Rebar tying robot

Abstract

To provide a technology capable of changing the contents of an action executed by a reinforcing bar binding robot in the middle.SOLUTION: A reinforcing bar binding robot may include a reinforcing bar binding unit that binds a crossing point where a plurality of primary reinforcing bars and a plurality of secondary reinforcing bars intersect with a binding wire, a transport unit that transports the reinforcing bar binding unit, a sensor that detects the characteristics of the binding wire bound at the crossing point, and a control unit that controls the drive of the reinforcing bar binding unit and the transport unit. The transport unit may include a longitudinal movement mechanism capable of moving the reinforcing bar binding robot in the longitudinal direction in which a plurality of primary reinforcing bars extend, and a lateral movement mechanism capable of moving the reinforcing bar binding robot in a lateral direction in which a plurality of secondary reinforcing bars extend. The control unit may control the drive of the reinforcing bar binding unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor.SELECTED DRAWING: Figure 19

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a rebar tying robot. [Background technology]

[0002] Patent Document 1 discloses a rebar tying robot. The rebar tying robot is capable of moving over the primary rebars and secondary rebars of a rebar assembly, the primary rebars and secondary rebars intersecting the primary rebars, and tying the primary rebars and secondary rebars together at their intersections with binding wires. The rebar tying robot includes a rebar tying unit that ties the primary rebars and secondary rebars together at their intersections with binding wires, a transport unit that transports the rebar tying robot, and a control unit that controls the operation of the rebar tying unit and the transport unit. The transport unit includes a vertical movement mechanism that can move the rebar tying robot forward and backward, and a horizontal movement mechanism that can move the rebar tying robot left and right. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-39174 Summary of the Invention [Problem to be solved by the invention]

[0004] There are cases where it is desired to change the content of the operation performed by a rebar tying robot midway. For example, if a rebar tying robot has tied all the intersections on a specific primary rebar with binding wires, it is necessary to move the rebar tying robot onto another primary rebar in order to tie the intersections on another primary rebar with binding wires. Also, if there is an obstacle in front of the rebar tying robot, it is necessary to change the direction of travel of the rebar tying robot. This specification provides technology that makes it possible to change the content of the operation performed by a rebar tying robot midway. [Means for solving the problem]

[0005] The rebar tying robot disclosed in this specification is capable of moving over the primary rebars and the secondary rebars of a rebar assembly including a plurality of primary rebars and a plurality of secondary rebars intersecting the primary rebars and tying the intersections of the primary rebars and the secondary rebars with binding wires. The rebar tying robot includes a rebar tying unit that ties the intersections of the primary rebars and the secondary rebars with binding wires, a transport unit that transports the rebar tying unit, a sensor that detects characteristics of the binding wires tied at the intersections of the primary rebars and the secondary rebars, and a control unit that controls the drive of the rebar tying unit and the transport unit. The transport unit includes a vertical movement mechanism that can move the rebar tying robot in the forward / backward direction along which the primary rebars extend, and a horizontal movement mechanism that can move the rebar tying robot in the left / right direction along which the secondary rebars extend. The control unit controls the driving of the rebar binding unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor.

[0006] According to the above configuration, by previously tying a binding wire having specific characteristics to the intersection of the primary rebar and the secondary rebar, when the rebar tying robot reaches the vicinity of the pre-tied binding wire, the sensor detects the characteristics of the binding wire. The control unit controls the drive of the rebar tying unit and / or the transport unit based on the detected characteristics of the binding wire, thereby changing the operation of the rebar tying robot that has reached the vicinity of the binding wire. As a result, the content of the operation performed by the rebar tying robot can be changed midway. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a perspective view of a reinforcing bar binding robot 100 according to an embodiment, viewed from above and to the front left. [Figure 2] 1 is a perspective view of a reinforcing bar binding machine 2 used in a reinforcing bar binding robot 100 according to an embodiment, viewed from above and behind on the left side. [Figure 3] 1 is a perspective view of the internal structure of a main body 4 of a reinforcing bar binding machine 2 used in a reinforcing bar binding robot 100 according to an embodiment, viewed from above and to the rear right. [Figure 4] 1 is a cross-sectional view of a front portion of a main body 4 of a reinforcing bar binding machine 2 used in a reinforcing bar binding robot 100 according to an embodiment. [Figure 5] 1 is a perspective view of the internal structure of the upper part of the main body 4 and gripping part 6 of the reinforcing bar binding machine 2 used in the reinforcing bar binding robot 100 according to the embodiment, viewed from above on the front left. [Figure 6] 1 is a perspective view of the power supply unit 102 of the reinforcing bar binding robot 100 according to the embodiment, with the cover 112 open, as viewed from above on the front right. [Figure 7] 1 is a perspective view of a reinforcing bar binding machine 2 attached to an operation unit 104 in a reinforcing bar binding robot 100 according to an embodiment, as viewed from above and to the rear right. [Figure 8] 1 is a perspective view of the reinforcing bar binding machine 2 attached to the gripping mechanism 132 in the reinforcing bar binding robot 100 according to the embodiment, as viewed from the rear right below. [Figure 9]1 is a side view of the operation unit 104 and the reinforcing bar binding machine 2 in a state where the reinforcing bar binding machine 2 is raised in the reinforcing bar binding robot 100 according to the embodiment. FIG. [Figure 10] 1 is a side view of the operation unit 104 and the reinforcing bar binding machine 2 in a state where the reinforcing bar binding machine 2 is lowered in the reinforcing bar binding robot 100 according to the embodiment. FIG. [Figure 11] 1 is a perspective view of a reinforcing bar binding robot 100 according to an embodiment, viewed from the front right below. [Figure 12] 1 is a perspective cross-sectional view of the vicinity of a tensioner pulley 224 of a reinforcing bar binding robot 100 according to an embodiment, viewed from above on the front left. FIG. [Figure 13] 1 is a perspective view of a side stepper 196 of the reinforcing bar binding robot 100 according to the embodiment, viewed from the lower rear right. FIG. [Figure 14] 1 is a perspective view of the front portion of a side stepper 196 of a rebar binding robot 100 according to an embodiment, as viewed from above and to the rear right. FIG. [Figure 15] 10 is a cross-sectional view of the front crank mechanism 276 of the reinforcing bar binding robot 100 according to the embodiment, as seen from behind. FIG. [Figure 16] 1 is a perspective view of the rear portion of a side stepper 196 of the reinforcing bar binding robot 100 according to the embodiment, as viewed from above and to the front right. FIG. [Figure 17] FIG. 10 is a front view of the reinforcing bar binding robot 100 according to the embodiment, showing the step bars 272, 274 in a raised position. [Figure 18] FIG. 10 is a front view of the reinforcing bar binding robot 100 according to the embodiment, showing the state in which the step bars 272, 274 are lowered. [Figure 19] 10 is a flowchart showing processing performed by a control unit 126 in the rebar binding robot 100 according to the embodiment. [Figure 20] 1 is a top view showing an example of the relative positional relationship between a reinforcing bar binding robot 100 according to an embodiment and a reinforcing bar assembly RA. FIG. [Figure 21] 10 is a top view showing another example of the relative positional relationship between the reinforcing bar binding robot 100 according to the embodiment and the reinforcing bar assembly RA. FIG. [Figure 22] 10 is a flowchart showing a parameter change process performed by a control unit 126 in the rebar binding robot 100 according to the embodiment. [Figure 23] 10 is a flowchart showing a movement direction change process performed by a control unit 126 in the rebar binding robot 100 according to the embodiment. [Figure 24] 10A and 10B are diagrams showing the trajectory of the reinforcing bar binding robot 100 when a movement direction change process is being executed in the reinforcing bar binding robot 100 according to the embodiment. [Figure 25] 10 is a flowchart showing an avoidance process performed by a control unit 126 in the rebar binding robot 100 according to the embodiment. [Figure 26] 10 is a flowchart showing an avoidance process performed by a control unit 126 in the rebar binding robot 100 according to the embodiment. [Figure 27] 10 is a flowchart showing an avoidance process performed by a control unit 126 in the rebar binding robot 100 according to the embodiment. [Figure 28] 10 is a flowchart showing an avoidance process performed by a control unit 126 in the rebar binding robot 100 according to the embodiment. [Figure 29] 10A and 10B are diagrams showing the trajectory of the reinforcing bar binding robot 100 when the reinforcing bar binding robot 100 according to the embodiment is executing an avoidance process. [Figure 30] 10A and 10B are diagrams showing the trajectory of the reinforcing bar binding robot 100 when the reinforcing bar binding robot 100 according to the embodiment is executing an avoidance process. DETAILED DESCRIPTION OF THE INVENTION

[0008] Representative, non-limiting examples of the present invention are described in detail below with reference to the drawings. This detailed description is intended simply to provide those skilled in the art with details for implementing preferred examples of the present invention, and is not intended to limit the scope of the present invention. Additionally, the additional features and inventions disclosed can be used separately or in conjunction with other features and inventions to provide further improved rebar tying robots.

[0009] Furthermore, the combinations of features and steps disclosed in the following detailed description are not essential to practicing the invention in its broadest sense, but are described solely to specifically illustrate exemplary embodiments of the invention. Furthermore, the various features of the following exemplary embodiments and those described in the claims do not necessarily have to be combined in the exact embodiments described herein or in the exact order listed to provide additional and useful embodiments of the invention.

[0010] All features described in this specification and / or claims are intended to be disclosed individually and independently of one another as limitations to the specific features described in the original disclosure and claims, apart from the configuration of features described in the examples and / or claims. Furthermore, all numerical ranges and group or aggregate descriptions are intended to disclose intermediate configurations thereof as limitations to the specific features described in the original disclosure and claims.

[0011] In one or more embodiments, the strapping machine characteristics may include the color of the strapping wire.

[0012] According to the above configuration, it is possible to control the driving of the reinforcing bar binding unit and / or the transport unit by utilizing a simple sensor that detects the color of the binding wire.

[0013] In one or more embodiments, the sensor may detect characteristics of the tie wire tied at the intersection located at the front and / or rear of the rebar tying robot in the fore-and-aft direction.

[0014] The rebar tying robot moves back and forth as the vertical movement mechanism is driven. With the above configuration, the sensor can detect the characteristics of the binding wire located in the same direction as the rebar tying robot moves as the vertical movement mechanism is driven.

[0015] In one or more embodiments, the sensor may detect characteristics of the tie wire tied at the intersection located on the left and / or right side of the rebar tying robot in the left-right direction.

[0016] The rebar tying robot moves left and right as the lateral movement mechanism is driven. With the above configuration, the sensor can detect the characteristics of binding wires located in the same direction as the rebar tying robot moves as the lateral movement mechanism is driven.

[0017] In one or more embodiments, if the control unit determines that the characteristic of the binding wire detected by the sensor is a first characteristic, it may determine that the intersection where the binding wire having the first characteristic is tied is the end of the working area of ​​the rebar tying robot on the rebar assembly.

[0018] In the case of a reinforcing bar assembly, the end of the work area of ​​the reinforcing bar assembly is tied in advance by a user with a binding wire. With the above configuration, the end of the work area of ​​the reinforcing bar assembly can be accurately recognized compared to when the end of the work area of ​​the reinforcing bar assembly is stored in advance in the control unit.

[0019] In one or more embodiments, a primary rebar to which a binding wire having a first characteristic is tied may be designated as the first lane. When the rebar tying robot moves in the traveling direction on the first lane by driving the vertical movement mechanism and reaches an intersection where a primary rebar and a plurality of secondary rebars intersect, the control unit may execute a movement direction change process to change the direction in which the rebar tying robot moves if it determines that a binding wire is tied at an intersection adjacent to the reached intersection in the traveling direction to the intersection where the primary rebar and a plurality of secondary rebars intersect, and that the characteristic of the binding wire detected by the sensor at the intersection adjacent to the traveling direction is the first characteristic.

[0020] According to the above configuration, it is possible to prevent the reinforcing bar binding robot from moving in the direction of travel beyond the intersection where the binding wire having the first feature is bound.

[0021] In one or more embodiments, the primary rebar adjacent to the first lane in the left-right direction may be the second lane. In the movement direction change process, the control unit may drive the horizontal movement mechanism to move the rebar tying robot to the second lane, reverse the moving direction, and drive the vertical movement mechanism to move the rebar tying robot on the second lane.

[0022] According to the above configuration, the rebar tying robot can be moved in a direction away from the edge of the working area of ​​the rebar assembly without passing over the intersection where the binding wire having the first characteristic is tied.

[0023] In one or more embodiments, while performing the movement direction change process, the control unit may drive the rebar tying unit to tie the intersection with a tie wire each time the rebar tying robot reaches an intersection between multiple primary rebars and multiple secondary rebars.

[0024] According to the above configuration, the process of changing the movement direction and the process of binding the intersections of multiple primary reinforcing bars and multiple secondary reinforcing bars with binding wires are executed simultaneously in parallel, thereby improving the work efficiency of the reinforcing bar binding robot.

[0025] In one or more embodiments, if the control unit determines that the characteristic of the binding wire detected by the sensor is a second characteristic, it may determine that the location of the intersection where the binding wire having the second characteristic is tied is a prohibited position that prohibits movement of the rebar tying robot.

[0026] Obstacles may be placed in a reinforcing bar assembly. According to the above configuration, by tying a binding wire having a second characteristic in advance at the intersection of the primary reinforcing bar and the secondary reinforcing bar near the obstacle and having the reinforcing bar tying robot recognize this as a prohibited position, the reinforcing bar tying robot can be prevented from approaching the obstacle. Compared to when the prohibited positions are stored in the control unit in advance, the prohibited positions on the reinforcing bar assembly can be recognized more accurately.

[0027] In one or more embodiments, a primary rebar to which a binding wire having the second characteristic is tied may be set as the third lane. When the rebar tying robot moves in the traveling direction on the third lane by driving the vertical movement mechanism and reaches an intersection where a primary rebar and a plurality of secondary rebars intersect, the control unit may execute an avoidance process to cause the rebar tying robot to avoid the prohibited position if it determines that a binding wire is tied at an intersection adjacent to the reached intersection in the traveling direction to the intersection where the primary rebar and a plurality of secondary rebars intersect, and that the characteristic of the binding wire detected by the sensor at the intersection adjacent to the traveling direction is the second characteristic.

[0028] According to the above configuration, it is possible to prevent the rebar binding robot from moving over prohibited positions.

[0029] In one or more embodiments, a different primary rebar may be in the fourth lane than in the third lane. In the avoidance process, the control unit may drive the lateral movement mechanism to move the rebar tying robot to the fourth lane and drive the longitudinal movement mechanism to move the rebar tying robot on the fourth lane in the traveling direction.

[0030] According to the above configuration, the rebar binding robot can avoid the prohibited position by simply moving along the fourth lane.

[0031] In one or more embodiments, when at least one primary rebar is present between the third lane and the fourth lane, the at least one primary rebar may be designated as the fifth lane. In the front-to-rear direction, the area of ​​the third lane or the fifth lane on the side where the rebar tying robot is located relative to the prohibited position may be designated as the pre-avoidance area. During the avoidance process, the control unit may drive the longitudinal movement mechanism to move the rebar tying robot through the pre-avoidance area, and while performing the avoidance process, drive the rebar tying unit to tie the intersection with a tie wire each time the rebar tying robot reaches an intersection where the fifth lane in the pre-avoidance area intersects with multiple secondary rebars.

[0032] According to the above configuration, the rebar tying robot ties the intersections in the pre-avoidance area with binding wires even while moving through the pre-avoidance area, thereby improving the work efficiency of the rebar tying robot.

[0033] In one or more embodiments, in the avoidance process, the control unit may drive the vertical movement mechanism to move the rebar tying robot over one primary rebar in the fifth lane, drive the rebar tying unit to tie all of the intersections where one primary rebar intersects with multiple secondary rebars within the pre-avoidance area, and then drive the horizontal movement mechanism to move the rebar tying robot to the primary rebar adjacent to the one primary rebar on the fourth lane side.

[0034] According to the above configuration, the rebar tying robot moves to the primary rebar located in the fourth lane after tying all of the intersections in the pre-avoidance area where one primary rebar in the fifth lane intersects with multiple secondary rebars. Therefore, the rebar tying robot does not need to return to the single primary rebar in the fifth lane. This improves the work efficiency of the rebar tying robot.

[0035] In one or more embodiments, when there is at least one intersection in the third lane and / or the fifth lane between a prohibited position and one end of a rebar assembly in the traveling direction and the prohibited position is not tied with a tie wire, the area having at least one intersection in the third lane and / or the fifth lane may be defined as the post-avoidance area. In the avoidance process, the control unit may drive the lateral movement mechanism to move the rebar tying robot in the fourth lane to the post-avoidance area, and drive the longitudinal movement mechanism to move the rebar tying robot through the post-avoidance area. During the avoidance process, in the post-avoidance area, each time the rebar tying robot reaches an intersection where a primary rebar intersects with multiple secondary rebars, drive the rebar tying unit to tie the intersection with a tie wire.

[0036] According to the above configuration, the rebar tying robot ties the intersections in the post-avoidance area with binding wires even while moving through the post-avoidance area, thereby improving the work efficiency of the rebar tying robot.

[0037] In one or more embodiments, when there is at least one intersection in the traveling direction between the prohibited position on the third lane and one end of the rebar assembly that is not tied with a tie wire, the area of ​​the third lane that has at least one intersection may be defined as a post-avoidance area. In the avoidance process, the control unit may drive the lateral movement mechanism to move the rebar tying robot on the fourth lane to the post-avoidance area, and drive the longitudinal movement mechanism to move the rebar tying robot through the post-avoidance area, and while performing the avoidance process, may drive the rebar tying unit to tie the intersection with a tie wire every time the rebar tying robot reaches an intersection in the post-avoidance area where the third lane intersects with multiple secondary rebars.

[0038] According to the above configuration, the rebar tying robot ties the intersections in the post-avoidance area with binding wires even while moving through the post-avoidance area, thereby improving the work efficiency of the rebar tying robot.

[0039] In one or more embodiments, during the avoidance process, when the rebar tying robot is moving along the fourth lane, the control unit may drive the rebar tying unit to tie the intersection with a tie wire each time the rebar tying robot reaches an intersection where the fourth lane intersects with multiple secondary rebars.

[0040] According to the above configuration, the rebar tying robot uses binding wires to tie the intersections where the fourth lane and multiple secondary rebars intersect, even while moving along the fourth lane, thereby improving the work efficiency of the rebar tying robot.

[0041] In one or more embodiments, the control unit may execute a movement speed change process to change the movement speed of the rebar tying robot when it determines that the characteristic of the binding wire detected by the sensor is a third characteristic.

[0042] According to the above configuration, the user can change the movement speed of the rebar binding robot without directly operating the rebar binding robot.

[0043] In one or more embodiments, the control unit may execute a bundling spacing change process when it determines that the characteristic of the binding wire detected by the sensor is the third characteristic. In the bundling spacing change process, the control unit may selectively execute a process in which, when the rebar tying robot reaches an intersection of the plurality of primary rebars and the plurality of secondary rebars, the rebar tying unit does not bind the intersection with the binding wire, and a process in which, when the rebar tying robot reaches an intersection of the plurality of primary rebars and the plurality of secondary rebars, the rebar tying unit binds the intersection with the binding wire.

[0044] According to the above configuration, the user can change the spacing between binding wires bound by the reinforcing bar binding robot without directly operating the reinforcing bar binding robot.

[0045] In one or more embodiments, when the control unit determines that the characteristic of the binding wire detected by the sensor is the third characteristic, the control unit may execute a winding number change process to change the number of windings of the binding wire when the rebar binding unit binds the intersections of multiple primary rebars and multiple secondary rebars.

[0046] According to the above configuration, the user can change the number of turns of binding wire wrapped by the reinforcing bar binding robot without directly operating the reinforcing bar binding robot.

[0047] In one or more embodiments, when the control unit determines that the characteristic of the tie wire detected by the sensor is the third characteristic, the control unit may perform a torque change process to change the torque applied to the tie wire when the rebar binding unit binds the intersections of multiple primary rebars and multiple secondary rebars.

[0048] According to the above configuration, the user can change the torque applied to the binding wire without directly operating the rebar binding robot.

[0049] (Example) As shown in FIG. 1 , the rebar tying robot 100 of this embodiment includes a rebar tying machine 2, a power supply unit 102, an operation unit 104, and a transport unit 106. The rebar tying robot 100 moves over a rebar assembly RA, which includes multiple primary rebars R1 arranged parallel to one another in the horizontal direction and secondary rebars R2 arranged parallel to one another in the horizontal direction, and uses the rebar tying machine 2 to tie the primary rebars R1 and the secondary rebars R2 together at their intersections. When viewed from above, the direction in which the secondary rebars R2 extend is perpendicular to the direction in which the primary rebars R1 extend. The secondary rebars R2 are arranged above the primary rebars R1. The primary rebars R1 are arranged, for example, at intervals of 100 mm to 300 mm, and the secondary rebars R2 are arranged, for example, at intervals of 100 mm to 300 mm. The rebar binding robot 100 has a front-to-rear dimension of, for example, about 900 mm and a left-to-right dimension of, for example, about 600 mm.

[0050] (Configuration of rebar binding machine 2) The configuration of the rebar binding machine 2 will be described below with reference to Figures 2 to 5. Note that the front-rear direction, left-right direction, and up-down direction in the description of Figures 2 to 5 do not refer to the front-rear direction, left-right direction, and up-down direction relative to the rebar binding machine 2, but rather refer to the front-rear direction, left-right direction, and up-down direction relative to the rebar binding robot 100.

[0051] As shown in FIG. 2, the rebar tying machine 2 is an electric tool for tying mutually intersecting rebars R (e.g., primary rebars R1 and secondary rebars R2) with a binding wire W. The rebar tying machine 2 can be detached from the rebar tying robot 100 and held by a user, or it can be attached to the rebar tying robot 100 and used. The rebar tying machine 2 includes a housing 3. The housing 3 includes a main body 4, a gripping unit 6 provided at the bottom of the main body 4, and a battery attachment unit 8 provided at the bottom of the gripping unit 6. A battery pack B can be attached to the bottom of the battery attachment unit 8 as shown in FIG. 2, or a battery adapter 108 can be attached as shown in FIG. 1. The battery pack B incorporates a secondary battery cell (not shown), such as a lithium-ion battery cell, and can be charged by a charger (not shown). The main body 4, gripping unit 6, and battery attachment unit 8 are integrally formed.

[0052] As shown in Fig. 3, a reel 10 around which a binding wire W is wound is removably housed in the upper rear portion of the main body 4. As shown in Fig. 2, the housing 3 is provided with a reel cover 5 that covers the upper portion of the reel 10. The reel cover 5 is rotatably held by cover holders 7 provided on the rear left and rear right portions of the main body 4. The reel cover 5 opens and closes by rotating relative to the main body 4.

[0053] As shown in FIGS. 3 to 5, the rebar binding machine 2 includes a feeding mechanism 12, a guide mechanism 14, a braking mechanism 16, a cutting mechanism 18, a twisting mechanism 20, and a control device 80.

[0054] As shown in FIG. 3 , the feed mechanism 12 feeds the binding wire W supplied from the reel 10 to the guide mechanism 14 in front of the main body 4. The feed mechanism 12 includes a feed motor 22, a drive roller 24, and a driven roller 26. The binding wire W is sandwiched between the drive roller 24 and the driven roller 26. The feed motor 22 is, for example, a DC brush motor. The operation of the feed motor 22 is controlled by a control device 80. The feed motor 22 rotates the drive roller 24. When the feed motor 22 rotates the drive roller 24, the driven roller 26 rotates in the reverse direction, and the binding wire W sandwiched between the drive roller 24 and the driven roller 26 is fed to the guide mechanism 14, and the binding wire W is pulled out from the reel 10.

[0055] As shown in FIG. 4, the guide mechanism 14 guides the binding wire W fed from the feed mechanism 12 in a circular shape around the reinforcing bar R. The guide mechanism 14 includes 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 drive roller 24 and the driven roller 26. The binding 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 binding wire W fed from the guide pipe 28 and a second guide passage (not shown) for guiding the binding wire W fed from the lower curl guide 32.

[0056] 4, the first guide passage 34 is provided with a plurality of guide pins 38 that guide the binding wire W so as to curl the binding wire W downward, and a cutter 40 that constitutes part of the cutting mechanism 18, which will be described later. The binding 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 from the front end of the upper curl guide 30 toward the lower curl guide 32.

[0057] 5, a return plate 42 is provided in the lower curl guide 32. The return plate 42 guides the binding wire W fed from the front end of the upper curl guide 30 and returns it toward the rear end of the second guide passage of the upper curl guide 30.

[0058] The second guide passage of the upper curl guide 30 is disposed adjacent to the first guide passage 34. The second guide passage guides the binding wire W fed from the lower curl guide 32 and feeds it from the front end of the upper curl guide 30 toward the lower curl guide 32.

[0059] The binding wire W fed from the feeding mechanism 12 is wound in a circular shape around the reinforcing bar R by the upper curl guide 30 and the lower curl guide 32. The number of turns of the binding wire W around the reinforcing bar R can be set in advance by the user. When the feeding mechanism 12 has fed out an amount of binding wire W corresponding to the set number of turns, it stops the feed motor 22 and stops feeding out the binding wire W.

[0060] The brake mechanism 16 shown in FIG. 3 stops rotation of the reel 10 in conjunction with the feed mechanism 12 stopping the feeding of the binding wire W. The brake mechanism 16 includes a solenoid 46, a link 48, and a brake arm 50. The operation of the solenoid 46 is controlled by a control device 80. The reel 10 has engagement portions 10a, with which the brake arms 50 engage, formed at predetermined angular intervals in the radial direction. When the solenoid 46 is not energized, the brake arm 50 is separated from the engagement portion 10a of the reel 10. When the solenoid 46 is energized, the brake arm 50 is driven via the link 48, and the brake arm 50 engages with the engagement portion 10a of the reel 10. When the feed mechanism 12 feeds the binding wire W, the control device 80 does not energize the solenoid 46, causing the brake arm 50 to be separated from the engagement portion 10a of the reel 10. This allows the reel 10 to rotate freely, and the feeding mechanism 12 to pull out the binding wire W from the reel 10. Furthermore, when the feeding mechanism 12 stops feeding out the binding wire W, the control device 80 energizes the solenoid 46 to engage the brake arm 50 with the engaging portion 10a of the reel 10, thereby prohibiting rotation of the reel 10. This prevents the reel 10 from continuing to rotate due to inertia even after the feeding mechanism 12 stops feeding out the binding wire W, which could cause the binding wire W to become loose between the reel 10 and the feeding mechanism 12.

[0061] The cutting mechanism 18 shown in Figures 4 and 5 cuts the binding wire W while the binding wire W is wound around the reinforcing bar R. The cutting mechanism 18 includes 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 binding wire W passing through the inside of the cutter 40 is cut.

[0062] The twisting mechanism 20 shown in Fig. 5 twists the binding wire W wound around the reinforcing bar R to bind the reinforcing bar R with the binding wire W. The twisting mechanism 20 includes a twisting motor 54, a speed reduction mechanism 56, a screw shaft 58 (see Fig. 4), a sleeve 60, a push plate 61, and a pair of hooks 62.

[0063] The torsion motor 54 is, for example, a DC brushless motor. The operation of the torsion motor 54 is controlled by a control device 80. The rotation of the torsion motor 54 is transmitted to the screw shaft 58 via a 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 disposed to surround the screw shaft 58. When the rotation of the sleeve 60 is prohibited, the sleeve 60 moves forward when the screw shaft 58 rotates in the forward direction, and moves backward when the screw shaft 58 rotates in the reverse direction. The push plate 61 moves forward and backward together with the sleeve 60 in response to the forward and backward movement of the sleeve 60. When the rotation of the sleeve 60 is permitted, the sleeve 60 rotates together with the screw shaft 58.

[0064] When the sleeve 60 advances from the 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 is provided at the front end of the sleeve 60 and opens and closes depending on the position of the sleeve 60 in the front-to-rear direction. When the sleeve 60 moves forward, the pair of hooks 62 close and grip the binding wire W. Thereafter, when the sleeve 60 moves rearward, the pair of hooks 62 open and release the binding wire W.

[0065] The control device 80 rotates the twisting motor 54 with the binding wire W wound around the reinforcing bar R. At this time, rotation of the sleeve 60 is prohibited, and the rotation of the screw shaft 58 causes the sleeve 60 to move forward, and the push plate 61 and the pair of hooks 62 move forward, causing the pair of hooks 62 to close and grip the binding wire W. Then, when rotation of the sleeve 60 is permitted, the rotation of the screw shaft 58 causes the sleeve 60 to rotate, and the pair of hooks 62 to rotate. As a result, the binding wire W is twisted, and the reinforcing bar R is bound.

[0066] When twisting of the binding wire W is completed, 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 release the binding wire W, the sleeve 60 is moved backward by the rotation of the screw shaft 58, and the push plate 61 and the pair of hooks 62 also move backward. As the sleeve 60 moves backward, the push plate 61 drives the link 52 of the cutting mechanism 18, returning the cutter 40 to its initial position. Thereafter, when the sleeve 60 moves backward to its initial position, rotation of the sleeve 60 is permitted, and the sleeve 60 and the pair of hooks 62 rotate due to the rotation of the screw shaft 58, returning them to their initial angles.

[0067] 2, a first operation unit 64 is provided on the upper part of the main body 4. The first operation unit 64 is provided with a main switch 74 for switching the main power supply on / off, a main power supply LED 76 for displaying the on / off state of the main power supply, etc. The first operation unit 64 is connected to a control device 80.

[0068] A second operation unit 90 is provided on the front upper surface of the battery attachment unit 8. A user can use the second operation unit 90 to set the number of turns of binding wire W around the rebar R, the torque threshold value when twisting the binding wire W, and the like. The second operation unit 90 is provided with a setting switch 98 for setting the number of turns of binding wire W around the rebar R and the torque threshold value when twisting the binding wire W, a display LED 96 for displaying the current setting, and the like. The second operation unit 90 is connected to the control device 80.

[0069] As shown in FIGS. 2 to 5, when the rebar tying machine 2 is detached from the rebar tying robot 100, a user uses the rebar tying machine 2 while holding the gripper 6. A trigger 84 that can be pulled by the user is provided at the upper front part of the gripper 6. As shown in FIG. 5, a trigger switch 86 that detects whether the trigger 84 is on or off is provided inside the gripper 6. The trigger switch 86 is connected to the control device 80. When the user pulls the trigger 84 and the trigger switch 86 is turned on, the rebar tying machine 2 performs a series of operations: winding the binding wire W around the rebar R using the feed mechanism 12, guide mechanism 14, and brake mechanism 16; cutting the binding wire W using the cutting mechanism 18 and twisting mechanism 20; and twisting the binding wire W wound around the rebar R.

[0070] (Configuration of power supply unit 102) 1, the power supply unit 102 is held by the transport unit 106. The power supply unit 102 includes a housing 110 and a cover 112. The housing 110 accommodates a control unit 126. The control unit 126 controls the operations of the power supply unit 102, the operation unit 104, and the transport unit 106.

[0071] As shown in FIG. 6, a battery chamber 110a is formed in the housing 110. A plurality of battery attachment portions 114 are provided in the battery chamber 110a. A plurality of battery packs B can be attached and detached to each of the plurality of battery attachment portions 114. A cover 112 is attached to the housing 110 via a hinge 115 provided at the rear of the housing 110 near the upper end of the battery chamber 110a. The cover 112 can rotate about a rotation axis extending in the left-right direction relative to the housing 110. As shown in FIG. 6, when the cover 112 is open relative to the housing 110, each of the plurality of battery packs B can be attached and detached to and from the plurality of battery attachment portions 114 by sliding it up and down. As shown in FIG. 1, when the cover 112 is closed relative to the housing 110, the plurality of battery packs B attached to the plurality of battery attachment portions 114 are surrounded by the housing 110 and the cover 112. In this state, even if water gets on the power supply unit 102, it is possible to prevent the water from getting on the battery packs B inside the battery housing chamber 110a.

[0072] The cover 112 is biased in a direction to close relative to the housing 110 by a torsion spring (not shown). The cover 112 is provided with a latch member 116 that can be operated by a user. As shown in FIG. 6, the housing 110 is formed with a latch receiver 110b that corresponds to the latch member 116. When the user rotates the latch member 116 with the cover 112 in a closed state, the latch member 116 engages with the latch receiver 110b, thereby maintaining the cover 112 in a closed state relative to the housing 110. When the user rotates the latch member 116 in the opposite direction from this state, the latch member 116 and the latch receiver 110b are disengaged, allowing the user to open the cover 112 relative to the housing 110.

[0073] A plurality of remaining battery indicators 118, a remaining battery indicator button 120, and an operation execution button 122 are provided on the top surface of the housing 110 forward of the battery storage chamber 110a. Each of the plurality of remaining battery indicators 118 is arranged corresponding to a respective one of the plurality of battery attachment sections 114, and displays the remaining battery level of the battery pack B attached to the corresponding battery attachment section 114. The remaining battery indicator button 120 is a button that allows the user to switch on / off the display of the remaining battery level by the plurality of remaining battery indicators 118. The operation execution button 122 is a button that allows the user to switch between executing and stopping the operation of the rebar binding robot 100.

[0074] A power supply cable 124 is connected to the upper surface of the housing 110 forward of the battery storage chamber 110a. A battery adapter 108 is connected to the power supply cable 124. When the battery adapter 108 is attached to the rebar binding machine 2, power is supplied to the rebar binding machine 2 from multiple battery packs B.

[0075] The battery storage chamber 110a is provided with a key attachment portion 119 to which a key 117 can be attached or detached. The key 117 can be attached or detached by inserting or removing it from the key attachment portion 119. When the key 117 is removed from the key attachment portion 119, the supply of power from the multiple battery packs B to the rebar binding machine 2, the operation unit 104, and the transport unit 106 is cut off. When the key 117 is attached to the key attachment portion 119, the supply of power from the multiple battery packs B to the rebar binding machine 2, the operation unit 104, and the transport unit 106 is permitted.

[0076] (Configuration of operation unit 104) As shown in FIGS. 7 and 8, the operation unit 104 includes a lifting mechanism 130 and a gripping mechanism 132.

[0077] As shown in FIG. 7 , the lifting mechanism 130 includes a lower base member 134, an upper base member 136, support pipes 138 and 140, a lifting platform 142, a screw shaft 144, a motor connector 146, a lifting motor 148, a sensor support member 150, an upper limit detection sensor 152, and a lower limit detection sensor 154. The lower base member 134 is held by the transport unit 106. The lower ends of the support pipes 138 and 140 are fixed to the lower base member 134. The upper ends of the support pipes 138 and 140 are fixed to the upper base member 136. The support pipes 138 and 140 are arranged parallel to each other. The support pipes 138 and 140 are arranged at an angle in the front-to-rear and left-to-right directions relative to the up-to-down direction of the rebar binding robot 100. Hereinafter, the direction in which the support pipes 138 and 140 extend is also referred to as the lifting direction. The lifting platform 142 has through holes 142a and 142b through which the support pipes 138 and 140 pass. Holding members 156 and 158 that slidably hold the support pipes 138 and 140 are fixed in the through holes 142a and 142b. The holding members 156 and 158 may be, for example, linear bushings embedded with solid lubricant, linear ball bearings, or oil-less bearings. The lifting platform 142 is disposed between the lower base member 134 and the upper base member 136, with the support pipes 138 and 140 slidably passing through the corresponding holding members 156 and 158, respectively. The screw shaft 144 is disposed between the support pipes 138 and 140. The lower end of the screw shaft 144 is rotatably held by the lower base member 134. The vicinity of the upper end of the screw shaft 144 is rotatably held by the upper base member 136. The screw shaft 144 is disposed parallel to the support pipes 138, 140. A male thread is formed on the outer surface of the screw shaft 144 between the lower base member 134 and the upper base member 136. A through hole 142c through which the screw shaft 144 passes is formed in the lifting platform 142. A nut 160 is fixed to the through hole 142c. The nut 160 has a female thread formed therein that corresponds to the male thread of the screw shaft 144.The screw shaft 144 passes through the lift platform 142 with its male thread threadedly engaged with the female thread of the nut 160. The upper end of the screw shaft 144 is connected to the lift motor 148 via a motor connector 146. The lift motor 148 is, for example, a DC brush motor. When the lift motor 148 rotates in the forward direction, the rotation of the screw shaft 144 causes the lift platform 142 to descend from the upper base member 136 toward the lower base member 134. Conversely, when the lift motor 148 rotates in the reverse direction, the rotation of the screw shaft 144 causes the lift platform 142 to ascend from the lower base member 134 toward the upper base member 136. The sensor support member 150 has a lower end fixed to the lower base member 134 and an upper end fixed to the upper base member 136. An upper limit detection sensor 152 and a lower limit detection sensor 154 are each fixed to the sensor support member 150. The upper limit detection sensor 152 is normally off and turns on when the lifting platform 142 reaches its upper limit position and comes into contact with the lifting platform 142. The lower limit detection sensor 154 is normally off and turns on when the lifting platform 142 reaches its lower limit position and comes into contact with the lifting platform 142. The control unit 126 of the rebar binding robot 100 rotates the lifting motor 148 in the forward direction when lowering the rebar binding machine 2, and stops the lifting motor 148 when the lower limit detection sensor 154 turns on. Note that the control unit 126 also stops the lifting motor 148 if the rebar binding machine 2 collides with a primary rebar R1, a secondary rebar R2, or another obstacle during the lowering of the rebar binding machine 2, causing a sudden increase in the load on the lifting motor 148. The load on the lifting motor 148 can be determined, for example, from the current value of the lifting motor 148. Furthermore, when raising the rebar binding machine 2, the control unit 126 rotates the lift motor 148 in the reverse direction, and stops the lift motor 148 when the upper limit detection sensor 152 turns on.

[0078] As shown in FIGS. 9 and 10 , in the rebar bundling robot 100 of this embodiment, when the rebar bundling machine 2 is lowered, the primary rebars R1 and secondary rebars R2 approach the rebar bundling machine 2 from the side of the lower curl guide 32, not the side of the upper curl guide 30. This makes it possible to prevent the primary rebars R1 and secondary rebars R2 from colliding with the upper curl guide 30 when the rebar bundling machine 2 is lowered. Also, in the rebar bundling robot 100 of this embodiment, when the rebar bundling machine 2 is raised, the primary rebars R1 and secondary rebars R2 move away from the side of the lower curl guide 32, not the side of the upper curl guide 30. This makes it possible to prevent the primary rebars R1 and secondary rebars R2 from getting caught in the upper curl guide 30 when the rebar bundling machine 2 is raised.

[0079] As shown in FIG. 8 , the gripping mechanism 132 includes a first support plate 162, a second support plate 164, connecting shafts 166 and 168, a pivot pin 170, a torsion spring 172, a support pin 174, a link 176, a plunger 178, an actuator 180, and a torsion spring 182. The first support plate 162 is disposed facing one outer surface of the gripping unit 6 of the rebar binding machine 2 (for example, the outer surface on the right side as viewed from the rebar binding machine 2). The second support plate 164 is disposed facing the other outer surface of the gripping unit 6 of the rebar binding machine 2 (for example, the outer surface on the left side as viewed from the rebar binding machine 2). The first support plate 162 and the second support plate 164 are fixed to each other via the connecting shafts 166 and 168 while sandwiching the gripping unit 6 of the rebar binding machine 2. The surface of the first support plate 162 facing the gripping portion 6 and the surface of the second support plate 164 facing the gripping portion 6 each have a plurality of protrusions (not shown) that fit into a plurality of recesses 6a (see FIG. 2) formed on the outer surface of the gripping portion 6 of the rebar binding machine 2. Therefore, the position of the gripping portion 6 of the rebar binding machine 2 is fixed relative to the first support plate 162 and the second support plate 164.

[0080] The first support plate 162 is connected to the lifting platform 142 of the lifting mechanism 130 via a pivot pin 170. One end of the pivot pin 170 is fixed to the lifting platform 142. The other end of the pivot pin 170 is rotatably held by the first support plate 162. Therefore, the rebar binding machine 2 held by the first support plate 162 and the second support plate 164 rises and falls in accordance with the rise and fall of the lifting platform 142, and can rotate about the pivot pin 170 relative to the lifting platform 142. The support pin 174 is fixed to the lifting platform 142 and extends from the lifting platform 142 toward the first support plate 162. The first support plate 162 is formed with an elongated hole 162a into which the support pin 174 is inserted, and a protrusion 162b that protrudes toward the lifting platform 142. The elongated hole 162a defines the range of rotation of the rebar binding machine 2 when it rotates around the pivot pin 170. The torsion spring 172 is disposed on the outside of the pivot pin 170 and biases the protrusion 162b toward the support pin 174 in a direction in which the protrusion 162b moves away from the support pin 174 (i.e., biases the first support plate 162 toward the lifting platform 142). If the rebar binding machine 2 were configured to be unable to rotate relative to the lifting platform 142, a large impact would be applied to the operation unit 104 if the rebar binding machine 2 were to collide with an obstacle. As described above, by configuring the rebar binding machine 2 to be rotatable relative to the lifting platform 142, it is possible to prevent a large impact from being applied to the operation unit 104 even if the rebar binding machine 2 collides with an obstacle.

[0081] The link 176 is held by the second support plate 164. The link 176 is rotatable around a rotation axis along the left-right direction relative to the second support plate 164. The link 176 includes a pressing portion 176a and an operating portion 176b. The pressing portion 176a is disposed opposite the trigger 84 of the rebar binding machine 2. The operating portion 176b is connected to an actuator 180 via a plunger 178. The actuator 180 is, for example, a solenoid. The operation of the actuator 180 is controlled by the control unit 126 of the rebar binding robot 100. The torsion spring 182 biases the link 176 toward the second support plate 164 in a direction in which the pressing portion 176a moves away from the trigger 84. When the actuator 180 is off, the biasing force of the torsion spring 182 moves the pressing portion 176a away from the trigger 84. When the actuator 180 is turned on, the link 176 rotates in the direction in which the operating part 176b approaches the actuator 180, causing the pressing part 176a to press the trigger 84. As a result, the trigger 84 of the rebar binding machine 2 is pulled.

[0082] (Configuration of transport unit 106) As shown in FIG. 11, the transport unit 106 includes a chassis 190, a right crawler 192, a left crawler 194, a side stepper 196, a front three-dimensional distance sensor 198, a rear three-dimensional distance sensor 200, and a central three-dimensional distance sensor 202.

[0083] The chassis 190 includes a base plate 204, a right frame 206, a left frame 208, a right plate 210, a left plate 212, a front frame 214, and a rear frame 216. The base plate 204 is arranged along the front-rear and left-right directions. As shown in FIG. 1, the power supply unit 102 is held in the transport unit 106 by fixing the housing 110 to the upper surface of the base plate 204. A through hole 204a is formed in the base plate 204. As shown in FIG. 11, the operation unit 104 is held in the transport unit 106 by fixing the lower base member 134 to the edge of the through hole 204a. When the operation unit 104 raises or lowers the rebar binding machine 2, the rebar binding machine 2 passes through the through hole 204a.

[0084] The right frame 206 and the left frame 208 are fixed to the lower surface of the base plate 204. The right frame 206 extends in the front-rear direction from the right end of the base plate 204. The left frame 208 extends in the front-rear direction from the left end of the base plate 204. In the front-rear direction, the front ends of the right frame 206 and the left frame 208 are located at the same position as the front ends of the base plate 204, and the rear ends of the right frame 206 and the left frame 208 are located at the same position as the rear ends of the base plate 204. The right plate 210 is fixed to the right surface of the right frame 206. The right plate 210 is arranged along the front-rear direction and the up-down direction. The left plate 212 is fixed to the left surface of the left frame 208. The left plate 212 is arranged along the front-rear direction and the up-down direction. In the up-down direction, the upper ends of the right plate 210 and the left plate 212 are located at the same position as the upper surface of the base plate 204. In the front-rear direction, the front end of the right plate 210 and the front end of the left plate 212 protrude forward more than the front end of the base plate 204, and the rear end of the right plate 210 and the rear end of the left plate 212 protrude rearward more than the rear end of the base plate 204. The front frame 214 connects the vicinity of the front end of the right plate 210 to the vicinity of the front end of the left plate 212, forward of the front end of the base plate 204. The rear frame 216 connects the vicinity of the rear end of the right plate 210 to the vicinity of the rear end of the left plate 212, rearward of the rear end of the base plate 204. The front frame 214 and the rear frame 216 extend in the left-right direction. In the up-down direction, the front frame 214 and the rear frame 216 are disposed lower than the right frame 206 and the left frame 208.

[0085] The right crawler 192 includes a front pulley 218, a rear pulley 220, a plurality of auxiliary pulleys 222, a tensioner pulley 224, a rubber belt 226, a right crawler motor 228, and a gearbox 230. Teeth that mesh with the rubber belt 226 are formed on the outer surfaces of the front pulley 218, the rear pulley 220, and the plurality of auxiliary pulleys 222. The rubber belt 226 is looped around 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 by the right plate 210 via a bearing 232 near the front end of the right plate 210. The rear pulley 220 is rotatably supported by the right plate 210 via a bearing 234 near the rear end of the right plate 210. The multiple auxiliary pulleys 222 are rotatably supported on the right plate 210 between the front pulley 218 and the rear pulley 220 via corresponding bearings 236. The multiple auxiliary pulleys 222 are arranged side by side in the front-to-rear direction. The outer diameters of the front pulley 218 and the rear pulley 220 are substantially 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. In the up-down direction, the lower end of the front pulley 218, the lower end of the rear pulley 220, and the lower ends of the multiple auxiliary pulleys 222 are located at substantially the same position.

[0086] As shown in FIG. 12 , the tensioner pulley 224 is rotatably supported by a movable bearing 237. The movable bearing 237 is supported by the right plate 210 so as to be movable up and down. Note that the base plate 204 and the right frame 206 are cut out near the movable bearing 237 to prevent interference with the movable bearing 237. An adjustment bolt 238, a nut 240, and a bolt support member 242 are provided below the movable bearing 237. The bolt support member 242 is fixed to the right plate 210. A through hole 242a is formed in the bolt support member 242, through which the shaft portion 238a of the adjustment bolt 238 passes. A female thread corresponding to the male thread of the shaft portion 238a is formed on the inner surface of the through hole 242a. The nut 240 is disposed below the bolt support member 242. The head 238b of the adjustment bolt 238 is positioned below the nut 240, and the shaft 238a of the adjustment bolt 238 is threadedly engaged with the nut 240 and also threadedly engaged with the through-hole 242a of the bolt support member 242. Therefore, the vertical position of the adjustment bolt 238 is fixed in a so-called double-nut manner. The upper end of the shaft 238a of the adjustment bolt 238 abuts against the underside of the movable bearing 237. By adjusting the vertical position of the adjustment bolt 238 while the rubber belt 226 is looped around the tensioner pulley 224, the vertical position of the movable bearing 237 relative to the right plate 210 can be adjusted. This makes it possible to adjust the tension of the rubber belt 226.

[0087] 11 , 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 crawler motor 228 rotates in the forward or reverse direction, the front pulley 218 rotates in the forward or reverse direction, causing the rubber belt 226 to rotate in the forward or reverse direction around the front pulley 218, the rear pulley 220, the multiple auxiliary pulleys 222, and the tensioner pulley 224.

[0088] The left crawler 194 includes 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. Teeth that mesh with the rubber belt 252 are formed on the outer surfaces of the front pulley 244, the rear pulley 246, and the plurality of auxiliary pulleys 248. The rubber belt 252 is looped around 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 by the left plate 212 near the front end of the left plate 212 via a bearing 258. The rear pulley 246 is rotatably supported by the left plate 212 near the rear end of the left plate 212 via a bearing 260. The multiple auxiliary pulleys 248 are rotatably supported on the left plate 212 between the front pulley 244 and the rear pulley 246 via corresponding bearings 262. The multiple auxiliary pulleys 248 are arranged side by side in the front-to-rear direction. The outer diameters of the front pulley 244 and the rear pulley 246 are substantially 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. In the up-down direction, the lower end of the front pulley 244, the lower end of the rear pulley 246, and the lower ends of the multiple auxiliary pulleys 248 are located at substantially the same position.

[0089] As shown in FIG. 12 , the tensioner pulley 250 is rotatably supported by a movable bearing 264. The movable bearing 264 is supported by the left side plate 212 so as to be movable up and down. Note that the base plate 204 and the left side frame 208 are cut out near the movable bearing 264 to prevent interference with the movable bearing 264. An adjustment bolt 266, a nut 268, and a bolt support member 270 are provided below the movable bearing 264. The bolt support member 270 is fixed to the left side plate 212. A through hole 270a is formed in the bolt support member 270, through which the shaft portion 266a of the adjustment bolt 266 passes. A female thread corresponding to the male thread of the shaft portion 266a is formed on the inner surface of the through hole 270a. The nut 268 is disposed below the bolt support member 270. The head 266b of the adjustment bolt 266 is positioned lower than the nut 268, and the shaft 266a of the adjustment bolt 266 is threadedly engaged with the nut 268 and also threadedly engaged with a through-hole 270a of the bolt support member 270. Therefore, the vertical position of the adjustment bolt 266 is fixed in a so-called double-nut manner. The upper end of the shaft 266a of the adjustment bolt 266 abuts against the underside of the movable bearing 264. By adjusting the vertical position of the adjustment bolt 266 while the rubber belt 252 is looped around the tensioner pulley 250, the vertical position of the movable bearing 264 relative to the left plate 212 can be adjusted. This makes it possible to adjust the tension of the rubber belt 252.

[0090] 11 , 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, causing the rubber belt 252 to rotate in the forward or reverse direction around the front pulley 244, the rear pulley 246, the multiple auxiliary pulleys 248, and the tensioner pulley 250.

[0091] As shown in Fig. 13, the side stepper 196 includes step bars 272, 274, a front crank mechanism 276, a rear crank mechanism 277, a stepper motor 279, a gear box 281, a worm gear case 283, and a rotation transmission shaft 285. The step bars 272, 274 are rod-shaped members having a substantially rectangular cross section and extending in the front-rear direction. As shown in Fig. 11, in the left-right direction, the step bar 272 is disposed between the center and the right end of the base plate 204, and the step bar 274 is disposed between the center and the left end of the base plate 204.

[0092] As shown in FIGS. 13 and 14 , the front crank mechanism 276 includes a support plate 278, pulleys 280 and 282, a belt 284, crank arms 286 and 288, crank pins 290 and 292 (see FIG. 15 ), a crank plate 294, rollers 296 and 298, and a guide plate 300. The support plate 278 is fixed to the lower surface of the base plate 204 near the front end of the base plate 204. The support plate 278 is arranged along the left-right and up-down directions. The pulley 280 is arranged near the right end of the support plate 278 and rearward of the support plate 278. The pulley 282 is arranged near the left end of the support plate 278 and rearward of the support plate 278. The pulleys 280 and 282 are each rotatably supported by the support plate 278. The diameter of pulley 280 is approximately the same as the diameter of pulley 282. Belt 284 is looped around pulleys 280 and 282. Therefore, when one of pulleys 280 and 282 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at approximately the same rotation speed.

[0093] The crank arms 286, 288, crank pins 290, 292, crank plate 294, rollers 296, 298, and guide plate 300 are disposed forward of the support plate 278. As shown in Fig. 15, the crank arms 286, 288 have fitting holes 286a, 288a into which the shafts 280a, 282a of the pulleys 280, 282 are fitted, and elongated holes 286b, 288b extending in the longitudinal direction of the crank arms 286, 288. When the pulleys 280, 282 rotate, the crank arms 286, 288 rotate integrally with the pulleys 280, 282 around the shafts 280a, 282a. The crank pins 290, 292 are slidably inserted into the elongated holes 286b, 288b. The crank pins 290, 292 are fixed to the crank plate 294 while passing through it. The crank plate 294 is disposed forward of the crank arms 286, 288. The crank plate 294 extends in the left-right and up-down directions. The rollers 296, 298 (see FIG. 14) are attached to the crank pins 290, 292 forward of the crank plate 294. As shown in FIG. 14, the rollers 296, 298 fit into guide grooves 302, 304 formed in the rear surface of a guide plate 300. The guide plate 300 is fixed to the lower surface of the base plate 204 forward of the crank plate 294. The guide plate 300 extends in the left-right and up-down directions. As shown in FIG. 15, the guide grooves 302, 304 of the guide plate 300 are formed in a generally rectangular shape with rounded corners. Guide grooves 302, 304 define a side step path S, which is shown by a dashed line in Fig. 15. The side step path S has a generally rectangular shape with rounded corners, and has upper and lower sides extending in the left-right direction and right and left sides extending in the up-down direction.

[0094] In the front crank mechanism 276, when the pulleys 280, 282 rotate, the crank arms 286, 288 rotate, causing the crank pins 290, 292 to move in the rotational direction of the crank arms 286, 288. At this time, because the rollers 296, 298 are fitted in the guide grooves 302, 304, the crank pins 290, 292 slide inside the elongated holes 286b, 288b and move along the side step path S defined by the guide grooves 302, 304. As a result, the crank plate 294 to which the crank pins 290, 292 are fixed also moves along the side step path S defined by the guide grooves 302, 304.

[0095] As shown in FIG. 16, the rear crank mechanism 277 includes a support plate 306, pulleys 308 and 310, a belt 312, crank arms 314 and 316, crank pins 318 and 320 (see FIG. 15), a crank plate 322, rollers 324 and 326, and a guide plate 328. The support plate 306 is fixed to the lower surface of the base plate 204 near the rear end of the base plate 204. The support plate 306 is arranged along the left-right and up-down directions. The pulley 308 is arranged near the right end of the support plate 306 and forward of the support plate 306. The pulley 310 is arranged near the left end of the support plate 306 and forward of the support plate 306. The pulleys 308 and 310 are each rotatably supported by the support plate 306. The diameter of pulley 308 is approximately the same as the diameter of pulley 310, which is also approximately the same as the diameter of pulleys 280, 282 of front crank mechanism 276. Belt 312 is wound around pulleys 308, 310. Therefore, when one of pulleys 308, 310 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at approximately the same rotation speed.

[0096] The crank arms 314, 316, crank pins 318, 320, crank plate 322, rollers 324, 326, and guide plate 328 are disposed rearward of the support plate 306. As shown in Fig. 15, the crank arms 314, 316 have fitting holes 314a, 316a into which the shafts 308a, 310a of the pulleys 308, 310 are fitted, and elongated holes 314b, 316b extending in the longitudinal direction of the crank arms 314, 316. When the pulleys 308, 310 rotate, the crank arms 314, 316 rotate integrally with the pulleys 308, 310 around the shafts 308a, 310a. The crank pins 318, 320 are slidably inserted into the elongated holes 314b, 316b. The crank pins 318, 320 are fixed to the crank plate 322 while passing through the crank plate 322. The crank plate 322 is disposed rearward of the crank arms 314, 316. The crank plate 322 extends in the left-right and up-down directions. The rollers 324, 326 (see FIG. 16) are attached to the crank pins 318, 320 rearward of the crank plate 322. As shown in FIG. 16, the rollers 324, 326 fit into guide grooves 330, 332 formed in the front surface of a guide plate 328. The guide plate 328 is fixed to the lower surface of the base plate 204 rearward of the crank plate 322. The guide plate 328 extends in the left-right and up-down directions. As shown in FIG. 15, the guide grooves 330, 332 of the guide plate 328 are formed in a generally rectangular shape with rounded corners. Guide grooves 330, 332 define a side step trajectory S, shown by a dashed line in Fig. 15. Side step trajectory S has a generally rectangular shape with rounded corners, with upper and lower sides aligned in the left-right direction and right and left sides aligned in the up-down direction. The side step trajectory S defined by guide grooves 330, 332 is the same as the side step trajectory S defined by guide grooves 302, 304.

[0097] In the rear crank mechanism 277, when the pulleys 308, 310 rotate, the crank arms 314, 316 rotate, causing the crank pins 318, 320 to move in the rotational direction of the crank arms 314, 316. At this time, because the rollers 324, 326 are fitted in the guide grooves 330, 332, the crank pins 318, 320 slide inside the elongated holes 314b, 316b and move along the side step path S defined by the guide grooves 330, 332. As a result, the crank plate 322 to which the crank pins 318, 320 are fixed also moves along the side step path S defined by the guide grooves 330, 332.

[0098] 13, each of the step bars 272, 274 has its front end fixed to a crank plate 294 of the front crank mechanism 276 and its rear end fixed to a crank plate 322 of the rear crank mechanism 277. Furthermore, the pulley 280 of the front crank mechanism 276 and the pulley 308 of the rear crank mechanism 277 are connected by a rotation transmission shaft 285. Therefore, the pulleys 280, 282 of the front crank mechanism 276 and the pulleys 308, 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. A zero-point detection sensor (not shown) is provided in 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 includes, 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, 322 are at the zero point position, with the center in the left-right direction of the upper edge of the side step path S being the zero point position.

[0099] As shown in FIG. 13 , the worm gear case 283 is disposed rearward of the pulley 282 of the front crank mechanism 276. The worm gear case 283 is fixed to the support plate 278 of the front crank mechanism 276. The gear box 281 is disposed to the right of the worm gear case 283 and is fixed to the worm gear case 283. The stepper motor 279 is disposed to the right of the gear box 281 and is held by the gear box 281. The stepper motor 279 is, for example, a DC brushed motor. The stepper motor 279 is connected to the pulley 282 via a reduction gear (not shown) built into the gear box 281 and a worm gear (not shown) built into the worm gear case 283. When stepper motor 279 rotates forward or reverse, pulleys 280, 282, 308, 310 rotate forward or reverse, causing crank plates 294, 322 to move clockwise or counterclockwise along side step trajectory S, and step bars 272, 274 to also move clockwise or counterclockwise along side step trajectory S. As shown in FIG. 1, base plate 204 is formed with through-holes 204b to avoid interference with stepper motor 279, gear box 281, and worm gear case 283.

[0100] 17, when the crank plates 294, 322 are on the upper side of the side step track S (see FIG. 15) and the step bars 272, 274 are moving upward, the crank plates 294, 322 and the step bars 272, 274 are separated from the primary reinforcing bars R1 and the secondary reinforcing bars R2. In this state, the right crawler 192 and the left crawler 194 are in contact with the primary reinforcing bars R1 and the secondary reinforcing bars R2, so the reinforcing bar binding robot 100 can drive the right crawler 192 and the left crawler 194 to move forward and backward.

[0101] 17, when the stepper motor 279 is rotated, the crank plates 294, 322 move along the side step path S (see FIG. 15), and the step bars 272, 274 move downward accordingly, causing the crank plates 294, 322 and the step bars 272, 274 to come into contact with the secondary rebar R2. When the stepper motor 279 is further rotated from this state, the crank plates 294, 322 and the step bars 272, 274 move further downward, causing the right crawler 192 and the left crawler 194 to move away from the secondary rebar R2, as shown in FIG. By continuing to rotate the stepper motor 279, the rebar binding robot 100 moves to the right or left by a step width corresponding to the left-right width of the side step track S, and then the crank plates 294, 322 and step bars 272, 274 move upward, causing the right crawler 192 and left crawler 194 to again abut against the primary rebar R1 or secondary rebar R2, and the crank plates 294, 322 and step bars 272, 274 to move away from the secondary rebar R2. When the zero-point detection sensor detects that the crank plates 294, 322 have reached the zero-point position, the rotation of the stepper motor 279 stops. As described above, by driving the side stepper 196, the rebar binding robot 100 can move to the right or left by a predetermined step width.

[0102] The side step path S defined by the guide grooves 302, 304, 330, 332 is not limited to the generally rectangular shape described above and may have various other shapes. The side step path S may have any shape as long as, when the step bars 272, 274 move along the side step path S, the lower ends of the step bars 272, 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, 274 move in the left-right direction, and then the lower ends of the step bars 272, 274 move above the lower ends of the right crawler 192 and the left crawler 194. For example, the side step path S may be circular, elliptical, triangular with a base at the bottom, or polygonal with pentagons or more sides.

[0103] As shown in FIG. 11 , the front three-dimensional distance sensor 198 is provided on the front surface of the front frame 214, near the center of the front frame 214 in the left-right direction. The rear three-dimensional distance sensor 200 is provided on the rear surface of the rear frame 216, near the center of the rear frame 216 in the left-right direction. The central three-dimensional distance sensor 202 is provided on the underside of the base plate 204, near the center of the left end of the base plate 204 in the front-to-back direction. The front three-dimensional distance sensor 198 and the rear three-dimensional distance sensor 200 are each arranged to face downward. The central three-dimensional distance sensor 202 is arranged to face diagonally downward and to the right. The front three-dimensional distance sensor 198, the rear three-dimensional distance sensor 200, and the central three-dimensional distance sensor 202 are, for example, TOF (Time-of-Flight) sensors capable of outputting point cloud data that represents the three-dimensional position of a subject within a field of view using a point cloud. The control unit 126 of the rebar tying robot 100 can identify the relative positions of the primary rebars R1 and secondary rebars R2 with respect to the front three-dimensional distance sensor 198, the rear three-dimensional distance sensor 200, and the central three-dimensional distance sensor 202, respectively, based on the point cloud data acquired by the front three-dimensional distance sensor 198, the rear three-dimensional distance sensor 200, and the central three-dimensional distance sensor 202. The field of view of the front three-dimensional distance sensor 198 is disposed forward of the field of view of the central three-dimensional distance sensor 202, and the field of view of the rear three-dimensional distance sensor 200 is disposed rearward of the field of view of the central three-dimensional distance sensor 202. Note that instead of TOF sensors, stereo vision or pattern projection three-dimensional distance sensors may be used as the front three-dimensional distance sensor 198, the rear three-dimensional distance sensor 200, and the central three-dimensional distance sensor 202.

[0104] The rebar binding robot 100 further includes a front sensor 350, a rear sensor 352, a right sensor 354, and a left sensor 356. The front sensor 350 is provided near the center of the front frame 214 in the left-right direction. The rear sensor 352 is provided near the center of the rear frame 216 in the left-right direction. The right sensor 354 is provided near the center of the base plate 204 in the front-to-back direction and to the right of the through-hole 204a. The left sensor 356 is provided near the center of the base plate 204 in the front-to-back direction and to the left of the through-hole 204a. The front sensor 350, the rear sensor 352, the right sensor 354, and the left sensor 356 are arranged to face downward. The field of view of the front sensor 350 is located forward of the fields of view of the rear sensor 352, the right sensor 354, and the left sensor 356. The field of view of the rear sensor 352 is located behind the fields of view of the front sensor 350, the right sensor 354, and the left sensor 356. The field of view of the right sensor 354 is located to the right of the front sensor 350, the rear sensor 352, and the left sensor 356. The left sensor 356 is located to the left of the front sensor 350, the rear sensor 352, and the right sensor 354. The front sensor 350, the rear sensor 352, the right sensor 354, and the left sensor 356 are sensors capable of detecting characteristics of the binding wire W tied to the rebar assembly RA. In this embodiment, the characteristic of the binding wire W is the color of the binding wire W. Each of the sensors 350, 352, 354, and 356 is, for example, an infrared sensor or an illuminance sensor. Each of the sensors 350, 352, 354, and 356 can detect the color of the binding wire W based on the light reflectance or reflection intensity of the binding wire W. In a modified example, the characteristic of the binding wire W may be the number of turns of the binding wire W. In this case, each of the sensors 350, 352, 354, and 356 may be, for example, an optical camera. Each of the sensors 350, 352, 354, and 356 can detect the number of turns of the binding wire W based on the appearance of the binding wire W. Alternatively, the characteristic of the binding wire W may be the shape of the twisted portion of the binding wire W. In this case, each of the sensors 350, 352, 354, and 356 may be, for example, an optical camera. Each of the sensors 350, 352, 354, and 356 can detect the shape of the twisted portion of the binding wire W based on the appearance of the binding wire W.Alternatively, the characteristic of the binding wire W may be the material of the binding wire W. In this case, each of the sensors 350, 352, 354, and 356 may be, for example, an ultrasonic sensor or a sound wave sensor. Each of the sensors 350, 352, 354, and 356 can detect the material of the binding wire W based on the reflectivity of sound waves from the binding wire W. Alternatively, if a magnetized binding wire W is used as the binding wire W, the characteristic of the binding wire W may be the magnitude of the magnetic force of the binding wire W. In this case, each of the sensors 350, 352, 354, and 356 may be, for example, a magnetic sensor. Each of the sensors 350, 352, 354, and 356 can detect the magnitude of the magnetic force of the binding wire W.

[0105] (Operation of rebar binding robot 100) 1 operates the operation execution button 122 to instruct the execution of an operation of the rebar binding robot 100 shown in Fig. 1, the control unit 126 executes a rebar binding process. The rebar binding process includes a process of driving the transport unit 106 to move the rebar binding robot 100 over the rebar assembly RA (hereinafter, this process may be referred to as a movement process), and a process of driving the rebar binding machine 2 to bind the intersections of the primary rebars R1 and the secondary rebars R2 with binding wires W (hereinafter, this process may be referred to as a binding process). In the rebar binding process, the control unit 126 drives the rebar binding machine 2 and the transport unit 106 so that the intersections of the multiple primary rebars R1 and the multiple secondary rebars R2 are bound in a predetermined order.

[0106] In the rebar binding process, when the rebar binding robot 100 is positioned on the target primary rebar R1, the control unit 126 drives the right crawler 192 and the left crawler 194 at the same speed. This causes the rebar binding robot 100 to move along the primary rebar R1 on the rebar assembly RA.

[0107] The control unit 126 acquires point cloud data detected by the central three-dimensional distance sensor 202 (see FIG. 11) while the rebar tying robot 100 moves along the primary rebars R1 on the rebar assembly RA. The control unit 126 detects intersections between multiple primary rebars R1 and multiple secondary rebars R2 based on the acquired point cloud data. The control unit 126 also monitors whether a binding wire W has been tied at the intersection based on the point cloud data detected by the central three-dimensional distance sensor 202 (see FIG. 11). If the control unit 126 determines that the position of the rebar tying robot 100 is directly above an intersection where a binding wire W has not yet been tied, it stops driving the right crawler 192 and the left crawler 194. Here, the position of the rebar tying robot 100 represents the center position in the front-to-back and left-to-right directions of the base plate 204. This causes the rebar tying robot 100 to temporarily stop.

[0108] After the rebar binding robot 100 temporarily stops, the control unit 126 drives the lifting mechanism 130 (see FIG. 7) to lower the rebar binding machine 2, sets the rebar binding machine 2 at the intersection of the primary rebar R1 and the secondary rebar R2, and drives the gripping mechanism 132 (see FIG. 8) to bind the intersection of the primary rebar R1 and the secondary rebar R2 with a binding wire W. Thereafter, the control unit 126 drives the lifting mechanism 130 (see FIG. 7) to raise the rebar binding machine 2. Furthermore, the control unit 126 drives the right crawler 192 and the left crawler 194 at the same speed.

[0109] When the control unit 126 determines that the position of the rebar tying robot 100 is directly above the intersection where the binding wire W is being tied, it does not stop driving the right crawler 192 and the left crawler 194, and does not drive the lifting mechanism 130 (see FIG. 7) and the gripping mechanism 132 (see FIG. 8). The rebar tying robot 100 passes over the intersection without tying the binding wire W at the intersection.

[0110] When moving the rebar binding robot 100 along the secondary rebars R2, the control unit 126 acquires point cloud data detected by the front three-dimensional distance sensor 198 (see FIG. 11) and the rear three-dimensional distance sensor 200 (see FIG. 11). The control unit 126 drives the side stepper 196 (see FIG. 11) based on the acquired point cloud data. This causes the rebar binding robot 100 to move to another primary rebar R1 adjacent to the primary rebar R1 where it was located before moving.

[0111] (Feature detection process for binding wire W) When the control unit 126 executes the above-described rebar binding process, it also executes the process shown in Fig. 19. In the following, the left-right direction refers to the left-right direction based on the rebar binding robot 100, and the front-rear direction refers to the front-rear direction based on the rebar binding robot 100.

[0112] As shown in Fig. 19, in S2, the control unit 126 acquires the color of the binding wire W via the front sensor 350 or the rear sensor 352 for an intersection adjacent to the intersection reached by the rebar binding robot 100 in the moving direction MD (see Figs. 20 and 21) of the rebar binding robot 100. Here, the moving direction MD represents the direction in which the rebar binding robot 100 moves when the right crawler 192 and the left crawler 194 are driven at the same speed. In this embodiment, the moving direction MD is equal to the front-to-rear direction relative to the rebar assembly RA (i.e., the direction in which the primary rebar R1 extends). Here, the intersection point adjacent to the intersection point reached by the rebar tying robot 100 in the moving direction MD of the rebar tying robot 100 corresponds to intersection point B in FIG. 20 when the moving direction MD of the rebar tying robot 100 is forward relative to the rebar tying robot 100, as shown in FIG. 20 , and corresponds to intersection point B in FIG. 21 when the moving direction MD of the rebar tying robot 100 is backward relative to the rebar tying robot 100, as shown in FIG. 21 . Furthermore, if no binding wire W is tied at the intersection point adjacent to the intersection point reached by the rebar tying robot 100 in the moving direction MD of the rebar tying robot 100, the control unit 126 determines that the binding wire W is colorless. Hereinafter, if no binding wire W is tied at the intersection point, the control unit 126 will determine that the binding wire W is colorless.

[0113] As shown in FIG. 20 , when the traveling direction MD of the rebar tying robot 100 is forward relative to the rebar tying robot 100, the color of the binding wire W at intersection A is detected by the front sensor 350 and / or the left sensor 356. The color of the binding wire W at intersection B is detected by the front sensor 350. The color of the binding wire W at intersection C is detected by the front sensor 350 and the right sensor 354. The color of the binding wire W at intersection D is detected by the left sensor 356. The color of the binding wire W at intersection E is detected by the right sensor 354. The color of the binding wire W at intersection F is detected by the rear sensor 352 and / or the left sensor 356. The color of the binding wire W at intersection G is detected by the rear sensor 352. The color of the binding wire W at intersection H is detected by the rear sensor 352 and / or the right sensor 354.

[0114] As shown in FIG. 21 , when the traveling direction MD of the rebar tying robot 100 is backward relative to the rebar tying robot 100, the color of the binding wire W at intersection A is detected by the rear sensor 352 and / or the left sensor 356. The color of the binding wire W at intersection B is detected by the rear sensor 352. The color of the binding wire W at intersection C is detected by the rear sensor 352 and / or the right sensor 354. The color of the binding wire W at intersection D is detected by the left sensor 356. The color of the binding wire W at intersection E is detected by the right sensor 354. The color of the binding wire W at intersection F is detected by the front sensor 350 and the left sensor 356. The color of the binding wire W at intersection G is detected by the front sensor 350. The color of the binding wire W at intersection H is detected by the front sensor 350 and / or the right sensor 354.

[0115] In S4 of FIG. 19, the control unit 126 determines whether the color of the binding wire W acquired in S2 is a third color. Information regarding the third color is stored in advance in the control unit 126 and can be changed by the user. The third color represents a position on the rebar assembly RA where a specific parameter of the rebar binding robot 100 is to be changed. The third color is a color other than colorless, such as yellow. The binding wire W having the third color is previously tied by the user at any intersection within the working area on the rebar assembly RA where the rebar binding robot 100 can move. If the control unit 126 determines that the color of the binding wire W acquired in S2 is the third color (YES in S4), it executes a parameter change process in S6. The parameter change process will be described later. On the other hand, if the control unit 126 determines that the color of the binding wire W acquired in S2 is not the third color (NO in S4), the process proceeds to S8.

[0116] In S8, the control unit 126 determines whether the color of the binding wire W acquired in S2 is a first color. Information regarding the first color is stored in the control unit 126 in advance and can be changed by the user. The first color represents the edge P1 (see FIG. 24) of the work area on the rebar assembly RA where the rebar tying robot 100 can move. The first color is a color other than colorless, for example, green. The first color is different from the third color. The binding wires W having the first color are tied in advance by the user to all edges P1 of the work area on the rebar assembly RA. Hereinafter, the intersections where the binding wires W having the first color are tied are referred to as the edges P1 (see FIG. 24) of the work area on the rebar assembly RA. If the control unit 126 determines that the color of the binding wire W acquired in S2 is the first color (YES in S8), it executes the movement direction change process in S10. The fact that the color of the binding wire W acquired in S2 is the first color means that the intersection point B (see Figures 20 and 21) is the edge P1 of the work area on the reinforcing bar assembly RA. The movement direction change process will be described later. On the other hand, if the control unit 126 determines that the color of the binding wire W acquired in S2 is not the first color (NO in S8), it proceeds to S12. The fact that the color of the binding wire W acquired in S2 is not the first color means that the intersection point B (see Figures 20 and 21) is not the edge P1 of the work area on the reinforcing bar assembly RA.

[0117] In S12, the control unit 126 determines whether the color of the binding wire W acquired in S2 is the second color. Information regarding the second color is stored in the control unit 126 in advance and can be changed by the user. The second color represents a position where the rebar tying robot 100 cannot move. The second color is a color other than colorless, such as red. The second color is different from the first color and the third color. The binding wire W having the second color is tied in advance by the user at all intersections within a prohibited area, which prohibits the movement of the rebar tying robot 100, within the work area on the rebar assembly RA. For example, an obstacle is located in the prohibited area. Hereinafter, the position of the intersection where the binding wire W having the second color is tied is referred to as the prohibited position P2 (see FIG. 29). If the control unit 126 determines that the color of the binding wire W acquired in S2 is the second color (YES in S12), it executes the avoidance process in S14. The fact that the color of the binding wire W acquired in S2 is the second color means that the intersection point B (see FIGS. 20 and 21) is the prohibited position P2. The avoidance processing will be described later. On the other hand, if the control unit 126 determines that the color of the binding wire W acquired in S2 is not the second color (NO in S12), it ends the processing shown in FIG. 19. The fact that the color of the binding wire W acquired in S2 is not the second color means that the intersection point B (see FIGS. 20 and 21) is not the prohibited position P2.

[0118] (Parameter change process: Movement speed change process) Next, the parameter change process will be described with reference to Fig. 22. In S20, the control unit 126 changes a parameter. In this embodiment, the parameter is the movement speed of the rebar binding robot 100. When the control unit 126 executes S20, the movement speed of the rebar binding robot 100 increases or decreases.

[0119] (Parameter change process: Binding interval change process) In the modified example, the parameter is an execution pattern of the binding process executed by the control unit 126. Normally, the control unit 126 drives the lifting mechanism 130 and the gripping device to drive the rebar binding machine 2 every time the rebar binding robot 100 reaches an intersection between the primary rebar R1 and the secondary rebar R2. As a result, all intersections reached by the rebar binding robot 100 are bound with binding wires W. In the modified example, when the control unit 126 executes S20, the execution pattern of the binding process executed by the control unit 126 changes. Specifically, when the control unit 126 executes S20, the control unit 126 selectively executes an unbinding process in which the rebar binding machine 2 does not bind the intersections with binding wires W when the rebar binding robot 100 reaches an intersection between a plurality of primary rebars R1 and a plurality of secondary rebars R2, and a binding process in which the rebar binding machine 2 binds the intersections with binding wires W when the rebar binding robot 100 reaches an intersection between a plurality of primary rebars R1 and a plurality of secondary rebars R2. For example, the control unit 126 alternately executes the unbinding process and the binding process every time the rebar binding robot 100 reaches an intersection between a plurality of primary rebars R1 and a plurality of secondary rebars R2. At this time, the intersections are bound with binding wires W every other intersection. Furthermore, for example, the control unit 126 repeatedly executes the unbinding process, the unbinding process, and the binding process in order every time the rebar binding robot 100 reaches an intersection of multiple primary rebars R1 and multiple secondary rebars R2. At this time, every other intersection is bound with a binding wire W.

[0120] (Parameter change process: Number of turns change process) In a modified example, the parameter is the number of turns of the binding wire W when the control unit 126 performs the binding process. In this case, the control unit 126 communicates with the control device 80 of the rebar binding machine 2, and transmits a signal to the control device 80 to change the parameter related to the number of turns of the binding wire W when the control unit 126 performs the binding process. Upon receiving the signal, the control device 80 changes the parameter related to the number of turns of the binding wire W when the control unit 126 performs the binding process. This increases or decreases the number of turns of the binding wire W to be bound at the intersection.

[0121] (Parameter change processing: Torque change processing) Furthermore, in a modified example, the parameter is the torsional torque imparted to the binding wire W when the control unit 126 performs the binding process. In this case, the control unit 126 communicates with the control device 80 of the rebar binding machine 2, and transmits to the control device 80 a signal for changing the torsional torque imparted to the binding wire W when the control unit 126 performs the binding process. Upon receiving the signal, the control device 80 changes the parameter related to the torsional torque imparted to the binding wire W when the control unit 126 performs the binding process. This increases or decreases the torsional torque imparted to the binding wire W.

[0122] (Movement direction change processing) Next, the movement direction change process will be described with reference to Fig. 23. As described above, the movement direction change process is executed when the binding wire W tied at the intersection B (see Figs. 20 and 21) is the first color (YES in S8 in Fig. 19). In this case, the intersection B (see Figs. 20 and 21) is the edge P1 (see Fig. 24) of the work area of ​​the reinforcing bar assembly RA. The movement direction change process is a process of changing the traveling direction MD of the reinforcing bar binding robot 100 to the opposite direction to prevent the reinforcing bar binding robot 100 from moving outside the work area of ​​the reinforcing bar assembly RA. Note that even while the movement direction change process is being executed, the control unit 126 executes the binding process every time the reinforcing bar binding robot 100 reaches an intersection of multiple primary reinforcing bars R1 and multiple secondary reinforcing bars R2. As a result, the intersection is bound by the binding wire W even while the movement direction change process is being executed. If the control unit 126 determines that the intersection reached by the rebar binding robot 100 is bound with binding wire W, it does not stop driving the right crawler 192 and the left crawler 194, and does not drive the lifting mechanism 130 (see FIG. 7) and the gripping mechanism 132 (see FIG. 8). The rebar binding robot 100 passes over the intersection without binding the intersection with binding wire W.

[0123] In the following, as shown in Figure 24, the primary rebar R1 where the rebar binding robot 100 is located when the control unit 126 starts the movement direction change process will be referred to as the first lane R11, and the primary rebar R1 adjacent to the right side of the first lane R11 based on the rebar assembly RA will be referred to as the second lane R12.

[0124] Immediately before S30 shown in FIG. 23 is executed, all intersections on the first lane R11 are normally bound with binding wires W. The rebar binding robot 100 needs to move from the first lane R11 to the second lane R12 to bind the intersections on the second lane R12. In S30, first, the control unit 126 acquires the color of the binding wire W for the intersection E shown in FIG. 20 or 21 (i.e., the intersection adjacent to the intersection where the rebar binding robot 100 is located on the right side, with the rebar assembly RA as the reference). Next, the control unit 126 determines whether the acquired color of the binding wire W is the second color. If the control unit 126 determines that the acquired color of the binding wire W is not the second color (NO in S30), the process proceeds to S32. The fact that the color of the acquired binding wire W is not the second color means that the intersection point E (see Figures 20 and 21) is not the prohibited position P2 (see Figure 29) of the reinforcing bar assembly RA. On the other hand, if the control unit 126 determines that the color of the acquired binding wire W is the second color (YES in S30), it proceeds to S38. The fact that the color of the acquired binding wire W is the second color means that the intersection point E is the prohibited position P2 of the reinforcing bar assembly RA.

[0125] First, S32 will be described. In S32, the control unit 126 determines whether the color of the acquired binding wire W is the first color. If the control unit 126 determines that the color of the acquired binding wire W is not the first color (NO in S32), the process proceeds to S34. The fact that the color of the acquired binding wire W is not the first color means that the intersection point E (see FIGS. 20 and 21) is not the edge P1 (see FIG. 24) of the work area of ​​the reinforcing bar assembly RA. On the other hand, if the control unit 126 determines that the color of the acquired binding wire W is the first color (YES in S32), the control unit 126 stops the reinforcing bar tying robot 100 in S42. The fact that the color of the acquired binding wire W is the first color means that the intersection point E is the edge P1 of the work area of ​​the reinforcing bar assembly RA.

[0126] In S34, the control unit 126 drives the side stepper 196 to move the rebar binding robot 100 laterally (to the right with respect to the rebar assembly RA in this embodiment) (i.e., in the direction in which the secondary rebar R2 extends) with respect to the rebar assembly RA. As a result, as shown in Figure 24, the rebar binding robot 100 moves from the first lane R11 to the second lane R12. That is, the rebar binding robot 100 moves to the intersection point E (see Figures 20 and 21).

[0127] 23, the control unit 126 reverses the traveling direction MD of the rebar bundling robot 100. Specifically, the control unit 126 executes processing to reverse the rotation directions of the right crawler 192 and the left crawler 194. This makes it possible to reverse the direction in which the rebar bundling robot 100 moves without changing the posture of the rebar bundling robot 100. Furthermore, after the traveling direction MD has been reversed, the rebar bundling robot 100 moves in the second lane R12. After that, the control unit 126 ends the traveling direction change processing.

[0128] Next, S38 will be described. Immediately before S38 is executed, intersection point B (see FIGS. 20 and 21) is the edge P1 of the work area of ​​the rebar assembly RA, and intersection point E (see FIGS. 20 and 21) is the prohibited position P2 of the rebar assembly RA. Therefore, the rebar binding robot 100 needs to move in the direction opposite to the current traveling direction MD. In S38, first, the control unit 126 acquires the color of the binding wire W for intersection point G shown in FIG. 20 or 21 (i.e., the intersection point adjacent to the rear side of the intersection point where the rebar assembly RA is located). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S38), the process proceeds to S40. The fact that the color of the acquired binding wire W is neither the first color nor the second color means that the intersection point G (see FIGS. 20 and 21) is neither the edge P1 of the work area of ​​the reinforcing bar assembly RA nor the prohibited position P2 of the reinforcing bar assembly RA. On the other hand, if the control unit 126 determines that the color of the acquired binding wire W is the first color or the second color (YES in S38), the process proceeds to S42. The fact that the color of the acquired binding wire W is the first color or the second color means that the intersection point G (see FIGS. 20 and 21) is either the edge P1 of the work area of ​​the reinforcing bar assembly RA or the prohibited position P2 of the reinforcing bar assembly RA. Thereafter, the control unit 126 ends the movement direction change process.

[0129] In S40, the control unit 126 moves the rebar binding robot 100 in the direction opposite to the moving direction MD of the rebar binding robot 100. Specifically, the control unit 126 drives the right crawler 192 and the left crawler 194 in opposite directions. This causes the rebar binding robot 100 to move to the intersection G (see FIGS. 20 and 21). Note that even after the processing of S40 is executed, the moving direction MD of the rebar binding robot 100 remains the same as the moving direction MD of the rebar binding robot 100 before the processing of S40 was executed. Thereafter, the control unit 126 returns to S30.

[0130] (Avoidance process) Next, the avoidance process will be described with reference to FIGS. 25 to 28. As described above, the avoidance process is executed when the binding wire W tied at the intersection B (see FIGS. 20 and 21) is the second color (YES in S12 of FIG. 19). In this case, the intersection B (see FIGS. 20 and 21) is the prohibited position P2 of the reinforcing bar assembly RA (see FIG. 29). The avoidance process is a process in which the reinforcing bar binding robot 100 avoids the prohibited position P2 on the reinforcing bar assembly RA to prevent the reinforcing bar binding robot 100 from moving over the prohibited position P2 of the reinforcing bar assembly RA. Note that even while the avoidance process is being executed, the control unit 126 executes the binding process every time the reinforcing bar binding robot 100 reaches an intersection of multiple primary reinforcing bars R1 and multiple secondary reinforcing bars R2. As a result, the intersection is bound by the binding wire W even while the avoidance process is being executed. If the control unit 126 determines that the intersection reached by the rebar binding robot 100 is bound with binding wire W, it does not stop driving the right crawler 192 and the left crawler 194, and does not drive the lifting mechanism 130 (see FIG. 7) and the gripping mechanism 132 (see FIG. 8). The rebar binding robot 100 passes over the intersection without binding the intersection with binding wire W.

[0131] Hereinafter, as shown in FIG. 29, the primary reinforcing bar R1 where the reinforcing bar binding robot 100 is located when the control unit 126 starts the avoidance process is referred to as the third lane R13. The primary reinforcing bar R1 where the reinforcing bar binding robot 100 moves when avoiding the prohibited position P2 is referred to as the fourth lane R14. If at least one primary reinforcing bar R1 exists between the third lane R13 and the fourth lane R14, that at least one primary reinforcing bar R1 is referred to as the fifth lane R15. In the front-to-back direction based on the reinforcing bar assembly RA, the area of ​​the third lane R13 or the fifth lane R15 on the side where the reinforcing bar binding robot 100 is located with respect to the prohibited position P2 is referred to as the pre-avoidance area E1. In the front-to-back direction based on the reinforcing bar assembly RA, the area of ​​the fourth lane R14 where the reinforcing bar binding robot 100 moves during the avoidance process is referred to as the avoidance area E2. In the forward / backward direction based on the rebar assembly RA, if there is at least one intersection between the prohibited position P2 and the end P1 of the rebar assembly RA in each of the third lane R13 and the fifth lane R15 that is not tied together by a tie wire W, the area in the third lane R13 and the fifth lane R15 where there is at least one intersection that is not tied together is called the post-avoidance area E3.

[0132] Immediately before S50 shown in FIG. 25 is executed, the rebar binding robot 100 cannot move in the traveling direction MD, so the rebar binding robot 100 needs to move in a direction different from the current traveling direction MD. In S50, the control unit 126 acquires the color of the binding wire W for the intersection E (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S50), the process proceeds to S60 in FIG. 26. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S50 in FIG. 25), the process proceeds to S52.

[0133] In S52, first, the control unit 126 acquires the color of the binding wire W for the intersection G (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S52), the control unit 126 proceeds to S54. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S52), the control unit 126 stops the rebar binding robot 100 in S56. Thereafter, the control unit 126 ends the avoidance processing.

[0134] In S54, the control unit 126 drives the right crawler 192 and the left crawler 194 in reverse to move the rebar binding robot 100 in the direction opposite to the moving direction MD of the rebar binding robot 100. This causes the rebar binding robot 100 to move to the intersection G (see FIGS. 20 and 21). Note that even after the processing of S54 is executed, the moving direction MD of the rebar binding robot 100 remains the same as the moving direction MD of the rebar binding robot 100 before the processing of S54 was executed. Thereafter, the control unit 126 returns to S50.

[0135] Next, S60 in Fig. 26 will be described. In S60, the control unit 126 drives the side stepper 196 to move the rebar binding robot 100 laterally (i.e., to the right with respect to the rebar assembly RA). This causes the rebar binding robot 100 to move to the intersection point E (see Figs. 20 and 21). As shown in Fig. 29, the rebar binding robot 100 moves from the third lane R13 to the fifth lane R15.

[0136] 26, the control unit 126 increments the avoidance lateral movement counter by 1. The avoidance lateral movement counter is stored in advance in the control unit 126. The avoidance lateral movement counter is zero when the avoidance process is executed. The avoidance lateral movement counter indicates the number of times that the rebar binding robot 100 has moved laterally over the rebar assembly RA (in this embodiment, to the right with the rebar assembly RA as the base) since the avoidance process was executed.

[0137] In S64, first, the control unit 126 acquires the color of the binding wire W for the intersection B (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S64), the process proceeds to S66. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S64), the process proceeds to S68.

[0138] In S66, the control unit 126 switches on the wrap flag, which is pre-stored in the control unit 126. Thereafter, the control unit 126 proceeds to S70.

[0139] In S68, the control unit 126 switches the return flag off, after which the control unit 126 proceeds to S70.

[0140] In S70, the control unit 126 reverses the moving direction MD of the rebar binding robot 100.

[0141] In S72, the control unit 126 acquires the color of the binding wire W for the intersection B (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S72), the control unit 126 proceeds to S74. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S72), the control unit 126 proceeds to S78.

[0142] In S74, the control unit 126 drives the right crawler 192 and the left crawler 194 to move the rebar binding robot 100 in the traveling direction MD. When the rebar binding robot 100 reaches the intersection of the primary rebar R1 and the secondary rebar R2, it temporarily stops.

[0143] In S76, the control unit 126 acquires the color of the binding wire W for each of the intersections F and D (see FIGS. 20 and 21). Next, the control unit 126 determines whether the color of the binding wire W at the intersection F (see FIGS. 20 and 21) is the first color or the second color, and whether the color of the binding wire W at the intersection D (see FIGS. 20 and 21) is neither the first color nor the second color. If the control unit 126 determines that the color of the binding wire W at the intersection F (see FIGS. 20 and 21) is the first color or the second color, and that the color of the binding wire W at the intersection D (see FIGS. 20 and 21) is neither the first color nor the second color (YES in S76), the control unit 126 proceeds to S80 in FIG. 27. On the other hand, if the control unit 126 determines that the color of the binding wire W at the intersection F (see FIGS. 20 and 21) is neither the first color nor the second color, or that the color of the binding wire W at the intersection D (see FIGS. 20 and 21) is the first color or the second color (NO in S76 in FIG. 26), the process returns to S72. By the control unit 126 repeatedly executing the processes of S72 to S76, the rebar binding robot 100 moves in the traveling direction MD in the fifth lane R15 to the edge P1 of the work area of ​​the rebar assembly RA, as shown in FIG.

[0144] Next, S78 in Fig. 26 will be described. In S78, if the return flag is on (YES in S78), the control unit 126 returns to S50 in Fig. 25. By the control unit 126 executing the processes of S50, S60-S70, the rebar binding robot 100 moves from the third lane R13 to the fifth lane R15, and the traveling direction MD of the rebar binding robot 100 switches to the opposite direction (rearward with respect to the rebar assembly RA), as shown in Fig. 29. Next, the rebar binding robot 100 moves in the traveling direction MD (rearward with respect to the rebar assembly RA) in the fifth lane R15 to the end P1 of the work area of ​​the rebar assembly RA. Furthermore, after the rebar binding robot 100 reaches the end P1 of the work area of ​​the rebar assembly RA, the control unit 126 again executes the processes of S50, S60-S70, whereby the rebar binding robot 100 moves from the fifth lane R15 to the fourth lane R14, and the moving direction MD of the rebar binding robot 100 switches to the opposite direction (forward relative to the rebar assembly RA). Next, the rebar binding robot 100 moves in the moving direction MD (forward relative to the rebar assembly RA) in the fourth lane R14 (i.e., the avoidance area E2). On the other hand, if the return flag is on (NO in S78 in FIG. 26), the control unit 126 returns to S70. This case corresponds to the case where the fifth lane R15 shown in FIG. 29 does not exist, and in this case, the configuration of the rebar assembly RA is as shown in FIG. 30. 30, the fourth lane R14 is located to the right of the third lane R13, and the prohibited position P2 is located only in the third lane R13. When the control unit 126 executes the process of S70 again, the traveling direction MD of the rebar binding robot 100 in the fourth lane R14 switches to the opposite direction (forward relative to the rebar assembly RA).

[0145] Next, S80 in Fig. 27 will be described. Immediately before S80 is executed, the rebar binding robot 100 is located at the intersection X of the avoidance area E2 shown in Fig. 29 and Fig. 30. In S80, the control unit 126 determines whether the avoidance lateral movement counter is greater than zero. If the control unit 126 determines that the avoidance lateral movement counter is greater than zero (YES in S80), the process proceeds to S82. On the other hand, if the control unit 126 determines that the avoidance lateral movement counter is equal to or less than zero (NO in S80), the process proceeds to S94 in Fig. 28.

[0146] In S82, the control unit 126 determines whether the avoidance lateral movement counter is greater than the maximum lateral movement value. The maximum lateral movement value is stored in the control unit 126 in advance. The maximum lateral movement value is zero at the time when the avoidance process is executed. If the control unit 126 determines that the avoidance lateral movement counter is greater than the maximum lateral movement value (YES in S82), the control unit 126 proceeds to S84. On the other hand, if the control unit 126 determines that the avoidance lateral movement counter is equal to or less than the maximum lateral movement value (NO in S82), the control unit 126 skips S84 and proceeds to S86.

[0147] In S84, the control unit 126 changes the lateral movement maximum value to the value of the avoidance lateral movement counter.

[0148] In S86, the control unit 126 drives the side stepper 196 to move the rebar binding robot 100 in the direction opposite to the lateral direction in S60 (i.e., leftward with respect to the rebar assembly RA).

[0149] In S88, the control unit 126 decrements the value of the evasive lateral movement counter by one.

[0150] In S90, first, the control unit 126 acquires the color of the binding wire W for the intersection D (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S90), the process returns to S80. By the control unit 126 repeatedly executing the processes of S80-S90, the rebar binding robot 100 moves to the post-avoidance area E3 of the third lane R13, as shown in FIGS. 29 and 30. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S90 in FIG. 27), the process proceeds to S92.

[0151] In S92, the control unit 126 subtracts the value of the lateral movement maximum value by the value of the avoidance lateral movement counter, and then the control unit 126 sets the calculated value as the lateral movement maximum value.

[0152] Next, S94 in Figure 28 will be described. In S94, the control unit 126 determines whether the maximum lateral movement value is greater than zero. If the control unit 126 determines that the maximum lateral movement value is greater than zero (YES in S94), the control unit 126 proceeds to S96. On the other hand, if the control unit 126 determines that the maximum lateral movement value is equal to or less than zero (NO in S94), the avoidance processing ends.

[0153] In S96, the control unit 126 acquires the color of the binding wire W for the intersection B (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S96), the process proceeds to S98. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S96), the process proceeds to S100.

[0154] In S98, the control unit 126 drives the right crawler 192 and the left crawler 194 to move the rebar binding robot 100 in the traveling direction MD. By the control unit 126 repeatedly executing the processes of S96-S98, the rebar binding robot 100 moves through the post-avoidance area E3 of the third lane R13 to the edge P1 of the work area of ​​the rebar assembly RA, as shown in Figures 29 and 30.

[0155] In S100 of FIG. 28, the control unit 126 acquires the color of the binding wire W for the intersection E (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S100), the control unit 126 proceeds to S102. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S100), the control unit 126 proceeds to S108.

[0156] In S102, the control unit 126 drives the side stepper 196 to move the rebar binding robot 100 in the lateral direction (i.e., rightward with respect to the rebar assembly RA).

[0157] In S104, the control unit 126 decrements the lateral movement maximum value by one.

[0158] In S106, the control unit 126 reverses the traveling direction MD of the rebar binding robot 100. Thereafter, the control unit 126 returns to S94. If a fifth lane R15 shown in FIG. 29 exists, the control unit 126 executes the processes of S102-S106, whereby the rebar binding robot 100 moves from the third lane R13 to the fifth lane R15 in the post-avoidance area E3, as shown in FIG. 29, and the traveling direction MD of the rebar binding robot 100 switches to the opposite direction (rearward with respect to the rebar assembly RA). Furthermore, the control unit 126 repeatedly executes the processes of S94-S106, whereby the rebar binding robot 100 moves in the traveling direction MD (rearward with respect to the rebar assembly RA) in the fifth lane R15 to the prohibited position P2, as shown in FIG. 29, and then returns to the intersection point I. The traveling direction MD of the rebar binding robot 100 switches to the opposite direction (forward with respect to the rebar assembly RA). Furthermore, if the fifth lane R15 does not exist, the control unit 126 executes the processes of S102-S106, so that the rebar binding robot 100 moves from the third lane R13 to the intersection X of the fourth lane R14, as shown in Fig. 30, and the traveling direction MD of the rebar binding robot 100 switches to the opposite direction (backward with respect to the rebar assembly RA).

[0159] After executing S106 in Fig. 28, the control unit 126 returns to S94. When the rebar binding robot 100 is located at the intersection point X shown in Fig. 29 and Fig. 30, the maximum lateral movement value becomes zero, so the control unit 126 determines NO in S94 and ends the avoidance processing.

[0160] In S108 of FIG. 28, the control unit 126 acquires the color of the binding wire W for the intersection G (see FIGS. 20 and 21). Next, the control unit 126 determines whether the acquired color of the binding wire W is the first color or the second color. If the control unit 126 determines that the acquired color of the binding wire W is neither the first color nor the second color (NO in S108), the process proceeds to S110. On the other hand, if the control unit 126 determines that the acquired color of the binding wire W is the first color or the second color (YES in S108), the process proceeds to S112.

[0161] In S110, the control unit 126 moves the rebar binding robot 100 in the direction opposite to the direction of travel MD of the rebar binding robot 100. Note that even after the processing of S110 is executed, the direction of travel MD of the rebar binding robot 100 remains the same as the direction of travel MD of the rebar binding robot 100 before the processing of S110 was executed. Thereafter, the control unit 126 returns to S100.

[0162] In S112, the control unit 126 stops the rebar binding robot 100. After that, the control unit 126 ends the avoidance process.

[0163] (effect) The rebar tying robot 100 of this embodiment is capable of performing the following operations for a rebar assembly RA including a plurality of primary rebars R1 and a plurality of secondary rebars R2 intersecting the plurality of primary rebars R1: moving over the plurality of primary rebars R1 and the plurality of secondary rebars R2 of the rebar assembly RA; and tying the intersections where the plurality of primary rebars R1 and the plurality of secondary rebars R2 intersect with binding wires W. The rebar tying robot 100 includes a rebar tying machine 2 that ties the intersections where the plurality of primary rebars R1 and the plurality of secondary rebars R2 intersect with binding wires W, a transport unit 106 that transports the rebar tying machine 2, sensors 350, 352, 354, 356 that detect characteristics of the binding wires W tied at the intersections where the plurality of primary rebars R1 and the plurality of secondary rebars R2 intersect, and a control unit 126 that controls the drive of the rebar tying machine 2 and the transport unit 106. The transport unit 106 is equipped with a right crawler 192 and a left crawler 194 that can move the rebar tying robot 100 in the forward / backward direction along which the multiple primary rebars R1 extend, and a side stepper 196 that can move the rebar tying robot 100 in the left / right direction along which the multiple secondary rebars R2 extend. The control unit 126 controls the driving of the rebar tying machine 2 and / or the transport unit 106 based on the characteristics of the binding wire W detected by the sensors 350, 352, 354, and 356.

[0164] According to the above configuration, by previously tying a binding wire W having specific characteristics to the intersection of the primary rebar R1 and the secondary rebar R2, when the rebar tying robot 100 reaches the vicinity of the previously tied binding wire W, the sensors 350, 352, 354, 456 detect the characteristics of the binding wire W. The control unit 126 controls the driving of the rebar tying machine 2 and / or the transport unit 106 based on the detected characteristics of the binding wire W, thereby changing the operation of the rebar tying robot 100 that has reached the vicinity of the binding wire W. As a result, the content of the operation performed by the rebar tying robot 100 can be changed midway.

[0165] The characteristics of the binding wire W also include the color of the binding wire W.

[0166] According to the above configuration, the driving of the reinforcing bar binding machine 2 and / or the transport unit 106 can be controlled by utilizing the simple sensors 350, 352, 354, 356 that detect the color of the binding wire W.

[0167] The sensors 350, 352 detect the color of the binding wire W bound at the intersection located at the front and / or rear of the rebar binding robot 100 in the longitudinal direction.

[0168] The rebar binding robot 100 moves in the forward and backward directions as the right crawler 192 and the left crawler 194 are driven. With the above configuration, the sensors 350, 352 can detect the color of the binding wire W located in the same direction as the rebar binding robot 100 moves as the right crawler 192 and the left crawler 194 are driven.

[0169] The sensors 354 and 356 detect the color of the binding wire W bound at the intersection located on the left and / or right side of the rebar binding robot 100 in the left-right direction.

[0170] The rebar binding robot 100 moves left and right as the side stepper 196 is driven. With the above configuration, the sensors 354, 356 can detect the color of the binding wire W located in the same direction as the rebar binding robot 100 moves as the side stepper 196 is driven.

[0171] Furthermore, when the control unit 126 determines that the color of the binding wire W detected by the sensors 350, 352, 354, and 356 is a first color, it determines that the intersection where the binding wire W having the first color is tied is the end P1 of the working area of ​​the rebar binding robot 100 on the rebar assembly RA.

[0172] The intersection corresponding to the end P1 of the work area of ​​the reinforcing bar assembly RA is previously tied by the user with a binding wire W. According to the above configuration, the end P1 of the work area of ​​the reinforcing bar assembly RA can be accurately recognized compared to when the control unit 126 previously stores the intersection corresponding to the end P1 of the work area of ​​the reinforcing bar assembly RA.

[0173] Furthermore, the primary rebar R1 to which the binding wire W having the first color is bound is designated as the first lane R11. When the rebar binding robot 100 moves in the traveling direction MD on the first lane R11 by driving the right crawler 192 and the left crawler 194 and reaches an intersection where the primary rebar R1 and multiple secondary rebars R2 intersect, the control unit 126 executes a movement direction change process to change the direction in which the rebar binding robot 100 is moving if it determines that a binding wire W is bound at an intersection adjacent in the traveling direction MD to the intersection that has been reached and that the color of the binding wire W detected by the sensors 350, 352, 354, 356 at the intersection adjacent in the traveling direction MD is the first color.

[0174] According to the above configuration, it is possible to prevent the reinforcing bar binding robot 100 from moving in the traveling direction MD beyond the intersection where the binding wires W having the first color are bound.

[0175] Additionally, the primary rebar R1 adjacent to the first lane R11 in the left-right direction is designated as the second lane R12. In the movement direction change process, the control unit 126 drives the side stepper 196 to move the rebar binding robot 100 to the second lane R12, reverses the traveling direction MD, and drives the right crawler 192 and the left crawler 194 to move the rebar binding robot 100 on the second lane R12.

[0176] According to the above configuration, the rebar tying robot 100 can be moved in a direction away from the end P1 of the working area of ​​the rebar assembly RA without passing over the intersection where the binding wire W having the first color is tied.

[0177] In addition, while the control unit 126 is executing the movement direction change process, each time the rebar binding robot 100 reaches an intersection of multiple primary rebars R1 and multiple secondary rebars R2, it drives the rebar binding machine 2 and binds the intersection with a binding wire W.

[0178] According to the above configuration, the process of changing the movement direction and the process of binding the intersections of multiple primary reinforcing bars R1 and multiple secondary reinforcing bars R2 with binding wire W are executed simultaneously in parallel, thereby improving the work efficiency of the reinforcing bar binding robot 100.

[0179] Furthermore, when the control unit 126 determines that the color of the binding wire W detected by the sensors 350, 352, 354, and 356 is a second color, it determines that the position of the intersection where the binding wire W having the second color is bound is a prohibited position P2 that prohibits the movement of the rebar binding robot 100.

[0180] An obstacle may be placed on the reinforcing bar assembly RA. According to the above configuration, by tying a binding wire W having a second color in advance at the intersection of the primary reinforcing bar R1 and the secondary reinforcing bar R2 near the obstacle and having the reinforcing bar tying robot 100 recognize this as a prohibited position P2, the reinforcing bar tying robot 100 can be prevented from approaching the obstacle. Compared to when the prohibited position P2 is stored in the control unit 126 in advance, the prohibited position P2 on the reinforcing bar assembly RA can be recognized more accurately.

[0181] Furthermore, the primary rebar R1 to which the binding wire W having the second color is bound is referred to as the third lane R13. When the rebar binding robot 100 moves in the traveling direction MD on the third lane R13 by driving the right crawler 192 and the left crawler 194 and reaches an intersection where the primary rebar R1 and multiple secondary rebars R2 intersect, if the control unit 126 determines that a binding wire W is bound at an intersection adjacent in the traveling direction MD to the reached intersection and that the color of the binding wire W detected by the sensors 350, 352, 354, 356 at the intersection adjacent in the traveling direction MD is the second color, the control unit 126 executes an avoidance process to cause the rebar binding robot 100 to avoid the prohibited position P2.

[0182] According to the above configuration, the rebar binding robot 100 can be prevented from moving over the prohibited position P2.

[0183] Furthermore, the primary rebar R1 different from the third lane R13 is designated as the fourth lane R14. In the avoidance process, the control unit 126 drives the side stepper 196 to move the rebar binding robot 100 to the fourth lane R14, and drives the right crawler 192 and the left crawler 194 to move the rebar binding robot 100 in the traveling direction MD on the fourth lane R14.

[0184] According to the above configuration, the rebar binding robot 100 can avoid the prohibited position P2 by simply moving along the fourth lane R14.

[0185] Furthermore, if at least one primary rebar R1 is present between the third lane R13 and the fourth lane R14, that at least one primary rebar R1 is designated as the fifth lane R15. In the front-to-rear direction, the area of ​​the third lane R13 or the fifth lane R15 on the side where the rebar tying robot 100 is located relative to the prohibited position P2 is designated as the pre-avoidance area E1. During the avoidance process, the control unit 126 drives the right crawler 192 and the left crawler 194 to move the rebar tying robot 100 through the pre-avoidance area E1. While the avoidance process is being performed, the control unit 126 drives the rebar binding machine 2 each time the rebar tying robot 100 reaches an intersection where the fifth lane R15 in the pre-avoidance area E1 intersects with multiple secondary rebars R2, and binds the intersection with binding wires W.

[0186] According to the above configuration, the rebar tying robot 100 ties the intersections in the pre-avoidance area E1 with binding wires W even while moving through the pre-avoidance area E1. This makes it possible to improve the work efficiency of the rebar tying robot 100.

[0187] In addition, during the avoidance process, the control unit 126 drives the right crawler 192 and the left crawler 194 to move the rebar binding robot 100 over one primary rebar R1 in one fifth lane R15, drives the rebar binding machine 2 to bind all of the intersections where one primary rebar R1 intersects with multiple secondary rebars R2 within the pre-avoidance area E1, and then drives the side stepper 196 to move the rebar binding robot 100 to the primary rebar R1 adjacent to the one primary rebar R1 on the fourth lane R14 side.

[0188] According to the above configuration, the rebar binding robot 100 moves to the primary rebar R1 located on the fourth lane R14 side after binding all of the intersections of one primary rebar R1 and multiple secondary rebars R2 in the pre-avoidance area E1. Therefore, the rebar binding robot 100 does not need to return to the single primary rebar R1 in the fifth lane R15. This improves the work efficiency of the rebar binding robot 100.

[0189] Furthermore, in the traveling direction MD, if there is at least one intersection that is not tied with a binding wire W between the prohibited position P2 on the third lane R13 and / or the fifth lane R15 and one end P1 of the reinforcing bar assembly RA, the area of ​​the third lane R13 and / or the fifth lane R15 that has at least one intersection is designated as the post-avoidance area E3. In the avoidance process, the control unit 126 drives the side stepper 196 to move the reinforcing bar binding robot 100 on the fourth lane R14 to the post-avoidance area E3, drives the right crawler 192 and the left crawler 194 to move the reinforcing bar binding robot 100 through the post-avoidance area E3, and while executing the avoidance process, drives the reinforcing bar binding machine 2 in the post-avoidance area E3 every time the reinforcing bar binding robot 100 reaches an intersection where the primary reinforcing bar R1 and multiple secondary reinforcing bars R2 intersect, to tie the intersection with a binding wire W.

[0190] According to the above configuration, the rebar binding robot 100 binds the intersections in the post-avoidance area E3 with binding wires W, even while moving through the post-avoidance area E3. This makes it possible to improve the work efficiency of the rebar binding robot 100.

[0191] Furthermore, in the traveling direction MD, if there is at least one intersection that is not tied with a binding wire W between the prohibited position P2 on the third lane R13 and one end P1 of the reinforcing bar assembly RA, the area of ​​the third lane R13 that has at least one intersection is designated as the post-avoidance area E3. In the avoidance process, the control unit 126 drives the side stepper 196 to move the reinforcing bar binding robot 100 on the fourth lane R14 to the post-avoidance area E3, drives the right crawler 192 and the left crawler 194 to move the reinforcing bar binding robot 100 through the post-avoidance area E3, and while executing the avoidance process, drives the reinforcing bar binding machine 2 to tie the intersection with a binding wire W.

[0192] According to the above configuration, the rebar binding robot 100 binds the intersections in the post-avoidance area E3 with binding wires W, even while moving through the post-avoidance area E3. This makes it possible to improve the work efficiency of the rebar binding robot 100.

[0193] In addition, during the avoidance process, when the rebar binding robot 100 is moving in the fourth lane R14, the control unit 126 drives the rebar binding machine 2 each time the rebar binding robot 100 reaches an intersection where the fourth lane R14 intersects with multiple secondary rebars R2, and binds the intersection with a binding wire W.

[0194] According to the above configuration, while the reinforcing bar binding robot 100 is moving along the fourth lane R14, it binds the intersections where the fourth lane R14 and the plurality of secondary reinforcing bars R2 intersect with binding wires W. This increases the work efficiency of the reinforcing bar binding robot 100.

[0195] In addition, the control unit 126 may execute a movement speed change process to change the movement speed of the rebar binding robot 100 when it determines that the color of the binding wire W detected by the sensors 350, 352, 354, and 356 is a third color.

[0196] According to the above configuration, the user can change the movement speed of the rebar binding robot 100 without directly operating the rebar binding robot 100 .

[0197] Furthermore, the control unit 126 executes a bundling interval change process when it determines that the color of the binding wire W detected by the sensors 350, 352, 354, 356 is a third color. In the bundling interval change process, the control unit 126 selectively executes a process in which, when the rebar binding robot 100 reaches an intersection of a plurality of primary rebars R1 and a plurality of secondary rebars R2, the rebar binding machine 2 does not bind the intersection with the binding wire W, and a process in which, when the rebar binding robot 100 reaches an intersection of a plurality of primary rebars R1 and a plurality of secondary rebars R2, the rebar binding machine 2 binds the intersection with the binding wire W.

[0198] According to the above configuration, the user can change the bundling interval of the binding wire W by the reinforcing bar binding robot 100 without directly operating the reinforcing bar binding robot 100.

[0199] In addition, when the control unit 126 determines that the color of the binding wire W detected by the sensors 350, 352, 354, and 356 is a third color, it executes a winding number change process to change the number of windings of the binding wire W when the rebar binding machine 2 binds the intersections of multiple primary rebars R1 and multiple secondary rebars R2.

[0200] According to the above configuration, the user can change the number of turns of the binding wire W wound by the reinforcing bar binding robot 100 without directly operating the reinforcing bar binding robot 100.

[0201] In addition, when the control unit 126 determines that the color of the binding wire W detected by the sensors 350, 352, 354, and 356 is a third color, it executes a torque change process to change the torque applied to the binding wire W when the rebar binding machine 2 binds the intersections of multiple primary rebars R1 and multiple secondary rebars R2.

[0202] According to the above configuration, the user can change the torque applied to the binding wire W without directly operating the rebar binding robot 100.

[0203] (Correspondence) The rebar binding machine 2 is an example of a "rebar binding unit." The right crawler 192 and the left crawler 194 are an example of a "vertical movement mechanism." The side stepper 196 is an example of a "horizontal movement mechanism." The color of the binding wire W is an example of a "binding wire characteristic." The first color is an example of a "first characteristic." The second color is an example of a "second characteristic." The third color is an example of a "third characteristic."

[0204] (Variation) In one or more embodiments, rebar tying robot 100 may be equipped with only one wide-angle sensor instead of front sensor 350, rear sensor 352, right sensor 354, and left sensor 356. In this case, the wide-angle sensor has a field of view that can detect the front, rear, right, and left sides of the position of rebar tying robot 100. The wide-angle sensor is located near the center of the bottom of rebar tying robot 100 in the front-to-back and left-to-right directions.

[0205] In one or more embodiments, the control unit 126 repeatedly executes steps S72-S76 of the avoidance process, and when the rebar binding robot 100 is moving in the fourth lane R14 (i.e., the avoidance area E2), the control unit 126 may not execute the binding process.

[0206] In the above example, a commercially available rebar binding machine 2 (e.g., a TR180D sold by Makita Corporation) was removably attached to the rebar binding robot 100. In one or more embodiments, the rebar binding robot 100 may be configured with a dedicated rebar binding unit (not shown) permanently attached. In this case, the rebar binding unit may be configured integrally with the operation unit 104.

[0207] In one or more embodiments, the rebar binding machine 2 may not include a control device 80. In this case, the control unit 126 controls the operation of the rebar binding machine 2.

[0208] In one or more embodiments, while the movement direction change process and the avoidance process are being performed, the control unit 126 may drive the rebar tying machine 2 each time the rebar tying robot 100 reaches an intersection of multiple primary rebars R1 and multiple secondary rebars R2, and not tie the intersection with binding wires W. In this case, only some of the intersections are tied with binding wires W.

[0209] In one or more embodiments, the parameter change process may be a combination of a travel speed change process, a binding spacing change process, a number of turns change process, and a torque change process.

[0210] In one or more embodiments, the fifth lane R15 of the rebar assembly RA may include two or more primary rebars R1.

[0211] In one or more embodiments, before the avoidance process is performed, the intersection on the third lane R13 in the post-avoidance region E3 may be bounded by a binding wire W, and the intersection on the fifth lane R15 in the post-avoidance region E3 may be bounded by a binding wire W.

[0212] In one or more embodiments, the rebar assembly RA may not have a post-avoidance region E3 formed therein. [Explanation of symbols]

[0213] 2: Rebar binding machine 4: Main body 6: Grip part 12: Feed mechanism 14: Guide mechanism 16: Brake mechanism 18: Cutting mechanism 20: Torsion mechanism 80: Control device 100: Rebar tying robot 102: Power supply unit 104: Operation unit 106: Transport unit 126: Control unit 190: Chassis 192: Right crawler 194: Left crawler 196: Side Stepper 350: Front sensor 352: Rear sensor 354: Right sensor 356: Left sensor E1: Area before avoidance E2: Avoidance area E3: Area after avoidance P1: end P2: Prohibited position R: Reinforced concrete R1: Primary rebar R11: Lane 1 R12: Second lane R13: Third lane R14: Lane 4 R15: Lane 5 R2: Secondary rebar RA: Rebar assembly

Claims

1. A rebar tying robot capable of performing an action of moving over the plurality of primary rebars and the plurality of secondary rebars of a rebar assembly including a plurality of primary rebars and a plurality of secondary rebars intersecting the plurality of primary rebars and an action of tying together intersections where the plurality of primary rebars and the plurality of secondary rebars intersect with a binding wire, A reinforcing bar binding unit that binds the intersections where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect with the binding wire; A transport unit that transports the rebar binding unit; a sensor for detecting characteristics of the tie wire tied at the intersection where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect; a control unit that controls the driving of the reinforcing bar binding unit and the driving of the transport unit, The transport unit includes: a longitudinal movement mechanism capable of moving the rebar tying robot in the front-rear direction in which the plurality of primary rebars extend; a lateral movement mechanism that can move the rebar tying robot in the left-right direction in which the plurality of secondary rebars extend, The control unit controls the operation of the rebar tying unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor, and when it determines that the characteristics of the binding wire detected by the sensor are a first characteristic, it determines that the intersection where the binding wire having the first characteristic is tied is the end of the working area of ​​the rebar tying robot on the rebar assembly.

2. The rebar tying robot of claim 1 , wherein the characteristics of the binding wire include a color of the binding wire.

3. The rebar tying robot according to claim 1 or 2, wherein the sensor detects the characteristics of the binding wire tied at the intersection located in front and / or behind the rebar tying robot in the fore-and-aft direction.

4. The rebar tying robot according to any one of claims 1 to 3, wherein the sensor detects the characteristics of the binding wire tied at the intersection located on the left and / or right side of the left-right direction of the rebar tying robot.

5. The primary reinforcing bar to which the binding wire having the first characteristic is bound is defined as a first lane, 5. The rebar tying robot according to claim 1, wherein when the rebar tying robot moves in the direction of travel on the first lane by driving the vertical movement mechanism and reaches the intersection where the primary rebar and the multiple secondary rebars intersect, the control unit executes a movement direction change process to change the direction in which the rebar tying robot moves if it determines that the binding wire is tied at an intersection adjacent to the reached intersection in the direction of travel and that the characteristic of the binding wire detected by the sensor at the intersection adjacent to the direction of travel is the first characteristic.

6. The primary reinforcing bar adjacent to the first lane in the left-right direction is defined as a second lane, In the movement direction change process, the control unit driving the lateral movement mechanism to move the rebar tying robot to the second lane; The reinforcing bar binding robot according to claim 5 , wherein the travel direction is reversed to drive the longitudinal movement mechanism, and the reinforcing bar binding robot moves along the second lane.

7. The control unit, while executing the movement direction change process, 7. The rebar tying robot according to claim 5, wherein each time the rebar tying robot reaches the intersection of the plurality of primary rebars and the plurality of secondary rebars, the rebar tying unit is driven to tie the intersection with the binding wire.

8. 8. The rebar tying robot according to claim 1, wherein when the control unit determines that the characteristic of the binding wire detected by the sensor is a second characteristic, the control unit determines that the position of the intersection where the binding wire having the second characteristic is tied is a prohibited position that prohibits movement of the rebar tying robot.

9. The primary reinforcing bar to which the binding wire having the second characteristic is bound is defined as a third lane, 9. The rebar tying robot according to claim 8, wherein when the rebar tying robot moves in the travel direction on the third lane by driving the vertical movement mechanism and reaches the intersection where the primary rebar and the plurality of secondary rebars intersect, if the control unit determines that the binding wire is tied at an intersection adjacent to the reached intersection in the travel direction and that the characteristic of the binding wire detected by the sensor at the intersection adjacent to the travel direction is the second characteristic, the control unit executes an avoidance process to cause the rebar tying robot to avoid the prohibited position.

10. The primary reinforcing bar different from the third lane is the fourth lane, The control unit, in the avoidance processing, driving the lateral movement mechanism to move the rebar tying robot to the fourth lane; The rebar binding robot according to claim 9 , wherein the longitudinal movement mechanism is driven to move the rebar binding robot on the fourth lane in the traveling direction.

11. When at least one primary reinforcing bar is present between the third lane and the fourth lane, the at least one primary reinforcing bar is a fifth lane; In the front-rear direction, an area of ​​the third lane and the fifth lane on the side where the rebar tying robot is located with respect to the prohibited position is defined as a pre-avoidance area, The control unit, in the avoidance processing, driving the longitudinal movement mechanism to move the rebar tying robot over the pre-avoidance area; 11. The rebar tying robot according to claim 10, wherein while the avoidance process is being performed, the rebar tying robot drives the rebar tying unit and ties the intersection with the binding wire each time it reaches the intersection where the fifth lane in the pre-avoidance area intersects with the plurality of secondary rebars.

12. The control unit, in the avoidance processing, Driving the longitudinal movement mechanism to move the rebar tying robot over one of the primary rebars in the fifth lane; 12. The rebar tying robot according to claim 11, wherein the rebar tying unit is driven to tie all of the intersections where the one primary rebar and the multiple secondary rebars intersect within the pre-avoidance area, and then the lateral movement mechanism is driven to move the rebar tying robot to the primary rebar adjacent to the one primary rebar on the fourth lane side.

13. When there is at least one intersection that is not tied by the tie wire between the prohibited position on the third lane and / or the fifth lane and one end of the reinforcing bar assembly in the traveling direction, the area of ​​the third lane and / or the fifth lane that has the at least one intersection is determined as a post-avoidance area, The control unit, in the avoidance processing, driving the lateral movement mechanism to move the rebar tying robot on the fourth lane to the post-avoidance area; Driving the longitudinal movement mechanism to move the rebar tying robot through the post-avoidance area; 13. The rebar tying robot according to claim 11 or 12, wherein while the avoidance process is being performed, in the post-avoidance area, each time the rebar tying robot reaches an intersection where the primary rebar and the plurality of secondary rebars intersect, the rebar tying unit is driven to tie the intersection with the binding wire.

14. When there is at least one intersection that is not tied by the tie wire between the prohibited position on the third lane and one end of the reinforcing bar assembly in the traveling direction, the area of ​​the third lane that has the at least one intersection is determined as a post-avoidance area, The control unit, in the avoidance processing, driving the lateral movement mechanism to move the rebar tying robot on the fourth lane to the post-avoidance area; Driving the longitudinal movement mechanism to move the rebar tying robot through the post-avoidance area; 11. The rebar tying robot according to claim 10, wherein while the avoidance process is being performed, the rebar tying robot drives the rebar tying unit and ties the intersection with the binding wire each time it reaches the intersection where the third lane in the post-avoidance area intersects with the plurality of secondary rebars.

15. The control unit, in the avoidance processing, 15. The rebar tying robot according to claim 10, wherein, while the rebar tying robot is moving along the fourth lane, the rebar tying robot drives the rebar tying unit and ties the intersection with the binding wire each time the rebar tying robot reaches an intersection where the fourth lane and the plurality of secondary rebars intersect.

16. A rebar tying robot capable of performing the actions of moving over the plurality of primary rebars and the plurality of secondary rebars of a rebar assembly comprising a plurality of primary rebars and a plurality of secondary rebars intersecting with the plurality of primary rebars, and of tying together the intersections of the plurality of primary rebars and the plurality of secondary rebars with tying wires, A reinforcing bar binding unit that binds the intersections where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect with the binding wire; A transport unit that transports the rebar binding unit; a sensor for detecting characteristics of the tie wire tied at the intersection where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect; a control unit that controls the driving of the reinforcing bar binding unit and the driving of the transport unit, The transport unit includes: a longitudinal movement mechanism capable of moving the rebar tying robot in the front-rear direction in which the plurality of primary rebars extend; a lateral movement mechanism that can move the rebar tying robot in the left-right direction in which the plurality of secondary rebars extend, The control unit controls the operation of the rebar tying unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor, and when it determines that the characteristics of the binding wire detected by the sensor are a second characteristic, it determines that the position of the intersection where the binding wire having the second characteristic is tied is a prohibited position that prohibits movement of the rebar tying robot.

17. A rebar tying robot capable of performing the actions of moving over the plurality of primary rebars and the plurality of secondary rebars of a rebar assembly comprising a plurality of primary rebars and a plurality of secondary rebars intersecting with the plurality of primary rebars, and of tying together the intersections of the plurality of primary rebars and the plurality of secondary rebars with binding wires, A reinforcing bar binding unit that binds the intersections where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect with the binding wire; A transport unit that transports the rebar binding unit; a sensor for detecting characteristics of the tie wire tied at the intersection where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect; a control unit that controls the driving of the reinforcing bar binding unit and the driving of the transport unit, The transport unit includes: a longitudinal movement mechanism capable of moving the rebar tying robot in the front-rear direction in which the plurality of primary rebars extend; a lateral movement mechanism that can move the rebar tying robot in the left-right direction in which the plurality of secondary rebars extend, The control unit controls the operation of the rebar tying unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor, and when it determines that the characteristics of the binding wire detected by the sensor are a third characteristic, executes a movement speed change process to change the movement speed of the rebar tying robot.

18. A rebar tying robot capable of performing the actions of moving over the plurality of primary rebars and the plurality of secondary rebars of a rebar assembly comprising a plurality of primary rebars and a plurality of secondary rebars intersecting with the plurality of primary rebars, and of tying together the intersections of the plurality of primary rebars and the plurality of secondary rebars with tying wires, A reinforcing bar binding unit that binds the intersections where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect with the binding wire; A transport unit that transports the rebar binding unit; a sensor for detecting characteristics of the tie wire tied at the intersection where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect; a control unit that controls the driving of the reinforcing bar binding unit and the driving of the transport unit, The transport unit includes: a longitudinal movement mechanism capable of moving the rebar tying robot in the front-rear direction in which the plurality of primary rebars extend; a lateral movement mechanism that can move the rebar tying robot in the left-right direction in which the plurality of secondary rebars extend, the control unit controls the driving of the rebar binding unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor, and executes a binding interval change process when it determines that the characteristics of the binding wire detected by the sensor are a third characteristic; The control unit, in the bundling interval change processing, When the reinforcing bar tying robot reaches the intersection of the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars, the reinforcing bar tying unit does not tie the intersection with the binding wire; When the rebar tying robot reaches the intersection of the plurality of primary rebars and the plurality of secondary rebars, the rebar tying unit selectively ties the intersection with the binding wire.

19. A rebar tying robot capable of performing the actions of moving over the plurality of primary rebars and the plurality of secondary rebars of a rebar assembly comprising a plurality of primary rebars and a plurality of secondary rebars intersecting with the plurality of primary rebars, and of tying together the intersections of the plurality of primary rebars and the plurality of secondary rebars with tying wires, A reinforcing bar binding unit that binds the intersections where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect with the binding wire; A transport unit that transports the rebar binding unit; a sensor for detecting characteristics of the tie wire tied at the intersection where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect; a control unit that controls the driving of the reinforcing bar binding unit and the driving of the transport unit, The transport unit includes: a longitudinal movement mechanism capable of moving the rebar tying robot in the front-rear direction in which the plurality of primary rebars extend; a lateral movement mechanism that can move the rebar tying robot in the left-right direction in which the plurality of secondary rebars extend, The control unit controls the operation of the rebar binding unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor, and when it determines that the characteristics of the binding wire detected by the sensor are a third characteristic, executes a winding number change process to change the number of windings of the binding wire when the rebar binding unit binds the intersections of the multiple primary rebars and the multiple secondary rebars.

20. A rebar tying robot capable of performing the actions of moving over the plurality of primary rebars and the plurality of secondary rebars of a rebar assembly comprising a plurality of primary rebars and a plurality of secondary rebars intersecting with the plurality of primary rebars, and of tying together the intersections of the plurality of primary rebars and the plurality of secondary rebars with binding wires, A reinforcing bar binding unit that binds the intersections where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect with the binding wire; A transport unit that transports the rebar binding unit; a sensor for detecting characteristics of the tie wire tied at the intersection where the plurality of primary reinforcing bars and the plurality of secondary reinforcing bars intersect; a control unit that controls the driving of the reinforcing bar binding unit and the driving of the transport unit, The transport unit includes: a longitudinal movement mechanism capable of moving the rebar tying robot in the front-rear direction in which the plurality of primary rebars extend; a lateral movement mechanism that can move the rebar tying robot in the left-right direction in which the plurality of secondary rebars extend, The control unit controls the operation of the rebar tying unit and / or the transport unit based on the characteristics of the binding wire detected by the sensor, and when it determines that the characteristics of the binding wire detected by the sensor are a third characteristic, executes a torque change process to change the torque applied to the binding wire when the rebar tying unit ties the intersections of the multiple primary rebars and the multiple secondary rebars.

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