Binding device and program

Abstract

The present invention provides a binding device that can determine the position of intersections in three dimensions, even when the object to be bound, which includes intersections of multiple reinforcing bars, is assembled in a three-dimensional manner. [Solution] The binding device 301 includes a binding section 100 capable of binding a workpiece B including the intersection of the main reinforcement bars Sm and the tie bars Ss, a position information identification section 324 capable of identifying the intersection position of the main reinforcement bars Sm and the tie bars Ss, a plurality of holding jigs 323 arranged around the workpiece B, and an overall imaging section 303 capable of photographing the position information identification section 324. Based on the holding jig position information obtained from the position information identification section 324 photographed by the overall imaging section 303, the device determines the intersection position information of the main reinforcement bars Sm and the tie bars Ss.

Description

Technical Field

[0001] The present invention relates to a binding device for binding reinforcing bars with a wire and a program executed by the binding device.

Background Art

[0002] Reinforcing bars are used in concrete structures to improve their strength, and are bound with wires so that the reinforcing bars do not shift from their predetermined positions during concrete placement.

[0003] Conventionally, a binding machine has been proposed that is provided with a wire feeding unit that feeds a wire to a binding unit, winds the wire around two or more reinforcing bars, and twists the wire wound around the reinforcing bars to bind the two or more reinforcing bars with the wire.

[0004] Techniques applying such a reinforcing bar binding machine to facility equipment for installation and use have been proposed. Conventional binding equipment obtains two-dimensional image data with a camera that photographs the reinforcing bars in order to determine the positions of the intersections of the reinforcing bars to be bound, determines the positions of the intersections of the reinforcing bars by image processing of the photographed images, and positions the binding machine with a moving mechanism to perform binding on the intersections (see, for example, Patent Document 1).

[0005] In addition, techniques have been proposed that read a map and enable identification of the two-dimensional positions of intersections (see, for example, Patent Document 2).

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] Conventional tying devices can properly identify and tie intersections when the workpiece consists of reinforcing bars arranged in a planar grid. However, in recent years, there has been a demand for tying intersections of reinforcing bars arranged in a three-dimensional structure, such as those used in columns and beams. In the case of three-dimensionally arranged reinforcing bars, it is difficult to photograph all intersections with a camera, and the process of determining the position of the 3D intersections is time-consuming and computationally intensive. Similarly, creating a 3D map is also time-consuming.

[0008] The present invention was made to solve these problems, and aims to provide a binding device and program that can determine the position of three-dimensional intersections even when the object to be bound, which includes intersections of multiple reinforcing bars, is assembled in a three-dimensional manner. [Means for solving the problem]

[0009] To solve the above-mentioned problems, the present invention provides a binding device comprising: a binding section capable of binding an object to be bound that includes the intersections of multiple reinforcing bars; a reference section containing positional information and capable of being positioned around the object to be bound; an observation section capable of observing the reference section; and a determination section that determines the intersection positions of the object to be bound based on the positional information of the reference section observed by the observation section.

[0010] Furthermore, the present invention is a program that enables a computer controlling a binding device, which comprises a binding unit capable of binding objects including the intersections of multiple reinforcing bars, a reference unit that includes positional information and can be positioned around the objects to be bound, and an observation unit capable of observing the reference unit, to implement the function of a determination unit that determines the intersection positions of objects to be bound based on the positional information of the reference unit observed by the observation unit. [Effects of the Invention]

[0011] According to the present invention, the intersection coordinates of all intersections can be determined using positional information obtained from a number of reference points that is less than the number of intersections of multiple reinforcing bars. This eliminates the need to photograph all intersections and then calculate all intersection coordinates from the captured information, thereby reducing the processing time for calculating intersection coordinates and suppressing the complexity of the calculations. [Brief explanation of the drawing]

[0012] [Figure 1] This is a perspective view showing an example of the bundling system of this embodiment. [Figure 2] This is a perspective view showing an example of the main components of the binding system according to this embodiment. [Figure 3] This is a block diagram showing the schematic control configuration of the bundling system of this embodiment. [Figure 4] Side view showing an example of a binding device. [Figure 5] This is a side view of the internal components of an example of a rebar tying machine. [Modes for carrying out the invention]

[0013] Hereinafter, embodiments of the bundling device and program of the present invention will be described with reference to the drawings.

[0014] <Example of the configuration of the binding device of this embodiment> Figure 1 is a perspective view showing an example of the binding device of this embodiment, and Figure 2 is a perspective view showing an example of the main components of the binding device of this embodiment. In the following description of the binding device, the XYZ directions refer to the directions shown in Figures 1 and 2. The XYZ directions are orthogonal to each other, the XY plane is approximately horizontal, and the Z direction is approximately vertical.

[0015] The bundling device 301 comprises a bundling section 100 and a robotic arm 300. The bundling device 301 also comprises an overall imaging section 303, individual imaging sections 305 provided on the bundling section 100, and a frame 311 on which the robotic arm 300 and the overall imaging section 303 are mounted. The bundling device 301 is also referred to as a bundling system.

[0016] The frame 311 is formed in the shape of a rectangular parallelepiped with an elongated length in the X direction, and includes four support columns 312 erected at the four corners in the X and Y directions, and a plurality of beams 313 that span across the upper ends of the support columns 312 in the X and Y directions.

[0017] Of the area inside the gantry 311, a substantially half of one side in the X direction (the right side in FIG. 1) is a shooting area E1 where shooting by the overall shooting unit 303 is performed, and the other half (the left side in FIG. 1) is a bundling area E2 where the bundling operation by the robot arm 300 and the bundling unit 100 is performed.

[0018] The bundling device 301 holds a workpiece B in which a plurality of main reinforcements Sm and a plurality of stirrups Ss are arranged in a cubic shape as reinforcing bars S by a workpiece holding unit 302. The workpiece holding unit 302 holds the workpiece B and moves the held workpiece B between the shooting area E1 and the bundling area E2. Specifically, the workpiece holding unit 302 includes a holding table 321 that holds the workpiece B, a rail 322 that supports the holding table 321 movably, and a drive motor (not shown) that drives the rail 322.

[0019] The holding table 321 includes a plurality of holding jigs 323 that hold the workpiece B. The holding jig 323 is an example of a reference part and includes a position information identification part 324 that can identify the intersection position between the main reinforcement Sm and the stirrup Ss, and is arranged around the workpiece B that is the object to be bundled held by the workpiece holding unit 302. The position information identification part 324 is, for example, visible information that can be shot by the overall shooting unit 303 or the individual shooting unit 305, or the overall shooting unit 303 and the individual shooting unit 305.

[0020] The workpiece B is configured in a cubic shape by combining four main reinforcements Sm(1) to Sm(4) that extend linearly and three stirrups Ss(a) to (c) that are bent in a square shape.

[0021] For such a workpiece B, the holding jig 323 includes four holding jigs 323(1) to 323(4) that hold each main reinforcement Sm(1) to Sm(4), and three holding jigs 323(a) to 323(c) that hold each stirrup Ss(a) to (c).

[0022] The position information identification unit 324 provided in the holding fixtures 323(1) to 323(4) includes, as position information, holding fixture position information P1 consisting of at least coordinate information in the X-axis direction and coordinate information in the Z-axis direction. The holding fixture position information P1 of the holding fixtures 323(1) to 323(4) is denoted as (Xn1, Zn2). In this example, n1=1,2 and n2=1,2.

[0023] The position information identification unit 324 provided in the holding fixtures 323(a) to 323(b) includes, as position information, holding fixture position information P2 consisting of at least coordinate information in the Y-axis direction. The holding fixture position information P2 of the holding fixtures 323(a) to 323(c) is denoted as (Yn3). In this example, n3 = 1 to 3.

[0024] The intersection position information P3 between the main reinforcement Sm and the stirrup Ss is represented by three-dimensional coordinate information (Xm1, Ym1, Zm1). The intersection position information P3 between the main reinforcement Sm and the stirrup Ss is identified in the X-axis and Z-axis directions by the retaining jig position information P1 obtained from the position information identification unit 324 of the retaining jig 323(1) to 323(4), and in the Y-axis direction by the retaining jig position information P2 obtained from the position information identification unit 324 of the retaining jig 323(a) to 323(c).

[0025] The rail 322 is laid along the X direction and guides the holding base 321 in the X direction. In this embodiment, the rail 322 is laid so that the holding base 321 (workpiece B) can move at least between the shooting area E1 and the binding area E2. However, the rail 322 may be extended to the outside of the frame 311, and the workpiece B may be configured to move to the work processes before and after binding.

[0026] The overall imaging unit 303 is an example of an observation unit that images the entire workpiece B at once, or in multiple divided regions. Specifically, the overall imaging unit 303 includes a first camera 331 positioned above the imaging area E1, and a moving mechanism 332 that movably supports the first camera 331.

[0027] The first camera 331 is positioned facing downwards and photographs the workpiece B held by the workpiece holding unit 302 from above in the shooting area E1. The first camera 331 is a compound-lens (e.g., quad-lens) stereo camera and is capable of acquiring distance information in the depth direction (vertical direction) along with image information (monochrome image) in the XY plane. The type of sensor of the first camera 331 is not particularly limited, as long as it is capable of acquiring distance information (depth information) along with image information.

[0028] The moving mechanism 332 includes a Y-direction slider 333 that extends along the Y-direction. The Y-direction slider 333 is spanned on a beam 313 along the X-direction and is supported on the beam 313 so as to be movable in the X-direction. The first camera 31 is suspended from the Y-direction slider 333 so as to be movable in the Y-direction. The moving mechanism 332 is driven by a drive source (not shown) to move the first camera 331 to a predetermined position (XY coordinates).

[0029] The robot arm 300 is an example of a moving part, supported by the moving mechanism 346, and moves the binding part 100 and the individual imaging part 305 to the desired position in the binding area E2.

[0030] The moving mechanism 346 includes a Y-direction slider 346a that spans the beam 313 of the frame 311. The Y-direction slider 346a moves the robot arm 300 in the Y direction. The moving mechanism 346 may also include a mechanism for moving the robot arm 300 in the X direction, for example. Furthermore, if the operating range of the robot arm 300 can cover the entire binding area E2 without relying on the moving mechanism 346, the moving mechanism 346 may not be provided.

[0031] The robot arm 300 is a ceiling-mounted, articulated robot, installed facing downwards on a Y-direction slider 346a suspended on a beam 313 in the binding area E2. Specifically, the robot arm 300 comprises a base section 341, multiple arms 342, an end effector 343, and multiple joint sections 344. Note that the robot arm 300 is not limited to an articulated robot.

[0032] Multiple arms 342 are connected in series to each other with a base portion 341 as their base end. The base portion 341 is supported by a Y-direction slider 346a of the moving mechanism 346 and is movable in the Y direction.

[0033] Multiple joints 344 rotatably connect the base 341, multiple arms 342, and the end effector 343. Each joint 344 is equipped with a motor (not shown) and rotates when driven by the motor.

[0034] The end effector 343 is connected to the ends of multiple arms 342. The end effector 343 supports individual imaging units 305 and the binding unit 100 via the mounting unit 105.

[0035] The individual imaging unit 305 is an example of a second observation unit, mounted at the tip of the robot arm 300, and individually images a single intersection P of the workpiece B in the binding area E2 with a higher resolution than imaging by the overall imaging unit 303. Specifically, the individual imaging unit 305 includes a second camera 351, a lighting unit 353, and a lifting motor (not shown).

[0036] The second camera 351 is mounted downwards on the end effector 343 of the robot arm 300 and photographs the intersection point P of the workpiece B from above. The second camera 351 is driven by a lifting motor (not shown) and moves vertically relative to the end effector 343. The second camera 351 is, for example, an RGB camera and acquires image information (color image) of the intersection point P to be bundled. The type of sensor etc. of the second camera 351 is not particularly limited as long as it is capable of acquiring an image (signal information) of at least one intersection point P.

[0037] The lighting unit 353 illuminates the object being photographed by the second camera 351.

[0038] <Example of the configuration of the control device and program for the binding device of this embodiment> Figure 3 is a block diagram illustrating the schematic control configuration of the bundling system according to this embodiment. The control device 700 is a computer that controls the bundling device 301 and comprises an operation unit 72, a display unit 73, a storage unit 76, and a control unit 77.

[0039] The operation unit 72 is an operating means for the user to perform various operations to operate the control device 700, and includes, for example, a pointing device such as a mouse or a keyboard. The display unit 73 is composed of, for example, a liquid crystal display, an organic EL display or other display, and displays various information based on display signals from the control unit 77. The display unit 73 may also be a touch panel that serves as part of the operation unit 72, or it may provide audio output.

[0040] The memory unit 76 is composed of RAM (Random Access Memory), ROM (Read Only Memory), etc., and stores various programs and data, as well as functioning as a workspace for the control unit 77.

[0041] The memory unit 76 stores a holding jig position information acquisition program 761, which acquires holding jig position information P1 and P2 by photographing the position information identification unit 324 of each holding jig 323 with the overall imaging unit 303, and an intersection position identification program 762, which determines the intersection position information P3 between the main reinforcement Sm and the tie reinforcement Ss based on the holding jig position information P1 and P2. The memory unit 76 also stores the holding jig position information P1 and P2, the intersection position information P3, and other information.

[0042] Furthermore, the memory unit 76 stores a binding machine movement program 763 that moves the binding unit 100 to the binding position using the robot arm 300 based on the intersection position information P3, and a binding program 764 that executes the binding process in the binding unit 100.

[0043] The control unit 77 is composed of, for example, a CPU (Central Processing Unit) and controls each part of the binding device 301 based on the operation contents of the operation unit 72, the holding jig position information acquisition program 761, the intersection position identification program 762, the binding machine movement program 763, the binding program 764, etc., stored in the storage unit 76. The intersection position identification program 762 realizes the determination unit by having the control unit 77 execute a function to determine the intersection position of the workpiece B based on the position information identification unit 324 of each holding jig 323 captured by the overall imaging unit 303.

[0044] <Example of a binding device configuration> Figure 4 is a side view showing an example of a tying device, and Figure 5 is an internal side view showing an example of a rebar tying machine.

[0045] The binding section 100 includes a rebar tying machine 1 that ties the intersection point P of the main reinforcement Sm and stirrups Ss with wire W, a slack-forming section 2 that pulls out the wire W from the reel 20 and creates slack in the wire W between the rebar tying machine 1 and the reel 20, and a reel housing section 200 in which the reel 20 is housed. Note that the slack-forming section 2 does not need to have the function of pulling out the wire W from the reel 20 as long as it can create slack.

[0046] Rebar tying machine 1 is an example of a tying machine. It feeds the wire W in the forward direction indicated by arrow F and wraps it around the rebar S. After the wire W wrapped around the rebar S is fed in the reverse direction indicated by arrow R and wrapped around the rebar S, it is cut, then the wire W is twisted and the rebar S is tied with the wire W.

[0047] The rebar tying machine 1 includes a wire feeding unit 3 for feeding the wire W and a wire guide 4 for guiding the wire W, in order to achieve the functions described above. The rebar tying machine 1 also includes a curling unit 5 that forms a path for winding the wire W fed by the wire feeding unit 3 around the rebar S, and a cutting unit 6 for cutting the wire W wound around the rebar S. Furthermore, the rebar tying machine 1 includes a tying unit 7 for twisting the wire W wound around the rebar S, and a drive unit 8 for driving the tying unit 7.

[0048] The wire feeding unit 3 is equipped with a pair of feed gears 30 that grip and feed the wire W. The feed gears 30 rotate when the rotational motion of a feed motor (not shown) is transmitted to the wire feeding unit 3. As a result, the wire feeding unit 3 feeds the wire W, which is gripped between the pair of feed gears 30, along the direction in which the wire W extends. In a configuration in which multiple wires, for example two wires W are fed to tie together reinforcing bars S, the two wires W are fed in parallel.

[0049] The wire feeding unit 3 switches the rotation direction of the feed gear 30 by switching the forward and reverse rotation direction of a feed motor (not shown), thereby switching the forward and reverse feeding direction of the wire W, either feeding the wire W in the forward direction indicated by arrow F or in the reverse direction indicated by arrow R.

[0050] The wire guides 4 are provided at predetermined positions on the upstream and downstream sides of the wire feeding section 3 with respect to the feeding direction in which the wire W is fed in the forward direction. In a configuration in which two wires W are fed and reinforcing bars S are tied together, the wire guide 4 provided on the upstream side of the wire feeding section 3 restricts the radial direction of the two wires W, guiding the two incoming wires W in parallel between the pair of feeding gears 30. The wire guide 4 provided on the downstream side of the wire feeding section 3 restricts the radial direction of the two wires W, guiding the two incoming wires W in parallel to the cutting section 6 and the curl-forming section 5. Note that the wire guide on the upstream side of the wire feeding section 3 is not shown in Figure 5.

[0051] The curl-forming section 5 includes a curl guide 50 that gives the wire W fed by the wire feeding section 3 a curl, and a guide guide 51 that guides the wire W, which has been given a curl by the curl guide 50, to the binding section 7. In the rebar binding machine 1, the path of the wire W fed by the wire feeding section 3 is restricted by the curl-forming section 5, so that the trajectory of the wire W becomes a loop Ru as shown by the dashed line in Figure 5, and the wire W is wrapped around the rebar S.

[0052] The cutting unit 6 comprises a fixed blade section 60 and a movable blade section 61 that cuts the wire W in cooperation with the fixed blade section 60. The cutting unit 6 cuts the wire W by the rotational movement of the movable blade section 61 with the fixed blade section 60 as the pivot axis. The operation of the binding unit 7 is transmitted to the movable blade section 61 in the cutting unit 6.

[0053] The binding section 7 includes a locking member 70 for securing the wire W and a sleeve 71 for operating the locking member 70. The drive section 8 includes a torsion motor 80 and a reduction gear 81 for reducing speed and amplifying torque.

[0054] The binding section 7 is driven by the drive section 8, which causes the sleeve 71 to activate the locking member 70 to lock the wire W. After the wire W is cut by the cutting section 6, which is linked to the movement of the sleeve 71, the binding section 7 twists the wire W with the rotational movement of the locking member 70 and the sleeve 71 to bind the reinforcing bar S.

[0055] The reel housing section 200 houses a reel 20 on which a long wire W is wound so that it can be unwound, and the reel can be rotated and detachably stored. The wire W can be made of a metal wire that can be plastically deformed, a metal wire coated with resin, or a stranded wire.

[0056] In a configuration where the rebar tying machine 1 ties rebars S with one wire W, the reel storage section 200 houses one reel 20 with one wire W wound around it, and the reel 20 rotates, allowing one wire W to be pulled out. In a configuration where the rebar tying machine 1 ties rebars S with multiple wires W, the reel storage section 200 houses multiple reels 20 corresponding to the number of wires W, and each reel 20 rotates, allowing multiple wires W to be pulled out. For example, in a configuration where the rebar tying machine 1 ties rebars S with two wires W, the reel storage section 200 houses two reels 20 with one wire W wound around each, and each reel 20 rotates, allowing two wires W to be pulled out.

[0057] The slack-forming unit 2 includes a first slack-forming roller 21a, a second slack-forming roller 22a, a guide roller 23, a first guide unit 21b that guides the movement of the first slack-forming roller 21a, a second guide unit 22b that guides the movement of the second slack-forming roller 22a, and a drive unit 25 that moves the first slack-forming roller 21a and the second slack-forming roller 22a.

[0058] The first guide section 21b guides the first slack-forming roller 21a so that it can move in a direction along the wire feeding path WL of the wire W entering the rebar tying machine 1, which is defined by the wire feeding section 3 and the wire guide 4. The second guide section 22b guides the second slack-forming roller 22a so that it can move in a direction along the wire feeding path WL of the wire W entering the rebar tying machine 1.

[0059] The drive unit 25 includes a pair of pulleys 25a and 25b, a belt 25c stretched over the pulleys 25a and 25b, and a motor 25d that drives one of the pulleys 25a. The drive unit 25 also includes a first connecting part 25e that connects the first slack-forming part 21 to the belt 25c, and a second connecting part 25f that connects the second slack-forming part 22 to the belt 25c.

[0060] Pulley 25a is provided on the side closer to the rebar tying machine 1, along the direction of movement of the first slack-forming roller 21a and the second slack-forming roller 22a. Pulley 25b is provided on the side further away from the rebar tying machine 1, along the direction of movement of the first slack-forming roller 21a and the second slack-forming roller 22a. Belt 25c extends along the direction of movement of the first slack-forming roller 21a and the second slack-forming roller 22a. The first connecting portion 25e is connected to one side of the belt 25c extending between the pair of pulleys 25a and 25b, and the second connecting portion 25f is connected to the other side of the belt 25c extending between the pair of pulleys 25a and 25b.

[0061] One side and the other side of the belt 25c, which stretches between a pair of pulleys 25a and 25b, move relative to each other as the motor 25d drives the pulley 25a to rotate. As a result, depending on the direction of rotation of the motor 25d, the first slack-forming roller 21a and the second slack-forming roller 22a move relative to each other in directions of approach and away from each other.

[0062] The guide roller 23 is provided between the reel 20 and the first slack-forming roller 21a. The guide roller 23 directs the path through which the wire W drawn from the reel 20 passes toward the first slack-forming roller 21a.

[0063] The first slack-forming roller 21a and the second slack-forming roller 22a move in opposite directions. When the first slack-forming roller 21a moves toward the rebar tying machine 1 as shown by the dashed line, the second slack-forming roller 22a moves toward the rebar tying machine 1. Conversely, when the first slack-forming roller 21a moves toward the rebar tying machine 1, the second slack-forming roller 22a moves toward the rebar tying machine 1. As a result, a slack portion WB is formed in the wire W between the reel 20 and the rebar tying machine 1.

[0064] <Example of operation of the binding device of this embodiment> The following describes the process for determining the intersection position information P3 of each intersection point P between the main reinforcement Sm and the stirrup Ss in workpiece B.

[0065] The control unit 77 moves the workpiece B to the shooting area E1 and uses the first camera 331 of the overall shooting unit 303 to photograph the position information identification unit 324 of each holding jig 323. The control unit 77 obtains the holding jig position information P1(Xn1,Zn2) from the holding jig position information P1(Xn1,Zn2) obtained from the holding jig position information P2(Yn3) obtained from the holding jig position information identification unit 324 of the holding jigs 323(1) to 323(4) and the holding jig position information P2(Yn3) obtained from the holding jig position information P2(Yn3) obtained from the holding jig position information P2(Yn3) of the holding jig positions Sm(1) to Sm(4) and the tie reinforcing bars Ss(a) to (c), and then obtains the intersection position information P3(Xn1,Yn3,Zn2) of each intersection point P between the main reinforcement bars Sm(1) to Sm(4) and the tie reinforcing bars Ss(a) to (c).

[0066] The intersection position information P3 for each intersection point P between the main reinforcement bars Sm(1) to Sm(4) and the stirrups Ss(a) to (c) can be determined as shown in Table 1 below.

[0067] [Table 1]

[0068] For example, the control unit 77 obtains the intersection position coordinates P2 of the intersection point P between the main reinforcement Sm(1) and the stirrup reinforcement Ss(a) from the holding jig position information P1(X1, Z1) of the holding jig 323(1) and the holding jig position information P1(Y1) of the holding jig 323(a), which are (X1, Y1, Z1).

[0069] Furthermore, the control unit 77, for example, obtains the intersection position coordinates P2 of the intersection point P between the main reinforcement Sm(4) and the stirrups Ss(c) from the holding jig position information P1(X2, Z2) of the holding jig 323(4) and the holding jig position information P1(Y3) of the holding jig 323(c), which are (X2, Y2, Z3).

[0070] In this example, there are 12 intersection points P between the main reinforcement bars Sm(1) to Sm(4) and the stirrups Ss(a) to (c). In contrast, there are 7 holding fixtures 323. Therefore, for example, the intersection position coordinates P3 of the 12 intersection points can be determined using the holding fixture position information P1 and P2 obtained from the position information identification unit 234 of the 7 holding fixtures 323.

[0071] Therefore, the intersection position coordinates P3 of all intersection points can be determined using the holding jig position information P1 and P2 obtained from the position information identification unit 234 of a number of holding jigs 323 that is less than the number of intersection points P. This eliminates the need to photograph all intersection points P between the main reinforcement Sm and the tie reinforcement Ss with the first camera 331 of the overall imaging unit 303 and to perform the process of determining all intersection position coordinates P3 from this photographed information. Consequently, especially when the workpiece B has a three-dimensional shape, the processing time for determining the intersection position coordinates in the control unit 77 can be shortened, and the complexity of the calculation can be suppressed.

[0072] As described above, the control unit 77 moves the workpiece B to the shooting area E1 and uses the first camera 331 of the overall shooting unit 303 to photograph the position information identification unit 324 of each holding jig 323 and acquire the holding jig position information P1 and P2. The control unit 77 also uses the holding jig position information P1 and P2 to determine the intersection position information P3 between the main reinforcement Sm and the tie reinforcement Ss.

[0073] Furthermore, the control unit 77 moves the workpiece B to the binding area E2 and, based on the intersection position information P3, moves the binding unit 100 to the binding position using the robot arm 300.

[0074] When the control unit 77 moves the binding unit 100 to the position of the intersection point P to be bound, the second camera 351 of the individual imaging unit 305 photographs the intersection point P to be bound and acquires image information of the intersection point P to be bound. Then, the control unit 77 obtains position information with higher precision than the intersection position information P3 from the image information obtained by the individual imaging unit 305, and moves the binding unit 100 with the robot arm 300 to perform the binding operation. In this way, by providing the individual imaging unit 305 and obtaining position information with higher precision than the intersection position information P3, the accuracy of the binding work is improved.

[0075] <Modified example of the binding device of this embodiment> The storage unit 76 may store the binding condition information 765 in association with the holding jig position information P1, P2 and / or the intersection position information P3 obtained from the holding jig position information P1, P2.

[0076] The binding condition information 765 includes at least information on the insertion angle of the binding portion 100 relative to the workpiece B. The insertion angle information is the inclination angle of the binding portion 100 with respect to the X / Y / Z axes, which matches the three-dimensional shape of the workpiece B, and specifies the direction in which the curl guide 50 and the guide guide 51 of the curl forming portion 5 are inserted and removed at each intersection P of the main reinforcement bars Sm(1) to Sm(4) and the tie reinforcement bars Ss(a) to (c).

[0077] If the workpiece B is a three-dimensional shape such as a cube, even if the position of intersection point P is known, simply moving the binding portion 100 vertically may not allow insertion and removal of the curl guide 50 and guide 51 of the curl forming portion 5. Furthermore, the optimal insertion angle of the binding portion 100 differs between the top surface and the side surface of the three-dimensional shape. Therefore, the insertion angle of the binding portion 100 relative to the workpiece B is determined by associating it with the holding jig position information P1, P2, and / or the intersection position information P3 obtained from the holding jig position information P1, P2. This allows for the determination of the optimal direction for insertion and removal of the curl guide 50 and guide 51 of the curl forming portion 5 at each intersection point P between the main reinforcement Sm and the tie reinforcement Ss.

[0078] Furthermore, the binding condition information 765 may include a combination of multiple binding conditions. For example, it may include the insertion angle, insertion depth, and binding strength of the binding portion 100 for each intersection P of the main reinforcement Sm and the stirrups Ss. For example, even at the same intersection of the main reinforcement Sm, the insertion angles of the curl guide 50 and the guide guide 51 of the curl forming portion 5 may be changed at the outermost end, and the twist angle of the binding portion 7 may be increased as it approaches the center of the main reinforcement Sm to increase the binding strength. In addition, at intersections where the main reinforcement Sm and stirrups Ss are intricately intertwined, the insertion depth may be made shallower because it is difficult to insert the curl guide 50 and the guide guide 51 of the curl forming portion 5. Thus, binding operations can be performed according to the position of the intersection.

[0079] Furthermore, the binding condition information 765 may include the binding order and may also include movement conditions to each intersection P. The movement conditions may include, for example, the movement path to each intersection P and the approach angle. By pre-setting the binding order, it is not necessary to determine the binding order each time the intersection position coordinates are determined, thus shortening the processing time. In addition, by setting the movement path and approach angle of the binding unit 100 according to the three-dimensional shape of the workpiece B, it is possible to prevent the binding unit 100 from unintentionally coming into contact with the workpiece B while the binding unit 100 is being moved by the robot arm 300.

[0080] The position information identification unit 324 may itself contain information that identifies the position of the holding jig 323, or it may store the holding jig position information P1 and P2 in the storage unit 76 and contain information that can identify the holding jig position information P1 and P2.

[0081] While a holding jig 323 is shown as an example of a reference part, the reference part does not have to be a jig for holding reinforcing bars. The reference part can be any member that can determine the arrangement of reinforcing bars by being observed by the observation part, and it may be provided in a different location from the holding jig, or it may be a different member from the holding jig.

[0082] Furthermore, the position information identification unit 324 may store the above-mentioned binding condition information in association with the holding jig position information P1 and P2.

[0083] Furthermore, the position information identification unit 324 may include direction information indicating orientation and a plurality of reference lines positioned at separate locations along the direction specified by the direction information. The reference lines are predetermined according to the distance from a reference point specified by the holding jig 323, etc., and indicate the positions where the main reinforcement bars Sm and / or stirrups Ss can be installed. As a result, even at the intersection point P of the main reinforcement bars and stirrups Ss in a location not held by the holding jig 323, the intersection position information P3 can be determined from the holding jig position information P1, P2, the direction information, and the position of the reference lines. Therefore, it is possible to reduce the number of holding jigs 323.

[0084] Furthermore, the holding jig 323 may include signal information having at least holding jig position information P1 and P2. The signal information may be visible information such as shape and color, or it may be a magnetic signal, an electrical signal, etc. The position information identification unit 324 records the signal information in a way that allows it to be output. The signal information may be a combination of multiple signal types. For example, in environments where it is difficult to acquire visible information, the holding jig position information can be acquired regardless of the environment by using magnetic signals or electrical signals.

[0085] The control unit 77 can control the binding operation in accordance with the binding condition information 765. For example, the control unit 77 controls the insertion angle and insertion depth of the binding unit 100 for each intersection P using the robot arm 300 based on the binding condition information 765. The control unit 77 also controls the binding strength using the binding unit 100 based on the binding condition information 765. Furthermore, the control unit 77 controls the movement path and approach angle to each intersection P using the robot arm 300 based on the binding condition information 765.

[0086] Furthermore, the control unit 77 determines the distance from the holding jig 323 to the holding jig 323 based on the holding jig position information P1 and P2, and controls the binding operation according to the distance of each intersection P from the holding jig 323. For example, the further away the intersection P is from the holding jig 323, the larger the insertion angle of the curl guide 50 and the guide guide 51 of the curl forming section 5, so that the curl guide 50 and the guide guide 51 can be inserted and removed even if the determined intersection position coordinates are different from the actual intersection position. [Explanation of Symbols]

[0087] 301...Binding device, 302...Workpiece holding unit, 303...Overall imaging unit (observation unit), 305...Individual imaging unit (second observation unit), 100...Binding unit, 300...Robot arm (movement unit), 323...Holding jig, 324...Position information identification unit, P1, P2...Holding jig position information, P3...Intersection position information, 700...Control device, 72...Operation unit, 73...Display unit, 76...Storage unit, 77...Control unit (determination unit), 762...Intersection position identification program

Claims

1. A binding section capable of binding objects that include multiple reinforcing bar intersections, A reference section that includes positional information and can be placed around the object to be bundled, The aforementioned reference unit is an observation unit capable of observing, Based on the position information of the reference unit observed by the observation unit, a determination unit determines the intersection position of the objects to be bound. A binding device equipped with a binding mechanism.

2. The reference unit includes a position information identification unit that includes the position information observable by the observation unit. The binding device according to claim 1.

3. Further includes binding condition information associated with the aforementioned position information. The binding device according to claim 2.

4. It is equipped with a storage unit that stores the aforementioned bundling condition information. The binding device according to claim 3.

5. The reference unit further includes the binding condition information in the position information identification unit. The binding device according to claim 3.

6. The aforementioned binding condition information includes at least information on the insertion angle of the binding portion relative to the intersection position as a binding condition. The binding device according to claim 3.

7. The aforementioned binding condition information includes a combination of multiple binding conditions. The binding device according to claim 6.

8. The aforementioned binding condition information includes the binding order of the intersection positions by the binding portion. The binding device according to claim 7.

9. The aforementioned binding condition information includes the conditions for moving the binding portion to the intersection position. The binding device according to claim 8.

10. The system includes a control unit capable of controlling the movement of the binding unit and the binding operation by the binding unit based on the intersection position and the binding condition information. The binding device according to claim 3.

11. The control unit can control the binding operation by the binding unit according to the distance of the intersection position from the reference unit. The binding device according to claim 10.

12. The reference unit includes direction information indicating orientation and a plurality of reference lines arranged at separate positions along the direction specified by the direction information. The binding device according to claim 2.

13. The reference unit includes signal information having at least the position information, and the position information identification unit records the signal information in a way that allows it to be output. The binding device according to claim 2.

14. The aforementioned signal information is a combination of multiple signal types. The binding device according to claim 13.

15. It further includes a second observation unit capable of observing a single intersection point of the bound objects. The binding device according to claim 1.

16. A computer that controls a binding device comprising a binding section capable of binding objects including the intersections of multiple reinforcing bars, a reference section containing positional information and capable of being positioned around the objects to be bound, and an observation section capable of observing the reference section, Based on the position information of the reference unit observed by the observation unit, the determination unit's function of determining the intersection position of the bundled objects is realized. program.

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