Binding device

Abstract

To provide a binding device capable of being protected from collision against obstacle.SOLUTION: A binding device comprises: a reinforcement binding unit; a body unit to support the reinforcement binding unit; a movable unit constituted so as to be capable of moving the body unit in a first direction on a plurality of reinforcement bars; and a forward arm, which has a front end that is at least partly provided in front in the first direction of the movable unit and the body unit in top view seen from a third direction orthogonal to the first and second directions, an end provided on outside of an end in an orthogonal fourth direction of the movable unit and the body unit in the fourth direction that is in parallel with a flat surface in parallel with the first and second directions and orthogonal to the first direction, and the other end provided on outside of the other end in the orthogonal fourth direction of the movable unit and the body unit in the orthogonal fourth direction.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This embodiment relates to a bundling device.

Background Art

[0002] Conventionally, for example, technologies for automating the rebar bundling work of bundling the intersection where a rebar extending in the vertical direction and a rebar extending in the horizontal direction intersect with a wire or the like have been studied. For example, Patent Document 1 discloses a self-propelled work robot that can be used for rebar construction.

[0003] In addition, Patent Document 2 discloses a self-propelled work robot provided with a collision detection mechanism. The self-propelled work robot described in Patent Document 2 is, for example, a bundling device that can travel on a rebar by auxiliary wheels that roll on a plurality of rebars laid in a grid pattern and perform bundling of the intersection of the rebars by a rebar bundling machine. Further, in the self-propelled work robot described in Patent Document 2, a collision detection mechanism that functions as a contact sensor is attached to the auxiliary wheel body.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to the technology disclosed in Patent Document 2, since the self-propelled work robot body can detect obstacles by a collision detection mechanism, it is possible to suppress the occurrence of collisions with obstacles. More specifically, in the self-propelled work robot described in Patent Document 2, since the collision detection mechanisms are respectively provided in front of the auxiliary wheel in the forward direction of travel and behind the auxiliary wheel in the rearward direction of travel, it is possible to detect obstacles existing in the periphery in front of the auxiliary wheel in the forward direction of travel and in the periphery behind the auxiliary wheel in the rearward direction of travel. However, for example, when an obstacle exists in an area other than the periphery of the auxiliary wheel in front of the self-propelled work robot in the forward direction of travel, there is a possibility of a collision with the obstacle. Therefore, it is considered that there is room for improvement in the mechanism for protecting the self-propelled work robot from collisions.

[0006] The present disclosure has been made in view of the above problems, and an object thereof is to provide a bundling device capable of protecting against collisions with obstacles.

Means for Solving the Problems

[0007] One aspect of the present disclosure includes a plurality of first reinforcing bars whose extending direction is the first direction, and a plurality of second reinforcing bars whose extending direction is the second direction which intersects the first direction and are arranged so as to intersect the first reinforcing bars, a reinforcing bar bundling unit configured to bundle the intersection portions of the first reinforcing bars and the second reinforcing bars of the plurality of reinforcing bars, a main body unit that supports the reinforcing bar bundling unit, a moving unit configured to be movable in the first direction on the plurality of reinforcing bars, and in a top view seen from the third direction which is a direction orthogonal to the first direction and the second direction, at least a part of which is provided in front of the moving unit and the main body unit in the first direction, a front end portion, parallel to a plane parallel to the first direction and the second direction, and in the fourth direction which is a direction orthogonal to the first direction, provided outside one end in the orthogonal fourth direction of the moving unit and the main body unit, and in the orthogonal fourth direction, provided outside the other end in the orthogonal fourth direction of the moving unit and the main body unit, and a bundling device including a front arm having the other end portion.

[0008] Another aspect of the present disclosure includes a plurality of first reinforcing bars whose extending direction is the first direction, and a plurality of second reinforcing bars whose extending direction is the second direction intersecting the first direction and arranged to intersect the first reinforcing bars. A binding unit configured to bind the intersection points of the first and second reinforcing bars among the plurality of reinforcing bars, a main body unit that supports the binding unit, and a moving unit configured to be movable in the first direction on the plurality of reinforcing bars. In a top view seen from the third direction orthogonal to the first and second directions, a front arm having a front end portion provided at least partially in front of the moving unit and the main body unit in the first direction is provided. The front arm is configured to move the moving unit upward from above the plurality of reinforcing bars in the third direction when the moving unit moves upward in the third direction, thereby providing a binding device.

Advantages of the Invention

[0009] According to the present disclosure, a binding device capable of protecting against collisions with obstacles is provided.

Brief Description of the Drawings

[0010]

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DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same reference numerals are given to the same components in each drawing as much as possible, and duplicate descriptions are omitted.

[0012] [First Embodiment] Hereinafter, the configuration of the tying device according to the embodiment of the present disclosure will be described. In this embodiment, the tying device is a reinforcing bar tying device that ties a plurality of reinforcing bars arranged to intersect each other, and may be, for example, a reinforcing bar tying robot. In each drawing, the X-axis, Y-axis, and Z-axis may be shown. The X-axis, Y-axis, and Z-axis form a three-dimensional right-handed orthogonal coordinate system. Hereinafter, the arrow direction of the X-axis may be referred to as the front of the X-axis, the +X direction, the right side of the X direction, or the right side of the X-axis, and the direction opposite to the arrow may be referred to as the rear of the X-axis, the -X direction, the left side of the X direction, or the left side of the X-axis. The same applies to the other axes. In addition, the front of the Z-axis and the rear of the Z-axis may be referred to as "upper side" to "above" and "lower side" to "below", respectively. Also, the plane orthogonal to the X-axis, Y-axis, or Z-axis may be referred to as the YZ plane, ZX plane, or XY plane, respectively. However, these directions and the like are used for convenience in explaining the relative positional relationship. Therefore, these directions and the like do not define the absolute positional relationship.

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

[0014] Figures 1 and 2 also show a group of reinforcing bars R including a plurality of reinforcing bars R10 extending in the Y direction (also referred to as "first reinforcing bars" or "vertical reinforcing bars" in this embodiment). As shown in Figures 1 and 2, the reinforcing bar bundling robot 101 is disposed on the group of reinforcing bars R so as to travel along the first reinforcing bars R10. The group of reinforcing bars R may include, in addition to the plurality of reinforcing bars R10, a plurality of reinforcing bars extending in the X direction (also referred to as "second reinforcing bars R20" or "horizontal reinforcing bars" in this embodiment).

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

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

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

[0018] As shown in FIGS. 1 and 2, the traveling unit 121 may have four traveling units 121a, 121b, 121c, and 121d (in this embodiment, they are also referred to as the "first traveling unit", the "second traveling unit", the "third traveling unit", and the "fourth traveling unit", respectively). In the embodiment of the present disclosure, the traveling unit 121 is arranged on the reinforcing bar group R so that the reinforcing bar binding robot 101 travels in the Y direction. The first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d each have a first roller portion 122a, a second roller portion 122b, a third roller portion 122c, and a fourth roller portion 122d, and the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d are configured to travel on any one of the plurality of first reinforcing bars R10 along the Y direction (the first direction), which is the extending direction of the first reinforcing bar R10.

[0019] In addition, in the present embodiment, the traveling unit 121 is an example of a moving unit (the moving unit 120 described later). The moving unit 120 may have a configuration of a moving unit other than the traveling unit 121 instead of or in addition to the traveling unit 121. Further, in the present embodiment, the moving unit is configured to include the main body unit 140 and the moving unit 120.

[0020] In the embodiment of the present disclosure, a case where the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d are configured to travel in the Y direction will be described as an example. However, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may be configured to travel in a direction other than the Y direction.

[0021] For example, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may travel in a direction inclined by several degrees to several tens of degrees from the Y direction. For example, they may travel in a direction inclined at an angle of several degrees to several tens of degrees from the Y direction in the +X direction or the -X direction. For example, when the orientation of the reinforcing bar binding robot 101 is inclined from the Y direction due to the presence of foreign matter on the first reinforcing bar R10 to be traveled, the traveling directions of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d are inclined at least temporarily in the +X direction or the -X direction from the Y direction. Even in that case, for example, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may travel in a direction to return the inclination of the orientation of the reinforcing bar binding robot 101 to the Y direction (in the -X direction or the +X direction), so that the reinforcing bar binding robot 101 may travel so as to substantially follow the first reinforcing bar R10. Thereby, it is possible to continuously execute the binding operation of the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 by the reinforcing bar binding unit 110 of the reinforcing bar binding robot 101.

[0022] Also, for example, even at a construction site where the first reinforcing bar R10 is arranged to describe a curve, the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d may be configured to travel in a curve so as to follow the curved first reinforcing bar R10. In this case, the first direction, which is the extending direction of the first reinforcing bar R10, may be different for each point constituting the curve.

[0023] As shown in FIGS. 1 and 2 and FIG. 3 described later, the sensor unit 130 includes sensors 130a, 130b, 130c, and 130d (in the present embodiment, also referred to as the "first sensor", the "second sensor", the "third sensor", and the "fourth sensor", respectively). The first sensor 130a and the second sensor 130b are spaced apart from each other along the Y direction (in the present embodiment, the extending direction of the straight line connecting the first sensor 130a and the second sensor 130b in FIGS. 1 and 2 is also referred to as the "third direction") in FIGS. 1 and 2. Further, the fourth sensor 130d is disposed on the side surface opposite to the side surface on which the third sensor 130c of the reinforcing bar bundling robot 101 is provided (the side surface on the back side of the paper in FIGS. 1 and 2), and the third sensor 130c and the fourth sensor 130d are spaced apart from each other in a direction intersecting the Y direction in FIGS. 1 and 2 (in the example shown in FIGS. 1 and 2, the X direction, and in the present embodiment, the extending direction of the straight line connecting the third sensor 130c and the fourth sensor 130d is also referred to as the "fourth direction").

[0024] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are configured to be able to detect the first reinforcing bar R10 and / or the second reinforcing bar R20. For example, the first sensor 130a and the second sensor 130b may be configured to be able to detect the first reinforcing bar R10, and the third sensor 130c and the fourth sensor 130d may be configured to be able to detect the second reinforcing bar R20. Alternatively, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d may all be configured to be able to detect the first reinforcing bar R10 and the second reinforcing bar R20.

[0025] FIG. 3 shows a plan view of the reinforcing bar binding robot 101 as viewed from above (upward in the Z direction). Further, FIG. 4 shows a plan view of the reinforcing bar binding robot 101 as viewed from below (downward in the Z direction).

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

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

[0028] Further, for example, as shown in FIG. 4, in a bottom view, the first sensor 130a is on a straight line passing through the rotation axis 128a of the first roller portion 122a constituting the first traveling unit 121a and the rotation axis 128b of the second roller portion 122b constituting the second traveling unit 121b, or may be arranged behind (in the -Y direction in FIG. 4) the straight line passing through the rotation axis 128a and the rotation axis 128b. Similarly, in a bottom view, the second sensor 130b may be on a straight line passing through the rotation axis 128c of the third roller portion 122c constituting the third traveling unit 121c and the rotation axis 128d of the fourth roller portion 122d constituting the fourth traveling unit 121d, or may be arranged in front (in the +Y direction in FIG. 4) of the straight line passing through the rotation axis 128c and the rotation axis 128d. Specific examples of the sensor unit 130 will be described later.

[0029] Also, as shown in FIG. 3, FIG. 4, etc., the first sensor 130a is disposed in front of the main body unit 140 in the Y-axis direction (+Y direction). Similarly, the second sensor 130b is disposed behind the main body unit 140 in the Y-axis direction (-Y direction). The third sensor 130c and the fourth sensor 130d are respectively disposed on the left and right sides in the X direction in a top view of the main body unit 140 in FIG. 3. That is, as can be seen from FIG. 4, etc., for example, in the present embodiment, the first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are arranged on or inside the outer edge of a rectangle that is virtually formed by connecting near the approximate centers of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d in a plan view of the steel bar bundling robot 101. Note that the rectangle virtually formed by the first traveling unit 121a to the fourth traveling unit 121d may be a square, for example, when the intervals in the X direction and the Y direction between the traveling units are substantially equal. In this case, the first sensor 130a to the fourth sensor 130d may be arranged on or inside the outer edge of the virtual square. Also, depending on the arrangement configuration of the first traveling unit 121a to the fourth traveling unit 121d, a quadrilateral other than a rectangle and a square may be virtually formed by the first traveling unit 121a to the fourth traveling unit 121d. Even in this case, the first sensor 130a to the fourth sensor 130d may be arranged on or inside the outer edge of the virtual quadrilateral.

[0030] The first sensor 130a, the second sensor 130b, the third sensor 130c, and the fourth sensor 130d are arranged on or inside the outer edge of a rectangle that is virtually formed by connecting near the approximate centers of the above-described first traveling unit 121a, second traveling unit 121b, third traveling unit 121c, and fourth traveling unit 121d as an example, but are not limited thereto. For example, depending on the arrangement configuration of the first traveling unit 121a, second traveling unit 121b, third traveling unit 121c, and fourth traveling unit 121d, and / or the shape of the main body unit 140, etc., the first sensor 130a, second sensor 130b, third sensor 130c, and fourth sensor 130d may have different arrangement configurations. For example, the first sensor 130a, second sensor 130b, third sensor 130c, and fourth sensor 130d may be arranged on or outside the outer edge of a rectangle that is virtually formed by connecting near the approximate centers of the first traveling unit 121a, second traveling unit 121b, third traveling unit 121c, and fourth traveling unit 121d in a plan view of the reinforcing bar binding robot 101.

[0031] As shown in FIGS. 1 and 3, the main body unit 140 may include a main body upper surface 142. The main body upper surface 142 may have, for example, a circular hole portion 144 formed near the central portion, and the reinforcing bar binding unit 110 may be arranged to penetrate the hole portion 144.

[0032] In the present embodiment, the reinforcing bar binding robot 101 may include, for example, two arms 150 (each of which is the first arm 150a (also referred to as the "front arm" in the present embodiment) and the second arm 150b (also referred to as the "rear arm" in the present embodiment)). As shown in FIGS. 1 to 4, the first arm 150a and the second arm 150b may be provided so as to be separated from each other in the Y direction (the third direction). The front arm 150a and the rear arm 150b may be configured to support the main body unit 140 of the reinforcing bar binding robot 101, etc. when the reinforcing bar binding robot 101 moves in the lateral direction (the X direction in FIGS. 1 to 4, the fourth direction in the reinforcing bar binding robot 101).

[0033] Referring to FIGS. 1 to 4, the frame 201 will be described. The frame 201 is an example of a "protective portion" that protects the reinforcing bar bundling unit. The frame 201 has, as vertices, vertex 211, vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb, vertices 213lf, 213rf, 213lb, and 213rb, vertices 214lf, 214rf, 214lb, and 214rb, vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb, vertices 216lf, 216rf, 216lb, and 216rb, and vertices 217lf, 217rf, 217lb, and 217rb.

[0034] Vertex 211 is arranged at a predetermined position in the +Z direction with respect to the reinforcing bar bundle unit 110. Vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb are each arranged at predetermined positions that are approximately in front of, approximately behind, approximately left - front, approximately right - front, approximately left - rear, and approximately right - rear of vertex 211 in the XY plane view. Also, vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb are each arranged at positions that are lower than vertex 211 by a predetermined distance in the Z direction. Vertices 213lf, 213rf, 213lb, and 213rb are each arranged at predetermined positions that are approximately in front of vertex 212lf, approximately in front of vertex 212rf, approximately behind vertex 212lb, and approximately behind vertex 212rb in the XY plane view. Also, vertices 213lf, 213rf, 213lb, and 213rb are each arranged at positions that are lower than vertices 212f, 212b, 212lf, 212rf, 212lb, and 212rb by a predetermined distance in the Z direction. Vertices 214lf, 214rf, 214lb, and 214rb are each arranged at predetermined positions that are farther than vertices 212lf, 212rf, 212lb, and 212rb in the same direction as each of vertices 212lf, 212rf, 212lb, and 212rb with respect to vertex 211 in the XY plane view. Also, vertices 214lf, 214rf, 214lb, and 214rb are each arranged at positions that are lower than vertices 213lf, 213rf, 213lb, and 213rb by a predetermined distance in the Z direction. Vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb are each arranged at predetermined positions that are approximately in front of vertex 212f, approximately behind vertex 212b, approximately in front of vertex 213lf, approximately in front of vertex 213rf, approximately behind vertex 213lb, and approximately behind vertex 213rb in the XY plane view. Also, vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb are each arranged at positions that are lower than vertices 214lf, 214rf, 214lb, and 214rb by a predetermined distance in the Z direction.Vertices 216lf, 216rf, 216lb, and 216rb are respectively arranged at predetermined positions that are approximately in front of vertex 214lf, approximately in front of vertex 214rf, approximately behind vertex 214lb, and approximately behind vertex 214rb when viewed in the XY plane. Also, vertices 216lf, 216rf, 216lb, and 216rb are respectively arranged at positions that are lower by a predetermined distance with respect to vertices 215f, 215b, 215lf, 215rf, 215lb, and 215rb in the Z direction. Vertices 217lf, 217rf, 217lb, and 217rb are respectively arranged at positions that are approximately the same as vertices 214lf, 214rf, 214lb, and 214rb when viewed in the XY plane. Also, vertices 217lf, 217rf, 217lb, and 217rb are respectively arranged at positions that are lower by a predetermined distance with respect to vertices 216lf, 216rf, 216lb, and 216rb in the Z direction.

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

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

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

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

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

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

[0041] The frame 201 may protect at least a part of the reinforcing bar bundle unit 110 from the environment in the +Z direction. Here, protecting at least a part of the reinforcing bar bundle unit 110 from the environment in the +Z direction may include, for example, protecting the reinforcing bar bundle unit 110 from any external force (contact force, wind force, impact force, etc.) from the +Z direction, including buffering between the falling object (flying object) and the reinforcing bar bundle unit 110 so that they do not come into contact, or changing the trajectory of the falling object (flying object). Also, protecting at least a part of the reinforcing bar bundle unit 110 from the environment in the +Z direction may include protecting the reinforcing bar bundle unit 110 from contact with the ground or other structures when the reinforcing bar bundling robot 101 tips over, etc. The frame 201 may be disposed, for example, at a predetermined position in the +Z direction with respect to at least a part of the reinforcing bar bundle unit 110. Thereby, the frame 201 can protect the at least a part of the reinforcing bar bundle unit 110 from the environment in the +Z direction. Also, the frame 201 may be disposed, for example, at a predetermined position in the +Z direction with respect to the whole of the reinforcing bar bundle unit 110. Thereby, the frame 201 can protect the whole of the reinforcing bar bundle unit 110 from the environment in the +Z direction.

[0042] Further, the frame 201 may be arranged, for example, so as to straddle the main body unit 140. That is, the frame 201 may be arranged, for example, at a predetermined position in the +Z direction with respect to the entire reinforcing bar bundling unit 110 and at least a part of the main body unit 140 (see FIG. 3). Thereby, the frame 201 can protect the entire reinforcing bar bundling unit 110 and the at least a part of the main body unit 140 from the environment in the +Z direction. In particular, it is possible to strengthen the protection of the entire reinforcing bar bundling unit 110 from the environment in the +Z direction. Further, the frame 201 may be arranged at a predetermined position in the +Z direction with respect to the entire reinforcing bar bundling unit 110 and the entire main body unit 140. Thereby, the frame 201 can protect the entire reinforcing bar bundling unit 110 and the entire main body unit 140 from the environment in the +Z direction. In particular, it is possible to strengthen the protection of the entire reinforcing bar bundling unit 110 from the environment in the +Z direction.

[0043] The frame 201 may protect at least a part of the reinforcing bar bundle unit 110 from the surrounding environment. In the present disclosure, any direction substantially parallel to the XY plane may be referred to as "surrounding". Here, protecting at least a part of the reinforcing bar bundle unit 110 from the surrounding may include, for example, protecting the reinforcing bar bundle unit 110 from any external force (contact force, wind force, impact force, etc.) (from the direction of the XY plane), or including buffering between the falling object (flying object) and the reinforcing bar bundle unit 110 so that the falling object (flying object) does not contact the reinforcing bar bundle unit 110, or including changing the trajectory of the falling object (flying object). Also, protecting at least a part of the reinforcing bar bundle unit 110 from the environment in the XY plane direction may include protecting the reinforcing bar bundle unit 110 from contact with the ground or other structures when the reinforcing bar binding robot 101 rolls over. Also, protecting at least a part of the reinforcing bar bundle unit 110 from the surrounding may include, for example, protecting so that an operator (a part of the body) does not contact the reinforcing bar bundle unit 110. The frame 201 may be arranged to cover the entire periphery of at least a part of the reinforcing bar bundle unit 110 in the Z direction. Thereby, the frame 201 can protect the at least a part of the reinforcing bar bundle unit 110 from the environment in any direction substantially parallel to the XY plane. The frame 201 may be arranged to cover the entire periphery of the entire reinforcing bar bundle unit 110 (see FIG. 3). Thereby, the frame 201 can protect the at least a part of the reinforcing bar bundle unit 110 from the environment in any direction substantially parallel to the XY plane.

[0044] FIG. 5 is a perspective view of the rebar tying robot 101 with the rebar tying unit 110 and the frame 201 removed, viewed from the right rear diagonal direction. FIG. 6 is a perspective view of the rebar tying robot 101 with the rebar tying unit 110 and the frame 201 removed, viewed from the right front diagonal direction. As shown in FIGS. 5 and 6, the rebar tying unit 110 may be provided so as to be movable in the vertical direction (Z direction in FIG. 5) while passing through the hole 144. Thereby, for example, when the rebar tying unit 110 is lowered and the rebar tying robot 101 reaches the intersection c12 of the first rebar R10 and the second rebar R20, the intersection c12 of the first rebar R10 and the second rebar R20 is configured to be tied. As shown in FIGS. 5 and 6, the rebar tying robot 101 has reels 180a and 180b. Wires used for tying the rebars are accommodated in the reels 180a and 180b, and when the rebar tying unit 110 ties the intersection c12 of the first rebar R10 and the second rebar R20, the wires accommodated in the reel 180a and / or the reel 180b are pulled out so that the intersection c12 is tied. Also, although detailed description is omitted, the rebar tying unit 110 has a body and a wire twisting part provided at one end of the rebar tying unit 110 (the lower end in the Z direction in FIG. 5) and having a wire guide or the like, and is configured to perform a rebar tying operation. The wire twisting part includes a twisting motor, a twisting shaft, etc., and may be configured to be able to perform a rebar tying operation by a function similar to that of a known rebar tying machine, for example.

[0045] Engagement portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb are provided on the upper surface of the main body unit 140. Each of the engagement portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb is configured such that a member stands upright in the Z direction by a predetermined height so as to have a substantially cylindrical shape with an upper surface opening having a dimension into which the end portions of the frame members 222a, 222b, 228f, and 228r can be inserted.

[0046] The frame 201 can be attached to the moving unit 140 by pushing the frame 201 in the -Z direction into the moving unit 140 such that the ends of the frame members 222a, 222b, 228f, and 228r are inserted into and engaged with the inside of the engaging portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb. Also, the frame 201 attached to the moving unit 140 can be removed from the moving unit 140 by lifting the frame 201 in the +Z direction such that the ends of the frame members 222a, 222b, 228f, and 228r are released from the inside of the engaging portions 141lf, 141rf, 141lb, 141rb, 142lf, 142rf, 142lb, and 142rb (FIG. 5). Thus, the frame 201 may be configured to be movable relative to the reinforcing bar bundling unit 110.

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

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

[0049] In the reinforcing bar bundling robot 101 of the present embodiment, the control unit 160 may be disposed at any position of the reinforcing bar bundling robot 101. For example, in the Y direction, the control unit 160 may be disposed on the side opposite to the reels 180a and 180b with respect to the reinforcing bar bundling unit 110. More specifically, as shown in FIG. 1, the reels 180a and 180b are disposed in the -Y direction of the reinforcing bar bundling unit 110, while the control unit 160 may be disposed in the +Y direction of the reinforcing bar bundling unit 110. Particularly immediately after the replacement of the wire reels (reels 180a and / or 180b), the reels wound with wires become relatively heavy. By disposing the control unit 160 on the side opposite to the reinforcing bar bundling unit 110, it becomes possible to balance the weight.

[0050] The lateral movement unit 146 (FIG. 7) is configured to control the movement of the main body unit 140 of the reinforcing bar bundling robot 101. In the reinforcing bar bundling robot 101 according to the present embodiment of the present disclosure, the reinforcing bar bundling robot 101 may be moved in the horizontal direction by the lateral movement unit 146. The lateral movement unit 146 may include a first lateral movement motor 146ma and a second lateral movement motor 146mb. For example, when the reinforcing bar bundling robot 101 moves laterally as described later, the main body unit 140 may be horizontally moved by the two motors 146ma and 146mb.

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

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

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

[0054] Similarly, the first lateral movement roller 146la (FIG. 6) also constitutes, for example, a drive gear, and the first drive rack 146ca has a plurality of teeth that mesh with the external teeth provided on the outer periphery of the first lateral movement roller 146la linearly arranged in the X direction. The first lateral movement roller 146la is driven by a first lateral movement motor 146ma. When the first lateral movement roller 146la is rotated by the first lateral movement motor 146ma, the first lateral movement roller 146la moves relatively with respect to the first drive rack 146ca along the longitudinal direction of the first drive rack 146ca, whereby the main body unit 140 can move relatively in the X direction with respect to the third traveling unit 121c and the fourth traveling unit 121d.

[0055] In this way, by driving the first lateral movement roller 146la and the second lateral movement roller 146lb by the first lateral movement motor 146a and the second lateral movement motor 146b respectively, the main body unit 140 may be configured to perform lateral movement (movement in the X direction) with respect to the traveling unit 121.

[0056] The storage device 198 may include, for example, a storage medium (such as a semiconductor memory element) or other media that non-transitorily stores one or more computer programs executed in the control unit 160, data used for controlling the steel bar tying robot 101, and the like. The storage device 198 may include, for example, a template database 198t. The template database 198t may store, for example, as will be described later, images of templates used for detecting the first steel bar R10 and / or the second steel bar R20 using template matching based on the detection results by the sensor unit 130, and data obtained by performing image processing such as frequency analysis on the images of the templates for detecting the end portion R10e of the first steel bar R10 and / or the end portion R20e of the second steel bar R20. Further, the control unit 160 may further include a template data creation unit. For example, the control unit 160 may be configured to create template data based on an image captured using the sensor unit 130 according to the site where the steel bar tying work is to be performed, and store the template data in the template database 198t. The template data stored in the template database 198t may be accumulated, for example, at the timing when new template data is created, or may be deleted at the timing of completion of the tying work at each construction site. Alternatively, the created template data may be configured to be deleted periodically, for example, after being held in the template database 198t of the storage device 198 for a certain period of time.

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

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

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

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

[0061] The height of the reinforcing bar bundling robot 101 from the reinforcing bar group R may be calculated based on, for example, the angle of the traveling unit 121. As shown in FIG. 6, the traveling unit 121a has a first main body side link portion 125a connected to the main body unit 140 and a first roller side link portion 123a connected to the first roller portion 122a, and the first main body side link portion 125a and the first roller side link portion 123a may form a link mechanism. At this time, the link angle, which is the angle formed by the first main body side link portion 125a and the first roller side link portion 123a, is detected by the first link angle detection sensor 134a (FIG. 7) of the sensor unit 130, and the height of the first traveling unit 121a may be calculated based on the link angle.

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

[0063] Based on the heights of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d (the heights from the reinforcing bar group R) calculated in this way, the robot height calculation unit 164e may calculate the height of the reinforcing bar tying robot 101 from the reinforcing bar group R. For example, the height of the reinforcing bar tying robot 101 may be calculated by the average value of some or all of the calculated heights of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d. Also, for example, when the reinforcing bar tying robot 101 is positioned parallel or substantially parallel to the virtual plane formed by the reinforcing bar group R, the height of the reinforcing bar tying robot 101 may be set to any one of the heights of the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d.

[0064] As shown in FIG. 7, the sensor unit 130 may include an inclination detection sensor 132 in addition to the above-described first sensor 130a to fourth sensor 130d. As the inclination detection sensor 132, for example, a known inclination sensor, a level sensor, or the like, a sensor capable of detecting the inclination angle of the reinforcing bar tying robot 101 may be used. The sensor detection result acquisition unit 162 may also acquire the detection result of the inclination detection sensor 132. Based on the detection result of the inclination detection sensor 132, for example, the attitude determination unit 164c of the determination unit 164 determines the attitude of the reinforcing bar tying robot 101, and based on the determination result of the attitude determination unit 164c, the attitude control unit 176 drives the height change motors 126 of the traveling unit 121 (the first height change motor 126a of the first traveling unit 121a, the second height change motor 126b of the second traveling unit 121b, the third height change motor 126c of the third traveling unit 121c, and / or the height change motor 126d of the fourth traveling unit 121d) to adjust the attitude of the reinforcing bar tying robot 101.

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

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

[0067] The reinforcing bar bundling unit control unit 168 controls the movement of the reinforcing bar bundling unit 110 by controlling the reinforcing bar bundling unit moving unit 168m. The reinforcing bar bundling unit 110 can take a bundling position where it performs a bundling operation to bundle the intersection point c12 where the first reinforcing bar R10 and the second reinforcing bar R20 intersect, and a retracting position where it retracts while moving to the intersection point c12 where the next bundling operation is performed after the bundling operation is completed. When the reinforcing bar bundling unit 110 moves from the retracting position to the bundling position, it moves in the -Z direction, and when it moves from the bundling position to the retracting position, it moves in the +Z direction. Such movement of the reinforcing bar bundling unit 110 in the Z direction is realized by the reinforcing bar bundling unit moving unit 168m composed of, for example, a motor or the like. Further, the raising and lowering operation of the reinforcing bar bundling unit 110 in the Z direction by the reinforcing bar bundling unit moving unit 168m is controlled by the reinforcing bar bundling unit control unit 168.

[0068] The reinforcing bar bundling unit control unit 168 also controls the bundling operation of the intersection point c12 by the reinforcing bar bundling unit 110 after the reinforcing bar bundling unit 110 has moved to the bundling position. For example, the bundling work by the reinforcing bar bundling unit 110 performed using the wire pulled out from the reel 180 by the wire pulling-out unit described later is controlled by the reinforcing bar bundling unit control unit 168. For example, after moving the reinforcing bar bundling robot 101 by the first traveling unit 121a, the second traveling unit 121b, the third traveling unit 121c, and / or the fourth traveling unit 121d so that the reinforcing bar bundling unit 110 is located above the intersection point c12, the reinforcing bar bundling unit control unit 168 controls the reinforcing bar bundling unit moving unit 168m and lowers the reinforcing bar bundling unit 110 to the bundling position so as to approach the intersection point c12, and may perform bundling of the intersection point c12.

[0069] The reinforcing bar following control unit 170 may control the traveling unit 121 by the motor control unit 178 so as to follow the first reinforcing bar R10 while the reinforcing bar tying robot 101 is traveling, based on information such as the position of the first reinforcing bar R10 determined by the first reinforcing bar determination unit 164a1. For example, as shown in FIG. 5, when the reinforcing bar tying robot 101 travels along the first reinforcing bar R12 and the first reinforcing bar R14, the driving motors of the traveling unit 121 (the first wheel driving motor 124a that drives the first roller unit 122a, the second wheel driving motor 124b that drives the second roller unit 122b, the third wheel driving motor 124c that drives the third roller unit 122c, and / or the fourth wheel driving motor 124d that drives the fourth roller unit 122d) may be driven so that the reinforcing bar tying robot 101 does not deviate from the first reinforcing bar R12 and the first reinforcing bar R14.

[0070] For example, among the first wheel driving motor 124a, the second wheel driving motor 124b, the third wheel driving motor 124c, and the fourth wheel driving motor 124d, the first wheel driving motor 124a and the third wheel driving motor 124c, which are the driving motors of the first traveling unit 121a and the third traveling unit 121c arranged at the same position or substantially the same position in the X direction, may be accelerated or decelerated with respect to the second wheel driving motor 124b and the fourth wheel driving motor 124d, which are the driving motors of the second traveling unit 121b and the fourth traveling unit 121d arranged on the other side in the X direction, to adjust the position of the reinforcing bar tying robot 101 and cause the reinforcing bar tying robot 101 to travel so as to follow the first reinforcing bar R10.

[0071] Alternatively, the rebar following control unit 170 may cause the rebar tying robot 101 to travel following the first rebar R10 by adjusting the rotational speeds of, for example, the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d. For example, by setting the rotational speed of one or more of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to a rotational speed different from the rotational speeds of the other wheel drive motors, or by setting the rotational speeds of all of the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and the fourth wheel drive motor 124d to different rotational speeds from each other, it becomes possible to cause the rebar tying robot 101 to flexibly follow the first rebar R10.

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

[0073] Further, for example, when the intersection calculation unit 166 described above calculates the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20, the stop control unit 172 may stop the reinforcing bar binding robot 101 in order to bind the intersection c12 with the reinforcing bar binding unit 110.

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

[0075] For example, when the steel bar bundling robot 101 completes the steel bar bundling operation at the intersection c12 on the first steel bar R13 and then performs the steel bar bundling operation at the intersection c12 on the first steel bar R14, the steel bar bundling robot 101 moves in the X direction by one interval with respect to the interval in the X direction of the first steel bar R10. At this time, the movement amount calculation unit 174 may calculate the movement amount based on the information on the position of the first steel bar R10 determined by the first steel bar determination unit 164a1 and based on the interval in the X direction between adjacent first steel bars R10. Similarly, when the steel bar bundling robot 101 performs the steel bar bundling operation at the intersection c12 on the first steel bar R10 that is separated by two or more in the X direction, the movement amount may be calculated based on the interval between the first steel bars R10. Further, based on the calculated movement amount, the main body unit 140 may be horizontally moved (for example, horizontally moved) by the horizontal movement unit 146 during the horizontal movement. Note that the movement amount calculation unit 174 may execute the calculation of the movement amount in other directions than the horizontal movement amount. For example, the movement amount calculation unit 174 may calculate the movement amount of the vertical movement (movement in the first direction, the Y direction) of the steel bar bundling robot 101 based on the detection results of the respective sensors 130, the determination results by the steel bar end determination unit 164b1 and / or the steel bar end determination unit 164b2, and the like.

[0076] As the sensor unit 130, for example, a camera capable of shooting a two-dimensional image or a three-dimensional image may be used, and based on the detection result of the sensor unit 130, for example, the position of a foreign object may be determined by the obstacle determination unit 164d of the determination unit 164. At a construction site or the like where steel bars are assembled, for example, tools or the like may be left on the steel bar surface, or a worker may be performing work. These are detected as foreign objects based on the detection results by the sensor unit 130, and based on the detection result of the foreign object, the foreign object bypass control unit 179 may be configured to drive the first wheel drive motor 124a, the second wheel drive motor 124b, the third wheel drive motor 124c, and / or the fourth wheel drive motor 124d by the motor control unit 178 to bypass the foreign object. Alternatively, the steel bar bundling robot 101 may be configured to bypass the foreign object by performing the horizontal movement described later.

[0077] The control unit 160 is a processor such as a CPU (Central Processing Unit) corresponding to, for example, an arithmetic unit, and is a control unit that performs control regarding the execution of a computer program stored in the storage device 198, arithmetic operations on data, and processing. The processor is an arithmetic unit that executes a program for operating the reinforcing bar tying robot 101 (such as reinforcing bar tracking and traveling, lateral movement (for example, horizontal movement), reinforcing bar tying work, etc.) using each detection data and the like. By the processor executing the program stored in the storage device 198, each unit of the control unit (for example, the sensor detection result acquisition unit 162, etc.) is realized.

[0078] The storage device 198 may have, for example, a RAM (Random Access Memory) and a ROM (Read only Memory). The RAM is a rewritable part of the storage unit and may be composed of, for example, a semiconductor memory element. The RAM may store a program executed by the processor and data necessary for the execution of the program (for example, as will be described later, template data used for determining the position of the reinforcing bar based on the detection result of the sensor unit 130, etc.). Note that these are examples, and the RAM may store data other than these, or may not store some of these.

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

[0080] The program executed by the control unit 160 may be stored and provided in a computer-readable storage medium such as the storage device 198 (for example, RAM or ROM), or when the reinforcing bar tying robot 101 according to the present embodiment has a communication unit (not shown), the program may be provided via a communication network connected by the communication unit.

[0081] The above physical configuration is an example. In the reinforcing bar tying robot 101 according to the embodiments of the present disclosure, the control unit 160 and the storage device 198 do not necessarily have an independent configuration. For example, the reinforcing bar tying robot 101 may include an LSI (Large-Scale Integration) in which a processor and a memory are integrated. Further, the reinforcing bar tying robot 101 may include a GPU (Graphical Processing Unit) as the control unit 160, and various operations described above may be realized by the GPU executing a program.

[0082] Next, with reference to FIGS. 8 and 9, the traveling operation of the reinforcing bar tying robot 101 on the reinforcing bar will be described. FIG. 8 is a view of the reinforcing bar tying robot 101 traveling along the first reinforcing bar R10 as seen from the Y direction (-Y direction). FIG. 9 is a view of the reinforcing bar tying robot 101 traveling along the first reinforcing bar R10 as seen from the X direction (+X direction). In FIGS. 8 and 9, the reinforcing bar tying robot 101 travels in the first direction (Y direction). As shown in FIGS. 8 and 9, during traveling, the third roller 122c of the third traveling unit 121c of the reinforcing bar tying robot 101 is on the first reinforcing bar R12, and the fourth roller 122d of the fourth traveling unit 121d is on the first reinforcing bar R14, and it travels in such a manner. As shown in FIG. 9, the second roller portion 122b of the second traveling unit 121b also travels on the first reinforcing bar R14 in the same manner as the fourth roller portion 122d of the fourth traveling unit 121d. Although not shown in FIGS. 8 and 9, the first roller portion 122a of the first traveling unit 121a also travels on the first reinforcing bar R12 in the same manner as the third roller portion 122c of the third traveling unit 121c. In this way, when the reinforcing bar tying robot 101 according to the embodiments of the present disclosure travels along the first reinforcing bar R10, for example, it travels on a certain first reinforcing bar R10 (the first reinforcing bar R12) and a first reinforcing bar R10 (the first reinforcing bar R14) disposed two adjacent to the certain first reinforcing bar R12, and ties the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 existing on the first reinforcing bar R13, which is the first reinforcing bar R10 existing between the traveling first reinforcing bar R12 and the first reinforcing bar R14.

[0083] Next, with reference to FIGS. 10 and 11, the reinforcing bar tying robot 101 during the reinforcing bar tying operation will be described. FIG. 10 is a view of the reinforcing bar tying robot 101 that has stopped traveling and is performing the tying operation, as seen from the Y direction (-Y direction). FIG. 11 is a view of the reinforcing bar tying robot 101 that is performing the tying operation, as seen from the X direction (+X direction). FIGS. 10 and 11 show an example in which the reinforcing bar tying robot 101 ties the intersection point c12 of the first reinforcing bar R13 and the second reinforcing bar R20. In the tying operation, the reinforcing bar tying robot 101 stops traveling (FIG. 10) and lowers the reinforcing bar tying unit 110 to perform the tying (FIG. 11).

[0084] Next, a configuration for calculating the positions of the reinforcing bar group R (the first reinforcing bar R10 and the second reinforcing bar R20) by the reinforcing bar tying robot 101 according to the embodiment of the present disclosure will be described. The reinforcing bar tying robot 101 according to the embodiment of the present disclosure includes a plurality of first reinforcing bars R1 whose extending direction is the Y direction (the first direction), and a plurality of second reinforcing bars R2 whose extending direction is the X direction (the second direction) intersecting the Y direction (the first direction) and arranged so as to intersect the first reinforcing bars R1. It includes a traveling unit 121 configured to be able to travel on the reinforcing bar group R, a sensor unit 130 configured to be able to detect at least one first reinforcing bar R10 and / or at least one second reinforcing bar R20, and based on the pixel values of a plurality of pixels constituting the two-dimensional image generated from the detection result of the sensor unit 130, it is configured to calculate the positions of at least one first reinforcing bar R10 and / or at least one second reinforcing bar R20 detected by the sensor unit 130. A first reinforcing bar determination unit 164a1 and / or a second reinforcing bar determination unit 164a2 (also referred to as a "reinforcing bar position calculation unit" in this embodiment). The reinforcing bar tying robot 101 according to the embodiment of the present disclosure can calculate the positions of the first reinforcing bar R10 and / or the second reinforcing bar R20 based on the two-dimensional image generated from the detection result of the sensor unit 130, thereby streamlining the calculation process of the positions of the first reinforcing bar R10 and / or the second reinforcing bar R20. For example, compared with the case of calculating the position of the reinforcing bar using 3D data as the detection result of the sensor unit, the calculation load can be reduced by performing calculations based on the two-dimensional image.

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

[0086] Further, in the reinforcing bar bundling robot 101 according to an embodiment of the present disclosure, in the grayscale image, when the density value of a pixel is equal to or greater than a predetermined threshold value, it may be determined that the pixel corresponds to the first reinforcing bar R10 and / or the second reinforcing bar R20. At this time, when the density value of a pixel constituting the grayscale image is equal to or greater than a predetermined threshold value (first threshold value), the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) may determine that at least a part of the first reinforcing bar R1 and / or at least a part of the second reinforcing bar R2 exist at a position corresponding to a pixel having a density value equal to or greater than the predetermined threshold value. Alternatively, when using a grayscale image as the two-dimensional image, the grayscale image may be generated by lowering the image density of the region where the object exists and increasing the image density of the region where the object does not exist. In this case, when the density value of a pixel is less than a predetermined threshold value, it may be determined that the pixel corresponds to the first reinforcing bar R10 and / or the second reinforcing bar R20.

[0087] In the reinforcing bar bundling robot 101 according to an embodiment of the present disclosure, the grayscale image may be generated based on the detection result of the three-dimensional sensor. At this time, the sensor unit 130 includes a three-dimensional sensor capable of detecting the x-coordinate, y-coordinate, and z-coordinate of a plurality of points on the surface of the detection object, and the z-coordinate value detected by the three-dimensional sensor is converted into different image densities according to the magnitude of the z-coordinate value, and the grayscale image may be generated by constructing a two-dimensional image based on the x-coordinate, the y-coordinate, and the image density.

[0088] Alternatively, in the reinforcing bar bundling robot 101 according to an embodiment of the present disclosure, the sensor unit 130 may be configured to capture a grayscale image. At this time, the sensor unit 130 may include an imaging device, and the grayscale image may be generated based on the image captured by the imaging device.

[0089] Further, the reinforcing bar bundling robot 101 according to an embodiment of the present disclosure may calculate the positions of the first reinforcing bar R10 and / or the second reinforcing bar R20 according to the degree of matching. At this time, the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) may be configured to calculate the positions of at least one first reinforcing bar R10 and / or at least one second reinforcing bar R20 based on the degree of matching between the grayscale image and the template image.

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

[0091] At this time, the positions of the first reinforcing bar R10 and / or the second reinforcing bar R20 may be calculated using the reference value of the matching degree. At this time, the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) determines whether the matching degree is equal to or higher than a predetermined reference value, and when the matching degree is equal to or higher than the predetermined reference value, it may be determined that the first reinforcing bar R10 and / or the second reinforcing bar R20 exists within the detection range by the sensor unit 130. Further, based on the calculated positions of the first reinforcing bar R10 and the second reinforcing bar R20, the position of the intersection c12 between the first reinforcing bar R10 and the second reinforcing bar R20 may be calculated.

[0092] Hereinafter, the process of calculating the positions of the reinforcing bars by the reinforcing bar tying robot according to the embodiment of the present disclosure will be described.

[0093] First, a specific example of the sensor unit 130 used in the reinforcing bar tying robot 101 will be described in detail. As the sensor unit 130, for example, a 3D distance camera such as a ToF (Time of Flight) camera can be used (for example, TOFcam-635 manufactured by ESPROS Photonics). With the 3D distance camera, for example, an image with different shades according to the distance from the camera for each object to be photographed is output, the distance to the object to be targeted is acquired for each pixel, and relatively close objects can be represented with higher density (closer to black) and relatively distant objects with lighter density (closer to white). In the embodiment of the present disclosure, when the reinforcing bar tying robot 101 is traveling in the reinforcing bar group R, since the distance between the reinforcing bar tying robot 101 and the reinforcing bar group R generally does not change, the reinforcing bars may be detected by recognizing relatively black and close objects as the reinforcing bars (the first reinforcing bar R10 and / or the second reinforcing bar R20).

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

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

[0096] As schematically shown in FIGS. 12 and 13, the first sensor 130a and the second sensor 130b arranged apart from each other in the Y direction are arranged to image obliquely downward. Similarly, the third sensor 130c and a fourth sensor 130d (not shown) are also arranged to image obliquely downward. The first sensor 130a and the second sensor 130b are set such that, for example, the viewing angle defining the imaging range is, for example, 80° or more and 100° or less. Also, the third sensor 130c and the fourth sensor 130d are set such that, for example, the viewing angle is, for example, 50° or more and 70° or less. Any of the sensors 130 may be set to have other viewing angles. As described above, when determining foreign objects based on the detection results of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d, for example, the imaging ranges of the respective sensors may be changed, such as turning the angles of the respective sensors upward.

[0097] FIG. 14 schematically shows a captured image by the first sensor 130a. As shown in FIG. 14, in the embodiment of the present disclosure, since the first sensor 130a is arranged to image the diagonally downward direction, the distance between adjacent first reinforcing bars R10 from the front to the back becomes narrower. In the embodiment of the present disclosure, based on the image thus obtained, for example, by performing template matching, the positions of each reinforcing bar (a plurality of first reinforcing bars R10 and a plurality of second reinforcing bars R20) constituting the reinforcing bar group R can be detected. In the embodiment of the present disclosure, by template matching, for example, based on the similarity (also referred to as "matching degree" in this embodiment) between the captured image and a previously prepared image, the reinforcing bar (first reinforcing bar R10 and / or second reinforcing bar R20) is detected, a grayscale image including the grayscale portion corresponding to the reinforcing bar is prepared as a template, the images captured by each sensor unit 130 are scanned, and the similarity is calculated in the scanning direction.

[0098] As described above with reference to FIG. 14, in the embodiment of the present disclosure, in the image captured by the first sensor 130a, the distance between adjacent first reinforcing bars R10 in the X direction changes along the Y direction. Similarly, for the image captured by the second sensor 130b, the distance in the X direction of the first reinforcing bar R10 changes in the Y direction, and for the images captured by the third sensor 130c and the fourth sensor 130d, the distance in the Y direction between the second reinforcing bars R20 to be imaged changes along the X direction. Therefore, for example, by performing orthographic transformation on the captured image, the image may be corrected so that the distances between the reinforcing bars on the captured image are substantially equal, and then template matching may be performed. Note that even without performing image conversion such as orthographic transformation, by preparing an image in which the distances between the reinforcing bars are changed as shown in FIG. 14 as a template, the detection of the reinforcing bars based on template matching can be performed.

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

[0100] Also, at this time, the reinforcing bar bundling robot 101 may be further configured such that the third sensor 130c and the fourth sensor 130d detect not only the first reinforcing bar R10 but also the second reinforcing bar R20 and estimate the intersection c12. That is, the reinforcing bar bundling robot 101 further includes an intersection calculation unit 166 (also referred to as an "intersection estimation unit" in this embodiment) that estimates the intersection c12. The sensor unit 130 includes a third sensor 130c and a fourth sensor 130d that are spaced apart along a fourth direction that intersects the third direction, and are configured to be able to detect at least the second reinforcing bar R20. At least one template image includes a template image (second template image) that includes a partial image of the second reinforcing bar R20. The reinforcing bar bundling robot 101 is arranged such that the fourth direction is parallel to the X direction (second direction). The first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) calculates the position of the second reinforcing bar R20 by comparing the detection results of the third sensor 130c and / or the fourth sensor 130d with the second template image. The intersection estimation unit (intersection estimation unit) estimates the intersection of the calculated first reinforcing bar R10 and the calculated second reinforcing bar R20 as the intersection c12. The reinforcing bar bundling unit 110 may be configured to bundle the estimated intersection c12.

[0101] In addition, when the reinforcing bar bundling robot 101 detects the end portion R10e of the first reinforcing bar R10, it may cause the third sensor 130c and / or the fourth sensor 130d to detect the first reinforcing bar R10, and based on the first reinforcing bar R10 detected by the third sensor 130c and / or the fourth sensor 130d, it may be used for calculating the later-described lateral movement amount of the reinforcing bar bundling robot 101. That is, when the traveling unit 121 moves from the first reinforcing bar R10 it is traveling on to another first reinforcing bar R10, the reinforcing bar bundling robot 101 is provided with a movement amount calculation unit 174 (movement amount calculation unit) that calculates the movement amount of the traveling unit 121 based on the position information of the first reinforcing bar R10 calculated by the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit). The first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) calculates the position of the first reinforcing bar R10 on which the traveling unit 121 is traveling based on the detection results of the first sensor 130a and / or the second sensor 130b. When the matching degree of the detection result of the first sensor 130a is less than a predetermined reference value, it determines whether the matching degree is equal to or greater than a predetermined end portion reference value. When it is determined that the matching degree is equal to or greater than the predetermined end portion reference value, it determines that the end portion R10e of the first reinforcing bar R10 exists within the detection range of the first sensor 130a. When it is determined that the end portion R10e of the first reinforcing bar R10 exists within the detection range of the first sensor 130a, the third sensor 130c and / or the fourth sensor 130d is set to detect the first reinforcing bar R10. The first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) calculates the position of another first reinforcing bar R10 that is spaced apart from the first reinforcing bar R10 on which the traveling unit 121 is traveling in the X direction (second direction) based on the detection results of the third sensor 130c and / or the fourth sensor 130d. The movement amount calculation unit 174 (movement amount calculation unit) calculates the movement amount of the traveling unit 121 in the X direction (second direction) based on the position of another first reinforcing bar R10 calculated by the first reinforcing bar determination unit 164a1 and / or the second reinforcing bar determination unit 164a2 (reinforcing bar position calculation unit) and the position of the first reinforcing bar R10 on which the traveling unit 121 is traveling. The traveling unit 121 may be configured to move in the X direction (second direction) based on the calculated movement amount in the X direction (second direction).

[0102] As described above, in the reinforcing bar bundling robot 101 according to the embodiment of the present disclosure, the third direction (Y direction) in which the first sensor 130a and the second sensor 130b are arranged is parallel to the first direction which is the extending direction of the first reinforcing bar R10, and the fourth direction which is the direction in which the third sensor 130c and the fourth sensor 130d are arranged is parallel to the second direction which is the extending direction of the second reinforcing bar R20. The robot is arranged on the reinforcing bar group R, and includes an intersection calculation unit 166 which is an intersection estimation unit for estimating the intersection point c12. The first sensor 130a and the second sensor 130b are configured to be able to detect the first reinforcing bar R10, the third sensor 130c and the fourth sensor 130d are configured to be able to detect the second reinforcing bar R20, and the intersection calculation unit 166 which is an intersection estimation unit estimates the position of the first reinforcing bar R10 (first reinforcing bar R13) detected more by either the first sensor 130a or the second sensor 130b based on the detection results of the first sensor 130a and the second sensor 130b, and estimates the position of the second reinforcing bar R20 (second reinforcing bar R23) detected more by either the third sensor 130c or the fourth sensor 130d based on the detection results of the third sensor 130c and the fourth sensor 130d, and may be configured to estimate the intersection of the first reinforcing bar R13 detected by the first sensor 130a and the second sensor 130b and the second reinforcing bar R23 detected by the third sensor 130c and the fourth sensor 130d as the intersection point c12.

[0103] Hereinafter, an example of the lateral movement of the reinforcing bar bundling robot 101 will be described with reference to FIGS. 8 and 15 to 19. As described above, FIG. 8 is a view of the reinforcing bar bundling robot 101 as seen from the back of the reinforcing bar bundling robot 101, and in this state, the reinforcing bar bundling robot 101 is in a state before starting the lateral movement. FIGS. 15 to 19 are views of the reinforcing bar bundling robot 101 during the lateral movement as seen from the back of the reinforcing bar bundling robot 101.

[0104] As shown in FIG. 8, the reinforcing bar bundling robot 101 travels on the first reinforcing bars R12 and R14.

[0105] Next, the steel bar bundling robot 101 starts lateral movement. In the embodiment of the present disclosure, as described above, for example, when it is determined that it has reached or is reaching near the end R10e of the first steel bar R10 based on the detection result by the first sensor 130a, it is determined to start lateral movement. FIG. 15 shows the state when the steel bar bundling robot 101 starts lateral movement. As shown in FIG. 15, the steel bar bundling robot 101 moves the main body unit 140 in the moving direction (X direction) without moving the traveling unit 121. As shown in FIG. 15, at this time, the first traveling unit 121a and the second traveling unit 121b are respectively present without moving on the first steel bar R12 and the first steel bar R14. At this time, neither the front arm 150a nor the rear arm 150b is in contact with any steel bar. The lateral movement of the main body unit 140 (here, for example, movement in the horizontal direction (movement in the X direction)) is, for example, by the first lateral movement motor 146ma and the second lateral movement motor 146mb of the lateral movement unit 146 (not shown in FIG. 15), driving the first lateral movement rollers 146la and the second lateral movement rollers 146lb provided on the first connecting portion 147a and the second connecting portion 147b, and moving the main body unit 140 in the X direction via the first driving rack 146ca and the second driving rack 146cb. This may be executed.

[0106] Next, the reinforcing bar bundling robot 101 moves the traveling unit 121 (the lower end of the traveling unit 121) upward relative to the first reinforcing bar R10. As shown in FIG. 16, the lower end of the traveling unit 121 in the -Z direction is raised upward in the Z direction (+Z direction) in FIG. 16. At this time, for example, the first main body side link portion 125a and the first roller side link portion 123a shown in FIGS. 1, 2, 9, etc. move in a direction in which they approach each other relatively (that is, the first main body side link portion 125a and the first roller side link portion 123a close). That is, the first main body side link portion 125a and the first roller side link portion 123a move so that the angle formed by the first main body side link portion 125a and the first roller side link portion 123a becomes smaller. Similarly, for the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d, the second main body side link portion 125b and the second roller side link portion 123b, the third main body side link portion 125c and the first roller side link portion 123c, and the fourth main body side link portion 125d and the fourth roller side link portion 123d move in a closing direction, respectively.

[0107] When the body - side link portion 125 and the roller - side link portion 123 are closed and the lower end of the traveling unit 121 rises, the arms 150 (front arm 150a and rear arm 150b) relatively descend. When the traveling unit 121 moves away from the first reinforcing bar R10, the front arm 150a and the rear arm 150b contact the first reinforcing bar R10. For example, the traveling unit 121 has a length in the Z - direction that can be changed by closing the body - side link portion 125 and the roller - side link portion 123 (the first body - side link portion 125a and the first roller - side link portion 123a, the second body - side link portion 125b and the second roller - side link portion 123b, the third body - side link portion 125c and the third roller - side link portion 123c, the fourth body - side link portion 125d and the fourth roller - side link portion 123d) corresponding to a configuration that supports rollers (the first roller portion 122a, the second roller portion 122b, the third roller portion 122c, and the fourth roller portion 122d) by motors etc. (for example, the first wheel height - changing motor 126a, the second wheel height - changing motor 126b, the third wheel height - changing motor 126c, and the fourth wheel height - changing motor 126d shown in FIG. 7). By closing the body - side link portion 125 and the roller - side link portion 123, the roller portion 122 may be raised so that the roller portion 122 is separated from the first reinforcing bar R10.

[0108] As shown in FIG. 16, the front arm 150a and the rear arm 150b contact, for example, the first reinforcing bars R11 - R14. In this way, the entire rebar - binding robot 101 is supported by the front arm 150a and the rear arm 150b.

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

[0110] Subsequently, the main body side link portion 125 and the roller side link portion 123 of the traveling unit 121 are opened. As a result, the lower end of the traveling unit 121 in the -Z direction is relatively lowered with respect to the first reinforcing bar R10. At this time, for example, the first main body side link portion 125a and the first roller side link portion 123a move in a direction in which they move relatively away from each other (that is, the first main body side link portion 125a and the first roller side link portion 123a open). That is, the first main body side link portion 125a and the first roller side link portion 123a move so that the angle formed by the first main body side link portion 125a and the first roller side link portion 123a increases. Similarly for the second traveling unit 121b, the third traveling unit 121c, and the fourth traveling unit 121d, the second main body side link portion 125b and the second roller side link portion 123b, the third main body side link portion 125c and the first roller side link portion 123c, the fourth main body side link portion 125d and the fourth roller side link portion 123d, move in the opening direction, respectively.

[0111] As shown in FIG. 18, the lower end of the traveling unit 121 in the -Z direction is lowered downward in the Z direction (-Z direction) in FIG. 18. As shown in FIG. 18, the first traveling unit 121a and the third traveling unit 121c are in contact with the first reinforcing bar R13, and the second traveling unit 121b and the fourth traveling unit 121d are in contact with the first reinforcing bar R15. Therefore, the front arm 150a and the rear arm 150b are relatively raised with respect to the first reinforcing bar R10. Therefore, the reinforcing bar binding robot 101 is supported by the traveling unit 121 in this state.

[0112] Next, as shown in FIG. 19, the main body unit 140 is moved in the X direction. Similar to what was described above with reference to FIG. 15, the lateral movement of the main body unit 140 shown in FIG. 19 (here, for example, movement in the horizontal direction (movement in the X direction)) may be performed by, for example, a first lateral movement motor 146ma and a second lateral movement motor 146mb of a lateral movement unit 146 (not shown in FIG. 19). Thus, the lateral movement of the rebar tying robot 101 is completed. The rebar tying robot 101 starts traveling, for example, on the first rebars R13 and R15, and performs a tying operation at the intersection c12 of the first rebar R10 and the second rebar R20 on the first rebar R14.

[0113] Above, the case where the rebar tying robot 101 moves from the first rebars R12 and R14 to the first rebars R13 and R15 has been described as an example. However, for example, it is also possible to move to a location separated by a plurality of the first rebars R10. Also in this case, it can move by the same method as above, or it is also possible to move a longer distance by repeating the above movement method. Further, when moving to a location separated by a plurality of the first rebars R10, the movement amount may be calculated based on the detection result of the sensor unit 130 by the same method.

[0114] Further, the rebar tying robot 101 is not limited to the method described above, and may perform lateral movement by other methods. Even in that case, based on the detection result of the sensor unit 130 according to the movement amount calculation method in the embodiment of the present disclosure, it is possible to calculate the movement amount of the rebar tying robot 101, and by using the movement amount calculation method in the embodiment of the present disclosure, it is possible to smoothly advance the movement of the rebar tying robot 101.

[0115] In the embodiment of the present disclosure described above, the case where the rebar tying robot 101 performs a rebar tying operation at the intersection c12 of the first rebar R10 and the second rebar R20 in a group of rebars arranged so that the first rebar R10 and the second rebar R20 are orthogonal to each other has been described as an example. However, the rebar tying robot 101 according to the embodiment of the present disclosure may also be used when the first rebar R10 and the second rebar R20 are in a non-orthogonal relationship.

[0116] FIG. 22 is a schematic view of the reinforcing bar bundling robot 101A according to another embodiment of the present disclosure as viewed from below in the Z direction (-Z direction). As shown in FIG. 22, in the present embodiment, the second reinforcing bar R20 is arranged at an angle of about 30° with respect to the first reinforcing bar R10. The reinforcing bar bundling robot 101A according to the present embodiment has different positions of the third sensor 130c and the fourth sensor 130d from those of the reinforcing bar bundling robot 101. The third sensor 130c and the fourth sensor 130d of the reinforcing bar bundling robot 101A are arranged so as to be present on a straight line inclined at 30° with respect to the X direction. In the reinforcing bar bundling robot 101A, by arranging the third sensor 130c and the fourth sensor 130d in accordance with the second reinforcing bar R20 and in a direction inclined from the X direction, the second reinforcing bar R20 can be detected in the same manner as the reinforcing bar bundling robot 101.

[0117] Thus, the arrangement of the first sensor 130a to the fourth sensor 130d may be changed according to the arrangement configuration of the first reinforcing bar R10 and the second reinforcing bar R20. The change in the arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be adjusted manually or automatically, for example, before starting the reinforcing bar bundling operation according to the construction site where the reinforcing bar group R to be bundled is arranged. Alternatively, even after the reinforcing bar bundling robot 101 starts running, the relationship between the first reinforcing bar R10 and the second reinforcing bar R20 is determined based on the detection result of the sensor unit 130, and the arrangement of the first sensor 130a, the second sensor 130b, the third sensor 130c, and / or the fourth sensor 130d may be dynamically changed based on the determination result. At this time, for example, a motor or the like capable of driving the first sensor 130a to the fourth sensor 130d may be provided, and the positions of the first sensor 130a to the fourth sensor 130d may be configured to be changed by driving the motor.

[0118] [Second Embodiment] With reference to FIGS. 21A to 24, a reinforcing bar bundling robot 102 (an example of a bundling device) according to another embodiment of the present disclosure will be described. Hereinafter, a configuration different from the reinforcing bar bundling robot 101 described with reference to FIGS. 1 to 4 will be described, and the description of the same configuration as that of the reinforcing bar bundling robot 101 will be omitted as appropriate.

[0119] FIG. 21A is an overall perspective view of the reinforcing bar bundling robot 102 according to the present embodiment as viewed obliquely from above. FIG. 21B is a plan view of the reinforcing bar bundling robot 102 as viewed from above (above in the Z direction). FIG. 22 is another overall perspective view of the reinforcing bar bundling robot 102 as viewed obliquely from above.

[0120] The frame 202 includes rail portions 220lf, 220rf, 220lb, and 220rb that are erected in the Z direction at predetermined positions in the left front, right front, left rear, and right rear of the hole portion 144 of the main body unit 140 and have a substantially triangular shape substantially parallel to the YZ plane. The rail portions 220lf and 220rf are inclined so that the height in the Z direction decreases as they go forward. The rail portions 220lb and 220rb are inclined so that the height in the Z direction decreases as they go backward. Further, the frame 202 includes frame members 231f, 232f, 233f, 231b, 232b, and 233b each having a substantially inverted U shape substantially parallel to the XZ plane. One end of each of the frame members 231f, 232f, and 233f is slidably engaged along the rail portion 220lf in the Y direction while maintaining a posture substantially parallel to the XZ plane with respect to the rail portion 220lf, and the other end of each of the frame members 231f, 232f, and 233f is slidably engaged along the rail portion 220rf in the Y direction while maintaining a posture substantially parallel to the XZ plane with respect to the rail portion 220rf. Thereby, each of the frame members 231f, 232f, and 233f can slide while maintaining a posture substantially parallel to the XZ plane along the rail portions 220lf and 220rf.

[0121] One end of each of the frame members 231b, 232b, and 233b is slidably engaged along the Y direction along the rail portion 220lb while maintaining a posture substantially parallel to the XZ plane with respect to the rail portion 220lb. The other end of each of the frame members 231b, 232b, and 233b is slidably engaged along the Y direction along the rail portion 220rb while maintaining a posture substantially parallel to the XZ plane with respect to the rail portion 220rb. As a result, each of the frame members 231b, 232b, and 233b can slide while maintaining a posture substantially parallel to the XZ plane along the rail portions 220lb and 220rb. Note that each of the frame members 231f, 232f, and 233f may be detachably configured with respect to the rail portions 220lf and 220rf, and each of the frame members 231b, 232b, and 233b may be detachably configured with respect to the rail portions 220lb and 220rb. Thus, the frame 202 may be configured to be relatively movable with respect to the reinforcing bar bundling unit 110.

[0122] Each of the frame members 231f, 232f, and 233f may be independently configured to be slidable along the rail portion 220lf. Each of the frame members 231b, 232b, and 233b may be independently configured to be slidable along the rail portion 220lb. For example, the frame members 231f, 232f, and 233f may slide to the -Y direction end of the rail portion 220lf, and the frame members 231b, 232b, and 233b may slide to the +Y direction end of the rail portion 220lb (see FIG. 22). Also, for example, the frame members 231f, 232f, and 233f may slide to the +Y direction end of the rail portion 220lf, and the frame members 231b, 232b, and 233b may slide to the -Y direction end of the rail portion 220lb. Thus, the frame 202 may be configured to be relatively movable with respect to the reinforcing bar bundling unit 110.

[0123] Note that the frame 202 may not include the rail portions 220lf, 220rf, 220lb, and 220rb. In this case, each of the frame members 231f, 232f, 233f, 231b, 232b, and 233b may be detachably engaged with the main body unit 140 via an engaging portion or the like provided in the main body unit 140, similar to the rebar bundling robot 101.

[0124] The number and dimensions of the frame members included in the frame 202 are not particularly limited. Further, the materials of the frame members and vertices included in the frame 202 are not particularly limited, but may include, for example, resin, metal, alloy, carbon fiber, and fiberglass.

[0125] The frame 202 may be movable in a manner other than sliding. For example, each of the frame members 231f, 232f, and 233f may be configured to be rotatable about an axis substantially parallel to the X direction, connecting a portion engaged with the rail portion 220lf and a portion engaged with the rail portion 220rf. By this rotation, each of the frame members 231f, 232f, and 233f can rotate about the axis and be inclined by a predetermined angle with respect to the Z axis. Further, for example, each of the frame members 231b, 232b, and 233b may be configured to be rotatable about an axis substantially parallel to the X direction, connecting a portion engaged with the rail portion 220lb and a portion engaged with the rail portion 220rb. By this rotation, each of the frame members 231b, 232b, and 233b can rotate about the axis and be inclined by a predetermined angle with respect to the Z axis. Note that the frame members 231f, 232f, and 233f configured to be rotatable about the portions engaged with the rail portions 220lf and 220rf may be further configured to be slidable along the rail portions 220lf and 220rf. Also, the frame members 231b, 232b, and 233b configured to be rotatable about the portions engaged with the rail portions 220lb and 220rb may be further configured to be slidable along the rail portions 220lb and 220rb.

[0126] FIG. 23 is another overall perspective view of the reinforcing bar bundling robot 102 as seen from an obliquely upward direction. The reinforcing bar bundling robot 102 according to the present embodiment may further include a cover 202C. The “protection part” may be configured to include the frame 202 and the cover 202C. The cover 202C may be configured to cover at least a part of the frame 202. As shown in FIG. 23, the cover 202C may be configured to cover, for example, the entire frame 202. In the example shown in FIG. 23, the cover 202C is configured to cover the entire frame 202, that is, to cover from the front frame member 231f provided in the frame 202 to the rear frame member 231b. However, the present invention is not limited to this, and the cover 202C may be configured to cover only a part of the frame 202. For example, the cover 202C may be configured to cover only the range from the front frame member 232f or 233f to the rear frame member 232b or 233b. The cover 202C may be configured to be detachable from the frame 202. Further, the cover 202C may be configured to be detachable from the frame 201 of the reinforcing bar bundling robot 101.

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

[0128] As shown in FIG. 23, the cover 202C may be provided with a photovoltaic power generation unit 202P for generating electricity by receiving light such as sunlight. The photovoltaic power generation unit 202P may be provided as a part of the cover 202C, or may be provided as a separate member from the cover. FIG. 23 shows an example in which the photovoltaic power generation unit 202P is provided on three surfaces of the cover 202C. Note that the position where the photovoltaic power generation unit 202P is provided is not particularly limited. For example, it may be arranged at the center of the cover 202C, may be arranged front and back, or may be arranged symmetrically front and back. The configuration of the photovoltaic power generation unit 202P is not particularly limited. For example, it may include a thin film for photovoltaic power generation such as a silicon-based type including crystalline silicon or amorphous silicon, a compound-based type including CIS or CdTe, an organic-based type including dye-sensitized, perovskite, or paint-based types. The power generated by the photovoltaic power generation unit 202P may be used as a power source for any configuration (for example, the rebar tying unit 110, the sensor unit 130, the moving unit 140, the control unit 160) provided in the rebar tying robot 102, or may be stored in the battery 180 when the battery 180 is configured as a storage battery.

[0129] FIG. 24 is yet another overall perspective view of the reinforcing bar bundling robot 102 as seen from an obliquely upward direction. The cover 202C may be attached to, for example, the frame members 231f, 232f, 233f, 231b, 232b, and 231b. In FIG. 24, from the state shown in FIG. 23, the frame members 231f, 232f, and 233f are slid to the -Y direction end of the rail part 220lf, and the frame members 231b, 232b, and 233b are slid to the +Y direction end of the rail part 220lb. The state is shown. By this slide, as shown in FIG. 24, the cover 202C is stored so as to be folded between the slid frame members 231f, 232f, 233f, 231b, 232b, and 231b. In this way, the reinforcing bar bundling robot 102 may be configured to be openable and closable so that, by the movement of the frame 202, the state in which the cover 202C covers the entire reinforcing bar bundling robot 102 and the main body unit 140 changes to the state in which only a part of the reinforcing bar bundling robot 102 and the main body unit 140 is covered. In the state of "covering only a part of the reinforcing bar bundling robot 102 and the main body unit 140", the cover 202C does not cover, for example, a predetermined part (for example, a part including the attachment / detachment tracks of the detachable members such as the reels 180a and 180b and the batteries 182a and 182b), and may be arranged to cover another predetermined part (for example, the reinforcing bar bundling unit 110). Further, the movement mode of the frame 202 for opening and closing the cover 202C is not limited to the mode in which a part slides, and may include a mode in which a part rotates or a mode in which a part is removed.

[0130] The reels 180a and 180b, and the batteries 182a and 182b may each be configured to be detachable from the main body unit 140. The detachment of the reels 180a and 180b, and the batteries 182a and 182b is performed, for example, when inspecting the members or replacing them with new members. FIG. 21A shows the detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb that these members follow when detaching the reels 180a and 180b, and the batteries 182a and 182b, respectively. As shown in FIG. 21A, the detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb are each set to be substantially parallel to the Z direction.

[0131] When the reels 180a and 180b, and the batteries 182a and 182b are each detached along the detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb, they pass through a predetermined area. As described above, since the detachment tracks 180Ca, 180Cb, 182Ca, and 182Cb are set to be substantially parallel to the Z direction, in this case, the area through which the reels 180a and 180b, and the batteries 182a and 182b each pass during detachment is a spatial area obtained by extending the spatial area occupied by the reels 180a and 180b, and the batteries 182a and 182b in the Z direction.

[0132] FIG. 21B shows areas 180Va, 180Vb, 182Va, and 182Vb through which reels 180a and 180b and batteries 182a and 182b pass during the detachment. As shown in FIG. 21B, frames 302f and 303f provided in frame 202 do not interfere with areas 182Va and 182Vb through which batteries 182a and 182b pass in the XY plane view. Therefore, batteries 182a and 182b can be detached from and attached to frame 202 without being obstructed. Also, as shown in FIG. 21B, frames 302b and 303b provided in frame 202 do not interfere with areas 180Va and 180Vb through which reels 180a and 180b pass in the XY plane view. Therefore, reels 180a and 180b can be detached from and attached to frame 202 without being obstructed.

[0133] Thus, frame 202 forms areas through which reels 180a and 180b and batteries 182a and 182b pass along detachment and attachment paths 180Ca, 180Cb, 182Ca, and 182Cb. Also, frame 202 has additional space provided around each area (e.g., in the X direction in FIG. 21B) through which reels 180a and 180b and batteries 182a and 182b pass along detachment and attachment paths 180Ca, 180Cb, 182Ca, and 182Cb. Therefore, the detachment and attachment operations of these members are further facilitated.

[0134] Although reels 180a and 180b and batteries 182a and 182b have been described as examples of detachable members (detachment and attachment members), rebar bundling robot 102 may include other detachable members. And frame 202 may form an area through which the other detachable member passes along the detachment and attachment path. Also, in the present embodiment, the case where the detachment and attachment path of the member is parallel to the Z direction has been described as an example, but the detachment and attachment path may be in any direction including the X direction and the Y direction, and even in that case, frame 202 may form an area through which the member passes along the detachment and attachment path.

[0135] [Third Embodiment] Hereinafter, mainly with reference to FIGS. 1 to 4, FIGS. 25 to 31, etc., in the reinforcing bar tying robots 101, 103, 104 (an example of a tying device) according to the embodiments of the present disclosure, a configuration for protecting the reinforcing bar tying robots 101, 103 from colliding with obstacles existing on the reinforcing bars will be described.

[0136] Returning to FIGS. 1 and 2, the reinforcing bar tying robot 101 according to the present embodiment is provided with a first arm 150a (front arm 150a). That is, the reinforcing bar tying robot 101 according to the present embodiment includes a plurality of first reinforcing bars R10 whose extending direction is the first direction (Y direction), and a second direction (X direction) which is a direction intersecting the first direction (Y direction) and is arranged so as to intersect the first reinforcing bars R10. A reinforcing bar tying unit 110 configured to tie the intersection portion c12 of the first reinforcing bar R10 and the second reinforcing bar R20 of the plurality of reinforcing bars, a main body unit 140 that supports the reinforcing bar tying unit 110, and a moving unit 120 configured to be movable in the first direction (Y direction) on the plurality of reinforcing bars R. In a top view seen from the third direction (Z direction) which is a direction orthogonal to the first direction (Y direction) and the second direction (X direction), at least a part is provided in front of the moving unit 120 and the main body unit 140 in the first direction (Y direction). A front end portion 152a, a fourth direction (in this embodiment, the X direction) which is parallel to a plane parallel to the first direction (Y direction) and the second direction (X direction) and is orthogonal to the first direction (Y direction). An end portion 154a1 provided outside one end in the fourth direction (X direction) of the moving unit 120 and the main body unit 140, and the fourth direction (X direction). And an other end portion 154a2 provided outside the other end in the fourth direction (X direction) of the moving unit 120 and the main body unit 140, and a front arm 150a having the same.

[0137] As shown in FIGS. 1 to 4, in the reinforcing bar bundling robot 101 according to the present embodiment, the front arm 150a has a front end portion 152a at least a part of which is provided in front of the moving unit 120 and the body unit 140 in the Y direction in a top view seen from the Z direction. Further, the front arm 150a has one end portion 154a1 (front one end portion 154a1) provided on the outer side (+X direction) in the fourth direction (X direction) and the other end portion 154a2 (front other end portion 154a2) provided on the outer side opposite to the one end portion 154a1 (-X direction).

[0138] As shown in FIGS. 1 to 4, in the reinforcing bar bundling robot 101 according to the present embodiment, the front end portion 152a includes a first front end portion 152a1 provided on the first protruding portion 158a1 of the protruding portion 158a described later of the front arm 150a and a second front end portion 152a2 provided on the second protruding portion 158a2 of the protruding portion 158a. The front end portion 152a is the portion that exists most forward in the first direction (Y direction) of the front arm 150a. Further, in the reinforcing bar bundling robot 101 according to the present embodiment, as shown in FIGS. 1 to 4, the front end portion 152a corresponds to the portion that exists most forward in the first direction (Y direction). Further, as shown in FIGS. 1 to 4, in the reinforcing bar bundling robot 101 according to the present embodiment, the first front end portion 152a1 and the second front end portion 152a2 are at the same position in the first direction (Y direction).

[0139] As shown in FIGS. 3 and 4, in the reinforcing bar bundling robot 101 according to the present embodiment, the one end portion 154a1 and the other end portion 154a2 are respectively provided on the outermost sides in the +X direction and the -X direction. Further, as shown in FIGS. 3 and 4, in the reinforcing bar bundling robot 101 according to the present embodiment, the one end portion 154a1 and the other end portion 154a2 are respectively provided on the outer sides of the body unit 140 in the +X direction and the -X direction.

[0140] Therefore, in the reinforcing bar bundling robot 101 according to the present embodiment, when moving in the first direction (Y direction) on a plurality of reinforcing bars R, an obstacle that may exist on the reinforcing bar R can collide with the front arm 150a before colliding with the main body unit 140, so that the main body unit 140 can be protected. Also, the reinforcing bar bundling unit 110 supported by the main body unit 140 can be more reliably protected from obstacles.

[0141] For example, when at least one of the one end (+X direction end) and the other end (-X direction end) of the front arm in the X direction of the reinforcing bar bundling robot 101 is not the outermost in the +X direction and the outermost in the -X direction, respectively, an obstacle existing on the reinforcing bar may collide with the +X direction end and the -X direction end of the main body unit. For example, when one end and / or the other end of the front arm of the reinforcing bar bundling robot 101 in the X direction is inside the X direction end of the main body unit, it is considered that the obstacle may not collide with the front arm and may collide with the main body unit. The reinforcing bar bundling robot 101 according to the present embodiment has a configuration in which the front arm 150a includes the one end 154a1 and the other end 154a2 as described above, so that each component of the reinforcing bar bundling robot 101, such as the reinforcing bar bundling unit 110, the moving unit 120, and the main body unit 140, can be more reliably protected.

[0142] In addition, since the front arm 150a has a configuration including the one end 154a1 and the other end 154a2 provided at the outermost in the +X direction and the -X direction, respectively, as described above, the front arm 150a can function as a gauge with a width through which the reinforcing bar bundling robot 101 can pass. For example, when there are walls extending in the +Z direction in the +X direction and the -X direction in front of the advancing direction of the reinforcing bar bundling robot 101, when the reinforcing bar bundling robot 101 is advancing and the one end 154a1 and the other end 154a2 of the front arm 150a collide with the wall, the reinforcing bar bundling robot 101 may stop advancing. Thereby, the risk of the moving unit 120 and the main body unit 140 of the reinforcing bar bundling robot 101 colliding with the wall can be suppressed and prevented.

[0143] Also, for example, when the steel bar bundling robot 101 has, as a front arm, a front end portion that is located rearward in the Y direction (-Y direction) than the front portion of other components of the steel bar bundling robot 101 (for example, a steel bar bundling unit, a moving unit, and / or a main body unit), since the front end portion is not the most forward in the steel bar bundling robot 101, if there is an obstacle in front of the steel bar bundling robot 101 on the steel bar, the steel bar bundling unit, the moving unit, and / or the main body unit may collide with the obstacle. The steel bar bundling robot 101 according to the present embodiment has a configuration in which the front arm 150a includes the front end portion 152 as described above, so that the front arm 150 can be made to collide with an obstacle existing in front of the steel bar bundling robot 101 before the steel bar bundling unit 110, the moving unit 120, and / or the main body unit 140 collide with the obstacle. Therefore, it is possible to more reliably protect each component of the steel bar bundling robot 101, such as the steel bar bundling unit 110, the moving unit 120, and the main body unit 140.

[0144] In the steel bar bundling robot 101 according to the present embodiment, the front arm 150a may be connected by a horizontal portion 156a (front horizontal portion 156a). That is, as shown in FIGS. 1 to 4, the front arm 150a has one or a plurality of horizontally formed horizontal portions 156a, and the horizontal portion 156a extends in the fourth direction (in the present embodiment, the X direction) and may be connected to one end portion 154a1 and the other end portion 154a2. In the steel bar bundling robot 101 according to the present embodiment, by providing the front arm 150 including the horizontal portion 156a, for example, with respect to obstacles that may exist inside one end portion 154a1 and inside the other end portion 154a2 (that is, the +X direction of one end portion 154a1 and the -X direction of the other end portion 154a2) in the X direction, it is possible to effectively protect the steel bar bundling robot 101.

[0145] As shown in FIGS. 1 to 4, the horizontal portion 156a may have an elongated shape parallel to the X direction. However, the shape of the horizontal portion 156a is not limited thereto. For example, the horizontal portion 156a may have an arc-shaped shape protruding forward (+Y direction).

[0146] In the reinforcing bar bundling robot 101 according to the present embodiment, the front arm 150a may have a protruding portion 158a (front protruding portion 158a). That is, as shown in FIGS. 1 to 4, the front arm 150a is connected to the main body unit 140 and includes a protruding portion 158a having a shape protruding forward in the first direction (Y direction), and the front end portion 152a may be provided on the protruding portion 158a. As shown in FIGS. 1 to 4, the front arm 150a may have a protruding portion 158a1 (first front protruding portion 158a1) provided in the -X direction with respect to the center in the X direction in the horizontal portion 156a and a protruding portion 158a2 (second front protruding portion 158a2) provided in the +X direction. As shown in FIGS. 3 and 4, the protruding portion 158a1 and the protruding portion 158a2 may be provided symmetrically with respect to the center in the X direction in the horizontal portion 156a.

[0147] In the reinforcing bar bundling robot 101 according to the present embodiment, in addition to FIGS. 1 and 2, as shown in FIG. 6, the first front protruding portion 158a1 and the second front protruding portion 158a2 may have a curved shape formed so as to protrude forward in the Y direction (+Y direction).

[0148] As described above, in the reinforcing bar bundling robot 101 according to the present embodiment, the traveling unit 121 has a main body link portion 125 connected to the main body unit 140 and a roller side link portion 123 connected to the roller portion 122. For example, as described above with reference to FIGS. 8 and 15 to 19, when the reinforcing bar bundling robot 101 moves laterally, the height of the traveling unit 121 is changed by the opening and closing of the main body side link portion 125 and the roller side link portion with respect to each other. At this time, as the main body side link portion 125 and the roller side link portion 123 close, the connection portion between the main body side link portion 125 and the roller side link portion 123 extends in the +Y direction. Conversely, as the main body side link portion 125 and the roller side link portion 123 open, the connection portion between the main body side link portion 125 and the roller side link portion 123 contracts in the -Y direction.

[0149] In the reinforcing bar bundling robot 101 according to the present embodiment, as shown in FIGS. 1, 2, 6, etc., the first front protruding portion 158a1 and the second front protruding portion 158a2 are provided in front of the first traveling unit 121a and in front of the second traveling unit 121b, respectively. Therefore, in the reinforcing bar bundling robot 101 according to the present embodiment, in the first traveling unit 121a and the second traveling unit 121b, even when the main body side link portion 125 and the roller side link portion 123 connected to the roller portion 122 close and the connection portion between the main body side link portion 125 and the roller side link portion 123 extends forward in the Y direction, the first traveling unit 121a and the second traveling unit 121b are shaped so as not to contact the protruding portions 158a1 and 158a2, respectively, and the protruding portions 158a1 and 158a2 are provided. Thereby, even when the reinforcing bar bundling robot 101 according to the present embodiment moves laterally, it is possible to change the height of the traveling unit 121 without contacting the protruding portions 158a1 and 158a2.

[0150] Note that the shapes of the protruding portions 158a1 and 158a2 are not limited to the above-described curved shapes. For example, the protruding portions 158a1 and 158a2 may have a shape in which the vicinity of the protruding portions (the first front end portion 152a1 and the second front end portion 152a2 that protrude forward in the Y direction) is at a right angle when viewed from the side (viewed from the +X direction or the -X direction). Alternatively, the protruding portions 158a1 and 158a2 may have a shape that forms a part of a polygon (e.g., a part of a hexagon or an octagon) when viewed from the +X direction or the -X direction.

[0151] Also, the protruding portions 158a1 and 158a2 have a shape that protrudes in the +Y direction when viewed from the +X direction or the -X direction, but is not limited thereto. For example, the protruding portions 158a1 and 158a2 may have a shape that protrudes in the +Y direction when viewed from the +Z direction or the -Z direction. At this time, the protruding portions 158a1 and 158a2 may have a shape that protrudes parallel to a plane parallel to the X direction and the Y direction. Further, the protruding portions 158a1 and 158a2 may have a shape that protrudes when viewed from the +X direction or the -X direction and also when viewed from the +Z direction or the -Z direction.

[0152] Note that, as shown in FIGS. 1, 2, 6, etc., in the reinforcing bar bundling robot 101 according to the present embodiment, the main body unit 140 may be provided with a front arm connection portion 148a to which the front arm 150a is connected to the main body unit 140. The front arm connection portion 148a has a first front arm connection portion 148a1 and a second front arm connection portion 148a2. The first protruding portion 158a1 of the front arm 150a is connected to the first front arm connection portion 148a1, and the second protruding portion 158a2 of the front arm 150a is connected to the second front arm connection portion 148a2, whereby the front arm 150a may be connected to the main body unit 140.

[0153] In the reinforcing bar bundling robot 101 according to the present embodiment, one end portion 154a1 and the other end portion 154a2 of the front arm 150a may be provided between the tip of the moving unit 120 and the tip of the main body unit 140. That is, in the reinforcing bar bundling robot 101 according to the present embodiment, one end portion 154a1 of the front arm 150 may be provided between the front end in the first direction (Y direction) of the moving unit 120 and the front end in the first direction (Y direction) of the main body unit 140. Further, the other end portion 154a2 of the front arm 150 may be provided between the front end in the first direction (Y direction) of the moving unit 120 and the front end in the first direction (Y direction) of the main body unit 140.

[0154] In the reinforcing bar bundling robot 101 according to the present embodiment, the front end in the Y direction of the moving unit 120 is, for example, the connection portion between the main body side link portion 125 and the roller side link portion 123. Further, the front end in the Y direction of the main body unit 140 is, for example, the portion where the front arm connection portion 148 is provided. As shown in FIGS. 1 to 4 and the like, in the reinforcing bar bundling robot 101 according to the present embodiment, the connection portion between the main body side link portion 125 and the roller side link portion 123 exists in front of the front arm connection portion 148 of the main body unit 140 in the Y direction. Therefore, in the reinforcing bar bundling robot 101 according to the present embodiment, the front end in the Y direction of the moving unit 120 exists in front of the front end in the Y direction of the main body unit 140 in the Y direction.

[0155] Also, as shown in FIGS. 1 to 4, in the reinforcing bar bundling robot 101 according to the present embodiment, one end portion 154a1 and the other end portion 154a2 are provided so as to be in front of the Y-direction front end of the main body unit 140 in the Y direction (+Y direction) and behind the Y-direction front end of the moving unit 120 in the Y direction (-Y direction) when viewed in the Y direction. That is, the one end portion 154a1 and the other end portion 154a2 are provided between the Y-direction front end of the main body unit 140 and the Y-direction front end of the moving unit 120 when viewed in the Y direction. Further, in the reinforcing bar bundling robot 101 according to the present embodiment, the horizontal portion 156a is connected to the one end portion 154a1 and the other end portion 154a2, and since the horizontal portion 156a has an elongated shape extending in the X direction, the horizontal portion 156a is also provided between the Y-direction front end of the main body unit 140 and the Y-direction front end of the moving unit 120 when viewed in the Y direction.

[0156] In the reinforcing bar bundling robot 101 according to the present embodiment, with such a configuration, for example, when the one end portion 154a1 and the other end portion 154a2 of the front arm 150a and the horizontal portion 156a are provided further forward than the Y-direction front end of the moving unit 120 when viewed in the Y direction, it is possible to suppress an increase in the size of the entire apparatus of the reinforcing bar bundling robot 101 in the Y direction due to the provision of the front arm 150a, and a configuration for protecting the reinforcing bar bundling robot 101 from a collision with an obstacle can be achieved.

[0157] As described above, the arm 150 according to the present embodiment may have a rear arm 150b in addition to the front arm 150a. That is, the reinforcing bar bundling robot 101 according to the present embodiment may have a configuration in which the arms 150 are arranged on both sides in the Y direction (the traveling direction of the reinforcing bar bundling robot 101). At this time, the reinforcing bar bundling robot 101 according to the present embodiment includes a rear arm 150b provided behind the moving unit 120 and the main body unit 140 in the first direction (Y direction) in a top view seen from the third direction (Z direction).

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

[0159] Further, the main body unit 140 may be provided with a rear arm connection portion 148b to which the rear arm 150b is connected to the main body unit 140. The rear arm connection portion 148b has a first rear arm connection portion 148b1 and a second rear arm connection portion 148b2. The first protruding portion 158b1 of the rear arm 150b is connected to the first rear arm connection portion 148b1, and the second protruding portion 158b2 of the rear arm 150b is connected to the second rear arm connection portion 148b2, whereby the rear arm 150b may be connected to the main body unit 140.

[0160] Also, as shown in FIGS. 1 to 4 and the like, in the reinforcing bar bundling robot 101 according to the present embodiment, one end portion 154b1 and the other end portion 154b2 of the rear arm 150b are provided between the rear end of the moving unit 120 (the -Y direction of the third traveling unit 121c and the fourth traveling unit 121d) and the rear end of the main body unit 140 (the portion where the first rear arm connection portion 148b1 and the second rear arm connection portion 148b2 of the main body unit 140 are provided).

[0161] The reinforcing bar bundling robot 101 according to the present embodiment further includes a rear arm 150b, thereby making it possible to protect the reinforcing bar bundling robot 101, for example, from collisions with obstacles that may exist in the rear (-Y direction) in the Y direction. For example, when the reinforcing bar bundling robot 101 has a configuration that can also move in the -Y direction, when moving in the -Y direction, it is possible to protect the reinforcing bar bundling robot 101 from obstacles that may exist in the +Y direction by the front arm 150a. Similarly, the rear arm 150b can protect the reinforcing bar bundling robot 101 from collisions with obstacles on the reinforcing bar in the -Y direction of the reinforcing bar bundling robot 101. Alternatively, for example, the rear arm 150b can also protect the reinforcing bar bundling robot 101 from obstacles (for example, self-propelled work robots such as other bundling devices working on the reinforcing bar or workers, etc.) moving from the -Y direction to the +Y direction of the reinforcing bar bundling robot 101.

[0162] Further, the reinforcing bar bundling robot 101 according to the present embodiment includes both a front arm 150a and a rear arm 150b, thereby making it possible to stably support the reinforcing bar bundling robot 101 as will be described later. For example, in the reinforcing bar bundling robot 101, when viewed in the Y direction, between the moving unit 120 (+Y direction) (the first traveling unit 121a and the second traveling unit 121b) and the moving unit 120 (-Y direction) (the third traveling unit 121c and the fourth traveling unit 121d), arms such as the front arm 150a and the rear arm 150b (for example, an arm such as the horizontal portion 156a of the front arm 150a and an arm such as the horizontal portion 156b of the rear arm 150b) are provided, and it is also possible to support the reinforcing bar bundling robot 101 with respect to the reinforcing bar R by these arms.

[0163] The reinforcing bar bundling robot 101 according to this embodiment is such that the front arm 150a (for example, the horizontal portion 156a of the front arm 150a) is provided in the +Y direction (for example, the +Y direction from the first roller portion 122a of the first traveling unit 121a and the +Y direction from the second roller portion 122b of the second traveling unit 121b), and the rear arm 150b (for example, the horizontal portion 156b of the rear arm 150b) is provided in the -Y direction (for example, the -Y direction from the third roller portion 122c of the third traveling unit 121c and the -Y direction from the fourth roller portion 122d of the fourth traveling unit 121d). By this, the interval in the Y direction between the front arm 150a and the rear arm 150b (for example, the interval in the Y direction between the horizontal portion 156a of the front arm 150a and the horizontal portion 156b of the rear arm 150b) can be made relatively large. Therefore, when the reinforcing bar bundling robot 101 according to this embodiment is supported by the front arm 150a and the rear arm 150b, it is possible to support the reinforcing bar bundling robot 101 more stably with respect to, for example, the reinforcing bar R.

[0164] Thereby, for example, when the reinforcing bar bundling robot 101 moves laterally, etc., the front arm 150a and the rear arm 150b can support the reinforcing bar bundling robot 101 more stably, and stable lateral movement can be realized.

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

[0166] With this configuration, in the reinforcing bar bundling robot 101 according to the present embodiment, the front arm 150a (for example, the horizontal portion 156a of the front arm 150a) is further provided in the +Y direction (for example, further in the +Y direction from the first roller portion 122a of the first traveling unit 121a and further in the +Y direction from the second roller portion 122b of the second traveling unit 121b), and the rear arm 150b (for example, the horizontal portion 156b of the rear arm 150b) is further provided in the -Y direction (for example, further in the -Y direction from the third roller portion 122c of the third traveling unit 121c and further in the -Y direction from the fourth roller portion 122d of the fourth traveling unit 121d). Therefore, the distance in the Y direction between the front arm 150a and the rear arm 150b (for example, the distance in the Y direction between the horizontal portion 156a of the front arm 150a and the horizontal portion 156b of the rear arm 150b) can be further increased. Thus, when the reinforcing bar bundling robot 101 is supported by the front arm 150a and the rear arm 150b, it is possible to support the reinforcing bar bundling robot 101 more stably.

[0167] In the reinforcing bar bundling robot 101 according to the present embodiment, for example, the arm 150 (the front arm 150a and the rear arm 150b) may be configured to be grippable during transportation. That is, the front arm 150a and the rear arm 150b may be configured such that the reinforcing bar bundling robot 101 can be transported by being gripped. For example, one worker may grip the front arm 150a and the rear arm 150b, or a plurality of workers may be separated in the front and rear in the Y direction and configured to grip the front arm 150a and the rear arm 150b respectively.

[0168] Due to the above configuration, the distance (distance in the Y direction) between the front arm 150a and the rear arm 150b of the steel bar bundling robot 101 is relatively large, so it can be stably transported. For example, instead of the above configuration, when the two arms are relatively close to each other (for example, when the two arms are provided between the +Y direction moving units (moving units 120a and 120b) and the -Y direction moving units (moving units 120c and 120d)), it can be stably transported compared to other cases.

[0169] In addition, since the front arm 150a and the rear arm 150b of the steel bar bundling robot 101 according to the present embodiment each include a horizontal portion 156a and a horizontal portion 156b, an operator who transports the steel bar bundling robot 101 can easily transport the steel bar bundling robot 101 by gripping the horizontal portions 156a and 156b. Also, when transporting the steel bar bundling robot 101, the operator can also grip the protruding portions 158a and 158b of the front arm 150a and the rear arm 150b. Note that when transporting the steel bar bundling robot 101, by gripping the horizontal portions 156a and 156b, it is relatively easy to maintain the horizontal posture of the steel bar bundling robot 101.

[0170] Moreover, by adopting a configuration in which the front arm 150a and the rear arm 150b are gripped when transporting the steel bar bundling robot 101, for example, the moving unit 120, the main body unit 140, etc. are not gripped during transportation, so that the occurrence of damage during transportation of the moving unit 120, the main body unit 140, etc. can be suppressed.

[0171] In the reinforcing bar bundling robot 101 according to the present embodiment, the arm 150 may be provided so as to avoid the visual field of the sensor (the sensor 130a of the above-described sensor unit 130). That is, in the reinforcing bar bundling robot 101 according to the present embodiment, a detection unit (sensor unit 130) having a sensor (first sensor 130a) whose detection range is an area including the reinforcing bar R located in front (+Y direction) in the first direction (Y direction) from the moving unit 120 is provided, and the front arm 150a may be provided at a position outside the detection range of the sensor (first sensor 130a) of the detection unit (sensor unit 130).

[0172] For example, when the front arm 150a is provided within the detection range of the sensor, since the front arm 150a is reflected in the detection result (for example, detection image) of the sensor, for example, when the front arm 150a and the reinforcing bar R overlap within the detection range of the sensor, accurate detection of the reinforcing bar R may not be possible. For example, when the reinforcing bar bundling robot 101 performs a bundling operation at the intersection of the detected first reinforcing bar R1 and the second reinforcing bar R2 based on the detection result by the sensor, if the reinforcing bar R cannot be accurately detected, there may be an intersection where bundling is not performed among the intersections of the first reinforcing bar R1 and the second reinforcing bar R2. Alternatively, for example, a portion of the front arm 150a having a long shape, such as the horizontal portion 156a, may be erroneously detected as a part of the reinforcing bar R. In the reinforcing bar bundling robot 101 according to the present embodiment, with the above configuration, for example, the front arm 150a does not appear in the detection result (for example, detection image) of the sensor, so that the detection of the reinforcing bar R can be performed more accurately.

[0173] Note that, in the reinforcing bar bundling robot 101 according to the present embodiment, when the front arm 150a is within the detection range of the sensor, for example, image processing or the like for excluding the front arm 150a that appears from the detection result may be performed. By performing such image processing, it is possible to suppress detection omission at the intersection of the first reinforcing bar R1 and the second reinforcing bar R2 that are bundling targets by the reinforcing bar bundling unit 110, and it is also possible to suppress erroneous detection of the reinforcing bar R.

[0174] Similar to the front arm 150a, the steel bar tying robot 101 according to the present embodiment includes a detection unit (sensor unit 130) having a sensor (second sensor 130b) whose detection range is an area including the steel bar R located behind (-Y direction) the moving unit 120 in the first direction (Y direction). The rear arm 150b may be provided at a position outside the detection range of the sensor (second sensor 130b) of the detection unit (sensor unit 130). By providing the rear arm 150b so as to be outside the detection range of the sensor (for example, the second sensor 130b) also for the rear arm 150b, it is possible to suppress, for example, misdetection of the steel bar R by the sensor.

[0175] As described above with reference to FIGS. 1 to 4, FIGS. 12, etc., in the steel bar tying robot 101 according to the present embodiment, the first sensor 130a is provided in the main body unit 140. Similarly, the second sensor 130b is provided in the main body unit 140.

[0176] As described above, in the steel bar tying robot 101 according to the present embodiment, since the first direction is the Y direction and the second direction is the X direction, the second direction is a direction orthogonal to the first direction. Also, since the fourth direction is the X direction, the fourth direction is a direction parallel to the second direction. In the present embodiment, it is not limited to this. For example, as described above with reference to FIG. 20, the second direction may not be a direction orthogonal to the first direction. For example, the first steel bar R1 and the second steel bar R2 may be arranged so that the second direction and the first direction form an angle of 30° with each other. At this time, for example, when the steel bar tying robot 101 is configured such that the third direction and the fourth direction are parallel to the Y direction and the X direction, respectively, the fourth direction and the second direction may not be parallel to each other. The first direction, the second direction, the third direction, and the fourth direction are not limited to the relationships exemplified above, and a plurality of steel bars may be arranged so as to have other relationships, or the steel bar tying robot 101 according to the present embodiment may be configured.

[0177] In the above-described embodiments, the case where the front arm 150a includes one horizontal portion 156a has been described as an example, but the present embodiment is not limited thereto. For example, the horizontal portion 156a of the front arm 150a may include a first front horizontal portion 156a1 and a second front horizontal portion 156a2. That is, the front arm 150a includes a first front horizontal portion 156a1 including one end portion 154a1 in a direction (second direction, X direction) orthogonal to the first direction (Y direction) of the front arm 150a, and the other end portion 154a2 in the direction (X direction) orthogonal to the first direction (Y direction) of the front arm 150a, and may include the first front horizontal portion 156a1 and a second front horizontal portion 156a2 spaced apart in the X direction.

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

[0179] The reinforcing bar bundling robot 103 in this case will be described with reference to FIG. 25. FIG. 25 is a perspective view of the reinforcing bar bundling robot 103. FIG. 25 is a perspective view of the reinforcing bar bundling robot 103 viewed obliquely from the rear (in the +X direction and the -Y direction). Hereinafter, with reference to FIG. 25, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 of the rear arm 150b will be mainly described.

[0180] As shown in FIG. 25, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 have a shape in which the above-described horizontal portion 156b is divided near the center in the X direction and arranged at intervals from each other. Therefore, the first rear horizontal portion 156b1 includes one end portion 154b1 in the -X direction, and includes the other end portion in the +X direction of the first rear horizontal portion 156b1. The second rear horizontal portion 156b2 includes the other end portion 154b2 in the +X direction, and includes the other end portion in the -X direction of the second rear horizontal portion 156b2.

[0181] Further, in the reinforcing bar bundling robot 103, the first rear horizontal portion 156b1 and the second rear horizontal portion 156b2 are each connected to the main body unit 140 by two protruding portions 158b. In the embodiment described above with reference to FIGS. 1 to 4 and the like, the reinforcing bar bundling robot 101 has been described by taking the case of including two protruding portions 158b1 and 158b2 (rear protruding portions 158b1 and 158b2) as an example, but this embodiment is not limited thereto. The rear arm 150b may include three or more protruding portions 158b.

[0182] That is, as shown in FIG. 25, the rear arm 150b of the reinforcing bar bundling robot 103 includes the first rear protruding portions 158b11 and 158b12, and the second rear protruding portions 158b21 and 158b22. At this time, the arm connection portion 148 of the main body unit 140 includes the first rear arm connection portions 148b11 and 148b12, and the second rear arm connection portions 148b21 and 148b22. The first rear protruding portions 158b11 and 158b12 are respectively connected to the first rear arm connection portions 148b11 and 148b12. Further, the second rear protruding portions 158b21 and 158b22 are respectively connected to the second rear arm connection portions 148b21 and 148b22. As shown in FIG. 25, the first rear protruding portions 158b11 and 158b12 and the second rear protruding portions 158b21 and 158b22 may have the same curved shape. Further, the first rear protruding portions 158b11 and 158b12 and the second rear protruding portions 158b21 and 158b22 may have the same shape as the rear protruding portions 150b1 and 150b2 of the rear arm 150b of the above-described reinforcing bar bundling robot 101.

[0183] In the reinforcing bar bundling robot 103 shown in FIG. 25, with the above-described configuration, the first rear horizontal part 156b1 and the second rear horizontal part 156b2 are supported with respect to the main body unit 140 by the first rear protruding parts 158b11 and 158b12 and the second rear protruding parts 158b21 and 158b22, respectively. Therefore, for example, compared with the case where the first rear horizontal part 156b1 and the second rear horizontal part 156b2 are each supported by one rear protruding part 158b, they can be supported more stably. For example, even when colliding with a relatively large obstacle, it is possible to maintain the shape and position of the rear arm 150b.

[0184] Although the configuration of the rear arm 150b has been mainly described with reference to FIG. 25, the front arm 150a may have the same configuration as the rear arm 150b. That is, in the reinforcing bar bundling robot 103, the front arm 150a may include a first front horizontal part 156a1 and a second front horizontal part 156a2. Further, the front arm connection part 148a of the main body unit 140 may include a first front arm connection part 148a11 and 148a12 and a second front arm connection part 148a21 and 148a22. Further, the first front horizontal part 156a1 may be supported with respect to the main body unit 140 by connecting the first front protruding parts 158a11 and 158a12 to the first front arm connection part 148a11 and 148a12, respectively. Similarly, for the second front horizontal part 156a2, the second front horizontal part 156a2 may be supported with respect to the main body unit 140 by connecting the second front protruding parts 158a21 and 158a22 to the first front arm connection part 148a21 and 148a22, respectively.

[0185] Similar to the rear arm 150b, with the above-described configuration for the first front horizontal part 156a1 and the second front horizontal part 156a2, even when colliding with an obstacle, it is possible to relatively easily maintain the shape and position of the front arm 150a.

[0186] In the reinforcing bar bundling robot 103 according to the present embodiment, since the front arm 150a has the following configuration, the lateral movement described above with reference to FIGS. 8 and 15 to 19 can be executed relatively stably.

[0187] At this time, the reinforcing bar bundling robot 103 according to the present embodiment includes a plurality of first reinforcing bars R1 whose extending direction is the first direction (Y direction), and a second direction (X direction) which is a direction intersecting the first direction (Y direction) and is arranged so as to intersect the first reinforcing bar R1. A reinforcing bar bundling unit 110 configured to bundle the intersection portion c12 of the first reinforcing bar R1 and the second reinforcing bar R2 of the plurality of reinforcing bars R including a plurality of second reinforcing bars R2, a main body unit 140 that supports the reinforcing bar bundling unit 110, and a plurality of reinforcing bars R. A moving unit 120 configured to be movable in the first direction (Y direction) on the upper surface view seen from the third direction (Z direction) orthogonal to the first direction (Y direction) and the second direction (X direction), at least a part of which is provided in front of the moving unit 120 and the main body unit 140 in the first direction (Y direction). A front arm 150a having a front end portion 152a, and the front arm 150a moves downward (-Z direction) in the third direction (Z direction) approaching the plurality of reinforcing bars R and abuts against the plurality of reinforcing bars R, so that the moving unit 120 is moved from above the plurality of reinforcing bars R to the third direction (Z direction). It is configured to move upward (+Z direction).

[0188] In the reinforcing bar bundling robot 103 according to the present embodiment, the front arm 150a is configured to move the moving unit 120 upward in the +Z direction from above the plurality of reinforcing bars R by moving in the -Z direction and abutting against the plurality of reinforcing bars R. For example, when performing the lateral movement (+X direction movement) described above with reference to FIGS. 8 and 15 to 19, when the moving unit 120 shown in FIGS. 16 and 17 rises in the +Z direction from the reinforcing bar R, the reinforcing bar bundling robot 103 can be stably supported. Therefore, with such a configuration, the lateral movement of the reinforcing bar bundling robot 103 can be performed stably. For example, the occurrence of tipping of the bundling device 100 during lateral movement can be suppressed, so that the reinforcing bar bundling robot 103 can be protected.

[0189] At this time, similar to the front arm 150a, the rear arm 150b may also be configured to move in the -Z direction and contact a plurality of reinforcing bars R, so that the moving unit 120 moves in the +Z direction from above the plurality of reinforcing bars R. When the reinforcing bar binding robot 103 moves laterally, in addition to the front arm 150a, it is supported by the rear arm 150b, so that the lateral movement can be executed more stably.

[0190] Next, with reference to FIGS. 26 to 31, another configuration for realizing the lateral movement of the reinforcing bar binding robot 104 (an example of a binding device) according to the present embodiment will be described. FIG. 26 is a perspective view of the reinforcing bar binding robot 104 at this time. In the lateral movement described above with reference to FIGS. 8 and 15 to 19, the height of the moving unit 120 in the Z direction is changed by opening and closing the main body side link portion 125 and the roller side link portion 123 of the traveling unit 121 of the moving unit 120 with respect to each other, so that the front arm 150a and the rear arm 150b are brought into contact with and separated from the reinforcing bar R, and the lateral movement is performed. Therefore, in the reinforcing bar binding robot 104, during lateral movement, the relative height of the front arm 150a and the rear arm 150b with respect to the main body unit 140 does not change. In the reinforcing bar binding robot 104 shown in FIG. 26, the front arm 150a and the rear arm 150b are configured to be rotatable with respect to the main body unit 140. When the front arm 150a and the rear arm 150b rotate, the height of the front arm 150a and the rear arm 150b with respect to the main body unit 140 is changed, and the lateral movement is performed.

[0191] In the reinforcing bar bundling robot 104, the front arm 150a and the rear arm 150b are configured to be rotatable along a plane parallel to the first direction (Y direction) and the third direction (Z direction) with respect to the main body unit 140. The front arm 150a and the rear arm 150b rotate with respect to the main body unit 140 and move downward in the third direction (Z direction) (-Z direction), and by contacting a plurality of reinforcing bars R, the moving unit 120 and the main body unit 140 are supported with respect to the plurality of reinforcing bars R. In a state where the moving unit 120 and the main body unit 140 are supported by the front arm 150a and the rear arm 150b, the moving unit 120, the main body unit 140, and the reinforcing bar bundling unit 110 are configured to be movable parallel to a plane parallel to the first direction (Y direction) and the second direction (X direction) and in a direction intersecting the first direction (Y direction).

[0192] As shown in FIG. 26, in the reinforcing bar bundling robot 104 according to the present embodiment, the first front protruding portion 158a1 of the front arm 150a is connected to the main body unit 140 via the first front rotating portion 159a1, and the second front protruding portion 158a2 is connected to the main body unit 140 via the second front rotating portion 159a2. Further, the first rear protruding portion 158b1 of the rear arm 150b is connected to the main body unit 140 via the first rear rotating portion 159b1, and the second rear protruding portion 158b2 is connected to the main body unit 140 via the second rear rotating portion 159b2. Hereinafter, first, the configuration in which the rear arm 150b rotates will be mainly described.

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

[0194] Similarly, the second front protruding part 158a2 of the front arm 150 is connected to the rotation end part 159a2c, and the rotation center part 159a2a is connected to the main body unit 140. The rotation end part 159a2c is configured to be rotatable about the rotation center part 159a2a along a plane parallel to the X direction and the Z direction via the rotation support part 159a2b.

[0195] Hereinafter, with reference to FIGS. 27 to 31, the lateral movement executed by the reinforcing bar bundling robot 104 with the above configuration will be described. FIGS. 27 to 31 are views of the reinforcing bar bundling robot 104 as seen from the rear (-Y direction). Also, the lateral movement illustrated in FIGS. 27 to 31 is a lateral movement in the -X direction.

[0196] As shown in FIG. 27, first, the reinforcing bar tying robot 104 is positioned on the reinforcing bar R such that the traveling unit 121c travels on the first reinforcing bar R12 and the traveling unit 121d travels on the first reinforcing bar R15. As described above, for example, when continuing the tying operation at the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 and detecting the end R10e in the Y direction, lateral movement is performed. FIGS. 27 to 31 illustrate the case where the reinforcing bar tying robot 104 laterally moves in the -X direction so as to travel on the first reinforcing bars R11 and R15 from the state of traveling on the first reinforcing bars R12 and R16.

[0197] As shown in FIG. 27, the rotating part 159b1 and the rotating part 159b2 are connected to each other by the rear bar 146r2b. Also, as shown in FIG. 27, the rear bar 146r2b is connected to a position relatively close to the arc in the rear arm rotating part 146r2 having a circular shape when viewed from the -Y direction. The rear bar 146r2b is configured to be able to go around a portion close to the arc of the rear arm rotating part 146r2 as the rear arm rotating part 146r2 rotates. In the reinforcing bar tying robot 104 according to the present embodiment, the rear arm rotating part 146r2 may be configured to be rotated by, for example, a motor (not shown).

[0198] The configuration in which the front arm 150a rotates may also have the same configuration as the rear arm 150b. Therefore, for example, the first front rotating part 159a1 and the second front rotating part 159a2 of the front arm 150a may be connected by the front bar 146r2a. Also, the front bar 146r2a is connected to a position relatively close to the arc in the front arm rotating part 146r1 having a circular shape when viewed from the +Y direction, and is configured to be able to go around a portion close to the arc of the front arm rotating part 146r1 as the front arm rotating part 146r1 rotates. Also, the front arm rotating part 146r1 may be configured to be rotated by, for example, a motor (not shown) in the same manner as the rear arm rotating part 146r2.

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

[0200] As shown in FIG. 28, at this time, the rear horizontal portion 156b abuts against the first reinforcing bars R11 to R16. Further, as the rear arm 150b moves, the third traveling unit 121c and the fourth traveling unit 121d of the moving unit 120 move in the +Z direction with respect to the reinforcing bar R. Similarly, as the front horizontal portion 156a of the front arm 150a moves in the -Z direction and the -X direction, it abuts against the reinforcing bar R, and the first traveling unit 121a and the second traveling unit 121b move in the +Z direction with respect to the reinforcing bar R. As a result, all the traveling units 121 move in the +Z direction from the reinforcing bar R, and the reinforcing bar binding robot 104 is in a state of being supported by the front arm 150a and the rear arm 150b.

[0201] Next, as shown in FIG. 29, from the state shown in FIG. 28, the rear arm rotating portion 146r2 rotates further 90° counterclockwise in FIG. 28, and the rear bar 146r2b moves in the -Z direction and the +X direction. At this time, as shown in FIG. 29, the rear bar 146r2b is at the lowest position (-Z direction) with respect to the rear arm rotating portion 146r2. Therefore, the rear arm 150b connected to the rotating end portions 159b1c and 159b2c connected to the rear bar 146r2b is also at the lowest position, and the traveling unit 121 is at the highest position (+Z direction).

[0202] Subsequently, as shown in FIG. 30, from the state shown in FIG. 29, the rear arm rotating part 146r2 further rotates counterclockwise by 90° in FIG. 29, and the rear bar 146r2b moves in the +Z direction and the +X direction. At this time, the rear bar 146r2b has the same height in the Z direction as the state shown in FIG. 28.

[0203] Subsequently, as shown in FIG. 31, from the state shown in FIG. 30, the rear arm rotating part 146r2 further rotates counterclockwise by 90° in FIG. 30, and the rear bar 146r2b moves in the +Z direction and the -X direction. At this time, since the rear bar 146r2b has the same height in the Z direction as the state shown in FIG. 27, the traveling unit 121 abuts against the reinforcing bar R, and the rear horizontal part 156b is located in the +Z direction from the reinforcing bar R. Also, among the first reinforcing bars R11 to R16 of the traveling unit 121, the third traveling unit 121c abuts against the first reinforcing bar R11, and the fourth traveling unit 121d abuts against the first reinforcing bar R15. Regarding the front arm 150a as well as the rear arm 150b, by rotating by the rotating parts 159a1 and 159a2, the first traveling unit 121a and the second traveling unit 121b, which are the traveling units 121 provided in the +Y direction, can be laterally moved in the -X direction.

[0204] Thus, the lateral movement of the reinforcing bar tying robot 104 on the reinforcing bar R is completed. In the exemplary lateral movement described above with reference to FIGS. 27 to 31, the reinforcing bar tying robot 104 can travel on the first reinforcing bars R11 and R15 by performing lateral movement from the state of traveling on the first reinforcing bars R12 and R16. Note that when the reinforcing bar tying robot 104 moves onto the first reinforcing bar R10 existing further in the -X direction by lateral movement, the lateral movement described above with reference to FIGS. 27 to 31 may be repeated. Also, when the reinforcing bar tying robot 104 moves laterally in the +X direction, it can move laterally in the +X direction, for example, by rotating the rear arm rotating part 146r2 clockwise in FIGS. 27 to 31, contrary to the lateral movement described above with reference to FIGS. 27 to 31.

[0205] In the lateral movement of the reinforcing bar bundling robot 104 described with reference to FIGS. 27 to 31, the main body side link 125 and the roller side link 123 of the traveling unit 121 are not configured to be closed. This is because even if the main body side link 125 and the roller side link 123 of the traveling unit 121 are not closed, the traveling unit 121 can be moved in the +Z direction by rotating the front arm 150a and the rear arm 150b. However, in the reinforcing bar bundling robot 104 according to the present embodiment, in addition to rotating the front arm 150a and the rear arm 150b, the main body side link 125 and the roller side link 123 of the traveling unit 121 may be opened and closed to enable changing the height of the traveling unit 121. Note that the moving unit 120 is not limited to the telescoping in the Z direction due to the opening and closing of the main body side link 125 and the roller side link 123 of the traveling unit 121, and may have a configuration capable of moving in a direction including the Z direction, for example.

[0206] Also, similar to the above description of the reinforcing bar bundling robot 101, in the reinforcing bar bundling robot 104 according to the present embodiment, the arm 150 may be provided so as to avoid the visual fields of the sensors (the first sensor 130a and the second sensor 130b). That is, the reinforcing bar bundling robot 104 includes a detection unit (sensor unit 130) having a sensor (first sensor 130a) whose detection range is an area including the reinforcing bar R located in front (+Y direction) in the first direction (Y direction) from the moving unit 120, and the front arm 150a may be provided outside the detection range of the sensor (first sensor 130a) of the detection unit (sensor unit 130).

[0207] Note that, similar to the above description of the reinforcing bar bundling robot 101, in the reinforcing bar bundling robot 104 according to the present embodiment, the front arm 150a may be within the detection range of the sensor. In that case, for example, by performing image processing or the like to exclude the front arm 150a that is reflected in from the detection result, it is possible to suppress the detection omission of the intersection point c12 between the first reinforcing bar R1 and the second reinforcing bar R2 that are the bundling targets by the reinforcing bar bundling unit 110, and it is also possible to suppress the misdetection of the reinforcing bar R. Similarly to the front arm 150a, the reinforcing bar bundling robot 104 according to the present embodiment includes a detection unit (sensor unit 130) having a sensor (second sensor 130b) whose detection range is an area including the reinforcing bar R located behind (-Y direction) in the first direction (Y direction) from the moving unit 120. The rear arm 150b may be provided at a position outside the detection range of the sensor (second sensor 130b) of the detection unit (sensor unit 130). By providing the rear arm 150b so as to be outside the detection range of the sensor (for example, the second sensor 130b), it is possible to suppress, for example, the misdetection of the reinforcing bar R by the sensor. Also, in the reinforcing bar bundling robot 104 according to the present embodiment, the first sensor 130a and the second sensor 130b may be provided in the main body unit 140.

[0208] Also, the front arm 150a and / or the rear arm 150b according to the present embodiment may have a configuration that can be expanded and contracted in the Z direction. By making the front arm 150a and / or the rear arm 150b expandable and contractible in the Z direction, the lateral movement of the reinforcing bar bundling robot 101 described above with reference to FIGS. 8 and 15 to 19, and the lateral movement of the reinforcing bar bundling robot 104 described above with reference to FIGS. 27 to 31 can be performed by expanding and contracting the front arm 150a and the rear arm 150b in the Z direction without expanding and contracting the traveling unit 120 in the Z direction or without configuring the front arm 150a and the rear arm 150b to rotate.

[0209] In the reinforcing bar bundling robot 104 according to the present embodiment, the length of the arm 150 in the X direction may exceed three times the interval between the reinforcing bars R. That is, in the reinforcing bar bundling robot 104, a plurality of first reinforcing bars R10 are arranged such that the interval in the direction (X direction) orthogonal to the first direction (Y direction) is the first pitch, and the length of the front arm 150a in the direction (X direction) orthogonal to the first direction (Y direction) exceeds three times the first pitch, and the length of the rear arm 150b in the direction (X direction) orthogonal to the first direction (Y direction) may also exceed three times the first pitch.

[0210] When the reinforcing bar bundling robot 104 moves on the reinforcing bar R, by making the length (the length in the X direction) of the arm 150 exceed three times the first pitch, which is the interval between the first reinforcing bars R10, when the reinforcing bar bundling robot 104 moves laterally, the arm 150 can move laterally while contacting four adjacent first reinforcing bars R10. Therefore, it is possible to make the lateral movement of the reinforcing bar bundling robot 104 more stable. In particular, for example, when the reinforcing bar R on which the reinforcing bar bundling robot 104 performs the bundling work is relatively thin, in order for the reinforcing bar bundling robot 104 to move stably on the reinforcing bar R, an arm 150 that contacts four or five or more first reinforcing bars R10 may be provided. On the other hand, when the reinforcing bar R is relatively thick and stable lateral movement is possible by the arm 150 contacting two adjacent first reinforcing bars R10, the arm 150 may have a length that is, for example, two times or more than two times the first pitch.

[0211] Note that, by making the length of the arm 150 according to the present embodiment greater than the first pitch, when the arm 150 abuts against the first reinforcing bar R10, it can abut against two adjacent first reinforcing bars R10. That is, for example, in the reinforcing bar bundling robot 104 according to the present embodiment, the front arm 150a may be provided such that the length in the X direction from one end 154a1 to the other end 154a2 of the front arm 150a is longer than the interval between a plurality of adjacent first reinforcing bars R1. That is, in the reinforcing bar bundling robot 104 according to the present embodiment, a plurality of first reinforcing bars R1 are arranged such that the interval in the direction (X direction) orthogonal to the first direction (Y direction) is the first pitch, and on a plane (horizontal plane) parallel to the first direction (Y direction) and the second direction (X direction), the length from one end 154a1 to the other end 154a2 in the direction (X direction) orthogonal to the first direction (Y direction) of the front arm 150a may be provided to be greater than the first pitch. Note that, as described above, by making the length of the arm 150 more than twice the first pitch, the arm 150 can be more reliably abutted against two or more adjacent first reinforcing bars R10.

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

[0213] Further, for example, when the reinforcing bar bundling robot 104 repeatedly moves laterally and bundles the intersection c12 of the first reinforcing bar R10 and the second reinforcing bar R20 near the +X direction end or the -X direction end (end R20e of the second reinforcing bar R20) of the plurality of reinforcing bars R, if it is considered that when the length of the arm 150 in the X direction is too long, the bundling work near the end R20e becomes difficult, the length of the arm 150 may be adjusted as appropriate. For example, if the bundling of the intersection c12 near the end R20e is not required, the arm 150 may be made relatively long, and if bundling up to the vicinity of the end R20e is required, the arm 150 may be made relatively short.

[0214] For example, although the first pitch varies depending on the site where the actual tying operation is performed, it may be 100 mm or more and 250 mm or less. Also, the first pitch may be 150 mm or more and 200 mm or less. Therefore, for example, if the length of the arm 150 in the X direction (or the length of the horizontal portion 156 of the arm 150) is set to about 600 mm or more and 750 mm or less, at many sites, the length of the arm 150 in the X direction can be made more than three times the first pitch, which is the interval between the first reinforcing bars R10. Thus, the arm 150 can be brought into contact with four (or four or more) adjacent first reinforcing bars R10 during lateral movement, enabling stable lateral movement. Alternatively, by setting the length of the arm 150 in the X direction to, for example, 250 mm or more, the arm 150 can be brought into contact with at least two adjacent first reinforcing bars R10.

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

[0216] The "tying device" according to the present disclosure is not limited to a self-propelled tying device, and may include other types of tying devices. The "tying device" may include, for example, a tying device of a robot arm type. The tying device of the robot arm type includes a "moving part" for moving the reinforcing bar tying unit relative to a plurality of reinforcing bars. The "moving part" may include, for example, an articulated arm part formed by connecting a large number of links and joints, and / or a slide mechanism of a rail provided on a ceiling or the like. The reinforcing bar tying machine included in the tying device of the robot arm type may be provided on the articulated arm part and / or the slide mechanism or the like, and may be configured to be movable on a plurality of reinforcing bars. The tying device of the robot arm type may include a "protective part" for protecting the reinforcing bar tying unit. The "protective part" may be arranged in any direction with respect to the reinforcing bar tying unit, and may protect the reinforcing bar tying unit from the environment in the any direction. The "protective part" may be arranged above at least a part of the reinforcing bar tying unit, or may be arranged around at least a part of the reinforcing bar tying unit (circumferential direction when the vertical direction is the axis). The "protective part" may be configured to include, for example, a frame, or may be further configured to include a cover configured to cover at least a part of the frame. The "protective part" may be fixed to the driving part, or may be fixed to the reinforcing bar tying unit.

[0217] As described above, the present embodiment has been described with reference to specific examples. However, the present disclosure is not limited to these specific examples. As long as those obtained by appropriately making design changes by those skilled in the art to these specific examples have the features of the present disclosure, they are included in the scope of the present disclosure. Each element, its arrangement, conditions, shape, etc. included in each of the above-described specific examples are not limited to those illustrated, and can be appropriately changed. Each element included in each of the above-described specific examples can be appropriately combined as long as no technical contradiction occurs.

Explanation of Reference Numerals

[0218] 100, 101, 102, 103, 104 Reinforcing bar tying robot (tying device) 110 Rebar Bundling Unit 120 Moving Unit 121 Traveling Unit 130 Sensor Unit (Detection Unit) 140 Main Body Unit (Main Body Unit) 150 Arm 150a Front Arm 150b Rear Arm 152a, 152a1, 152a2 Front End 154a1, 154b1 One End 154a2, 154b2 The Other End 156a, 156b Horizontal Part 158a, 158a1, 158a2, 158b, 158b1, 158b2 Protrusion R10 First Rebar R20 Second Rebar

Claims

1. A plurality of first reinforcing bars whose extending direction is the first direction, and a plurality of second reinforcing bars whose extending direction is the second direction which intersects the first direction and are arranged so as to intersect the first reinforcing bars, and a reinforcing bar binding unit configured to bind the intersection portions of the first reinforcing bars and the second reinforcing bars of the plurality of reinforcing bars; A main body unit that supports the reinforcing bar binding unit; A moving unit configured to be movable on the plurality of reinforcing bars in the first direction; In a top view seen from the third direction which is perpendicular to the first direction and the second direction, at least a part thereof is a front end portion provided in front of the moving unit and the main body unit in the first direction; Parallel to a plane parallel to the first direction and the second direction, and in a fourth direction which is perpendicular to the first direction, an end portion provided outside one end of the moving unit and the main body unit in the fourth direction; In the fourth direction, a front arm having an other end portion provided outside the other end of the moving unit and the main body unit in the fourth direction; A binding device comprising the above.

2. The front arm has one or a plurality of horizontally formed horizontal portions, The horizontal portion extends in the fourth direction and is connected to the one end portion and the other end portion. The binding device according to claim 1.

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

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

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

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

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

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

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

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

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

12. The front arm and the rear arm are configured to be rotatable along a plane parallel to the first direction and the third direction with respect to the main body unit. The front arm and the rear arm rotate with respect to the main body unit, move downward in the third direction, and abut against the plurality of reinforcing bars to support the moving unit and the main body unit with respect to the plurality of reinforcing bars. With the moving unit and the main body unit supported by the front arm and the rear arm, the moving unit, the main body unit, and the reinforcing bar bundling unit are configured to be movable in a direction parallel to a plane parallel to the first direction and the second direction and intersecting the first direction. The bundling device according to claim 11.

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

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

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

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