Steel bar binding device

Abstract

The device is provided with: a binding mechanism configured so as to be able to bind a binding site where a reinforcing steel bar extending in a first direction and a reinforcing steel bar extending in a second direction intersect; a main body part on which the bundling mechanism is mounted; a leg portion configured to be capable of traveling on the reinforcing steel bar extending in the first direction; a first drive unit configured so as to be able to separate the leg from the reinforcement; a second drive unit configured so as to be able to move the leg in a second direction intersecting the first direction; and a control unit that controls the first drive unit and the second drive unit, and that controls the second drive unit to move the leg in the second direction in a state in which the leg is separated from the reinforcement by controlling the first drive unit.

Description

Technical Field

[0001] The present disclosure relates to a rebar tying device. Background Art

[0002] Various technologies for automating rebar tying have been proposed in construction. For example, Patent Document 1 describes a self-propelled rebar tying robot that has the ability to move in a longitudinal direction (a first direction) using a pair of parallel rebars as a travel path, and to move in a transverse direction (a second direction) between the parallel rebars. If the robot detects a transverse rebar while moving in the longitudinal direction, it stops and ties the intersection of the longitudinal and transverse rebars.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-039174 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, the conventional technology has a problem in that the robot cannot be moved laterally with precision.

[0008] The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide a reinforcing bar tying device capable of precisely moving in the second direction.

[0009] Means for solving problems

[0010] One aspect of the present disclosure provides a rebar bundling device comprising: a bundling mechanism configured to bundle a portion where rebar extending in a first direction and rebar extending in a second direction intersect; a main body equipped with the bundling mechanism; legs configured to travel on the rebar extending in the first direction; a first drive unit configured to separate the legs from the rebar; a second drive unit configured to move the legs in a second direction intersecting the first direction; and a control unit configured to control the first drive unit and the second drive unit, wherein the control unit controls the second drive unit to move the legs in the second direction while controlling the first drive unit to separate the legs from the rebar.

[0011] According to this aspect, by moving the leg in the second direction, the movement in the second direction can be performed precisely.

[0012] Effects of the Invention

[0013] According to the present disclosure, the movement in the second direction can be performed precisely. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a perspective view of a reinforcing bar tying device according to one embodiment.

[0015] Figure 2 This is a perspective view of a reinforcing bar tying device according to one embodiment.

[0016] Figure 3 It is a three-dimensional diagram of the first unit.

[0017] Figure 4 This is the front view of the leg.

[0018] Figure 5 It is a three-dimensional diagram of the leg.

[0019] Figure 6 It is a side view of the leg.

[0020] Figure 7 It is a side view of the leg.

[0021] Figure 8 It is a side view of the leg.

[0022] Figure 9 This is a perspective view of a reinforcing bar tying device according to one embodiment.

[0023] Figure 10 This is a perspective view of a reinforcing bar tying device according to one embodiment.

[0024] Figure 11A It is a diagram showing the operation of the reinforcing bar tying device during tying processing.

[0025] Figure 11B It is a diagram showing the operation of the reinforcing bar tying device during tying processing.

[0026] Figure 11C It is a diagram showing the operation of the reinforcing bar tying device during tying processing.

[0027] Figure 12A It is a diagram showing the operation of the reinforcing bar tying device during tying processing.

[0028] Figure 12B It is a diagram showing the operation of the reinforcing bar tying device during tying processing.

[0029] Figure 12C It is a diagram showing the operation of the reinforcing bar tying device during tying processing.

[0030] Figure 13 This is a block diagram showing a control structure of a reinforcing bar tying device according to one embodiment.

[0031] Figure 14 This is a flowchart showing the processing contents of the bundling process.

[0032] Figure 15This is a flowchart showing the processing contents of the lateral movement process.

[0033] Figure 16A It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0034] Figure 16B It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0035] Figure 17A It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0036] Figure 17B It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0037] Figure 18A It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0038] Figure 18B It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0039] Figure 19A It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0040] Figure 19B It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0041] Figure 20A It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0042] Figure 20B It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0043] Figure 21A It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process.

[0044] Figure 21B It is a diagram showing the operation of the reinforcing bar tying device during the lateral movement process. DETAILED DESCRIPTION

[0045] The rebar tying device of this embodiment will be described with reference to the accompanying drawings. It should be noted that, in the following description, to facilitate understanding of the specification, the forward direction of the rebar tying device is defined as the X-axis direction, the width direction of the rebar tying device is defined as the Y-axis direction, and the height direction of the rebar tying device is defined as the Z-axis direction.

[0046] The rebar tying device of this embodiment is a self-propelled robot that automatically ties together rebar extending in the X-axis direction (hereinafter referred to as "longitudinal rebar") and rebar extending in the Y-axis direction (hereinafter referred to as "transverse rebar") at the intersection of the rebar tying locations during building construction. During operation, the rebar tying device follows the longitudinal rebars in the X-axis direction. Upon detecting a transverse rebar, it stops and ties the rebar at the tying location. Once the tying process is complete, the rebar tying device resumes movement. Thereafter, the rebar tying device repeats movement, stopping, and tying, tying multiple tying locations. Furthermore, upon reaching the end of a longitudinal rebar in the X-axis direction, the rebar tying device performs a transverse movement toward the longitudinal rebar adjacent to the tying location in the Y-axis direction. Upon completion of the transverse movement, the rebar tying device resumes movement in the X-axis direction, following the longitudinal rebars, and ties the tying locations on the adjacent longitudinal rebars in the Y-axis direction.

[0047] like Figure 1 and Figure 2 As shown, the reinforcing bar tying device 10 of this embodiment includes a main body 11, a leg structure 12 connected to the main body 11, and a support frame 13 connected to the main body 11. The support frame 13 is an example of a support portion.

[0048] The leg structure 12 includes a first unit 12A and a second unit 12B, arranged in a pair at the front and rear of the main body 11. The support frame 13 is disposed, for example, between the first unit 12A and the second unit 12B. The support frame 13 may also be disposed forward of the first unit 12A (forward of the forward direction of the rebar tying device 10) or rearward of the second unit 12B (rearward of the forward direction of the rebar tying device 10). The first unit 12A and the second unit 12B each include two legs 15. One leg 15 in the first unit 12A and one leg 15 in the second unit 12B are examples of third legs and are disposed on one side of the main body 11 in the Y-axis direction. The other leg 15 in the first unit 12A and the other leg 15 in the second unit 12B are examples of fourth legs and are disposed on the other side of the main body 11 in the Y-axis direction. The two legs 15 of the first unit 12A are examples of first legs and are located on one side of the main body 11 in the X-axis direction (the front side in the forward direction of the rebar tying device 10). The two legs 15 of the second unit 12B are examples of second legs and are located on the other side of the main body 11 in the X-axis direction (the rear side in the forward direction of the rebar tying device 10). The number of legs 15 in each of the first unit 12A and the second unit 12B can be one or three or more. Each leg 15 can be independently extendable and retractable, allowing the height of the main body 11 to be adjusted by the extension and retraction of each leg 15. The support frame 13 has a frame-like shape extending in the Y-axis direction and includes two first frame portions 13A extending from the lower surface of the main body 11 in the Z-axis direction and a second frame portion 13B extending in the Y-axis direction and connecting the lower ends of the two first frame portions 13A. The Y-axis dimension of the second frame portion 13B is, for example, approximately three times the spacing between adjacent longitudinal bars in the Y-axis direction. The size of the second frame portion 13B in the Y-axis direction can also be configured to be the same as the spacing between adjacent longitudinal ribs in the Y-axis direction. Thus, when the height of the main body 11 decreases as the legs 15 extend and retract, the support frame 13 is placed so that the second frame portion 13B of the support frame 13 spans between two adjacent longitudinal ribs X1 and X3 or between the longitudinal ribs X1 and X2 in the Y-axis direction. In other words, the second frame portion 13B of the support frame 13 is placed so that it spans two longitudinal ribs X1 and X3 or between the longitudinal ribs X1 and X2, including the longitudinal rib X1 located in the center of the main body 11 in the Y-axis direction and one of the two longitudinal ribs X2 and X3 located on both sides of the longitudinal rib X1 in the Y-axis direction.

[0049] A sensor 16 is mounted on each side of the main body 11 in the X-axis direction. The sensor 16 is an example of a second detection unit. Figure 1 、 Figure 2In the illustrated example, only the sensor 16 mounted on the front surface of the main body 11 is shown. The sensor 16 has a detection range, for example, below the main body 11, which includes at least the longitudinal rebar X1 located at the center of the main body 11 in the Y-axis direction. The sensor 16 has a function for measuring the distance to an object, and the detected object is the longitudinal rebar X1 if the measured distance to the object matches a predetermined distance from the longitudinal rebar X1. The two sensors 16 detect two locations of the longitudinal rebar X1 separated in the X-axis direction, and the direction extending from the straight line connecting the two locations detected by these sensors 16 is determined as the longitudinal direction of the longitudinal rebar X1. The rebar tying device 10 then independently controls the rotational speed of the wheels 17 on both sides in the Y-axis direction so that the rebar tying device 10 follows the determined longitudinal direction of the longitudinal rebar X1. Furthermore, the rebar tying device 10 controls its movement direction so that the rebar tying device 10 follows the determined longitudinal direction of the longitudinal rebar X1.

[0050] A sensor 18 is mounted on each side of the main body 11 in the Y-axis direction. The sensor 18 is an example of a first detection unit. Figure 1 、 Figure 2 In the example shown, only the sensor 18 mounted on one side of the main body 11 in the Y-axis direction is shown. The sensor 18 has, for example, the lower portion of the main body 11 as its detection range, and the detection range includes at least the transverse reinforcement Y1 (see FIG. 1 ) that crosses the main body 11 in the Y-axis direction when the reinforcing bar tying device 10 reaches the vicinity of the tying location. Figure 9 The sensor 18, for example, has a function of measuring the distance to an object. If the measured distance to the object matches a predetermined distance from the transverse bar Y1, the object is detected as the transverse bar Y1. The two sensors 18 detect two locations of the transverse bar Y1 separated in the Y-axis direction. When the transverse bar is detected by these sensors 18, the extension direction of the straight line connecting the two detected locations is determined as the longitudinal direction of the transverse bar. The rebar bundling device 10 then calculates the location where the longitudinal direction of the longitudinal bar determined by the sensor 16 intersects the longitudinal direction of the transverse bar determined by the sensor 18, as the bundling location where the longitudinal and transverse bars intersect. Furthermore, when the rebar bundling device 10 moves toward the calculated bundling location, the rotational speed of the wheels 17 on both sides in the Y-axis direction is individually controlled so that the position of the calculated bundling location coincides with the position of the bundling unit 73 of the bundling mechanism 70, described later, in the Y-axis direction, thereby controlling the direction of movement of the rebar bundling device 10.

[0051] Next, the structure of each unit constituting the leg structure 12 will be described. It should be noted that the first unit 12A and the second unit 12B have a common structure. Therefore, in the following description, the first unit 12A will be used as an example.

[0052] like Figure 3 As shown, the first unit 12A, for example, includes a connecting portion 30 connected to the main body 11 and extending long in one direction, and leg portions 15 provided at the first and second ends of the connecting portion 30 in the longitudinal direction. The connecting portion 30, for example, has a substantially L-shaped cross-section. The connecting portion 30, for example, includes a bottom plate 31 and side plates 32 protruding from the bottom plate 31 in the Z-axis direction. The bottom plate 31 includes, for example, a first bottom plate 31A located on one side of the connecting portion 30 in the longitudinal direction, and a second bottom plate 31B located on the other side of the connecting portion 30 in the longitudinal direction. A gap is formed between the first bottom plate 31A and the second bottom plate 31B, for example, in the longitudinal direction of the connecting portion 30. The side plates 32 extend, for example, across the entire longitudinal region of the connecting portion 30. That is, the connecting portion 30 may also have a structure in which the bottom plate 31 is cut away in the central portion in the longitudinal direction. Transversely movable rollers 33 are provided in the central portion in the longitudinal direction of the side plates 32 of the connecting portion 30. The lateral moving roller 33 is an example of a drive gear and constitutes the second drive unit. The lateral moving roller 33 meshes with, for example, a drive rack 11A provided on the main body 11. The drive rack 11A is an example of an engaging portion and constitutes the second drive unit. The drive rack 11A has, for example, a plurality of teeth arranged linearly in the Y-axis direction that mesh with the external teeth of the lateral moving roller 33. Alternatively, the lateral moving roller 33 may be provided on the main body 11, and the drive rack 11A may be provided on the connecting portion 30. Alternatively, when the lateral moving roller 33 rotates based on the driving force from the motor that constitutes the second drive unit, the lateral moving roller 33 moves relative to the drive rack 11A along the longitudinal direction of the drive rack 11A, and the main body 11 and the first unit 12A move relative to each other in the Y-axis direction. In addition, a leg 15, for example, is connected to each of the first bottom plate 31A and the second bottom plate 31B of the connecting portion 30.

[0053] The leg portion 15 has a base portion 40 connected to the first bottom plate portion 31A or the second bottom plate portion 31B of the connecting portion 30 (see Figure 7etc.). A displacement mechanism 41 is connected to the base 40. The displacement mechanism 41 is configured to be able to displace the first end connected to the base 40 as a fixed end and the second end on the opposite side of the first end as a free end. The displacement mechanism 41 has a link mechanism 41A that connects the wheel 17 to the main body 11. The link mechanism 41A is an example of a connecting portion and is configured to be telescopic. The link mechanism 41A is, for example, connected in a rotatable manner to a plurality of links extending long in one direction, and the plurality of links include a first link 42 located at the first end and a second link 43 located at the second end. The first link 42 is connected to the second link 43 so as to be rotatable. The displacement mechanism 41 is provided on each leg 15 of the first unit 12A and the second unit 12B, and is configured to be independently controlled. That is, the displacement mechanism 41 of the first leg and the displacement mechanism 41 of the second leg are configured to be able to change the distance between the main body 11 and the longitudinal rib to different distances from each other. Furthermore, the displacement mechanism 41 of the third leg and the displacement mechanism 41 of the fourth leg are configured to be able to change the distance between the main body 11 and the longitudinal rib to different distances from each other.

[0054] The first link 42 includes a pair of link members 42A and 42B rotatably connected to both ends of a rotating shaft 44 provided at the top end of the base 40 in the axial direction; and a limiting link mechanism 45 rotatably connected to a position intermediate between the link members 42A and 42B in the axial direction of the rotating shaft 44 to limit the displacement direction of the displacement mechanism 41. The pair of link members 42A and 42B are elongated in one direction, with their first ends rotatably connected to the rotating shaft 44 and their second ends rotatably connected to a second rotating shaft 49 provided at the first end of the second link 43. The limiting link mechanism 45 is composed of a plurality of rotatably connected limiting links 47 extending in one direction. These include a first limiting link 47A connected to the top end of the base 40 and a second limiting link 47B connecting the first limiting link 47A to the second link 43. The first end of the first limiting link 47A is rotatably connected to the rotational axis 44 provided at the top end of the base 40. The second end of the first limiting link 47A is rotatably connected to the first end of the second limiting link 47B via the rotational axis 48. The first end of the second limiting link 47B is rotatably connected to the second end of the first limiting link 47A via the rotational axis 48. The second end of the second limiting link 47B is rotatably connected to the first rotational axis 46 provided at the first end of the second link 43. The rotational axis 48 connecting the first limiting link 47A and the second limiting link 47B functions as projections protruding from the connection point between the first limiting link 47A and the second limiting link 47B to both sides of the axis of the rotational axis 48. These projections are biased upward by the coil spring 50 provided on the first link 42. The coil springs 50 are an example of a biasing member, and are provided in pairs on both sides of the first link 42 in the axial direction of the rotation shaft 48 across the restriction link mechanism 45 .

[0055] The second connecting rod 43 supports both ends of the first rotating shaft 46 and the second rotating shaft 49 in the axial direction. The first rotating shaft 46 and the second rotating shaft 49 are arranged side by side in the longitudinal direction of the second connecting rod 43. The second end of the second limiting link 47B of the limiting link mechanism 45 is rotatably connected to the central portion of the first rotating shaft 46 in the axial direction. The second ends of the pair of link members 42A and 42B in the first connecting rod 42 are rotatably connected to the two ends of the second rotating shaft 49 in the axial direction. A motor 51 for rotating the second rotating shaft 49 is provided in the central portion of the second rotating shaft 49 in the axial direction. The motor 51 is an example of a first driving unit. The motor 51 is provided separately corresponding to each of the pair of link members 42A and 42B.

[0056] The second connecting rod 43 has a roughly U-shaped bearing portion that rotatably supports the wheel 17. To prevent it from falling off the longitudinal bars X2 and X3, the wheel 17 has disc-shaped flanges 17A on both sides in the width direction. The motor 52 that drives the wheel 17 is mounted on the outer side of the bearing portion. Specifically, the rebar tying device 10 includes a motor 52 corresponding to each of the four wheels 17, enabling individual control of the rotation of each wheel 17. Alternatively, the motor 52 may be built into each wheel 17.

[0057] And, as Figure 8 As shown, when the second rotating shaft 49 rotates with the driving of the motor 51, the second connecting rod 43 rotates relative to the first connecting rod 42 with the second rotating shaft 49 as the center in conjunction with the rotation of the second rotating shaft 49. Figure 8 As shown, the second link 43 rotates clockwise relative to the first link 42, increasing the angle at which the first link 42 and the second link 43 intersect. In this case, the displacement mechanism 41 is configured to be displaceable with its first end connected to the base 40 as a fixed end and its second end opposite the first end as a free end. Therefore, the second rotation axis 49 moves in the X-axis direction toward the base 40. Here, the displacement mechanism 41 restricts the displacement direction of the wheel 17 provided at the top end of the displacement mechanism 41 using the restriction link mechanism 45. Therefore, the wheel 17 provided at the top end of the displacement mechanism 41 rises or falls in the vertical direction as the motor 51 is driven.

[0058] like Figure 9 and Figure 10 As shown, the main body 11 has a through portion 60 that penetrates the main body 11 in the Z-axis direction. The through portion 60 is open on the upper surface of the main body 11, and the binding mechanism 70 is inserted from above.

[0059] The bundling mechanism 70 is cylindrical and includes a holding portion 71, a lifting portion 72 (an example of a lifting drive unit), and a bundling portion 73. The holding portion 71 is located at the center of the bundling mechanism 70 in its longitudinal direction. The holding portion 71 holds a reel body around which a metal wire is wound. When the rebar bundling device 10 moves to the bundling location, the bundling portion 73 is lowered by the lifting portion 72 toward the bundling location to perform the wire bundling operation. After the bundling operation is completed, the bundling portion 73 is raised away from the bundling location. The bundling portion 73 has two arms 73A and 73B intersecting in a roughly V-shaped configuration. With the opposing directions of the two arms 73A and 73B aligned and obliquely intersecting with respect to the bundling location, the wire fed from the holding portion 71 is wound between one arm 73A and the other arm 73B, thereby bundling the bundling location with the wire. In more detail, the bundling portion 73 performs the following actions: winding the silk thread around the bundling portion, winding the silk thread wound around the bundling portion in a manner that is close to the bundling portion, twisting the silk thread wound around the bundling portion, etc., thereby performing the bundling process on the bundling portion using the silk thread.

[0060] The binding mechanism 70 includes a disc-shaped engaging portion 74. The engaging portion 74 is larger in plan view than the opening of the through-portion 60. Therefore, when the binding mechanism 70 is inserted into the through-portion 60, the engaging portion 74 engages with the opening edge of the through-portion 60 in the Z-axis direction, positioning the binding mechanism 70. In this case, the binding mechanism 70 is provided with the binding portion 73 on one side (the lower side in this example) in the longitudinal direction relative to the engaging portion 74.

[0061] The bundling mechanism 70 includes a lifting unit 72 that raises and lowers the bundling unit 73 in the Z-axis direction. When the rebar bundling device 10 reaches the bundling position, in addition to the extension and retraction of the legs 15 of the main body 11, the lifting unit 72 also raises and lowers the bundling unit 73 in the Z-axis direction. This allows the bundling unit 73 to be lowered to the bundling location with high precision, allowing accurate bundling of the bundling location using the wire.

[0062] like Figure 11A and Figure 11B As shown in FIG. 1 , when the bundling mechanism 70 is inserted into the main body 11, the bundling portion 73 of the bundling mechanism 70 protrudes downward from the lower surface of the main body 11. Furthermore, the reinforcing bar bundling device 10 follows the longitudinal bars X1. In this case, the bundling portion 73 of the bundling mechanism 70 is arranged to be separated upward from the longitudinal bars X1. Figure 11C As shown, the two arm portions 73A and 73B of the binding portion 73 face each other in a direction obliquely intersecting the longitudinal direction of the longitudinal reinforcement X1.

[0063] Then, if Figure 12A and Figure 12B As shown, if the reinforcing bar tying device 10 follows the longitudinal bar X1 and reaches a position opposite to the transverse bar in the Z-axis direction, the tying portion 73 of the tying mechanism 70 is lowered to a position where the distance from the longitudinal bar or transverse bar becomes a predetermined distance, and the tying portion 73 of the tying mechanism 70 is aligned with the tying location in the Z-axis direction. In this case, as shown in FIG. Figure 12C As shown, the two arms 73A and 73B of the binding portion 73 face each other in a direction obliquely intersecting the binding portion. Then, the binding portion 73 performs binding processing of the binding portion using the wire by winding the wire from one arm 73A toward the other arm 73B.

[0064] The bundling mechanism 70 is configured to rotate circumferentially about a rotational axis extending through the center of the opening of the through-portion 60 while inserted into the through-portion 60. In this case, the bundling mechanism 70 can be rotated manually or by a driving force from an electric motor, an example of a rotation drive unit. Furthermore, when the bundling mechanism 70 rotates circumferentially about the rotational axis, the orientation of the two arms 73A and 73B of the bundling unit 73 changes. Therefore, the bundling mechanism 70 is not limited to situations where the longitudinal and transverse ribs intersect at right angles. It can also be used to perform bundling operations using a thread specifically for the bundling area, even when the longitudinal and transverse ribs intersect at an angle.

[0065] Next, the control structure of the reinforcing bar tying device 10 according to this embodiment will be described.

[0066] like Figure 13As shown, the control device 100 of the rebar tying device 10 is implemented, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Furthermore, some or all of these components may be implemented using hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or through a combination of software and hardware. The program may be pre-stored in a computer-readable storage device such as an HDD or flash memory of the control device 100, or may be stored in a removable computer-readable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the control device 100 by installing the computer-readable storage medium in a drive device.

[0067] The control device 100 includes, for example, a position information acquisition unit 110 , a posture information acquisition unit 160 , a follow-up control unit 120 , a stop control unit 130 , a lateral movement control unit 140 , a lifting control unit 150 , a horizontal control unit 170 , and a motor control unit 180 .

[0068] The position information acquisition unit 110 acquires information related to the position of the rebar tying device 10 based on information acquired from the camera group 200. The camera group 200 includes, for example, sensors 16 provided on both sides of the rebar tying device 10 in the X-axis direction and sensors 18 provided on both sides of the rebar tying device 10 in the Y-axis direction. The information related to the position of the rebar tying device 10 includes, for example, information related to the longitudinal direction of the longitudinal bars and information related to the longitudinal direction of the transverse bars determined by the camera group 200.

[0069] The tracking control unit 120 controls the movement of the rebar tying device 10 so that it follows the longitudinal rebar based on information about the position of the rebar tying device 10 acquired by the position information acquisition unit 110. For example, the tracking control unit 120 controls the movement of the rebar tying device 10 so that the movement direction of the rebar tying device 10 aligns with the longitudinal rebar based on information about the longitudinal rebar length acquired by the position information acquisition unit 110. The tracking control unit 120 determines the amount of control the motor control unit 180 exerts on the motor group 230, for example, so that the movement direction of the rebar tying device 10 aligns with the longitudinal rebar length. In this case, the motor group 230 includes, for example, a motor 52 that controls the rotation of each wheel 17. The tracking control unit 120 measures the load on the motor 52 driven when the rebar tying device 10 moves along the longitudinal rebar length.

[0070] The following control unit 120 drives the motor 51 that controls the extension and retraction of each leg 15 when the rebar tying device 10 moves forward, so that the connection between the first link 42 at the first end and the second link 43 at the second end of the leg 15 located in front of the rebar tying device 10, among the multiple legs 15 constituting the leg structure 12, is positioned in front of the rebar tying device 10 in the displacement mechanism 41. The following control unit 120 then determines whether the rebar tying device 10 has collided with an obstacle based on changes in the load on the motor that moves the rebar tying device 10 forward. The following control unit 120 is an example of a first determination unit.

[0071] The stop control unit 130 controls the movement of the rebar tying device 10 based on information regarding the position of the rebar tying device 10 acquired by the position information acquisition unit 110 so that the rebar tying device 10 stops at the binding location where the longitudinal and transverse bars intersect. For example, the stop control unit 130 identifies the location where the longitudinal and transverse bars' length directions, as determined by the camera group 200, intersect as the binding location where the longitudinal and transverse bars intersect, and stops the movement of the rebar tying device 10 at the identified binding location. The stop control unit 130 determines the control amount of the motor group 230 by the motor control unit 180 so that the movement of the rebar tying device 10 stops at the binding location where the longitudinal and transverse bars intersect. In this case, the motor group 230 includes, for example, the motor 52 that controls the rotation of each wheel 17.

[0072] The lateral movement control unit 140 is an example of a control unit. For example, it controls the lateral movement of the rebar tying device 10 based on information related to the position of the rebar tying device 10 obtained by the position information acquisition unit 110. The lateral movement control unit 140 is an example of a movement amount calculation unit. For example, it calculates the lateral movement amount of the main body 11 based on information related to the position of the rebar tying device 10 obtained by the position information acquisition unit 110. For example, based on the information related to the position of the rebar tying device 10 obtained by the position information acquisition unit 110, the lateral movement control unit 140 executes lateral movement processing of the rebar tying device 10 so that the longitudinal bars on each wheel 17 carrying the rebar tying device 10 are replaced with adjacent longitudinal bars in the Y-axis direction when the lateral movement control unit 140 detects that the rebar tying device 10 has reached the longitudinal end of the longitudinal bar. For example, the lateral movement control unit 140 determines the control amount of the motor group 230 by the motor control unit 180 at each step of the lateral movement processing. In this case, the motor group 230 includes, for example, a motor 52 for controlling the rotation of each wheel 17 , a motor 51 for controlling the extension and retraction of each leg 15 , and a motor for laterally moving the main body 11 and the leg structure 12 .

[0073] The lateral movement control unit 140 measures the load on the motor that drives the lateral movement roller 33 when the rebar tying device 10 moves toward the adjacent longitudinal rebar in the Y-axis direction. Based on changes in the measured motor load, the lateral movement control unit 140 determines whether the lateral movement of the rebar tying device 10 is proceeding normally. The lateral movement control unit 140 is an example of a second determination unit. For example, if the measured motor load is greater than a predetermined threshold, the lateral movement control unit 140 determines that the lateral movement of the rebar tying device 10 is not proceeding normally, such as because the wheels 17 provided at the top ends of the legs 15 have collided with the longitudinal rebars X2 and X3. For example, if the lateral movement control unit 140 determines that the lateral movement of the rebar tying device 10 is not proceeding normally, the lateral movement control unit 140 controls the drive of the motor 51 that extends and retracts each leg 15 so that the wheels 17 are spaced away from the longitudinal rebars X2 and X3.

[0074] The lifting control unit 150 controls the lifting and lowering of the bundling unit 73 of the bundling mechanism 70 based on information regarding the position of the rebar bundling device 10 acquired by the position information acquisition unit 110. For example, when the rebar bundling device 10 reaches the bundling location where the longitudinal and transverse bars intersect, the lifting control unit 150 controls the lifting and lowering of the bundling unit 73 of the bundling mechanism 70 so that the bundling unit 73 of the bundling mechanism 70 is lowered. The lifting control unit 150 determines the control amount of the motor unit 230 by the motor control unit 180 so that the bundling unit 73 of the bundling mechanism 70 is lowered. In this case, the motor unit 230 includes a motor that lifts and lowers the bundling unit 73 of the bundling mechanism 70.

[0075] The posture information acquisition unit 160 acquires information related to the posture of the rebar tying device 10 based on information obtained from the sensor group 210 and the motor group 230. For example, the posture information acquisition unit 160 acquires information related to the motor load of the motors that control the extension and retraction of each leg 15 as information related to the posture of the rebar tying device 10, and determines the horizontal level of the main body 11 based on the acquired motor load information. In this case, the sensor group 210 includes, for example, sensors that measure the motor load of the motors that control the extension and retraction of each leg 15, and inclination sensors such as gyroscope sensors that detect the inclination of the posture of the rebar tying device 10. Furthermore, the motor group 230 includes, for example, the motors 51 that control the extension and retraction of each leg 15.

[0076] The horizontal control unit 170 is an example of a control unit. For example, based on information regarding the posture of the rebar tying device 10 acquired by the posture information acquisition unit 160, it controls the rebar tying device 10 so as to maintain its posture in a horizontal position. For example, the horizontal control unit 170 measures the motor load of the motor 51 that controls the extension and retraction of each leg 15 and determines the control amount of the motor group 230 by the motor control unit 180 so as to minimize the total value of the measured motor loads of the motor 51. In this case, the motor group 230 includes the motor 51 that controls the extension and retraction of each leg 15.

[0077] Next, the binding process performed by the reinforcing bar binding device 10 of this embodiment will be described. Figure 14 This is a flowchart showing an example of the bundling process. Figure 14 The flowchart shown is executed, for example, when the operation of the reinforcing bar tying device 10 is started.

[0078] like Figure 14 As shown, the control device 100 first measures the motor load of the motor 51 that extends and retracts each leg portion 15 of the leg structure 12 (step S100 ).

[0079] Next, the control device 100 sets the driving amount of the motor 51 for extending and retracting each leg 15 so as to minimize the total value of the motor load of each motor measured in the previous step S100, and controls the rebar tying device 10 so as to maintain the posture in a horizontal posture (step S200).

[0080] Next, the control device 100 determines the longitudinal direction of the longitudinal bar X1 using the sensors 16 provided on both sides of the main body 11 in the X-axis direction. Based on the determined longitudinal direction of the longitudinal bar X1, the control device 100 sets the driving amount of the motor 52 that rotates each wheel 17, thereby moving the rebar tying device 10 in accordance with the longitudinal bar X1 (step S300).

[0081] Next, the control device 100 determines whether the transverse ribs are detected by the sensors 18 provided on both sides of the main body 11 in the Y-axis direction (step S400 ).

[0082] If the control device 100 determines in the previous step S400 that no transverse rebar is detected (step S400 = No), it determines whether the conditions for lateral movement are met (step S500). The conditions for lateral movement may be met, for example, when the rebar tying device 10 reaches the end of the longitudinal rebar X1 in the X-axis direction or when an obstacle is detected ahead of the rebar tying device 10 in the forward direction.

[0083] If the control device 100 determines in the previous step S500 that the conditions for lateral movement are not met (step S500 = No), the process returns to step S100. On the other hand, if the control device 100 determines in the previous step S500 that the conditions for lateral movement are met (step S500 = Yes), the control device 100 executes the lateral movement process of the rebar tying device 10 (step S600).

[0084] like Figure 15 As shown, in the lateral movement processing of the reinforcing bar tying device 10, the control device 100 first drives the lateral movement roller 33 in the forward rotation direction as the first driving direction, and moves the main body 11 relative to the leg structure 12 in the Y-axis direction in a state in which each leg portion 15 constituting the leg structure 12 is in contact with the longitudinal reinforcement X1 to support the leg structure 12 (step S601).

[0085] Next, the control device 100 determines whether the driving amount of the traverse roller 33 driven in the forward rotation in the previous step S601 has reached the first threshold value (step S602 ).

[0086] If the control device 100 determines that the amount of drive of the lateral movement roller 33 has not reached the first threshold value (step S602 = No), the process returns to step S603. On the other hand, if the control device 100 determines that the amount of drive of the lateral movement roller 33 has reached the first threshold value (step S602 = Yes), the control device 100 drives the motor 51 that extends and retracts each leg 15 that constitutes the leg structure 12, causing each leg 15 to retract and lower the height of the main body 11 (step S603).

[0087] Next, the control device 100 determines whether each leg portion 15 is separated from the longitudinal bars X2 and X3 (whether the support frame 13 is in contact with the longitudinal bars X1 and X3) based on the driving amount of the motor 51 that extends and contracts each leg portion 15 constituting the leg structure 12 (step S604).

[0088] If the control device 100 determines that each leg portion 15 has not separated from the longitudinal ribs X2 and X3 (step S604 = No), the process returns to step S603. On the other hand, if the control device 100 determines that each leg portion 15 has separated from the longitudinal ribs X2 and X3 (step S604 = Yes), the control device 100 drives the transverse movement roller 33 in the reverse direction, which serves as the second driving direction, and moves the leg structure 12 relative to the main body 11 in the Y-axis direction while the support frame 13 abuts against the longitudinal ribs X1 and X3 to support the main body 11 (step S605).

[0089] Next, the control device 100 determines whether the driving amount of the traverse roller 33 driven in reverse rotation in the previous step S605 has reached the second threshold value (step S606 ).

[0090] If the control device 100 determines that the amount of drive of the traverse roller 33 has not reached the second threshold value (step S606 = No), the process returns to step S605. On the other hand, if the control device 100 determines that the amount of drive of the traverse roller 33 has reached the second threshold value (step S606 = Yes), the control device 100 drives the motor 51 that causes each leg 15 of the leg structure 12 to extend and retract, thereby extending each leg 15 (step S607).

[0091] Next, the control device 100 determines whether the support frame 13 connected to the main body 11 is separated from the longitudinal reinforcements X1 and X3 (whether each leg 15 is in contact with the longitudinal reinforcements X1 and X4) based on the driving amount of the motor 51 that causes the legs 15 constituting the leg structure 12 to extend and retract (step S608).

[0092] If the control device 100 determines that the legs 15 are not in contact with the longitudinal ribs X1 and X4 (step S608 = No), the process returns to step S607. On the other hand, if the control device 100 determines that the legs 15 are in contact with the longitudinal ribs X1 and X4 (step S608 = Yes), the control device 100 drives the transverse movement roller 33 in the forward direction to move the main body 11 relative to the leg structure 12 in the Y-axis direction, while the legs 15 constituting the leg structure 12 are in contact with the longitudinal ribs X1 and X4, thereby supporting the leg structure 12 (step S609).

[0093] Next, the control device 100 determines whether the driving amount of the traverse roller 33 driven in the forward rotation in the previous step S609 has reached the third threshold value (step S610 ).

[0094] If the control device 100 determines that the driving amount of the lateral moving roller 33 has not reached the third threshold value (step S610 = No), the process returns to step S609. On the other hand, if the control device 100 determines that the driving amount of the lateral moving roller 33 has reached the third threshold value (step S610 = Yes), the process ends. Figure 15 Lateral movement processing shown.

[0095] return Figure 14 In the case where the control device 100 has executed the lateral movement process of the reinforcing bar tying device 10 in the previous step S600, the control device 100 returns the process to step S100.

[0096] Furthermore, when the control device 100 determines that the transverse bar Y1 is detected in the previous step S400 (step S400 =YES), it stops driving the motor 52 that rotates each wheel 17 and stops the movement of the reinforcing bar tying device 10 (step S700 ).

[0097] Next, the control device 100 controls the lifting unit 72 to lift the bundling unit 73 of the bundling mechanism 70 relative to the main body 11 to adjust the position of the bundling unit 73 in the Z-axis direction relative to the bundling portion where the longitudinal reinforcement X3 and the transverse reinforcement Y1 intersect (step S800 ).

[0098] Next, the control device 100 controls the operation of the binding mechanism 70 whose position in the Z-axis direction is controlled, and binds the binding portion (step S900 ).

[0099] Next, the control device 100 determines whether the operation of the reinforcing bar tying device 10 has stopped (step S1000). If the control device 100 determines that the operation of the reinforcing bar tying device 10 has not stopped (step S1000 = No), the process returns to step S100 and repeats the processes of steps S100 to S900 until the operation of the reinforcing bar tying device 10 stops. On the other hand, if the control device 100 determines that the operation of the reinforcing bar tying device 10 has stopped (step S1000 = Yes), the process ends. Figure 14 The flowchart shown.

[0100] Next, the operation of the reinforcing bar tying device 10 according to the present embodiment when executing the lateral movement process will be described.

[0101] exist Figure 16A and Figure 16B In the illustrated example, the reinforcing bar tying device 10 has wheels 17 of each leg portion 15 of the leg structure 12 placed on the longitudinal bars X2 and X3, with the leg structure 12 supported by the longitudinal bars X2 and X3. In this case, the support frame 13 connected to the main body 11 is spaced upward relative to the longitudinal bars X1 and X3.

[0102] Here, when the rebar tying device 10 performs the lateral movement process, it first detects the position of the longitudinal rebar X4 adjacent to the longitudinal rebar X3 being traveled by the rebar tying device 10 in the Y-axis direction using sensors 18 provided on both sides of the main body 11 in the Y-axis direction. The rebar tying device 10 then measures the distance in the Y-axis direction between the longitudinal rebar X3 of the wheels 17 on which each leg 15 constituting the leg structure 12 is mounted and the longitudinal rebar X4 detected in this manner. Furthermore, based on the measured distance, the rebar tying device 10 determines the amount of Y-axis movement of the main body 11 or leg structure 12 in each of the processes described below. Alternatively, when performing the lateral movement process, the rebar tying device 10 may first calculate the position of the longitudinal rebar X4 adjacent to the longitudinal rebar X3 being traveled by the rebar tying device 10 in the Y-axis direction using sensors 18 provided on both sides of the main body 11 in the Y-axis direction. The amount of movement of the main body 11 or leg structure 12 in the Y-axis direction is calculated based on information regarding the distance in the Y-axis direction from the center position of the rebar tying device 10 (the position of the tying mechanism 70, the position of the longitudinal rebar X1 detected by the sensor 16) to the position of the sensor 18, and information regarding the distance in the Y-axis direction from the position of the sensor 18 to the position of the longitudinal rebar X3. It should be noted that, for example, if the sensor 18 is installed at a position "100" away from the center position of the rebar tying device 10 (the position of the longitudinal rebar X1), and the longitudinal rebar X3 is located "20" closer to the rebar tying device 10 from the sensor 18 (closer to the position of the longitudinal rebar X1), the rebar tying device 10 performs control such that the amount of movement of the main body 11 or leg structure 12 in the Y-axis direction in each of the processes described below is set to "80." Furthermore, the rebar tying device 10 controls the amount of movement of the main body 11 or leg structure 12 in the Y-axis direction to be "120" in each of the processes described below, for example, when the sensor 18 is mounted at a position "100" away from the center position of the rebar tying device 10 (the position of the longitudinal rebar X1) and the longitudinal rebar X3 is located "20" away from the sensor 18 (the position away from the longitudinal rebar X1). If the position of the sensor 18 is fixed, information regarding the Y-axis distance from the center position of the rebar tying device 10 to the position of the sensor 18 may be pre-stored in memory as initial information. Information regarding the Y-axis distance from the position of the sensor 18 to the position of the longitudinal rebar X3 may also be calculated based on the position of the longitudinal rebar X3 detected by the sensor 18.

[0103] That is, Figure 17A and Figure 17BAs shown, the rebar tying device 10 first drives the transverse moving roller 33 in a forward rotation, and then moves the main body 11 in the Y-axis direction relative to the leg structure 12 while the legs 15 constituting the leg structure 12 abut against the longitudinal bars X2 and X3, thereby supporting the leg structure 12. As a result, the main body 11 approaches the longitudinal bar X4, which is adjacent to the longitudinal bar X3 on which the legs 15 are placed, in the Y-axis direction.

[0104] Then, if Figure 18A and Figure 18B As shown, the rebar tying device 10 retracts the legs 15 that make up the leg structure 12, lowering the height of the main body 11 relative to the longitudinal bars X1 and X3. The rebar tying device 10 then brings the support frame 13, connected to the main body 11, into contact with the longitudinal bars X1 and X3. In this case, the support frame 13 is positioned so as to straddle the longitudinal bars X1 and X3, including the longitudinal bar X1 on which the rebar tying device 10 is traveling and the longitudinal bar X3 adjacent to the longitudinal bar X1 in the Y-axis direction. Furthermore, if the rebar tying device 10 further retracts the legs 15 that make up the leg structure 12 from the position where the support frame 13 is in contact with the longitudinal bars X1 and X3, the legs 15 separate from the longitudinal bars X2 and X3 (equivalent to the first step).

[0105] Then, if Figure 19A and Figure 19B As shown, the rebar tying device 10 reversely drives the transverse moving rollers 33, and while the support frame 13 abuts the longitudinal bars X3 and X4, supporting the main body 11, the leg structure 12 is moved relative to the main body 11 in the Y-axis direction (corresponding to the second process). This positions the legs 15 of the leg structure 12 so that they face the longitudinal bars X1 and X4 in the Z-axis direction.

[0106] Then, if Figure 20A and Figure 20B As shown, the rebar tying device 10 extends the legs 15 that constitute the leg structure 12, bringing them into contact with the longitudinal bars X1 and X4 (corresponding to the third process). Furthermore, in the rebar tying device 10, if the legs 15 that constitute the leg structure 12 are further extended from the state in which they are in contact with the longitudinal bars X1 and X4, the support frame 13 connected to the main body 11 separates upward from the longitudinal bars X3 and X4.

[0107] Then, if Figure 21A and Figure 21B As shown, the rebar tying device 10 drives the transverse moving roller 33 in forward rotation, causing the legs 15 of the leg structure 12 to abut against the longitudinal bars X1 and X4, thereby supporting the leg structure 12. The main body 11 is then moved relative to the leg structure 12 in the Y-axis direction (corresponding to the fourth step). This restores the relative position of the main body 11 and leg structure 12 in the Y-axis direction to its initial state.

[0108] Next, the operation of the reinforcing bar tying device 10 according to the present embodiment will be described, particularly focusing on the operation when the reinforcing bar tying device 10 performs a lateral movement process.

[0109] The rebar tying device 10 of this embodiment repeatedly performs the following steps during lateral movement: the leg structure 12 is moved relative to the main body 11 in the Y-axis direction while the support frame 13 abuts the longitudinal bars X1, X3, or the longitudinal bars X3, X4, supporting the main body 11; and the main body 11 is moved relative to the leg structure 12 in the Y-axis direction while the leg structure 12 abuts the longitudinal bars X2, X3, or the longitudinal bars X1, X4, supporting the leg structure 12. In other words, by performing Y-axis movement in stages, the rebar tying device 10 can efficiently perform Y-axis movement. Furthermore, by performing Y-axis movement in stages, the rebar tying device 10 can reduce the weight of the object being moved in a single movement, thereby reducing the driving load on the lateral movement rollers 33. In addition, the rebar tying device 10 can suppress the generation of a rotational moment with the leg portion 15 supported on the longitudinal bars X2, X3 or the longitudinal bars X1, X4 as a fulcrum by performing the movement in the Y-axis direction in stages, compared to the case of performing the movement in the Y-axis direction all at once, and can stably perform lateral movement processing.

[0110] Furthermore, each leg portion 15 constituting the leg structure 12 includes a restricting link mechanism 45 that restricts the movement direction of the wheel 17. This allows the wheel 17 to stably move toward or away from the longitudinal bars X2, X3 or the longitudinal bars X1, X4. Consequently, when the wheel 17 separates from the longitudinal bars X2, X3 or the longitudinal bars X1, X4 and moves in the Y-axis direction, the rebar tying device 10 prevents the wheel 17 from accidentally colliding with the longitudinal bars X2, X3 or the longitudinal bars X1, X4, thereby enabling stable lateral movement of the rebar tying device 10.

[0111] Furthermore, when the reinforcing bar tying device 10 is performing a lateral movement process, if the motor load of the motor driving the lateral movement rollers 33 indicates that the wheel 17 has collided with the longitudinal bars X2, X3 or the longitudinal bars X1, X4, the lateral movement rollers 33 are further driven in a direction that separates the wheel 17 from the longitudinal bars X2, X3 in the Y-axis direction. Consequently, the reinforcing bar tying device 10 can perform a lateral movement process more stably.

[0112] Furthermore, in the rebar tying device 10, when the rebar tying device 10 moves forward, the leg 15 located in front of the rebar tying device 10 among the multiple legs 15 that constitute the leg structure 12 drives the motor 51 that controls the extension and retraction of each leg 15 so that the connection between the first link 42 at the first end and the second link 43 at the second end is positioned in front of the rebar tying device 10 in the displacement mechanism 41. The rebar tying device 10 then determines whether it has collided with an obstacle based on changes in the load on the motor that moves the rebar tying device 10 forward. Therefore, the rebar tying device 10 can determine whether it has collided with an obstacle while moving forward without incorporating a new sensor.

[0113] Furthermore, when the rebar tying device 10 accelerates or decelerates forward, the leg 15 located in front of the rebar tying device 10 among the multiple legs 15 constituting the leg structure 12 drives the motor 51 for controlling the extension and retraction of the leg 15 so that the connection between the first link 42 located at the first end and the second link 43 located at the second end of the multiple links constituting the displacement mechanism 41 is located in front of the rebar tying device 10 within the displacement mechanism 41. Furthermore, the leg 15 located in the rear of the rebar tying device 10 among the multiple legs 15 constituting the leg structure 12 drives the motor 51 for controlling the extension and retraction of the leg 15 so that the connection between the first link 42 located at the first end and the second link 43 located at the second end of the multiple links constituting the displacement mechanism 41 is located behind the rebar tying device 10 within the displacement mechanism 41. Therefore, when the reinforcing bar tying device 10 accelerates or decelerates forward, it is possible to suppress the height of the main body 11 from fluctuating due to the extension and contraction of the legs 15 constituting the leg structure 12 .

[0114] Next, the operation of the reinforcing bar tying device 10 according to the present embodiment will be described, particularly focusing on the operation when the reinforcing bar tying device 10 performs tying processing.

[0115] The rebar tying device 10 of this embodiment causes the urging force from the coil spring 50 to act in a direction that extends the leg portion 15 and brings the wheel 17 closer to the longitudinal bars X1, X2, and X3. Therefore, even if the center of gravity of the main body 11 moves up and down by an amount corresponding to the amount of wire consumed during tying as the rebars are tied, the urging force from the coil spring 50 follows the movement of the center of gravity of the main body 11. This allows the main body 11 to maintain its desired posture, enabling reliable tying of the rebars.

[0116] Furthermore, by applying the urging force from the coil spring 50 in the direction of extending the leg portion 15, the rebar tying device 10 can reduce the power consumption when the motor 51 is driven in the direction of extending the leg portion 15 to support the weight of the main body 11 by the amount of the urging force from the coil spring 50. Furthermore, by providing a separate motor 51 in each leg portion 15 and controlling the driving of each motor 51 to minimize the power consumption of each motor 51, the power consumption of the rebar tying device 10 during horizontal control can be further reduced.

[0117] Furthermore, the rebar tying device 10 of this embodiment is configured such that the tying mechanism 70 is inserted into the through-portion 60 provided in the main body 11, and the tying mechanism 70 is rotatable relative to the main body 11 in a circumferential direction centered around the center of the opening of the through-portion 60. Therefore, the rebar tying device 10 is configured such that the orientation of the two arms of the tying portion 73 of the tying mechanism 70 can be changed when tying a portion where longitudinal and transverse bars intersect. Therefore, the rebar tying device 10 is not limited to cases where the longitudinal and transverse bars intersect at right angles. It can also be used to tie a portion using a wire even when the longitudinal and transverse bars intersect at an angle, thus enabling highly versatile tying.

[0118] It should be noted that the above embodiment can also be implemented in the following manner.

[0119] In the above embodiment, the case where the rebar tying device 10 performs a lateral movement process when moving toward the longitudinal rebar X4 adjacent to the longitudinal rebar X3 supporting the leg portion 15 is described as an example. However, the rebar tying device 10 is not limited to performing a lateral movement process in this manner. For example, if the position of the tying portion 73 of the tying mechanism 70 does not coincide with the position of the tying location in the Y-axis direction when the rebar tying device 10 reaches the tying location, the position of the tying mechanism 70 in the Y-axis direction may be finely adjusted in the same manner as the lateral movement process described above. Specifically, the rebar tying device 10 may finely adjust the Y-axis position of the tying mechanism 70 by repeatedly performing the following processes: moving the leg structure 12 relative to the main body 11 in the Y-axis direction while the support frame 13 abuts against the longitudinal rebars X1 and X3 to support the main body 11; and moving the main body 11 relative to the leg structure 12 in the Y-axis direction while the leg structure 12 abuts against the longitudinal rebars X2 and X3 to support the leg structure 12.

[0120] [Note]

[0121] The technical ideas that can be grasped from the above-mentioned embodiments are described below.

[0122] [Appendix 1]

[0123] A steel bar bundling device, comprising:

[0124] a bundling mechanism configured to bundle a bundling portion where the steel bars extending in the first direction intersect the steel bars extending in the second direction;

[0125] a main body equipped with the strapping mechanism;

[0126] a leg portion configured to travel on a steel bar extending along the first direction;

[0127] a first driving portion configured to separate the leg portion from the steel bar;

[0128] a second driving unit configured to move the leg in a second direction intersecting the first direction; and

[0129] a control unit, controlling the first driving unit and the second driving unit,

[0130] The control unit controls the second drive unit to move the leg in the second direction while controlling the first drive unit to separate the leg from the reinforcing bar.

[0131] [Appendix 2]

[0132] The steel bar tying device according to Supplementary Note 1, wherein:

[0133] The reinforcing bar tying device further comprises a support portion connected to the main body portion.

[0134] The leg portion is connected to the main body portion so as to be movable in the second direction.

[0135] The control unit performs:

[0136] In a first process, the first driving unit is controlled to separate the leg portion from the first reinforcement bar while the support portion is in contact with the first reinforcement bar when the reinforcement bar supporting the leg portion is used as the first reinforcement bar.

[0137] a second process of controlling the second driving unit to move the leg portion separated from the first reinforcing bar in the second direction relative to the main body;

[0138] A third process is to control the first driving unit so that the leg portion abuts against a second steel bar, the second steel bar being adjacent to the first steel bar in the second direction; and

[0139] The fourth process is to move the main body relative to the leg in the second direction.

[0140] [Appendix 3]

[0141] The steel bar tying device according to Supplementary Note 2, wherein:

[0142] The control unit repeatedly performs the first process and the second process a plurality of times so that the leg portion faces the second reinforcing bar in the height direction of the main body portion.

[0143] [Appendix 4]

[0144] The reinforcing bar tying device according to Supplementary Note 3, wherein:

[0145] When the first process and the second process are repeated a plurality of times, the control unit moves the leg a similar distance in the second direction each time.

[0146] [Appendix 5]

[0147] The steel bar tying device according to any one of Supplementary Notes 1 to 4, wherein:

[0148] The second driving portion includes: a track-shaped meshing portion provided on one side of the main body and the leg portion; and a driving gear provided on the other side and meshing with the meshing portion.

[0149] When the control unit moves the main body toward the second direction relative to the leg, the control unit drives the drive gear toward the first driving direction while the drive gear is engaged with the meshing portion. When the control unit moves the leg toward the second direction relative to the main body, the control unit drives the drive gear toward the second driving direction while the drive gear is engaged with the meshing portion.

[0150] [Appendix 6]

[0151] The steel bar tying device according to any one of Supplementary Notes 1 to 5, wherein:

[0152] The control unit determines whether the leg portion is separated from the reinforcing bar based on whether the driving amount of the first driving unit reaches a predetermined threshold value.

[0153] [Appendix 7]

[0154] The steel bar tying device according to any one of Supplementary Notes 1 to 6, wherein:

[0155] The reinforcing bar bundling device further includes a first detection unit configured to detect a reinforcing bar adjacent to the reinforcing bar in the second direction when the reinforcing bar bundling device moves on the reinforcing bar extending in the first direction.

[0156] The control unit determines a distance by which the leg is to be moved in the second direction based on a detection result of the steel bar by the first detection unit.

[0157] [Appendix 8]

[0158] The steel bar tying device according to any one of Supplementary Notes 1 to 7, wherein:

[0159] The reinforcing bar tying device further includes a second detection unit for calculating the tying position.

[0160] The control unit adjusts the amount of movement of the rebar tying device in the second direction when moving toward the tying location based on the position of the rebar detected by the second detection unit when the rebar tying device moves to the adjacent rebar in the second direction.

[0161] [Appendix 9]

[0162] The steel bar tying device according to any one of Supplementary Notes 1 to 8, wherein:

[0163] The reinforcing bar tying device further comprises a support portion connected to the main body portion.

[0164] The first driving unit is configured to extend and retract the leg.

[0165] The control unit controls the first driving unit so that, when the leg portion is extended, the leg portion contacts the reinforcing bar and the support portion is separated from the reinforcing bar.

[0166] The control unit controls the first drive unit so that, when the leg portion is contracted, the support portion comes into contact with the reinforcing bar and the leg portion is separated from the reinforcing bar.

[0167] [Appendix 10]

[0168] A steel bar bundling device, comprising:

[0169] a bundling mechanism configured to bundle a portion where the steel bars extending in the first direction intersect the steel bars extending in the second direction;

[0170] a main body equipped with the strapping mechanism;

[0171] a detection portion configured to detect the steel bars adjacent to the main body portion in the second direction; and

[0172] a moving mechanism for moving the main body along the second direction,

[0173] The moving mechanism includes a movement amount calculation unit that calculates a movement amount of the main body in the second direction based on the position of the reinforcing bar detected by the detection unit.

[0174] Above, the present embodiment has been described with reference to specific examples. However, the present disclosure is not limited to these specific examples. As long as those skilled in the art appropriately make design changes to these specific examples, as long as they have the features of the present disclosure, they are also included in the scope of the present disclosure. The various elements and their configurations, conditions, shapes, etc. of the above-mentioned specific examples are not limited to the contents of the examples and can be appropriately changed. As long as the various elements of the above-mentioned specific examples do not cause technical contradictions, the combination can be appropriately changed.

[0175] This application is based on Japanese patent application (Japanese Patent Application No. 2023-007176) filed on January 20, 2023, the contents of which are incorporated herein by reference.

[0176] Industrial Application Possibilities

[0177] The reinforcing bar tying device disclosed herein can be moved in a lateral direction with high precision.

[0178] Description of Reference Numerals

[0179] 10…Rebar tying device

[0180] 11…Main body

[0181] 12…Leg structure

[0182] 12A…Unit 1

[0183] 12B…Unit 2

[0184] 13…Support frame

[0185] 15. Legs

[0186] 17…Wheels

[0187] 33…Transverse moving roller

[0188] 51…Electric motor

[0189] 52…Electric motor

[0190] 70…Bundling mechanism

[0191] 71…Maintaining part

[0192] 72…Lifting unit

[0193] 73…Bundling Department

[0194] 100…control device

[0195] 110…Location information acquisition unit

[0196] 120…Following Control Department

[0197] 130…Stop control unit

[0198] 140…Horizontal movement control unit

[0199] 150…Lifting control unit

[0200] 160…Posture information acquisition unit

[0201] 170…Horizontal control unit

[0202] 180…Motor control unit

[0203] X1, X2, X3, X4…longitudinal reinforcement

[0204] Y1...Horizontal rib.

Claims

1. A steel bar bundling device comprising: a bundling mechanism configured to bundle a bundling portion where the steel bars extending in the first direction intersect the steel bars extending in the second direction; a main body equipped with the strapping mechanism; a leg portion configured to travel on a steel bar extending along the first direction; a first driving portion configured to separate the leg portion from the steel bar; a second driving portion configured to move the leg portion relative to the main body portion in a second direction intersecting the first direction; and a control unit, controlling the first driving unit and the second driving unit, The control unit controls the second drive unit to move the leg in the second direction while controlling the first drive unit to separate the leg from the reinforcing bar.

2. The steel bar binding device according to claim 1, wherein: The reinforcing bar tying device further comprises a support portion connected to the main body portion. The leg portion is connected to the main body portion so as to be movable in the second direction. The control unit performs: In a first process, the first driving unit is controlled to separate the leg portion from the first reinforcement bar while the support portion is in contact with the first reinforcement bar when the reinforcement bar supporting the leg portion is used as the first reinforcement bar. a second process of controlling the second driving unit to move the leg portion separated from the first reinforcing bar in the second direction relative to the main body; a third process of controlling the first driving unit to cause the leg to abut against a second steel bar, the second steel bar being adjacent to the first steel bar in the second direction; and The fourth process is to move the main body relative to the leg in the second direction.

3. The steel bar binding device according to claim 2, wherein: The control unit repeatedly performs the second process and the fourth process a plurality of times to make the leg portion face the second reinforcing bar in the height direction of the main body.

4. The steel bar binding device according to claim 3, wherein: When the second process and the fourth process are repeated a plurality of times, the control unit moves the leg a similar distance in the second direction each time.

5. The steel bar binding device according to claim 1, wherein: The second driving portion includes: a track-shaped meshing portion provided on one side of the main body and the leg portion; and a driving gear provided on the other side and meshing with the meshing portion. When the control unit moves the main body toward the second direction relative to the leg, the control unit drives the drive gear toward the first driving direction while the drive gear is engaged with the meshing portion. When the control unit moves the leg toward the second direction relative to the main body, the control unit drives the drive gear toward the second driving direction while the drive gear is engaged with the meshing portion.

6. The steel bar binding device according to claim 1, wherein: The control unit determines whether the leg portion is separated from the reinforcing bar based on whether the driving amount of the first driving unit reaches a predetermined threshold value.

7. The steel bar binding device according to claim 1, wherein: The reinforcing bar bundling device further includes a first detection unit configured to detect a reinforcing bar adjacent to the reinforcing bar in the second direction when the reinforcing bar bundling device moves on the reinforcing bar extending in the first direction. The control unit determines a distance by which the leg is to be moved in the second direction based on a detection result of the steel bar by the first detection unit.

8. The steel bar binding device according to claim 1, wherein: The reinforcing bar tying device further includes a second detection unit for calculating the tying position. The control unit adjusts the amount of movement of the rebar tying device in the second direction when moving toward the tying location based on the position of the rebar detected by the second detection unit when the rebar tying device moves to the adjacent rebar in the second direction.

9. The steel bar binding device according to claim 1, wherein: The reinforcing bar tying device further comprises a support portion connected to the main body portion. The first driving unit is configured to extend and retract the leg. The control unit controls the first driving unit so that, when the leg portion is extended, the leg portion contacts the reinforcing bar and the support portion is separated from the reinforcing bar. The control unit controls the first drive unit so that, when the leg portion is contracted, the support portion comes into contact with the reinforcing bar and the leg portion is separated from the reinforcing bar.

10. A steel bar bundling device comprising: a bundling mechanism configured to bundle a portion where the steel bars extending in the first direction intersect the steel bars extending in the second direction; a main body equipped with the strapping mechanism; a detection portion configured to detect the steel bars adjacent to the main body portion in the second direction; and a moving mechanism for moving the main body along the second direction, The moving mechanism includes a movement amount calculation unit that calculates a movement amount of the main body in the second direction based on the position of the reinforcing bar detected by the detection unit.

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