Binding device

Abstract

The binding device is provided with: a binding mechanism that conveys a wire around a reinforcing steel bar and twists and binds the wire conveyed around the reinforcing steel bar; a strapping mechanism moving unit that moves the strapping mechanism between a strapping position at which the strapping mechanism straps the reinforcing steel bar and a retracted position at which the strapping mechanism is separated from the reinforcing steel bar; and a wire drawing section that draws out the wire wound around the reel, the wire drawing section draws out the wire in the movement direction of the binding mechanism in conjunction with the movement of the binding mechanism by the binding mechanism moving section, and the amount of the wire drawn out by the wire drawing section is greater than the amount of movement of the binding mechanism moved by the action of the binding mechanism moving section.

Description

Technical Field

[0001] This embodiment relates to a strapping device. Background Art

[0002] Conventionally, for example, research has been conducted to automate the steel bar tying process of tying the intersection of longitudinally extending steel bars and transversely extending steel bars using wires, etc. For example, Patent Document 1 discloses a self-propelled working robot that can be used in steel bar construction.

[0003] Patent Document 2 discloses a method and apparatus for manufacturing a planar steel mesh. The steel mesh is formed by bundling a plurality of longitudinally extending steel bars (longitudinal bars) with a plurality of transversely extending steel bars (transverse bars) that cross the longitudinal bars using a bundling machine. The steel mesh manufacturing apparatus described in Patent Document 2 includes a wire drawing roller as a mechanism for drawing a wire from a reel toward the bundling machine. The wire drawing roller, provided in the apparatus described in Patent Document 2, descends from an upper retracted position to a lower drawing position and then immediately returns to the retracted position, thereby unwinding a predetermined length of wire from the reel.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-039174

[0007] Patent Document 2: Japanese Patent Application Laid-Open No. 2013-035052. Summary of the Invention

[0008] Problems to be solved by the invention

[0009] According to the technology disclosed in Patent Document 2, when the wire is consumed during the bundling operation of the bundling machine, the roller for pulling out the wire is lowered and raised to pull out the wire from the reel and accumulate the wire to be used in the next bundling operation, thereby preparing for the next bundling operation and thus smoothly performing the bundling operation. However, in the manufacturing device for the steel mesh described in Patent Document 2, a drive source is required for the roller for pulling out the wire. If an additional drive source is installed, it may lead to an increase in cost and / or an increase in weight. In addition, the number of components may also increase due to the provision of a drive source. Therefore, it is believed that there is room for improvement in the structure of the wire pulling out device of the bundling machine.

[0010] The present disclosure has been made in view of the above-mentioned problems, and an object of the present disclosure is to provide a binding device capable of pulling out a wire with a simple structure.

[0011] Means for solving problems

[0012] One embodiment of the present disclosure provides a bundling device comprising: a bundling mechanism that feeds wires around steel bars and twists and bundles the wires fed around the steel bars; a bundling mechanism moving portion that moves the bundling mechanism between a bundling position for bundling the steel bars and a retreat position away from the steel bars; and a wire pulling portion that pulls out the wires wound on a reel, the wire pulling portion being linked to the movement of the bundling mechanism by the bundling mechanism moving portion to pull out the wires in the moving direction of the bundling mechanism, and the amount of wire pulled out by the wire pulling portion is greater than the amount of movement of the bundling mechanism due to the action of the bundling mechanism moving portion.

[0013] Effects of the Invention

[0014] According to the present disclosure, a bundling device capable of pulling out wires with a simple structure is provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 1 is an overall perspective view of the rebar tying robot 100 according to an embodiment of the present disclosure, viewed obliquely from above.

[0016] Figure 2 This is an overall perspective view of a rebar tying robot according to an embodiment of the present invention as viewed from an oblique downward direction.

[0017] Figure 3 This is a plan view of the rebar tying robot 100 as viewed from above (upper side in the Z direction).

[0018] Figure 4 This is a plan view of the rebar tying robot 100 as viewed from below (from below in the Z direction).

[0019] Figure 5 This is a perspective view of the rebar tying robot 100 , with the rebar tying unit 110 detached, as seen from obliquely above.

[0020] Figure 6 This is a perspective view of the rebar tying robot 100 , with the rebar tying unit 110 detached, as seen from obliquely above.

[0021] Figure 7 1 is a diagram illustrating a functional block configuration of the rebar tying robot 100 .

[0022] Figure 8 This is a diagram of the rebar tying robot 100 as viewed from the Y direction while traveling along the first rebar R10.

[0023] Figure 9 This is a diagram of the rebar tying robot 100 as it moves along the first rebar R10 as viewed from the X direction.

[0024] Figure 10This is a diagram of the rebar tying robot 100 , which stops traveling and performs tying work, as viewed from the Y direction.

[0025] Figure 11 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the X direction.

[0026] Figure 12 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the lower side in the Z direction.

[0027] Figure 13A An image of the vicinity of the intersection of the first reinforcing bar R10 and the second reinforcing bar R20 captured by the 3D range camera is shown.

[0028] Figure 13B An image schematically shows the vicinity of an intersection of the first reinforcing bar R10 and the second reinforcing bar R20.

[0029] Figure 14A It is a schematic side view of the rebar tying robot 100 as viewed from the horizontal direction (X direction).

[0030] Figure 14B This is a schematic plan view of the rebar tying robot 100 as viewed from above (upper side in the Z direction).

[0031] Figure 15 Schematically shows an image captured by the first sensor 130 a .

[0032] Figure 16 is a schematic diagram for explaining template matching.

[0033] Figure 17 1 is a diagram schematically showing a reinforcing bar tying robot 100 for explaining a method of estimating an intersection portion.

[0034] Figure 18 This is a flowchart of a method for estimating the intersection position c12 in the embodiment of the present disclosure.

[0035] Figure 19 This is a flowchart related to the lateral movement of the rebar tying robot 100 .

[0036] Figure 20A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0037] Figure 20B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0038] Figure 21A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0039] Figure 21B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0040] Figure 22A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0041] Figure 22B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0042] Figure 23A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0043] Figure 23B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0044] Figure 24A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0045] Figure 24B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0046] Figure 25A This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from the rear side.

[0047] Figure 25B This is a diagram showing the rebar tying robot 100 as it moves laterally, as viewed from obliquely above.

[0048] Figure 26 This is a schematic diagram of a rebar tying robot 200 according to another embodiment of the present disclosure as viewed from below in the Z direction.

[0049] Figure 27A This is a diagram of the bundling device 100 according to the embodiment of the present disclosure as viewed obliquely from above.

[0050] Figure 27B This is a diagram showing the strapping device 100 as seen from the oblique front.

[0051] Figure 28A This is a diagram of the bundling device 100 according to the embodiment of the present disclosure as viewed obliquely from above.

[0052] Figure 28B This is a diagram showing the strapping device 100 as seen from the oblique front.

[0053] Figure 29A This is a diagram of the tying device 100 according to the embodiment of the present disclosure, for explaining the structure for pulling out the wire, as seen from obliquely above.

[0054] Figure 29BThis is a diagram showing the strapping device 100 as seen from the oblique front.

[0055] Figure 30A 1 is a top view of the strapping device 100 according to the embodiment of the present disclosure.

[0056] Figure 30B This is a diagram showing the bundling device 100 as viewed obliquely from above.

[0057] Figure 31A This is a diagram showing the reel 180a, the reel 180b, the first wire pullout section 112, the second wire pullout section 148, and the like as viewed from the -Y direction.

[0058] Figure 31B This is a diagram showing the reels 180a and 180b, the first wire drawing unit 112, the second wire drawing unit 148, and the like as viewed from obliquely above.

[0059] Figure 32 This is an enlarged view showing the vicinity of the second wire pulling portion 148 of the tying device 100 according to the embodiment of the present disclosure. DETAILED DESCRIPTION

[0060] Hereinafter, the present embodiment will be described with reference to the accompanying drawings. To facilitate understanding of the description, identical components are denoted by identical reference numerals as much as possible in the drawings, and redundant descriptions are omitted.

[0061] The structure of the bundling device 100 according to an embodiment of the present disclosure will be described below. In this embodiment, the bundling device is a rebar bundling device that bundles multiple rebars arranged in a crosswise manner. For example, it may also be a rebar bundling robot. Hereinafter, the bundling device 100 will be described using a rebar bundling robot as an example. The bundling device 100 will also be referred to as the rebar bundling robot 100. In the drawings, the X-axis, Y-axis, and Z-axis are sometimes shown. The X-axis, Y-axis, and Z-axis form a right-handed three-dimensional orthogonal coordinate system. Hereinafter, the direction of the arrow on the X-axis will sometimes be referred to as the X-axis front, the +X direction, the right side of the X-axis, or the right side of the X-axis. The direction opposite to the arrow will sometimes be referred to as the X-axis rear, the -X direction, the left side of the X-axis, or the left side of the X-axis. The same applies to the other axes. Furthermore, the direction in front of the Z-axis and the direction behind the Z-axis may sometimes be referred to as "upper" to "above" and "lower" to "lower," respectively. Furthermore, the plane perpendicular to the X-axis, Y-axis, or Z-axis may sometimes be referred to as the YZ plane, the ZX plane, or the XY plane. However, these directions and the like are used for convenience in explaining relative positional relationships and therefore do not define absolute positional relationships.

[0062] Figure 1 1 is an overall perspective view of the rebar tying robot 100 according to an embodiment of the present disclosure, viewed obliquely from above. Figure 2FIG. 1 is an overall perspective view of a steel bar tying robot 100 according to an embodiment of the present invention as viewed from an oblique downward direction. Figure 1 and Figure 2 As shown, the rebar tying robot 100 according to an embodiment of the present invention includes a rebar tying unit 110, a travel unit 121, and a sensor unit 130. The rebar tying robot 100 may also include other components, such as a main body unit 140, a support rod 150, a control unit 160, reels 180 (a first reel 180a and a second reel 180b), batteries 182 (a first battery 182a and a second battery 182b), a lateral movement unit 146, and a storage device 198 (not shown).

[0063] exist Figure 1 and Figure 2 The figure also shows a steel bar group R including a plurality of steel bars R10 (also referred to as "first steel bars" or "longitudinal steel bars" in this embodiment) extending in the Y direction. Figure 1 and Figure 2 As shown, the rebar tying robot 100 is arranged on the rebar group R so as to move along the first rebar R10. The rebar group R may include, in addition to the plurality of rebars R10, a plurality of rebars extending along the X direction (also referred to as "second rebars R20" or "transverse rebars" in this embodiment).

[0064] In the embodiment of the present disclosure, the first rebar R10 is arranged so that its first direction of extension is parallel to the Y direction. Furthermore, the second rebar R20 is arranged so that its second direction of extension is parallel to the X direction. Therefore, in the illustrated embodiment of the present disclosure, the first rebar R10 and the second rebar R20 are arranged orthogonally 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, in this embodiment, the plane formed by the first rebar R10 and the second rebar R20 is a horizontal plane. Furthermore, 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 non-orthogonally to each other. For example, the first rebar R10 and the second rebar R20 may be arranged so that the angle between the first rebar R10 and the second rebar R20 is, for example, 30°, 45°, 60°, or another angle. In the embodiment of the present disclosure, the first reinforcement R10 and the second reinforcement R20 are arranged to be orthogonal to each other. However, depending on the intersection, they do not necessarily need to be orthogonal to each other. For example, they may be arranged to form an angle of 85° or more and less than 90°.

[0065] Alternatively, the first and second reinforcing bars R10 and R20 may have finite lengths, with multiple first and second reinforcing bars R10 and R20 connected via joints in the first and second directions, respectively. Furthermore, the first and second reinforcing bars R10 and R20 may have ends as described below. For example, the first and second reinforcing bars R10 and R20 may have ends R10e and R20e, described below, at one and the other ends in the first and second directions, respectively.

[0066] The reinforcing bar binding unit 110 is configured to bind the intersection c12 ( Figure 6 The following describes in detail the operation of the reinforcing bar tying unit 110 tying the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20.

[0067] like Figure 1 as well as Figure 2 As shown, the travel unit 121 may include four travel units 121a, 121b, 121c, and 121d (also referred to as the "first travel unit," the "second travel unit," the "third travel unit," and the "fourth travel unit," respectively, in this embodiment). In the embodiment of the present disclosure, the travel unit 121 is arranged on the rebar group R so that the rebar tying robot 100 travels in the Y direction. The first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d respectively include a first roller portion 122a, a second roller portion 122b, a third roller portion 122c, and a fourth roller portion 122d. The first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d are configured to travel on any of the plurality of first rebars R10 along the Y direction (the first direction), which is the direction in which the first rebar R10 extends.

[0068] In this embodiment, the traveling unit 121 is an example of a moving unit (moving unit 120 described later). The moving unit 120 may replace the traveling unit 121 or have a structure of a moving unit other than the traveling unit 121 in addition to the traveling unit 121.

[0069] Although in the embodiment of the present disclosure, the case where the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d are configured to travel in the Y direction is described as an example, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d may also be configured to travel in a direction other than the Y direction.

[0070] For example, the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d may travel in a direction inclined at an angle of several to several tens of degrees from the Y direction. For example, they may travel in a direction inclined at an angle of several to several tens of degrees from the Y direction to the +X direction or the -X direction. For example, if the rebar tying robot 100 is tilted from the Y direction due to a foreign object or the like on the first rebar R10 being traveled, the direction of travel of the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d may be tilted at least temporarily from the Y direction to the +X direction or the -X direction. In this case, for example, the rebar tying robot 100 may be caused to move in a direction such that the inclination of the rebar tying robot 100 is returned to the Y direction (in the -X direction or the +X direction), thereby causing the rebar tying robot 100 to move substantially along the first rebar R10. This allows the rebar tying unit 110 of the rebar tying robot 100 to continue tying the intersection c12 of the first and second rebars R10 and R20.

[0071] In addition, for example, in a construction site where the first steel bar R10 is arranged in a curved manner, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d can also be configured to travel in a curved manner in a manner that follows the curved first steel bar R10. In this case, the extension direction of the first steel bar R10, that is, the first direction, can also be different in various aspects of the curve.

[0072] like Figure 1 and Figure 2 and the following Figure 3 As shown, the sensor unit 130 includes sensors 130a, 130b, 130c, and 130d (also referred to as "first sensor," "second sensor," "third sensor," and "fourth sensor," respectively, in this embodiment). The first sensor 130a and the second sensor 130b are Figure 1 as well as Figure 2 The fourth sensor 130d is disposed at a side surface of the rebar tying robot 100 opposite to the side surface on which the third sensor 130c is disposed (at a position on the side surface opposite to the side surface on which the third sensor 130c is disposed). Figure 1 and Figure 2 The third sensor 130c and the fourth sensor 130d are arranged along the side of the paper. Figure 1 and Figure 2 The direction that intersects the Y direction (in Figure 1 and Figure 2 In the example shown, the X direction (the extending direction of the straight line connecting the third sensor 130c and the fourth sensor 130d in this embodiment is also referred to as the "fourth direction") is separated.

[0073] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to detect 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 detect the first rebar R10, and the third sensor 130c and the fourth sensor 130d may be configured to detect 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 detect the first rebar R10 and the second rebar R20.

[0074] Figure 3 : shows a top view of the rebar tying robot 100 as viewed from above (above in the Z direction). Figure 4 1 is a plan view of the rebar tying robot 100 as viewed from below (from below in the Z direction).

[0075] from Figure 3 as well as Figure 4 It can be seen that the first traveling unit 121a and the second traveling unit 121b may also be arranged at one side and the other side (in the fourth direction (X direction)) relative to the first sensor 130a. Figure 3 In the fourth direction (the left and right sides, respectively), the third travel unit 121c and the fourth travel unit 121d may also be positioned on one side and the other side of the fourth direction (the X direction) relative to the second sensor 130b. In other words, the first sensor 130a may be positioned between the first travel unit 121a and the second travel unit 121b in the fourth direction. Similarly, the second sensor 130b may be positioned between the third travel unit 121c and the fourth travel unit 121d in the fourth direction.

[0076] Moreover, if Figure 3 as well as Figure 4 As shown, the third sensor 130c can also be in the third direction (in Figure 3 as well as Figure 4 Similarly, the fourth sensor 130d may also be arranged between the second traveling unit 121b and the fourth traveling unit 121d in the third direction (Y direction).

[0077] In addition, for example Figure 4 As shown, the first sensor 130a may also be arranged on a straight line passing through the rotation axis 128a of the first roller portion 122a constituting the first traveling unit 121a and the rotation axis 128b of the second roller portion 122b constituting the second traveling unit 121b, or further rearward (at the position of the right side) than the straight line passing through the rotation axis 128a and the rotation axis 128b. Figure 4 Similarly, the second sensor 130b may be arranged on a straight line passing through the rotation axis 128c of the third roller portion 122c constituting the third travel unit 121c and the rotation axis 128d of the fourth roller portion 122d constituting the fourth travel unit 121d when viewed from below, or may be arranged in front of the straight line passing through the rotation axis 128c and the rotation axis 128d (in the -Y direction). Figure 4 In addition, a specific example of the sensor unit 130 will be described later.

[0078] In addition, if Figure 3 、 Figure 4 As shown in FIG. 1 , the first sensor 130a is arranged in front of the main unit 140 in the Y-axis direction (+Y direction). Similarly, the second sensor 130b is arranged in the rear of the main unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are respectively arranged in the Figure 3 When viewed from above, they are arranged on the left and right sides in the X direction. Figure 4 As can be seen, in this embodiment, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are arranged on the outer edges of, or inside the outer edges of, a virtual rectangle formed by connecting the approximately centers of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d, when viewed from above. Alternatively, the virtual rectangle formed by the first to fourth traveling units 121a to 121d may be a square, for example, if the intervals between the traveling units in the X and Y directions are approximately equal. In this case, the first to fourth sensors 130a to 130d may also be arranged on the outer edges of, or inside the outer edges of, the virtual square. In addition, according to the configuration structure of the first traveling unit 121a to the fourth traveling unit 121d, the first traveling unit 121a to the fourth traveling unit 121d can also be used to imaginarily form a quadrilateral other than a rectangle and a square. In this case, the first sensor 130a to the fourth sensor 130d can also be configured on the outer edge or the inner side of the imaginary quadrilateral.

[0079] While the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are described as being arranged on the outer edge or inside the outer edge of a rectangle formed by imaginary connection of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d approximately near their centers, the present invention is not limited thereto. For example, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may be arranged differently depending on the arrangement of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling 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 also be configured so that, when viewed from above with respect to the rebar tying robot 100, they are on or outside the outer edge of a rectangle imaginarily 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.

[0080] like Figure 1 and Figure 3 As shown, the main body unit 140 may also include a main body upper surface 142. The main body upper surface 142 may have a circular hole 144 formed near the center thereof, for example, and the reinforcing bar binding unit 110 may be arranged so as to pass through the hole 144.

[0081] In this embodiment, the steel bar tying robot 100 may also include two support rods 150 (a first support rod 150a and a second support rod 150b). The first support rod 150a and the second support rod 150b are rods extending in one direction, for example, in the fourth direction (in the Figures 1 to 4 Therefore, in the embodiment of the present disclosure, the first support rod 150a and the second support rod 150b are arranged in parallel with the horizontal direction, for example. Figures 1 to 4 As shown, the first support rod 150a and the second support rod 150b can also be set to be separated from each other in the Y direction (third direction). The first support rod 150a and the second support rod 150b can also be configured to be separated from each other in the Y direction (third direction). Figures 1 to 4 When the rebar tying robot 100 moves (the X direction in the middle, the fourth direction in the rebar tying robot 100), the main body unit 140 and the like of the rebar tying robot 100 are supported.

[0082] Figure 5 This is a perspective view of the reinforcing bar tying robot 100 from the right rear obliquely, with the reinforcing bar tying unit 110 removed. Figure 6 This is a perspective view of the steel bar tying robot 100 with the steel bar tying unit 110 removed, viewed from the right front. Figure 5 and Figure 6 As shown, the steel bar bundling unit 110 can also be provided so as to be able to be moved in the up and down directions (in the state of penetrating the hole portion 144). Figure 5 Thus, for example, the reinforcing bar tying unit 110 is lowered, and when the reinforcing bar tying robot 100 reaches the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 is tied. Figure 5 as well as Figure 6 As shown, the bundling device 100 includes reels 180a and 180b. The reels 180a and 180b contain wires for bundling the reinforcing bars. When the reinforcing bar bundling unit 110 bundles the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the wires stored in the reels 180a and / or 180b are pulled out to bundle the intersection c12. Although detailed description is omitted, the reinforcing bar bundling unit 110 has one end (at Figure 5 The lower end portion in the Z direction is provided with a wire twisting portion 114 ( Figure 5 The reinforcing bar binding operation of the wire twisting unit 114 can also be achieved by, for example, the same function as a known reinforcing bar binding machine.

[0083] Figure 7 1 is a diagram illustrating the functional block structure of the reinforcing bar tying robot 100. Figure 7 As shown, the rebar tying robot 100 may include a control unit 160 , a lateral movement unit 146 , and a storage device 198 in addition to the aforementioned rebar tying unit 110 , the traveling unit 121 , and the sensor unit 130 .

[0084] The control unit 160 is configured to control the movement and bundling operations performed by the rebar bundling robot 100. The control unit 160 may also include a sensor detection result acquisition unit 162, a determination unit 164, an intersection calculation unit 166 (also referred to as an "intersection estimation unit" or "intersection estimation unit" in this embodiment), a rebar bundling unit control unit 168, a rebar following 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 matter bypassing control unit 179.

[0085] In addition, in the steel bar tying robot 100 of this embodiment, as Figure 1As shown, the control unit 160 is arranged on the opposite side of the reel 180a and the reel 180b relative to the reel binding unit 110 in the Y direction. More specifically, Figure 1 As shown, the reels 180a and 180b are arranged in the -Y direction of the rebar tying unit 110, while the control unit 160 is arranged in the +Y direction of the rebar tying unit 110. Especially immediately after replacing the wire reels (reel 180a and / or reel 180b), the reels with the wound wire become relatively heavy. However, by arranging the control unit 160 on the opposite side of the rebar tying unit 110, the weight can be balanced.

[0086] Lateral movement unit 146 ( Figure 7 ) is configured to control the movement of the main unit 140 of the rebar tying robot 100. In the rebar tying robot 100 according to the embodiment of the present invention, the rebar tying robot 100 may also be moved in the horizontal direction by the lateral movement unit 146. The lateral movement unit 146 may also include a first lateral movement motor 146ma and a second lateral movement motor 146mb. For example, during the lateral movement of the rebar tying robot 100 described later, the main unit 140 may be moved horizontally by the two motors 146ma and 146mb.

[0087] More specifically, if Figure 6 As shown, the transverse movement unit 146 includes a first transverse movement roller 1461a and a first drive rack 146ca. The first transverse movement roller 1461a is provided on a first connection portion 147a that connects the first and second travel units 121a, 121b to the main unit 140. The first drive rack 146ca is provided on the back side (the surface in the -Z direction) of the main unit 140 along the X direction.

[0088] Likewise, if Figure 2 As shown, the lateral movement unit 146 includes a second lateral movement roller 1461b and a second drive rack 146cb. The second lateral movement roller 1461b is provided on the second connection portion 147b that connects the third travel unit 121c and the fourth travel unit 121d to the main unit 140. The second drive rack 146cb is provided on the back side (the surface in the -Z direction) of the main unit 140 along the X direction.

[0089] The second traverse roller 1461b, for example, constitutes a drive gear. The second drive rack 146cb, for example, has multiple teeth arranged linearly in the X direction that mesh with external teeth provided on the outer periphery of the second traverse roller 1461b. The second traverse roller 1461b is driven by a second traverse motor 146mb. When the second traverse roller 1461b is rotated by the second traverse motor 146mb, the second traverse roller 1461b moves relative to the second drive rack 146cb, extending in the longitudinal direction of the second drive rack 146cb. In this manner, the main unit 140 is capable of relative movement in the X direction relative to the third travel unit 121c and the fourth travel unit 121d.

[0090] The first transverse moving roller 1461a ( Figure 6 ) Similarly, for example, a first drive rack 146ca, which meshes with external teeth provided on the outer periphery of the first traverse roller 146la, forms a drive gear. The teeth of the first traverse roller 146la are arranged linearly in the X direction. The first traverse roller 146la is driven by a first traverse motor 146ma. When the first traverse roller 146la is rotated by the first traverse motor 146ma, the first traverse roller 146la moves relative to the first drive rack 146ca along the longitudinal direction of the first drive rack 146ca, thereby enabling the main unit 140 to move relative to the third travel unit 121c and the fourth travel unit 121d in the X direction.

[0091] As described above, the first and second lateral movement rollers 1461a and 1461b may be driven by the first and second lateral movement motors 146a and 146b, respectively, to move the main body unit 140 laterally relative to the travel unit 121 (in the X direction).

[0092] The storage device 198 may include, for example, a storage medium (e.g., a semiconductor memory element) or other medium for non-transitory storage of one or more computer programs executed by the control unit 160, data used to control the rebar tying robot 100, and the like. The storage device 198 may also include, for example, a template database 198t. As described later, the template database 198t may store, for example, images of templates used when detecting the first rebar R10 and / or the second rebar R20, or the ends R10e and / or R20e of the first rebar R10 and / or the second rebar R20 using template matching based on the detection results of the sensor unit 130, and data obtained by performing image processing such as frequency analysis on the template images. Furthermore, the control unit 160 may further include a template data creation unit, for example, configured to create template data based on images captured by the sensor unit 130 at a site where the rebar tying operation is to be performed, and store the template data in the template database 198t. Template data stored in the template database 198t can be accumulated when new template data is created, and can be deleted when the bundling work at each construction site is completed. Alternatively, the created template data can be stored in the template database 198t of the storage device 198 for a certain period of time and then deleted periodically, for example.

[0093] 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 also be used by the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 of the determination unit 164, described later, to determine the position of the first rebar R10 and / or the second rebar R20. Furthermore, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may also be used by the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 of the determination unit 164 to determine the position of the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20.

[0094] The determination unit 164 may also include a first rebar determination unit 164a1, a second rebar determination unit 164a2, a first rebar end determination unit 164b1, a second rebar end determination unit 164b2, a posture determination unit 164c, an obstacle determination unit 164d, and a robot height calculation unit 164e. The first rebar determination unit 164a1 and the second rebar determination unit 164a2 determine the positions of the first rebar R10 and / or the second rebar 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 later, the first rebar determination unit 164a1 and the second rebar determination unit 164a2 may also determine the positions of the first rebar R10 and / or the second rebar R20 by performing template matching based on captured images representing the detection results of the first sensor 130a to the fourth sensor 130d.

[0095] The first and second rebar end determination units 164b1 and 164b2 determine the end R10e of the first rebar R10 and / or the end R20e of the second rebar 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 and second rebar end determination units 164b1 and 164b2 may determine the positions of the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20 by template matching, similar to the first and second rebar determination units 164a1 and 164a2.

[0096] The robot height calculator 164e may also calculate the height of the rebar tying robot 100 from the rebar group R 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 sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d captures the first rebar R10 and / or the second rebar R20 (e.g., captures a range including the first rebar R10 and / or the second rebar R20), the robot height calculator 164e may calculate the distance between the rebar tying robot 100 and the rebar group R based on the relative sizes of the first rebar R10 and / or the second rebar R20 within the captured images of the first rebar R10 and / or the second rebar R20, thereby calculating the height of the rebar tying robot 100 from the rebar group R.

[0097] The height of the steel bar tying robot 100 from the steel bar group R can also be calculated based on the angle of the traveling unit 121. Figure 6As shown, the travel unit 121a may also include a first main body side link portion 125a connected to the main body portion 140 and a first roller side link portion 123a connected to the first roller portion 122a, and the first main body side link portion 125a and the first roller side link portion 123a constitute a link mechanism. In this case, the first link angle detection sensor 134a ( Figure 7 ) Detects the angle formed by the first main body side link portion 125a and the first roller side link portion 123a, that is, the link angle, and calculates the height of the first traveling unit 121a based on the link angle.

[0098] Likewise, if Figure 2 As shown, the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d may also have a second main body side link portion 125b and a second roller side link portion 123b, a third main body side link portion 125c and a third roller side link portion 123c, and a fourth main body side link portion 125d and a fourth roller side link portion 123d, and the heights of the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d may be calculated by respectively detecting the link angles formed by 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 using the second link angle detection sensor 134b, the third link angle detection sensor 134c and the fourth link angle detection sensor 134d.

[0099] The robot height calculation unit 164e may also calculate the height of the rebar tying robot 100 from the rebar group R based on the calculated heights (heights from the rebar group R) of the first, second, third, and fourth traveling units 121a, 121b, 121c, and 121d. For example, the height of the rebar tying robot 100 may be calculated based on the average of some or all of the calculated heights of the first, second, third, and fourth traveling units 121a, 121b, 121c, and 121d. Furthermore, if the rebar tying robot 100 is located parallel or substantially parallel to a virtual plane formed by the rebar group R, the height of the rebar tying robot 100 may be determined by using any one of the heights of the first, second, third, and fourth traveling units 121a, 121b, 121c, and 121d.

[0100] like Figure 7As shown, 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, a level sensor, or any other sensor capable of detecting the inclination angle of the rebar tying robot 100. The sensor detection result acquisition unit 162 may also acquire the detection result of the inclination detection sensor 132. Alternatively, the posture of the rebar tying robot 100 may be determined based on the detection result of the inclination detection sensor 132, for example, using the posture determination unit 164c of the determination unit 164. Based on the determination result of the posture determination unit 164c, the height change motor 126 of the traveling unit 121 (the first height change motor 126a of the first traveling unit 121a, the second height change motor 126b of the second traveling unit 121b, the third height change motor 126c of the third traveling unit 121c, and / or the height change motor 126d of the fourth traveling unit 121d) may be driven by the posture control unit 176 to adjust the posture of the rebar tying robot 100.

[0101] The rebar tying robot 100 can, for example, drive the height adjustment motor 126 based on the detection results of the inclination detection sensor 132 to align the main unit 140 with the plane formed by the first and / or second rebars R10, R20 (also referred to as the "rebar plane" in this embodiment). For example, if the first and second rebars R10, R20 are arranged so that the rebar plane extends horizontally, and the rebar tying robot 100 is tilted in the X direction, the posture of the rebar tying robot 100 can be adjusted by adjusting the height of the first and third travel units 121a, 121c, or the second and fourth travel units 121b, 121d.

[0102] The intersection calculation unit 166 estimates the intersection c12 between the first and second reinforcing bars R10 and R20 by calculating the intersection c12. For example, as described below, the intersection calculation unit 166 may calculate the position of the intersection c12 based on the positions of the first and second reinforcing bars R10 and R20 determined by the first and second reinforcing bar determination units 164a1 and 164a2. Based on the calculated position of the intersection c12, the rebar tying robot 100 may perform the tying operation using the rebar tying unit 110. Based on the estimated position of the intersection c12, the motor control unit 178 may adjust the position of the rebar tying robot 100 via the first, second, third, and / or fourth travel units 121a, 121b, 121c, and / or 121d so that the rebar tying unit 110 is located at the intersection c12.

[0103] The rebar bundling unit control unit 168 controls the movement of the rebar bundling unit 110 by controlling the rebar bundling unit moving unit 168m. The rebar bundling unit 110 can assume a bundling position, where it performs a bundling operation at the intersection c12 where the first rebar R10 and the second rebar R20 intersect, and a retreat position, where it retreats after completing a bundling operation while moving toward the intersection c12 for the next bundling operation. The rebar bundling unit 110 moves in the -Z direction when moving from the retreat position toward the bundling position, and in the +Z direction when moving from the bundling position toward the retreat position. This Z-direction movement of the rebar bundling unit 110 is achieved, for example, by the rebar bundling unit moving unit 168m, which is comprised of a motor or the like. Furthermore, the Z-direction raising and lowering movement of the rebar bundling unit 110 by the rebar bundling unit moving unit 168m is controlled by the rebar bundling unit control unit 168.

[0104] Furthermore, after the rebar tying unit 110 moves to the tying position, the rebar tying unit control unit 168 controls the tying operation of the rebar tying unit 110 at the intersection c12. For example, the tying operation of the rebar tying unit 110 using the wire drawn from the reel 180 by the wire drawing unit (described later) is controlled by the rebar tying unit control unit 168. For example, after the rebar tying robot 100 is moved using the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and / or the fourth travel unit 121d so that the rebar tying unit 110 is positioned above the intersection c12, the rebar tying unit control unit 168 controls the rebar tying unit moving unit 168m to lower the rebar tying unit 110 to the tying position so that the rebar tying unit 110 approaches the intersection c12, thereby tying the intersection c12.

[0105] The steel bar following control unit 170 may also control the traveling unit 121 through the motor control unit 178 based on information such as the position of the first steel bar R10 determined by the first steel bar determination unit 164a1, so that the steel bar tying robot 100 follows the first steel bar R10 in motion. Figure 5 As shown, when the rebar tying robot 100 moves the first rebar R12 and the first rebar R14, the driving motors (the first wheel driving motor 124a driving the first roller portion 122a, the second wheel driving motor 124b driving the second roller portion 122b, the third wheel driving motor 124c driving the third roller portion 122c and / or the fourth wheel driving motor 124d driving the fourth roller portion 122d) of the traveling unit 121 may be driven in such a manner that the rebar tying robot 100 does not separate from the first rebar R12 and the first rebar R14.

[0106] For example, the driving motors of the first travel unit 121a and the third travel unit 121c, which are arranged at the same position 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, i.e., the first wheel drive motor 124a and the third wheel drive motor 124c, are accelerated or decelerated relative to the driving motors of the second travel unit 121b and the fourth travel unit 121d, which are arranged on the other side in the X direction, i.e., the second wheel drive motor 124b and the fourth wheel drive motor 124d, thereby adjusting the position of the rebar tying robot 100 so that the rebar tying robot 100 moves in a manner following the first rebar R10.

[0107] Alternatively, the rebar following control unit 170 may also adjust the rotational speeds 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 to cause the rebar tying robot 100 to follow the first rebar R10. For example, by setting the rotational speed of one or more 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 a speed different from that of the other wheel drive motors, or by setting the rotational 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 different speeds, the rebar tying robot 100 can flexibly follow the first rebar R10.

[0108] The stop control unit 172 is configured to control the stopping operation of the rebar tying robot 100. For example, as described later, when the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 determine, based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d, that the rebar tying robot 100 traveling over the first rebar R12 and the first rebar R14 is near or approaching the end R13e of the first rebar R13, the stop control unit 172 may control the motor control unit 178 to drive and stop the first to fourth wheel drive motors 124a to 124d, thereby stopping the rebar tying robot 100. In addition, the rebar tying robot 100 is not limited to the end R13e of the first rebar R13, and may be stopped instead of or in addition to the end R13e when it is determined that the rebar tying robot 100 is near the end R12e of the first rebar R12 and / or the end R14e of the first rebar R14, or when the rebar tying robot 100 is approaching the end R12e and / or the end R14e.

[0109] Furthermore, when the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 is calculated by the intersection calculation unit 166 , the stop control unit 172 may stop the reinforcing bar tying robot 100 so that the reinforcing bar tying unit 110 can tie the intersection c12 .

[0110] As described later, the movement amount calculation unit 174 may also be configured to calculate the movement amount when the rebar tying robot 100 moves laterally (moves in the X direction). For example, as described above, when the rebar tying robot 100 is determined by the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 to be near or approaching the end R12e of the first rebar R12 and the end R14e of the first rebar R14, the rebar tying robot 100 completes the rebar tying operation at the intersection c12 of the first rebar R13 disposed between the first rebar R12 and the first rebar R14, moves to the other first rebar R10, and begins tying the rebar at the intersection c12.

[0111] For example, when the rebar tying robot 100 completes the rebar tying operation at the intersection c12 of the first rebar R13 and then proceeds to the intersection c12 of the first rebar R14, the rebar tying robot 100 moves in the X direction by one interval, relative to the X-direction intervals of the first rebars R10. In this case, the movement amount calculation unit 174 may calculate the movement amount based on the X-direction intervals between adjacent first rebars R10, using information on the positions of the first rebars R10 determined by the first rebar determination unit 164a1. Similarly, when the rebar tying robot 100 ties two or more intersections c12 of the first rebars R10 separated in the X direction, the movement amount may be calculated based on the intervals between the first rebars R10. Furthermore, the calculated movement amount may be used to perform lateral movement (e.g., horizontal movement) of the main unit 140 by the lateral movement unit 146 during lateral movement. Furthermore, the movement amount calculation unit 174 may also calculate movement amounts in directions other than lateral movement. For example, the movement amount calculation unit 174 may calculate the movement amount of the longitudinal movement (movement in the first direction, Y direction) of the rebar tying robot 100 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.

[0112] 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 also be determined based on the detection results of the sensor unit 130, for example, by the obstacle determination unit 164d of the determination unit 164. At a construction site where rebar is being assembled, for example, tools may be placed on the surface of the rebar, or workers may be working on the rebar. Alternatively, the foreign object bypass control unit 179 may detect the foreign object as a foreign object based on the detection results of the sensor unit 130. Based on the foreign object detection results, the foreign object bypass control unit 179 may drive 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 to bypass the foreign object. Alternatively, the rebar tying robot 100 may bypass the foreign object by performing lateral movement, as described below.

[0113] The control unit 160 is, for example, a processor such as a CPU (Central Processing Unit), which corresponds to a computing unit. This unit performs control related to the execution of computer programs stored in the storage device 198, as well as data calculations and processing. The processor is a computing unit that executes programs that use various detection data to perform the operations of the rebar tying robot 100 (such as rebar tracking and movement, lateral movement (e.g., horizontal movement), and rebar tying operations). The various units of the control unit (e.g., the sensor detection result acquisition unit 162) are implemented by the processor executing the programs stored in the storage device 198.

[0114] Storage device 198 may include, for example, random access memory (RAM) and read-only memory (ROM). RAM can rewrite data in the storage unit and may be composed of, for example, semiconductor memory elements. RAM may also store programs executed by the processor and data required for program execution (for example, template data used to determine the position of rebar based on detection results from sensor unit 130, as described later). These are merely examples; RAM may store data other than these, or may not store some of these data.

[0115] The ROM can read data from the storage unit and can be formed of, for example, a semiconductor memory element. The ROM can also store, for example, a program executed by the control unit 160 or data that is not to be rewritten.

[0116] The program executed by the control unit 160 can be stored in a storage medium that can be read by a computer, such as a storage device 198 (e.g., RAM, ROM). In the case where the rebar tying robot 100 of this embodiment has a communication unit not shown in the figure, the program can also be provided via a communication network connected through the communication unit.

[0117] The physical structure described above is merely illustrative. In the rebar tying robot 100 according to the embodiments of the present disclosure, the control unit 160 and the storage device 198 do not necessarily need to be separate structures. For example, the rebar tying robot 100 may include an LSI (Large-Scale Integration) that integrates a processor and memory. Furthermore, the rebar tying robot 100 may include a GPU (Graphical Processing Unit) as the control unit 160, and the various operations described above may be implemented by executing programs on the GPU.

[0118] Next, refer to Figure 8 as well as Figure 9 , the moving action of the steel bar tying robot 100 on the steel bars is described. Figure 8This is a diagram of the rebar tying robot 100 as viewed from the Y direction (−Y direction) while traveling along the first rebar R10 . Figure 9 This is a diagram of the rebar tying robot 100 as it moves along the first rebar R10, as viewed from the X direction (+X direction). Figure 8 as well as Figure 9 In FIG. 1 , the steel bar tying robot 100 moves along the first direction (Y direction). Figure 8 and Figure 9 As shown, the rebar tying robot 100 travels in such a manner that the third roller 122c of the third traveling unit 121c is located on the first rebar R12 and the fourth roller 122d of the fourth traveling unit 121d is located on the first rebar R14. Figure 9 As shown, the second roller portion 122b of the second traveling unit 121b also travels on the first reinforcing bar R14 in the same manner as the fourth roller portion 122d of the fourth traveling unit 121d. Figure 8 and Figure 9 Although not shown, the first roller portion 122a of the first travel unit 121a also travels on the first rebar R12, similarly to the third roller portion 122c of the third travel unit 121c. Thus, the rebar tying robot 100 of the disclosed embodiment, when traveling along the first rebar R10, travels over, for example, a first rebar R10 (first rebar R12) and two first rebars R10 (first rebar R14) located adjacent to the first rebar R12, and ties the intersection c12 between the first rebar R10 and the second rebar R20 on the first rebar R13, which is located between the traveling first rebar R12 and the first rebar R14.

[0119] Next, refer to Figure 10 、 Figure 11 as well as Figure 12 , the rebar tying robot 100 during the rebar tying operation will be described. Figure 10 This is a diagram of the rebar tying robot 100 , which stops traveling and performs tying work, as viewed from the Y direction (−Y direction). Figure 11 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the X direction (+X direction). Figure 12 This is a diagram of the rebar tying robot 100 performing tying work as viewed from the lower side in the Z direction (−Z direction). Figure 10 、 Figure 11 as well as Figure 12 The example in which the reinforcing bar tying robot 100 ties the intersection c12 of the first reinforcing bar R13 and the second reinforcing bar R20 is shown. Figure 10 ), the steel bar bundling unit 110 is lowered to perform bundling ( Figure 11 and Figure 12 ).

[0120] Next, the structure for calculating the position of a rebar group R (first rebar R10 and second rebar R20) of the rebar tying robot 100 according to an embodiment of the present disclosure will be described. The rebar tying robot 100 according to an embodiment of the present disclosure includes: a travel unit 121 configured to travel over the rebar group R, which includes a plurality of first rebars R1 extending in the Y direction (a first direction) and a plurality of second rebars R2 extending in the X direction (a second direction) intersecting the Y direction (the first direction) and arranged to intersect 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 "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 sensor unit 130 as a result of detection. The rebar tying robot 100 according to the embodiment of the present disclosure calculates the position of the first rebar R10 and / or the second rebar R20 based on a two-dimensional image generated based on the detection results of the sensor unit 130. This can improve the efficiency of the process of calculating the position of the first rebar R10 and / or the second rebar R20. For example, compared to calculating the position of the rebar using three-dimensional data as the detection results of the sensor unit, performing calculations based on the two-dimensional image can reduce the computational load.

[0121] In the rebar tying robot 100 according to the embodiment of the present disclosure, the two-dimensional image used to calculate the position of the first rebar R10 and / or the second rebar R20 may also be a shading image. In this case, the rebar tying robot 100 may include a storage device 198 that stores information about at least one template image including a partial image of the first rebar R10 and / or the second rebar R20, wherein the two-dimensional image includes the shading image. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the position of the at least one first rebar R10 and / or the at least one second rebar R20 by comparing the shading image with the template image.

[0122] Furthermore, in the rebar tying robot 100 according to the embodiment of the present disclosure, if the density value of a pixel in the shading image is greater than a predetermined threshold, the pixel may be determined to correspond to the first rebar R10 and / or the second rebar R20. 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 greater than the predetermined threshold when the density value of the pixels constituting the shading image is greater than a predetermined threshold (first threshold). Alternatively, when the shading image is used as a two-dimensional image, the shading image may be generated by lowering the image density in areas where an object is present and increasing the image density in areas where the object is not present. In this case, if the density value of a pixel is less than the predetermined threshold, the pixel may be determined to correspond to the first rebar R10 and / or the second rebar R20.

[0123] In the rebar tying robot 100 according to the embodiments of the present disclosure, a grayscale image can also be generated based on detection results from a three-dimensional sensor. In this case, the sensor unit 130 can include a three-dimensional sensor capable of detecting the x-, y-, and z-coordinates of multiple points on the surface of a detection target. The z-coordinate value detected by the three-dimensional sensor can be converted into different image densities depending on the magnitude of the z-coordinate value. A grayscale image can be generated by forming a two-dimensional image based on the x-, y-, and image densities.

[0124] Alternatively, the rebar tying robot 100 according to the embodiment of the present disclosure may also be configured so that the sensor unit 130 captures a grayscale image. In this case, the sensor unit 130 may include an imaging device and may generate a grayscale image based on an image captured by the imaging device.

[0125] Furthermore, the rebar tying robot 100 according to the embodiments of the present disclosure may also calculate the position 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 also be configured to calculate the position of at least one first rebar R10 and / or at least one second rebar R20 based on the degree of matching between the shading image and the template image.

[0126] In embodiments of the present disclosure, the degree of matching can also be calculated by, for example, comparing the detection results of sensor unit 130, a two-dimensional image generated based on the detection results of sensor unit 130, or a template image. For example, the pixel values of all pixels in the partial image of the comparison target, a two-dimensional image generated based on the detection results of sensor unit 130, can be compared with the pixel values of all pixels in the template image. The degree of matching can be calculated based on whether the pixel values of corresponding pixels in the two compared images match, or by expressing the proportion of matching pixels as a percentage. For example, if a template image containing 50,000 pixels is compared with 50,000 pixels in a dark and dark image being compared, and the density of 40,000 pixels matches or is approximately the same (e.g., the difference between the two is within 10%), the degree of matching can be calculated as 80%.

[0127] In this case, the position of the first rebar R10 and / or the second rebar R20 may be calculated using a reference value for 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 determine whether the degree of matching is greater than a predetermined reference value. If so, the first rebar R10 and / or the second rebar R20 may be determined to be within the detection range of the sensor unit 130.

[0128] In the rebar tying robot 100 according to the embodiment of the present disclosure, different values may be set for each height as the reference value of the matching degree. In this case, the rebar tying robot 100 according to the embodiment of the present disclosure includes a robot height calculation unit 164e (also referred to as "robot height calculation means" in this embodiment) that calculates the height of the rebar tying robot 100 from the rebar group R. The predetermined reference value includes a plurality of reference values corresponding to different heights of the rebar tying robot 100. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation means) determines whether or not a reference value corresponding to the height of the rebar tying robot 100 from the rebar group R calculated by the robot height calculation unit 164e (robot height calculation means) exists among the plurality of reference values. If it is determined that a reference value corresponding to the height of the rebar tying robot 100 exists among the plurality of reference values, the positions of the first rebar R10 and / or the second rebar R20 are calculated based on the reference value. If it is determined that a reference value corresponding to the height of the rebar tying robot 100 does not exist among the plurality of reference values, a new reference value corresponding to the measured height of the rebar tying robot 100 may be calculated based on at least two of the plurality of reference values.

[0129] In an embodiment of the present disclosure, for example, the height of the rebar tying robot 100 from the rebar group R may be set to multiple reference values according to predetermined sizes. For example, the height of the rebar tying robot 100 from the rebar group R may be set to five reference values, starting from 10 cm and ending at 30 cm, at intervals of 5 cm. In this case, for example, if the robot height calculation unit 164e determines that the height of the rebar tying robot 100 from the rebar group R is 20 cm, and the reference value for the height of 20 cm is set to 60%, 60% may be used as the reference value. Furthermore, if the robot height calculation unit 164e determines that the height of the rebar tying robot 100 from the rebar group R is 23 cm, and a reference value for 23 cm is not set, a new reference value may be set based on the reference values of 20 cm and 25 cm, for example. For example, if the reference value at a height of 20 cm is 60% and the reference value at a height of 25 cm is 50%, the reference value at a height of 23 cm can be calculated by linear interpolation as 50% + ((60% - 50%) * ((25 cm - 23 cm) / (25 cm - 20 cm))) = 54%. The newly calculated reference value can be stored in storage device 198, for example, and used as needed in subsequent operations. The heights, reference values, and new reference value calculation methods described above are examples and are not intended to be limiting. For example, more reference values may be set, such as for heights less than 10 cm or greater than 30 cm.

[0130] Hereinafter, a calculation process of the position of the reinforcing bar by the reinforcing bar tying robot according to the embodiment of the present disclosure will be described.

[0131] First, a specific example of the sensor unit 130 used in the rebar tying robot 100 will be described in detail. For example, a 3D range camera such as a ToF (Time of Flight) camera (e.g., the TOFcam-635 manufactured by ESPROS Photonics) can be used as the sensor unit 130. A 3D range camera outputs an image with varying shades depending on the distance from the camera, for each subject. The distance to the subject is obtained for each pixel, and closer objects can be represented as having a higher density (closer to black) and farther objects as having a lighter density (closer to white). In the embodiment of the present disclosure, the distance between the rebar tying robot 100 and the rebar group R remains substantially constant while the rebar tying robot 100 travels over the rebar group R. Therefore, the rebar can be detected by identifying relatively black objects as rebar (the first rebar R10 and / or the second rebar R20).

[0132] Figure 13A and Figure 13BAn image output by a 3D range camera is shown. Figure 13A An image of the vicinity of the intersection of the first reinforcing bar R10 and the second reinforcing bar R20 captured by the 3D range camera is shown. Figure 13B The image near the intersection of the first reinforcement R10 and the second reinforcement R20 is schematically shown. Figure 13A As shown, in the image captured by the 3D range camera, there are shades, and in the embodiment of the present disclosure, the portion with high density can be identified as the first reinforcing bar R10 and / or the second reinforcing bar R20. Figure 13B As schematically shown in , an image having different shades of density is obtained for each pixel.

[0133] The sensor unit 130 is not limited to the imaging device such as a camera exemplified above; other sensors may be used. For example, a laser capable of acquiring information in the depth direction or the height direction may be used. For example, a two-dimensional image using the same image density as described above may be generated based on the depth direction information acquired by the laser.

[0134] Next, the process of detecting the steel bar based on the image (in this embodiment, the grayscale image) captured and acquired by the sensor unit 130 will be described. Figure 14A as well as Figure 14B , the configuration 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. Figure 14A and Figure 14B 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are schematically shown. Figure 14A It is a schematic side view of the rebar tying robot 100 as viewed from the horizontal direction (X direction). Figure 14B This is a schematic top view of the rebar tying robot 100 as viewed from above (upper side in the Z direction). Figure 14A , along with the first sensor 130a, the second sensor 130b, and the third sensor 130c, the imaging ranges of the first sensor 130a, the second sensor 130b, and the third sensor 130c are also schematically shown.

[0135] like Figure 14A as well as Figure 14BAs shown schematically, the first sensor 130a and the second sensor 130b, which are arranged to be spaced apart from each other in the Y direction, are arranged to shoot obliquely downward. The third sensor 130c and the fourth sensor 130d (not shown) are also arranged to shoot obliquely downward. The first sensor 130a and the second sensor 130b are set to have a field of view of, for example, 80° or more and 100° or less, for a predetermined shooting range. In addition, the third sensor 130c and the fourth sensor 130d are set to have a field of view of, for example, 50° or more and 70° or less, for example. Any sensor 130 can be set to have other viewing angles. As described above, when determining a foreign object 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 shooting range of each sensor can be changed, for example, by pointing the angle of each sensor upward.

[0136] Figure 15 The image captured by the first sensor 130a is schematically shown. Figure 15 As shown, in the embodiment of the present disclosure, the first sensor 130a is configured to capture images in an obliquely downward direction. Therefore, the spacing between adjacent first rebars R10 decreases as one moves from the front toward the back. In the embodiment of the present disclosure, the positions of the individual rebars (the plurality of first rebars R10 and the plurality of second rebars R20) constituting the rebar group R can be detected based on the images thus obtained, for example, by performing template matching. In the embodiment of the present disclosure, template matching is used to detect rebars (the first rebars R10 and / or the second rebars R20), for example, based on the similarity (also referred to as "matching" in this embodiment) between the captured image and a pre-prepared image. A shading image containing shading portions corresponding to the rebars is prepared as a template, and the images captured by each sensor unit 130 are scanned, with the similarity calculated in the scanning direction.

[0137] Reference Figure 16 , the template matching implemented in the embodiment of the present disclosure is described. Figure 16 It is a schematic diagram for explaining the template matching of this embodiment. Figure 16 , a captured image of the vicinity of the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, and template images TI10 and TI20 for scanning in the X direction and the Y direction are shown. Figure 16Also shown are graphs G10 and G20 illustrating template images TI10 and TI20 and the similarities calculated from their respective scans. Template images TI10 and TI20 are scanned in the Y and X directions, respectively, and similarities with them are calculated. In this way, locations in the captured image where the maximum value of the calculated similarity exceeds a threshold value are determined to correspond to locations where rebar is present. As shown in graphs G10 and G20, in the distribution of similarities along the Y and X directions, portions exceeding thresholds TH10 and TH20 are identified, corresponding to locations where rebar is present. Furthermore, similarity (matching) can be calculated by comparing the color density of each pixel in the captured image with the color density of each pixel constituting the template image. For example, the distance from each pixel in the captured image to the object is first extracted as the color density. Next, if the total or average value of the color density of the entire captured image is low (e.g., below a predetermined threshold), it is determined that no rebar is present in the captured image. On the other hand, when the color density is high (for example, higher than a predetermined threshold), the difference between the extracted color density and the color density of each pixel constituting the template image is compared for each pixel. Alternatively, the position in the captured image where the sum of the absolute values of the differences between the color density of the captured pixel and the color density of the pixels constituting the template image is the lowest can be extracted as the rebar position. In this way, the first rebar R10 and the second rebar R20 can be detected using template matching based on the similarity calculated by scanning the captured image with the template image.

[0138] Reference Figure 15 As described above, in the embodiment of the present disclosure, in the image captured by the first sensor 130a, the intervals between the first reinforcing bars R10 adjacent to each other in the X direction vary along the Y direction. Similarly, for the image captured by the second sensor 130b, the intervals between the first reinforcing bars R10 in the X direction also vary in the Y direction. In addition, for the images captured by the third sensor 130c and the fourth sensor 130d, the intervals between the second reinforcing bars R20 in the Y direction also vary along the X direction. Therefore, for example, it is also possible to perform ortho transformation on the captured image, correct the image so that the intervals between the reinforcing bars in the captured image are approximately equal, and then perform template matching. In addition, by preparing the image without performing a transformation such as an ortho transformation, Figure 15 Using such an image in which the intervals between reinforcing bars change as a template, it is also possible to detect reinforcing bars by template matching.

[0139] In the template matching according to the embodiment of the present disclosure, for example, frequency analysis may be performed on each image, and the correlation between the captured image and the template image may be evaluated by using a phase correlation method.

[0140] The positions of the first and second rebars R10 and R20 can also be estimated by, for example, acquiring and estimating XYZ three-dimensional data of an object within the detection range using a three-dimensional sensor. As described above, in the rebar tying robot 100 according to the embodiment of the present disclosure, by performing template matching that processes the third dimension data in the Z direction as pixel density information, the computational complexity of calculating the position of the intersection c12 can be reduced compared to, for example, the case of performing calculations based on three-dimensional XYZ data. When performing the tying operation at the intersection c12 while traveling, as in the rebar tying robot 100 according to the embodiment of the present disclosure, it is preferable to use a method for determining the position of the rebar based on template matching that can reduce the computational complexity.

[0141] Next, a method for determining the intersection of the first and second reinforcing bars R10 and R20 in an embodiment of the present disclosure will be described. In an embodiment of the present disclosure, it may be configured such that, when the rebar tying robot 100 determines the intersection c12 of the first and second reinforcing bars R10 and R20, the first sensor 130a and the second sensor 130b detect the first rebar R10 as described above. That is, as described above, the rebar tying robot 100 includes a rebar tying unit 110 configured to tie the intersection c12 of the first and second rebars R10 and R20 of the rebar group R, the sensor units 130 are arranged away from each other along a third direction, and include the first sensor 130a and the second sensor 130b configured to at least detect the first rebar R10, the at least one template image includes a template image TI10 (first template image) including a partial image of the first rebar R10, and the rebar tying robot 100 moves along the traveling unit 121. The first and second sensors 130a and 130b are arranged in a direction (third direction) parallel to the Y direction (first direction) and the first and second sensors 130a and 130b are arranged. The first and second reinforcing bar determination units 164a1 and / or 164a2 (rebar position calculation units) calculate the position of the first reinforcing bar R10 by comparing the detection results of the first and / or second sensors 130a and 130b with the first template image. The rebar bundling unit 110 may also bundle the intersection c12 on the first reinforcing bar R10 at the calculated position.

[0142] In addition, at this time, the rebar tying robot 100 can also be configured so that the third sensor 130c and the fourth sensor 130d detect the second rebar R20 in addition to the first rebar R10 to estimate the intersection c12. That is, the rebar tying robot 100 further includes an intersection calculation unit 166 (also referred to as an "intersection estimation unit" in this embodiment) for estimating the intersection c12, and the sensor units 130 are arranged away from each other along a fourth direction intersecting the third direction, and include the third sensor 130c and the fourth sensor 130d configured to detect at least the second rebar R20, and at least one template image includes a template image TI20 (second template image) containing a partial image of the second rebar R20, and the rebar tying robot 100 is arranged in the fourth direction intersecting the third 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, and the intersection portion estimating unit (intersection portion estimating unit) estimates the intersection of the calculated first reinforcing bar R10 and the calculated second reinforcing bar R20 as the intersection portion c12. The reinforcing bar bundling unit 110 may also be configured to bundle the estimated intersection portion c12.

[0143] In addition, the rebar tying robot 100 may also cause the third sensor 130c and / or the fourth sensor 130d to detect the first rebar R10 when the end R10e of the first rebar R10 is detected, and the first rebar R10 detected by the third sensor 130c and / or the fourth sensor 130d may be used to calculate the lateral movement amount of the rebar tying robot 100 described later. That is, the rebar tying robot 100 includes a movement amount calculation unit 174 (movement amount calculation unit) for calculating the movement amount of the traveling unit 121 based on the 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) when the traveling unit 121 moves from the first rebar R10 being traveled to another first rebar R10. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculate the position of the first rebar R10 being traveled by the traveling unit 121 based on the detection results of the first sensor 130a and / or the second sensor 130b. If the matching degree of the detection result of the first sensor 130a is less than a predetermined reference value, the robot 100 determines whether the matching degree is equal to or greater than a predetermined end reference value. If the matching degree is determined to be equal to or greater than the predetermined end reference value, the robot 100 determines that the first rebar R10 being traveled is at the end of the first sensor 130a. When the end R10e of the first rebar R10 exists within the detection range of the first sensor 130a and it is determined that the end R10e of the first rebar R10 exists within the detection range of the first sensor 130a, the third sensor 130c and / or the fourth sensor 130d detects the presence of the first rebar R10, and is set to detect the first rebar R10. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the positions of other first rebars R10 that have moved away from the first rebar R10 traveling in the X direction (second direction) from the traveling unit 121 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) includes the positions of the other first rebars R10 calculated by the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) and the position of the first rebar R10 traveling by the traveling unit 121. The travel unit 121 may be configured to move in the X direction (the second direction) based on the calculated movement amount in the X direction (the second direction).

[0144] Reference Figure 17 , a method for estimating the intersection of the first reinforcement R10 and the second reinforcement R20 will be described. Figure 17 1 is a diagram schematically showing the reinforcing bar tying robot 100 viewed from the lower side (-Z direction) in the Z direction for explaining a method of estimating an intersection. Figure 17As shown, for example, in the embodiment of the present disclosure, the rebar tying robot 100 is configured as described above to move two first rebars R12 and R14, and the first sensor 130a and the second sensor 130b detect the first rebar R13, and the third sensor 130c and the fourth sensor 130d detect the second rebar R20. Figure 17 In the example shown, the third sensor 130c and the fourth sensor 130d detect, for example, the second rebar R23. In this case, based on the detection results of the first and second sensors 130a, 130b, the first rebar R13 extending between the first and second sensors 130a, 130b is estimated. Furthermore, based on the detection results of the third and fourth sensors 130c, 130d, the second rebar R23 extending between the third and fourth sensors 130c, 130d is estimated. The intersection c12 is the site where the estimated first rebar R13 extending between the first and second sensors 130a, 130b and the estimated second rebar R23 extending between the third and fourth sensors 130c, 130d intersect.

[0145] use Figure 18 , a method for estimating the intersection position c12 in an embodiment of the present disclosure is described. Figure 18 Flowchart of the method for estimating intersection c12 in the embodiment of the present disclosure.

[0146] First, detection results of the first sensor 130 a and the second sensor 130 b are acquired ( S1802 ).

[0147] Next, based on the detection results of the first sensor 130 a and the second sensor 130 b , template matching is performed to confirm the first reinforcing bar R10 and / or the second reinforcing bar R20 detected by the first sensor 130 a and the second sensor 130 b ( S1804 ).

[0148] The position of the first reinforcing bar R13 is estimated based on the detection results of the first sensor 130 a and the second sensor 130 b ( S1806 ).

[0149] Next, the detection results of the third sensor 130 c and the fourth sensor 130 d are acquired ( S1808 ).

[0150] Next, the position of the second reinforcing bar R20 is estimated based on the detection results of the third sensor 130 c and the fourth sensor 130 d ( S1810 ).

[0151] Next, an intersection is estimated based on the estimated positions of the first reinforcement R13 and the estimated positions of the second reinforcement R20 ( S1812 ).

[0152] Thus, the rebar tying robot 100 according to the embodiment of the present disclosure may be configured such 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, which is the extending direction of the first rebar R10, and the fourth direction in which the third sensor 130c and the fourth sensor 130d are arranged is parallel to the second direction, which is the extending direction of the second rebar R20. The robot 100 may include an intersection calculating unit 166 as an intersection estimating unit for estimating the intersection c12. The first sensor 130a and the second sensor 130b are configured to detect the first rebar R10, and the third sensor 130c and the fourth sensor 130d are configured to detect the second rebar R20. The intersection location calculation unit 166, serving as an intersection location estimation unit, estimates the position of the first rebar R10 (first rebar 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. It estimates the position of the second rebar R20 (second rebar 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. The intersection location calculation unit 166 estimates the intersection of the first rebar R13 detected by the first sensor 130a and the second sensor 130b and the second rebar R23 detected by the third sensor 130c and the fourth sensor 130d as the intersection location c12.

[0153] When the rebar tying robot 100 calculates the position of the intersection c12 between the first rebar R10 and the second rebar R20 on the first rebar R13, for example, the first sensor 130a may be passing through the intersection point (intersection cp12). In this case, for example, the calculated position of the intersection c12 may be adjusted based on information about the intersection cp12 captured by the first sensor 130a. Specifically, the rebar tying robot 100 may be configured to move in a first direction (Y direction) while detecting the first rebar R10 using the first sensor 130a and the second sensor 130b. During the movement of the rebar tying robot 100, if the first sensor 130a detects the intersection cp12 where the first rebar R10 and the second rebar R20 intersect, the robot 100 determines whether the intersection cp12 matches the estimated intersection c12. If the intersection cp12 does not match the estimated intersection c12, the robot 100 adjusts the position of the estimated intersection c12. In a case where the position of the detected intersection cp12 is inconsistent with the position of the estimated intersection c12, for example, the position of the rebar tying robot 100 can be adjusted by accelerating or decelerating the first travel unit 121a, the second travel unit 121b, the third travel unit 121c and / or the fourth travel unit 121d of the travel unit 121, respectively, or controlling the rotational 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, in the same manner as described above regarding the method of making the rebar tying robot 100 follow the first rebar R10.

[0154] It should be noted that, referring to Figure 18 The above-mentioned method for estimating the intersection is merely an example and is not limited to the above-mentioned example. For example, the acquisition of the detection results of each sensor may not be performed in the above-mentioned order, and the estimation of the position of the steel bar based on the detection results may not be performed in the above-mentioned order.

[0155] Next, a method for calculating the movement amount of the rebar tying robot 100 in the embodiment of the present disclosure will be described. Figure 17 The following description will be made by taking as an example the case where the steel bar tying robot 100 reaches the vicinity of the end R10e in the Y direction of the first steel bar R10 and moves laterally (moves in the X direction). Figure 17As shown, the rebar tying robot 100 advances the first rebar R12 and the first rebar R14, tying the intersection of the first rebar R13 and the second rebar R20 (e.g., second rebars R21, R22, R23, R24, and R25) between the first rebar R12 and the first rebar R14, until it reaches the vicinity of the end R12e, the end R13e, and the end R14e. At this point, the rebar tying robot 100 then proceeds to tie the first rebar R14, which is adjacent to the already tied first rebar R13 in the X direction (+X direction), thereby moving in the X direction (+X direction, from the first rebar R13 toward the first rebar R14).

[0156] Reference Figure 19 , a method of lateral movement of the rebar tying robot 100 in this case will be described. Figure 19 This is a flowchart related to the lateral movement of the rebar tying robot 100 .

[0157] First, the detection result of the first sensor 130 a is acquired ( S1902 ).

[0158] Next, template matching is performed on the detection result of the first sensor 130 a ( S1904 ).

[0159] Next, based on the result of template matching, it is determined whether the end R13 e of the first reinforcing bar R13 detected by the first sensor 130 a is detected ( S1906 ).

[0160] Next, it is determined whether the end R20e of the second reinforcing bar R20 is detected (S1908). As the end R20e of the second reinforcing bar R20, for example, Figure 17 As shown, it can also be determined whether any of the ends R21e, R22e, R23e, R24e, and R25e of the second reinforcing bars R21, R22, R23, R24, and R25 are detected.

[0161] For example, the detection results of the third sensor 130c and / or the fourth sensor 130d may be used to determine whether the end R20e of the second rebar R20 has been detected. In the embodiment of the present disclosure, as viewed from above in the Z direction, the rebar tying robot 100 performs the tying operation at the intersection of the first and second rebars R10 and R20, starting from the first rebar R10 on the left side of the X-axis toward the first rebar R10 on the right side of the X-axis. Therefore, the detection results of the fourth sensor 130d, located on the right side in the X-axis when viewed from above in the Z direction, may be used to determine whether the end R20e of the second rebar R20 on the right side in the X-axis has been detected. For example, if the fourth sensor 130d detects the end R20e of the second rebar R20 on the right side in the X-axis, the tying operation of the last first rebar R10 may be completed, and thus the tying operation of the target rebar group R may be terminated.

[0162] The detection of the end R20e is not limited to this. For example, the detection results of other sensors may be used to determine whether the end R20e of the second rebar R20 is located on the left side of the X direction when the bundling operation is being performed from the first rebar R10 on the right side of the X direction to the first rebar R10 on the left side of the X direction. Furthermore, the bundling operation may be terminated based on conditions other than the detection of the end R20e. For example, the rebar bundling robot 100 may be moved by setting conditions such that the bundling operation of another rebar is started at a location other than the end R20e. Alternatively, the rebar bundling robot 100 may be moved to change the bundling position and replace the rebar to be bundled based on factors such as foreign object detection. In addition, the first sensor 130a and / or the second sensor 130b can also be used to detect the second steel bar R20 by, for example, adjusting the configuration position, inclination, field of view, etc. Therefore, the detection results of the first sensor 130a and / or the second sensor 130b can also be used to perform detection of the end R20e of the second steel bar R20.

[0163] Next, the detection result of the fourth sensor 130 d is obtained ( S1910 ).

[0164] Next, template matching is performed based on the detection result of the fourth sensor 130 d ( S1912 ).

[0165] Next, based on the position of the first reinforcing bar R10 detected by the fourth sensor 130d, the first reinforcing bar R10 of the movement destination of the reinforcing bar tying robot 100 is estimated (S1914). In the embodiment of the present disclosure, the fourth sensor 130d detects a plurality of first reinforcing bars R10. For example, Figure 17In the example shown, the fourth sensor 130d can also detect the first rebar R14 located on the right side of the rebar tying robot 100 in the X direction. Furthermore, after the tying operation is completed at the intersection c12 of the first rebar R10 and the second rebar R20 along the first rebar R13, the rebar tying robot 100 then moves laterally, for example, by traveling over the first rebar R13 and the first rebar R15, while the tying operation is performed along the intersection of the first rebar R14. For example, the rebar tying robot 100 can also move laterally in the X direction, with the first and third travel units 121a and 121c traveling over the first rebar R13, and the second and fourth travel units 121b and 121d traveling over the first rebar R15.

[0166] Next, the lateral movement amount is calculated (S1918). The lateral movement amount of the rebar tying robot 100 can also be calculated using the following method. For example, as described above, when the rebar tying robot 100 moves to the right in the X direction (+X direction) when viewed from the upper side in the Z direction, that is, when moving in the direction where the fourth sensor 130d is located, the lateral movement amount of the rebar tying robot 100 can also be calculated based on two pieces of information: the distance in the X direction from the X-direction center of the rebar tying robot 100 by the fourth sensor 130d and the distance in the X direction from the first rebar R14 detected by the fourth sensor 130d.

[0167] When calculating the distance in the X direction from the X-center of the rebar tying robot 100 by the fourth sensor 130d, the X-center of the rebar tying robot 100 may be, for example, the location where the rebar tying unit 110 is located. Alternatively, the tying position of the rebar tying unit 110 may be considered the X-center of the rebar tying robot 100. In this case, for example, the X-center position of the first rebar R13, which is the target of the tying operation by the rebar tying robot 100, may be determined as the X-center of the rebar tying robot 100. It should be noted that the X-center of the rebar tying robot 100 and the distance (X-center distance) between the fourth sensor 130d and the X-center of the rebar tying robot 100 may also be calculated in advance and stored in the storage device 198. Furthermore, in a configuration where the position of the sensor unit 130 can be changed, for example, when the position of the fourth sensor 130d is changed depending on the construction site, it is also possible to calculate in which direction and by how much the fourth sensor 130d has moved, and to calculate the distance in the X direction from the fourth sensor 130d to the X-direction center of the rebar tying robot 100, taking into account the amount of movement of the fourth sensor 130d. Furthermore, the distance between the fourth sensor 130d and the first rebar R14 detected by the fourth sensor 130d can also be calculated based on, for example, an image captured by the fourth sensor 130d.

[0168] For example, if the fourth sensor 130d is mounted at a position 100 cm away from the X-direction center of the rebar tying robot 100 (e.g., the position of the first rebar R13) in the X-direction, and the first rebar R14 is located 20 cm away from the fourth sensor 130d in the direction away from the X-direction center of the rebar tying robot 100, the interval between the first rebars R10 (the interval between the first rebar R13 and the first rebar R14) may be calculated as 121, and control may be performed to set the lateral movement amount to 121. For example, if the fourth sensor 130d is mounted at a position 20 cm away from the X-direction center of the rebar tying robot 100 (e.g., the position of the first rebar R13) in the X-direction, and the first rebar R14 is located 4 cm away from the fourth sensor 130d in the direction away from the X-direction center of the rebar tying robot 100, the interval between the first rebars R10 (the interval between the first rebar R13 and the first rebar R14) may be calculated as 24 cm, and control may be performed to set the lateral movement amount to 24 cm. Alternatively, when the fourth sensor 130d is installed at a position 20 cm away in the X direction from the center of the rebar tying robot 100 in the X direction (for example, the position of the first rebar R13), and the first rebar R14 is located approximately 4 cm from the fourth sensor 130d toward the center of the rebar tying robot 100 in the X direction, the interval between the first rebars R10 (the interval between the first rebar R13 and the first rebar R14) is calculated to be 16 cm, and control is performed to set the lateral movement amount to 16 cm.

[0169] Regarding the lateral movement of the rebar tying robot 100, for example, as described above, when the rebar tying robot 100 is moved laterally to subsequently tie the intersection of the first rebar R14, the lateral movement can be calculated by assuming the robot 100 performs a lateral movement equivalent to the distance between adjacent first rebars R10. In the above example, the first and third travel units 121a, 121c move from the first rebar R12 to the first rebar R13, while the second and fourth travel units 121b, 121d move from the first rebar R14 to the first rebar R15. In the embodiment of the present disclosure, the first rebars R10 are arranged substantially parallel to each other at approximately equal intervals. Therefore, the first to fourth travel units 121a, 121d move the same amount in the X direction. Therefore, the lateral movement can also be, for example, the distance in the X direction between the first rebar R14 and the first rebar R15 detected by the fourth sensor 130d. Alternatively, since the intervals between the first reinforcing bars R10 are approximately equal, the amount of lateral movement can be calculated based on the intervals between adjacent first reinforcing bars R10 calculated based on detection results from other sensors. Alternatively, the X-direction distances between multiple (e.g., three or more) first reinforcing bars R10 can be calculated, and the average of these calculated X-direction distances between the multiple first reinforcing bars R10 can be calculated. This average value of the intervals between the first reinforcing bars R10 can be used as the amount of lateral movement. By calculating the average value, for example, even if there is an error in the intervals between the first reinforcing bars R10, the effect of this error on the calculated amount of lateral movement can be reduced.

[0170] Next, the rebar tying robot 100 is moved laterally based on the calculated amount of lateral movement ( S1918 ).

[0171] Alternatively, the rebar tying robot 100 may move along the first rebar R13 and the first rebar R15 where the first to fourth traveling units 121a to 121d are located ( S1920 ) after completing the lateral movement, and start tying the intersection c12 of the first rebar R14 .

[0172] The detection of the end R10e of the first steel bar R10 can also be performed by preparing a template corresponding to the image of the end R10e and judging based on the degree of matching with the template of the end R10e. Figure 16 When a template image extending in one direction is prepared as exemplified, a template image may be prepared in which the length of the portion corresponding to the reinforcing bar in the Y direction is shorter than that of the portion other than the end R10e, with respect to the end R10e.

[0173] Alternatively, it is possible to determine that the bar is reaching the end R10e when the degree of matching is within a certain range of values. For example, if the degree of matching is relatively close to 100% and is 75% or higher in the portion other than the end R10e of the first rebar R10, it is possible to determine that the bar is reaching the portion other than the end R10e of the first rebar R10. If the degree of matching is relatively low, for example, between 50% and 75%, it is determined that the bar is reaching the portion of the first rebar R10 near the end R10e. The degree of matching described here for the portion other than the end R10e and near the end R10e is merely illustrative; other values may be set, and the reference value may be configured to be variable depending on the arrangement of the rebars and other environmental factors.

[0174] Thus, when the rebar tying robot 100 moves laterally, the detection results of the first rebar R10 by the third sensor 130c and / or the fourth sensor 130d are particularly used. Regarding the third sensor 130c and the fourth sensor 130d, as described above, for example, when calculating the position of the intersection c12 between the first rebar R10 and the second rebar R20, the detection results of the second rebar R20 by the third sensor 130c and the fourth sensor 130d are used. That is, when calculating the position of the intersection c12 between the first rebar R10 and the second rebar R20, the detection results of the first rebar R10 by the third sensor 130c and the fourth sensor 130d do not need to be used. Therefore, in this case, the detection of the first rebar R10 by the third sensor 130c and the fourth sensor 130d does not need to be used. When the rebar tying robot 100 advances the rebar tying operation and reaches the end R10e of the first rebar R10, for example, the rebar tying robot 100 moves laterally. Therefore, in order to be able to calculate the amount of movement, the camera range of the third sensor 130c and / or the fourth sensor 130d can also be changed by, for example, changing the orientation of the third sensor 130c and / or the fourth sensor 130d, so that the first rebar R10 can be detected by the third sensor 130c and / or the fourth sensor 130d.

[0175] Refer to above Figure 19While the example of using the detection results of the first sensor 130a and the fourth sensor 130d is described, the sensors used for reference are not limited thereto. For example, the sensor used may be changed depending on the direction of travel of the rebar tying robot 100. As described above, when the first sensor 130a detects the end R10e of the first rebar R10, the rebar tying robot 100 is not limited to moving laterally toward the fourth sensor 130d. For example, when the first sensor 130a detects the end R10e of the first rebar R10, the rebar tying robot 100 may also move laterally toward the third sensor 130c. Furthermore, for example, when the second sensor 130b detects the end R10e of the first rebar R10, the rebar tying robot 100 may move laterally toward the third sensor 130c. Alternatively, when the second sensor 130b detects the end R10e of the first rebar R10, the rebar tying robot 100 may move laterally toward the fourth sensor 130d.

[0176] Below, refer to Figures 20A to 25B An example of the lateral movement of the rebar tying robot 100 will be described. Figures 20A to 25B FIG1 is a diagram of the reinforcing bar tying robot 100 in lateral movement. Figure 20A 、 Figure 21A 、…、 Figure 25A This is a diagram of the rebar tying robot 100 as viewed from the back. Figure 20B 、 Figure 21B 、…、 Figure 25B This is a diagram of the rebar tying robot 100 as seen from an oblique upper direction.

[0177] Figure 20A as well as Figure 20B : represents the steel bar tying robot 100 before starting lateral movement. Figure 20A and Figure 20B As shown, the rebar tying robot 100 travels on the first rebars R12 and R14.

[0178] In the embodiment of the present disclosure, as described above, for example, when the detection result of the first sensor 130a determines that the robot 100 has reached or is reaching the vicinity of the end R10e of the first reinforcing bar R10, the robot 100 determines that the robot 100 has started lateral movement. Figure 21A and Figure 21B Indicates the state when the steel bar tying robot 100 starts to move horizontally. Figure 21A as well as Figure 21B As shown in FIG. 1 , the rebar tying robot 100 does not move the traveling unit 121 but moves the main unit 140 in the moving direction (X direction). Figure 21A and Figure 21B As shown, at this time, the first traveling unit 121a and the second traveling unit 121b are respectively located on the first steel bar R12 and the first steel bar R14 without moving. At this time, the support rods 150a and 150b are not in contact with any steel bars. The lateral movement of the main unit 140 (here, for example, movement in the horizontal direction (movement in the X direction)) can also be performed in the following manner: Figure 21A and Figure 21B The first lateral moving motor 146ma and the second lateral moving motor 146mb of the lateral moving unit 146, not shown in the figure, drive the first lateral moving roller 146la and the second lateral moving roller 146lb provided on the first connecting portion 147a and the second connecting portion 147b, so that the main unit 140 moves in the X direction via the first drive rack 146ca and the second drive rack 146cb.

[0179] Next, the steel bar tying robot 100 moves the traveling unit 121 (the lower end of the traveling unit 121) upward relative to the first steel bar R10. Figure 22A as well as Figure 22B As shown, the lower end of the traveling unit 121 in the -Z direction is Figure 22A as well as Figure 22B The first body-side link 125a and the first roller-side link 123a move toward each other (i.e., they close together). Specifically, the first body-side link 125a and the first roller-side link 123a move so that the angle between them decreases. Similarly, the second travel unit 121b, the third travel unit 121c, and the fourth travel unit 121d move toward the closing direction: the second body-side link 125b and the second roller-side link 123b, the third body-side link 125c and the first roller-side link 123c, and the fourth body-side link 125d and the fourth roller-side link 123d, respectively.

[0180] When the main body link 125 and the roller link 123 are closed and the lower end of the travel unit 121 rises, the support rods 150a and 150b are relatively lowered. When the mobile unit 121 leaves the first reinforcing bar R10, the support rods 150a and 150b contact the first reinforcing bar R10. For example, the travel unit 121 may be configured so that the length in the Z direction can be increased by closing the motor (e.g., Figure 7The first wheel height changing motor 126a, the second wheel height changing motor 126b, the third wheel height changing motor 126c, and the fourth wheel height changing motor 126d shown in the figure support the rollers (the first roller 122a, the second roller 122b, the third roller 122c, and the fourth roller 122d) by means of the main body-side link 125 and the roller-side link 123 (the first main body-side link 125a and the first roller-side link 123a, the second main body-side link 125b and the second roller-side link 123b, the third main body-side link 125c and the third roller-side link 123c, and the fourth main body-side link 125d and the fourth roller-side link 123d). Alternatively, the main body-side link 125 and the roller-side link 123 may be closed to raise the roller 122 and separate it from the first reinforcing bar R10.

[0181] like Figure 22A and Figure 22B As shown, the support rods 150a and 150b are in contact with the first reinforcing bars R11 to R14, for example. In this way, the entire reinforcing bar tying robot 100 is supported by the support rods 150a and 150b.

[0182] Then, the traveling unit 121 of the steel bar tying robot 100 moves along the X direction. Figure 23A and Figure 23B As shown, the first and third travel units 121a, 121c, and the second and fourth travel units 121b, 121d, which are in contact with first rebar R12 and first rebar R14, respectively, move upwards toward first rebar R13 and first rebar R15. At this point, the first through fourth travel units 121a, 121d are no longer in contact with first rebar R10. Support rods 150a and 150b are in contact with first rebar R10 (and first rebars R12-R15), supporting the rebar tying robot 100.

[0183] Next, the main body link 125 and roller-side link 123 of the travel unit 121 are opened. This causes the lower end of the travel unit 121 in the -Z direction to descend relative to the first reinforcing bar R10. At this time, for example, the first main body link 125a and the first roller-side link 123a move away from each other (i.e., the first main body link 125a and the first roller-side link 123a open). Specifically, the first main body link 125a and the first roller-side link 123a move so that the angle between them increases. The same is true for the second traveling unit 121b, the third traveling unit 121c and the fourth traveling unit 121d, 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 first roller side link portion 123c, the fourth main body side link portion 125d and the fourth roller side link portion 123d respectively move in the opening direction.

[0184] like Figure 24A as well as Figure 24B As shown, the lower end of the traveling unit 121 in the -Z direction is Figure 24A as well as Figure 24B It descends downward in the Z direction (-Z direction). Figure 24A and Figure 24B As shown, the first and third traveling units 121a and 121c are in contact with the first rebar R13, while the second and fourth traveling units 121b and 121d are in contact with the first rebar R15. Consequently, the support rods 150a and 150b are raised relative to the first rebar R10. Thus, the rebar tying robot 100 is supported by the traveling unit 121 in this state.

[0185] Next, if Figure 25A and Figure 25B As shown, the main unit 140 moves in the X direction. Figure 21A and Figure 21B Similarly to the above situation, Figure 25A and Figure 25B The lateral movement of the main unit 140 shown (here, for example, the movement in the horizontal direction (movement in the X direction)) can also be performed by, for example Figure 25A and Figure 25B The first and second lateral movement motors 146ma and 146mb of the lateral movement unit 146 (not shown) are used to perform the lateral movement. This completes the lateral movement of the rebar tying robot 100. For example, the rebar tying robot 100 begins traversing the first and second rebars R13 and R15, and then performs tying operations at the intersection c12 of the first and second rebars R10 and R20 on the first rebar R14.

[0186] The above description uses the example of the rebar tying robot 100 moving from first rebars R12 and R14 to first rebars R13 and R15. However, the robot can also move forward across multiple first rebars R10. In this case, the robot can also move forward using the same method described above, or by repeating the above movement method, it can move over a longer distance. Furthermore, even when moving forward across multiple first rebars R10, the robot can calculate the amount of movement based on the detection results of the sensor unit 130 using the same method.

[0187] In addition, the rebar tying robot 100 is not limited to the method described above, and can also be moved laterally by other methods. In this case, the movement amount of the rebar tying robot 100 can also be calculated based on the detection results of the sensor unit 130 according to the movement amount calculation method in the embodiment of the present invention. By using the movement amount calculation method in the embodiment of the present invention, the movement of the rebar tying robot 100 can be smoothly promoted.

[0188] As described above, the rebar tying robot 100 according to the embodiment of the present disclosure includes: a travel unit 121 configured to be able to travel on a rebar group R, the rebar group R including a plurality of first rebars R1 extending in a first direction (Y direction) and a plurality of second rebars R2 extending in a second direction (X direction) intersecting the first direction (Y direction) and arranged to intersect the first rebars R1; a sensor unit 130 configured to be able 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 the present embodiment) configured to calculate the position of the at least one first rebar R10 and / or the 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 based on the detection results of the sensor unit 130. The rebar tying robot 100 according to the disclosed embodiments calculates the positions of the first and / or second rebars R10 and R20 based on a two-dimensional image generated from the detection results of the sensor unit 130. This makes the process of calculating the positions of the first and / or second rebars R10 and R20 more efficient. Consequently, the rebar detection process during the rebar blood phase operation of the rebar tying robot 100 can be made more efficient. For example, compared to calculating the positions of the rebars using three-dimensional data as the detection results of the sensor unit, performing calculations based on two-dimensional images can reduce the computational load.

[0189] Improvements in the technology of the various units comprising the rebar tying robot 100 enable faster and more efficient rebar tying operations. To achieve faster rebar tying operations, it is desirable to accelerate the process of detecting rebars and the intersections between rebars in a bundle. The rebar tying robot 100 according to the disclosed embodiments improves the efficiency of the rebar detection process, thereby contributing to faster rebar tying operations.

[0190] The rebar tying robot 100 according to the embodiment of the present disclosure includes, for example, a rebar tying unit 110 configured to tie an intersection c12 of first and second rebars R10 and R20 of a rebar group, wherein the first rebar R10 of the rebar group includes a plurality of first rebars R10 extending in a first direction (Y direction) and a plurality of second rebars R20 extending in a second direction (X direction) intersecting the first direction (Y direction) and arranged to intersect the first rebars R10; a traveling unit 121 configured to travel on the first and / or second rebars R10; a first sensor 130 a and a second sensor 130 b configured to detect at least one first rebar R10 and / or at least one second rebar R20, and disposed spaced apart from each other along a third direction (Y direction); and a third sensor 130 c and a fourth sensor 130 d configured to detect at least one first rebar R10 and / or at least one second rebar R20, and disposed spaced apart from each other along a fourth direction (X direction) intersecting the third direction (Y direction). As described above, the rebar tying robot 100 includes four sensors 130 (a first sensor 130a, a second sensor 130b, a third sensor 130c, and a fourth sensor 130d). Therefore, for example, as described above, the intersection c12 between the first rebar R10 and the second rebar R20 can be efficiently detected. The location of the intersection c12 can also be determined by, for example, installing sensors near the rebar tying unit 110. However, since the rebar tying unit 110 moves vertically, installing sensors nearby is sometimes difficult. In the embodiment of the present disclosure, even without installing sensors near the rebar tying unit 110, the location of the intersection c12 can be estimated based on the detection results of the four sensors 130.

[0191] The rebar tying robot 100 according to the embodiment of the present disclosure includes, for example, a rebar tying unit 110 configured to tie an intersection c12 of a first rebar R10 and a second rebar R20 of a rebar group, wherein the first rebar R10 of the rebar group includes a plurality of first rebars R10 extending in a first direction (Y direction) and a plurality of second rebars R20 extending in a second direction (X direction) intersecting the first direction (Y direction); a traveling unit 121 configured to be able to travel on the first rebar R10 and / or the second rebar R20; a sensor unit 130 configured to be able to detect the first rebar R10 and / or the second rebar R20; and a movement amount calculation unit 174 that calculates a movement amount of the traveling unit 121 based on position information of the first rebar R10 or the second rebar R20 detected by the sensor unit 130 when the traveling unit 121 moves from the traveling first rebar R10 or the second rebar R20 to another first rebar R10 or another second rebar R20. As described above, the rebar tying robot 100 according to the embodiment of the present disclosure can determine the position of the rebar at the rebar tying robot 100's destination based on the detection results of the sensor unit 130, and calculate the movement amount of the rebar tying robot 100 based on the position of the rebar being traveled by the travel unit 121 of the rebar tying robot 100 and the position of the rebar at the destination. For example, if the rebar tying robot 100 reaches the end of a rebar to which rebar tying has been performed, the movement amount can be calculated based on the detection results of the sensor unit 130 when the robot moves to the next rebar to be tied.

[0192] In the above-mentioned embodiment of the present disclosure, the case where the rebar tying robot 100 performs the rebar tying operation at the intersection c12 of the first rebar R10 and the second rebar R20 in a rebar group in which the first rebar R10 and the second rebar R20 are arranged in a mutually orthogonal manner is described as an example, but the rebar tying robot 100 of the embodiment of the present disclosure can also be used when the first rebar R10 and the second rebar R20 are in a non-orthogonal relationship.

[0193] Figure 26 : is a schematic diagram of a reinforcing bar tying robot 200 according to another embodiment of the present disclosure, viewed from below in the Z direction (-Z direction). Figure 26As shown, in this embodiment, the second rebar R20 is positioned at an angle of approximately 30° relative to the first rebar R10. The rebar tying robot 200 of this embodiment differs from the rebar tying robot 100 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 tying robot 200 are positioned on a straight line inclined 30° relative to the X-direction. In the rebar tying robot 200, by arranging the third sensor 130c and the fourth sensor 130d in a direction inclined from the X-direction in accordance with the second rebar R20, the second rebar R20 can be detected using the same method as the rebar tying robot 100.

[0194] In this manner, the placement of the first to fourth sensors 130a to 130d can be modified based on the arrangement of the first and second reinforcing bars R10 and R20. The placement of the first, second, third, and / or fourth sensors 130a, 130b, 130c, and / or 130d can be adjusted manually or automatically before the rebar tying operation begins, for example, based on the construction site where the rebar group R to be tied is located. Alternatively, even after the rebar tying robot 100 begins moving, the relationship between the first and second rebars R10 and R20 can be determined based on the detection results of the sensor unit 130, and the placement of the first, second, third, and / or fourth sensors 130a, 130b, 130c, and / or 130d can be dynamically modified based on the determination results. In this case, for example, a motor capable of driving the first to fourth sensors 130a to 130d can be provided, and the positions of the first to fourth sensors 130a to 130d can be modified by driving the motor.

[0195] Below, refer to Figures 27A to 32 , a structure for pulling out the wire W used for the tying operation in the tying device 100 according to the embodiment of the present disclosure will be described.

[0196] The bundling device 100 of this embodiment includes a rebar bundling unit 110 (also referred to as a "bundling mechanism" in this embodiment), a rebar bundling unit moving unit 168m (also referred to as a "bundling mechanism moving unit" in this embodiment), and a wire drawing unit (a first wire drawing unit 112 and a second wire drawing unit 148, described below). The rebar bundling unit 110 (bundling mechanism) feeds wires W around the rebars R and twists and bundles the wires W fed around the rebars R. The rebar bundling unit moving unit 168m (bundling mechanism moving unit) moves the rebar bundling unit 110 (bundling mechanism) between a bundling position (bundling position P1, described below) for bundling the rebars R and a retreat position (retreat position P2, described below) away from the rebars R. The wire drawing unit draws out the wire W wound around the reel 180. Furthermore, the wire pull-out unit is linked to the movement of the rebar bundling unit 110 (bundling mechanism) by the rebar bundling unit moving unit 168m (bundling mechanism moving unit), pulling out the wire W in the direction of movement of the rebar bundling unit 110 (bundling mechanism). Furthermore, the amount of wire W pulled out by the wire pull-out unit is greater than the amount of movement of the rebar bundling unit 110 (bundling mechanism) caused by the movement of the rebar bundling unit moving unit 168m (bundling mechanism moving unit).

[0197] Figure 27A This is a diagram of the tying device 100 according to the embodiment of the present disclosure, for explaining the structure for pulling out the wire, as seen from obliquely above. Figure 27B This is a diagram showing the strapping device 100 as seen from the oblique front. Figure 27A and Figure 27B The state in which the reinforcing bar bundling unit 110 of the bundling device 100 has completed the bundling operation at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 is shown. Figure 27A and Figure 27B In the illustrated example, the reinforcing bar tying unit 110 of the tying device 100 is located at the tying position P1 .

[0198] In addition, in this embodiment, the bundling position P1 is the position where the reinforcing bar bundling unit 110 bundles the reinforcing bars R. For example, it may be the position where at least a portion of the wire twisting portion 114 crosses the reinforcing bar surface (the surface formed by the first reinforcing bar R10 and the second reinforcing bar R20) in the Z direction. In this embodiment, as the bundling position P1, Figure 27A and Figure 27B In FIG, P1 represents the position of the front end (the end in the -Z direction) of the wire twisting portion 114 at this time. Figure 27A and Figure 27B As shown, the tip of the twisted wire portion 114 is located closer to the first reinforcing bar R10 and the second reinforcing bar R20 in the −Z direction.

[0199] Likewise, Figure 28AThis is a diagram showing the bundling device 100 according to the embodiment of the present disclosure, viewed from obliquely above, for explaining the structure for pulling out the wire. Figure 28B This is a diagram showing the strapping device 100 as seen from the oblique front. Figure 28A and Figure 28B The reinforcing bar bundling unit 110 of the bundling device 100 is in a state where the bundling operation of the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 is completed at the bundling position P1 ( Figure 27A and Figure 27B The state shown) retreats to the retreat position P2.

[0200] In this embodiment, the retreat position P2 is a position where the reinforcing bar bundling unit 110 does not bundle the reinforcing bars R. For example, it may be a position where the wire twisting portion 114 does not cross the reinforcing bar surface (the surface formed by the first reinforcing bar R10 and the second reinforcing bar R20) in the Z direction. Figure 28A and Figure 28B In FIG, P2 represents the position of the top end (the end in the -Z direction) of the wire twisting portion 114 at this time. Figure 28A and Figure 28B As shown, the tip of the wire twisting portion 114 is located closer to the first and second reinforcing bars R10 and R20 in the +Z direction. Furthermore, the retreat position P2 is not limited thereto. For example, even if the tip of the wire twisting portion 114 is located closer to the reinforcing bar surface in the -Z direction, the reinforcing bar bundling unit 110 as a whole can be positioned in the retreat position P2 when the reinforcing bar R bundling operation is not being performed (for example, a state in which the reinforcing bar bundling operation cannot be performed without relative movement of the reinforcing bar bundling unit 110 in the Z direction). Furthermore, the retreat position P2 can be determined based on the positions of the components of the reinforcing bar bundling unit 110 (such as the wire twisting portion 114) at that time.

[0201] also, Figure 29A 1 is a diagram showing a bundling device 100 according to an embodiment of the present disclosure as viewed from obliquely above for explaining a structure for pulling out a wire. Figure 29B This is a diagram showing the strapping device 100 as viewed from the oblique front. Figure 29A and Figure 29B This shows a state where the reinforcing bar bundling unit 110 of the bundling device 100 has completed the bundling operation at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 ( Figure 27A and Figure 27B The state shown) retreats to the retreat position P2 ( Figure 28A and Figure 28B After that, the reinforcing bar tying unit 110 descends in the -Z direction and starts tying the intersection of the first reinforcing bar R10 and the second reinforcing bar R20. Figure 29A and Figure 29B In the illustrated example, the reinforcing bar tying unit 110 of the tying device 100 is located at the tying position P1 .

[0202] like Figure 27A and Figure 27B As shown, in addition to the above-described configuration, the bundling device 100 further includes a first wire drawing unit 112 (also referred to as a "first drawing unit" in this embodiment) provided at the end of the rebar bundling unit 110 opposite the wire twisting unit 114 via a relay unit 112L. The relay unit 112L transmits the movement of the rebar bundling unit 110, which is driven by the rebar bundling unit moving unit 168m, to the first wire drawing unit 112. More specifically, the rebar bundling unit 110 is moved in the +Z direction or the -Z direction by the rebar bundling unit moving unit 168m. The relay unit 112L provided on the rebar bundling unit 110 moves in the Z direction in conjunction with the Z-direction movement of the rebar bundling unit 110, thereby causing the first wire drawing unit 112 to move in the Z direction in conjunction with the rebar bundling unit 110. Therefore, the relay portion 112L functions as a link member that links the movement of the first wire drawing portion 112 and the rebar bundling unit 110. Furthermore, the first wire drawing portion 112 is configured to engage with the wire W. Furthermore, as described later, the first wire drawing portion 112 has a first cylindrical surface 112c. In this embodiment, the first cylindrical surface 112c of the first wire drawing portion is a portion of a cylindrical surface, for example, a semi-cylindrical surface.

[0203] like Figure 27A and Figure 27B As shown, the main body unit 140 (also referred to as the "binding device main body" in this embodiment) is provided with a second wire pull-out unit 148 (also referred to as the "second pull-out unit" in this embodiment), a first guide 149a, and a second guide 149b. The second wire pull-out unit 148 is disposed on the -Z surface of the main body unit 140 via a support member 148s. Therefore, even if the rebar bundling unit 110 moves, the position of the second wire pull-out unit 148 remains unchanged. In other words, as will be described in detail later, when the first wire pull-out unit 112 moves in conjunction with the rebar bundling unit 110, the second wire pull-out unit 148 moves relative to the first wire pull-out unit 112.

[0204] Furthermore, in the present embodiment, the second wire lead-out portion 148 is fixed to the main unit 140 and has a structure that is immovable relative to the main unit 140. However, the second wire lead-out portion 148 is not limited to this structure, and may also have a structure that is movable relative to the main unit 140. For example, the second wire pull-out portion 148 may also have a structure that is swingable relative to the main unit 140. Even if the second wire lead-out portion 148 has a structure that is swingable relative to the main unit 140, as long as the first wire lead-out portion 112 moves along with the movement of the rebar bundling unit 110, it is sufficient that the wire W can be drawn out by moving relative to the first wire lead-out portion 112, and it may not be completely fixed. The second wire lead-out portion 148 may also be configured to be able to swing relative to the main unit 140 within the range in which the wire W can be drawn out by moving relative to the first wire lead-out portion 112.

[0205] The second wire lead-out portion 148 has a second cylindrical surface 148c. Figure 27B As shown in FIG. 1 , in this embodiment, the second wire drawing portion 148 is a cylindrical roller member.

[0206] The first guide 149a and the second guide 149b are provided on the inner circumferential surface of the hole 144 of the main unit 140. The hole 144 has a generally circular shape when viewed from the Z direction, and the first guide 149a and the second guide 149b are arranged on opposite sides of the center of the circle formed by the inner circumferential surface of the hole 144. In the example shown in the figure, the first guide 149a is arranged on the portion of the inner circumferential surface of the hole 144 in the +X and +Y directions, and the second guide 149b is arranged on the portion of the inner circumferential surface of the hole 144 in the -X and -Y directions.

[0207] The first guide 149a and the second guide 149b are provided with a first slit 149as and a second slit 149bs, respectively, extending in the Z direction. The rebar bundling unit 110 is provided with a first engaging portion 116a and a second engaging portion 116b. The first engaging portion 116a engages with the first slit 149as, and the second engaging portion 116b engages with the second slit 149b. With this structure, when the rebar bundling unit 110 moves in the Z direction, the first engaging portion 116a engages with the first slit 149a, and the second engaging portion 116b engages with the second slit 149b. In other words, the Z-direction movement of the rebar bundling unit 110 is guided by the engagement of the first and second guides 149a, 149b, provided on the main unit 140, with the first and second engaging portions 116a, 116b, provided on the rebar bundling unit 110. Note that, as will be described later, in the binding device 100 of the present embodiment, the reinforcing bar binding unit 110 includes two first engaging portions 116a1 and 116a2 and two second engaging portions 116b1 and 116b2.

[0208] As mentioned above, Figure 27A and Figure 27B Indicates the state where the bundling device 100 has completed the bundling operation of the steel bar bundling unit 110. Figure 27B As shown, the wire W engaged with the first wire lead-out portion 112 and the second wire lead-out portion 148 provided below (in the −Z direction) the first wire lead-out portion 112 is in a state with relatively little slack. Figure 27B This is a diagram of the strapping device 100 viewed from the front in the Y direction. Figure 27B The single dot chain line represents the wire W that cannot be seen due to the first wire pulling portion 112 and the main unit 140. Figure 27B As shown, the line W engaged with the first wire lead-out portion 112 and bent into a semicircle along the first cylindrical surface 112c of the first wire lead-out portion 112 is also engaged with the second wire lead-out portion 148 located in the -Z direction, and bent along the cylindrical surface of the roller part of the second wire lead-out portion 148, namely the second cylindrical surface 148c.

[0209] The strapping device 100 is Figure 27A and Figure 27B In the state shown, after the steel bar bundling unit 110 completes the bundling action at the bundling position P1, Figure 28A and Figure 28B As shown in FIG. 1 , the steel bar binding unit 110 moves to the retreat position P2. Figure 28A and Figure 28BAs shown, at the retracted position P2, the first engaging portion 116a (first engaging portion 116a1 and first engaging portion 116a2) and the second engaging portion 116b (second engaging portion 116b1 and second engaging portion 116b2) rise in the +Z direction along the first guide 149a and the second guide 149b, respectively. Furthermore, in conjunction with the movement of the rebar tying unit 110 in the +Z direction, the first wire drawing portion 112 provided in the rebar tying unit 110 via the relay portion 112L also moves in the +Z direction. Meanwhile, even if the rebar tying unit 110 moves in the Z direction, the second wire drawing portion 148 provided in the main unit 140 via the support member 148s does not move. In other words, the position of the second wire drawing portion 148 in the tying device 100 remains unchanged between the tying position P1 and the retracted position P2. Therefore, when the first wire pulling portion 112 moves in conjunction with the movement of the reinforcing bar bundling unit 110 (bundling mechanism), the second wire pulling portion 148 moves in the Z direction relative to the first wire pulling portion 112. In this embodiment, when the first wire pulling portion 112 moves in the +Z direction in conjunction with the movement of the reinforcing bar bundling unit 110, the second wire pulling portion 148 moves in the -Z direction relative to the first wire pulling portion 112.

[0210] like Figure 28A and Figure 28B As shown, when the steel bar binding unit 110 is in the retreat position P2, Figure 27A and Figure 27B Compared to the case where the reinforcing bar tying unit 110 is at the tying position P1, the first wire lead-out portion 112 rises in the +Z direction, so the distance between the first wire lead-out portion 112 and the second wire lead-out portion 148 becomes larger. Figure 27A and Figure 27B and Figure 28A and Figure 28B By comparison, it can be seen that the distance between the first wire pulling portion 112 and the reel 180 in the Z direction is also larger when the steel bar tying unit 110 is in the retreat position P2 than when the steel bar tying unit 110 is in the tying position P1. Figure 27A and Figure 27B Compared with the state shown in Figure 28A and Figure 28B In the state shown in FIG. 1 , the distance in the Z direction between the second wire lead-out portion 148 and the wire twisting portion 114 of the reinforcing bar binding unit 110 also increases. Figure 28A and Figure 28B In the state shown, the length of the wire W between the first wire lead-out portion 112 and the second wire lead-out portion 148, the length of the wire W between the reel 180b and the first wire lead-out portion 112, and the length of the wire W between the second wire lead-out portion 148 and the vicinity of the wire twisting portion 114 are all greater than Figure 27A and Figure 27B The status shown is long.

[0211] and Figure 27B same, Figure 28B This is a diagram of the strapping device 100 viewed from the front in the Y direction. Figure 28B In FIG. 1 , the wire W that cannot be seen due to the first wire pulling portion 112, the fourth sensor 130d, and the main unit 140 is indicated by a single-dot chain line. Figure 28B As shown, the line W engaged with the first wire lead-out portion 112 and bent into a semicircle along the first cylindrical surface 112c of the first wire lead-out portion 112 is also engaged with the second wire lead-out portion 148 located in the -Z direction and bent along the cylindrical surface of the roller member of the second wire lead-out portion 148, that is, the second cylindrical surface 148c. Figure 27B and Figure 28B , more specifically showing that the length of the wire W between the first wire lead-out portion 112 and the second wire lead-out portion 148, the length of the wire W between the reel 180b and the first wire lead-out portion 112, and the length of the wire W between the second wire lead-out portion 148 and the vicinity of the wire twisting portion 114 become longer due to the movement of the steel bar bundling unit 110 from the bundling position P1 to the retreat position P2.

[0212] That is, in Figure 28A and Figure 28B In the state shown, the distance between the first wire pulling portion 112 and the second wire pulling portion 148 is changed along with the movement of the reinforcing bar bundling unit 110 in the Z direction. Figure 27A and Figure 27B Compared with the state shown in FIG. 1 , the distance between the reel 180b and the first wire pulling portion 112 is lengthened by an amount corresponding to the distance moved in the Z direction of the rebar bundling unit 110. Similarly, the distance between the reel 180b and the first wire pulling portion 112 is lengthened by an amount corresponding to the distance moved in the Z direction of the rebar bundling unit 110. In addition, the distance between the second wire pulling portion 148 and the vicinity of the wire twisting portion 114 is lengthened by an amount corresponding to the distance moved in the Z direction of the rebar bundling unit 110. Based on the above, Figure 28A and Figure 28B In the state shown, the length of the wire W between the first wire lead-out portion 112 and the second wire lead-out portion 148 and the length of the wire W between the second wire lead-out portion 148 and the vicinity of the wire twisting portion 114 are both equal to Figure 27A and Figure 27B Compared with the state shown, it is longer by a length corresponding to the moving distance of the reinforcing bar binding unit 110 in the Z direction.

[0213] Furthermore, the length of the wire W between the spool 180b and the first wire draw-out portion 112 may vary depending on the arrangement of the spool 180b and the first wire draw-out portion 112, and the amount of change associated with the relative movement of the first wire draw-out portion 112 and the second wire draw-out portion 148. For example, when the rebar tying unit 110 is in the tying position P1, the spool 180b is relatively close to the first wire pull-out portion 112. When the first wire pull-out portion 112 moves relative to the spool 180b in the Z direction or substantially in the Z direction as the rebar tying unit 110 moves from the tying position P1 to the retreated position P2, the length of the wire W between the spool 180b and the first wire pull-out portion 112 changes significantly, for example, close to the amount of movement of the rebar tying unit 110 in the Z direction. On the other hand, if the reel 180b and the first wire pullout unit 112 are positioned so that the length of the wire W between the reel 180b and the first wire pullout unit 112 changes relatively little when the rebar bundling unit 110 moves from the bundling position P1 to the retreated position P2, the length of the wire W between the reel 180b and the first wire pullout unit 112 changes relatively little even when the rebar bundling unit 110 moves from the bundling position P1 to the retreated position P2. For example, if the reel 180b and the first wire pullout unit 112 are relatively far apart in the X direction, the wire W has already been pulled out in the X direction by the distance between the reel 180b and the first wire pullout unit 112. Therefore, even if the first wire pullout unit 112 moves relative to the reel 180b in the Z direction, the wire W is not pulled out by the entire amount of movement of the first wire pullout unit 112 in the Z direction. Therefore, in this case, the length of the pulled-out wire W is relatively small.

[0214] After the wire W is used in the rebar tying operation of the rebar tying unit 110, the wire W is cut using a wire cutter (not shown), leaving the twisted portion of the wire twisting unit 114. The wire twisting unit 114 grips the area near the cut portion. Thus, the wire W, which has been lengthened by the movement of the rebar tying unit 110 from the tying position P1 to the retreated position P2, is newly drawn out from the reel 180. Specifically, while a portion of the wire W is engaged with the first wire drawing unit 112 and another portion of the wire W is engaged with the second wire drawing unit 148, the first wire drawing unit 112 moves relative to the second wire drawing unit 148 as the rebar tying unit 110 (tying mechanism) moves, thereby drawing the wire W from the reel 180.

[0215] The length of the wire W newly drawn out from the reel 180 corresponds to the sum of the length of the wire W between the first and second wire draw-out sections 112 and 148, the length of the wire W between the reel 180b and the first wire draw-out section 112, and the length of the wire W between the second wire draw-out section 148 and the vicinity of the wire twisting section 114, or a greater length. As described above, the length of the wire W between the first and second wire draw-out sections 112 and 148, and the length of the wire W between the second wire draw-out section 148 and the vicinity of the wire twisting section 114, are both increased by, for example, an amount corresponding to the distance traveled in the Z direction by the rebar tying unit 110. In other words, the amount of the newly drawn wire W is twice or more the distance traveled by the rebar tying unit 110.

[0216] Therefore, the amount of wire W drawn out by the wire drawing unit (first wire drawing unit 112 and second wire drawing unit 148) increases relative to the amount of movement of the rebar tying unit 110 (tying mechanism) due to the operation of the rebar tying unit moving unit 168m (tying mechanism moving unit). In this embodiment, for example, the wire drawing unit draws out from the reel 180 an amount of wire W that is twice or more the amount of movement of the rebar tying unit 110. The amount of movement of the rebar tying unit 110 may also include the distance the rebar tying unit 110 moves. The amount of the drawn wire W may also include the distance the drawn wire W is.

[0217] For example, when the change in the length of the wire W between the reel 180b and the first wire pull-out portion 112 is relatively large, for example, close to the amount of movement of the rebar bundling unit 110 in the Z direction, the amount of newly pulled wire W is at least twice, for example, three times, the amount of movement of the rebar bundling unit 110. On the other hand, when the change in the length of the wire W between the reel 180b and the first wire pull-out portion 112 (for example, the change in the Z direction) is relatively small, the amount of newly pulled wire W is close to twice the amount of movement of the rebar bundling unit 110. For example, when the change in the length of the wire W between the reel 180b and the first wire pull-out portion 112 is 0.4 times the amount of movement of the rebar bundling unit 110 in the Z direction, the amount of newly pulled wire W is 2.4 times the amount of movement of the rebar bundling unit 110.

[0218] The amounts of the wire W drawn out are merely examples, and the amount of the newly drawn wire W may vary depending on other factors. For example, the amount of the newly drawn wire W may vary depending on the strength of the wire W wound onto the reel 180, the speed and / or strength of the wire W drawn out by the first wire drawing portion 112 and / or the second wire drawing portion 148, and the like. Therefore, the amount of the newly drawn wire W relative to the travel distance of the rebar tying unit 110 may vary other than the values 2 or 3 times the above.

[0219] In the strapping device 100, Figure 28A and Figure 28B After the steel bar binding unit 110 moves to the retreat position P2 as shown, Figure 29A and Figure 29B As shown, the rebar bundling unit 110 moves to the bundling position P1. For example, when the rebar bundling unit 110 is in the retreat position P2, the bundling device 100 moves to the vicinity of the intersection c12 of the first and second rebars R10 and R20, where the next bundling operation is to be performed, and lowers the rebar bundling unit 110 to the bundling position P1.

[0220] like Figure 29A and Figure 29B As shown, the reinforcing bar tying unit 110 moves to the retreat position P2, pulls out the wire W through the first wire pulling part 112 and the second wire pulling part 148, and then descends to the tying position P1, thereby partially loosening the wire W. Specifically, referring to the wire W that is invisible due to the first wire drawing part 112, the fourth sensor 130d, and the main unit 140, the single-dot chain line is used. Figure 29B and Figure 28B Slack occurs in the wire W between the first wire lead-out portion 112 and the reel 180, the portion engaged with the first wire lead-out portion 112, the portion between the first wire lead-out portion 112 and the main unit 140, and the portion between the main unit 140 and the second wire lead-out portion 148. The slack in the wire W corresponds to the newly drawn wire W, and part or all of the slack in the wire W is used for the next reinforcing bar tying operation of the reinforcing bar tying unit 110.

[0221] It should be noted that the amount of newly drawn wire W can be, for example, no more than five times the amount of movement of the rebar bundling unit 110. As will be described later, when the rebar bundling unit 110, after moving to the retreat position P2, descends again to the bundling position P1 before starting the bundling operation, slack occurs in the wire W, for example, by an amount equivalent to the amount of wire W drawn. If the amount of slack is too great, the bundling operation may not be performed properly due to the wire W being caught on a component of the bundling device 100 or the wire W being subjected to a tension less than that required for the bundling operation. A configuration in which the wire W is drawn in an amount no more than five times the amount of movement of the rebar bundling unit 110 allows for proper bundling.

[0222] In this embodiment, if Figure 28BAs shown, the second wire drawing portion 148 is positioned below (in the -Z direction) the wire twisting portion 114 at the retracted position P2 of the rebar tying unit 110. Specifically, when the rebar tying unit 110 (tying mechanism) is in the retracted position P2, the distance (in the Z direction) between the first wire drawing portion 112 and the second wire drawing portion 148 is greater than the distance between the first wire drawing portion 112 and the wire twisting portion 114.

[0223] It should be noted that the relationship between the second wire lead-out portion 148 and the wire twisting portion 114 can be changed according to the position of the steel bar bundling unit 110. For example, when the position of the steel bar bundling unit 110 is the bundling position P1, Figure 27B 、 Figure 29B As shown, the second wire lead-out portion 148 is positioned above (in the +Z direction) the wire twisting portion 114. Specifically, when the reinforcing bar tying unit 110 (tying mechanism) is at the tying position P1, the distance (in the Z direction) between the first wire lead-out portion 112 and the second wire lead-out portion 148 is smaller than the distance between the first wire lead-out portion 112 and the wire twisting portion 114.

[0224] Hereinafter, the first wire lead-out portion 112 will be described in detail. Figure 30A is a top view of the strapping device 100, Figure 30B This is a diagram showing the bundling device 100 as viewed obliquely from above. Figure 30B This is a diagram of the strapping device 100 viewed from above in the +X direction and the -Y direction. Figure 30A as well as Figure 30B Both show the binding device 100 when the reinforcing bar binding unit 110 is in the retreat position P2.

[0225] like Figure 30A and Figure 30B As shown, when viewed from the +Z direction, the shape of the first wire lead-out portion 112 is a trapezoidal shape with a smaller side in the -Y direction and a larger side in the +Y direction. In addition, a hole portion 112h1 and a hole portion 112h2 are provided in the -Y direction and +Y direction portions of the first wire lead-out portion 112, respectively. The hole portion 112h1 is provided on the smaller side of the trapezoidal first wire lead-out portion 112, and the hole portion 112h2 is provided on the larger side of the trapezoidal first wire lead-out portion 112. Therefore, as shown in FIG. Figure 30A As shown, the length of the hole portion 112h1 in the Y direction is set to be shorter than that of the hole portion 112h2.

[0226] In the bundling device 100 of this embodiment, two reels 180a and 180b are provided as the reels 180. In addition, the wires W (wire Wa and wire Wb (for example)) are pulled out from the two reels 180a and 180b, respectively. Figure 31A) ), the reinforcing bar bundling unit 110 performs a bundling operation using two wires W. The wires W pulled out from the reels 180a and 180b are pulled out through the relatively small hole 112h1, thereby approaching each other. Therefore, in the subsequent bundling operation using the two wires W of the reinforcing bar bundling unit 110, the two wires W can be easily concentrated for bundling.

[0227] On the other hand, the two gathered wires W then pass through the other hole 112h2 and are guided to the wire twisting portion 114. By making the hole 112h2 relatively long, the wires W passing through the hole 112h2 can move more freely within the hole 112h2. For example, the load on the wires W when the rebar tying unit 110 moves can be reduced.

[0228] It should be noted that, in the first wire lead-out portion 112, the wire W is formed to pass through the hole portion 112h1 and the hole portion 112h2, so that Figure 29A and Figure 29B Even when the reinforcing bar tying unit 110 is at the tying position P1 and the wire W is slack, the slack wire W can be kept engaged with the first wire lead-out portion 112 .

[0229] like Figure 30B As shown, a cutout portion 144r may be provided in the hole portion 144 of the main unit 140. In this embodiment, the wire W passing through the hole portion 112h2 is guided to the wire twisting portion 114 of the reinforcing bar binding unit 110 through the cutout portion 144r. Figure 30B As shown, by forming the first wire lead-out portion 112 into the cylindrical surface 112c, the portion of the wire W that engages with the first wire lead-out portion 112 bends along the cylindrical surface 112c, thereby reducing the load applied to the wire W.

[0230] Below, refer to Figure 31A and Figure 31B , describing the relationship and structure of the reel 180a and the reel 180b, the first wire pulling-out portion 112, and the second wire pulling-out portion 148. Figure 31A and Figure 31B This is a diagram showing a partial extraction of the bundling device 100 . Figure 31A This is a diagram showing the reel 180a, the reel 180b, the first wire pullout section 112, the second wire pullout section 148, and the like as viewed from the -Y direction. Figure 31B This is a view showing the reels 180a and 180b, the first wire drawing unit 112, and the second wire drawing unit 148 as viewed from obliquely above.

[0231] like Figure 31A and Figure 31BAs shown, the wire Wa pulled from the reel 180a and the wire Wb pulled from the reel 180b are pulled through the hole 112h1 of the first wire drawing unit 112, bringing them into contact with each other. The wire Wa and the wire Wb then become substantially integrated and are guided through the notch 144r of the main body unit 140 toward the second wire drawing unit 148. The wire Wa and the wire Wb, engaged with the second wire drawing unit 148 and guided along the cylindrical surface 148c of the roller member of the second wire drawing unit 148, are guided into the rebar tying unit 110 through the wire insertion port 118 provided in the rebar tying unit 110. The wire Wa and the wire Wb, guided into the rebar tying unit 110 through the wire insertion port 118, are used in the tying operation of the wire twisting unit 114.

[0232] Figure 32 It is an enlarged representation Figure 31A A side view of the vicinity of the second wire lead-out portion 148 is shown. Figure 32 As shown, the roller member of the second electric wire pull-out portion 148 is rotatably provided relative to the roller support member 148f. Figure 32 As shown, the roller member is provided with the second wire lead-out portion 148 relative to the roller supporting member 148f so as to generate a gap 148g between the cylindrical surface 148c of the roller member and the roller supporting member 148f. The wires Wa and Wb guided to the second wire lead-out portion 148 are configured to pass through the gap 148g.

[0233] like Figure 32 As shown, the roller support member 148f has a first support portion 148f1 and a second support portion 148f2, which are provided to cover the rotation axis 148a as the rotation center of the roller member of the second electric wire pull-out portion 148 from the +Z direction and the -Z direction, respectively. Figure 32 As shown, gap 148g corresponds to the gap formed between cylindrical surface 148c (the portion of cylindrical surface 148c located in the -Z direction) of the roller member of second thread draw-out section 148 and second support section 148f2. Since gap 148g blocks the cylindrical surface 148c, which is the surface for engagement of the thread W, in the -Z direction via second support section 148f2, the thread W that passes through gap 148g and engages with the second thread draw-out section 148 does not fall out in the Z direction and can maintain engagement with the second thread draw-out section 148.

[0234] In addition, for example, as referred to in the above description Figure 31BAs shown, the holes 112h1 and 112h2 of the first wire lead-out portion 112 are also blocked in the -Y and +Y directions, respectively, by first wall 112w1 and second wall 112w2, respectively, provided on the cylindrical surface 112c of the first wire lead-out portion 112. Therefore, the wires W (wire Wa and wire Wb) engaged with the first wire lead-out portion 112 are prevented from falling out in the -Y and +Y directions and are thus maintained engaged with the first wire lead-out portion 112.

[0235] In this way, by configuring the wire Wa and the wire Wb to pass through the hole portion 112h1 and the hole portion 112h2 of the first wire lead-out portion 112, and / or configuring the wire Wa and the wire Wb to pass through the gap 148g, for example, even when the steel bar bundling unit 110 moves to the bundling position P1 and the wire Wa and the wire Wb become loose, the wire Wa and the wire Wb can maintain a state of being engaged with the first wire lead-out portion 112 and / or the second wire lead-out portion 148.

[0236] Furthermore, similar to the above description regarding the cylindrical surface 112c of the first wire lead-out portion 112, the second wire lead-out portion 148 is also configured to have a cylindrical surface 148c, thereby reducing the load applied to the portion of the wire W that engages with the second wire lead-out portion 148. In particular, when relatively rigid wires W are used for bundling the reinforcing bars R, a relatively large force must be applied to bend the wires W. However, by configuring the first and second wire lead-out portions 112, 148 to have cylindrical surfaces, as in the first and second cylindrical surfaces 112c, 148c, the wires W can be easily bent.

[0237] Furthermore, in this embodiment, the radius of curvature of the first cylindrical surface 112c is configured to be larger than the radius of curvature of the second cylindrical surface 148c. Since the first cylindrical surface 112c engages with the wires Wa and Wb immediately after being pulled from the reels 180a and 180b, guiding the wires Wa and Wb may require greater force than with the second cylindrical surface 148c. By configuring the first cylindrical surface 112c to have a larger radius of curvature than the second cylindrical surface 148c, the wires Wa and Wb can be guided more easily via the first cylindrical surface 112c.

[0238] Above, the present embodiment has been described with reference to specific examples. However, the present disclosure is not limited to these specific examples. As long as the features of the present disclosure are possessed, the contents obtained by appropriately applying design changes to these specific examples by those skilled in the art are also included in the scope of the present disclosure. The various elements and their configurations, conditions, shapes, etc. possessed by the above-mentioned specific examples are not limited to the exemplified contents and can be appropriately changed. As long as the various elements possessed by the above-mentioned specific examples do not produce technical contradictions, the combination can be appropriately changed.

[0239] This application is based on Japanese patent applications No. 2023-007172 filed on January 20, 2023, No. 2023-007174 filed on January 20, 2023, No. 2023-007176 filed on January 20, 2023, No. 2023-007177 filed on January 20, 2023, No. 2023-007182 filed on January 20, 2023, No. 2023-007187 filed on January 20, 2023, and No. 2023-131097 filed on August 10, 2023, the contents of which are incorporated herein by reference.

[0240] Industrial Application Possibilities

[0241] The bundling device disclosed herein can pull out wires with a simple structure.

[0242] Description of Reference Numerals

[0243] 100, 200 steel bar bundling robots (binding devices)

[0244] 110 steel bar bundling unit (bundling mechanism)

[0245] 112 first wire lead-out portion (first lead-out portion, wire lead-out portion)

[0246] 112c first cylindrical surface

[0247] 112 L Relay Department

[0248] 114 Wire twisting part

[0249] 120 mobile units

[0250] 121 travel unit

[0251] 130 sensor units

[0252] 140 Main body (main unit)

[0253] 148 second wire lead-out portion (second lead-out portion, wire lead-out portion)

[0254] 148c second cylindrical surface

[0255] 160 control unit (control unit)

[0256] 168m steel bar bundling unit moving part (binding mechanism moving part)

[0257] 180 scrolls

[0258] P1 strapping position

[0259] P2 retreat position

[0260] R10 first steel bar

[0261] R20 second steel bar

[0262] W, Wa, Wb silk threads.

Claims

1. A strapping device comprising: The bundling mechanism transports the wires around the steel bars and twists and bundles the wires transported around the steel bars; a bundling mechanism moving unit that moves the bundling mechanism between a bundling position for bundling the reinforcing bars and a retreat position away from the reinforcing bars; and The thread pulling part pulls out the thread wound on the reel. The wire pulling unit pulls out the wire in the moving direction of the bundling mechanism in conjunction with the movement of the bundling mechanism by the bundling mechanism moving unit. The amount of the wire pulled out by the wire pulling section is greater than the amount of movement of the binding mechanism due to the operation of the binding mechanism moving section.

2. The strapping device according to claim 1, wherein: The wire pulling portion includes a relay portion that transmits movement of the bundling mechanism to the wire pulling portion.

3. The strapping device according to claim 2, wherein: The wire pulling portion comprises: a first pull-out portion configured to be engaged with the wire and provided at the relay portion so as to move along with the movement of the bundling mechanism; and The second pull-out portion is configured to be engaged with the thread, and when the first pull-out portion moves along with the movement of the bundling mechanism, the second pull-out portion moves relative to the first pull-out portion. With a portion of the wire engaged with the first pullout portion and another portion of the wire engaged with the second pullout portion, the first pullout portion moves relative to the second pullout portion as the binding mechanism moves, thereby pulling the wire from the reel.

4. The strapping device according to claim 1, wherein: The amount of the wire pulled out by the wire pulling unit is not less than 2 times and not more than 5 times the amount of movement of the binding mechanism moved by the operation of the binding mechanism moving unit.

5. The strapping device according to claim 3, wherein: The second pull-out portion is provided on a strapping device main body portion serving as a main body portion of the strapping device.

6. The strapping device according to claim 3, wherein: The first pull-out portion has a first cylindrical surface, The second pull-out portion has a second cylindrical surface, The curvature radius of the first cylindrical surface is larger than the curvature radius of the second cylindrical surface.

7. The strapping device according to claim 3, wherein: The relay portion is provided at one end of the bundling mechanism. A wire twisting portion is provided at the other end of the bundling mechanism for twisting the wire fed to the periphery of the steel bar. When the binding mechanism is in the retracted position, a distance between the first pull-out portion and the second pull-out portion is greater than a distance between the first pull-out portion and the thread twisting portion.

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