termination device

Abstract

To provide a binding device which can acquire information related to binding and utilize it.SOLUTION: A binding facility device 100A being a binding device includes: a reinforcing bar binding machine 1A which binds reinforcing bars S with a wire; and a transfer machine 200A which transfers the reinforcing bar binding machine 1A to a binding part P10. The reinforcing bar binding machine 1A includes: an information acquisition part 101 which acquires binding related information related to a movement of binding the reinforcing bars S with the wire; and an information communication part 102 which notifies an information processing unit 110 of the binding related information acquired by the information acquisition part 101.SELECTED DRAWING: Figure 1B

Description

[Technical Field]

[0001] This invention relates to a binding device equipped with a binding machine that binds reinforcing bars with wire. [Background technology]

[0002] Steel bars are used in concrete structures to increase their strength, and are tied together with wire to prevent the bars from shifting from their designated positions when the concrete is poured.

[0003] BACKGROUND ART Conventionally, a binding machine known as a reinforcing bar binding machine has been proposed, which binds two or more reinforcing bars with wire by winding wire around the reinforcing bars and twisting the wire wound around the reinforcing bars.

[0004] In addition to handheld binding machines, a rebar mesh manufacturing device is also known in which multiple binding machines are arranged in two rows, one at the front and one at the back, and the machines are moved up and down while supplying rebar to insert and remove it to bind it (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-35052 Summary of the Invention [Problem to be solved by the invention]

[0006] Conventional rebar mesh manufacturing devices did not acquire information related to bundling before or after bundling the rebars or during the bundling operation, and no notifications or controls were provided based on information related to bundling.

[0007] The present invention has been made to solve such problems, and has an object to provide a binding device that can acquire and utilize information related to binding. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems, the present invention provides: The device has a locking member that locks a wire that ties the reinforcing bars, and a main body that houses the locking member and has a binding space inside in which the locking member operates, A binding machine that binds rebars with wire, and a moving machine that moves the binding machine to a binding location by relative movement between the binding machine and the rebars. an information processing device that controls the mobile device; The bundling machine includes an information acquisition unit that acquires bundling-related information related to an operation of bundling reinforcing bars with a wire, and an information communication unit that notifies an information processing device of the bundling-related information acquired by the information acquisition unit. The bundling-related information includes foreign object detection information, which is a detection result of detecting whether or not a foreign object is present in the bundling space. The information communication unit notifies the information processing device of the foreign object detection information acquired by the information acquisition unit. Upon receiving the foreign object detection information, the information processing device determines whether or not to execute the bundling operation. It is a binding device.

[0009] In the present invention, the information acquisition unit of the bundling machine acquires bundling-related information before, after, or during the bundling operation of bundling rebars with wire. Based on this bundling-related information, notification of information related to bundling and control of the bundling machine and the mobile unit are performed. The bundling machine detects whether or not there is a foreign object in the bundling space using the information acquisition unit, and acquires foreign object detection information, which is the detection result of the presence or absence of a foreign object, as bundling feasibility information, which is bundling-related information. When the bundling machine detects the presence of a foreign object in the bundling space, it notifies the information processing device of the foreign object detection information using the information communication unit. [Effects of the Invention]

[0010] According to the present invention, the bundling-related information acquired by the information acquisition unit of the bundling machine and foreign object detection information, which is the result of detecting whether or not there is a foreign object in the bundling space. Based on this, notification of information related to bundling and control of the bundling machine and the mobile device can be performed. [Brief explanation of the drawings]

[0011] [Figure 1A] 1 is a perspective view showing an example of a bundling equipment according to an embodiment of the present invention. [Figure 1B] 1 is a perspective view showing an example of a bundling equipment according to an embodiment of the present invention. [Figure 1C] FIG. 10 is a perspective view showing another example of the binding equipment of the present embodiment. [Figure 2] 1 is a side view showing an example of a reinforcing bar binding machine according to an embodiment of the present invention. [Figure 3A] FIG. 10 is a side view showing an example of a binding portion. [Figure 3B] FIG. 4 is an internal configuration diagram showing an example of a binding section. [Figure 3C] FIG. 10 is a plan view of a main part showing an example of a binding part. [Figure 3D] FIG. 10 is a plan view of a main part showing an example of a binding part. [Figure 4A]FIG. 2 is a block diagram showing an example of a control function of the bundling equipment. [Figure 4B] FIG. 2 is a block diagram showing an example of a control function of the bundling equipment. [Figure 4C] FIG. 2 is a block diagram showing an example of a control function of the bundling equipment. [Figure 4D] FIG. 2 is a block diagram showing an example of a control function of the bundling equipment. [Figure 5] FIG. 1 is a side view showing an example of a reinforcing bar binding machine equipped with an information acquisition unit. [Figure 6] 10 is an explanatory diagram showing an example of notification in an information processing device based on bundling-related information acquired by an information acquisition unit; [Figure 7A] FIG. 10 is a perspective view showing another example of a reinforcing bar binding machine equipped with an information acquisition unit. [Figure 7B] FIG. 10 is a perspective view showing another example of a reinforcing bar binding machine equipped with an information acquisition unit. [Figure 8] 10 is a flowchart showing an example of an operation based on image information of a binding portion acquired by image recognition of a binding posture. [Figure 9A] FIG. 10 is a perspective view showing an example of a binding point bound with a wire. [Figure 9B] FIG. 10 is a perspective view showing an example of a binding point bound with a wire. [Figure 9C] FIG. 10 is a perspective view showing an example of a binding point bound with a wire. [Figure 10A] FIG. 10 is an explanatory diagram showing an example of binding portion image information. [Figure 10B] FIG. 10 is an explanatory diagram showing an example of binding portion image information. [Figure 11] FIG. 10 is an explanatory diagram showing an example of an address that identifies a binding point. [Figure 12A] FIG. 10 is an explanatory diagram showing an example of an output of a binding result. [Figure 12B] FIG. 10 is an explanatory diagram showing an example of an output of a binding result. [Figure 13A] 10 is a flowchart illustrating an example of an operation for associating binding result information with position information. [Figure 13B] 10 is a flowchart illustrating an example of an operation for associating binding result information with position information. [Figure 13C] 10 is a flowchart illustrating an example of an operation for associating binding result information with position information. [Figure 13D] 10 is a flowchart illustrating an example of an operation for associating binding result information with position information. [Figure 13E] 10 is a flowchart illustrating an example of an operation for associating binding result information with position information. [Figure 14A] FIG. 1 is a perspective view showing an example of a binding facility equipped with a plurality of reinforcing bar binding machines. [Figure 14B] FIG. 1 is a perspective view showing an example of a binding facility equipped with a plurality of reinforcing bar binding machines. [Figure 14C] FIG. 1 is a plan view showing an example of a binding facility equipped with a plurality of reinforcing bar binding machines. [Figure 15] 10 is a flowchart illustrating an example of an operation for associating bundling result information with bundling machine identification information. [Figure 16A] FIG. 10 is a plan view showing an example of a bundling result in which the bundling direction is switched. [Figure 16B] FIG. 10 is a plan view of a main part showing an example of a binding result in which the binding direction is switched. [Figure 16C] FIG. 10 is a plan view of a main part showing an example of a binding result in which the binding direction is switched. [Figure 17] 10 is a flowchart showing an example of an operation based on reinforcing bar identification information acquired by image recognition of reinforcing bars. [Figure 18A] FIG. 10 is an explanatory diagram showing an example of image information of a binding portion before binding. [Figure 18B] FIG. 10 is an explanatory diagram showing an example of image information of a binding portion before binding. [Figure 19] 10 is a flowchart showing an example of an operation based on reinforcing bar identification information acquired based on the wire feed amount. [Figure 20] 10 is a flowchart showing an example of an operation based on reinforcing bar identification information acquired from input information. [Figure 21A] FIG. 10 is an explanatory diagram showing an example of an arrangement of reinforcing bars. [Figure 21B] FIG. 10 is an explanatory diagram showing an example of an arrangement of reinforcing bars. [Figure 22]10 is a flowchart showing an example of an operation for determining the timing to remove a reinforcing bar from the reinforcing bar binding machine at the end of a binding operation process. [Figure 23] 10 is a flowchart showing an example of an operation of removing slack in a wire by moving the reinforcing bar binding machine in a direction away from the reinforcing bar. [Figure 24A] FIG. 2 is a perspective view showing an example of a detachable structure of a reinforcing bar binding machine. [Figure 24B] FIG. 2 is a perspective view showing an example of a detachable structure of a reinforcing bar binding machine. [Figure 25] FIG. 10 is an explanatory diagram showing an example of a form in which the reinforcing bar binding machine is used alone. [Figure 26A] FIG. 10 is a perspective view of the bundling equipment of the present embodiment, showing a modified example of the moving device. [Figure 26B] FIG. 10 is a perspective view of the bundling equipment of the present embodiment, showing a modified example of the moving device. [Figure 27A] 10 is a flowchart illustrating an example of a bundling operation based on the remaining amount of wire. [Figure 27B] 10 is a flowchart illustrating an example of a bundling operation based on the remaining amount of wire. [Figure 28A] 10 is a flowchart illustrating an example of an operation for calculating a remaining amount of wire. [Figure 28B] 10 is a flowchart illustrating an example of an operation for calculating a remaining amount of wire. [Figure 28C] 10 is a flowchart illustrating an example of an operation for calculating a remaining amount of wire. [Figure 29A] FIG. 10 is a perspective view showing a modified example of the bundling equipment of the present embodiment. [Figure 29B] FIG. 2 is a perspective view showing the main configuration of a reel accommodating section. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, with reference to the drawings, an example of a bundling equipment as an embodiment of a bundling device of the present invention and an example of a reinforcing bar bundling machine as an embodiment of a bundling machine used in the bundling equipment will be described.

[0013] <Example of overall configuration of bundling equipment according to the present embodiment> 1A and 1B are perspective views showing an example of bundling equipment according to this embodiment, and Fig. 1C is a perspective view showing another example of bundling equipment according to this embodiment. The bundling equipment 100A shown in Fig. 1A and 1B includes a reinforcing bar bundling machine 1A that treats reinforcing bars S as objects to be bound, and that binds the intersection of two intersecting reinforcing bars S with wire W as a bundling point P10, and a moving machine 200A that moves the reinforcing bar bundling machine 1A to the bundling point P10.

[0014] The moving machine 200A is composed of, for example, a device called a robot arm in which multiple arms are rotatably connected via an axis, and moves the rebar binding machine 1A toward and away from the placement surface SF of the rebar S, and in a direction along the placement surface SF, thereby moving the rebar binding machine 1A to the binding location P10.

[0015] 1C has a configuration in which a reel housing section 21 that houses a reel 20 around which wire W is wound is independent from the reinforcing bar binding machine 1A, and is equipped with the reinforcing bar binding machine 1A, the reel housing section 21 provided in correspondence with the reinforcing bar binding machine 1A, and a wire unwinding mechanism 210 that unwinds the wire W from the reel 20 housed in the reel housing section 21. The bundling equipment 100B also includes a moving machine 200B that moves the reinforcing bar binding machine 1A to the binding location P10.

[0016] The binding equipment 100B uses another moving machine, such as a conveying mechanism (not shown), to move the reinforcing bars S in a direction along the installation surface SF, thereby moving the binding location P10 to a predetermined position opposite the reinforcing bar binding machine 1A. In addition, the moving machine 200B moves the reinforcing bar binding machine 1A in a direction toward and away from the installation surface SF of the reinforcing bars S, thereby moving the reinforcing bar binding machine 1A to the binding location P10.

[0017] 1A, 1B, and 1C includes an information acquisition unit 101 as an example of information acquisition means for acquiring bundling-related information related to the bundling operation of bundling the reinforcing bars S with the wire W, such as information indicating the presence or absence of an obstacle that hinders the bundling operation of bundling the reinforcing bars S with the wire W, information indicating the state (also referred to as the bundling state) of the wire W that has bundled the reinforcing bars S in the bundling operation, information identifying the reinforcing bars S, and information identifying the position of the bundling point P10. The reinforcing bar bundling machine 1A also includes an information communication unit 102 that notifies an information processing device 110 (110a, 110b) such as a personal computer, smartphone, or tablet of the bundling-related information acquired by the information acquisition unit 101.

[0018] <Configuration example of the reinforcing bar binding machine according to this embodiment> 2 is a side view showing an example of a reinforcing bar binding machine according to this embodiment. The reinforcing bar binding machine 1A is an example of a binding machine, and binds the intersection of two intersecting reinforcing bars S with a wire W. In this example, the wire W is wound around the intersection of the two reinforcing bars S by feeding the wire W in the forward direction indicated by the arrow F, and the wire W wound around the reinforcing bars S is then wound around the reinforcing bars S by feeding the wire W in the reverse direction indicated by the arrow R, and cuts the reinforcing bars S. The wire W is then twisted, and the intersection of the two reinforcing bars S is bound with the wire W.

[0019] To achieve the above-mentioned functions, the rebar binding machine 1A is equipped with a magazine 2 that stores the wire W, a wire feeding unit 3 that feeds the wire W in forward and reverse directions, and a wire guide 4 that guides the wire W fed by the wire feeding unit 3. The rebar binding machine 1A also has a curl forming unit 5 that forms a path for winding the wire W fed by the wire feeding unit 3 around the rebar S, and a cutting unit 6 that cuts the wire W wound around the rebar S. The rebar binding machine 1A is further equipped with a binding unit 7 that twists the wire W wound around the rebar S, and a drive unit 8 that drives the binding unit 7.

[0020] The magazine 2 is an example of a storage section, and rotatably and detachably stores a reel 20 around which a long wire W is wound so as to be able to be unwound. The wire W is a wire made of a metal wire that can be plastically deformed, a metal wire coated with resin, or a twisted wire.

[0021] In a configuration in which reinforcing bars S are bound with one wire W, the single wire W is wound around a hub portion (not shown) of the reel 20, and the single wire W can be pulled out as the reel 20 rotates. In a configuration in which reinforcing bars S are bound with multiple wires W, the multiple wires W are wound around the hub portion, and the multiple wires W can be pulled out simultaneously as the reel 20 rotates. For example, in a configuration in which reinforcing bars S are bound with two wires W, the two wires W are wound around the hub portion, and the two wires W can be pulled out simultaneously as the reel 20 rotates.

[0022] 1C, the reinforcing bar binding machine 1A does not need to be provided with a magazine 2 because the reel storage unit 21 that stores the reel 20 wound with wire W is configured to be independent of the reinforcing bar binding machine 1A. Similarly, the reinforcing bar binding machine 1A shown in FIGS. 1A and 1B may also have a configuration in which the magazine 2 that stores the reel 20 is independent of the reinforcing bar binding machine 1A, and the form of the magazine 2 that is independent of the reinforcing bar binding machine 1A is not limited to the form shown in FIG. 2. Furthermore, in a reinforcing bar binding machine 1A that binds reinforcing bars S with multiple wires W, if the reel storage unit 21 (magazine 2) is configured to be independent of the reinforcing bar binding machine 1A, multiple reels 20 wound with a single wire W may be stored in the reel storage unit 21 (magazine 2), and the wire W may be pulled out simultaneously from each reel 20, allowing multiple wires W to be supplied to the reinforcing bar binding machine 1A.

[0023] The wire feeding unit 3 includes a pair of feed gears 30 that sandwich and feed the wire W. The rotation of a feed motor 31 (see FIGS. 4A, 4B, 4C, and 4D) is transmitted to the wire feeding unit 3, causing the feed gear 30 to rotate. As a result, the wire feeding unit 3 feeds the wire W sandwiched between the pair of feed gears 30 along the extension direction of the wire W. In a configuration in which multiple pieces of wire W, for example, two pieces of wire W, are fed to bind reinforcing bars S, the two pieces of wire W are fed in a parallel state.

[0024] The wire feed unit 3 switches the rotation direction of the feed motor 31 between forward and reverse, thereby switching the rotation direction of the feed gear 30 and switching the feed direction of the wire W between forward and reverse, either feeding the wire W in the forward direction indicated by arrow F or feeding the wire W in the reverse direction indicated by arrow R.

[0025] The wire guides 4 are provided at predetermined positions upstream and downstream of the wire feeding unit 3 with respect to the feeding direction in which the wire W is fed in the forward direction. In a configuration in which two wires W are fed to bind reinforcing bars S, the wire guide 4 provided upstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them between a pair of feed gears 30. The wire guide 4 provided downstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them to the cutting unit 6 and the curl forming unit 5.

[0026] The curl forming unit 5 includes a curl guide 50 that curls the wire W fed by the wire feeding unit 3, and an guiding guide 51 that guides the wire W curled by the curl guide 50 to the bundling unit 7. In the rebar bundling machine 1A, the path of the wire W fed by the wire feeding unit 3 is regulated by the curl forming unit 5, so that the trajectory of the wire W forms a loop Ru as shown by the two-dot chain line in Figure 2, and the wire W is wound around the rebar S.

[0027] The cutting unit 6 is configured to cut the wire W by the relative movement of a pair of blades, and in this example includes a fixed blade unit 60 and a movable blade unit 61 that rotates around the fixed blade unit 60 as a fulcrum axis. The movement of the binding unit 7 is transmitted to the movable blade unit 61 via a transmission member 62, and the cutting unit 6 cuts the wire W sandwiched between the fixed blade unit 60 and the movable blade unit 61 by the rotational movement of the movable blade unit 61.

[0028] The binding unit 7 includes a locking member 70 that locks the wire W, and a sleeve 71 that operates the locking member 70. The driving unit 8 includes a motor 80 and a reducer 81 that reduces speed and amplifies torque.

[0029] When the binding unit 7 is driven by the drive unit 8, the sleeve 71 activates the locking member 70 to lock the wire W. In addition, the operation of the sleeve 71 is transmitted to the movable blade unit 61 via the transmission member 62, and after the wire W is cut by the cutting unit 6 in conjunction with the operation of the sleeve 71, the binding unit 7 twists the wire W to bind the reinforcing bar S.

[0030] In the rebar tying machine 1A, the wire feeding unit 3, wire guide 4, cutting unit 6, binding unit 7, drive unit 8, etc. are housed inside a main body 10. In the rebar tying machine 1A, the binding unit 7 is provided inside the tip side (also referred to as the front side), which is one end along the extension direction of the main body 10, and the drive unit 8 is provided inside the rear side (also referred to as the rear side), which is the other end.

[0031] In addition, in the rebar tying machine 1A, the curl guide 50 and the guiding guide 51 of the curl forming section 5 are provided at the front end of the main body 10. In the rebar tying machine 1A, the space between the curl guide 50 and the guiding guide 51 forms the introduction section 18 where the rebar S is inserted. Furthermore, in the rebar tying machine 1A, an abutting section 16 against which the rebar S inserted in the introduction section 18 abuts is provided at the front end of the main body 10, between the curl guide 50 and the guiding guide 51.

[0032] Furthermore, when the rebar tying machine 1A is applied in a form that an operator holds in his / her hand, the main body 10 is provided with a handle portion 11 that can be held in his / her hand and operated. The rebar tying machine 1A has the handle portion 11 extending downward from the main body 10, and a battery attachment portion 17 to which a battery 15 is detachably attached is provided at the bottom of the handle portion 11. The rebar tying machine 1A also has a magazine 2 provided in front of the handle portion 11.

[0033] When the rebar tying machine 1A is used in a form that is held by the operator, a trigger 12 is provided on the front side of the handle portion 11, and a switch 13 is provided inside the handle portion 11. In the rebar tying machine 1A, a control unit 14 controls the motor 80 and the feed motor 31 according to the state of the switch 13 that is pressed by operating the trigger 12.

[0034] In addition, by providing the trigger 12 in the reinforcing bar binding machine 1A used in the bundling equipment 100A and the bundling equipment 100B, it is possible to check the operation of the reinforcing bar binding machine 1A alone without control by the information processing device 110a. However, the reinforcing bar binding machine 1A used in the bundling equipment 100A and the bundling equipment 100B may be configured without the trigger 12 and the switch 13.

[0035] 3A is a side view showing an example of the binding part, FIG. 3B is an internal configuration diagram showing an example of the binding part, and FIGS. 3C and 3D are plan views of the main part showing an example of the binding part.

[0036] Next, an example of the binding unit of this embodiment will be described with reference to the drawings. The binding unit 7 includes a rotating shaft 72 that moves and rotates a sleeve 71 to operate the locking member 70. The binding unit 7 and the drive unit 8 are configured such that the rotating shaft 72 and a motor 80 are connected via a reducer 81, and the rotating shaft 72 is driven by the motor 80 via the reducer 81.

[0037] The locking member 70 includes a center hook 70C connected to a rotary shaft 72, and a first side hook 70R and a second side hook 70L that open and close relative to the center hook 70C.

[0038] In the binding part 7, the side where the center hook 70C, the first side hook 70R, and the second side hook 70L are provided is the front side, and the side where the rotation shaft 72 is connected to the reducer 81 is the rear side.

[0039] The center hook 70C is connected to the front end, which is one end of the rotating shaft 72, via a configuration that allows it to rotate relative to the rotating shaft 72, rotate integrally with the rotating shaft 72, and move axially integrally with the rotating shaft 72.

[0040] The first side hook 70R has a tip end, which is one end along the axial direction of the rotating shaft 72, located on one side of the center hook 70C. The first side hook 70R has a rear end, which is the other end along the axial direction of the rotating shaft 72, rotatably supported by the center hook 70C via a shaft 71b.

[0041] The second side hook 70L has a tip end, which is one end along the axial direction of the rotation shaft 72, located on the other side of the center hook 70C. The second side hook 70L has a rear end, which is the other end along the axial direction of the rotation shaft 72, rotatably supported by the center hook 70C via a shaft 71b.

[0042] As a result, the locking member 70 rotates about the shaft 71b, opening and closing the tip of the first side hook 70R in the direction of moving toward and away from the center hook 70C. Also, the tip of the second side hook 70L opens and closes in the direction of moving toward and away from the center hook 70C.

[0043] The sleeve 71 has a shape that is divided into two radially over a predetermined length range along the axial direction of the rotating shaft 72 from the front end indicated by arrow A1, and is shaped to accommodate the first side hook 70R and the second side hook 70L. The sleeve 71 is cylindrical and covers the periphery of the rotating shaft 72, and has a convex portion (not shown) that protrudes from the inner circumferential surface of the cylindrical space into which the rotating shaft 72 is inserted, and this convex portion fits into a groove of a feed screw 72a formed on the outer periphery of the rotating shaft 72 along the axial direction.

[0044] When the rotary shaft 72 rotates, the sleeve 71 moves in the front-to-rear direction, which is the direction along the axial direction of the rotary shaft 72, according to the rotation direction of the rotary shaft 72 due to the action of a convex portion (not shown) and the feed screw 72a of the rotary shaft 72. When the sleeve 71 moves along the axial direction of the rotary shaft 72 to the front end of the feed screw 72a, it rotates integrally with the rotary shaft 72.

[0045] The sleeve 71 has an opening / closing pin 71a that opens and closes the first side hook 70R and the second side hook 70L. The first side hook 70R has an opening / closing guide hole 73R into which the opening / closing pin 71a is inserted, and the second side hook 70L has an opening / closing guide hole 73L into which the opening / closing pin 71a is inserted.

[0046] The opening / closing guide holes 73R, 73L are formed as grooves extending in the movement direction of the sleeve 71. The opening / closing guide hole 73R has a shape that converts the linear movement of the opening / closing pin 71a, which moves in conjunction with the sleeve 71, into an opening / closing operation caused by the rotation of the first side hook 70R about the shaft 71b as a fulcrum. The opening / closing guide hole 73L has a shape that converts the linear movement of the opening / closing pin 71a, which moves in conjunction with the sleeve 71, into an opening / closing operation caused by the rotation of the second side hook 70L about the shaft 71b as a fulcrum.

[0047] When the sleeve 71 moves rearward as indicated by arrow A2, the first side hook 70R and the second side hook 70L move away from the center hook 70C by rotating about the axis 71b due to the trajectory of the opening / closing pin 71a and the shape of the opening / closing guide holes 73R and 73L.

[0048] This causes the first side hook 70R and the second side hook 70L to open relative to the center hook 70C, and a feed path through which the wire W passes is formed between the first side hook 70R and the center hook 70C, and between the second side hook 70L and the center hook 70C.

[0049] When the first side hook 70R and the second side hook 70L are open relative to the center hook 70C, the wire W fed in the forward direction by the wire feeding unit 3 passes between the center hook 70C and the first side hook 70R. The wire W passing between the center hook 70C and the first side hook 70R is guided to the curl forming unit 5. The wire W is then curled by the curl guide 50 of the curl forming unit 5 and guided to the bundling unit 7 by the induction guide 51, where it passes between the center hook 70C and the second side hook 70L.

[0050] When the sleeve 71 moves forward as indicated by arrow A1, the first side hook 70R and the second side hook 70L move in a direction approaching the center hook 70C by rotating about the shaft 71b due to the trajectory of the opening / closing pin 71a and the shapes of the opening / closing guide holes 73R, 73L. As a result, the first side hook 70R and the second side hook 70L close against the center hook 70C.

[0051] When the first side hook 70R closes relative to the center hook 70C, the wire W sandwiched between the first side hook 70R and the center hook 70C is locked in a manner that allows it to move between the first side hook 70R and the center hook 70C. Furthermore, when the second side hook 70L closes relative to the center hook 70C, the wire W sandwiched between the second side hook 70L and the center hook 70C is locked in a manner that prevents it from slipping out from between the second side hook 70L and the center hook 70C.

[0052] When the wire W wound around the reinforcing bar S is fed in the reverse direction by the wire feeding unit 3, the portion sandwiched between the second side hook 70L and the center hook 70C is located upstream in the direction in which the wire W is fed, and the portion sandwiched between the first side hook 70R and the center hook 70C is located downstream in the direction in which the wire W is fed.

[0053] As a result, when the wire W wound around the reinforcing bar S is fed in the reverse direction by the wire feed unit 3, the portion sandwiched between the first side hook 70R and the center hook 70C is pulled in the direction of the wire feed unit 3, reducing the diameter of the loop Ru and causing it to be wound around the reinforcing bar S.

[0054] The sleeve 71 includes a bending portion 71c1 that bends the wire W into a predetermined shape by pushing in a predetermined direction the tip side of the portion of the wire W that is one end of the wire W wound around the reinforcing bar S that is sandwiched between the second side hook 70L and the center hook 70C. The sleeve 71 also includes a bending portion 71c2 that bends the wire W into a predetermined shape by pushing in a predetermined direction the terminal side, that is the other end of the wire W that is wound around the reinforcing bar S and cut by the cutting portion 6. The bending portions 71c1 and 71c2 are formed at the end of the sleeve 71 in the forward direction indicated by the arrow A1.

[0055] As the sleeve 71 moves forward as indicated by arrow A1, the bending portion 71c1 pushes the tip end of the wire W, which is held by the center hook 70C and the second side hook 70L, and bends it toward the rebar S. As the sleeve 71 moves forward as indicated by arrow A1, the bending portion 71c2 pushes the end end of the wire W, which is held by the center hook 70C and the first side hook 70R and cut by the cutting portion 6, and bends it toward the rebar S.

[0056] The binding unit 7 includes a rotation restricting unit 74 that restricts the rotation of the locking member 70 and the sleeve 71 in conjunction with the rotational movement of the rotary shaft 72. The rotation restricting unit 74 includes a rotation restricting blade 74a on the sleeve 71, and a rotation restricting claw (not shown) on the main body 10 to which the rotation restricting blade 74a is locked.

[0057] The rotation restriction blade 74a is configured by providing a plurality of protrusions that protrude radially from the outer periphery of the sleeve 71 at predetermined intervals around the circumference of the sleeve 71. The rotation restriction blade 74a is fixed to the sleeve 71 and moves and rotates integrally with the sleeve 71.

[0058] The rotation restricting portion 74 has a locking member 70 that locks the wire W, and after winding the wire W around the reinforcing bar S, cuts it. Furthermore, the rotation restricting blade 74a is locked in the operating range where the wire W is bent and shaped at the bending portions 71c1 and 71c2 of the sleeve 71. When the rotation restricting blade 74a is locked, the rotation of the sleeve 71 linked to the rotation of the rotating shaft 72 is restricted, and the rotation of the rotating shaft 72 moves the sleeve 71 in the front-to-rear direction.

[0059] Furthermore, the rotation restricting blade 74a of the rotation restricting portion 74 is released from the locking position in the range of motion in which the wire W locked by the locking member 70 is twisted. When the rotation restricting blade 74a is released from the locking position, the sleeve 71 rotates in conjunction with the rotation of the rotary shaft 72. In the locking member 70, the center hook 70C, the first side hook 70R, and the second side hook 70L that lock the wire W rotate in conjunction with the rotation of the sleeve 71.

[0060] <Example of binding operation of the reinforcing bar binding machine of this embodiment> Next, with reference to the respective drawings, an operation of binding reinforcing bars S with wire W using the reinforcing bar binding machine 1A of this embodiment will be described.

[0061] The rebar binding machine 1A is in a standby state in which the wire W is clamped between a pair of feed gears 30, and the tip of the wire W is positioned between the clamping position of the feed gears 30 and the fixed blade portion 60 of the cutting unit 6. In addition, when the rebar binding machine 1A is in a standby state, the sleeve 71 and the first side hook 70R, second side hook 70L, and center hook 70C attached to the sleeve 71 move rearward as indicated by arrow A2, and as shown in FIG. 3C, the first side hook 70R is open relative to the center hook 70C, and the second side hook 70L is open relative to the center hook 70C.

[0062] When the feed motor 31 is driven in the forward rotation direction from the standby state, the wire feed unit 3 feeds the wire W in the forward direction indicated by the arrow F. In a configuration in which multiple wires W, for example, two wires W, are fed, the wire guide 4 feeds the two wires W in a state in which they are parallel to each other along the axial direction of the loop Ru formed by the wires W.

[0063] The wire W fed in the forward direction passes between the center hook 70C and the first side hook 70R and is fed to the curl guide 50 of the curl forming unit 5. By passing through the curl guide 50, the wire W is given a curling tendency to be wound around the reinforcing bar S placed in the introduction section 18 between the curl guide 50 and the induction guide 51.

[0064] The wire W having been curled by the curl guide 50 is guided by the induction guide 51 and further fed in the forward direction by the wire feed unit 3, whereby the wire W is guided between the center hook 70C and the second side hook 70L by the induction guide 51. Then, when the wire W has been fed to a predetermined position, the driving of the feed motor 31 is stopped.

[0065] After the forward feed of the wire W is stopped, the motor 80 is driven in the forward rotation direction. In the operating range where the locking member 70 locks the wire W, the rotation restricting blade 74a of the sleeve 71 is locked, thereby restricting the rotation of the sleeve 71 linked to the rotation of the rotary shaft 72. As a result, the rotation of the motor 80 is converted into linear movement, and the sleeve 71 moves forward in the direction of arrow A1.

[0066] When the sleeve 71 of the locking member 70 moves forward as indicated by the arrow A1, the first side hook 70R and the second side hook 70L move in a direction approaching the center hook 70C by rotating around the axis 71b, due to the trajectory of the opening / closing pin 71a and the shape of the opening / closing guide holes 73R and 73L.

[0067] This causes the first side hook 70R and the second side hook 70L to close against the center hook 70C, as shown in FIG. 3D.

[0068] When the first side hook 70R closes against the center hook 70C, the wire W sandwiched between the first side hook 70R and the center hook 70C is locked in a manner that allows it to move between the first side hook 70R and the center hook 70C.

[0069] In contrast, when the second side hook 70L closes against the center hook 70C, the wire W sandwiched between the second side hook 70L and the center hook 70C is locked in a manner that prevents it from slipping out from between the second side hook 70L and the center hook 70C.

[0070] After the sleeve 71 is advanced to a position where the wire W is engaged by the closing action of the first side hook 70R and the second side hook 70L, the rotation of the motor 80 is temporarily stopped and the feed motor 31 is driven in the reverse rotation direction.

[0071] As a result, the pair of feed gears 30 rotate in the reverse direction, and the wire W held between the pair of feed gears 30 is fed in the reverse direction indicated by the arrow R. Because the tip end of the wire W is locked between the second side hook 70L and the center hook 70C in a manner that prevents it from slipping out, the wire W is wound around the reinforcing bar S by feeding the wire W in the reverse direction.

[0072] After winding the wire W around the reinforcing bar S and stopping the reverse rotation of the feed motor 31, the motor 80 is driven in the forward rotation direction to further move the sleeve 71 forward as indicated by the arrow A1.

[0073] The forward movement of the sleeve 71 is transmitted to the cutting section 6 by the transmission member 62, causing the movable blade section 61 to rotate, and the wire W engaged by the first side hook 70R and the center hook 70C is cut by the action of the fixed blade section 60 and the movable blade section 61.

[0074] By driving the motor 80 in the forward rotation direction, the sleeve 71 is moved forward as indicated by the arrow A1, and as described above, the wire W is cut, and at almost the same time, the bending portions 71c1 and 71c2 move in a direction approaching the rebar S. As a result, the tip side of the wire W, which is held by the center hook 70C and the second side hook 70L, is pressed toward the rebar S by the bending portion 71c1, and is bent toward the rebar S using the holding position as a fulcrum. As the sleeve 71 moves further forward, the wire W, which is held between the second side hook 70L and the center hook 70C, is held in a state where it is sandwiched by the bending portion 71c1.

[0075] Furthermore, the end of the wire W that is engaged between the center hook 70C and the first side hook 70R and cut by the cutting portion 6 is pressed toward the rebar S by the bending portion 71c2 and bent toward the rebar S using the engagement position as a fulcrum. As the sleeve 71 moves further forward, the wire W that is engaged between the first side hook 70R and the center hook 70C is held in a state where it is sandwiched by the bending portion 71c2.

[0076] After the tip end and the cut end of the wire W are bent toward the rebar S, the motor 80 is further driven in the forward rotation direction, causing the sleeve 71 to move further forward. When the sleeve 71 moves to a predetermined position and reaches the operating range for twisting the wire W locked by the locking member 70, the locking of the rotation restricting blade 74a is released.

[0077] As a result, the motor 80 is further driven in the forward rotation direction, which causes the sleeve 71 to rotate in conjunction with the rotary shaft 72, and the wire W locked by the locking member 70 is twisted.

[0078] When it is detected that the load on the motor 80 has reached a maximum due to twisting the wire W, the forward rotation of the motor 80 is stopped. Next, the motor 80 is driven in the reverse direction, causing the rotating shaft 72 to rotate reversely. When the sleeve 71 rotates reversely following the reverse rotation of the rotating shaft 72, the rotation restricting blade 74a is engaged, restricting the rotation of the sleeve 71 linked to the rotation of the rotating shaft 72. As a result, the sleeve 71 moves backward, in the direction of arrow A2.

[0079] When the sleeve 71 moves rearward, the bent portions 71c1 and 71c2 move away from the wire W, and the retention of the wire W by the bent portions 71c1 and 71c2 is released. Furthermore, when the sleeve 71 moves rearward, the open-close pin 71a passes through the open-close guide holes 73R and 73L. As a result, the first side hook 70R rotates about the shaft 71b as a fulcrum and moves in a direction away from the center hook 70C. Furthermore, the second side hook 70L rotates about the shaft 71b as a fulcrum and moves in a direction away from the center hook 70C. This causes the wire W to come out of the locking member 70.

[0080] <Example of control function of bundling equipment according to this embodiment> 4A, 4B, 4C, and 4D are block diagrams showing examples of the control function of the bundling equipment. In the control function example shown in Fig. 4A, the bundling equipment 100A shown in Fig. 1A etc. is connected to the mobile device 200A and the reinforcing bar binding machine 1A attached to the mobile device 200A so as to be able to send and receive signals, etc., that control the mobile device 200A and the reinforcing bar binding machine 1A.

[0081] In addition, in the control function example shown in FIG. 4A, the binding equipment 100B shown in FIG. 1C etc. is connected such that the information processing device 110a that controls the mobile device 200B can send and receive signals, etc. that control the mobile device 200B and the rebar binding machine 1A attached to the mobile device 200B.

[0082] Furthermore, the binding equipment 100A, 100B are connected so that the information communication unit 102 of the rebar binding machine 1A can send and receive binding-related information, etc., acquired by the information acquisition unit 101 of the rebar binding machine 1A to a communication network 300 such as the cloud.

[0083] In addition, the binding equipment 100A, 100B has an information processing device 110b, which is notified of the binding-related information acquired by the information acquisition unit 101 of the rebar binding machine 1A, connected to the communication network 300 so as to be able to send and receive binding-related information, etc.

[0084] In the binding equipment 100A, 100B shown in FIG. 4B, the information processing device 110a is connected to the rebar binding machine 1A via the mobile devices 200A, 200B and 200A, 200B, and the information processing device 110b is connected to the communication network 300, while the information communication unit 102 of the rebar binding machine 1A is not connected to the communication network 300, and the information processing device 110b is connected to the information communication unit 102 of the rebar binding machine 1A so as to be able to send and receive binding-related information, etc.

[0085] In the binding equipment 100A, 100B shown in Figure 4C, the information processing device 110a is connected to the rebar binding machine 1A via mobile devices 200A, 200B and 200A, 200B, and the information processing device 110b is connected to the communication network 300 and the information communication unit 102 of the rebar binding machine 1A, while the information communication unit 102 of the rebar binding machine 1A is not connected to the communication network 300, and the information processing device 110b is connected to the information processing device 110a so as to be able to send and receive binding-related information, etc.

[0086] In the binding equipment 100A, 100B shown in Figure 4D, an information processing device 110a that controls the mobile devices 200A, 200B has the function of an information processing device 110b that notifies binding-related information acquired by the information acquisition unit 101 of the rebar binding machine 1A, and the information processing device 110a is connected to the rebar binding machine 1A via the mobile devices 200A, 200B and 200A, 200B, and is also connected to a communication network 300 and the information communication unit 102 of the rebar binding machine 1A.

[0087] In the bundling equipment 100A, the information processing device 110a controls the mobile device 200A according to a predetermined program, causing the reinforcing bar binding machine 1A to move to the binding location P10. In the bundling equipment 100B, the information processing device 110a controls the mobile device 200B according to a predetermined program, causing the reinforcing bar binding machine 1A to move to the binding location P10. Furthermore, when the bundling equipment 100A moves the reinforcing bar binding machine 1A to the binding location P10, the information processing device 110a controls the reinforcing bar binding machine 1A according to a predetermined program and outputs a signal to cause the reinforcing bar binding machine 1A to execute an operation to bind the reinforcing bar S. When a signal to execute an operation to bind the reinforcing bar S is input, the control unit 14 controls the motor 80 and feed motor 31 in the reinforcing bar binding machine 1A, and performs the above-described series of operations to bind the reinforcing bar S with the wire W.

[0088] When the reinforcing bar binding machine 1A is used alone, the control unit 14 controls the motor 80 and the feed motor 31 according to the state of the switch 13 pressed by operating the trigger 12 shown in Figure 2, and performs a series of operations to bind the reinforcing bars S with the wire W.

[0089] The reinforcing bar binding machine 1A acquires bundling-related information related to the bundling operation of bundling reinforcing bars S with wire W using the information acquisition unit 101, and the control unit 14 notifies the information processing device 110b of the bundling-related information acquired by the information acquisition unit 101 using the information communication unit 102. In the configuration shown in FIG. 4A, the reinforcing bar binding machine 1A notifies the communication network 300, such as the cloud, of the bundling-related information acquired by the information acquisition unit 101 using the information communication unit 102. The information processing device 110b acquires the bundling-related information from the communication network 300. In the configurations shown in FIGS. 4B and 4C, the reinforcing bar binding machine 1A notifies the information processing device 110b of the bundling-related information acquired by the information acquisition unit 101 using the information communication unit 102. In the configuration shown in FIG. 4D, the reinforcing bar binding machine 1A notifies the information processing device 110a of the bundling-related information acquired by the information acquisition unit 101 using the information communication unit 102.

[0090] The information processing device 110b shown in Figures 4A, 4B, and 4C issues a warning based on the bundling-related information acquired by the information acquisition unit 101 of the rebar binding machine 1A. As shown in Figure 4D, when the information processing device 110a has the functions of the information processing device 110b, the information processing device 110a issues a warning based on the bundling-related information acquired by the information acquisition unit 101 of the rebar binding machine 1A and controls the rebar binding machine 1A and the mobile units 200A and 200B. The control of the rebar binding machine 1A and the mobile units 200A and 200B based on the bundling-related information acquired by the information acquisition unit 101 provided in the rebar binding machine 1A is also referred to as feedback control.

[0091] The bundling related information includes, for example, information necessary to determine whether the bundling operation can be performed, information necessary to determine whether the bundling is being performed normally, information necessary to identify the position of the bundling point P10, information necessary to identify the reinforcing bar S to be bound, and information for determining the remaining amount of wire W. The bundling related information also includes information such as the current value of the motor 80, the control signal of the feed motor 31, the number of times various abnormalities are detected, the number of times bundling has been performed, etc.

[0092] The information processing device 110b shown in Figures 4A, 4B, and 4C reports bundling-related information acquired from the reinforcing bar binding machine 1 A. The information processing device 110b shown in Figures 4A, 4B, and 4C may determine whether or not the bundling operation can be performed based on the bundling-related information acquired from the reinforcing bar binding machine 1 A, and report bundling feasibility information indicating whether or not the bundling operation can be performed.

[0093] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may determine the binding result, whether or not binding is being performed normally, based on the binding-related information acquired from the rebar binding machine 1A, and may report binding result information indicating the binding result.

[0094] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may identify the position of the binding point P10 based on the binding-related information acquired from the rebar binding machine 1A, and may report position information identifying the position of the binding point P10.

[0095] In addition, the information processing device 110b shown in Figures 4A, 4B, and 4C may identify the diameter, combination, etc. of the reinforcing bars S to be bound based on binding-related information acquired from the reinforcing bar binding machine 1A, and notify the reinforcing bar identification information.

[0096] Furthermore, the information processing device 110b shown in FIGS. 4A, 4B, and 4C may notify the binding result information and the position information (address) of the binding point P10 in association with each other.

[0097] In addition, the information processing device 110b shown in Figures 4A, 4B, and 4C may determine the remaining amount of wire W based on binding-related information acquired from the rebar binding machine 1A or the reel storage section 21, and notify the remaining wire amount information.

[0098] The information processing device 110b shown in Fig. 4C notifies the information processing device 110a of the bundling-related information acquired from the reinforcing bar binding machine 1A. The information processing device 110a shown in Fig. 4C reports the bundling-related information notified from the information processing device 110b.

[0099] The information processing device 110a shown in FIG. 4C may determine whether or not the bundling operation can be performed based on the bundling-related information notified from the information processing device 110b, and may notify bundling availability information indicating whether or not the bundling operation can be performed.

[0100] Furthermore, the information processing device 110a shown in FIG. 4C may determine the binding result, whether or not binding has been performed normally, based on the binding-related information notified from the information processing device 110b, and notify binding result information indicating the binding result.

[0101] Furthermore, the information processing device 110a shown in FIG. 4C may identify the position of the binding point P10 based on the binding-related information notified from the information processing device 110b, and may notify position information identifying the position of the binding point P10.

[0102] Furthermore, the information processing device 110a shown in FIG. 4C may identify the diameter, combination, etc. of the reinforcing bars S to be bundled based on the bundling-related information notified from the information processing device 110b, and notify the reinforcing bar identification information.

[0103] Furthermore, the information processing device 110a shown in FIG. 4C may notify the binding result information and the position information (address) of the binding point P10 in association with each other.

[0104] Furthermore, the information processing device 110a shown in FIG. 4C may determine the remaining amount of wire W based on the bundling-related information acquired from the information processing device 110b, and notify the remaining amount of wire.

[0105] The information processing device 110a shown in Fig. 4D reports bundling-related information acquired from the rebar binding machine 1 A. The information processing device 110a shown in Fig. 4D may determine whether or not the binding operation can be performed based on the bundling-related information acquired from the rebar binding machine 1 A, and report bundling feasibility information indicating whether or not the binding operation can be performed.

[0106] Furthermore, the information processing device 110a shown in FIG. 4D may determine the binding result, whether or not binding is being performed normally, based on the binding-related information acquired from the rebar binding machine 1A, and may notify binding result information indicating the binding result.

[0107] Furthermore, the information processing device 110a shown in FIG. 4D may identify the position of the binding point P10 based on the binding-related information acquired from the rebar binding machine 1A, and may notify position information identifying the position of the binding point P10.

[0108] Furthermore, the information processing device 110a shown in FIG. 4D may identify the diameter, combination, etc. of the reinforcing bars S to be bound based on the binding-related information acquired from the reinforcing bar binding machine 1A, and notify the reinforcing bar identification information.

[0109] Furthermore, the information processing device 110a shown in FIG. 4D may notify the binding result information and the position information (address) of the binding point P10 in association with each other.

[0110] Furthermore, the information processing device 110a shown in FIG. 4D may determine the remaining amount of wire W based on bundling-related information acquired from the reinforcing bar binding machine 1A or the reel housing section 21, and notify the remaining wire amount information.

[0111] The information processing device 110a shown in FIGS. 4C and 4D may control the reinforcing bar binding machine 1A and the mobile machines 200A and 200B based on the binding feasibility information.

[0112] Furthermore, the information processing device 110a shown in FIGS. 4C and 4D may control the reinforcing bar binding machine 1A and the mobile machines 200A and 200B based on the binding result information.

[0113] Furthermore, the information processing device 110a shown in FIGS. 4C and 4D may control the reinforcing bar binding machine 1A and the mobile machines 200A and 200B based on the position information of the binding location P10.

[0114] Furthermore, the information processing device 110a shown in FIGS. 4C and 4D may control the reinforcing bar binding machine 1A and the mobile devices 200A and 200B based on the reinforcing bar identification information.

[0115] Furthermore, the information processing device 110a shown in Figures 4C and 4D may store the binding result information and the location information (address) of the binding location P10 in association with each other, and control the rebar binding machine 1A and the mobile devices 200A and 200B based on the relationship between the binding result information and the location information of the binding location P10.

[0116] Furthermore, the information processing device 110a shown in FIGS. 4C and 4D may control the rebar binding machine 1A and the mobile machines 200A and 200B based on the remaining wire amount information.

[0117] <Configuration example of information acquisition unit using sensors> 5 is a side view showing an example of a reinforcing bar binding machine equipped with an information acquisition unit. The reinforcing bar binding machine 1A is equipped with a sensor 120 as the information acquisition unit 101. The sensor 120 is composed of an optical sensor capable of detecting an object in the binding space 19 where the locking member 70 operates within the main body 10 shown in FIG. 2, a magnetic sensor capable of detecting a metal object, or the like.

[0118] <Example of reporting of cohesion-related information> FIG. 6 is an explanatory diagram showing an example of notification in an information processing device based on bundling-related information acquired by an information acquisition unit. Next, with reference to each figure, the control of notification based on bundling-related information acquired by sensor 120 will be described.

[0119] In the binding equipment 100A, the mobile devices 200A and 200B are controlled by the information processing device 110a shown in Figures 4A, 4B, 4C, and 4D, and the mobile devices 200A and 200B move the reinforcing bar binding machine 1A to a predetermined binding location P10.

[0120] The rebar binding machine 1A detects whether or not there is a foreign object in the binding space 19 using the sensor 120, which is the information acquisition unit 101, and acquires foreign object detection information, which is the detection result of the presence or absence of a foreign object, for determining whether or not the binding operation can be performed, as binding feasibility information, which is binding-related information. When the sensor 120 detects that there is a foreign object in the binding space 19, the control unit 14 of the rebar binding machine 1A notifies the information processing device 110b shown in Figures 4A, 4B, and 4C and the information processing device 110a shown in Figure 4D of the foreign object detection information using the information communication unit 102.

[0121] When the information processing devices 110a and 110b receive the foreign object detection information from the rebar binding machine 1A, they determine whether or not the binding operation can be performed, and output notification information 110E depending on whether or not the binding operation can be performed. The notification information 110E may be output as visual information such as an image or text, or as auditory information such as sound.

[0122] If the information processing device 110a that controls the bundling equipment 100A is a personal computer, the notification information 110E may be output by the personal computer. Alternatively, the notification information 110E may be output by an information processing device 110b, such as a smartphone or tablet, that is communicably connected to the information processing device 110a that controls the bundling equipment 100A but does not control the bundling equipment 100A.

[0123] <Configuration example of information acquisition unit using camera> 7A and 7B are perspective views showing another example of a reinforcing bar binding machine equipped with an information acquisition unit. The reinforcing bar binding machine 1A is equipped with a camera 121 as the information acquisition unit 101. The camera 121 is provided on the top or side of the main body 10 so that the area beyond the curl forming unit 5 is within the imaging range.

[0124] <Example of operation based on image information of binding locations acquired by image recognition of binding posture> FIG. 8 is a flowchart illustrating an example of operation based on image information of a binding position acquired by image recognition of a binding posture. Referring to each figure, control based on information acquired by the camera 121 will be described as control based on binding-related information. When the bundling equipment 100A executes the above-described bundling operation in step SA1 of FIG. 8, the information processing device 110a controls the mobile device 200A using a predetermined program. In step SA2 of FIG. 8, the rebar binding machine 1A, which has completed the bundling operation, moves away from the binding position P10 with the operation of the mobile device 200A. When the bundling equipment 100B shown in FIG. 1C executes the above-described bundling operation, the information processing device 110a controls the mobile device 200B using a predetermined program. When the rebar binding machine 1A, which has completed the bundling operation, moves away from the binding position P10 with the operation of the mobile device 200B. The following operation will be described for the bundling equipment 100A, but it is similar for the bundling equipment 100B.

[0125] After the bundling operation is completed, the rebar binding machine 1A is moved away from the bundling location P10 to remove the rebar S from between the curl guide 50 and the guide 51 of the curl forming unit 5. When the rebar binding machine 1A moves to a position where the bundling location P10, including the wire W that bound the rebars S, is within the range of the camera 121, the control unit 14 of the rebar binding machine 1A controls the camera 121 to capture an image of the bundling location P10, including the wire W that bound the rebars S, and acquires, as bundling-related information, image information of the bundling location after the execution of the bundling operation, including the appearance of the rebars bound by the wire W, which is necessary to determine whether the bundling was performed correctly. Note that the bundling location P10, including the wire W that bound the rebars S, may be captured from multiple directions by, for example, changing the orientation of the rebar binding machine 1A.

[0126] The control unit 14 of the reinforcing bar binding machine 1A notifies the information processing device 110b via the information communication unit 102 of the image information of the binding point after binding, which is obtained by photographing the binding point P10 including the wire W that binds the reinforcing bar S with the camera 121, in the embodiments shown in Figures 4A, 4B, and 4C, and notifies the information processing device 110a via the information communication unit 102 in the embodiment shown in Figure 4D.

[0127] The information processing device 110b shown in Figures 4A, 4B, and 4C and the information processing device 110a shown in Figure 4D may notify the binding portion image information. Also, the information processing device 110b shown in Figure 4C notifies the information processing device 110a shown in Figure 4C of the binding portion image information.

[0128] The information processing device 110a shown in FIGS. 4C and 4D performs image recognition on the image information of the bundling location after bundling in step SA3 of FIG. 8, identifies the presence or absence of abnormalities based on the shape of the wire W used to bundling the rebars S, and determines whether the bundling was performed properly in step SA4 of FIG. 8. The information processing device 110a may generate a 3D image by combining the image information of the bundling location from 2D images acquired by photographing the bundling location P10 from multiple directions, and determine whether the bundling was performed properly from the 2D and 3D images. Furthermore, the information processing device 110a shown in FIGS. 4C and 4D may report bundling result information indicating whether the bundling was performed properly, or the information processing device 110b shown in FIGS. 4A and 4B may determine whether the bundling was performed properly and report the bundling result information.

[0129] 9A, 9B, and 9C are perspective views showing an example of a binding location bound with wire, and FIGS. 10A and 10B are explanatory diagrams showing an example of image information of the binding location after binding. As shown in FIG. 9A, if the wire W binding the reinforcing bars S is not cut or otherwise broken and the binding is performed normally, as shown in FIG. 10A, no abnormalities are detected in the post-binding binding location image information Pc1, which is an image of the corresponding binding location P10. As a result, the information processing device 110a shown in FIGS. 4C and 4D determines that the reinforcing bars S are bound normally with the wire W and records that the binding result is normal in step SA5 of FIG. 8.

[0130] On the other hand, when bundling reinforcing bars S with two wires W, if one wire is cut as shown in Fig. 9B, or if two wires W are cut as shown in Fig. 9C, an abnormality is detected in the post-binding binding portion image information Pc1 obtained by photographing the corresponding binding portion P10, as shown in Fig. 10B. As a result, the information processing device 110a shown in Fig. 4C and Fig. 4D determines that the reinforcing bars S are not properly bound with the wires W, and records that the binding result is abnormal in step SA6 of Fig. 8.

[0131] 4A, 4B, and 4C may record the bundling results. Alternatively, a person may input predetermined information into the information processing device 110a shown in Figures 4A and 4B based on the bundling location image information notified by the information processing device 110b shown in Figures 4A and 4B, and the information processing device 110a shown in Figures 4A and 4B may determine whether bundling has been performed normally based on the input information and record the bundling results.

[0132] <Example of associating binding result information with location information> 4A, 4B, 4C, and 4D constitutes a position information acquiring means, and acquires position information (address) of the binding point P10 where the binding operation is to be performed. In the case of the information processing device 110a shown in Fig. 4C, the information processing device 110a associates and stores the binding point image information Pc1 after binding notified from the information processing device 110b, binding result information indicating whether or not binding was performed normally based on the binding point image information Pc1, and the address of the binding point P10.

[0133] 4D, the information processing device 110a associates and stores the post-binding location image information Pc1 acquired from the rebar binding machine 1A, the binding result information determined based on the binding location image information Pc1, and the address of the binding location P10. Furthermore, the information processing device 110a shown in FIGS. 4A and 4B associates and stores the binding result information entered by a person based on the binding location image information Pc1 notified to the information processing device 110b and the address of the binding location P10.

[0134] In the case of the information processing device 110a shown in FIGS. 4A and 4B, the address of the binding point P10 is stored in association with the time. The rebar binding machine 1A determines whether binding was performed normally and acquires binding result information, and stores the binding result information in association with the time. This makes it possible to associate the binding result information with the address of the binding point P10 by writing out the information stored in the information processing device 110a and the information stored in the rebar binding machine 1A and comparing them by time. Furthermore, by assigning identification information to the information stored in the information processing device 110a and the information stored in the rebar binding machine 1A, it becomes possible to compare the binding result information with the address of the binding point P10 without using the time.

[0135] 11 is an explanatory diagram showing an example of an address that identifies a bundling point. Since the reinforcing bars S are arranged, for example, in a grid pattern, a unique identifier such as a number or an alphabet is assigned to each of the row-direction reinforcing bars S and the column-direction reinforcing bars S. Then, an address that identifies the bundling point P10 is generated by combining the row-direction identifier Si and the column-direction identifier Sj (Si, Sj).

[0136] 12A and 12B are explanatory diagrams showing an example of output of the bundling result. For example, when it is determined from the bundling point image information Pc1 acquired at the bundling point P10 specified by the address (C, 3) that the wire W bundling the rebar S has not been cut or the like and that the bundling result is normal, the information processing device 110a saves bundling result information indicating that the bundling result is normal and the address of the bundling point P10. Furthermore, when the information processing device 110a determines that the bundling result is normal, it outputs notification information 110E1 including the bundling result information indicating that the bundling result is normal and the address of the bundling point P10 as, for example, visual information, as shown in FIG. 12A.

[0137] In contrast, when it is determined that the binding result is abnormal, for example, that the wire W binding the rebar S is cut, from the binding point image information Pc1 acquired at the binding point P10 specified by the address (C, 5), the information processing device 110a saves binding result information indicating that the binding result is abnormal and the address of the binding point P10. Furthermore, when the information processing device 110a determines that the binding result is abnormal, it outputs notification information 110E2 including binding result information indicating that the binding result is abnormal and the address of the binding point P10 as, for example, visual information, as shown in FIG. 12B.

[0138] The determination of whether the bundling result is normal or abnormal may be made by comparing the bundling portion image information Pc1 acquired in the current bundling operation with previous bundling portion image information Pc1 identified by the address of the bundling portion P10 for which the bundling result was acquired, or by comparing the bundling portion image information Pc1 acquired in the current bundling operation with previously acquired bundling portion image information Pc1 showing a standard form in which bundling is performed normally. Note that the bundling portion image information Pc1 reported in the current bundling operation may be manually confirmed and compared to determine whether the bundling result is normal or abnormal, and the bundling result information may be input to the information processing device 110a.

[0139] 13A, 13B, 13C, 13D, and 13E are flowcharts showing an example of an operation for associating bundling result information with position information. In step SB1 of FIG. 13A, the information processing device 110a acquires the address (Si, Sj) of the bundling point P10, and in step SB2 of FIG. 13A, executes the bundling operation described above at the bundling point P10 identified by the address (Si, Sj). After executing the bundling operation, in step SB3 of FIG. 13A, acquires bundling-related information. The bundling-related information is, for example, binding point image information Pc1 or information based on the binding point image information Pc1.

[0140] In this example, past binding portion image information, which is obtained by accumulating and statistic- izing numerical information on binding portion image information Pc1 indicating normal binding results, is saved for each address of the binding portion P10. Then, in step SB4 of FIG. 13A, the binding portion image information Pc1 acquired in the current binding operation is compared with past binding portion image information indicating normal binding results, and a determination is made as to whether the difference is within a predetermined range, i.e., whether the shape is close to that of a normal binding result. Alternatively, the binding portion image information Pc1 acquired in the current binding operation may be compared with past binding portion image information indicating normal results identified by the address of the binding portion P10 from which the binding results were acquired, and a determination is made as to whether the difference is within a predetermined range, i.e., whether the shape is close to that of a normal binding result.

[0141] If the difference between the binding portion image information Pc1 acquired in the current binding operation and the previous binding portion image information indicating a normal binding result is within a predetermined range, binding result information indicating that the binding result is normal is recorded in step SB5 of Fig. 13A. On the other hand, if the difference between the binding portion image information Pc1 acquired in the current binding operation and the previous binding result information indicating a normal binding result is beyond the predetermined range, binding result information indicating that the binding result is abnormal is recorded in step SB6 of Fig. 13A.

[0142] If the information processing device 110 determines that the bundling result is abnormal, it may stop the subsequent bundling operation. Furthermore, as bundling-related information, information indicating the current value flowing through the motor 80 during the operation of twisting the wire W, the bundling strength set on an operation unit (not shown) of the rebar bundling machine 1A, and the like may be associated with the address of the bundling location P10 and saved for each address, or may be notified. Furthermore, based on the current value flowing through the motor 80, etc., it may be determined whether bundling was performed normally, and bundling result information may be associated with the address of the bundling location P10 and saved for each address.

[0143] In addition, the binding result information and the address of the binding point P10 are stored in association with each other, and if it is determined from past binding result information that an abnormal binding result has occurred at the same binding point P10 more than a specified number of times, it is determined that an abnormality has occurred, and subsequent binding operations may be stopped or notification information may be output.

[0144] That is, in step SC1 of Fig. 13B, the address (Si, Sj) of the binding point P10 is acquired, and in step SC2 of Fig. 13B, the above-described binding operation is performed at the binding point P10 identified by the address (Si, Sj). After the binding operation is performed, in step SC3 of Fig. 13B, binding-related information is acquired. The binding-related information is, for example, the binding point image information Pc1 or information based on the binding point image information Pc1.

[0145] In step SC4 of FIG. 13B, based on the binding point image information Pc1 acquired in this binding operation, it is determined whether the binding is normal or abnormal, and it is determined whether the number of times that the individual binding results tallied for each binding point identified by the same address are abnormal is within a predetermined number.

[0146] If the number of times that the individual binding results tallied for each binding point identified by the same address are abnormal is within a predetermined number, binding result information indicating that the binding result for the same binding point determined based on the individual binding results is normal is recorded in step SC5 of Fig. 13B. On the other hand, if the number of times that the individual binding results tallied for each binding point identified by the same address are abnormal exceeds a predetermined number, binding result information indicating that the binding result for the same binding point determined based on the individual binding results is abnormal is recorded in step SC6 of Fig. 13B.

[0147] Furthermore, the binding equipment 100A is used to manufacture structures in which a predetermined number of reinforcing bars S are arranged in a grid pattern or the like to form multiple binding points P10.If it determines that the number of times that the individual binding results of each binding point, calculated across multiple different binding points P10 within the same structure, are abnormal is exceeded, it is determined that an abnormality has occurred, and subsequent binding operations may be stopped or alarm information may be output.

[0148] That is, in step SD1 of Fig. 13C, the address (Si, Sj) of the binding point P10 is acquired, and in step SD2 of Fig. 13C, the above-described binding operation is performed at the binding point P10 identified by the address (Si, Sj). After the binding operation is performed, in step SD3 of Fig. 13C, binding-related information is acquired. The binding-related information is, for example, the binding point image information Pc1 or information based on the binding point image information Pc1.

[0149] In step SD4 of Figure 13C, based on the binding point image information Pc1 acquired during this binding operation, it is determined whether the binding is normal or abnormal, and it is determined whether the number of times that the individual binding results of each binding point, aggregated across multiple different binding points P10 within the same structure, are abnormal is within a predetermined number.

[0150] If the number of times that the individual binding results of each of the different binding locations P10 within the same structure are abnormal, calculated as a whole, is within a predetermined number of times, then in step SD5 of Fig. 13C, binding result information indicating that the binding results within the same structure determined based on the individual binding results are normal is recorded. On the other hand, if the number of times that the individual binding results of each of the different binding locations P10 within the same structure are abnormal, calculated as a whole, is greater than a predetermined number of times, then in step SD6 of Fig. 13C, binding result information indicating that the binding results within the same structure determined based on the individual binding results are abnormal is recorded.

[0151] In addition, in the rebar binding machine 1A, by determining whether binding was performed normally and obtaining binding result information, and by storing the binding result information in association with the time, it is possible to determine from the time binding was performed whether the production of one structure (binding operation) has ended and the production of the next structure (binding operation) has started, and to determine whether the number of times the binding result for the same structure has been abnormal is within a specified number.

[0152] Furthermore, depending on the distribution of the bundling points P10 where the bundling results are abnormal, the strength of the structure may be insufficient and it may not be possible to transport the structure while maintaining its shape. Therefore, if it is determined that it is difficult to transport the structure based on the addresses of the bundling points P10 where the bundling results are abnormal within the same structure, the subsequent bundling operation may be stopped or notification information may be output.

[0153] That is, in step SE1 of Fig. 13D, the address (Si, Sj) of the binding point P10 is acquired, and in step SE2 of Fig. 13D, the above-described binding operation is performed at the binding point P10 identified by the address (Si, Sj). After the binding operation is performed, in step SE3 of Fig. 13D, binding-related information is acquired. The binding-related information is, for example, the binding point image information Pc1 or information based on the binding point image information Pc1.

[0154] In step SE4 of Figure 13D, based on the binding point image information Pc1 acquired during this binding operation, it is determined whether the binding is normal or abnormal, and based on the address of the binding point P10 within the same structure where the binding result is abnormal, it is determined whether the binding state is such that the structure can be transported or such that the structure cannot be transported.

[0155] If the bundling state is such that the structure can be transported, the bundling result information indicating that the bundling result regarding whether the structure can be transported is normal is recorded in step SE5 of Fig. 13D. On the other hand, if the bundling state is such that the structure cannot be transported, the bundling result information indicating that the bundling result regarding whether the structure can be transported is abnormal is recorded in step SE6 of Fig. 13D.

[0156] Furthermore, in the bundling operation described above, when the feed motor 31 is rotated in the reverse direction to feed the wire W in the opposite direction and wind it around the reinforcing bar S, if the wire W wound around the reinforcing bar S is cut midway, the amount of rotation until the feed motor 31 stops will be greater than usual. Also, if the wire W wound around the reinforcing bar S becomes tangled midway, the amount of rotation until the feed motor 31 stops will be less than usual.

[0157] Therefore, in step SF1 of Fig. 13E, the address (Si, Sj) of the bundling location P10 is acquired, and in step SF2 of Fig. 13E, the bundling operation described above is performed at the bundling location P10 identified by the address (Si, Sj). After the bundling operation is performed, in step SF3 of Fig. 13E, bundling-related information is acquired. In this example, the bundling-related information is the retraction amount of the wire W, and as information acquisition means, the control unit 14 acquires the rotation amount when the feed motor 31 is rotated in the reverse direction, and associates the rotation amount of the feed motor 31, which is the retraction amount of the wire W, with the address.

[0158] Then, in step SF4 of Figure 13E, the rotation amount of the feed motor 31, which is the amount of retraction of the wire W obtained in this bundling operation, is compared with the reference value of the rotation amount of the feed motor 31 when retracting the wire, and it is determined whether the difference is within a predetermined value.

[0159] If the difference between the rotation amount of the feed motor 31, which is the retraction amount of the wire W obtained in the current bundling operation, and the reference value of the rotation amount of the feed motor 31 when the wire is retracted is within a predetermined range, bundling result information indicating that the bundling result is normal is recorded in step SF5 of Fig. 13E. On the other hand, if the difference between the rotation amount of the feed motor 31, which is the retraction amount of the wire W obtained in the current bundling operation, and the reference value of the rotation amount of the feed motor 31 when the wire is retracted is outside the predetermined range, bundling result information indicating that the bundling result is abnormal is recorded in step SF6 of Fig. 13E. In addition, notification information may be output to prompt confirmation of the relevant bundling location P10 identified by the address.

[0160] Furthermore, if the information processing device 110 determines that the binding result is abnormal, it may move the rebar binding machine 1A to the binding location P10 identified by the address associated with the binding result information indicating that the binding result is abnormal, and perform the binding operation again.

[0161] <Configuration example of bundling equipment with multiple rebar bundling machines> 14A and 14B are perspective views showing an example of a bundling equipment equipped with a plurality of reinforcing bar binding machines, and Fig. 14C is a plan view showing an example of a bundling equipment equipped with a plurality of reinforcing bar binding machines. The bundling equipment 100A equipped with a plurality of reinforcing bar binding machines 1A shown in Fig. 14A and 14B includes a plurality of mobile machines 200A that can move each of the reinforcing bar binding machines 1A to different binding locations P10 and to the same binding location P10.

[0162] 1C, a modified bundling equipment 100B shown in Fig. 14C has a configuration in which a reel housing section 21 that houses a reel 20 around which wire W is wound is independent from the reinforcing bar binding machine 1A, and includes a plurality of reinforcing bar binding machines 1A, a reel housing section 21 provided corresponding to each of the reinforcing bar binding machines 1A, and a wire unwinding mechanism 210 that unwinds the wire W from the reel 20 housed in each reel housing section 21. The bundling equipment 100B also includes a plurality of movers 200B that move each of the reinforcing bar binding machines 1A to the binding location P10.

[0163] For example, in the binding equipment 100A shown in FIG. 14A, if the information processing device 110a determines that the binding result is abnormal in a binding operation performed by a certain rebar binding machine 1A1, it may move another rebar binding machine 1A2 to the binding location P10 identified by the address associated with the binding result information indicating that the binding result is abnormal, and perform the binding operation again.

[0164] Furthermore, in a binding equipment 100A equipped with a plurality of reinforcing bar binding machines 1A, the information processing device 110a may stop the devices if the individual binding results of a predetermined number of reinforcing bar binding machines 1A are abnormal.

[0165] <Example of operation of bundling equipment equipped with multiple rebar bundling machines> Fig. 15 is a flowchart showing an example of an operation for associating bundling result information with bundling machine identification information. In step SG1 of Fig. 15, bundling machine identification information for identifying the rebar bundling machine 1A that will perform the bundling operation is obtained, and in step SG2 of Fig. 15, the bundling operation described above is performed with the rebar bundling machine 1A identified by the bundling machine identification information. Once the bundling operation has been performed, in step SG3 of Fig. 15, bundling-related information is obtained. The bundling-related information is, for example, bundling location image information Pc1 or information based on the bundling location image information Pc1.

[0166] In step SG4 of Figure 15, based on the binding point image information Pc1 acquired during this binding operation, it is determined whether the binding is normal or abnormal, and based on the binding machine identification information of the rebar binding machine 1A that performed the binding operation, it is determined whether the number of rebar binding machines 1A whose individual binding results, which are the binding results of any binding point, are abnormal is within a specified value.

[0167] If the number of reinforcing bar binding machines 1A with abnormal individual bundling results is within a predetermined value, binding result information indicating that the binding results for the number of reinforcing bar binding machines 1A with abnormal individual bundling results are normal is recorded in step SG5 of Fig. 15. On the other hand, if the number of reinforcing bar binding machines 1A with abnormal individual bundling results exceeds a predetermined value, binding result information indicating that the binding results for the number of reinforcing bar binding machines 1A with abnormal individual bundling results are abnormal is recorded in step SG6 of Fig. 15, and operation of the bundling equipment 100A is stopped.

[0168] In addition, in the binding equipment 100A and binding equipment 100B equipped with multiple reinforcing bar binding machines 1A, if the information processing device 110a determines that the binding results of multiple reinforcing bar binding machines 1A are abnormal simultaneously or within a specified time, it may temporarily suspend subsequent binding operations of all reinforcing bar binding machines 1A.

[0169] <Example of switching binding direction> FIG. 16A is a plan view showing an example of a bundling result after switching the bundling direction, and FIGS. 16B and 16C are plan views of the main part showing an example of a bundling result after switching the bundling direction.

[0170] The information processing device 110a acquires the address of the binding location P10 from which the post-binding binding location image information Pc1 was acquired, and associates the address with the binding direction of the wire W identified in the binding location image information Pc1. Then, according to the address of the binding location P10, the rebar binding machine 1A is rotated to switch the binding direction, thereby preventing the binding direction from being biased in the same direction.

[0171] For example, at the binding point P10 identified by the address (C, 3) shown in Figure 16A and the binding point P10 identified by the address (C, 4) adjacent to the address (C, 3), the binding direction may be switched by changing the direction in which the wire W is wound by a predetermined angle, for example, approximately 90°, relative to the extension direction of the two intersecting reinforcing bars S.

[0172] <Example of operation using rebar identification information acquired through image recognition of rebar> Figure 17 is a flowchart showing an example of an operation using rebar identification information obtained by image recognition of the rebar. Next, with reference to each figure, we will explain the operation of obtaining rebar identification information such as the diameter of the rebar S as binding-related information based on image recognition of the binding point P10 of the rebar S and binding it.

[0173] In step SH1 of FIG. 17, the information processing device 110a shown in FIGS. 4A, 4B, 4C, and 4D controls the mobile device 200A using a predetermined program to move the rebar binding machine 1A to the next binding position P10 by operating the mobile device 200A. The bundling equipment 100B moves the rebar S to align the binding position P10 with the position of the rebar binding machine 1A. The following operation will be described for the bundling equipment 100A, but it is similar for the bundling equipment 100B. When the rebar binding machine 1A moves to a position where the next binding position P10 is within the imaging range of the camera 121, the control unit 14 of the rebar binding machine 1A controls the camera 121 to capture an image of the next binding position P10 and acquires pre-binding image information of the binding position necessary to identify the rebar S to be bound as rebar identification information, which is an example of bundling-related information. It is also possible to photograph the next binding location P10 from multiple directions by changing the orientation of the reinforcing bar binding machine 1A, for example.

[0174] The control unit 14 of the rebar binding machine 1A notifies the information processing device 110b shown in Figures 4A, 4B, and 4C and the information processing device 110a shown in Figure 4D via the information communication unit 102 of image information of the next binding location P10 before the execution of the binding operation, which image information is obtained by photographing the next binding location P10 with the camera 121. In the case of the information processing device 110b shown in Figure 4C, the image information of the binding location before binding notified from the rebar binding machine 1A is notified to the information processing device 110a. In the case of the information processing device 110a shown in Figures 4A and 4B, the image information of the binding location notified to the information processing device 110b may be input manually.

[0175] 18A and 18B are explanatory diagrams showing an example of binding portion image information before binding. The information processing device 110a shown in FIGS. 4A, 4B, 4C, and 4D performs image recognition on the binding portion image information Pc2 before binding in step SH2 of FIG. 17, and identifies the combination of rebars S intersecting at the binding portion P10 by determining the diameters of the rebars S, etc., in step SH3 of FIG. 17, and acquires rebar identification information. Note that the information processing device 110a may generate a 3D image by combining binding portion image information of 2D images acquired by photographing the binding portion P10 from multiple directions, and identify the combination of rebars S intersecting at the binding portion P10 from the 2D image and the 3D image.

[0176] Based on the reinforcing bar identification information that identifies the diameter, combination, etc. of the reinforcing bars S, the information processing device 110a sets the feed amount and feed speed of the wire W in the bundling operation described above, such as the reverse feed amount and feed speed for winding the wire W around the reinforcing bars S, and the rotation speed and rotation amount of the locking member 70 when twisting the wire W, and notifies the reinforcing bar binding machine 1A of the setting information based on the combination, etc. of the reinforcing bars S. In step SH4 of FIG. 17, the information processing device 110a switches each setting for the bundling operation to settings appropriate for the diameter and combination of the reinforcing bars S. Then, in step SH5 of FIG. 17, the reinforcing bar binding machine 1A is moved in a direction approaching the binding position P10 by the operation of the moving machines 200A and 200B, the reinforcing bars S are inserted between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, and the reinforcing bar binding machine 1A is moved to the binding position P10.

[0177] When the information processing device 110a inserts the reinforcing bar S between the curl guide 50 and the guide 51 of the curl forming section 5, it controls the operation of the reinforcing bar binding machine 1A, and in step SH6 of Figure 17, performs the above-mentioned binding operation based on settings such as the feed amount and twist amount of the wire W that are appropriate for the diameter and combination of the reinforcing bar S.

[0178] For example, in the bundling operation described above, when the feed motor 31 is rotated in the reverse direction to feed the wire W in the reverse direction and wind it around the reinforcing bar S, if the diameter of the reinforcing bar S is small, it is necessary to feed the wire W in the reverse direction by a larger amount than if the diameter of the reinforcing bar S is large. Therefore, the magnitude of the rotation amount of the feed motor 31 in the operation of feeding the wire W in the reverse direction is set based on the reinforcing bar identification information.

[0179] Furthermore, in the bundling operation described above, when the motor 80 is rotated to twist the wire W, if the diameter of the reinforcing bar S is small, the amount of twisting of the wire W needs to be increased compared to when the diameter of the reinforcing bar S is large. Therefore, the magnitude of the rotation amount of the motor 80 in the operation of twisting the wire W is set based on the reinforcing bar identification information.

[0180] In addition, rebar identification information indicating the appropriate combination of rebars S, etc. may be obtained in advance, and if it is determined that the rebar identification information obtained from the binding location image information before binding, etc., indicates a combination of rebars S that is not suitable for binding, binding feasibility information that makes the binding operation impossible may be notified, and the rebar binding machine 1A and the mobile units 200A and 200B may be controlled based on the binding feasibility information that makes the binding operation impossible.

[0181] <Example of operation using rebar identification information obtained from wire feed amount> Figure 19 is a flowchart showing an example of an operation using rebar identification information obtained based on the amount of wire feed. Next, with reference to each figure, we will explain the operation of obtaining rebar identification information such as the diameter of the rebar S based on the amount of wire W feed in the operation of winding the wire W around the rebar S, and then binding the rebar S.

[0182] The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D controls the mobile device 200A, and in step SJ1 of Figure 19, moves the reinforcing bar binding machine 1A to the predetermined binding position P10 by operating the mobile device 200A, moves it in a direction approaching the binding position P10, inserts the reinforcing bar S between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, and moves the reinforcing bar binding machine 1A to the binding position P10. The bundling equipment 100B shown in Figure 1C and other figures moves the reinforcing bar S to align the binding position P10 with the position of the reinforcing bar binding machine 1A. The following operation will be described for the bundling equipment 100A, but it is similar for the bundling equipment 100B.

[0183] When the reinforcing bar S is inserted between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, the information processing device 110a controls the operation of the reinforcing bar binding machine 1A to perform the binding operation described above. In the operation of binding the reinforcing bar S, the reinforcing bar binding machine 1A rotates the feed motor 31 forward to feed the wire W in the forward direction, thereby winding the wire W around the reinforcing bar S, in step SJ2 of Fig. 19, rotates the feed motor 31 backward to feed the wire W in the reverse direction, winding it around the reinforcing bar S, and then cuts the wire W.

[0184] The rebar binding machine 1A acquires the amount of rotation from when the feed motor 31 starts to when it stops rotating by rotating the feed motor 31 in the reverse direction to wind the wire W around the rebar S. The amount of rotation from when the feed motor 31 starts to when it stops rotating in the reverse direction varies depending on the diameter of the rebar S.

[0185] Therefore, the rebar binding machine 1A notifies the information processing device 110a of the rotation amount from when the reverse rotation of the feed motor 31 starts until when it stops. The information processing device 110a constitutes the information acquisition means, and in step SJ4 of FIG. 19, the information acquisition means calculates the circumferential length of the combined (two) rebars S based on this rotation amount and acquires rebar identification information that identifies the combination of rebars S that intersect at the binding point P10. Note that the control unit 14 may also constitute the information acquisition means, and the control unit 14 may calculate the circumferential length of the combined rebars S based on this rotation amount, acquire rebar identification information that identifies the combination of rebars S that intersect at the binding point P10, and notify the information processing device 110a of the rebar identification information. Furthermore, the information processing device 110a shown in FIG. 4C may notify the information processing device 110b of the rebar identification information, and the information processing device 110b may notify the rebar identification information. Furthermore, the diameter of the combined rebars S may be referenced based on the circumferential length of the combined rebars S.

[0186] Furthermore, when the rotation amount of the feed motor 31 (the amount of wire W fed in the reverse direction) corresponding to the circumferential length of the combined rebars S is set to "10," for example, the feed motor 31 is rotated at a first speed (higher than the second speed) up to the intermediate rotation amount of "8" to feed the wire W in the reverse direction, and then rotated at a second speed slower than the first speed for the remaining rotation amount of "2" to feed the wire W in the reverse direction and wind the wire W around the rebars S. This reduces the time required for winding the wire W around the rebars S in the series of bundling operations, thereby shortening the bundling time. Furthermore, by reducing the speed before stopping the reverse rotation of the feed motor 31, even if the feed gear 30 rotates slightly after the wire W has been wound around the rebars S and cannot be fed, the effect of friction between the feed gear 30 and the wire W can be reduced.

[0187] Based on the rebar identification information obtained from the rotation amount of the feed motor 31, the information processing device 110a sets the rotation speed, rotation amount, etc. of the locking member 70 when twisting the wire W in the above-mentioned binding operation, and notifies the rebar binding machine 1A of the setting information based on the combination of rebars S.

[0188] 19, the reinforcing bar binding machine 1A switches each setting for the binding operation to a setting suitable for the diameter and combination of the reinforcing bars S. Then, in step SJ6 of FIG. 19, the reinforcing bar binding machine 1A executes the above-described binding operation based on the settings of the twisting amount and twisting speed of the wire W suitable for the diameter and combination of the reinforcing bars S.

[0189] <Example of operation using rebar identification information obtained from input information> Figure 20 is a flowchart showing an example of an operation based on rebar identification information obtained from input information. Next, with reference to each figure, we will explain the operation of obtaining rebar identification information such as the diameter of rebar S based on input information and binding it.

[0190] 4A, 4B, 4C, and 4D constitutes the information acquisition means, and in step SK1 of FIG. 20, the information processing device 110a inputs and saves reinforcing bar identification information such as the diameter of the reinforcing bars S, the arrangement of the reinforcing bars S, the combination of intersecting reinforcing bars S, and the position of each binding point P10 by operating an input unit such as a keyboard of the information processing device 110a. Also, in step SK1 of FIG. 20, the information processing device 110b constitutes the information acquisition means, and in step SK1 of FIG. 20, the information processing device 110b inputs and saves reinforcing bar identification information such as the diameter of the reinforcing bars S, the arrangement of the reinforcing bars S, the combination of intersecting reinforcing bars S, and the position of each binding point P10 by operating an input unit such as a keyboard of the information processing device 110b. Then, the reinforcing bar identification information input and saved by the information processing device 110b is notified to the information processing device 110a, and the information processing device 110a saves it.

[0191] 21A and 21B are explanatory diagrams showing examples of reinforcing bar arrangements. As shown in Fig. 21A, a structure S10 in which reinforcing bars S are arranged in a plane may have different bundling performances required at each bundling point P10 than a structure S11 in which reinforcing bars S are arranged three-dimensionally as shown in Fig. 21B. Furthermore, even within the same structure (S10, S11), the bundling performances required may differ depending on the position of the bundling point P10.

[0192] 20, the information processing device 110a sets the feed amount and feed speed of the wire W in the above-mentioned binding operation, for example, the feed amount and feed speed in the reverse direction for winding the wire W around the reinforcing bar S, and the rotation speed and rotation amount of the locking member 70 when twisting the wire W, in accordance with the position of the binding point P10, based on the input and saved reinforcing bar identification information, and notifies the reinforcing bar binding machine 1A of setting information based on the combination of reinforcing bars S and the position of the binding point P10, etc. Also, based on the input and saved reinforcing bar identification information, the information processing device 110a sets the position of the binding point P10 to which the reinforcing bar binding machine 1A should be moved, the order in which to move to the binding point P10, etc., and notifies the mobile device 200A of the setting information.

[0193] In step SK3 of FIG. 20, the reinforcing bar binding machine 1A switches each setting in the binding operation to a setting suitable for the reinforcing bar identification information.

[0194] The information processing device 110a controls the mobile device 200A based on setting information based on the reinforcing bar identification information, and in step SK4 of Figure 20, moves the reinforcing bar binding machine 1A to the specified binding location P10 by operating the mobile device 200A, moves it in a direction approaching the binding location P10, inserts the reinforcing bar S between the curl guide 50 and the guide guide 51 of the curl forming section 5, and moves the reinforcing bar binding machine 1A to the binding position P10.

[0195] When the reinforcing bar S is inserted between the curl guide 50 and the leading guide 51 of the curl forming unit 5, the information processing device 110a controls the operation of the reinforcing bar binding machine 1A using setting information corresponding to the binding location P10.

[0196] In step SK5 of Figure 20, the control unit 14 of the reinforcing bar binding machine 1A controls the motor 80 and the feed motor 31 using setting information that is switched based on the reinforcing bar identification information, and performs a series of operations to bind the reinforcing bar S with the wire W.

[0197] The information acquisition unit for acquiring the reinforcing bar identification information for identifying the reinforcing bar S is not limited to a camera, and may be a sensor or the like that can recognize the size of an object.

[0198] <Example of determining the timing to remove rebar from the rebar binding machine at the end of the binding process> Figure 22 is a flowchart showing an example of an operation for determining the timing to remove the reinforcing bar from the reinforcing bar binding machine at the end of the binding operation process. Next, an operation for moving the reinforcing bar binding machine 1A in a direction away from the binding point P10 will be described, in which the reinforcing bar S is removed from between the curl guide 50 and the guiding guide 51 of the curl forming unit 5 by relative movement between the reinforcing bar binding machine 1A and the reinforcing bar S at a predetermined timing at the end of the binding operation process before the driving of the motor 80 of the drive unit 8 that drives the binding unit 7 is stopped.

[0199] In the bundling equipment 100A, 100B, when the reinforcing bar binding machine 1A starts the operation of binding the reinforcing bar S with the wire W, the timing to move the reinforcing bar binding machine 1A away from the binding point P10 is determined. Then, the mobile machines 200A, 200B move the reinforcing bar binding machine 1A away from the binding point P10 by moving the reinforcing bar binding machine 1A and the reinforcing bar S relative to each other according to the determined timing.

[0200] In the following operation example, the timing to move the rebar binding machine 1A away from the binding point P10 is determined based on whether or not the wire W is locked by the locking member 70 at the end of the binding operation, i.e., whether or not the wire W is released from the locking member 70.

[0201] 4A, 4B, 4C, and 4D controls the mobile device 200A, and in step SM1 of FIG. 22, moves the reinforcing bar binding machine 1A to a predetermined binding location P10 by operating the mobile device 200A, moves it in a direction approaching the binding location P10, inserts the reinforcing bar S between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, and moves the reinforcing bar binding machine 1A to the binding position P10. In the binding equipment 100B shown in FIG. 1C, the reinforcing bar S is moved to align the binding location P10 with the position of the reinforcing bar binding machine 1A, and moves the reinforcing bar binding machine 1A in a direction approaching the binding location P10 by operating the mobile device 200B, inserts the reinforcing bar S between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, and moves the reinforcing bar binding machine 1A to the binding position P10.

[0202] When the information processing device 110a inserts the reinforcing bar S between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, it controls the operation of the reinforcing bar binding machine 1A and performs the binding operation described above. In the operation of binding the reinforcing bar S, the control unit 14 rotates the feed motor 31 in the forward direction to feed the wire W in the forward direction in step SM2 of FIG. 22, thereby winding the wire W around the reinforcing bar S.

[0203] When the control unit 14 has wound the wire W around the reinforcing bar S, it stops the rotation of the feed motor 31 and rotates the motor 80 forward a predetermined amount to move the first side hook 70R and the second side hook 70L in a direction approaching the center hook 70C, and when the wire W wound around the reinforcing bar S is locked by the locking member 70, it stops the rotation of the motor 80 and, in step SM3 of Fig. 22, rotates the feed motor 31 in the reverse direction to feed the wire W in the reverse direction, wind it around the reinforcing bar S, and cut the wire W. When the control unit 14 has cut the wire W, it rotates the motor 80 forward in step SM4 of Fig. 22 to twist the wire W locked by the locking member 70.

[0204] As described above, the control unit 14 of the rebar binding machine 1A moves the first side hook 70R and the second side hook 70L in a direction approaching the center hook 70C, locks the wire W wound around the rebar S with the locking member 70, and determines the timing to move the rebar binding machine 1A in a direction away from the binding location P10 from the time when the operation of twisting the wire W begins in step SM4 of Figure 22 until the operation of binding the rebar S with the wire W is completed and the driving of the motor 80 of the drive unit 8 that drives the binding unit 7 is stopped.

[0205] For example, the timing to move the rebar binding machine 1A in a direction away from the binding location P10 is determined based on either the rotation amount of the motor 80, which is the operating amount of the drive unit 8, or the load on the motor 80, which is the load on the drive unit 8, or both the rotation amount of the motor 80 and the load on the motor 80. In addition, a sensor is provided as detection means for detecting the position and state of the locking member 70, and the timing to move the rebar binding machine 1A in a direction away from the binding location P10 is determined based on the position, state, etc. of the locking member 70 and sleeve 71.

[0206] As described above, when the wire W is twisted a predetermined amount by rotating the locking member 70 and twisting it, it is detected that the load on the motor 80 has reached a maximum, and the forward rotation of the motor 80 is stopped, and after the operation of twisting the wire W is completed in step SM5 of Figure 22, the motor 80 is driven in the reverse rotation direction.

[0207] When the motor 80 is driven in the reverse rotation direction, the first side hook 70R moves away from the center hook 70C, and the second side hook 70L moves away from the center hook 70C, the sleeve 71 returns to its initial position, and the wire W binding the reinforcing bar S can be removed from the locking member 70 before the reverse rotation of the motor 80 is stopped.

[0208] When the wire W binding the reinforcing bar S can be removed from the locking member 70, the sleeve 71 returns to its initial position, and the reinforcing bar binding machine 1A can be moved away from the binding point P10 before the reverse rotation of the motor 80 is stopped.

[0209] Therefore, the control unit 14 detects that the first side hook 70R has moved a predetermined amount in a direction away from the center hook 70C and the second side hook 70L has moved a predetermined amount in a direction away from the center hook 70C until the wire W binding the reinforcing bars S can be removed from the locking member 70, based on, for example, the amount of rotation of the motor 80 or the open / closed state of the first side hook 70R and the second side hook 70L obtained by a sensor not shown.

[0210] Then, based on the amount of rotation of the motor 80 after it starts rotating in the reverse direction, it is determined whether the wire W has been released from the locking member 70, and in step SM6 of Figure 22, based on whether the wire W is locked by the locking member 70 or not, if it is determined that it is time to move the rebar binding machine 1A in a direction away from the binding point P10, movement permission information is notified.

[0211] When the information processing device 110a is notified of the movement permission information from the reinforcing bar binding machine 1A, in step SM7 of Fig. 22, it controls the mobile device 200A to move the reinforcing bar binding machine 1A in a direction away from the binding position P10, and further moves the reinforcing bar binding machine 1A to the next binding position. In the binding equipment 100B shown in Fig. 1C, it controls the mobile device 200B to move the reinforcing bar binding machine 1A in a direction away from the binding position P10, and further moves the reinforcing bar S so that the reinforcing bar binding machine 1A is positioned at the next binding position.

[0212] This allows the rebar binding machine 1A to start moving away from the binding point P10 after the operation of binding the rebar S with the wire W is completed and before the motor 80 that drives the locking member 70 is stopped, thereby shortening the processing time when performing binding operations at multiple binding points P10 consecutively.

[0213] <Example of operation of moving the rebar binding machine away from the rebar to remove slack in the wire> 23 is a flowchart showing an example of an operation for moving the reinforcing bar binding machine 1A away from the reinforcing bar to remove slack in the wire. As an operation for moving the reinforcing bar binding machine 1A away from the binding point P10, an operation for removing slack in the wire by relative movement between the reinforcing bar binding machine 1A and the reinforcing bar S at the beginning of the binding operation will be described.

[0214] In the following operation example, the timing to move the rebar binding machine 1A away from the binding point P10 is determined based on whether or not the wire W is locked by the locking member 70 at the beginning of the binding operation process.

[0215] 4A, 4B, 4C, and 4D controls the mobile device 200A, and in step SN1 of FIG. 23, moves the reinforcing bar binding machine 1A to a predetermined binding location P10 by operating the mobile device 200A, moves it in a direction approaching the binding location P10, inserts the reinforcing bar S between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, and moves the reinforcing bar binding machine 1A to the binding position P10. In the binding equipment 100B shown in FIG. 1C, the reinforcing bar S is moved to align the binding location P10 with the position of the reinforcing bar binding machine 1A, and moves the reinforcing bar binding machine 1A in a direction approaching the binding location P10 by operating the mobile device 200B, inserts the reinforcing bar S between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, and moves the reinforcing bar binding machine 1A to the binding position P10.

[0216] When the reinforcing bar S is inserted between the curl guide 50 and the guiding guide 51 of the curl forming unit 5, the information processing device 110a controls the operation of the reinforcing bar binding machine 1A and performs the binding operation described above. In the operation of binding the reinforcing bar S, the control unit 14 rotates the feed motor 31 in the forward direction to feed the wire W in the forward direction in step SN2 of FIG. 23, thereby winding the wire W around the reinforcing bar S.

[0217] When the control unit 14 has wound the wire W around the reinforcing bar S, it stops the rotation of the feed motor 31, rotates the motor 80 forward a predetermined amount, and moves the first side hook 70R and the second side hook 70L in a direction approaching the center hook 70C.When the wire W wound around the reinforcing bar S is locked by the locking member 70, it stops the rotation of the motor 80, and in step SN3 of Figure 23, it rotates the feed motor 31 in the reverse direction to feed the wire W in the opposite direction, wind it around the reinforcing bar S, and cut the wire W.

[0218] When the wire W wound around the reinforcing bar S and locked by the locking member 70 is pulled in a direction away from the reinforcing bar S, the slack in the wire W before twisting is removed. Furthermore, when the wire W wound around the reinforcing bar S and locked by the locking member 70 is twisted while applying a pulling force in a direction away from the reinforcing bar S, the wire W is twisted without creating a gap between the wire W and the reinforcing bar S.

[0219] Therefore, in step SN4 of Figure 23, the control unit 14 detects that a predetermined timing has arrived after the wire W has been locked by the locking member 70, for example based on the amount of rotation of the motor 80, and when it determines that it is time to move the rebar binding machine 1A in a direction away from the binding point P10, it notifies movement permission information.

[0220] When the information processing device 110a is notified of the movement permission information from the reinforcing bar binding machine 1A, in step SN5 of FIG. 23, it controls the moving machines 200A and 200B to move the reinforcing bar binding machine 1A a predetermined amount in a direction away from the reinforcing bar S.

[0221] When the control unit 14 moves the reinforcing bar binding machine 1A a predetermined amount in a direction away from the reinforcing bar S, in step SN6 of Fig. 23, it rotates the motor 80 in the forward direction to twist the wire W locked by the locking member 70. Then, when the wire W is twisted by a predetermined amount due to, for example, detecting that the load on the motor 80 has reached a maximum by rotating the locking member 70, in step SN7 of Fig. 23, it stops the forward rotation of the motor 80 and ends the operation of twisting the wire W.

[0222] As a result, by moving the rebar binding machine 1A away from the binding point P10A in the early stages of the binding operation, from the start of the operation of binding the rebar S with the wire W to the end of the operation of binding the rebar S with the wire W, the wire W wrapped around the rebar S and locked by the locking member 70 is pulled in the direction away from the rebar S, thereby removing any slack that may have formed before the wire W was twisted.

[0223] <Example of rebar binding machine attachment / detachment configuration> 24A and 24B are perspective views showing an example of a detachable structure for a reinforcing bar binding machine. The bundling equipment 100A includes a detachable unit 201 that detachably mounts the reinforcing bar binding machine 1A to a mobile unit 200A. As shown in Fig. 24A, the detachable unit 201 includes a connecting unit 202 that is detachably connected to the mobile unit 200A. Furthermore, as shown in Fig. 24B, the detachable unit 201 includes a holding unit 203 that detachably holds the handle unit 11 of the reinforcing bar binding machine 1A.

[0224] The rebar binding machine 1A is attached to the mobile device 200A in a state where it can be controlled by the information processing device 110a, with the handle portion 11 held by the holding portion 203 of the detachable portion 201, the connecting portion 202 of the detachable portion 201 that holds the rebar binding machine 1A being connected to the mobile device 200A, and wiring (not shown) being connected. The rebar binding machine 1A may also be connected to the information processing device 110a wirelessly.

[0225] In addition, the rebar binding machine 1A can be used alone by removing the detachable part 201 from the mobile unit 200A as shown in FIG. 24A, and by removing the handle part 11 from the detachable part 201 as shown in FIG. 24B.

[0226] 25 is an explanatory diagram showing an example of a form in which the reinforcing bar binding machine is used alone. When the reinforcing bar binding machine 1A is used alone, the battery 15 is attached to the battery attachment portion 17. Then, the handle portion 11 is held by hand and the trigger 12 is operated to perform the binding operation described above. Note that the reinforcing bar binding machine 1A is provided integrally with the magazine 2, so that the reinforcing bar binding machine 1A can be used in a form in which it is held by hand and can perform the operation of binding reinforcing bars S with wire W by itself without receiving a supply of wire W from an external source.

[0227] <Modification of the mobile device> FIG. 26A is a perspective view of a binding device according to the present embodiment showing a modified example of the mobile unit, and FIG. 26B is a perspective view of the binding equipment according to the present embodiment showing a modified example of the mobile unit. The binding device 100C shown in FIG. 26A includes a reinforcing bar binding machine 1A and a mobile unit 200C that moves the reinforcing bar binding machine 1A along the installation surface SF of the reinforcing bars S. The mobile unit 200C includes endless tracks 202C that ride on the reinforcing bars S and are driven by a motor (not shown). The mobile unit 200C moves along the extension direction of the reinforcing bars S by rotating the endless tracks 202C. Furthermore, by changing the rotation speed of the left and right endless tracks 202C, the traveling direction of the mobile unit 200C is changed, and the mobile unit 200C moves along the extension direction of each of the reinforcing bars S arranged in a grid pattern. Furthermore, the mobile unit 200C includes an elevator (not shown) that moves the reinforcing bar binding machine 1A toward and away from the installation surface SF of the reinforcing bars S.

[0228] 26B includes a reinforcing bar binding machine 1A and a mobile machine 200D that suspends the reinforcing bar binding machine 1A from a frame 203D. The mobile machine 200D is configured so that the frame 203D can move in the directions of arrows X1 and X2 along one direction of the reinforcing bars S arranged in a lattice pattern, and the reinforcing bar binding machine 1A can move in the directions of arrows Y1 and Y2 along the other direction of the reinforcing bars S arranged in a lattice pattern. The mobile machine 200D also includes an elevator 204D that moves the reinforcing bar binding machine 1A toward the arrangement surface SF of the reinforcing bars S in the direction of arrow Z1 and away from the arrangement surface SF of the reinforcing bars S in the direction of arrow Z2.

[0229] <Example of bundling operation based on remaining wire amount> 27A and 27B are flowcharts showing an example of a bundling operation based on the remaining amount of wire. In the reinforcing bar bundling equipment 100A, 100B, 100D, and bundling device 100C described above, the remaining amount of wire W may be detected, and the bundling operation may be controlled based on the remaining amount of wire W as bundling-related information.

[0230] The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D constitutes a planned bundling number prediction means, and in step SP1 of Figure 27A, predicts the planned number of bundlings that need to be made by bundling reinforcing bars S with wire W in a structure by inputting information, calculations based on the number of reinforcing bars S, etc.

[0231] In addition, the information processing device 110a constitutes a wire requirement prediction means, and in step SP2 of Figure 27A, predicts the required amount of wire required to bind the reinforcing bars S by calculation based on the planned number of bundles that need to be bound with wire W and the diameter of the reinforcing bars S, etc.

[0232] The control unit 14 of the rebar binding machine 1A constitutes a remaining wire amount detection means, and estimates the amount of wire W unwound from the difference between the amount of wire W fed in the forward direction and the amount of wire W fed in the reverse direction based on, for example, the rotational speed of the feed motor 31, and obtains the remaining amount of wire wound on the reel 20 in step SP3 of FIG. 27A. The control unit 14 also notifies the information processing device 110a of the remaining wire amount. The amount of wire W fed in the forward direction is approximately constant regardless of the diameter of the rebar S. In contrast, the amount of wire W fed in the reverse direction varies depending on the diameter of the rebar S around which the wire W is wound. Therefore, the amount of wire W unwound from the reel 20 can be estimated based on the amount of wire W fed in the reverse direction, and the remaining amount of wire W can be obtained. The information processing device 110a may also notify the rebar binding machine 1A of the planned number of bundles and the required amount of wire.

[0233] In step SP4 of Fig. 27A, the information processing device 110a compares the required amount of wire with the remaining amount of wire and determines whether the remaining amount of wire is more or less than the required amount of wire. If the information processing device 110a determines that the remaining amount of wire is equal to or greater than a specified value, it executes the bundling operation described above in step SP5 of Fig. 27A. If the information processing device 110a determines that the remaining amount of wire is insufficient for the required amount of wire, it outputs notification information in step SP6 of Fig. 27A.

[0234] Furthermore, when the information processing device 110a determines that the remaining amount of wire is insufficient compared to the required amount of wire, it sets a binding location P10 where the binding operation will be performed, controls the mobile device 200A based on the address of the corresponding binding location P10 to move the reinforcing bar binding machine 1A to the binding location P10, and controls the mobile devices 200A and 200B to move the reinforcing bar binding machine 1A and the reinforcing bar S relative to each other to align the positions of the reinforcing bar binding machine 1A and the binding location P10, and controls the reinforcing bar binding machine 1A to perform the binding operation.

[0235] That is, the information processing device 110a constitutes a planned bundling number prediction means, and in step SQ1 of Figure 27B, predicts the planned number of bundlings that need to be made by bundling reinforcing bars S with wire W in a structure by inputting information, calculations based on the number of reinforcing bars S, etc.

[0236] In addition, the information processing device 110a constitutes a wire usage prediction means, and in step SQ2 of Figure 27B, predicts the amount of wire required to bind the reinforcing bars S by calculation based on the planned number of bundles that need to be bound with wire W and the diameter of the reinforcing bars S, etc.

[0237] The control unit 14 of the rebar binding machine 1A constitutes a wire remaining amount detection means, and estimates the amount of wire W pulled out from the difference between the amount of wire W fed in the forward direction and the amount of wire W fed in the reverse direction based on the amount of rotation of the feed motor 31, for example, and obtains the remaining amount of wire wound on the reel 20 in step SQ3 of Fig. 27B. The control unit 14 also notifies the information processing device 110a of the remaining amount of wire.

[0238] In step SQ4 of Fig. 27B, the information processing device 110a compares the required amount of wire with the remaining amount of wire and determines whether the remaining amount of wire is greater than or equal to the required amount of wire. If the information processing device 110a determines that the remaining amount of wire is greater than or equal to a specified value, it performs the normal bundling operation described above, which does not restrict the bundling location, in step SQ5 of Fig. 27B. If the information processing device 110a determines that the remaining amount of wire is insufficient compared to the required amount of wire, it calculates the possible bundling range based on the remaining amount of wire in step SQ6 of Fig. 27B.

[0239] When a standby position for the rebar binding machine 1A is set, in step SQ7 of Fig. 27B, for example, a binding point P10 close to the standby position is selected to limit the range of the binding point, and in step SQ8 of Fig. 27B, a binding operation with the limited range of the binding point is performed. This prevents the wire W from running out when the rebar binding machine 1A moves to a binding point P10 far from the standby position, for example, in the binding device 100C shown in Fig. 26A. In addition, for example, binding points P10 necessary to maintain the shape of the structure are selected as binding points to be prioritized, so that the strength and shape of the structure can be maintained even if not all binding points P10 are bound.

[0240] 28A, 28B, and 28C are flowcharts showing an example of an operation for calculating the remaining amount of wire W. The remaining amount of wire W may be determined based on the weight of the reel 20. That is, in step SR1 of FIG. 28A, the current value of the weight of the reel 20 is acquired, and in step SR2 of FIG. 28A, the previously acquired empty weight of the reel 20, i.e., the weight of the wire W wound on the reel 20, is calculated by subtracting the previously acquired empty weight of the reel 20, i.e., the weight of the wire W wound on the reel 20, from the current value of the weight of the reel 20, and in step SR3 of FIG. 28A, the remaining amount of wire is calculated from the weight of the wire W.

[0241] If the amount of wire W wound on the reel 20 is large, the weight of the reel 20 will be heavy, and if the amount of wire W wound on the reel 20 is small, the weight of the reel 20 will be light. Therefore, if a table or the like that associates the weight of the reel 20 with the remaining amount of wire W wound on the reel 20 is created, the remaining amount of wire W wound on the reel 20 can be estimated based on the weight of the reel 20.

[0242] The remaining amount of wire W may also be determined based on the number of bundling operations. That is, by determining the length of wire W wound on a new reel 20 and determining the amount of wire W used in one bundling operation according to the diameter of the reinforcing bar S, etc., it is possible to estimate the remaining amount of wire W wound on the reel 20 based on the cumulative number of bundling operations since the new reel 20 began to be used.

[0243] For example, in step SS1 of Fig. 28B, the number of bundling operations after the replacement of the reel 20 is obtained, in step SS2 of Fig. 28B, the forward feed amount by which the wire W is fed in the forward direction is calculated based on the number of bundling operations, and in step SS3 of Fig. 28B, the reverse feed amount by which the wire W is fed in the reverse direction is calculated based on the number of bundling operations. Then, in step SS4 of Fig. 28B, the amount of wire used per bundling operation is calculated from the difference between the forward feed amount and the reverse feed amount, and in step SS5 of Fig. 28B, the amount of wire used after the replacement of the reel 20 is calculated based on the amount of wire used per bundling operation and the number of bundling operations, and the remaining amount of wire is calculated based on the amount of wire used.

[0244] The remaining amount of wire W may also be determined based on the number of rotations of the reel 20. For example, the number of rotations of the reel 20 can be obtained using a sensor (not shown), and the number of rotations after replacing the reel 20 is obtained in step ST1 of FIG. 28C. In step ST2 of FIG. 28C, the feed amount of the wire W is calculated from the number of rotations of the reel 20, and in step ST3 of FIG. 28C, the remaining amount of wire is calculated based on the length of wire W wound on the new reel 20 and the feed amount of wire W, which were obtained in advance.

[0245] Fig. 29A is a perspective view showing a modified example of the bundling equipment of this embodiment, and Fig. 29B is a perspective view showing the main configuration of the reel housing. In a configuration in which the reel housing 21 that houses the reel 20 around which the wire W is wound is independent from the reinforcing bar binding machine 1A, as in the bundling equipment 100B shown in Fig. 1C and Fig. 29A, etc., it is possible to add a configuration for obtaining the remaining amount of wire W wound on the reel 20 while utilizing the existing reinforcing bar binding machine 1A.

[0246] The reel storage section 21 includes a wire remaining amount detection section 21a that detects the remaining amount of wire W wound around the reel 20. In a configuration in which the reinforcing bars S are bound with two wires W, two reels 20 are rotatably attached to the reel storage section 21.

[0247] The wire remaining amount detecting unit 21a is an example of a wire remaining amount detecting means, and is configured, for example, by an optical sensor. The wire remaining amount detecting unit 21a detects the height of the wire W exposed through an opening 20a provided on the side of the reel 20 from a core (not shown) to detect the remaining amount of the wire W wound on the reel 20. [Explanation of symbols]

[0248] 1A rebar tying machine, 10 main body, 2 magazine, 3 wire feed section, 30 feed gear, 5 curl forming section, 50 curl guide, 51 induction guide, 6 cutting section, 60 fixed blade section, 61 movable blade section, 7 tying section, 70 engaging member, 70R first side hook, 70L second side hook, 70C center hook, 71 sleeve, 71a opening / closing pin, 72 rotating shaft, 72 a··· Feed screw, 8··· Drive unit, 80··· Motor, 81··· Reducer, 100A, 100B, 100D··· Bundling equipment, 100C··· Bundling device, 101··· Information acquisition unit (information acquisition means), 102··· Information communication unit, 110··· Information processing device, 200A, 200B, 200C, 200D··· Mobile unit, 201··· Attachment / detachment unit, 204D··· Elevator, 21··· Reel storage unit, 21a··· Wire remaining amount detection unit (wire remaining amount detection means), W··· Wire

Claims

1. A bundling machine for bundling reinforcing bars with wire, the bundling machine comprising: a locking member for locking a wire that binds reinforcing bars; a main body that houses the locking member and has a bundling space inside in which the locking member operates; A moving machine that moves the binding machine to a binding position by relative movement of the binding machine and the reinforcing bar; an information processing device that controls the mobile device; Equipped with The binding machine includes an information acquisition unit that acquires binding-related information related to an operation of binding reinforcing bars with a wire; an information communication unit that notifies an information processing device of the bundling-related information acquired by the information acquisition unit; the bundling-related information includes foreign matter detection information that is a detection result of detecting the presence or absence of a foreign matter in the bundling space, the information communication unit notifies the information processing device of the foreign object detection information acquired by the information acquisition unit; When the information processing device receives the foreign object detection information, it determines whether or not to execute the bundling operation. Binding device.

2. The information processing device outputs whether or not the bundling operation can be performed. The binding device of claim 1 .

3. The information acquisition unit is equipped with a sensor that detects foreign objects that interfere with the bundling operation in the bundling space. The binding device of claim 1 .

4. The information acquisition unit is equipped with a camera that photographs the binding points of the reinforcing bars, The information processing device controls the binding machine and the mobile device based on the image of the binding location taken by the camera. The binding device of claim 1 .

5. Based on the image of the binding portion after the binding operation taken by the camera, the information processing device determines whether the binding operation has been performed normally or not, and notifies the user according to the binding result.

5. The binding device according to claim 4.

6. The information processing device controls the bundling machine and the mobile device according to the bundling result. The binding device according to claim 5.

7. The information processing device identifies the rebar at the binding point based on the image of the binding point taken by the camera before the binding operation is performed. The binding device according to any one of claims 4 to 6.

8. The moving machine includes a detachable unit to which the binding machine is detachably attached, The binding machine is provided with a handle portion that can be detached from the moving machine and operated by hand. The binding device according to any one of claims 1 to 7.

Images