Bundling device

Abstract

The tying device includes a reinforcing bar tying unit, a main body unit that supports the reinforcing bar tying unit, a moving unit configured to move the main body unit in a first direction on a plurality of reinforcing bars, and a front arm having a front end portion disposed at least partially in front of the moving unit and the main body unit in the first direction in a plan view from a third direction orthogonal to the first direction and a second direction, a first end portion disposed at a position outside one end of the moving unit and the main body unit in a fourth direction parallel to the first direction and the second direction and orthogonal to the first direction, and a second end portion disposed at a position outside the other end of the moving unit and the main body unit in the fourth direction.

Description

Technical Field

[0001] This disclosure relates to a strapping device. Background Technology

[0002] Previously, for example, technologies have been studied to automate the rebar tying operation, which involves binding the intersection of longitudinally extending rebars and transversely extending rebars using threads or the like. For example, Patent Document 1 discloses a self-propelled robot that can be used in rebar engineering.

[0003] Furthermore, Patent Document 2 discloses a self-propelled work robot equipped with a collision detection mechanism. The self-propelled work robot described in Patent Document 2, for example, travels on multiple steel bars laid in a grid pattern using auxiliary wheels, and is capable of performing tasks such as tying the intersections of steel bars using a steel bar tying machine. In addition, in the self-propelled work robot described in Patent Document 2, a collision detection mechanism, functioning as a contact sensor, is installed on the auxiliary wheel body.

[0004] Existing technical documents

[0005] Patent documents

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

[0007] Patent Document 2: Japanese Patent Application Publication No. 2020-128680 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] According to the technology disclosed in Patent Document 2, the self-propelled robot body can detect obstacles through a collision detection mechanism, thereby suppressing collisions with obstacles. More specifically, in the self-propelled robot described in Patent Document 2, the collision detection mechanism is respectively provided in front of the auxiliary wheel in the forward direction of travel and behind the auxiliary wheel in the rear direction of travel, thus enabling the detection of obstacles present in the periphery in front of the auxiliary wheel in the forward direction of travel and in the periphery behind the auxiliary wheel in the rear direction of travel. However, for example, if there is an obstacle in the area outside the periphery of the auxiliary wheel in front of the self-propelled robot in the forward direction of travel, contact with the obstacle may occur. Therefore, it is believed that there is room for improvement in the mechanism for protecting the self-propelled robot from contact.

[0010] This disclosure was made in view of the above-mentioned issues, and its purpose is to provide a strapping device that can protect against contact with obstacles.

[0011] Methods for solving problems

[0012] One technical solution disclosed herein provides a binding device comprising: a rebar binding unit configured to bind the intersection of the first and second rebars, including a plurality of first rebars and a plurality of second rebars, wherein the extension direction of the plurality of first rebars is a first direction, and the extension direction of the plurality of second rebars is a second direction intersecting the first direction, and the plurality of second rebars are arranged to intersect the first rebars; a main unit supporting the rebar binding unit; a moving unit configured to enable the main unit to move along the first direction on the plurality of rebars; and a front arm having: a front end portion, at least a portion of which is disposed in front of the moving unit and the main unit in a top view from a third direction orthogonal to the first and second directions; a first end portion disposed in a fourth direction, parallel to and orthogonal to the first and second directions, at a position slightly outward of one end in the fourth direction orthogonal to the moving unit and the main unit; and a second end portion disposed in the fourth direction, slightly outward of the other end in the fourth direction orthogonal to the moving unit and the main unit.

[0013] Another technical solution of this disclosure provides a binding device comprising: a rebar binding unit configured to bind the intersection of the first and second rebars, including a plurality of first rebars and a plurality of second rebars, wherein the extension direction of the plurality of first rebars is a first direction, and the extension direction of the plurality of second rebars is a second direction intersecting the first direction, and the plurality of second rebars are arranged to intersect the first rebars; a main body unit supporting the rebar binding unit; a moving unit configured to enable the main body unit to move along the first direction on the plurality of rebars; and a front arm having a front end portion, wherein at least a portion of the front end portion is disposed in front of the moving unit and the main body unit in the first direction when viewed from a top view in a third direction orthogonal to the first and second directions, and the front arm is configured to move upward in the third direction by the moving unit, thereby causing the moving unit to move upward in the third direction from the plurality of rebars.

[0014] Invention Effects

[0015] According to this disclosure, a strapping device is provided that can protect against contact with an obstacle. Attached Figure Description

[0016] Figure 1 This is a perspective view of the rebar tying robot 101 as described in this disclosure, viewed from an obliquely upward angle.

[0017] Figure 2 This is a perspective view of the rebar tying robot 101 as described in this disclosure, viewed from a slightly lower angle.

[0018] Figure 3This is a top view of the rebar tying robot 101 viewed from above (above in the Z direction).

[0019] Figure 4 This is a top view of the rebar tying robot 101 viewed from below (below in the Z direction).

[0020] Figure 5 This is a 3D view of the rebar binding robot 101 after removing the rebar binding unit 110, observed from an oblique angle.

[0021] Figure 6 This is a 3D view of the rebar binding robot 101 after removing the rebar binding unit 110, observed from an oblique angle.

[0022] Figure 7 This is a diagram illustrating the functional block structure of the rebar tying robot 101.

[0023] Figure 8 This is a diagram of the rebar binding robot 101 moving along the first rebar R10, viewed from the Y direction.

[0024] Figure 9 This is a diagram of a rebar binding robot 101 traveling along the first rebar R10, viewed from the X direction.

[0025] Figure 10 This is a diagram of the rebar tying robot 101, viewed from the Y direction, showing it stopping and performing tying operations.

[0026] Figure 11 This is a diagram of the rebar tying robot 101 performing the tying operation, viewed from the X direction.

[0027] Figure 12 This is a schematic side view of the rebar tying robot 101 viewed from a horizontal (X-direction) perspective.

[0028] Figure 13 This is a schematic top view of the rebar tying robot 101 viewed from above (upper Z direction).

[0029] Figure 14 This is a schematic diagram showing an image captured by the first sensor 130a.

[0030] Figure 15 This is a picture of the rebar tying robot 101 being viewed from behind as it moves laterally.

[0031] Figure 16 This is a picture of the rebar tying robot 101 being viewed from behind as it moves laterally.

[0032] Figure 17 This is a picture of the rebar tying robot 101 being viewed from behind as it moves laterally.

[0033] Figure 18 This is a picture of the rebar tying robot 101 being viewed from behind as it moves laterally.

[0034] Figure 19 This is a picture of the rebar tying robot 101 being viewed from behind as it moves laterally.

[0035] Figure 20 This is a schematic diagram of a rebar tying robot 101A, another embodiment of the present disclosure, viewed from below in the Z direction.

[0036] Figure 21A This is an overall perspective view of the rebar tying robot 102 according to an embodiment of the present disclosure, viewed from an obliquely upward angle.

[0037] Figure 21B This is a top view of the rebar tying robot 102 according to the embodiments of this disclosure, viewed from above (above in the Z direction).

[0038] Figure 22 This is another overall perspective view of the rebar tying robot 102 according to an embodiment of the present disclosure, viewed from an obliquely upward direction.

[0039] Figure 23 This is another overall perspective view of the rebar tying robot 102 according to the embodiments of this disclosure, viewed from an obliquely upward direction.

[0040] Figure 24 This is another overall perspective view taken from an obliquely upward view of the rebar tying robot 102 according to the embodiments of this disclosure.

[0041] Figure 25 This is a perspective view of the rebar tying robot 103 according to an embodiment of the present disclosure.

[0042] Figure 26 This is a perspective view of the rebar tying robot 104 according to an embodiment of the present disclosure.

[0043] Figure 27 This is a picture of the rebar tying robot 104 being viewed from the back as it moves laterally.

[0044] Figure 28 This is a picture of the rebar tying robot 104 being viewed from the back as it moves laterally.

[0045] Figure 29 This is a picture of the rebar tying robot 104 being viewed from the back as it moves laterally.

[0046] Figure 30 This is a picture of the rebar tying robot 104 being viewed from the back as it moves laterally. Figure 31This is a picture of the rebar tying robot 104 being viewed from the back as it moves laterally. Detailed Implementation

[0047] Hereinafter, the embodiments will be described with reference to the accompanying drawings. To facilitate understanding, the same reference numerals will be used as much as possible to refer to the same constituent elements in each drawing, and repeated descriptions will be omitted.

[0048] [First Implementation Method]

[0049] The structure of the binding device according to the embodiments of this disclosure will now be described. Furthermore, in this embodiment, the binding device is a rebar binding device for binding multiple rebars arranged in a crisscross pattern; for example, it could also be a rebar binding robot. Additionally, in the accompanying 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 is sometimes referred to as X-axis forward, +X direction, right side of the X-axis, or right side of the X-axis, and the direction opposite to the arrow is sometimes referred to as X-axis backward, -X direction, left side of the X-axis, or 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 are sometimes referred to as "upper side" to "above" and "lower side" to "below," respectively. Additionally, the planes orthogonal to the X-axis, Y-axis, or Z-axis are sometimes referred to as the YZ plane, ZX plane, or XY plane. However, these directions are used for the convenience of explaining relative positional relationships. Therefore, these directions do not specify absolute positional relationships.

[0050] Figure 1 This is an overall perspective view of the rebar tying robot 101 (an example of a tying device) according to the embodiments of this disclosure, viewed from an obliquely upward angle. Figure 2 This is a perspective view of the rebar tying robot 101 according to the embodiments of this disclosure, viewed from a slightly lower angle. (See attached image.) Figure 1 and Figure 2 As shown, the rebar tying robot 101 according to an embodiment of the present invention is a self-propelled rebar tying robot, including a rebar tying unit 110, a traveling unit 121, a sensor unit 130, and a frame 201. The rebar tying robot 101 may also include other structures such as a main body unit 140, a control unit 160, reels 180 (first reel 180a and second reel 180b), batteries 182 (first battery 182a and second battery 182b), a lateral movement unit 146, and a storage device 198 (not shown). Furthermore, the rebar tying robot 101 according to the embodiments of this disclosure may also include arms 150 (front arm 150a and rear arm 150b). The arms 150 (front arm 150a and rear arm 150b) will be described later.

[0051] exist Figure 1 and Figure 2The diagram also shows a group of reinforcing bars R comprising multiple reinforcing bars R10 extending along the Y direction (referred to in this embodiment as "first reinforcing bars" or "longitudinal reinforcing bars"). Figure 1 and Figure 2 As shown, the rebar tying robot 101 is configured on the rebar group R in such a way that it travels along the first rebar R10. In addition to the multiple rebars R10, the rebar group R may also include multiple rebars extending in the X direction (also referred to as "second rebar R20" or "transverse rebar" in this embodiment).

[0052] In embodiments of this disclosure, the first reinforcing bar R10 is arranged such that its extension direction, i.e., the first direction, is parallel to the Y direction. The second reinforcing bar R20 is arranged such that its extension direction, i.e., the second direction, is parallel to the X direction. Therefore, in the exemplary embodiment of this disclosure, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged orthogonally to each other. Furthermore, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged such that the plane formed by the first reinforcing bar R10 and the second reinforcing bar R20 (also referred to as the "reinforcing bar plane" in this embodiment) is parallel to the XY plane. Therefore, the plane formed by the first reinforcing bar R10 and the second reinforcing bar R20 is a horizontal plane in this embodiment. However, the arrangement of the first reinforcing bar R10 and the second reinforcing bar R20 is not limited to this. For example, the first reinforcing bar R10 and the second reinforcing bar R20 may also be arranged in a non-orthogonal manner. For example, the first reinforcing bar R10 and the second reinforcing bar R20 may also be arranged such that the angle formed between the first reinforcing bar R10 and the second reinforcing bar R20 is, for example, 30°, 45°, 60°, or other angles. Furthermore, in this embodiment of the present disclosure, the first steel bar R10 and the second steel bar R20 are arranged in a mutually orthogonal manner. However, depending on the location of the intersection, they do not necessarily have to be orthogonal. For example, they may be arranged in an angle of 85° or more but less than 90°.

[0053] Alternatively, the first reinforcing bar R10 and the second reinforcing bar R20 may have finite lengths, and multiple first reinforcing bars R10 (first reinforcing bars R11, R12, R13, R14, and R15) or multiple second reinforcing bars R20 may be connected by joints in a first direction or a second direction, respectively. Furthermore, the first reinforcing bars R10 and the second reinforcing bars R20 may also have ends, as described later, for example, the first reinforcing bars R10 and the second reinforcing bars R20 may each have ends R10e (ends R11e, R12e, R13e, R14e, and R15e) and R20e, respectively, at one end in the first direction and the other end in the second direction.

[0054] The rebar binding unit 110 is configured to bind the intersection of the first rebar R10 and the second rebar R20 at point c12. Figure 6The steel bar binding unit 110 binds the steel bars at the intersection c12 of the first steel bar R10 and the second steel bar R20. The binding action of the steel bar binding unit 110 at the intersection c12 of the first steel bar R10 and the second steel bar R20 is then described in detail.

[0055] like Figure 1 as well as Figure 2 As shown, the traveling unit 121 may also have four traveling units 121a, 121b, 121c, and 121d (in this embodiment, they are also referred to as "first traveling unit", "second traveling unit", "third traveling unit", and "fourth traveling unit", respectively). In the embodiment of this disclosure, the traveling unit 121 is arranged on the rebar group R in such a way that the rebar binding robot 101 travels along the Y direction. The first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d each have a first roller portion 122a, a second roller portion 122b, a third roller portion 122c, and a fourth roller portion 122d, respectively. 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 along the Y direction (first direction), which is the extension direction of the first rebar R10, on any one of the plurality of first rebars R10.

[0056] In this embodiment, the traveling unit 121 is an example of a moving unit (moving unit 120 described later). The moving unit 120 is configured to contact the first reinforcing bar R10 and move on the first reinforcing bar R10. The moving unit 120 may also be configured to contact the second reinforcing bar R20 and move on the second reinforcing bar R20. The moving unit 120 may replace the traveling unit 121, or it may have a structure that includes moving units other than the traveling unit 121. In this embodiment, the moving part is configured by including the main body unit 140 and the moving unit 120.

[0057] Although the embodiments of this disclosure are described using 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 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.

[0058] For example, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d can also travel from the Y direction at an angle of several degrees to tens of degrees. For example, they can also travel from the Y direction at an angle of several degrees to tens of degrees towards the +X or -X direction. For example, if the orientation of the rebar binding robot 101 is tilted from the Y direction due to the presence of foreign objects on the traveling first rebar R10, the traveling direction of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d can at least temporarily tilt from the Y direction towards the +X or -X direction. In this case, for example, the rebar tying robot 101 can travel in a direction that tilts back towards the Y direction (-X direction or +X direction) via the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d, so that the rebar tying robot 101 generally follows the first rebar R10. Thus, the rebar tying unit 110 of the rebar tying robot 101 can continue to perform the tying action at the intersection c12 of the first rebar R10 and the second rebar R20.

[0059] Alternatively, in a construction site where the first reinforcing bar R10 is arranged in a way that traces a curve, 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 way that traces a curve by following the curve-shaped first reinforcing bar R10. In this case, the extension direction of the first reinforcing bar R10, i.e., the first direction, may also be different in various aspects that constitute the curve.

[0060] like Figure 1 and Figure 2 And the following Figure 3 As shown, the sensor unit 130 includes sensor 130a, sensor 130b, sensor 130c, and sensor 130d (in this embodiment, they are also referred to as "first sensor," "second sensor," "third sensor," and "fourth sensor," respectively). First sensor 130a and second sensor 130b... Figure 1 as well as Figure 2 The sensors 130a and 130b are arranged separately along the Y direction (in this embodiment, the direction in which the straight line connecting the first sensor 130a and the second sensor 130b extends is also referred to as the "third direction"). Furthermore, the fourth sensor 130d is disposed on the side of the rebar tying robot 101 opposite to the side where the third sensor 130c is located (in... Figure 1 and Figure 2 The third sensor 130c and the fourth sensor 130d are configured to be along each other on the inner side of the paper (the side inside the paper). Figure 1 and Figure 2 The direction that intersects with the Y direction (in) Figure 1 and Figure 2 In the example shown, the X direction (the direction of extension 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.

[0061] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to detect the first reinforcing bar R10 and / or the second reinforcing bar R20. For example, the first sensor 130a and the second sensor 130b may be configured to detect the first reinforcing bar R10, and the third sensor 130c and the fourth sensor 130d may be configured to detect the second reinforcing bar 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 reinforcing bar R10 and the second reinforcing bar R20.

[0062] Figure 3 This shows a top view of the rebar tying robot 101 as viewed from above (above in the Z direction). Additionally, Figure 4 This shows a top view of the rebar tying robot 101 viewed from below (below in the Z direction).

[0063] from Figure 3 as well as Figure 4 It can be seen that the first traveling unit 121a and the second traveling unit 121b can also be configured relative to the first sensor 130a on one side of the fourth direction (X direction) and the other side (in Figure 3 In the fourth direction (X direction), the third traveling unit 121c and the fourth traveling unit 121d can also be configured relative to the second sensor 130b on one side and the other side in the fourth direction (X direction). In other words, the first sensor 130a can also be configured in the fourth direction between the first traveling unit 121a and the second traveling unit 121b. Similarly, the second sensor 130b can also be configured in the fourth direction between the third traveling unit 121c and the fourth traveling unit 121d.

[0064] Moreover, such as Figure 3 as well as Figure 4 As shown, the third sensor 130c can also be used in a third direction (in Figure 3 as well as Figure 4 The first traveling unit 121a and the third traveling unit 121c are configured in the Y direction. Similarly, the fourth traveling unit 130d can also be configured in the third direction (Y direction) between the second traveling unit 121b and the fourth traveling unit 121d.

[0065] In addition, for example, Figure 4 As shown, the first sensor 130a can also be positioned, when viewed from below, on the 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 rearward relative to the straight line passing through the rotation axis 128a and the rotation axis 128b (in... Figure 4 (in the -Y direction). Similarly, the second sensor 130b can also be positioned, when viewed from below, on a straight line passing through the rotation axis 128c of the third roller 122c constituting the third travel unit 121c and the rotation axis 128d of the fourth roller 122d constituting the fourth travel unit 121d, or positioned forward compared to the straight line passing through the rotation axis 128c and the rotation axis 128d (in the -Y direction). Figure 4 (The middle is in the +Y direction). Furthermore, a specific example of sensor unit 130 will be described later.

[0066] In addition, such as Figure 3 , Figure 4 As shown, the first sensor 130a is positioned in front of the main body unit 140 in the Y-axis direction (+Y direction). Similarly, the second sensor 130b is positioned behind the main body unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are respectively located in front of the main body unit 140 in the Y-axis direction (-Y direction). Figure 3 When viewed from above, they are positioned to the left and right in the X direction. That is, for example, from... 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 configured such that, when viewed from above, they are located on the outer edge or inside the outer edge of an imaginary rectangle formed by connecting the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d. Alternatively, the imaginary rectangle formed by the first traveling unit 121a to the fourth traveling unit 121d may be a square, for example, if the intervals in the X and Y directions between the traveling units are approximately equal. In this case, the first sensor 130a to the fourth sensor 130d may also be positioned on the outer edge or inside the imaginary square. Furthermore, based on 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 imagine a quadrilateral other than a rectangle or a square. In this case, the first sensor 130a to the fourth sensor 130d can also be configured on the outer edge of the imaginary quadrilateral or on its inner side.

[0067] While the example described uses the case where the first sensor 130a, second sensor 130b, third sensor 130c, and fourth sensor 130d are arranged on or inside the outer edge of a rectangle formed by connecting the first traveling unit 121a, second traveling unit 121b, third traveling unit 121c, and fourth traveling unit 121d approximately near their center, this is not a limitation. For example, depending on the configuration of the first traveling unit 121a, second traveling unit 121b, third traveling unit 121c, and fourth traveling unit 121d, and / or the shape of the main body unit 140, the first sensor 130a, second sensor 130b, third sensor 130c, and fourth sensor 130d may have different configurations. For example, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d can also be configured, in a top view of the rebar tying robot 101, to be on or outside the outer edge of a rectangle that is imaginarily formed by connecting the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d near their approximate center.

[0068] like Figure 1 and Figure 3 As shown, the main body unit 140 may also have a main body upper surface 142. The main body upper surface 142 may have a circular hole 144 formed near the center, and the steel bar binding unit 110 may also be arranged to pass through the hole 144.

[0069] In this embodiment, the rebar tying robot 101 may also have two arms 150 (namely, a first arm 150a (also referred to as the "front arm" in this embodiment) and a second arm 150b (also referred to as the "rear arm" in this embodiment)). Figures 1-4 As shown, the first arm 150a and the second arm 150b can also be configured to be separated from each other in the Y direction (third direction). For example, the front arm 150a and the rear arm 150b can also be configured such that, along the transverse direction (in the...) of the rebar binding robot 101... Figures 1-4 When the robot moves in the X direction (which is the fourth direction in the rebar tying robot 101), the main body unit 140 supporting the rebar tying robot 101, etc.

[0070] Reference Figures 1-4The following describes frame 201. Frame 201 is an example of a "protective unit" that protects the rebar binding unit. Frame 201 has vertices 211, 212f, 212b, 212lf, 212rf, 212lb and 212rb, vertices 213lf, 213rf, 213lb and 213rb, vertices 214lf, 214rf, 214lb and 214rb, vertices 215f, 215b, 215lf, 215rf, 215lb and 215rb, vertices 216lf, 216rf, 216lb and 216rb, and vertices 217lf, 217rf, 217lb and 217rb as vertices.

[0071] Vertex 211 is positioned at a predetermined location in the +Z direction relative to the rebar binding unit 110. Vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb are positioned approximately in front of, approximately behind, approximately to the left front, approximately to the right front, approximately to the left rear, and approximately to the right rear, respectively, in the XY plane view relative to vertex 211 at predetermined locations. Furthermore, vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb are positioned at a predetermined distance below vertex 211 in the Z direction. Vertices 213lf, 213rf, 213lb, and 213rb are positioned approximately in front of, approximately in front of, approximately behind, and approximately behind, respectively, in the XY plane view relative to vertex 212lf. Furthermore, vertices 213lf, 213rf, 213lb, and 213rb are positioned in the Z-direction at a predetermined distance lower than vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb. Vertices 214lf, 214rf, 214lb, and 214rb are positioned in the XY-view relative to vertex 211 at a predetermined distance further than vertices 212lf, 212rf, 212lb, and 212rb in a direction approximately the same as vertices 212lf, 212rf, 212lb, and 212rb. Additionally, vertices 214lf, 214rf, 214lb, and 214rb are positioned in the Z-direction at a predetermined distance lower than vertices 213lf, 213rf, 213lb, and 213rb. Vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb are positioned in the XY view at predetermined positions relative to vertex 212f, approximately behind vertex 212b, approximately in front of vertex 213lf, approximately in front of vertex 213rf, approximately behind vertex 213lb, and approximately behind vertex 213rb, respectively. Furthermore, vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb are positioned in the Z direction at predetermined distances below vertices 214lf, 214rf, 214lb, and 214rb, respectively. Vertices 216lf, 216rf, 216lb, and 216rb are positioned in the XY view at predetermined positions relative to vertex 214lf, approximately in front of vertex 214rf, approximately behind vertex 214lb, and approximately behind vertex 214rb, respectively. In addition, vertices 216lf, 216rf, 216lb, and 216rb are respectively positioned in the Z direction at a specified distance lower than vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb.Vertices 217lf, 217rf, 217lb, and 217rb are positioned in the XY plane view at approximately the same locations as vertices 214lf, 214rf, 214lb, and 214rb. Furthermore, vertices 217lf, 217rf, 217lb, and 217rb are positioned in the Z direction at a predetermined distance lower than vertices 216lf, 216rf, 216lb, and 216rb.

[0072] Frame 201 includes frame members 221, 222a and 222b, 223l and 223r, 224f and 224b, 225l and 225r, 226lf, 226rf, 226lb and 226rb, 227lf, 227rf, 227lb and 227rb, and 228f and 228b. Frame member 221 extends to connect vertices 215f, 212f, 211, 212b and 215b. Frame member 222a extends to connect vertices 217lf, 214lf, 212lf, 211, 212rb, 214rb and 217rb. Frame member 222b extends to connect vertices 217rf, 214rf, 212rf, 211, 212lb, 214lb, and 217lb. Frame member 223l extends to connect vertices 215lf, 213lf, 212lf, 212lb, 213lb, and 215lb. Frame member 223r extends to connect vertices 215rf, 213rf, 212rf, 212rb, 213rb, and 215rb. Frame member 224f extends to connect vertices 216lf, 215lf, 215f, 215rf, and 216rf. Frame member 224b extends to connect vertices 216lb, 215lb, 215b, 215rb, and 216rb.

[0073] Frame member 225l extends to connect vertices 216lf, 214lf, 214lb, and 216lb. Frame member 225r extends to connect vertices 216rf, 214rf, 214rb, and 216rb. Frame member 226lf extends to connect vertices 212f and 212lf. Frame member 226rf extends to connect vertices 212f and 212rf. Frame member 226lb extends to connect vertices 212b and 212lb. Frame member 226rb extends to connect vertices 212b and 212rb. Frame member 227lf extends to connect vertices 213lf and 214lf. Frame member 227rf extends to connect vertices 213rf and 214rf. Frame member 227lb extends to connect vertices 213lb and 214lb. Frame member 227rb extends by connecting vertices 213rb and 214rb.

[0074] Frame member 228f extends to connect vertices 216lf, 213lf, 212f, 213rf, and 216rf. Frame member 228b extends to connect vertices 216lb, 213lb, 212b, 213rb, and 216rb.

[0075] The number and configuration of frame components and vertices in the frame 201 described above are just one example; the frame 201 can also have any number of frame components and vertices. The materials of the frame components and vertices in the frame 201 are not particularly limited, and may include, for example, resin, metal, alloy, carbon fiber, and fiber optic glass. The frame components in the frame 201 can be straight or curved.

[0076] The rebar tying robot 101 of this embodiment may also include a cover (not shown) that covers at least a portion of the frame 201. The "protective part" may also be configured to include the frame 201 and the cover. Specifically, the portion of the frame 201 covered by the cover may be, for example, only a generally hexagonal portion surrounded by vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb, or only a generally octagonal portion surrounded by vertices 213lf, 213rf, 213lb, 213rb, 214lf, 214rf, 214lb, and 214rb. Alternatively, the portion of the frame 201 covered by the cover may be biased towards the front, rear, left, right, left front, right front, left rear, and right rear. Alternatively, the cover may cover the entire frame 201. The cover may also be configured to be detachable from the frame 201.

[0077] The material of the cover is not particularly limited; for example, it can be nylon, polyester, polyvinyl chloride (PVC), or Teflon (registered trademark) fabric. The cover can also be configured to be detachable from the frame 201. Specifically, the cover can also have buttons or zipper latches configured for detaching from the frame 201.

[0078] The frame 201 can also protect at least a portion of the rebar tying unit 110 relative to the environment in the +Z direction. Protecting at least a portion of the rebar tying unit 110 relative to the environment in the +Z direction can include, for example, protecting the rebar tying unit 110 from any external force (contact force, wind force, impact force, etc.) (from the +Z direction), or buffering the falling object (flying object) from the rebar tying unit 110 in a manner that prevents contact between the falling object (flying object) and the rebar tying unit 110, or changing the trajectory of the falling object (flying object). Furthermore, protecting at least a portion of the rebar tying unit 110 relative to the environment in the +Z direction can also include protecting the rebar tying unit 110 from contact with the ground or other structures in the event of the rebar tying robot 101 tipping over. The frame 201 can, for example, be positioned at a predetermined position in the +Z direction relative to at least a portion of the rebar tying unit 110. Thus, the frame 201 can protect this at least portion of the rebar tying unit 110 relative to the environment in the +Z direction. Alternatively, the frame 201 can be configured at a predetermined position in the +Z direction relative to the entire rebar binding unit 110. Thus, the frame 201 can protect the entire rebar binding unit 110 from the environment in the +Z direction.

[0079] Alternatively, the frame 201 may be configured, for example, to span the main unit 140. That is, the frame 201 may also be configured, for example, at a predetermined position in the +Z direction relative to the entirety of the reinforcing bar binding unit 110 and at least a portion of the main unit 140 (see reference). Figure 3 Therefore, the frame 201 can protect the entire rebar binding unit 110 and at least a portion of the main unit 140 from the environment in the +Z direction. In particular, it can enhance protection of the entire rebar binding unit 110 from the environment in the +Z direction. Alternatively, the frame 201 can be positioned at a predetermined location in the +Z direction relative to the entire rebar binding unit 110 and the entire main unit 140. Therefore, the frame 201 can protect the entire rebar binding unit 110 and the entire main unit 140 from the environment in the +Z direction. In particular, it can enhance protection of the entire rebar binding unit 110 from the environment in the +Z direction.

[0080] The frame 201 can also protect at least a portion of the rebar tying unit 110 relative to the surrounding environment. Furthermore, in this disclosure, any direction substantially parallel to the XY plane is sometimes referred to as "surroundings." Protecting at least a portion of the rebar tying unit 110 relative to the surroundings may include, for example, protecting the rebar tying unit 110 from any external force (contact force, wind force, impact force, etc.) (from the XY plane), or acting as a buffer between the falling object (flying object) and the rebar tying unit 110 in a manner that prevents contact, or changing the trajectory of the falling object (flying object). Additionally, protecting at least a portion of the rebar tying unit 110 relative to the environment in the XY plane direction may also include protecting the rebar tying unit 110 from contact with the ground or other structures in cases such as when the rebar tying robot 101 overturns. Additionally, protecting at least a portion of the rebar tying unit 110 relative to its surroundings may, for example, include protecting the worker (part of their body) from contact with the rebar tying unit 110. The frame 201 may also be configured to cover the entire circumference of at least a portion of the rebar tying unit 110 relative to the Z-direction. Thus, the frame 201 can protect this at least portion of the rebar tying unit 110 relative to the environment in any direction substantially parallel to the XY plane. The frame 201 may also be configured to cover the upper circumference relative to the entire rebar tying unit 110 (see [reference]). Figure 3 The upper periphery relative to the entire rebar binding unit 110 refers to the area excluding the area below the rebar binding unit 110; in other words, it includes the area above and horizontally surrounding the rebar binding unit 110. Thus, the frame 201 can protect at least a portion of the rebar binding unit 110 relative to the environment in any direction substantially parallel to the XY plane.

[0081] Figure 5 This is a 3D view, taken from the right rear, showing the rebar tying robot 101 with the rebar tying unit 110 and frame 201 disassembled. Additionally, Figure 6 This is a 3D view of the rebar tying robot 101 from a right-south-facing perspective, showing the state after the rebar tying unit 110 and frame 201 have been removed. Figure 5 and Figure 6 As shown, the rebar binding unit 110 can also be configured to extend vertically through the hole 144 (in the vertical direction). Figure 5 The robot moves in the Z direction. Thus, for example, it is configured such that the rebar binding unit 110 descends, and when the rebar binding robot 101 reaches the intersection c12 of the first rebar R10 and the second rebar R20, it binds the intersection c12. Figure 5 and Figure 6 As shown, the rebar tying robot 101 has spools 180a and 180b. Threads for tying rebars are stored in spools 180a and 180b, configured such that when the rebar tying unit 110 ties the intersection c12 of the first rebar R10 and the second rebar R20, the thread stored in spools 180a and / or 180b is pulled out to tie the intersection c12. Furthermore, although detailed descriptions are omitted, the rebar tying unit 110 has: a main body; and a thread twisting portion, provided at one end of the rebar tying unit 110 (in... Figure 5 The lower end (in the Z direction) has wire guides and other components, and is configured to perform rebar tying operations. The wire twisting section includes a twisting motor, a twisting shaft, etc., and can be configured to perform rebar tying operations using the same functions as known rebar tying machines.

[0082] Engaging portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb are provided on the upper surface of the main body unit 140. The engaging portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb are respectively constructed by erecting components of a predetermined height in the Z direction in a generally cylindrical shape with an upper surface open to allow insertion of the ends of the frame components 222a, 222b, 228f, and 228r.

[0083] By pressing the frame 201 into the moving unit 140 in the -Z direction with the ends of the frame members 222a, 222b, 228f, and 228r respectively inserted and engaged with the inside of the engaging portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb, the frame 201 can be installed on the moving unit 140. Furthermore, by lifting the frame 201 in the +Z direction by releasing the ends of the frame members 222a, 222b, 228f, and 228r from the inside of the engaging portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb, the frame 201 installed on the moving unit 140 can be removed from the moving unit 140. Figure 5 Thus, frame 201 can also be configured to move relative to the reinforcing bar binding unit 110.

[0084] Figure 7 This is a diagram illustrating the functional block structure of the rebar tying robot 101. (For example...) Figure 7As shown, in addition to the aforementioned rebar binding unit 110, traveling unit 121, and sensor unit 130, the rebar binding robot 101 may also include a control unit 160, a lateral movement unit 146, and a storage device 198.

[0085] The control unit 160 is configured to control the movement and binding operations performed by the rebar binding robot 101. The control unit 160 may also include a sensor detection result acquisition unit 162, a determination unit 164, a cross-part calculation unit 166 (also referred to as a "cross-part estimation unit" or "cross-part estimation unit" in this embodiment), a rebar binding 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 object bypass control unit 179.

[0086] Furthermore, in the rebar tying robot 101 of this embodiment, the control unit 160 can also be disposed at any location on the rebar tying robot 101. For example, the control unit 160 can also be disposed in the Y direction on the side opposite to the rebar tying unit 110 and the rebar spool 180a and 180b. More specifically, as Figure 1 As shown, spools 180a and 180b are positioned in the -Y direction of the rebar binding unit 110, while the control unit 160 can also be positioned in the +Y direction of the rebar binding unit 110. Especially after the wire spools (spools 180a and / or 180b) have just been replaced, the spools with the wire wound on them become relatively heavy, but by positioning the control unit 160 on the opposite side of the rebar binding unit 110, weight balance can be achieved.

[0087] Lateral movement unit 146 ( Figure 7 The main body unit 140 of the rebar tying robot 101 is configured to control the movement of the robot. In the rebar tying robot 101 of this embodiment of the present disclosure, the lateral movement unit 146 can also be used to move the robot 101 horizontally. 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 101 described later, the main body unit 140 can be moved horizontally by both motors 146ma and 146mb.

[0088] More specifically, such as Figure 6As shown, the lateral movement unit 146 has a first lateral movement roller 146la and a first drive rack 146ca. The first lateral movement roller 146la is disposed at a first connecting portion 147a that connects the first traveling unit 121a and the second traveling unit 121b to the main body unit 140. The first drive rack 146ca is disposed on the back side (the surface in the -Z direction) of the main body unit 140 along the X direction.

[0089] Similarly, as Figure 2 As shown, the lateral movement unit 146 has a second lateral movement roller 146lb and a second drive rack 146cb. The second lateral movement roller 146lb is disposed at the second connecting portion 147b that connects the third traveling unit 121c and the fourth traveling unit 121d to the main body unit 140. The second drive rack 146cb is disposed on the back side (the surface in the -Z direction) of the main body unit 140 along the X direction.

[0090] The second lateral moving roller 146lb, for example, constitutes a drive gear. In the second drive rack 146cb, for example, a plurality of teeth meshing with the outer teeth disposed on the outer periphery of the second lateral moving roller 146lb are arranged linearly side-by-side in the X direction. The second lateral moving roller 146lb is driven by a second lateral moving motor 146mb. ​​When the second lateral moving roller 146lb rotates via the second lateral moving motor 146mb, the second lateral moving roller 146lb moves relative to the second drive rack 146cb, thereby extending along the longitudinal direction of the second drive rack 146cb. In this way, the main body unit 140 can move relative to the third traveling unit 121c and the fourth traveling unit 121d in the X direction.

[0091] First transverse moving roller 146la ( Figure 6 Similarly, for example, in the configuration of a drive gear, the plurality of teeth of the first drive rack 146ca that mesh with the outer teeth disposed on the outer periphery of the first transverse moving roller 146la are arranged in a straight line in the X direction. The first transverse moving roller 146la is driven by a first transverse moving motor 146ma. When the first transverse moving roller 146la rotates via the first transverse moving motor 146ma, the first transverse moving roller 146la moves relative to the first drive rack 146ca in a manner along the length direction of the first drive rack 146ca, thereby enabling the main body unit 140 to move relative to the third traveling unit 121c and the fourth traveling unit 121d in the X direction.

[0092] As described above, the first lateral moving roller 146a and the second lateral moving roller 146lb can be driven by the first lateral moving motor 146a and the second lateral moving motor 146b, respectively, so that the main body unit 140 moves laterally (in the X direction) relative to the traveling unit 121.

[0093] The storage device 198 may, for example, include a storage medium (e.g., a semiconductor memory element) and other media that non-transitorily stores one or more computer programs executed in the control unit 160, data for controlling the rebar tying robot 101, etc. The storage device 198 may also include a template database 198t. The template database 198t may, for example, store, as described later, images of the templates used for detecting the first rebar R10 and / or the second rebar R20, and the ends R10e of the first rebar R10 and / or the ends R20e of the second rebar R20, as well as data obtained through image processing such as frequency analysis of the template images, based on the detection results of the sensor unit 130. Furthermore, the control unit 160 may also include a template data generation unit, which may be configured to generate template data based on images captured by the sensor unit 130 at the site where the rebar tying operation is being performed, and store this data in the template database 198t. Template data stored in template database 198t can be accumulated, for example, when new template data is created, or it can be deleted when the binding work at each construction site is completed. Alternatively, the created template data can be configured to remain in template database 198t of storage device 198 for a certain period of time, for example, by periodic deletion.

[0094] 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 can 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. In addition, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d can 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.

[0095] 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, for example, use the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d obtained by the sensor detection result acquisition unit 162 to determine the position of the first rebar R10 and / or the second rebar R20. As described later, the first rebar determination unit 164a1 and the second rebar determination unit 164a2 may also perform template matching based on the camera images that are the detection results of the first sensor 130a to the fourth sensor 130d, thereby determining the position of the first rebar R10 and / or the second rebar R20.

[0096] The first rebar end determination unit 164b1 and the second rebar end determination unit 164b2 determine the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20 using, for example, the detection results obtained by the sensor detection result acquisition unit 162 from the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d. The first rebar end determination unit 164b1 and the second rebar end determination unit 164b2 may also determine the position of the end R10e of the first rebar R10 and / or the end R20e of the second rebar R20 based on template matching, similar to the first rebar determination units 164a1 and 164a2.

[0097] The robot height calculation unit 164e can, for example, calculate the height of the rebar tying robot 101 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 rebar R10 and / or the second rebar R20 are photographed using the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d (for example, when the area including the first rebar R10 and / or the second rebar R20 is photographed), the robot height calculation unit 164e can also calculate the distance of the rebar tying robot 101 from the rebar group R based on the relative size of the first rebar R10 and / or the second rebar R20 in the photographed image, thereby calculating the height of the rebar tying robot 101 from the rebar group R.

[0098] The height of the rebar tying robot 101 from the rebar group R can also be calculated, for example, based on the angle of the traveling unit 121. Figure 6As shown, the traveling unit 121a may also have a first main body side connecting rod portion 125a connected to the main body unit 140 and a first roller side connecting rod portion 123a connected to the first roller portion 122a, wherein the first main body side connecting rod portion 125a and the first roller side connecting rod portion 123a constitute a linkage mechanism. In this case, the first link angle detection sensor 134a of the sensor unit 130 can also be used. Figure 7 The angle between the first main body side connecting rod 125a and the first roller side connecting rod 123a, i.e., the connecting rod angle, is detected, and the height of the first traveling unit 121a is calculated based on the connecting rod angle.

[0099] Similarly, as 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 connecting rod portion 125b and a second roller side connecting rod portion 123b, a third main body side connecting rod portion 125c and a third roller side connecting rod portion 123c, a fourth main body side connecting rod portion 125d and a fourth roller side connecting rod portion 123d. The height of the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d can be calculated by using the second connecting rod angle detection sensor 134b, the third connecting rod angle detection sensor 134c, and the fourth connecting rod angle detection sensor 134d to detect the connecting rod angles formed by the second main body side connecting rod portion 125b and the second roller side connecting rod portion 123b, the third main body side connecting rod portion 125c and the third roller side connecting rod portion 123c, and the fourth main body side connecting rod portion 125d and the fourth roller side connecting rod portion 123d, respectively.

[0100] The robot height calculation unit 164e can also calculate the height of the rebar tying robot 101 from the rebar group R based on the heights (heights from the rebar group R) of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d. For example, the height of the rebar tying robot 101 can also be calculated based on the average of a portion or all of the calculated heights of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d. Furthermore, for example, if the rebar tying robot 101 is located parallel or approximately parallel to the imaginary plane formed by the rebar group R, the height of the rebar tying robot 101 can be taken from any one of the heights of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d.

[0101] like Figure 7As shown, in addition to the first sensor 130a to the fourth sensor 130d described above, the sensor unit 130 may also include a tilt detection sensor 132. For example, a known tilt sensor, a level sensor, or other sensor capable of detecting the tilt angle of the rebar tying robot 101 may be used as the tilt detection sensor 132. The sensor detection result acquisition unit 162 may also acquire the detection result of the tilt detection sensor 132. Alternatively, based on the detection results of the tilt detection sensor 132, for example, the posture of the rebar tying robot 101 can be determined by the posture determination unit 164c of the determination unit 164. Based on the determination result of the posture determination unit 164c, the posture of the rebar tying robot 101 can be adjusted by driving 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) using the posture control unit 176.

[0102] The rebar tying robot 101 can also drive the height-changing motor 126 based on the detection results of the tilt detection sensor 132, so that the main body unit 140 is parallel to the surface formed by the first rebar R10 and / or the second rebar R20 (also referred to as the "rebar surface" in this embodiment). For example, when the first rebar R10 and the second rebar R20 are arranged such that the rebar surface extends in the horizontal direction, if the rebar tying robot 101 tilts in the X direction, the height of the first traveling unit 121a and the third traveling unit 121c, or the second traveling unit 121b and the fourth traveling unit 121d, can be changed to adjust the posture of the rebar tying robot 101.

[0103] The intersection calculation unit 166 estimates the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 by calculating the intersection c12. For example, as described later, the intersection calculation unit 166 can also calculate the position of the intersection c12 based on the positions of the first reinforcing bar R10 and the second reinforcing bar R20 determined by the first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2. Based on the calculated position of the intersection c12, the reinforcing bar binding robot 101 can also perform the binding operation of the reinforcing bar binding unit 110. Based on the estimated position of the intersection c12, the motor control unit 178 can also adjust the position of the reinforcing bar binding robot 101 so that the reinforcing bar binding unit 110 is located at the intersection c12 by using the first travel unit 121a, the second travel unit 121b, the third travel unit 121c and / or the fourth travel unit 121d.

[0104] The rebar tying unit control unit 168 controls the movement of the rebar tying unit 110 by controlling the rebar tying unit moving unit 168m. The rebar tying unit 110 can take two positions: a tying position for performing the tying action at the intersection c12 where the first rebar R10 and the second rebar R20 intersect; and a retraction position for moving towards the intersection c12 where the next tying action is performed after the tying action is completed. The rebar tying unit 110 moves in the -Z direction from the retraction position to the tying position, and in the +Z direction from the tying position to the retraction position. This Z-direction movement of the rebar tying unit 110 is achieved, for example, by the rebar tying unit moving unit 168m, which is composed of a motor or the like. Furthermore, the Z-direction lifting and lowering movement of the rebar tying unit 110 by the rebar tying unit moving unit 168m is controlled by the rebar tying unit control unit 168.

[0105] Furthermore, after the rebar binding unit 110 moves to the binding position, the rebar binding unit control unit 168 controls the binding action of the rebar binding unit 110 on the intersection c12. For example, the binding operation of the rebar binding unit 110, which is performed using a thread pulled from the reel 180 by the thread puller (described later), is controlled by the rebar binding unit control unit 168. For example, after the rebar binding robot 101 is moved by the first travel unit 121a, the second travel unit 121b, the third travel unit 121c, and / or the fourth travel unit 121d with the rebar binding unit 110 positioned above the intersection c12, the rebar binding unit control unit 168 controls the rebar binding unit moving unit 168m to lower the rebar binding unit 110 to the binding position in a manner close to the intersection c12, and perform binding of the intersection c12.

[0106] The rebar following control unit 170 can, for example, control the traveling unit 121 via the motor control unit 178 based on information such as the position of the first rebar R10 determined by the first rebar determination unit 164a1, so that the rebar binding robot 101 follows the traveling first rebar R10. For example, Figure 5 As shown, when the rebar tying robot 101 moves the first rebar R12 and the first rebar R14, the drive motors of the traveling unit 121 (the first wheel drive motor 124a that drives the first roller 122a, the second wheel drive motor 124b that drives the second roller 122b, the third wheel drive motor 124c that drives the third roller 122c, and / or the fourth wheel drive motor 124d that drives the fourth roller 122d) can be driven without the rebar tying robot 101 disengaging from the first rebar R12 and the first rebar R14.

[0107] For example, the drive motors of the first traveling unit 121a and the third traveling unit 121c, which are arranged at the same or approximately the same position in the X direction, namely the first wheel drive motor 124a and the third wheel drive motor 124c, can be accelerated or decelerated relative to the drive motors of the second traveling unit 121b and the fourth traveling unit 121d, which are arranged on the opposite side in the X direction, thereby adjusting the position of the rebar binding robot 101 so that the rebar binding robot 101 travels in a manner that follows the first rebar R10.

[0108] Alternatively, the rebar following control unit 170 can, for example, 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 enable the rebar tying robot 101 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 different speed than the other wheel drive motors, or by setting all 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 to be different from each other, the rebar tying robot 101 can flexibly follow the first rebar R10.

[0109] The stop control unit 172 is configured to control the stopping action of the rebar tying robot 101. For example, as described later, it is also possible that 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 101, which is traveling with 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 uses the motor control unit 178 to drive and stop the first wheel drive motor 124a to the fourth wheel drive motor 124d, thereby stopping the rebar tying robot 101. In addition, the end R13e of the first reinforcing bar R13 may be used instead of the end R13e, or the reinforcing bar binding robot 101 may be stopped when it is determined that the reinforcing bar binding robot 101 is near the end R12e of the first reinforcing bar R12 and / or the end R14e of the first reinforcing bar R14, or the reinforcing bar binding robot 101 is approaching the end R12e and / or the end R14e.

[0110] In addition, if the intersection c12 of the first steel bar R10 and the second steel bar R20 is calculated by the intersection calculation unit 166, the stop control unit 172 can also stop the steel bar binding robot 101 in order to bind the intersection c12 using the steel bar binding unit 110.

[0111] As described below, the movement calculation unit 174 may also be configured to calculate the movement amount when the rebar tying robot 101 moves laterally (moves in the X direction). For example, as described above, when the rebar tying robot 101 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 101 completes the rebar tying operation at the intersection c12 of the first rebar R13 located between the first rebar R12 and the first rebar R14, moves to other first rebars R10, and begins the rebar tying operation at the intersection c12.

[0112] For example, when the rebar tying robot 101 completes the rebar tying operation at the intersection c12 on the first rebar R13, and then performs the rebar tying operation at the intersection c12 on the first rebar R14, the rebar tying robot 101 moves by an interval in the X direction relative to the X-direction interval of the first rebar R10. At this time, the movement calculation unit 174 can also calculate the movement amount based on the position information of the first rebar R10 determined by the first rebar determination unit 164a1, and based on the X-direction interval between adjacent first rebars R10. Similarly, when the rebar tying robot 101 performs the rebar tying operation at the intersection c12 on two or more first rebars R10 separated in the X direction, the movement amount can also be calculated based on the interval between the first rebars R10. Furthermore, the lateral movement unit 146 can perform lateral movement (e.g., horizontal movement) of the main body unit 140 during lateral movement based on the calculated movement amount. Additionally, the movement calculation unit 174 can also calculate movement amounts in directions other than the lateral movement amount. For example, the movement calculation unit 174 can also calculate the longitudinal movement (movement in the first direction and the Y direction) of the rebar binding robot 101 based on the detection results of each sensor 130, the determination results of the rebar end determination unit 164b1 and / or the rebar end determination unit 164b2, etc.

[0113] As the sensor unit 130, a camera capable of capturing two-dimensional or three-dimensional images can be used, for example. The location of the foreign object can also be determined based on the detection results of the sensor unit 130, for example, through the obstacle determination unit 164d of the determination unit 164. In construction sites where steel reinforcement is being assembled, tools may be placed on the surface of the steel reinforcement, or workers may be performing tasks. The system can also be configured such that, based on the detection results of the sensor unit 130, these objects are detected as foreign objects. Based on the detection results, the foreign object bypass control unit 179 drives 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 system can be configured to bypass the foreign object by the lateral movement of the steel reinforcement binding robot 101, as described later.

[0114] The control unit 160, such as a CPU (Central Processing Unit) or similar processor, is a control unit that performs control, data processing, and computation related to the execution of the computer program stored in the storage device 198. The processor is a computational unit that executes programs that use various detection data to perform the actions of the rebar tying robot 101 (rebar following and movement, lateral movement (e.g., horizontal movement), rebar tying operations, etc.). By executing the program stored in the storage device 198, the processor realizes the various units of the control unit (e.g., the sensor detection result acquisition unit 162, etc.).

[0115] Storage device 198 may include, for example, random access memory (RAM) and read-only memory (ROM). RAM is capable of rewriting data stored in its memory and may be constructed from semiconductor storage elements. RAM may also store programs executed by the processor and data required for program execution (e.g., data on the formwork used to determine the position of the reinforcing bar based on the detection results of sensor unit 130, as described later). Furthermore, these are examples; RAM may store other data, or may not store some of them.

[0116] The ROM can read data from its storage compartment and can be constructed from semiconductor storage elements. The ROM can also store, for example, programs executed by the control unit 160 and data that is not modified.

[0117] The program executed by the control unit 160 can be provided by storing it in a storage medium such as a storage device 198 (e.g., RAM, ROM) that can be read by a computer. In the case where the rebar tying robot 101 of this embodiment has a communication unit (not shown), the program can also be provided via a communication network connected through the communication unit.

[0118] The physical structure described above is illustrative. In the rebar tying robot 101 of this disclosure, the control unit 160 and the storage device 198 do not necessarily have to be separate structures. For example, the rebar tying robot 101 may also have an LSI (Large-Scale Integration) that integrates the processor and memory. Alternatively, the rebar tying robot 101 may have a GPU (Graphical Processing Unit) as the control unit 160, and the various actions described above can be implemented by executing programs through the GPU.

[0119] Next, refer to Figure 8 as well as Figure 9 The movement of the rebar tying robot 101 on the rebar is explained. Figure 8This is a diagram of the rebar binding robot 101 traveling along the first rebar R10, viewed from the Y direction (-Y direction). Figure 9 This is an image showing the rebar binding robot 101 moving along the first rebar R10, viewed from the X direction (+X direction). Figure 8 as well as Figure 9 In the middle, the rebar tying robot 101 moves along the first direction (Y direction). For example... Figure 8 and Figure 9 As shown, the rebar tying robot 101 moves with the third roller 122c of the third moving unit 121c positioned on the first rebar R12 and the fourth roller 122d of the fourth moving unit 121d positioned on the first rebar R14. Figure 9 As shown, the second roller 122b of the second traveling unit 121b also travels on the first steel bar R14 in the same way as the fourth roller 122d of the fourth traveling unit 121d. Although in Figure 8 and Figure 9 Although not shown in the figure, the first roller 122a of the first traveling unit 121a also travels on the first reinforcing bar R12 in the same way as the third roller 122c of the third traveling unit 121c. Thus, when the reinforcing bar binding robot 101 of the present disclosure travels along the first reinforcing bar R10, for example, it causes a certain first reinforcing bar R10 (first reinforcing bar R12) and two adjacent first reinforcing bars R10 (first reinforcing bars R14) located at a certain first reinforcing bar R12 to travel, and binds the intersection c12 of the first reinforcing bar R10, i.e., the first reinforcing bar R13, which exists between the traveling first reinforcing bar R12 and the first reinforcing bar R14, and the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20.

[0120] Next, refer to Figure 10 as well as Figure 11 This document describes the rebar tying robot 101 used in rebar tying operations. Figure 10 This is a diagram of the rebar tying robot 101, which is observed from the Y direction (-Y direction) and has stopped moving while performing tying operations. Figure 11 This is a diagram of the rebar tying robot 101 performing the tying operation, viewed from the X direction (+X direction). Figure 10 and Figure 11 This example illustrates a rebar tying robot 101 tying the intersection c12 of the first rebar R13 and the second rebar R20. During the tying operation, the rebar tying robot 101 stops moving. Figure 10 This causes the rebar binding unit 110 to descend and be bound. Figure 11 ).

[0121] Next, the structure for calculating the position of the rebar bundle R (first rebar R10 and second rebar R20) of the rebar tying robot 101 according to an embodiment of the present disclosure will be described. The rebar tying robot 101 according to an embodiment of the present disclosure includes: a traveling unit 121 configured to travel on a rebar bundle R, the rebar bundle R including a plurality of first rebars R1 extending in the Y direction (first direction) and a plurality of second rebars R2 extending in the X direction (second direction) intersecting the Y direction (first direction) and arranged in a manner intersecting the first rebars R1; a sensor unit 130 configured to detect at least one first rebar R10 and / or at least one second rebar R20; and a first rebar determination unit 164a1 and / or a second rebar determination unit 164a2 (also referred to as a "rebar position calculation unit" in this embodiment), configured to calculate the position of at least one first rebar R10 and / or at least one second rebar R20 detected by the sensor unit 130 based on the pixel values ​​of a plurality of pixels constituting a two-dimensional image generated by the detection result of the sensor unit 130.

[0122] The rebar tying robot 101 of this disclosure calculates the positions of the first rebar R10 and / or the second rebar R20 based on a two-dimensional image generated from the detection results of the sensor unit 130, thereby making the calculation process of the positions of the first rebar R10 and / or the second rebar R20 more efficient. For example, compared with using three-dimensional data to calculate the position of the rebar as the detection result of the sensor unit, the computational load can be reduced by performing calculations based on two-dimensional images.

[0123] In the rebar tying robot 101 according to the embodiments of this disclosure, the two-dimensional image used in calculating the position of the first rebar R10 and / or the second rebar R20 can also be a shading image. In this case, the rebar tying robot 101 can also be configured to have a storage device 198 that stores information of at least one template image including partial images of the first rebar R10 and / or the second rebar R20. The two-dimensional image includes a shading image, and the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the position of at least one first rebar R10 and / or at least one second rebar R20 by comparing the shading image with the template image.

[0124] Alternatively, in the rebar tying robot 101 of this disclosure, if the pixel density value in the shading image is above a predetermined threshold, it may be determined that the pixel corresponds 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 also determine that at least a portion of the first rebar R1 and / or at least a portion of the second rebar R2 exists at the position corresponding to the pixel with a density value above the predetermined threshold if the pixel density value constituting the shading image is above the predetermined threshold (first threshold). Alternatively, when using the shading image as a two-dimensional image, the shading image may be generated by reducing the image density of areas where objects exist and increasing the image density of areas where objects do not exist. In this case, if the pixel density value is below the predetermined threshold, it may be determined that the pixel corresponds to the first rebar R10 and / or the second rebar R20.

[0125] In the rebar tying robot 101 disclosed herein, the density image can also be generated based on the detection results of a three-dimensional sensor. In this case, the sensor unit 130 may include a three-dimensional sensor capable of detecting the x, y, and z coordinates of multiple points on the surface of the object being detected. The z coordinate value detected by the three-dimensional sensor can be converted into different image densities based on the magnitude of the z coordinate value, and the density image can be generated by forming a two-dimensional image based on the x, y coordinates, and image densities.

[0126] Alternatively, the rebar tying robot 101 of this disclosure can also be configured such that the sensor unit 130 captures images of varying shades. In this case, the sensor unit 130 may include an imaging device, and the images of varying shades can be generated based on the images captured by the imaging device.

[0127] Furthermore, the rebar tying robot 101 according to the embodiments of this disclosure can also calculate the position of the first rebar R10 and / or the second rebar R20 based on the matching degree. In this case, the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) can 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 matching degree between the density image and the template image.

[0128] In embodiments of this disclosure, the matching degree can be calculated, for example, by comparing the detection results of the sensor unit 130, a two-dimensional image generated based on the detection results of the sensor unit 130, or a template image. For example, the pixel values ​​of all pixels in the portion of the two-dimensional image generated based on the detection results of the sensor unit 130 that is the comparison object can be compared with the pixel values ​​of all pixels in the template image, and the matching degree can be calculated by expressing the proportion of consistent pixels as a percentage based on whether the pixel values ​​of corresponding pixels in the two images being compared are consistent.

[0129] At this time, the position of the first reinforcing bar R10 and / or the second reinforcing bar R20 can also be calculated using the benchmark value of the matching degree. The first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) can also determine whether the matching degree is above the specified benchmark value. If the matching degree is above the specified benchmark value, it is determined that the first reinforcing bar R10 and / or the second reinforcing bar R20 exist within the detection range of the sensor unit 130. Furthermore, the position of the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 can be calculated based on the calculated positions of the first reinforcing bar R10 and the second reinforcing bar R20.

[0130] The following describes the calculation process for the position of the reinforcing bars in the reinforcing bar binding robot according to the embodiments of this disclosure.

[0131] First, a specific example of the sensor unit 130 used in the rebar tying robot 101 will be described in detail. As the sensor unit 130, a 3D distance camera such as a ToF (Time of Flight) camera (e.g., the TOFcam-635 manufactured by ESPROS Photonics) can be used. The 3D distance camera outputs images with varying density based on the distance from the camera to each subject. Based on the distance of each pixel to the subject, objects that are closer have higher density (closer to black), while objects that are farther away have lower density (closer to white). In the embodiments of this disclosure, as the rebar tying robot 101 moves along the rebar group R, the distance between the rebar tying robot 101 and the rebar group R remains approximately constant. Therefore, rebars can be detected by identifying objects that are relatively close to black as rebars (first rebar R10 and / or second rebar R20).

[0132] As the sensor unit 130, it is not limited to the imaging device such as a camera exemplified above, and other sensors may also be used. For example, a laser or the like, capable of acquiring information in the depth or height direction, may also 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.

[0133] Next, the process of detecting reinforcing bars based on images (in this embodiment, density images) captured and acquired by sensor unit 130 will be described. First, refer to... Figure 12 as well as Figure 13 The configuration of the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d of sensor 130 is described. Figure 12 and Figure 13 This is a diagram schematically showing the configuration of the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d. Figure 12 This is a schematic side view of the rebar tying robot 101 viewed from a horizontal (X-direction) perspective. Figure 13 This is a schematic top view of the rebar tying robot 101 viewed from above (upper in the Z direction). Figure 12 In the image, together with the first sensor 130a, the second sensor 130b, and the third sensor 130c, the shooting range of the first sensor 130a, the second sensor 130b, and the third sensor 130c is also schematically shown.

[0134] like Figure 12 as well as Figure 13 As schematically shown, the first sensor 130a and the second sensor 130b, arranged separately in the Y direction, are configured to capture images at an angle downwards. The third sensor 130c and the fourth sensor 130d (not shown) are also similarly configured to capture images at an angle downwards. The first sensor 130a and the second sensor 130b are, for example, set to have a field of view of 80° or more and 100° or less for a specified shooting range. Additionally, the third sensor 130c and the fourth sensor 130d are, for example, set to have a field of view of 50° or more and 70° or less. Any sensor 130 can be configured to have other viewing angles. As described above, when determining foreign objects 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 tilting the angle of each sensor upwards.

[0135] Figure 14 An image captured by the first sensor 130a is shown schematically. (Example) Figure 14As shown, in an embodiment of this disclosure, the first sensor 130a is configured to capture images in a downward oblique direction, thus the spacing between adjacent first reinforcing bars R10 narrows as they move from near to inward. In an embodiment of this disclosure, based on the images thus obtained, for example by template matching, the positions of each reinforcing bar constituting the reinforcing bar group R (a plurality of first reinforcing bars R10 and a plurality of second reinforcing bars R20) can be detected. In an embodiment of this disclosure, by template matching, for example based on the similarity (also referred to as "matching degree") between the captured images and pre-prepared images, the reinforcing bars (first reinforcing bars R10 and / or second reinforcing bars R20) are detected. A density image containing density portions corresponding to the reinforcing bars is prepared as a template, and the images captured by each sensor unit 130 are scanned, calculating the similarity in the scanning direction.

[0136] Reference Figure 14 As described above, in the embodiments of this disclosure, in the image captured by the first sensor 130a, the spacing between adjacent first reinforcing bars R10 in the X direction varies along the Y direction. Similarly, for the image captured by the second sensor 130b, the spacing between the first reinforcing bars R10 in the X direction also varies along the Y direction. Furthermore, for the images captured by the third sensor 130c and the fourth sensor 130d, the spacing between the captured second reinforcing bars R20 in the Y direction also varies along the X direction. Therefore, for example, it is also possible to correct the image by performing orthorectification on the captured image so that the spacing between the reinforcing bars in the captured image is approximately equal, and then perform template matching. Additionally, even without performing image transformations such as orthorectification, preparation... Figure 14 Using images of varying spacing between reinforcing bars as templates, it is also possible to perform reinforcing bar detection based on template matching.

[0137] Next, the method for determining the intersection of the first rebar R10 and the second rebar R20 in the embodiments of this disclosure will be described. In the embodiments of this disclosure, it is also possible that when the rebar tying robot 101 determines the intersection c12 of the first rebar R10 and the second rebar R20, as described above, the first sensor 130a and the second sensor 130b detect the first rebar R10. That is, as described above, the rebar tying robot 101 includes a rebar tying unit 110 configured to tie the intersection c12 of the first rebar R10 and the second rebar R20 of the rebar group R, and sensor units 130 are arranged separately from each other along a third direction, including a first sensor 130a and a second sensor 130b configured to detect at least the first rebar R10. The at least one template image mentioned above includes a template image (first template image) containing a partial image of the first rebar R10, and the rebar tying robot 101 travels along the Y direction with the travel unit 121. The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) are configured to travel in the first direction and the direction (third direction) of the first sensor 130a and the second sensor 130b is parallel to the Y direction (first direction). 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 by comparing the detection results of the first sensor 130a and / or the second sensor 130b with the first template image. The rebar binding unit 110 can also bind the intersection c12 on the first rebar R10 whose position has been calculated.

[0138] Furthermore, the rebar tying robot 101 can also be configured such that the third sensor 130c and the fourth sensor 130d detect the second rebar R20 in addition to detecting the first rebar R10 to estimate the intersection c12. That is, the rebar tying robot 101 also includes an intersection calculation unit 166 (also referred to as a "intersection estimation unit" in this embodiment) for estimating the intersection c12. The sensor units 130 are arranged separately along a fourth direction intersecting the aforementioned third direction, including the third sensor 130c and the fourth sensor 130d configured to detect at least the second rebar R20. At least one template image includes a template image (second template image) containing a partial image of the second rebar R20. The rebar tying robot 101 is configured such that the fourth direction intersects with the X direction. Parallel to (the second direction), the first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) have the detection results of the third sensor 130c and / or the fourth sensor 130d and calculate the position of the second rebar R20 by comparing it with the second template image. The intersection estimation unit (intersection estimation unit) estimates the intersection point of the calculated first rebar R10 and the calculated second rebar R20 as the intersection c12. The rebar binding unit 110 may also be configured to bind the estimated intersection c12.

[0139] In addition, when the end R10e of the first rebar R10 is detected, the rebar binding robot 101 can also make the third sensor 130c and / or the fourth sensor 130d detect the first rebar R10, and use the first rebar R10 detected by the third sensor 130c and / or the fourth sensor 130d to calculate the lateral movement amount of the rebar binding robot 101 as described later. That is, when the rebar tying robot 101 moves from the first rebar R10 to another first rebar R10 in the traveling unit 121, it has a movement amount calculation unit 174 (movement amount calculation unit) to calculate 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). The first rebar determination unit 164a1 and / or the second rebar determination unit 164a2 (rebar position calculation unit) calculates the position of the first rebar R10 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, it determines whether the matching degree is greater than or equal to a predetermined end reference value. If it determines that the matching degree is greater than or equal to the predetermined end reference value, it determines whether the matching degree of the first sensor 130a is greater than or equal to a predetermined end reference value. If 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 detect and are 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 position of other first rebars R10 that leave the first rebar R10 traveling from the traveling unit 121 in the X direction (second direction) 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) has: the position of 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 in the traveling unit 121. The traveling unit 121 may also be configured to move in the X direction (second direction) based on the calculated amount of movement in the X direction (second direction).

[0140] Thus, the rebar binding robot 101 of the present disclosure can also be configured such that the third direction (Y direction) of the first sensor 130a and the second sensor 130b is parallel to the first direction which is the extension direction of the first rebar R10, and the direction of the third sensor 130c and the fourth sensor 130d, i.e. the fourth direction, is parallel to the second direction which is the extension direction of the second rebar R20. The system includes a cross-section calculation unit 166, which is configured on the rebar group R as a cross-section estimation unit for the estimated cross-section 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. Based on the detection results of the first sensor 130a and the second sensor 130b, the cross-section calculation unit 166 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 third sensor 130c and the fourth sensor 130d, it estimates the position of the second rebar R20 (second rebar R23) detected by both the third sensor 130c and the fourth sensor 130d. 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 is estimated as the cross-section c12.

[0141] The following is for reference Figure 8 and Figures 15-19 An example of the lateral movement of the rebar tying robot 101 will be illustrated. As described above, Figure 8 This is a view of the rebar tying robot 101 from the back, in which the rebar tying robot 101 is in a state before it begins to move laterally. Figures 15-19 This is a picture of the rebar tying robot 101 moving laterally, viewed from behind.

[0142] like Figure 8 As shown, the rebar binding robot 101 moves along the first rebars R12 and R14.

[0143] Next, the rebar tying robot 101 begins to move laterally. In embodiments of this disclosure, as described above, for example, if it is determined, based on the detection result of the first sensor 130a, that the robot has reached or is reaching the vicinity of the end R10e of the first rebar R10, it is determined to begin lateral movement. Figure 15 This indicates the state of the rebar tying robot 101 when it begins to move laterally. For example... Figure 15 As shown, the rebar tying robot 101 does not move the traveling unit 121, but moves the main body unit 140 in the direction of movement (X direction). Figure 15 As shown, at this time, the first traveling unit 121a and the second traveling unit 121b exist on the first reinforcing bar R12 and the first reinforcing bar R14 without moving, respectively. At this time, the front arm 150a and the rear arm 150b are not in contact with any reinforcing bars. The lateral movement of the main body unit 140 (here, for example, movement in the horizontal direction (movement in the X direction)) can also be performed, for example, by: Figure 15 The first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 (not shown) drive the first lateral movement roller 146la and the second lateral movement roller 146lb, which are disposed at the first connecting part 147a and the second connecting part 147b, to move the main body unit 140 in the X direction via the first drive rack 146ca and the second drive rack 146cb.

[0144] Next, the rebar tying robot 101 moves the traveling unit 121 (the lower end of the traveling unit 121) upwards relative to the first rebar R10. For example... Figure 16 As shown, the lower end of the traveling unit 121 in the -Z direction is at Figure 16 It rises upwards in the Z direction (+Z direction). For example, at this time... Figure 1 , Figure 2 as well as Figure 9 The first main body side connecting rod 125a and the first roller side connecting rod 123a, as shown, move toward each other (i.e., the first main body side connecting rod 125a and the first roller side connecting rod 123a are closed). That is, the first main body side connecting rod 125a and the first roller side connecting rod 123a move in such a way that the angle formed by the first main body side connecting rod 125a and the first roller side connecting rod 123a decreases. Similarly, the second main body side connecting rod 125b and the second roller side connecting rod 123b, the third main body side connecting rod 125c and the first roller side connecting rod 123c, the fourth main body side connecting rod 125d and the fourth roller side connecting rod 123d, as shown, move toward the closing direction.

[0145] When the main body side connecting rod 125 and the roller side connecting rod 123 are closed, and the lower end of the traveling unit 121 rises, the arms 150 (front arm 150a and rear arm 150b) descend relatively. When the traveling unit 121 moves away from the first reinforcing bar R10, the front arm 150a and the rear arm 150b contact the first reinforcing bar R10. For example, the traveling unit 121 may also be configured such that its length in the Z direction can be extended by closing a motor (e.g., a motor). Figure 7The height adjustment motors 126a, 126b, 126c, and 126d shown are supported by a main body-side connecting rod 125 and roller-side connecting rod 123 (first main body-side connecting rod 125a and first roller-side connecting rod 123a, second main body-side connecting rod 125b and second roller-side connecting rod 123b, third main body-side connecting rod 125c and third roller-side connecting rod 123c, fourth main body-side connecting rod 125d and fourth roller-side connecting rod 123d) to adjust the height. Alternatively, the roller 122 can be raised by closing the main body-side connecting rod 125 and roller-side connecting rod 123, causing the roller 122 to move away from the first reinforcing bar R10.

[0146] like Figure 16 As shown, the front arm 150a and the rear arm 150b, for example, contact the first reinforcing bars R11 to R14. In this way, the front arm 150a and the rear arm 150b support the entire reinforcing bar binding robot 101.

[0147] Next, the traveling unit 121 of the rebar tying robot 101 moves along the X direction. For example... Figure 17 As shown, the first traveling unit 121a and the third traveling unit 121c, as well as the second traveling unit 121b and the fourth traveling unit 121d, which are in contact with the first reinforcing bars R12 and R14 respectively, move upwards towards the first reinforcing bars R13 and R15. At this time, none of the first traveling units 121a to the fourth traveling units 121d are in contact with the first reinforcing bar R10, while the front arm 150a and the rear arm 150b are in contact with the first reinforcing bar R10 (and the first reinforcing bars R12 to R15), supporting the reinforcing bar binding robot 101.

[0148] Next, the main body side connecting rod 125 and the roller side connecting rod 123 of the traveling unit 121 are opened. This causes the lower end of the traveling unit 121 in the -Z direction to descend relative to the first reinforcing bar R10. At this time, for example, the first main body side connecting rod 125a and the first roller side connecting rod 123a move away from each other (i.e., the first main body side connecting rod 125a and the first roller side connecting rod 123a are opened). That is, the first main body side connecting rod 125a and the first roller side connecting rod 123a move in such a way that the angle formed by the first main body side connecting rod 125a and the first roller side connecting rod 123a increases. Similarly, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d also move in the opening direction, with the second main body side connecting rod 125b, the second roller side connecting rod 123b, the third main body side connecting rod 125c, the first roller side connecting rod 123c, the fourth main body side connecting rod 125d, and the fourth roller side connecting rod 123d moving in the opening direction.

[0149] like Figure 18 As shown, the lower end of the traveling unit 121 in the -Z direction is at Figure 18 It descends downwards in the Z-direction (-Z direction). For example... Figure 18 As shown, the first traveling unit 121a and the third traveling unit 121c are in contact with the first reinforcing bar R13, and the second traveling unit 121b and the fourth traveling unit 121d are in contact with the first reinforcing bar R15. Therefore, the front arm 150a and the rear arm 150b rise relative to the first reinforcing bar R10. Thus, the reinforcing bar binding robot 101 is supported by the traveling unit 121 in this state.

[0150] Next, as Figure 19 As shown, the main body unit 140 is moved along the X direction. (Refer to...) Figure 15 Similarly, Figure 19 The lateral movement of the main body unit 140 shown (here, for example, a horizontal movement (movement in the X direction)) can also be achieved, for example, by... Figure 19 The lateral movement unit 146 (not shown) is operated by a first lateral movement motor 146ma and a second lateral movement motor 146mb. ​​Thus, the lateral movement of the rebar tying robot 101 is completed. The rebar tying robot 101, for example, begins its journey along the first rebar R13 and the first rebar R15, and performs the tying operation at the intersection c12 of the first rebar R10 and the second rebar R20 on the first rebar R14.

[0151] The above explanation uses the example of the rebar tying robot 101 moving from the first rebars R12 and R14 to the first rebars R13 and R15. However, it can also move forward across multiple first rebars R10. In this case, the movement can be performed using the same method described above, or by repeatedly performing the above-described movement method, a longer distance can be moved. Furthermore, when moving forward across multiple first rebars R10, the movement amount can be calculated based on the detection results of the sensor unit 130 using the same method.

[0152] In addition, the rebar tying robot 101 is not limited to the method described above, and can also move laterally by other methods. In this case, the movement amount of the rebar tying robot 101 can also be calculated based on the detection results of the sensor unit 130 according to the movement amount calculation method in the embodiments of this disclosure. By using the movement amount calculation method in the embodiments of this disclosure, the movement of the rebar tying robot 101 can be smoothly promoted.

[0153] In the above-described embodiments of the present disclosure, the example described is the case where the rebar binding robot 101 performs the rebar binding operation at the intersection c12 of the first rebar R10 and the second rebar R20 in a rebar group arranged in a mutually orthogonal manner. However, the rebar binding robot 101 of the embodiments of the present disclosure can also be used when the first rebar R10 and the second rebar R20 are not in an orthogonal relationship.

[0154] Figure 22 This is a schematic diagram of a rebar tying robot 101A, representing another embodiment of this disclosure, viewed from below (-Z direction). Figure 22 As shown, in this embodiment, the second reinforcing bar R20 is positioned relative to the first reinforcing bar R10 at an angle of approximately 30°. The positions of the third sensor 130c and the fourth sensor 130d differ between the reinforcing bar tying robot 101A and the reinforcing bar tying robot 101A. The third sensor 130c and the fourth sensor 130d of the reinforcing bar tying robot 101A are positioned on a straight line inclined at 30° relative to the X direction. In the reinforcing bar tying robot 101A, by arranging the third sensor 130c and the fourth sensor 130d accordingly with respect to the second reinforcing bar R20 along a direction inclined from the X direction, the second reinforcing bar R20 can be detected using the same method as in the reinforcing bar tying robot 101.

[0155] In this way, the configuration of the first sensor 130a to the fourth sensor 130d can be changed according to the configuration structure of the first rebar R10 and the second rebar R20. The configuration of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d can be changed, for example, manually or automatically, before the rebar tying operation begins, depending on the construction site where the rebar group R to be tied is located. Alternatively, even after the rebar tying robot 101 begins to move, the relationship between the first rebar R10 and the second rebar R20 can be determined based on the detection results of the sensor unit 130, and the configuration of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d can be dynamically changed based on the determination results. In this case, for example, it can be configured to include a motor capable of driving the first sensor 130a to the fourth sensor 130d, and the positions of the first sensor 130a to the fourth sensor 130d can be changed by driving the motor.

[0156] [Second Implementation]

[0157] Reference Figures 21A to 24 Another embodiment of the rebar tying robot 102 (an example of a tying device) according to this disclosure will be described below. It should be noted that, as mentioned below, the rebar tying robot 102 (an example of a tying device) will be described in relation to the referenced... Figures 1 to 4 The different structures of the rebar tying robot 101 will be described, and the descriptions of structures that are the same as those of the rebar tying robot 101 will be omitted as appropriate.

[0158] Figure 21A This is a perspective view of the rebar binding robot 102 of this embodiment, viewed from an oblique top. Figure 21B This is a top view of the rebar tying robot 102 viewed from above (above in the Z direction). Figure 22 These are other overall 3D views viewed from an angle above the rebar tying robot 102.

[0159] The frame 202 includes approximately triangular track sections 220lf, 220rf, 220lb, and 220rb, which are erected along the Z-direction at predetermined positions relative to the left front, right front, left rear, and right rear of the hole 144 of the main body unit 140, and are approximately parallel to the YZ plane. Track sections 220lf and 220rf are inclined such that their height decreases in the Z-direction as they face forward. Track sections 220lb and 220rb are inclined such that their height decreases in the Z-direction as they face rearward. Additionally, the frame 202 includes approximately inverted U-shaped frame members 231f, 232f, 233f, 231b, 232b, and 233b, which are approximately parallel to the XZ plane. One end of each of frame members 231f, 232f, and 233f engages with guide rail 220lf, allowing them to slide along guide rail 220lf in the Y direction while maintaining an orientation approximately parallel to the XZ plane. The other end of each of frame members 231f, 232f, and 233f engages with guide rail 220rf, allowing them to slide along guide rail 220rf in the Y direction while maintaining an orientation approximately parallel to the XZ plane. Therefore, frame members 231f, 232f, and 233f can slide along guide rails 220lf and 220rf while maintaining an orientation approximately parallel to the XZ plane.

[0160] One end of each of frame members 231b, 232b, and 233b engages with the track portion 220lb, allowing them to slide along the track portion 220lb in the Y direction while maintaining an orientation approximately parallel to the XZ plane. The other end of each of frame members 231b, 232b, and 233b is slidably engaged with the guide rail portion 220rb in the Y direction while maintaining an orientation approximately parallel to the XZ plane. Thus, frame members 231b, 232b, and 233b can slide along the guide rail portions 220lb and 220rb, respectively, while maintaining an orientation approximately parallel to the XZ plane. It should be noted that frame members 231f, 232f, and 233f can also be configured to be detachable from the track portions 220lf and 220rf, respectively, and frame members 231b, 232b, and 233b can also be configured to be detachable from the track portions 220lb and 220rb, respectively. Thus, the frame 202 can also be configured to move relative to the steel reinforcement binding unit 110.

[0161] Frame members 231f, 232f, and 233f can be configured to slide independently along track 220lf. Frame members 231b, 232b, and 233b can be configured to slide independently along track portion 220lb. For example, frame members 231f, 232f, and 233f can slide to the -Y direction end of track portion 220lf, and frame members 231b, 232b, and 233b can slide to the +Y direction end of track portion 220lb (see [link]). Figure 22 Furthermore, for example, frame members 231f, 232f, and 233f can slide to the +Y direction end of track portion 220lf, or frame members 231b, 232b, and 233b can slide to the -Y direction end of track portion 220lb. In this way, frame 202 can also be configured to be movable relative to the reinforcing bar binding unit 110.

[0162] The frame 202 may not include the track sections 220lf, 220rf, 220lb, and 220rb. In this case, the frame members 231f, 232f, 233f, 231b, 232b, and 233b may also be engaged with the main body unit 140 in a detachable manner via engaging parts provided on the main body unit 140, just like the rebar tying robot 101.

[0163] The number and size of the frame components of frame 202 are not particularly limited. In addition, the materials of the frame components and vertices of frame 202 are not particularly limited, and may include, for example, resin, metal, alloy, carbon fiber and fiber optic glass.

[0164] Frame 202 can also move in a manner other than sliding. For example, each of frame members 231f, 232f, and 233f can be configured to rotate about an axis substantially parallel to the X direction, connecting the portion engaging with track portion 220lf and the portion engaging with track portion 220rf. Through this rotation, frame members 231f, 232f, and 233f can each rotate about this axis and tilt at a predetermined angle relative to the Z-axis. Alternatively, for example, frame members 231b, 232b, and 233b can each be configured to rotate about an axis substantially parallel to the X direction, connecting the portion engaging with guide rail portion 220lb and the portion engaging with guide rail portion 220rb. Through this rotation, frame members 231b, 232b, and 233b can each rotate about this axis and tilt at a predetermined angle relative to the Z-axis. Furthermore, the frame members 231f, 232f, and 233f, which are configured to rotate about the parts engaging with the track portions 220lf and 220rf, can also be configured to slide along the track portions 220lf and 220rf. Additionally, the frame members 231b, 232b, and 233b, which are configured to rotate about the parts engaging with the track portions 220lb and 220rb, can also be configured to slide along the track portions 220lb and 220rb.

[0165] Figure 23 This is another overall perspective view taken from an obliquely upward angle of the rebar tying robot 102. The rebar tying robot 102 of this embodiment may also include a cover 202C. The "protective part" may also be configured to include the frame 202 and the cover 202C. The cover 202C may also be configured to cover at least a portion of the frame 202. Figure 23 As shown, the cover 202C can also be configured as an integral part of the cover frame 202. In Figure 23 In the example shown, the cover 202C is configured to cover the entire frame 202, that is, to cover from the front frame member 231f to the rear frame member 231b of the frame 202. However, it is not limited to this; the cover 202C may also be configured to cover only a portion of the frame 202. For example, the cover 202C may also be configured to cover only the area from the front frame member 232f or 233f to the rear frame member 232b or 233b. The cover 202C may also be configured to be detachable from the frame 201. In addition, the cover 202C may also be configured to be detachable from the frame 201 of the rebar tying robot 101.

[0166] The material of the cover 202C is not particularly limited; for example, it can be nylon, polyester, polyvinyl chloride (PVC), or Teflon-processed fabric. The cover 202C can also be configured to be detachable from the frame 202. Specifically, the cover 202C may also have buttons or zipper latches configured for detaching from the frame 202.

[0167] like Figure 23 As shown, the cover 202C may also be provided with a solar power generation unit 202P for receiving sunlight and other light to generate electricity. The solar power generation unit 202P may be set as part of the cover 202C, or it may be set as a component different from the cover. Figure 23 An example is shown where the solar power generation unit 202P is disposed on three surfaces of the cover 202C. Furthermore, the location of the solar power generation unit 202P is not particularly limited; for example, it can be disposed in the center of the cover 202C, at the front or back, or symmetrically arranged front and back. The structure of the solar power generation unit 202P is not particularly limited; for example, it can be a thin film for solar power generation, such as crystalline silicon, amorphous silicon, silicon-based materials, CIS-based materials, compound-based materials such as CdTe, dye-sensitized materials, perovskite materials, or organic-based materials such as coatings. The electricity generated by the solar power generation unit 202P can be used as a power source for any structure of the rebar tying robot 102 (e.g., rebar tying unit 110, sensor unit 130, movement unit 140, control unit 160), or it can be stored in the storage battery 180 if the storage battery 180 is configured as a storage battery.

[0168] Figure 24 This is another overall perspective view taken from an angled above the rebar tying robot 102. The cover 202C can be installed on, for example, frame members 231f, 232f, 233f, 231b, 232b, and 231b. Figure 24 The frame members 231f, 232f, and 233f are shown from... Figure 23 The state shown is where the track section 220lf slides to the -Y direction end and the frame members 231b, 232b, and 233b slide to the +Y direction end of the track section 220lb. Through this sliding, as... Figure 24As shown, the cover 202C is folded and stored between the sliding frame members 231f, 232f, 233f, 231b, 232b, and 231b. Thus, the rebar tying robot 102 can be configured to open and close in a manner that changes from a state where the cover 202C covers the entire rebar tying robot 102 and main unit 140 to a state where it only covers a portion of the rebar tying robot 102 and main unit 140, through the movement of the frame 202. In the "state where only a portion of the rebar tying robot 102 and main unit 140 is covered," the cover 202C can also be configured to cover other specified parts (e.g., the rebar tying unit 110) without covering a specified portion (e.g., the loading / unloading tracks of components that can be loaded and unloaded, such as the reels 180a, 180b and the batteries 182a, 182b). Furthermore, the movement of the frame 202 for opening and closing the cover 202C is not limited to sliding a portion; it can also include rotating a portion or removing a portion. The cover 202C and / or frame 202 may also include a portion thereof that can be removed. The cover 202C and / or frame 202 may also be provided in a manner that covers the positions corresponding to the reels 180a, 180b and / or the batteries 182a, 182b, and configured to be able to be removed from those positions.

[0169] Reels 180a and 180b, and batteries 182a and 182b, can be configured to be detachably mounted to the main unit 140. The installation and removal of reels 180a, 180b, and batteries 182a, 182b can be performed, for example, during inspection of the components or when replacing them with new ones. Figure 21A The loading and unloading tracks 180Ca, 180Cb, 182Ca, and 182Cb are shown; these are the tracks followed by these components when loading and unloading reels 180a and 180b, and batteries 182a and 182b, respectively. Figure 21A As shown, loading and unloading tracks 180Ca, 180Cb, 182Ca and 182Cb are set to be approximately parallel to the Z direction.

[0170] Reels 180a and 180b, and batteries 182a and 182b, respectively, pass through designated areas during loading and unloading along loading and unloading tracks 180Ca, 180Cb, 182Ca, and 182Cb. As described above, loading and unloading tracks 180Ca, 180Cb, 182Ca, and 182Cb are set to be approximately parallel to the Z-direction. Therefore, in this case, the areas through which reels 180a and 180b, and batteries 182a and 182b respectively pass during loading and unloading become spatial areas that extend the space occupied by reels 180a and 180b and batteries 182a and 182b along the Z-direction.

[0171] Figure 21BThe diagram shows the regions 180Va, 180Vb, 182Va, and 182Vb through which reels 180a and 180b and batteries 182a and 182b pass during installation and removal. Figure 21B As shown, the frames 302f and 303f of the frame 202 do not interfere with the areas 182Va and 182Vb that are passed through during the installation and removal of batteries 182a and 182b in the XY plane view. Therefore, batteries 182a and 182b can be installed and removed without being obstructed by the frame 202. Furthermore, as... Figure 21B As shown, the frames 302b and 303b of the frame 202 do not interfere with the areas 180Va and 180Vb that are passed through during the loading and unloading of the reels 180a and 180b in the XY plane view. Therefore, the reels 180a and 180b can be loaded and unloaded without being obstructed by the frame 202.

[0172] As described above, frame 202 forms the area where reels 180a and 180b and batteries 182a and 182b pass along loading / unloading tracks 180Ca, 180Cb, 182Ca, and 182Cb. Furthermore, frame 202 also surrounds the area where reels 180a and 180b and batteries 182a and 182b pass along loading / unloading tracks 180Ca, 180Cb, 182Ca, and 182Cb (e.g., Figure 21B There is space provided in the X direction. Therefore, the loading and unloading of these components becomes easier.

[0173] Furthermore, as examples of load-and-unloadable components (loading and unloading components), spools 180a and 180b and batteries 182a and 182b have been described, but the rebar tying robot 102 may also have other load-and-unloadable components. Moreover, the frame 202 may form an area for these other load-and-unloadable components to pass along the loading and unloading track. In this embodiment, the case where the loading and unloading track of the component is parallel to the Z direction has been described, but the loading and unloading track can be any direction including the X and Y directions; even in this case, the frame 202 may form an area for the component to pass along the loading and unloading track.

[0174] [Third Implementation Method]

[0175] The following is mainly based on Figures 1 to 4 and Figures 25 to 31 The present disclosure describes the structure in which the rebar tying robots 101, 103, and 104 (an example of a tying device) in the embodiments of the present disclosure protect the rebar tying robots 101 and 103 from contact with obstacles present on the rebar.

[0176] return Figure 1 as well as Figure 2The rebar tying robot 101 according to this embodiment is provided with a first arm 150a (front arm 150a). That is, the rebar tying robot 101 of this embodiment includes: a rebar tying unit 110, configured to tie the intersection c12 of the first rebar R10 and the second rebar R20 of a plurality of rebars including a plurality of first rebars R10 and a plurality of second rebars R20, wherein the extension direction of the plurality of first rebars R10 is a first direction (Y direction), and the extension direction of the plurality of second rebars R20 is a second direction (X direction) that intersects the first direction (Y direction), and the plurality of second rebars R20 are arranged to intersect the first rebars R10; a main body unit 140, supporting the rebar tying unit 110; a moving unit 120, configured to enable the main body unit 140 to move along the first direction (Y direction) on the plurality of rebars R; and a front arm 150a, the front arm 150a having: a front end Part 152a, viewed from above in a third direction (Z direction) orthogonal to the first direction (Y direction) and the second direction (X direction), is at least partially disposed in front of the moving unit 120 and the main body unit 140 in the first direction (Y direction); one end 154a1, disposed in a fourth direction (X direction in this embodiment) parallel to and orthogonal to the first direction (Y direction) and the second direction (X direction), at a position slightly outward from one end of the moving unit 120 and the main body unit 140 in the fourth direction (X direction); and the other end 154a2, disposed in the fourth direction (X direction) at a position slightly outward from the other end of the moving unit 120 and the main body unit 140 in the fourth direction (X direction).

[0177] like Figures 1 to 4 As shown, in the rebar tying robot 101 according to this embodiment, in a top view viewed from the Z direction, the front arm 150a has at least a portion of a front end portion 152a disposed in front of the moving unit 120 and the main body unit 140 in the Y direction. Furthermore, the front arm 150a has one end portion 154a1 (front end portion 154a1) disposed on the outer side (+X direction) of the fourth direction (X direction) and another end portion 154a2 (front other end portion 154a2) disposed on the outer side (-X direction) opposite to the first end portion 154a1.

[0178] like Figures 1 to 4As shown, in the rebar tying robot 101 according to this embodiment, the front end portion 152a includes: a first front end portion 152a1, which is disposed on the first protrusion 158a1 of the protrusion 158a (described later) of the front arm 150a; and a second front end portion 152a2, which is disposed on the second protrusion 158a2 of the protrusion 158a. The front end portion 152a is the foremost part of the front arm 150a in the first direction (Y direction). Furthermore, in the rebar tying robot 101 according to this embodiment, as... Figures 1 to 4 As shown, the front end portion 152a corresponds to the foremost part existing in the first direction (Y direction). Additionally, as... Figures 1 to 4 As shown, in the rebar binding robot 101 of this embodiment, the first front end 152a1 and the second front end 152a2 are located at the same position in the first direction (Y direction).

[0179] like Figure 3 and Figure 4 As shown, in the rebar tying robot 101 according to this embodiment, one end 154a1 and the other end 154a2 are respectively located on the outermost sides in the +X direction and the -X direction. Additionally, as... Figure 3 and Figure 4 As shown, in the rebar binding robot 101 involved in this embodiment, one end 154a1 and the other end 154a2 are respectively disposed on the outside of the main body unit 140 in the +X direction and the -X direction.

[0180] Therefore, in the rebar tying robot 101 according to this embodiment, when traveling along the first direction (Y direction) on multiple rebars R, obstacles that may exist on the rebars R can come into contact with the front arm 150a before contacting the main body unit 140, thus protecting the main body unit 140. In addition, the rebar tying unit 110 supported on the main body unit 140 can also be more reliably protected from the influence of obstacles.

[0181] For example, if the rebar tying robot 101 is used as a front arm, and at least one of its ends in the X direction (the end in the +X direction) and the other end (the end in the -X direction) is not the outermost point in the +X direction and the outermost point in the -X direction, respectively, obstacles on the rebar may come into contact with the ends in the +X direction and the ends in the -X direction of the main unit. For example, if the rebar tying robot 101 is used as a front arm and one and / or the other end in the X direction is more inside the end in the X direction of the main unit, it is considered that obstacles may come into contact with the main unit without contacting the front arm. The rebar tying robot 101 of this embodiment has a front arm 150a with one end 154a1 and the other end 154a2 as described above, thereby more reliably protecting the rebar tying unit 110, the moving unit 120, and the main unit 140, etc., of the rebar tying robot 101.

[0182] Furthermore, the front arm 150a has the aforementioned structure, with an outermost end 154a1 and an outermost end 154a2 respectively located in the +X and -X directions, thereby functioning as a gauge for the width through which the rebar tying robot 101 can pass. For example, if there is a wall extending in the +X and -X directions and in the +Z direction in front of the rebar tying robot 101's direction of travel, the rebar tying robot 101 can stop traveling if one end 154a1 and the other end 154a2 of the front arm 150a come into contact with the wall during its travel. This suppresses the risk of the moving unit 120 and the main body unit 140 of the rebar tying robot 101 coming into contact with the wall.

[0183] Furthermore, for example, if the rebar tying robot 101 has a front arm whose front end is located at a position rearward (-Y direction) in the Y direction than other structures of the rebar tying robot 101 (e.g., rebar tying unit, moving unit, and / or main body unit), the front end is not the foremost part of the rebar tying robot 101. Therefore, if there is an obstacle on the rebar in front of the rebar tying robot 101, there is a possibility that the obstacle will come into contact with the rebar tying unit, moving unit, and / or main body unit. In this embodiment, the rebar tying robot 101 has a structure in which the front arm 150a has the aforementioned front end 152. This allows the front arm 150 to come into contact with the obstacle in front of the rebar tying robot 101 before the rebar tying unit 110, moving unit 120, and / or main body unit 140 come into contact with the obstacle in front of the rebar tying robot 101. Therefore, it is possible to more reliably protect the various structures of the rebar tying robot 101, such as the rebar tying unit 110, moving unit 120, and main body unit 140.

[0184] In the rebar tying robot 101 of this embodiment, the front arm 150a can also be connected via the horizontal part 156a (front horizontal part 156a). That is, as... Figures 1 to 4 As shown, the front arm 150a may also have one or more elongated horizontal portions 156a that extend in a fourth direction (the X direction in this embodiment) and connect to one end 154a1 and the other end 154a2. In the rebar tying robot 101 according to this embodiment, by having a front arm 150 including the horizontal portions 156a, for example, obstacles that may exist in the X direction on the inside of one end 154a1 and the inside of the other end 154a2 (i.e., in the +X direction of one end 154a1 and the -X direction of the other end 154a2) can be effectively protected.

[0185] like Figures 1 to 4 As shown, the horizontal portion 156a may also have a long strip shape parallel to the X direction. However, the shape of the horizontal portion 156a is not limited to this; for example, the horizontal portion 156a may also have an arc shape protruding forward (in the +Y direction).

[0186] In the rebar tying robot 101 of this embodiment, the front arm 150a may also have a protrusion 158a (front protrusion 158a). That is, as... Figures 1 to 4 As shown, alternatively, the front arm 150a can be connected to the main body unit 140 and includes a protrusion 158a having a shape that protrudes forward in a first direction (Y direction), with a front end portion 152a disposed on the protrusion 158a. Figures 1 to 4 As shown, the front arm 150a may also have a protrusion 158a1 (first front protrusion 158a1) disposed centrally in the -X direction relative to the X direction and a protrusion 158a2 (second front protrusion 158a2) disposed in the +X direction within the horizontal portion 156a. Figure 3 and Figure 4 As shown, protrusions 158a1 and 158a2 may also be arranged symmetrically with respect to the center of the horizontal portion 156a in the X direction.

[0187] In the rebar tying robot 101 described in this embodiment, except for Figure 1 and Figure 2 In addition, such as Figure 6 As shown, the first front protrusion 158a1 and the second front protrusion 158a2 may also have a curved shape (e.g., an arc shape) formed in a manner that protrudes forward in the Y direction (+Y direction). In this way, by making the first front protrusion 158a1 and the second front protrusion 158a2 curved, the stress concentration applied to the front arm 150a can be mitigated, and the deformation of the front arm 150a can be suppressed.

[0188] As described above, in the rebar tying robot 101 of this embodiment, the traveling unit 121 has a main body connecting rod portion 125 connected to the main body unit 140 and a roller-side connecting rod portion 123 connected to the roller portion 122. For example, see... Figure 8 as well as Figures 15 to 19 As described above, when the rebar binding robot 101 moves laterally, the height of the traveling unit 121 is changed by opening and closing the main body side connecting rod 125 and the roller side connecting rod 123. At this time, when the main body side connecting rod 125 and the roller side connecting rod 123 are closed, the connecting portion between them extends in the +Y direction. Conversely, when the main body side connecting rod 125 and the roller side connecting rod 123 are opened, the connecting portion retracts in the -Y direction.

[0189] In the rebar tying robot 101 of this embodiment, as follows: Figure 1 , Figure 2 and Figure 6 As shown, the first front protrusion 158a1 and the second front protrusion 158a2 are respectively provided in front of the first traveling unit 121a and the second traveling unit 121b. Therefore, in the rebar tying robot 101 according to this embodiment, in the first traveling unit 121a and the second traveling unit 121b, the protrusions 158a1 and 158a2 are configured such that even when the main body side connecting rod 125 and the roller side connecting rod 123 connected to the roller 122 are closed, and the connection portion of the main body side connecting rod 125 and the roller side connecting rod 123 is in a position extending forward in the Y direction, the first traveling unit 121a and the second traveling unit 121b are respectively in a shape that does not contact the protrusions 158a1 and 158a2. Thus, even when the rebar tying robot 101 according to this embodiment moves laterally, the height of the traveling unit 121 can be changed without contacting the protrusions 158a1 and 158a2.

[0190] Furthermore, the shapes of protrusions 158a1 and 158a2 are not limited to the aforementioned curved shapes. For example, protrusions 158a1 and 158a2 may also have a shape in which the protruding portion (the portion protruding forward in the Y direction, i.e., the first front end portion 152a1 and the second front end portion 152a2) is perpendicular when viewed laterally (from the +X or -X direction). Alternatively, protrusions 158a1 and 158a2 may also have a shape that appears as a part of a polygon when viewed from the +X or -X direction (e.g., a part of a quadrilateral (so-called 'ko' shape), a part of a hexagon, a part of an octagon, etc.).

[0191] Furthermore, protrusions 158a1 and 158a2 have a shape that protrudes in the +Y direction when viewed from the +X or -X direction, but are not limited thereto. Protrusions 158a1 and 158a2 may also have a shape that protrudes in the +Y direction when viewed from the +Z or -Z direction. In this case, protrusions 158a1 and 158a2 may also have a shape that protrudes parallel to a plane parallel to both the X and Y directions. Furthermore, protrusions 158a1 and 158a2 may have a shape that protrudes both when viewed from the +X or -X direction and when viewed from the +Z or -Z direction.

[0192] In addition, such as Figure 1 , Figure 2 as well as Figure 6 As shown, in the rebar tying robot 101 according to this embodiment, a front arm connecting portion 148a connected to the main body unit 140 may also be provided in the main body unit 140. Alternatively, the front arm connecting portion 148a may have a first front arm connecting portion 148a1 and a second front arm connecting portion 148a2, with the first protrusion 158a1 of the front arm 150a connected to the first front arm connecting portion 148a1, and the second protrusion 158a2 of the front arm 150a connected to the second front arm connecting portion 148a2, thereby connecting the front arm 150a to the main body unit 140.

[0193] In the rebar tying robot 101 of this embodiment, one end 154a1 and the other end 154a2 of the front arm 150a can also be disposed between the front end of the moving unit 120 and the front end of the main body unit 140. That is, in the rebar tying robot 101 of this embodiment, one end 154a1 of the front arm 150 can also be disposed between the front end of the moving unit 120 in the first direction (Y direction) and the front end of the main body unit 140 in the first direction (Y direction). Furthermore, the other end 154a2 of the front arm 150 can be disposed between the front end of the moving unit 120 in the first direction (Y direction) and the front end of the main body unit 140 in the first direction (Y direction).

[0194] In the rebar tying robot 101 according to this embodiment, the front end of the moving unit 120 in the Y direction is, for example, the connection portion between the main body side connecting rod portion 125 and the roller side connecting rod portion 123. Additionally, the front end of the main body unit 140 in the Y direction is, for example, the portion where a front arm connecting portion 148 is provided. Figures 1 to 4As shown, in the rebar tying robot 101 of this embodiment, the connection portion between the main body side connecting rod 125 and the roller side connecting rod 123 is located in a position forward in the Y direction than the front arm connecting portion 148 of the main body unit 140. Therefore, in the rebar tying robot 101 according to this embodiment, the front end of the moving unit 120 in the Y direction is located in a position forward in the Y direction than the front end of the main body unit 140 in the Y direction.

[0195] In addition, such as Figures 1 to 4 As shown, in the rebar tying robot 101 according to this embodiment, one end 154a1 and the other end 154a2 are positioned, when viewed in the Y direction, forward of the front end of the main body unit 140 in the Y direction (+Y direction) and backward of the front end of the moving unit 120 in the Y direction (-Y direction). That is, when viewed in the Y direction, one end 154a1 and the other end 154a2 are located between the front end of the main body unit 140 in the Y direction and the front end of the moving unit 120 in the Y direction. In addition, in the rebar tying robot 101 according to this embodiment, the horizontal part 156a is connected to one end 154a1 and the other end 154a2. The horizontal part 156a has an elongated shape extending in the X direction. Therefore, when viewed in the Y direction, the horizontal part 156a is also located between the front end of the main body unit 140 in the Y direction and the front end of the moving unit 120 in the Y direction.

[0196] In the rebar tying robot 101 of this embodiment, according to this structure, for example, compared with the case where one end 154a1 and the other end 154a2 of the front arm 150a and the horizontal part 156a are set at a position further forward than the front end of the moving unit 120 in the Y direction when viewed in the Y direction, by setting the front arm 150a, it is possible to suppress the increase in the size of the rebar tying robot 101 in the Y direction as a whole device, and it is possible to protect the rebar tying robot 101 from contact with obstacles.

[0197] As described above, in addition to the front arm 150a, the arm 150 of this embodiment may also have a rear arm 150b. That is, the rebar tying robot 101 of this embodiment may also have a structure in which the arms 150 are arranged on both sides in the Y direction (the traveling direction of the rebar tying robot 101). In this case, the rebar tying robot 101 according to this embodiment has a rear arm 150b that is provided behind the moving unit 120 and the main body unit 140 in the first direction (Y direction) when viewed from a top view in the third direction (Z direction).

[0198] The rear arm 150b is the same as the front arm 150a, for example, as Figures 1 to 4As shown, it may also have a rear end portion 152b (first rear end portion 152b1 and second rear end portion 152b2), one end portion 154b1 (rear end portion 154b1), another end portion 154b2 (rear other end portion 154b2), a horizontal portion 156b (rear horizontal portion 156b), and a protrusion 158b (rear protrusion 158b including the first rear protrusion 158b1 and the second rear protrusion 158b2). The horizontal portion 156b of the rear arm 150b may also have an elongated shape extending in the X direction.

[0199] Alternatively, a rear arm connecting portion 148b can be provided in the main body unit 140 to connect the rear arm 150b to the main body unit 140. The rear arm connecting portion 148b has a first rear arm connecting portion 148b1 and a second rear arm connecting portion 148b2. The first protrusion 158b1 of the rear arm 150b is connected to the first rear arm connecting portion 148b1, and the second protrusion 158b2 of the rear arm 150b is connected to the second rear arm connecting portion 148b2, thereby connecting the rear arm 150b to the main body unit 140.

[0200] In addition, such as Figures 1 to 4 As shown, in the rebar tying robot 101 of this embodiment, one end 154b1 and the other end 154b2 of the rear arm 150b are disposed between the rear end of the moving unit 120 (in the -Y direction of the third traveling unit 121c and the fourth traveling unit 121d) and the rear end of the main body unit 140 (the part of the main body unit 140 that is provided with the first rear arm connecting portion 148b1 and the second rear arm connecting portion 148b2).

[0201] The rebar tying robot 101 according to this embodiment also includes a rear arm 150b, which, for example, can protect the rebar tying robot 101 from contact with obstacles that may exist in the rear (-Y direction) in the Y direction. For example, if the rebar tying robot 101 has a structure that can also move in the -Y direction, when moving in the -Y direction, the front arm 150a can be used to protect the rebar tying robot 101 from obstacles that may exist in the +Y direction. Similarly, the rear arm 150b can be used to protect the rebar tying robot 101 from contact with obstacles located on the rebar in the -Y direction of the rebar tying robot 101. Alternatively, for example, the rear arm 150b can also be used to protect the rebar tying robot 101 from obstacles (e.g., other self-propelled robots such as other tying devices operating on rebar, personnel, etc.) moving from the -Y direction to the +Y direction of the rebar tying robot 101.

[0202] Furthermore, the rebar tying robot 101 of this embodiment has a rear arm 150b in addition to a front arm 150a, thereby enabling stable support of the rebar tying robot 101 as described later. For example, in the rebar tying robot 101, viewed in the Y direction, arms such as the front arm 150a and the rear arm 150b (e.g., the horizontal portion 156a of the front arm 150a and the horizontal portion 156b of the rear arm 150b) are provided between the movement units 120 in the +Y direction (the first travel unit 121a and the second travel unit 121b) and the movement units 120 in the -Y direction (the third travel unit 121c and the fourth travel unit 121d), and the rebar tying robot 101 can also be supported on the rebar R using these arms.

[0203] In the rebar tying robot 101 of this embodiment, the front arm 150a (e.g., the horizontal portion 156a of the front arm 150a) is positioned in the +Y direction (e.g., closer to the +Y direction than the first roller portion 122a of the first traveling unit 121a and closer to the +Y direction than the second roller portion 122b of the second traveling unit 121b), and the rear arm 150b (e.g., the horizontal portion 156b of the rear arm 150b) is positioned in the -Y direction (e.g., closer to the -Y direction than the third roller portion 122c of the third traveling unit 121c and closer to the -Y direction than the fourth roller portion 122d of the fourth traveling unit 121d). As a result, the distance between the front arm 150a and the rear arm 150b in the Y direction (e.g., the distance between the horizontal portion 156a of the front arm 150a and the horizontal portion 156b of the rear arm 150b in the Y direction) can be relatively large. Therefore, when the rebar tying robot 101 of this embodiment is supported by the front arm 150a and the rear arm 150b, the rebar tying robot 101 can be supported more stably relative to, for example, the rebar R.

[0204] Therefore, for example, when the rebar tying robot 101 moves laterally, the front arm 150a and the rear arm 150b can be used to support the rebar tying robot 101 more stably, and stable lateral movement can be achieved.

[0205] Reference Figures 1 to 4In the above structure, one end 154a1 and the other end 154a2 of the front arm 150a are disposed between the front end of the moving unit 120 and the front end of the main body unit 140, but are not limited thereto. For example, one end 154a1 and / or the other end 154a2 of the front arm 150a may also be disposed in front of the moving unit 120 and the main body unit 140 in the Y direction. In this case, one end 154a1 of the front arm 150a may be disposed in front of the moving unit 120 and the main body unit 140 in the first direction (Y direction), and the other end 154a2 of the front arm 150a may also be disposed in front of the moving unit 120 and the main body unit 140 in the first direction (Y direction). In addition, in this case, the front end 152a may also be disposed in the horizontal portion 156a.

[0206] According to this structure, the front arm 150a (e.g., the horizontal portion 156a of the front arm 150a) of the rebar binding robot 101 involved in this embodiment is further disposed in the +Y direction (e.g., it is further disposed in the +Y direction than the first roller portion 122a of the first traveling unit 121a and further disposed in the +Y direction than the second roller portion 122b of the second traveling unit 121b). In addition, the rear arm 150b (e.g., the horizontal portion 156b of the rear arm 150b) is further disposed in the -Y direction (e.g., it is further disposed in the -Y direction than the third roller portion 122c of the third traveling unit 121c and further disposed in the -Y direction than the fourth roller portion 122d of the fourth traveling unit 121d). Therefore, the Y-direction spacing between the front arm 150a and the rear arm 150b can be further increased (for example, the Y-direction spacing between the horizontal portion 156a of the front arm 150a and the horizontal portion 156b of the rear arm 150b), thus, when the rebar tying robot 101 is supported by the front arm 150a and the rear arm 150b, the rebar tying robot 101 can be supported more stably.

[0207] The rebar tying robot 101 of this embodiment can also be configured such that the arms 150 (front arm 150a and rear arm 150b) can be gripped during transport. That is, the front arm 150a and rear arm 150b can also be configured to transport the rebar tying robot 101 by being gripped. For example, it can also be configured such that one operator grips the front arm 150a and the rear arm 150b, or multiple operators can separate in the Y direction, forward and backward, respectively gripping the front arm 150a and the rear arm 150b.

[0208] With the aforementioned structure, the rebar tying robot 101 achieves a relatively large distance (in the Y direction) between the front arm 150a and the rear arm 150b, thus enabling stable handling. For example, compared to cases where the two arms are placed closer together (e.g., the two arms are positioned between the movement units 120a and 120b in the +Y direction and the movement units 120c and 120d in the -Y direction), stable handling is possible.

[0209] Furthermore, the front arm 150a and rear arm 150b of the rebar tying robot 101 in this embodiment are respectively equipped with horizontal portions 156a and 156b. Therefore, the operator handling the rebar tying robot 101 can easily handle it by holding the horizontal portions 156a and 156b. Additionally, when handling the rebar tying robot 101, the operator can also hold the protrusions 158a and 158b of the front arm 150a and rear arm 150b. It should be noted that by holding the horizontal portions 156a and 156b, it is relatively easy to maintain the horizontal posture of the rebar tying robot 101 during handling.

[0210] Furthermore, by configuring a structure that holds the front arm 150a and the rear arm 150b during the transport of the rebar tying robot 101, it does not hold, for example, the moving unit 120 or the main body unit 140 during transport, thus suppressing the occurrence of damage to the moving unit 120, the main body unit 140, etc. during transport.

[0211] In the rebar tying robot 101 of this embodiment, the arm 150 may also be arranged to avoid the field of view of the sensor (sensor 130a of the sensor unit 130 described above). That is, in the rebar tying robot 101 of this embodiment, it may also include a detection unit (sensor unit 130) that has a sensor (first sensor 130a) with a detection range including a region containing rebar R located in front of (+Y direction) the moving unit 120 in the first direction (Y direction), and the front arm 150a is positioned outside the detection range of the sensor (first sensor 130a) of the detection unit (sensor unit 130).

[0212] For example, when the front arm 150a is positioned within the sensor's detection range, the front arm 150a may be captured in the sensor's detection result (e.g., a detection image). Therefore, if the front arm 150a overlaps with the rebar R within the sensor's detection range, accurate detection of the rebar R may be impossible. For example, when the rebar tying robot 101 performs tying operations at the intersection of the first rebar R1 and the second rebar R2 detected based on the sensor's detection result, if the rebar R cannot be accurately detected, some intersections of the first rebar R1 and the second rebar R2 may not be tyed. Alternatively, for example, as with the horizontal portion 156a, a long strip-shaped portion of the front arm 150a may be mistakenly detected as part of the rebar R. In the rebar tying robot 101 of this embodiment, according to the above structure, the front arm 150a is not captured in the sensor's detection result (e.g., a detection image), thus enabling more accurate detection of the rebar R.

[0213] Furthermore, in the rebar tying robot 101 according to this embodiment, when the forearm 150a is within the detection range of the sensor, image processing can be performed, for example, to exclude the forearm 150a captured in the detection results. By performing this image processing, it is possible to suppress the missed detection of the intersection of the first rebar R1 and the second rebar R2, which are the tying objects of the rebar tying unit 110, and also to suppress the false detection of rebar R.

[0214] Similar to the front arm 150a, the rebar tying robot 101 according to this embodiment may also include a detection unit (sensor unit 130). This detection unit has a sensor (second sensor 130b) whose detection range is a region containing the rebar R located behind (-Y direction) of the moving unit 120 in the first direction (Y direction). The rear arm 150b is positioned outside the detection range of the sensor (second sensor 130b) of the detection unit (sensor unit 130). Regarding the rear arm 150b, it is also positioned outside the detection range of the sensor (e.g., the second sensor 130b), thereby, for example, suppressing false detections of the rebar R by the sensor.

[0215] In addition, as referenced Figures 1 to 4 , Figure 12 As described above, in the rebar tying robot 101 according to this embodiment, the first sensor 130a is provided in the main body unit 140. Similarly, the second sensor 130b is provided in the main body unit 140.

[0216] As described above, in the rebar tying robot 101 according to this embodiment, the first direction is the Y direction and the second direction is the X direction; therefore, the second direction is orthogonal to the first direction. Furthermore, since the fourth direction is the X direction, it is parallel to the second direction. This embodiment is not limited to this; for example, as shown in [reference to...] Figure 20 As described above, the second direction may not be orthogonal to the first direction. For example, the first reinforcing bar R1 and the second reinforcing bar R2 may be arranged at a 30° angle to each other. In this case, for example, when the reinforcing bar binding robot 101 is configured such that the third and fourth directions are parallel to the Y and X directions respectively, the fourth direction may not be parallel to the second direction. The first, second, third, and fourth directions are not limited to the relationships illustrated above, and multiple reinforcing bars may be arranged in other ways, thus forming the reinforcing bar binding robot 101 according to this embodiment.

[0217] In the above embodiment, the front arm 150a was described as having one horizontal portion 156a, but this embodiment is not limited to this. For example, the horizontal portion 156a of the front arm 150a may also include a first front horizontal portion 156a1 and a second front horizontal portion 156a2. That is, the front arm 150a may also include: a first front horizontal portion 156a1, which includes one end 154a1 of the front arm 150a in a direction orthogonal to the first direction (Y direction) (second direction, X direction); a first front horizontal portion 156a1, which includes the other end 154a2 of the front arm 150a in a direction orthogonal to the first direction (Y direction) (X direction); and a second front horizontal portion 156a2, which is separately arranged in the X direction.

[0218] Similarly, regarding the rear arm 150b, the horizontal portion 156b of the rear arm 150b may also include a first rear horizontal portion 156b1 and a second rear horizontal portion 156b2. That is, the rear arm 150b may also include: a first rear horizontal portion 156b1, which includes one end 154b1 of the rear arm 150b in a direction orthogonal to the first direction (Y direction) (X direction); the first rear horizontal portion 156b1, which includes the other end 154b2 of the rear arm 150b in a direction orthogonal to the first direction (Y direction) (X direction); and a second rear horizontal portion 156b2, which is separately arranged in the X direction.

[0219] Reference Figure 25 This describes the rebar tying robot 103 in this situation. Figure 25 This is a 3D view of the rebar tying robot 103. Figure 25This is a 3D view of the rebar tying robot 103 viewed from a slightly rearward angle (+X direction and -Y direction). The following is a reference to... Figure 25 The description will focus on the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 of the rear arm 150b.

[0220] like Figure 25 As shown, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 have reference... Figures 1 to 4 The horizontal portions 156b described above are divided near the center in the X direction and arranged at intervals. Therefore, the first rear horizontal portion 156b1 includes one end portion 154b1 in the -X direction and another end portion in the +X direction. The second rear horizontal portion 156b2 includes another end portion 154b2 in the +X direction and another end portion in the -X direction.

[0221] Furthermore, in the rebar tying robot 103, the first rear horizontal section 156b1 and the second rear horizontal section 156b2 are respectively connected to the main body unit 140 through two protrusions 158b. (Refer to...) Figures 1 to 4 In the above embodiments, the case of the rebar tying robot 101 including two protrusions 158b1 and 158b2 (rear protrusions 158b1 and 158b2) has been described as an example, but this embodiment is not limited to this. The rear arm 150b may also include three or more protrusions 158b.

[0222] That is, such as Figure 25 As shown, the rear arm 150b of the rebar tying robot 103 includes first rear protrusions 158b11 and 158b12 and second rear protrusions 158b21 and 158b22. At this time, the arm connecting portion 148 of the main body unit 140 includes first rear arm connecting portions 148b11 and 148b12 and second rear arm connecting portions 148b21 and 148b22. The first rear protrusions 158b11 and 158b12 are respectively connected to the first rear arm connecting portions 148b11 and 148b12. Furthermore, the second rear protrusions 158b21 and 158b22 are respectively connected to the second rear arm connecting portions 148b21 and 148b22. Figure 25 As shown, the first rear protrusions 158b11 and 158b12 and the second rear protrusions 158b21 and 158b22 can also have the same curved shape. Alternatively, the first rear protrusions 158b11 and 158b12 and the second rear protrusions 158b21 and 158b22 can also have the same shape as the rear protrusions 150b1 and 150b2 of the rear arm 150b of the rebar tying robot 101 described above.

[0223] exist Figure 25 In the rebar tying robot 103 shown, through the above-described structure, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 are supported on the main body unit 140 by the first rear protrusions 158b11 and 158b12 and the second rear protrusions 158b21 and 158b22, respectively. Therefore, for example, compared to the case where the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 are each supported by a single rear protrusion 158b, they can be supported more stably. For example, even when in contact with relatively large obstacles, the shape and position of the rear arm 150b can be maintained.

[0224] Reference Figure 25 The description has focused on the structure of the rear arm 150b, but the front arm 150a can also have the same structure as the rear arm 150b. That is, in the rebar tying robot 103, the front arm 150a can also include a first front horizontal portion 156a1 and a second front horizontal portion 156a2. The front arm connecting portion 148a of the main body unit 140 can include first front arm connecting portions 148a11 and 148a12 and second front arm connecting portions 148a21 and 148a22. Alternatively, the first front protrusions 158a11 and 158a12 can be connected to the first front arm connecting portions 148a11 and 148a12 respectively, so that the first front horizontal portion 156a1 is supported relative to the main body unit 140. Similarly, the second front horizontal portion 156a2 can also be supported on the main body unit 140 by connecting the second front protrusions 158a21 and 158a22 to the first front arm connecting portions 148a21 and 148a22 respectively.

[0225] The first front horizontal portion 156a1 and the second front horizontal portion 156a2, like the rear arm 150b, are structured in such a way that the shape and position of the front arm 150a can be maintained relatively easily even when in contact with an obstacle.

[0226] In the rebar tying robot 103 according to this embodiment, the forearm 150a has the following structure, thereby enabling it to perform the reference operation relatively stably. Figure 8 as well as Figures 15 to 19 And the aforementioned lateral movement.

[0227] At this time, the rebar binding robot 103 of this embodiment includes: a rebar binding unit 110, configured to bind the intersection c12 of the first rebar R1 and the second rebar R2 of the plurality of rebars R, which are arranged such that the first rebar R1 extends in a first direction (Y direction) and the second rebar R2 extends in a second direction (X direction) that intersects the first direction (Y direction) and intersects the first rebar R1; a main body unit 140, supporting the rebar binding unit 110; and a moving unit 120, configured to enable the main body unit 140 to move along the first direction on the plurality of rebars R. The front arm 150a has a front end portion 152a, which, in a top view viewed from a third direction (Z direction) orthogonal to the first direction (Y direction) and the second direction (X direction), is at least partially disposed in front of the moving unit 120 and the main unit 140 in the first direction (Y direction). The front arm 150a moves downward (-Z direction) towards the third direction (Z direction) of the plurality of reinforcing bars R and abuts against the plurality of reinforcing bars R, thereby causing the moving unit 120 to move from the plurality of reinforcing bars R upward (+Z direction) of the third direction (Z direction).

[0228] In the rebar tying robot 103 of this embodiment, the front arm 150a is configured to move in the -Z direction and abut against multiple rebars R, thereby causing the moving unit 120 to move from the multiple rebars R in the +Z direction. Thus, for example, when referring to... Figure 8 as well as Figures 15 to 19 During the aforementioned lateral movement (movement in the +X direction), in Figure 16 as well as Figure 17 When the moving unit 120 shown rises from the rebar R in the +Z direction, it can stably support the rebar tying robot 103. Therefore, with this structure, the lateral movement of the rebar tying robot 103 can be performed stably. For example, the overturning of the tying device 100 during lateral movement can be suppressed, thus protecting the rebar tying robot 103.

[0229] At this point, the rear arm 150b can also be configured similarly to the front arm 150a, so that it abuts against multiple reinforcing bars R by moving in the -Z direction, causing the moving unit 120 to move from the multiple reinforcing bars R in the +Z direction. When the reinforcing bar binding robot 103 moves laterally, it is supported not only by the front arm 150a but also by the rear arm 150b, thereby enabling more stable lateral movement.

[0230] Next, refer to Figures 26 to 31 This section describes other structures that enable the lateral movement of the rebar tying robot 104 (an example of a tying device) of this embodiment. Figure 26 This is a 3D view of the rebar tying robot 104 at this moment. (Refer to...) Figure 8 and Figures 15 to 19 In the aforementioned lateral movement, the height of the moving unit 120 in the Z direction is changed by opening and closing the main body-side connecting rod 125 and the roller-side connecting rod 123 of the traveling unit 121 of the moving unit 120, thereby causing the front arm 150a and the rear arm 150b to contact and separate from the rebar R, thus performing lateral movement. Therefore, in the rebar binding robot 104, the relative height of the front arm 150a and the rear arm 150b relative to the main body unit 140 remains unchanged during lateral movement. Figure 26 In the rebar tying robot 104 shown, the front arm 150a and the rear arm 150b are configured to rotate relative to the main body unit 140. By rotating the front arm 150a and the rear arm 150b, the height of the front arm 150a and the rear arm 150b relative to the main body unit 140 is changed, and lateral movement is performed.

[0231] In the rebar binding robot 104, the front arm 150a and the rear arm 150b are configured to rotate relative to the main body unit 140 along a plane parallel to the first direction (Y direction) and the third direction (Z direction). The front arm 150a and the rear arm 150b rotate relative to the main body unit 140 and move downward (-Z direction) in the third direction (Z direction) to abut against a plurality of rebars R, thereby supporting the moving unit 120 and the main body unit 140 on the plurality of rebars R. In the state where the moving unit 120 and the main body unit 140 are supported by the front arm 150a and the rear arm 150b, the moving unit 120, the main body unit 140 and the rebar binding unit 110 are configured to move in a direction parallel to the plane parallel to the first direction (Y direction) and the second direction (X direction) and intersecting the first direction (Y direction).

[0232] like Figure 26 As shown, in the rebar tying robot 104 according to this embodiment, the first front protrusion 158a1 of the front arm 150a is connected to the main body unit 140 via the first front rotating part 159a1, and the second front protrusion 158a2 is connected to the main body unit 140 via the second front rotating part 159a2. Similarly, the first rear protrusion 158b1 of the rear arm 150b is connected to the main body unit 140 via the first rear rotating part 159b1, and the second rear protrusion 158b2 is connected to the main body unit 140 via the second rear rotating part 159b2. Hereinafter, the structure of the rear arm 150b's rotation will be described first.

[0233] The first rear rotating portion 159b1 includes a rotation center portion 159b1a, a rotation support portion 159b1b, and a rotating end portion 159b1c. The rotation support portion 159b2b is disposed between the rotation center portion 159b1a and the rotating end portion 159b1c. The first rear protrusion 158b1 is connected to the rotating end portion 159b1c, and the rotation center portion 159b1a is connected to the main body unit 140. The rotating end portion 159b1c is configured to rotate about the rotation center portion 159b1a via the rotation support portion 159b1b along a plane parallel to the X and Z directions. Similarly, the second rear protrusion 158b2 is connected to the rotating end portion 159b2c, the rotation center portion 159b2a is connected to the main body unit 140, and the rotating end portion 159b2c is configured to rotate about the rotation center portion 159b2a via the rotation support portion 159b2b along a plane parallel to the X and Z directions.

[0234] The second front protrusion 158a2 of the front arm 150 is also connected to the rotating end portion 159a2c, and the rotating center portion 159a2a is connected to the main body unit 140. The rotating end portion 159a2c is configured to be able to rotate about the rotating center portion 159a2a via the rotating support portion 159a2b along a plane parallel to the X and Z directions.

[0235] The following is for reference Figures 27 to 31 The lateral movement performed by the rebar tying robot 104 via the aforementioned structure will be explained. Furthermore, Figures 27 to 31 This is a view of the rebar tying robot 104 from the rear (-Y direction). Additionally, Figures 27 to 31 The lateral movement illustrated is a lateral movement in the -X direction.

[0236] like Figure 27 As shown, firstly, the rebar tying robot 104 exists on the rebar R in such a manner that the traveling unit 121c travels on the first rebar R12 and the traveling unit 121d travels on the first rebar R15. As described above, for example, when continuing the tying operation at the intersection c12 of the first rebar R10 and the second rebar R20 and detecting the end R10e in the Y direction, it moves laterally. Figures 27 to 31 This example illustrates a rebar tying robot 104 moving laterally in the -X direction from a state of traveling along the first rebars R12 and R16 to a state of traveling along the first rebars R11 and R15.

[0237] like Figure 27 As shown, the rotating parts 159b1 and 159b2 are interconnected via the rear rod 146r2b. Furthermore, as... Figure 27As shown, the rear rod 146r2b is connected to a position close to the arc of the rear arm rotating portion 146r2, which has a circular shape when viewed from the -Y direction. The rear rod 146r2b is configured such that it can rotate around the near-arc portion of the rear arm rotating portion 146r2 by rotating the rear arm rotating portion 146r2. Furthermore, in the rebar tying robot 104 according to this embodiment, the rear arm rotating portion 146r2 may also be configured to rotate via, for example, a motor (not shown).

[0238] Regarding the structure for rotating the front arm 150a, it can also be the same as the structure for rotating the rear arm 150b. Therefore, for example, the first front rotating portion 159a1 and the second front rotating portion 159a2 of the front arm 150a can also be connected via the front rod 146r2a. Furthermore, the front rod 146r2a is configured to connect to a position close to the arc of the front arm rotating portion 146r1, which has a circular shape when viewed from the +Y direction, allowing rotation around the near-arc portion of the front arm rotating portion 146r1. Additionally, the front arm rotating portion 146r1 can also be configured similarly to the rear arm rotating portion 146r2, for example, to rotate via a motor (not shown).

[0239] Next, as Figure 28 As shown, from Figure 27 From the state shown, the rear arm rotating part 146r2 moves towards... Figure 27 The rear rod 146r2b rotates 90° counterclockwise, moving in the -Z and -X directions. Consequently, the rotating ends 159b1c and 159b2c of the rotating parts 159b1 and 159b2 connected to the rear rod 146r2b also move in the -Z and -X directions. As a result, the rear arm 150b connected to the rotating ends 159b1c and 159b2c also moves in the -Z and -X directions, and the rear horizontal portion 156b of the rear arm 150b abuts against the reinforcing bar R.

[0240] like Figure 28 As shown, at this time, the rear horizontal section 156b abuts against the first reinforcing bars R11~R16. Furthermore, as the rear arm 150b moves, the third and fourth traveling units 121c and 121d of the moving unit 120 move relative to the reinforcing bars R in the +Z direction. Similarly, the front horizontal section 156a of the front arm 150a abuts against the reinforcing bars R as it moves in the -Z and -X directions, and the first and second traveling units 121a and 121b move relative to the reinforcing bars R in the +Z direction. As a result, all traveling units 121 move from the reinforcing bars R in the +Z direction, and the reinforcing bar binding robot 104 is supported by the front arm 150a and the rear arm 150b.

[0241] Next, as Figure 29As shown, from Figure 28 From the state shown, the rear arm rotating part 146r2 moves towards... Figure 28 The rotor is rotated 90° counterclockwise, and the rear rod 146r2b moves in the -Z and +X directions. At this point, as... Figure 29 As shown, the rear rod 146r2b is located at the lowest point (-Z direction) relative to the rear arm rotating part 146r2. Therefore, the rear arm 150b, which is connected to the rotating ends 159b1c and 159b2c of the rear rod 146r2b, is also at the lowest position, and the traveling unit 121 is at the highest point (+Z direction).

[0242] Next, as Figure 30 As shown, from Figure 29 From the state shown, the rear arm rotating part 146r2 moves towards... Figure 29 The rear rod 146r2b is rotated 90° counterclockwise, and then moves in the +Z and +X directions. At this point, the rear rod 146r2b becomes parallel to the Z-direction. Figure 28 The states shown are at the same height.

[0243] Next, as Figure 31 As shown, from Figure 30 From the state shown, the rear arm rotating part 146r2 moves towards... Figure 30 The rear rod 146r2b is rotated 90° counterclockwise, and then moves in the +Z and -X directions. At this point, the rear rod 146r2b becomes parallel to the Z-axis. Figure 27 At the same height as shown, the traveling unit 121 abuts against the reinforcing bar R, and the rear horizontal portion 156b is located in the +Z direction closer to the reinforcing bar R. Furthermore, the third traveling unit 121c of the first reinforcing bars R11 to R16 of the traveling unit 121 abuts against the first reinforcing bar R11, and the fourth traveling unit 121d abuts against the first reinforcing bar R15. Similarly, regarding the front arm 150a, like the rear arm 150b, it is rotated using rotating portions 159a1 and 159a2, thereby enabling the first traveling unit 121a and the second traveling unit 121b, which are traveling units 121 set in the +Y direction, to move laterally in the -X direction.

[0244] Through the above, the rebar tying robot 104 completes its lateral movement along the rebar R. (Refer to...) Figures 27-31 In the lateral movement illustrated above, the rebar tying robot 104 changes from a state where it moves the first rebars R12 and R16 to a state where it can move the first rebars R11 and R15 by performing lateral movement. Furthermore, when the rebar tying robot 104 further moves towards the first rebar R10 located in the -X direction by lateral movement, it can also refer to... Figures 27 to 31Repeat the aforementioned lateral movement. Additionally, when the rebar tying robot 104 moves laterally in the +X direction, compared with the reference... Figures 27 to 31 The lateral movement described above is the opposite, for example, by causing the rear arm rotating part 146r2 to... Figures 27 to 31 It can rotate clockwise and move laterally in the +X direction.

[0245] In addition, in reference Figures 27 to 31 In the lateral movement of the rebar tying robot 104 described herein, the main body side link 125 and roller side link 123 of the traveling unit 121 are not closed. This is because, even without closing the main body side link 125 and roller side link 123 of the traveling unit 121, the traveling unit 121 can be moved in the +Z direction by rotating the front arm 150a and rear arm 150b. However, in the rebar tying robot 104 of this embodiment, it can also be configured such that, in addition to rotating the front arm 150a and rear arm 150b, the main body side link 125 and roller side link 123 of the traveling unit 121 are opened and closed, thereby changing the height of the traveling unit 121. Furthermore, the moving unit 120 is not limited to the Z-direction extension and retraction achieved by opening and closing the main body side link 125 and roller side link 123 of the traveling unit 121; for example, it may also have a structure capable of moving in a direction including the Z direction.

[0246] Furthermore, regarding the rebar tying robot 101, similarly to the above, in the rebar tying robot 104 of this embodiment, the arm 150 can also be arranged to avoid the field of view of the sensors (first sensor 130a and second sensor 130b). That is, the rebar tying robot 104 may also include a detection unit (sensor unit 130) having a sensor (first sensor 130a) that has a detection range including a region containing rebar R located in front of (+Y direction) the moving unit 120 in the first direction (Y direction), and the front arm 150a is disposed outside the detection range of the sensor (first sensor 130a) of the detection unit (sensor unit 130).

[0247] Furthermore, regarding the rebar tying robot 101, similarly to the above, in the rebar tying robot 104 of this embodiment, the front arm 150a can also be within the detection range of the sensor. In this case, for example, by performing image processing to exclude the front arm 150a captured from the detection results, it is possible to suppress the missed detection of the intersection c12 of the first rebar R1 and the second rebar R2, which are the tying objects of the rebar tying unit 110. In addition, it is also possible to suppress the false detection of the rebar R. Alternatively, similar to the front arm 150a, the rebar tying robot 104 of this embodiment may include a detection unit (sensor unit 130), which has a sensor (second sensor 130b) that has a detection range for the area containing the rebar R located behind (-Y direction) of the moving unit 120 in the first direction (Y direction). The rear arm 150b is positioned outside the detection range of the sensor (second sensor 130b) of the detection unit (sensor unit 130). Regarding the rear arm 150b, it is also positioned outside the detection range of the sensor (e.g., the second sensor 130b), thereby, for example, suppressing false detections of the rebar R by the sensor. Alternatively, in the rebar tying robot 104 according to this embodiment, the first sensor 130a and the second sensor 130b may also be provided in the main body unit 140.

[0248] Furthermore, the front arm 150a and / or rear arm 150b of this embodiment may also have a structure capable of extending and retracting in the Z direction. By enabling the front arm 150a and / or rear arm 150b to extend and retract in the Z direction, even without extending and retracting the traveling unit 120 in the Z direction, or even without employing a structure that rotates the front arm 150a and rear arm 150b, reference can be provided by extending and retracting the front arm 150a and rear arm 150b in the Z direction. Figure 8 and Figures 15 to 19 In the lateral movement of the aforementioned rebar tying robot 101, reference Figures 27 to 31 The aforementioned rebar binding robot 104 moves laterally.

[0249] In the rebar tying robot 104 of this embodiment, the length of the arm 150 in the X direction may also exceed three times the spacing of the rebars R. That is, in the rebar tying robot 104, the plurality of first rebars R10 may be arranged such that the spacing in the direction orthogonal to the first direction (Y direction) (X direction) is a first pitch, and the length of the front arm 150a in the direction orthogonal to the first direction (Y direction) (X direction) exceeds three times the first pitch, and the length of the rear arm 150b in the direction orthogonal to the first direction (Y direction) (X direction) exceeds three times the first pitch.

[0250] When the rebar tying robot 104 moves on the rebar R, by making the length of the arm 150 (length in the X direction) more than three times the first spacing that serves as the interval between the first rebars R10, the arm 150 can move laterally while abutting against four adjacent first rebars R10. Therefore, the lateral movement of the rebar tying robot 104 can be made more stable. In particular, for example, when the rebar R being tied by the rebar tying robot 104 is relatively thin, the arm 150 can be configured to abut against four or more first rebars R10 in order to ensure stable movement of the rebar tying robot 104 on the rebar R. On the other hand, when the rebar R is relatively thick and the arm 150 can move laterally stably by abutting against two adjacent first rebars R10, the arm 150 can, for example, be twice or more the length of the first spacing.

[0251] Furthermore, by making the length of the arm 150 in this embodiment greater than the first spacing, when the arm 150 abuts against the first rebar R10, it can abut against two adjacent first rebars R10. That is, for example, in the rebar binding robot 104 of this embodiment, the front arm 150a may be configured such that the length in the X direction from one end 154a1 to the other end 154a2 of the front arm 150a is longer than the spacing between adjacent first rebars R1. That is, in the rebar binding robot 104 of this embodiment, the multiple first rebars R1 may be arranged such that the spacing in the direction orthogonal to the first direction (Y direction) (X direction) is the first spacing, and on a plane (horizontal plane) parallel to the first direction (Y direction) and the second direction (X direction), the length from one end 154a1 to the other end 154a2 of the front arm 150a in the direction orthogonal to the first direction (Y direction) (X direction) is greater than the first spacing. In addition, as mentioned above, by making the length of the arm 150 more than twice the first spacing, the arm 150 can more reliably abut against two or more adjacent first reinforcing bars R10.

[0252] Alternatively, as described above, the length of the arm 150 in the X direction may not be provided, but the length of the horizontal portion 156 of the arm 150 in the X direction may be provided in a manner that is more than 3 times, 2 times, or more than 2 times the length of the first spacing, as described above.

[0253] Additionally, for example, when the rebar tying robot 104 repeatedly moves laterally to tie the intersection c12 of the first rebar R10 and the second rebar R20 near the +X or -X direction ends (end R20e of the second rebar R20), the length of the arm 150 can be appropriately adjusted if it is considered that the tying operation near the end R20e becomes difficult if the length of the arm 150 in the X direction is too long. For example, the arm 150 can be made longer if tying at the intersection c12 near the end R20e is not required, and the arm 150 can be made shorter if tying is required near the end R20e.

[0254] For example, the first spacing varies depending on the actual site where the binding operation is performed, but is sometimes more than 100 mm and less than 250 mm. Additionally, the first spacing is sometimes more than 150 mm and less than 200 mm. Therefore, for example, when the length of the arm 150 in the X direction (or the length of the horizontal portion 156 of the arm 150) is approximately 600 mm to 750 mm, in many situations, the length of the arm 150 in the X direction can exceed three times the first spacing that serves as the interval between the first reinforcing bars R10. Therefore, the arm 150 can abut against four (or more) adjacent first reinforcing bars R10 during lateral movement, enabling stable lateral movement. Alternatively, by making the length of the arm 150 in the X direction, for example, more than 250 mm, at least two adjacent first reinforcing bars R10 can abut against each other.

[0255] [other]

[0256] The "tying device" disclosed herein is not limited to self-propelled tying devices, but may also include other types of tying devices. For example, the "tying device" may include a gantry-type tying device. The gantry-type tying device can be used, for example, for tying reinforcing bars in large-scale structures such as bridges. The gantry-type tying device includes a "moving part" for moving the reinforcing bar tying unit relative to multiple reinforcing bars. The "moving part" may also include, for example, a bridging part arranged transversely across multiple reinforcing bars and a driving part driven to move along the bridging part and hold the reinforcing bar tying unit. The bridging part may also be configured to move along an area where multiple reinforcing bars are provided. The gantry-type tying device may also include a "protective part" for protecting the reinforcing bar tying unit. The "protective part" may also be disposed in any direction relative to the reinforcing bar tying unit, protecting the reinforcing bar tying unit from environmental influences in that arbitrary direction. The "protective part" may be disposed above at least a portion of the reinforcing bar tying unit, or around at least a portion of the reinforcing bar tying unit (circumferentially in the case of a vertical axis). The "protective part" may be configured to include a frame, or it may be configured to include a cover that covers at least a portion of the frame. The "protective part" may be fixed to the drive unit or to the rebar binding unit.

[0257] The "binding device" disclosed herein is not limited to self-propelled binding devices, but may also include other types of binding devices. For example, the "binding device" may include a robotic arm-type binding device. The robotic arm-type binding device includes a "moving part" for moving the rebar binding unit relative to multiple rebars. The "moving part" may include, for example, an articulated arm connecting multiple links and joints, and / or a sliding mechanism mounted on a track such as a ceiling. The rebar binding machine included in the robotic arm-type binding device may also be provided on the articulated arm and / or the sliding mechanism, configured to move on multiple rebars. The robotic arm-type binding device may also include a "protective part" to protect the rebar binding unit. The "protective part" may be positioned in any direction relative to the rebar binding unit, protecting the rebar binding unit from environmental influences in that direction. The "protective part" may be positioned above at least a portion of the rebar binding unit, or around at least a portion of the rebar binding unit (circumferentially, in the case of a vertical axis). The "protective element" can be configured to include a frame, or it can be configured to include a cover that covers at least a portion of the frame. The "protective element" can be fixed to the drive unit or to the reinforcing bar binding unit. The "protective element" can also be positioned outside the detection range of the sensor. For example, the "protective element" can be positioned outside the observation area of ​​a camera device, which is an example of a sensor.

[0258] The embodiments described above have been explained with reference to specific examples. However, this disclosure is not limited to these specific examples. Any content obtained by those skilled in the art through appropriate design modifications to these specific examples, provided they possess the features of this disclosure, is also included within the scope of this disclosure. The elements, their configurations, conditions, shapes, etc., of each of the above-described specific examples are not limited to the illustrated content and can be appropriately modified. The elements of each of the above-described specific examples can be appropriately combined as long as they do not create technical contradictions.

[0259] It should be noted that this application is based on Japanese patent applications filed on January 23, 2024 (Japanese Patent Application No. 2024-008344) and January 23, 2024 (Japanese Patent Application No. 2024-008347), the contents of which are incorporated herein by reference.

[0260] Industrial utilization potential

[0261] This disclosure has the effect of protecting against contact with obstacles and is useful for devices such as lashing devices.

[0262] Attached text description

[0263] 100, 101, 102, 103, 104 Rebar Binding Robot (Binding Device)

[0264] 110 Rebar Binding Unit

[0265] 120 mobile units

[0266] 121 Marching Unit

[0267] 130 Sensor Unit (Detection Unit)

[0268] 140 Main Unit (Main Unit)

[0269] 150 arms

[0270] 150a Forearm

[0271] 150b rear arm

[0272] 152a, 152a1, 152a2 Front end

[0273] 154a1, 154b1, one end

[0274] The other end of 154a2 and 154b2

[0275] Horizontal section of 156a, 156b

[0276] Protrusions 158a, 158a1, 158a2, 158b, 158b1, 158b2

[0277] R10 First Reinforcing Bar

[0278] R20 second reinforcing bar.

Claims

1. A binding device, comprising: The rebar binding unit is configured to bind the intersection of the first rebar and the second rebar of a plurality of rebars, including a plurality of first rebars and a plurality of second rebars. The extension direction of the plurality of first rebars is a first direction, and the extension direction of the plurality of second rebars is a second direction that intersects the first direction. The plurality of second rebars are configured to intersect with the first rebars. The main unit supports the steel bar binding unit; The moving unit is configured to enable the main body unit to move along the first direction on the plurality of reinforcing bars; as well as Forearm, The forearm has: The front end, when viewed from above in a third direction orthogonal to the first and second directions, is at least partially located in front of the moving unit and the main body unit in the first direction; One end is positioned on the outer side of one end of the moving unit and the main unit in a fourth direction that is parallel to the plane parallel to the first direction and the second direction and orthogonal to the first direction. as well as The other end is located in the fourth direction at a position that is further outward than the other end of the moving unit and the main body unit in the fourth direction.

2. The binding device according to claim 1, wherein, The forearm has one or more horizontal portions formed in an elongated shape. The horizontal portion extends in the fourth direction and connects to one end and the other end.

3. The binding device according to claim 1, wherein, The front arm is connected to the main body unit and includes a protrusion having a shape that projects forward in the first direction. The front end portion is disposed on the protrusion.

4. The binding device according to claim 1, wherein, One end of the front arm is disposed between the front end of the moving unit in the first direction and the front end of the main body unit in the first direction. The other end of the front arm is disposed between the front end of the moving unit in the first direction and the front end of the main body unit in the first direction.

5. The binding device according to claim 1, wherein, The binding device has a rear arm positioned behind the moving unit and the main body unit in the first direction, as viewed from a third-party perspective.

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

7. The binding device according to claim 5, wherein, The front arm and the rear arm are configured to be held so that the strapping device can be moved.

8. The binding device according to claim 1, wherein, The binding device includes a detection unit with a sensor that defines the detection range as the area containing the reinforcing bar located in front of the moving unit in the first direction. The forearm is positioned outside the detection range of the sensor in the detection unit.

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

10. A binding device, comprising: The rebar binding unit is configured to bind the intersection of the first rebar and the second rebar of a plurality of rebars, including a plurality of first rebars and a plurality of second rebars. The extension direction of the plurality of first rebars is a first direction, and the extension direction of the plurality of second rebars is a second direction that intersects the first direction. The plurality of second rebars are configured to intersect with the first rebars. The main unit supports the steel bar binding unit; The moving unit is configured to enable the main body unit to move along the first direction on the plurality of reinforcing bars; as well as A front arm having a front end portion, wherein at least a portion of the front end portion is disposed in front of the moving unit and the main body unit in the first direction when viewed from a third direction orthogonal to the first and second directions. The front arm is configured to abut against the plurality of reinforcing bars by moving downward toward the plurality of reinforcing bars in the third direction, thereby causing the moving unit to move upward toward the plurality of reinforcing bars in the third direction.

11. The binding device according to claim 10, wherein, The binding device has a rear arm positioned behind the moving unit and the main body unit in the first direction, as viewed from a third-party perspective.

12. The binding device according to claim 11, wherein, The front arm and the rear arm are configured to rotate relative to the main body unit along a plane parallel to the first direction and the third direction. The front arm and the rear arm rotate relative to the main body unit and move downward in a third direction to abut against the plurality of reinforcing bars, thereby supporting the moving unit and the main body unit on the plurality of reinforcing bars. With the moving unit and the main body unit supported by the front arm and the rear arm, the moving unit, the main body unit, and the rebar binding unit are configured to move in a direction parallel to and intersecting the first direction, on a plane parallel to the first direction and the second direction.

13. The binding device according to claim 10, wherein, The plurality of first reinforcing bars are arranged with a first spacing at intervals in a direction orthogonal to the first direction. The length of the forearm in the direction orthogonal to the first direction exceeds three times the first spacing.

14. The binding device according to claim 10, wherein, The mobile unit is configured to move along the third direction.

15. The binding device according to claim 10, wherein, The binding device includes a detection unit, which has a sensor that defines the detection range as the area containing the reinforcing bar located in front of the moving unit in the first direction. The forearm is positioned outside the detection range of the sensor in the detection unit.

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