Binding device and binding system

Abstract

To provide a binding device that can restrain the angle of a wire entering a binding device from changing.SOLUTION: A binding device 100 comprises a reinforcement-bar-binding machine 1 to bind arranged multiple reinforcement bars with a wire and a slack-forming section 2 to form a slack on a wire W between the reinforcement-bar-binding machine 1 and a reel 20 winding a wire to be supplied to the reinforcement-bar-binding machine 1, and is configured to have the reinforcement-bar-binding machine 1 and the slack-forming section 2 move as one.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] The present invention relates to a bundling device for bundling reinforcing bars with wire and a bundling system equipped with the bundling device. [Background technology]

[0002] Steel bars are used in concrete structures to increase their strength, and are tied together with wire to prevent the bars from shifting from their designated positions when the concrete is poured.

[0003] Conventionally, a binding machine called a rebar binding machine has been proposed, which has a wire feeding section that feeds wire to a binding section, winds the wire around two or more rebars, and twists the wire wound around the rebars to bind the two or more rebars with the wire.

[0004] A technique has been proposed in which such a reinforcing bar binding machine is applied to equipment that is installed and used (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2023-105958 Summary of the Invention [Problem to be solved by the invention]

[0006] When applying a rebar tying machine to equipment that is installed and used, it is possible to increase the amount of wire that can be stored by making the reel on which the wire is wound larger than the reels that can be loaded into previous rebar tying machines.

[0007] However, when using a reel that is larger than the size that can be loaded into a conventional rebar tying machine, the load required to feed the wire increases due to the larger reel, and there is a possibility that the wire cannot be sufficiently fed to the tying section using only the wire feed section provided on the rebar tying machine. For this reason, when using a reel that is larger than the size that can be loaded into a conventional rebar tying machine, it is necessary to create sufficient slack between the reel and the tying machine so that the amount of wire required for tying the rebar can be reliably pulled out or so that the wire can be fed to the tying section.

[0008] Therefore, Patent Document 1 discloses a binding equipment in which a reel storage section that stores a reel wound with wire is configured independent of the rebar binding machine, and which is equipped with a wire unwinding mechanism that unwinds the wire from the reel stored in the reel storage section, and a moving machine that moves the rebar binding machine to the binding location.

[0009] The binding equipment described in Patent Document 1 is configured such that a moving machine moves the reinforcing bar binding machine toward and away from the reinforcing bar placement surface, thereby moving the reinforcing bar binding machine to the binding location.

[0010] However, in the bundling equipment described in Patent Document 1, the rebar binding machine moves up and down independently of the wire unwinding mechanism, so the direction in which the wire enters the rebar binding machine changes with the movement of the rebar binding machine, which causes the load on the wire feeding section of the rebar binding machine to fluctuate, leading to poor wire feeding by the wire feeding section.

[0011] The present invention has been made to solve such problems, and aims to provide a binding device and binding system that can reliably pull out the amount of wire required to bind reinforcing bars and suppress changes in the direction of the wire entering the binding machine. [Means for solving the problem]

[0012] In order to solve the above-mentioned problems, the present invention provides a binding device that includes a binding machine that binds multiple arranged reinforcing bars with wire, and a slack forming unit that forms slack in the wire between the binding machine and a reel around which wire supplied to the binding machine is wound, wherein the binding machine includes a binding unit that binds the reinforcing bars with wire and a wire feeding unit that feeds the wire to the binding unit, and the binding machine and the slack forming unit are configured to be movable as a single unit.

[0013] The present invention also provides a binding system comprising a binding device and a moving body for moving the binding device, wherein the binding device comprises a binding machine that binds a plurality of arranged reinforcing bars with wire, a slack forming section that forms slack in the wire between the binding machine and a reel around which wire supplied to the binding machine is wound, and a reel accommodating section that accommodates the reel, and the binding machine comprises a binding section that binds the reinforcing bars with wire and a wire feeding section that feeds wire to the binding section, and the binding machine and the slack forming section are configured to be movable as a single unit.

[0014] In the present invention, the operation of the slack forming section forms a slack portion in the wire between the binding machine and the reel, and the slack portion of the wire enters the wire feeding section of the binding machine. [Effects of the Invention]

[0015] According to the present invention, the binding machine and the slack forming unit are configured to be movable as a single unit, so that the direction in which the slack portion of the wire formed by the slack forming unit enters the wire feeding unit of the binding machine does not change when the binding device moves, thereby suppressing fluctuations in the load on the wire feeding unit and preventing poor wire feeding by the wire feeding unit. [Brief explanation of the drawings]

[0016] [Figure 1A] 1 is a side view showing an example of a binding device according to an embodiment of the present invention. [Figure 1B] 1 is a side view showing an example of a binding device according to an embodiment of the present invention, with some components not shown. [Figure 1C] 1 is a perspective view showing an example of a binding device according to an embodiment of the present invention. [Figure 1D]FIG. 2 is a rear view showing an example of the binding device of the present embodiment. [Figure 1E] 1 is a side view seen from the back side showing an example of a binding device according to the present embodiment. [Figure 2] FIG. 2 is a side view showing an internal configuration of an example of a reinforcing bar binding machine. [Figure 3A] 1 is a perspective view showing an example of a binding system according to an embodiment of the present invention. [Figure 3B] 1 is a perspective view showing an example of a binding system according to an embodiment of the present invention. [Figure 4A] 10A and 10B are side views showing an example of the operation of the binding device of the present embodiment. [Figure 4B] 10 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted from the illustration. FIG. [Figure 5A] 10A and 10B are side views showing an example of the operation of the binding device of the present embodiment. [Figure 5B] 10 is a side view showing an example of the operation of the binding device of the present embodiment, with some components omitted from the illustration. FIG. [Figure 6] FIG. 10 is a side view of the binding device showing an example of a binding operation, with some components omitted. DETAILED DESCRIPTION OF THE INVENTION

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a binding device and a binding system according to the present invention will be described with reference to the drawings.

[0018] <Configuration example of binding device according to this embodiment> Fig. 1A is a side view showing an example of the binding device of this embodiment, Fig. 1B is a side view showing an example of the binding device of this embodiment with some components omitted, Fig. 1C is a perspective view showing an example of the binding device of this embodiment, Fig. 1D is a rear view showing an example of the binding device of this embodiment, and Fig. 1E is a side view of the example of the binding device of this embodiment as seen from the back.

[0019] The binding device 100 includes a reinforcing bar binding machine 1 that binds the intersections of reinforcing bars S arranged in a grid pattern with wire W, a slack forming unit 2 that pulls out the wire W from a reel 20 and forms slack in the wire W between the reinforcing bar binding machine 1 and the reel 20, and a reel storage unit 200 that stores the reel 20. Note that the slack forming unit 2 does not need to have the function of pulling out the wire W from the reel 20 as long as it can form slack.

[0020] 2 is a side view of the internal configuration of an example of a reinforcing bar binding machine. The reinforcing bar binding machine 1 is an example of a binding machine, and feeds a wire W in the forward direction indicated by an arrow F to wind it around a reinforcing bar S, and then feeds the wire W wound around the reinforcing bar S in the reverse direction indicated by an arrow R to wind it around the reinforcing bar S and cut it, and then twists the wire W to bind the reinforcing bar S with the wire W.

[0021] To achieve the above-mentioned functions, the rebar binding machine 1 is equipped with a wire feeding unit 3 that feeds the wire W and a wire guide 4 that guides the wire W. The rebar binding machine 1 also has a curl forming unit 5 that forms a path for winding the wire W fed by the wire feeding unit 3 around the rebar S, and a cutting unit 6 that cuts the wire W wound around the rebar S. The rebar binding machine 1 is further equipped with a binding unit 7 that twists the wire W wound around the rebar S, and a drive unit 8 that drives the binding unit 7.

[0022] The wire feeding unit 3 includes a pair of feed gears 30 that sandwich and feed the wire W. The rotation of a feed motor (not shown) is transmitted to the wire feeding unit 3, causing the feed gear 30 to rotate. As a result, the wire feeding unit 3 feeds the wire W sandwiched between the pair of feed gears 30 along the extension direction of the wire W. In a configuration in which multiple pieces of wire W, for example, two pieces of wire W, are fed to bind the reinforcing bars S, the two pieces of wire W are fed in a parallel state.

[0023] The wire feed unit 3 switches the rotation direction of the feed motor (not shown) between forward and reverse, thereby switching the rotation direction of the feed gear 30 and switching the feed direction of the wire W between forward and reverse, either feeding the wire W in the forward direction indicated by arrow F or feeding the wire W in the reverse direction indicated by arrow R.

[0024] The wire guides 4 are provided at predetermined positions upstream and downstream of the wire feeding unit 3 with respect to the feeding direction in which the wire W is fed in the forward direction. In a configuration in which two wires W are fed to bind reinforcing bars S, the wire guide 4 provided upstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them between a pair of feed gears 30. The wire guide 4 provided downstream of the wire feeding unit 3 regulates the radial orientation of the two wires W, aligns the two incoming wires W in parallel, and guides them to the cutting unit 6 and the curl forming unit 5. Note that the wire guide upstream of the wire feeding unit 3 is not shown in FIG. 2.

[0025] The curl forming unit 5 includes a curl guide 50 that curls the wire W fed by the wire feeding unit 3, and an guiding guide 51 that guides the wire W curled by the curl guide 50 to the bundling unit 7. In the rebar bundling machine 1, the path of the wire W fed by the wire feeding unit 3 is regulated by the curl forming unit 5, so that the trajectory of the wire W becomes a loop Ru as shown by the two-dot chain line in Figure 2, and the wire W is wound around the rebar S.

[0026] The cutting unit 6 includes a fixed blade unit 60 and a movable blade unit 61 that cuts the wire W in cooperation with the fixed blade unit 60. The cutting unit 6 cuts the wire W by the rotational movement of the movable blade unit 61 with the fixed blade unit 60 as a fulcrum axis. In the cutting unit 6, the movement of the binding unit 7 is transmitted to the movable blade unit 61.

[0027] The bundling unit 7 includes a locking member 70 that locks the wire W, and a sleeve 71 that operates the locking member 70. The driving unit 8 includes a torsion motor 80 and a reducer 81 that reduces speed and amplifies torque.

[0028] When the binding unit 7 is driven by the drive unit 8, the sleeve 71 activates the locking member 70 to lock the wire W. After the cutting unit 6 cuts the wire W in conjunction with the operation of the sleeve 71, the binding unit 7 twists the wire W by rotating the locking member 70 and the sleeve 71 to bind the reinforcing bar S.

[0029] In the rebar tying machine 1, the tying unit 7 is provided on an imaginary straight line 10L that is along the axial direction of the torsion motor 80, as shown by the dashed line in Figure 2. In addition, when the imaginary straight line 10L of the rebar tying machine 1 is oriented in the vertical direction, a curl guide 50 and an induction guide 51 are provided at the lower end of the machine in a form that protrudes from the main body 10.

[0030] Furthermore, the reinforcing bar binding machine 1 is provided with a wire feeding unit 3 on one side along a direction intersecting with the imaginary straight line 10L, which is a direction intersecting with the axial direction of the torsion motor 80.

[0031] Furthermore, in the binding device 100, a slack forming unit 2 is provided on the side of the reinforcing bar binding machine 1 where the wire feeding unit 3 is provided, i.e., on one side of the reinforcing bar binding machine 1 along a direction that intersects with the imaginary line 10L, which in turn intersects with the axial direction of the torsion motor 80. The slack forming unit 2 forms slack in the wire W between the reinforcing bar binding machine 1 and the reel 20.

[0032] Furthermore, in the binding device 100, a reel storage section 200 is provided above the reinforcing bar binding machine 1 along the direction in which the imaginary line 10L, which is the direction along the axial direction of the torsion motor 80, extends.

[0033] The reel housing 200 rotatably and detachably houses a reel 20 around which a long wire W is wound so as to be able to be unwound. The wire W is a wire made of a metal wire that can be plastically deformed, a wire made of a metal wire coated with resin, or a twisted wire.

[0034] When the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with one wire W, the reel storage unit 200 stores one reel 20 around which one wire W is wound, and the reel 20 is configured to pull out one wire W as it rotates. When the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with multiple wires W, the reel storage unit 200 stores multiple reels 20 corresponding to the number of wires W, and each reel 20 is configured to pull out multiple wires W as it rotates. For example, when the reinforcing bar binding machine 1 is configured to bind reinforcing bars S with two wires W, the reel storage unit 200 stores two reels 20 around which one wire W is wound, and each reel 20 is configured to pull out two wires W as it rotates.

[0035] The reel accommodating section 200 may be provided with a braking section that allows rotation of the reel 20 in the direction in which the wire W is pulled out, but restricts rotation of the reel 20 in the opposite direction.

[0036] The slack forming portion 2 includes a first slack forming portion 21, a second slack forming portion 22, a first guide portion 23, and a second guide portion 24.

[0037] The first slack forming unit 21 is an example of a slack forming mechanism, and includes a first slack forming roller 21a, a guide plate 21b, and guide members 21c and 21d.

[0038] The first slack forming roller 21a is in the shape of a disk with a thickness greater than the diameter of the wire W, and a guide surface 21f that comes into contact with the wire W is formed on the outer periphery of the disk. The first slack forming roller 21a is supported between a pair of guide plates 21b so as to be rotatable about a shaft 21g as a fulcrum.

[0039] Guide plates 21b are provided on both axial sides of first slack forming roller 21a, sandwiching first slack forming roller 21a. In a configuration in which reinforcing bars S are bound with two wires W, first slack forming rollers 21a are provided on both sides of one guide plate 21b, and guide plates 21b are provided on the outer sides of each first slack forming roller 21a.

[0040] Guide member 21c is provided opposite guide surface 21f of first slack forming roller 21a in the path of wire W entering first slack forming unit 21 from first guide portion 23. Guide member 21c is provided between the pair of guide plates 21b in the form of, for example, a cylindrical member extending in a direction intersecting with guide plates 21b.

[0041] The guide member 21d is provided on the path of the wire W coming out of the first slack forming portion 21. The guide member 21d is, for example, a roller that is rotatable about a shaft 21h as a fulcrum and is provided between the pair of guide plates 21b.

[0042] The shafts 21h of the guide members 21c and 21d also function as spacers that define the gap between the pair of guide plates 21b.

[0043] Guide plate 21b is shaped to cover at least a portion of the side of first slack forming roller 21a and at least a portion of the side of guide members 21c and 21d, and to support first slack forming roller 21a and guide members 21c and 21d.

[0044] The second slack forming unit 22 is an example of a slack forming mechanism, and includes a second slack forming roller 22a, a guide plate 22b, and guide members 22c and 22d.

[0045] The second slack forming roller 22a is in the shape of a disk with a thickness greater than the diameter of the wire W, and a guide surface 22f that comes into contact with the wire W is formed on the outer periphery of the disk. The second slack forming roller 22a is supported between a pair of guide plates 22b so as to be rotatable about a shaft 22g as a fulcrum.

[0046] Guide plates 22b are provided on both axial sides of second slack forming roller 22a, sandwiching second slack forming roller 22a. In a configuration in which reinforcing bars S are bound with two wires W, second slack forming rollers 22a are provided on both sides of one guide plate 22b, and guide plates 22b are provided on the outer sides of each second slack forming roller 22a.

[0047] The guide member 22c is provided on the path of the wire W that enters the second slack forming portion 22 from the first slack forming portion 21. The guide member 22c is, for example, a roller that is rotatable about an axis 22h as a fulcrum and is provided between the pair of guide plates 22b.

[0048] Guide member 22d is provided opposite guide surface 22f of second slack forming roller 22a in the path of wire W exiting second slack forming section 22. Guide member 22d is provided between the pair of guide plates 22b in the form of, for example, a cylindrical member extending in a direction intersecting with guide plates 22b.

[0049] The shafts 22h of the guide members 22c and 22d also function as spacers that define the gap between the pair of guide plates 22b.

[0050] Guide plate 22b is shaped to cover at least a portion of the side of second slack forming roller 22a and at least a portion of the side of guide members 22c and 22d, and to support second slack forming roller 22a and guide members 22c and 22d.

[0051] The first guide portion 23 is provided between the reel 20 and the first slack forming portion 21. The first guide portion 23 directs the path along which the wire W passes between the pair of guide plates 23a and is pulled out from the reel 20 toward the first slack forming portion 21.

[0052] The binding device 100 may include a guide portion 26 that forms a path through which the wire W passes between the reel 20 and the first guide portion 23. In a configuration in which the reinforcing bars S are bound with two wires W, the first guide portion 23 and the guide portion 26 are provided corresponding to each reel 20. Furthermore, in order to accommodate the difference between the spacing between the two reels 20 and the spacing between the two first guide portions 23, the guide portion 26 guides the path through which the two wires W pass so that the spacing between the paths through which the two wires W pass gradually narrows from each reel 20 toward the first guide portion 23.

[0053] The second guide portion 24 is provided between the second slack forming portion 22 and the rebar binding machine 1. The second guide portion 24 allows the wire W to pass through when the wire feeding portion 3 feeds the wire W, and may be provided with a braking portion that restricts the passage of the wire W when the slack forming portion 2 forms slack in the wire W.

[0054] The binding device 100 includes a first guide portion 21i that guides the movement of the first slack forming portion 21, a second guide portion 22i that guides the movement of the second slack forming portion 22, and a drive portion 25 that moves the first slack forming portion 21 and the second slack forming portion 22.

[0055] The first guide portion 21i movably guides the first slack forming portion 21 in a direction along the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed portion 3, the wire guide 4, etc. The second guide portion 22i movably guides the second slack forming portion 22 in a direction along the feed path WL of the wire W entering the rebar binding machine 1. The second guide portion 22i supports the second slack forming portion 22 so that the guide surface 22f of the second slack forming roller 22a is positioned on an extension of the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed portion 3, the wire guide 4, etc.

[0056] Driving unit 25 includes a pair of pulleys 25a and 25b, a belt 25c wound around pulleys 25a and 25b, and a motor 25d that drives one of pulleys 25a. Driving unit 25 also includes a first connecting portion 25e that connects first slack forming portion 21 and belt 25c, and a second connecting portion 25f that connects second slack forming portion 22 and belt 25c.

[0057] Pulley 25a is provided on the side closer to the rebar binding machine 1 in the movement direction of first slack forming unit 21 and second slack forming unit 22. Pulley 25b is provided on the side farther from the rebar binding machine 1 in the movement direction of first slack forming unit 21 and second slack forming unit 22. Belt 25c extends in the movement direction of first slack forming unit 21 and second slack forming unit 22. First connecting portion 25e is connected to one side of belt 25c extending between the pair of pulleys 25a, 25b, and second connecting portion 25f is connected to the other side of belt 25c extending between the pair of pulleys 25a, 25b.

[0058] One side and the other side of belt 25c stretching between a pair of pulleys 25a, 25b move in the opposite direction as pulley 25a is rotated by motor 25d, whereby first slack forming portion 21 and second slack forming portion 22 move relatively toward or away from each other depending on the direction of rotation of motor 25d.

[0059] The wire W unwound from the reel 20 extends laterally across the axial direction of the torsion motor 80 relative to the rebar binding machine 1, and its path is changed by the first guide unit 23 toward the slack forming unit 2. The wire W passing through the slack forming unit 2 has its path changed by the second slack forming roller 22a toward the wire feed unit 3 of the rebar binding machine 1.

[0060] In the binding device 100, the rebar binding machine 1 is attached to the binding machine support part 101, and the reel storage part 200 is attached to the storage part support part 102. In addition, the binding machine support part 101 is attached to the storage part support part 102. Furthermore, in the binding device 100, the slack forming part 2 is attached to the slack forming part support part 103. In addition, in the binding device 100, the storage part support part 102 and the slack forming part support part 103 are attached to the support part 104.

[0061] The binding device 100 has a support part 104 provided above the rebar binding machine 1 and the reel storage part 200 along the axial direction of the torsion motor 80, and an attachment part 105 to which the robot arm 300 is attached is provided on the support part 104.

[0062] The slack forming unit 2 has a first slack forming unit 21, a second slack forming unit 22, and a drive unit 25 provided on one side of the slack forming unit support unit 103, and a control unit 250 for the drive unit 25 and the like provided on the other side of the slack forming unit support unit 103. The control unit 250 includes a control board (not shown), a board accommodating unit 250a for accommodating the control board, and the like.

[0063] As shown in FIG. 2, the rebar tying machine 1 has the binding unit 7 provided on an imaginary line 10L that is aligned with the axial direction of the torsion motor 80. Furthermore, as shown in FIG. 1A, the binding device 100 has the attachment unit 105 provided on the imaginary line 10L. As a result, the binding device 100 has the binding unit 7 and the attachment unit 105 provided on the same imaginary line 10L. Therefore, when the rebar tying machine 1 is oriented in the up-down direction with the curl forming unit 5 facing downward, the binding unit 7 is provided vertically below the attachment unit 105.

[0064] Furthermore, when the binding device 100 is viewed from the side, the reel storage section 200 stores the reel 20 so that the axis of rotation of the reel 20 is located on an imaginary line 10L that passes through the binding section 7 and the attachment section 105. When the binding device 100 is viewed from a direction perpendicular to the imaginary line 10L, the position of the axis of rotation of each reel deviates from the imaginary line 10L depending on the number of reels used. However, it is sufficient that the reels are arranged so that the center of the line connecting the axes of rotation of all the reels used is located on the imaginary line 10L; in other words, it is sufficient that the line connecting the axes of rotation of multiple reels used is located on the imaginary line 10L.

[0065] <Configuration example of the bundling system according to this embodiment> 3A and 3B are perspective views showing an example of a binding system according to this embodiment. The binding system 301 includes the binding device 100 described above and a robot arm 300. The binding system 301 also includes an overall photographing unit 303, an individual photographing unit 305 provided in the binding device 100, and a stand 311 on which the robot arm 300 and the overall photographing unit 303 are provided.

[0066] In the description of the binding system 301, the X, Y, and Z directions refer to the directions shown in Figures 3A and 3B. The X, Y, and Z directions are perpendicular to each other, the XY plane is a substantially horizontal plane, and the Z direction is a direction substantially along the vertical.

[0067] The mount 311 is formed in the shape of a rectangular parallelepiped that is long in the X direction, and includes four pillars 312 erected at the four corners in the X and Y directions, and multiple beams 313 that span the upper ends of the pillars 312 in the X and Y directions.

[0068] Of the area inside the stand 311, approximately half on one side in the X direction (right side in Figures 3A and 3B) is the photographing area E1 where photographing is performed by the overall photographing unit 303, and the half on the other side (left side in Figures 3A and 3B) is the binding area E2 where binding operations are performed by the robot arm 300 and the binding device 100.

[0069] In the bundling system 301, a workpiece B, which is made up of a plurality of reinforcing bars S arranged in a lattice pattern, is held by a workpiece holding unit 302. The workpiece holding unit 302 holds the workpiece B and moves the held workpiece B between a photography area E1 shown in Fig. 3A and a bundling area E2 shown in Fig. 3B. Specifically, the workpiece holding unit 302 includes a holding table 321 that holds the workpiece B, rails 322 that movably support the holding table 321, a drive motor (not shown) that drives the rails 322, and the like.

[0070] The holder 321 is formed in the shape of a rectangular plate with four sides aligned along the X and Y directions. Support plates 321a are erected on the four sides of the holder 321 to support a plurality of reinforcing bars S that constitute the workpiece B. The support plates 321a have a plurality of U-shaped grooves 321b that open upward, and the reinforcing bars S are inserted into the U-shaped grooves 321b. The multiple reinforcing bars S are arranged in a lattice pattern along the X and Y directions with their ends inserted into the U-shaped grooves 321b of the support plates 321a.

[0071] The rails 322 are laid along the X direction and guide the holder 321 in the X direction. The rails 322 in this embodiment are laid so that the holder 321 (work B) can move at least between the photography area E1 and the bundling area E2. However, the rails 322 may be configured to extend to the outside of the stand 311 so that the work B can be moved to a work process before or after bundling.

[0072] The overall photographing unit 303 photographs the entire workpiece B at once or for each of the divided areas. Specifically, the overall photographing unit 303 includes a first camera 331 arranged above the photographing area E1, and a moving mechanism 332 that movably supports the first camera 331.

[0073] The first camera 331 is disposed facing downward and photographs the workpiece B held by the workpiece holder 302 from above in the photographing area E1. The first camera 331 is a compound eye (for example, four-eye) stereo camera, and is capable of acquiring distance information in the depth direction (up and down direction) along with image information (monochrome image) in the XY plane. Note that the sensor type of the first camera 331 is not particularly limited as long as it can acquire distance information (depth information) along with image information.

[0074] The movement mechanism 332 includes a Y-direction slider 333 that extends along the Y direction. The Y-direction slider 333 is suspended on a beam 313 that extends along the X direction and is supported by the beam 313 so as to be movable in the X direction. The first camera 31 is suspended from the Y-direction slider 333 so as to be movable in the Y direction. The movement mechanism 332 is driven by a drive source (not shown) and moves the first camera 331 to a predetermined position (XY coordinates).

[0075] The robot arm 300 is an example of a moving body, and is supported by a moving mechanism 346 to move the binding device 100 and the individual photographing unit 305 to desired positions in the binding area E2.

[0076] The movement mechanism 346 includes a Y-direction slider 346a suspended on the beam 313 of the stand 311. The Y-direction slider 346a moves the robot arm 300 in the Y direction. Note that the movement mechanism 346 may include, for example, a mechanism for moving the robot arm 300 in the X direction. Furthermore, if the operating range of the robot arm 300 can cover the entire binding area E2 without relying on the movement mechanism 346, the movement mechanism 346 does not need to be provided.

[0077] The robot arm 300 is a ceiling-suspended articulated robot, and is installed facing downward on a Y-direction slider 346a suspended on a beam 313 in the binding area E2. Specifically, the robot arm 300 includes a base 341, a plurality of arms 342, an end effector 343, and a plurality of joints 344. Note that the robot arm 300 is not limited to an articulated robot.

[0078] The arms 342 are connected in series with each other at the base end portion of the base portion 341. The base portion 341 is supported by a Y-direction slider 346a of a movement mechanism 346 and is movable in the Y direction.

[0079] The plurality of joints 344 rotatably connect the base 341, the plurality of arms 342, and the end effector 343. Each joint 344 is provided with a motor (not shown) and is driven by the motor to rotate.

[0080] The end effector 343 is connected to the tips of the multiple arms 342. The end effector 343 supports the individual photographing unit 305 and also supports the binding device 100 via the attachment unit 105.

[0081] The individual photographing unit 305 is mounted on the tip of the robot arm 300, and individually photographs the intersections P of the rebars S to be bundled in the binding area E2 with a higher resolution than that of the overall photographing unit 303. Specifically, the individual photographing unit 305 includes a second camera 351, a lighting unit 353, an elevator motor (not shown), and the like.

[0082] The second camera 351 is attached to the end effector 343 of the robot arm 300 facing downward, and captures an image of the intersection P of the rebars S to be bundled from above. The second camera 351 is driven by an elevator motor (not shown), and moves up and down relative to the end effector 343. The second camera 351 is, for example, an RGB camera, and acquires image information (color image) of the intersection P to be bundled. Note that the type of sensor, etc., of the second camera 351 is not particularly limited as long as it can acquire an image (signal information) of at least one intersection P.

[0083] The lighting unit 353 illuminates the subject to be photographed by the second camera 351 .

[0084] The bundling system 301 moves the work B to the photographing area E1, photographs the entire work B with the first camera 331 of the overall photographing unit 303, and acquires position information and the like for each intersection P of the reinforcing bars S. After acquiring the position information and the like for each intersection P of the reinforcing bars S, the bundling system 301 moves the work B to the bundling area E2, and based on the position information and the like for each intersection P of the reinforcing bars S, moves the bundling device 100 with the robot arm 300 to the position of the intersection P of the reinforcing bars S.

[0085] When the binding system 301 moves the binding device 100 to the position of the intersection P of the binding target, the second camera 351 of the individual photographing unit 305 photographs the intersection P of the binding target and acquires image information of the intersection P of the binding target. Then, the binding system 301 obtains position information and the like that is more accurate than the position information of each intersection P acquired by the overall photographing unit 303 from the image information acquired by the individual photographing unit 305, and moves the binding device 100 with the robot arm 300 to perform the binding operation.

[0086] <Example of operation of the binding device according to this embodiment> 4A and 5A are side views showing an example of the operation of the binding device of this embodiment, and FIGS. 4B and 5B are side views with some components omitted showing an example of the operation of the binding device of this embodiment.

[0087] In the binding device 100, depending on the direction of rotation of the motor 25d, the first slack forming unit 21 and the second slack forming unit 22 move relatively away from each other from the standby position shown in Figures 1A, 1B, etc. to the slack forming position shown in Figures 4A and 4B, and also move relatively closer to each other from the slack forming position shown in Figures 4A and 4B to the standby position shown in Figures 5A and 5B.

[0088] In the binding device 100, when the first slack forming unit 21 moves from the standby position to the slack forming position, the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1. When the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1, the guide surface 21f comes into contact with the wire W, and pulls the portion of the wire W in contact with the guide surface 21f in a direction approaching the rebar binding machine 1.

[0089] In the binding device 100, when the second slack forming unit 22 moves from the standby position to the slack forming position, the second slack forming roller 22a moves in a direction away from the rebar binding machine 1. When the second slack forming roller 22a moves in a direction away from the rebar binding machine 1, the guide surface 22f comes into contact with the wire W, and pulls the portion of the wire W in contact with the guide surface 22f in a direction away from the rebar binding machine 1.

[0090] The wire W entering the rebar binding machine 1 is clamped between a pair of feed gears 30. The pair of feed gears 30 are prevented from rotating due to an external force while the drive of a feed motor (not shown) is stopped. As a result, even if the second slack forming roller 22a moves in a direction away from the rebar binding machine 1 and a force is applied to the portion of the wire W in contact with the guide surface 22f in a direction away from the rebar binding machine 1, the wire W is prevented from being pulled out from between the pair of feed gears 30.

[0091] The path of the wire W pulled out from the reel 20 is changed by the first guide portion 23 between the reel 20 and the first slack forming roller 21a toward the slack forming portion 2. As a result, the first slack forming roller 21a moves in a direction approaching the rebar binding machine 1, and the portion of the wire W in contact with the guide surface 21f is pulled in a direction approaching the rebar binding machine 1, thereby applying a force to pull the wire W out from the reel 20.

[0092] In addition, when the second slack forming roller 22a moves in a direction away from the rebar binding machine 1, the portion of the wire W in contact with the guide surface 22f is pulled in a direction away from the rebar binding machine 1, and a force is applied via the first slack forming roller 21a to pull the wire W out from the reel 20.

[0093] The reel 20 can rotate when a force is applied to pull out the wire W. As a result, the wire W is pulled out from the reel 20 when the first slack forming roller 21a moves in a direction toward the rebar binding machine 1 and the second slack forming roller 22a moves in a direction away from the rebar binding machine 1.

[0094] In the binding device 100, when the first slack forming unit 21 moves from the slack forming position to the standby position, the first slack forming roller 21a moves in a direction away from the rebar binding machine 1. When the first slack forming roller 21a moves in a direction away from the rebar binding machine 1, the guide surface 21f moves away from the wire W. Furthermore, in the binding device 100, when the second slack forming unit 22 moves from the slack forming position to the standby position, the second slack forming roller 22a moves in a direction approaching the rebar binding machine 1. When the second slack forming roller 22a moves in a direction approaching the rebar binding machine 1, the guide surface 22f moves away from the wire W. As a result, a slack portion WB is formed in the wire W between the reel 20 and the rebar binding machine 1.

[0095] The second slack forming unit 22 is supported by the second guide unit 22i so that the guide surface 22f is located on an extension of the feed path WL of the wire W entering the rebar binding machine 1, which is defined by the wire feed unit 3, the wire guide 4, etc. The second slack forming unit 22 is also guided by the second guide unit 22i so that it can move in a direction along the feed path WL of the wire W entering the rebar binding machine 1. This prevents the wire W entering the rebar binding machine 1 from changing significantly with respect to the feed path WL when the second slack forming unit 22 moves from the standby position to the slack forming position, and from the slack forming position to the standby position.

[0096] When the first slack forming unit 21 moves from the slack forming position to the standby position, the guide member 22c guides the wire W between the pair of guide plates 21b. As a result, the pair of guide plates 21b prevent the wire W entering the first slack forming unit 21 from moving in the axial direction of the first slack forming roller 21a. This prevents the wire W entering the first slack forming unit 21 from becoming tangled with the first guide unit 23, etc. Furthermore, in a configuration in which two wires W are used to bind the rebar S, the two wires W are prevented from becoming tangled in the slack forming unit 2.

[0097] Furthermore, the wire W emerging from the first slack forming portion 21 is guided between the pair of guide plates 21b by the guide member 21d. As a result, the pair of guide plates 21b prevent the wire W emerging from the first slack forming portion 21 from moving in the axial direction of the first slack forming roller 21a. Furthermore, the guide member 21d prevents the wire W emerging from the first slack forming portion 21 from moving toward the second slack forming portion 22. Therefore, the wire W emerging from the first slack forming portion 21 is prevented from becoming tangled with the second slack forming portion 22, etc. Furthermore, in a configuration in which the reinforcing bars S are bound with two wires W, the two wires W are prevented from becoming tangled in the slack forming portion 2.

[0098] Furthermore, the wire W entering the second slack forming unit 22 is guided between the pair of guide plates 22b by the guide member 22c. As a result, the pair of guide plates 22b prevent the wire W entering the second slack forming unit 22 from moving in the axial direction of the second slack forming roller 22a. Also, the guide member 22c prevents the wire W entering the second slack forming unit 22 from moving toward the first slack forming unit 21. Therefore, the wire W entering the second slack forming unit 22 is prevented from becoming entangled with the first slack forming unit 21, etc. Furthermore, in a configuration in which two wires W are used to bind the reinforcing bars S, the two wires W are prevented from becoming entangled in the slack forming unit 2.

[0099] Furthermore, the wire W coming out of the second slack forming unit 22 is guided between the pair of guide plates 22b by the guide member 22d. As a result, the pair of guide plates 22b prevent the wire W coming out of the second slack forming unit 22 from moving in the axial direction of the second slack forming roller 22a. Therefore, in a configuration in which the reinforcing bars S are bound with two wires W, entanglement of the two wires W in the slack forming unit 2 is prevented.

[0100] Fig. 6 is a side view of a binding device showing an example of a binding operation, with some components omitted. In the rebar binding machine 1, as shown in Figs. 5A and 5B, when a slack WB is formed in the wire W by the slack forming unit 2, the wire feeding unit 3 shown in Fig. 2 feeds the wire W in the forward direction indicated by the arrow F, and the curl forming unit 5 winds the wire W around the rebar S. When the wire feeding unit 3 feeds the wire W in the forward direction indicated by the arrow F, the slack portion WB of the wire W is fed, as shown in Fig. 6. As a result, the force of the wire feeding unit 3 feeding the wire W in the forward direction indicated by the arrow F does not need to rotate the reel 20, reducing the load on the wire feeding unit 3 and suppressing the occurrence of wire feeding defects by the wire feeding unit 3.

[0101] In order to wind the wire W wound around the reinforcing bar S onto the reinforcing bar S, when the wire feeding unit 3 feeds the wire W in the reverse direction indicated by the arrow R, slack is formed in the wire W according to the amount of wire W fed in the reverse direction. This eliminates the need to rotate the reel 20 with the force of the wire feeding unit 3 feeding the wire W in the reverse direction indicated by the arrow R, reducing the load on the wire feeding unit 3 and suppressing the occurrence of poor wire feeding by the wire feeding unit 3.

[0102] In addition, in the binding device 100, the slack forming unit 2 forms a slack region WB corresponding to the amount of wire W required in the operation of binding the reinforcing bar S with the reinforcing bar binding machine 1, and then the operation of binding the reinforcing bar S is performed with the reinforcing bar binding machine 1. In addition, the slack forming unit 2 may be operated while the operation of binding the reinforcing bar S with the reinforcing bar binding machine 1 is being performed, and the slack forming unit 2 may form a slack region WB corresponding to the amount of wire W required in the operation of binding the next reinforcing bar S.

[0103] The binding device 100 is configured so that the rebar binding machine 1 and the slack forming unit 2 can move as a single unit. As a result, the direction in which the slack portion WB of the wire W formed by the slack forming unit 2 enters the wire feeding unit 3 of the rebar binding machine 1 does not change when the robot arm 300 moves the binding device 100. Therefore, fluctuations in the load on the wire feeding unit 3 are suppressed, and poor wire feeding by the wire feeding unit 3 is suppressed.

[0104] Furthermore, compared to when the rebar tying machine 1 and the slack forming unit 2 are configured independently, the slack forming unit 2 can be installed closer to the rebar tying machine 1, shortening the path length of the wire W. This eliminates factors that cause defects in wire feeding.

[0105] Furthermore, compared to when the rebar tying machine 1 and the slack forming unit 2 are configured independently, the tolerances when assembling the rebar tying machine 1 and the slack forming unit 2 together can be reduced, eliminating factors that cause defects in wire feeding due to the accuracy between the rebar tying machine 1 and the slack forming unit 2.

[0106] Furthermore, the slack forming unit 2 includes a drive unit 25 that drives the first slack forming unit 21 and the second slack forming unit 22 that pull out the wire W wound on the reel 20, so that there is no need to raise or lower the rebar binding machine 1, for example, in order to pull out the wire W from the reel 20. As a result, the pulling out of the wire W does not depend on the distance between the rebar binding machine 1 and the surface on which the rebar S is placed.

[0107] Furthermore, the slack forming unit 2 has a first slack forming unit 21, a second slack forming unit 22, and a drive unit 25 provided on one side of the slack forming unit support unit 103, and a control unit 250 for the drive unit 25 and the like provided on the other side of the slack forming unit support unit 103. This prevents the wire W from coming into contact with the control unit 250 and the like when the slack forming unit 2 is activated to form slack in the wire W and when the wire feeding unit 3 feeds the wire W, thereby preventing malfunctions in the slack forming unit 2 and malfunctions in the wire feeding.

[0108] In addition, the binding device 100 is provided with a storage section support section 102 that supports the reel storage section 200, a slack forming section support section 103 that supports the slack forming section 2, and a support section 04 that supports the storage section support section 102 and the slack forming section support section 103, and by configuring the reel storage section 200 and the slack forming section 2 as a single unit, the binding device 100 can be made smaller.

[0109] Furthermore, by providing a binding machine support part 101 that supports the rebar binding machine 1, and by supporting the binding machine support part 101 on the storage part support part 102, the relative positions of the rebar binding machine 1 and the reel 20 do not change, and inadvertent unwinding of the wire W is prevented. This prevents malfunction of the slack forming part 2 and wire feeding problems caused by excessive unwinding of the wire W.

[0110] Furthermore, in the binding device 100, the slack forming unit 2 is provided on the side of the reinforcing bar binding machine 1 where the wire feed unit 3 is provided. This prevents the path of the wire W entering the wire feed unit 3 from the slack forming unit 2 from crossing the binding unit 7, which is a movable part, and prevents the wire W from becoming entangled in the binding unit 7, etc. Furthermore, space can be secured on the opposite side of the reinforcing bar binding machine 1 where the wire feed unit 3 is provided, so that even if there is an obstacle near the binding device 100, the reinforcing bar binding machine 1 can be moved to the position of the intersection of the reinforcing bars S to be bound. Furthermore, if a camera or the like is to be provided to photograph the intersection of the reinforcing bars S, a location for installing the camera can be secured.

[0111] Furthermore, the binding device 100 has a mounting part 105 for mounting the binding device 100 to the robot arm 300 and the binding part 7 of the rebar binding machine 1, which are provided on an imaginary line 10L along the axial direction of the torsion motor 80. As a result, when the rebar binding machine 1 is oriented in the up-down direction with the curl forming part 5 facing downward, the binding part 7 is provided vertically below the mounting part 105. This prevents the weight of the torsion motor 80, the binding part 7, etc. from being applied to the robot arm 300 via the mounting part 105 at a position away from the direction intersecting the imaginary line 10L along the axial direction of the torsion motor 80, and prevents the position of the rebar binding machine 1 from shifting from the intersection of the rebars S to be bound due to uneven load application to the robot arm 300.

[0112] Furthermore, when the binding device 100 is viewed from the side, the reel storage section 200 stores the reel 20 so that the axis of rotation of the reel 20 is located on an imaginary line 10L that passes through the binding section 7 and the mounting section 105. This prevents the weight of the reel 20 from being applied to the robot arm 300 via the mounting section 105 at a position away from the robot arm 300 in a direction that intersects with the imaginary line 10L that is along the axial direction of the torsion motor 80, and prevents the position of the rebar binding machine 1 from shifting from the intersection of the rebars S to be bound due to uneven load being applied to the robot arm 300.

[0113] The slack forming unit 2 ensures the amount of wire W pulled out while suppressing an increase in the amount of movement of the first slack forming unit 21 and the second slack forming unit 22 by moving the first slack forming unit 21 and the second slack forming unit 22 relative to each other. Note that, as long as the wire feed unit can sufficiently feed the wire to the bundling unit, that is, as long as the amount of wire W pulled out can be ensured or slack in the wire between the reel and the bundling machine can be ensured, the slack forming unit 2 may be configured such that one slack forming roller moves in a direction intersecting the path of the wire W. Also, the reel housing 200 may be provided with a reel drive unit such as a motor that rotates the reel 20, and slack in the wire W is formed between the reel 20 and the rebar bundling machine 1 by rotating the reel 20 driven by the reel drive unit. [Explanation of symbols]

[0114] 100... Binding device, 101... Binding machine support portion, 102... Storing portion support portion, 103... Slack forming portion support portion, 104... Support portion, 105... Mounting portion, 1... Reinforcing bar binding machine (binding machine), 2... Slack forming portion, 20... Reel, 200... Reel accommodating portion, 21... First slack forming portion (slack forming mechanism portion), 21a... First slack forming roller, 21b... Guide plate, 21c, 21d... Guide member, 21f... Guide surface, 21g... Shaft, 21h... Shaft, 21i... First guide portion, 22... Second slack forming portion (slack forming mechanism portion), 22a... Second slack forming roller, 22b guide plate, 22c, 22d guide member, 22f guide surface, 22g shaft, 22h shaft, 22i second guide portion, 23 first guide portion, 23a guide plate, 24 second guide portion, 25 drive portion, 25a, 25b pulley, 25c belt, 25d motor, 25e first connecting portion, 25f second connecting portion, 26 guide portion, 250 control portion, 250a substrate receiving portion, 300 robot arm (moving body), 301 binding system

Claims

1. a bundling machine that bundles the plurality of reinforcing bars with wire; a slack forming unit that forms slack in the wire between a reel around which the wire to be supplied to the binding machine is wound and the binding machine, The binding machine includes a binding unit that binds reinforcing bars with a wire, and a wire feeding unit that feeds the wire to the binding unit, The binding machine and the slack forming unit are configured to be movable as a unit. Binding device.

2. The slack forming unit includes a slack forming mechanism that pulls out the wire wound on the reel, and a drive unit that drives the slack forming mechanism. The binding device of claim 1 .

3. a slack forming portion support portion that supports the slack forming portion, The slack forming mechanism and the drive unit are provided on one side of the slack forming unit support unit, and a control unit for the drive unit is provided on the other side. The binding device according to claim 2 .

4. a reel housing portion in which the reel is housed; a storage section support section that supports the reel storage section; a support portion for supporting the accommodation portion support portion and the slack forming portion support portion; The binding device according to claim 3.

5. a strapping machine support unit that supports the strapping machine, The binding machine support section is supported by the storage section support section. The binding device according to claim 4.

6. The slack forming portion is A guide member is provided to define a path along which the wire passes between the reel and the binding machine. The binding device of claim 1 .

7. The slack forming unit is provided on the side of the binding machine where the wire feeding unit is provided. The binding device of claim 1 .

8. The binding device is provided with a mounting portion that is attached to a moving body that moves the binding device in a direction along the installation surface of the installed reinforcing bars, and in a direction approaching and moving away from the installation surface. The binding device of claim 1 .

9. The attachment portion is provided on an imaginary line passing through the binding portion, and when the orientation of the binding machine is set along the up-down direction, the binding portion is provided vertically below the attachment portion.

9. The binding device of claim 8.

10. The reel accommodating section accommodates the reel on an imaginary straight line passing through the attachment section and the binding section.

9. The binding device of claim 8.

11. A binding device; a moving body that moves the binding device, The binding device is a bundling machine that bundles the plurality of reinforcing bars with wire; a slack forming unit that forms slack in the wire between the reel around which the wire to be supplied to the binding machine is wound and the binding machine; a reel housing portion in which the reel is housed, The binding machine includes a binding unit that binds reinforcing bars with a wire, and a wire feeding unit that feeds the wire to the binding unit, The binding machine and the slack forming unit are configured to be movable as a unit. Binding system.

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