Binding device and binding system

Abstract

To provide a binding device capable of performing stable binding by a wire even if the direction of reinforcing bars to be bound is changed.SOLUTION: The binding device 100 includes the reinforcing bar binding machine 1 configured to bind a plurality of reinforcing bars with the wire W, the reel accommodating unit 200 configured to accommodate the two reels 20, and the slack forming device 2 configured to draw out the wire W from the reel 20 accommodated in the reel accommodating unit 200 and to form the slack in the wire W between the reinforcing bar binding machine 1 and the reel 20, wherein the relative displacement between the reinforcing bar binding machine 1 and the two reels 20 accommodated in the reel accommodating unit 200 is restricted, and the reinforcing bar binding machine 1, the reel accommodating unit 200 and the slack forming device 2 are configured to be integrally movable.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, if the rebar tying machine and the reel housing are configured independently, changing the orientation or height of the rebar tying machine to match the orientation or height of the rebars changes the orientation and height of the rebar tying machine relative to the path of the wire that is pulled out from the reel and enters the rebar tying machine. Furthermore, in a configuration where two wires are used to tie rebars, the path of the two wires relative to the rebar tying machine changes. This can lead to wire feed problems, making it difficult to tie rebars with stable wire.

[0011] The present invention has been made to solve such problems, and aims to provide a binding device and binding system that can perform stable binding using wire even if the orientation of the reinforcing bars to be bound changes. [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 having a binding section that twists the wire by a rotational motion and binds multiple reinforcing bars with wire, and a reel storage section that is located at a position separated from the binding machine and stores multiple reels around which wire is wound, and the relative displacement between the binding machine and the multiple reels stored in the reel storage section is regulated, so that the binding machine and the reel storage section can move together.

[0013] The present invention also provides a binding system comprising: a binding machine having a binding section that twists the wire by a rotational motion and binds multiple reinforcing bars with wire; a binding device that is provided at a position spaced from the binding machine and has a reel storage section that stores multiple reels around which wire is wound, and an unwinding section that unwinds the wire from the reels stored in the reel storage section; and a moving body that moves the binding device, in which relative displacement between the multiple reels stored in the reel storage section and the binding machine is regulated, so that the binding machine and the reel storage section can move as a unit.

[0014] In the present invention, the binding machine and the reel storage section move together to the position of the reinforcing bars to be bound, while the relative displacement between the binding machine and the multiple reels stored in the reel storage section is restricted. [Effects of the Invention]

[0015] According to the present invention, the relative displacement between the binding machine and the multiple reels housed in the reel housing is restricted, and the binding machine and the reel housing are configured to be movable as a unit, so that even if the orientation of the rebar to be bound changes, the path along which the wire drawn from each reel and enters the binding machine is prevented from changing. This enables stable binding using the wire. [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 3] 1 is a perspective view showing an example of a binding system according to an embodiment of the present invention. [Figure 4A] 1 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 4B] 1 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 4C] 1 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 5] FIG. 10 is a side view showing the internal configuration of another example of the binding device of the present embodiment. 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 showing an example of the binding device of this embodiment as seen from the back.

[0019] The binding device 100 includes a rebar binding machine 1 that uses wire W to bind the intersections of rebars S arranged in a grid pattern, a slack forming unit 2 that pulls out wire W from a reel 20 and forms slack in the wire W between the rebar binding machine 1 and the reel 20, and a reel housing unit 200 located at a distance from the rebar binding machine 1 and housing the reel 20. Note that the slack forming unit 2 does not necessarily have the function of pulling out wire W from the reel 20 as long as it can form slack. Also, the term "located at a distance from the rebar binding machine 1" refers to the fact that it is not an integral structure with the rebar binding machine 1, but rather a separate structure and is located at a distance. Note that "located at a distance" does not necessarily mean that a certain distance is required between the rebar binding machine 1 and the reel housing unit 200.

[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. In the reinforcing bar binding machine 1, an insertion port 40 through which the wire W enters from outside is provided in a wire guide (not shown) upstream of the wire feeding unit 3.

[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] In a configuration in which the reinforcing bar binding machine 1 binds 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 rotate and pull out multiple wires W. For example, in a configuration in which the reinforcing bar binding machine 1 binds reinforcing bars S with two wires W, the reel storage unit 200 stores two reels 20 (a first reel 20(1) and a second reel 20(2)) on which one wire W is wound, and each reel 20 is configured to pull out two wires W as it rotates. The reel storage section 200 has an axle portion (not shown) that rotatably supports the first reel 20(1) and an axle portion (not shown) that rotatably supports the second reel 20(2), and stores each reel 20 in a rotatable manner with the first reel 20(1) and the second reel 20(2) arranged coaxially.

[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 unit 2 is an example of a drawing unit, and includes a first slack forming unit 21 and a second slack forming unit 22. 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.

[0037] First slack forming roller 21a is an example of a wire pull-out member, and is provided on one side of the wire W extending between reel 20 stored in reel storage section 200 and rebar binding machine 1. First slack forming roller 21a is disc-shaped with a thickness greater than the diameter of wire W, and guide surface 21f with which wire W comes into contact is formed on the outer periphery of the disc. First slack forming roller 21a is supported between a pair of guide plates 21b so as to be rotatable about shaft 21g.

[0038] 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.

[0039] 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. 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] The second slack forming roller 22a is an example of a wire pull-out member, and is provided on the other side of the wire W extending between the reel 20 stored in the reel storage section 200 and the rebar binding machine 1. 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 with which the wire W comes into contact 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 an axis 22g as a fulcrum.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] The first guide portion 21i, the second guide portion 22i and the drive portion 25 are examples of moving portions, which move the first slack forming portion 21 equipped with the first slack forming roller 21a and the second slack forming portion 22 equipped with the second slack forming roller 22a relatively in directions toward and away from each other along a direction intersecting the extension direction of the wire W.

[0052] 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, which is defined by the wire feed portion 3, wire guide 4, etc., as the wire W enters the rebar binding machine 1 from the insertion port 40. 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 as it enters 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 as it enters the rebar binding machine 1, which is defined by the wire feed portion 3, wire guide 4, etc.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] The first slack forming roller 21a comes into contact with the wire W from one side as the first slack forming portion 21 and the second slack forming portion 22 move relatively toward and away from each other along a direction intersecting the extension direction of the wire W. The second slack forming roller 22a comes into contact with the wire W from the other side as the first slack forming portion 21 and the second slack forming portion 22 move relatively toward and away from each other along a direction intersecting the extension direction of the wire W.

[0057] The binding device 100 includes a first guide portion 23 and a second guide portion 24. The first guide portion 23 is an example of a wire support portion, and is provided between the reel 20 and the first slack forming portion 21. The first guide portion 23 directs the path of the wire W, which passes between a pair of guide plates 23a and is pulled out from the reel 20, toward the first slack forming portion 21.

[0058] 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.

[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] The binding device 100 includes a guide portion 26 that forms a path through which the wire W passes between the reel 20 and the first guide portion 23. The guide portion 26 is an example of a wire support portion, and in a configuration in which 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 paths through which the two wires W pass so that the spacing between the paths gradually narrows from each reel 20 toward the first guide portion 23.

[0061] The binding device 100 is equipped with various parts such as the reinforcing bar binding machine 1, the reel storage section 200 that stores multiple reels 20, and the slack forming section 2 so that the reinforcing bar binding machine 1, the reel storage section 200, and the slack forming section 2 can move together while the relative displacement between the reinforcing bar binding machine 1 and the multiple reels 20 is restricted.

[0062] Therefore, in the binding device 100, the rebar binding machine 1 is attached to the binding machine support portion 101, and the reel storage portion 200 is attached to the storage portion support portion 102. In addition, the binding machine support portion 101 is attached to the storage portion support portion 102. Furthermore, in the binding device 100, the slack forming portion 2 is attached to the slack forming portion support portion 103. In addition, in the binding device 100, the storage portion support portion 102 and the slack forming portion support portion 103 are attached to the support portion 104.

[0063] 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.

[0064] In addition, 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 opposite to the one side of the slack forming unit support unit 103. The control unit 250 includes a control board (not shown) and a board accommodating unit 250a for accommodating the control board.

[0065] The binding device 100 is configured such that the rebar binding machine 1, slack forming section 2, reel storage section 200, etc. are attached by fastening screws and fitting parts together so that each part does not actively displace, but they are not completely fixed so that unavoidable displacement is impossible.

[0066] The slack forming unit 2 is provided on a first side of the rebar binding machine 1 where the insertion opening 40 is provided. In addition, the first guide unit 23 is provided on a first side of the reel accommodating unit 200 where the wire W is pulled out from each reel 20 accommodated in the reel accommodating unit 200.

[0067] In the binding device 100, the first side of the reel storage section 200, from which the wire W is pulled out from each reel 20, faces the same direction as the first side of the reinforcing bar binding machine 1, where the insertion port 40 is provided in the reinforcing bar binding machine 1. This forms a feed path for the wire W, in the binding device 100, so that the wire W pulled out from each reel 20 stored in the reel storage section 200 passes through the first side of the reinforcing bar binding machine 1 and enters the insertion port 40 of the reinforcing bar binding machine 1 without passing through the second side opposite the first side of the reinforcing bar binding machine 1.

[0068] As shown in FIG. 2, in the rebar tying machine 1, the binding unit 7 is provided on an imaginary line 10L that is aligned with the axial direction of the torsion motor 80. The imaginary line 10L is coaxial with the rotation axis of the binding unit 7, and the rotation axis of the binding unit 7 is coaxial with the rotation axis of the torsion motor 80. In addition, as shown in FIG. 1A, the binding device 100 has an attachment unit 105 provided on the imaginary line 10L. As a result, in the binding device 100, the binding unit 7 and the attachment unit 105 are provided on the same imaginary line 10L. Therefore, when the orientation of 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.

[0069] Furthermore, when the binding device 100 is viewed from the side, the reel storage section 200 stores the two reels 20 so that the axis of rotation of each reel 20 is positioned on an imaginary line 10L that passes through the binding section 7 and the attachment section 105. Furthermore, when the binding device 100 is viewed from the back (front), the reel storage section 200 arranges the two reels 20 so that the distance LL from the imaginary line 10L along the left-right direction that intersects with the imaginary line 10L to the first reel 20(1) is equal to the distance LR from the imaginary line 10L to the second reel 20(2).

[0070] In the reel accommodating section 200, two reels 20 are arranged coaxially. As a result, if the amounts of wire W wound on the two reels 20 are the same, the winding diameters of the wire W are the same between the two reels 20, and the positions from which the wire W is pulled out in the radial direction of the reels 20 are the same. In the binding device 100, the guide section 26 and the first guide section 23 are provided outside of the imaginary line 10L, which is an extension of the rotation axis of the binding section 7. In the binding device 100, the path along which the wire W passes between the reel accommodating section 200 and the slack forming section 2 is defined by the guide section 26, the first guide section 23, etc., so that the wire W is pulled out in the same direction from the two reels 20 accommodated in the reel accommodating section 200.

[0071] <Configuration example of the bundling system according to this embodiment> 3 is a perspective view showing an example of a binding system according to the present embodiment. The binding system 301 includes the binding device 100 described above, a robot arm 300, and a stand 311 on which the robot arm 300 is mounted.

[0072] In the description of the binding system 301, the X, Y, and Z directions refer to the directions shown in Fig. 3. 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.

[0073] The mount 311 includes four pillars 312 erected at the four corners in the X and Y directions, and a plurality of beams 313 spanning the upper ends of the pillars 312 in the X and Y directions.

[0074] 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 includes a holder 321 for holding the workpiece B.

[0075] 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.

[0076] 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 to a desired position.

[0077] 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.

[0078] 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. 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.

[0079] 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.

[0080] 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.

[0081] The end effector 343 is connected to the tips of the multiple arms 342. The binding device 100 is supported on the end effector 343 via an attachment portion 105. The binding device 100 is attached to the robot arm 300 with the binding portion 7 oriented below in the vertical direction, with the axial direction of the rotation axis aligned vertically.

[0082] The binding system 301 performs the binding operation by moving the binding device 100 with the robot arm 300 to the position of the intersection P of the object to be bound. The binding device 100 moves in a direction toward and away from the binding location with the axial direction of the rotation axis of the binding unit 7 perpendicular to the surface on which the rebar S is placed, and performs the binding operation at a predetermined binding position. However, the binding device 100 may tilt the axial direction of the rotation axis of the binding unit 7 within a predetermined range with respect to the surface on which the rebar S is placed.

[0083] The bundling system 301 may be configured to include an overall photographing unit that photographs the entire work B all at once or for each of its divided areas, and an individual photographing unit that photographs the intersections P of the rebars S to be bound individually at a higher resolution than that of the overall photographing unit.The bundling system 301 may then obtain positional information of the intersections P of the rebars S for each bundling target from the image information obtained by the individual photographing unit, which information is more accurate than the positional information of each intersection P of the rebars S obtained by photographing the entire work B with the overall photographing unit, and move the binding device 100 with the robot arm 300.

[0084] <Example of operation of the binding device according to this embodiment> 4A, 4B, and 4C are side views showing an example of the operation of the binding device of this embodiment, with some components omitted.

[0085] 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 Figure 4A, and also move relatively closer to each other from the slack forming position shown in Figure 4A to the standby position shown in Figure 4B.

[0086] 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 of the first slack forming roller 21a comes into contact with the wire W from one side of the wire W extending between the reel 20 and the rebar binding machine 1, and pulls the portion of the wire W in contact with the guide surface 21f in a direction approaching the rebar binding machine 1.

[0087] 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 of the second slack forming roller 22a comes into contact with the wire W from the other side of the wire W extending between the reel 20 and the rebar binding machine 1, 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] When the first slack forming unit 21 moves from the slack forming position to the standby position, the guide member 21c 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 in 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] As shown in Fig. 4B, when slack WB is formed in the wire W by the slack forming unit 2, the rebar tying machine 1 feeds the wire W in the positive direction indicated by the arrow F by the wire feeding unit 3 shown in Fig. 2, and winds the wire W around the rebar S by the curl forming unit 5. When the wire feeding unit 3 feeds the wire W in the positive direction indicated by the arrow F, the slack portion WB of the wire W is fed as shown in Fig. 4C. As a result, the force used by the wire feeding unit 3 to feed the wire W in the positive 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 poor wire feeding by the wire feeding unit 3.

[0099] 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.

[0100] 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.

[0101] The binding device 100 is configured so that the reinforcing bar binding machine 1, slack forming unit 2, and reel storage unit 200 can move as a unit. This means that the binding device 100 is not configured to move alone relative to the reinforcing bars S to be bound. Therefore, the direction in which the slack portion WB of the wire W formed by the slack forming unit 2 enters the insertion port 40 of the reinforcing bar binding machine 1 does not change when the robot arm 300 moves the binding device 100. This suppresses fluctuations in the load on the wire W and the wire feed unit 3, thereby suppressing the occurrence of poor wire feeding by the wire feed unit 3.

[0102] Furthermore, compared to when the rebar binding machine 1, the slack forming unit 2, and the reel housing unit 200 are configured independently, the slack forming unit 2 can be located closer to the rebar binding machine 1 and the reel housing unit 200, thereby shortening the path length of the wire W. This eliminates factors that cause defects in wire feeding.

[0103] Furthermore, compared to when the rebar tying machine 1, slack forming unit 2, and reel accommodating unit 200 are configured independently, the tolerances when assembling the rebar tying machine 1, slack forming unit 2, and reel accommodating unit 200 together can be reduced, eliminating factors that could cause defects in wire feeding due to the accuracy between the rebar tying machine 1, slack forming unit 2, and reel accommodating unit 200.

[0104] 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.

[0105] 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.

[0106] In the binding device 100, the side from which the wire W is pulled out from the reel 20 stored in the reel storage section 200 is the same as the side on which the insertion port 40 for the wire W is provided in the rebar binding machine 1. In addition, in the binding device 100, the guide section 26 and the first guide section 23 are provided on the outside of the imaginary straight line 10L, which is an extension of the rotation axis of the binding section 7. This results in a simple path along which the wire W pulled out from the reel 20 passes, preventing it from taking on complex bends and preventing the wire W from getting caught.

[0107] Furthermore, the reel storage unit 200 has two reels 20 arranged coaxially. The wire W is pulled out in the same direction from the two reels 20 stored in the reel storage unit 200. As a result, the wire W pulled out from the first reel 20(1) and the wire W pulled out from the second reel 20(2) are sent to the rebar binding machine 1 along paths with similar bending directions and angles, resulting in a stable supply of the two wires W. The slack forming unit 2 and the wire guides may be positioned so that the path length of the wire W pulled out from the first reel 20(1) and entering the insertion port 40 of the rebar binding machine 1 is approximately the same as the path length of the wire W pulled out from the second reel 20(2) and entering the insertion port 40 of the rebar binding machine 1.

[0108] 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 feeding unit 3 is provided. This prevents the path of the wire W entering the wire feeding 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 feeding 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.

[0109] 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.

[0110] 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.

[0111] Furthermore, in the reel storage section 200, when the binding device 100 is viewed from the back (front), the two reels 20 are evenly spaced with respect to the imaginary line 10L. This causes the weights of the two reels 20 to be applied approximately evenly to the attachment section 105, suppressing imbalance in the weight balance along the direction in which the two reels 20 are lined up.

[0112] 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.

[0113] 5 is a side view of the internal configuration of another example of the binding device of this embodiment. In the binding device 100B, an attachment part 105 to which the robot arm 300 shown in FIG. 3 is attached is provided on an imaginary line 10L along the axial direction of the rotation axis of the binding part 7. In addition, in the binding device 100B, a reel storage part 200B in which at least one reel 20 is stored is provided between the binding part 7 and the attachment part 105 along the axial direction of the binding part 7.

[0114] The reel storage section 200B may store the reel 20 so that the axis of rotation of the reel 20 is located on the imaginary straight line 10L passing through the binding section 7 and the attachment section 105, or the reel 20 may be stored in a position that is off the imaginary straight line 10L. [Explanation of symbols]

[0115] 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 (wire drawing member), 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 (wire drawing member), 22b... guide plate, 22c, 22d... guide member, 22f... guide surface, 22g... shaft, 22h... shaft, 22i... second guide section, 23... first guide section (wire support section), 23a... guide plate, 24... second guide section, 25... drive section, 25a, 25b... pulley, 25c... belt, 25d... motor, 25e... first connecting section, 25f... second connecting section, 26... guide section (wire support section), 300... robot arm (moving body), 301... binding system

Claims

1. a bundling machine having a bundling unit that twists a wire by a rotational motion and that binds a plurality of reinforcing bars with the wire; a reel housing section that is provided at a position separated from the binding machine and that houses a plurality of reels around which wires are wound, Relative displacement between the multiple reels housed in the reel housing section and the binding machine is restricted, and the binding machine and the reel housing section are configured to be movable as a unit. Binding device.

2. The reel storage section has a plurality of reels equally arranged with respect to the binding machine in a direction intersecting with the axial direction of the rotation shaft of the binding section. The binding device of claim 1 .

3. The reel housing has a plurality of reels arranged coaxially, and wires are drawn out in the same direction from the plurality of reels housed in the reel housing. The binding device of claim 1 .

4. The side from which the wire is pulled out from the reel accommodated in the reel accommodating section is the same as the side on which the insertion port through which the wire enters the binding machine is provided. The binding device of claim 1 .

5. a wire support portion that supports a wire passing between the reel accommodating portion and the binding machine, The wire support portion is provided on the outside of the extension line of the rotation axis of the binding portion. The binding device of claim 1 .

6. The lengths of the paths along which the wires drawn from the reels housed in the reel housing and entering the binding machine pass are made the same. The binding device of claim 1 .

7. a mounting portion to which a moving body is attached on an extension line of the rotation axis of the binding portion; The reel accommodating section is provided between the binding section and the attachment section on an extension line of the rotation axis of the binding section. The binding device of claim 1 .

8. The binding portion is provided on the lower side in the vertical direction with the axial direction of the rotation shaft oriented along the vertical direction. The binding device according to claim 7.

9. a bundling machine having a bundling unit that twists a wire by a rotational motion and that binds a plurality of reinforcing bars with the wire; a reel housing section provided at a position separated from the binding machine and housing a plurality of reels around which wires are wound; a binding device having a pull-out section that pulls out a wire from the reel accommodated in the reel accommodating section; a moving body that moves the binding device, Relative displacement between the multiple reels housed in the reel housing section and the binding machine is restricted, and the binding machine and the reel housing section are configured to be movable as a unit. Binding system.

Images