehicle body with the distribution center line E of the staggered reinforcement in advance in order to carry out reinforcement work. This will be explained with reference to FIGS. 7a and 7b. In FIG. 7a, _17a1 is a reinforcing bar for teaching held by a reinforcing machine. When the center of the vehicle body and the distribution center line E match (therefore, when the reinforcing bar center C and the distribution center line E coincide), the teaching reinforcing bar _17a1 is distributed by a predetermined distribution amount _l0. When the paper is traversed to the right, this amount is detected by the feed amount detection device 27 and stored in the storage section 53 via the arithmetic/control device 54. Thereafter, the next reinforcing bar 17a ₂ is laterally fed in the opposite direction (leftward) to the reinforcing bar 17a ₁ by the stored distribution amount l ₀ . In this way, the reinforcing bars are sequentially arranged in a predetermined staggered pattern. by the way,
If the center of the vehicle body and the distribution center line E do not match,
Assuming that there is a difference Δl between the two as shown in FIG. 7b, in order to distribute the teaching reinforcing bar 17a ₁ by a predetermined distribution amount l ₀ , it is necessary to traverse the teaching reinforcing bar 17a 1 by a lateral feed amount l ₁ . . This taught lateral feed amount l ₁ is stored in the storage section 53. Next, the next reinforcing bar 17a ₂ is gripped, and this reinforcing bar 17a ₂ is fed laterally.
In this case, the reinforcing bar 17a ₂ is transversely fed in the opposite direction by the feed amount l ₁ , so that it protrudes from the predetermined position by the amount l'. Thereafter, all the even-numbered reinforcing bars will protrude by an amount l' like the reinforcing bars _17a2 , and the predetermined staggered reinforcement arrangement cannot be obtained.

As described above, in order to arrange reinforcing bars in a predetermined zigzag pattern, it is necessary to operate the reinforcing machine to accurately align the center of the vehicle body with the distribution center line E before performing the reinforcing work. Similarly, the reinforcing bar 17 is placed in the housing part 1 with its center C not matching the center of the vehicle body.
From the above explanation, even if it is accommodated in
It is clear that it is necessary to align the center C of the reinforcing bars 17 in the housing section 16 with the distribution center line E before reinforcing work. The alignment work of aligning the car body center or reinforcing bar center C with the distribution center line E is extremely difficult, especially considering the poor footing at the reinforcement work site and various other constraints. , it takes a long time, reduces work efficiency, and may increase worker fatigue.

[Purpose of invention]

The present invention was devised in consideration of these circumstances, and its purpose is to improve work efficiency by eliminating the need for positioning using a bar arrangement machine, and to perform accurate lateral feeding. The present invention provides a lateral feed amount control device for a reinforcement arrangement machine.

[Summary of the idea]

In order to achieve the above object, the present invention stores the lateral feed amount of the teaching reinforcing bar, and based on the memorized lateral feed amount and a predetermined distribution amount, the lateral feed amount in the opposite direction to the teaching reinforcing bar. The present invention is characterized by providing means for calculating.

[Example of idea]

Hereinafter, the present invention will be explained based on the illustrated embodiments.

First, before explaining the configuration of the present invention, the amount of lateral feed in the opposite direction to the teaching reinforcing bar is shown in Fig. 7c.
This will be explained with reference to. Figure 7c shows Figure 7b.
Similarly, a state in which the reinforcing bar center C of the gripped reinforcing bar is deviated from the distribution center line E by a value Δl is shown. In this case, in order to cross-feed the second reinforcing bar 17a ₂ to a predetermined position in the opposite direction to the teaching reinforcing bar 17a ₁ , the teaching transverse feed amount l ₁ is required as shown in FIG. 7b.
cannot be used, and it is necessary to perform lateral feed by a lateral feed amount l ₂ smaller than the taught lateral feed amount l ₁ . Here, this lateral feed amount l ₂ is an amount obtained by subtracting the above deviation value Δl from the predetermined distribution amount l ₀ (l ₂ =l ₀ −Δl).
By the way, it is clear that the value Δl is the value obtained by subtracting the predetermined distribution amount l ₀ from the taught lateral feed amount l ₁ ,
Moreover, both are known values. Therefore, in order to obtain the lateral feed amount l ₂ , it is sufficient to perform the following calculation.

l ₂ = l ₀ − (l ₁ − _{l 0} ) Using the lateral feed amount l ₂ obtained in this way,
By transversely feeding the even-numbered reinforcing bars in the opposite direction to the teaching reinforcing bars _17a1 , a predetermined staggered reinforcement arrangement can be obtained. Examples of the present invention will be described below.

FIG. 1 is a block diagram of a lateral feed amount control device for a reinforcement arrangement machine according to an embodiment of the present invention. In the figure, parts that are the same as those shown in FIG. 4 are given the same reference numerals, and description thereof will be omitted. Note that the main body 10 includes a feeder motor 4.
0, only the feeding device 26 and the feeding amount detection device 27 are shown, and illustration of other devices is omitted. Reference numeral 60 denotes a distribution amount setting switch for setting a predetermined distribution amount in the staggered reinforcement arrangement, and outputs a signal corresponding to the set distribution amount _l0 . 61 and 62 are subtracters, and 63A and 63B are storage units.

In the reinforcement work, first, each setting section 51, 52
At the same time, set the distribution amount setting switch to a predetermined distribution amount _l0 .
Next, the reinforcing bar _17a1 for teaching is grasped and conveyed to the teaching position. (Steps _S3 , _S4 ). Next, Figure 7c
Feed the reinforcing bar _17a1 to the right to a predetermined position as shown in (Step _S5 ). In this case, the feed amount of the above right feed l ₁
is detected by the feed amount detection device 27. When the teaching signal is output from the teaching section 55 (step S ₆ ), the detected lateral feed amount l ₁ is stored in the storage section 63A. Next, the calculation/control unit 54 stores the storage unit 63A.
The lateral feed amount l ₁ is taken out from and output to the arithmetic unit 61. On the other hand, the distribution amount l ₀ set in the distribution amount setting switch 60 is determined by the subtractor 61 and the subtractor 62.
is output to. The subtracter 61 subtracts the distribution amount l ₀ from the lateral feed amount l ₁ , and obtains the value Δl that is the calculation result.
is output to the subtracter 62. The subtractor 62 subtracts the value Δl from the distribution amount l ₀ , and the obtained lateral feed amount l ₂
Output. The calculation/control unit 54 calculates this lateral feed amount l ₂
is taken in and stored in the storage unit 63B.
In subsequent reinforcing work, when performing lateral feed in the same direction as the teaching reinforcing bar 17a ₁ , the calculation/control unit 54 retrieves the lateral feed amount l ₁ from the storage unit 63A and performs lateral feed control, When performing traverse feed in the opposite direction to the teaching reinforcing bar _17a1 , the calculation/control unit 5
4 takes out the lateral feed amount l ₂ from the storage section 63B and performs lateral feed control.

In this way, in this embodiment, the error between the reinforcing bar center and the distribution center line is calculated by subtracting the predetermined distribution amount from the taught lateral feed amount, and the error is subtracted from the predetermined distribution amount to teach. Since we determined the amount of lateral feed in the opposite direction to the reinforcing bars and used this amount to traverse the even-numbered reinforcing bars, there is no need to align the reinforcement machine to match the center of the reinforcing bars and the distribution center line. Therefore, work efficiency can be improved, the burden on the worker can be reduced, and moreover, accurate lateral feeding can be performed.

In addition, in the description of the above embodiment, an example was explained in which the reinforcing bar center is on the opposite side to the traversing direction of the teaching reinforcing bar with respect to the distribution center line, but the reinforcing bar center is on the same side as the traversing direction of the teaching reinforcing bar. , the direction of subtraction of the subtractor 61 is reversed, and
The subtracter 62 may be an adder. Also, the storage unit 6
3B is not necessarily necessary, and it is also possible to perform necessary calculations when performing even-numbered traverse feeds and directly use the results of these calculations to control the traverse feeds.

[Effects of the invention] As described above, in the present invention, the lateral feed amount of the even-numbered reinforcing bars is determined based on the taught lateral feed amount and the predetermined distribution amount.
There is no need to align the reinforcement arrangement machine, improving work efficiency and reducing the burden on the worker, and moreover, allows accurate lateral feeding.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a transverse feed amount control device for a reinforcement arrangement machine according to an embodiment of the present invention, Fig. 2 is a perspective view showing the arrangement form of reinforcing bars, Fig. 3 is a perspective view of the reinforcement arrangement machine, and Fig. 4
The figure is a block diagram of the control device for the reinforcing machine under consideration, Figures 5a and b are a plan view and side view of the reinforcing machine shown in symbols, respectively, and Figure 6 is the control device shown in Figure 4. Flowchart of reinforcement work using
Figures 7a, b, and c are layout diagrams of reinforcing bars. 3... Setup bar, 10... Reinforcement arrangement machine body, 14...
Revolving body, 16... Accommodation section, 18... Boom, 19
. . . Arm, 20 . 51... Interval setting section, 52
...Number setting section, 54...Calculation/control section, 55...
...Teaching section, 60...Distribution amount setting switch, 6
1, 62...Subtractor, 63A, 63B...Storage unit.

Claims (1)

[Scope of utility model registration request] A cross-feeding device that grips and cross-feeds reinforcing bars, a cross-feed amount detection device that detects the amount of cross-feed by the cross-feed device, and a support that supports the cross-feed device and the cross-feed amount detection device. a reinforcement arrangement machine, a setting means for setting the distribution amount of reinforcement, a storage means for storing the taught lateral feed amount detected by the traverse feed amount detection device, a value stored in the storage means and the setting. A lateral feed amount control device for a reinforcement arrangement machine, comprising means for determining a lateral feed amount in a direction opposite to the taught lateral feed based on a value set in the means.