termination device

Abstract

To provide a binding device which can acquire a remaining amount of a wire.SOLUTION: A binding facility device 100A being a binding device includes: a reinforcing bar binding machine 1A which binds reinforcing bars S with a wire; and a transfer machine 200A which transfers the reinforcing bar binding machine 1A to a binding part P10. The binding facility device detects a remaining amount of the wire used by the reinforcing bar binding machine 1A is detected, and controls a binding movement on the basis of the remaining amount of the wire.SELECTED DRAWING: Figure 1B

Description

Technical Field

[0001] The present invention relates to a binding device provided with a binding machine for binding reinforcing bars with a wire

Background Art

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

[0003] Conventionally, a binding machine called a reinforcing bar binding machine has been proposed, which winds a wire around two or more reinforcing bars and twists the wire wound around the reinforcing bars to bind the two or more reinforcing bars with the wire

[0004] In addition to the binding machine that is held by hand and used, as a reinforcing bar mesh manufacturing apparatus, there is known an apparatus that arranges a plurality of binding machines in two rows, front and back, moves the machine up and down while supplying reinforcing bars, inserts and removes them, and binds them (see, for example, Patent Document 1)

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In conventional reinforcing bar mesh manufacturing apparatuses, the remaining amount of wire is not acquired, and there is a possibility that the remaining amount of wire may run out during the binding operation. However, if the wire runs out during the binding operation, the wire loading work is troublesome

[0007] The present invention has been made to solve such problems, and an object thereof is to provide a binding device capable of acquiring the remaining amount of wire

Means for Solving the Problems

[0008] To solve the above-mentioned problems, the present invention provides a wire multiple Reinforcement bars The point where they intersect and bind together A binding machine for binding the items, and a moving machine for moving the binding machine to the binding location, An information processing device that controls the operation of the binding machine and the movement of the mobile device, Wire remaining amount detection means for detecting the remaining amount of wire used in a binding machine, In a structure having multiple binding points, a means for predicting the number of binding points that need to be bound predicts the number of binding points to be bound, Equipped with Ta A binding device, The information processing device remains Based on quantity, The system determines whether the remaining quantity is insufficient for the planned number of bundles, and if it determines that the remaining quantity is insufficient, Perform the binding operation. Calculate the possible range and limit the area where the binding operation will be performed. This binding device controls a mobile mechanism to move the binding machine to the appropriate binding location, and also controls the binding machine to perform the binding operation. Furthermore, the present invention relates to a binding device comprising: a binding machine for binding multiple reinforcing bars at a binding point where multiple reinforcing bars intersect with wire; a moving machine for moving the binding machine to the binding point; an information processing device for controlling the operation of the binding machine and the movement of the moving machine; a wire remaining amount detection means for detecting the remaining amount of wire used in the binding machine; and a binding plan prediction means for predicting the number of binding points to be bound in a structure having multiple binding points, wherein the information processing device determines whether the remaining amount is insufficient for the number of binding points to be bound based on the remaining amount, and if it determines that the remaining amount is insufficient, it selects a binding point to which the binding operation will be performed as a priority, controls the moving machine to move the binding machine to the corresponding binding point, and controls the binding machine to perform the binding operation.

[0009] In this invention, it is determined whether or not there is insufficient wire remaining in a structure in which multiple binding points are formed. [Effects of the Invention]

[0010] According to the present invention, a bundling operation can be performed in accordance with the remaining amount of wire. [Brief explanation of the drawing]

[0011] [Figure 1A] This is a perspective view showing an example of the binding equipment of this embodiment. [Figure 1B] This is a perspective view showing an example of the binding equipment of this embodiment. [Figure 1C] This is a perspective view showing another example of the binding equipment of this embodiment. [Figure 2] This is a side view showing an example of a rebar tying machine according to this embodiment. [Figure 3A] This is a side view showing an example of a binding section. [Figure 3B] This is an internal diagram showing an example of a binding section. [Figure 3C] This is a plan view of a key part showing an example of a binding section. [Figure 3D] This is a plan view of a key part showing an example of a binding section. [Figure 4A] This is a block diagram showing an example of the control functions of binding equipment. [Figure 4B] It is a block diagram showing an example of the control function of the tying equipment machine. [Figure 4C] It is a block diagram showing an example of the control function of the tying equipment machine. [Figure 4D] It is a block diagram showing an example of the control function of the tying equipment machine. [Figure 5] It is a side view showing an example of a rebar tying machine equipped with an information acquisition unit. [Figure 6] It is an explanatory diagram showing an example of notification in an information processing device based on the tying-related information acquired by the information acquisition unit. [Figure 7A] It is a perspective view showing another example of a rebar tying machine equipped with an information acquisition unit. [Figure 7B] It is a perspective view showing another example of a rebar tying machine equipped with an information acquisition unit. [Figure 8] It is a flowchart showing an example of an operation based on the tying position image information acquired by image recognition of the tying posture. [Figure 9A] It is a perspective view showing an example of a tying position tied with a wire. [Figure 9B] It is a perspective view showing an example of a tying position tied with a wire. [Figure 9C] It is a perspective view showing an example of a tying position tied with a wire. [Figure 10A] It is an explanatory diagram showing an example of the tying position image information. [Figure 10B] It is an explanatory diagram showing an example of the tying position image information. [Figure 11] It is an explanatory diagram showing an example of an address for specifying the tying position. [Figure 12A] It is an explanatory diagram showing an example of the output of the tying result. [Figure 12B] It is an explanatory diagram showing an example of the output of the tying result. [Figure 13A] It is a flowchart showing an example of an operation for associating the tying result information with the position information. [Figure 13B] It is a flowchart showing an example of an operation for associating the tying result information with the position information. [Figure 13C]This flowchart shows an example of the process of associating bundled result information with location information. [Figure 13D] This flowchart shows an example of the process of associating bundled result information with location information. [Figure 13E] This flowchart shows an example of the process of associating bundled result information with location information. [Figure 14A] This is a perspective view showing an example of a rebar tying system equipped with multiple rebar tying machines. [Figure 14B] This is a perspective view showing an example of a rebar tying system equipped with multiple rebar tying machines. [Figure 14C] This is a plan view showing an example of a rebar tying system equipped with multiple rebar tying machines. [Figure 15] This flowchart shows an example of the process of associating the bundling result information with the bundling machine identification information. [Figure 16A] This is a plan view showing an example of the binding result when the binding direction is switched. [Figure 16B] This is a plan view of the main part showing an example of the binding result when the binding direction is switched. [Figure 16C] This is a plan view of the main part showing an example of the binding result when the binding direction is switched. [Figure 17] This flowchart shows an example of an operation based on rebar identification information obtained through rebar image recognition. [Figure 18A] This is an explanatory diagram showing an example of image information of the binding point before binding. [Figure 18B] This is an explanatory diagram showing an example of image information of the binding point before binding. [Figure 19] This flowchart shows an example of operation based on rebar identification information obtained from the wire feed amount. [Figure 20] This flowchart shows an example of an operation based on rebar identification information obtained from input data. [Figure 21A] This is an explanatory diagram showing an example of reinforcing bar arrangement. [Figure 21B] This is an explanatory diagram showing an example of reinforcing bar arrangement. [Figure 22]This flowchart shows an example of the process of determining the timing to remove the rebar from the rebar tying machine at the end of the tying process. [Figure 23] This flowchart shows an example of the operation of moving a rebar tying machine away from the rebar to remove slack in the wire. [Figure 24A] This is a perspective view showing an example of the attachment and detachment structure of a rebar tying machine. [Figure 24B] This is a perspective view showing an example of the attachment and detachment structure of a rebar tying machine. [Figure 25] This is an explanatory diagram showing an example of how a rebar tying machine can be used independently. [Figure 26A] This is a perspective view of the binding equipment of this embodiment, showing a modified version of the mobile unit. [Figure 26B] This is a perspective view of the binding equipment of this embodiment, showing a modified version of the mobile unit. [Figure 27A] This flowchart shows an example of a bundling operation based on the remaining amount of wire. [Figure 27B] This flowchart shows an example of a bundling operation based on the remaining amount of wire. [Figure 28A] This flowchart shows an example of the process for calculating the remaining wire length. [Figure 28B] This flowchart shows an example of the process for calculating the remaining wire length. [Figure 28C] This flowchart shows an example of the process for calculating the remaining wire length. [Figure 29A] This is a perspective view showing a modified example of the bundling equipment of this embodiment. [Figure 29B] This is a perspective view showing the main components of the reel housing. [Modes for carrying out the invention]

[0012] Hereinafter, with reference to the drawings, an example of a binding equipment as an embodiment of the binding device of the present invention, and an example of a rebar binding machine as an embodiment of a binding machine used in the binding equipment will be described.

[0013] <Example of the overall configuration of the binding equipment in this embodiment> Figures 1A and 1B are perspective views showing an example of the binding equipment of this embodiment, and Figure 1C is a perspective view showing another example of the binding equipment of this embodiment. The binding equipment 100A shown in Figures 1A and 1B includes a rebar binding machine 1A that uses reinforcing bars S as the object to be bound, with the intersection of two intersecting reinforcing bars S as the binding point P10, and ties the intersection of the two intersecting reinforcing bars S with wire W, and a mobile machine 200A that moves the rebar binding machine 1A to the binding point P10.

[0014] The mobile device 200A is composed of a device such as a robot arm in which multiple arms are rotatably connected via an axis, and moves the rebar tying machine 1A toward and away from the rebar placement surface SF, and along the placement surface SF, thereby moving the rebar tying machine 1A to the tying location P10.

[0015] The binding equipment 100B shown in Figure 1C has a configuration in which the reel housing section 21, which houses the reel 20 on which the wire W is wound, is independent from the rebar binding machine 1A. The equipment comprises the rebar binding machine 1A, the reel housing section 21 provided in correspondence with the rebar binding machine 1A, and a wire pulling mechanism 210 that pulls out the wire W from the reel 20 housed in the reel housing section 21. The binding equipment 100B also includes a moving device 200B that moves the rebar binding machine 1A to the binding location P10.

[0016] The binding equipment 100B moves the reinforcing bars S in a direction along the placement surface SF using other moving devices such as a transport mechanism (not shown), thereby moving the binding point P10 to a predetermined position opposite the reinforcing bar binding machine 1A. The moving device 200B also moves the reinforcing bar binding machine 1A toward and away from the placement surface SF of the reinforcing bars S, thereby moving the reinforcing bar binding machine 1A to the binding point P10.

[0017] The rebar tying machine 1A shown in Figures 1A, 1B, and 1C includes an information acquisition unit 101 as an example of an information acquisition means for acquiring tying-related information related to the tying operation of tying rebars S with wire W, such as information indicating whether there are any obstacles that hinder the tying operation of tying rebars S with wire W, information indicating the state of wire W after tying rebars S with wire W (also referred to as the tying state), information identifying rebars S, and information identifying the position of tying point P10. The rebar tying machine 1A also includes an information communication unit 102 that notifies information processing devices 110 (110a, 110b) such as personal computers, smartphones, and tablets of the tying-related information acquired by the information acquisition unit 101.

[0018] <Example of the configuration of the rebar tying machine according to this embodiment> Figure 2 is a side view showing an example of a rebar tying machine according to this embodiment. Rebar tying machine 1A is an example of a tying machine that ties the intersection of two intersecting rebars S with a wire W. In this example, the wire W is fed in the forward direction indicated by arrow F to wrap around the intersection of the two rebars S. The wire W that has been wrapped around the rebars S is then fed in the reverse direction indicated by arrow R to wrap around the rebars S and cut, after which the wire W is twisted to tie the intersection of the two rebars S together with the wire W.

[0019] To achieve the functions described above, the rebar tying machine 1A includes a magazine 2 for storing wire W, a wire feeding unit 3 for feeding wire W in the forward and reverse directions, and a wire guide 4 for guiding the wire W fed by the wire feeding unit 3. The rebar tying machine 1A also includes a curling unit 5 that forms a path for winding the wire W fed by the wire feeding unit 3 around the rebar S, and a cutting unit 6 for cutting the wire W wrapped around the rebar S. Furthermore, the rebar tying machine 1A includes a tying unit 7 for twisting the wire W wrapped around the rebar S, and a drive unit 8 for driving the tying unit 7.

[0020] Magazine 2 is an example of a storage compartment, in which a reel 20, on which a long wire W is wound so as to be dispensed, is stored in a rotatable and detachable manner. The wire W can be made of a metal wire that can be plastically deformed, a metal wire coated with resin, or a stranded wire.

[0021] In a configuration where a single wire W is used to tie together the reinforcing bars S, the single wire W is wound around a hub (not shown) of the reel 20, allowing the single wire W to be pulled out as the reel 20 rotates. In a configuration where multiple wires W are used to tie together the reinforcing bars S, multiple wires W are wound around the hub, allowing the multiple wires W to be pulled out simultaneously as the reel 20 rotates. For example, in a configuration where two wires W are used to tie together the reinforcing bars S, two wires W are wound around the hub, allowing the two wires W to be pulled out simultaneously as the reel 20 rotates.

[0022] In the rebar tying machine 1A shown in Figure 1C, the reel housing section 21 that houses the reels 20 on which the wire W is wound is configured to be independent of the rebar tying machine 1A, so it is not necessary to have a magazine 2. Similarly, in the rebar tying machine 1A shown in Figures 1A and 1B, the magazine 2 that houses the reels 20 may also be configured to be independent of the rebar tying machine 1A, and the form of the magazine 2 that is independent of the rebar tying machine 1A is not limited to the form shown in Figure 2. Furthermore, in a rebar tying machine 1A that ties rebars S with multiple wires W, in a configuration in which the reel housing section 21 (magazine 2) is independent of the rebar tying machine 1A, multiple reels 20 on which one wire W is wound may be housed in the reel housing section 21 (magazine 2), and the wire W may be drawn out from each reel 20 simultaneously so that multiple wires W can be supplied to the rebar tying machine 1A.

[0023] The wire feeding unit 3 is equipped with a pair of feed gears 30 that grip and feed the wire W. The feed gears 30 rotate when the rotational motion of the feed motor 31 (see Figures 4A, 4B, 4C, and 4D) is transmitted to the wire feeding unit 3. As a result, the wire feeding unit 3 feeds the wire W, which is gripped between the pair of feed gears 30, along the direction in which the wire W extends. In a configuration in which multiple wires, for example two wires W are fed to tie together reinforcing bars S, the two wires W are fed in parallel.

[0024] The wire feeding unit 3 switches the rotation direction of the feed gear 30 by switching the forward and reverse rotation direction of the feed motor 31, thereby switching the forward and reverse feeding direction of the wire W, either feeding the wire W in the forward direction indicated by arrow F or in the reverse direction indicated by arrow R.

[0025] The wire guides 4 are provided at predetermined positions on the upstream and downstream sides of the wire feeding section 3 with respect to the feeding direction in which the wire W is fed in the forward direction. In a configuration in which two wires W are fed and reinforcing bars S are tied together, the wire guide 4 provided on the upstream side of the wire feeding section 3 restricts the radial direction of the two wires W, guiding the two incoming wires W in parallel between the pair of feeding gears 30. The wire guide 4 provided on the downstream side of the wire feeding section 3 restricts the radial direction of the two wires W, guiding the two incoming wires W in parallel to the cutting section 6 and the curl forming section 5.

[0026] The curl-forming section 5 includes a curl guide 50 that gives the wire W fed by the wire feeding section 3 a curl, and a guide guide 51 that guides the wire W, which has been given a curl by the curl guide 50, to the binding section 7. In the rebar binding machine 1A, the path of the wire W fed by the wire feeding section 3 is restricted by the curl-forming section 5, so that the trajectory of the wire W becomes a loop Ru as shown by the dashed line in Figure 2, and the wire W is wrapped around the rebar S.

[0027] The cutting section 6 is configured to cut the wire W through the relative movement of a pair of blades. In this example, it comprises a fixed blade section 60 and a movable blade section 61 that rotates around the fixed blade section 60 as a pivot axis. The cutting section 6 receives the operation of the binding section 7 via a transmission member 62 to the movable blade section 61, and the rotational movement of the movable blade section 61 cuts the wire W sandwiched between the fixed blade section 60 and the movable blade section 61.

[0028] The binding section 7 includes a locking member 70 for securing the wire W and a sleeve 71 for operating the locking member 70. The drive section 8 includes a motor 80 and a reducer 81 for reducing speed and amplifying torque.

[0029] The binding section 7 is driven by the drive section 8, which causes the sleeve 71 to actuate the locking member 70 to lock the wire W. The binding section 7 also transmits the movement of the sleeve 71 to the movable blade section 61 via the transmission member 62, and after the wire W is cut by the cutting section 6, which is linked to the movement of the sleeve 71, the wire W is twisted to bind the reinforcing bar S.

[0030] The rebar tying machine 1A houses the wire feeding unit 3, wire guide 4, cutting unit 6, tying unit 7, drive unit 8, etc., inside the main body 10. The tying unit 7 is provided inside the front end (also referred to as the tip side), which is one end of the main body 10 along the extension direction, and the drive unit 8 is provided inside the rear end (also referred to as the rear side), which is the other end.

[0031] Furthermore, in the rebar tying machine 1A, the curl guide 50 and the guide 51 of the curl forming section 5 are provided at the front end of the main body section 10. In the rebar tying machine 1A, the space between the curl guide 50 and the guide 51 becomes the introduction section 18 into which the rebar S is inserted. Moreover, in the rebar tying machine 1A, a stopper section 16 is provided at the front end of the main body section 10, between the curl guide 50 and the guide 51, against which the rebar S inserted into the introduction section 18 abuts.

[0032] Furthermore, when the rebar tying machine 1A is designed for use by a worker holding it in their hand, the main body 10 is equipped with a handle 11 that can be operated by hand. In the rebar tying machine 1A, the handle 11 extends downward from the main body 10, and a battery mounting section 17 is provided at the lower part of the handle 11 to which a battery 15 can be detachably attached. In addition, the rebar tying machine 1A has a magazine 2 located in front of the handle 11.

[0033] When the rebar tying machine 1A is used in a form that is held in the hand by a worker, a trigger 12 is provided on the front of the handle 11, and a switch 13 is provided inside the handle 11. The control unit 14 controls the motor 80 and the feed motor 31 according to the state of the switch 13 pressed by the operation of the trigger 12.

[0034] Furthermore, by providing a trigger 12 in the rebar tying machine 1A used in the tying equipment 100A and tying equipment 100B, it is possible to verify the operation of the rebar tying machine 1A alone without control by the information processing device 110a. However, the rebar tying machine 1A used in the tying equipment 100A and tying equipment 100B may be configured without the trigger 12 and switch 13.

[0035] Figure 3A is a side view showing an example of a binding section, Figure 3B is an internal configuration diagram showing an example of a binding section, and Figures 3C and 3D are plan views of the main parts showing an example of a binding section.

[0036] Next, an example of the fastening section of this embodiment will be described with reference to the figures. The fastening section 7 includes a rotating shaft 72 that moves and rotates the sleeve 71 to actuate the locking member 70. The fastening section 7 and the drive section 8 are connected by a reduction gear 81 between the rotating shaft 72 and the motor 80, and the rotating shaft 72 is driven by the motor 80 via the reduction gear 81.

[0037] The locking member 70 includes a center hook 70C connected to the rotating shaft 72, and a first side hook 70R and a second side hook 70L that open and close relative to the center hook 70C.

[0038] In the fastening section 7, the side on which the center hook 70C, the first side hook 70R, and the second side hook 70L are provided is the front side, and the side on which the rotating shaft 72 is connected to the reduction gear 81 is the rear side.

[0039] The center hook 70C is connected to the front end, which is one end of the rotating shaft 72, via a configuration that allows it to rotate relative to the rotating shaft 72, rotate integrally with the rotating shaft 72, and move integrally with the rotating shaft 72 in the axial direction.

[0040] The first side hook 70R has a front end, which is one end along the axial direction of the rotation axis 72, positioned on one side relative to the center hook 70C. The other end of the first side hook 70R, which is the rear end, is rotatably supported by the center hook 70C on axis 71b, along the axial direction of the rotation axis 72.

[0041] The second side hook 70L has a front end, which is one end along the axial direction of the rotation axis 72, positioned on the other side relative to the center hook 70C. The other end of the second side hook 70L, which is the rear end, is rotatably supported by the center hook 70C on axis 71b.

[0042] As a result, the locking member 70 rotates with the shaft 71b as the pivot point, causing the tip of the first side hook 70R to open and close in a direction away from the center hook 70C. Also, the tip of the second side hook 70L opens and closes in a direction away from the center hook 70C.

[0043] The sleeve 71 has a shape in which a predetermined length along the axial direction of the rotating shaft 72 is divided radially into two sections, from the front end indicated by arrow A1, and the first side hook 70R and the second side hook 70L are inserted into these sections. The sleeve 71 is also cylindrical, covering the circumference of the rotating shaft 72, and has a protrusion (not shown) that projects from the inner circumferential surface of the cylindrical space into which the rotating shaft 72 is inserted. This protrusion fits into a groove of the feed screw 72a formed along the axial direction on the outer circumference of the rotating shaft 72.

[0044] As the rotating shaft 72 rotates, the sleeve 71 moves in the forward and backward direction, which is along the axial direction of the rotating shaft 72, in accordance with the rotation direction of the rotating shaft 72, due to the action of a protrusion (not shown) and the feed screw 72a of the rotating shaft 72. Furthermore, when the sleeve 71 moves along the axial direction of the rotating shaft 72 to the forward end of the feed screw 72a, it rotates integrally with the rotating shaft 72.

[0045] The sleeve 71 includes an opening / closing pin 71a for opening and closing a first side hook 70R and a second side hook 70L. The first side hook 70R has an opening / closing guide hole 73R into which the opening / closing pin 71a is inserted, and the second side hook 70L has an opening / closing guide hole 73L into which the opening / closing pin 71a is inserted.

[0046] The opening and closing guide holes 73R and 73L are composed of grooves that extend along the direction of movement of the sleeve 71. The opening and closing guide hole 73R has a shape that converts the linear movement of the opening and closing pin 71a, which moves in conjunction with the sleeve 71, into an opening and closing operation by the rotation of the first side hook 70R with the shaft 71b as the pivot point. The opening and closing guide hole 73L has a shape that converts the linear movement of the opening and closing pin 71a, which moves in conjunction with the sleeve 71, into an opening and closing operation by the rotation of the second side hook 70L with the shaft 71b as the pivot point.

[0047] As the sleeve 71 moves to the rear side indicated by arrow A2, the first side hook 70R and the second side hook 70L move away from the center hook 70C in a rotational motion with the shaft 71b as the pivot point, due to the trajectory of the opening / closing pin 71a and the shape of the opening / closing guide holes 73R and 73L.

[0048] As a result, the first side hook 70R and the second side hook 70L open relative to the center hook 70C, forming a feed path for the wire W between the first side hook 70R and the center hook 70C, and between the second side hook 70L and the center hook 70C.

[0049] When the first side hook 70R and the second side hook 70L are open relative to the center hook 70C, the wire W fed in the forward direction by the wire feeding section 3 passes between the center hook 70C and the first side hook 70R. The wire W passing between the center hook 70C and the first side hook 70R is guided to the curl forming section 5. Then, the wire W that has been given a curl by the curl guide 50 of the curl forming section 5 and guided to the binding section 7 by the guidance guide 51 passes between the center hook 70C and the second side hook 70L.

[0050] As the sleeve 71 moves forward as indicated by arrow A1, the first side hook 70R and the second side hook 70L move toward the center hook 70C in a rotational motion with the axis 71b as the pivot point, due to the trajectory of the opening / closing pin 71a and the shape of the opening / closing guide holes 73R and 73L. As a result, the first side hook 70R and the second side hook 70L close relative to the center hook 70C.

[0051] When the first side hook 70R closes against the center hook 70C, the wire W sandwiched between the first side hook 70R and the center hook 70C is locked in a manner that allows it to move between the first side hook 70R and the center hook 70C. Also, when the second side hook 70L closes against the center hook 70C, the wire W sandwiched between the second side hook 70L and the center hook 70C is locked in a manner that prevents it from coming out from between the second side hook 70L and the center hook 70C.

[0052] When the wire W is fed in the reverse direction by the wire feeding unit 3, the portion of the wire W that is sandwiched between the second side hook 70L and the center hook 70C is located on the upstream side in the direction in which the wire W is fed, and the portion that is sandwiched between the first side hook 70R and the center hook 70C is located on the downstream side in the direction in which the wire W is fed.

[0053] As a result, when the wire feed unit 3 feeds the wire W in the reverse direction, the portion of the wire W that is sandwiched between the first side hook 70R and the center hook 70C is pulled in the direction of the wire feed unit 3, reducing the diameter of the loop Ru and causing it to wrap around the reinforcing bar S.

[0054] The sleeve 71 includes a bending portion 71c1 that shapes the wire W into a predetermined shape by pushing and bending the tip end of the wire W, which is sandwiched between the second side hook 70L and the center hook 70C, which are the ends of the wire W wrapped around the reinforcing bar S, in a predetermined direction. The sleeve 71 also includes a bending portion 71c2 that shapes the wire W into a predetermined shape by pushing and bending the other end of the wire W, which is the other end of the wire W that is wrapped around the reinforcing bar S and cut at the cutting portion 6, in a predetermined direction. The bending portions 71c1 and 71c2 are formed at the front end of the sleeve 71 indicated by arrow A1.

[0055] As the sleeve 71 moves forward as indicated by arrow A1, it presses the tip end of the wire W, which is locked by the center hook 70C and the second side hook 70L, with the bending portion 71c1, bending it toward the reinforcing bar S. Also, as the sleeve 71 moves forward as indicated by arrow A1, it presses the end end of the wire W, which is locked by the center hook 70C and the first side hook 70R and cut at the cutting portion 6, with the bending portion 71c2, bending it toward the reinforcing bar S.

[0056] The fastening section 7 includes a locking member 70 that is linked to the rotational movement of the rotating shaft 72 and a rotation restricting section 74 that restricts the rotation of the sleeve 71. The rotation restricting section 74 has rotation restricting vanes 74a on the sleeve 71 and a rotation restricting claw (not shown) on the main body 10 that locks the rotation restricting vanes 74a.

[0057] The rotation restricting vane 74a is constructed by providing a plurality of protrusions that project radially from the outer circumference of the sleeve 71 at predetermined intervals in the circumferential direction of the sleeve 71. The rotation restricting vane 74a is fixed to the sleeve 71 and moves and rotates integrally with the sleeve 71.

[0058] The rotation restricting section 74 locks the wire W with the locking member 70, wraps the wire W around the reinforcing bar S and then cuts it, and further, in the operating range where the wire W is bent and shaped by the bending portions 71c1 and 71c2 of the sleeve 71, the rotation restricting vane 74a is locked. When the rotation restricting vane 74a is locked, the rotation of the sleeve 71, which is linked to the rotation of the rotation shaft 72, is restricted, and the rotational movement of the rotation shaft 72 causes the sleeve 71 to move in the front-back direction.

[0059] Furthermore, in the operating range where the rotation restricting unit 74 twists the wire W locked by the locking member 70, the locking of the rotation restricting vane 74a is released. When the locking of the rotation restricting vane 74a is released, the sleeve 71 rotates in conjunction with the rotation of the rotating shaft 72. In conjunction with the rotation of the sleeve 71, the locking member 70 causes the center hook 70C, the first side hook 70R, and the second side hook 70L, which lock the wire W, to rotate.

[0060] <Example of the rebar tying operation of the rebar tying machine of this embodiment> Next, referring to the figures, the operation of tying reinforcing bars S with wire W using the reinforcing bar tying machine 1A of this embodiment will be described.

[0061] In the rebar tying machine 1A, the wire W is held between a pair of feed gears 30, and the standby state is when the tip of the wire W is positioned between the gripping position of the feed gears 30 and the fixed blade portion 60 of the cutting section 6. Also, in the standby state of the rebar tying machine 1A, the sleeve 71 and the first side hook 70R, second side hook 70L, and center hook 70C attached to the sleeve 71 move in the rearward direction indicated by arrow A2, and as shown in Figure 3C, the first side hook 70R is open relative to the center hook 70C, and the second side hook 70L is open relative to the center hook 70C.

[0062] When the feed motor 31 is driven in the forward rotation direction from the standby state, the wire W is fed in the forward direction indicated by the arrow F by the wire feeding unit 3. In the case of a configuration that feeds multiple wires, for example two wires W, the wire guide 4 feeds the two wires W in parallel along the axial direction of the loop Ru formed by the wires W.

[0063] The wire W, fed in the forward direction, passes between the center hook 70C and the first side hook 70R and is sent to the curl guide 50 of the curl forming section 5. As the wire W passes through the curl guide 50, it acquires a curl that causes it to wrap around the reinforcing bar S placed in the introduction section 18 between the curl guide 50 and the guide guide 51.

[0064] The wire W, which has been coiled by the curl guide 50, is guided by the guide guide 51 and further fed in the forward direction by the wire feeding unit 3, so that it is guided by the guide guide 51 between the center hook 70C and the second side hook 70L. When the wire W has been fed to the predetermined position, the drive of the feed motor 31 is stopped.

[0065] After stopping the forward feeding of the wire W, the motor 80 is driven in the forward rotation direction. In the operating range where the wire W is locked by the locking member 70, the rotation restricting vane 74a of the sleeve 71 is locked, thereby restricting the rotation of the sleeve 71 which is linked to the rotation of the rotating shaft 72. As a result, the rotation of the motor 80 is converted into linear motion, and the sleeve 71 moves in the forward direction, as indicated by arrow A1.

[0066] As the sleeve 71 moves forward as indicated by arrow A1, the locking member 70 causes the first side hook 70R and the second side hook 70L to move toward the center hook 70C in a rotational motion with the axis 71b as the pivot point, due to the trajectory of the opening / closing pin 71a and the shape of the opening / closing guide holes 73R and 73L.

[0067] As a result, the first side hook 70R and the second side hook 70L close relative to the center hook 70C, as shown in Figure 3D.

[0068] When the first side hook 70R closes against the center hook 70C, the wire W sandwiched between the first side hook 70R and the center hook 70C is locked in a manner that allows it to move between the first side hook 70R and the center hook 70C.

[0069] In contrast, when the second side hook 70L closes against the center hook 70C, the wire W sandwiched between the second side hook 70L and the center hook 70C is locked in a manner that prevents it from slipping out from between the second side hook 70L and the center hook 70C.

[0070] The first side hook 70R and the second side hook 70L close, advancing the sleeve 71 to a position where the wire W is locked. After this, the rotation of the motor 80 is temporarily stopped, and the feed motor 31 is driven in the reverse direction.

[0071] As a result, the pair of feed gears 30 reverse direction, and the wire W, which is held between the pair of feed gears 30, is fed in the opposite direction indicated by arrow R. Since the tip of the wire W is locked in a manner that prevents it from coming out between the second side hook 70L and the center hook 70C, the wire W is wrapped around the reinforcing bar S by the motion of feeding the wire W in the reverse direction.

[0072] After wrapping the wire W around the reinforcing bar S and stopping the reverse rotation of the feed motor 31, the motor 80 is driven in the forward rotation direction to move the sleeve 71 further forward, as indicated by arrow A1.

[0073] The forward movement of the sleeve 71 is transmitted to the cutting section 6 by the transmission member 62, causing the movable blade section 61 to rotate, and the wire W, which is locked by the first side hook 70R and the center hook 70C, is cut by the movement of the fixed blade section 60 and the movable blade section 61.

[0074] By driving the motor 80 in the forward rotation direction, the sleeve 71 is moved forward as indicated by arrow A1, and as described above, almost simultaneously with the cutting of the wire W, the bending portions 71c1 and 71c2 move in a direction toward the reinforcing bar S. As a result, the tip end of the wire W, which is locked by the center hook 70C and the second side hook 70L, is pressed toward the reinforcing bar S by the bending portion 71c1, bending it toward the reinforcing bar S with the locking position as a fulcrum. As the sleeve 71 moves further forward, the wire W, which is locked between the second side hook 70L and the center hook 70C, is held in a state where it is sandwiched by the bending portion 71c1.

[0075] Furthermore, the end of the wire W, which is locked by the center hook 70C and the first side hook 70R and cut at the cutting section 6, is pressed toward the reinforcing bar S by the bending section 71c2, bending it toward the reinforcing bar S with the locking position as a fulcrum. As the sleeve 71 moves further forward, the wire W, which is locked between the first side hook 70R and the center hook 70C, is held in a state where it is sandwiched by the bending section 71c2.

[0076] After the tip and cut ends of the wire W are bent toward the reinforcing bar S, the motor 80 is further driven in the forward rotation direction, causing the sleeve 71 to move further forward. When the sleeve 71 moves to a predetermined position and reaches the operating range in which the wire W locked by the locking member 70 is twisted, the locking of the rotation restricting vane 74a is released.

[0077] As a result, the motor 80 is driven further in the forward rotation direction, causing the sleeve 71 to rotate in conjunction with the rotating shaft 72, and the wire W, which is locked by the locking member 70, to twist.

[0078] When the load on the motor 80 is detected to be at its maximum due to the twisting of the wire W, the forward rotation of the motor 80 is stopped. Next, when the motor 80 is driven in the reverse direction, the rotating shaft 72 rotates in the reverse direction, and as the sleeve 71 rotates in the reverse direction following the rotation of the rotating shaft 72, the rotation restricting vane 74a is locked, restricting the rotation of the sleeve 71 which is linked to the rotation of the rotating shaft 72. As a result, the sleeve 71 moves in the direction of arrow A2, which is the rear direction.

[0079] As the sleeve 71 moves backward, the bent portions 71c1 and 71c2 separate from the wire W, and the wire W is no longer held by the bent portions 71c1 and 71c2. Also, as the sleeve 71 moves backward, the opening / closing pin 71a passes through the opening / closing guide holes 73R and 73L. As a result, the first side hook 70R moves away from the center hook 70C in a rotational motion with the shaft 71b as the pivot point. Similarly, the second side hook 70L moves away from the center hook 70C in a rotational motion with the shaft 71b as the pivot point. As a result, the wire W is released from the locking member 70.

[0080] <Example of control function of the bundling equipment in this embodiment> Figures 4A, 4B, 4C, and 4D are block diagrams showing an example of the control function of a binding equipment. In the example of the control function shown in Figure 4A, the binding equipment 100A shown in Figure 1A, etc., has an information processing device 110a that controls the mobile unit 200A connected to the mobile unit 200A and the rebar binding machine 1A attached to the mobile unit 200A, enabling the transmission and reception of signals to control the mobile unit 200A and the rebar binding machine 1A.

[0081] Furthermore, in the example control function shown in Figure 4A, the binding equipment 100B shown in Figure 1C, etc., is connected to the mobile unit 200B and the rebar binding machine 1A attached to the mobile unit 200B, enabling the transmission and reception of signals to control the mobile unit 200B and the rebar binding machine 1A.

[0082] Furthermore, the binding equipment 100A and 100B are connected such that the information and communication unit 102 of the rebar binding machine 1A can send and receive binding-related information acquired by the information acquisition unit 101 of the rebar binding machine 1A to and from a communication network 300 such as a cloud.

[0083] Furthermore, the binding equipment 100A and 100B are connected to a communication network 300, which is capable of sending and receiving binding-related information, etc., via an information processing device 110b that receives binding-related information acquired by the information acquisition unit 101 of the rebar binding machine 1A.

[0084] In the binding equipment 100A and 100B shown in Figure 4B, the information processing device 110a is connected to the rebar binding machine 1A via mobile units 200A and 200B, and the information processing device 110b is connected to the communication network 300. The information communication unit 102 of the rebar binding machine 1A is not connected to the communication network 300, and the information processing device 110b is connected to the information communication unit 102 of the rebar binding machine 1A in a way that enables the transmission and reception of binding-related information.

[0085] In the binding equipment 100A and 100B shown in Figure 4C, the information processing device 110a is connected to the rebar binding machine 1A via the mobile units 200A and 200B, and the information processing device 110b is connected to the communication network 300 and the information communication unit 102 of the rebar binding machine 1A. The information communication unit 102 of the rebar binding machine 1A is not connected to the communication network 300, and the information processing device 110b is connected to the information processing device 110a so that it can send and receive binding-related information.

[0086] The binding equipment 100A and 100B shown in Figure 4D have an information processing device 110a that controls the mobile units 200A and 200B, and an information processing device 110b that notifies binding-related information acquired by the information acquisition unit 101 of the rebar binding machine 1A. The information processing device 110a is connected to the rebar binding machine 1A via the mobile units 200A and 200B, and is also connected to the communication network 300 and the information communication unit 102 of the rebar binding machine 1A.

[0087] In the binding equipment 100A, the information processing device 110a controls the mobile unit 200A according to a predetermined program, moving the rebar binding machine 1A to the binding location P10. In the binding equipment 100B, the information processing device 110a controls the mobile unit 200B according to a predetermined program, moving the rebar binding machine 1A to the binding location P10. When the binding equipment 100A moves the rebar binding machine 1A to the binding location P10, the information processing device 110a controls the rebar binding machine 1A according to a predetermined program and outputs a signal to the rebar binding machine 1A to perform the operation of binding the rebar S. When the rebar binding machine 1A receives the signal to perform the operation of binding the rebar S, the control unit 14 controls the motor 80 and the feed motor 31 to perform the above-described series of operations of binding the rebar S with wire W.

[0088] When the rebar tying machine 1A is used independently, the control unit 14 controls the motor 80 and the feed motor 31 according to the state of the switch 13 pressed by the trigger 12 shown in Figure 2, and performs a series of operations to tie the rebar S with wire W.

[0089] The rebar tying machine 1A acquires tying-related information related to the tying operation of tying rebars S with wire W using an information acquisition unit 101, and the control unit 14 notifies the information processing device 110b of the tying-related information acquired by the information acquisition unit 101 via the information communication unit 102. In the configuration shown in Figure 4A, the rebar tying machine 1A notifies the communication network 300 such as a cloud of the tying-related information acquired by the information acquisition unit 101 via the information communication unit 102. The information processing device 110b acquires the tying-related information from the communication network 300. In the configurations shown in Figures 4B and 4C, the rebar tying machine 1A notifies the information processing device 110b of the tying-related information acquired by the information acquisition unit 101 via the information communication unit 102. In the configuration shown in Figure 4D, the rebar tying machine 1A notifies the information processing device 110a of the tying-related information acquired by the information acquisition unit 101 via the information communication unit 102.

[0090] The information processing device 110b shown in Figures 4A, 4B, and 4C performs notification based on the tying-related information acquired by the information acquisition unit 101 of the rebar tying machine 1A. As shown in Figure 4D, when the information processing device 110a has the functions of the information processing device 110b, the information processing device 110a performs notification based on the tying-related information acquired by the information acquisition unit 101 of the rebar tying machine 1A, and controls the rebar tying machine 1A and the mobile units 200A and 200B. The control of the rebar tying machine 1A and the mobile units 200A and 200B based on the tying-related information acquired by the information acquisition unit 101 installed in the rebar tying machine 1A is also called feedback control.

[0091] The binding-related information includes, for example, information necessary to determine whether or not the binding operation can be performed, information necessary to determine whether or not the binding is being performed correctly, information necessary to identify the location of the binding point P10, information necessary to identify the reinforcing bar S to be bound, and information to determine the remaining amount of wire W. In addition, the binding-related information includes the current value of the motor 80, the control signal of the feed motor 31, the number of various abnormality detections, the number of bindings, and so on.

[0092] The information processing device 110b shown in Figures 4A, 4B, and 4C notifies the tying-related information acquired from the rebar tying machine 1A. Based on the tying-related information acquired from the rebar tying machine 1A, the information processing device 110b shown in Figures 4A, 4B, and 4C may also determine whether or not to perform the tying operation and notify tying feasibility information indicating whether or not the tying operation can be performed.

[0093] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may determine whether the tying has been performed correctly or not based on the tying-related information acquired from the rebar tying machine 1A, and may also notify the system of tying results.

[0094] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may identify the location of the binding point P10 based on the binding-related information acquired from the rebar binding machine 1A, and may also notify the location information that identifies the location of the binding point P10.

[0095] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may identify the diameter and combination of the reinforcing bars S to be tied based on the tying-related information acquired from the reinforcing bar tying machine 1A, and notify the reinforcing bar identification information.

[0096] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may also report the bundling result information in association with the location information (address) of the bundling location P10.

[0097] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may determine the remaining amount of wire W based on the tying-related information acquired from the rebar tying machine 1A or the reel storage unit 21, and notify the remaining wire amount information.

[0098] The information processing device 110b shown in Figure 4C notifies the information processing device 110a of the tying-related information acquired from the rebar tying machine 1A. The information processing device 110a shown in Figure 4C notifies the information processing device 110b of the tying-related information.

[0099] The information processing device 110a shown in Figure 4C may determine whether or not to perform a bundling operation based on the bundling-related information notified by the information processing device 110b, and may also notify bundling feasibility information indicating whether or not the bundling operation can be performed.

[0100] Furthermore, the information processing device 110a shown in Figure 4C may determine whether or not the binding has been performed correctly based on the binding-related information notified from the information processing device 110b, and may also notify the binding result information indicating the binding result.

[0101] Furthermore, the information processing device 110a shown in Figure 4C may identify the location of the binding point P10 based on the binding-related information notified by the information processing device 110b, and may also notify the location information that identifies the location of the binding point P10.

[0102] Furthermore, the information processing device 110a shown in Figure 4C may identify the diameter and combination of the reinforcing bars S to be bundled based on the bundling-related information notified from the information processing device 110b, and notify the reinforcing bar identification information.

[0103] Furthermore, the information processing device 110a shown in Figure 4C may also report the bundling result information in association with the location information (address) of the bundling location P10.

[0104] Furthermore, the information processing device 110a shown in Figure 4C may determine the remaining amount of wire W based on the bundling-related information obtained from the information processing device 110b and notify the remaining wire amount information.

[0105] The information processing device 110a shown in Figure 4D notifies the rebar tying-related information acquired from the rebar tying machine 1A. Based on the rebar tying-related information acquired from the rebar tying machine 1A, the information processing device 110a shown in Figure 4D may also determine whether or not to perform the tying operation and notify the system of whether or not the tying operation can be performed.

[0106] Furthermore, the information processing device 110a shown in Figure 4D may determine whether the tying has been performed correctly or not based on the tying-related information acquired from the rebar tying machine 1A, and may also notify the system of tying results indicating the tying results.

[0107] Furthermore, the information processing device 110a shown in Figure 4D may identify the location of the binding point P10 based on the binding-related information acquired from the rebar binding machine 1A, and may also notify the location information that identifies the location of the binding point P10.

[0108] Furthermore, the information processing device 110a shown in Figure 4D may identify the diameter and combination of the reinforcing bars S to be tied based on the tying-related information acquired from the reinforcing bar tying machine 1A, and notify the reinforcing bar identification information.

[0109] Furthermore, the information processing device 110a shown in Figure 4D may also report the bundling result information in association with the location information (address) of the bundling location P10.

[0110] Furthermore, the information processing device 110a shown in Figure 4D may determine the remaining amount of wire W based on the tying-related information acquired from the rebar tying machine 1A or the reel storage unit 21, and notify the remaining amount of wire.

[0111] The information processing device 110a shown in Figures 4C and 4D may also control the rebar tying machine 1A and the mobile units 200A and 200B based on the information regarding whether or not tying is possible.

[0112] Furthermore, the information processing device 110a shown in Figures 4C and 4D may control the rebar tying machine 1A and the mobile units 200A and 200B based on the tying result information.

[0113] Furthermore, the information processing device 110a shown in Figures 4C and 4D may control the rebar tying machine 1A and the mobile devices 200A and 200B based on the position information of the tying point P10.

[0114] Furthermore, the information processing device 110a shown in Figures 4C and 4D may control the rebar tying machine 1A and the mobile devices 200A and 200B based on the rebar identification information.

[0115] Furthermore, the information processing device 110a shown in Figures 4C and 4D may store the tying result information in association with the location information (address) of the tying location P10, and control the rebar tying machine 1A and the mobile devices 200A and 200B based on the relationship between the tying result information and the location information of the tying location P10.

[0116] Furthermore, the information processing device 110a shown in Figures 4C and 4D may control the rebar tying machine 1A and the mobile devices 200A and 200B based on the remaining wire amount information.

[0117] <Example of configuration for information acquisition unit using sensors> Figure 5 is a side view showing an example of a rebar tying machine equipped with an information acquisition unit. The rebar tying machine 1A is equipped with a sensor 120 as an information acquisition unit 101. The sensor 120 consists of an optical sensor capable of detecting some object in the tying space 19 where the locking member 70 operates within the main body 10 shown in Figure 2, a magnetic sensor capable of detecting metallic objects, and the like.

[0118] <Example of notification regarding binding-related information> Figure 6 is an explanatory diagram showing an example of notification by the information processing device based on the bundling-related information acquired by the information acquisition unit. Next, the control of notification based on the bundling-related information acquired by the sensor 120 will be explained with reference to each figure.

[0119] The binding equipment 100A is controlled by the information processing device 110a shown in Figures 4A, 4B, 4C, and 4D, which controls the mobile units 200A and 200B, causing the rebar binding machine 1A to move to a predetermined binding location P10.

[0120] The rebar tying machine 1A uses a sensor 120, which is part of the information acquisition unit 101, to detect whether or not there is a foreign object in the tying space 19. It acquires foreign object detection information, which is the result of detecting the presence or absence of a foreign object, as tying feasibility information, which is tying-related information, and determines whether or not the tying operation can be performed. When the control unit 14 of the rebar tying machine 1A detects the presence of a foreign object in the tying space 19 using the sensor 120, it notifies the foreign object detection information via the information communication unit 102 to the information processing devices 110b shown in Figures 4A, 4B, and 4C, and the information processing device 110a shown in Figure 4D.

[0121] When the information processing devices 110a and 110b receive foreign object detection information from the rebar tying machine 1A, they determine whether or not to perform the tying operation and output notification information 110E according to whether or not the tying operation can be performed. The notification information 110E may be output as visual information such as images or text, or as auditory information such as sound.

[0122] Furthermore, if the information processing device 110a that controls the binding equipment 100A is a personal computer, the notification information 110E may be output from the personal computer. Alternatively, the notification information 110E may be output from an information processing device 110b such as a smartphone or tablet that is connected to the information processing device 110a that controls the binding equipment 100A in a communicable manner, but does not control the binding equipment 100A.

[0123] <Example of configuration for information acquisition unit using camera> Figures 7A and 7B are perspective views showing other examples of rebar tying machines equipped with an information acquisition unit. Rebar tying machine 1A is equipped with a camera 121 as an information acquisition unit 101. The camera 121 is mounted on the top or side surface of the main body 10 so that the area in front of the curl forming unit 5 is within its shooting range.

[0124] <Example of operation using image information of the binding location acquired by image recognition of the binding structure> Figure 8 is a flowchart showing an example of operation based on image information of the binding location acquired by image recognition of the binding configuration. Referring to each figure, control based on information acquired by camera 121 will be explained as control based on binding-related information. When the binding equipment 100A performs the binding operation described above in step SA1 of Figure 8, the information processing device 110a controls the mobile device 200A according to a predetermined program, and in step SA2 of Figure 8, the mobile device 200A moves the rebar binding machine 1A, which has finished the binding operation, away from the binding location P10. In the binding equipment 100B shown in Figure 1C, when the binding operation described above is performed, the information processing device 110a controls the mobile device 200B according to a predetermined program, and the mobile device 200B moves the rebar binding machine 1A, which has finished the binding operation, away from the binding location P10. The following operation will be explained for the binding equipment 100A, but the same applies to the binding equipment 100B.

[0125] When the rebar tying machine 1A has finished its tying operation, it is moved away from the tying point P10, and the rebar S is pulled out from between the curl guide 50 and the guide guide 51 of the curl forming section 5. When the rebar tying machine 1A moves to a position where the tying point P10, including the wire W that ties the rebar S, is within the shooting range of the camera 121, the control unit 14 of the rebar tying machine 1A controls the camera 121 to photograph the tying point P10, including the wire W that ties the rebar S, and acquires image information of the tying point after the execution of the tying operation, including the appearance of the tying by the wire W, which is necessary to determine whether the tying has been performed correctly, as tying-related information. Note that the tying point P10, including the wire W that ties the rebar S, may be photographed from multiple directions by changing the orientation of the rebar tying machine 1A, etc.

[0126] The control unit 14 of the rebar tying machine 1A photographs the tying location P10, which includes the wire W that ties the rebar S, with the camera 121 and obtains image information of the tying location after tying. In the embodiments shown in Figures 4A, 4B, and 4C, the control unit 14 notifies the information processing device 110b via the information communication unit 102, and in the embodiment shown in Figure 4D, the information processing device 110a via the information communication unit 102.

[0127] The information processing devices 110b shown in Figures 4A, 4B, and 4C, and the information processing device 110a shown in Figure 4D, may also transmit image information of the binding location. Furthermore, the information processing device 110b shown in Figure 4C notifies the information processing device 110a shown in Figure 4C of the image information of the binding location.

[0128] The information processing device 110a shown in Figures 4C and 4D performs image recognition of the tied area image information after tying in step SA3 of Figure 8, identifies the presence or absence of abnormal areas based on the shape of the wire W that ties the reinforcing bars S, and determines whether the tying was performed correctly in step SA4 of Figure 8. Alternatively, the information processing device 110a may generate a 3D image by combining 2D images of the tied area P10 taken from multiple directions, and determine whether the tying was performed correctly from the 2D and 3D images. Furthermore, as tying-related information, the current value flowing to the motor 80 during the twisting operation of the wire W may be used to determine whether the tying was performed correctly. In addition, the information processing device 110a shown in Figures 4C and 4D may report tying result information indicating whether the tying was performed correctly, or the information processing device 110b shown in Figures 4A and 4B may determine whether the tying was performed correctly and report tying result information.

[0129] Figures 9A, 9B, and 9C are perspective views showing an example of a binding point secured with wire, and Figures 10A and 10B are explanatory diagrams showing an example of image information of a binding point after securing. As shown in Figure 9A, if the wire W securing the reinforcing bars S is not cut or otherwise damaged and the binding is done properly, then, as shown in Figure 10A, no abnormalities are detected in the image information Pc1 of the binding point P10 after securing. As a result, the information processing device 110a shown in Figures 4C and 4D determines that the reinforcing bars S have been properly secured with wire W, and records that the binding result is normal in step SA5 in Figure 8.

[0130] In contrast, when tying reinforcing bars S with two wires W, if one wire is cut, as shown in Figure 9B, or if both wires W are cut, as shown in Figure 9C, an abnormality is detected in the image information Pc1 of the tied location P10 after tying, as shown in Figure 10B. As a result, the information processing device 110a shown in Figures 4C and 4D determines that the reinforcing bars S are not properly tied with the wires W, and records that the tying result is abnormal in step SA6 in Figure 8.

[0131] Furthermore, the information processing device 110b shown in Figures 4A, 4B, and 4C may record the binding result. Alternatively, based on the binding location image information reported by the information processing device 110b shown in Figures 4A and 4B, a person may input predetermined information into the information processing device 110a shown in Figures 4A and 4B, and based on the input information, the information processing device 110a shown in Figures 4A and 4B may determine whether the binding was performed successfully and record the binding result.

[0132] <Example of an operation that associates bundled result information with location information> The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D constitutes a location information acquisition means and acquires location information (address) of the binding location P10 where the binding operation is performed. In the case of the information processing device 110a shown in Figure 4C, it stores the image information Pc1 of the binding location after binding, which is notified by the information processing device 110b, the binding result information indicating whether or not the binding was performed successfully based on the image information Pc1, and the address of the binding location P10 in association with each other.

[0133] Furthermore, in the case of the information processing device 110a shown in Figure 4D, the image information Pc1 of the tied location after tying, acquired from the rebar tying machine 1A, the tying result information determined based on the image information Pc1, and the address of the tied location P10 are stored in association with each other. In addition, in the case of the information processing device 110a shown in Figures 4A and 4B, the tying result information entered by a person based on the determination made based on the image information Pc1 of the tied location notified to the information processing device 110b are stored in association with each other.

[0134] In the case of the information processing device 110a shown in Figures 4A and 4B, the address of the tying location P10 is associated with the time and stored. The rebar tying machine 1A determines whether the tying was performed correctly and acquires tying result information, and also stores the tying result information associated with the time. As a result, by writing out the information stored in the information processing device 110a and the information stored in the rebar tying machine 1A and matching them by time, the tying result information and the address of the tying location P10 can be associated. Furthermore, by assigning identification information to the information stored in the information processing device 110a and the information stored in the rebar tying machine 1A, it becomes possible to match the tying result information and the address of the tying location P10 without using time.

[0135] Figure 11 is an explanatory diagram showing an example of an address for identifying a binding point. Since the reinforcing bars S are arranged in a grid pattern, for example, a unique identifier is assigned to each of the reinforcing bars S in the row direction and S in the column direction, using numbers, letters, etc. Then, an address is generated that identifies the binding point P10 using the combination of the row-direction identifier Si and the column-direction identifier Sj (Si, Sj).

[0136] Figures 12A and 12B are explanatory diagrams showing examples of output of the binding result. For example, if the information processing device 110a determines that the wire W binding the reinforcing bars S has not been cut or otherwise damaged, based on the binding location image information Pc1 obtained at the binding location P10 identified by address (C,3), then the information processing device 110a saves the binding result information indicating that the binding result is normal and the address of the binding location P10. Furthermore, if the information processing device 110a determines that the binding result is normal, it outputs notification information 110E1, which includes the binding result information indicating that the binding result is normal and the address of the binding location P10, as visual information, for example, as shown in Figure 12A.

[0137] In response to this, if, for example, the information processing device 110a determines that the binding result is abnormal, such as the wire W binding the reinforcing bars S being cut, based on the image information Pc1 of the binding location P10 identified by address (C,5), the information processing device 110a saves the binding result information indicating that the binding result is abnormal and the address of the binding location P10. Furthermore, if the information processing device 110a determines that the binding result is abnormal, it outputs notification information 110E2, which includes the binding result information indicating that the binding result is abnormal and the address of the binding location P10, for example as visual information, as shown in Figure 12B.

[0138] Whether the binding result is normal or abnormal can be determined by comparing the binding location image information Pc1 acquired in the current binding operation with past binding location image information Pc1 identified by the address of the binding location P10 from which the current binding result was acquired, or by comparing the binding location image information Pc1 acquired in the current binding operation with previously acquired binding location image information Pc1 that shows a standard form in which binding is performed normally. Alternatively, a person may check and compare the binding location image information Pc1 reported in the current binding operation to determine whether the binding result is normal or abnormal, and input the binding result information into the information processing device 110a.

[0139] Figures 13A, 13B, 13C, 13D, and 13E are flowcharts illustrating an example of the operation of associating the binding result information with location information. In step SB1 of Figure 13A, the information processing device 110a obtains the address (Si, Sj) of the binding location P10, and in step SB2 of Figure 13A, it performs the binding operation described above at the binding location P10 identified by the address (Si, Sj). After the binding operation is performed, in step SB3 of Figure 13A, it obtains binding-related information. The binding-related information is, for example, binding location image information Pc1 or information based on the binding location image information Pc1.

[0140] In this example, past image information of bundled locations, which is a numerical representation of bundled location image information Pc1 where the bundled result is normal, is collected and statistically compiled and saved for each address of bundled location P10. Then, in step SB4 of Figure 13A, the image information of bundled location Pc1 acquired in the current bundled operation is compared with past image information of bundled locations that show a normal bundled result, and it is determined whether the difference is within a predetermined range, that is, whether the shape is close to that of a normal bundled result. Alternatively, the image information of bundled location Pc1 acquired in the current bundled operation may be compared with past image information of bundled locations that show a normal result, which is identified by the address of the bundled location P10 where the current bundled result was acquired, and it is also possible to determine whether the difference is within a predetermined range, that is, whether the shape is close to that of a normal bundled result.

[0141] If the difference between the image information Pc1 of the binding location acquired in the current binding operation and past image information of the binding location showing a normal binding result is within a predetermined range, then in step SB5 of Figure 13A, binding result information indicating that the binding result is normal is recorded. Conversely, if the difference between the image information Pc1 of the binding location acquired in the current binding operation and past image information of the binding result showing a normal binding result exceeds a predetermined range, then in step SB6 of Figure 13A, binding result information indicating that the binding result is abnormal is recorded.

[0142] Furthermore, if the information processing device 110 determines that the tying result is abnormal, it may stop the subsequent tying operation. In addition, as tying-related information, the current value flowing to the motor 80 during the twisting operation of the wire W, and information indicating the tying strength set by the operation unit (not shown) of the rebar tying machine 1A may be associated with the address of the tying location P10 and saved or notified for each address. Moreover, based on the current value flowing to the motor 80, etc., it may be determined whether the tying was performed correctly, and the tying result information may be associated with the address of the tying location P10 and saved for each address.

[0143] Furthermore, the system stores the bundling result information and the address of the bundling location P10 in association with each other. If it determines from past bundling result information that an abnormal bundling result has occurred at the same bundling location P10 more than a specified number of times, it determines that an abnormality has occurred and may stop subsequent bundling operations or output notification information.

[0144] Specifically, in step SC1 of Figure 13B, the address (Si, Sj) of the binding location P10 is obtained, and in step SC2 of Figure 13B, the binding operation described above is performed at the binding location P10 identified by the address (Si, Sj). After the binding operation is performed, in step SC3 of Figure 13B, binding-related information is obtained. The binding-related information is, for example, binding location image information Pc1 or information based on the binding location image information Pc1.

[0145] In step SC4 of Figure 13B, based on the image information Pc1 of the binding location acquired during this binding operation, it is determined whether the binding is normal or abnormal, and it is determined whether the number of times the individual binding results aggregated for each binding location identified by the same address are abnormal is within a predetermined number.

[0146] If the number of times the individual binding results aggregated for each binding location identified by the same address are abnormal is within a predetermined number, in step SC5 of Figure 13B, binding result information indicating that the binding result for the same binding location, determined based on the individual binding results, is normal is recorded. Conversely, if the number of times the individual binding results aggregated for each binding location identified by the same address are abnormal exceeds a predetermined number, in step SC6 of Figure 13B, binding result information indicating that the binding result for the same binding location, determined based on the individual binding results, is abnormal is recorded.

[0147] Furthermore, the binding equipment 100A is used to manufacture structures in which a predetermined number of reinforcing bars S are assembled in a grid or the like to form multiple binding points P10. However, if the equipment determines that the number of times the individual binding results of each binding point, when aggregated across multiple different binding points P10 within the same structure, are abnormal exceeds a predetermined number, it may determine that an abnormality has occurred and stop subsequent binding operations, or output notification information.

[0148] Specifically, in step SD1 of Figure 13C, the address (Si, Sj) of the binding location P10 is obtained, and in step SD2 of Figure 13C, the binding operation described above is performed at the binding location P10 identified by the address (Si, Sj). After the binding operation is performed, in step SD3 of Figure 13C, binding-related information is obtained. The binding-related information is, for example, binding location image information Pc1 or information based on the binding location image information Pc1.

[0149] In step SD4 of Figure 13C, based on the image information Pc1 of the binding location acquired during this binding operation, it is determined whether the binding is normal or abnormal, and it is determined whether the number of times the individual binding results for each binding location, aggregated across multiple different binding locations P10 within the same structure, are abnormal is within a predetermined number.

[0150] If the total number of times the individual binding results for each binding point P10, aggregated across multiple different binding points P10 within the same structure, is abnormal is within a predetermined number, then in step SD5 of Figure 13C, binding result information indicating that the binding results for the same structure, determined based on the individual binding results, are normal is recorded. Conversely, if the total number of times the individual binding results for each binding point P10, aggregated across multiple different binding points P10 within the same structure, is abnormal exceeds a predetermined number, then in step SD6 of Figure 13C, binding result information indicating that the binding results for the same structure, determined based on the individual binding results, are abnormal is recorded.

[0151] Furthermore, in the rebar tying machine 1A, it is possible to determine whether or not tying was performed correctly and acquire tying result information, and to store the tying result information in association with the time, thereby determining whether the manufacturing of one structure (tying operation) has been completed and the manufacturing of the next structure (tying operation) has started from the time tying was performed, and whether or not the number of times the tying result for the same structure has been abnormal is within a predetermined number of times.

[0152] Furthermore, depending on the distribution of the abnormally fastened points P10, the structural strength may be insufficient, making it impossible to transport the structure while maintaining its shape. Therefore, if it is determined that transporting the structure will be difficult based on the addresses of the abnormally fastened points P10 within the same structure, the subsequent fastening operation may be stopped, or notification information may be output.

[0153] Specifically, in step SE1 of Figure 13D, the address (Si, Sj) of the binding location P10 is obtained, and in step SE2 of Figure 13D, the binding operation described above is performed at the binding location P10 identified by the address (Si, Sj). After the binding operation is performed, in step SE3 of Figure 13D, binding-related information is obtained. The binding-related information is, for example, binding location image information Pc1 or information based on the binding location image information Pc1.

[0154] In step SE4 of Figure 13D, based on the image information Pc1 of the binding location acquired during this binding operation, it is determined whether the binding is normal or abnormal. Within the same structure, based on the address of the binding location P10 where the binding result is abnormal, it is determined whether the binding state allows for the transport of the structure or makes transport difficult.

[0155] If the structure is bundled in a way that allows for transport, step SE5 in Figure 13D records bundle result information indicating that the bundled result regarding the feasibility of transporting the structure is normal. Conversely, if the structure is bundled in a way that makes transport difficult, step SE6 in Figure 13D records bundle result information indicating that the bundled result regarding the feasibility of transporting the structure is abnormal.

[0156] Furthermore, in the aforementioned binding operation, when the feed motor 31 is rotated in reverse to feed the wire W in the reverse direction and wrap it around the reinforcing bar S, if the wire W wrapped around the reinforcing bar S is cut midway, the amount of rotation required for the feed motor 31 to stop will be greater than under normal circumstances. Also, if the wire W wrapped around the reinforcing bar S becomes tangled midway, the amount of rotation required for the feed motor 31 to stop will be less than under normal circumstances.

[0157] Therefore, in step SF1 in Figure 13E, the address (Si, Sj) of the binding point P10 is obtained, and in step SF2 in Figure 13E, the binding operation described above is performed at the binding point P10 identified by the address (Si, Sj). After the binding operation is performed, in step SF3 in Figure 13E, binding-related information is obtained. In this example, the binding-related information is the amount of wire W pulled back, and as an information acquisition means, the control unit 14 obtains the amount of rotation when the feed motor 31 is rotated in reverse, and associates the amount of rotation of the feed motor 31, which is the amount of wire W pulled back, with the address.

[0158] Then, in step SF4 of Figure 13E, the amount of rotation of the feed motor 31, which is the amount of wire W pulled back during this binding operation, is compared with a reference value for the amount of rotation of the feed motor 31 when the wire is pulled back, and it is determined whether the difference is within a predetermined value.

[0159] If the difference between the rotation amount of the feed motor 31, which is the amount of wire W pulled back during the current binding operation, and the reference value of the rotation amount of the feed motor 31 when the wire is pulled back is within a predetermined range, in step SF5 of Figure 13E, binding result information indicating that the binding result is normal is recorded. On the other hand, if the difference between the rotation amount of the feed motor 31, which is the amount of wire W pulled back during the current binding operation, and the reference value of the rotation amount of the feed motor 31 when the wire is pulled back exceeds a predetermined range, in step SF6 of Figure 13E, binding result information indicating that the binding result is abnormal is recorded. In addition, notification information prompting confirmation of the binding location P10 identified by the address may be output.

[0160] Furthermore, if the information processing device 110 determines that the tying result is abnormal, it may move the rebar tying machine 1A to the tying location P10 identified by the address associated with the tying result information indicating that the tying result is abnormal, and perform the tying operation again.

[0161] <Example configuration of a rebar tying system equipped with multiple rebar tying machines> Figures 14A and 14B are perspective views showing an example of a rebar tying system equipped with multiple rebar tying machines, and Figure 14C is a plan view showing an example of a rebar tying system equipped with multiple rebar tying machines. The rebar tying system 100A shown in Figures 14A and 14B, equipped with multiple rebar tying machines 1A, includes multiple movers 200A that can move each rebar tying machine 1A to different tying locations P10 and to the same tying location P10.

[0162] The modified binding equipment 100B shown in Figure 14C has a configuration in which the reel housing section 21 for housing the reel 20 on which the wire W is wound is independent from the rebar binding machine 1A, as shown in Figure 1C. It comprises multiple rebar binding machines 1A, a reel housing section 21 provided corresponding to each rebar binding machine 1A, and a wire pulling mechanism 210 for pulling the wire W from the reel 20 housed in each reel housing section 21. In addition, the binding equipment 100B includes multiple moving machines 200B for moving each rebar binding machine 1A to the binding location P10.

[0163] For example, in the binding equipment 100A shown in Figure 14A, if the information processing device 110a determines that the binding result is abnormal in a binding operation performed by a certain rebar binding machine 1A1, it may move another rebar binding machine 1A2 to the binding location P10 identified by the address associated with the binding result information indicating that the binding result is abnormal, and perform the binding operation again.

[0164] Furthermore, in a binding equipment 100A equipped with multiple rebar tying machines 1A, the information processing device 110a may stop the device if the individual tying results of a predetermined number of rebar tying machines 1A are abnormal.

[0165] <Example of operation of a rebar tying system equipped with multiple rebar tying machines> Figure 15 is a flowchart showing an example of the operation of associating tying result information with tying machine identification information. In step SG1 of Figure 15, tying machine identification information is obtained to identify the rebar tying machine 1A that performs the tying operation, and in step SG2 of Figure 15, the tying operation described above is performed on the rebar tying machine 1A identified by the tying machine identification information. Once the tying operation is performed, in step SG3 of Figure 15, tying-related information is obtained. The tying-related information is, for example, tying location image information Pc1 or information based on tying location image information Pc1.

[0166] In step SG4 of Figure 15, based on the image information Pc1 of the binding location acquired in this binding operation, it is determined whether the binding is normal or abnormal. Based on the binding machine identification information of the rebar binding machine 1A that performed the binding operation, it is determined whether the number of rebar binding machines 1A whose individual binding results for any given binding location are abnormal is within a predetermined value.

[0167] If the number of rebar tying machines 1A with abnormal individual tying results is within a predetermined value, step SG5 in Figure 15 records tying result information indicating that the tying results for the number of rebar tying machines 1A with abnormal individual tying results are normal. Conversely, if the number of rebar tying machines 1A with abnormal individual tying results exceeds a predetermined value, step SG6 in Figure 15 records tying result information indicating that the tying results for the number of rebar tying machines 1A with abnormal individual tying results are abnormal, and the operation of the tying equipment 100A is stopped.

[0168] In addition, in binding equipment 100A and binding equipment 100B equipped with multiple rebar tying machines 1A, if the information processing device 110a determines that the tying results are abnormal in multiple rebar tying machines 1A simultaneously or within a predetermined time, it may temporarily suspend subsequent tying operations in all rebar tying machines 1A.

[0169] <Example of switching the binding direction> Figure 16A is a plan view showing an example of the binding result when the binding direction is switched, and Figures 16B and 16C are main part plan views showing an example of the binding result when the binding direction is switched.

[0170] The information processing device 110a obtains the address of the binding location P10 from which the image information Pc1 of the binding location after binding has been acquired, and associates the binding direction of the wire W identified by the image information Pc1 with the address. Then, according to the address of the binding location P10, the rebar tying machine 1A is rotated and the binding direction is switched to suppress bias of the binding direction to the same direction.

[0171] For example, at the binding point P10 specified by address (C,3) shown in Figure 16A, and at the binding point P10 specified by address (C,4) adjacent to address (C,3), the direction in which the wire W is wound may be changed by a predetermined angle, for example, approximately 90°, relative to the extension direction of the two intersecting reinforcing bars S, thereby switching the binding direction.

[0172] <Example of operation using rebar identification information obtained through rebar image recognition> Figure 17 is a flowchart showing an example of the operation based on rebar identification information obtained by rebar image recognition. Next, referring to each figure, we will explain the operation of obtaining rebar identification information such as the diameter of rebar S as binding-related information based on image recognition of the binding point P10 of rebar S, and then binding the rebar.

[0173] In step SH1 of Figure 17, the information processing device 110a shown in Figures 4A, 4B, 4C, and 4D controls the mobile device 200A according to a predetermined program, moving the rebar tying machine 1A to the next tying location P10 using the operation of the mobile device 200A. The rebar tying equipment 100B moves the rebar S to align the tying location P10 with the position of the rebar tying machine 1A. The following operation will be described for the rebar tying equipment 100A, but the same applies to the rebar tying equipment 100B. When the rebar tying machine 1A moves to a position where the next tying location P10 is within the shooting range of the camera 121, the control unit 14 of the rebar tying machine 1A controls the camera 121 to photograph the next tying location P10 and acquires pre-tying location image information necessary to identify the rebar S to be tied, which is an example of tying-related information such as rebar identification information. Furthermore, by changing the orientation of the rebar tying machine 1A, the next tying point P10 may be photographed from multiple directions.

[0174] The control unit 14 of the rebar tying machine 1A captures the next tying point P10 with the camera 121 and notifies the information processing device 110b shown in Figures 4A, 4B, and 4C, and the information processing device 110a shown in Figure 4D, via the information communication unit 102, of the image information of the tying point before the tying operation is performed. If the information processing device 110b shown in Figure 4C is used, it notifies the information processing device 110a of the image information of the tying point before tying that was notified from the rebar tying machine 1A. If the information processing device 110a shown in Figures 4A and 4B is used, the image information of the tying point notified to the information processing device 110b may be input by human operation.

[0175] Figures 18A and 18B are explanatory diagrams showing an example of image information of the binding point before binding. The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D performs image recognition of the image information Pc2 of the binding point before binding in step SH2 of Figure 17, and in step SH3 of Figure 17, it identifies the combination of reinforcing bars S that intersect at the binding point P10 by determining the diameter of the reinforcing bars S, etc., and obtains reinforcing bar identification information. Alternatively, the information processing device 110a may generate a 3D image by combining the image information of the binding point P10 obtained from 2D images taken from multiple directions, and identify the combination of reinforcing bars S that intersect at the binding point P10 from the 2D image and the 3D image.

[0176] The information processing device 110a sets the feed amount and feed speed of the wire W in the aforementioned tying operation, for example, the feed amount and feed speed in the reverse direction for wrapping the wire W around the reinforcing bar S, and the rotation speed and rotation amount of the locking member 70 when twisting the wire W, based on reinforcing bar identification information that identifies the diameter and combination of the reinforcing bars S. It notifies the reinforcing bar tying machine 1A of the setting information based on the combination of reinforcing bars S, and in step SH4 of Figure 17, it switches each setting in the tying operation to a setting suitable for the diameter and combination of reinforcing bars S. Then, in step SH5 of Figure 17, the reinforcing bar tying machine 1A is moved toward the tying location P10 by the operation of the movers 200A and 200B, inserting the reinforcing bars S between the curl guide 50 and the guide guide 51 of the curl forming section 5, and moving the reinforcing bar tying machine 1A to the tying position P10.

[0177] When the reinforcing bar S is inserted between the curl guide 50 and the guide guide 51 of the curl forming section 5, the information processing device 110a controls the operation of the reinforcing bar tying machine 1A, and in step SH6 of Figure 17, it executes the tying operation described above based on settings such as the wire feed amount and twist amount suitable for the diameter and combination of reinforcing bars S.

[0178] For example, in the binding operation described above, when the feed motor 31 is rotated in the reverse direction to feed the wire W in the reverse direction and wrap it around the reinforcing bar S, if the diameter of the reinforcing bar S is small, it is necessary to feed a larger amount of wire W in the reverse direction compared to when the diameter of the reinforcing bar S is large. Therefore, based on the reinforcing bar identification information, the amount of rotation of the feed motor 31 in the operation of feeding the wire W in the reverse direction is set.

[0179] Furthermore, in the aforementioned binding operation, when the motor 80 is rotated to twist the wire W, if the diameter of the reinforcing bar S is small, it is necessary to twist the wire W more than when the diameter of the reinforcing bar S is large. Therefore, the amount of rotation of the motor 80 in the wire W twisting operation is set based on the reinforcing bar identification information.

[0180] Furthermore, if rebar identification information indicating appropriate combinations of reinforcing bars S is acquired in advance, and the rebar identification information acquired from pre-binding location image information determines that the combination of reinforcing bars S is unsuitable for binding, the system may notify the system of binding feasibility information that prohibits the binding operation. Based on this binding feasibility information that prohibits the binding operation, the system may control the rebar tying machine 1A and the mobile units 200A and 200B.

[0181] <Example of operation based on rebar identification information obtained from the wire feed amount> Figure 19 is a flowchart showing an example of operation based on rebar identification information obtained by the amount of wire feed. Next, referring to each figure, we will explain the operation of obtaining rebar identification information such as the diameter of rebar S based on the amount of wire W feed during the operation of wrapping wire W around rebar S, and then tying the rebar.

[0182] The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D controls the mobile device 200A, and in step SJ1 in Figure 19, moves the rebar tying machine 1A to a predetermined tying location P10 by the operation of the mobile device 200A, moves it in the direction toward tying location P10, inserts the rebar S between the curl guide 50 and the guide guide 51 of the curl forming section 5, and moves the rebar tying machine 1A to the tying position P10. The tying equipment 100B shown in Figure 1C, etc., moves the rebar S to align the tying location P10 with the position of the rebar tying machine 1A. The following operation will be described using the tying equipment 100A, but the operation is the same for the tying equipment 100B.

[0183] When the reinforcing bar S is inserted between the curl guide 50 and the guide guide 51 of the curl forming section 5, the information processing device 110a controls the operation of the reinforcing bar tying machine 1A and performs the tying operation described above. In the operation of tying the reinforcing bar S, the reinforcing bar tying machine 1A rotates the feed motor 31 in the forward direction in step SJ2 of Figure 19 to feed the wire W in the forward direction, so that the wire W is wrapped around the reinforcing bar S, and in step SJ3 of Figure 19, the feed motor 31 rotates in the reverse direction to feed the wire W in the reverse direction, so that it is wrapped around the reinforcing bar S, and then the wire W is cut.

[0184] The rebar tying machine 1A rotates the feed motor 31 in reverse to feed the wire W in the reverse direction and wrap it around the rebar S. The amount of rotation from the start to the stop of the feed motor 31's rotation is obtained. The amount of rotation from the start to the stop of the feed motor 31's reverse rotation varies depending on the diameter of the rebar S.

[0185] Therefore, the rebar tying machine 1A notifies the information processing device 110a of the amount of rotation of the feed motor 31 from the start of reverse rotation until it is stopped. The information processing device 110a constitutes an information acquisition means, and in step SJ4 of Figure 19, based on this amount of rotation, it determines the circumference of the combined (two) rebars S and acquires rebar identification information that identifies the combination of rebars S that intersect at the tying point P10. Alternatively, the control unit 14 may constitute an information acquisition means, and the control unit 14 may determine the circumference of the combined rebars S based on this amount of rotation, acquire rebar identification information that identifies the combination of rebars S that intersect at the tying point P10, and notify the information processing device 110a of the rebar identification information. The information processing device 110a may also report the rebar identification information. Furthermore, the information processing device 110a shown in Figure 4C may notify the information processing device 110b of the rebar identification information, and the information processing device 110b may report the rebar identification information. Alternatively, the diameter of the rebars S may be referenced based on the circumference of the combined rebars S.

[0186] Furthermore, when the rotation amount of the feed motor 31 (the amount the wire W is fed in the reverse direction) corresponding to the circumference of the combined reinforcing bars S is set to "10", for example, the feed motor 31 is rotated at a first speed (greater than the second speed) up to an intermediate rotation amount of "8" to feed the wire W in the reverse direction, and the remaining "2" is rotated at a second speed lower than the first speed to feed the wire W in the reverse direction, wrapping the wire W around the reinforcing bars S. This shortens the time required for wrapping the wire W around the reinforcing bars S within the series of tying operations, thereby shortening the tying time. In addition, by reducing the speed before stopping the reverse rotation of the feed motor 31, even if the feed gear 30 rotates a small amount after the wire W has been wrapped around the reinforcing bars S and can no longer be fed, the effect of the feed gear 30 rubbing against the wire W can be reduced.

[0187] Based on the rebar identification information obtained from the rotation amount of the feed motor 31, the information processing device 110a sets the rotation speed, rotation amount, etc. of the locking member 70 when twisting the wire W in the binding operation described above, and notifies the rebar binding machine 1A of the setting information based on the combination of rebars S.

[0188] In step SJ5 of Figure 19, the rebar tying machine 1A switches each setting in the tying operation to a setting suitable for the diameter and combination of rebars S. Then, in step SJ6 of Figure 19, it performs the tying operation described above based on the settings for the twist amount and twisting speed of the wire W, which are suitable for the diameter and combination of rebars S.

[0189] <Example of operation using rebar identification information obtained from input information> Figure 20 is a flowchart showing an example of the operation based on rebar identification information obtained from input information. Next, referring to each figure, the operation of obtaining rebar identification information such as the diameter of the rebar S and tying them together will be explained.

[0190] The information acquisition means is configured with the information processing device 110a shown in Figures 4A, 4B, 4C, and 4D. In step SK1 of Figure 20, the information processing device 110a inputs and stores rebar identification information such as the diameter of the rebar S, the arrangement of the rebar S, the combination of intersecting rebar S, and the position of each binding point P10 by operating the input unit of the information processing device 110a, such as a keyboard. The information acquisition means is also configured with the information processing device 110b shown in Figure 4C. In step SK1 of Figure 20, the information processing device 110b inputs and stores rebar identification information such as the diameter of the rebar S, the arrangement of the rebar S, the combination of intersecting rebar S, and the position of each binding point P10 by operating the input unit of the information processing device 110b, such as a keyboard. The information processing device 110b then notifies the information processing device 110a of the rebar identification information it has input and stored, and the information processing device 110a stores it.

[0191] Figures 21A and 21B are explanatory diagrams showing examples of reinforcement bar arrangements. As shown in Figure 21A, the required tying performance at each tying point P10 may differ between a structure S10 in which reinforcement bars S are arranged in a planar manner and a structure S11 in which reinforcement bars S are arranged in a three-dimensional manner. Furthermore, even within the same structure (S10, S11), the required tying performance may differ depending on the location of the tying point P10.

[0192] Therefore, in step SK2 of Figure 20, the information processing device 110a sets the feed amount and feed speed of the wire W in the aforementioned tying operation, for example, the feed amount and feed speed in the reverse direction for wrapping the wire W around the reinforcing bar S, and the rotation speed and amount of rotation of the locking member 70 when twisting the wire W, according to the position of the tying location P10, and notifies the reinforcing bar tying machine 1A of the setting information based on the combination of reinforcing bars S and the position of the tying location P10. In addition, the information processing device 110a sets the position of the tying location P10 to which the reinforcing bar tying machine 1A should move, the order in which it should move to the tying location P10, etc., based on the input and stored reinforcing bar identification information, and notifies the mobile device 200A of the setting information.

[0193] In step SK3 of Figure 20, the rebar tying machine 1A switches each setting in the tying operation to a setting suitable for the rebar identification information.

[0194] The information processing device 110a controls the mobile device 200A based on the setting information based on the rebar identification information, and in step SK4 of Figure 20, moves the rebar tying machine 1A to a predetermined tying location P10 by the operation of the mobile device 200A, moves it in the direction approaching the tying location P10, inserts the rebar S between the curl guide 50 and the guide guide 51 of the curl forming section 5, and moves the rebar tying machine 1A to the tying position P10.

[0195] When the reinforcing bar S is inserted between the curl guide 50 and the guidance guide 51 of the curl forming section 5, the information processing device 110a controls the operation of the reinforcing bar tying machine 1A with setting information corresponding to the tying location P10.

[0196] In step SK5 of Figure 20, the rebar tying machine 1A controls the motor 80 and the feed motor 31 with setting information that is switched based on the rebar identification information, and performs a series of operations to tie the rebars S with wire W.

[0197] Furthermore, the information acquisition unit that obtains rebar identification information to identify rebar S is not limited to a camera; it may also be a sensor capable of recognizing the size of an object.

[0198] <Example of an action to determine the timing for removing rebar from the rebar tying machine at the end of the tying process> Figure 22 is a flowchart showing an example of the operation to determine the timing for removing the reinforcing bar from the reinforcing bar tying machine at the end of the tying process. Next, as an operation to move the reinforcing bar tying machine 1A away from the tying point P10, the operation to remove the reinforcing bar S from between the curl guide 50 and the guide guide 51 of the curl forming section 5 by the relative movement of the reinforcing bar S and the drive unit 8 that drives the tying section 7 at a predetermined timing at the end of the tying process, until the drive of the motor 80 of the drive unit 8 that drives the tying section 7 is stopped.

[0199] In the rebar tying equipment 100A and 100B, when the rebar tying machine 1A starts tying the rebar S with wire W, the timing for moving the rebar tying machine 1A away from the tying point P10 is determined. Then, the moving devices 200A and 200B move the rebar tying machine 1A away from the tying point P10 by relative movement of the rebar tying machine 1A and the rebar S, according to the determined timing.

[0200] In the following example of operation, the timing for moving the rebar tying machine 1A and the tying point P10 away from each other is determined based on whether or not the wire W is locked by the locking member 70 at the end of the tying process.

[0201] The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D controls the mobile unit 200A, and in step SM1 in Figure 22, moves the rebar tying machine 1A to a predetermined tying location P10 by the operation of the mobile unit 200A, moves it in the direction approaching the tying location P10, inserts the rebar S between the curl guide 50 and the guide guide 51 of the curl forming unit 5, and moves the rebar tying machine 1A to the tying position P10. In the tying equipment 100B shown in Figure 1C, moves the rebar S to align the tying location P10 with the position of the rebar tying machine 1A, moves the rebar tying machine 1A in the direction approaching the tying location P10 by the operation of the mobile unit 200B, inserts the rebar S between the curl guide 50 and the guide guide 51 of the curl forming unit 5, and moves the rebar tying machine 1A to the tying position P10.

[0202] When the reinforcing bar S is inserted between the curl guide 50 and the guide guide 51 of the curl forming section 5, the information processing device 110a controls the operation of the reinforcing bar tying machine 1A and performs the tying operation described above. In the operation of tying the reinforcing bar S, the control unit 14 rotates the feed motor 31 in the forward direction in step SM2 of Figure 22 to feed the wire W in the forward direction, thereby winding the wire W around the reinforcing bar S.

[0203] When the control unit 14 wraps the wire W around the reinforcing bar S, it stops the rotation of the feed motor 31 and rotates the motor 80 a predetermined amount in the forward direction to move the first side hook 70R and the second side hook 70L toward the center hook 70C. When the wire W wrapped around the reinforcing bar S is locked by the locking member 70, the control unit 14 stops the rotation of the motor 80 and, in step SM3 of Figure 22, rotates the feed motor 31 in the reverse direction to feed the wire W in the reverse direction, wrap it around the reinforcing bar S, and cut the wire W. When the wire W is cut, in step SM4 of Figure 22, the control unit 14 rotates the motor 80 in the forward direction to twist the wire W that is locked by the locking member 70.

[0204] As described above, the control unit 14 of the rebar tying machine 1A moves the first side hook 70R and the second side hook 70L toward the center hook 70C, locks the wire W wrapped around the rebar S with the locking member 70, and determines the timing to move the rebar tying machine 1A toward the tying point P10 from the time the twisting operation of the wire W is started in step SM4 of Figure 22 until the operation of tying the rebar S with the wire W is completed and the drive of the motor 80 of the drive unit 8 that drives the tying unit 7 is stopped.

[0205] For example, the timing for moving the rebar tying machine 1A away from the tying point P10 is determined based on either the amount of rotation of the motor 80, which is the operating amount of the drive unit 8, or the load on the motor 80, which is the load on the drive unit 8, or both the amount of rotation of the motor 80 and the load on the motor 80. In addition, a sensor is provided as a detection means for detecting the position and state of the locking member 70, and the timing for moving the rebar tying machine 1A away from the tying point P10 is determined based on the position and state of the locking member 70, the sleeve 71, etc.

[0206] As described above, when the load on the motor 80 is detected to be at its maximum by rotating the locking member 70 and twisting the wire W, the forward rotation of the motor 80 is stopped, and in step SM5 of Figure 22, the operation of twisting the wire W is completed, after which the motor 80 is driven in the reverse rotation direction.

[0207] When the motor 80 is driven in the reverse direction, causing the first side hook 70R to move away from the center hook 70C and the second side hook 70L to move away from the center hook 70C, the sleeve 71 returns to its initial position, and the wire W binding the reinforcing bar S becomes removable from the locking member 70 before the motor 80 stops rotating in the reverse direction.

[0208] When the wire W binding the reinforcing bars S can be removed from the locking member 70, the sleeve 71 returns to its initial position, and the reinforcing bar tying machine 1A can be moved away from the tying point P10 before the motor 80 stops reversing.

[0209] Therefore, the control unit 14 detects, for example, the amount of rotation of the motor 80, or the open / closed state of the first side hook 70R and the second side hook 70L acquired by a sensor (not shown), that the first side hook 70R has moved a predetermined amount away from the center hook 70C, and the second side hook 70L has moved a predetermined amount away from the center hook 70C, until the wire W binding the reinforcing bar S can be removed from the locking member 70.

[0210] Then, based on the amount of rotation of the motor 80 since it started rotating in the reverse direction, it is determined whether or not the locking member 70 has released the wire W. In step SM6 of Figure 22, if it is determined that it is time to move the rebar tying machine 1A away from the tying point P10 based on whether or not the wire W is locked by the locking member 70, then permission to move is notified.

[0211] When the information processing device 110a receives permission to move from the rebar tying machine 1A, in step SM7 of Figure 22, it controls the mover 200A to move the rebar tying machine 1A away from the tying point P10, and then moves the rebar tying machine 1A to the next tying point. In the tying equipment 100B shown in Figure 1C, the mover 200B is controlled to move the rebar tying machine 1A away from the tying point P10, and then the rebar S is moved so that the rebar tying machine 1A is positioned at the next tying point.

[0212] As a result, the rebar tying machine 1A can start moving away from the tying point P10 before the operation of tying the rebar S with the wire W is completed and the motor 80 that drives the locking member 70 is stopped. Therefore, when performing tying operations consecutively at multiple tying points P10, the processing time can be shortened.

[0213] <Example of operation: Moving the rebar tying machine away from the rebar to remove slack in the wire> Figure 23 is a flowchart illustrating an example of the operation of removing wire slack by moving the rebar tying machine away from the rebar. The operation of moving the rebar tying machine 1A away from the tying point P10 will be described as the operation of removing wire slack by the relative movement between the rebar tying machine 1A and the rebar S at the initial stage of the tying process.

[0214] In the following example of operation, based on whether or not the wire W is locked by the locking member 70, the timing for moving the rebar tying machine 1A and the tying point P10 away from each other is determined at the beginning of the tying process.

[0215] The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D controls the mobile unit 200A, and in step SN1 in Figure 23, moves the rebar tying machine 1A to a predetermined tying location P10 by the operation of the mobile unit 200A, moves it in the direction approaching the tying location P10, inserts the rebar S between the curl guide 50 and the guide guide 51 of the curl forming unit 5, and moves the rebar tying machine 1A to the tying position P10. In the tying equipment 100B shown in Figure 1C, moves the rebar S to align the tying location P10 with the position of the rebar tying machine 1A, moves the rebar tying machine 1A in the direction approaching the tying location P10 by the operation of the mobile unit 200B, inserts the rebar S between the curl guide 50 and the guide guide 51 of the curl forming unit 5, and moves the rebar tying machine 1A to the tying position P10.

[0216] When the reinforcing bar S is inserted between the curl guide 50 and the guide guide 51 of the curl forming section 5, the information processing device 110a controls the operation of the reinforcing bar tying machine 1A and performs the tying operation described above. In the operation of tying the reinforcing bar S, the control unit 14 rotates the feed motor 31 in the forward direction in step SN2 of Figure 23 to feed the wire W in the forward direction, thereby winding the wire W around the reinforcing bar S.

[0217] When the control unit 14 has wound the wire W around the reinforcing bar S, it stops the rotation of the feed motor 31 and rotates the motor 80 a predetermined amount in the forward direction to move the first side hook 70R and the second side hook 70L toward the center hook 70C. When the wire W wound around the reinforcing bar S is locked by the locking member 70, it stops the rotation of the motor 80 and, in step SN3 of Figure 23, rotates the feed motor 31 in the reverse direction to feed the wire W in the reverse direction, wind it around the reinforcing bar S, and cut the wire W.

[0218] When the wire W, which is wrapped around the reinforcing bar S and secured by the locking member 70, is pulled away from the reinforcing bar S, the slack in the wire W before it is twisted is removed. Furthermore, when the wire W, which is wrapped around the reinforcing bar S and secured by the locking member 70, is twisted while applying a pulling force away from the reinforcing bar S, the wire W is twisted in such a way that no gap is created between the wire W and the reinforcing bar S.

[0219] Therefore, in step SN4 of Figure 23, the control unit 14 locks the wire W with the locking member 70 and then detects, for example, based on the amount of rotation of the motor 80, that a predetermined timing has arrived. When it determines that it is time to move the rebar tying machine 1A away from the tying point P10, it notifies the control unit 14 of permission to move.

[0220] When the information processing device 110a receives permission to move from the rebar tying machine 1A, in step SN5 of Figure 23, it controls the movers 200A and 200B to move the rebar tying machine 1A by a predetermined amount in the direction away from the rebar S.

[0221] When the control unit 14 moves the rebar tying machine 1A a predetermined amount away from the rebar S, in step SN6 of Figure 23, it rotates the motor 80 in the forward direction to twist the wire W that is locked by the locking member 70. When the load on the motor 80 reaches its maximum due to the rotation of the locking member 70 and the wire W is twisted to a predetermined amount, the control unit 14 stops the forward rotation of the motor 80 in step SN7 of Figure 23, ending the operation of twisting the wire W.

[0222] As a result, from the start of the operation to tie the reinforcing bars S with the wire W until the end of the operation to tie the reinforcing bars S with the wire W, by moving the reinforcing bar tying machine 1A away from the tying point P10A in the initial stage of the tying operation, the wire W that is wrapped around the reinforcing bars S and locked by the locking member 70 is pulled away from the reinforcing bars S, and any slack before the wire W is twisted can be removed.

[0223] <Example of a rebar tying machine's attachment / detachment configuration> Figures 24A and 24B are perspective views showing an example of the attachment and detachment structure of a rebar tying machine. The tying equipment 100A includes an attachment / detachment section 201 for attaching the rebar tying machine 1A to the mobile unit 200A in a detachable manner. As shown in Figure 24A, the attachment / detachment section 201 includes a connecting section 202 that is detachably connected to the mobile unit 200A. Furthermore, as shown in Figure 24B, the attachment / detachment section 201 includes a holding section 203 that detachably holds the handle section 11 of the rebar tying machine 1A.

[0224] The rebar tying machine 1A is attached to the mobile unit 200A in a state where it can be controlled by the information processing device 110a, with the handle portion 11 being held by the holding portion 203 of the attachment / detachment portion 201, and the connecting portion 202 of the attachment / detachment portion 201 holding the rebar tying machine 1A being connected to the mobile unit 200A, and wiring (not shown) being connected. The rebar tying machine 1A may also be connected to the information processing device 110a etc. wirelessly.

[0225] Furthermore, as shown in Figure 24A, the rebar tying machine 1A can be used independently by removing the attachment / detachment unit 201 from the mobile unit 200A, and as shown in Figure 24B, by removing the handle unit 11 from the attachment / detachment unit 201.

[0226] Figure 25 is an explanatory diagram showing an example of how the rebar tying machine can be used independently. When using the rebar tying machine 1A independently, the battery 15 is attached to the battery mounting section 17. Then, by holding the handle section 11 in the hand and operating the trigger 12, the tying operation described above is performed. Since the rebar tying machine 1A has a magazine 2 integrated into it, it can be used in a handheld configuration and can tie rebars S with wire W using the rebar tying machine 1A alone without receiving wire W from an external source.

[0227] <Modified version of the mobile device> Figure 26A is a perspective view of the binding device of this embodiment showing a modified mobile unit, and Figure 26B is a perspective view of the binding equipment of this embodiment showing a modified mobile unit. The binding device 100C shown in Figure 26A comprises a rebar tying machine 1A and a mobile unit 200C that moves the rebar tying machine 1A along the surface SF on which the rebars S are arranged. The mobile unit 200C rides on the rebars S and is equipped with an endless track 202C driven by a motor (not shown). The mobile unit 200C moves along the extension direction of the rebars S by rotating the endless track 202C. In addition, by changing the rotation speed of the left and right endless tracks 202C, the direction of travel of the mobile unit 200C can be changed, and it moves along the respective extension directions of the rebars S arranged in a grid pattern. Furthermore, the mobile unit 200C is equipped with an elevator (not shown) that moves the rebar tying machine 1A in a direction toward and away from the surface SF on which the rebars S are arranged.

[0228] The rebar tying equipment 100D shown in Figure 26B comprises a rebar tying machine 1A and a mobile unit 200D that suspends the rebar tying machine 1A from a frame 203D. The mobile unit 200D is configured so that the frame 203D can move along one direction of the grid-like arrangement of rebars S in the directions of arrows X1 and X2, and so that the rebar tying machine 1A can move along the other direction of the grid-like arrangement of rebars S in the directions of arrows Y1 and Y2. The mobile unit 200D also includes a lifting device 204D that moves the rebar tying machine 1A toward the arrangement surface SF of the rebars S in the direction of arrow Z1 and toward the direction of arrow Z2.

[0229] <Example of bundling operation based on remaining wire amount> Figures 27A and 27B are flowcharts illustrating an example of a tying operation based on the remaining amount of wire. In the rebar tying equipment 100A, 100B, 100D and tying device 100C described above, the remaining amount of wire W may be detected, and the tying operation may be controlled based on the remaining amount of wire W as tying-related information.

[0230] The information processing device 110a shown in Figures 4A, 4B, 4C, and 4D constitutes a means for predicting the number of reinforcing bars S to be tied together with wire W in step SP1 of Figure 27A, and predicts the number of reinforcing bars S that need to be tied together with wire W in the structure by inputting information, calculating based on the number of reinforcing bars S, etc.

[0231] Furthermore, the information processing device 110a constitutes a wire requirement prediction means, and in step SP2 of Figure 27A, it predicts the amount of wire required to tie the reinforcing bars S by calculating based on the planned number of reinforcing bars S that need to be tied with wire W, the diameter of the reinforcing bars S, etc.

[0232] The control unit 14 of the rebar tying machine 1A constitutes a wire remaining amount detection means. For example, based on the rotation amount of the feed motor 31, it estimates the amount of wire W that has been pulled out from the difference between the amount of wire W fed in the forward direction and the amount of wire W fed in the reverse direction, and in step SP3 of Figure 27A, it obtains the remaining amount of wire wound on the reel 20. The control unit 14 also notifies the information processing device 110a of the remaining amount of wire. The amount of wire W fed in the forward direction is approximately constant regardless of the diameter of the rebar S. In contrast, the amount of wire W fed in the reverse direction varies depending on the diameter of the rebar S around which the wire W is wound. Therefore, the amount of wire W pulled out from the reel 20 can be estimated based on the amount of wire W fed in the reverse direction, and the remaining amount of wire W can be obtained. The information processing device 110a may also notify the rebar tying machine 1A of the planned number of ties and the required amount of wire.

[0233] In step SP4 of Figure 27A, the information processing device 110a compares the required amount of wire with the remaining amount of wire and determines whether the remaining amount of wire is insufficient or excessive compared to the required amount. If the information processing device 110a determines that the remaining amount of wire is equal to or greater than the specified value relative to the required amount of wire, it performs the bundling operation described above in step SP5 of Figure 27A. If the information processing device 110a determines that the remaining amount of wire is insufficient relative to the required amount of wire, it outputs notification information in step SP6 of Figure 27A.

[0234] Furthermore, if the information processing device 110a determines that the remaining amount of wire is insufficient compared to the required amount of wire, it sets a binding location P10 to execute the binding operation, controls the mobile device 200A based on the address of the corresponding binding location P10 to move the rebar tying machine 1A to the binding location P10, and controls the mobile devices 200A and 200B to align the rebar tying machine 1A with the binding location P10 through the relative movement of the rebar tying machine 1A and the rebar S, and controls the rebar tying machine 1A to execute the binding operation.

[0235] In other words, the information processing device 110a constitutes a means for predicting the number of reinforcing bars S to be tied together with wire W in step SQ1 of Figure 27B, and predicts the number of reinforcing bars S that need to be tied together with wire W in the structure by inputting information, calculating based on the number of reinforcing bars S, etc.

[0236] Furthermore, the information processing device 110a constitutes a wire usage prediction means, and in step SQ2 of Figure 27B, it predicts the amount of wire required to tie the reinforcing bars S by calculating based on the planned number of reinforcing bars S that need to be tied with wire W, the diameter of the reinforcing bars S, etc.

[0237] The control unit 14 of the rebar tying machine 1A constitutes a wire remaining amount detection means. For example, based on the rotation amount of the feed motor 31, it estimates the amount of wire W that has been pulled out from the difference between the amount of wire W fed in the forward direction and the amount of wire W fed in the reverse direction, and in step SQ3 of Figure 27B, it obtains the remaining amount of wire wound on the reel 20. The control unit 14 also notifies the information processing device 110a of the remaining amount of wire.

[0238] In step SQ4 of Figure 27B, the information processing device 110a compares the required amount of wire with the remaining amount of wire to determine whether the remaining amount of wire is insufficient or excessive compared to the required amount. If the information processing device 110a determines that the remaining amount of wire is equal to or greater than the specified value relative to the required amount of wire, it performs the above-mentioned normal tying operation, which is not restricted by the tying location, in step SQ5 of Figure 27B. If the information processing device 110a determines that the remaining amount of wire is insufficient relative to the required amount of wire, it calculates the range in which tying is possible with the remaining amount of wire in step SQ6 of Figure 27B.

[0239] If a standby position for the rebar tying machine 1A is set, in step SQ7 in Figure 27B, for example, a tying point P10 close to the standby position is selected to limit the range of tying points, and in step SQ8 in Figure 27B, the tying operation with the limited range of tying points is performed. This prevents the wire W from running out when the rebar tying machine 1A moves to a tying point P10 far from the standby position in the tying device 100C shown in Figure 26A. In addition, a tying point that is prioritized for tying is selected, for example, a tying point P10 necessary to maintain the shape of the structure, so that the strength and shape of the structure can be maintained even if not all tying points P10 are tied.

[0240] Figures 28A, 28B, and 28C are flowcharts illustrating examples of operations for calculating the remaining amount of wire. The remaining amount of wire W may also be determined based on the weight of the reel 20. Specifically, in step SR1 of Figure 28A, the current weight of the reel 20 is obtained; in step SR2 of Figure 28A, the weight of the wire W wound on the reel 20 is calculated by subtracting the previously obtained empty weight of the reel 20 (the reel without wire W) from the current weight of the reel 20; and in step SR3 of Figure 28A, the remaining amount of wire is calculated from the weight of the wire W.

[0241] If there is a large amount of wire W wound on the reel 20, the weight of the reel 20 will be heavy, and if there is a small amount of wire W wound on the reel 20, the weight of the reel 20 will be light. Therefore, if a table is created that correlates the weight of the reel 20 with the remaining amount of wire W wound on the reel 20, it is possible to estimate the remaining amount of wire W wound on the reel 20 based on the weight of the reel 20.

[0242] Alternatively, the remaining amount of wire W can be determined based on the number of tying operations. That is, by determining the length of wire W wound onto a new reel 20, and by determining the amount of wire W used in one tying operation according to the diameter of the reinforcing bar S, the remaining amount of wire W wound onto the reel 20 can be estimated based on the cumulative number of tying operations since the start of use of the new reel 20.

[0243] For example, in step SS1 of FIG. 28B, the number of bundling turns after the replacement of reel 20 is obtained. In step SS2 of FIG. 28B, based on the number of bundling turns, the forward feed amount by which wire W is fed in the forward direction is calculated. In step SS3 of FIG. 28B, based on the number of bundling turns, the reverse feed amount by which wire W is fed in the reverse direction is calculated. Then, in step SS4 of FIG. 28B, the wire usage amount per bundling operation is calculated from the difference between the forward feed amount and the reverse feed amount. In step SS5 of FIG. 28B, based on the wire usage amount per bundling operation and the number of bundling turns, the wire usage amount after the replacement of reel 20 is calculated, and the remaining wire amount is calculated based on the wire usage amount.

[0244] Also, the remaining amount of wire W may be determined based on the number of rotations of reel 20. For example, it is possible to obtain the number of rotations of reel 20 with a sensor (not shown). In step ST1 of FIG. 28C, the number of rotations after the replacement of reel 20 is obtained. In step ST2 of FIG. 28C, the feed amount of wire W is calculated from the number of rotations of reel 20. In step ST3 of FIG. 28C, the remaining wire amount is calculated based on the length of wire W wound around the new reel 20 obtained in advance and the feed amount of wire W.

[0245] FIG. 29A is a perspective view showing a modified example of the bundling equipment of the present embodiment, and FIG. 29B is a perspective view showing a main part configuration of the reel housing portion. In a configuration in which the reel housing portion 21 for housing the reel 20 around which the wire W is wound is made independent from the reinforcing bar bundling machine 1A, as in the bundling equipment 100B shown in FIG. 1C and FIG. 29A, etc., while diverting the existing reinforcing bar bundling machine 1A, a configuration for obtaining the remaining amount of the wire W wound around the reel 20 can be added.

[0246] The reel housing portion 21 includes a remaining wire amount detection unit 21a for detecting the remaining amount of the wire W wound around the reel 20. In a configuration in which two wires W are used to bundle the reinforcing bar S, two reels 20 are rotatably attached to the reel housing portion 21.

[0247] The wire remaining amount detection unit 21a is an example of a wire remaining amount detection means, and is composed of, for example, an optical sensor. The wire remaining amount detection unit 21a detects the remaining amount of wire W wound on the reel 20 by detecting the height of the wire W exposed from the core (not shown) of the wire W exposed in an opening 20a provided on the side of the reel 20. [Explanation of symbols]

[0248] 1A... Rebar tying machine, 10... Main body, 2... Magazine, 3... Wire feeding section, 30... Feed gear, 5... Curl forming section, 50... Curl guide, 51... Guide guide, 6... Cutting section, 60... Fixed blade section, 61... Movable blade section, 7... Tying section, 70... Locking member, 70R... First side hook, 70L... Second side hook, 70C... Center hook, 71... Sleeve, 71a... Opening / closing pin, 72... Rotating shaft, 72 a... Lead screw, 8... Drive unit, 80... Motor, 81... Reducer, 100A, 100B, 100D... Binding equipment, 100C... Binding device, 101... Information acquisition unit (information acquisition means), 102... Information communication unit, 110... Information processing device, 200A, 200B, 200C, 200D... Moving unit, 201... Attachment / detachment unit, 204D... Lifting unit, 21... Reel storage unit, 21a... Wire remaining amount detection unit (wire remaining amount detection means), W... Wire

Claims

1. A binding machine that uses wire to tie together the points where multiple reinforcing bars intersect, A moving device for moving the aforementioned binding machine to the binding location, An information processing device that controls the operation of the binding machine and the movement of the mobile device, A wire remaining amount detection means for detecting the remaining amount of wire used in the aforementioned bundling machine, A binding device comprising: a means for predicting the number of binding points in a structure having multiple binding points, which predicts the number of binding points that need to be bound; The information processing device determines, based on the remaining amount, whether the remaining amount is insufficient for the planned number of items to be bundled. If it determines that the remaining amount is insufficient, it calculates the range in which the bundling operation can be performed with the remaining amount, restricts the range of bundling locations in which the bundling operation can be performed, controls the mobile device to move the bundling machine to the corresponding bundling location, and controls the bundling machine to perform the bundling operation. Binding device.

2. A binding machine for binding multiple reinforcing bars at points where they intersect using wire, A moving device for moving the aforementioned binding machine to the binding location, An information processing device that controls the operation of the binding machine and the movement of the mobile device, A wire remaining amount detection means for detecting the remaining amount of wire used in the aforementioned bundling machine, A binding device comprising: a means for predicting the number of binding points in a structure having multiple binding points, which predicts the number of binding points that need to be bound; The information processing device determines, based on the remaining quantity, whether the remaining quantity is insufficient for the planned number of items to be bundled. If it determines that the remaining quantity is insufficient, it selects a bundling location where bundling operations will be performed as a priority, controls the mobile device to move the bundling machine to the corresponding bundling location, and controls the bundling machine to perform the bundling operation. Binding device.

3. When the information processing device determines that the remaining amount of wire is insufficient for the number of bundles to be planned, it outputs notification information. A binding device according to claim 1 or claim 2.

4. The information processing device determines the remaining amount of wire based on the number of times the wire is bound, which is obtained by the information acquisition unit that acquires binding-related information related to the binding operation. A binding device according to any one of claims 1 to 3.

5. The binding machine comprises a feed motor for feeding the wire in the forward and reverse directions, and a control unit for controlling the feed motor, wherein the control unit determines the remaining amount of wire based on the amount of wire fed in the operation of feeding the wire in the reverse direction and wrapping it around the reinforcing bar. A binding device according to any one of claims 1 to 3.

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