Rebar tying robot, rebar tying machine, and reel

Abstract

This technology provides a way to reduce the frequency of reel replacement in rebar tying robots and machines. [Solution] The rebar tying robot disclosed herein is capable of repeatedly performing the following actions with respect to a plurality of first rebars and a plurality of second rebars that intersect with the plurality of first rebars: moving over a plurality of first rebars and a plurality of second rebars that intersect with the plurality of first rebars; and tying the locations where the plurality of first rebars and a plurality of second rebars intersect. The rebar tying robot comprises a rebar tying unit that ties the locations where the plurality of first rebars and a plurality of second rebars intersect with a wire; a transport unit that transports the rebar tying unit; a control unit that controls the operation of the rebar tying unit and the transport unit; and a reel having a bobbin and a wire wound around the bobbin and supplied to the rebar tying unit. The reel is provided separately from the rebar tying unit in the transport unit.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a steel bar binding robot, a steel bar binding machine, and a reel.

Background Art

[0002] Patent Document 1 discloses a steel bar binding robot capable of repeatedly executing operations of moving over a plurality of first steel bars and a plurality of second steel bars intersecting with the plurality of first steel bars, and operations of binding portions where the plurality of first steel bars and the plurality of second steel bars intersect. The steel bar binding robot includes a steel bar binding unit that binds portions where the plurality of first steel bars and the plurality of second steel bars intersect with a wire, a transport unit that transports the steel bar binding unit, and a control unit that controls operations of the steel bar binding unit and the transport unit. The steel bar binding unit includes a reel having the wire supplied to the steel bar binding unit. The reel is provided integrally with the steel bar binding unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Normally, when a rebar tying unit and a reel are integrated, it is difficult to enlarge the reel. In this case, the length of the wire on the reel cannot be made sufficiently long, and the number of continuous tying operations cannot be increased, so the user had to replace the reel frequently. This specification provides a technology that can reduce the frequency of reel replacement. In this specification, the maximum number of tying operations performed continuously without replacing the reel in a rebar tying robot or rebar tying machine may be referred to as the "number of continuous tying operations." [Means for solving the problem]

[0005] The rebar tying robot disclosed herein is capable of repeatedly performing the following actions with respect to a plurality of first reinforcing bars and a plurality of second reinforcing bars that intersect with the plurality of first reinforcing bars: moving over the plurality of first reinforcing bars and the plurality of second reinforcing bars that intersect with the plurality of first reinforcing bars. The rebar tying robot comprises a rebar tying unit that ties the intersections of the plurality of first reinforcing bars and the plurality of second reinforcing bars with a wire; a transport unit that transports the rebar tying unit; a control unit that controls the operation of the rebar tying unit and the transport unit; and a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit. The reel is provided separately from the rebar tying unit in the transport unit.

[0006] Another rebar tying robot disclosed herein comprises a base, a rebar tying unit that is vertically movable relative to the base, a planar movement mechanism that moves the base forward and backward and / or left and right, and a reel having a bobbin and a wire wound around the bobbin and supplied to the rebar tying unit. The reel is held on the base separately from the rebar tying unit.

[0007] The reel disclosed herein is a reel for a rebar tying robot that includes a plurality of first reinforcing bars, a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars, a rebar tying unit that ties the points where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect with the plurality of first reinforcing bars using a wire, and a transport unit that transports the rebar tying unit. The reel has a bobbin and the wire that is wound around the bobbin and supplied to the rebar tying unit. The reel is provided separately from the rebar tying unit in the transport unit.

[0008] With the above configuration, a reel specifically for the rebar tying robot can be provided on the transport unit separately from the rebar tying unit, allowing for a larger reel. This makes it possible to sufficiently increase the length of the wire on the reel. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying robot.

[0009] Another rebar tying robot disclosed herein is capable of repeatedly performing the following actions with respect to a plurality of first reinforcing bars and a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars: moving over the plurality of first reinforcing bars and the plurality of second reinforcing bars intersecting the plurality of first reinforcing bars and tying the locations where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect. The rebar tying robot comprises a rebar tying unit that ties the locations where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect with a wire; a transport unit that transports the rebar tying unit; a control unit that controls the operation of the rebar tying unit and the transport unit; and a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit. The rebar tying robot is capable of continuously tying the locations where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect 300 times or more.

[0010] Yet another rebar tying robot disclosed herein comprises a base, a rebar tying unit held on the base, a planar movement mechanism capable of moving the base forward and backward and / or left and right, a reel having a bobbin, a wire wound on the bobbin and of a length capable of tying 300 or more rebars, and a battery device held on the base. The rebar tying robot is capable of tying 300 or more rebars and moving in the planar direction between them.

[0011] Specifically, in conventional rebar tying robots where the rebar tying unit and reel are integrated, it was not possible to continuously tie multiple first rebars and multiple second rebars at intersections more than 300 times without changing the reel. With the above configuration, it is possible to continuously tie multiple first rebars and multiple second rebars at intersections more than 300 times without changing the reel. Therefore, the frequency of reel replacement can be reduced.

[0012] The rebar tying machine disclosed herein is capable of tying together a plurality of first reinforcing bars and a plurality of second reinforcing bars that intersect with the plurality of first reinforcing bars at the points where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect. The rebar tying machine comprises a rebar tying unit that ties together the points where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect with a wire, and a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit. The reel is provided separately from the rebar tying unit.

[0013] With the above configuration, a reel specifically for the rebar tying machine can be provided separately from the rebar tying unit, allowing for a larger reel. This makes it possible to sufficiently increase the length of the wire on the reel. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying machine. [Brief explanation of the drawing]

[0014] [Figure 1]This is a block diagram showing the schematic configuration of the rebar tying robot 100 according to the embodiment. [Figure 2] This is a perspective view of the rebar tying robot 100 according to the embodiment, taken from the rear left and above. [Figure 3] This is a perspective view of the rebar tying unit 2 used in the rebar tying robot 100 according to the embodiment, viewed from the rear left and above. [Figure 4] This is a perspective view of the internal structure of the main body 4 of the rebar tying unit 2 used in the rebar tying robot 100 according to the embodiment, viewed from the rear right upper side. [Figure 5] This is a cross-sectional view of the front portion of the main body 4 of the rebar tying unit 2 used in the rebar tying robot 100 according to the embodiment. [Figure 6] This is a perspective view of the internal structure of the main body 4 and the upper part of the gripping part 6 of the rebar tying unit 2 used in the rebar tying robot 100 according to the embodiment, viewed from the front left and above. [Figure 7] This is a perspective view of the rebar tying robot 100 according to the embodiment, viewed from the front right and lower. [Figure 8] This is a perspective view of the side stepper 196 of the rebar tying robot 100 according to the embodiment, viewed from the rear right and above. [Figure 9] This is a cross-sectional view of the front crank mechanism 276 of the rebar tying robot 100 according to the embodiment, viewed from the rear. [Figure 10] This is a perspective view of the rear portion of the side stepper 196 of the rebar tying robot 100 according to the embodiment, viewed from the front right and above. [Figure 11] This is a front view of the rebar tying robot 100 according to the embodiment, showing the step bars 272 and 274 in the raised position. [Figure 12] This is a front view of the rebar tying robot 100 according to the embodiment, showing the step bars 272 and 274 in a lowered state. [Figure 13] This is a perspective view of the lifting mechanism 130 of the rebar tying robot 100 according to the embodiment, when the slider crank mechanism 138 is in the top dead center position, viewed from the front and above. [Figure 14]In the reinforcing bar bundling robot 100 according to the embodiment, it is a perspective view of the lifting mechanism 130 when the slider-crank mechanism 138 is at the bottom dead center position, seen from the front upper side. [Figure 15] In the reinforcing bar bundling robot 100 according to the embodiment, it is a diagram showing the positional relationship among the cam 166, the first photosensor 168, and the second photosensor 170 provided in the lifting mechanism 130. [Figure 16] In the reinforcing bar bundling robot 100 according to the embodiment, it is a perspective view of the internal structure of the power transmission mechanism 402, seen from the front upper right side. [Figure 17] In the reinforcing bar bundling robot 100 according to the embodiment, it is an exploded view showing the configuration of the combined motor 400 and the planetary gear mechanism provided in the power transmission mechanism 402. [Figure 18] In the reinforcing bar bundling robot 100 according to the embodiment, it is a cross-sectional view showing a state in which the rotation of the internal gear 412 is prohibited because the solenoid 452 is in an energized state, the position of the movable member 450 is at the suction position, and the position of the locking member 434 is at the first locking position. [Figure 19] In the reinforcing bar bundling robot 100 according to the embodiment, it is a cross-sectional view showing a state in which the rotation of the planetary carrier 410 is prohibited because the solenoid 452 is in a non-energized state, the position of the movable member 450 is at the return position, and the position of the locking member 434 is at the second locking position. [Figure 20] In the reinforcing bar bundling robot 100 according to the embodiment, it is a diagram showing the positional relationship between the reel 500 and the wire relay mechanism 600 on the base plate 204. [Figure 21] It is an exploded view showing the components of the reel 500 of the reinforcing bar bundling robot 100 according to the embodiment. [Figure 22] In the reinforcing bar bundling robot 100 according to the embodiment, it is a plan view of the first ring portion 518 in a state where the wire W drawn out from the bobbin 502 is passed through, seen from the outside in the radial direction of the axis A3. [Figure 23] In the reinforcing bar bundling robot 100 according to the embodiment, it is a flowchart showing the processing performed by the control unit 126. [Figure 24]This is a top view showing an example of the operation of the rebar tying robot 100 according to the embodiment. [Figure 25] This is a top view showing another example of operation of the rebar tying robot 100 according to the embodiment. [Modes for carrying out the invention]

[0015] Representative and non-limiting examples of the present invention are described in detail below with reference to the drawings. This detailed description is intended simply to show those skilled in the art details for carrying out preferred examples of the present invention and is not intended to limit the scope of the invention. Furthermore, the disclosed additional features and inventions can be used separately from or in conjunction with other features and inventions to provide further improved rebar tying robots, rebar tying machines, and reels.

[0016] Furthermore, the combinations of features and processes disclosed in the following detailed description are not essential for carrying out the present invention in the broadest sense, and are described solely to illustrate representative examples of the present invention. Moreover, the various features of the following representative examples, as well as the various features described in the claims, do not necessarily have to be combined in the same way as the examples described herein, or in the order listed, to provide additional and useful embodiments of the present invention.

[0017] All features described herein and / or in the claims are intended to be disclosed individually and independently of each other, as limitations to the specific matters described in the original disclosure and in the claims, separate from the features described in the examples and / or in the claims. Furthermore, all descriptions of numerical ranges and groups or clusters are intended to disclose intermediate configurations as limitations to the specific matters described in the original disclosure and in the claims.

[0018] In one or more embodiments, the rebar tying robot is capable of repeatedly performing the following actions with respect to a plurality of first reinforcing bars and a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars and a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars: moving over the plurality of first reinforcing bars and the plurality of second reinforcing bars intersecting each other. The rebar tying robot comprises a rebar tying unit that ties the intersections of the plurality of first reinforcing bars and the plurality of second reinforcing bars with a wire, a transport unit that transports the rebar tying unit, a control unit that controls the operation of the rebar tying unit and the transport unit, and a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit. The reel is provided separately from the rebar tying unit in the transport unit.

[0019] With the above configuration, a reel specifically for the rebar tying robot can be provided on the transport unit separately from the rebar tying unit, allowing for a larger reel. This makes it possible to sufficiently increase the length of the wire on the reel. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying robot.

[0020] In one or more embodiments, the rebar tying unit includes a feed motor that feeds the wire to the tying work location. As the feed motor feeds the wire to the tying work location, the wire is pulled out from the bobbin.

[0021] For example, if a separate motor is required to pull the wire from the bobbin and feed it to the rebar tying unit, this could lead to an increase in the manufacturing cost of the rebar tying robot. With the above configuration, there is no need to provide a separate motor to pull the wire from the bobbin and feed it to the rebar tying unit, thus reducing the manufacturing cost of the rebar tying robot.

[0022] In one or more embodiments, the bobbin is formed in a substantially rotating shape about a first axis and is fixed to the transport unit in a non-rotatable manner. The wire is wound around the bobbin about the first axis. When the wire is pulled out from the bobbin, the wire is pulled out from a first direction along the first axis.

[0023] One method for drawing wire from a bobbin involves rotatably mounting the bobbin relative to a transport unit and drawing the wire along the tangential direction of the bobbin while rotating it. However, with this method, if the reel is enlarged, the increased inertia of the entire reel may make it difficult to draw the wire. With the above configuration, the wire can be drawn without rotating the bobbin. Therefore, the wire can be easily drawn regardless of the size of the reel.

[0024] In one or more embodiments, the first axis is inclined with respect to the horizontal direction, from downward to upward as it moves toward the first direction.

[0025] For example, if the first axis is inclined from top to bottom as it moves in the first direction relative to the horizontal direction, the wire may be pulled out excessively due to gravity when it is pulled from the bobbin. With the above configuration, when the wire is pulled from the bobbin, it is pulled against gravity. Therefore, it is possible to suppress the excessive pulling of the wire from the bobbin.

[0026] In one or more embodiments, the longitudinal direction of the bobbin is the direction in which the first axis extends.

[0027] When using a bobbin whose longitudinal direction is in the direction in which the first axis extends, the length of the wire on the reel can be sufficiently long even if the size of the bobbin in the radial direction of the first axis is reduced. Also, when pulling the wire along the first axis, the smaller the size of the bobbin in the radial direction of the first axis, the smoother the wire can be pulled out from the bobbin. With the above configuration, the size of the bobbin in the radial direction of the first axis can be reduced, so when pulling the wire along the first axis, the wire can be pulled out smoothly from the bobbin.

[0028] In one or more embodiments, when the direction opposite to the first direction is defined as the second direction, the bobbin is formed in a substantially cylindrical shape centered on the first axis and includes a winding portion around which the wire is wound, a first retaining portion connected to the end of the winding portion on the first direction side and having an outer diameter larger than the outer diameter of the winding portion, and a second retaining portion connected to the end of the winding portion on the second direction side and having an outer diameter larger than the outer diameter of the winding portion.

[0029] With the above configuration, the first retaining portion and the second retaining portion can prevent the wire wound around the winding portion from falling out in the first or second direction.

[0030] In one or more embodiments, the first retaining portion has an expanding diameter shape that widens toward the first direction. The second retaining portion has a flange shape that widens toward the radially outward direction of the first axis.

[0031] With the above configuration, when the wire pulled out in the first direction passes through the first retaining section, the wire is pulled out along the enlarged diameter shape of the first retaining section. Therefore, bending and snagging of the wire in the first retaining section can be suppressed. Furthermore, with the above configuration, the flange surface of the second retaining section can more effectively suppress the wire wound around the winding section from falling out from the second direction.

[0032] In one or more embodiments, the reel includes a guide member on the first direction side of the bobbin for guiding the wire drawn from the bobbin. The guide member includes a shaft portion extending on the first axis, a rotor portion rotatably mounted on the shaft portion, and at least one ring portion held by the rotor portion and forming a guide hole for guiding the wire drawn from the bobbin. The guide hole is located radially outward of the first axis than the first retaining portion.

[0033] When a wire is pulled from the bobbin, it is unwound in the opposite direction to the winding direction relative to the bobbin and pulled out in the first direction. At this time, if the wire slides against the first retaining part, bending or snagging of the wire may occur. With the above configuration, the rotor part that holds the ring part through which the wire is threaded rotates in the opposite direction to the winding direction of the wire as the wire is pulled out. In addition, the guide hole of the ring part is positioned radially outward from the first axis than the first retaining part. Therefore, when the wire is pulled from the bobbin, sliding of the wire against the first retaining part is suppressed. With the above configuration, bending and snagging of the wire can be suppressed.

[0034] In one or more embodiments, the at least one ring portion is provided in two or more portions.

[0035] Generally, the ring portion through which the wire is threaded may wear down as the wire is pulled out. With the above configuration, even if one ring portion becomes unusable due to wear, another ring portion can be used, thus reducing the frequency of replacement of guide members.

[0036] In one or more embodiments, the rotor portion is formed in a substantially axially symmetric shape with respect to the first axis.

[0037] With the above configuration, the rotational balance of the rotor can be improved, and the rotation of the rotor can be made smoother. As a result, the guide member can smoothly guide the wire drawn out from the bobbin.

[0038] In one or more embodiments, the guide member further comprises a braking unit that applies a braking force to the rotating rotor.

[0039] The rotor section will continue to rotate due to inertia even after the wire pulling stops. Therefore, if the rotor section is not braked, there is a possibility that the wire will be excessively unwound from the bobbin after the wire pulling stops. With the above configuration, it is possible to suppress the excessive unwounding of the wire from the bobbin after the wire pulling stops.

[0040] In one or more embodiments, the braking unit applies the braking force to the rotating rotor without contact.

[0041] For example, when a braking unit contacts a rotating rotor to apply braking force, dust may be generated due to wear between the rotor and the braking unit. The above configuration makes it possible to suppress the generation of dust.

[0042] In one or more embodiments, the rotor portion comprises a plate portion formed of a conductor. The braking portion is non-rotatably mounted to the shaft portion. The braking portion comprises a magnetic member positioned spaced apart from the plate portion in the first or second direction. The magnetic member generates eddy currents in the plate portion when the plate portion rotates relative to the magnetic member, and applies a Lorentz force due to the eddy currents to the rotor portion as the braking force.

[0043] If a sudden braking force is applied to the rotating rotor, the wire may bend in the ring. With the above configuration, the braking unit can apply a braking force to the rotor that is proportional to the rotational speed of the rotor. Therefore, it is possible to suppress the application of a sudden braking force to the rotating rotor, and thus suppress the bending of the wire in the ring.

[0044] In one or more embodiments, the at least one ring portion is provided with respect to the rotor portion so as to be able to swing around a predetermined pivot axis.

[0045] With the above configuration, wear on the ring portion due to wire pulling can be suppressed compared to the case where the ring portion is fixed to the rotor portion.

[0046] In one or more embodiments, when the winding direction is defined as the circumferential direction of the first axis and the direction in which the wire is wound when winding the wire onto the bobbin, when the ring portion of at least one of the ring portions, through which the wire pulled out from the bobbin is passed, is viewed in plan from the radially outer side of the first axis, the hole axis of the guide hole of the ring portion is inclined toward the winding direction as it moves toward the first direction.

[0047] When the wire is pulled out from the first direction side of the bobbin, the wire is unwound in the opposite direction to the winding direction relative to the bobbin as it is pulled out in the first direction. At this time, the wire immediately after being unwound from the bobbin extends in the first direction as it moves toward the winding direction. With the above configuration, the axis of the guide hole in the ring portion is set to be aligned with the direction in which the wire extends immediately after being unwound from the bobbin. Therefore, when the wire is passed through the ring portion, bending due to contact with the peripheral edge of the guide hole is suppressed.

[0048] In one or more embodiments, the rebar tying robot is capable of repeatedly performing the following actions with respect to a plurality of first reinforcing bars and a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars: moving over the plurality of first reinforcing bars and the plurality of second reinforcing bars intersecting the plurality of first reinforcing bars. The rebar tying robot comprises a rebar tying unit that ties the intersections of the plurality of first reinforcing bars and the plurality of second reinforcing bars with a wire; a transport unit that transports the rebar tying unit; a control unit that controls the operation of the rebar tying unit and the transport unit; a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit. The rebar tying robot is capable of continuously tying the intersections of the plurality of first reinforcing bars and the plurality of second reinforcing bars 300 times or more.

[0049] With the above configuration, it is possible to continuously tie multiple first reinforcing bars and multiple second reinforcing bars at their intersections more than 300 times without changing the reel. Therefore, the frequency of reel replacement can be reduced.

[0050] In one or more embodiments, when the length of the wire used by the rebar tying unit to tie the points where the plurality of first rebars and the plurality of second rebars intersect is defined as a first length, the bobbin is wound with a length of 300 times or more the first length.

[0051] Specifically, in conventional rebar tying robots where the rebar tying unit and reel are integrated, it was not possible to wind a wire longer than 300 times the first length onto the bobbin. With the above configuration, it is possible to wind a wire longer than 300 times the first length onto the bobbin. This increases the number of continuous tying cycles of the rebar tying robot and reduces the frequency of reel replacement.

[0052] In one or more embodiments, the reel is a reinforcing bar tying robot comprising: a plurality of first reinforcing bars; a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars; a reinforcing bar tying unit that ties the points where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect with the plurality of first reinforcing bars using wire; and a transport unit that transports the reinforcing bar tying unit. The reel has a bobbin and the wire that is wound around the bobbin and supplied to the reinforcing bar tying unit. The reel is provided separately from the reinforcing bar tying unit in the transport unit.

[0053] With the above configuration, a reel specifically for the rebar tying robot can be provided on the transport unit separately from the rebar tying unit, allowing for a larger reel. This makes it possible to sufficiently increase the length of the wire on the reel. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying robot.

[0054] In one or more embodiments, the rebar tying machine is capable of tying together a plurality of first reinforcing bars and a plurality of second reinforcing bars that intersect with the plurality of first reinforcing bars at the points where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect. The rebar tying machine comprises a rebar tying unit that ties together the points where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect with a wire, and a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit. The reel is provided separately from the rebar tying unit.

[0055] With the above configuration, a reel specifically for the rebar tying machine can be provided separately from the rebar tying unit, allowing for a larger reel. This makes it possible to sufficiently increase the length of the wire on the reel. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying machine.

[0056] In one or more embodiments, the rebar tying robot includes a base, a rebar tying unit that is vertically movable relative to the base, a planar movement mechanism that moves the base forward and backward and / or left and right, and a reel having a bobbin and a wire wound around the bobbin and supplied to the rebar tying unit. The reel is held on the base separately from the rebar tying unit.

[0057] With the above configuration, a reel specifically for the rebar tying robot can be provided on the transport unit separately from the rebar tying unit, allowing for a larger reel. This makes it possible to sufficiently increase the length of the wire on the reel. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying robot.

[0058] In one or more embodiments, the rebar tying robot comprises a base, a rebar tying unit held on the base, a planar movement mechanism capable of moving the base forward and backward and / or left and right, a reel having a bobbin and a wire wound around the bobbin and of a length capable of tying 300 or more rebars, and a battery device held on the base. The rebar tying robot is capable of tying 300 or more rebars and moving in the planar direction between them.

[0059] With the above configuration, it is possible to continuously tie multiple first reinforcing bars and multiple second reinforcing bars at their intersections more than 300 times without changing the reel. Therefore, the frequency of reel replacement can be reduced.

[0060] (Examples) As shown in Figure 1, the rebar tying robot 100 of this embodiment includes a rebar tying unit 2, a power supply unit 102, a transport unit 106, and a control unit 126.

[0061] The power supply unit 102 is electrically connected to the rebar tying unit 2, the transport unit 106, and the control unit 126. For example, multiple battery packs (not shown) are detachably attached to the power supply unit 102. Therefore, the power supply unit 102 can supply power from these battery packs to the rebar tying unit 2, the transport unit 106, and the control unit 126. The control unit 126 is electrically connected to the rebar tying unit 2, the power supply unit 102, and the transport unit 106, and is configured to control the operation of the rebar tying unit 2, the power supply unit 102, and the transport unit 106. Note that, for the sake of simplicity, the power supply unit 102 and the control unit 126 are not shown in Figure 2 and subsequent figures.

[0062] As shown in Figure 2, the rebar tying robot 100 of this embodiment is a robot that moves over a plurality of first rebars R1 and second rebars R2 arranged parallel to each other along the horizontal direction, and ties the points where the first rebars R1 and second rebars R2 intersect using a rebar tying unit 2. When the first rebars R1 and second rebars R2 are viewed from above, the direction in which the second rebars R2 extend is perpendicular to the direction in which the first rebars R1 extend. Also, the second rebars R2 are positioned above the first rebars R1. The first rebars R1 are arranged at intervals of, for example, 100 mm to 300 mm, and the second rebars R2 are arranged at intervals of, for example, 100 mm to 300 mm. The dimensions of the rebar tying robot 100 are, for example, about 900 mm in the front-to-back direction and about 600 mm in the left-to-right direction.

[0063] (Configuration of rebar tying unit 2) The configuration of the rebar tying unit 2 will be described below with reference to Figures 3 to 6. Please note that the front-to-back, left-to-right, and up-and-down directions in the explanation of Figures 3 to 6 refer to the front-to-back, left-to-right, and up-and-down directions relative to the rebar tying unit 2, not the front-to-back, left-to-right, and up-and-down directions relative to the rebar tying robot 100.

[0064] As shown in Figure 3, the rebar tying unit 2 ties intersecting reinforcing bars R (for example, the first reinforcing bar R1 and the second reinforcing bar R2) together with wire W. The rebar tying unit 2 is equipped with a housing 3.

[0065] As shown in Figures 4-6, the rebar tying unit 2 includes a feeding mechanism 12, a guiding mechanism 14, a cutting mechanism 18, a twisting mechanism 20, and a control device 80.

[0066] As shown in Figure 4, the wire W supplied from the reel 500 (see Figure 2) via the wire relay mechanism 600 (see Figure 2) is guided into the housing 3 through a through hole 3b provided in the housing 3. The feed mechanism 12 feeds the wire W guided into the housing 3 from the through hole 3b to the guide mechanism 14 at the front of the housing 3. The feed mechanism 12 comprises a guide reel 10, an insertion member 21, a feed motor 22, a driving roller 24, and a driven roller 26. The guide reel 10 is rotatably held relative to the housing 3. The wire W guided into the housing 3 from the through hole 3b is guided by the guide reel 10, passes through the insertion member 21, and is clamped between the driving roller 24 and the driven roller 26. The feed motor 22 is, for example, a DC brushed motor. The operation of the feed motor 22 is controlled by the control device 80. The feed motor 22 rotates the driving roller 24. When the feed motor 22 rotates the drive roller 24, the driven roller 26 rotates in the opposite direction, and the wire W, which is held between the drive roller 24 and the driven roller 26, is fed to the guide mechanism 14. The wire W, which is guided into the housing 3 from the through hole 3b, may or may not be wound around the guide reel 10.

[0067] As shown in Figure 5, the guide mechanism 14 guides the wire W fed from the feed mechanism 12 in an annular manner around the reinforcing bar R. The guide mechanism 14 comprises a guide pipe 28, an upper curl guide 30, and a lower curl guide 32. The rear end of the guide pipe 28 opens toward the space between the driving roller 24 and the driven roller 26. The wire W fed from the feed mechanism 12 is fed into the guide pipe 28. The front end of the guide pipe 28 opens toward the interior of the upper curl guide 30. The upper curl guide 30 is provided with a first guide passage 34 for guiding the wire W fed from the guide pipe 28 and a second guide passage (not shown) for guiding the wire W fed from the lower curl guide 32.

[0068] The first guide passage 34 is provided with a plurality of guide pins 38 that guide the wire W so as to give the wire W a downward curl, and a cutter 40 that constitutes part of the cutting mechanism 18 described later. The wire W fed from the guide pipe 28 is guided by the guide pins 38 in the first guide passage 34, passes through the cutter 40, and is fed out from the front end of the upper curl guide 30 toward the lower curl guide 32.

[0069] As shown in Figure 6, the lower curl guide 32 is provided with a return plate 42. The return plate 42 guides the wire W fed from the front end of the upper curl guide 30 and sends it back toward the rear end of the second guide passage of the upper curl guide 30.

[0070] The second guide passage of the upper curl guide 30 is located adjacent to the first guide passage 34. The second guide passage guides the wire W fed from the lower curl guide 32 and feeds it out from the front end of the upper curl guide 30 towards the lower curl guide 32.

[0071] The wire W fed from the feeding mechanism 12 is wound in a ring shape around the reinforcing bar R by the upper curl guide 30 and the lower curl guide 32. The number of turns of wire W around the reinforcing bar R can be set in advance by the user. When the feeding mechanism 12 has fed out the amount of wire W corresponding to the set number of turns, it stops the feeding motor 22 and stops feeding out wire W.

[0072] The cutting mechanism 18 shown in Figures 5 and 6 cuts the wire W while it is wound around the reinforcing bar R. The cutting mechanism 18 comprises a cutter 40 and a link 52. The link 52 rotates the cutter 40 in conjunction with the twisting mechanism 20, which will be described later. As the cutter 40 rotates, the wire W passing through the inside of the cutter 40 is cut.

[0073] The twisting mechanism 20 shown in Figure 6 binds the reinforcing bar R with the wire W by twisting the wire W that is wound around the reinforcing bar R. The twisting mechanism 20 includes a twisting motor 54, a reduction mechanism 56, a screw shaft 58 (see Figure 5), a sleeve 60, a push plate 61, and a pair of hooks 62.

[0074] The torsion motor 54 is, for example, a DC brushless motor. The operation of the torsion motor 54 is controlled by the control device 80. The rotation of the torsion motor 54 is transmitted to the screw shaft 58 via the reduction mechanism 56. The torsion motor 54 is rotatable in both forward and reverse directions, and accordingly, the screw shaft 58 is also rotatable in both forward and reverse directions. The sleeve 60 is positioned to surround the screw shaft 58. When the rotation of the sleeve 60 is prohibited, when the screw shaft 58 rotates in the forward direction, the sleeve 60 moves forward, and when the screw shaft 58 rotates in the reverse direction, the sleeve 60 moves backward. The push plate 61 moves in the forward and backward directions integrally with the sleeve 60 in accordance with the forward and backward movement of the sleeve 60. Also, when the rotation of the sleeve 60 is permitted and the screw shaft 58 rotates, the sleeve 60 rotates together with the screw shaft 58.

[0075] As the sleeve 60 moves forward from its initial position to a predetermined position, the push plate 61 drives the link 52 of the cutting mechanism 18 to rotate the cutter 40. A pair of hooks 62 are provided at the front end of the sleeve 60 and open and close according to the forward and backward position of the sleeve 60. As the sleeve 60 moves forward, the pair of hooks 62 close to grip the wire W. Then, as the sleeve 60 moves backward, the pair of hooks 62 open to release the wire W.

[0076] The control device 80 rotates the torsion motor 54 with the wire W wound around the reinforcing bar R. At this time, rotation of the sleeve 60 is prohibited, and as the screw shaft 58 rotates, the sleeve 60 moves forward, and the push plate 61 and a pair of hooks 62 move forward, and the pair of hooks 62 close to grip the wire W. When rotation of the sleeve 60 is permitted, the rotation of the screw shaft 58 rotates the sleeve 60 and the pair of hooks 62. As a result, the wire W is twisted and the reinforcing bar R is tied together.

[0077] When the twisting of the wire W is complete, the control device 80 rotates the twisting motor 54 in the reverse direction. At this time, rotation of the sleeve 60 is prohibited, and after the pair of hooks 62 open and the wire W is released, the rotation of the screw shaft 58 causes the sleeve 60 to retract, as does the push plate 61 and the pair of hooks 62. As the sleeve 60 retracts, the push plate 61 drives the link 52 of the cutting mechanism 18, returning the cutter 40 to its initial position. After the sleeve 60 has retracted to its initial position, rotation of the sleeve 60 is permitted, and the rotation of the screw shaft 58 causes the sleeve 60 and the pair of hooks 62 to rotate and return to their initial angles.

[0078] The rebar tying robot 100 is equipped with an operation panel (not shown) that includes switches and buttons. For example, the operation panel is located on the transport unit 106. The user can set the number of turns of wire W around the rebar R, the torque threshold when twisting the wire W, etc., via the operation panel. The operation panel is equipped with setting switches for setting the number of turns of wire W around the rebar R and the torque threshold when twisting the wire W, as well as display LEDs that show the current settings. The operation panel is electrically connected to the control device 80.

[0079] The control device 80 is electrically connected to the control unit 126 (see Figure 1) and is capable of receiving signals transmitted from the control unit 126. When the control device 80 receives a binding instruction signal from the control unit 126, it performs a series of operations in which the feeding mechanism 12 and the guiding mechanism 14 wind the wire W around the reinforcing bar R, and the cutting mechanism 18 and the twisting mechanism 20 cut the wire W and twist the wire W wound around the reinforcing bar R.

[0080] (Configuration of transport unit 106) As shown in Figures 2 and 7, the transport unit 106 comprises a chassis 190, a right crawler 192, a left crawler 194, a side stepper 196, a lifting mechanism 130, a multi-purpose motor 400, a power transmission mechanism 402, a reel 500, and a wire relay mechanism 600. The right crawler 192, the left crawler 194, the side stepper 196, the lifting mechanism 130, the multi-purpose motor 400, the power transmission mechanism 402, the reel 500, and the wire relay mechanism 600 are each supported by the chassis 190.

[0081] (Structure of chassis 190) As shown in Figure 7, the chassis 190 comprises a base plate 204, a right-side plate 210, a left-side plate 212, a plurality of base frames 214, a front connecting frame 215, and a rear connecting frame 216. The base plate 204 is arranged along the longitudinal and lateral directions (i.e., horizontal directions). The base plate 204 has through holes 204a through which the rebar tying unit 2 can pass along approximately the vertical direction. The plurality of base frames 214 are fixed to the lower surface of the base plate 204. The right-side plate 210 is fixed to the right side of the plurality of base frames 214 that extend along the right end of the base plate 204 in the longitudinal direction. The right-side plate 210 is arranged along the longitudinal and vertical directions. The left-side plate 212 is fixed to the left side of the plurality of base frames 214 that extend along the left end of the base plate 204 in the longitudinal direction. The left-side plate 212 is arranged along the longitudinal and vertical directions. In the vertical direction, the upper ends of the right plate 210 and the left plate 212 are at the same position as the lower surface of the base plate 204. In the front-rear direction, the front ends of the right plate 210 and the left plate 212 protrude forward of the front end of the base plate 204, and the rear ends of the right plate 210 and the left plate 212 protrude backward of the rear end of the base plate 204. The front connecting frame 215 is located in front of the front end of the base plate 204 and connects the vicinity of the front end of the right plate 210 and the vicinity of the front end of the left plate 212. The rear connecting frame 216 is located behind the rear end of the base plate 204 and connects the vicinity of the rear end of the right plate 210 and the vicinity of the rear end of the left plate 212. The front connecting frame 215 and the rear connecting frame 216 extend in the left-right direction. In the vertical direction, the front connecting frame 215 and the rear connecting frame 216 are located below the multiple base frames 214. Furthermore, the chassis 190 is equipped with a rebar detection sensor (not shown). The rebar detection sensor is, for example, a TOF (Time-of-Flight) sensor capable of acquiring distance image data, which measures the distance to the subject pixel by pixel.Therefore, the control unit 126 can determine the relative arrangement of the first reinforcing bar R1 and the second reinforcing bar R2 with respect to the reinforcing bar detection sensor based on the distance image data acquired by the reinforcing bar detection sensor.

[0082] (Right-side crawler configuration 192) The right-side crawler 192 comprises a front pulley 218, a rear pulley 220, a plurality of auxiliary pulleys 222, a tensioner pulley 224, a rubber belt 226, a right-side crawler motor 228, and a gearbox 230. The outer surfaces of the front pulley 218, the rear pulley 220, the plurality of auxiliary pulleys 222, and the tensioner pulley 224 each have tooth profiles formed to mesh with the rubber belt 226. The rubber belt 226 is stretched across the front pulley 218, the rear pulley 220, the plurality of auxiliary pulleys 222, and the tensioner pulley 224. The front pulley 218 is rotatably supported on the right-side plate 210 via a bearing 232 near the front end of the right-side plate 210. The rear pulley 220 is rotatably supported on the right plate 210 via a bearing 234 near the rear end of the right plate 210. Multiple auxiliary pulleys 222 are rotatably supported on the right plate 210 via corresponding bearings 236 between the front pulley 218 and the rear pulley 220. The multiple auxiliary pulleys 222 are arranged side by side in the front-rear direction. The outer diameters of the front pulley 218 and the rear pulley 220 are approximately the same, and the outer diameters of the multiple auxiliary pulleys 222 are smaller than the outer diameters of the front pulley 218 and the rear pulley 220. With respect to the vertical direction, the lower ends of the front pulley 218, the rear pulley 220, and the multiple auxiliary pulleys 222 are at approximately the same position. The tensioner pulley 224 is rotatably supported on a movable bearing 237. The movable bearing 237 is supported on the right plate 210 so as to be movable in the vertical direction. With the rubber belt 226 stretched over the tensioner pulley 224, the tension of the rubber belt 226 can be adjusted by adjusting the vertical position of the movable bearing 237 relative to the right plate 210. The right crawler motor 228 is supported on the right plate 210 via a bearing 232 and a gearbox 230. The right crawler motor 228 is, for example, a DC brushless motor. The right crawler motor 228 is connected to the front pulley 218 via a reduction gear (not shown) built into the gearbox 230.When the right-side crawler motor 228 rotates in the forward or reverse direction, the front pulley 218 rotates in the forward or reverse direction, thereby causing the rubber belt 226 to rotate in the forward or reverse direction outside the front pulley 218, the rear pulley 220, the multiple auxiliary pulleys 222, and the tensioner pulley 224.

[0083] (Configuration of 194 left-side crawlers) The left crawler 194 comprises a front pulley 244, a rear pulley 246, a plurality of auxiliary pulleys 248, a tensioner pulley 250, a rubber belt 252, a left crawler motor 254, and a gearbox 256. The outer surfaces of the front pulley 244, the rear pulley 246, the plurality of auxiliary pulleys 248, and the tensioner pulley 250 each have tooth profiles formed to mesh with the rubber belt 252. The rubber belt 252 is stretched across the front pulley 244, the rear pulley 246, the plurality of auxiliary pulleys 248, and the tensioner pulley 250. The front pulley 244 is rotatably supported on the left plate 212 via a bearing 258 near the front end of the left plate 212. The rear pulley 246 is rotatably supported on the left plate 212 via a bearing 260 near the rear end of the left plate 212. Multiple auxiliary pulleys 248 are rotatably supported on the left plate 212 via corresponding bearings 262 between the front pulley 244 and the rear pulley 246. The multiple auxiliary pulleys 248 are arranged side by side in the front-rear direction. The outer diameters of the front pulley 244 and the rear pulley 246 are approximately the same, and the outer diameters of the multiple auxiliary pulleys 248 are smaller than the outer diameters of the front pulley 244 and the rear pulley 246. With respect to the vertical direction, the lower ends of the front pulley 244, the lower ends of the rear pulley 246, and the lower ends of the multiple auxiliary pulleys 248 are at approximately the same position. The tensioner pulley 250 is rotatably supported on a movable bearing 264. The movable bearing 264 is supported on the left plate 212 so as to be movable in the vertical direction. With the rubber belt 252 stretched over the tensioner pulley 250, the tension of the rubber belt 252 can be adjusted by adjusting the vertical position of the movable bearing 264 relative to the left plate 212. The left crawler motor 254 is supported on the left plate 212 via a bearing 258 and a gearbox 256. The left crawler motor 254 is, for example, a DC brushless motor. The left crawler motor 254 is connected to the front pulley 244 via a reduction gear (not shown) built into the gearbox 256.When the left crawler motor 254 rotates in the forward or reverse direction, the front pulley 244 rotates in the forward or reverse direction, thereby causing the rubber belt 252 to rotate in the forward or reverse direction outside the front pulley 244, the rear pulley 246, the multiple auxiliary pulleys 248, and the tensioner pulley 250.

[0084] (Configuration of Side Stepper 196) As shown in Figure 8, the side stepper 196 comprises step bars 272 and 274, a front crank mechanism 276, and a rear crank mechanism 277. The step bars 272 and 274 are rod-shaped members with a substantially rectangular cross-section, extending in the front-rear direction. As shown in Figure 7, in the left-right direction, step bar 272 is positioned between the center and the right end of the base plate 204, and step bar 274 is positioned between the center and the left end of the base plate 204.

[0085] As shown in Figure 8, the front crank mechanism 276 comprises a support plate 278, pulleys 280 and 282, a tensioner pulley 283, a belt 284, crank arms 286 and 288, crank pins 290 and 292 (see Figure 9), a crank plate 294, rollers 296 and 298, and a guide plate 300. The support plate 278 is fixed to the underside of the base plate 204 near its front end. The support plate 278 is positioned along the left-right and up-down directions. The pulley 280 is positioned near the right end of the support plate 278, behind the support plate 278. The pulley 282 is positioned near the left end of the support plate 278, behind the support plate 278. The pulleys 280 and 282 are rotatably supported by the support plate 278, respectively. The diameter of pulley 280 is approximately the same as the diameter of pulley 282. The belt 284 is stretched over pulleys 280 and 282. Therefore, when one pulley 280 or 282 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at approximately the same speed. The tensioner pulley 283 is rotatably supported on the base plate 204 (see Figure 7) via a movable bearing (not shown) that is movable in the vertical direction. The tensioner pulley 283 is positioned to contact the belt 284 from above. Therefore, the tension of the belt 284 can be adjusted by adjusting the vertical position of the movable bearing supporting the tensioner pulley 283 relative to the base plate 204.

[0086] The crank arms 286 and 288, the crank pins 290 and 292 (see Figure 9), the crank plate 294, the rollers 296 and 298, and the guide plate 300 are positioned in front of the support plate 278. As shown in Figure 9, the crank arms 286 and 288 are provided with fitting holes 286a and 288a into which the shafts 280a and 282a of the pulleys 280 and 282 are fitted, and elongated holes 286b and 288b that extend in the longitudinal direction of the crank arms 286 and 288. When the pulleys 280 and 282 rotate, the crank arms 286 and 288 rotate together with the pulleys 280 and 282 around the shafts 280a and 282a. The crank pins 290 and 292 are slidably inserted into the elongated holes 286b and 288b. The crank pins 290 and 292 are fixed to the crank plate 294, passing through it. The crank plate 294 is positioned forward of the crank arms 286 and 288. The crank plate 294 extends in both the left-right and up-down directions. The rollers 296 and 298 (see Figure 8) are attached to the crank pins 290 and 292 forward of the crank plate 294. As shown in Figure 8, the rollers 296 and 298 fit into guide grooves 302 and 304 formed on the rear surface of the guide plate 300. The guide plate 300 is fixed to the underside of the base plate 204 forward of the crank plate 294. The guide plate 300 extends in both the left-right and up-down directions. As shown in Figure 9, the guide grooves 302 and 304 of the guide plate 300 are formed in a roughly rectangular shape with rounded corners. Guide grooves 302 and 304 define the side step track S shown by dashed lines in Figure 9. The side step track S has a roughly rectangular shape with rounded corners, and has an upper and lower edge aligned in the left-right direction, and a right and left edge aligned in the up-down direction.

[0087] In the front crank mechanism 276, when the pulleys 280 and 282 rotate, the crank pins 290 and 292 move in the direction of rotation of the crank arms 286 and 288 due to the rotation of the crank arms 286 and 288. At this time, since the rollers 296 and 298 are engaged with the guide grooves 302 and 304, the crank pins 290 and 292 slide inside the elongated holes 286b and 288b and move along the side step track S defined by the guide grooves 302 and 304. As a result, the crank plate 294 to which the crank pins 290 and 292 are fixed also moves along the side step track S defined by the guide grooves 302 and 304.

[0088] As shown in Figure 10, the rear crank mechanism 277 comprises a support plate 306, pulleys 308 and 310, a tensioner pulley 311, a belt 312, crank arms 314 and 316, crank pins 318 and 320 (see Figure 9), a crank plate 322, rollers 324 and 326, and a guide plate 328. The support plate 306 is fixed to the underside of the base plate 204 near its rear end. The support plate 306 is arranged along the left-right and up-down directions. The pulley 308 is located near the right end of the support plate 306, and is positioned forward of the support plate 306. The pulley 310 is located near the left end of the support plate 306, and is positioned forward of the support plate 306. The pulleys 308 and 310 are rotatably supported by the support plate 306, respectively. The diameter of pulley 308 is approximately the same as the diameter of pulley 310, and is approximately the same as the diameters of pulleys 280 and 282 of the front crank mechanism 276. The belt 312 is stretched over pulleys 308 and 310. Therefore, when one pulley 308 or 310 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at approximately the same speed. The tensioner pulley 311 is rotatably supported on the base plate 204 (see Figure 7) via a movable bearing (not shown) that is movable in the vertical direction. The tensioner pulley 311 is positioned to contact the belt 312 from above. Therefore, the tension of the belt 312 can be adjusted by adjusting the vertical position of the movable bearing supporting the tensioner pulley 311 relative to the base plate 204.

[0089] The crank arms 314 and 316, the crank pins 318 and 320 (see Figure 9), the crank plate 322, the rollers 324 and 326, and the guide plate 328 are positioned behind the support plate 306. As shown in Figure 9, the crank arms 314 and 316 are provided with fitting holes 314a and 316a into which the shafts 308a and 310a of the pulleys 308 and 310 are fitted, and elongated holes 314b and 316b that extend in the longitudinal direction of the crank arms 314 and 316. When the pulleys 308 and 310 rotate, the crank arms 314 and 316 rotate together with the pulleys 308 and 310 around the shafts 308a and 310a. The crank pins 318 and 320 are slidably inserted into the elongated holes 314b and 316b. The crank pins 318 and 320 are fixed to the crank plate 322, passing through it. The crank plate 322 is located behind the crank arms 314 and 316. The crank plate 322 extends in both the left-right and up-down directions. The rollers 324 and 326 (see Figure 10) are attached to the crank pins 318 and 320 behind the crank plate 322. As shown in Figure 10, the rollers 324 and 326 fit into guide grooves 330 and 332 formed on the front surface of the guide plate 328. The guide plate 328 is fixed to the underside of the base plate 204 behind the crank plate 322. The guide plate 328 extends in both the left-right and up-down directions. As shown in Figure 9, the guide grooves 330 and 332 of the guide plate 328 are formed in a roughly rectangular shape with rounded corners. Guide grooves 330 and 332 define the side step track S shown by dashed lines in Figure 9. The side step track S has a roughly rectangular shape with rounded corners, and has an upper and lower edge aligned in the left-right direction, and a right and left edge aligned in the up-down direction. The side step track S defined by guide grooves 330 and 332 is identical to the side step track S defined by guide grooves 302 and 304.

[0090] In the rear crank mechanism 277, when the pulleys 308 and 310 rotate, the crank pins 318 and 320 move in the direction of rotation of the crank arms 314 and 316 due to the rotation of the crank arms 314 and 316. At this time, since the rollers 324 and 326 are engaged with the guide grooves 330 and 332, the crank pins 318 and 320 slide inside the elongated holes 314b and 316b and move along the side step trajectory S defined by the guide grooves 330 and 332. As a result, the crank plate 322 to which the crank pins 318 and 320 are fixed also moves along the side step trajectory S defined by the guide grooves 330 and 332.

[0091] As shown in Figure 7, the step bars 272 and 274 are fixed at their front ends to the crank plate 294 of the front crank mechanism 276 and at their rear ends to the crank plate 322 of the rear crank mechanism 277. As shown in Figure 8, the pulley 282 of the front crank mechanism 276 and the pulley 310 of the rear crank mechanism 277 are connected to the rotational transmission shaft 428 of the power transmission mechanism 402. Therefore, when the rotational transmission shaft 428 rotates, the pulleys 280 and 282 of the front crank mechanism 276 and the pulleys 308 and 310 of the rear crank mechanism 277 rotate synchronously with each other, and the crank plate 294 of the front crank mechanism 276 and the crank plate 322 of the rear crank mechanism 277 operate synchronously with each other. In other words, when the rotation transmission shaft 428 rotates in the forward or reverse direction, the pulleys 280, 282, 308, and 310 rotate in the forward or reverse direction, causing the crank plates 294 and 322 to move clockwise or counterclockwise along the side step trajectory S, and the step bars 272 and 274 to also move clockwise or counterclockwise along the side step trajectory S. A zero-point detection sensor (not shown) is provided on one of the front crank mechanism 276 and the rear crank mechanism 277 (for example, the front crank mechanism 276). The zero-point detection sensor comprises, for example, a permanent magnet (not shown) fixed to the crank plate 294 and a Hall element (not shown) fixed to the guide plate 300. The zero-point detection sensor can detect whether the crank plates 294 and 322 are at the zero-point position, with the center of the upper edge of the side step trajectory S in the left-right direction being the zero-point position.

[0092] As shown in Figure 11, when the crank plates 294 and 322 are on the upper edge of the side step track S (see Figure 9) and the step bars 272 and 274 are moving upward, the crank plates 294 and 322 and the step bars 272 and 274 are separated from the first reinforcing bar R1 and the second reinforcing bar R2. In this state, the right crawler 192 and the left crawler 194 are in contact with the first reinforcing bar R1 and the second reinforcing bar R2, so the rebar tying robot 100 can drive the right crawler 192 and the left crawler 194 to move the chassis 190 in the forward and backward directions. The rebar tying robot 100 can also change the orientation of the chassis 190 relative to the first reinforcing bar R1 and the second reinforcing bar R2 by applying a speed difference between the right crawler 192 and the left crawler 194.

[0093] As the rotary transmission shaft 428 rotates from the state shown in Figure 11, the crank plates 294 and 322 move along the side step track S (see Figure 9), and the step bars 272 and 274 move downward as a result, causing the crank plates 294 and 322 and the step bars 272 and 274 to come into contact with the second reinforcement bar R2. As the rotary transmission shaft 428 rotates further from this state, the crank plates 294 and 322 and the step bars 272 and 274 move further downward, causing the right crawler 192 and the left crawler 194 to move away from the second reinforcement bar R2, as shown in Figure 12. As the rotation transmission shaft 428 continues to rotate, the chassis 190 moves to the right or left by a step width corresponding to the width of the side step track S in the left-right direction. Then, the crank plates 294, 322 and the step bars 272, 274 move upward, and the right crawler 192 and the left crawler 194 come into contact with the first reinforcing bar R1 and the second reinforcing bar R2 again, while the crank plates 294, 322 and the step bars 272, 274 move away from the second reinforcing bar R2. As described above, the rebar tying robot 100 can move the chassis 190 to the right or left by a predetermined step width by driving the side stepper 196.

[0094] The side step track S defined by the guide grooves 302, 304, 330, and 332 is not limited to the roughly rectangular shape described above, but can take on various shapes. The side step track S can take on any shape as long as, when the step bars 272 and 274 move along the side step track S, the lower ends of the step bars 272 and 274 move below the lower ends of the right crawler 192 and the left crawler 194, then the lower ends of the step bars 272 and 274 move in the left-right direction, and then the lower ends of the step bars 272 and 274 move above the lower ends of the right crawler 192 and the left crawler 194. For example, the side step track S may be circular, elliptical, triangular with a base at the bottom, or a polygon with pentagons or more.

[0095] (Configuration of the lifting mechanism 130) As shown in Figure 13, the lifting mechanism 130 comprises a worm gear case 132, a lifting arm 134, and a slider-crank mechanism 138. The worm gear case 132 is fixed to a base plate 204 (see Figure 7). The lifting arm 134 is fixed to the worm gear case 132 by screws. The lifting arm 134 extends from the worm gear case 132 toward the front, left, and upward. The worm gear case 132 comprises a worm shaft 136. The slider-crank mechanism 138 comprises a crank shaft 142, a crank arm 144, a crank pin 146, a crank rod 148, a slider pin 150, a slider 152, a rail 153, and a base member 154.

[0096] The crankshaft 142 is connected to the worm shaft 136 via a worm gear (not shown) housed in the worm gear case 132. The crank arm 144 is fixed to the crankshaft 142. The crank pin 146 is rotatably held on the crank arm 144 and the crank rod 148, respectively. The slider pin 150 is rotatably held on the crank rod 148. The slider pin 150 is fixed to the slider 152. The slider 152 is slidably held by a rail 153 provided on the lifting arm 134. The base member 154 is rotatably mounted on the slider pin 150. The base member 154 is fixed to the housing 3 of the rebar tying unit 2 by screws (not shown) while fitted into the fitting portion 3a (see Figure 3) provided on the housing 3 of the rebar tying unit 2. In other words, the lifting mechanism 130 holds the rebar tying unit 2 via the base member 154. As shown in Figure 2, when the rebar tying unit 2 is held by the lifting mechanism 130, the front of the rebar tying unit 2 is facing downwards towards the rebar tying robot 100, and the rear of the rebar tying unit 2 is facing upwards towards the rebar tying robot 100.

[0097] In the state shown in Figure 13, the slider-crank mechanism 138 is at the top dead center position. At this time, the rebar tying unit 2 (see Figure 3) is held at a position away from the first rebar R1 and the second rebar R2. In this specification, the position of the rebar tying unit 2 in this state may be referred to as the "upper limit position". When the worm shaft 136 rotates in the forward or reverse direction from the state shown in Figure 13, the crankshaft 142 and crank arm 144 rotate in the forward or reverse direction, and the crankpin 146 moves along the circumference of the rotation axis of the crankshaft 142. At this time, the slider pin 150 and slider 152, which are connected to the crankpin 146 via the crank rod 148, move downward along the rail 153 while maintaining a constant distance from the crankpin 146. At this time, the rebar tying unit 2 fixed to the base member 154 descends relative to the chassis 190.

[0098] In the state shown in Figure 14, the slider-crank mechanism 138 is at the bottom dead center position. At this time, the rebar tying unit 2 (see Figure 3) is held in a position that allows for the tying of the first rebar R1 and the second rebar R2. In this specification, the position of the rebar tying unit 2 in this state may be referred to as the "lower limit position". When the worm shaft 136 rotates in the forward or reverse direction from the state shown in Figure 14, the crankshaft 142 and crank arm 144 rotate in the forward or reverse direction, and the crankpin 146 moves along the circumference of the rotation axis of the crankshaft 142. At this time, the slider pin 150 and slider 152, which are connected to the crankpin 146 via the crank rod 148, move upward along the rail 153 while maintaining a constant distance from the crankpin 146. At this time, the rebar tying unit 2, which is fixed to the base member 154, rises relative to the chassis 190.

[0099] In this embodiment, the slider-crank mechanism 138 is a so-called offset crank, where the axis of rotation of the crankshaft 142 is not on the extension of the sliding trajectory of the slider 152. Therefore, when raising the rebar tying unit 2, the stroke of the crank arm 144 is greater when the crank arm 144 is rotated so that the crank pin 146 passes below the crankshaft 142 from the position shown in Figure 14 to the position shown in Figure 13, rather than when the crank arm 144 is rotated so that the crank pin 146 passes above the crankshaft 142 from the position shown in Figure 14 to the position shown in Figure 13. The same applies when lowering the rebar tying unit 2.

[0100] When raising the rebar tying unit 2, the crankshaft 142 is rotated against the force of gravity acting on the rebar tying unit 2, resulting in a relatively large load torque on the dual-purpose motor 400. In this embodiment, when raising the rebar tying unit 2, the crank arm 144 is rotated so that the crankpin 146 moves from the position shown in Figure 14, passing below the crankshaft 142 to the position shown in Figure 13. This increases the stroke of the crank arm 144, thereby reducing the load torque on the dual-purpose motor 400 when raising the rebar tying unit 2, which places a relatively large torque load on the dual-purpose motor 400. On the other hand, when lowering the rebar tying unit 2, the crank arm 144 is rotated so that the crankpin 146 moves from the position shown in Figure 13, passing above the crankshaft 142 to the position shown in Figure 14. This allows for a reduction in the stroke of the crank arm 144 and an improvement in the lowering speed of the rebar tying unit 2 when the load torque on the multi-purpose motor 400 is relatively small.

[0101] The slider 152 includes a first interference pin 156 that protrudes toward the base member 154 along the rotation axis A1 of the slider pin 150, and an elongated hole 158 cut out along the circumferential direction of the rotation axis A1. The base member 154 includes a second interference pin 160 that protrudes toward the slider 152 along the rotation axis A1 and is inserted into the elongated hole 158. The elongated hole 158 slidably receives the second interference pin 160 in the circumferential direction of the rotation axis A1. A torsion spring 162 is attached to the slider pin 150, which is positioned to bias the second interference pin 160 relative to the first interference pin 156 in the first circumferential direction of the rotation axis A1. Therefore, the second interference pin 160 is held in contact with the end side surface of the elongated hole 158 from the first circumferential direction by the biasing force of the torsion spring 162, and is also able to swing in the second circumferential direction, which is the opposite direction to the first circumferential direction, against the biasing force of the torsion spring 162. In other words, the rebar tying unit 2 fixed to the base member 154 is held so as to be able to swing in the second circumferential direction of the rotation axis A1. As a result, for example, when the rebar tying unit 2 collides with the first rebar R1, the second rebar R2, or other obstacles, the impact on the rebar tying unit 2 and the lifting mechanism 130 is mitigated by the swinging of the rebar tying unit 2 in the second circumferential direction.

[0102] As shown in Figure 15, the lifting mechanism 130 is fixed to the crankshaft 142 (see Figure 13) and further comprises a cam 166 on which a first fin 163 and a second fin 164 are formed, projecting radially outward from the crankshaft 142. One end of the first fin 163 and one end of the second fin 164 overlap each other in the circumferential direction of the rotation axis of the crankshaft 142. On the other hand, the other end of the first fin 163 and the other end of the second fin 164 are spaced apart from each other in the circumferential direction of the rotation axis of the crankshaft 142. As a result, a gap with width in the circumferential direction of the rotation axis of the crankshaft 142 is formed between the other end of the first fin 163 and the other end of the second fin 164. The lifting mechanism 130 further comprises a first photosensor 168 and a second photosensor 170, each having a light-emitting part and a light-receiving part. The first photosensor 168 and the second photosensor 170 each transmit an ON signal to the control unit 126 when the space between the light-emitting part and the light-receiving part is not obstructed, and transmit an OFF signal to the control unit 126 when the space between the light-emitting part and the light-receiving part is obstructed. The first photosensor 168 and the second photosensor 170 are fixed to the worm gear case 132, aligned along the rotation axis of the crankshaft 142.

[0103] When the rebar tying unit 2 is in a position between the lower limit position and the upper limit position, one of the first fin 163 or the second fin 164 is positioned to obstruct the space between the light-emitting part and the light-receiving part of either the first photosensor 168 or the second photosensor 170. The other of the first fin 163 or the second fin 164 is positioned not to obstruct the space between the light-emitting part and the light-receiving part of either the first photosensor 168 or the second photosensor 170. When the rebar tying unit 2 is moved from this state to the lower limit position, the overlapping portions of the first fin 163 and the second fin 164 are moved to approximately the same position as the first photosensor 168 and the second photosensor 170 in the circumferential direction of the rotation axis of the crankshaft 142. In other words, when the rebar tying unit 2 is in the lower limit position, the space between the light-emitting part and the light-receiving part of the first photosensor 168 is blocked by the first fin 163, and the space between the light-emitting part and the light-receiving part of the second photosensor 170 is blocked by the second fin 164. On the other hand, when the rebar tying unit 2 is moved to the upper limit position, the parts of the first fin 163 and the second fin 164 that are separated from each other move to approximately the same position as the first photosensor 168 and the second photosensor 170 in the circumferential direction of the rotation axis of the crankshaft 142. In other words, when the rebar tying unit 2 is in the upper limit position, the space between the light-emitting part and the light-receiving part of the first photosensor 168 is not blocked, and the space between the light-emitting part and the light-receiving part of the second photosensor 170 is also not blocked. Therefore, the control unit 126 can detect when the rebar tying unit 2 has reached its upper limit position, when the rebar tying unit 2 has reached its lower limit position, and so on, based on signals transmitted from the first photosensor 168 and the second photosensor 170.

[0104] (Configuration of the dual-purpose motor 400 and power transmission mechanism 402) As shown in Figure 16, the power transmission mechanism 402 includes an input shaft 404 (see Figure 17), a sun gear 406 (see Figure 17), a plurality of planetary gears 408 (see Figure 17), a planetary carrier 410, an internal gear 412, a first output shaft 414, a second output shaft 416, a first spur gear 418, a second spur gear 420, a third spur gear 422, a worm shaft 424, a worm wheel 426, a rotation transmission shaft 428, a universal joint 430, an actuator 432, a locking member 434, and a position detection mechanism 436. In this embodiment, the input shaft 404, the sun gear 406, the multiple planetary gears 408, the planetary carrier 410, the internal gear 412, the first output shaft 414, the second output shaft 416, the first spur gear 418, the second spur gear 420, the third spur gear 422, the worm shaft 424, and the worm wheel 426 are housed in a gearbox 438 (see Figure 8).

[0105] (Power transmission path in power transmission mechanism 402) As shown in Figure 17, the input shaft 404 is held by a dual-purpose motor 400 and is rotationally driven by the dual-purpose motor 400 around a rotation axis A2 that extends in the left-right direction. The dual-purpose motor 400 is, for example, a DC brushless motor. A sun gear 406 is fixed to the input shaft 404. Multiple teeth (not shown) protruding radially outward are formed on the outer surface of the sun gear 406. Each of the multiple planetary gears 408 is rotatably held by a planetary carrier 410. The multiple planetary gears 408 are arranged at equal intervals in the circumferential direction of the rotation axis A2. Multiple teeth (not shown) protruding radially outward are formed on the outer surface of each of the multiple planetary gears 408. The multiple teeth of each of the multiple planetary gears 408 are configured to mesh with the multiple teeth of the sun gear 406 from the radially outward side of the rotation axis A2. In addition, multiple teeth (not shown) protruding radially inward are formed on the inner surface of the internal gear 412. The multiple teeth of the internal gear 412 are configured to mesh with the multiple teeth of each of the multiple planetary gears 408 from the radially outer side of the rotation axis A2. The sun gear 406, the multiple planetary gears 408, and the internal gear 412 are housed in the gearbox 438 (see Figure 8) in a meshed state. In this way, the sun gear 406, the multiple planetary gears 408, the planetary carrier 410, and the internal gear 412 constitute a so-called planetary gear mechanism. Therefore, if the rotation of the internal gear 412 is prohibited, the rotation of the planetary carrier 410 accompanying the rotation of the sun gear 406 is permitted. On the other hand, if the rotation of the planetary carrier 410 is prohibited, the rotation of the internal gear 412 accompanying the rotation of the sun gear 406 is permitted.

[0106] As shown in Figure 16, the planetary carrier 410 is fixed to the first output shaft 414. One end of a universal joint 430 is attached to the first output shaft 414. The other end of the universal joint 430 is attached to the worm shaft 136 of the lifting mechanism 130 (see Figure 13). Therefore, the lifting mechanism 130 is driven in conjunction with the rotation of the planetary carrier 410. Thus, when the rotation of the internal gear 412 is prohibited in the power transmission mechanism 402, the power of the multi-purpose motor 400 is transmitted to the lifting mechanism 130 in order via the input shaft 404, sun gear 406, multiple planetary gears 408, planetary carrier 410, first output shaft 414, and universal joint 430.

[0107] Multiple teeth (not shown) protruding radially outward are formed on the outer surface of the internal gear 412. A first spur gear 418 is fixed to the second output shaft 416. The first spur gear 418 meshes with multiple teeth of the internal gear 412. A second spur gear 420 is also fixed to the second output shaft 416. The second spur gear 420 meshes with a third spur gear 422. The third spur gear 422 is fixed to the worm shaft 424. The worm shaft 424 meshes with a worm wheel 426. The worm wheel 426 is fixed to the rotary transmission shaft 428. Therefore, the side stepper 196 (see Figure 8), which is connected to the rotary transmission shaft 428, is driven in conjunction with the rotation of the internal gear 412. As described above, when the rotation of the planetary carrier 410 is prohibited in the power transmission mechanism 402, the power of the multi-purpose motor 400 is transmitted to the side stepper 196 via the input shaft 404, sun gear 406, multiple planetary gears 408, internal gear 412, first spur gear 418, second output shaft 416, second spur gear 420, third spur gear 422, worm shaft 424, worm wheel 426, and rotation transmission shaft 428 in that order.

[0108] (Method for switching power transmission paths in power transmission mechanism 402) As shown in Figure 18, inner engagement recesses 440 are further formed on the outer surface of the planetary carrier 410. The inner engagement recesses 440 are arranged in a circumferential direction and have multiple inner recessed grooves 440a that recess from the radially outer side to the radially inner side. Furthermore, outer recessed grooves 442a are further formed on the inner surface of the internal gear 412. The outer recessed grooves 442a are arranged in a circumferential direction and have multiple outer recessed grooves 442a that recess from the radially inner side to the radially outer side. Note that the outer engagement recesses 442 are formed separately from the multiple teeth (not shown) of the internal gear 412. The outer engagement recesses 442 are located radially outward from the inner engagement recesses 440.

[0109] The locking member 434 comprises a locking arm 444 extending in the front-rear direction, and a locking pin 446 and an operating pin 448 held by the locking arm 444. The locking pin 446 is positioned near the front end of the locking arm 444 so as to extend in the left-right direction (see Figure 16). The operating pin 448 is positioned near the rear end of the locking arm 444 so as to extend in the up-down direction. The actuator 432 comprises a movable member 450 extending in the front-rear direction, a solenoid 452 that holds the movable member 450 so as to be slidable in the front-rear direction, and a first spring member 454 that biases the movable member 450 forward relative to the solenoid 452. The solenoid 452 is fitted with a cap 456 to prevent the movable member 450 from falling out of the solenoid 452. Below the cap 456 is a first slide hole 458 that receives the operating pin 448 of the locking member 434 so as to be slidable in the front-rear direction. The movable member 450 includes a cavity 460, a second slide hole 462 located below the movable member 450, and a recess 464 on the upper outer peripheral surface of the movable member 450 that is recessed from top to bottom. The second slide hole 462 connects the cavity 460 and the outside of the movable member 450 in the vertical direction. Similar to the first slide hole 458, the second slide hole 462 receives the operating pin 448 of the locking member 434 so as to be slidable in the front-rear direction. A portion of the operating pin 448 passes through the first slide hole 458 and the second slide hole 462 and is housed in the cavity 460. The cavity 460 further houses a second spring member 466 and a third spring member 468 that are expandable and contractible in the front-rear direction. In the cavity 460, the second spring member 466 is located in front of the operating pin 448, and the third spring member 468 is located behind the operating pin 448. In the state shown in Figure 18, the solenoid 452 is energized, and the attractive force of the electromagnet formed by the solenoid 452 moves the movable member 450 backward against the elastic restoring force of the first spring member 454. In this specification, the position of the movable member 450 in this state is sometimes referred to as the "attraction position". When the movable member 450 is in the attraction position, the locking member 434 is moved to a position where the locking pin 446 engages with the outer engagement recess 442 of the internal gear 412.In this specification, the position of the locking member 434 in this state may be referred to as the "first locking position". When the locking member 434 is in the first locking position, the rotation of the internal gear 412 is prohibited, and the power transmission mechanism 402 is in the "first state" of transmitting power from the dual-purpose motor 400 to the lifting mechanism 130.

[0110] When the solenoid 452 is switched to a de-energized state from the state shown in Figure 18, the movable member 450 is biased forward by the elastic restoring force of the first spring member 454, causing the movable member 450 to move forward. When the movable member 450 moves forward, the operating pin 448 of the locking member 434 moves relatively backward within the cavity 460, compressing the third spring member 468. The compressed third spring member 468 biases the operating pin 448 forward against the rear side wall of the cavity 460. As a result, the locking pin 446, which is connected to the operating pin 448 via the locking arm 444, is biased forward. As shown in Figure 19, the movable member 450, which has moved forward, eventually comes into contact with the front side wall of the cap 456. Even in this state, the movable member 450 is still biased forward by the first spring member 454. Therefore, as long as the solenoid 452 is de-energized, the movable member 450 is held in contact with the front wall of the cap 456. In this specification, the position of the movable member 450 in this state may be referred to as the "return position". When the movable member 450 is in the return position, the locking member 434 is moved to a position where the locking pin 446 engages with the inner engagement recess 440 of the planetary carrier 410. In this specification, the position of the locking member 434 in this state may be referred to as the "second locking position". When the locking member 434 is in the second locking position, the rotation of the planetary carrier 410 is prohibited, and the power transmission mechanism 402 is in the "second state" of transmitting power from the dual-purpose motor 400 to the side stepper 196.

[0111] When the solenoid 452 is switched to the energized state from the state shown in Figure 19, the movable member 450 is moved backward against the elastic restoring force of the first spring member 454 by the attractive force of the electromagnet formed by the solenoid 452. When the movable member 450 is moved backward, the operating pin 448 of the locking member 434 moves forward relative to the cavity 460, compressing the second spring member 466. The compressed second spring member 466 biases the operating pin 448 backward against the front wall of the cavity 460. As a result, the locking pin 446, which is connected to the operating pin 448 via the locking arm 444, is biased backward. In this way, as shown in Figure 18, the movable member 450 is moved to the attractive position and the locking member 434 is moved to the first locking position, so that the power transmission mechanism 402 enters the first state.

[0112] Therefore, when the solenoid 452 is switched between energized and de-energized states, the position of the movable member 450 is switched between the suction position and the return position, the position of the locking member 434 is switched between the first locking position and the second locking position, and the power transmission mechanism 402 is switched between the first state and the second state. Thus, the control unit 126 can switch the power transmission mechanism 402 between the first state and the second state by switching the solenoid 452 between energized and de-energized states.

[0113] (Method for detecting the state of the power transmission mechanism 402) The position detection mechanism 436 is mounted above the cap 456. The position detection mechanism 436 includes a slider 470 having a protrusion 470a that substantially fits into a recess 464 of the movable member 450. The slider 470 is slidable in the front-rear direction. Therefore, the slider 470 slides in conjunction with the front-rear movement of the movable member 450. In this specification, the position of the slider 470 when the movable member 450 is in the suction position may be referred to as the "first detection position". The position of the slider 470 when the movable member 450 is in the return position (see Figure 19) may be referred to as the "second detection position". When the slider 470 is in the first detection position, the position detection mechanism 436 transmits a suction position detection signal to the control unit 126, and when the slider 470 is in the second detection position, it transmits a return position detection signal to the control unit 126. Therefore, the control unit 126 can detect whether the movable member 450 is in the suction position or in the return position based on the signal transmitted from the position detection mechanism 436.

[0114] (Configuration of reel 500 and wire relay mechanism 600) As shown in Figure 2, the reel 500 and the wire relay mechanism 600 are provided separately on the transport unit 106 from the rebar tying unit 2. The reel 500 and the wire relay mechanism 600 supply the wire W to the rebar tying unit 2 (see Figure 3).

[0115] As shown in Figure 20, the reel 500 comprises a bobbin 502, a bobbin shaft 504 (see Figure 21), a guide member 506, and a wire W. The reel 500 is fixed to the base plate 204 via the bobbin shaft 504. The bobbin shaft 504 is positioned to extend along axis A3. In this embodiment, the direction moving forward along axis A3 is defined as the first axis direction, and the direction moving backward along axis A3 is defined as the second axis direction. Axis A3 extends perpendicular to the left-right direction and is inclined from downward to upward relative to the horizontal as it moves in the direction of the first axis direction. The inclination angle of axis A3 with respect to the horizontal is in the range of 0° to 45°, for example, 10°. The bobbin 502 is non-rotatably mounted to the bobbin shaft 504. That is, the bobbin 502 is non-rotatably mounted to the base plate 204. The bobbin 502 comprises a winding section 508 (see Figure 21), a first retaining section 510, and a second retaining section 512. The winding section 508 is formed in a substantially cylindrical shape centered on the axis A3, and the wire W is wound spirally around it. The wire W is wound around the winding section 508 along a predetermined winding direction. In this embodiment, the winding direction of the wire W is clockwise when the bobbin 502 is viewed from the first axial direction side along the axis A3. The first retaining section 510 is connected to the first axial end of the winding section 508 and has an expanding diameter shape that widens towards the first axial direction. The second retaining section 512 is connected to the second axial end of the winding section 508 and has a flange shape that widens radially outward from the axis A3. The longitudinal direction of the bobbin 502 substantially coincides with the direction in which the axis A3 extends. The maximum length of wire W that can be wound onto the bobbin 502 in this embodiment is in the range of 600m to 1000m, for example, 800m. Also, the length of wire W used by the rebar tying unit 2 in this embodiment when tying the intersection of the first rebar R1 and the second rebar R2 is approximately 0.67m. Therefore, the number of continuous tying cycles in the rebar tying robot 100 in this embodiment is in the range of 900 to 1500 cycles, for example, 1200 cycles.

[0116] As shown in Figure 21, the guide member 506 is provided on the first axial side of the first retaining portion 510. The guide member 506 is formed in a substantially axially symmetric shape with respect to the axis A3. The guide member 506 comprises a shaft portion 514, a rotor portion 516, a first ring portion 518, a second ring portion 520, and a braking portion 522. The shaft portion 514 is fixed to the bobbin shaft 504 and extends along the axis A3. The rotor portion 516 is rotatably mounted on the shaft portion 514. The rotor portion 516 comprises a plate portion 524 and a ring holding portion 526. The plate portion 524 is formed of a conductor (for example, copper). The ring holding portion 526 holds the first ring portion 518 and the second ring portion 520. The first ring portion 518 and the second ring portion 520 are provided so as to be pivotable around a predetermined pivot axis (for example, an axis extending in the longitudinal direction of the ring portion 526) relative to the ring holding portion 526. The first ring portion 518 forms a first guide hole 528 for guiding the wire W drawn from the bobbin 502. The second ring portion 520 forms a second guide hole 530 for guiding the wire W drawn from the bobbin 502. As shown in Figure 20, the first guide hole 528 and the second guide hole 530 are located radially outward of the axis A3 than the first retaining portion 510. In this embodiment, the wire W drawn from the bobbin 502 is passed through the first guide hole 528 of the first ring portion 518. As shown in Figure 22, when the first ring portion 518, through which the wire W drawn from the bobbin 502 is passed, is viewed from the radially outer side of the axis A3, the hole axis A4 of the first guide hole 528 is inclined toward the winding direction of the wire W as it moves toward the first axial direction. As shown in Figure 21, the braking portion 522 is non-rotatably mounted to the shaft portion 514. The braking portion 522 includes a plurality of magnetic members 532 arranged in a line in the circumferential direction of the axis A3 and spaced apart from the plate portion 524 in the second axial direction. Note that in Figure 21, the wire W is not shown for the sake of simplicity.

[0117] As shown in Figure 20, the wire relay mechanism 600 comprises a base portion 602, a guide roller 604, feed rollers 606 and 607, and an insertion member 608. The wire relay mechanism 600 is fixed to the base plate 204 via the base portion 602. The wire W drawn out from the bobbin 502 via the guide member 506 is held between the feed rollers 606 and 607 through the insertion member 608 and guided by the guide roller 604 to the through hole 3b (see Figure 4) of the rebar tying unit 2. Therefore, when the wire W is fed out by the feed mechanism 12, the wire W is drawn out from the bobbin 502 via the wire relay mechanism 600. In this embodiment, the insertion member 608 is located in front of the reel 500 and on the axis A3 of the reel 500.

[0118] As described above, when the wire W is pulled out from the bobbin 502, the wire W is pulled out from the first axial side of the bobbin 502. As previously stated, since the bobbin 502 is non-rotatably mounted to the base plate 204, when the wire W is pulled out from the bobbin 502, the wire W is pulled out in the first axial direction while being unwound in the opposite direction to the winding direction relative to the bobbin 502. For this reason, the rotor portion 516 that holds the first ring portion 518 through which the wire W is passed rotates in the opposite direction to the winding direction of the wire W as the wire W is pulled out. Also, when the rotor portion 516 rotates, the plate portion 524 rotates relative to the multiple magnetic members 532 of the damping portion 522. At this time, the multiple magnetic members 532 generate eddy currents in the plate portion 524 of the rotor portion 516. Then, due to the eddy currents generated in the plate portion 524, a Lorentz force acts on the rotor portion 516 that hinders the rotation of the rotor portion 516. In other words, when the rotor 516 rotates, the braking unit 522 applies a non-contact braking force to the rotor 516. This prevents the rotor 516 from continuing to rotate due to inertia after the feed mechanism 12 (see Figure 3) of the rebar tying unit 2 stops feeding the wire W, thereby preventing the wire W from being excessively unwound from the bobbin 502.

[0119] (Operation of the rebar tying robot 100) When an operation of the rebar tying robot 100 is instructed via an operation execution button (not shown), the control unit 126 executes the process shown in Figure 23. In the following explanation, for the sake of simplicity, the movement of the chassis 190 of the rebar tying robot 100 is considered as the movement of the rebar tying robot 100.

[0120] In S2, the control unit 126 determines whether the lateral position of the first reinforcing bar R1', which is the target of the tying work among the multiple first reinforcing bars R1, as detected by the reinforcing bar detection sensor (not shown), is within the first predetermined position range from the reference position. The reference position here refers to the position where the intersection of the first reinforcing bar R1 and the second reinforcing bar R2 should exist when the reinforcing bar tying unit 2 at the lower limit position performs the tying work. For example, the reference position is located in the center of the base plate 204 in the front-rear and left-right directions. The first predetermined position range here refers to the range in which it is determined that lateral movement by the side stepper 196 is necessary if the lateral position of the first reinforcing bar R1' is outside that range. If the lateral position of the first reinforcing bar R1' is not within the first predetermined position range from the reference position (NO), the process proceeds to S3.

[0121] In S3, the control unit 126 performs a movement switching process. In the movement switching process, if the solenoid 452 is in a de-energized state, the control unit 126 switches the solenoid 452 from a de-energized state to an energized state. This switches the power transmission mechanism 402 from the first state to the second state, enabling the drive of the side stepper 196 by the drive of the dual-purpose motor 400. The control unit 126 terminates the movement switching process when the position detection mechanism 436 detects that the movable member 450 is in the suction position. After the movement switching process is completed, the process proceeds to S4.

[0122] In S4, the control unit 126 drives the side stepper 196 to move the rebar tying robot 100 to the right or left. After S4, the process returns to S2.

[0123] In S2, if the lateral position of the first reinforcing bar R1' is within the first predetermined position range from the reference position (YES), the process proceeds to S6. In S6, the control unit 126 determines whether the lateral position of the first reinforcing bar R1' is within the second predetermined position range from the reference position. The second predetermined position range is smaller than the first predetermined position range, and if the position of the first reinforcing bar R1' is within that range, it is within the range in which the reinforcing bar tying unit 2 can perform tying work. If the lateral position of the first reinforcing bar R1' is not within the second predetermined position range (NO), the process proceeds to S10. If the lateral position of the first reinforcing bar R1' is within the second predetermined position range (YES), the process proceeds to S8.

[0124] In S8, the control unit 126 determines whether the angle of the first reinforcing bar R1 detected by the reinforcing bar detection sensor (not shown) is within a predetermined angle range from the reference angle. The reference angle here refers to the angle that the first reinforcing bar R1' should take at the intersection of the first reinforcing bar R1 and the second reinforcing bar R2 when the reinforcing bar tying unit 2 at the lower limit position performs tying work. For example, the reference angle is zero degrees. The predetermined angle range here refers to the range within which the reinforcing bar tying unit 2 can perform tying work if the angle of the first reinforcing bar R1' is within that range. If the angle of the first reinforcing bar R1' is not within the predetermined angle range (NO), the process proceeds to S10. If the angle of the first reinforcing bar R1 is within the predetermined angle range (YES), the process proceeds to S20.

[0125] In S10, the control unit 126 starts rebar tracing control. In rebar tracing control, the control unit 126 moves the rebar tying robot 100 forward or backward while applying a speed difference between the right crawler 192 and the left crawler 194, bringing the lateral position and angle of the first rebar R1' closer to the reference position and reference angle.

[0126] In S12, the control unit 126 determines whether the lateral position of the first reinforcing bar R1 is within the second predetermined position range from the reference position. If the lateral position of the first reinforcing bar R1 is not within the second predetermined position range (NO), the process returns to S10. If the lateral position of the first reinforcing bar R1 is within the second predetermined range (YES), the process proceeds to S14.

[0127] In S14, the control unit 126 determines whether the angle of the first reinforcing bar R1 detected by the reinforcing bar detection sensor (not shown) is within a predetermined angle range from the reference angle. If the angle of the first reinforcing bar R1 is not within the predetermined angle range (NO), the process returns to S10. If the angle of the first reinforcing bar R1 is within the predetermined angle range (YES), the process proceeds to S16.

[0128] In S16, the control unit 126 terminates the rebar tracing control. By performing the processes from S10 to S16, the rebar tying robot 100 moves so that the left-right position and angle of the first rebar R1' matches the reference position and reference angle, as shown in Figure 24. In Figures 24 and 25, the reference position and reference angle of the rebar tying robot 100 are represented by the cross cursor C.

[0129] As shown in Figure 23, in S18, the control unit 126 performs a return process. In the return process, the control unit 126 moves the rebar tying robot 100 in the opposite direction to the direction in which it moved in the preceding S10. At this time, the control unit 126 moves the rebar tying robot 100 while applying a speed difference between the right crawler 192 and the left crawler 194 so that the left-right position and angle of the first rebar R1', which was within the second predetermined position range and predetermined angle range in the processes from S10 to S16, does not deviate from the second predetermined position range and predetermined angle range. The control unit 126 measures the distance the rebar tying robot 100 travels forward or backward from the start of rebar tracing control in S10 to the end of rebar tracing control in S16, and in the return process in S18, moves the rebar tying robot 100 in the opposite direction by the same distance. As shown in Figure 25, the rebar tying robot 100 moves in the reverse direction while the left-right position and angle of the first rebar R1' match the reference position and reference angle. As shown in Figure 23, after S18, the process proceeds to S20.

[0130] In S20, the control unit 126 starts rebar tracing control, similar to S10. This causes the rebar tying robot 100 to start moving forward or backward along the first rebar R1'.

[0131] In S22, the control unit 126 determines whether the position of the second reinforcing bar R2 in the front-to-back direction, as detected by the reinforcing bar detection sensor (not shown), is within a predetermined range from the reference position. The predetermined range is the range within which the reinforcing bar tying unit 2 can perform tying work if the position of the second reinforcing bar R2 is within that range. If the position of the second reinforcing bar R2 in the front-to-back direction is not within the predetermined range (NO), the process returns to S22. If the position of the second reinforcing bar R2 in the front-to-back direction is within the predetermined range (YES), the process proceeds to S24.

[0132] In S24, the control unit 126 terminates the rebar tracing control.

[0133] In S25, the control unit 126 performs the lifting / lowering switching process. In the lifting / lowering switching process, if the solenoid 452 is energized, the control unit 126 switches the solenoid 452 from energized to de-energized. This switches the power transmission mechanism 402 from the second state to the first state, enabling the lifting / lowering mechanism 130 to be driven by the dual-purpose motor 400. The control unit 126 terminates the lifting / lowering switching process when the position detection mechanism 436 detects that the movable member 450 is in the return position. After the lifting / lowering switching process is completed, the process proceeds to S26.

[0134] In S26, the control unit 126 performs the rebar tying process. During the rebar tying process, the control unit 126 drives the lifting mechanism 130 to lower the rebar tying unit 2 to its lower limit position, and then sends a tying instruction signal to the control device 80. As a result, the rebar tying unit 2 is set at the intersection of the first rebar R1' and the second rebar R2, and the rebar tying unit 2 performs the tying work between the first rebar R1' and the second rebar R2. After that, the control unit 126 drives the lifting mechanism 130 to raise the rebar tying unit 2 to its upper limit position. After S26, the process proceeds to S28.

[0135] In S28, the control unit 126 determines whether the bundling operation performed in S26 was completed successfully. If it is determined that the bundling operation was not completed successfully (NO), the process returns to S26. If it is determined that the bundling operation was completed successfully (YES), the process proceeds to S30.

[0136] In S30, the control unit 126 determines whether all tying work for the first reinforcing bar R1' has been completed. If it is determined that it has not been completed yet (NO), the process returns to S20. By repeatedly performing the processes from S20 to S30, as shown in Figure 25, the reinforcing bar tying robot 100 moves along the first reinforcing bar R1' and repeatedly performs tying work at the intersection of the first reinforcing bar R1' and the second reinforcing bar R2.

[0137] As shown in Figure 23, if it is determined in S30 that all tying work for the first reinforcing bar R1' has been completed (i.e., the answer is YES), the process proceeds to S32.

[0138] In S32, the control unit 126 determines whether the tying work has been completed for all first reinforcing bars R1. If it is determined that it has not been completed yet (NO), the process proceeds to S34.

[0139] In S34, the control unit 126 changes the first reinforcing bar R1' that is the target of the tying work to another first reinforcing bar R1 that has not yet been tied. After S34, the process returns to S2.

[0140] If, in S32, it is determined that the tying work has been completed for all first reinforcing bars R1 (YES), then the process shown in Figure 23 is completed.

[0141] In the process shown in Figure 23, when the rebar tying robot 100 repeatedly performs the tying work at the intersections of the first rebar R1' and the second rebar R2, it may skip every other intersection. In this case, the rebar tying robot 100 may select the intersections to be tyed so that at least one of the adjacent intersections is ultimately tied.

[0142] (modified version) In the above embodiment, the power supply unit 102 and the control unit 126 may or may not be supported by the chassis 190. Also, in the above embodiment, the control unit 126 may be provided to communicate wirelessly with the rebar tying unit 2, the power supply unit 102, and the transport unit 106, respectively. In this case, the control unit 126 may be provided on an external controller operated by the user (for example, a dedicated controller, a smartphone, or a tablet terminal).

[0143] In the above embodiment, the rebar tying robot 100 is provided with a power supply unit 102 to which multiple battery packs are attached, and the power supply unit 102 is configured to supply power to the rebar tying unit 2, the transport unit 106, and the control unit 126, respectively. In another embodiment, the rebar tying robot 100 may be provided with a power cord for supplying power from an external power source instead of the power supply unit 102. In this case, power may be supplied to the rebar tying unit 2, the transport unit 106, and the control unit 126, respectively, from an external power source.

[0144] In the above embodiment, the first output shaft 414 may be connected to at least one of the right crawler 192 and the left crawler 194 instead of the lifting mechanism 130. Specifically, the first output shaft 414 may be connected to at least one of the front pulley 218 and the front pulley 244. In this case, it is not necessary to provide at least one of the right crawler motor 228 and the left crawler motor 254 in the transport unit 106, thus reducing the number of motors provided in the transport unit 106. In this case, the power transmission mechanism 402 can be switched between a third state in which power is transmitted to at least one of the right crawler 192 and the left crawler 194, and a second state in which power from the dual-purpose motor 400 is transmitted to the side stepper 196.

[0145] In the above embodiment, the second output shaft 416 may be connected to at least one of the right crawler 192 and the left crawler 194. Specifically, the second output shaft 416 may be connected to at least one of the front pulley 218 and the front pulley 244. In this case, it becomes unnecessary to provide at least one of the right crawler motor 228 and the left crawler motor 254 in the transport unit 106, thus reducing the number of motors provided in the transport unit 106. In this case, the power transmission mechanism 402 can be switched between a first state in which power from the dual-purpose motor 400 is transmitted to the lifting mechanism 130, and a third state in which power is transmitted to at least one of the right crawler 192 and the left crawler 194.

[0146] In the above embodiment, a configuration was described in which the planetary carrier 410 is connected to the first output shaft 414 and the internal gear 412 is connected to the second output shaft 416. In another embodiment, the planetary carrier 410 may be connected to the second output shaft 416 and the internal gear 412 may be connected to the first output shaft 414.

[0147] In the above embodiment, a configuration was described in which the planetary carrier 410 is positioned radially inward of the internal gear 412, an inner engagement recess 440 is formed in the planetary carrier 410, and an outer engagement recess 442 is formed in the internal gear 412. In another embodiment, the planetary carrier 410 may be positioned radially outward of the internal gear 412, an inner engagement recess 440 may be formed in the internal gear 412, and an outer engagement recess 442 may be formed in the planetary carrier 410.

[0148] In the above embodiment, a configuration was described in which the locking pin 446 engages with the outer engagement recess 442 when the solenoid 452 is energized, and the locking pin 446 engages with the inner engagement recess 440 when the solenoid 452 is de-energized. In another embodiment, the locking pin 446 may engage with the inner engagement recess 440 when the solenoid 452 is energized, or the locking pin 446 may engage with the outer engagement recess 442 when the solenoid 452 is de-energized.

[0149] In the above embodiment, a configuration was described in which the locking member 434 is moved to a first locking position when the solenoid 452 is energized, and moves to a second locking position when the solenoid 452 is de-energized. In another embodiment, the locking member 434 may be moved to a second locking position when the solenoid 452 is energized, or to a first locking position when the solenoid 452 is de-energized.

[0150] In the above embodiment, the actuator 432 is a solenoid actuator, and a configuration was described in which the locking member 434 is moved between a first locking position and a second locking position. In another embodiment, the actuator 432 may be an actuator other than a solenoid actuator. For example, the actuator 432 may be a motor. In this case, the motor may move the locking member 434 between the first locking position and the second locking position via a rack and pinion.

[0151] In the above embodiment, the power transmission mechanism 402 can be switched between a first state and a second state by utilizing a so-called planetary gear mechanism. In another embodiment, the power transmission mechanism 402 may be switched between a first state and a second state by utilizing a clutch mechanism other than a planetary gear mechanism.

[0152] In the above embodiment, a configuration was described in which the reel 500 and the wire relay mechanism 600 are provided separately on the transport unit 106 from the rebar tying unit 2. In another embodiment, the reel 500 may be provided integrally with the rebar tying unit 2. In this case, the wire relay mechanism 600 may not be provided.

[0153] In the above embodiment, a configuration was described in which the bobbin 502 is non-rotatably mounted to the base plate 204 and the wire W is drawn out from the first axial side of the bobbin 502. In another embodiment, the bobbin 502 does not have to be non-rotatable with respect to the base plate 204, and the wire W may be drawn out from a side other than the first axial side of the bobbin 502. For example, the bobbin 502 may be rotatable with respect to the base plate 204, and the wire W may be drawn out along the tangential direction of the bobbin 502 while the bobbin 502 is rotated.

[0154] In the above embodiment, the first retaining portion 510 was described in which the diameter expands as it moves in the direction of the first axial direction. In another embodiment, the first retaining portion 510 may have a flange shape that widens radially outward from the axis A3.

[0155] In the above embodiment, a configuration was described in which the longitudinal direction of the bobbin 502 substantially coincides with the direction in which the shaft A3 extends. In another embodiment, the longitudinal direction of the bobbin 502 does not necessarily coincide with the direction in which the shaft A3 extends. For example, the maximum diameter of the bobbin 502 may be greater than the length of the bobbin 502 in the direction in which the shaft A3 extends.

[0156] In the above embodiment, a configuration was described in which the guide member 506 comprises two ring portions (a first ring portion 518 and a second ring portion 520). In another embodiment, the guide member 506 may comprise only one ring portion. In yet another embodiment, the guide member 506 may comprise three or more ring portions. In this case as well, the three or more ring portions may be arranged around the axis A3 at predetermined angular intervals.

[0157] In the above embodiment, a configuration was described in which the wire W drawn from the bobbin 502 is passed through the first guide hole 528 of the first ring portion 518. In another embodiment, the wire W drawn from the bobbin 502 may be passed through the second guide hole 530 of the second ring portion 520. Since the first ring portion 518 and the second ring portion 520 are substantially axially symmetric with respect to axis A3, the above description relating to the first ring portion 518 with the wire W passed through it can also be applied to the second ring portion 520 with the wire W passed through it.

[0158] In the above embodiment, a configuration was described in which the braking section 522 of the guide member 506 is a so-called magnetic brake. In another embodiment, the braking section 522 does not have to be a magnetic brake. For example, the braking section 522 may be a so-called friction brake that applies braking force to the rotor section 516 by pressing a friction material against the rotating plate section 524.

[0159] In the above embodiment, a configuration was described in which a dedicated rebar tying unit 2 is attached to the rebar tying robot 100. In another embodiment, a commercially available rebar tying machine (for example, the TR180D sold by Makita Corporation) may be attached to the rebar tying robot 100. In this case, the reel 500 and the wire relay mechanism 600 may not be provided, and the wire W may be supplied from the reel provided by the rebar tying machine. The rebar tying robot 100 may also be further equipped with a gripping mechanism for gripping the trigger of the rebar tying machine. In yet another embodiment, a handle may be detachable from the rebar tying unit 2 of this embodiment. The rebar tying unit 2 may also be removed from the chassis 190 and used as a handheld rebar tying machine. In this case as well, the wire W may be supplied from the reel 500 to the rebar tying unit 2. The reel 500 may be fixed to the chassis 190, or it may be removed from the chassis 190, similar to the rebar tying unit 2. When the rebar tying unit 2 and the reel 500 are removed from the chassis 190, the reel 500 may be portable, for example, by being carried on the user's back.

[0160] In the above embodiment, the rebar tying robot 100 may be provided with an emergency stop button for the user to emergency stop the operation of the rebar tying robot 100. In this case, when the emergency stop button is pressed by the user, the control unit 126 stops the right crawler motor 228, the left crawler motor 254, and the multi-purpose motor 400. When the user instructs the robot to resume operation after the danger has been removed, the control unit 126 first performs a movement switching process and drives the multi-purpose motor 400 to return the front crank mechanism 276 and the rear crank mechanism 277 to the zero point position. After that, it performs a lifting / lowering switching process and drives the multi-purpose motor 400 to return the lifting / lowering mechanism 130 to the upper limit position. After that, the control unit 126 operates the rebar tying robot 100 with normal control. The emergency stop button may be provided near the outer circumference of the rebar tying robot 100, for example, near the ends in the front-to-back or left-to-right direction, so that it is easy for the user to press in an emergency. Additionally, multiple emergency stop buttons may be provided.

[0161] In the above embodiment, the rebar tying robot 100 may be provided with an operation indicator (not shown) that displays the operating status of the rebar tying robot 100. In this case, the operation indicator may display to the user the status of the tying work performed by the rebar tying robot 100. The status of the tying work may include, for example, a state in which all intersections of the first rebar R1 and the second rebar R2 are tied, or a state in which every other intersection of the first rebar R1 and the second rebar R2 is tied. Alternatively, the operation indicator may display to the user a state in which the rebar tying robot 100 has abnormally stopped. The operation indicator may display the operating status of the rebar tying robot 100 by, for example, the light emission color of one or more light-emitting parts, a flashing pattern, or a combination thereof.

[0162] (Correspondence) As described above, in one or more embodiments, the rebar tying robot 100 is capable of repeatedly performing the following actions with respect to a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 that intersect with the plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2: moving over a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 that intersect with the plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2. The rebar tying robot 100 includes a rebar tying unit 2 that ties the intersections of a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 with a wire W, a transport unit 106 that transports the rebar tying unit 2, a control unit 126 that controls the operation of the rebar tying unit 2 and the transport unit 106, and a reel 500 having a bobbin 502 and a wire W wound around the bobbin 502 and supplied to the rebar tying unit 2. The reel 500 is provided on the transport unit 106 separately from the rebar tying unit 2.

[0163] With the above configuration, a reel 500 specifically for the rebar tying robot 100 can be provided on the transport unit 106 separately from the rebar tying unit 2, allowing the reel 500 to be made larger. This allows the length of the wire W on the reel 500 to be sufficiently long. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying robot 100.

[0164] In one or more embodiments, the rebar tying unit 2 includes a feed motor 22 that feeds the wire W to the tying work location. As the feed motor 22 feeds the wire W to the tying work location, the wire W is pulled out from the bobbin 502.

[0165] For example, if a separate motor is provided to pull the wire W from the bobbin 502 and feed it to the rebar tying unit 2, this could lead to an increase in the manufacturing cost of the rebar tying robot 100. With the above configuration, there is no need to provide a separate motor to pull the wire W from the bobbin 502 and feed it to the rebar tying unit 2, and the manufacturing cost of the rebar tying robot 100 can be reduced.

[0166] In one or more embodiments, the bobbin 502 is formed in a substantially rotating shape about an axis A3 (example of a first axis) and is fixed non-rotatably to the transport unit 106. The wire W is wound around the axis A3 on the bobbin 502. When the wire W is pulled out from the bobbin 502, the wire W is pulled out from the first axial direction side (example of a first direction) along the axis A3.

[0167] One method for drawing the wire W from the bobbin 502 is to rotatably mount the bobbin 502 relative to the transport unit 106 and draw the wire W along the tangential direction of the bobbin 502 while rotating the bobbin 502. However, with this method, if the reel 500 is enlarged, the increased inertia of the entire reel 500 may make it difficult to draw the wire W. With the above configuration, the wire W can be drawn without rotating the bobbin 502. Therefore, the wire W can be easily drawn regardless of the size of the reel 500.

[0168] In one or more embodiments, axis A3 is inclined from downward to upward with respect to the horizontal direction as it moves in the direction of the first axis.

[0169] For example, if axis A3 is inclined from upward to downward as it moves in the direction of the first axis relative to the horizontal direction, then when the wire W is pulled out from the bobbin 502, the wire W may be pulled out excessively due to gravity. With the above configuration, when the wire W is pulled out from the bobbin 502, the wire W is pulled out in a manner that resists gravity. Therefore, it is possible to suppress the excessive pulling out of the wire W from the bobbin 502.

[0170] In one or more embodiments, the longitudinal direction of the bobbin 502 is the direction in which the axis A3 extends.

[0171] When using a bobbin 502 whose longitudinal direction is in the direction in which the shaft A3 extends, the length of the wire W on the reel 500 can be sufficiently increased even if the size of the bobbin 502 in the radial direction of the shaft A3 is reduced. Also, when pulling out the wire W along the shaft A3, the smaller the size of the bobbin 502 in the radial direction of the shaft A3, the smoother the wire W can be pulled out from the bobbin 502. With the above configuration, the size of the bobbin 502 in the radial direction of the shaft A3 can be reduced, so when pulling out the wire W along the shaft A3, the wire W can be pulled out smoothly from the bobbin 502.

[0172] In one or more embodiments, when the direction opposite to the first axial direction is defined as the second axial direction (example of the second direction), the bobbin 502 is formed in a substantially cylindrical shape centered on axis A3 and includes a winding section 508 around which the wire W is wound, a first retaining section 510 connected to the first axial end of the winding section 508 and having an outer diameter larger than the outer diameter of the winding section 508, and a second retaining section 512 connected to the second axial end of the winding section 508 and having an outer diameter larger than the outer diameter of the winding section 508.

[0173] With the above configuration, the first retaining portion 510 and the second retaining portion 512 can prevent the wire W wound around the winding portion 508 from falling out in the first axial direction or the second axial direction.

[0174] In one or more embodiments, the first retaining portion 510 has an expanding diameter shape that widens as it moves in the first axial direction. The second retaining portion 512 has a flange shape that widens radially outward along the axis A3.

[0175] With the above configuration, when the wire W pulled out in the first axial direction passes through the first retaining portion 510, the wire W is pulled out along the enlarged diameter shape of the first retaining portion 510. Therefore, bending and snagging of the wire W in the first retaining portion 510 can be suppressed. Furthermore, with the above configuration, the flange surface of the second retaining portion 512 can more effectively suppress the wire W wound around the winding portion 508 from falling out in the second axial direction.

[0176] In one or more embodiments, the reel 500 includes a guide member 506 on the first axial side of the bobbin 502 for guiding the wire W drawn from the bobbin 502. The guide member 506 includes a shaft portion 514 extending on the axis A3, a rotor portion 516 rotatably mounted on the shaft portion 514, and a first ring portion 518 and a second ring portion 520 (example of at least one ring portion) held by the rotor portion 516 and forming a first guide hole 528 and a second guide hole 530 (example of guide holes) for guiding the wire W drawn from the bobbin 502. The first guide hole 528 and the second guide hole 530 are located radially outward of the axis A3 than the first retaining portion 510.

[0177] When the wire W is pulled out from the bobbin 502, the wire W is unwound in the direction opposite to the winding direction relative to the bobbin 502 and pulled out in the first axial direction. At this time, if the wire W slides against the first retaining part 510, bending or snagging of the wire W may occur. With the above configuration, the rotor part 516 that holds the first ring part 518 (or second ring part 520) through which the wire W is passed rotates in the direction opposite to the winding direction of the wire W as the wire W is pulled out. In addition, the first guide hole 528 and the second guide hole 530 of the first ring part 518 and the second ring part 520 are positioned radially outward of the axis A3 than the first retaining part 510. Therefore, when the wire W is pulled out from the bobbin 502, sliding of the wire W against the first retaining part 510 is suppressed. With the above configuration, bending and snagging of the wire W can be suppressed.

[0178] In one or more embodiments, there are two or more first ring portions 518 and second ring portions 520.

[0179] Generally, the first ring portion 518 (or the second ring portion 520) through which the wire W is passed may wear down as the wire W is pulled out. With the above configuration, even if the first ring portion 518 (or the second ring portion 520) becomes unusable due to wear, the second ring portion 520 (or the first ring portion 518) can be used, thus reducing the frequency of replacement of the guide member 506.

[0180] In one or more embodiments, the rotor portion 516 is formed in a substantially axially symmetric shape with respect to the axis A3.

[0181] With the above configuration, the rotational balance of the rotor 516 can be improved, and the rotation of the rotor 516 can be made smooth. As a result, the guide member 506 can smoothly guide the wire W drawn out from the bobbin 502.

[0182] In one or more embodiments, the guide member 506 further comprises a braking unit 522 that applies a braking force to the rotating rotor unit 516.

[0183] The rotor 516 will continue to rotate due to inertia even after the wire W has stopped being pulled out. Therefore, if the rotor 516 is not braked, there is a possibility that the wire W will be excessively unwound from the bobbin 502 after the wire W has stopped being pulled out. With the above configuration, it is possible to suppress the excessive unwounding of the wire W from the bobbin 502 after the wire W has stopped being pulled out.

[0184] In one or more embodiments, the braking unit 522 applies a non-contact braking force to the rotating rotor unit 516.

[0185] For example, when the braking unit 522 contacts the rotating rotor unit 516 to apply braking force, dust may be generated due to wear between the rotor unit 516 and the braking unit 522. With the above configuration, the generation of dust can be suppressed.

[0186] In one or more embodiments, the rotor portion 516 includes a plate portion 524 formed of a conductor. A braking portion 522 is non-rotatably mounted to the shaft portion 514. The braking portion 522 includes a magnetic member 532 positioned spaced apart from the plate portion 524 in a second axial direction (e.g., a first or second direction). The magnetic member 532 generates eddy currents in the plate portion 524 when the plate portion 524 rotates relative to the magnetic member 532, and applies a Lorentz force due to the eddy currents as a braking force to the rotor portion 516.

[0187] If a sudden braking force is applied to the rotating rotor 516, the wire W may bend in the first ring portion 518 (or the second ring portion 520). With the above configuration, the braking unit 522 can apply a braking force to the rotor 516 that is proportional to the rotational speed of the rotor 516. Therefore, it is possible to suppress the application of a sudden braking force to the rotating rotor 516, and to suppress the bending of the wire W in the first ring portion 518 (or the second ring portion 520).

[0188] In one or more embodiments, the first ring portion 518 and the second ring portion 520 are pivotably mounted relative to the rotor portion 516 around an axis (an example of a predetermined pivot axis) extending longitudinally from the ring holder portion 526.

[0189] With the above configuration, wear of the first ring portion 518 (or the second ring portion 520) associated with the pulling out of the wire W can be suppressed compared to the case where the first ring portion 518 and the second ring portion 520 are fixed to the rotor portion 516.

[0190] In one or more embodiments, when the winding direction is defined as the circumferential direction of the axis A3 and the direction in which the wire W is wound when the wire W is wound onto the bobbin 502, when the first ring portion 518 (or the second ring portion 520) of the first ring portion 518 (or the second ring portion 520) through which the wire W drawn from the bobbin 502 is passed is viewed from the radially outer side of the axis A3, the hole axis A4 of the first guide hole 528 (or the second guide hole 530) of the first ring portion 518 (or the second ring portion 520) is inclined toward the winding direction as it moves toward the first axial direction.

[0191] When the wire W is pulled out from the first axial side of the bobbin 502, the wire W is pulled out in the first axial direction while being unwound in the opposite direction to the winding direction relative to the bobbin 502. At this time, the wire W immediately after being unwound from the bobbin 502 extends in the direction of the first axial direction as it moves toward the winding direction. With the above configuration, the hole axis A4 of the first guide hole 528 (or second guide hole 530) of the first ring portion 518 (or second ring portion 520) is provided to be aligned with the extending direction of the wire W immediately after being unwound from the bobbin 502. Therefore, when the wire W is passed through the first ring portion 518 (or second ring portion 520), bending of the wire W by contact with the peripheral edge of the first guide hole 528 (or second guide hole 530) is suppressed.

[0192] In one or more embodiments, the rebar tying robot 100 is capable of repeatedly performing the following actions with respect to a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 that intersect with the plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2: moving over a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 that intersect with the plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2. The rebar tying robot 100 includes a rebar tying unit 2 that ties the intersections of a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 with a wire W, a transport unit 106 that transports the rebar tying unit 2, a control unit 126 that controls the operation of the rebar tying unit 2 and the transport unit 106, and a reel 500 having a bobbin 502 and a wire W wound around the bobbin 502 and supplied to the rebar tying unit 2. The rebar tying robot 100 can continuously tie multiple first rebars R1 and multiple second rebars R2 at intersections more than 300 times.

[0193] With the above configuration, multiple first reinforcing bars R1 and multiple second reinforcing bars R2 can be tied together more than 300 times without replacing the reel 500. Therefore, the frequency of reel replacement can be reduced.

[0194] In one or more embodiments, when the length of the wire W used by the rebar tying unit 2 to tie together the points where multiple first rebars R1 and multiple second rebars R2 intersect is defined as a first length, the bobbin 502 is wound with a wire W that is 300 times or more the first length.

[0195] Specifically, in conventional rebar tying robots 100, where the rebar tying unit and reel are integrated, it was not possible to wind a wire W of a length 300 times or more the first length onto the bobbin 502. With the above configuration, it is possible to wind a wire W of a length 300 times or more the first length onto the bobbin 502. This increases the number of continuous tying operations that the rebar tying robot 100 can perform and reduces the frequency of reel replacement.

[0196] In one or more embodiments, the reel 500 is a rebar tying robot 100 that includes a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 intersecting the plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 intersecting the plurality of first reinforcing bars R1 with a wire W to tie the points where the plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 intersect, and a transport unit 106 for transporting the rebar tying unit 2. The reel 500 has a bobbin 502 and a wire W wound around the bobbin 502 and supplied to the rebar tying unit 2. The reel 500 is provided separately from the rebar tying unit 2 in the transport unit 106.

[0197] With the above configuration, a reel 500 specifically for the rebar tying robot 100 can be provided on the transport unit 106 separately from the rebar tying unit 2, allowing the reel 500 to be made larger. This allows the length of the wire W on the reel 500 to be sufficiently long. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying robot 100.

[0198] In one or more embodiments, the rebar tying machine is capable of tying together a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 that intersect with the plurality of first reinforcing bars R1 at the points where the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2 intersect. The rebar tying machine comprises a rebar tying unit 2 that ties together the points where the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2 intersect with wire W, and a reel 500 having a bobbin 502 and wire W wound around the bobbin 502 and supplied to the rebar tying unit 2. The reel 500 is provided separately from the rebar tying unit 2.

[0199] According to the above configuration, a reel 500 specifically for the rebar tying machine can be provided separately from the rebar tying unit 2, allowing the reel 500 to be made larger. This makes it possible to sufficiently increase the length of the wire W on the reel 500. According to the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying machine.

[0200] In one or more embodiments, the rebar tying robot 100 includes a chassis 190, a rebar tying unit 2 that is vertically movable relative to the chassis 190, both a right-side crawler 192 and a left-side crawler 194 (an example of a planar movement mechanism) that are capable of moving the chassis 190 forward and backward and / or left and right, and a reel 500 having a bobbin 502 and a wire W wound around the bobbin 502 and supplied to the rebar tying unit 2. The reel 500 is held on the chassis 190 separately from the rebar tying unit 2.

[0201] With the above configuration, a reel 500 specifically for the rebar tying robot 100 can be provided on the transport unit 106 separately from the rebar tying unit 2, allowing the reel 500 to be made larger. This allows the length of the wire W on the reel 500 to be sufficiently long. With the above configuration, the frequency of reel replacement can be reduced by increasing the number of continuous tying cycles of the rebar tying robot 100.

[0202] In one or more embodiments, the rebar tying robot 100 includes a chassis 190, a rebar tying unit 2 held on the chassis 190, both a right-side crawler 192 and a left-side crawler 194 (an example of a planar movement mechanism) that can move the chassis 190 forward and backward and / or left and right, a reel 500 having a bobbin 502 and a wire W wound around the bobbin 502 that is long enough to tie 300 or more rebars, and a power supply unit 102 (an example of a battery device) held on the chassis 190. The rebar tying robot 100 is capable of tying 300 or more rebars and moving in the planar direction between them.

[0203] With the above configuration, multiple first reinforcing bars R1 and multiple second reinforcing bars R2 can be tied together more than 300 times without replacing the reel 500. Therefore, the frequency of reel replacement can be reduced. [Explanation of symbols]

[0204] 2: Rebar tying unit 3: Housing 3a: Fitting part 3b: Through hole 4: Main body 6: Grip part 10: Guide reel 12: Feed mechanism 14: Information Mechanism 18: Cutting mechanism 20: Mechanism 21: Insertion member 22: Feed motor 24: Main roller 26: Driven roller 28: Guide pipe 30: Upper curl guide 32: Lower curl guide 34: First Information Corridor 38: Guide pin 40: Cutter 42: Return board 52: Link 54: Motor 56: Reduction mechanism 58: Screw shaft 60: Sleeves 61: Push Plate 62: Hook 80: Control device 100: Rebar tying robot 102: Power supply unit 106: Conveyor Unit 126: Control Unit 130: Lifting mechanism 132: Worm gear case 134: Lifting Arm 136: Worm shaft 138: Slider-crank mechanism 142: Crankshaft 144: Crank arm 146: Crankpin 148: Crank Rod 150: Slider pin 152: Slider 153: Rail 154: Base component 156: First interference pin 158: Long hole 160: Second interference pin 162: Spring 163: First Fin 164: Second Fin 166: Cam 168: First photosensor 170: Second photo sensor 190: Chassis 192: Right-side crawler 194: Left crawler 196: Side Stepper 204: Base plate 204a: Through hole 210: Right side plate 212: Left side plate 214: Base frame 215: Front connecting frame 216: Rear connecting frame 218: Front pulley 220: Rear pulley 222: Auxiliary pulley 224: Tensioner Pulley 226: Rubber belt 228: Right-side crawler motor 230: Gearbox 232: Bearings 234: Bearings 236: Bearings 237: Movable bearing 244: Front pulley 246: Rear pulley 248: Auxiliary pulley 250: Tensioner Pulley 252: Rubber belt 254: Left-side crawler motor 256: Gearbox 258: Bearings 260: Bearings 262: Bearings 264: Movable bearing 272: Step Bar 274: Step bar 276: Front crank mechanism 277: Rear crank mechanism 278, 306: Support plate 280, 282: Pulley 280a, 282a: Axis 283, 311: Tensioner pulley 284, 312: Belt 286, 288: Crank arm 286a, 288a: Fitting hole 286b, 288b: Long hole 290, 292: Crankpin 294, 322: Crank Plate 296, 298: Laura 300, 328: Guide plate 302, 304: Guide groove 308, 310: Pulley 308a, 310a: Axis 314, 316: Crank arm 314a, 316a: Fitting hole 314b, 316b: Long hole 318, 320: Crankpin 324, 326: Laura 330, 332: Guide grooves 400: Multi-purpose motor 402: Power transmission mechanism 404: Input shaft 406: Sun Gear 408: Planetary gear 410: Planetary Carrier 412: Internal gear 414: First output shaft 416: Second output shaft 418: First spur gear 420: Second spur gear 422: Third spur gear 424: Worm shaft 426: Worm wheel 428: Rotational transmission shaft 430: Universal joint 432: Actuator 434: Locking member 436: Position detection mechanism 438: Gearbox 440: Inner engagement recess 440a: Internal recessed groove 442:Outer engagement recess 442a: Lateral recessed groove 444: Locking arm 446: Locking pin 448: Operating pin 450: Movable member 452: Solenoid 454: First spring member 456: Cap 458: First slide hole 460: Cavity 462: Second slide hole 464: recess 466: Second spring member 468: Third spring member 470: Slider 470a: Convex part 500: Reel 502: Bobbin 504: Bobbin shaft 506: Guide member 508: Winding section 510: First retaining section 512: Second retaining section 514: Shaft section 516: Rotor section 518: First Ring Section 520: Second Ring Section 522: Braking part 524: Plate section 526: Ring holding part 528: First guide hole 530: Second guide hole 532: Magnetic material 600: Wire relay mechanism 602: Base 604: Guide roller 606, 607: Feed rollers 608: Insertion member R1, R1': First reinforcing bar R2: Second reinforcing bar S: Sidestep trajectory W: wire

Claims

1. A rebar tying robot capable of repeatedly performing the following actions with respect to a plurality of first rebars and a plurality of second rebars intersecting the plurality of first rebars: moving along the plurality of first rebars and the plurality of second rebars intersecting the plurality of first rebars, and tying together the points where the plurality of first rebars and the plurality of second rebars intersect, A rebar tying unit that uses wire to tie together the points where the plurality of first rebars and the plurality of second rebars intersect, A transport unit for transporting the aforementioned rebar tying unit, A control unit that controls the operation of the rebar tying unit and the transport unit, The device comprises a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit, A rebar tying robot in which the reel is provided on the transport unit separately from the rebar tying unit.

2. The aforementioned rebar tying unit is equipped with a feed motor that feeds the wire to the tying work location. The rebar tying robot according to claim 1, wherein the wire is drawn out from the bobbin as the wire is fed to the tying work location by the feed motor.

3. The bobbin is formed in a substantially rotating shape around the first axis and is fixed to the transport unit in a way that prevents rotation. The wire is wound around the first axis on the bobbin, The rebar tying robot according to claim 1 or 2, wherein when the wire is pulled out from the bobbin, the wire is pulled out from the first direction side along the first axis.

4. The rebar tying robot according to claim 3, wherein the first axis is inclined with respect to the horizontal direction, from downward to upward as it moves toward the first direction.

5. The rebar tying robot according to claim 3 or 4, wherein the longitudinal direction of the bobbin is the direction in which the first axis extends.

6. When the direction opposite to the first direction is taken as the second direction, The bobbin mentioned above It is formed in a substantially cylindrical shape centered on the first axis, and includes a winding section around which the wire is wound, A first retaining portion is connected to the end of the winding portion on the first direction side and has an outer diameter larger than the outer diameter of the winding portion, A rebar tying robot according to any one of claims 3 to 5, comprising: a second retaining portion connected to the end of the winding portion on the second direction side and having an outer diameter larger than the outer diameter of the winding portion.

7. The first retaining portion has an expanding diameter shape that widens as it moves in the first direction, The rebar tying robot according to claim 6, wherein the second retaining portion has a flange shape that widens radially outward toward the first axis.

8. The reel is provided with a guide member on the first direction side of the bobbin for guiding the wire drawn out from the bobbin, The guide member, The shaft portion extending along the first axis, A rotor portion is rotatably mounted to the aforementioned shaft portion, It comprises at least one ring portion that is held in the rotor portion and forms a guide hole for guiding the wire drawn out from the bobbin, The rebar tying robot according to claim 6, wherein the guide hole is positioned radially outward of the first axis than the first retaining portion.

9. The rebar tying robot according to claim 8, wherein two or more of the aforementioned at least one ring portion are provided.

10. The rebar tying robot according to claim 9, wherein the rotor portion is formed in a substantially axially symmetric shape with respect to the first axis.

11. The rebar tying robot according to any one of claims 8 to 10, wherein the guide member further comprises a braking unit that applies braking force to the rotating rotor.

12. The rebar tying robot according to claim 11, wherein the braking unit applies the braking force to the rotating rotor without contact.

13. The rotor portion comprises a plate portion formed of a conductor, The braking unit is mounted so as not to rotate with respect to the shaft unit. The braking portion includes a magnetic member that is spaced apart from the plate portion in the first or second direction, The rebar tying robot according to claim 12, wherein the magnetic member generates eddy currents in the plate portion when the plate portion rotates relative to the magnetic member, and applies the Lorentz force due to the eddy currents to the rotor portion as the braking force.

14. A rebar tying robot according to any one of claims 8 to 13, wherein at least one ring portion is provided with respect to the rotor portion so as to be able to swing around a predetermined pivot axis.

15. When the winding direction is defined as the circumferential direction of the first axis, and the direction along which the wire is wound when winding the wire onto the bobbin, A rebar tying robot according to any one of claims 8 to 14, wherein, when the ring portion through which the wire drawn from the bobbin is passed is viewed in plan from the radially outer side of the first axis, the hole axis of the guide hole in the ring portion is inclined toward the winding direction as it moves toward the first direction.

16. A rebar tying robot capable of repeatedly performing the following actions with respect to a plurality of first rebars and a plurality of second rebars intersecting the plurality of first rebars: moving along the plurality of first rebars and the plurality of second rebars intersecting the plurality of first rebars, and tying together the points where the plurality of first rebars and the plurality of second rebars intersect, A rebar tying unit that uses wire to tie together the points where the plurality of first rebars and the plurality of second rebars intersect, A transport unit for transporting the aforementioned rebar tying unit, A control unit that controls the operation of the rebar tying unit and the transport unit, The device comprises a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit, A rebar tying robot capable of continuously tying together the intersections of the aforementioned multiple first rebars and multiple second rebars 300 times or more.

17. When the length of the wire used by the rebar tying unit to tie the points where the plurality of first rebars and the plurality of second rebars intersect is set to a first length, The rebar tying robot according to claim 16, wherein the bobbin is wound with the wire having a length of 300 times or more the first length.

18. A reel for a rebar tying robot, comprising: a rebar tying unit that ties together multiple first reinforcing bars and multiple second reinforcing bars that intersect with the multiple first reinforcing bars using a wire at the points where the multiple first reinforcing bars and the multiple second reinforcing bars intersect; and a transport unit that transports the rebar tying unit, Bobbin and, The system comprises the wire wound around the bobbin and supplied to the rebar tying unit, A reel is provided in the transport unit separately from the rebar tying unit.

19. A rebar tying machine capable of tying together multiple first reinforcing bars and multiple second reinforcing bars that intersect with the multiple first reinforcing bars, at the points where the multiple first reinforcing bars and the multiple second reinforcing bars intersect, A rebar tying unit that uses wire to tie together the points where the plurality of first rebars and the plurality of second rebars intersect, The device comprises a reel having a bobbin and the wire wound around the bobbin and supplied to the rebar tying unit, A rebar tying machine in which the reel is provided separately from the rebar tying unit.

20. The base and A rebar tying unit that can move up and down is provided on the aforementioned base, The base is provided with a planar movement mechanism that allows it to move forward and backward and / or left and right, The device comprises a reel having a bobbin and a wire wound around the bobbin and supplied to the rebar tying unit, A rebar tying robot in which the reel is held on the base separately from the rebar tying unit.

21. The base and The rebar tying unit held by the base, The base is provided with a planar movement mechanism that allows it to move forward and backward and / or left and right, A reel having a bobbin and a wire wound around the bobbin, having a length capable of tying rebars 300 or more times, It comprises a battery device held on the aforementioned base, A rebar tying robot capable of tying rebar more than 300 times and moving in a planar direction between ties.

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