Reinforcement binding device

Abstract

To provide a reinforcement binding device that can accurately position a binding mechanism at a desired position and stabilize a position of the binding mechanism when it comes into contact with a reinforcement.SOLUTION: A reinforcement binding device comprises: a binding part 129 binding reinforcements; a holding part 112 holding the binding part 129; and a lifting mechanism 113 raising and lowering the holding part 112 relative to a main body unit. The lifting mechanism 113 includes a connecting part 119 connected to the holding part 112 and a drive part 127 moving the connecting part 119. The connecting part 119 has a movable shaft 115, and the holding part 112 has a long hole 111H that engages with the movable shaft 115. The drive part 127 moves the connecting part 119 when the binding part 129 is in contact with the reinforcement, moves the movable shaft 115 relative to the long hole 111H, and releases engagement of the movable shaft 115 with the long hole 111H.SELECTED DRAWING: Figure 13A

Description

[Technical field]

[0001] The present invention relates to a rebar binding device. [Background technology]

[0002] Conventionally, technology has been considered for automating rebar bundling work, in which a rebar extending in the vertical direction and a rebar extending in the horizontal direction intersect at an intersection thereof using a wire or the like. For example, in the technology disclosed in Patent Document 1, when the bundling machine main body (bundling mechanism) is moved, a regulating structure regulates the relative displacement of the second fixing part with respect to the first fixing part. This fixes the relative position of the bundling machine main body with respect to the connection part of the robot main body, and the bundling machine main body is accurately positioned at the target position. Meanwhile, in the bundling process, the regulation by the regulating structure is released. This allows the recoil position shift absorbing member to absorb the recoil of the bundling machine main body and the position shift between the rebar and the bundling machine that accompanies bundling, thereby reducing the load on the robot main body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-49568 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technique described in Patent Document 1 has a problem in that the position of the binding machine body is difficult to stabilize when it comes into contact with the reinforcing bar.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a rebar binding device that can accurately position the binding mechanism at the desired position and stabilize the position when the binding mechanism contacts the rebar. [Means for solving the problem]

[0006] One aspect of the present disclosure provides a rebar binding device comprising a binding section for binding rebar, a holding section for holding the binding section, and a lifting section for raising and lowering the holding section relative to a main body section, wherein the lifting section includes a connecting section connected to the holding section and a drive section for moving the connecting section, wherein the connecting section has an engaging section and the holding section has an engaged section that engages with the engaging section, and the drive section moves the connecting section when the binding section is in contact with the rebar, moves the engaging section relative to the engaged section, and releases the engagement of the engaging section from the engaged section.

[0007] Another aspect of the present disclosure provides a rebar binding device comprising a binding portion for binding rebar, a holding portion for holding the binding portion, a lifting portion for raising and lowering the holding portion relative to a main body portion, and an elastic portion for damping the speed of downward movement of the holding portion, wherein the elastic portion damps the speed of downward movement of the holding portion only when the binding portion is in contact with the rebar.

[0008] Another aspect of the present disclosure provides a rebar tying device comprising a binding section for tying rebar, a holding section for holding the binding section, a connecting section connected to the holding section, and a control section for controlling the holding section and the binding section to be raised and lowered by driving the connecting section, wherein the connecting section has an engaging section for engaging with the holding section, and the control section is configured to be capable of performing a first operation of lowering both the holding section and the engaging section while the holding section and the engaging section are engaged, thereby bringing the binding section into contact with the rebar, and a second operation of moving the engaging section relative to the holding section while the binding section is in contact with the rebar, thereby releasing the engagement between the holding section and the engaging section. Effect of the Invention

[0009] According to the present disclosure, the binding mechanism can be accurately positioned at a desired position and the position of the binding mechanism can be stabilized when it contacts the rebar. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an overall perspective view of a rebar binding robot 100 according to an embodiment of the present disclosure, viewed obliquely from above. [Diagram 2]FIG. 2 is an overall perspective view of a rebar binding robot according to one embodiment of the present disclosure, as viewed obliquely from below. [Diagram 3] FIG. 3 is a plan view of the rebar binding robot 100 as viewed from above (above in the Z direction). [Figure 4] FIG. 4 is a plan view of the rebar binding robot 100 as viewed from below (below in the Z direction). [Diagram 5] FIG. 5 is a perspective view of the reinforcing bar binding robot 100 with the reinforcing bar binding unit 110 removed, as viewed obliquely from above. [Figure 6] FIG. 6 is a perspective view of the reinforcing bar binding robot 100 with the reinforcing bar binding unit 110 removed, as viewed obliquely from below. [Figure 7] FIG. 7 is a diagram illustrating the functional block configuration of the reinforcing bar binding robot 100. As shown in FIG. [Figure 8] FIG. 8 is a view of the reinforcing bar binding robot 100 traveling along the first reinforcing bar R10, viewed from the Y direction. [Figure 9] FIG. 9 is a view of the reinforcing bar binding robot 100 traveling along the first reinforcing bar R10, seen from the X direction. [Figure 10] FIG. 10 is a view of the reinforcing bar binding robot 100, which has stopped traveling and is performing binding work, as viewed from the Y direction. [Figure 11] FIG. 11 is a view of the reinforcing bar binding robot 100 performing binding work, viewed from the X direction. [Figure 12] FIG. 12 is a view of the reinforcing bar binding robot 100 performing the binding work, seen from below in the Z direction. [Figure 13A] FIG. 13A is a diagram for explaining the operation of the rebar binding robot 100. FIG. [Figure 13B] FIG. 13B is a diagram for explaining the operation of the rebar binding robot 100. As shown in FIG. [Figure 13C] FIG. 13C is a diagram for explaining the operation of the rebar binding robot 100. [Figure 14A] FIG. 14A is a diagram for explaining the operation of the rebar binding robot 100. FIG. [Figure 14B]FIG. 14B is a diagram for explaining the operation of the rebar binding robot 100. As shown in FIG. [Figure 14C] FIG. 14C is a diagram for explaining the operation of the rebar binding robot 100. [Figure 15A] FIG. 15A is a diagram for explaining the operation of the rebar binding robot 100. FIG. [Figure 15B] FIG. 15B is a diagram for explaining the operation of the rebar binding robot 100. As shown in FIG. [Figure 15C] FIG. 15C is a diagram for explaining the operation of the rebar binding robot 100. [Figure 16A] FIG. 16A is a diagram showing a modified example of the rebar binding robot 100 according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the present embodiment will be described with reference to the accompanying drawings. In order to facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and duplicated description will be omitted.

[0012] The configuration of the binding device 100 according to the embodiment of the present disclosure will be described below. In this embodiment, the binding device is a rebar binding device that binds a plurality of rebars arranged crossing each other, and may be, for example, a rebar binding robot. In the following, the binding device 100 will be described as a rebar binding robot, and the binding device 100 will also be referred to as a rebar binding robot 100. In addition, each drawing may show an X-axis, a Y-axis, and a Z-axis. The X-axis, the Y-axis, and the Z-axis form a three-dimensional Cartesian coordinate system of a right-handed system. Hereinafter, the arrow direction of the X-axis may be referred to as the X-axis forward, the +X direction, the right side of the X-direction, or the right side of the X-axis, and the direction opposite to the arrow may be referred to as the X-axis backward, the -X direction, the left side of the X-direction, or the left side of the X-axis. The same applies to the other axes. In addition, the Z-axis forward and the Z-axis backward may be referred to as the "upper side" or "upper side" and the "lower side" or "lower side", respectively. In addition, the planes perpendicular to the X-axis, Y-axis, and Z-axis may be called the YZ plane, ZX plane, and XY plane, respectively. However, these directions are used for the sake of convenience to explain the relative positional relationship. Therefore, these directions do not define the absolute positional relationship.

[0013] FIG. 1 is an overall perspective view of a rebar bundling robot 100 according to an embodiment of the present disclosure, as viewed from diagonally above. FIG. 2 is an overall perspective view of a rebar bundling robot according to an embodiment of the present disclosure, as viewed from diagonally below. As shown in FIGS. 1 and 2, the rebar bundling robot 100 according to an embodiment of the present disclosure includes a rebar bundling unit 110, a traveling unit 121, and a sensor unit 130. The rebar bundling robot 100 may further include other components such as a main unit 140, a support bar 150, a control unit 160, a reel 180 (first reel 180a and second reel 180b), a battery 182 (first battery 182a and second battery 182b), a lateral movement unit 146, and a memory device 198 (not shown).

[0014] 1 and 2 also show a reinforcing bar group R including multiple reinforcing bars R10 (also referred to as "first reinforcing bars" or "vertical reinforcing bars" in this embodiment) extending in the Y direction. As shown in FIGS. 1 and 2, the reinforcing bar tying robot 100 is placed on the reinforcing bar group R so as to run along the first reinforcing bars R10. In addition to the multiple reinforcing bars R10, the reinforcing bar group R may also include multiple reinforcing bars (also referred to as "second reinforcing bars R20" or "horizontal reinforcing bars" in this embodiment) extending in the X direction.

[0015] In the embodiment of the present disclosure, the first reinforcing bar R10 is arranged so that the first direction, which is the direction in which it extends, is parallel to the Y direction. The second reinforcing bar R20 is arranged so that the second direction, which is the direction in which it extends, is parallel to the X direction. Therefore, in the exemplary embodiment of the present disclosure, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged so that they are perpendicular to each other. Furthermore, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged so that the plane formed by the first reinforcing bar R10 and the second reinforcing bar R20 (also referred to as the "reinforcing bar surface" 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. 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 be arranged so that they are non-perpendicular to each other. For example, the first reinforcing bar R10 and the second reinforcing bar R20 may be arranged so that the angle between the first reinforcing bar R10 and the second reinforcing bar R20 is, for example, 30°, 45°, 60°, or other angles. In the embodiment of the present disclosure, the first reinforcing bar R10 and the second reinforcing bar R20 are arranged so as to be perpendicular to each other, but they do not necessarily have to be perpendicular to each other depending on the intersection point, and may be arranged so as to form an angle of, for example, 85° or more and less than 90°.

[0016] Also, the first reinforcing bar R10 and the second reinforcing bar R20 may have a finite length, and the first reinforcing bars R10 or the second reinforcing bars R20 may be connected via joints in a first direction or a second direction, respectively. Furthermore, the first reinforcing bars R10 and the second reinforcing bars R20 may have ends.

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

[0018] 1 and 2, the traveling unit 121 may have four traveling units 121a, 121b, 121c, and 121d (in this embodiment, these are also referred to as the "first traveling unit," the "second traveling unit," the "third traveling unit," and the "fourth traveling unit," respectively). In the embodiment of the present disclosure, the traveling units 121 are disposed on the group of rebars R so that the rebar binding robot 100 moves in the Y direction. The first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d each have a first roller portion 122a, a second roller portion 122b, a third roller portion 122c, and a fourth roller portion 122d, and the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d are configured to run on any one of the multiple first reinforcing bars R10 along the Y direction (first direction), which is the extension direction of the first reinforcing bars R10.

[0019] In this embodiment, the traveling unit 121 is an example of a moving unit (moving unit 120 described later). Instead of the traveling unit 121, or in addition to the traveling unit 121, the moving unit 120 may have the configuration of a moving unit other than the traveling unit 121.

[0020] In the embodiment of the present disclosure, 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, but the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may be configured to travel in a direction other than the Y direction. For example, they may travel in a direction at an angle of several degrees to several tens of degrees from the Y direction. Even if the orientation of the rebar binding robot 100 is tilted due to the presence of a foreign object on the traveling first rebar R10, for example, the rebar binding unit 110 of the rebar binding robot 100 can perform the binding operation of the intersection c12 of the first rebar R10 and the second rebar R20 by moving so as to almost follow the first rebar R10. Furthermore, for example, even in a construction site where the first reinforcing bar R10 is arranged in a curved shape, the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may be configured to move in a curved shape to follow the curved first reinforcing bar R10, and in this case, the first direction, which is the extension direction of the first reinforcing bar R10, may be different for each point that constitutes the curve.

[0021] 1 and 2, and FIG. 3 described later, the sensor unit 130 has a sensor 130a, a sensor 130b, a sensor 130c, and a sensor 130d (also referred to as a "first sensor", a "second sensor", a "third sensor", and a "fourth sensor" in this embodiment, respectively). The first sensor 130a and the second sensor 130b are arranged apart from each other along the Y direction in FIG. 1 and FIG. 2 (the direction in which the straight line connecting the first sensor 130a and the second sensor 130b extends is also referred to as a "third direction" in this embodiment). In addition, the fourth sensor 130d is arranged on the side opposite to the side on which the third sensor 130c of the rebar tying robot 100 is provided (the side on the far side of the paper in Figures 1 and 2), and the third sensor 130c and the fourth sensor 130d are arranged so as to be spaced apart from each other along a direction intersecting the Y direction in Figures 1 and 2 (the X direction in the example shown in Figures 1 and 2; in this embodiment, the direction in which the straight line connecting the third sensor 130c and the fourth sensor 130d extends is also referred to as the "fourth direction").

[0022] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to be capable of detecting the first rebar R10 and / or the second rebar R20. For example, the first sensor 130a and the second sensor 130b may be configured to be capable of detecting the first rebar R10, and the third sensor 130c and the fourth sensor 130d may be configured to be capable of detecting the second rebar R20. Alternatively, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may all be configured to be capable of detecting the first rebar R10 and the second rebar R20.

[0023] Fig. 3 shows a plan view of the rebar tying robot 100 seen from above (above in the Z direction), and Fig. 4 shows a plan view of the rebar tying robot 100 seen from below (below in the Z direction).

[0024] As can be seen from FIG. 3 and FIG. 4, the first traveling unit 121a and the second traveling unit 121b may be disposed on one side and the other side of the fourth direction (X direction) with respect to the first sensor 130a (the left side and the right side in the X direction, respectively, in FIG. 3). Also, the third traveling unit 121c and the fourth traveling unit 121d may be disposed on one side and the other side of the fourth direction (X direction) with respect to the second sensor 130b. In other words, the first sensor 130a may be disposed between the first traveling unit 121a and the second traveling unit 121b in the fourth direction. Similarly, the second sensor 130b may be disposed between the third traveling unit 121c and the fourth traveling unit 121d in the fourth direction.

[0025] Furthermore, as shown in Figures 3 and 4, the third sensor 130c may be arranged between the first running unit 121a and the third running unit 121c in the third direction (Y direction in Figures 3 and 4), and similarly, the fourth sensor 130d may be arranged between the second running unit 121b and the fourth running unit 121d in the third direction (Y direction).

[0026] Also, for example, the camera constituting the first sensor 130a may be disposed on a straight line passing through the rotation axis 128a of the first roller part 122a constituting the first traveling unit 121a and the rotation axis 128b of the second roller part 122b constituting the second traveling unit 121b, or in front of the straight line passing through the rotation axis 128a and the rotation axis 128b (+Y direction in FIG. 4). Similarly, the camera constituting the second sensor 130b may be disposed on a straight line passing through the rotation axis 128c of the third roller part 122c constituting the third traveling unit 121c and the rotation axis 128d of the fourth roller part 122d constituting the fourth traveling unit 121d, or behind the straight line passing through the rotation axis 128c and the rotation axis 128d (-Y direction in FIG. 4).

[0027] 3 and 4, the first sensor 130a is disposed in front of the main unit 140 in the Y-axis direction (+Y direction). Similarly, the second sensor 130b is disposed behind the main unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are disposed on the left and right sides of the main unit 140 in the X-direction in a top view in FIG. 3. That is, as can be seen from FIG. 4, for example, in this embodiment, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are disposed on the outer edge of a rectangle virtually 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 centers in a plan view of the rebar binding robot 100, or inside the outer edge of the rectangle. The rectangle virtually formed by the first to fourth traveling units 121a to 121d may be a square, for example, when the distances between the traveling units in the X and Y directions are substantially equal, and in this case, the first to fourth sensors 130a to 130d may be arranged on the outer edge of the virtual square or inside the virtual square. Depending on the arrangement of the first to fourth traveling units 121a to 121d, the first to fourth traveling units 121a to 121d may virtually form a quadrangle other than a rectangle or a square, and even in this case, the first to fourth sensors 130a to 130d may be arranged on the outer edge of the virtual quadrangle or inside the virtual quadrangle.

[0028] 1 and 3, the main body unit 140 may have a main body upper surface 142. The main body upper surface 142 may have, for example, a circular hole 144 formed near the center, and the rebar binding unit 110 may be arranged to pass through the hole 144.

[0029] In this embodiment, the rebar tying robot 100 may include, for example, two support bars 150 (a first support bar 150a and a second support bar 150b, respectively). The first support bar 150a and the second support bar 150b are bars extending in one direction, and are provided parallel to, for example, a fourth direction (the X direction in Figs. 1 to 4). Therefore, in the embodiment of the present disclosure, the first support bar 150a and the second support bar 150b are provided parallel to, for example, the horizontal direction. Also, as shown in Figs. 1 to 4, the first support bar 150a and the second support bar 150b may be provided so as to be spaced apart from each other in the Y direction (the third direction). The first support bar 150a and the second support bar 150b may be configured to support the main body unit 140, etc. of the rebar binding robot 100, for example, when the rebar binding robot 100 moves laterally (the X direction in Figures 1 to 4, the fourth direction in the rebar binding robot 100).

[0030] FIG. 5 is a perspective view of the reinforcing bar tying robot 100 with the reinforcing bar tying unit 110 removed, as viewed from the diagonally right rear direction. FIG. 6 is a perspective view of the reinforcing bar tying robot 100 with the reinforcing bar tying unit 110 removed, as viewed from the diagonally right front direction. As shown in FIG. 5 and FIG. 6, the reinforcing bar tying unit 110 may be provided so as to be movable in the up-down direction (Z direction in FIG. 1) while penetrating the hole 144. As a result, for example, when the reinforcing bar tying robot 100 reaches the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the reinforcing bar tying unit 110 is lowered to tie the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20. As shown in FIG. 5 and FIG. 6, the reinforcing bar tying robot 100 has reels 180a and 180b. The reels 180a and 180b contain wires used for bundling reinforcing bars, and when the reinforcing bar bundling unit 110 bundles the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the wires contained in the reels 180a and / or 180b are pulled out to bundle the intersection c12. Although not described in detail, the reinforcing bar bundling unit 110 is provided with a wire twisting unit 114 (FIG. 5) at one end (the lower end in the Z direction in FIG. 5) of the reinforcing bar bundling unit 110, which has a wire guide or the like and is configured to perform reinforcing bar bundling work. The reinforcing bar bundling work of the wire twisting unit 114 may be realized, for example, by a function similar to that of a known reinforcing bar bundling machine.

[0031] Fig. 7 is a diagram illustrating the functional block configuration of the rebar binding robot 100. As shown in Fig. 7, the rebar binding robot 100 may include a control unit 160, a lateral movement unit 146, and a storage device 198 in addition to the above-mentioned rebar binding unit 110, traveling unit 121, sensor unit 130, etc.

[0032] The control unit 160 is configured to control the movement and binding work performed by the rebar binding robot 100. The control unit 160 may include a sensor detection result acquisition unit 162, a determination unit 164, an intersection point calculation unit 166 (also referred to as an "intersection point estimation unit" or an "intersection point estimation unit" in this embodiment), a rebar binding unit control unit 168, a rebar tracking control unit 170, a stop control unit 172, a movement amount calculation unit 174, a posture control unit 176, a motor control unit 178, and a foreign object detouring control unit 179.

[0033] In the rebar binding robot 100 of this embodiment, as shown in Fig. 1, the control unit 160 is disposed on the opposite side of the rebar binding unit 110 to the reels 180a and 180b in the Y direction. More specifically, as shown in Fig. 1, the reels 180a and 180b are disposed in the -Y direction of the rebar binding unit 110, whereas the control unit 160 is disposed in the +Y direction of the rebar binding unit 110. The reel wound with wire becomes relatively heavy, particularly immediately after replacement, but by disposing the control unit 160 on the opposite side of the rebar binding unit 110, it is possible to balance the weight.

[0034] The lateral movement unit 146 (FIG. 7) is configured to control the movement of the main unit 140 of the rebar binding robot 100. In the rebar binding robot 100 according to an embodiment of the present disclosure, the rebar binding robot 100 may be moved in the horizontal direction by the lateral movement unit 146. The lateral movement unit 146 may include a first lateral movement motor 146a and a second lateral movement motor 146b, and for example, when the rebar binding robot 100 moves laterally, the main unit 140 may be moved horizontally by the two motors 146a and 146b.

[0035] The storage device 198 may include, for example, a storage medium (e.g., a semiconductor memory device) or other media for non-transitoryly storing one or more computer programs executed in the control unit 160, data used to control the rebar tying robot 100, and the like. The storage device 198 may include, for example, a template database 198t. The template database 198t may store, for example, as described below, template images used when detecting the first rebar R10 and / or the second rebar R20 using template matching based on the detection results of the sensor unit 130, or data obtained by performing image processing such as frequency analysis on the template images. The control unit 160 may further include a template data creation unit, and may be configured to create template data based on images captured by the sensor unit 130 according to the site where the rebar tying work is to be performed, and store the template data in the template database 198t. The template data stored in the template database 198t may be accumulated, for example, when new template data is created, or may be deleted when the bundling work at each construction site is completed. Alternatively, the created template data may be configured to be stored in the template database 198t of the storage device 198 for a certain period of time and then deleted, for example, periodically.

[0036] The sensor detection result acquisition unit 162 acquires the detection results by the sensor unit 130. For example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d of the sensor unit 130 may be used to determine the position of the first reinforcing bar R10 and / or the second reinforcing bar R20 by the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 of the determination unit 164 described later. In addition, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be used to determine the position of the end of the first reinforcing bar R10 and / or the end of the second reinforcing bar R20 by the first reinforcing bar end determination unit 164b1 and / or the second reinforcing bar end determination unit 164b2 of the determination unit 164.

[0037] The determination unit 164 may include a first reinforcing bar determination unit 164a1, a second reinforcing bar determination unit 164a2, a first reinforcing bar end determination unit 164b1, a second reinforcing bar end determination unit 164b2, a posture determination unit 164c, an obstacle determination unit 164d, and a robot height calculation unit 164e. The first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2 determine the position of the first reinforcing bar R10 and / or the second reinforcing bar R20 using, for example, the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d acquired by the sensor detection result acquisition unit 162. As described later, the first rebar determination unit 164a1 and the second rebar determination unit 164a2 may determine the position of the first rebar R10 and / or the second rebar R20 by performing template matching based on the captured images that are the detection results of the first sensor 130a to the fourth sensor 130d.

[0038] The first reinforcing bar end determination unit 164b1 and the second reinforcing bar end determination unit 164b2 determine the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar R20, for example, using the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d acquired by the sensor detection result acquisition unit 162. The first reinforcing bar end determination unit 164b1 and the second reinforcing bar end determination unit 164b2 may also determine the position of the end R10e of the first reinforcing bar R10 and / or the end R20e of the second reinforcing bar R20 based on template matching, similar to the first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2.

[0039] The robot height calculation unit 164e may calculate the height of the rebar binding robot 100 from the group of rebars R based on, for example, 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 reinforcing bar R10 and / or the second reinforcing bar R20 are imaged by the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d (e.g., when an area including the first reinforcing bar R10 and / or the second reinforcing bar R20 is imaged), the robot height calculation unit 164e may calculate the height of the reinforcing bar tying robot 100 from the group of reinforcing bars R by calculating the distance of the reinforcing bar tying robot 100 from the group of reinforcing bars R based on the relative size of the first reinforcing bar R10 and / or the second reinforcing bar R20 in the image of the imaged first reinforcing bar R10 and / or the second reinforcing bar R20.

[0040] The height of the rebar binding robot 100 from the group of rebars R may be calculated, for example, based on the angle of the traveling unit 121. As shown in Fig. 6, the traveling unit 121a has a first main body side link part 125a connected to the main body unit 140 and a first roller side link part 123a connected to the first roller part 122a, and the first main body side link part 125a and the first roller side link part 123a may form a link mechanism. At this time, the link angle formed by the first main body side link part 125a and the first roller side link part 123a may be detected by the first link angle detection sensor 134a (Fig. 7) of the sensor unit 130, and the height of the first traveling unit 121a may be calculated based on the link angle.

[0041] Similarly, as shown in FIG. 2, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d have the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the third roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d, and the heights of the second running unit 121b, the third running unit 121c, and the fourth running unit 121d may be calculated by detecting the link angles formed by the second body side link portion 125b and the second roller side link portion 123b, the third body side link portion 125c and the third roller side link portion 123c, and the fourth body side link portion 125d and the fourth roller side link portion 123d using the second link angle detection sensor 134b, the third link angle detection sensor 134c, and the fourth link angle detection sensor 134d, respectively.

[0042] The robot height calculation unit 164e may calculate the height of the rebar binding robot 100 from the group of rebars R based on the thus calculated heights (heights from the group of rebars R) of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d. For example, the height of the rebar binding robot 100 may be calculated from the average value of some or all of the calculated heights of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d. Also, for example, when the rebar binding robot 100 is positioned parallel or nearly parallel to a virtual plane formed by the group of rebars R, the height of the rebar binding robot 100 may be determined from any one of the heights of the first running unit 121a, the second running unit 121b, the third running unit 121c, and the fourth running unit 121d.

[0043] 7, the sensor unit 130 may include an inclination detection sensor 132 in addition to the above-mentioned first sensor 130a to fourth sensor 130d. As the inclination detection sensor 132, a sensor capable of detecting the inclination angle of the rebar binding robot 100, such as a known inclination sensor or horizontal sensor, may be used. The sensor detection result acquisition unit 162 may also acquire the detection result of the inclination detection sensor 132. Based on the detection result of the inclination detection sensor 132, for example, the posture of the rebar binding robot 100 may be determined by the posture determination unit 164c of the determination unit 164, and based on the determination result of the posture determination unit 164c, the posture control unit 176 may drive the height changing motors 126 of the running units 121 (the first height changing motor 126a of the first running unit 121a, the second height changing motor 126b of the second running unit 121b, the third height changing motor 126c of the third running unit 121c, and / or the height changing motor 126d of the fourth running unit 121d) to adjust the posture of the rebar binding robot 100.

[0044] The rebar binding robot 100 may drive the height changing motor 126 based on the detection result of the inclination detection sensor 132 so that the main unit 140 is parallel to the surface formed by the first rebar R10 and / or the second rebar R20 (also referred to as the "rebar surface" in this embodiment). For example, if the first rebar R10 and the second rebar R20 are arranged so that the rebar surface extends horizontally, and the rebar binding robot 100 is tilted in the X direction, the height of the first running unit 121a and the third running unit 121c, or the second running unit 121b and the fourth running unit 121d, among the first running unit 121a to the fourth running unit 121d, may be changed to adjust the posture of the rebar binding robot 100.

[0045] The intersection point calculation unit 166 estimates the intersection point c12 by calculating the intersection point c12 of the first reinforcing bar R10 and the second reinforcing bar R20. For example, as described below, the intersection point calculation unit 166 may calculate the position of the intersection point c12 based on the positions of the first reinforcing bar R10 and the second reinforcing bar R20 determined by the first reinforcing bar determination unit 164a1 and the second reinforcing bar determination unit 164a2. Based on the calculated position of the intersection point c12, the reinforcing bar binding robot 100 may perform binding work using the reinforcing bar binding unit 110. Based on the estimated position of the intersection point c12, the motor control unit 178 may adjust the position of the reinforcing bar binding robot 100 by the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and / or the fourth traveling unit 121d so that the reinforcing bar binding unit 110 is on the intersection point c12.

[0046] The reinforcing bar binding unit control unit 168 controls the movement of the reinforcing bar binding unit 110 by controlling the reinforcing bar binding unit moving unit 168m. The reinforcing bar binding unit 110 can take a binding position where the reinforcing bar binding unit 110 performs a binding operation to bind the intersection c12 where the first reinforcing bar R10 and the second reinforcing bar R20 intersect, and a retreat position where the reinforcing bar binding unit 110 retreats after the completion of the binding operation while moving to the intersection c12 where the next binding operation is performed. The reinforcing bar binding unit 110 moves in the -Z direction when moving from the retreat position to the binding position, and moves in the +Z direction when moving from the binding position to the retreat position. Such movement of the reinforcing bar binding unit 110 in the Z direction is realized by the reinforcing bar binding unit moving unit 168m composed of, for example, a motor. The reinforcing bar binding unit control unit 168 controls the lifting and lowering operation of the reinforcing bar binding unit 110 in the Z direction by the reinforcing bar binding unit moving unit 168m.

[0047] The rebar binding unit control unit 168 also controls the binding operation of the rebar binding unit 110 at the intersection c12 after the rebar binding unit 110 moves to the binding position. For example, the binding work by the rebar binding unit 110, which is performed using a wire drawn out from the wire reel 180 by a wire drawing unit described later, is controlled by the rebar binding unit control unit 168. For example, after moving the rebar binding robot 100 by the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and / or the fourth traveling unit 121d so that the rebar binding unit 110 is positioned above the intersection c12, the rebar binding unit control unit 168 may control the rebar binding unit moving unit 168m to lower the rebar binding unit 110 to the binding position so as to approach the intersection c12, and perform binding at the intersection c12.

[0048] The rebar following control unit 170 may, for example, control the traveling unit 121 by the motor control unit 178 so that the rebar binding robot 100 follows the first rebar R10 while traveling, based on information such as the position of the first rebar R10 determined by the first rebar determination unit 164a1. For example, as shown in Fig. 5, when the rebar binding robot 100 travels over 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 unit 122a, the second wheel drive motor 124b that drives the second roller unit 122b, the third wheel drive motor 124c that drives the third roller unit 122c, and / or the fourth wheel drive motor 124d that drives the fourth roller unit 122d) may be driven so that the rebar binding robot 100 does not come off the first rebar R12 and the first rebar R14.

[0049] For example, among the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d, the first wheel drive motor 124a and the third wheel drive motor 124c which are the drive motors of the first running unit 121a and the third running unit 121c which are arranged at the same position or approximately the same position in the X direction, may be accelerated or decelerated relative to the second wheel drive motor 124b and the fourth wheel drive motor 124d which are the drive motors of the second running unit 121b and the fourth running unit 121d which are arranged on the other side in the X direction, thereby adjusting the position of the rebar binding robot 100 and making the rebar binding robot 100 run to follow the first rebar R10.

[0050] Alternatively, the rebar following control unit 170 may adjust the rotation speed of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d, for example, to cause the rebar binding robot 100 to travel so as to follow the first rebar R10. For example, by setting one or more rotation speeds of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to different rotation speeds from the rotation speeds of the other wheel drive motors, or by setting all of the rotation speeds of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to different rotation speeds from each other, the rebar binding robot 100 can be made to flexibly follow the first rebar R10.

[0051] The stop control unit 172 is configured to control the stopping operation of the rebar binding robot 100. For example, as described below, when the rebar binding robot 100, which has traveled over the first rebar R12 and the first rebar R14, is determined by the first rebar end determination unit 164b1 and / or the second rebar end determination unit 164b2 to be in the vicinity of the end of the first rebar R13 or approaching the end, based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d, the stop control unit 172 may control the motor control unit 178 to drive and stop the first wheel drive motor 124a to the fourth wheel drive motor 124d, thereby stopping the rebar binding robot 100. In addition, the rebar tying robot 100 may be stopped not only at the end of the first rebar R13, but also when it is determined that the rebar tying robot 100 is near the end of the first rebar R12 and / or the end of the first rebar R14, or is approaching the end, instead of or in addition to the end.

[0052] In addition, the stop control unit 172 may stop the rebar binding robot 100, for example, when the intersection point c12 of the first rebar R10 and the second rebar R20 is calculated by the above-mentioned intersection point calculation unit 166, in order to bind the intersection point c12 with the rebar binding unit 110.

[0053] The movement amount calculation unit 174 may be configured to calculate the amount of movement when the reinforcing bar binding robot 100 moves laterally (in the X direction), for example. For example, as described above, when the first reinforcing bar end determination unit 164b1 and / or the second reinforcing bar end determination unit 164b2 determine that the reinforcing bar binding robot 100 is near or approaching the end of the first reinforcing bar R12 and the end of the first reinforcing bar R14, the reinforcing bar binding robot 100 completes the reinforcing bar binding work at the intersection c12 on the first reinforcing bar R13 that is located between the first reinforcing bar R12 and the first reinforcing bar R14, moves to another first reinforcing bar R10, and starts the reinforcing bar binding work at the intersection c12.

[0054] For example, when the rebar binding robot 100 completes the rebar binding work at the intersection c12 on the first rebar R13 and then performs the rebar binding work at the intersection c12 on the first rebar R14, the rebar binding robot 100 moves in the X direction by one interval for the interval in the X direction between the first rebars R10. At this time, the movement amount calculation unit 174 may calculate the movement amount based on the interval in the X direction between adjacent first rebars R10 based on the information on the position of the first rebars R10 determined by the first rebar determination unit 164a1. Similarly, when the rebar binding robot 100 performs the rebar binding work at the intersection c12 on first rebars R10 that are separated by two or more in the X direction, the movement amount may be calculated based on the interval between the first rebars R10. In addition, the lateral movement unit 146 may perform the lateral movement (e.g., horizontal movement) of the main unit 140 during the lateral movement based on the calculated movement amount. The movement amount calculation unit 174 may calculate the amount of movement in a direction other than the horizontal movement amount. For example, the movement amount calculation unit 174 may calculate the amount of vertical movement (movement in the first direction, Y direction) of the rebar binding robot 100 based on the detection results of each sensor 130, the determination results by the rebar end determination unit 164b1 and / or the rebar end determination unit 164b2, etc.

[0055] As the sensor unit 130, for example, a camera capable of taking two-dimensional or three-dimensional images may be used, and the position of the foreign object may be determined, for example, by the obstacle determination unit 164d of the determination unit 164 based on the detection result of the sensor unit 130. At a construction site where reinforcing bars are assembled, for example, tools or the like may be left on the surface of the reinforcing bars, or workers may be working on the reinforcing bars. These may be detected as foreign objects based on the detection result by the sensor unit 130, and the foreign object detouring control unit 179 may be configured to drive the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d by the motor control unit 178 to detouring the foreign object based on the detection result of the foreign object. Alternatively, the reinforcing bar binding robot 100 may be configured to detouring the foreign object by performing a lateral movement described later.

[0056] The control unit 160 is, for example, a processor such as a CPU (Central Processing Unit) that corresponds to a calculation unit, and is a control unit that controls the execution of computer programs stored in the storage device 198 and calculates and processes data. The processor is a calculation unit that executes programs that execute the operations of the rebar tying robot 100 (rebar tracking and traveling, lateral movement (e.g., horizontal movement), rebar tying work, etc.) using each detection data, etc. Each unit of the control unit (for example, the sensor detection result acquisition unit 162, etc.) is realized by the processor executing the programs stored in the storage device 198.

[0057] The storage device 198 may have, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory). The RAM is a memory section in which data can be rewritten, and may be composed of, for example, a semiconductor memory element. The RAM may store programs executed by the processor and data required for executing the programs (for example, template data used to determine the position of rebar based on the detection results of the sensor unit 130, as described below). Note that these are merely examples, and the RAM may store data other than these, or some of these data may not be stored.

[0058] The ROM is a storage unit from which data can be read, and may be configured, for example, with a semiconductor memory element. The ROM may store, for example, programs executed by the control unit 160 and data that is not rewritten.

[0059] The program executed by the control unit 160 may be provided by being stored in a computer-readable storage medium such as a memory device 198 (e.g., a RAM or a ROM), or, if the rebar binding robot 100 of this embodiment has a communication unit (not shown), the program may be provided via a communication network connected by the communication unit.

[0060] The above physical configuration is merely an example, and in the rebar tying robot 100 according to the embodiment of the present disclosure, the control unit 160 and the storage device 198 do not necessarily have to be independent. For example, the rebar tying robot 100 may be equipped with an LSI (Large-Scale Integration) that integrates a processor and memory. The rebar tying robot 100 may also be equipped with a GPU (Graphical Processing Unit) as the control unit 160, and the GPU may execute a program to realize the various operations described above.

[0061] Next, the running operation of the reinforcing bar bundling robot 100 on the reinforcing bar will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a view of the reinforcing bar bundling robot 100 running along the first reinforcing bar R10 as viewed from the Y direction (-Y direction). Fig. 9 is a view of the reinforcing bar bundling robot 100 running along the first reinforcing bar R10 as viewed from the X direction (+X direction). In Fig. 8 and Fig. 9, the reinforcing bar bundling robot 100 runs in a first direction (Y direction). As shown in Fig. 8 and Fig. 9, the reinforcing bar bundling robot 100 runs such that the third roller part 122c of the third running unit 121c is on the first reinforcing bar R12 and the fourth roller part 122d of the fourth running unit 121d is on the first reinforcing bar R14. As shown in Fig. 9, the second roller part 122b of the second running unit 121b also runs on the first rebar R14, similar to the fourth roller part 122d of the fourth running unit 121d. Although not shown in Figs. 8 and 9, the first roller part 122a of the first running unit 121a also runs on the first rebar R12, similar to the third roller part 122c of the third running unit 121c. In this way, when the rebar tying robot 100 according to an embodiment of the present disclosure runs along the first rebar R10, it runs, for example, between a certain first rebar R10 (first rebar R12) and a first rebar R10 (first rebar R14) that is located two bars away from the certain first rebar R12, and ties the intersection c12 of the first rebar R10 and the second rebar R20 that is located on the first rebar R13, which is the first rebar R10 that is located between the running first rebar R12 and the first rebar R14.

[0062] Next, the reinforcing bar bundling robot 100 during reinforcing bar bundling work will be described with reference to Figs. 10, 11, and 12. Fig. 10 is a view of the reinforcing bar bundling robot 100 performing bundling work, seen from the Y direction (-Y direction) after stopping its travel. Fig. 11 is a view of the reinforcing bar bundling robot 100 performing bundling work, seen from the X direction (+X direction). Fig. 12 is a view of the reinforcing bar bundling robot 100 performing bundling work, seen from below in the Z direction (-Z direction). Figs. 10, 11, and 12 show an example in which the reinforcing bar bundling robot 100 bundles the intersection c12 of the first reinforcing bar R13 and the second reinforcing bar R20. When performing bundling work, the reinforcing bar bundling robot 100 stops its travel (Fig. 10) and lowers the reinforcing bar bundling unit 110 to perform bundling (Figs. 11 and 12).

[0063] Here, a mechanism for raising and lowering the reinforcing bar binding unit 110 in the Z direction relative to the main unit 140 and the operation of the reinforcing bar binding unit 110 when it is lowered will be described in detail.

[0064] 13A, 13B, and 13C are perspective views from the side and above of the rebar binding unit 110 in a state in which the rebar binding unit 110 is retracted upward (sometimes called a "standby state").

[0065] As shown in the figure, the rebar tying robot 100 includes a lifting mechanism 113 (an example of a "lifting section") for raising and lowering a rebar tying unit 110, which includes a tying section 129 for tying rebars and a holding section 112 for holding the tying section 129, relative to a main unit 140. This lifting mechanism 113 includes a connecting section 119 connected to the holding section 112 of the rebar tying unit 110, and a drive section 127 for moving the connecting section 119. The connecting section 119 has an engaging section (e.g., movable shaft 115) for engaging with the holding section 112, while the holding section 112 has an engaged section (e.g., hole section 111) that engages with the engaging section (e.g., movable shaft 115). In such a configuration, when the binding portion 129 is in contact with the reinforcing bar R10 and the drive portion 127 drives the connecting portion 119, the engaging portion (e.g., movable shaft 115) of the connecting portion 119 can be moved relative to the binding portion 129, whose movement is restricted by the reinforcing bar R10, thereby disengaging the engaged portion (e.g., hole portion 111) of the holding portion 112 from the engaging portion (e.g., movable shaft 115). That is, the control unit 160 (an example of a "control unit") of the rebar tying robot 100 is configured to be capable of executing a first operation of lowering both the holding part 112 and the engaging part (e.g., the movable shaft 115) in a state where the holding part 112 and the engaging part (e.g., the movable shaft 115) are engaged with each other to bring the binding part 129 into contact with the rebar R10, and a second operation of moving the engaging part (e.g., the movable shaft 115) relative to the holding part 112 to release the engagement between the holding part 112 and the engaging part (e.g., the movable shaft 115) in a state where the binding part 129 is in contact with the rebar R10. Such a hole 111 may be called a position restricting part because it restricts the movement of the holding part 112 in a cross direction crossing the ascending and descending direction of the holding part 112 when the engaging part is in an engaging position where the engaging part is engaged, and allows the movement of the holding part 112 in the cross direction when the engaging part is in a position moved from the engaging position.

[0066] A specific configuration will be described below.

[0067] The reinforcing bar binding unit 110, which is raised and lowered by the lifting mechanism 113, is provided with a binding part 129, which is a part corresponding to the lower end of the reinforcing bar binding unit 110, has a wire twisting part 114 for twisting a wire for binding reinforcing bars, and is configured to perform reinforcing bar binding work, and a holding part 112, which is a part corresponding to the part above the binding part 129 of the reinforcing bar binding unit 110, holds the binding part 129, and is equipped with known components for performing reinforcing bar binding work. The holding part 112 is provided extending in the vertical direction, and is connected to a connecting part 119 at its upper end, for example.

[0068] Here, the holding portion 112 has an engaged portion (connected portion) for engaging (connecting) with the connecting portion 119. The holding portion 112 in this embodiment has a hole portion 111 formed with a long hole 111H for engaging (connecting) with the movable shaft 115 of the connecting portion 119 as the engaged portion. The hole portion 111 has a first hole portion 111A formed at the upper end of the long hole 111H, and a wide second hole portion 111B formed below the first hole portion 111A, connected to the first hole portion 111A, and extending in the vertical direction so as to have a width larger than the diameter of the arc or semicircle forming the upper end portion, as shown in FIG. 15C described later. The width of the second hole portion 111B is, for example, 110% to 150% of the diameter of the arc approximating the first hole portion 111A.

[0069] With this configuration, when the movable shaft 115 is engaged with the first hole portion 111A, the movable shaft 115 is inserted through the first hole portion 111A with almost no gap, so that the movement of the holding portion 112 in the horizontal direction is restricted.

[0070] On the other hand, when the movable shaft 115 moves downward relative to the holding portion 112 and is disengaged from the hole portion 111 (first hole portion 111A), the movable shaft 115 is inserted into the second hole portion 111B with a gap, so that the horizontal movement of the holding portion 112 is relatively reduced and the holding portion 112 is configured to be able to move horizontally within a range equal to or smaller than the size of the gap.

[0071] Therefore, as will be described later, it is possible to restrict the horizontal movement of the holding portion 112 in accordance with the relative position of the movable shaft 115 in the elongated hole 111H provided in the holding portion 112.

[0072] However, the first hole portion 111A may be formed to have a gap (first gap) between the movable shaft 115 and the second hole portion 111B, and the second hole portion 111B may be formed to have a gap (second gap) between the movable shaft 115 and the first gap.

[0073] Furthermore, the slot 111H may be formed in a shape that becomes wider as it extends downward (for example, in a tapered shape).

[0074] In this embodiment, the holding portion 112 includes a pair of holes 111 in which elongated holes 111H that engage with the movable shaft 115 are formed at both axial ends of the movable shaft 115, respectively.

[0075] The holding portion 112 further includes a fixed shaft 116 for fixing the plate-like member in which the hole 111 is formed. As shown in Figures 13A and 13B, the fixed shaft 116 according to this embodiment is composed of a pair of cylindrical pins fixed to parts of the holding portion 112 at their ends.

[0076] The connecting portion 119 is a member that is connected to the holding portion 112 in order to raise and lower the rebar binding unit 110, and is driven by the driving portion 127. The connecting portion 119 according to this embodiment includes a movable shaft 115 for engaging with the hole portion 111 that is the engaged portion of the holding portion 112, a second link member 119B in which a pair of holes for connecting with the movable shaft 115 are formed, a first link member 119A that is connected to an output shaft 127A of the driving portion 127 and thereby driven to rotate by the driving portion 127, and a pin member 119C that rotatably connects the second link member 119B and the first link member 119A.

[0077] Therefore, a first end in the longitudinal direction of the second link member 119B is rotatably connected to the movable shaft 115, and a second end in the longitudinal direction of the second link member 119B is rotatably connected to the first end in the longitudinal direction of the first link member 119A via the pin member 119C. In addition, the second end in the longitudinal direction of the first link member 119A, which has a first end rotatably connected to the second end in the longitudinal direction of the second link member 119B, is connected to the output shaft 127A of the drive unit 127.

[0078] Therefore, first link member 119A of connecting portion 119 rotates about output shaft 127A as output shaft 127A of drive portion 127 is rotated. Therefore, a second end of second link member 119B connected to a first end of first link member 119A moves on a circumference whose center is output shaft 127A and whose diameter is the length of first link member 119A.

[0079] The movable shaft 115 is a member that engages with an engaged portion (long hole 111H) provided in the holding portion 112 and is movable (movable) relative to the engaged portion so as to release the engaged state. The movable shaft 115 in this embodiment is a cylindrical pin that extends horizontally so as to penetrate each of the long holes 111H of a pair of hole portions 111 that are provided spaced apart in a horizontal direction perpendicular to the up-down direction (Z-axis direction). Therefore, the movable shaft 115 is provided so as to penetrate the long holes 111H of the pair of hole portions 111 at both ends and to penetrate a pair of holes formed in the second link member 119B in a region sandwiched between the pair of long holes 111H.

[0080] While a downward force due to gravity is always acting on the holding part 112, the movable shaft 115 is inserted into the long hole 111H of the hole part 111 provided in the holding part 112. Therefore, in the standby state, the movable shaft 115 supports the holding part 112 while engaging with the first hole part 111A corresponding to the upper end edge of the long hole 111H.

[0081] The second link member 119B is a link-shaped member that extends in the vertical direction in the standby state, and has a base end that connects to the pin member 119C, and a tip end that extends from the base end and branches into two, with a hole formed at the tip end through which the movable shaft 115 passes.

[0082] The pin member 119C rotatably connects the second link member 119B and the first link member 119A. Therefore, in the standby state, the angle between the second link member 119B and the first link member 119A varies depending on the state. As shown in the figure, in the standby state, the second link member 119B and the first link member 119A extend linearly in the same direction, that is, in the substantially vertical direction. Therefore, the movable shaft 115B supported by the second link member 119B at the tip of the second link member 119B is located at the position farthest from the output shaft 127A of the drive unit 127.

[0083] The first link member 119A is configured to be connected to an output shaft 127A of the drive unit 127, and to rotate in accordance with the rotation of the output shaft 127A.

[0084] The drive unit 127 is, for example, a motor powered by a battery 182 and controlled by a motor control unit 178 .

[0085] The rebar tying robot 100 according to this embodiment further includes a spring member 118, which is a compression spring, as a biasing portion that biases the movable shaft 115, which is the engaging portion, upward to engage with the first hole portion 111A of the hole portion 111, which is the engaged portion. In this embodiment, the spring member 118 is supported from below by a spring receiving portion 117 fixed to the holding portion 112, and is inserted between the movable shaft 115. Therefore, in the standby state, the movable shaft 115 is biased upward so as to contact the hole portion 111, which is the engaged portion. The rebar tying robot 100 according to this embodiment includes a pair of spring members 118 and a pair of spring receiving portions 117 to bias both ends of the movable shaft 115, respectively. The spring member 118 is compressed between the movable shaft 115 and the spring receiving portion 117 fixed to the holding portion 112 as the movable shaft 115 moves downward, and functions as an elastic portion that attenuates the moving speed of the holding portion 112 in the downward direction.

[0086] With the above configuration, the reinforcing bar binding unit 110 travels over the first reinforcing bar R10 while waiting above. When the reinforcing bar binding robot 100 reaches the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the reinforcing bar binding unit 110 is lowered to bind the intersection c12. Next, the operation for lowering the reinforcing bar binding unit 110 in the above configuration will be described.

[0087] 14A to 14C are perspective and side views showing the state immediately after the reinforcing bar binding unit 110 starts to descend and comes into contact with the first reinforcing bar R10.

[0088] As shown in these drawings, in order for the rebar binding unit 110 to descend in the Z direction, the motor control unit 178 first rotates the output shaft 127A of the drive unit 127. Then, at the initial stage of rotation of the output shaft 127A of the drive unit 127, the first link member 119A rotates about the second end of the first link member 119A connected to the output shaft 127A of the drive unit 127. As the first link member 119A rotates, the first end of the second link member 119B connected to the first end of the first link member 119A starts to move downward from the upper position in the standby state. Therefore, the movable shaft 115 connected to the first end of the second link member 119B also starts to move downward.

[0089] As the movable shaft 115 moves downward, the holding part 112 supported by the movable shaft 115 also starts to move downward. At this time, the movable shaft 115 performs a first operation of descending together with the holding part 112 while supporting the holding part 112 in a state of being engaged with the first hole part 111A corresponding to the upper end edge of the long hole 111H.

[0090] As shown in Figures 14A to 14C, when the rebar binding unit 110 is lowered and the binding portion 129 abuts against the first rebar R10, the first link member 119A and the second link member 119B form an acute angle.

[0091] Next, a second operation after the binding part 129 of the reinforcing bar binding unit 110 comes into contact with the first reinforcing bar R10 will be described. Figures 15A to 15C are perspective views and side views illustrating the second operation after the binding part 129 comes into contact with the first reinforcing bar R10.

[0092] The motor control unit 178 of the rebar binding unit 110 further rotates the output shaft 127A of the drive unit 127. Therefore, the first end of the first link member 119A moves further on the circumference centered on the output shaft 127A of the drive unit 127. As the first end of the first link member 119A moves, the second end of the second link member 119B tries to move further downward. As the movable shaft 115 moves downward, the holding part 112 supported by the movable shaft 115 also tries to move downward. However, since the binding part 129 is in contact with the first rebar R10, the holding part 112 does not move downward together with the movable shaft 115, but presses the first rebar R10 downward.

[0093] Therefore, of the holding part 112 and the movable shaft 115, only the movable shaft 115 moves downward. Therefore, the movable shaft 115 moves downward relative to the hole 111 of the holding part 112. As a result, the movable shaft 115 moves from the first hole 111A to the second hole 111B, and the engagement between the movable shaft 115 and the hole 111 (first hole 111A) is released. As a result, the engagement state is released, and the holding part 112 is allowed to move in the horizontal direction within the range of the gap between the movable shaft 115 and the second hole 111B. Therefore, when the movable shaft 115 is located in the second hole 111B, the binding part 129 is supported so as to be swingable around the fixed shaft 116. At this time, since the movable shaft 115 has moved further downward, the first link member 119A and the second link member 119B form an even smaller acute angle than when the binding portion 129 abutted against the first rebar R10.

[0094] In this way, in the second operation, the engaging portion 129 is in contact with the first rebar R10, and the movable shaft 115 is moved relative to the holding portion 112, thereby making it possible to release the engaging portion 112 and the movable shaft 115. By releasing the engaging portion 112 and the movable shaft 115, the horizontal (intersecting) movement of the holding portion 112 and the binding portion 129 is permitted or alleviated. Therefore, even if the binding portion 129 is slightly deviated from the intersection point c12, the binding portion 129 moves in the horizontal direction following the first rebar R10 or the second rebar R20 during the binding operation, and it becomes possible to perform the binding operation while the binding portion 129 moves so as to approach the intersection point c12. Therefore, compared to rebar tying machines in which the binding part cannot move horizontally at all after it comes into contact with the rebar, and therefore tying must be performed in an undetermined position at the binding point (the intersection point of the rebar), it is possible to accurately position the binding part 129 at the desired position and to stabilize the position of the binding part 129 when it comes into contact with the rebar.

[0095] When the movable shaft 115 is biased by the spring member 118, the movable shaft 115 moves downward against the biasing force from the spring member 118. Therefore, it becomes possible to bind the reinforcing bar R10 in a state in which the reinforcing bar R10 is pressed by the spring member 118 through the holding part 112 with a force greater than the gravity of the holding part 112.

[0096] The above description has been given taking as an example a case where a compression spring is provided as the spring member 118 between the movable shaft 115 and the fixed shaft 116, but the present invention is not limited to this, and various modifications of the present invention are possible within the scope of the ordinary creative ability of a person skilled in the art. For example, a tension spring may be provided instead of a compression spring. FIG. 16A shows a modified example of the reinforcing bar binding device 100 in which a tension spring 118α is provided as the spring member 118. As shown in the figure, a fixed shaft 116α may be provided above the movable shaft 115α inserted through the hole portion 111α (long hole 111Hα), and a tension spring 118α may be inserted between the two.

[0097] Even with such a modified example, it is possible to achieve the same effect as in this embodiment by moving the movable shaft 115α downward against the biasing force of the tension spring 118α after the rebar binding unit 110 abuts against the rebar.

[0098] The above-described embodiments are intended to facilitate understanding of the present invention, and are not intended to limit the present invention. The present invention may be modified / improved without departing from the spirit thereof, and equivalents are also included in the present invention. That is, those in which a person skilled in the art appropriately changes the design of each embodiment are also included in the scope of the present invention as long as they have the characteristics of the present invention. For example, the elements and their arrangements, materials, conditions, shapes, sizes, etc. of each embodiment are not limited to those exemplified, and can be appropriately changed. In addition, each embodiment is an example, and it goes without saying that partial replacement or combination of the configurations shown in different embodiments is possible, and these are also included in the scope of the present invention as long as they include the characteristics of the present invention. [Explanation of symbols]

[0099] 100...rebar tying robot, 110...rebar tying unit, 111...hole portion, 111H...long hole, 111A...first hole portion, 111B...second hole portion, 112...holding portion, 113...lifting mechanism, 115...movable shaft, 115α...movable shaft, 116...fixed shaft, 116α...fixed shaft, 117...spring support portion, 118...spring member, 119...connecting portion, 119A...first link member, 119B...second link member, 119C...pin member, 127...drive portion, 127A...output shaft.

Claims

1. A binding part for binding the reinforcing bars; A holding portion that holds the binding portion; A lifting unit that lifts and lowers the holding unit relative to a main body unit; Equipped with The lifting unit is A connecting portion connected to the holding portion; A drive unit that moves the connecting unit; Including, The connecting portion has an engagement portion, The holding portion has an engaged portion that engages with the engaging portion, The drive unit is The connecting portion is moved while the binding portion is in contact with the reinforcing bar, and the engaging portion is moved relative to the engaged portion to release the engagement of the engaging portion with the engaged portion. Rebar tying device.

2. The engaging portion further includes a biasing portion that biases the engaging portion in a direction to engage with the engaged portion. The rebar binding device according to claim 1.

3. The drive unit moves the connecting portion to a position where the binding portion abuts against the reinforcing bar, and then further moves the connecting portion to release the engagement of the engaging portion with the engaged portion. The rebar binding device according to claim 1.

4. Further provided is a detection unit that detects that the binding portion abuts against the reinforcing bar, The driving unit releases the engagement of the engaging portion with the engaged portion on the condition that the detection unit detects that the binding portion has come into contact with the reinforcing bar. The rebar binding device according to claim 1.

5. Further, a guide portion is provided to guide the connecting portion along the lifting direction of the holding portion. The rebar binding device according to claim 1.

6. The engaged portion has an elongated hole shape, A first hole portion with which the engaging portion engages; a second hole portion communicating with the first hole portion and having a width dimension in a direction intersecting with a lifting direction of the holding portion that is larger than that of the first hole portion; Including, A reinforcing bar binding device according to claim 5.

7. The guided portion is guided by the guide portion. When the engaging portion is positioned in the second hole portion, the binding portion is supported so as to be swingable about the guided portion. The reinforcing bar binding device according to claim 6.

8. A binding part for binding the reinforcing bars; A holding portion that holds the binding portion; A lifting unit that lifts and lowers the holding unit relative to a main body unit; an elastic portion that attenuates the downward moving speed of the holding portion; Equipped with The elastic portion attenuates the downward movement speed of the holding portion only when the binding portion is in contact with the reinforcing bar. Rebar tying device.

9. A binding part for binding the reinforcing bars; A holding portion that holds the binding portion; A connecting portion connected to the holding portion; a control unit that is provided so as to be able to raise and lower the holding unit and the binding unit by driving the connecting unit, The connecting portion is a reinforcing bar binding device having an engaging portion for engaging with the holding portion, The control unit is A first operation of lowering the holding portion and the engaging portion together in a state where the holding portion and the engaging portion are engaged with each other to bring the binding portion into contact with a reinforcing bar; and a second operation of moving the engaging portion relative to the holding portion to release the engagement between the holding portion and the engaging portion while the binding portion is in contact with the reinforcing bar. Rebar tying device.

10. The holding portion further includes a biasing portion that biases the engaging portion in a direction to engage with the holding portion. The rebar binding device according to claim 9.

11. The holding portion is provided with a position restriction portion which restricts movement of the holding portion in a transverse direction intersecting a lifting direction of the holding portion when the engaging portion is in an engaging position where the engaging portion is engaged, and allows movement of the holding portion in the transverse direction when the engaging portion is in a position moved from the engaging position. The rebar binding device according to claim 10.

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