JPS6110678A - Controller of wire arranging machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a control device for a reinforcement arrangement machine that controls a reinforcement arrangement machine that arranges reinforcing bars vertically and horizontally one on top of the other.

(Background of the Invention) In reinforced concrete construction, concrete is poured by combining reinforcing bars into a predetermined form.

A very frequently 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 is a floor, 2 is a column consisting of concrete blocks, etc., 3, 4, 5, 6, 7 are elongated members such as reinforcing bars, and 8.9 is a binding wire for connecting the reinforcing bars.

In the foundation work as shown in Fig. 2, the horses 2, reinforcing bars 3, 4, 5, 6, 7, etc. are placed on the floor 1 as follows. That is, on a strong floor l formed in advance, for example, horses 2 are placed at equal intervals, and reinforcing bars 3 (these reinforcing bars are especially called setup bars) are placed on top of these horses 2. A reinforcing bar 4. is placed on the setup bar 3 so as to be perpendicular to the setup bar 3.
5 are placed, and these reinforcing bars 4.5 and setup bars 3 are tied together with binding cotton 8. The reinforcing bars 4.5 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 4.5 being aligned in a straight line. When the arrangement of the reinforcing bars 4 and 5 is completed, the reinforcing bars 6.7 illustrated by the dashed line are arranged in the same manner as the reinforcing bars 4.5, and then the reinforcing bars 6 and 7 are connected to each of the reinforcing bars 4.5 using binding wires 9. Work will be carried out to conclude the agreement. Thereafter, the first reinforcing bars are placed on the horse 2 in the same manner.

Next, although not shown, on the reinforcing bars 4, 5, 6.7, etc., and perpendicular to these reinforcing bars 4.5, 6.7, etc.,
That is, the reinforcing bars in the second stage are arranged parallel to the setup bars 3, and each is fastened 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
This is done manually, but when building a strong foundation like a nuclear power plant as shown in Figure 1,
For example, reinforcing bars 3, 4, 5, 6, 7, etc. have a diameter of about 50 m,
It is necessary to use a large diameter and heavy one, with a length of about 10 m and a weight of about 150 kg.

Therefore, the reality is that several people are working on one bar arrangement. Therefore, this reinforcement work is tough,
It is also dangerous and requires a lot of effort.
Improvements in work efficiency cannot be expected.Therefore, a reinforcement arrangement machine and its control that can eliminate such drawbacks and automatically perform reinforcement work without requiring human labor are being considered. This reinforcement arrangement machine will be explained below with reference to figures.

FIG. 3 is a perspective view of the above-mentioned reinforcement arrangement machine, and 10 is a main body, for example, a frame 11 at the bottom and this frame 11
It has a traveling body 13 having a crawler belt 12 held by the vehicle, and has a revolving body 14 provided on the upper part so as to be able to turn relative to the traveling body 13. Further, 15 is a driver's cab provided in the revolving structure 14;
17 is a housing part arranged on the traveling body 13, and 17 is a housing part 1
This is a reinforcing bar housed in 6.

Further, 18 is a boom attached to the revolving body 14 so as to be rotatable in the vertical direction, 19 is an arm attached to the boom 18 so as to be rotatable in the vertical direction, and 20 is attached to the tip of the arm 19, and is attached to the top of the arm 19 in the vertical direction. A rotatable bracket 21 is attached to this bracket 20 and is a rod-shaped body that can be rotated in the horizontal direction. Further, 22 is a hydraulic cylinder whose one end is connected to the revolving structure 14 and the other end is connected to the boom 18 to rotate the boom 18; and 23 is connected to the boom 18 at one end and the arm 19 at the other end and rotates the arm 19. A hydraulic cylinder 24 for rotating the bracket 20 has one end connected to the arm 19 and the other end to the bracket 20, and a hydraulic cylinder 25 for rotating the bracket 20 has one end connected to the bracket 20 and the other end connected to the rod-shaped body 21.
This is a hydraulic cylinder that rotates the rod-shaped body 21. Further, 26 is a feeding device attached to one end of the rod-shaped body 21, and a feeding device 26 is used to feed the reinforcing bar 1.
7 and in a state where the reinforcing bar 17 is gripped,
It can be fed out in the axial direction. 27 is a feed rate detection device attached to the other end of the rod-shaped body 21, which has a gripping function equivalent to the gripping function in the feeder 26, and detects the feed rate of the reinforcing bar 17 sent out by the feeder 26; Output a signal.

The above-described rod-shaped body 21 and bracket 20 constitute a support member that rotatably supports the feed device 26 in the vertical and horizontal directions, and this support member, arm 19 and boom 18 support the feed device 26 in a rotatable manner. 26 to the position of the accommodating part 16 and to a position away from the accommodating part 16.

Reference numeral 28 denotes a rotation motor that rotates the revolving body 14, 29 a rotation angle detector that detects the relative rotation angle θ between the revolving body 14 and the traveling body 13, and 30 a boom that detects the rotation angle β of the boom 18. An angle detector 31 detects a relative rotation angle α between the arm 19 and the boom 18; an angle detector 32 detects a relative rotation angle γ between the arm 19 and the bracket 20; bracket angle detector,
33 is a rod-shaped body angle detector that detects the rotation angle φ of the central portion of the rod-shaped body 21. Each of these angle detectors is 29°30.
Reference numerals 31, 32, and 33 constitute 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 carried out as follows. That is, first, a plurality of reinforcing bars 17 are accommodated in the accommodation section 16 by a crane or the like (not shown). On the other hand, as shown in FIG. 2, 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. Next, 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 feed device 26 supported by the rod-shaped body 21 and the feed amount detection bag ff27 are driven.
reaches the position of the accommodating portion 16, that is, the position where the reinforcing bar fed forward is gripped. At this time, the feed device N26 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
6 and the feed amount detection device 27. The hydraulic cylinders 22, 23, 24 and, if necessary, the hydraulic cylinder 25 are then actuated, so that the above-mentioned reinforcing bars are removed from the receptacle 16 and placed as a set-up bar on the horse 2. 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 rotated as appropriate, 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
Rotate the boom 18, arm 19, and bracket 20,
The gripped reinforcing bars 17 are positioned above and orthogonally to the previously placed setup bars 3. In this state, the feeding device 26 is driven, and when it has been fed a predetermined amount, the feeding device is ready! 2
6 and the gripping by the feed 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 bars 5 shown by the dashed-dotted line are placed on the setup bars 3 and shifted with respect to the reinforcing bars 4 by a similar operation. PI, Pa, P indicate the positions of reinforcing bars placed on the setup bar 3, and each position P1. Pt,
The distance between Ps... 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 will be described in order to cause the above-mentioned operations to be performed on such reinforcement m.

FIG. 4 is a block diagram of the control device, and the third
Blocks indicating the same parts as those shown in the figure are designated by the same reference numerals, and the explanation thereof 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 boom cylinder 22; 37 is a servo valve that controls the arm cylinder 23; 38 is a servo that controls the bracket cylinder 24. The valve 39 is a servo valve that controls the drive of the rod-shaped body cylinder 25, and 40 is a feed device motor that drives the feed device 26. Reference numeral 50 denotes a control section that controls the operation of the reinforcement arrangement machine, and is composed of an interval setting section 51, a number setting section 52, a storage section 53, and an arithmetic/control section 54, and each setting section 51, 52 is configured with a switch, for example. The zero spacing setting section 51 has a predetermined distance between reinforcing bars arranged parallel to each other, that is, the position P+ shown in FIG.
The distance between Pg, Pa... 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.

The calculation/control unit 54 and the storage unit 53 are configured by, for example, a microphone computer.

Before explaining the operation of reinforcement work using this control device, the calculations in the calculation/control unit 54 are shown in FIG. 5(a).
This will be explained with reference to (b). As is clear from the explanation of the reinforcement work described above, where should the reinforcing bar be placed first on the setup bar 3? Once tP+ is determined, the positions Pt, Ps, etc. of reinforcing bars to be placed thereafter can be obtained by sequentially shifting them by predetermined intervals. Therefore, in order to place the reinforcing bars at position i&P+, how should the center point (the reinforcing bar center point) between the feeding device 26 and the feeding amount detection device 27 of the grasped reinforcing bars be set at a specific location of the reinforcing machine, for example? The question is whether to move it to a certain position, and once this position is determined,
Each subsequent position will be obtained by shifting by a predetermined interval. Then, this initial position is the specific location (hereinafter referred to as
This point can be expressed as coordinates in a three-dimensional space (assuming that this point is the center point of the reinforcing bar shown earlier). 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. To clearly show the movement of such a rotary drive unit,
It is convenient to represent it in accordance with the JIS standard BO138r industrial robot symbol.

FIGS. 5(a) and 5(b) 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 0 is the track 12 of the reinforcement machine
The center of rotation of the revolving body 14 intersects the surface that the lower surface of the rotating body 14 contacts, and the X-axis and two axes are determined on this surface, and the y-axis is determined to pass through the origin and orthogonally cross the surface. There is. Each character shown in the figure represents the following value.

Loi boom foot height, : Distance between center of rotation and boom foot ■, 2: Distance β between center of rotation of rod-like body 21 and reinforcing bar center point; Length of boom 18 EA : Length of arm 19 lG of bracket 20 Distance between the center of rotation and the center of rotation of the rod-shaped body 21, and then operate the reinforcement machine to place the first reinforcing bar at the position Hp.

The above-mentioned rotation angles when the posture is arranged as
5. β1. α1. γ3. When φ1 is assumed, the coordinates x, l )'+ + z of the reinforcing bar center point at that time are expressed by the following equation.

X+= (L++(j!s cosβ+' + I A
Qinα1′+IGcosγ,'+L2cosγ shyness”
cosφ1)) cosθI V +” Lo+ l1m sinβ,' −IAco
sc? t'tenj! , sinγ, '+ Lzsinγl''
CO3φ abuse 2+= iL++(j!Icosβ,'+l
,,sinα1′toj! c C03T +' + LI
Cogγ1"cosφI))・5ine, where β,'=β1-minus1α,'-α,+β8'-No.TI'=No.10α1'-11.

Next, each rotation angle for shifting the reinforcing bar center point by a predetermined interval from the initial position (X+, y+, Z+) of the reinforcing bar center point obtained in this way is calculated by the angle θ2
．． φ7. α2. β2. Assuming γ2, these angles are calculated by the following equation.

θ3=jan-' ((L++ R@cosβ1'+
rasinα, ′→It a cos r +′) ・s
inθ, −Lsin(θ1+φ1))/(L1+ et c
osβ,'+#As1nα,”+II c cos T
+')・cosθ1−Lcos(θ1+φI))φ2
-θ1+φI-θ2 αt=cos-'(j! H" + 12 A" -X
"-Y") / 21 E・lA β7-β,'+4- γ,=β,'+αz rt' However, βt'=sin-'(j+Bt-jlA"+X"+Y"
) / 2 j! mfy1171-jan-'X/ Y γ1'=12'X=AIIcosβ2' + A a cos(π-α
, -βt')Y ” j! m sinβ2'
j! A 5in(n −αz −β,′). 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 to move the center of the reinforcing bars in order to place the reinforcing bars at the placement positions. Ru.

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 between reinforcing bars is set in the interval setting section 51 (step S+). In this case, the spacing is the component of change in each coordinate axis x, y, z direction ΔX, Δ
It is set as a function of y, Δ2, but when arranging reinforcement as shown in Fig. 3, the components of change ΔX, Δy, Δ2
is constant, and within one work cycle y
Since there is no displacement in the axial direction, Δy=o, and ΔX
, Δ2 satisfy the relationship L2−Δx2+Δz2. Therefore, in this case, intervals are set that can provide ΔX, Δ2, and Δy=o that satisfy the relationship Lt=Δx2+Δz寞. Next, the number of reinforcing bars to be arranged in parallel is set in the number setting section 52,
Only one of the most advanced reinforcing bars of the reinforcing bars 17 in the accommodation portion I6 is sent forward.

Then, the boom 18, the arm 19, and the bracket 2° are operated, and the feeding device 26 and the feeding 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. (Step Ss). Next, operate the boom 18, arm 19, and bracket 20,
The reinforcing bars are carried to the position where they are placed at the WPI (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 reinforcing bars are released from the feeding device 26 and the feeding amount detection device 27, and the reinforcing bars are moved to position P. (Step SS).

Here, a teaching signal is outputted from the teaching section 55 to the arithmetic/control section 54, and step S6 is executed. That is, when the teaching signal is input, the calculation/control unit 54 inputs the detection signals of the angle detectors 29, 30, 31, 32, and 33 and the feed amount detection device 27 in the posture at that time, and calculates the detection signal. Based on the value, the coordinates of the reinforcing bar center point “l + 7 + l
z+ is calculated according to the above formula. The obtained value xl r yI + Zr is stored in the storage unit 53 as arm posture data corresponding to the position P, together with the feed amount of the reinforcing bar (this value is set as D) (step St). Thereafter, an operation for automatically arranging reinforcing bars at equal intervals on the setup bars 3 is started (step Ss).

In step S, 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 in accordance with the command signal.
The next reinforcing bar is automatically taken out from the storage section 16. Next, in the calculation/control unit 54, the reinforcing bar center point is determined at coordinates xI
+ A new reinforcement position shifted by a predetermined interval from yl and Zl is calculated, and what angles θ, φ, α, β, and T should be set to achieve this new position. Whether it is good or not is calculated (step S1°). These calculations are performed based on the value Xl+y++2+ previously stored in the storage section 53 and the interval set in the interval setting section 51, and the calculation of each angle is performed according to the above formula. Next, the angle θ2. obtained by step S1°. α2.
β2. γ2. The deviation between φt and the current angle detected by each angle detector is calculated in the calculation/control unit 54, and 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++).

Next, the process moves to step Sl□, and in response to a command from the arithmetic/control unit 54, the feeding device 26 moves the reinforcing bar by the feeding distance in the direction opposite 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 P as reinforcing bars 5, as shown by the dashed line in FIG.
The arrangement is staggered with respect to the reinforcing bars 4 placed first.

In the next step Sl, 1 is added to the number 1 stored in the storage unit 53 to make the stored number 2. In other words, two reinforcing bars 4.5 are stored. Then,
In step S14, the calculation/control unit 54 stores the memory unit 53.
The number stored in is retrieved, and this number is compared with the number set in the number setting section 52. As a result of the comparison, if the set number has not been reached, repeat step S.
Returning to , the reinforcement work will be automatically executed in the same manner from now on until the number of placed reinforcing bars reaches the set number.

The reinforcement machine and its control device under consideration as described above automatically perform reinforcement work, thereby eliminating manual reinforcement work and making it possible to perform the work safely. Work efficiency can be improved.

By the way, when carrying out reinforcement work using such a reinforcement arrangement machine, when it is necessary to arrange the reinforcement in a staggered manner as described above, after conveying the reinforcing bars from the storage section 16 to a predetermined position,
The reinforcing bars that are being gripped must be moved horizontally by a predetermined amount and then placed below for reinforcing. By carrying out such horizontal feeding, the reinforcing bars themselves will flex by a considerable amount on the side that has been side-feeded. becomes. Therefore, the end of the bent reinforcing bar collides with the reinforcing bar that has already been placed or goes under the reinforcing bar, and if the traverse feed is continued in this state, the binding wire 8 is loosened by pressing the reinforcing bar, and Otherwise, there is a risk of cutting and shifting the position of the reinforcing bars that have already been placed. When a situation like this occurs, workers return the displaced reinforcing bars to their original positions.
Repair work must be carried out to re-tie the binding wire 8, resulting in a significant drop in work efficiency.

In order to eliminate such concerns, it is sufficient to carry out cross-feeding at a sufficient height so that the end of the reinforcing bars to be cross-feed does not come into contact with the reinforcing bars that have already been placed. If you release the grip on the reinforcing bars, the released reinforcing bars will bounce and roll when they fall onto the reinforcing bars that have already been placed, causing the reinforcing bars to be placed in a greatly incorrect position, requiring manual work to return them to the correct position. If not, falling, bouncing and rolling reinforcing bars may cause unexpected accidents. In order to avoid these situations, it is conceivable to move the rod-shaped body 21 again after completing the feeding at a high position, position it as low as possible, and then perform an operation to release the grip on the reinforcing bar. Moreover, performing such an operation will obviously lead to a decrease in work efficiency.

[Purpose of the invention]

The present invention was made in consideration of such circumstances, and its purpose is to be able to carry out cross-feeding of reinforcing bars at optimal positions, thereby improving reinforcement efficiency.
Further, it is an object of the present invention to provide a control device for a reinforcement arrangement machine that can safely perform reinforcement work.

[Summary of the invention]

In order to achieve the above object, the present invention supports a reinforcing bar transverse feed device and a transverse feed amount detection device with a support, and detects the reinforcing bar based on the transverse feed amount of the reinforcing bar and a value determined by the reinforcing bar. The amount of deflection is calculated, and on the other hand, the height between a specific part of the support and the surface on which the reinforcing bar is placed is calculated, this height is compared with the amount of deflection, and the support is adjusted according to the result of the comparison. The feature is that the height is controlled.

[Embodiments of the invention]

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

FIG. 1 is a block diagram of a 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.

In addition, in the main body 10, the feed device motor 40, the feed device? &26 and the feed amount detection device 27 are shown, and illustrations of other devices and their connections with the arithmetic/control unit 54 are omitted. Reference numeral 57 denotes a deflection calculation section that calculates the deflection amount of the reinforcing bar according to a predetermined formula (described later) when the reinforcing bar is fed laterally. 58 is the deflection amount calculation unit 5
This is a comparator that inputs the deflection amount calculated in step 7 and the height of the reinforcing bar center point, and outputs the deviation.

Next, the calculation by the deflection amount calculating section 57 will be explained with reference to the diagram for explaining the deflection amount shown in FIG. In FIG. 7, reference numeral 17 denotes a reinforcing bar taken out from the storage section 16 and held, 21 denotes a rod-shaped body, 26r denotes a pair of rollers of the feeding device W26 supported by the rod-shaped body 21, and 27r denotes a pair of rollers also supported by the rod-shaped body 21. This is a pair of rollers of the feed amount detection device 27. The reinforcing bar 17 is sandwiched and supported between a pair of rollers 26r and another pair of rollers 27r, and is horizontally fed, for example, to the right in the figure, by rotation of a feeder motor 40 to which one of the pair of rollers 26r is connected. be done. The figure shows a state in which the reinforcing bars 17 are being fed laterally to the right. Due to this lateral feeding, the other pair of rollers 27r also rotate, and by detecting their rotational speed, the amount of lateral feeding of the reinforcing bar 17 is detected. ecO is the reinforcing bar center point.

Note that when gripping the reinforcing bars as shown in the figure, the reinforcing bars are held by roller 2.
Slight deflection between 6r and 27r, point C0 is also caused by roller 26
Although it deviates by a minute interval from the straight line connecting the gripping points of r and 27r, this deviation can be ignored. G indicates the same plane as the lower surface of the crawler track 12 of the reinforcement arrangement machine, that is, the plane on which the reinforcing bars 17 are arranged.

Also, h is the vertical height of point C0 from plane G, 2. is reinforcing bar 17
The amount of overhang, 12 is the reinforcing bar 1 by rollers 26r and 27r.
7 is the gripping interval and δ is the amount of deflection.

In addition, in FIG. 7, the deflection of the reinforcing bar 17 is illustrated in an enlarged manner.

The amount of deflection δ of the reinforcing bar 17 is expressed by the following equation.

δ=Wj! +(3pI'+6J+”Jt At3)/
24ET Here, E: longitudinal elastic modulus l of the reinforcing bar 17; cross section 2~moment W of the reinforcing bar 17: weight per unit length of the reinforcing bar 17. In addition, regarding the overhang amount of 1 layer, when the reinforcing bar 17 is taken out from the storage part 16, the reinforcing bar 17 is moved to the roller 26r in a state where it is overhanging by the same amount in both directions.

27r, so if the total length of the reinforcing bar 17 is known, it can be calculated from the feed ilD.

Next, the operation of this embodiment will be explained. After the reinforcing bars 17 of the housing section 16 are gripped by the rollers 26r and 27r,
The point co on the rod-shaped body 21 is moved to the calculated new position.Then, the roller 26r is driven,
The reinforcing bars 17 are fed laterally. The feed amount detection device 27 outputs the detected feed amount to the calculation/control unit 54. The calculation/control unit 54 overhangs llj! based on this feed amount. is calculated, and this value 11 and the values E, Itw, l12 previously stored in the storage section 53 are output to the deflection amount calculation section 57. In the deflection amount calculation section 57,
The amount of deflection δ is calculated based on these values, and this amount of deflection δ is output to the comparator 58.

On the other hand, the calculation/control unit 54 sends a signal to the comparator 58 at point C.
A value of 0 in the y-axis direction, ie, the current height h, is output. The comparator 58 calculates the deviation Δh between the two values, and the calculated deviation Δh is output to the calculation/control unit 54.

The calculation/control unit 54 compares the input deviation Δh with a value set in advance and stored in the storage unit 53,
If there is a difference between the two, a control signal is output to the necessary driving section of the main body 10 so that Δh=. That is, if Δh>k, lower the point C0,
If Δh<k, a control signal is output to each servo valve 36°37.38 to raise point CI. In addition,
The above setting values are determined by taking into consideration the looseness of each part of the reinforcement arrangement machine, calculation accuracy, etc., and the tip of the reinforcing bar 17 collides with the already placed silent reinforcement due to looseness, or It definitely prevents the situation from falling under.

The above operation is always performed while the reinforcing bar 17 is being traversed, and the amount of lateral feeding increases, the amount of deflection increases, the tip of the reinforcing bar 17 lowers, and the deviation Δh decreases, which changes the setting. When the value becomes smaller, the calculation/control unit 5
4 outputs a signal to raise the position of point c0, increasing the height h
becomes larger, and the deviation Δh also becomes larger and becomes equal to the set value.

When the deviation Δh becomes larger than the set value, the opposite operation is performed, lowering the position of point C0, reducing the deviation Δh, and increasing Δh.
= to be. In this way, the end position of the reinforcing bar 17 on the traverse feed side is always at a higher position than the existing reinforcing bar, and the difference in height from the existing reinforcing bar is minute. If the grip on the reinforcing bar 17 is immediately released when the traverse feed is completed, the bouncing of the reinforcing bar 17 will be suppressed, the reinforcing bar 17 will not roll due to the bouncing, and the reinforcing bar 17 will be placed in the correct position. Become.

In this way, in this example, the amount of deflection of the reinforcing bars is calculated during the horizontal feeding work of the reinforcing bars, and the deflected tip of the reinforcing bars is located at a position higher than and close to the existing reinforcing bars. Since the configuration is configured to control as shown in Figure 1, it is possible to prevent the reinforcing bars that are being fed horizontally from coming into contact with the existing reinforcing bars, and this allows for repair work such as correcting the misalignment of the existing reinforcing bars or retying the binding wires. The efficiency of reinforcement work can be improved by eliminating the need for reinforcing bars, and the grip on reinforcing bars can be released immediately after the cross-feeding work is completed and at a lower position. This eliminates the need to correct the reinforcement position due to the bounce of the reinforcing bars, which improves the efficiency of the reinforcement work, and also prevents dangers due to the bounce of the reinforcing bars.

In addition, in the description of the above embodiment, an example in which the deflection amount calculation section and the comparator are provided separately has been described, but it is also possible to provide these functions to the calculation/control section.

〔Effect of the invention〕

As described above, in the present invention, the amount of deflection during cross-feeding of reinforcing bars is calculated, this amount of deflection is compared with the height of a specific position of the support body that supports the cross-feed device, and according to the result of this comparison, the amount of deflection is calculated. Since the height of the specific position is controlled, the tip of the reinforcing bar to be fed laterally is higher than the existing reinforcing bar, and
Traversing can be carried out at an optimal position extremely close to the existing reinforcing bars, and this allows for repair of the latter reinforcing bars due to contact between the reinforcing bars to be transversely transported and existing reinforcing bars, correction of the reinforcing bar placement position due to bounce, and traversing work. It is possible to improve the efficiency of reinforcement work by eliminating the need to lower the reinforcing bars later, and
The danger caused by bouncing reinforcing bars can be eliminated.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a 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 is a study. 5(a) and 5(b) are a plan view and a side view of the reinforcing bar arrangement machine shown in symbols, respectively, and FIG. 6 is a block diagram of the control device of the reinforcement arrangement machine shown in FIG. FIG. 7 is a flowchart of reinforcement work using the apparatus, and is an explanatory diagram of the amount of deflection of reinforcing bars. 3... Setup bar, 10... Reinforcement arrangement machine body, 14... Swivel body, 16... Accommodation section, 18... Boom, 19...
・Arm, 20... Bracket, 21... Rod-shaped body,
26... Feeding device, 27... Feeding amount detector, 29.
3(j, 31. 32°33... angle detector,
50... Control unit, 51... Interval setting unit, 52...
Number setting section, 53... Storage section, 54... Calculation/control section, 55... Teaching section, 57... Deflection amount calculation section, 5
8... Comparator. Figure 1 Figure 2! Figure 3 Figure 4 Figure 5 tσ (b) Figure 6 Do[

Claims (1)

[Claims] a cross-feeding device that grips and cross-feeds reinforcing bars, a detection device that detects the amount of cross-feed by the cross-feeding device, and a reinforcement arrangement machine that includes a support that supports the cross-feeding device and the detection device; between a first calculation means that calculates the amount of deflection of the reinforcing bar based on a value determined by the grasped reinforcing bar and a value detected by the detection device, and a grasping center position of the reinforcing bar and a surface on which the reinforcing bar is arranged; a second calculating means for calculating the height of the height, a comparing means for comparing the value calculated by the first calculating means and the value calculated by the second calculating means, and a comparison by the comparing means. A control device for a reinforcing bar arrangement machine, comprising: a control means for controlling the height of the gripping center position according to the height of the gripping center position.