Binding device

Abstract

This binding device is provided with: a reinforcing bar binding unit; a body unit that supports the reinforcing bar binding unit; a moving unit that is configured so as to be capable of moving the body unit in a first direction on a plurality of reinforcing bars; and a front arm that has a front end section, at least a portion of which is provided in front of the moving unit and the body unit in the first direction in a top view seen from a third direction orthogonal to the first direction and a second direction, one end section that is provided further outward than one-side ends of the moving unit and the body unit in a fourth direction that is parallel to a plane parallel to the first direction and the second direction and that is orthogonal to the first direction, and the other end section that is provided further outward than the other-side ends of the moving unit and the body unit in the fourth direction orthogonal to the first direction.

Description

Binding device

[0001] The present disclosure relates to a strapping device.

[0002] Conventionally, technologies have been considered for automating rebar binding work, for example, by binding the intersections of vertically extending rebars and horizontally extending rebars with wires, etc. For example, Patent Document 1 discloses a self-propelled work robot that can be used in rebar construction work.

[0003] Furthermore, Patent Document 2 discloses a self-propelled work robot equipped with a collision detection mechanism. The self-propelled work robot described in Patent Document 2 is a binding device that travels on rebars using training wheels that roll on a plurality of rebars laid in a grid pattern, and can perform tasks such as tying intersections of the rebars using a rebar tying machine. Furthermore, in the self-propelled work robot described in Patent Document 2, a collision detection mechanism that functions as a contact sensor is attached to the training wheel body.

[0004] Japanese Patent Publication No. 2019-039174 Japanese Patent Publication No. 2020-128680

[0005] The technology disclosed in Patent Document 2 allows the self-propelled work robot body to detect obstacles using a collision detection mechanism, thereby making it possible to prevent collisions with obstacles. More specifically, the self-propelled work robot described in Patent Document 2 has collision detection mechanisms provided in front of the front training wheels and behind the rear training wheels, respectively, so that obstacles present in the vicinity in front of the front training wheels and the vicinity behind the rear training wheels can be detected. However, for example, if an obstacle is present in an area other than the vicinity of the training wheels ahead of the self-propelled work robot, there is a possibility of contact with the obstacle. Therefore, it is believed that there is room for improvement in mechanisms for protecting self-propelled work robots from collisions.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a binding device that can be protected from contact with obstacles.

[0007] One aspect of the present disclosure provides a binding device comprising: a reinforcing bar binding unit configured to bind intersections of first and second reinforcing bars of a plurality of reinforcing bars, the first reinforcing bars including a plurality of first reinforcing bars whose extension direction is a first direction and a plurality of second reinforcing bars whose extension direction is a second direction intersecting the first direction and are arranged so as to intersect the first reinforcing bars; a main unit supporting the reinforcing bar binding unit; a mobile unit configured to move the main unit in the first direction over the plurality of reinforcing bars; and a forearm having: a front end portion that is at least partially located forward of the mobile unit and main unit in the first direction when viewed from above in a third direction that is a direction perpendicular to the first and second directions; one end portion that is parallel to a plane parallel to the first and second directions and that is located outside one end of the mobile unit and main unit in the orthogonal fourth direction in a fourth direction that is a direction perpendicular to the first direction; and a other end portion that is located outside the other end of the mobile unit and main unit in the orthogonal fourth direction in the orthogonal fourth direction.

[0008] Another aspect of the present disclosure provides a binding device comprising: a reinforcing bar binding unit configured to bind the intersections of the first reinforcing bars and the second reinforcing bars of a plurality of reinforcing bars, the first reinforcing bars including a plurality of first reinforcing bars whose extension direction is a first direction and a plurality of second reinforcing bars whose extension direction is a second direction intersecting the first direction and which are arranged so as to intersect with the first reinforcing bars; a main unit supporting the reinforcing bar binding unit; a moving unit configured to be able to move the main unit in the first direction over the plurality of reinforcing bars; and a forearm having a front end at least a portion of which is located forward of the moving unit and the main unit in the first direction when viewed from above in a third direction perpendicular to the first and second directions, wherein the forearm is configured so that the moving unit can move the moving unit upward in the third direction from over the plurality of reinforcing bars.

[0009] According to the present disclosure, a binding device is provided that can be protected from contact with obstacles.

[0010] FIG. 1 is an overall perspective view of a rebar bundling robot 101 according to an embodiment of the present disclosure, as viewed from diagonally above. FIG. 2 is an overall perspective view of a rebar bundling robot 101 according to an embodiment of the present disclosure, as viewed from diagonally below. FIG. 3 is a plan view of the rebar bundling robot 101 as viewed from above (above in the Z direction). FIG. 4 is a plan view of the rebar bundling robot 101 as viewed from below (below in the Z direction). FIG. 5 is a perspective view of the rebar bundling robot 101 with a rebar bundling unit 110 removed, as viewed from diagonally above. FIG. 6 is a perspective view of the rebar bundling robot 101 with a rebar bundling unit 110 removed, as viewed from diagonally above. FIG. 7 is a diagram illustrating the functional block configuration of the rebar bundling robot 101. FIG. 8 is a view of the rebar bundling robot 101 traveling along a first rebar R10, as viewed from the Y direction. FIG. 9 is a view of the rebar bundling robot 101 traveling along a first rebar R10, as viewed from the X direction. FIG. 10 is a view from the Y direction of the rebar bundling robot 101 that has stopped traveling and is performing bundling work. FIG. 11 is a view from the X direction of the rebar bundling robot 101 performing bundling work. FIG. 12 is a schematic side view of the rebar bundling robot 101 as viewed from the horizontal direction (X direction). FIG. 13 is a schematic top view of the rebar bundling robot 101 as viewed from above (upper side in the Z direction). FIG. 14 is a schematic view of an image captured by the first sensor 130a. FIG. 15 is a view from the back of the rebar bundling robot 101 during lateral movement. FIG. 16 is a view from the back of the rebar bundling robot 101 during lateral movement. FIG. 17 is a view from the back of the rebar bundling robot 101 during lateral movement. FIG. 18 is a view from the back of the rebar bundling robot 101 during lateral movement. FIG. 19 is a view from the back of the rebar bundling robot 101 during lateral movement. Fig. 20 is a schematic diagram of a rebar bundling robot 101A according to another embodiment of the present disclosure, viewed from below in the Z direction. Fig. 21A is an overall perspective view of a rebar bundling robot 102 according to an embodiment of the present disclosure, viewed from diagonally above. Fig. 21B is a plan view of a rebar bundling robot 102 according to an embodiment of the present disclosure, viewed from above (above in the Z direction). Fig. 22 is another overall perspective view of a rebar bundling robot 102 according to an embodiment of the present disclosure, viewed from diagonally above.FIG. 23 is yet another overall perspective view of the rebar bundling robot 102 according to an embodiment of the present disclosure, as viewed from diagonally above. FIG. 24 is yet another overall perspective view of the rebar bundling robot 102 according to an embodiment of the present disclosure, as viewed from diagonally above. FIG. 25 is a perspective view of the rebar bundling robot 103 according to an embodiment of the present disclosure. FIG. 26 is a perspective view of the rebar bundling robot 104 according to an embodiment of the present disclosure. FIG. 27 is a rear view of the rebar bundling robot 104 moving laterally. FIG. 28 is a rear view of the rebar bundling robot 104 moving laterally. FIG. 29 is a rear view of the rebar bundling robot 104 moving laterally. FIG. 30 is a rear view of the rebar bundling robot 104 moving laterally. FIG. 31 is a rear view of the rebar bundling robot 104 moving laterally.

[0011] Hereinafter, embodiments will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components in the drawings will be denoted by the same reference numerals as much as possible, and duplicated descriptions will be omitted.

[0012] First Embodiment The following describes the configuration of a binding device according to an embodiment of the present disclosure. In this embodiment, the binding device is a rebar binding device that binds multiple rebars arranged crossing each other, and may be, for example, a rebar binding robot. Each drawing may also show an X-axis, a Y-axis, and a Z-axis. The X-axis, the Y-axis, and the Z-axis form a three-dimensional Cartesian coordinate system based on a right-handed system. Hereinafter, the direction of the X-axis arrow may be referred to as the forward X-axis, the +X-direction, the right side of the X-direction, or the right side of the X-axis, and the direction opposite to the arrow may be referred to as the rear X-axis, the -X-direction, the left side of the X-direction, or the left side of the X-axis. The same applies to other axes. The forward Z-axis and the rear Z-axis may also be referred to as the "upper side" or "upper" and the "lower side" or "lower" respectively. Furthermore, planes perpendicular to the X-axis, Y-axis, or Z-axis may also be referred to as the YZ plane, the ZX plane, or the XY plane. However, these directions are used for convenience to explain relative positional relationships. Therefore, these directions do not define absolute positional relationships.

[0013] FIG. 1 is an overall perspective view of a rebar bundling robot 101 (an example of a bundling device) according to an embodiment of the present disclosure, as viewed obliquely from above. FIG. 2 is an overall perspective view of the rebar bundling robot 101 according to an embodiment of the present disclosure, as viewed obliquely from below. As shown in FIGS. 1 and 2 , the rebar bundling robot 101 according to an embodiment of the present disclosure is a self-propelled rebar bundling robot and includes a rebar bundling unit 110, a traveling unit 121, a sensor unit 130, and a frame 201. The rebar bundling robot 101 may further include other components, such as a main unit 140, a control unit 160, reels 180 (first reel 180a and second reel 180b), batteries 182 (first battery 182a and second battery 182b), a lateral movement unit 146, and a memory device 198 (not shown). Furthermore, the rebar binding robot 101 according to the embodiment of the present disclosure may further include an arm 150 (a front arm 150a and a rear arm 150b). The arm 150 (the front arm 150a and the rear arm 150b) will be described later.

[0014] 1 and 2 also show a rebar group R including a plurality of rebars R10 (also referred to as "first rebars" or "vertical rebars" in this embodiment) extending in the Y direction. As shown in FIGS. 1 and 2, the rebar tying robot 101 is placed on the rebar group R so as to travel along the first rebars R10. In addition to the plurality of rebars R10, the rebar group R may also include a plurality of rebars (also referred to as "second rebars R20" or "horizontal rebars" in this embodiment) extending in the X direction.

[0015] In an embodiment of the present disclosure, the first rebar R10 is arranged so that its first extension direction is parallel to the Y direction. Furthermore, the second rebar R20 is arranged so that its second extension direction is parallel to the X direction. Therefore, in an exemplary embodiment of the present disclosure, the first rebar R10 and the second rebar R20 are arranged so that they are perpendicular to each other. Furthermore, the first rebar R10 and the second rebar R20 are arranged so that the plane formed by the first rebar R10 and the second rebar R20 (also referred to as the "rebar plane" in this embodiment) is parallel to the XY plane. Therefore, the plane formed by the first rebar R10 and the second rebar R20 is a horizontal plane in this embodiment. The arrangement of the first rebar R10 and the second rebar R20 is not limited to this. For example, the first rebar R10 and the second rebar R20 may be arranged so that they are non-orthogonal to each other. For example, the first reinforcing bars R10 and the second reinforcing bars R20 may be arranged so that the angle between the first reinforcing bars R10 and the second reinforcing bars R20 is, for example, 30°, 45°, 60°, or another angle. In the present embodiment of the present disclosure, the first reinforcing bars R10 and the second reinforcing bars R20 are arranged so as to be perpendicular to each other, but they do not necessarily have to be perpendicular to each other depending on the intersection, and may be arranged so as to form an angle of, for example, 85° or more and less than 90°.

[0016] Furthermore, the first reinforcing bars R10 and the second reinforcing bars R20 may have a finite length, and the first reinforcing bars R10 (first reinforcing bars R11, R12, R13, R14, and R15) or the second reinforcing bars R20 may be connected via joints in the first direction or the second direction, respectively. Furthermore, the first reinforcing bars R10 and the second reinforcing bars R20 may have ends as described below. For example, the first reinforcing bars R10 and the second reinforcing bars R20 may have ends R10e (ends R11e, R12e, R13e, R14e, and R15e) and R20e, which will be described later, at one end and the other end in the first direction and the second direction, respectively.

[0017] The reinforcing bar binding unit 110 is configured to bind the intersection c12 (FIG. 6) of the first reinforcing bar R10 and the second reinforcing bar R20. The binding operation of the reinforcing bar binding unit 110 at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 will be described in detail later.

[0018] 1 and 2, the traveling unit 121 may have four traveling units 121a, 121b, 121c, and 121d (in this embodiment, these are also referred to as the "first traveling unit," the "second traveling unit," the "third traveling unit," and the "fourth traveling unit," respectively). In the embodiment of the present disclosure, the traveling units 121 are arranged on the group of rebars R so that the rebar binding robot 101 moves in the Y direction. The first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d each have a first roller unit 122a, a second roller unit 122b, a third roller unit 122c, and a fourth roller unit 122d, and the first roller unit 122a, the second roller unit 122b, the third roller unit 122c, and the fourth roller unit 122d are configured to run on any one of the multiple first reinforcing bars R10 along the Y direction (first direction), which is the extension direction of the first reinforcing bars R10.

[0019] In this embodiment, the traveling unit 121 is an example of a moving unit (moving unit 120 described below). The moving unit 120 is configured to come into contact with the first rebar R10 and move on the first rebar R10. The moving unit 120 may also be configured to come into contact with the second rebar R20 and move on the second rebar R20. Instead of or in addition to the traveling unit 121, the traveling unit 120 may have the configuration of a moving unit other than the traveling unit 121. In this embodiment, the main unit 140 and the traveling unit 120 form a moving section.

[0020] In the embodiment of the present disclosure, the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d are described as being configured to move in the Y direction, but the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may also be configured to move in a direction other than the Y direction.

[0021] For example, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may travel in a direction tilted at an angle of several degrees to several tens of degrees from the Y direction. For example, they may travel in a direction tilted at an angle of several degrees to several tens of degrees from the Y direction in the +X direction or the −X direction. For example, if the orientation of the rebar binding robot 101 is tilted from the Y direction due to the presence of a foreign object on the traveling first rebar R10, the traveling direction of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d will at least temporarily tilt from the Y direction in the +X direction or the −X direction. Even in this case, the rebar binding robot 101 may be caused to move so as to substantially follow the first rebar R10, for example, by having the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d move in a direction that returns the tilt of the orientation of the rebar binding robot 101 to the Y direction (in the -X direction or the +X direction). This allows the rebar binding unit 110 of the rebar binding robot 101 to continue performing the binding operation at the intersection c12 of the first rebar R10 and the second rebar R20.

[0022] Furthermore, even at a construction site where the first reinforcing bar R10 is arranged in a curved line, the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may be configured to move in a curved line so as to follow the curved first reinforcing bar R10, and in this case, the first direction, which is the extension direction of the first reinforcing bar R10, may be different for each point that constitutes the curve.

[0023] 1 and 2 and FIG. 3 described later, the sensor unit 130 has sensors 130a, 130b, 130c, and 130d (also referred to as the "first sensor," the "second sensor," the "third sensor," and the "fourth sensor" in this embodiment, respectively). The first sensor 130a and the second sensor 130b are arranged spaced apart from each other along the Y direction in FIGS. 1 and 2 (the direction in which a straight line connecting the first sensor 130a and the second sensor 130b extends is also referred to as the "third direction" in this embodiment). In addition, the fourth sensor 130d is arranged on the side opposite to the side on which the third sensor 130c of the rebar tying robot 101 is provided (the side on the far side of the paper in Figures 1 and 2), and the third sensor 130c and the fourth sensor 130d are arranged so as to be spaced apart from each other along a direction intersecting the Y direction in Figures 1 and 2 (the X direction in the example shown in Figures 1 and 2; in this embodiment, the direction in which the straight line connecting the third sensor 130c and the fourth sensor 130d extends is also referred to as the "fourth direction").

[0024] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to be capable of detecting the first rebar R10 and / or the second rebar R20. For example, the first sensor 130a and the second sensor 130b may be configured to be capable of detecting the first rebar R10, and the third sensor 130c and the fourth sensor 130d may be configured to be capable of detecting the second rebar R20. Alternatively, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may all be configured to be capable of detecting the first rebar R10 and the second rebar R20.

[0025] Fig. 3 shows a plan view of the reinforcing bar binding robot 101 as seen from above (above in the Z direction), and Fig. 4 shows a plan view of the reinforcing bar binding robot 101 as seen from below (below in the Z direction).

[0026] As can be seen from FIGS. 3 and 4 , the first propulsion unit 121a and the second propulsion unit 121b may be arranged on one side and the other side of the fourth direction (X direction) relative to the first sensor 130a (the left and right sides, respectively, in the X direction in FIG. 3 ). Furthermore, the third propulsion unit 121c and the fourth propulsion unit 121d may be arranged on one side and the other side of the fourth direction (X direction) relative to the second sensor 130b. In other words, the first sensor 130a may be arranged between the first propulsion unit 121a and the second propulsion unit 121b in the fourth direction. Similarly, the second sensor 130b may be arranged between the third propulsion unit 121c and the fourth propulsion unit 121d in the fourth direction.

[0027] Furthermore, as shown in Figures 3 and 4, the third sensor 130c may be arranged between the first running unit 121a and the third running unit 121c in the third direction (the Y direction in Figures 3 and 4), and similarly, the fourth sensor 130d may be arranged between the second running unit 121b and the fourth running unit 121d in the third direction (the Y direction).

[0028] 4, the first sensor 130a may be located on a line passing through the rotation axis 128a of the first roller unit 122a of the first traveling unit 121a and the rotation axis 128b of the second roller unit 122b of the second traveling unit 121b, or behind the line passing through the rotation axis 128a and the rotation axis 128b (the -Y direction in FIG. 4). Similarly, the second sensor 130b may be located on a line passing through the rotation axis 128c of the third roller unit 122c of the third traveling unit 121c and the rotation axis 128d of the fourth roller unit 122d of the fourth traveling unit 121d, or ahead of the line passing through the rotation axis 128c and the rotation axis 128d (the +Y direction in FIG. 4). Specific examples of the sensor unit 130 will be described later.

[0029] 3 and 4, the first sensor 130a is disposed in front of the main unit 140 in the Y-axis direction (+Y direction). Similarly, the second sensor 130b is disposed behind the main unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are disposed on the left and right sides of the main unit 140 in the X-direction, respectively, when viewed from above in FIG. 3. That is, as can be seen from FIG. 4, for example, in this embodiment, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are disposed on or inside the outer edge of an imaginary rectangle formed by connecting the approximate centers of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d in a plan view of the rebar binding robot 101. The virtual rectangle formed by the first to fourth propulsion units 121a to 121d may be a square, for example, if the spacing between the propulsion units in the X and Y directions is approximately equal. In this case, the first to fourth sensors 130a to 130d may be arranged on the outer edge of the virtual square or inside it. Depending on the arrangement of the first to fourth propulsion units 121a to 121d, the first to fourth propulsion units 121a to 121d may form a virtual quadrangle other than a rectangle or a square. In this case, the first to fourth sensors 130a to 130d may also be arranged on the outer edge of the virtual quadrangle or inside it.

[0030] Although the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d have been described as being arranged on or inside the outer edge of a virtual rectangle formed by connecting the approximate centers of the first propulsion unit 121a, the second propulsion unit 121b, the third propulsion unit 121c, and the fourth propulsion unit 121d, this is not limitative. For example, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may be arranged in different configurations depending on the arrangement of the first propulsion unit 121a, the second propulsion unit 121b, the third propulsion unit 121c, and the fourth propulsion unit 121d and / or the shape of the main unit 140. For example, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may be positioned on or outside the outer edge of a rectangle virtually formed by connecting the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d near their centers when viewed in a plan view of the rebar tying robot 101.

[0031] 1 and 3 , the main body unit 140 may have a main body upper surface 142. The main body upper surface 142 may have, for example, a circular hole 144 formed near the center, and the rebar binding unit 110 may be arranged to pass through the hole 144.

[0032] In this embodiment, the rebar binding robot 101 may include, for example, two arms 150 (a first arm 150a (also referred to as the "forearm" in this embodiment) and a second arm 150b (also referred to as the "rear arm" in this embodiment)). As shown in FIGS. 1 to 4, the first arm 150a and the second arm 150b may be provided so as to be spaced apart from each other in the Y direction (a third direction). The forearm 150a and the rear arm 150b may be configured to support the main unit 140 of the rebar binding robot 101, for example, when the rebar binding robot 101 moves laterally (the X direction in FIGS. 1 to 4, the fourth direction in the rebar binding robot 101).

[0033] The frame 201 will be described with reference to Figures 1 to 4. The frame 201 is an example of a "protective portion" that protects the rebar binding unit. The frame 201 has vertices including vertices 211, vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb, vertices 213lf, 213rf, 213lb, and 213rb, vertices 214lf, 214rf, 214lb, and 214rb, vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb, vertices 216lf, 216rf, 216lb, and 216rb, and vertices 217lf, 217rf, 217lb, and 217rb.

[0034] The vertex 211 is disposed at a predetermined position in the +Z direction relative to the rebar binding unit 110. The vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb are disposed at predetermined positions approximately forward, approximately rearward, approximately left-front, approximately right-front, approximately left-rearward, and approximately right-rearward relative to the vertex 211, respectively, when viewed in the XY plane. Furthermore, the vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb are disposed at positions lower than the vertex 211 by a predetermined distance in the Z direction. The vertices 213lf, 213rf, 213lb, and 213rb are disposed at predetermined positions approximately forward of the vertex 212lf, approximately forward of the vertex 212rf, approximately rearward of the vertex 212lb, and approximately rearward of the vertex 212rb, respectively, when viewed in the XY plane. Furthermore, the vertices 213lf, 213rf, 213lb, and 213rb are disposed at positions lower by a predetermined distance than the vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb in the Z direction. The vertices 214lf, 214rf, 214lb, and 214rb are disposed at predetermined positions farther from the vertices 212lf, 212rf, 212lb, and 212rb in substantially the same direction as the vertices 212lf, 212rf, 212lb, and 212rb in the XY plane view. Furthermore, the vertices 214lf, 214rf, 214lb, and 214rb are disposed at positions that are lower by a predetermined distance than the vertices 213lf, 213rf, 213lb, and 213rb, respectively, in the Z direction. The vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb are disposed at predetermined positions that are approximately forward of the vertex 212f, approximately rearward of the vertex 212b, approximately forward of the vertex 213lf, approximately forward of the vertex 213rf, approximately rearward of the vertex 213lb, and approximately rearward of the vertex 213rb, respectively, when viewed in the XY plane. Furthermore, the vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb are respectively disposed at positions that are lower by a predetermined distance in the Z direction than the vertices 214lf, 214rf, 214lb, and 214rb.The vertices 216lf, 216rf, 216lb, and 216rb are respectively disposed at predetermined positions approximately forward of the vertex 214lf, approximately forward of the vertex 214rf, approximately rearward of the vertex 214lb, and approximately rearward of the vertex 214rb in the XY plane view. The vertices 216lf, 216rf, 216lb, and 216rb are respectively disposed at positions lower by a predetermined distance than the vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb in the Z direction. The vertices 217lf, 217rf, 217lb, and 217rb are respectively disposed at approximately the same positions as the vertices 214lf, 214rf, 214lb, and 214rb in the XY plane view. Furthermore, the vertices 217lf, 217rf, 217lb, and 217rb are respectively disposed at positions that are lower by a predetermined distance in the Z direction than the vertices 216lf, 216rf, 216lb, and 216rb.

[0035] The frame 201 includes frame members 221, 222a and 222b, 223l and 223r, 224f and 224b, 225l and 225r, 226lf, 226rf, 226lb, and 226rb, 227lf, 227rf, 227lb, and 227rb, and 228f and 228b. Frame member 221 extends to connect vertices 215f, 212f, 211, 212b, and 215b. Frame member 222a extends to connect vertices 217lf, 214lf, 212lf, 211, 212rb, 214rb, and 217rb. Frame member 222b extends to connect vertices 217rf, 214rf, 212rf, 211, 212lb, 214lb, and 217lb. Frame member 223l extends to connect vertices 215lf, 213lf, 212lf, 212lb, 213lb, and 215lb. Frame member 223r extends to connect vertices 215rf, 213rf, 212rf, 212rb, 213rb, and 215rb. Frame member 224f extends to connect vertices 216lf, 215lf, 215f, 215rf, and 216rf. Frame member 224b extends to connect vertices 216lb, 215lb, 215b, 215rb, and 216rb.

[0036] Frame member 225l extends to connect vertices 216lf, 214lf, 214lb, and 216lb. Frame member 225r extends to connect vertices 216rf, 214rf, 214rb, and 216rb. Frame member 226lf extends to connect vertices 212f and 212lf. Frame member 226rf extends to connect vertices 212f and 212rf. Frame member 226lb extends to connect vertices 212b and 212lb. Frame member 226rb extends to connect vertices 212b and 212rb. Frame member 227lf extends to connect vertices 213lf and 214lf. Frame member 227rf extends to connect vertices 213rf and 214rf. Frame member 227lb extends to connect vertices 213lb and 214lb. Frame member 227rb extends to connect vertices 213rb and 214rb.

[0037] Frame member 228f extends to connect vertices 216lf, 213lf, 212f, 213rf, and 216rf. Frame member 228b extends to connect vertices 216lb, 213lb, 212b, 213rb, and 216rb.

[0038] The number and arrangement of the frame members and vertices of the frame 201 described above are merely examples, and the frame 201 may include any number of frame members and vertices. The materials of the frame members and vertices of the frame 201 are not particularly limited and may include, for example, resin, metal, alloy, carbon fiber, fiberglass, etc. The frame members of the frame 201 may be straight or curved.

[0039] The rebar binding robot 101 according to this embodiment may further include a cover (not shown) that covers at least a portion of the frame 201. The "protective unit" may be configured to include the frame 201 and the cover. Specifically, the portion of the frame 201 covered by the cover may be, for example, only a substantially hexagonal portion surrounded by vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb, or only a substantially octagonal portion surrounded by vertices 213lf, 213rf, 213lb, 213rb, 214lf, 214rf, 214lb, and 214rb. Alternatively, the portion of the frame 201 covered by the cover may be biased toward the front, rear, left, right, left front, right front, left rear, or right rear, for example. Alternatively, the cover may cover the entire frame 201. The cover may be configured to be detachable from the frame 201 .

[0040] The material of the cover is not particularly limited, but may be, for example, nylon, polyester, polyvinyl chloride (PVC), Teflon (registered trademark) processed fabric, etc. The cover may be configured to be detachable from the frame 201. Specifically, the cover may have an engaging portion configured as a button or zipper for attaching and detaching the cover to the frame 201.

[0041] The frame 201 may protect at least a portion of the rebar binding unit 110 from the environment in the +Z direction. Here, protecting at least a portion of the rebar binding unit 110 from the environment in the +Z direction may include, for example, protecting the rebar binding unit 110 from any external force (contact force, wind force, impact force, etc.) (from the +Z direction), providing a buffer between a falling object (flying object) and the rebar binding unit 110 to prevent contact between the falling object (flying object) and the rebar binding unit 110, or changing the trajectory of the falling object (flying object). Protecting at least a portion of the rebar binding unit 110 from the environment in the +Z direction may also include protecting the rebar binding unit 110 from contact with the ground or other structures, for example, if the rebar binding robot 101 overturns. The frame 201 may be disposed at a predetermined position in the +Z direction relative to at least a portion of the rebar binding unit 110. This allows the frame 201 to protect at least the part of the reinforcing bar binding unit 110 from the environment in the +Z direction. Furthermore, the frame 201 may be placed, for example, at a predetermined position in the +Z direction with respect to the entire reinforcing bar binding unit 110. This allows the frame 201 to protect the entire reinforcing bar binding unit 110 from the environment in the +Z direction.

[0042] The frame 201 may also be disposed, for example, so as to straddle the main unit 140. That is, the frame 201 may be disposed, for example, at a predetermined position in the +Z direction relative to the entire reinforcing bar binding unit 110 and at least a portion of the main unit 140 (see FIG. 3 ). This makes it possible for the frame 201 to protect the entire reinforcing bar binding unit 110 and at least a portion of the main unit 140 from the environment in the +Z direction. In particular, it makes it possible to strengthen protection of the entire reinforcing bar binding unit 110 from the environment in the +Z direction. The frame 201 may also be disposed at a predetermined position in the +Z direction relative to the entire reinforcing bar binding unit 110 and the entire main unit 140. This makes it possible for the frame 201 to protect the entire reinforcing bar binding unit 110 and the entire main unit 140 from the environment in the +Z direction. In particular, it makes it possible to strengthen protection of the entire reinforcing bar binding unit 110 from the environment in the +Z direction.

[0043] The frame 201 may protect at least a portion of the rebar binding unit 110 from the surrounding environment. In this disclosure, any direction substantially parallel to the XY plane may be referred to as the "surroundings." Here, protecting at least a portion of the rebar binding unit 110 from the surroundings may include, for example, protecting the rebar binding unit 110 from any external force (contact force, wind force, impact force, etc.) (from the direction of the XY plane), providing a buffer between a falling object (flying object) and the rebar binding unit 110 to prevent the rebar binding unit 110 from coming into contact with the rebar binding unit 110, or changing the trajectory of the falling object (flying object). Protecting at least a portion of the rebar binding unit 110 from the environment in the XY plane may also include protecting the rebar binding unit 110 from contact with the ground or other structures, for example, if the rebar binding robot 101 overturns. Furthermore, protecting at least a portion of the reinforcing bar binding unit 110 from the surroundings may include, for example, protecting the reinforcing bar binding unit 110 from contact between the worker (or part of the worker's body) and the reinforcing bar binding unit 110. The frame 201 may be arranged to cover the entire periphery of at least a portion of the reinforcing bar binding unit 110 in the Z direction. This allows the frame 201 to protect at least that portion of the reinforcing bar binding unit 110 from the environment in any direction substantially parallel to the XY plane. The frame 201 may be arranged to cover the entire upper periphery of the reinforcing bar binding unit 110 (see FIG. 3 ). The upper periphery of the entire reinforcing bar binding unit 110 refers to the range excluding the area below the reinforcing bar binding unit 110, in other words, the range including the entire periphery of the reinforcing bar binding unit 110 in the upward and horizontal directions. This allows the frame 201 to protect at least that portion of the reinforcing bar binding unit 110 from the environment in any direction substantially parallel to the XY plane.

[0044] FIG. 5 is a perspective view of the rebar tying robot 101 with the rebar tying unit 110 and frame 201 removed, as viewed from the diagonally rear right. FIG. 6 is a perspective view of the rebar tying robot 101 with the rebar tying unit 110 and frame 201 removed, as viewed from the diagonally front right. As shown in FIGS. 5 and 6 , the rebar tying unit 110 may be provided so as to be movable up and down (Z direction in FIG. 5 ) while passing through the hole 144. This allows, for example, the rebar tying unit 110 to be lowered, and when the rebar tying robot 101 reaches the intersection c12 of the first rebar R10 and the second rebar R20, the intersection c12 of the first rebar R10 and the second rebar R20 is tied together. As shown in FIGS. 5 and 6 , the rebar tying robot 101 has reels 180a and 180b. The reels 180a and 180b contain wires used for tying rebars, and when the rebar binding unit 110 binds the intersection c12 of the first rebar R10 and the second rebar R20, the wires contained in the reels 180a and / or 180b are pulled out to bind the intersection c12. Although detailed description will be omitted, the rebar binding unit 110 has a body and a wire twisting unit provided at one end of the rebar binding unit 110 (the lower end in the Z direction in FIG. 5 ) that has a wire guide or the like and is configured to perform rebar binding work. The wire twisting unit includes a twisting motor, a twisting shaft, and the like, and may be configured to perform rebar binding work using the same function as, for example, a known rebar binding machine.

[0045] Engagement portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb are provided on the upper surface of the main unit 140. Each of the engagement portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb is configured by erecting a member to a predetermined height in the Z direction so as to have a substantially cylindrical shape with an upper surface that is open to a dimension that allows the ends of the frame members 222a, 222b, 228f, and 228r to be inserted therethrough.

[0046] The frame 201 can be attached to the moving unit 140 by pushing the frame 201 into the moving unit 140 in the -Z direction so that the ends of the frame members 222a, 222b, 228f, and 228r are inserted into and engaged with the interiors of the engagement portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb, respectively. The frame 201 attached to the moving unit 140 can be removed from the moving unit 140 by lifting the frame 201 in the +Z direction so that the ends of the frame members 222a, 222b, 228f, and 228r are released from the interiors of the engagement portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb, respectively ( FIG. 5 ). In this way, the frame 201 may be configured to be movable relative to the rebar binding unit 110.

[0047] 7 is a diagram illustrating the functional block configuration of the rebar binding robot 101. As shown in Fig. 7, the rebar binding robot 101 may include a control unit 160, a lateral movement unit 146, and a storage device 198 in addition to the above-described components such as the rebar binding unit 110, the traveling unit 121, and the sensor unit 130.

[0048] The control unit 160 is configured to control the movement and binding work performed by the rebar binding robot 101. The control unit 160 may include a sensor detection result acquisition unit 162, a determination unit 164, an intersection point calculation unit 166 (also referred to as an "intersection point estimation unit" or an "intersection point estimation unit" in this embodiment), a rebar binding unit control unit 168, a rebar tracking control unit 170, a stop control unit 172, a movement amount calculation unit 174, a posture control unit 176, a motor control unit 178, and a foreign object detouring control unit 179.

[0049] In the rebar binding robot 101 of this embodiment, the control unit 160 may be disposed at any location on the rebar binding robot 101. For example, the control unit 160 may be disposed on the opposite side of the rebar binding unit 110 from the reels 180a and 180b in the Y direction. More specifically, as shown in FIG. 1 , the reels 180a and 180b may be disposed in the −Y direction of the rebar binding unit 110, while the control unit 160 may be disposed in the +Y direction of the rebar binding unit 110. In particular, immediately after replacing the wire reels (reels 180a and / or 180b), the reels with the wire wound on them become relatively heavy. However, by disposing the control unit 160 on the opposite side of the rebar binding unit 110, it is possible to balance the weight.

[0050] The lateral movement unit 146 ( FIG. 7 ) is configured to control the movement of the main unit 140 of the rebar binding robot 101. In the rebar binding robot 101 according to this embodiment of the present disclosure, the rebar binding robot 101 may be moved horizontally by the lateral movement unit 146. The lateral movement unit 146 may include a first lateral movement motor 146ma and a second lateral movement motor 146mb, and for example, when the rebar binding robot 101 moves laterally, the main unit 140 may be moved horizontally by the two motors 146ma and 146mb.

[0051] 6, the lateral movement unit 146 has a first lateral movement roller 1461a and a first drive rack 146ca. The first lateral movement roller 1461a is provided on a first connecting portion 147a that connects the first traveling unit 121a and the second traveling unit 121b to the main unit 140. The first drive rack 146ca is provided on the back surface (the surface in the -Z direction) of the main unit 140 along the X direction.

[0052] 2, the lateral movement unit 146 has a second lateral movement roller 1461b and a second drive rack 146cb. The second lateral movement roller 1461b is provided on a second connecting portion 147b that connects the third traveling unit 121c and the fourth traveling unit 121d to the main unit 140. The second drive rack 146cb is provided on the back surface (the surface in the -Z direction) of the main unit 140 along the X direction.

[0053] The second lateral movement roller 146lb constitutes, for example, a drive gear. The second drive rack 146cb has, for example, a plurality of teeth that mesh with external teeth on the outer periphery of the second lateral movement roller 146lb, which are aligned linearly in the X direction. The second lateral movement roller 146lb is driven by a second lateral movement motor 146mb. ​​When the second lateral movement roller 146lb is rotated by the second lateral movement motor 146mb, the second lateral movement roller 146lb moves relative to the second drive rack 146cb along the longitudinal direction of the second drive rack 146cb. In this way, the main unit 140 can move in the X direction relative to the third traveling unit 121c and the fourth traveling unit 121d.

[0054] The first lateral movement roller 1461a (FIG. 6) also constitutes, for example, a drive gear, and the first drive rack 146ca has multiple teeth that mesh with external teeth on the outer periphery of the first lateral movement roller 1461a and are aligned linearly in the X direction. The first lateral movement roller 1461a is driven by a first lateral movement motor 146ma. When the first lateral movement roller 1461a is rotated by the first lateral movement motor 146ma, the first lateral movement roller 1461a moves relative to the first drive rack 146ca along the longitudinal direction of the first drive rack 146ca, thereby allowing the main unit 140 to move in the X direction relative to the third traveling unit 121c and the fourth traveling unit 121d.

[0055] In this way, the first lateral movement roller 146la and the second lateral movement roller 146lb may be driven by the first lateral movement motor 146a and the second lateral movement motor 146b, respectively, so that the main unit 140 moves laterally (in the X direction) relative to the running unit 121.

[0056] The storage device 198 may include, for example, a storage medium (e.g., a semiconductor memory device) or other media that non-transitoryly stores one or more computer programs executed by the control unit 160, data used to control the rebar tying robot 101, and the like. The storage device 198 may also include, for example, a template database 198t. The template database 198t may store, for example, template images used to detect the first rebar R10 and / or the second rebar R20 using template matching based on the detection results of the sensor unit 130, or data obtained by performing image processing such as frequency analysis on the template images, as described below. The control unit 160 may also include a template data creation unit. For example, the control unit 160 may be configured to create template data based on images captured by the sensor unit 130 according to the site where rebar tying work is to be performed, and store the template data in the template database 198t. The template data stored in the template database 198t may be accumulated, for example, whenever new template data is created, or may be deleted when bundling work at each construction site is completed. Alternatively, the created template data may be retained in the template database 198t of the storage device 198 for a certain period of time and then deleted, for example, periodically.

[0057] The sensor detection result acquisition unit 162 acquires the detection results of the sensor unit 130. For example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d of the sensor unit 130 may be used to determine the positions of the first reinforcing bar R10 and / or the second reinforcing bar R20 by a first reinforcing bar determination unit 164a1 and / or a second reinforcing bar determination unit 164a2 of the determination unit 164 (described later). Furthermore, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be used to determine the positions of the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar R20 by a first reinforcing bar end determination unit 164b1 and / or a second reinforcing bar end determination unit 164b2 of the determination unit 164.

[0058] The determination unit 164 may include a first reinforcing bar determination unit 164a1, a second reinforcing bar determination unit 164a2, a first reinforcing bar end determination unit 164b1, a second reinforcing bar end determination unit 164b2, a posture determination unit 164c, an obstacle determination unit 164d, and a robot height calculation unit 164e. The first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2 determine the positions of the first reinforcing bar R10 and / or the second reinforcing bar R20 using, for example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d acquired by the sensor detection result acquisition unit 162. As described below, the first rebar determination unit 164a1 and the second rebar determination unit 164a2 may determine the position of the first rebar R10 and / or the second rebar R20 by performing template matching based on the captured images that are the detection results of the first sensor 130a to the fourth sensor 130d.

[0059] The first reinforcing bar end determination unit 164b1 and the second reinforcing bar end determination unit 164b2 determine the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar R20, for example, using the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d acquired by the sensor detection result acquisition unit 162. The first reinforcing bar end determination unit 164b1 and the second reinforcing bar end determination unit 164b2 may also determine the position of the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar R20 based on template matching, similar to the first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2.

[0060] The robot height calculation unit 164e may calculate the height of the rebar binding robot 101 from the group of rebars R, for example, based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d. For example, when the first rebar R10 and / or the second rebar R20 are imaged by the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d (for example, when an area including the first rebar R10 and / or the second rebar R20 is imaged), the robot height calculation unit 164e may calculate the height of the rebar tying robot 101 from the group of rebars R by calculating the distance of the rebar tying robot 101 from the group of rebars R based on the relative size of the first rebar R10 and / or the second rebar R20 in the image of the imaged first rebar R10 and / or the second rebar R20.

[0061] The height of the rebar binding robot 101 from the group of rebars R may be calculated based on, for example, the angle of the traveling unit 121. As shown in Fig. 6, the traveling unit 121a may have a first main body link portion 125a connected to the main unit 140 and a first roller link portion 123a connected to the first roller portion 122a, and the first main body link portion 125a and the first roller link portion 123a may form a link mechanism. In this case, the link angle formed between the first main body link portion 125a and the first roller link portion 123a may be detected by the first link angle detection sensor 134a (Fig. 7) of the sensor unit 130, and the height of the first traveling unit 121a may be calculated based on the link angle.

[0062] Similarly, as shown in Figure 2, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d have a second body side link portion 125b and a second roller side link portion 123b, a third body side link portion 125c and a third roller side link portion 123c, and a fourth body side link portion 125d and a fourth roller side link portion 123d, and the heights of the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may be calculated by detecting the link angles formed by the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the third roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d using a second link angle detection sensor 134b, a third link angle detection sensor 134c, and a fourth link angle detection sensor 134d, respectively.

[0063] The robot height calculation unit 164e may calculate the height of the rebar binding robot 101 from the group of rebars R based on the calculated heights (heights from the group of rebars R) of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d. For example, the height of the rebar binding robot 101 may be calculated using the average value of some or all of the calculated heights of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d. Furthermore, for example, if the rebar binding robot 101 is positioned parallel or nearly parallel to a virtual plane formed by the group of rebars R, the height of the rebar binding robot 101 may be determined using any one of the heights of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d.

[0064] 7, the sensor unit 130 may include an inclination detection sensor 132 in addition to the first to fourth sensors 130a to 130d described above. The inclination detection sensor 132 may be, for example, a known inclination sensor or horizontal sensor, or any other sensor capable of detecting the inclination angle of the rebar binding robot 101. The sensor detection result acquisition unit 162 may also acquire the detection results of the inclination detection sensor 132. Based on the detection result of the inclination detection sensor 132, for example, the posture of the rebar binding robot 101 may be determined by the posture determination unit 164c of the determination unit 164, and based on the determination result of the posture determination unit 164c, the posture control unit 176 may drive the height change motors 126 of the running units 121 (the first height change motor 126a of the first running unit 121a, the second height change motor 126b of the second running unit 121b, the third height change motor 126c of the third running unit 121c, and / or the height change motor 126d of the fourth running unit 121d) to adjust the posture of the rebar binding robot 101.

[0065] The rebar binding robot 101 may drive the height change motor 126 based on the detection result of the inclination detection sensor 132 so that the main unit 140 is parallel to the surface formed by the first rebar R10 and / or the second rebar R20 (also referred to as the "rebar surface" in this embodiment). For example, if the first rebar R10 and the second rebar R20 are arranged so that the rebar surface extends horizontally and the rebar binding robot 101 is tilted in the X direction, the height of the first traveling unit 121a and the third traveling unit 121c, or the second traveling unit 121b and the fourth traveling unit 121d, among the first traveling unit 121a to the fourth traveling unit 121d, may be changed to adjust the posture of the rebar binding robot 101.

[0066] The intersection point calculation unit 166 estimates the intersection point c12 by calculating the intersection point c12 between the first reinforcing bar R10 and the second reinforcing bar R20. For example, as described below, the intersection point calculation unit 166 may calculate the position of the intersection point c12 based on the positions of the first reinforcing bar R10 and the second reinforcing bar R20 determined by the first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2. Based on the calculated position of the intersection point c12, the reinforcing bar binding robot 101 may perform binding work using the reinforcing bar binding unit 110. Based on the estimated position of the intersection point c12, the motor control unit 178 may adjust the position of the reinforcing bar binding robot 101 using the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and / or the fourth traveling unit 121d so that the reinforcing bar binding unit 110 is located over the intersection point c12.

[0067] The rebar binding unit control unit 168 controls the movement of the rebar binding unit 110 by controlling the rebar binding unit moving unit 168m. The rebar binding unit 110 can be positioned between a binding position where it performs a binding operation to bind the intersection c12 where the first rebar R10 and the second rebar R20 intersect, and a retracted position where it retreats after completing the binding operation and moves to the intersection c12 where the next binding operation will be performed. The rebar binding unit 110 moves in the -Z direction when moving from the retracted position to the binding position, and moves in the +Z direction when moving from the binding position to the retracted position. Such movement of the rebar binding unit 110 in the Z direction is achieved by the rebar binding unit moving unit 168m, which is configured, for example, by a motor. The rebar binding unit control unit 168 also controls the lifting and lowering operation of the rebar binding unit 110 in the Z direction by the rebar binding unit moving unit 168m.

[0068] The rebar binding unit control unit 168 also controls the binding operation of the rebar binding unit 110 at the intersection c12 after the rebar binding unit 110 has moved to the binding position. For example, the binding work performed by the rebar binding unit 110 using a wire drawn out from the reel 180 by a wire draw-out unit (described later) is controlled by the rebar binding unit control unit 168. For example, after the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and / or the fourth traveling unit 121d have moved the rebar binding robot 101 so that the rebar binding unit 110 is positioned above the intersection c12, the rebar binding unit control unit 168 may control the rebar binding unit moving unit 168m to lower the rebar binding unit 110 to the binding position so as to approach the intersection c12, and then perform binding at the intersection c12.

[0069] The rebar tracking control unit 170 may, for example, use the motor control unit 178 to control the traveling unit 121 so that the rebar tying robot 101 follows the first rebar R10 while it is traveling, based on information such as the position of the first rebar R10 determined by the first rebar determination unit 164a1. For example, as shown in Fig. 5, when the rebar tying robot 101 travels between the first rebar R12 and the first rebar R14, the motor control unit 178 may drive the drive motors of the traveling unit 121 (the first wheel drive motor 124a that drives the first roller unit 122a, the second wheel drive motor 124b that drives the second roller unit 122b, the third wheel drive motor 124c that drives the third roller unit 122c, and / or the fourth wheel drive motor 124d that drives the fourth roller unit 122d) so that the rebar tying robot 101 does not detach from the first rebar R12 and the first rebar R14.

[0070] For example, the first wheel drive motor 124a and the third wheel drive motor 124c, which are the drive motors of the first traveling unit 121a and the third traveling unit 121c, and which are arranged at the same or approximately the same position in the X direction, among the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d, can be accelerated or decelerated relative to the second wheel drive motor 124b and the fourth wheel drive motor 124d, which are the drive motors of the second traveling unit 121b and the fourth traveling unit 121d, which are arranged on the other side in the X direction, to adjust the position of the rebar binding robot 101 and make the rebar binding robot 101 travel to follow the first rebar R10.

[0071] Alternatively, the rebar tracking control unit 170 may adjust the rotation speed of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d, for example, to cause the rebar binding robot 101 to travel so as to follow the first rebar R10. For example, by setting one or more rotation speeds of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to be different from the rotation speeds of the other wheel drive motors, or by setting the rotation speeds of all of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to be different from one another, the rebar binding robot 101 can be made to flexibly follow the first rebar R10.

[0072] The stop control unit 172 is configured to control the stopping operation of the rebar binding robot 101. For example, as described below, when the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 determine that the rebar binding robot 101, which has traveled over the first rebar R12 and the first rebar R14, is near or approaching the end R13e of the first rebar R13 based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d, the stop control unit 172 may control the motor control unit 178 to drive and stop the first wheel drive motors 124a to the fourth wheel drive motors 124d, thereby stopping the rebar binding robot 101. In addition, the rebar tying robot 101 may be stopped not only at the end R13e of the first rebar R13, but also when it is determined that the rebar tying robot 101 is near the end R12e of the first rebar R12 and / or the end R14e of the first rebar R14, or that the rebar tying robot 101 is approaching the end R12e and / or the end R14e, instead of or in addition to the end R13e.

[0073] In addition, the stop control unit 172 may, for example, when the intersection point c12 of the first rebar R10 and the second rebar R20 is calculated by the above-mentioned intersection point calculation unit 166, stop the rebar binding robot 101 in order to bind the intersection point c12 using the rebar binding unit 110.

[0074] As described below, the movement amount calculation unit 174 may be configured to calculate, for example, the amount of movement when the rebar binding robot 101 moves laterally (in the X direction). For example, as described above, when the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 determine that the rebar binding robot 101 is near or approaching the end R12e of the first rebar R12 and the end R14e of the first rebar R14, the rebar binding robot 101 completes the rebar binding work at the intersection c12 on the first rebar R13 located between the first rebar R12 and the first rebar R14, moves to another first rebar R10, and starts the rebar binding work at the intersection c12.

[0075] For example, if the rebar binding robot 101 completes the rebar binding work at the intersection c12 on the first rebar R13 and then performs the rebar binding work at the intersection c12 on the first rebar R14, the rebar binding robot 101 moves in the X direction by one interval for the X-direction spacing of the first rebars R10. At this time, the movement amount calculation unit 174 may calculate the movement amount based on the X-direction spacing between adjacent first rebars R10, based on information about the positions of the first rebars R10 determined by the first rebar determination unit 164a1. Similarly, when the rebar binding robot 101 performs the rebar binding work at the intersection c12 on first rebars R10 that are spaced apart by two or more in the X direction, the movement amount may be calculated based on the spacing between the first rebars R10. Furthermore, the lateral movement unit 146 may perform lateral movement (e.g., horizontal movement) of the main unit 140 during lateral movement based on the calculated movement amount. The movement amount calculation unit 174 may calculate the amount of movement in a direction other than the horizontal movement amount. For example, the movement amount calculation unit 174 may calculate the amount of vertical movement (movement in the first direction, Y direction) of the rebar binding robot 101 based on the detection results of each sensor 130, the determination results of the rebar end determination unit 164b1 and / or the rebar end determination unit 164b2, etc.

[0076] The sensor unit 130 may be, for example, a camera capable of capturing two-dimensional or three-dimensional images. The location of a foreign object may be determined, for example, by the obstacle determination unit 164d of the determination unit 164 based on the detection results of the sensor unit 130. At a construction site where rebar is being assembled, for example, tools or other objects may be left on the surface of the rebar, or workers may be working on the rebar. These objects may be detected as foreign objects based on the detection results of the sensor unit 130. Based on the foreign object detection results, the foreign object detouring control unit 179 may be configured to detouring the foreign object by driving the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d via the motor control unit 178. Alternatively, the rebar binding robot 101 may be configured to detouring the foreign object by performing a lateral movement, which will be described later.

[0077] The control unit 160 is, for example, a processor such as a CPU (Central Processing Unit) that corresponds to a calculation unit, and is a control unit that controls the execution of computer programs stored in the storage device 198 and calculates and processes data. The processor is a calculation unit that executes programs that perform the operations of the rebar binding robot 101 (rebar tracking and traveling, lateral movement (e.g., horizontal movement), rebar binding work, etc.) using each detection data, etc. The processor executes the programs stored in the storage device 198, thereby realizing each unit of the control unit (e.g., sensor detection result acquisition unit 162, etc.).

[0078] The storage device 198 may include, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory). The RAM is a memory unit that allows data to be rewritten and may be configured, for example, with a semiconductor memory element. The RAM may store programs executed by the processor and data required for executing the programs (for example, template data used to determine the position of rebar based on the detection results of the sensor unit 130, as described below). Note that these are merely examples, and the RAM may store other data or may not store some of the data.

[0079] The ROM is a memory from which data can be read and may be configured, for example, by a semiconductor memory element. The ROM may store, for example, programs executed by the control unit 160 and data that is not rewritten.

[0080] The program executed by the control unit 160 may be provided by being stored in a computer-readable storage medium such as a storage device 198 (e.g., RAM or ROM), or if the rebar binding robot 101 of this embodiment has a communication unit not shown, the program may be provided via a communication network connected by the communication unit.

[0081] The above physical configuration is an example, and in the rebar binding robot 101 according to the embodiment of the present disclosure, the control unit 160 and the storage device 198 do not necessarily have to be independent. For example, the rebar binding robot 101 may be equipped with an LSI (Large-Scale Integration) that integrates a processor and memory. The rebar binding robot 101 may also be equipped with a GPU (Graphical Processing Unit) as the control unit 160, and the GPU may execute programs to realize the various operations described above.

[0082] Next, the traveling operation of the rebar bundling robot 101 on rebars will be described with reference to FIGS. 8 and 9 . FIG. 8 is a view of the rebar bundling robot 101 traveling along the first rebar R10, as viewed from the Y direction (−Y direction). FIG. 9 is a view of the rebar bundling robot 101 traveling along the first rebar R10, as viewed from the X direction (+X direction). In FIGS. 8 and 9 , the rebar bundling robot 101 travels in a first direction (Y direction). As shown in FIGS. 8 and 9 , the rebar bundling robot 101 travels such that the third roller 122c of the third traveling unit 121c is on the first rebar R12 and the fourth roller 122d of the fourth traveling unit 121d is on the first rebar R14. As shown in Fig. 9, the second roller portion 122b of the second traveling unit 121b also travels on the first rebar R14, similar to the fourth roller portion 122d of the fourth traveling unit 121d. Although not shown in Figs. 8 and 9, the first roller portion 122a of the first traveling unit 121a also travels on the first rebar R12, similar to the third roller portion 122c of the third traveling unit 121c. In this way, when the rebar tying robot 101 according to an embodiment of the present disclosure runs along the first rebar R10, it runs, for example, between a certain first rebar R10 (first rebar R12) and a first rebar R10 (first rebar R14) located two rebars away from the certain first rebar R12, and ties the intersection c12 of the first rebar R10 and the second rebar R20 located on the first rebar R13, which is the first rebar R10 located between the running first rebar R12 and the first rebar R14.

[0083] Next, the rebar binding robot 101 during rebar binding work will be described with reference to Figures 10 and 11. Figure 10 is a view of the rebar binding robot 101, which has stopped traveling and is performing binding work, as viewed from the Y direction (-Y direction). Figure 11 is a view of the rebar binding robot 101 performing binding work as viewed from the X direction (+X direction). Figures 10 and 11 show an example in which the rebar binding robot 101 binds the intersection c12 of the first rebar R13 and the second rebar R20. When performing binding work, the rebar binding robot 101 stops traveling (Figure 10) and lowers the rebar binding unit 110 to perform binding (Figure 11).

[0084] Next, a configuration for calculating the position of the reinforcing bar group R (first reinforcing bar R10 and second reinforcing bar R20) by the reinforcing bar binding robot 101 according to an embodiment of the present disclosure will be described. The rebar binding robot 101 according to an embodiment of the present disclosure includes a traveling unit 121 configured to travel on a group of rebars R including a plurality of first rebars R1 extending in the Y direction (first direction) and a plurality of second rebars R2 extending in the X direction (second direction) intersecting the Y direction (first direction) and arranged so as to intersect with the first rebars R1; a sensor unit 130 configured to detect at least one first rebar R10 and / or at least one second rebar R20; and a first rebar determination unit 164a1 and / or a second rebar determination unit 164a2 (also referred to as a "rebar position calculation unit" in this embodiment) configured to calculate the position of the at least one first rebar R10 and / or at least one second rebar R20 detected by the sensor unit 130 based on the pixel values ​​of a plurality of pixels constituting a two-dimensional image generated by the detection results of the sensor unit 130. The rebar binding robot 101 according to the embodiment of the present disclosure can improve the efficiency of the process of calculating the positions of the first rebar R10 and / or the second rebar R20 by calculating the positions of the first rebar R10 and / or the second rebar R20 based on two-dimensional images generated by the detection results of the sensor unit 130. For example, performing calculations based on two-dimensional images can reduce the calculation load compared to calculating the positions of the rebars using three-dimensional data as the detection results of the sensor unit.

[0085] In the rebar binding robot 101 according to the embodiment of the present disclosure, the two-dimensional image used to calculate the positions of the first rebar R10 and / or the second rebar R20 may be a grayscale image. In this case, the rebar binding robot 101 may be equipped with a storage device 198 that stores information on at least one template image including a partial image of the first rebar R10 and / or the second rebar R20, the two-dimensional image including a grayscale image, and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may be configured to calculate the positions of at least one first rebar R10 and / or at least one second rebar R20 by comparing the grayscale image with the template image.

[0086] Furthermore, the rebar binding robot 101 according to an embodiment of the present disclosure may determine that a pixel in a grayscale image corresponds to the first rebar R10 and / or the second rebar R20 if the density value of the pixel is equal to or greater than a predetermined threshold. In this case, the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may determine that at least a portion of the first rebar R1 and / or at least a portion of the second rebar R2 is present at a position corresponding to a pixel having a density value equal to or greater than a predetermined threshold (first threshold). Alternatively, when a grayscale image is used as a two-dimensional image, the grayscale image may be generated by lowering the image density in areas where an object is present and increasing the image density in areas where an object is not present. In this case, the grayscale image may be determined to correspond to the first rebar R10 and / or the second rebar R20 if the density value of the pixel is less than the predetermined threshold.

[0087] In the rebar tying robot 101 according to an embodiment of the present disclosure, the grayscale image may be generated based on the detection results of a three-dimensional sensor. In this case, the sensor unit 130 may include a three-dimensional sensor capable of detecting the x-, y-, and z-coordinates of multiple points on the surface of the detection target, and the z-coordinate value detected by the three-dimensional sensor may be converted into an image density that varies depending on the magnitude of the z-coordinate value. The grayscale image may be generated by constructing a two-dimensional image based on the x-, y-, and image density.

[0088] Alternatively, the rebar tying robot 101 according to the embodiment of the present disclosure may be configured such that the sensor unit 130 captures a grayscale image. In this case, the sensor unit 130 may include an imaging device, and the grayscale image may be generated based on an image captured by the imaging device.

[0089] Furthermore, the rebar binding robot 101 according to the embodiment of the present disclosure may calculate the positions of the first rebar R10 and / or the second rebar R20 based on the degree of matching. In this case, the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may be configured to calculate the positions of at least one first rebar R10 and / or at least one second rebar R20 based on the degree of matching between the grayscale image and the template image.

[0090] In an embodiment of the present disclosure, the degree of matching may be calculated, for example, by comparing the detection results by the sensor unit 130, a two-dimensional image generated based on the detection results by the sensor unit 130, or a template image. For example, the pixel values ​​of all pixels in a partial image to be compared out of the two-dimensional image generated based on the detection results by the sensor unit 130 may be compared with the pixel values ​​of all pixels in the template image, and the degree of matching may be calculated by expressing the proportion of matching pixels as a percentage based on whether the pixel values ​​of corresponding pixels in the two images to be compared match.

[0091] At this time, the position of the first reinforcing bar R10 and / or the second reinforcing bar R20 may be calculated using a reference value of the degree of matching. At this time, the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) may determine whether the degree of matching is equal to or greater than a predetermined reference value, and if the degree of matching is equal to or greater than the predetermined reference value, may determine that the first reinforcing bar R10 and / or the second reinforcing bar R20 are present within the detection range of the sensor unit 130. Furthermore, the position of the intersection c12 between the first reinforcing bar R10 and the second reinforcing bar R20 may be calculated based on the calculated positions of the first reinforcing bar R10 and the second reinforcing bar R20.

[0092] The process of calculating the position of a rebar by a rebar binding robot according to an embodiment of the present disclosure will be described below.

[0093] First, a specific example of the sensor unit 130 used in the rebar tying robot 101 will be described in detail. The sensor unit 130 can be, for example, a 3D distance camera such as a Time of Flight (ToF) camera (e.g., the TOFcam-635 manufactured by ESPROS Photonics). The 3D distance camera outputs an image in which the shade of light varies depending on the distance from the camera for each object. The distance to the target object can be obtained for each pixel, and relatively closer objects can be displayed with a higher shade (closer to black) and relatively more distant objects with a lighter shade (closer to white). In an embodiment of the present disclosure, while the rebar tying robot 101 is traveling through the group of rebars R, the distance between the rebar tying robot 101 and the group of rebars R remains roughly constant. Therefore, rebars can be detected by recognizing relatively dark objects as rebars (the first rebar R10 and / or the second rebar R20).

[0094] The sensor unit 130 is not limited to the imaging device such as a camera exemplified above, but other sensors may also be used. For example, a laser or the like capable of acquiring information in the depth direction or height direction may also be used. For example, a two-dimensional image using image density similar to that described above may be generated based on the information in the depth direction acquired by the laser.

[0095] Next, a process for detecting rebars based on images (grayscale images in this embodiment) captured by the sensor unit 130 will be described. First, with reference to FIGS. 12 and 13 , the arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d of the sensor 130 will be described. FIGS. 12 and 13 are diagrams schematically showing the arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d. FIG. 12 is a schematic side view of the rebar binding robot 101 as viewed from the horizontal direction (X direction). FIG. 13 is a schematic top view of the rebar binding robot 101 as viewed from above (upper side in the Z direction). FIG. 12 also schematically shows the first sensor 130a, the second sensor 130b, and the third sensor 130c, as well as the imaging ranges of the first sensor 130a, the second sensor 130b, and the third sensor 130c.

[0096] As shown in FIGS. 12 and 13 , the first sensor 130a and the second sensor 130b are spaced apart in the Y direction and are positioned to capture images obliquely downward. The third sensor 130c and the fourth sensor 130d (not shown) are also positioned to capture images obliquely downward. The first sensor 130a and the second sensor 130b are configured to have an angle of view defining the imaging range of, for example, 80° to 100°. The third sensor 130c and the fourth sensor 130d are configured to have an angle of view of, for example, 50° to 70°. Each of the sensors 130 may be configured to have a different angle of view. As described above, when determining whether a foreign object is present based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d, the imaging range of each sensor may be changed, for example, by tilting the sensor upward.

[0097] FIG. 14 is a schematic diagram of an image captured by the first sensor 130a. As shown in FIG. 14 , in the embodiment of the present disclosure, the first sensor 130a is positioned to capture an image diagonally downward, so that the spacing between adjacent first rebars R10 narrows from the front to the back. In the embodiment of the present disclosure, the positions of each rebar (the multiple first rebars R10 and the multiple second rebars R20) constituting the rebar group R can be detected by, for example, performing template matching based on the image thus obtained. In the embodiment of the present disclosure, the rebars (the first rebars R10 and / or the second rebars R20) are detected by template matching based on the similarity (also referred to as "matching degree" in the present embodiment) between the captured image and a previously prepared image. A grayscale image including grayscale portions corresponding to the rebars is prepared as a template, and the images captured by each sensor unit 130 are scanned to calculate the similarity in the scanning direction.

[0098] As described above with reference to FIG. 14 , in the embodiment of the present disclosure, in the image captured by the first sensor 130a, the spacing between adjacent first rebars R10 in the X direction changes along the Y direction. Similarly, in the image captured by the second sensor 130b, the spacing between the first rebars R10 in the X direction changes along the Y direction. Similarly, in the images captured by the third sensor 130c and the fourth sensor 130d, the spacing between the adjacent second rebars R20 in the Y direction changes along the X direction. Therefore, for example, the captured image may be corrected by performing an orthogonal transformation to make the spacing between the rebars in the captured image approximately equal, and then template matching may be performed. Note that rebar detection based on template matching can also be performed without performing image transformations such as orthogonal transformations, by preparing an image in which the spacing between rebars varies as shown in FIG. 14 as a template.

[0099] Next, a method for determining the intersection point of the first reinforcing bar R10 and the second reinforcing bar R20 in an embodiment of the present disclosure will be described. In the embodiment of the present disclosure, when the reinforcing bar binding robot 101 determines the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the first sensor 130a and the second sensor 130b may be configured to detect the first reinforcing bar R10, as described above. That is, the reinforcing bar binding robot 101 includes the reinforcing bar binding unit 110 configured to bind the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20 of the reinforcing bar group R, as described above, the sensor unit 130 includes the first sensor 130a and the second sensor 130b arranged spaced apart from each other along the third direction and configured to be able to detect at least the first reinforcing bar R10, the at least one template image includes a template image (first template image) including a partial image of the first reinforcing bar R10, and the reinforcing bar binding robot 101 includes a traveling unit 130a. The rebar 121 may move in the Y direction (first direction) and the direction in which the first sensor 130a and the second sensor 130b are arranged (third direction) may be parallel to the Y direction (first direction), and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) may calculate the position of the first rebar R10 by comparing the detection results of the first sensor 130a and / or the second sensor 130b with the first template image, and the rebar binding unit 110 may bind the intersection point c12 on the first rebar R10 whose position has been calculated.

[0100] Furthermore, at this time, the rebar binding robot 101 may be further configured such that the third sensor 130c and the fourth sensor 130d detect the second rebar R20 in addition to the first rebar R10 and estimate the intersection point c12. That is, the rebar binding robot 101 further includes an intersection point calculation unit 166 (also referred to as an "intersection point estimation unit" in this embodiment) that estimates the intersection point c12, the sensor unit 130 includes the third sensor 130c and the fourth sensor 130d that are arranged spaced apart from each other along a fourth direction that intersects with the third direction and are configured to be able to detect at least the second rebar R20, at least one template image includes a template image (second template image) that includes a partial image of the second rebar R20, and the rebar binding robot 101 further includes an intersection point calculation unit 166 (also referred to as an "intersection point estimation unit" in this embodiment) that estimates the intersection point c12, the sensor unit 130 includes the third sensor 130c and the fourth sensor 130d that are arranged at a distance from each other along a fourth direction that intersects with the third direction and are configured to be able to detect at least the second rebar R20, and at least one template image includes a template image (second template image) that includes a partial image of the second rebar R20, and the rebar binding robot 101 detects the intersection point c12 in the fourth direction. are arranged parallel to the X direction (second direction), the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) calculates the position of the second reinforcing bar R20 by comparing the detection results of the third sensor 130c and / or the fourth sensor 130d with the second template image, the intersection point estimation unit (intersection point estimation unit) estimates the intersection point between the calculated first reinforcing bar R10 and the calculated second reinforcing bar R20 as the intersection point c12, and the reinforcing bar binding unit 110 may be configured to bind the estimated intersection point c12.

[0101] Furthermore, when the rebar binding robot 101 detects the end R10e of the first rebar R10, it may cause the third sensor 130c and / or the fourth sensor 130d to detect the first rebar R10, and the first rebar R10 detected by the third sensor 130c and / or the fourth sensor 130d may be used to calculate the amount of lateral movement of the rebar binding robot 101, as described below. That is, when the traveling unit 121 moves from the advancing first rebar R10 to another first rebar R10, the rebar binding robot 101 includes a movement amount calculation unit 174 (movement amount calculation unit) that calculates the amount of movement of the traveling unit 121 based on position information of the first rebar R10 calculated by the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit). calculates the position of the first rebar R10 along which the traveling unit 121 is moving based on the detection results of the first sensor 130a and / or the second sensor 130b, and if the matching degree of the detection result of the first sensor 130a is less than a predetermined reference value, determines whether the matching degree is equal to or greater than a predetermined end reference value, and if it is determined that the matching degree is equal to or greater than the predetermined end reference value, determines that the end R10e of the first rebar R10 is present within the detection range of the first sensor 130a, and When it is determined that the end R10e of the first reinforcing bar R10 is present within the range, the third sensor 130c and / or the fourth sensor 130d are set to detect the first reinforcing bar R10, and the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) calculates the position of another first reinforcing bar R10 that is separated in the X direction (second direction) from the first reinforcing bar R10 along which the traveling unit 121 is moving, based on the detection results of the third sensor 130c and / or the fourth sensor 130d. The movement amount calculation unit 174 (movement amount calculation unit) calculates the movement amount of the running unit 121 in the X direction (second direction) based on the positions of other first reinforcing bars R10 calculated by the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) and the position of the first reinforcing bar R10 along which the running unit 121 moves, and the running unit 121 may be configured to move in the X direction (second direction) based on the calculated movement amount in the X direction (second direction).

[0102] In this way, the rebar binding robot 101 according to the embodiment of the present disclosure is arranged on the group of rebars R so that the third direction (Y direction) in which the first sensor 130a and the second sensor 130b are arranged is parallel to the first direction in which the first rebar R10 extends, and the fourth direction in which the third sensor 130c and the fourth sensor 130d are arranged is parallel to the second direction in which the second rebar R20 extends, and is equipped with an intersection point calculation unit 166 which is an intersection point estimation unit that estimates the intersection point c12, and the first sensor 130a and the second sensor 130b are configured to be able to detect the first rebar R10, and the third sensor 130c and the fourth sensor 130d are configured to be able to detect the second rebar R20. The intersection point calculation unit 166, which is the intersection point estimation unit, may be configured to estimate the position of the first reinforcing bar R10 (first reinforcing bar R13) detected by both the first sensor 130a and the second sensor 130b based on the detection results of the first sensor 130a and the second sensor 130b, and to estimate the position of the second reinforcing bar R20 (second reinforcing bar R23) detected by both the third sensor 130c and the fourth sensor 130d based on the detection results of the third sensor 130c and the fourth sensor 130d, and to estimate the intersection point c12 between the first reinforcing bar R13 detected by the first sensor 130a and the second sensor 130b and the second reinforcing bar R23 detected by the third sensor 130c and the fourth sensor 130d.

[0103] An example of lateral movement of the rebar binding robot 101 will be described below with reference to Fig. 8 and Figs. 15 to 19. As mentioned above, Fig. 8 is a view of the rebar binding robot 101 as seen from the back of the rebar binding robot 101, and in this state, the rebar binding robot 101 is in a state before it starts to move laterally. Figs. 15 to 19 are views of the rebar binding robot 101 as seen from the back of the rebar binding robot 101 during its lateral movement.

[0104] As shown in FIG. 8, the rebar binding robot 101 travels on the first rebars R12 and R14.

[0105] Next, the rebar binding robot 101 begins lateral movement. In the embodiment of the present disclosure, as described above, it is determined that the rebar binding robot 101 has begun lateral movement when, for example, it is determined based on the detection results of the first sensor 130a that the robot has reached or is approaching the vicinity of the end R10e of the first rebar R10. FIG. 15 shows the state when the rebar binding robot 101 begins lateral movement. As shown in FIG. 15, the rebar binding robot 101 moves in the direction in which the main unit 140 moves (X direction) without moving the traveling unit 121. As shown in FIG. 15, at this time, the first traveling unit 121a and the second traveling unit 121b are positioned above the first rebar R12 and the first rebar R14, respectively, without moving. At this time, the front arm 150a and the rear arm 150b are not in contact with any of the rebars. Lateral movement of the main unit 140 (here, for example, movement in the horizontal direction (movement in the X direction)) may be performed, for example, by driving the first lateral movement roller 1461a and the second lateral movement roller 1461b provided on the first connecting portion 147a and the second connecting portion 147b using the first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 not shown in FIG. 15, and moving the main unit 140 in the X direction via the first driving rack 146ca and the second driving rack 146cb.

[0106] Next, the rebar binding robot 101 moves the traveling unit 121 (the lower end of the traveling unit 121) upward relative to the first rebar R10. As shown in FIG. 16 , the lower end of the traveling unit 121 in the −Z direction is raised upward in the Z direction (+Z direction) in FIG. 16 . At this time, for example, the first body-side link portion 125a and the first roller-side link portion 123a shown in FIGS. 1, 2, and 9 move in directions that bring them relatively closer to each other (i.e., the first body-side link portion 125a and the first roller-side link portion 123a move closer to each other). In other words, the first body-side link portion 125a and the first roller-side link portion 123a move so that the angle formed between them becomes smaller. Similarly, for the second running unit 121b, the third running unit 121c, and the fourth running unit 121d, the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the first roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d move in the closing direction, respectively.

[0107] When the main body side link part 125 and the roller side link part 123 close and the lower end of the traveling unit 121 rises, the arm 150 (the front arm 150a and the rear arm 150b) descends relatively. When the traveling unit 121 moves away from the first rebar R10, the front arm 150a and the rear arm 150b come into contact with the first rebar R10. For example, the running unit 121 may be configured so that its length in the Z direction can be changed by closing the main body side link portion 125 and the roller side link portion 123 (the first main body side link portion 125a and the first roller side link portion 123a, the second main body side link portion 125b and the second roller side link portion 123b, the third main body side link portion 125c and the third roller side link portion 123c, and the fourth main body side link portion 125d and the fourth roller side link portion 123d), which correspond to the configuration supporting the rollers (the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d) using a motor or the like (for example, the first wheel height change motor 126a, the second wheel height change motor 126b, the third wheel height change motor 126c, and the fourth wheel height change motor 126d shown in Figure 7). The roller portion 122 may be raised by closing the main body side link portion 125 and the roller side link portion 123, and the roller portion 122 may be configured to move away from the first rebar R10.

[0108] 16, the front arm 150a and the rear arm 150b come into contact with, for example, the first rebars R11 to R14. In this way, the entire rebar binding robot 101 is supported by the front arm 150a and the rear arm 150b.

[0109] Next, the traveling units 121 of the rebar binding robot 101 move in the X direction. As shown in Figure 17, the first traveling unit 121a and the third traveling unit 121c, which were in contact with the first rebar R12 and the first rebar R14, and the second traveling unit 121b and the fourth traveling unit 121d, which were in contact with the first rebar R13 and the first rebar R15, respectively, are moved above the first rebar R13 and the first rebar R15. At this time, none of the first traveling units 121a to the fourth traveling unit 121d are in contact with the first rebar R10, and the front arm 150a and the rear arm 150b are in contact with the first rebar R10 (first rebars R12 to R15) and support the rebar binding robot 101.

[0110] Next, the main body-side link portion 125 and the roller-side link portion 123 of the traveling unit 121 are opened. This causes the lower end of the traveling unit 121 in the -Z direction to descend relative to the first rebar R10. At this time, for example, the first main body-side link portion 125a and the first roller-side link portion 123a move in directions in which they move relatively away from each other (i.e., the first main body-side link portion 125a and the first roller-side link portion 123a open). In other words, the first main body-side link portion 125a and the first roller-side link portion 123a move so that the angle they form increases. Similarly, for the second running unit 121b, the third running unit 121c, and the fourth running unit 121d, the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the first roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d move in the opening direction, respectively.

[0111] As shown in Figure 18, the lower end of the traveling unit 121 in the -Z direction is lowered downward in the Z direction (-Z direction) in Figure 18. As shown in Figure 18, the first traveling unit 121a and the third traveling unit 121c contact the first rebar R13, and the second traveling unit 121b and the fourth traveling unit 121d contact the first rebar R15. Therefore, the front arm 150a and the rear arm 150b rise relative to the first rebar R10. Therefore, the rebar binding robot 101 is supported by the traveling units 121 in this state.

[0112] Next, as shown in Fig. 19, the main unit 140 is moved in the X direction. As described above with reference to Fig. 15, the lateral movement of the main unit 140 shown in Fig. 19 (here, for example, movement in the horizontal direction (movement in the X direction)) may be performed, for example, by the first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 not shown in Fig. 19. In this way, the lateral movement of the rebar binding robot 101 is completed. The rebar binding robot 101 starts traveling, for example, on the first rebar R13 and the first rebar R15, and performs binding work at the intersection c12 of the first rebar R10 and the second rebar R20 on the first rebar R14.

[0113] The above describes an example in which the rebar binding robot 101 moves from the first rebars R12 and R14 to the first rebars R13 and R15, but it is also possible to move to a location separated by multiple first rebars R10. In this case, movement can be performed using the same method as above, or by repeating the above movement method, movement over an even longer distance is possible. Furthermore, when moving to a location separated by multiple first rebars R10, the movement amount can also be calculated based on the detection results of the sensor unit 130 using a similar method.

[0114] Furthermore, the rebar binding robot 101 may move laterally by other methods, not limited to the method described above. Even in such cases, the amount of movement of the rebar binding robot 101 can be calculated based on the detection results of the sensor unit 130 in accordance with the method for calculating the amount of movement in the embodiment of the present disclosure. By using the method for calculating the amount of movement in the embodiment of the present disclosure, the movement of the rebar binding robot 101 can be smoothly carried out.

[0115] In the above-described embodiment of the present disclosure, an example has been given in which the rebar tying robot 101 performs rebar tying work at the intersection c12 of the first rebar R10 and the second rebar R20 in a group of rebars arranged so that the first rebar R10 and the second rebar R20 are perpendicular to each other, but the rebar tying robot 101 according to the embodiment of the present disclosure may also be used in cases in which the first rebar R10 and the second rebar R20 are in a non-perpendicular relationship.

[0116] FIG. 22 is a schematic diagram of a rebar bundling robot 101A according to another embodiment of the present disclosure, viewed from below in the Z direction (−Z direction). As shown in FIG. 22 , in this embodiment, the second rebar R20 is positioned at an angle of approximately 30° relative to the first rebar R10. The rebar bundling robot 101A according to this embodiment differs from the rebar bundling robot 101 in the positions of the third sensor 130c and the fourth sensor 130d. The third sensor 130c and the fourth sensor 130d of the rebar bundling robot 101A are positioned on a line inclined at 30° with respect to the X direction. In the rebar bundling robot 101A, the third sensor 130c and the fourth sensor 130d are aligned with the second rebar R20 and positioned in a direction inclined from the X direction, enabling detection of the second rebar R20 in a manner similar to that of the rebar bundling robot 101.

[0117] In this way, the positions of the first sensor 130a to the fourth sensor 130d may be changed depending on the arrangement of the first rebar R10 and the second rebar R20. The positions of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be adjusted manually or automatically before the start of the rebar tying work depending on, for example, the construction site where the group of rebars R to be tied is located. Alternatively, even after the rebar tying robot 101 has started traveling, the relationship between the first rebar R10 and the second rebar R20 may be determined based on the detection results of the sensor unit 130, and the positions of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be dynamically changed based on the determination results. In this case, for example, a motor or the like capable of driving the first sensor 130a to the fourth sensor 130d may be provided, and the positions of the first sensor 130a to the fourth sensor 130d may be changed by driving the motor.

[0118] 21A to 24, a rebar binding robot 102 (an example of a binding device) according to another embodiment of the present disclosure will be described. Note that the following describes configurations that differ from the rebar binding robot 101 described with reference to Figures 1 to 4, and descriptions of configurations that are similar to the rebar binding robot 101 will be omitted as appropriate.

[0119] Fig. 21A is an overall perspective view of the rebar bundling robot 102 according to this embodiment, as seen from diagonally above. Fig. 21B is a plan view of the rebar bundling robot 102, as seen from above (above in the Z direction). Fig. 22 is another overall perspective view of the rebar bundling robot 102, as seen from diagonally above.

[0120] The frame 202 includes rail portions 220lf, 220rf, 220lb, and 220rb, each of which has a substantially triangular shape and is substantially parallel to the YZ plane, and which are erected in the Z direction at predetermined positions on the left front, right front, left rear, and right rear of the hole 144 of the main unit 140. The rail portions 220lf and 220rf are inclined so that their height in the Z direction decreases toward the front. The rail portions 220lb and 220rb are inclined so that their height in the Z direction decreases toward the rear. The frame 202 also includes frame members 231f, 232f, 233f, 231b, 232b, and 233b, each of which has a substantially inverted U shape and is substantially parallel to the XZ plane. One end of each of the frame members 231f, 232f, and 233f engages with the rail portion 220lf so as to be slidable in the Y direction along the rail portion 220lf while maintaining an attitude substantially parallel to the XZ plane, and the other end of each of the frame members 231f, 232f, and 233f engages with the rail portion 220rf so as to be slidable in the Y direction along the rail portion 220rf while maintaining an attitude substantially parallel to the XZ plane. This allows the frame members 231f, 232f, and 233f to slide along the rail portions 220lf and 220rf, respectively, while maintaining an attitude substantially parallel to the XZ plane.

[0121] One end of each of the frame members 231b, 232b, and 233b is engaged with the rail portion 220lb so as to be slidable in the Y direction along the rail portion 220lb while maintaining a posture approximately parallel to the XZ plane. The other end of each of the frame members 231b, 232b, and 233b is engaged with the rail portion 220rb so as to be slidable in the Y direction along the rail portion 220rb while maintaining a posture approximately parallel to the XZ plane. This allows the frame members 231b, 232b, and 233b to slide along the rail portions 220lb and 220rb, respectively, while maintaining a posture approximately parallel to the XZ plane. Note that the frame members 231f, 232f, and 233f may be configured to be detachable from the rail portions 220lf and 220rf, respectively, and the frame members 231b, 232b, and 233b may be configured to be detachable from the rail portions 220lb and 220rb, respectively. In this manner, the frame 202 may be configured to be movable relative to the rebar binding unit 110 .

[0122] The frame members 231f, 232f, and 233f may be configured to be independently slidable along the rail portion 220lf. The frame members 231b, 232b, and 233b may be configured to be independently slidable along the rail portion 220lb. For example, the frame members 231f, 232f, and 233f may slide to the end of the rail portion 220lf in the -Y direction, and the frame members 231b, 232b, and 233b may slide to the end of the rail portion 220lb in the +Y direction (see FIG. 22). Furthermore, for example, the frame members 231f, 232f, and 233f may slide to the end of the rail portion 220lf in the +Y direction, and the frame members 231b, 232b, and 233b may slide to the end of the rail portion 220lb in the -Y direction. In this manner, the frame 202 may be configured to be movable relative to the rebar binding unit 110 .

[0123] Note that frame 202 does not necessarily have to include rail portions 220lf, 220rf, 220lb, and 220rb. In this case, frame members 231f, 232f, 233f, 231b, 232b, and 233b may be detachably engaged with main unit 140 via engaging portions or the like provided on main unit 140, similar to rebar binding robot 101.

[0124] There are no particular limitations on the number or dimensions of the frame members included in the frame 202. Furthermore, there are no particular limitations on the material of the frame members and vertices included in the frame 202, and the material may include, for example, resin, metal, alloy, carbon fiber, fiberglass, etc.

[0125] The frame 202 may be movable in a manner other than sliding. For example, the frame members 231f, 232f, and 233f may each be configured to be rotatable about an axis that is substantially parallel to the X direction and that connects a portion of the frame members 231f, 232f, and 233f that engages with the rail portion 220lf and a portion of the frame members 231f, 232f, and 233f that engages with the rail portion 220rf. This rotation allows the frame members 231f, 232f, and 233f to rotate about this axis and tilt at a predetermined angle with respect to the Z axis. Furthermore, for example, the frame members 231b, 232b, and 233b may each be configured to be rotatable about an axis that is substantially parallel to the X direction and that connects a portion of the frame members 231b, 232b, and 233b that engages with the rail portion 220lb and a portion of the frame members 231b, 232b, and 233b that engages with the rail portion 220rb. This rotation allows the frame members 231b, 232b, and 233b to rotate about this axis and tilt at a predetermined angle with respect to the Z axis. The frame members 231f, 232f, and 233f configured to be rotatable around the portions engaged with the rail portions 220lf and 220rf in this manner may be further configured to be slidable along the rail portions 220lf and 220rf. Moreover, the frame members 231b, 232b, and 233b configured to be rotatable around the portions engaged with the rail portions 220lb and 220rb in this manner may be further configured to be slidable along the rail portions 220lb and 220rb.

[0126] FIG. 23 is yet another overall perspective view of the rebar binding robot 102, seen from diagonally above. The rebar binding robot 102 according to this embodiment may further include a cover 202C. The "protective section" may include the frame 202 and the cover 202C. The cover 202C may be configured to cover at least a portion of the frame 202. As shown in FIG. 23 , the cover 202C may be configured to cover the entire frame 202, for example. In the example shown in FIG. 23 , the cover 202C is configured to cover the entire frame 202, that is, to cover the frame 202 from the front frame member 231f to the rear frame member 231b. However, this is not limiting, and the cover 202C may be configured to cover only a portion of the frame 202. For example, the cover 202C may be configured to cover only the range from the front frame member 232f or 233f to the rear frame member 232b or 233b. The cover 202C may be configured to be detachable from the frame 201. The cover 202C may also be configured to be detachable from the frame 201 of the rebar binding robot 101.

[0127] The material of the cover 202C is not particularly limited, but may be, for example, nylon, polyester, polyvinyl chloride (PVC), Teflon-coated fabric, etc. The cover 202C may be configured to be detachable from the frame 202. Specifically, the cover 202C may include an engaging portion configured as a button or zipper for attaching and detaching the cover 202C to the frame 202.

[0128] As shown in FIG. 23 , the cover 202C may be provided with a photovoltaic power generation unit 202P for generating power by receiving light such as sunlight. The photovoltaic power generation unit 202P may be provided as part of the cover 202C or as a separate component from the cover. FIG. 23 shows an example in which the photovoltaic power generation unit 202P is provided on three surfaces of the cover 202C. The location of the photovoltaic power generation unit 202P is not particularly limited, and may be, for example, located in the center of the cover 202C, at the front and rear, or symmetrically located at the front and rear. The configuration of the photovoltaic power generation unit 202P is not particularly limited, and may include a thin film for photovoltaic power generation, such as a silicon-based material such as crystalline silicon or amorphous silicon, a compound-based material such as CIS or CdTe, or an organic material such as a dye-sensitized material, a perovskite material, or a paint-based material. The electricity generated by the solar power generation unit 202P may be used as a power source for any of the components of the rebar binding robot 102 (e.g., the rebar binding unit 110, the sensor unit 130, the mobile unit 140, the control unit 160), or may be stored in the battery 180 if the battery 180 is configured as a storage battery.

[0129] FIG. 24 is yet another overall perspective view of the rebar binding robot 102, seen from diagonally above. The cover 202C may be attached to, for example, frame members 231f, 232f, 233f, 231b, 232b, and 231b. FIG. 24 shows a state in which, from the state shown in FIG. 23, frame members 231f, 232f, and 233f have slid to the −Y direction end of rail portion 220lf, and frame members 231b, 232b, and 233b have slid to the +Y direction end of rail portion 220lb. As a result of this sliding, as shown in FIG. 24, cover 202C is stored in a folded state between the slid frame members 231f, 232f, 233f, 231b, 232b, and 231b. In this way, the rebar binding robot 102 may be configured to be openable and closable so that the cover 202C can change from a state in which it entirely covers the rebar binding robot 102 and the main unit 140 to a state in which it only partially covers the rebar binding robot 102 and the main unit 140 by moving the frame 202. In the "state in which it only partially covers the rebar binding robot 102 and the main unit 140," the cover 202C may be positioned so as not to cover certain portions (e.g., portions including the attachment / detachment tracks of detachable components such as reels 180a and 180b and batteries 182a and 182b) but to cover other certain portions (e.g., the rebar binding unit 110). Furthermore, the movement of the frame 202 for opening and closing the cover 202C is not limited to a sliding movement of a portion, but may also include a rotational movement of a portion or a removal movement of a portion. The cover 202C and / or the frame 202 may include a removal movement of a portion. The cover 202C and / or the frame 202 may be configured to be provided so as to cover positions corresponding to the reels 180a, 180b and / or the batteries 182a, 182b, and to be removably positioned from those positions.

[0130] The reels 180a and 180b and the batteries 182a and 182b may each be configured to be detachable from the main unit 140. The reels 180a and 180b and the batteries 182a and 182b are attached and detached, for example, when inspecting the components or replacing them with new components. Fig. 21A shows attachment / detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb, which are tracks that the reels 180a and 180b and the batteries 182a and 182b follow when attaching or detaching these components. As shown in Fig. 21A, the attachment / detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb are each set approximately parallel to the Z direction.

[0131] The reels 180a and 180b and the batteries 182a and 182b pass through a predetermined area when being attached or detached along the attachment / detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb, respectively. As described above, the attachment / detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb are set substantially parallel to the Z direction, and therefore, in this case, the area through which the reels 180a and 180b and the batteries 182a and 182b pass during attachment / detachment is a spatial area obtained by extending in the Z direction the spatial area occupied by the reels 180a and 180b and the batteries 182a and 182b.

[0132] 21B shows areas 180Va, 180Vb, 182Va, and 182Vb through which reels 180a and 180b and batteries 182a and 182b pass when being attached or detached. As shown in Fig. 21B, frames 302f and 303f provided on frame 202 do not interfere with areas 182Va and 182Vb through which batteries 182a and 182b pass when being attached or detached, in the XY plane view, and therefore batteries 182a and 182b can be attached or detached without being hindered by frame 202. Furthermore, as shown in FIG. 21B, frames 302b and 303b provided on frame 202 do not interfere with areas 180Va and 180Vb through which reels 180a and 180b pass when being attached or detached in the XY plane, and therefore reels 180a and 180b can be attached or detached without being hindered by frame 202.

[0133] In this way, the frame 202 forms an area through which the reels 180a and 180b and the batteries 182a and 182b pass along the attachment / detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb. The frame 202 also provides additional space around each of the areas through which the reels 180a and 180b and the batteries 182a and 182b pass along the attachment / detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb (e.g., in the X direction in FIG. 21B ). This further facilitates the attachment / detachment of these components.

[0134] Although the reels 180a and 180b and the batteries 182a and 182b have been described as examples of detachable members (detachable members), the rebar binding robot 102 may also be equipped with other detachable members. The frame 202 may also form an area through which the other detachable members pass along a detachment trajectory. In addition, while the present embodiment has been described as an example in which the detachment trajectory of the members is parallel to the Z direction, the detachment trajectory may be in any direction, including the X direction or the Y direction. Even in this case, the frame 202 may also form an area through which the members pass along the detachment trajectory.

[0135] [Third embodiment] Hereinafter, mainly with reference to Figures 1 to 4 and Figures 25 to 31, etc., a configuration for protecting the rebar binding robots 101, 103, 104 (examples of binding devices) according to an embodiment of the present disclosure from contact with obstacles present on the rebar will be described.

[0136] 1 and 2, the reinforcing bar binding robot 101 according to this embodiment is provided with a first arm 150a (forearm 150a). That is, the reinforcing bar binding robot 101 according to this embodiment includes a reinforcing bar binding unit 110 configured to bind intersections c12 between the first reinforcing bars R10 and the second reinforcing bars R20 of a plurality of reinforcing bars, the intersections c12 including a plurality of first reinforcing bars R10 extending in a first direction (Y direction) and a plurality of second reinforcing bars R20 extending in a second direction (X direction) that intersects with the first reinforcing bars R10, a main unit 140 that supports the reinforcing bar binding unit 110, a moving unit 120 configured to be able to move the main unit 140 in the first direction (Y direction) over the plurality of reinforcing bars R, and a moving unit 120 configured to move the main unit 140 in the first direction (Y direction) over the plurality of reinforcing bars R, and a moving unit 120 configured to move the main unit 140 in the third direction (X direction) that is perpendicular to the first direction (Y direction) and the second direction (X direction). In a top view from the first direction (Z direction), the forearm 150a has: a front end 152a, at least a portion of which is provided in front of the moving unit 120 and the main unit 140 in the first direction (Y direction); one end 154a1, which is provided outside one end of the moving unit 120 and the main unit 140 in the fourth direction (X direction) in a fourth direction (X direction in this embodiment) that is parallel to a plane parallel to the first direction (Y direction) and the second direction (X direction) and is perpendicular to the first direction (Y direction); and a other end 154a2, which is provided outside the other end of the moving unit 120 and the main unit 140 in the fourth direction (X direction) in the fourth direction (X direction).

[0137] 1 to 4, in the rebar binding robot 101 according to this embodiment, the forearm 150a has a front end 152a, at least a portion of which is provided in front of the mobile unit 120 and the main unit 140 in the Y direction, when viewed from above in the Z direction. The forearm 150a also has one end 154a1 (front one end 154a1) provided on the outside (+X direction) in the fourth direction (X direction), and the other end 154a2 (front other end 154a2) provided on the opposite outside (-X direction) from the one end 154a1.

[0138] As shown in FIGS. 1 to 4 , in the rebar binding robot 101 according to this embodiment, the front end 152a includes a first front end 152a1 provided on a first protrusion 158a1 of a protrusion 158a (described later) of the forearm 150a, and a second front end 152a2 provided on a second protrusion 158a2 of the protrusion 158a. The front end 152a is the portion of the forearm 150a that is located most forward in the first direction (Y direction). Also, as shown in FIGS. 1 to 4 , in the rebar binding robot 101 according to this embodiment, the front end 152a corresponds to the portion that is located most forward in the first direction (Y direction). Also, as shown in FIGS. 1 to 4 , in the rebar binding robot 101 according to this embodiment, the first front end 152a1 and the second front end 152a2 are located at the same position in the first direction (Y direction).

[0139] 3 and 4, in the rebar binding robot 101 according to this embodiment, one end 154a1 and the other end 154a2 are provided on the outermost sides in the +X and −X directions, respectively. Also, as shown in FIG. 3 and 4, in the rebar binding robot 101 according to this embodiment, one end 154a1 and the other end 154a2 are provided on the outer sides in the +X and −X directions of the main unit 140, respectively.

[0140] Therefore, in the rebar binding robot 101 according to this embodiment, when the robot travels in the first direction (Y direction) over a plurality of rebars R, obstacles that may be present on the rebars R can be brought into contact with the forearm 150a before coming into contact with the main unit 140, thereby protecting the main unit 140. Furthermore, the rebar binding units 110 supported by the main unit 140 can also be more reliably protected from obstacles.

[0141] For example, if the rebar binding robot 101, as a forearm, has at least one of its one end (the end in the +X direction) and the other end (the end in the -X direction) in the X direction that is not the outermost end in the +X direction or the outermost end in the -X direction, respectively, an obstacle on the rebar may come into contact with the +X direction end and the -X direction end of the main unit. For example, if the rebar binding robot 101, as a forearm, has one end and / or the other end in the X direction that is inside the X direction end of the main unit, it is possible that an obstacle may come into contact with the main unit without coming into contact with the forearm. In the rebar binding robot 101 according to this embodiment, the forearm 150a is configured to have the one end 154a1 and the other end 154a2 as described above, and therefore each component of the rebar binding robot 101, such as the rebar binding unit 110, the mobile unit 120, and the main unit 140, can be more reliably protected.

[0142] Furthermore, as described above, the forearm 150a is configured with one end 154a1 and the other end 154a2 located at the outermost positions in the +X and −X directions, respectively, allowing it to function as a gauge of a width that allows the rebar binding robot 101 to pass through. For example, if there is a wall extending in the +X and −X directions in the +Z direction ahead of the rebar binding robot 101 in the direction of travel, and one end 154a1 or the other end 154a2 of the forearm 150a comes into contact with the wall while the rebar binding robot 101 is traveling, the rebar binding robot 101 may stop traveling. This makes it possible to reduce or prevent the risk of the mobile unit 120 or main unit 140 of the rebar binding robot 101 coming into contact with the wall.

[0143] Furthermore, for example, if the rebar tying robot 101 is equipped with a forearm whose front end is located rearward in the Y direction (-Y direction) from the front portions of other components of the rebar tying robot 101 (e.g., the rebar tying unit, the mobile unit, and / or the main unit), the front end is not the most forward part of the rebar tying robot 101, so if there is an obstacle on the rebar in front of the rebar tying robot 101, there is a possibility that the obstacle will come into contact with the rebar tying unit, the mobile unit, and / or the main unit. In the rebar tying robot 101 of this embodiment, the forearm 150a is configured to have the front end 152 as described above, so that the forearm 150 can come into contact with an obstacle in front of the rebar tying robot 101 before the rebar tying unit 110, the mobile unit 120, and / or the main unit 140 come into contact with it, thereby making it possible to more reliably protect each component of the rebar tying robot 101, such as the rebar tying unit 110, the mobile unit 120, and the main unit 140.

[0144] In the rebar binding robot 101 according to this embodiment, the forearm 150a may be connected by a horizontal portion 156a (front horizontal portion 156a). That is, as shown in FIGS. 1 to 4 , the forearm 150a may have one or more elongated horizontal portions 156a, which may extend in the fourth direction (the X direction in this embodiment) and be connected to one end 154a1 and the other end 154a2. In the rebar binding robot 101 according to this embodiment, by providing the forearm 150 including the horizontal portion 156a, it is possible to effectively protect the rebar binding robot 101 against obstacles that may exist, for example, inside the one end 154a1 and the other end 154a2 in the X direction (i.e., in the +X direction of the one end 154a1 and the −X direction of the other end 154a2).

[0145] 1 to 4, the horizontal portion 156a may have an elongated shape parallel to the X direction. However, the shape of the horizontal portion 156a is not limited to this, and for example, the horizontal portion 156a may have an arc shape that protrudes forward (in the +Y direction).

[0146] In the rebar binding robot 101 according to this embodiment, the forearm 150a may have a protrusion 158a (forward protrusion 158a). That is, as shown in FIGS. 1 to 4 , the forearm 150a is connected to the main unit 140 and includes a protrusion 158a that protrudes forward in the first direction (Y direction), and the front end 152a may be provided on the protrusion 158a. As shown in FIGS. 1 to 4 , the forearm 150a may have, on the horizontal portion 156a, a protrusion 158a1 (first forward protrusion 158a1) provided in the −X direction with respect to the center in the X direction, and a protrusion 158a2 (second forward protrusion 158a2) provided in the +X direction. As shown in FIGS. 3 and 4 , the protrusion 158a1 and the protrusion 158a2 may be provided symmetrically with respect to the center in the X direction of the horizontal portion 156a.

[0147] 1 and 2, in the rebar binding robot 101 according to this embodiment, the first forward protrusion 158a1 and the second forward protrusion 158a2 may have a curved shape (for example, an arc shape) formed so as to protrude forward in the Y direction (+Y direction), as shown in Fig. 6. In this way, the first forward protrusion 158a1 and the second forward protrusion 158a2 have a curved shape, which can alleviate stress concentration on the forearm 150a and suppress deformation of the forearm 150a.

[0148] As described above, in the rebar binding robot 101 according to this embodiment, the traveling unit 121 includes a main body link 125 connected to the main body unit 140 and a roller-side link 123 connected to the roller unit 122. For example, as described above with reference to FIGS. 8 and 15 to 19 , when the rebar binding robot 101 moves laterally, the main body link 125 and the roller-side link 123 open and close relative to each other, thereby changing the height of the traveling unit 121. At this time, as the main body link 125 and the roller-side link 123 close, the connection portion between the main body link 125 and the roller-side link 123 extends in the +Y direction. Conversely, as the main body link 125 and the roller-side link 123 open, the connection portion between the main body link 125 and the roller-side link 123 contracts in the -Y direction.

[0149] 1, 2, 6, etc., in the rebar binding robot 101 according to this embodiment, the first forward protrusion 158a1 and the second forward protrusion 158a2 are provided in front of the first traveling unit 121a and the second traveling unit 121b, respectively. Therefore, in the rebar binding robot 101 according to this embodiment, the protrusions 158a1 and 158a2 are provided so that the first traveling unit 121a and the second traveling unit 121b do not come into contact with the protrusions 158a1 and 158a2, even when the main body link portion 125 and the roller side link portion 123 connected to the roller portion 122 are closed and the connection portion between the main body link portion 125 and the roller side link portion 123 is positioned to extend forward in the Y direction. This makes it possible to change the height of the traveling unit 121 without contacting the protrusions 158a1 and 158a2, even when the rebar binding robot 101 according to this embodiment moves laterally.

[0150] The shapes of the protrusions 158a1 and 158a2 are not limited to the curved shapes described above. For example, the protrusions 158a1 and 158a2 may have a shape in which the vicinity of their protruding portions (the first front end 152a1 and the second front end 152a2, which are portions that protrude forward in the Y direction) form a right angle when viewed from the side (when viewed from the +X direction or the −X direction). Alternatively, the protrusions 158a1 and 158a2 may have a shape that forms part of a polygon when viewed from the +X direction or the −X direction (for example, part of a square (a so-called U-shape), part of a hexagon, or part of an octagon, etc.).

[0151] Furthermore, protrusions 158a1 and 158a2 may have a shape that protrudes in the +Y direction when viewed from the +X direction or the −X direction, but are not limited to this. Protrusions 158a1 and 158a2 may, for example, have a shape that protrudes in the +Y direction when viewed from the +Z direction or the −Z direction. In this case, protrusions 158a1 and 158a2 may, for example, have a shape that protrudes parallel to a plane that is parallel to the X direction and the Y direction. Protrusions 158a1 and 158a2 may, for example, have a shape that protrudes when viewed from the +X direction or the −X direction, and from the +Z direction or the −Z direction.

[0152] 1, 2, 6, etc., in the rebar binding robot 101 according to this embodiment, the main body unit 140 may be provided with a forearm connection portion 148a that connects the forearm 150a to the main body unit 140. The forearm connection portion 148a has a first forearm connection portion 148a1 and a second forearm connection portion 148a2, and the forearm 150a may be connected to the main body unit 140 by connecting the first protrusion 158a1 of the forearm 150a to the first forearm connection portion 148a1 and the second protrusion 158a2 of the forearm 150a to the second forearm connection portion 148a2.

[0153] In the rebar binding robot 101 according to this embodiment, one end 154a1 and the other end 154a2 of the forearm 150a may be provided between the tip of the mobile unit 120 and the tip of the main unit 140. That is, in the rebar binding robot 101 according to this embodiment, one end 154a1 of the forearm 150 may be provided between the front end of the mobile unit 120 in the first direction (Y direction) and the front end of the main unit 140 in the first direction (Y direction). Furthermore, the other end 154a2 of the forearm 150 may be provided between the front end of the mobile unit 120 in the first direction (Y direction) and the front end of the main unit 140 in the first direction (Y direction).

[0154] In the rebar binding robot 101 according to this embodiment, the front end in the Y direction of the mobile unit 120 is, for example, the connection portion between the main body link portion 125 and the roller side link portion 123. Furthermore, the front end in the Y direction of the main body unit 140 is, for example, the portion where the front arm connection portion 148 is provided. As shown in FIGS. 1 to 4 , in the rebar binding robot 101 according to this embodiment, the connection portion between the main body link portion 125 and the roller side link portion 123 is located further forward in the Y direction than the front arm connection portion 148 of the main body unit 140. Therefore, in the rebar binding robot 101 according to this embodiment, the front end in the Y direction of the mobile unit 120 is located further forward in the Y direction than the front end in the Y direction of the main body unit 140.

[0155] 1 to 4 , in the rebar binding robot 101 according to this embodiment, the one end 154a1 and the other end 154a2 are provided so as to be forward in the Y direction (+Y direction) of the Y-direction front end of the main unit 140 and rearward in the Y direction (-Y direction) of the Y-direction front end of the mobile unit 120. That is, the one end 154a1 and the other end 154a2 are provided between the Y-direction front end of the main unit 140 and the Y-direction front end of the mobile unit 120 when viewed in the Y direction. Furthermore, in the rebar binding robot 101 according to this embodiment, the horizontal part 156a is connected to the one end 154a1 and the other end 154a2, and since the horizontal part 156a has an elongated shape extending in the X direction, the horizontal part 156a is also provided between the Y-direction front end of the main unit 140 and the Y-direction front end of the mobile unit 120 when viewed in the Y direction.

[0156] In the rebar tying robot 101 of this embodiment, this configuration makes it possible to protect the rebar tying robot 101 from contact with obstacles while preventing the overall size of the rebar tying robot 101 in the Y direction from increasing, compared to when, for example, one end 154a1 and the other end 154a2 of the forearm 150a and the horizontal portion 156a are positioned further forward in the Y direction than the front end of the mobile unit 120.

[0157] As described above, the arm 150 according to this embodiment may have a rear arm 150b in addition to the front arm 150a. That is, the rebar binding robot 101 according to this embodiment may have a configuration in which the arms 150 are arranged on both sides in the Y direction (the direction of travel of the rebar binding robot 101). In this case, the rebar binding robot 101 according to this embodiment includes the rear arm 150b that is provided behind the mobile unit 120 and the main unit 140 in the first direction (Y direction) when viewed from above in the third direction (Z direction).

[0158] 1 to 4, similar to the front arm 150a, the rear arm 150b may have a rear end portion 152b (first rear end portion 152b1 and second rear end portion 152b2), one end portion 154b1 (one rear end portion 154b1), the other end portion 154b2 (the other rear end portion 154b2), a horizontal portion 156b (rear horizontal portion 156b), and a protruding portion 158b (rear protruding portion 158b including a first rear protruding portion 158b1 and a second rear protruding portion 158b2). The horizontal portion 156b of the rear arm 150b may also have an elongated shape extending in the X direction.

[0159] In addition, the main unit 140 may be provided with a rear arm connection portion 148b that connects the rear arm 150b to the main unit 140, and the rear arm connection portion 148b may have a first rear arm connection portion 148b1 and a second rear arm connection portion 148b2, and the rear arm 150b may be connected to the main unit 140 by having the first protrusion 158b1 of the rear arm 150b connected to the first rear arm connection portion 148b1 and the second protrusion 158b2 of the rear arm 150b connected to the second rear arm connection portion 148b2.

[0160] Furthermore, as shown in Figures 1 to 4, in the rebar binding robot 101 of this embodiment, one end 154b1 and the other end 154b2 of the rear arm 150b are provided between the rear end of the mobile unit 120 (the -Y direction of the third running unit 121c and the fourth running unit 121d) and the rear end of the main unit 140 (the portion where the first rear arm connection portion 148b1 and the second rear arm connection portion 148b2 of the main unit 140 are provided).

[0161] The rebar bundling robot 101 according to this embodiment further includes the rear arm 150b, which makes it possible to protect the rebar bundling robot 101 from contact with obstacles that may exist behind it in the Y direction (the -Y direction), for example. For example, in a case where the rebar bundling robot 101 is configured to be able to move in the -Y direction as well, the front arm 150a can protect the rebar bundling robot 101 from obstacles that may exist in the +Y direction when the rebar bundling robot 101 moves in the -Y direction. Similarly, the rear arm 150b can protect the rebar bundling robot 101 from contact with obstacles on the rebar that are in the -Y direction of the rebar bundling robot 101. Alternatively, the rear arm 150b can protect the rebar bundling robot 101 from obstacles that move from the -Y direction to the +Y direction of the rebar bundling robot 101 (for example, a worker or a self-propelled work robot such as another bundling device that works on rebar).

[0162] Furthermore, the rebar binding robot 101 according to this embodiment is equipped with a rear arm 150b in addition to the front arm 150a, which, as will be described later, enables stable support of the rebar binding robot 101. For example, in the rebar binding robot 101, when viewed in the Y direction, arms such as the front arm 150a and the rear arm 150b (for example, an arm such as the horizontal portion 156a of the front arm 150a and an arm such as the horizontal portion 156b of the rear arm 150b) can be provided between the moving unit 120 in the +Y direction (first traveling unit 121a and second traveling unit 121b) and the moving unit 120 in the -Y direction (third traveling unit 121c and fourth traveling unit 121d), and these arms can be used to support the rebar binding robot 101 relative to the rebar R.

[0163] In the rebar binding robot 101 of this embodiment, the front arm 150a (e.g., the horizontal portion 156a of the front arm 150a) is arranged in the +Y direction (e.g., in the +Y direction from the first roller portion 122a of the first running unit 121a and in the +Y direction from the second roller portion 122b of the second running unit 121b), and the rear arm 150b (e.g., the horizontal portion 156b of the rear arm 150b) is arranged in the -Y direction (e.g., in the -Y direction from the third roller portion 122c of the third running unit 121c and in the -Y direction from the fourth roller portion 122d of the fourth running unit 121d), so that the distance in the Y direction between the front arm 150a and the rear arm 150b (e.g., the distance in the Y direction between the horizontal portion 156a of the front arm 150a and the horizontal portion 156b of the rear arm 150b) can be made relatively large. Therefore, when the reinforcing bar binding robot 101 of this embodiment is supported by the front arm 150a and the rear arm 150b, it is possible to support the reinforcing bar binding robot 101 more stably, for example, against reinforcing bars R.

[0164] As a result, for example, when the rebar tying robot 101 moves laterally, the front arm 150a and rear arm 150b can support the rebar tying robot 101 more stably, thereby achieving stable lateral movement.

[0165] In the configuration described above with reference to FIGS. 1 to 4 , one end 154a1 and the other end 154a2 of the forearm 150a are provided between the tip of the moving unit 120 and the tip of the main unit 140, but this is not limited to this. For example, one end 154a1 and / or the other end 154a2 of the forearm 150a may be provided forward of the moving unit 120 and the main unit 140 in the Y direction. In this case, one end 154a1 of the forearm 150a may be provided forward of the moving unit 120 and the main unit 140 in the first direction (Y direction), and the other end 154a2 of the forearm 150a may be provided forward of the moving unit 120 and the main unit 140 in the first direction (Y direction). In addition, in this case, the front end 152a may be provided on the horizontal portion 156a.

[0166] With this configuration, the rebar binding robot 101 of this embodiment has the front arm 150a (for example, the horizontal portion 156a of the front arm 150a) arranged further in the +Y direction (for example, further in the +Y direction than the first roller portion 122a of the first running unit 121a and further in the +Y direction than the second roller portion 122b of the second running unit 121b), and the rear arm 150b (for example, the horizontal portion 156b of the rear arm 150b) arranged further in the -Y direction (for example, further in the -Y direction than the third roller portion 122c of the third running unit 121c and further in the -Y direction than the fourth roller portion 122d of the fourth running unit 121d). Therefore, the distance in the Y direction between the front arm 150a and the rear arm 150b (for example, the distance in the Y direction between the horizontal portion 156a of the front arm 150a and the horizontal portion 156b of the rear arm 150b) can be further increased, so that when the rebar tying robot 101 is supported by the front arm 150a and the rear arm 150b, the rebar tying robot 101 can be supported even more stably.

[0167] The rebar binding robot 101 according to this embodiment may be configured such that, for example, the arms 150 (the front arm 150a and the rear arm 150b) can be grasped during transportation. That is, the front arm 150a and the rear arm 150b can be grasped to enable transportation of the rebar binding robot 101. For example, the rebar binding robot 101 may be configured such that one worker grasps the front arm 150a and the rear arm 150b, or multiple workers may be separated into two positions, one at the front and one at the rear in the Y direction, and grasp the front arm 150a and the rear arm 150b, respectively.

[0168] The above-described configuration allows the rebar binding robot 101 to be transported stably because the distance (distance in the Y direction) between the front arm 150a and the rear arm 150b is relatively large. For example, compared to the case where the two arms are relatively close to each other (for example, the case where the two arms are provided between the mobile units in the +Y direction (mobile units 120a and 120b) and the mobile units in the -Y direction (mobile units 120c and 120d)), the rebar binding robot 101 can be transported stably.

[0169] Furthermore, since the front arm 150a and rear arm 150b of the rebar binding robot 101 according to this embodiment include horizontal portions 156a and 156b, a worker carrying the rebar binding robot 101 can easily carry the rebar binding robot 101 by grasping the horizontal portions 156a and 156b. When carrying the rebar binding robot 101, the worker can also grasp the protruding portions 158a and 158b of the front arm 150a and rear arm 150b. When carrying the rebar binding robot 101, by grasping the horizontal portions 156a and 156b, it is relatively easy to maintain the horizontal position of the rebar binding robot 101.

[0170] Furthermore, by configuring the front arm 150a and rear arm 150b to be gripped when transporting the rebar binding robot 101, the mobile unit 120, main unit 140, etc. are not gripped during transport, thereby preventing damage to the mobile unit 120, main unit 140, etc. during transport.

[0171] In the rebar binding robot 101 according to this embodiment, the arm 150 may be positioned so as to avoid the field of view of the sensor (sensor 130a of the above-described sensor unit 130). That is, the rebar binding robot 101 according to this embodiment is equipped with a detection unit (sensor unit 130) having a sensor (first sensor 130a) whose detection range is an area including the rebar R located forward (+Y direction) in the first direction (Y direction) from the mobile unit 120, and the front arm 150a may be positioned outside the detection range of the sensor (first sensor 130a) of the detection unit (sensor unit 130).

[0172] For example, if the forearm 150a is located within the sensor's detection range, the forearm 150a will be captured in the sensor's detection results (e.g., detection image). Therefore, for example, if the forearm 150a and the rebar R overlap within the sensor's detection range, accurate detection of the rebar R may be impossible. For example, when the rebar binding robot 101 is performing binding work at the intersection of the first rebar R1 and the second rebar R2 detected based on the sensor's detection results, if the rebar R cannot be accurately detected, there is a possibility that some of the intersections between the first rebar R1 and the second rebar R2 will not be bound. Alternatively, for example, a long portion of the forearm 150a, such as the horizontal portion 156a, may be erroneously detected as part of the rebar R. In the rebar binding robot 101 according to this embodiment, the above configuration prevents the forearm 150a from being captured in the sensor's detection results (e.g., detection image), allowing for more accurate detection of the rebar R.

[0173] In the rebar binding robot 101 according to this embodiment, if the forearm 150a is within the detection range of the sensor, image processing may be performed to remove the forearm 150a from the detection results. By performing such image processing, it is possible to prevent missed detection of the intersection between the first rebar R1 and the second rebar R2 to be bound by the rebar binding unit 110, and also to prevent erroneous detection of the rebar R.

[0174] Similar to the front arm 150a, the rebar binding robot 101 according to this embodiment includes a detection unit (sensor unit 130) having a sensor (second sensor 130b) whose detection range is an area including the rebar R located rearward (-Y direction) in the first direction (Y direction) from the mobile unit 120, and the rear arm 150b may be provided in a position outside the detection range of the sensor (second sensor 130b) of the detection unit (sensor unit 130). By providing the rear arm 150b so that it is outside the detection range of the sensor (e.g., second sensor 130b), it becomes possible to suppress erroneous detection of the rebar R by the sensor, for example.

[0175] 1 to 4 and 12, in the rebar binding robot 101 according to this embodiment, the first sensor 130a is provided on the main unit 140. Similarly, the second sensor 130b is provided on the main unit 140.

[0176] As described above, in the rebar binding robot 101 according to this embodiment, the first direction is the Y direction and the second direction is the X direction, so the second direction is a direction perpendicular to the first direction. Furthermore, the fourth direction is the X direction, so the fourth direction is a direction parallel to the second direction. This embodiment is not limited to this. For example, as described above with reference to FIG. 20 , the second direction does not have to be a direction perpendicular to the first direction. For example, the first rebar R1 and the second rebar R2 may be arranged so that the second direction and the first direction form an angle of 30° with each other. In this case, for example, if the rebar binding robot 101 is configured so that the third direction and the fourth direction are parallel to the Y direction and the X direction, respectively, the fourth direction and the second direction do not have to be parallel to each other. The relationships between the first, second, third, and fourth directions are not limited to those exemplified above. Multiple rebars may be arranged so that they have other relationships, and the rebar binding robot 101 according to this embodiment may also be configured.

[0177] In the above-described embodiment, the forearm 150a includes one horizontal portion 156a. However, this embodiment is not limited to this. For example, the horizontal portion 156a of the forearm 150a may include a first front horizontal portion 156a1 and a second front horizontal portion 156a2. That is, the forearm 150a may include a first front horizontal portion 156a1 including one end 154a1 in a direction (second direction, X direction) perpendicular to the first direction (Y direction) of the forearm 150a, and a second front horizontal portion 156a2 including the other end 154a2 in a direction (X direction) perpendicular to the first direction (Y direction) of the forearm 150a, the first front horizontal portion 156a1 and the second front horizontal portion 156a2 spaced apart in the X direction.

[0178] Similarly, with regard to the rear arm 150b, the horizontal portion 156b of the rear arm 150b may include a first rear horizontal portion 156b1 and a second rear horizontal portion 156b2. That is, the rear arm 150b may include the first rear horizontal portion 156b1 including one end portion 154b1 in a direction (X direction) perpendicular to the first direction (Y direction) of the rear arm 150b, and the other end portion 154b2 in a direction (X direction) perpendicular to the first direction (Y direction) of the rear arm 150b, and the second rear horizontal portion 156b2 arranged to be spaced apart in the X direction from the first rear horizontal portion 156b1.

[0179] The rebar binding robot 103 in this case will be described with reference to Figure 25. Figure 25 is a perspective view of the rebar binding robot 103. Figure 25 is a perspective view of the rebar binding robot 103 as seen from diagonally rearward (+X direction and -Y direction). The following description will focus on the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 of the rear arm 150b with reference to Figure 25.

[0180] 25, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 are shaped to divide the horizontal portion 156b described above with reference to FIGS. 1 to 4 near the center in the X direction and be spaced apart from each other. Therefore, the first rear horizontal portion 156b1 includes one end 154b1 in the -X direction and the other end of the first rear horizontal portion 156b1 in the +X direction. The second rear horizontal portion 156b2 includes the other end 154b2 in the +X direction and the other end of the second rear horizontal portion 156b2 in the -X direction.

[0181] Furthermore, in the rebar binding robot 103, the first rear horizontal section 156b1 and the second rear horizontal section 156b2 are each connected to the main unit 140 by two protrusions 158b. In the embodiment described above with reference to Figures 1 to 4, the rebar binding robot 101 includes two protrusions 158b1 and 158b2 (rear protrusions 158b1 and 158b2), but this embodiment is not limited to this. The rear arm 150b may include three or more protrusions 158b.

[0182] 25 , the rear arm 150b of the rebar binding robot 103 includes first rear protrusions 158b11 and 158b12 and second rear protrusions 158b21 and 158b22. In this case, the arm connection portion 148 of the main body unit 140 includes first rear arm connection portions 148b11 and 148b12 and second rear arm connection portions 148b21 and 148b22. The first rear protrusions 158b11 and 158b12 are connected to the first rear arm connection portions 148b11 and 148b12, respectively. Furthermore, the second rear protrusions 158b21 and 158b22 are connected to the second rear arm connection portions 148b21 and 148b22, respectively. 25 , the first rear protrusions 158b11 and 158b12 and the second rear protrusions 158b21 and 158b22 may have the same curved shape. Also, the first rear protrusions 158b11 and 158b12 and the second rear protrusions 158b21 and 158b22 may have the same shape as the rear protrusions 150b1 and 150b2 of the rear arm 150b of the rebar binding robot 101 described above.

[0183] 25 , with the above-described configuration, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 are supported relative to the main unit 140 by the first rear protrusions 158b11 and 158b12 and the second rear protrusions 158b21 and 158b22, respectively. Therefore, for example, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 can be supported more stably than when each is supported by a single rear protrusion 158b. For example, even when the rear arm 150b comes into contact with a relatively large obstacle, the shape and position of the rear arm 150b can be maintained.

[0184] While the configuration of the rear arm 150b has been mainly described with reference to Figure 25, the forearm 150a may also have a similar configuration to the rear arm 150b. That is, in the rebar binding robot 103, the forearm 150a may include a first front horizontal portion 156a1 and a second front horizontal portion 156a2. Furthermore, the forearm connection portion 148a of the main body unit 140 may include first forearm connection portions 148a11 and 148a12 and second forearm connection portions 148a21 and 148a22. Furthermore, first front protrusions 158a11 and 158a12 may be connected to the first forearm connection portions 148a11 and 148a12, respectively, thereby supporting the first front horizontal portion 156a1 relative to the main body unit 140. Similarly, the second front horizontal portion 156a2 may be supported relative to the main unit 140 by connecting the second front protrusions 158a21 and 158a22 to the first front arm connection portions 148a21 and 148a22, respectively.

[0185] As with the rear arm 150b, the above configuration of the first front horizontal portion 156a1 and the second front horizontal portion 156a2 makes it relatively easy to maintain the shape and position of the front arm 150a even when they come into contact with an obstacle.

[0186] In the rebar binding robot 103 according to this embodiment, the forearm 150a has the following configuration, which allows the lateral movement described above with reference to Figures 8 and 15 to 19 to be performed relatively stably.

[0187] At this time, the reinforcing bar binding robot 103 according to this embodiment includes a reinforcing bar binding unit 110 configured to bind the intersections c12 of the first reinforcing bars R1 and the second reinforcing bars R2 of a plurality of reinforcing bars R, the intersections c12 being between the first reinforcing bars R1 and the second reinforcing bars R2, the first reinforcing bars R1 having an extension direction in a first direction (Y direction) and a plurality of second reinforcing bars R2 having an extension direction in a second direction (X direction) that intersects with the first direction (Y direction), a main unit 140 that supports the reinforcing bar binding unit 110, and a main unit 140 that is configured to be able to move the main unit 140 in the first direction (Y direction) over the plurality of reinforcing bars R. The device comprises a moving unit 120 and a front arm 150a having a front end 152a, at least a portion of which is located in front of the moving unit 120 and the main unit 140 in the first direction (Y direction) when viewed from above in a third direction (Z direction) perpendicular to the first direction (Y direction) and the second direction (X direction), and the front arm 150a is configured to move downward (-Z direction) in the third direction (Z direction) approaching the multiple reinforcing bars R and abut against the multiple reinforcing bars R, thereby moving the moving unit 120 upward (+Z direction) in the third direction (Z direction) from above the multiple reinforcing bars R.

[0188] In the rebar binding robot 103 according to this embodiment, the forearm 150a is configured to move in the -Z direction and abut against the rebars R, thereby moving the mobile unit 120 in the +Z direction from above the rebars R. This allows the rebar binding robot 103 to be stably supported when the mobile unit 120 shown in FIGS. 16 and 17 rises in the +Z direction from the rebars R during the lateral movement (movement in the +X direction) described above with reference to FIGS. 8 and 15 to 19 . Therefore, this configuration allows the rebar binding robot 103 to stably move laterally. For example, tipping of the binding device 100 during lateral movement can be prevented, thereby protecting the rebar binding robot 103.

[0189] At this time, similar to the front arm 150a, the rear arm 150b may also be configured to move in the -Z direction and abut against the multiple rebars R, thereby moving the mobile unit 120 in the +Z direction from above the multiple rebars R. During lateral movement, the rebar tying robot 103 is supported by the rear arm 150b in addition to the front arm 150a, allowing the robot to perform lateral movement more stably.

[0190] Next, with reference to Figures 26 to 31, another configuration for realizing lateral movement of the rebar binding robot 104 (an example of a binding device) according to this embodiment will be described. Figure 26 is a perspective view of the rebar binding robot 104 at this time. In the lateral movement described above with reference to Figures 8 and 15 to 19, the height in the Z direction of the moving unit 120 is changed by opening and closing the main body-side link portion 125 and the roller-side link portion 123 of the traveling unit 121 of the moving unit 120 relative to each other, thereby causing the front arm 150a and the rear arm 150b to abut against and separate from the rebar R, thereby performing lateral movement. Therefore, in the rebar binding robot 104, the relative heights of the front arm 150a and the rear arm 150b with respect to the main body unit 140 do not change during lateral movement. In the rebar binding robot 104 shown in Figure 26, the front arm 150a and the rear arm 150b are configured to be rotatable relative to the main unit 140, and by rotating the front arm 150a and the rear arm 150b, the height of the front arm 150a and the rear arm 150b relative to the main unit 140 is changed, and lateral movement is performed.

[0191] In the rebar binding robot 104, the front arm 150a and the rear arm 150b are configured to be rotatable relative to the main unit 140 along a plane parallel to the first direction (Y direction) and the third direction (Z direction), and the front arm 150a and the rear arm 150b rotate relative to the main unit 140 and move downward (-Z direction) in the third direction (Z direction) to abut against a plurality of rebars R, thereby supporting the moving unit 120 and the main unit 140 against the plurality of rebars R, and when the moving unit 120 and the main unit 140 are supported by the front arm 150a and the rear arm 150b, the moving unit 120, the main unit 140, and the rebar binding unit 110 are configured to be movable in a direction parallel to a plane parallel to the first direction (Y direction) and the second direction (X direction) and intersects the first direction (Y direction).

[0192] 26 , in the rebar binding robot 104 according to this embodiment, the first forward protrusion 158a1 of the front arm 150a is connected to the main body unit 140 via a first front rotation part 159a1, and the second forward protrusion 158a2 is connected to the main body unit 140 via a second front rotation part 159a2. Furthermore, the first rearward protrusion 158b1 of the rear arm 150b is connected to the main body unit 140 via a first rear rotation part 159b1, and the second rearward protrusion 158b2 is connected to the main body unit 140 via a second rear rotation part 159b2. The following description will first focus on the configuration in which the rear arm 150b rotates.

[0193] The first rear rotating portion 159b1 includes a rotation center portion 159b1a, a rotation support portion 159b1b, and a rotation end portion 159b1c. The rotation support portion 159b2b is provided between the rotation center portion 159b1a and the rotation end portion 159b1c. The first rear protruding portion 158b1 is connected to the rotation end portion 159b1c, and the rotation center portion 159b1a is connected to the main unit 140. The rotation end portion 159b1c is configured to be rotatable around the rotation center portion 159b1a via the rotation support portion 159b1b along a plane parallel to the X direction and the Z direction. Similarly, the second rear protrusion 158b2 is connected to the pivot end 159b2c, the pivot center 159b2a is connected to the main unit 140, and the pivot end 159b2c is configured to be rotatable along a plane parallel to the X direction and Z direction via the pivot support portion 159b2b, centered on the pivot center 159b2a.

[0194] Similarly, the second forward protrusion 158a2 of the forearm 150 is connected to a rotation end 159a2c, and a rotation center 159a2a is connected to the main unit 140. The rotation end 159a2c is configured to be rotatable around the rotation center 159a2a via a rotation support portion 159a2b along a plane parallel to the X direction and the Z direction.

[0195] The lateral movement performed by the rebar binding robot 104 with the above configuration will be described below with reference to Figures 27 to 31. Figures 27 to 31 are views of the rebar binding robot 104 as seen from behind (in the -Y direction). The lateral movement illustrated in Figures 27 to 31 is lateral movement in the -X direction.

[0196] As shown in Figure 27, the rebar binding robot 104 is first positioned on the rebar R, with traveling unit 121c traveling on the first rebar R12 and traveling unit 121d traveling on the first rebar R15. As described above, for example, the robot continues binding work at the intersection c12 between the first rebar R10 and the second rebar R20, and then moves laterally when the end R10e in the Y direction is detected. Figures 27 to 31 illustrate the case where the rebar binding robot 104 moves laterally in the -X direction from a state where it is traveling on the first rebars R12 and R16 to a state where it is traveling on the first rebars R11 and R15.

[0197] As shown in FIG. 27, the rotating portion 159b1 and the rotating portion 159b2 are connected to each other by the rear bar 146r2b. Also, as shown in FIG. 27, the rear bar 146r2b is connected to the rear arm rotating portion 146r2, which has a circular shape when viewed from the -Y direction, at a position relatively close to the arc. The rear bar 146r2b is configured so that, as the rear arm rotating portion 146r2 rotates, it can move around the portion of the rear arm rotating portion 146r2 that is close to the arc. In the rebar binding robot 104 according to this embodiment, the rear arm rotating portion 146r2 may be configured to be rotated, for example, by a motor (not shown).

[0198] The rotational configuration of the forearm 150a may be similar to that of the rear arm 150b. Thus, for example, the first front rotation portion 159a1 and the second front rotation portion 159a2 of the forearm 150a may be connected by a front bar 146r2a. The front bar 146r2a is connected to a position relatively close to the arc of the forearm rotation portion 146r1, which has a circular shape when viewed from the +Y direction. Rotation of the forearm rotation portion 146r1 allows the forearm rotation portion 146r1 to rotate around a portion of the forearm rotation portion 146r1 that is close to the arc. Similarly to the rear arm rotation portion 146r2, the forearm rotation portion 146r1 may also be configured to be rotated by, for example, a motor (not shown) or the like.

[0199] Next, as shown in Figure 28, from the state shown in Figure 27, the rear arm rotating portion 146r2 rotates 90° counterclockwise in Figure 27, and the rear bar 146r2b moves in the -Z and -X directions. This causes the rotating ends 159b1c and 159b2c of the rotating portions 159b1 and 159b2 connected to the rear bar 146r2b to also move in the -Z and -X directions. As a result, the rear arm 150b connected to the rotating ends 159b1c and 159b2c also moves in the -Z and -X directions, and the rear horizontal portion 156b of the rear arm 150b abuts against the rebar R.

[0200] 28, at this time, the rear horizontal section 156b abuts against the first rebars R11 to R16. Furthermore, as the rear arm 150b moves, the third traveling unit 121c and the fourth traveling unit 121d of the traveling unit 120 move in the +Z direction relative to the rebars R. Similarly, as the front horizontal section 156a of the front arm 150a moves in the -Z and -X directions, it abuts against the rebars R, and the first traveling unit 121a and the second traveling unit 121b move in the +Z direction relative to the rebars R. As a result, all traveling units 121 move in the +Z direction relative to the rebars R, and the rebar binding robot 104 is supported by the front arm 150a and the rear arm 150b.

[0201] Next, as shown in Figure 29, from the state shown in Figure 28, the rear arm rotating portion 146r2 rotates another 90° counterclockwise in Figure 28, and the rear bar 146r2b moves in the -Z and +X directions. At this time, as shown in Figure 29, the rear bar 146r2b is at the lowest position (-Z direction) relative to the rear arm rotating portion 146r2. Therefore, the rotating ends 159b1c connected to the rear bar 146r2b and the rear arm 150b connected to 159b2c are also at their lowest positions, and the traveling unit 121 is at its highest position (+Z direction).

[0202] Next, as shown in Fig. 30, the rear arm rotating portion 146r2 rotates another 90° counterclockwise from the state shown in Fig. 29, and the rear bar 146r2b moves in the +Z and +X directions. At this time, the rear bar 146r2b reaches the same height in the Z direction as in the state shown in Fig. 28.

[0203] Next, as shown in Figure 31, from the state shown in Figure 30, the rear arm rotating portion 146r2 rotates another 90° counterclockwise in Figure 30, and the rear bar 146r2b moves in the +Z direction and the -X direction. At this time, the rear bar 146r2b reaches the same height in the Z direction as in the state shown in Figure 27, so that the traveling unit 121 abuts against the rebar R, and the rear horizontal portion 156b is positioned in the +Z direction from the rebar R. Furthermore, of the traveling units 121, the third traveling unit 121c abuts against the first rebar R11, and the fourth traveling unit 121d abuts against the first rebar R15, of the first rebars R11 to R16. In addition, similar to the rear arm 150b, the front arm 150a can be rotated by the pivoting parts 159a1 and 159a2, thereby allowing the first running unit 121a and the second running unit 121b, which are running units 121 arranged in the +Y direction, to move laterally in the -X direction.

[0204] This completes the lateral movement of the rebar tying robot 104 over the rebars R. In the exemplary lateral movement described above with reference to FIGS. 27 to 31 , the rebar tying robot 104 moves from a state where it is traveling over the first rebars R12 and R16 to a state where it can travel over the first rebars R11 and R15. Note that if the rebar tying robot 104 further moves over the first rebar R10 in the −X direction by lateral movement, it may repeat the lateral movement described above with reference to FIGS. 27 to 31 . Furthermore, when the rebar tying robot 104 moves lateral in the +X direction, it can move lateral in the +X direction by, for example, rotating the rear arm rotation unit 146r2 clockwise in FIGS. 27 to 31 , which is the opposite of the lateral movement described above with reference to FIGS. 27 to 31 .

[0205] 27 to 31 , the lateral movement of the rebar binding robot 104 is not configured to close the main body link 125 and the roller side link 123 of the traveling unit 121. This is because the traveling unit 121 can be moved in the +Z direction by rotating the front arm 150a and the rear arm 150b without closing the main body link 125 and the roller side link 123 of the traveling unit 121. However, the rebar binding robot 104 according to this embodiment may be configured to change the height of the traveling unit 121 by opening and closing the main body link 125 and the roller side link 123 of the traveling unit 121 in addition to rotating the front arm 150a and the rear arm 150b. Note that the traveling unit 120 is not limited to extending and contracting in the Z direction by opening and closing the main body link 125 and the roller side link 123 of the traveling unit 121, and may be configured to move in directions including the Z direction, for example.

[0206] Furthermore, similar to the above description of the rebar binding robot 101, in the rebar binding robot 104 according to this embodiment, the arm 150 may be positioned so as to avoid the field of view of the sensors (first sensor 130a and second sensor 130b). That is, the rebar binding robot 104 is equipped with a detection unit (sensor unit 130) having a sensor (first sensor 130a) whose detection range is an area including the rebar R located forward (+Y direction) in the first direction (Y direction) from the mobile unit 120, and the forearm 150a may be positioned outside the detection range of the sensor (first sensor 130a) of the detection unit (sensor unit 130).

[0207] As described above for the rebar binding robot 101, the rebar binding robot 104 according to this embodiment may also have the forearm 150a within the sensor's detection range. In this case, for example, image processing may be performed to remove the forearm 150a from the detection results, thereby preventing missed detection of the intersection c12 between the first rebar R1 and the second rebar R2 to be bound by the rebar binding unit 110 and also preventing erroneous detection of the rebar R. Similarly to the forearm 150a, the rebar binding robot 104 according to this embodiment includes a detection unit (sensor unit 130) having a sensor (second sensor 130b) whose detection range includes an area including the rebar R located rearward (in the -Y direction) of the mobile unit 120 in the first direction (Y direction). The rear arm 150b may be located outside the detection range of the sensor (second sensor 130b) of the detection unit (sensor unit 130). By providing the rear arm 150b so that it is outside the detection range of a sensor (e.g., the second sensor 130b), it is possible to prevent the sensor from erroneously detecting the rebar R. Also, in the rebar binding robot 104 according to this embodiment, the first sensor 130a and the second sensor 130b may be provided on the main unit 140.

[0208] Furthermore, the forearm 150a and / or the rear arm 150b according to this embodiment may be configured to be extendable and retractable in the Z direction. By making the forearm 150a and / or the rear arm 150b extendable and retractable in the Z direction, the lateral movement of the rebar tying robot 101 described above with reference to Figures 8 and 15 to 19 and the lateral movement of the rebar tying robot 104 described above with reference to Figures 27 to 31 can be performed by extending and retracting the forearm 150a and the rear arm 150b in the Z direction, without having to extend and retract the traveling unit 120 in the Z direction or without having to configure the forearm 150a and the rear arm 150b to rotate.

[0209] In the rebar binding robot 104 according to this embodiment, the length of the arm 150 in the X direction may be more than three times the spacing between the rebars R. That is, in the rebar binding robot 104, the multiple first rebars R10 are arranged so that the spacing between them in the direction (X direction) perpendicular to the first direction (Y direction) is a first pitch, and the length of the front arm 150a in the direction (X direction) perpendicular to the first direction (Y direction) may be more than three times the first pitch, and the length of the rear arm 150b in the direction (X direction) perpendicular to the first direction (Y direction) may be more than three times the first pitch.

[0210] When the rebar tying robot 104 moves on the rebars R, the length (length in the X direction) of the arm 150 is set to more than three times the first pitch, which is the spacing between the first rebars R10. This allows the arm 150 to move laterally while abutting against four adjacent first rebars R10. This makes it possible to more steadily move the rebar tying robot 104. In particular, for example, when the rebars R to be tied by the rebar tying robot 104 are relatively thin, the arm 150 may be provided so as to abut against four or five or more first rebars R10, allowing the rebar tying robot 104 to move stably on the rebars R. On the other hand, when the rebars R are relatively thick and stable lateral movement is possible by abutting the arm 150 against two adjacent first rebars R10, the length of the arm 150 may be, for example, twice or more than twice the first pitch.

[0211] Note that by making the length of the arm 150 according to this embodiment greater than the first pitch, when the arm 150 comes into contact with a first rebar R10, it can come into contact with two adjacent first rebars R10. That is, for example, in the rebar binding robot 104 according to this embodiment, the forearm 150a may be provided so that the length in the X direction from one end 154a1 to the other end 154a2 of the forearm 150a is longer than the distance between adjacent first rebars R1. That is, in the rebar binding robot 104 according to this embodiment, the multiple first rebars R1 are arranged so that the spacing between them in the direction (X direction) perpendicular to the first direction (Y direction) is a first pitch, and the length from one end 154a1 to the other end 154a2 of the forearm 150a in the direction (X direction) perpendicular to the first direction (Y direction) on a plane (horizontal plane) parallel to the first direction (Y direction) and the second direction (X direction) may be greater than the first pitch. Note that, as described above, by making the length of the arm 150 more than twice the first pitch, the arm 150 can be more reliably brought into contact with two or more adjacent first rebars R10.

[0212] Furthermore, as described above, the arm 150 may be provided so that the length in the X direction of the horizontal portion 156 of the arm 150, rather than the length in the X direction of the arm 150, is more than three times, or twice, or more than twice, the first pitch, as described above.

[0213] Furthermore, for example, when the rebar binding robot 104 repeatedly moves laterally to bind the intersection c12 of the first rebar R10 and the second rebar R20 near the end in the +X direction or the end in the −X direction (end R20e of the second rebar R20) of multiple rebars R, if it is considered that binding work near the end R20e will not be easy if the length of the arm 150 in the X direction is too long, the length of the arm 150 may be adjusted appropriately. For example, if binding of the intersection c12 near the end R20e is not necessary, the arm 150 may be made relatively long, and if binding is to be performed up to the vicinity of the end R20e, the arm 150 may be made relatively short.

[0214] For example, the first pitch may be 100 mm or more and 250 mm or less, depending on the actual site where the bundling work is performed. The first pitch may also be 150 mm or more and 200 mm or less. Therefore, for example, if the X-direction length of the arm 150 (or the length of the horizontal portion 156 of the arm 150) is set to approximately 600 mm or more and 750 mm or less, the X-direction length of the arm 150 can be made more than three times the first pitch, which is the spacing between the first rebars R10, in many sites. This allows the arm 150 to abut against four (or more) adjacent first rebars R10 during lateral movement, enabling stable lateral movement. Alternatively, by setting the X-direction length of the arm 150 to, for example, 250 mm or more, it can abut against at least two adjacent first rebars R10.

[0215] [Others] The "binding device" according to the present disclosure is not limited to a self-propelled binding device and may include other types of binding devices. The "binding device" may include, for example, a gantry-type binding device. The gantry-type binding device can be used, for example, for binding rebars in large-scale structures such as bridges. The gantry-type binding device includes a "moving unit" for moving the rebar binding unit relative to multiple rebars. The "moving unit" may include, for example, a bridging unit arranged to cross over the multiple rebars and a driving unit that is driven to move along the bridging unit and holds the rebar binding unit. The bridging unit may be configured to be movable along an area where multiple rebars are provided. The gantry-type binding device may also include a "protecting unit" that protects the rebar binding unit. The "protecting unit" may be arranged in any direction relative to the rebar binding unit to protect the rebar binding unit from the environment in that direction. The "protective part" may be arranged above at least a portion of the reinforcing bar binding unit, or may be arranged around at least a portion of the reinforcing bar binding unit (in the circumferential direction when the vertical direction is the axis). The "protective part" may be configured to include a frame, or may be configured to further include a cover configured to cover at least a portion of the frame. The "protective part" may be fixed to the driving part, or may be fixed to the reinforcing bar binding unit.

[0216] The "binding device" according to the present disclosure is not limited to a self-propelled binding device and may include other types of binding devices. The "binding device" may include, for example, a robotic arm-type binding device. The robotic arm-type binding device includes a "moving unit" for moving a rebar binding unit relative to multiple rebars. The "moving unit" may include, for example, an articulated arm configured by connecting multiple links and joints, and / or a sliding mechanism for a rail installed on a ceiling, etc. The rebar binding machine included in the robotic arm-type binding device may be provided on the articulated arm and / or the sliding mechanism, etc., and configured to be movable over multiple rebars. The robotic arm-type binding device may also include a "protecting unit" that protects the rebar binding unit. The "protecting unit" may be positioned in any direction relative to the rebar binding unit to protect the rebar binding unit from the environment in that direction. The "protective unit" may be arranged above at least a portion of the rebar binding unit, or may be arranged around at least a portion of the rebar binding unit (in the circumferential direction when the vertical direction is the axis). The "protective unit" may be configured to include, for example, a frame, or may further include a cover configured to cover at least a portion of the frame. The "protective unit" may be fixed to the drive unit, or may be fixed to the rebar binding unit. The "protective unit" may be provided in a position that avoids the detection range of the sensor. For example, the "protective unit" may be provided in a position outside the observation area of ​​an imaging device, which is an example of a sensor.

[0217] The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art as appropriate are also included within the scope of the present disclosure as long as they comprise the features of the present disclosure. The elements of the above-described specific examples, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and can be modified as appropriate. The elements of the above-described specific examples can be combined in various ways as appropriate, as long as no technical contradictions arise.

[0218] This application is based on a Japanese patent application filed on January 23, 2024 (Patent Application No. 2024-008344) and a Japanese patent application filed on January 23, 2024 (Patent Application No. 2024-008347), the contents of which are incorporated by reference into this application.

[0219] The present disclosure has an effect of being able to protect against contact with obstacles, and is useful for binding devices and the like.

[0220] 100, 101, 102, 103, 104 Rebar tying robot (binding device) 110 Rebar tying unit 120 Mobile unit 121 Traveling unit 130 Sensor unit (detection unit) 140 Main unit (main unit) 150 Arm 150a Front arm 150b Rear arm 152a, 152a1, 152a2 Front end 154a1, 154b1 One end 154a2, 154b2 Other end 156a, 156b Horizontal portion 158a, 158a1, 158a2, 158b, 158b1, 158b2 Protruding portion R10 First rebar R20 Second rebar

Claims

1. A tying device comprising: a reinforcing bar tying unit configured to tie intersection points of a plurality of first reinforcing bars, each having an extending direction in a first direction, and a plurality of second reinforcing bars, each having an extending direction in a second direction that intersects the first direction and being arranged to intersect the first reinforcing bars; a main body unit that supports the reinforcing bar tying unit; a moving unit configured to be movable in the first direction on the plurality of reinforcing bars; a front arm having at least a part provided in front of the moving unit and the main body unit in the first direction in a top view seen from a third direction that is orthogonal to the first direction and the second direction; an end portion provided outside one end in a fourth direction of the moving unit and the main body unit, the fourth direction being parallel to a plane parallel to the first direction and the second direction and orthogonal to the first direction; and another end portion provided outside the other end in the fourth direction of the moving unit and the main body unit in the fourth direction.

2. The tying device according to claim 1, wherein the front arm has one or more horizontally formed elongated portions, and the horizontally formed elongated portions extend in the fourth direction and are connected to the one end portion and the other end portion.

3. The tying device according to claim 1, wherein the front arm is connected to the main body unit and includes a protruding portion having a shape protruding forward in the first direction, and the front end portion is provided on the protruding portion.

4. The tying device according to claim 1, wherein the one end portion of the front arm is provided between a front end in the first direction of the moving unit and a front end in the first direction of the main body unit, and the other end portion of the front arm is provided between a front end in the first direction of the moving unit and a front end in the first direction of the main body unit.

5. The tying device according to claim 1, further comprising a rear arm provided behind the moving unit and the main body unit in the first direction in a top view seen from the third direction.

6. One end of the front arm is provided in front of the moving unit and the main body unit in the first direction, and the other end of the front arm is provided in front of the moving unit and the main body unit in the first direction. The front end portion is provided on the horizontal portion. The bundling device according to claim 2.

7. The front arm and the rear arm are configured such that the bundling device can be transported by being gripped. The bundling device according to claim 5.

8. A detection unit having a sensor with a detection range including the reinforcing bar located in front of the moving unit in the first direction. The front arm is provided at a position outside the detection range of the sensor of the detection unit. The bundling device according to claim 1.

9. The second direction is a direction orthogonal to the first direction, and the fourth direction is a direction parallel to the second direction. The bundling device according to claim 1.

10. A plurality of first reinforcing bars with a stretching direction being the first direction, and a plurality of second reinforcing bars with a stretching direction being the second direction which intersects the first direction and are arranged to intersect the first reinforcing bars. A reinforcing bar bundling unit configured to bundle the intersection points of the first reinforcing bars and the second reinforcing bars of the plurality of reinforcing bars, a main body unit supporting the reinforcing bar bundling unit, a moving unit configured to be movable in the first direction on the plurality of reinforcing bars, and a front arm having a front end portion provided at least partially in front of the moving unit and the main body unit in the first direction in a top view seen from the third direction orthogonal to the first direction and the second direction. The front arm is configured to move downward in the third direction approaching the plurality of reinforcing bars and abut against the plurality of reinforcing bars, so as to move the moving unit upward from above the plurality of reinforcing bars in the third direction. A bundling device.

11. In a top view seen from the third direction, a rear arm provided behind the moving unit and the main body unit in the first direction is provided. The bundling device according to claim 10.

12. The front arm and the rear arm are configured to be rotatable along a plane parallel to the first direction and the third direction with respect to the main body unit. The front arm and the rear arm rotate with respect to the main body unit and move downward in the third direction to contact the plurality of reinforcing bars, thereby supporting the moving unit and the main body unit with respect to the plurality of reinforcing bars. In a state where the moving unit and the main body unit are supported by the front arm and the rear arm, the moving unit, the main body unit, and the reinforcing bar binding unit are configured to be movable in a plane parallel to the plane parallel to the first direction and the second direction and in a direction intersecting the first direction. The binding device according to claim 11.

13. The plurality of first reinforcing bars are arranged such that the interval in the direction orthogonal to the first direction is a first pitch. The length of the front arm in the direction orthogonal to the first direction is more than three times the first pitch. The binding device according to claim 10.

14. The moving unit is configured to be movable in the third direction. The binding device according to claim 10.

15. A detection unit having a sensor with a detection range including a region of the reinforcing bar located in front of the moving unit in the first direction is provided. The front arm is provided outside the detection range of the sensor of the detection unit. The binding device according to claim 10.

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