Reinforcement binding robot

Abstract

To provide a technique capable of interrupting reinforcement binding work and moving a reinforcement binding robot from a position where the reinforcement binding work is interrupted to a specific position during execution of the reinforcement binding work in the reinforcement binding robot.SOLUTION: The present specification discloses a reinforcement binding robot capable of performing reinforcement binding work in which an operation of moving on a primary reinforcement and a secondary reinforcement and an operation of binding a place where the primary reinforcement and the secondary reinforcement intersect with each other are alternately repeated. The reinforcement binding robot is equipped with a control unit, a longitudinal movement mechanism, a lateral movement mechanism, and a position information detection mechanism for detecting the current position of the reinforcement binding robot. The control unit is configured to be capable of executing a feedback process for driving at least one of the longitudinal movement mechanisms and the lateral movement mechanism such that the reinforcement binding robot operates moving from a current position of the reinforcement binding robot to a specific position without performing the reinforcement binding operation. The control unit executes the feedback processing when a predetermined condition is satisfied during the execution of the reinforcement binding work.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The technology disclosed in this specification relates to a steel bar bundling robot.

Background Art

[0002] Patent Document 1 discloses a steel bar bundling robot capable of executing a steel bar bundling operation in which, for a plurality of primary steel bars and a plurality of secondary steel bars intersecting the plurality of primary steel bars, an operation of moving over the plurality of primary steel bars and the plurality of secondary steel bars and an operation of bundling the intersections where the plurality of primary steel bars and the plurality of secondary steel bars intersect are alternately repeated. The steel bar bundling robot includes a steel bar bundling unit, a transport unit for transporting the steel bar bundling unit, and a control unit for controlling the operation of the transport unit. The transport unit includes a vertical movement mechanism capable of moving the steel bar bundling robot in the front-rear direction and a lateral movement mechanism capable of moving the steel bar bundling robot in the left-right direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a steel bar bundling robot as disclosed in Patent Document 1, during the execution of the steel bar bundling operation, it may be desired to interrupt the steel bar bundling operation and move from the position where the steel bar bundling operation was interrupted to a specific position. In this specification, a technology is provided that enables a steel bar bundling robot to interrupt the steel bar bundling operation and move from the position where the steel bar bundling operation was interrupted to a specific position during the execution of the steel bar bundling operation.

Means for Solving the Problems

[0005] This specification discloses a steel bar tying robot capable of performing a steel bar tying operation that alternately repeats an operation of moving over a plurality of primary steel bars and a plurality of secondary steel bars intersecting the plurality of primary steel bars, and an operation of binding portions where the plurality of primary steel bars and the plurality of secondary steel bars intersect. The steel bar tying robot may include a steel bar tying unit, a transport unit for transporting the steel bar tying unit, and a control unit for controlling the operation of the transport unit. The transport unit may include a vertical movement mechanism capable of moving the steel bar tying robot in the front-rear direction, a horizontal movement mechanism capable of moving the steel bar tying robot in the left-right direction, and a position information detection mechanism for detecting the current position of the steel bar tying robot with respect to the plurality of primary steel bars and the plurality of secondary steel bars. The control unit may be configured to execute a feedback process of driving at least one of the vertical movement mechanism or the horizontal movement mechanism so that the steel bar tying robot moves from the current position of the steel bar tying robot detected by the position information detection mechanism to a specific position without performing the steel bar tying operation. The control unit may execute the feedback process when a predetermined condition is satisfied during the execution of the steel bar tying operation.

[0006] According to the above configuration, in the steel bar tying robot, during the execution of the steel bar tying operation, the steel bar tying operation can be interrupted and the robot can be moved from the position where the steel bar tying operation was interrupted to a specific position.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

Figure 26

Figure 27

Figure 28

Figure 29

Figure 30

Figure 31

Figure 32

Figure 33

Figure 34

BEST MODE FOR CARRYING OUT THE INVENTION

[0008] Representative and non-limiting specific examples of the present invention will be described in detail below with reference to the drawings. This detailed description is merely intended to show those skilled in the art the details for implementing preferred examples of the present invention and is not intended to limit the scope of the present invention. Also, the additional features and inventions disclosed can be used separately or together with other features and inventions to provide an improved reinforcing bar bundling robot.

[0009] Also, the combinations of features and steps disclosed in the following detailed description are not essential for practicing the present invention in the broadest sense and are described only for the purpose of explaining representative specific examples of the present invention. Further, the various features of the following representative specific examples, as well as the various features recited in the claims, are not required to be combined as described in the specific examples herein or in the order recited to provide additional and useful embodiments of the present invention.

[0010] All features described in this specification and / or the claims are intended to be disclosed separately and independently of each other as limitations to the initial disclosure and the specific matters recited in the claims, apart from the configurations of the features described in the examples and / or the claims. Further, all descriptions of numerical ranges and groups or populations are made with the intention of disclosing intermediate configurations as limitations to the initial disclosure and the specific matters recited in the claims.

[0011] In one or more embodiments, the control unit may be further configured to execute a continuation determination process for determining whether the steel bar bundling operation can continue. The predetermined condition may include a first predetermined condition that the control unit determines in the continuation determination process that the steel bar bundling operation cannot continue.

[0012] For example, when a problem occurs that makes it impossible to continue the steel bar bundling operation, such as insufficient remaining amount of wire during the execution of the steel bar bundling operation, the user needs to perform maintenance work on the steel bar bundling robot to eliminate the problem. At this time, depending on the position of the steel bar bundling robot, it may be difficult for the user to approach the steel bar bundling robot. According to the above configuration, when a problem occurs that makes it impossible to continue the steel bar bundling operation on the steel bar bundling robot, the steel bar bundling robot can be automatically moved to a specific position where it is easy for the user to perform maintenance work. It can be made easier for the user to perform maintenance work on the steel bar bundling robot to eliminate the problem.

[0013] In one or more embodiments, the control unit may be configured to receive an instruction signal from the outside. The predetermined condition may include a second predetermined condition that the control unit receives the instruction signal from the outside.

[0014] According to the above configuration, during the steel bar bundling operation, when the user wants to interrupt the operation, etc., the steel bar bundling operation can be interrupted according to the user's instruction, and the steel bar bundling robot can be moved to a specific position convenient for the user.

[0015] In one or more embodiments, the specific position may include a position designated by the user.

[0016] According to the above configuration, the steel bar bundling robot can be moved to the position designated by the user.

[0017] In one or more embodiments, the specific position may include the position of the end of the reinforcing bar designated by the user. Note that in this specification, "the end of the reinforcing bar" means the intersection of the primary reinforcing bars and the secondary reinforcing bars closest to each end of the plurality of primary reinforcing bars or each end of the plurality of secondary reinforcing bars. Therefore, it should be noted that "the end of the reinforcing bar" in this specification is different from the end of the reinforcing bar.

[0018] According to the above configuration, the reinforcing bar tying robot can be moved to the end of the reinforcing bar designated by the user. Therefore, the user can safely perform the recovery of the reinforcing bar tying robot and the troubleshooting work from the outside of the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars.

[0019] In one or more embodiments, the specific position may include the position of the end of the reinforcing bar where the movement path from the current position is the shortest.

[0020] According to the above configuration, the reinforcing bar tying robot can be moved to the position of the end of the reinforcing bar most efficiently.

[0021] In one or more embodiments, the position information detection mechanism may further detect the tied area and the untied area in the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars. The specific position may include the position of the end of the reinforcing bar within the tied area where the movement path from the current position is the shortest.

[0022] According to the above configuration, in the return process, the reinforcing bar tying robot moves with the tied area, which is more robust than the untied area, as a foothold. Therefore, the reinforcing bar tying robot can be moved to the position of the end of the reinforcing bar more safely.

[0023] In one or more embodiments, the rebar tying robot may be configured to alternately repeat, in the rebar tying operation, an operation of moving over the plurality of primary rebars and the plurality of secondary rebars in the direction in which the plurality of primary rebars extend, and an operation of tying the intersections where the plurality of primary rebars and the plurality of secondary rebars cross. The specific position may include the position of the rebar end where the moving path from the current position is the shortest among the rebar ends located in the front-rear direction as viewed from the current position.

[0024] In a rebar tying robot that alternately repeats an operation of moving over the plurality of primary rebars and the plurality of secondary rebars in the direction in which the plurality of primary rebars extend, and an operation of tying the intersections where the plurality of primary rebars and the plurality of secondary rebars cross, the movement in the front-rear direction can often be performed more stably than the movement in the left-right direction. According to the above configuration, the frequency of driving the lateral movement mechanism of the rebar tying robot can be minimized. Therefore, the rebar tying robot can be moved to the position of the rebar end more safely.

[0025] In one or more embodiments, the rebar tying robot may be configured to alternately repeat, in the rebar tying operation, an operation of moving over the plurality of primary rebars and the plurality of secondary rebars in the direction in which the plurality of primary rebars extend, and an operation of tying the intersections where the plurality of primary rebars and the plurality of secondary rebars cross. The position information detection mechanism may further detect the tied regions and the untied regions in the plurality of primary rebars and the plurality of secondary rebars. The specific position may include the position of the rebar end that is located in the front-rear direction as viewed from the current position and is within the tied region, and where the moving path from the current position is the shortest.

[0026] In a rebar tying robot that alternately repeats an operation of moving over a plurality of primary rebars and a plurality of secondary rebars in a direction in which the plurality of primary rebars extend, and an operation of tying intersections of the plurality of primary rebars and the plurality of secondary rebars, the movement in the front-rear direction can often be performed more stably than the movement in the left-right direction. According to the above configuration, the frequency of driving the lateral movement mechanism of the rebar tying robot can be minimized. Further, in the feedback process, the rebar tying robot moves using the tied area, which is more robust than the un-tied area, as a scaffold. Therefore, the rebar tying robot can be moved to the position of the rebar end more safely.

[0027] In one or more embodiments, the control unit may be configured to be capable of executing a specific position determination process of calculating a cost when the rebar tying robot moves from the current position to at least one candidate position that is a candidate for the specific position, and determining the specific position from among the at least one candidate position based on the calculated cost of the candidate position. The control unit may be configured to drive at least one of the vertical movement mechanism or the lateral movement mechanism so that the rebar tying robot moves from the current position to the specific position in the feedback process.

[0028] According to the above configuration, the control unit can determine the specific position based on the cost calculation even when there are a plurality of positions that are candidates for the specific position. In this specification, the "cost" is an arbitrarily set numerical value with respect to various elements associated with the movement of the rebar tying robot. For example, the cost is a numerical value set according to the risk associated with the movement of the rebar tying robot. Among other things, the cost is a numerical value set according to the power consumption associated with the movement of the rebar tying robot.

[0029] In one or more embodiments, the control unit may determine the candidate position with the lowest cost among the at least one candidate position as the specific position.

[0030] According to the above configuration, even when there are multiple candidate positions for the specific position, the control unit can determine the position with the lowest cost as the specific position.

[0031] In one or more embodiments, for each of at least one candidate movement path that is a candidate for the movement path from the current position to the candidate position, the control unit calculates the cost when the rebar tying robot moves from the current position to the candidate position, and calculates the cost of the candidate position based on the calculated cost of the candidate movement path.

[0032] According to the above configuration, the control unit can calculate the cost of the position that is a candidate for the specific position based on the cost of the movement path. Therefore, the control unit can determine the specific position considering the movement path.

[0033] In one or more embodiments, the control unit may calculate the cost of the candidate movement path with the lowest cost among the at least one candidate movement path as the cost of the candidate position.

[0034] According to the above configuration, the control unit can determine the position with the lowest cost of the movement path from the current position of the rebar tying robot as the specific position. Therefore, the rebar tying robot can be moved to the specific position at the minimum cost.

[0035] In one or more embodiments, in the specific position determination process, the at least one candidate position may be selected from the positions of a plurality of rebar ends.

[0036] According to the above configuration, the control unit can determine, by cost calculation, the position of the rebar end with the lowest cost of the movement path from the current position of the rebar tying robot among the positions of a plurality of rebar ends as the specific position. Therefore, the rebar tying robot can be moved to the position of the rebar end at the minimum cost.

[0037] In one or more embodiments, the control unit may be configured to calculate, for at least one candidate movement path that is a candidate for a movement path from the current position to the specific position, a cost when the rebar tying robot moves from the current position to the specific position, and based on the calculated cost of the candidate movement path, execute a specific movement path determination process for determining a specific movement path from among the at least one candidate movement path. In the feedback process, the control unit may be configured to drive at least one of the vertical movement mechanism or the horizontal movement mechanism so that the rebar tying robot moves from the current position to the specific position along the specific movement path.

[0038] According to the above configuration, even when there are a plurality of candidate paths for the movement path, the control unit can determine the movement path based on cost calculation.

[0039] In one or more embodiments, the control unit may determine the candidate movement path with the lowest cost among the at least one candidate movement path as the specific movement path.

[0040] According to the above configuration, even when there are a plurality of candidate paths for the movement path, the path with the lowest cost can be determined as the movement path. Therefore, the rebar tying robot can be moved to the specific position at the lowest possible cost.

[0041] In one or more embodiments, the position information detection mechanism may further detect a tied area and an untied area in the plurality of primary rebars and the plurality of secondary rebars. The control unit may set the cost when the rebar tying robot moves in the untied area to be higher than the cost when the rebar tying robot moves in the tied area.

[0042] According to the above configuration, the control unit can perform cost calculation assuming that the risk of moving in the unbonded area is greater than the risk of moving in the bonded area. Thereby, it becomes possible to perform cost calculation considering the robustness of the movement path with respect to the risk of movement from the current position of the rebar tying robot.

[0043] In one or more embodiments, the rebar tying robot may be configured to alternately repeat an operation of moving over the plurality of primary rebars and the plurality of secondary rebars in a direction in which the plurality of primary rebars extend in the rebar tying operation, and an operation of tying portions where the plurality of primary rebars and the plurality of secondary rebars intersect. The control unit may set a higher cost for the case where the rebar tying robot moves in the left-right direction than the cost for the case where the rebar tying robot moves in the front-rear direction.

[0044] According to the above configuration, the control unit can perform cost calculation assuming that the risk of moving in the left-right direction is greater than the risk of moving in the front-rear direction. Thereby, it becomes possible to perform cost calculation considering the stability of the moving means with respect to the risk of movement from the current position of the rebar tying robot.

[0045] (Example 1) As shown in FIG. 1, the reinforcing bar tying robot 100 of this embodiment includes a reinforcing bar tying machine 2, a power supply unit 102, an operation unit 104, and a conveying unit 106. The reinforcing bar tying robot 100 is a robot that moves over a plurality of primary reinforcing bars R1 arranged parallel to each other along the horizontal direction and secondary reinforcing bars R2 arranged parallel to each other along the horizontal direction, and ties the intersection points where the primary reinforcing bars R1 and the secondary reinforcing bars R2 intersect using the reinforcing bar tying machine 2. When the primary reinforcing bars R1 and the secondary reinforcing bars R2 are viewed from above, the direction in which the secondary reinforcing bars R2 extend is orthogonal to the direction in which the primary reinforcing bars R1 extend. Also, the secondary reinforcing bars R2 are arranged above the primary reinforcing bars R1. The primary reinforcing bars R1 are arranged at intervals of, for example, 100 mm - 300 mm, and the secondary reinforcing bars R2 are arranged at intervals of, for example, 100 mm - 300 mm. The reinforcing bar tying robot 100 has dimensions in the front-rear direction of about 900 mm, for example, and dimensions in the left-right direction of about 600 mm, for example.

[0046] (Configuration of the reinforcing bar tying machine 2) Hereinafter, with reference to FIGS. 2 to 5, the configuration of the reinforcing bar tying machine 2 will be described. It should be noted that the front-rear direction, left-right direction, and up-down direction in the description of FIGS. 2 to 5 do not mean the front-rear direction, left-right direction, and up-down direction based on the reinforcing bar tying robot 100, but the front-rear direction, left-right direction, and up-down direction based on the reinforcing bar tying machine 2.

[0047] As shown in Fig. 2, the steel bar tying machine 2 is a power tool for tying intersecting steel bars R (for example, primary steel bars R1 and secondary steel bars R2) with a wire W. The steel bar tying machine 2 can be removed from the steel bar tying robot 100 and used by the user holding it by hand, or it can be attached to the steel bar tying robot 100 for use. The steel bar tying machine 2 includes a housing 3. The housing 3 includes a main body portion 4, a gripping portion 6 provided at the lower part of the main body portion 4, and a battery mounting portion 8 provided at the lower part of the gripping portion 6. As shown in Fig. 2, a battery pack B can be attached to the lower part of the battery mounting portion 8, or as shown in Fig. 1, a battery adapter 108 can be attached. The battery pack B incorporates a secondary battery cell (not shown) such as a lithium-ion battery cell, etc., and can be charged by a charger (not shown). The main body portion 4, the gripping portion 6, and the battery mounting portion 8 are integrally formed.

[0048] As shown in Fig. 3, a reel 10 around which the wire W is wound is detachably accommodated at the upper rear part of the main body portion 4. As shown in Fig. 2, the housing 3 includes a reel cover 5 shaped to cover the upper part of the reel 10. The reel cover 5 is rotatably held by cover holding portions 7 provided at the left rear part and the right rear part of the main body portion 4. The reel cover 5 opens and closes by rotating with respect to the main body portion 4.

[0049] As shown in Figs. 3 - 5, the steel bar tying machine 2 includes a feeding mechanism 12, a guiding mechanism 14, a braking mechanism 16, a cutting mechanism 18, a twisting mechanism 20, and a control device 80.

[0050] As shown in FIG. 3, the feeding mechanism 12 feeds the wire W supplied from the reel 10 to the guiding mechanism 14 in front of the main body 4. The feeding mechanism 12 includes a feeding motor 22, a driving roller 24, and a driven roller 26. The wire W is clamped between the driving roller 24 and the driven roller 26. The feeding motor 22 is, for example, a DC motor with brushes. The operation of the feeding motor 22 is controlled by the control device 80. The feeding motor 22 rotates the driving roller 24. When the feeding motor 22 rotates the driving roller 24, the driven roller 26 rotates in the reverse direction, and the wire W clamped by the driving roller 24 and the driven roller 26 is fed out to the guiding mechanism 14, and the wire W is pulled out from the reel 10.

[0051] As shown in FIG. 4, the guiding mechanism 14 guides the wire W sent from the feeding mechanism 12 in an annular shape around the reinforcing bar R. The guiding mechanism 14 includes a guiding pipe 28, an upper curling guide 30, and a lower curling guide 32. The rear end of the guiding pipe 28 is open toward the space between the driving roller 24 and the driven roller 26. The wire W sent from the feeding mechanism 12 is fed into the guiding pipe 28. The front end of the guiding pipe 28 is open toward the inside of the upper curling guide 30. The upper curling guide 30 is provided with a first guiding passage 34 for guiding the wire W sent from the guiding pipe 28 and a second guiding passage (not shown) for guiding the wire W sent from the lower curling guide 32.

[0052] As shown in FIG. 4, the first guiding passage 34 is provided with a plurality of guiding pins 38 for guiding the wire W so as to give the wire W a downward curl and a cutter 40 that forms a part of the cutting mechanism 18 described later. The wire W sent from the guiding pipe 28 is guided by the guiding pins 38 in the first guiding passage 34, passes through the cutter 40, and is sent out from the front end of the upper curling guide 30 toward the lower curling guide 32.

[0053] As shown in Fig. 5, a return plate 42 is provided on the lower curl guide 32. The return plate 42 guides the wire W sent from the front end of the upper curl guide 30 and returns it toward the rear end of the second guide passage of the upper curl guide 30.

[0054] The second guide passage of the upper curl guide 30 is arranged adjacent to the first guide passage 34. The second guide passage guides the wire W sent from the lower curl guide 32 and sends it out from the front end of the upper curl guide 30 toward the lower curl guide 32.

[0055] By the upper curl guide 30 and the lower curl guide 32, the wire W sent from the feeding mechanism 12 is wound annularly around the steel bar R. The number of turns of the wire W around the steel bar R can be preset by the user. When the feeding mechanism 12 sends out the wire W with a feeding amount corresponding to the set number of turns, it stops the feeding motor 22 to stop the feeding of the wire W.

[0056] The braking mechanism 16 shown in Fig. 3 stops the rotation of the reel 10 in conjunction with the feed mechanism 12 stopping the feeding of the wire W. The braking mechanism 16 includes a solenoid 46, a link 48, and a brake arm 50. The operation of the solenoid 46 is controlled by a control device 80. On the reel 10, engaging portions 10a with which the brake arm 50 engages are formed at predetermined angular intervals in the radial direction. In a state where the solenoid 46 is not energized, the brake arm 50 is separated from the engaging portion 10a of the reel 10. In a state where the solenoid 46 is energized, the brake arm 50 is driven via the link 48, and the brake arm 50 engages with the engaging portion 10a of the reel 10. When the feed mechanism 12 feeds the wire W, the control device 80 does not energize the solenoid 46 and separates the brake arm 50 from the engaging portion 10a of the reel 10. Thereby, the reel 10 can rotate freely, and the feed mechanism 12 can pull out the wire W from the reel 10. Further, when the feed mechanism 12 stops feeding the wire W, the control device 80 energizes the solenoid 46 to engage the brake arm 50 with the engaging portion 10a of the reel 10. Thereby, the rotation of the reel 10 is prohibited. This can prevent the wire W from becoming slack between the reel 10 and the feed mechanism 12 even after the feed mechanism 12 stops feeding the wire W due to inertia of the reel 10 continuing to rotate.

[0057] The cutting mechanism 18 shown in Figs. 4 and 5 cuts the wire W in a state where the wire W is wound around the reinforcing bar R. The cutting mechanism 18 includes a cutter 40 and a link 52. The link 52 rotates the cutter 40 in conjunction with a twisting mechanism 20 described later. When the cutter 40 rotates, the wire W passing through the inside of the cutter 40 is cut.

[0058] The twisting mechanism 20 shown in Fig. 5 binds the reinforcing bar R with the wire W by twisting the wire W wound around the reinforcing bar R. The twisting mechanism 20 includes a twisting motor 54, a speed reduction mechanism 56, a screw shaft 58 (see Fig. 4), a sleeve 60, a push plate 61, and a pair of hooks 62.

[0059] The twisting motor 54 is, for example, a DC brushless motor. The operation of the twisting motor 54 is controlled by the control device 80. The rotation of the twisting motor 54 is transmitted to the screw shaft 58 via the speed reduction mechanism 56. The twisting motor 54 can rotate in the forward and reverse directions, and accordingly, the screw shaft 58 can also rotate in the forward and reverse directions. The sleeve 60 is arranged to cover the periphery of the screw shaft 58. When the rotation of the sleeve 60 is prohibited, when the screw shaft 58 rotates in the forward direction, the sleeve 60 moves forward, and when the screw shaft 58 rotates in the reverse direction, the sleeve 60 moves backward. The push plate 61 moves forward and backward integrally with the sleeve 60 in accordance with the forward and backward movement of the sleeve 60. Also, when the rotation of the sleeve 60 is permitted and the screw shaft 58 rotates, the sleeve 60 rotates together with the screw shaft 58.

[0060] When the sleeve 60 advances from the initial position to a predetermined position, the push plate 61 drives the link 52 of the cutting mechanism 18 to rotate the cutter 40. The pair of hooks 62 are provided at the front end of the sleeve 60 and open and close according to the position of the sleeve 60 in the front-rear direction. When the sleeve 60 moves forward, the pair of hooks 62 close to grip the wire W. Then, when the sleeve 60 moves backward, the pair of hooks 62 open to release the wire W.

[0061] The control device 80 rotates the twisting motor 54 with the wire W wound around the reinforcing bar R. At this time, the rotation of the sleeve 60 is prohibited, and as the screw shaft 58 rotates, the sleeve 60 advances, and the push plate 61 and the pair of hooks 62 advance, and the pair of hooks 62 close to grip the wire W. Then, when the rotation of the sleeve 60 is permitted, as the screw shaft 58 rotates, the sleeve 60 rotates and the pair of hooks 62 rotate. As a result, the wire W is twisted and the reinforcing bar R is bundled.

[0062] When the twisting of the wire W is completed, the control device 80 rotates the twisting motor 54 in the reverse direction. At this time, the rotation of the sleeve 60 is prohibited. After the pair of hooks 62 are opened and the wire W is released, the sleeve 60 retreats due to the rotation of the screw shaft 58, and the push plate 61 and the pair of hooks 62 also retreat. When the sleeve 60 retreats, the push plate 61 drives the link 52 of the cutting mechanism 18 to return the cutter 40 to its initial position. Then, when the sleeve 60 retreats to the initial position, the rotation of the sleeve 60 is permitted, and the sleeve 60 and the pair of hooks 62 rotate by the rotation of the screw shaft 58 to return to the initial angle.

[0063] The control device 80 can identify the remaining amount of the wire W wound around the reel 10 (see FIG. 3) and detect abnormalities in the steel bar tying machine 2. The remaining amount of the wire W wound around the reel 10 can be identified, for example, by subtracting the cumulative amount of the wire W fed out by the feeding mechanism 12 from the remaining amount of the wire W wound around the unused reel 10. The amount of the wire W fed out by the feeding mechanism 12 can be calculated, for example, based on the detection signal of a rotation speed sensor (not shown) that detects the rotation speed of the feeding motor 22 or the driving roller 24. Further, the control device 80 is configured to be communicable with the control unit 126 of the steel bar tying robot 100 described later. When a situation occurs in which the steel bar tying operation cannot be continued in the steel bar tying machine 2, a signal can be transmitted to the control unit 126 of the steel bar tying robot 100. The situation in which the steel bar tying operation cannot be continued is, for example, when the remaining amount of the wire W wound around the reel 10 becomes equal to or less than a predetermined lower limit value or when an abnormality in the steel bar tying machine 2 is detected.

[0064] As shown in FIG. 2, a first operation unit 64 is provided on the upper part of the main body 4. The first operation unit 64 is provided with a main switch 74 for switching on / off the main power supply, a main power supply LED 76 for displaying the on / off state of the main power supply, and the like. The first operation unit 64 is connected to the control device 80.

[0065] On the front upper surface of the battery attachment portion 8, a second operation portion 90 is provided. The user can set, via the second operation portion 90, the number of turns of the wire W around the reinforcing bar R, the torque threshold value when twisting the wire W, and the like. The second operation portion 90 is provided with a setting switch 98 for setting the number of turns of the wire W around the reinforcing bar R and the torque threshold value when twisting the wire W, a display LED 96 for displaying the current setting content, and the like. The second operation portion 90 is connected to the control device 80.

[0066] As shown in FIGS. 2 to 5, when the reinforcing bar tying machine 2 is removed from the reinforcing bar tying robot 100, the user uses the reinforcing bar tying machine 2 while gripping the gripping portion 6. At the front upper portion of the gripping portion 6, a trigger 84 that can be pulled by the user is provided. As shown in FIG. 5, inside the gripping portion 6, a trigger switch 86 for detecting the on / off of the trigger 84 is provided. The trigger switch 86 is connected to the control device 80. When the user pulls the trigger 84 and the trigger switch 86 is turned on, the reinforcing bar tying machine 2 winds the wire W around the reinforcing bar R by the feeding mechanism 12, the guiding mechanism 14, and the braking mechanism 16, and at the same time, the cutting mechanism 18 and the twisting mechanism 20 cut the wire W and twist the wire W wound around the reinforcing bar R, performing a series of operations.

[0067] (Configuration of the power supply unit 102) As shown in FIG. 1, the power supply unit 102 is held by the transport unit 106. The power supply unit 102 includes a housing 110 and a cover 112. The housing 110 houses a control unit 126. The control unit 126 controls the operations of the power supply unit 102, the operation unit 104, and the transport unit 106. In addition, the control unit 126 can also detect abnormalities in the power supply unit 102, the operation unit 104, and the transport unit 106. Furthermore, the control unit 126 is configured to be communicable with the control device 80 (see FIG. 5) of the reinforcing bar tying machine 2 and an external controller (not shown), and signals can be transmitted and received between the control device 80 and the external controller.

[0068] An external controller (not shown) may be a controller dedicated to the reinforcing bar binding robot 100, or may be a general-purpose communication terminal such as a smartphone or a tablet terminal. When the reinforcing bar binding robot 100 is performing a reinforcing bar binding operation, the external controller can transmit a command signal to the control unit 126 to interrupt the reinforcing bar binding operation. In the feedback process (see FIG. 24) executed after the interruption of the reinforcing bar binding operation, the external controller can also transmit a command signal to the control unit 126 to specify the position to which the reinforcing bar binding robot 100 returns. For example, the user can specify an arbitrary small area D on the grid map GM (see FIG. 19) described later as the position to which the reinforcing bar binding robot 100 returns.

[0069] As shown in FIG. 6, a battery accommodation chamber 110a is formed in the housing 110. A plurality of battery attachment portions 114 are provided in the battery accommodation chamber 110a. Each of the plurality of battery attachment portions 114 is detachable from each of the plurality of battery packs B. The cover 112 is attached to the housing 110 via a hinge 115 provided at the rear of the housing 110 near the upper end of the battery accommodation chamber 110a. The cover 112 is rotatable about a rotation axis extending in the left-right direction with respect to the housing 110. As shown in FIG. 6, when the cover 112 is opened with respect to the housing 110, each of the plurality of battery packs B can be attached to and detached from the plurality of battery attachment portions 114 by sliding in the vertical direction. As shown in FIG. 1, when the cover 112 is closed with respect to the housing 110, the plurality of battery packs B attached to the plurality of battery attachment portions 114 are surrounded by the housing 110 and the cover 112. In this state, even when water is splashed on the power supply unit 102, it is possible to suppress water from splashing on the plurality of battery packs B inside the battery accommodation chamber 110a.

[0070] The cover 112 is biased in a closing direction with respect to the housing 110 by a torsion spring (not shown). The cover 112 is provided with a latch member 116 that can be operated by the user. As shown in FIG. 6, a latch receiver 110b is formed in the housing 110 corresponding to the latch member 116. When the user rotates the latch member 116 with the cover 112 in a closed state, the latch member 116 engages with the latch receiver 110b, and thus the cover 112 is maintained in a closed state with respect to the housing 110. From this state, when the user rotates the latch member 116 in the reverse direction, the engagement between the latch member 116 and the latch receiver 110b is released, and the user can open the cover 112 with respect to the housing 110.

[0071] On the upper surface of the housing 110 in front of the battery accommodation chamber 110a, a plurality of remaining amount display indicators 118, a remaining amount display button 120, and an operation execution button 122 are provided. Each of the plurality of remaining amount display indicators 118 is arranged corresponding to each of the plurality of battery attachment portions 114, and displays the remaining battery amount of the battery pack B attached to the corresponding battery attachment portion 114. The remaining amount display button 120 is a button for the user to switch the on / off of the display of the remaining battery amount by the plurality of remaining amount display indicators 118. The operation execution button 122 is a button for the user to switch the execution and stop of the operation of the rebar tying robot 100.

[0072] A power supply cable 124 is connected to the upper surface of the housing 110 in front of the battery accommodation chamber 110a. A battery adapter 108 is connected to the power supply cable 124. When the battery adapter 108 is attached to the rebar tying machine 2, power from the plurality of battery packs B is supplied to the rebar tying machine 2.

[0073] The battery storage chamber 110a is provided with a key attachment part 119 to which the key 117 can be attached and detached. The key 117 can be attached and detached by inserting and removing it with respect to the key attachment part 119. When the key 117 is removed from the key attachment part 119, the power supply from the plurality of battery packs B to the steel bar bundling machine 2, the operation unit 104, and the conveyance unit 106 is cut off. When the key 117 is attached to the key attachment part 119, the power supply from the plurality of battery packs B to the steel bar bundling machine 2, the operation unit 104, and the conveyance unit 106 is permitted.

[0074] (Configuration of the operation unit 104) As shown in FIGS. 7 and 8, the operation unit 104 includes a lifting mechanism 130 and a gripping mechanism 132.

[0075] As shown in FIG. 7, the elevating mechanism 130 includes a lower base member 134, an upper base member 136, support pipes 138 and 140, an elevating platform 142, a screw shaft 144, a motor connecting portion 146, an elevating motor 148, a sensor support member 150, an upper limit detection sensor 152, and a lower limit detection sensor 154. The lower base member 134 is held by the conveying unit 106. The lower ends of the support pipes 138 and 140 are fixed to the lower base member 134. The upper ends of the support pipes 138 and 140 are fixed to the upper base member 136. The support pipes 138 and 140 are arranged parallel to each other. The support pipes 138 and 140 are arranged inclined in the front-rear direction and the left-right direction with respect to the vertical direction of the reinforcing bar bundling robot 100. Hereinafter, the direction in which the support pipes 138 and 140 extend is also referred to as the elevating direction. Through holes 142a and 142b through which the support pipes 138 and 140 penetrate are formed in the elevating platform 142. Holding members 156 and 158 for slidably holding the support pipes 138 and 140 are fixed to the through holes 142a and 142b. The holding members 156 and 158 may be, for example, linear bushings embedded with solid lubricants, linear ball bearings, or oil-less bearings. The elevating platform 142 is arranged between the lower base member 134 and the upper base member 136 in a state of slidably penetrating through the interiors of the corresponding holding members 156 and 158 of the support pipes 138 and 140. The screw shaft 144 is arranged between the support pipes 138 and 140. The lower end of the screw shaft 144 is rotatably held by the lower base member 134. The vicinity of the upper end of the screw shaft 144 is rotatably held by the upper base member 136. The screw shaft 144 is arranged parallel to the support pipes 138 and 140. A male screw is formed on the outer surface of the portion of the screw shaft 144 between the lower base member 134 and the upper base member 136. A through hole 142c through which the screw shaft 144 penetrates is formed in the elevating platform 142. A nut 160 is fixed to the through hole 142c. A female screw corresponding to the male screw of the screw shaft 144 is formed on the nut 160.The screw shaft 144 passes through the lifting table 142 with the male screw screwed into the female screw of the nut 160. The upper end of the screw shaft 144 is connected to the lifting motor 148 via the motor connection part 146. The lifting motor 148 is, for example, a DC motor with brushes. When the lifting motor 148 rotates in the forward direction, the rotation of the screw shaft 144 causes the lifting table 142 to descend from the upper base member 136 toward the lower base member 134. Conversely, when the lifting motor 148 rotates in the reverse direction, the rotation of the screw shaft 144 causes the lifting table 142 to ascend from the lower base member 134 toward the upper base member 136. The sensor support member 150 has its lower end fixed to the lower base member 134 and its upper end fixed to the upper base member 136. The upper limit detection sensor 152 and the lower limit detection sensor 154 are respectively fixed to the sensor support member 150. The upper limit detection sensor 152 is off under normal conditions and turns on when it abuts against the lifting table 142 when the lifting table 142 ascends to the upper limit position. The lower limit detection sensor 154 is off under normal conditions and turns on when it abuts against the lifting table 142 when the lifting table 142 descends to the lower limit position. When the control unit 126 of the steel bar bundling robot 100 lowers the steel bar bundling machine 2, it rotates the lifting motor 148 in the forward direction and stops the lifting motor 148 when the lower limit detection sensor 154 turns on. Note that when the control unit 126 lowers the steel bar bundling machine 2, if the steel bar bundling machine 2 collides with the primary steel bar R1, the secondary steel bar R2 or other obstacles, causing the load of the lifting motor 148 to increase suddenly, the control unit 126 also stops the lifting motor 148. The load of the lifting motor 148 can be specified, for example, from the current value of the lifting motor 148. Also, when the control unit 126 raises the steel bar bundling machine 2, it rotates the lifting motor 148 in the reverse direction and stops the lifting motor 148 when the upper limit detection sensor 152 turns on.

[0076] As shown in FIGS. 9 and 10, in the reinforcing bar bundling robot 100 of the present embodiment, when the bundling machine 2 is lowered, the primary reinforcing bar R1 and the secondary reinforcing bar R2 approach the bundling machine 2 from the side of the lower curl guide 32 instead of the side of the upper curl guide 30. Therefore, when the bundling machine 2 is lowered, it is possible to prevent the primary reinforcing bar R1 and the secondary reinforcing bar R2 from colliding with the upper curl guide 30. Further, in the reinforcing bar bundling robot 100 of the present embodiment, when the bundling machine 2 is raised, the primary reinforcing bar R1 and the secondary reinforcing bar R2 move away from the side of the lower curl guide 32 instead of the side of the upper curl guide 30. Therefore, when the bundling machine 2 is raised, it is possible to prevent the primary reinforcing bar R1 and the secondary reinforcing bar R2 from being caught by the upper curl guide 30.

[0077] As shown in FIG. 8, the gripping mechanism 132 includes a first support plate 162, a second support plate 164, connecting shafts 166, 168, a rotation pin 170, a torsion spring 172, a support pin 174, a link 176, a plunger 178, an actuator 180, and a torsion spring 182. The first support plate 162 is disposed to face one outer surface (for example, the right outer surface as viewed from the bundling machine 2) of the gripping portion 6 of the bundling machine 2. The second support plate 164 is disposed to face the other outer surface (for example, the left outer surface as viewed from the bundling machine 2) of the gripping portion 6 of the bundling machine 2. The first support plate 162 and the second support plate 164 are fixed to each other via the connecting shafts 166, 168 while sandwiching the gripping portion 6 of the bundling machine 2. On the surface of the first support plate 162 facing the gripping portion 6 and on the surface of the second support plate 164 facing the gripping portion 6, a plurality of protrusions (not shown) that fit into a plurality of recesses 6a (see FIG. 2) formed on the outer surface of the gripping portion 6 of the bundling machine 2 are formed, respectively. Therefore, the position of the gripping portion 6 of the bundling machine 2 is fixed with respect to the first support plate 162 and the second support plate 164.

[0078] The first support plate 162 is connected to the lifting platform 142 of the lifting mechanism 130 via a rotating pin 170. One end of the rotating pin 170 is fixed to the lifting platform 142. The other end of the rotating pin 170 is rotatably held by the first support plate 162. Therefore, the rebar tying machine 2 held by the first support plate 162 and the second support plate 164 moves up and down in accordance with the movement of the lifting platform 142 and is rotatable around the rotating pin 170 with respect to the lifting platform 142. The support pin 174 is fixed to the lifting platform 142 and extends from the lifting platform 142 toward the first support plate 162. A long hole 162a into which the support pin 174 is inserted and a protruding portion 162b protruding toward the lifting platform 142 are formed in the first support plate 162. The long hole 162a defines the rotation range when the rebar tying machine 2 rotates around the rotating pin 170. The torsion spring 172 is disposed outside the rotating pin 170 and biases the protruding portion 162b in a direction away from the support pin 174 (that is, biases the first support plate 162 with respect to the lifting platform 142). If the rebar tying machine 2 is configured to be non-rotatable with respect to the lifting platform 142, when an obstacle collides with the rebar tying machine 2, a large impact acts on the operation unit 104. As described above, by configuring the rebar tying machine 2 to be rotatable with respect to the lifting platform 142, even when the rebar tying machine 2 collides with an obstacle, it is possible to suppress a large impact from acting on the operation unit 104.

[0079] Link 176 is held by the second support plate 164. Link 176 is rotatable about a rotation axis along the left - right direction with respect to the second support plate 164. Link 176 includes a pressing portion 176a and an operating portion 176b. The pressing portion 176a is disposed to face the trigger 84 of the rebar tying machine 2. The operating portion 176b is connected to the actuator 180 via the plunger 178. The actuator 180 is, for example, a solenoid. The operation of the actuator 180 is controlled by the control unit 126 of the rebar tying robot 100. The torsion spring 182 biases the link 176 with respect to the second support plate 164 in a direction in which the pressing portion 176a moves away from the trigger 84. When the actuator 180 is off, the pressing portion 176a is separated from the trigger 84 by the biasing force of the torsion spring 182. When the actuator 180 is turned on, the link 176 rotates in a direction in which the operating portion 176b approaches the actuator 180, so that the pressing portion 176a presses the trigger 84. Thereby, a pulling operation on the trigger 84 of the rebar tying machine 2 is performed.

[0080] (Configuration of the conveying unit 106) As shown in FIG. 11, the conveying unit 106 includes a vehicle body 190, a right crawler 192, a left crawler 194, a side - stepper 196, and rebar detection sensors 198, 200, 202.

[0081] The vehicle body 190 includes a base plate 204, a right frame 206, a left frame 208, a right plate 210, a left plate 212, a front frame 214, and a rear frame 216. The base plate 204 is arranged along the front-rear direction and the left-right direction. As shown in FIG. 1, the power unit 102 is held by the conveyance unit 106 by fixing the housing 110 to the upper surface of the base plate 204. A through hole 204a is formed in the base plate 204. As shown in FIG. 11, the operation unit 104 is held by the conveyance unit 106 by fixing the lower base member 134 to the edge of the through hole 204a. When the operation unit 104 raises and lowers the steel bar tying machine 2, the steel bar tying machine 2 passes through the through hole 204a.

[0082] The right frame 206 and the left frame 208 are fixed to the lower surface of the base plate 204. The right frame 206 extends in the front-rear direction at the right end of the base plate 204. The left frame 208 extends in the front-rear direction at the left end of the base plate 204. In the front-rear direction, the front end of the right frame 206 and the front end of the left frame 208 are at the same position as the front end of the base plate 204, and the rear end of the right frame 206 and the rear end of the left frame 208 are at the same position as the rear end of the base plate 204. The right plate 210 is fixed to the right surface of the right frame 206. The right plate 210 is arranged along the front-rear direction and the up-down direction. The left plate 212 is fixed to the left surface of the left frame 208. The left plate 212 is arranged along the front-rear direction and the up-down direction. In the up-down direction, the upper end of the right plate 210 and the upper end of the left plate 212 are at the same position as the upper surface of the base plate 204. In the front-rear direction, the front end of the right plate 210 and the front end of the left plate 212 protrude forward from the front end of the base plate 204, and the rear end of the right plate 210 and the rear end of the left plate 212 protrude rearward from the rear end of the base plate 204. The front frame 214 connects the vicinity of the front end of the right plate 210 and the vicinity of the front end of the left plate 212 in front of the front end of the base plate 204. The rear frame 216 connects the vicinity of the rear end of the right plate 210 and the vicinity of the rear end of the left plate 212 behind the rear end of the base plate 204. The front frame 214 and the rear frame 216 extend in the left-right direction. In the up-down direction, the front frame 214 and the rear frame 216 are arranged below the right frame 206 and the left frame 208.

[0083] The right crawler 192 includes a front pulley 218, a rear pulley 220, a plurality of auxiliary pulleys 222, a tensioner pulley 224, a rubber belt 226, a right crawler motor 228, and a gearbox 230. Tooth profiles that mesh with the rubber belt 226 are formed on the outer surfaces of the front pulley 218, the outer surface of the rear pulley 220, and the outer surfaces of the plurality of auxiliary pulleys 222, respectively. The rubber belt 226 is looped around the front pulley 218, the rear pulley 220, the plurality of auxiliary pulleys 222, and the tensioner pulley 224. The front pulley 218 is rotatably supported by the right plate 210 via a bearing 232 near the front end of the right plate 210. The rear pulley 220 is rotatably supported by the right plate 210 via a bearing 234 near the rear end of the right plate 210. The plurality of auxiliary pulleys 222 are rotatably supported by the right plate 210 via corresponding bearings 236 between the front pulley 218 and the rear pulley 220. The plurality of auxiliary pulleys 222 are arranged side by side in the front-rear direction. The outer diameter of the front pulley 218 and the outer diameter of the rear pulley 220 are substantially the same, and the outer diameters of the plurality of auxiliary pulleys 222 are smaller than the outer diameters of the front pulley 218 and the rear pulley 220. In the vertical direction, the lower ends of the front pulley 218, the lower end of the rear pulley 220, and the lower ends of the plurality of auxiliary pulleys 222 are at substantially the same position.

[0084] As shown in FIG. 12, the tension pulley 224 is rotatably supported by a movable bearing 237. The movable bearing 237 is supported by the right plate 210 so as to be movable in the vertical direction. In the vicinity of the movable bearing 237, the base plate 204 and the right frame 206 are notched so as not to interfere with the movable bearing 237. Below the movable bearing 237, an adjustment bolt 238, a nut 240, and a bolt support member 242 are provided. The bolt support member 242 is fixed to the right plate 210. A through hole 242a through which the shaft portion 238a of the adjustment bolt 238 passes is formed in the bolt support member 242. An internal thread corresponding to the external thread of the shaft portion 238a is formed on the inner surface of the through hole 242a. The nut 240 is disposed below the bolt support member 242. The head 238b of the adjustment bolt 238 is disposed below the nut 240, and the shaft portion 238a of the adjustment bolt 238 is screwed into the nut 240 and also screwed into the through hole 242a of the bolt support member 242. For this reason, the vertical position of the adjustment bolt 238 is fixed in the manner of a so-called double nut. The upper end of the shaft portion 238a of the adjustment bolt 238 abuts against the lower surface of the movable bearing 237. By adjusting the vertical position of the adjustment bolt 238 in a state where the rubber belt 226 is wound around the tension pulley 224, the vertical position of the movable bearing 237 with respect to the right plate 210 can be adjusted. Thereby, the tension of the rubber belt 226 can be adjusted.

[0085] As shown in FIG. 11, the right crawler motor 228 is supported by the right plate 210 via the bearing 232 and the gearbox 230. The right crawler motor 228 is, for example, a DC brushless motor. The right crawler motor 228 is connected to the front pulley 218 via a reduction gear (not shown) built into the gearbox 230. When the right crawler motor 228 rotates in the forward or reverse direction, the front pulley 218 rotates in the forward or reverse direction, whereby the rubber belt 226 rotates in the forward or reverse direction outside the front pulley 218, the rear pulley 220, the plurality of auxiliary pulleys 222, and the tensioner pulley 224.

[0086] The left crawler 194 includes a front pulley 244, a rear pulley 246, a plurality of auxiliary pulleys 248, a tensioner pulley 250, a rubber belt 252, a left crawler motor 254, and a gearbox 256. Tooth profiles that mesh with the rubber belt 252 are formed on the outer surfaces of the front pulley 244, the outer surface of the rear pulley 246, and the outer surfaces of the plurality of auxiliary pulleys 248, respectively. The rubber belt 252 is stretched over the front pulley 244, the rear pulley 246, the plurality of auxiliary pulleys 248, and the tensioner pulley 250. The front pulley 244 is rotatably supported by the left plate 212 via a bearing 258 near the front end of the left plate 212. The rear pulley 246 is rotatably supported by the left plate 212 via a bearing 260 near the rear end of the left plate 212. The plurality of auxiliary pulleys 248 are rotatably supported by the left plate 212 via corresponding bearings 262 between the front pulley 244 and the rear pulley 246. The plurality of auxiliary pulleys 248 are arranged side by side in the front-rear direction. The outer diameter of the front pulley 244 and the outer diameter of the rear pulley 246 are substantially the same, and the outer diameter of the plurality of auxiliary pulleys 248 is smaller than the outer diameters of the front pulley 244 and the rear pulley 246. In the vertical direction, the lower ends of the front pulley 244, the lower ends of the rear pulley 246, and the lower ends of the plurality of auxiliary pulleys 248 are at substantially the same position.

[0087] As shown in FIG. 12, the tension pulley 250 is rotatably supported by a movable bearing 264. The movable bearing 264 is supported by the left plate 212 so as to be movable in the vertical direction. In the vicinity of the movable bearing 264, the base plate 204 and the left frame 208 are notched so as not to interfere with the movable bearing 264. Below the movable bearing 264, an adjustment bolt 266, a nut 268, and a bolt support member 270 are provided. The bolt support member 270 is fixed to the left plate 212. A through hole 270a through which the shaft portion 266a of the adjustment bolt 266 passes is formed in the bolt support member 270. An internal thread corresponding to the external thread of the shaft portion 266a is formed on the inner surface of the through hole 270a. The nut 268 is disposed below the bolt support member 270. The head 266b of the adjustment bolt 266 is disposed below the nut 268, and the shaft portion 266a of the adjustment bolt 266 is screwed into the nut 268 and also screwed into the through hole 270a of the bolt support member 270. For this reason, the vertical position of the adjustment bolt 266 is fixed in the manner of a so-called double nut. The upper end of the shaft portion 266a of the adjustment bolt 266 abuts against the lower surface of the movable bearing 264. By adjusting the vertical position of the adjustment bolt 266 in a state where the rubber belt 252 is wound around the tension pulley 250, the vertical position of the movable bearing 264 with respect to the left plate 212 can be adjusted. Thereby, the tension of the rubber belt 252 can be adjusted.

[0088] As shown in FIG. 11, the left crawler motor 254 is supported by the left plate 212 via the bearing 258 and the gearbox 256. The left crawler motor 254 is, for example, a DC brushless motor. The left crawler motor 254 is connected to the front pulley 244 via a reduction gear (not shown) built into the gearbox 256. When the left crawler motor 254 rotates in the forward or reverse direction, the front pulley 244 rotates in the forward or reverse direction, whereby the rubber belt 252 rotates in the forward or reverse direction outside the front pulley 244, the rear pulley 246, the plurality of auxiliary pulleys 248, and the tensioner pulley 250.

[0089] As shown in FIG. 13, the side stepper 196 includes step bars 272, 274, a front crank mechanism 276, a rear crank mechanism 277, a stepper motor 279, a gearbox 281, a worm gear case 283, and a rotation transmission shaft 285. The step bars 272, 274 are bar-shaped members having a substantially rectangular cross section and extending in the front-rear direction. As shown in FIG. 11, in the left-right direction, the step bar 272 is disposed between the center and the right end of the base plate 204, and the step bar 274 is disposed between the center and the left end of the base plate 204.

[0090] As shown in FIGS. 13 and 14, the front crank mechanism 276 includes a support plate 278, pulleys 280 and 282, a belt 284, crank arms 286 and 288, crank pins 290 and 292 (see FIG. 15), a crank plate 294, rollers 296 and 298, and a guide plate 300. The support plate 278 is fixed to the lower surface of the base plate 204 near the front end of the base plate 204. The support plate 278 is arranged along the left-right direction and the up-down direction. The pulley 280 is arranged behind the support plate 278 near the right end of the support plate 278. The pulley 282 is arranged behind the support plate 278 near the left end of the support plate 278. The pulleys 280 and 282 are each rotatably supported by the support plate 278. The diameter of the pulley 280 is substantially the same as the diameter of the pulley 282. The belt 284 is wound around the pulleys 280 and 282. Therefore, when one of the pulleys 280 and 282 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at substantially the same rotational speed.

[0091] The crank arms 286, 288, the crank pins 290, 292, the crank plate 294, the rollers 296, 298, and the guide plate 300 are arranged in front of the support plate 278. As shown in FIG. 15, the crank arms 286, 288 include fitting holes 286a, 288a into which the shafts 280a, 282a of the pulleys 280, 282 are fitted, and elongated holes 286b, 288b extending in the longitudinal direction of the crank arms 286, 288. The crank arms 286, 288 rotate integrally with the pulleys 280, 282 about the shafts 280a, 282a when the pulleys 280, 282 rotate. The crank pins 290, 292 are slidably inserted into the elongated holes 286b, 288b. The crank pins 290, 292 are fixed to the crank plate 294 in a state of passing through the crank plate 294. The crank plate 294 is arranged on the front side of the crank arms 286, 288. The crank plate 294 extends along the left-right direction and the up-down direction. The rollers 296, 298 (see FIG. 14) are attached to the crank pins 290, 292 on the front side of the crank plate 294. As shown in FIG. 14, the rollers 296, 298 are engaged with guide grooves 302, 304 formed on the rear surface of the guide plate 300. The guide plate 300 is fixed to the lower surface of the base plate 204 in front of the crank plate 294. The guide plate 300 extends along the left-right direction and the up-down direction. As shown in FIG. 15, the guide grooves 302, 304 of the guide plate 300 are formed in a substantially rectangular shape with rounded corners. The guide grooves 302, 304 define a side step track S shown by a dashed line in FIG. 15. The side step track S has a substantially rectangular shape with rounded corners, and has an upper side and a lower side along the left-right direction, and a right side and a left side along the up-down direction.

[0092] In the front crank mechanism 276, when the pulleys 280 and 282 rotate, the rotation of the crank arms 286 and 288 causes the crank pins 290 and 292 to move in the rotational directions of the crank arms 286 and 288. At this time, since the rollers 296 and 298 are engaged with the guide grooves 302 and 304, the crank pins 290 and 292 move along the side-step orbit S defined by the guide grooves 302 and 304 while sliding inside the long holes 286b and 288b. As a result, the crank plate 294 to which the crank pins 290 and 292 are fixed also moves along the side-step orbit S defined by the guide grooves 302 and 304.

[0093] As shown in FIG. 16, the rear crank mechanism 277 includes a support plate 306, pulleys 308 and 310, a belt 312, crank arms 314 and 316, crank pins 318 and 320 (see FIG. 15), a crank plate 322, rollers 324 and 326, and a guide plate 328. The support plate 306 is fixed to the lower surface of the base plate 204 near the rear end of the base plate 204. The support plate 306 is arranged along the left-right direction and the up-down direction. The pulley 308 is arranged in front of the support plate 306 near the right end of the support plate 306. The pulley 310 is arranged in front of the support plate 306 near the left end of the support plate 306. The pulleys 308 and 310 are each rotatably supported by the support plate 306. The diameter of the pulley 308 is substantially the same as the diameter of the pulley 310 and is substantially the same as the diameters of the pulleys 280 and 282 of the front crank mechanism 276. The belt 312 is wound around the pulleys 308 and 310. Therefore, when one of the pulleys 308 and 310 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at substantially the same rotational speed.

[0094] The crank arms 314, 316, the crank pins 318, 320, the crank plate 322, the rollers 324, 326, and the guide plate 328 are arranged behind the support plate 306. As shown in FIG. 15, the crank arms 314, 316 include fitting holes 314a, 316a into which the shafts 308a, 310a of the pulleys 308, 310 are fitted, and elongated holes 314b, 316b extending in the longitudinal direction of the crank arms 314, 316. The crank arms 314, 316 rotate integrally with the pulleys 308, 310 about the shafts 308a, 310a when the pulleys 308, 310 rotate. The crank pins 318, 320 are slidably inserted into the elongated holes 314b, 316b. The crank pins 318, 320 are fixed to the crank plate 322 while passing through the crank plate 322. The crank plate 322 is arranged on the rear side of the crank arms 314, 316. The crank plate 322 extends along the left-right direction and the up-down direction. The rollers 324, 326 (see FIG. 16) are attached to the crank pins 318, 320 on the rear side of the crank plate 322. As shown in FIG. 16, the rollers 324, 326 enter guide grooves 330, 332 formed on the front surface of the guide plate 328. The guide plate 328 is behind the crank plate 322 and is fixed to the lower surface of the base plate 204. The guide plate 328 extends along the left-right direction and the up-down direction. As shown in FIG. 15, the guide grooves 330, 332 of the guide plate 328 are formed in a substantially rectangular shape with rounded corners. The guide grooves 330, 332 define a side step track S indicated by a dashed line in FIG. 15. The side step track S has a substantially rectangular shape with rounded corners and has an upper side and a lower side along the left-right direction and a right side and a left side along the up-down direction. The side step track S defined by the guide grooves 330, 332 is the same as the side step track S defined by the guide grooves 302, 304.

[0095] In the rear crank mechanism 277, when the pulleys 308 and 310 rotate, the rotation of the crank arms 314 and 316 causes the crank pins 318 and 320 to move in the rotational directions of the crank arms 314 and 316. At this time, since the rollers 324 and 326 are engaged with the guide grooves 330 and 332, the crank pins 318 and 320 move along the side-step orbit S defined by the guide grooves 330 and 332 while sliding inside the long holes 314b and 316b. As a result, the crank plate 322 to which the crank pins 318 and 320 are fixed also moves along the side-step orbit S defined by the guide grooves 330 and 332.

[0096] As shown in FIG. 13, the step bars 272 and 274 are fixed at their front ends to the crank plate 294 of the front crank mechanism 276 and at their rear ends to the crank plate 322 of the rear crank mechanism 277, respectively. Further, the pulley 280 of the front crank mechanism 276 and the pulley 308 of the rear crank mechanism 277 are connected by a rotation transmission shaft 285. Therefore, the pulleys 280 and 282 of the front crank mechanism 276 and the pulleys 308 and 310 of the rear crank mechanism 277 rotate synchronously with each other, and the crank plate 294 of the front crank mechanism 276 and the crank plate 322 of the rear crank mechanism 277 operate synchronously with each other. Note that a zero point detection sensor (not shown) is provided in one of the front crank mechanism 276 and the rear crank mechanism 277 (for example, the front crank mechanism 276). The zero point detection sensor includes, for example, a permanent magnet (not shown) fixed to the crank plate 294 and a hall element (not shown) fixed to the guide plate 300. The zero point detection sensor can detect whether the crank plates 294 and 322 are at the zero point position with the center of the upper side of the side-step orbit S in the left-right direction as the zero point position.

[0097] As shown in FIG. 13, the worm gear case 283 is disposed rearward of the pulley 282 of the front crank mechanism 276. The worm gear case 283 is fixed to the support plate 278 of the front crank mechanism 276. The gear box 281 is disposed on the right side of the worm gear case 283 and is fixed to the worm gear case 283. The stepper motor 279 is disposed on the right side of the gear box 281 and is held by the gear box 281. The stepper motor 279 is, for example, a DC motor with brushes. The stepper motor 279 is connected to the pulley 282 via a reduction gear (not shown) built into the gear box 281 and a worm gear (not shown) built into the worm gear case 283. When the stepper motor 279 rotates in the forward or reverse direction, the pulleys 280, 282, 308, 310 rotate in the forward or reverse direction, whereby the crank plates 294, 322 move clockwise or counterclockwise along the side step orbit S, and the step bars 272, 274 also move clockwise or counterclockwise along the side step orbit S. As shown in FIG. 1, a through hole 204b is formed in the base plate 204 to avoid interference with the stepper motor 279, the gear box 281, and the worm gear case 283.

[0098] As shown in FIG. 17, when the crank plates 294, 322 are on the upper side of the side step orbit S (see FIG. 15) and the step bars 272, 274 are moving upward, the crank plates 294, 322 and the step bars 272, 274 are separated from the primary reinforcing bar R1 and the secondary reinforcing bar R2. In this state, since the right crawler 192 and the left crawler 194 are in contact with the primary reinforcing bar R1 and the secondary reinforcing bar R2, the rebar binding robot 100 can drive the right crawler 192 and the left crawler 194 to move in the front-rear direction.

[0099] When the stepper motor 279 is rotated from the state shown in Fig. 17, the crank plates 294 and 322 move along the side step orbit S (see Fig. 15), and accordingly, the step bars 272 and 274 move downward, so that the crank plates 294 and 322 contact the secondary reinforcing bar R2. When the stepper motor 279 is further rotated from this state, the crank plates 294 and 322 and the step bars 272 and 274 move further downward, so that as shown in Fig. 18, the right crawler 192 and the left crawler 194 separate from the secondary reinforcing bar R2. By continuously rotating the stepper motor 279, after the rebar binding robot 100 moves rightward or leftward by a step width corresponding to the lateral width of the side step orbit S, the crank plates 294 and 322 and the step bars 272 and 274 move upward, and the right crawler 192 and the left crawler 194 contact the primary reinforcing bar R1 and the secondary reinforcing bar R2 again, and the crank plates 294 and 322 and the step bars 272 and 274 separate from the secondary reinforcing bar R2. When the zero point detection sensor detects that the crank plate 294 has moved to the zero point position, the rotation of the stepper motor 279 stops. As described above, by driving the side stepper 196, the rebar binding robot 100 can move rightward or leftward by a predetermined step width.

[0100] Note that the side step orbit S defined by the guide grooves 302, 304, 330, and 332 is not limited to the substantially rectangular shape as described above, and can have various shapes. When the step bars 272 and 274 move along the side step orbit S, the lower ends of the step bars 272 and 274 move downward from the lower ends of the right crawler 192 and the left crawler 194, and then the lower ends of the step bars 272 and 274 move in the left-right direction, and then the lower ends of the step bars 272 and 274 move upward from the lower ends of the right crawler 192 and the left crawler 194. As long as this is the case, the side step orbit S can have any shape. For example, the side step orbit S may be circular, elliptical, triangular with a bottom side downward, or polygonal with five or more sides.

[0101] As shown in FIG. 11, the steel bar detection sensor 198 is provided on the front surface of the front frame 214 near the center in the left-right direction of the front frame 214. The steel bar detection sensor 200 is provided on the rear surface of the rear frame 216 near the center in the left-right direction of the rear frame 216. The steel bar detection sensor 202 is provided on the lower surface of the base plate 204 near the center in the front-rear direction at the left end of the base plate 204. The steel bar detection sensors 198, 200, and 202 are each arranged downward. The steel bar detection sensors 198, 200, and 202 are, for example, TOF (Time-of Flight) sensors capable of acquiring distance image data obtained by measuring the distance to the subject for each pixel. The control unit 126 of the steel bar binding robot 100 can detect the relative arrangement of the primary steel bars R1 and the secondary steel bars R2 with respect to each of the steel bar detection sensors 198, 200, and 202 based on the distance image data acquired by the steel bar detection sensors 198, 200, and 202.

[0102] (Specification of Current Position and Orientation) As shown in FIG. 19, the control unit 126 holds map information regarding the surrounding environment in the form of a grid map GM. The X direction and the Y direction of the grid map GM are orthogonal to each other. As will be described later, the control unit 126 refers to the grid map GM to specify the current position and orientation of the rebar tying robot 100 with respect to the primary rebar R1 and the secondary rebar R2. Here, the current position refers to the position at the center in the front-rear direction and the left-right direction of the base plate 204. Here, the orientation refers to the front-rear direction and the left-right direction of the rebar tying robot 100. Note that, from FIG. 19 onward, the current position of the rebar tying robot 100 is represented by a cross cursor C.

[0103] As shown in FIG. 20, in this embodiment, the grid map GM is formed by line segments that vertically bisect the rebar intervals of the primary rebar R1 and the secondary rebar R2, respectively. The regions where the primary rebar R1 and the secondary rebar R2 are present are divided into small regions D of equal area in a grid pattern by the above-mentioned line segments. At this time, the intersection points of the primary rebar R1 and the secondary rebar R2 are each located at the center of each small region D, and the centers of the small regions D that are in contact with the outer edge of the grid map GM correspond to the positions of the rebar ends R0. Note that the X direction indicates one direction in which the secondary rebar R2 extends, and the Y direction indicates one direction in which the primary rebar R1 extends.

[0104] As shown in FIG. 21, the control unit 126 specifies the current position of the rebar tying robot 100 with respect to the primary rebar R1 and the secondary rebar R2 in the grid map GM as a small region D (current position small region DR) that includes the current position of the rebar tying robot 100. The control unit 126 specifies the angle (front angle α) with the front direction of the rebar tying robot 100 and the Y direction of the grid map GM being positive in the counterclockwise direction. Here, 0° ≤ α < 360°. The control unit 126 specifies the front-rear direction and the left-right direction of the rebar tying robot 100 from the front angle α.

[0105] Before the user executes the operation of the reinforcing bar bundling robot 100, the user gives the initial values of the current position small area DR and the forward angle α to the reinforcing bar bundling robot 100 by an external controller (not shown) or the like. When the operation of the reinforcing bar bundling robot 100 is executed and the reinforcing bar bundling robot 100 moves on the primary reinforcing bar R1 and the secondary reinforcing bar R2, the control unit 126 continuously updates the forward angle α based on the displacement of the relative arrangement of the primary reinforcing bar R1 and the secondary reinforcing bar R2 detected by the reinforcing bar detection sensors 198, 200, and 202. In this way, the control unit 126 can specify the longitudinal and lateral directions of the reinforcing bar bundling robot 100 during the execution of the operation. Furthermore, the control unit 126 can also specify the direction in which the reinforcing bar bundling robot 100 is moving.

[0106] When the control unit 126 detects an intersection of a new primary reinforcing bar R1 and a secondary reinforcing bar R2 with the reinforcing bar detection sensors 198, 200, and 202, the control unit 126 updates the small area D located in the direction in which the reinforcing bar bundling robot 100 is moving among the small areas D surrounding the current position small area DR as the new current position small area DR. In this way, the control unit 126 can specify the current position of the reinforcing bar bundling robot 100 during the execution of the operation.

[0107] (Discrimination between the bundled small area and the unbundled small area) As shown in FIG. 22, the control unit 126 can also discriminate, in the grid map GM, a small area D (completed small area DA) including the completed intersection points and a small area D (uncompleted small area DB) including the uncompleted intersection points. When the control unit 126 detects, by the steel bar detection sensors 198, 200, 202, that the intersection points of the primary steel bars R1 and the secondary steel bars R2 are completed, it updates the small area D including the intersection points as the completed small area DA. When the control unit 126 detects, by the steel bar detection sensors 198, 200, 202, that the intersection points of the primary steel bars R1 and the secondary steel bars R2 are not completed, it updates the small area D including the intersection points as the uncompleted small area DB. Alternatively, each time the control unit 126 completes the binding of the intersection points included in the uncompleted area DB, it updates the uncompleted area DB including the completed intersection points as the completed small area DA. In this way, the control unit 126 discriminates the completed small area DA and the uncompleted small area DB in the grid map GM.

[0108] (Operation of the Steel Bar Binding Robot 100) When the user operates the operation execution button 122 and the execution of the operation of the steel bar binding robot 100 is instructed, the control unit 126 executes the process shown in FIG. 23.

[0109] In S2, the control unit 126 starts acquiring and updating the position information. The position information is the current position small area DR and the forward angle α indicating the current position and orientation of the steel bar binding robot 100 with respect to the primary steel bars R1 and the secondary steel bars R2. The control unit 126 continues acquiring and updating the position information until it ends acquiring and updating the position information in S14 described later. After S2, the process proceeds to S4.

[0110] In S4, the control unit 126 starts the steel bar binding work. In the steel bar binding work, the control unit 126 controls the steel bar binding robot 100 to bind the intersection points of the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 in a predetermined order. Details of the steel bar binding work will be described later. After S4, the process proceeds to S6.

[0111] In S6, the control unit 126 determines whether the rebar tying operation by the rebar tying robot 100 can continue. The determination of whether the rebar tying operation can continue may be made by whether the control unit 126 detects an abnormality in the power supply unit 102, the operation unit 104, and the transport unit 106. Alternatively, the determination may be made by whether the control unit 126 receives a signal from the control device 80 indicating that a situation has occurred in which the rebar tying operation in the rebar tying machine 2 cannot continue. When it is determined that the rebar tying operation by the rebar tying robot 100 cannot continue (in the case of NO), the process proceeds to S50.

[0112] In S50, the control unit 126 executes a return process (see FIG. 24). In the return process, the rebar tying robot 100 stops the rebar tying operation and moves toward the return position (or the designated position). Details of the return process will be described later. After S50, the process proceeds to S14.

[0113] In S6, when it is determined that the rebar tying operation by the rebar tying robot 100 can continue (in the case of YES), the process proceeds to S8. In S8, the control unit 126 determines whether it has received an instruction signal from an external controller from the user to interrupt the rebar tying operation. When it is determined that an instruction signal to interrupt the rebar tying operation has been received (in the case of YES), the process proceeds to S50. When it is determined that an instruction signal to interrupt the rebar tying operation has not been received (in the case of NO), the process proceeds to S10.

[0114] In S10, the control unit 126 determines whether all the tying operations at the intersection points of the plurality of primary rebars R1 and the plurality of secondary rebars R2 have been completed. When it is determined that not all the tying operations at the intersection points have been completed (in the case of NO), the process returns to S6.

[0115] In S10, when it is determined that all the bundling operations at the intersection points of the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2 have been completed (in the case of YES), the process proceeds to S12. In S12, the reinforcing bar bundling operation started in S4 is terminated. After S12, the process proceeds to S14.

[0116] In S14, the acquisition and update of the position information started in S2 are terminated. After S14, the process of FIG. 23 is terminated.

[0117] (Reinforcing bar bundling operation) In the reinforcing bar bundling operation started in S4 of FIG. 23, the control unit 126 controls the reinforcing bar bundling robot 100 to bundle the intersection points of the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2 in a predetermined order.

[0118] In the present embodiment, the reinforcing bar bundling robot 100 moves along the primary reinforcing bar R1' that is the target of the bundling operation and bundles the intersection points of the primary reinforcing bar R1' and the secondary reinforcing bar R2. After the bundling operation for the primary reinforcing bar R1' that is the target of the bundling operation is completed, another primary reinforcing bar R1 for which the bundling operation has not yet been completed is newly set as the target of the bundling operation, and this operation is repeated hereafter, following a predetermined order. Hereinafter, the reinforcing bar bundling operation by the reinforcing bar bundling robot 100 following this order will be described in detail.

[0119] When the process of the reinforcing bar bundling operation is started, the control unit 126 drives the side stepper 196 to move the reinforcing bar bundling robot 100 in the left-right direction along the secondary reinforcing bar R2 until it is detected by the reinforcing bar detection sensor 198 that the position of the primary reinforcing bar R1' that is the target of the bundling operation among the plurality of primary reinforcing bars R1 is near the reinforcing bar bundling robot 100.

[0120] When it is detected in the reinforcing bar detection sensor 198 that the position of the primary reinforcing bar R1' to be bundled is near the reinforcing bar bundling robot 100 in the left-right direction, the control unit 126 moves the reinforcing bar bundling robot 100 forward or backward with a speed difference applied to the right crawler 192 and the left crawler 194. In this way, the reinforcing bar bundling robot 100 adjusts the position and angle of the bundling machine 2 with respect to the position of the intersection of the primary reinforcing bar R1' and the secondary reinforcing bar R2 so that the bundling operation by the bundling machine 2 can be performed within an executable range. After adjusting the position of the bundling machine 2, the control unit 126 drives the right crawler 192 and the left crawler 194 at the same speed to move the reinforcing bar bundling robot 100 back and forth along the primary reinforcing bar R1'. At this time, every time the control unit 126 detects the intersection of the primary reinforcing bar R1' and the secondary reinforcing bar R2, it temporarily stops the driving of the right crawler 192 and the left crawler 194 and performs the bundling operation by the bundling machine 2. When the control unit 126 detects the intersection of the primary reinforcing bar R1' and the secondary reinforcing bar R2, it drives the lifting mechanism 130 to lower the bundling machine 2, sets the bundling machine 2 at the intersection of the primary reinforcing bar R1' and the secondary reinforcing bar R2, and drives the gripping mechanism 132 to perform the bundling operation of the primary reinforcing bar R1' and the secondary reinforcing bar R2 by the bundling machine 2. After that, the control unit 126 drives the lifting mechanism 130 to raise the bundling machine 2 and resumes the driving of the right crawler 192 and the left crawler 194.

[0121] When all the intersections of the primary reinforcing bar R1' and the secondary reinforcing bar R2 are bundled, the control unit 126 determines that the bundling operation for the primary reinforcing bar R1' is completed, and repeats the above process for another primary reinforcing bar R1 for which the bundling operation has not been completed yet as the object of the bundling operation.

[0122] When all the intersections of the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2 are bundled, the control unit 126 determines that the reinforcing bar bundling operation is completed and ends the processing of the reinforcing bar bundling operation.

[0123] (Feedback process) In the feedback process shown in S50 of FIG. 23, the control unit 126 executes the process shown in FIG. 24.

[0124] As shown in FIG. 24, in S52, the control unit 126 interrupts the reinforcing bar bundling operation started in S4 (see FIG. 23). That is, after S52, even if the intersection of the primary reinforcing bar R1 and the secondary reinforcing bar R2 is detected, the control unit 126 does not stop the driving of the right crawler 192, the left crawler 194, or the side stepper 196, and does not drive the elevating mechanism 130 or the gripping mechanism 132. After S52, the process proceeds to S54.

[0125] In S54, the control unit 126 determines whether or not the position to which the reinforcing bar bundling robot 100 returns is specified. The determination as to whether or not the position to which the reinforcing bar bundling robot 100 returns is specified is, for example, to determine whether or not an instruction signal specifying the position to which the reinforcing bar bundling robot 100 returns is received from an external controller. When it is determined that the position to which the reinforcing bar bundling robot 100 returns is specified (YES), the control unit 126 records the small area D (designated position) specified in the instruction signal in the grid map GM, and the process proceeds to S58. Note that since the user can specify any small area D on the grid map GM, the small area D including the reinforcing bar end R0 may be the designated position.

[0126] When it is determined that the position to which the reinforcing bar bundling robot 100 returns is not specified (NO), the process proceeds to S56. In S56, the control unit 126 executes a return position and path determination process. In the return position and path determination process, the control unit 126 determines the return position with the lowest cost of the return path from the current position small area DR among a plurality of candidate return positions. The control unit 126 records the return position and the lowest-cost return path determined at this time in the grid map GM. Details of the return position and path determination process will be described later. After S56, the process proceeds to S60.

[0127] In S58, the control unit 126 executes a feedback path determination process. In the feedback path determination process, when there are multiple feedback paths from the current position small area DR to the designated position, the control unit 126 determines, by cost calculation, the feedback path with the lowest risk of movement from the current position small area DR, and records the determined feedback path in the grid map GM. Details of the feedback path determination process will be described later. After S58, the process proceeds to S60.

[0128] In S60, the control unit 126 starts driving the right crawler 192, the left crawler 194, and the side stepper 196 with reference to the grid map GM so that the rebar tying robot 100 heads toward the feedback position (or designated position). Here, the control unit 126 drives the right crawler 192, the left crawler 194, and the side stepper 196 to move according to the feedback path determined in S56 or S58. After S60, the process proceeds to S62.

[0129] In S62, the control unit 126 determines whether the rebar tying robot 100 has reached the feedback position (or designated position). For example, the control unit 126 determines whether the rebar tying robot 100 has reached the feedback position (or designated position) by determining whether the current position small area DR matches the small area D of the feedback position (or designated position) recorded in the grid map GM. If it is determined that the rebar tying robot 100 has not reached the feedback position (or designated position) (in the case of NO), the process executes S62 again.

[0130] In S62, if it is determined that the rebar tying robot 100 has reached the feedback position (or designated position) (in the case of YES), the process proceeds to S64. In S64, the control unit 126 stops driving the right crawler 192, the left crawler 194, and the side stepper 196. Thus, the rebar tying robot 100 stops at the feedback position (or designated position). After S64, the process in FIG. 24 ends.

[0131] (Feedback Position and Path Determination Process) In the feedback position and path determination process of this embodiment (refer to S56 in FIG. 24), in order to facilitate the recovery of the steel bar tying robot 100 and the elimination of malfunctions, the candidate feedback position is set as a small area D that includes each steel bar end R0. In the feedback position and path determination process of this embodiment, a movement cost and an area cost are set in order to calculate the risk associated with the movement of the steel bar tying robot 100.

[0132] When the steel bar tying robot 100 moves on the primary steel bar R1 and the secondary steel bar R2, the steel bar tying robot 100 drives the right crawler 192 and the left crawler 194 to move back and forth along the primary steel bar R1, or drives the side stepper 196 to move left and right along the secondary steel bar R2. Therefore, on the grid map GM, the steel bar tying robot 100 moves to the feedback position by repeating the movement to adjacent small areas D. When moving from the current position small area DR to the small area D that includes each steel bar end R0, there may be a plurality of candidate feedback paths (candidate return paths) for each small area D that includes each steel bar end R0.

[0133] Therefore, when the feedback position and path determination process shown in S56 of FIG. 24 is started, the control unit 126 calculates the cost for each candidate feedback path for each small area D containing each steel bar end R0. The cost calculation is performed by referring to the grid map GM and adding up the product of the movement cost and the area cost for adjacent small areas D from the current position small area DR to each small area D (each small area D containing each steel bar end R0) that touches the outer edge of the map. Note that the movement cost is a cost set according to the movement direction of the steel bar bundling robot 100. In this embodiment, in view of the fact that the lateral movement performed by driving the side stepper 196 involves more risk than the forward and backward movement performed by driving the right crawler 192 and the left crawler 194, the movement cost in the forward and backward direction is set to 1, and the movement cost in the lateral direction is set to 2. Also, the area cost is a cost set according to the firmness of the intersection of the primary steel bars R1 and the secondary steel bars R2 contained in each small area D. In this embodiment, in view of the fact that the bundled small area DA is more firm than the unbundled small area DB, the area cost of the bundled small area DA is set to 1, and the area cost of the unbundled small area DB is set to 3.

[0134] Based on the result of the above cost calculation, the control unit 126 records the cost information for moving along the candidate feedback path with the lowest cost for each small area D containing each steel bar end R0 in the grid map GM. That is, the cost information is given one by one for each small area D containing each steel bar end R0. The cost information shows the state of the above cost summation from the current position small area DR to the small area D containing each steel bar end R0. The control unit 126 determines the cost of the candidate feedback path with the lowest cost as the cost of each small area D containing each steel bar end R0 for each small area D containing each steel bar end R0.

[0135] After recording the cost information in the grid map GM, the control unit 126 identifies the smallest region D with the lowest cost among the small regions D that contain each bar end R0, and determines the identified smallest region D as the return position. The control unit 126 determines the candidate return path with the lowest cost related to the determined return position as the return path. The control unit 126 records the determined return position and return path in the grid map GM.

[0136] In the example of FIG. 25, the cost information, return position, and return path recorded in the grid map GM are visually represented. The control unit 126 determines the smallest region D48 showing the lowest cost 4 among the small regions D (the small regions D that contain each bar end R0) in contact with the outer edge of the map as the return position, and determines the path G0 as the return path.

[0137] (Return path determination process) In the return path determination process of this embodiment (see S58 in FIG. 24), in order to calculate the risk associated with the movement of the bar tying robot 100, the movement cost and the region cost are set.

[0138] When the bar tying robot 100 moves over the primary bar R1 and the secondary bar R2, the bar tying robot 100 drives the right crawler 192 and the left crawler 194 to move back and forth along the primary bar R1, or drives the side stepper 196 to move left and right along the secondary bar R2. For this reason, when the bar tying robot 100 moves from the current position small region DR to the designated position, as shown in FIG. 26, there may be a plurality of candidate return paths (candidate return paths).

[0139] Therefore, when the feedback path determination process shown in S58 of FIG. 24 is started, the control unit 126 calculates the cost for each of the plurality of candidate feedback paths by adding up the product of the movement cost and the area cost for adjacent small areas D from the current position small area DR to the designated position. As a result, the control unit 126 determines the candidate feedback path with the lowest cost as the feedback path, and records the determined feedback path in the grid map GM. Note that the movement cost and the area cost are set in the same manner as in the feedback position / path determination process (see S56 of FIG. 24).

[0140] In the example of FIG. 26, the designated position and the candidate feedback paths recorded in the grid map GM are visually represented. When the designated position is the small area D48 and there are three types of candidate feedback paths, G1, G2, and G3, the control unit 126 calculates the cost of path G1 as 4, the cost of path G2 as 5, and the cost of path G3 as 7. The control unit 126 determines the path G1 with the lowest cost as the feedback path.

[0141] (Example 2) The reinforcing bar bundling robot 100 according to the present embodiment has the same configuration as the reinforcing bar bundling robot 100 according to the first embodiment. Hereinafter, differences between the reinforcing bar bundling robot 100 of the present embodiment and the reinforcing bar bundling robot 100 of the first embodiment will be described.

[0142] (Feedback process) In the feedback process shown in S50 of FIG. 23 in the reinforcing bar bundling robot 100 according to the present embodiment, the control unit 126 executes the process shown in FIG. 27.

[0143] In S152, the control unit 126 interrupts the reinforcing bar bundling operation started in S4 (see FIG. 23). That is, after S152, even if the intersection of the primary reinforcing bar R1 and the secondary reinforcing bar R2 is detected, the control unit 126 does not stop the driving of the right crawler 192, the left crawler 194, or the side stepper 196, and does not drive the lifting mechanism 130 or the gripping mechanism 132. After S152, the process proceeds to S154.

[0144] In S154, the control unit 126 executes a feedback position and path determination process. In the feedback position and path determination process, the control unit 126 refers to the grid map GM and determines a feedback position and a feedback path based on a preset rule, and records the determined feedback position and feedback path in the grid map GM. Details of the feedback position and path determination process will be described later. After S154, the process proceeds to S156.

[0145] In S156, the control unit 126 refers to the grid map GM and starts driving the right crawler 192, the left crawler 194, and the side stepper 196 so that the rebar tying robot 100 heads toward the feedback position. Here, the control unit 126 drives the right crawler 192, the left crawler 194, and the side stepper 196 to move according to the feedback path determined in S154. After S156, the process proceeds to S158.

[0146] In S158, the control unit 126 determines whether the rebar tying robot 100 has reached the feedback position. For example, the control unit 126 determines whether the rebar tying robot 100 has reached the feedback position by determining whether the current position small area DR matches the small area D of the feedback position recorded in the grid map GM. If it is determined that the rebar tying robot 100 has not reached the feedback position (in the case of NO), the process executes S158 again.

[0147] If it is determined in S158 that the rebar tying robot 100 has reached the feedback position (in the case of YES), the process proceeds to S160. In S160, the control unit 126 stops driving the right crawler 192, the left crawler 194, and the side stepper 196. Therefore, the rebar tying robot 100 stops at the feedback position. After S160, the process of FIG. 27 ends.

[0148] (Feedback Position and Path Determination Process) When the feedback position and path determination process shown in S156 of FIG. 27 is started, the control unit 126 refers to the grid map GM and determines the feedback position and the feedback path based on a preset rule. The user can select one of the rules shown in FIGS. 28 to 31 and set it as the above rule. In this embodiment, the user sets the above rule by an external controller (not shown) or the like.

[0149] According to the rule shown in FIG. 28, the control unit 126 refers to the grid map GM and determines, as the feedback position, the small area D in which the moving path from the current position small area DR is the shortest among the small areas D including each steel bar end R0. The control unit 126 determines the shortest path to the feedback position as the feedback path. The control unit 126 records the determined feedback position and feedback path in the grid map GM. In the example of FIG. 28, when the current position small area DR is the small area D75, the control unit 126 determines the small area D95 as the feedback position and determines the path G4 as the feedback path. When the current position small area DR is the small area D43, the control unit 126 determines the small area D41 as the feedback position and determines the path G5 as the feedback path.

[0150] According to the rule shown in FIG. 29, the control unit 126 refers to the grid map GM and determines, as the feedback position, the small area D in which the moving path from the current position small area DR is the shortest among the bundled small areas DA including each steel bar end R0. The control unit 126 determines, as the feedback path, the shortest path that passes only through the bundled small areas DA among the paths to the feedback position. The control unit 126 records the determined feedback position and feedback path in the grid map GM. In the example of FIG. 29, when the current position small area DR is the small area D45, the control unit 126 determines the small area D15, which is the bundled small area DA, as the feedback position and determines the path G6 as the feedback path.

[0151] In the rule shown in FIG. 30, the control unit 126 refers to the grid map GM and determines, among the small regions D each containing a reinforcing bar end R0, the small region D that is located in the front-back direction when viewed from the current position small region DR and has the shortest movement path from the current position small region DR as the return position. The control unit 126 determines the shortest path to the return position as the return path. The control unit 126 records the determined return position and return path in the grid map GM. In the example of FIG. 30, when the current position small region DR is the small region D75, the small region D78 is determined as the return position, and the path G7 is determined as the return path. When the current position small region DR is the small region D43, the small region D41 is determined as the return position, and the path G8 is determined as the return path.

[0152] In the rule shown in FIG. 31, the control unit 126 refers to the grid map GM and determines, among the bundled small regions DA each containing a reinforcing bar end R0, the small region D that is located in the front-back direction when viewed from the current position small region DR and has the shortest movement path from the current position small region DR as the return position. The control unit 126 determines the shortest path that passes only through the bundled small regions DA among the paths to the return position as the return path. The control unit 126 records the determined return position and return path in the grid map GM. In the example of FIG. 31, when the current position small region DR is the small region D45, the small region D41, which is a bundled small region DA, is determined as the return position, and the path G9 is determined as the return path.

[0153] (Modification example) In the above-described embodiment, the reinforcing bar tying robot 100 ties the intersection of the primary reinforcing bar R1' and the secondary reinforcing bar R2 while moving along the primary reinforcing bar R1' that is the object of the tying operation. After the tying operation for the primary reinforcing bar R1' that is the object of the tying operation is completed, another primary reinforcing bar R1 for which the tying operation has not yet been completed is newly set as the object of the tying operation, and this operation is repeated thereafter. The configuration according to a predetermined order as described above has been explained. Differently from this, the reinforcing bar tying robot 100 ties the intersection while moving along the primary reinforcing bar R1 that is closest to the bar end R0 among the un-tied primary reinforcing bars R1. After the tying operation for this primary reinforcing bar R1 is completed, the intersection is tied while moving along the secondary reinforcing bar R2 that is closest to the bar end R0 among the un-tied secondary reinforcing bars R2, and this operation is repeated thereafter. It may be configured to follow a predetermined order as described above.

[0154] In the above-described embodiment, the configuration in which the reinforcing bar tying robot 100 ties all intersections of the primary reinforcing bars R1 and the secondary reinforcing bars R2 has been explained. Differently from this, when the tying operation for the intersection of the primary reinforcing bar R1' and the secondary reinforcing bar R2 is repeatedly executed, the reinforcing bar tying robot 100 may skip one intersection of the primary reinforcing bar R1' and the secondary reinforcing bar R2 and tie it. In this case, finally, the reinforcing bar tying robot 100 may select the intersection to be the object of the tying operation so that at least one of the adjacent intersections is tied.

[0155] In the above embodiment, the reel 10 is attached to the reinforcing bar tying machine 2, and the configuration in which the reinforcing bar tying machine 2 ties the reinforcing bar R using the wire W supplied from the reel 10 has been described. Differently from this, a wire supply unit (not shown) provided with a large reel (not shown) may be mounted on the transport unit 106 of the reinforcing bar tying robot 100, and the reinforcing bar tying machine 2 may be configured to tie the reinforcing bar R using the wire W supplied from the wire supply unit. In this case, the control unit 126 may be configured to be able to detect the remaining amount of the wire W in the wire supply unit. The remaining amount of the wire W in the wire supply unit can be specified, for example, by subtracting the cumulative amount of the wire W fed out by the feeding mechanism 12 from the remaining amount of the wire W wound around the unused large reel. The amount of the wire W fed out by the feeding mechanism 12 can be calculated, for example, based on the detection signal of a rotation speed sensor (not shown) that detects the rotation speed of the feeding motor 22 or the driving roller 24.

[0156] In the above embodiment, the control unit 126 of the reinforcing bar tying robot 100 may detect the remaining battery amount of the battery pack B attached to each of the plurality of battery attachment parts 114. In the process shown in S6 of FIG. 23, the control unit 126 may determine that the reinforcing bar tying operation can be continued when the remaining battery amount of each battery pack B exceeds a predetermined threshold value, and may determine that the reinforcing bar tying operation cannot be continued when the remaining battery amount of each battery pack B is equal to or less than the predetermined threshold value.

[0157] In the above embodiment, the case where a commercially available reinforcing bar tying machine 2 (for example, TR180D sold by Makita Corporation) is detachably attached to the reinforcing bar tying robot 100 has been described. Differently from this, the reinforcing bar tying robot 100 may be configured such that a dedicated reinforcing bar tying unit (not shown) is non-detachably attached. In this case, the reinforcing bar tying unit may be integrally configured with the operation unit 104.

[0158] In the above-described embodiment, an emergency stop button (not shown) for the user to emergently stop the operation of the reinforcing bar bundling robot 100 may be provided on the reinforcing bar bundling robot 100 (for example, on the housing 110 of the power supply unit 102). In this case, when the emergency stop button is pressed by the user, the control unit 126 stops the right crawler motor 228, the left crawler motor 254, the stepper motor 279, and the lifting motor 148, and turns off the actuator 180. After the user removes the danger and presses the operation execution button 122 again, the control unit 126 first drives the stepper motor 279 to return the front crank mechanism 276 and the rear crank mechanism 277 to the zero point position, and drives the lifting motor 148 to return the lifting mechanism 130 to the upper limit position. Thereafter, the control unit 126 performs normal control to operate the reinforcing bar bundling robot 100. Note that the emergency stop button may be provided near the outer periphery of the reinforcing bar bundling robot 100, for example, near the ends in the front-rear direction or the left-right direction, so that it can be easily pressed by the user in an emergency. Also, a plurality of emergency stop buttons may be provided. Further, when the control unit 126 receives an emergency stop command signal and an operation execution command signal from an external controller, the control unit 126 may cause the reinforcing bar bundling robot 100 to perform similar operations.

[0159] In the above-described embodiment, an operation display indicator (not shown) for displaying the operating state of the reinforcing bar tying robot 100 may be provided on the reinforcing bar tying robot 100 (for example, on the housing 110 of the power supply unit 102). In this case, the operation display indicator may display the state of the tying operation to the user. The state of the tying operation may include, for example, a state of tying all the intersection points of the primary reinforcing bar R1 and the secondary reinforcing bar R2, or a state of skipping one intersection point of the primary reinforcing bar R1 and the secondary reinforcing bar R2 and tying. The operation display indicator may display to the user a state in which the reinforcing bar tying robot 100 has stopped abnormally. The operation display indicator may display to the user a state in which the control unit 126 in the reinforcing bar tying robot 100 is executing a feedback process (see FIGS. 24 and 27). The operation display indicator may display to the user a state in which the reinforcing bar tying robot 100 has stopped at the feedback position due to the control unit 126 having executed a feedback process (see FIGS. 24 and 27). The operation display indicator may display the operating state of the reinforcing bar tying robot 100, for example, by the emission color of one or more light emitting parts, the blinking pattern, or a combination thereof. When the operation display indicator is provided on the housing 110, it may be arranged at a high position so as to be easily visible from a distance.

[0160] In the above-described embodiment, the transport unit 106 of the reinforcing bar tying robot 100 has been described as having a configuration including a right crawler 192 and a left crawler 194 as a vertical movement mechanism capable of moving the reinforcing bar tying robot 100 in the front-rear direction. Alternatively, the transport unit 106 of the reinforcing bar tying robot 100 may be provided with another type of vertical movement mechanism.

[0161] In the above-described embodiment, the transport unit 106 of the reinforcing bar tying robot 100 has been described as having a configuration including a side stepper 196 as a lateral movement mechanism capable of moving the reinforcing bar tying robot 100 in the left-right direction. Alternatively, the transport unit 106 of the reinforcing bar tying robot 100 may be provided with another type of lateral movement mechanism.

[0162] In the above-described embodiment, a configuration has been described in which an external controller (not shown) transmits to the control unit 126 a command signal to interrupt the rebar bundling operation and a command signal designating the position to which the rebar bundling robot 100 returns. Different from this, the external controller may transmit other types of command signals to the control unit 126.

[0163] In the above-described embodiment, a configuration has been described in which the control unit 126 of the rebar bundling robot 100 holds map information in the form of the grid map GM. Different from this, the control unit 126 of the rebar bundling robot 100 may hold map information in other forms.

[0164] In the above-described embodiment, a configuration has been described in which the candidate return position is the small area D including each rebar end R0. Different from this, the candidate return position may be a small area D other than the small area D including each rebar end R0. For example, as shown in FIG. 32, a plurality of small areas D (D26, D52, D87) designated by the user may be used as the candidate return positions. In the example of FIG. 32, the control unit 126 determines the small area D52 with the lowest cost among the plurality of small areas D (D26, D52, D87) designated by the user as the return position, and determines the path G10 as the return path.

[0165] In the above embodiment, the control unit 126 of the reinforcing bar bundling robot 100 determines the smallest-cost small region D among the candidate return positions (the small regions D including each reinforcing bar end R0) as the return position. Different from this, as shown in FIG. 33, the control unit 126 may determine a small region D other than the smallest-cost small region D among the candidate return positions (the small regions D including each reinforcing bar end R0) as the return position. Generally, the power consumption when driving and moving the right crawler 192 and the left crawler 194 is often smaller than the power consumption when driving and moving the side stepper 196. In the example of FIG. 33, the cost is set according to the risk associated with the movement of the reinforcing bar bundling robot 100 and is not set according to the power consumption. In this case, the control unit 126 determines the small region D61 that can take the path G11 with a relatively small cost and can move by driving only the right crawler 192 and the left crawler 194 as the return position. By adopting such a configuration, the control unit 126 can determine the return position in consideration of the movement risk and the power consumption.

[0166] In the above embodiment, the configuration in which the candidate return positions are selected as a plurality of small regions D has been described. Different from this, the candidate return position may be one. For example, as shown in FIG. 34, the initial value DS of the current position small region DR may be used as the candidate return position. That is, the position where the reinforcing bar bundling robot 100 starts working may be used as the candidate return position. In this case, the control unit 126 determines the path G12 as the return path.

[0167] In the above embodiment, the configuration in which the forward and backward movement cost is set to 1 and the left and right movement cost is set to 2 has been described. Different from this, the forward and backward movement cost and the left and right movement cost may be appropriately changed.

[0168] In the above-described embodiment, a configuration in which the area cost of the finalized small area DA is set to 1 and the area cost of the unfinalized small area DB is set to 3 has been described. Differently from this, the area cost of the finalized small area DA and the area cost of the unfinalized small area DB may be appropriately changed. Also, the area cost may be set from other viewpoints, such as increasing the area cost of the small area D where an obstacle exists.

[0169] In the above-described embodiment, a configuration for setting the movement cost and the area cost has been described. Differently from this, costs related to other elements accompanying the movement of the reinforcing bar binding robot 100 may be set.

[0170] In the above-described embodiment, a configuration in which the user selects and sets, from among the rules shown in FIGS. 28 to 31, the rules based on which the control unit 126 determines the return position and the return path has been described. Differently from this, the user may select and set rules other than the rules shown in FIGS. 28 to 31.

[0171] (Corresponding relationship) As described above, in one or more embodiments, for the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2 that intersect the plurality of primary reinforcing bars R1, the reinforcing bar tying robot 100 can perform a reinforcing bar tying operation that alternately repeats an operation of moving over the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2 and an operation of tying the intersections where the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2 intersect. The reinforcing bar tying robot 100 includes a reinforcing bar tying machine 2 (an example of a reinforcing bar tying unit), a conveying unit 106 that conveys the reinforcing bar tying machine 2, and a control unit 126 that controls the operation of the conveying unit 106. The conveying unit 106 includes a right crawler 192 and a left crawler 194 (examples of a vertical movement mechanism) capable of moving the reinforcing bar tying robot 100 in the front-rear direction, a side stepper 196 (an example of a lateral movement mechanism) capable of moving the reinforcing bar tying robot 100 in the left-right direction, and a control unit 126 that detects the current position small area DR (an example of the current position of the reinforcing bar tying robot 100 with respect to the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2) and reinforcing bar detection sensors 198, 200, 202 (examples of a position information detection mechanism). The control unit 126 is configured to be capable of executing a return process of driving at least one of the right crawler 192 and the left crawler 194 or the side stepper 196 so that the reinforcing bar tying robot 100 moves from the current position detected by the control unit 126 and the reinforcing bar detection sensors 198, 200, 202 to a return position (or a designated position) (an example of a specific position) without performing the reinforcing bar tying operation. The control unit 126 executes the return process when a predetermined condition is satisfied during the execution of the reinforcing bar tying operation.

[0172] According to the above configuration, in the reinforcing bar tying robot 100, during the execution of the reinforcing bar tying operation, the reinforcing bar tying operation can be interrupted and the robot can be moved from the position where the reinforcing bar tying operation was interrupted to a return position (or a designated position).

[0173] In one or more embodiments, the control unit 126 is further configured to be able to determine whether the tying operation of the reinforcing bars can continue (an example of a continuation determination process). The predetermined conditions include a first predetermined condition that when the control unit 126 determines that the tying operation of the reinforcing bars cannot continue in determining whether the tying operation of the reinforcing bars can continue.

[0174] For example, when a problem occurs that makes it impossible to continue the tying operation of the reinforcing bars, such as the remaining amount of the wire W being insufficient during the execution of the tying operation of the reinforcing bars, the user needs to perform maintenance work on the tying robot 100 to eliminate the problem. At this time, depending on the position of the tying robot 100, it may be difficult for the user to approach the tying robot 100. According to the above configuration, when a situation occurs in which the tying operation of the reinforcing bars by the tying robot 100 becomes impossible to continue (an example of a problem that makes the tying operation of the reinforcing bars impossible to continue), the tying robot 100 can be automatically moved to a return position (or designated position) where it is easy for the user to perform maintenance work. It is possible to make it easier for the user to perform maintenance work on the tying robot 100 to eliminate the problem.

[0175] In one or more embodiments, the control unit 126 is configured to be able to receive a command signal (an example of a command signal) to interrupt the tying operation of the reinforcing bars from an external controller. The predetermined conditions include a second predetermined condition that when the control unit 126 determines that it has received a command signal to interrupt the tying operation of the reinforcing bars from an external controller.

[0176] According to the above configuration, during the tying operation of the reinforcing bars, when the user wants to interrupt the operation, etc., the tying operation of the reinforcing bars can be interrupted by the user's command via an external controller, and the tying robot 100 can be moved to a convenient return position (or designated position) for the user.

[0177] In one or more embodiments, the designated position (an example of a specific position) includes a small area D (an example of a position designated by the user) designated in the command signal.

[0178] According to the above configuration, the reinforcing bar tying robot 100 can be moved to the small area D (an example of a position designated by the user) designated in the command signal.

[0179] In one or more embodiments, the designated position includes a small area D (an example of the position of the reinforcing bar end designated by the user) that includes the reinforcing bar end R0 designated in the command signal.

[0180] According to the above configuration, the reinforcing bar tying robot 100 can be moved to the small area D (an example of the reinforcing bar end designated by the user) that includes the reinforcing bar end R0 designated in the command signal. Therefore, the user can safely perform the recovery of the reinforcing bar tying robot 100 and the troubleshooting work from the outside of the plurality of primary reinforcing bars R1 and the plurality of secondary reinforcing bars R2.

[0181] In one or more embodiments, the return position (an example of a specific position) includes a small area D (an example of the position of the reinforcing bar end) that includes the reinforcing bar end R0 where the movement path from the current position small area DR (an example of the current position) is the shortest.

[0182] According to the above configuration, the reinforcing bar tying robot 100 can be moved to the small area D (an example of the position of the reinforcing bar end) that includes the reinforcing bar end R0 most efficiently.

[0183] In one or more embodiments, the control unit 126 and the steel bar detectors 198, 200, 202 (examples of position information detection mechanisms) further detect the bound small regions DA and the unbound small regions DB (examples of bound and unbound regions in the plurality of primary steel bars R1 and the plurality of secondary steel bars R2) in the grid map GM. The feedback position (an example of a specific position) includes a small region D (an example of the position of a steel bar end in a bound region where the moving path from the current position small region DR is the shortest) among the steel bar ends R0 within the bound small region DA, where the moving path from the current position small region DR is the shortest.

[0184] According to the above configuration, in the feedback process, the steel bar tying robot 100 moves using the bound small region DA, which is more robust than the unbound small region DB, as a foothold. Therefore, the steel bar tying robot 100 can be moved to the small region D (an example of the position of a steel bar end) including the steel bar end R0 more safely.

[0185] In one or more embodiments, the steel bar tying robot 100 is configured to alternately repeat an operation of moving on the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 along the direction in which the plurality of primary steel bars R1 extend, and an operation of tying the intersections where the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 intersect. The feedback position (an example of a specific position) includes a small region D (an example of the position of a steel bar end where the moving path from the current position small region DR is the shortest among the steel bar ends R0 located in the front-rear direction when viewed from the current position small region DR) among the steel bar ends R0 located in the front-rear direction when viewed from the current position small region DR, where the moving path from the current position small region DR is the shortest.

[0186] In a steel bar tying robot 100 that alternately repeats the operation of moving over a plurality of primary steel bars R1 and a plurality of secondary steel bars R2 in the direction in which the plurality of primary steel bars R1 extend, and the operation of tying the intersections where the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 intersect, the forward and backward movement performed by driving the right crawler 192 and the left crawler 194 can be performed more stably than the left - right movement performed by driving the side stepper 196. According to the above configuration, the frequency of driving the side stepper 196 by the steel bar tying robot 100 can be minimized. For this reason, the steel bar tying robot 100 can be moved to a small area D (an example of the position of the steel bar end) including the steel bar end R0 more safely.

[0187] In one or more embodiments, the steel bar tying robot 100 is configured to alternately repeat the operation of moving over the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 along the direction in which the plurality of primary steel bars R1 extend, and the operation of tying the intersections where the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 intersect. The control unit 126 and the steel bar detection sensors 198, 200, 202 (examples of position information detection mechanisms) further detect the tied small area DA and the untied small area DB (examples of the tied area and the untied area in the plurality of primary steel bars R1 and the plurality of secondary steel bars R2) in the grid map GM. The return position (an example of a specific position) includes a small area D (an example of the position of the steel bar end where the movement path from the current position small area DR is the shortest among the steel bar ends R0 that are located in the front - rear direction when viewed from the current position small area DR and are within the tied small area DA) that contains the steel bar end R0 with the shortest movement path from the current position small area DR among the steel bar ends R0 that are located in the front - rear direction when viewed from the current position small area DR and are within the tied area.

[0188] In a rebar tying robot 100 that alternately repeats an operation of moving over a plurality of primary rebars R1 and a plurality of secondary rebars R2 in a direction in which the plurality of primary rebars R1 extend, and an operation of binding portions where the plurality of primary rebars R1 and the plurality of secondary rebars R2 cross, the forward and backward movement performed by driving the right crawler 192 and the left crawler 194 can be performed more stably than the left-right movement performed by driving the side stepper 196. According to the above configuration, the frequency of driving the side stepper 196 by the rebar tying robot 100 can be minimized. Further, in the feedback process, the rebar tying robot 100 moves using the tied small area DA, which is more robust than the un-tied small area DB, as a scaffold. Therefore, the rebar tying robot 100 can be moved more safely to a small area D (an example of the position of the rebar end) including the rebar end R0.

[0189] In one or more embodiments, the control unit 126 calculates the cost when the rebar tying robot 100 moves from the current position small area DR to a candidate return position for at least one candidate return position (an example of a candidate position) that is a candidate for the return position (an example of a specific position), and based on the calculated cost of the candidate return position, determines the return position from among the at least one candidate return position in a return position and path determination process (an example of a specific position determination process). The control unit 126 is configured to drive at least one of the right crawler 192 and the left crawler 194 or the side stepper 196 so that the rebar tying robot 100 moves along the return path from the current position small area DR to the return position in the feedback process.

[0190] According to the above configuration, even when there are a plurality of candidate return positions that are candidates for the return position, the control unit 126 can determine the return position based on the cost calculation.

[0191] In one or more embodiments, the control unit 126 determines the candidate return position with the lowest cost among the at least one candidate return position as the return position.

[0192] According to the above configuration, even when there are a plurality of candidate return positions (examples of positions that are candidates for the return position), the control unit 126 can determine the candidate return position with the lowest cost as the return position.

[0193] In one or more embodiments, for each of at least one candidate return path that is a candidate for the return path from the current position small area DR to the candidate return position, the control unit 126 calculates the cost when the rebar tying robot 100 moves from the current position small area DR to the candidate return position, and calculates the cost of the candidate return position based on the calculated cost of the candidate return path.

[0194] According to the above configuration, the control unit 126 can calculate the cost of the candidate return position that is a candidate for the return position based on the cost of the movement path. Therefore, the control unit 126 can determine the return position in consideration of the movement path.

[0195] In one or more embodiments, the control unit 126 calculates the cost of the candidate return path with the lowest cost among at least one candidate return path as the cost of the candidate return position.

[0196] According to the above configuration, the control unit 126 can determine the candidate return position with the lowest cost of the return path from the current position small area DR of the rebar tying robot 100 as the return position. Therefore, the rebar tying robot 100 can be moved to the return position at the minimum cost.

[0197] In one or more embodiments, in the return position and path determination process, at least one candidate return position is selected from among the small areas D (examples of the positions of a plurality of rebar ends) that each rebar end R0 is included in.

[0198] According to the above configuration, the control unit 126 can determine, by cost calculation, the small area D containing the reinforcing bar end R0 with the lowest cost of the feedback path from the current position small area DR among the small areas D containing each reinforcing bar end R0. Therefore, the reinforcing bar tying robot 100 can be moved to the small area D (an example of the position of the reinforcing bar end) containing the reinforcing bar end R0 at the minimum cost.

[0199] In one or more embodiments, for at least one candidate feedback path (an example of a candidate movement path) that is a candidate for the feedback path (an example of a movement path) from the current position small area DR to a specified position (an example of a specific position), the control unit 126 calculates the cost when the reinforcing bar tying robot 100 moves from the current position small area DR to the specified position, and based on the calculated cost of the candidate feedback path, determines a feedback path (a specific movement path) from among the at least one candidate feedback path, and is configured to be able to execute a feedback path determination process (an example of a specific movement path determination process). In the feedback process, the control unit 126 is configured to drive at least one of the right crawler 192 and the left crawler 194 or the side stepper 196 so that the reinforcing bar tying robot 100 moves from the current position small area DR to the specified position along the feedback path.

[0200] According to the above configuration, even when there are a plurality of candidate feedback paths that are candidates for the feedback path, the control unit 126 can determine the feedback path based on cost calculation.

[0201] In one or more embodiments, the control unit 126 determines the candidate feedback path with the lowest cost among the at least one candidate feedback path as the feedback path.

[0202] According to the above configuration, even when there are a plurality of candidate feedback paths that are candidates for the feedback path, the candidate vaporization path with the lowest cost can be determined as the feedback path. Therefore, the reinforcing bar tying robot 100 can be moved to the specified position at the minimum cost.

[0203] In one or more embodiments, the control unit 126 and the steel bar detectors 198, 200, 202 (examples of position information detection mechanisms) further detect the bound small regions DA and the unbound small regions DB in the plurality of primary steel bars R1 and the plurality of secondary steel bars R2. The control unit 126 sets the area cost when the steel bar tying robot 100 moves in the unbound small region DB to be higher than the area cost when the steel bar tying robot 100 moves in the bound small region DA.

[0204] According to the above configuration, the control unit 126 can perform cost calculation assuming that the risk when moving in the unbound small region DB is greater than the risk when moving in the bound small region DA. Thereby, cost calculation considering the robustness of the movement path can be performed with respect to the risk of movement from the current position small region DR.

[0205] In one or more embodiments, the steel bar tying robot 100 is configured to alternately repeat an operation of moving over the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 along the direction in which the plurality of primary steel bars R1 extend, and an operation of tying the intersections where the plurality of primary steel bars R1 and the plurality of secondary steel bars R2 intersect. The control unit 126 sets the movement cost when the steel bar tying robot 100 moves in the left - right direction to be higher than the movement cost when the steel bar tying robot 100 moves in the front - rear direction.

[0206] According to the above configuration, the control unit 126 can perform cost calculation assuming that the risk when moving in the left - right direction is greater than the risk when moving in the front - rear direction. Thereby, cost calculation considering the stability of the moving means can be performed with respect to the risk of movement from the current position small region DR.

Explanation of Reference Numerals

[0207] 2: Steel bar tying machine 3: Housing 4: Main body part 5: Reel cover 6: Gripping part 6a: Recess 7: Cover holding part 8: Battery mounting part 10: Reel 10a: Engagement part 12: Feeding mechanism 14: Guide mechanism 16: Brake mechanism 18: Cutting mechanism 20: Twisting mechanism 22: Feeding motor 24: Driving roller 26: Driven roller 28: Guide pipe 30: Upper curling guide 32: Lower curling guide 34: First guide passage 38: Guide pin 40: Cutter 42: Return plate 46: Solenoid 48: Link 50: Brake arm 52: Link 54: Twisting motor 56: Reduction mechanism 58: Screw shaft 60: Sleeve 61: Push plate 62: Hook 64: First operation part 74: Main switch 76: Main power LED 80: Control device 84: Trigger 86: Trigger switch 90: Second operation part 96: Display LED 98: Setting switch 100: Steel bar bundling robot 102: Power unit 104: Operation unit 106: Conveying unit 108: Battery adapter 110: Housing 110a: Battery housing chamber 110b: Latch receiver 112: Cover 114: Battery mounting part 115: Hinge 116: Latch member 117: Key 118: Remaining amount display indicator 119: Key mounting part 120: Remaining amount display button 122: Operation execution button 124: Power supply cable 126: Control unit 130: Lifting mechanism 132: Gripping mechanism 134: Lower base member 136: Upper base member 138: Support pipe 140: Support pipe 142: Lifting platform 142a: Through hole 142b: Through hole 142c: Through hole 144: Screw shaft 146: Motor connection part 148: Lifting motor 150: Sensor support member 152: Upper limit detection sensor 154: Lower limit detection sensor 156: Holding member 158: Holding member 160: Nut 162: First support plate 162a: Long hole 162b: Protrusion 164: Second support plate 166: Connecting shaft 168: Connecting shaft 170: Rotating pin 172: Torsion spring 174: Support pin 176: Link 176a: Pressing part 176b: Operating section 178: Plunger 180: Actuator 182: Twisting spring 190: Chassis 192: Right crawler 194: Left crawler 196: Side stepper 198: Rebar detection sensor 200: Rebar detection sensor 202: Rebar detection sensor 204: Base plate 204a: Through hole 204b: Through hole 206: Right frame 208: Left frame 210: Right plate 212: Left plate 214: Front frame 216: Rear frame 218: Front pulley 220: Rear pulley 222: Auxiliary pulley 224: Tensioner pulley 226: Rubber belt 228: Right crawler motor 230: Gearbox 232: Bearing 234: Bearing 236: Bearing 237: Movable bearing 238: Adjusting bolt 238a: Shaft portion 238b: Head portion 240: Nut 242: Bolt support member 242a: Through hole 244: Front pulley 246: Rear pulley 248: Auxiliary pulley 250: Tensioner pulley 252: Rubber belt 254: Left crawler motor 256: Gearbox 258: Bearing 260: Bearing 262: Bearing 264: Movable bearing 266: Adjusting bolt 266a: Shaft portion 266b: Head portion 268: Nut 270: Bolt support member 270a: Through hole 272: Step bar 274: Step bar 276: Front crank mechanism 277: Rear crank mechanism 278: Support plate 279: Stepper motor 280: Pulley 280a: Shaft 281: Gearbox 282: Pulley 282a: Shaft 283: Worm gear case 284: Belt 285: Rotation transmission shaft 286: Crank arm 286a: Fitting hole 286b: Long hole 288: Crank arm 288a: Fitting hole 288b: Long hole 290: Crank pin 292: Crank pin 294: Crank plate 296: Roller 298: Roller 300: Guide plate 302: Guide groove 304: Guide groove 306: Support plate 308: Pulley 308a: Shaft 310: Pulley 310a: Shaft 312: Belt 314: Crank arm 314a: Fitting hole 314b: Slot 316: Crank arm 316a: Fitting hole 316b: Slot 318: Crank pin 320: Crank pin 322: Crank plate 324: Roller 326: Roller 328: Guide plate 330: Guide groove 332: Guide groove

Claims

1. A rebar tying robot capable of performing rebar tying work by alternately repeating an action of moving over a plurality of primary rebars and a plurality of secondary rebars intersecting the plurality of primary rebars and an action of tying the intersections of the plurality of primary rebars and the plurality of secondary rebars, A rebar bundling unit; A transport unit for transporting the rebar binding unit; A control unit for controlling an operation of the transport unit is provided. The transport unit is A vertical movement mechanism capable of moving the rebar tying robot in a forward and backward direction; A lateral movement mechanism capable of moving the rebar tying robot in a left-right direction; a position information detection mechanism for detecting a current position of the rebar tying robot relative to the plurality of primary rebars and the plurality of secondary rebars; The control unit: the reinforcing bar tying robot is configured to be capable of executing a return process for driving at least one of the vertical movement mechanism and the horizontal movement mechanism so as to move from the current position of the reinforcing bar tying robot detected by the position information detection mechanism to a specific position without performing the reinforcing bar tying work, The control unit executes the return process when a predetermined condition is satisfied during the execution of the rebar tying operation.

2. The control unit is further configured to execute a continuation possibility determination process for determining whether or not the rebar binding work can be continued, The reinforcing bar binding robot according to claim 1 , wherein the predetermined condition includes a first predetermined condition that the control unit determines in the continuation possibility determination process that it is not possible to continue the reinforcing bar binding work.

3. The control unit is configured to be able to receive a command signal from an external device, The rebar tying robot according to claim 1 or 2, wherein the predetermined condition includes a second predetermined condition that the control unit receives the command signal from the outside.

4. The rebar tying robot according to claim 1 , wherein the specific position includes a position designated by a user.

5. The rebar tying robot according to claim 1 , wherein the specific position includes a position of an end of a rebar specified by a user.

6. The reinforcing bar tying robot according to claim 1 , wherein the specific position includes a position of an end of a reinforcing bar along a shortest moving path from the current position.

7. The position information detection mechanism further detects tied and untied areas in the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars; The reinforcing bar tying robot according to claim 1 , wherein the specific position includes a position of a reinforcing bar end within the tied area that has the shortest moving path from the current position.

8. The reinforcing bar tying robot is configured to alternately and repeatedly perform an action of moving over the multiple primary reinforcing bars and the multiple secondary reinforcing bars in the direction in which the multiple primary reinforcing bars extend and an action of tying the locations where the multiple primary reinforcing bars and the multiple secondary reinforcing bars intersect, during the reinforcing bar tying work, The reinforcing bar tying robot according to any one of claims 1 to 3, wherein the specific position includes the position of the reinforcing bar end that has the shortest moving path from the current position among the reinforcing bar ends located in the forward and backward directions as viewed from the current position.

9. The reinforcing bar tying robot is configured to alternately and repeatedly perform an action of moving over the multiple primary reinforcing bars and the multiple secondary reinforcing bars in the direction in which the multiple primary reinforcing bars extend and an action of tying the locations where the multiple primary reinforcing bars and the multiple secondary reinforcing bars intersect, during the reinforcing bar tying work, The position information detection mechanism further detects tied areas and untied areas in the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars; The rebar tying robot according to any one of claims 1 to 3, wherein the specific position includes the position of a rebar end that is located in the forward / backward direction from the current position and within the tied area, and that has the shortest moving path from the current position.

10. the control unit is configured to execute a specific position determination process for calculating a cost of the rebar tying robot moving from the current position to at least one candidate position that is a candidate for the specific position, and determining the specific position from among the at least one candidate position based on the calculated cost of the candidate position; The rebar tying robot according to any one of claims 1 to 3, wherein the control unit is configured to drive at least one of the vertical movement mechanism or the horizontal movement mechanism in the return process so that the rebar tying robot moves from the current position to the specific position.

11. The rebar tying robot of claim 10 , wherein the control unit determines the candidate location with the lowest cost among the at least one candidate location as the specific location.

12. The rebar tying robot of claim 10 or 11, wherein the control unit calculates a cost for the rebar tying robot to move from the current position to the candidate position for each of at least one candidate movement path that is a candidate for the movement path from the current position to the candidate position, and calculates a cost for the candidate position based on the calculated cost of the candidate movement path.

13. The rebar tying robot according to claim 12 , wherein the control unit calculates a cost of the candidate position that is the lowest cost of the at least one candidate movement path.

14. The reinforcing bar tying robot according to claim 10 , wherein in the specific position determination process, the at least one candidate position is selected from among a plurality of positions of ends of reinforcing bars.

15. the control unit is configured to execute a specific movement path determination process for calculating a cost of the rebar tying robot moving from the current position to the specific position for at least one candidate movement path that is a candidate for a movement path from the current position to the specific position, and determining a specific movement path from among the at least one candidate movement path based on the calculated cost of the candidate movement path; The rebar tying robot of any one of claims 1 to 5, wherein the control unit is configured to drive at least one of the vertical movement mechanism or the horizontal movement mechanism during the return process so that the rebar tying robot moves from the current position to the specific position along the specific movement path.

16. The rebar tying robot according to claim 15, wherein the control unit determines the candidate movement path having the lowest cost among the at least one candidate movement path as the specific movement path.

17. The position information detection mechanism further detects tied areas and untied areas in the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars; The rebar tying robot according to any one of claims 10 to 16, wherein the control unit sets a cost for the rebar tying robot to move through the untied area higher than a cost for the rebar tying robot to move through the tied area.

18. The reinforcing bar tying robot is configured to alternately and repeatedly perform an action of moving over the multiple primary reinforcing bars and the multiple secondary reinforcing bars in the direction in which the multiple primary reinforcing bars extend and an action of tying the locations where the multiple primary reinforcing bars and the multiple secondary reinforcing bars intersect, during the reinforcing bar tying work, The reinforcing bar tying robot according to any one of claims 10 to 17, wherein the control unit sets a cost higher when the reinforcing bar tying robot moves in the left-right direction than a cost when the reinforcing bar tying robot moves in the forward-backward direction.

Images