JP2023119184A - Reinforcement binding robot - Google Patents

Abstract

To provide a technique capable of decreasing the number of motors arranged in a conveyance unit by driving each of a movement mechanism and a lifting mechanism by a single motor.SOLUTION: A reinforcement binding robot comprises: a reinforcement binding unit which binds portions where a plurality of first reinforcing-bars and a plurality of second reinforcing-bars crosses each other; a conveyance unit which conveys the reinforcement binding unit; and a control unit which control the behavior of the conveyance unit. The conveyance unit includes: a pedestal; a motor supported on the pedestal; a movement mechanism which is supported on the pedestal and moves the pedestal over the plurality of first reinforcing-bars and the plurality of second reinforcing-bars; a lifting mechanism which is supported on the pedestal and lifts the reinforcement binding unit relative to the pedestal; and a power transmission device which is supported on the pedestal and can selectively transfer power from the motor to the movement mechanism or the lifting mechanism.SELECTED DRAWING: Figure 18

Description

The technology disclosed in this specification relates to a reinforcing bar binding robot.

In Patent Document 1, for a plurality of first reinforcing bars and a plurality of second reinforcing bars intersecting with the plurality of first reinforcing bars, an operation of moving on the plurality of first reinforcing bars and the plurality of second reinforcing bars; A rebar binding robot is disclosed that is capable of repeatedly performing the action of binding the intersections of the plurality of first reinforcing bars and the plurality of second reinforcing bars. A reinforcing bar binding robot includes a reinforcing bar binding unit, a transfer unit for transferring the reinforcing bar binding unit, and a control unit for controlling the operation of the transfer unit. The transport unit includes a pedestal, a moving mechanism for moving the pedestal on the plurality of first reinforcing bars and the plurality of second reinforcing bars, an elevating mechanism for raising and lowering the reinforcing bar binding unit with respect to the pedestal, and A transport motor that drives the moving mechanism and a drive motor that drives the lifting mechanism are provided.

JP 2020-076253 A

Since motors are relatively heavy components, the weight of the transport unit may increase as the number of motors provided in the transport unit increases. In addition, since motors are relatively expensive parts, the manufacturing cost of the reinforcing rod binding robot may increase as the number of motors provided in the transport unit increases. This specification provides a technique capable of reducing the number of motors provided in the transport unit.

The reinforcing bar binding robot disclosed in the present specification moves above the plurality of first reinforcing bars and the plurality of second reinforcing bars intersecting the plurality of first reinforcing bars and the plurality of second reinforcing bars intersecting the plurality of first reinforcing bars. The operation of moving and the operation of binding the intersections of the plurality of first reinforcing bars and the plurality of second reinforcing bars can be repeatedly performed. A reinforcing bar binding robot includes a reinforcing bar binding unit, a transfer unit for transferring the reinforcing bar binding unit, and a control unit for controlling the operation of the transfer unit. The transport unit includes a pedestal, a motor supported by the pedestal, a moving mechanism supported by the pedestal and configured to move the pedestal on the plurality of first reinforcing bars and the plurality of second reinforcing bars; an elevating mechanism supported by the pedestal for elevating the reinforcing bar binding unit with respect to the pedestal; It has a power transmission mechanism capable of transmitting

According to the above configuration, the power transmission mechanism is configured to selectively transmit power from the motor to the moving mechanism or the lifting mechanism. Therefore, each of the moving mechanism and the lifting mechanism can be driven by a single motor, and the number of motors provided in the transport unit can be reduced.

Another reinforcing bar binding robot disclosed in this specification includes a pedestal, a reinforcing bar binding unit that winds a wire around a reinforcing bar and twists the wire, and moves the reinforcing bar binding unit with respect to the pedestal. a second movement mechanism for moving the pedestal with respect to the reinforcing bar; and a motor capable of selectively transmitting power to the first movement mechanism or the second movement mechanism. there is

According to the above configuration, the motor is configured to selectively transmit power to the first moving mechanism or the second moving mechanism. Therefore, each of the first moving mechanism and the second moving mechanism can be driven by a single motor, and the number of motors provided in the transport unit can be reduced.

Another reinforcing bar binding robot disclosed in this specification includes a base, a reinforcing bar binding unit that winds a wire around a reinforcing bar and twists the wire, and a reinforcing bar binding unit that is attached to the base. A vertical movement mechanism for moving up and down, a planar movement mechanism for moving the pedestal back and forth and/or left and right with respect to the reinforcing bar, and selectively transmitting power to the vertical movement mechanism or the planar movement mechanism. It has a capable motor.

According to the above configuration, the motor is configured to selectively transmit power to the vertical movement mechanism or the planar movement mechanism. Therefore, each of the vertical movement mechanism and the planar movement mechanism can be driven by a single motor, and the number of motors provided in the transport unit can be reduced.

1 is a block diagram showing a schematic configuration of a reinforcing bar binding robot 100 according to an embodiment; FIG. Fig. 2 is a perspective view of the reinforcing bar binding robot 100 according to the embodiment as seen from the upper rear left side; Fig. 3 is a perspective view of the reinforcing bar binding unit 2 used in the reinforcing bar binding robot 100 according to the embodiment, viewed from the rear left upper side; Fig. 3 is a perspective view of the internal structure of the main body 4 of the reinforcing bar binding unit 2 used in the reinforcing bar binding robot 100 according to the embodiment, viewed from the rear right upper side. Fig. 3 is a cross-sectional view of the front part of the main body 4 of the reinforcing bar binding unit 2 used in the reinforcing bar binding robot 100 according to the embodiment; Fig. 3 is a perspective view of the internal structure of the upper part of the main body 4 and the gripper 6 of the reinforcing bar binding unit 2 used in the reinforcing bar binding robot 100 according to the embodiment, viewed from the front left upper side. FIG. 10 is a perspective view of the reinforcing bar binding robot 100 according to the embodiment as seen from the front right lower side; FIG. 10 is a perspective view of the side stepper 196 of the reinforcing bar binding robot 100 according to the embodiment, viewed from the rear right upper side; Fig. 11 is a cross-sectional view of the front crank mechanism 276 of the reinforcing bar binding robot 100 according to the embodiment, viewed from the rear; FIG. 10 is a perspective view of the rear portion of the side stepper 196 of the reinforcing bar binding robot 100 according to the embodiment, viewed from the front right upper side; FIG. 11 is a front view of the step bars 272 and 274 raised in the reinforcing bar binding robot 100 according to the embodiment, as seen from the front. FIG. 10 is a front view of the step bars 272 and 274 lowered in the reinforcing bar binding robot 100 according to the embodiment, as seen from the front. FIG. 10 is a perspective view of the lifting mechanism 130 viewed from the front and above when the slider crank mechanism 138 is at the top dead center position in the reinforcing bar binding robot 100 according to the embodiment; 10 is a front perspective view of the lift mechanism 130 when the slider crank mechanism 138 is at the bottom dead center position in the reinforcing bar binding robot 100 according to the embodiment; FIG. FIG. 10 is a diagram showing the positional relationship among a cam 166, a first photosensor 168, and a second photosensor 170 included in an elevating mechanism 130 in the reinforcing bar binding robot 100 according to the example. Fig. 10 is a perspective view of the internal structure of the power transmission mechanism 402 in the reinforcing bar binding robot 100 according to the embodiment, viewed from the front upper right side; 2 is an exploded view showing the configuration of a dual-purpose motor 400 and a planetary gear mechanism included in a power transmission mechanism 402 in the reinforcing bar binding robot 100 according to the embodiment. FIG. In the reinforcing bar binding robot 100 according to the embodiment, the solenoid 452 is in an energized state, the movable member 450 is in the suction position, and the locking member 434 is in the first locking position. FIG. 4 is a cross-sectional view showing a state in which rotation is prohibited; In the reinforcing bar binding robot 100 according to the embodiment, the solenoid 452 is in a non-energized state, the movable member 450 is in the return position, and the locking member 434 is in the second locking position. is a cross-sectional view showing a state in which the rotation of the is prohibited. FIG. 5 is a diagram showing the positional relationship between the reel 500 and the wire relay mechanism 600 on the base plate 204 in the reinforcing bar binding robot 100 according to the embodiment; FIG. 4 is an exploded view showing components of a reel 500 of the reinforcing bar binding robot 100 according to the embodiment; FIG. 10 is a plan view of the first ring portion 518 through which the wire W pulled out from the bobbin 502 is passed in the reinforcing bar binding robot 100 according to the embodiment, viewed from the outside in the radial direction of the axis A3. 4 is a flowchart showing processing performed by the control unit 126 in the reinforcing bar binding robot 100 according to the embodiment; FIG. 5 is a top view showing an example of the operation of the reinforcing bar binding robot 100 according to the embodiment; FIG. 11 is a top view showing another example of the operation of the reinforcing bar binding robot 100 according to the embodiment;

A representative and non-limiting embodiment of the invention is described in detail below with reference to the drawings. This detailed description is merely intended to provide those skilled in the art with details for implementing a preferred embodiment of the invention, and is not intended to limit the scope of the invention. Also, the additional features and inventions disclosed can be used separately or in conjunction with other features and inventions to provide further improved rebar tie-down robots.

Moreover, any combination of features and steps disclosed in the following detailed description are not required to practice the invention in its broadest sense, but are specifically intended to illustrate representative embodiments of the invention only. is described. Moreover, various features of the representative embodiments below, as well as those that are claimed, are described herein in providing additional and useful embodiments of the invention. They do not have to be combined in the exact order of the examples or in the order listed.

All features set forth in the specification and/or claims, apart from the configuration of the features set forth in the examples and/or claims, are set forth in the disclosure and claims as originally filed. They are intended to be disclosed individually and independently of each other as limitations on the particulars identified. Further, all numerical ranges and groups or populations are intended to disclose intermediate configurations as limitations on the specific subject matter recited in the original disclosure as well as the claims.

In one or more embodiments, the power transmission mechanism includes an input shaft that is rotationally driven by the motor, a first output shaft that drives the lifting mechanism, and a second output shaft that drives the moving mechanism. may be provided. The power transmission mechanism rotates the first output shaft as the input shaft rotates, thereby transmitting power from the motor to the lifting mechanism. may be switchable between a second state of transmitting power from the motor to the moving mechanism by rotating the second output shaft.

In a power transmission mechanism that converts rotary motion of an input shaft into rotary motion of an output shaft, the arrangement of the output shaft with respect to the input shaft can be determined relatively freely. According to the above configuration, the power transmission mechanism in the first state converts rotational motion of the input shaft into rotational motion of the first output shaft, thereby transmitting power from the motor to the lifting mechanism. The power transmission mechanism in the second state converts rotational motion of the input shaft into rotational motion of the second output shaft, thereby transmitting power from the motor to the movement mechanism. Therefore, the arrangement of the first output shaft and the arrangement of the second output shaft relative to the input shaft can be determined relatively freely. Therefore, it is possible to relatively freely determine the arrangement of the lifting mechanism and the moving mechanism with respect to the power transmission mechanism.

In one or more embodiments, the power transmission mechanism includes a sun gear fixed to the input shaft, a plurality of planetary gears meshing with the sun gear, and rotatably holding the plurality of planetary gears. , a planetary carrier rotatable around the rotation axis of the sun gear, an internal gear meshing with the plurality of planetary gears and rotatable around the rotation axis of the sun gear, and the planetary carrier or the internal gear. a positively engageable locking member. The first output shaft may be configured to rotate with rotation of one of the planetary carrier and the internal gear. The second output shaft may be configured to rotate with rotation of the other of the planetary carrier and the internal gear. The locking member engages with the other of the planetary carrier and the internal gear to prohibit rotation of the other and permit rotation of the one of the planetary carrier and the internal gear accompanying rotation of the sun gear. Thus, the power transmission mechanism may be in the first state. The locking member engages with the one of the planetary carrier and the internal gear to prohibit rotation of the one and permit rotation of the other of the planetary carrier and the internal gear accompanying rotation of the sun gear. Thus, the power transmission mechanism may be in the second state.

Generally, a speed reducer is provided between the motor and the lifting mechanism and between the motor and the moving mechanism. According to the above configuration, it is possible to switch the power transmission mechanism between the first state and the second state while using a so-called planetary gear mechanism as a speed reducer. Therefore, the power transmission mechanism can be downsized.

In one or more embodiments, one of said planet carrier and said internal gear has a plurality of inner recesses circumferentially arranged side by side and recessed from radially outward to radially inward. An inner engagement recess with a groove may be formed. The other of the planetary carrier and the internal gear is formed with an outer engaging recess having a plurality of outer recessed grooves that are arranged side by side in the circumferential direction and recessed from the radially inner side to the radially outer side. may have been The outer engaging recess may be arranged radially outward of the inner engaging recess. The locking member may comprise a locking pin extending along the axis of rotation of the sun gear. The locking pin engages with one of the inner engagement recess and the outer engagement recess to prohibit rotation of the other of the planetary carrier and the internal gear, whereby the power transmission mechanism is in the first state. may be The locking pin engages with the other of the inner engagement recess and the outer engagement recess to prohibit rotation of the one of the planetary carrier and the internal gear, whereby the power transmission mechanism is in the second state. may be

According to the above configuration, the locking pin engaged with the inner engagement recess is disengaged from the inner engagement recess by moving radially outward of the inner engagement recess. Then, the locking pin disengaged from the inner engagement recess is engaged with the outer engagement recess by being moved radially outward of the inner engagement recess. Conversely, the locking pin engaged with the outer engagement recess is disengaged from the outer engagement recess by being moved radially inward of the outer engagement recess. Then, the locking pin disengaged from the outer engagement recess is engaged with the inner engagement recess by being moved radially inward of the outer engagement recess. Therefore, switching between the first state and the second state in the power transmission mechanism can be completed simply by moving the locking pin substantially linearly. According to the above configuration, it is possible to smoothly switch between the first state and the second state in the power transmission mechanism.

In one or more embodiments, the power transmission mechanism may further include an actuator that moves the locking member between first and second positions. When the locking member is in the first position, the locking pin may be in a position to engage with the one of the inner engaging recess and the outer engaging recess. When the locking member is in the second position, the locking pin may be in a position to engage with the other of the inner engaging recess and the outer engaging recess. The control unit controls the operation of the actuator to move the locking member between the first position and the second position, thereby moving the power transmission mechanism between the first state and the second state. It may switch between states.

According to the above configuration, the control unit can switch between the first state and the second state in the power transmission mechanism by controlling the operation of the actuator. Therefore, in the reinforcing rod binding robot, switching between the first state and the second state in the power transmission mechanism can be executed in conjunction with the control of the motor by the control unit.

In one or more embodiments, when the first direction is a linear direction from the second position to the first position and the second direction is a linear direction from the first position to the second position, The actuator includes a movable member extending along the first direction and the second direction, and moving the movable member between a third position and a fourth position on the second direction side of the third position. and a first spring member that is extendable in the extending direction of the movable member and biases the movable member in one of the first direction and the second direction with respect to the solenoid. may be provided. When the solenoid is energized, the movable member is attracted in the other of the first direction and the second direction against the elastic restoring force of the first spring member by the attractive force of the electromagnet formed by the solenoid. Thus, the movable member may be moved to one of the third position and the fourth position. When the solenoid is in a non-energized state, the elastic restoring force of the first spring member biases the movable member in one of the first direction and the second direction. It may be moved to the other of the three positions and the fourth position. The locking member may be moved to the first position in conjunction with the movement of the movable member to the third position. The locking member may be moved to the second position in conjunction with the movement of the movable member to the fourth position. The control unit may switch the power transmission mechanism between the first state and the second state by switching the solenoid between the energized state and the non-energized state.

In general, solenoid actuators are capable of relatively fast response. According to the above configuration, by using a so-called pull-type solenoid actuator to move the locking member between the first position and the second position, the power transmission mechanism can be moved between the first state and the second state. is switched. Therefore, switching between the first state and the second state in the power transmission mechanism can be performed relatively quickly.

In one or more embodiments, the locking member may further include an operating portion extending in a direction substantially orthogonal to the extending direction of the movable member. The movable member includes a hollow portion in which a second spring member and a third spring member that can expand and contract in the extending direction are accommodated, and an outer portion of the hollow portion and the movable member extending in a direction substantially orthogonal to the extending direction. A slide hole may be provided which communicates with the locking member and receives the operating portion of the locking member so as to be slidable in the extending direction. The operating portion may be accommodated in the hollow portion through the slide hole. In the hollow portion, the second spring member may be provided on the second direction side of the operating portion, and the third spring member may be provided on the first direction side of the operating portion. . When the movable member is moved to the third position, the second spring member is contracted by relatively moving the operating portion in the second direction in the hollow portion, and the first spring member in the contracted state is contracted. 2. A spring member may bias the operating portion against the movable member in the first direction, thereby moving the locking member to the first position. When the movable member is moved to the fourth position, the third spring member is contracted by relatively moving the operating portion in the first direction in the hollow portion, and the third spring member in the contracted state is compressed. 3 The locking member may be moved to the second position by a spring member biasing the operating portion against the movable member in the second direction.

For example, when moving the locking member from the first position toward the second position, the locking pin may not successfully enter the inner or outer recessed grooves, causing the locking member to move in the first direction more than the second position. It may stagnate in the lateral position. Similarly, the locking member may stay at a position on the second direction side of the first position. In this case, if the locking member is fixed with respect to the movable member, a large load may be applied to the locking member in the first direction and the second direction. According to the above configuration, the locking member is provided swingably in the first direction and the second direction with respect to the movable member. According to the above configuration, the locking member can move in the first direction or the second direction with respect to the movable member when the locking pin fails to enter the inner recessed groove or the outer recessed groove. A load applied to the locking member can be reduced.

In one or more embodiments, the power transmission mechanism may further include a position detection mechanism that detects that the movable member is at the third position or at the fourth position. The control unit switches the power transmission mechanism to the second state by switching the solenoid from one of the energized state and the non-energized state to the other of the energized state and the non-energized state during operation of the rebar binding robot. to the first state, and switching the solenoid from the other of the energized state and the non-energized state to the one of the energized state and the non-energized state, thereby switching the power transmission mechanism to the first state. A second switching process for switching from state 1 to the second state may be executable. The control unit may end the first switching process when the position detection mechanism detects that the movable member is at the third position in the first switching process. The control unit may end the second switching process when the position detection mechanism detects that the movable member is at the fourth position in the second switching process.

For example, the control unit terminates the first switching process or the second switching process when detecting that the locking pin is at the first position or the second position in the first switching process or the second switching process. If configured, the first switching process or the second switching process cannot be completed while the locking member is stagnant between the first position and the second position. However, when the locking member is stagnated between the first position and the second position, it is almost always the case that the locking member is released from the stagnation by driving the motor or the like. It is better to end the process and move on to the next process. According to the above configuration, the control unit performs the first switching process or the second switching process when detecting that the movable member is at the third position or the fourth position in the first switching process or the second switching process. configured to terminate. Therefore, even when the locking member is stagnant between the first position and the second position, the first switching process and the second switching process can be completed and the next process can be performed.

In one or more embodiments, the position detection mechanism may include a slider that slides between a fifth position and a sixth position on the second direction side of the fifth position. The position detection mechanism detects that the movable member is at the third position when the slider is at the fifth position, and detects that the movable member is at the fourth position when the slider is at the sixth position. It may be configured to detect being in position. The movable member is provided separately from the slide hole on an outer peripheral surface around the extending direction, and further includes a recess recessed from the outer peripheral surface in a direction substantially orthogonal to the extending direction. good too. The slider may have a convex portion that substantially fits into the concave portion of the movable member. The slider may be moved to the fifth position in conjunction with the movement of the movable member to the third position. The slider may be moved to the sixth position in conjunction with the movement of the movable member to the fourth position.

According to the above configuration, the position detection mechanism detects the position of the movable member based on the position of the slider that slides in mechanical conjunction with the movable member. Therefore, the position detection mechanism can be configured simply and inexpensively.

In one or more embodiments, the movement mechanism may be a longitudinal movement mechanism for moving the pedestal longitudinally over the plurality of first rebars and the plurality of second rebars.

According to the above configuration, the power transmission mechanism is configured to selectively transmit power from the motor to the vertical movement mechanism or the lifting mechanism. Therefore, each of the vertical movement mechanism and the lifting mechanism can be driven by a single motor, and the number of motors provided in the transport unit can be reduced.

In one or more embodiments, the longitudinal movement mechanism includes a drive wheel connected to the second output shaft, an auxiliary wheel provided separately from the drive wheel, and a drive wheel and the auxiliary wheel. It may be a crawler with a belt wrapped around a wheel.

For example, in a configuration including wheels that run using a portion of a plurality of first reinforcing bars or a plurality of second reinforcing bars as rails, if the weight of the transport unit increases, the running performance of the transport unit decreases. According to the above configuration, even when the weight of the transport unit increases, it is possible to suppress deterioration in the running performance of the transport unit.

In one or more embodiments, the movement mechanism may be a lateral movement mechanism that moves the pedestal laterally over the plurality of first reinforcing bars and the plurality of second reinforcing bars.

According to the above configuration, the power transmission mechanism is configured to selectively transmit power from the motor to the lateral movement mechanism or the lifting mechanism. Therefore, the lateral movement mechanism and the lifting mechanism can each be driven by a single motor, and the number of motors provided in the transport unit can be reduced.

In one or more embodiments, the lateral movement mechanism includes a crank mechanism coupled to the second output shaft, and through the crank mechanism, the second output shaft along a predetermined sidestep trajectory. and a step bar driven by a side stepper.

According to the above configuration, the pedestal can be step-moved in the left-right direction with a constant step width on the plurality of first reinforcing bars and the plurality of second reinforcing bars. Therefore, the pedestal can be stably moved in the left-right direction.

In one or more embodiments, the rebar binding robot may further include a battery device supported by the pedestal and capable of supplying power to the motor.

If the motor is powered by an external power supply, a power cord must be attached to the motor. In this case, the power cord attached to the motor may interfere with movement of the pedestal over the plurality of first reinforcing bars and the plurality of second reinforcing bars. According to the above configuration, since it is not necessary to attach a power cord to the motor, the pedestal can be freely moved on the plurality of first reinforcing bars and the plurality of second reinforcing bars.

In one or more embodiments, the battery system may also be capable of powering the rebar tying unit.

When driving the reinforcing bar binding unit with electric power from an external power supply, it is necessary to attach the power cord to the reinforcing bar binding unit. In this case, the power cord attached to the reinforcing bar binding unit may hinder the movement of the pedestal on the plurality of first reinforcing bars and the plurality of second reinforcing bars. According to the above configuration, since it is not necessary to attach the power cord to the reinforcing bar binding unit, the pedestal can be freely moved on the plurality of first reinforcing bars and the plurality of second reinforcing bars.

(Example)
As shown in FIG. 1 , the reinforcing bar binding robot 100 of this embodiment includes a reinforcing bar binding unit 2 , a power supply unit 102 , a transport unit 106 and a control unit 126 .

The power supply unit 102 is electrically connected to each of the reinforcing bar binding unit 2, the transport unit 106, and the control unit 126. As shown in FIG. For example, a plurality of battery packs (not shown) are detachably attached to the power supply unit 102 . Therefore, the power supply unit 102 can supply power from a plurality of battery packs to the reinforcing bar binding unit 2 , the transport unit 106 and the control unit 126 . In addition, the control unit 126 is electrically connected to each of the reinforcing bar binding unit 2, the power supply unit 102, and the transport unit 106, and controls the operations of the reinforcing bar binding unit 2, the power supply unit 102, and the transport unit 106. is configured to 2 and subsequent figures, the illustration of the power supply unit 102 and the control unit 126 is omitted for simplification of explanation.

As shown in FIG. 2, the reinforcing bar binding robot 100 of this embodiment includes a plurality of first reinforcing bars R1 arranged parallel to each other along the horizontal direction, and a plurality of first reinforcing bars R1 arranged parallel to each other along the horizontal direction. The robot is a robot that uses a reinforcing bar binding unit 2 to bind the intersection of the first reinforcing bar R1 and the second reinforcing bar R2 while moving on the second reinforcing bar R2. When the first reinforcing bar R1 and the second reinforcing bar R2 are viewed from above, the direction in which the second reinforcing bar R2 extends is orthogonal to the direction in which the first reinforcing bar R1 extends. Also, the second reinforcing bar R2 is arranged above the first reinforcing bar R1. The first reinforcing bars R1 are arranged at intervals of, for example, 100 mm to 300 mm, and the second reinforcing bars R2 are arranged at intervals of, for example, 100 mm to 300 mm. The reinforcing bar binding robot 100 has a longitudinal dimension of, for example, about 900 mm, and a lateral dimension of, for example, about 600 mm.

(Configuration of reinforcing bar binding unit 2)
Below, with reference to FIGS. 3-6, the structure of the reinforcing-bar binding unit 2 is demonstrated. 3 to 6, the front-rear direction, the left-right direction, and the up-down direction are not the front-rear direction, the left-right direction, and the up-down direction with respect to the reinforcing bar binding robot 100, but the front-rear direction with respect to the reinforcing bar binding unit 2. Note that left-right and up-down directions are meant.

As shown in FIG. 3, the reinforcing bar binding unit 2 binds the reinforcing bars R (for example, the first reinforcing bar R1 and the second reinforcing bar R2) that cross each other with the wire W. As shown in FIG. The reinforcing bar binding unit 2 has a housing 3 .

As shown in FIGS. 4 to 6, the reinforcing bar binding unit 2 includes a feeding mechanism 12, a guiding mechanism 14, a cutting mechanism 18, a twisting mechanism 20, and a control device 80.

As shown in FIG. 4, a wire W supplied from a reel 500 (see FIG. 2) through a wire relay mechanism 600 (see FIG. 2) is guided into the housing 3 through a through hole 3b provided in the housing 3. be killed. The feed mechanism 12 feeds the wire W guided into the housing 3 from the through hole 3 b to the guide mechanism 14 in front of the housing 3 . The feed mechanism 12 includes a guide reel 10 , an insertion member 21 , a feed motor 22 , a driving roller 24 and a driven roller 26 . The guide reel 10 is rotatably held with respect to the housing 3 . The wire W guided into the housing 3 from the through hole 3b is guided by the guide reel 10, passed through the insertion member 21, and sandwiched between the driving roller 24 and the driven roller 26. As shown in FIG. The feed motor 22 is, for example, a DC brushed motor. The operation of feed motor 22 is controlled by controller 80 . The feed motor 22 rotates the driving roller 24 . When the feed motor 22 rotates the driving roller 24 , the driven roller 26 rotates in the opposite direction, and the wire W sandwiched between the driving roller 24 and the driven roller 26 is fed to the guide mechanism 14 . The wire W guided into the housing 3 from the through hole 3b may or may not be wound around the guide reel 10. As shown in FIG.

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

The first guide passage 34 is provided with a plurality of guide pins 38 for guiding the wire W so that the wire W is curled downward, and a cutter 40 forming a part of the cutting mechanism 18 to be described later. The wire W sent from the guide pipe 28 is guided by the guide pin 38 in the first guide passage 34 , passes through the cutter 40 , and is sent from the front end of the upper curl guide 30 toward the lower curl guide 32 .

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

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

The wire W fed from the feeding mechanism 12 is looped around the reinforcing bar R by the upper curl guide 30 and the lower curl guide 32 . The number of turns of the wire W around the reinforcing bar R can be preset by the user. When the feed mechanism 12 feeds the wire W by a feed amount corresponding to the set number of turns, the feed motor 22 is stopped to stop feeding the wire W. As shown in FIG.

The cutting mechanism 18 shown in FIGS. 5 and 6 cuts the wire W in a state in which the wire W is wound around the reinforcing bar R. As shown in FIG. The cutting mechanism 18 has a cutter 40 and a link 52 . The link 52 rotates the cutter 40 in conjunction with the twisting mechanism 20, which will be described later. As the cutter 40 rotates, the wire W passing through the inside of the cutter 40 is cut.

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

The torsion motor 54 is, for example, a DC brushless motor. The operation of torsion motor 54 is controlled by controller 80 . Rotation of the torsion motor 54 is transmitted to the screw shaft 58 via the reduction mechanism 56 . Torsion motor 54 is rotatable in forward and reverse directions, and screw shaft 58 is correspondingly rotatable in forward and reverse directions. The sleeve 60 is arranged to cover the circumference of the screw shaft 58 . When the rotation of the sleeve 60 is prohibited, the forward rotation of the screw shaft 58 causes the sleeve 60 to move forward, and the reverse rotation of the screw shaft 58 causes the sleeve 60 to move backward. do. The push plate 61 moves in the front-rear direction integrally with the sleeve 60 in accordance with the movement of the sleeve 60 in the front-rear direction. When the screw shaft 58 rotates while the sleeve 60 is allowed to rotate, the sleeve 60 rotates together with the screw shaft 58 .

When the sleeve 60 advances from the initial position to the predetermined position, the push plate 61 drives the link 52 of the cutting mechanism 18 to rotate the cutter 40 . A pair of hooks 62 are provided at the front end of the sleeve 60 and open and close according to the position of the sleeve 60 in the front-rear direction. As the sleeve 60 moves forward, the pair of hooks 62 close to grip the wire W. Thereafter, as the sleeve 60 moves rearward, the pair of hooks 62 open to release the wire W.

The controller 80 rotates the torsion motor 54 with the wire W wound around the reinforcing bar R. As shown in FIG. At this time, the rotation of the sleeve 60 is prohibited, and as the screw shaft 58 rotates, the sleeve 60 advances, the push plate 61 and the pair of hooks 62 advance, and the pair of hooks 62 close to grip the wire W. When the sleeve 60 is allowed to rotate, the rotation of the screw shaft 58 causes the sleeve 60 to rotate and the pair of hooks 62 to rotate. As a result, the wire W is twisted and the reinforcing bar R is bound.

When the twisting of the wire W is completed, the control device 80 rotates the twisting motor 54 in the reverse direction. At this time, the rotation of the sleeve 60 is prohibited, and after the pair of hooks 62 are opened and the wire W is released, the sleeve 60 is retracted by the rotation of the screw shaft 58, and the push plate 61 and the pair of hooks 62 are retracted. do. As the sleeve 60 retreats, the push plate 61 drives the link 52 of the cutting mechanism 18 to return the cutter 40 to its initial posture. After that, when the sleeve 60 retreats to the initial position, the rotation of the sleeve 60 is allowed, and the rotation of the screw shaft 58 causes the sleeve 60 and the pair of hooks 62 to rotate and return to the initial angle.

The reinforcing bar binding robot 100 is provided with an operation panel (not shown) having switches, buttons, and the like. For example, an operation panel is provided on the transport unit 106 . The user can set the number of turns of the wire W around the reinforcing bar R, the torque threshold value when twisting the wire W, and the like via the operation panel. The operation panel is provided with setting switches for setting the number of turns of the wire W around the reinforcing bar R, a torque threshold value for twisting the wire W, and a display LED for displaying current settings. The operation panel is electrically connected to the control device 80 .

The controller 80 is electrically connected to the control unit 126 (see FIG. 1) and can receive signals transmitted from the control unit 126 . When the controller 80 receives the binding instruction signal from the control unit 126, the wire W is wound around the reinforcing bar R by the feed mechanism 12 and the guide mechanism 14, and the wire W is cut by the cutting mechanism 18 and the twisting mechanism 20. Then, a series of operations of twisting the wire W wound around the reinforcing bar R are executed.

(Configuration of transport unit 106)
As shown in FIGS. 2 and 7, the transport unit 106 includes a chassis 190, a right crawler 192, a left crawler 194, a side stepper 196, a lifting mechanism 130, a dual-purpose motor 400, a power transmission mechanism 402, A reel 500 and a wire relay mechanism 600 are provided. Right crawler 192 , left crawler 194 , side stepper 196 , lifting mechanism 130 , dual-purpose motor 400 , power transmission mechanism 402 , reel 500 , and wire relay mechanism 600 are each supported by chassis 190 .

(Configuration of Chassis 190)
As shown in FIG. 7, the chassis 190 includes a base plate 204, a right plate 210, a left plate 212, a plurality of base frames 214, a front connecting frame 215, and a rear connecting frame 216. The base plate 204 is arranged along the front-back direction and the left-right direction (that is, the horizontal direction). The base plate 204 is formed with a through hole 204a through which the reinforcing bar binding unit 2 can pass substantially in the vertical direction. A plurality of base frames 214 are fixed to the bottom surface of the base plate 204 . The right plate 210 is fixed to the right surface of one of the plurality of base frames 214 that extends in the front-rear direction along the right end of the base plate 204 . The right plate 210 is arranged along the front-back direction and the up-down direction. The left plate 212 is fixed to the left surface of one of the plurality of base frames 214 that extends in the front-rear direction along the left end of the base plate 204 . The left plate 212 is arranged along the front-back direction and the up-down direction. With respect to the vertical direction, the upper end of the right plate 210 and the upper end of the left plate 212 are at the same position as the lower surface of the base plate 204 . With respect to the front-rear direction, the front end of the right plate 210 and the front end of the left plate 212 protrude forward from the front end of the base plate 204 , and the rear end of the right plate 210 and the rear end of the left plate 212 protrude behind the base plate 204 . It protrudes backward beyond the edge. The front connecting frame 215 is forward of the front end of the base plate 204 and connects the vicinity of the front end of the right side plate 210 and the vicinity of the front end of the left side plate 212 . The rear connecting frame 216 is behind the rear end of the base plate 204 and connects the vicinity of the rear end of the right side plate 210 and the vicinity of the rear end of the left side plate 212 . The front connecting frame 215 and the rear connecting frame 216 extend in the left-right direction. The front connecting frame 215 and the rear connecting frame 216 are arranged below the plurality of base frames 214 in the vertical direction. Further, the chassis 190 is provided with a reinforcing bar detection sensor (not shown). The rebar detection sensor is, for example, a TOF (Time-of-Flight) sensor capable of acquiring distance image data obtained by measuring the distance to the subject for each pixel. Therefore, the control unit 126 can identify the relative arrangement of the first reinforcing bar R1 and the second reinforcing bar R2 with respect to the reinforcing bar detection sensor based on the distance image data acquired by the reinforcing bar detection sensor.

(Configuration of Right Crawler 192)
The right crawler 192 includes a front pulley 218 , a rear pulley 220 , a plurality of auxiliary pulleys 222 , a tensioner pulley 224 , a rubber belt 226 , a right crawler motor 228 and a gearbox 230 . The outer surface of the front pulley 218, the outer surface of the rear pulley 220, the outer surfaces of the plurality of auxiliary pulleys 222, and the outer surface of the tensioner pulley 224 are each formed with a tooth profile that meshes with the rubber belt 226. A rubber belt 226 is stretched over a front pulley 218 , a rear pulley 220 , a plurality of auxiliary pulleys 222 and a tensioner pulley 224 . The front pulley 218 is rotatably supported by the right plate 210 via a bearing 232 near the front end of the right plate 210 . The rear pulley 220 is rotatably supported by the right plate 210 via a bearing 234 near the rear end of the right plate 210 . A plurality of auxiliary pulleys 222 are rotatably supported on the right plate 210 via corresponding bearings 236 between the front pulley 218 and the rear pulley 220 . The plurality of auxiliary pulleys 222 are arranged side by side in the front-rear direction. The outer diameter of the front pulley 218 and the rear pulley 220 are substantially the same, and the outer diameters of the plurality of auxiliary pulleys 222 are smaller than the outer diameters of the front pulley 218 and the rear pulley 220 . With respect to the vertical direction, the lower end of the front pulley 218, the lower end of the rear pulley 220, and the lower ends of the plurality of auxiliary pulleys 222 are located at substantially the same position. Tensioner pulley 224 is rotatably supported by movable bearing 237 . The movable bearing 237 is supported by the right plate 210 so as to be vertically movable. By adjusting the vertical position of the movable bearing 237 with respect to the right plate 210 while the rubber belt 226 is stretched over the tensioner pulley 224, the tension of the rubber belt 226 can be adjusted. Right crawler motor 228 is supported by right plate 210 via bearing 232 and gearbox 230 . Right crawler motor 228 is, for example, a DC brushless motor. The right crawler motor 228 is connected to the front pulley 218 via a reduction gear (not shown) built into the gearbox 230 . As the right crawler motor 228 rotates in the forward or reverse direction, the front pulley 218 rotates in the forward or reverse direction, thereby moving the rubber belt 226 through the front pulley 218, the rear pulley 220, the plurality of auxiliary pulleys 222, Rotate forward or reverse on the outside of the tensioner pulley 224 .

(Configuration of Left Crawler 194)
The left crawler 194 includes a front pulley 244 , a rear pulley 246 , a plurality of auxiliary pulleys 248 , a tensioner pulley 250 , a rubber belt 252 , a left crawler motor 254 and a gearbox 256 . The outer surface of the front pulley 244, the outer surface of the rear pulley 246, the outer surfaces of the plurality of auxiliary pulleys 248, and the outer surface of the tensioner pulley 250 are each formed with a tooth profile that meshes with the rubber belt 252. A rubber belt 252 is stretched over a front pulley 244 , a rear pulley 246 , a plurality of auxiliary pulleys 248 and a tensioner pulley 250 . The front pulley 244 is rotatably supported by the left plate 212 via a bearing 258 near the front end of the left plate 212 . The rear pulley 246 is rotatably supported by the left plate 212 via a bearing 260 near the rear end of the left plate 212 . A plurality of auxiliary pulleys 248 are rotatably supported on left plate 212 via corresponding bearings 262 between front pulley 244 and rear pulley 246 . The plurality of auxiliary pulleys 248 are arranged side by side in the front-rear direction. The outer diameter of the front pulley 244 and the rear pulley 246 are substantially the same, and the outer diameters of the plurality of auxiliary pulleys 248 are smaller than the outer diameters of the front pulley 244 and the rear pulley 246 . With respect to the vertical direction, the lower end of the front pulley 244, the lower end of the rear pulley 246, and the lower ends of the plurality of auxiliary pulleys 248 are located at approximately the same position. Tensioner pulley 250 is rotatably supported on movable bearing 264 . The movable bearing 264 is supported by the left plate 212 so as to be vertically movable. The tension of the rubber belt 252 can be adjusted by adjusting the vertical position of the movable bearing 264 with respect to the left plate 212 while the rubber belt 252 is stretched over the tensioner pulley 250 . Left crawler motor 254 is supported by left plate 212 via bearing 258 and gearbox 256 . Left crawler motor 254 is, for example, a DC brushless motor. Left crawler motor 254 is connected to front pulley 244 via a reduction gear (not shown) built into gear box 256 . As the left crawler motor 254 rotates forward or reverse, the front pulley 244 rotates forward or reverse, thereby moving the rubber belt 252 through the front pulley 244, the rear pulley 246, a plurality of auxiliary pulleys 248, Rotate forward or reverse on the outside of the tensioner pulley 250 .

(Structure of side stepper 196)
As shown in FIG. 8, the side stepper 196 includes step bars 272, 274, a front crank mechanism 276, and a rear crank mechanism 277. As shown in FIG. The step bars 272 and 274 are rod-shaped members having substantially rectangular cross sections and extend in the front-rear direction. As shown in FIG. 7, the step bar 272 is arranged between the center and the right end of the base plate 204, and the step bar 274 is arranged between the center and the left end of the base plate 204 in the horizontal direction.

As shown in FIG. 8, the front crank mechanism 276 includes a support plate 278, pulleys 280, 282, a tensioner pulley 283, a belt 284, crank arms 286, 288, and crank pins 290, 292 (see FIG. 9). , a crank plate 294 , rollers 296 and 298 and a guide plate 300 . Support plate 278 is fixed to the lower surface of base plate 204 near the front end of base plate 204 . The support plate 278 is arranged along the left-right direction and the up-down direction. The pulley 280 is arranged near the right end of the support plate 278 behind the support plate 278 . The pulley 282 is arranged behind the support plate 278 near the left end of the support plate 278 . Pulleys 280 and 282 are each rotatably supported by support plate 278 . The diameter of pulley 280 is substantially the same as the diameter of pulley 282 . A belt 284 is stretched over pulleys 280 and 282 . Therefore, when one of the pulleys 280 and 282 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at approximately the same number of rotations. Also, the tensioner pulley 283 is rotatably supported by the base plate 204 (see FIG. 7) via a movable bearing (not shown) provided so as to be movable in the vertical direction. The tensioner pulley 283 is arranged to contact the belt 284 from above. Therefore, the tension of the belt 284 can be adjusted by adjusting the vertical position of the movable bearing that supports the tensioner pulley 283 with respect to the base plate 204 .

Crank arms 286 , 288 , crank pins 290 , 292 (see FIG. 9), crank plate 294 , rollers 296 , 298 , and guide plate 300 are arranged forward of support plate 278 . As shown in FIG. 9, the crank arms 286, 288 have fitting holes 286a, 288a into which the shafts 280a, 282a of the pulleys 280, 282 are fitted, and long holes 286b, 288b extending in the longitudinal direction of the crank arms 286, 288. I have. Crank arms 286, 288 rotate together with pulleys 280, 282 about axes 280a, 282a as pulleys 280, 282 rotate. Crank pins 290 and 292 are slidably inserted into the long holes 286b and 288b. Crank pins 290 , 292 are fixed to crank plate 294 while passing through crank plate 294 . The crank plate 294 is arranged forward of the crank arms 286 and 288 . The crank plate 294 extends along the left-right direction and the up-down direction. Rollers 296 , 298 (see FIG. 8 ) are attached to crank pins 290 , 292 forward of crank plate 294 . As shown in FIG. 8, the rollers 296, 298 enter guide grooves 302, 304 formed on the rear surface of the guide plate 300. As shown in FIG. The guide plate 300 is fixed to the lower surface of the base plate 204 ahead of the crank plate 294 . The guide plate 300 extends along the left-right direction and the up-down direction. As shown in FIG. 9, guide grooves 302 and 304 of guide plate 300 are formed in a substantially rectangular shape with rounded corners. The guide grooves 302, 304 define a side step track S indicated by dashed lines in FIG. The side step track S has a substantially rectangular shape with rounded corners, and has upper and lower sides extending in the horizontal direction and right and left sides extending in the vertical direction.

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

As shown in FIG. 10, the rear crank mechanism 277 includes a support plate 306, pulleys 308 and 310, a tensioner pulley 311, a belt 312, crank arms 314 and 316, and crank pins 318 and 320 (see FIG. 9). ), a crank plate 322 , rollers 324 and 326 and a guide plate 328 . The support plate 306 is fixed to the bottom surface of the base plate 204 near the rear end of the base plate 204 . The support plate 306 is arranged along the left-right direction and the up-down direction. The pulley 308 is arranged near the right end of the support plate 306 and forward of the support plate 306 . The pulley 310 is arranged near the left end of the support plate 306 and forward of the support plate 306 . Pulleys 308 and 310 are each rotatably supported by support plate 306 . The diameter of pulley 308 is approximately the same as the diameter of pulley 310 and approximately the same as the diameter of pulleys 280 and 282 of front crank mechanism 276 . A belt 312 is stretched over pulleys 308 and 310 . Therefore, when one of the pulleys 308 and 310 rotates in the forward or reverse direction, the other also rotates in the forward or reverse direction at approximately the same number of rotations. Also, the tensioner pulley 311 is rotatably supported by the base plate 204 (see FIG. 7) via a movable bearing (not shown) provided so as to be movable in the vertical direction. The tensioner pulley 311 is arranged to contact the belt 312 from above. Therefore, the tension of the belt 312 can be adjusted by adjusting the vertical position of the movable bearing that supports the tensioner pulley 311 with respect to the base plate 204 .

Crank arms 314 , 316 , crank pins 318 , 320 (see FIG. 9), crank plate 322 , rollers 324 , 326 and guide plate 328 are arranged behind support plate 306 . As shown in FIG. 9, the crank arms 314, 316 have fitting holes 314a, 316a into which the shafts 308a, 310a of the pulleys 308, 310 are fitted, and long holes 314b, 316b extending in the longitudinal direction of the crank arms 314, 316. I have. Crank arms 314, 316 rotate together with pulleys 308, 310 about axes 308a, 310a as pulleys 308, 310 rotate. Crank pins 318 and 320 are slidably inserted into the long holes 314b and 316b. Crank pins 318 , 320 are fixed to crank plate 322 while passing through crank plate 322 . The crank plate 322 is arranged rearwardly of the crank arms 314 and 316 . The crank plate 322 extends along the left-right direction and the up-down direction. Rollers 324 , 326 (see FIG. 10 ) are attached to crank pins 318 , 320 behind crank plate 322 . As shown in FIG. 10, the rollers 324 and 326 enter guide grooves 330 and 332 formed on the front surface of the guide plate 328 . The guide plate 328 is fixed to the lower surface of the base plate 204 behind the crank plate 322 . The guide plate 328 extends along the left-right direction and the up-down direction. As shown in FIG. 9, the guide grooves 330 and 332 of the guide plate 328 are formed in a substantially rectangular shape with rounded corners. The guide grooves 330, 332 define a side step track S indicated by dashed lines in FIG. The side step track S has a substantially rectangular shape with rounded corners, and has upper and lower sides extending in the horizontal direction and right and left sides extending in the vertical direction. Side step trajectory S defined by guide grooves 330 and 332 is the same as side step trajectory S defined by guide grooves 302 and 304 .

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

As shown in FIG. 7, each of the step bars 272 and 274 has its front end fixed to the crank plate 294 of the front crank mechanism 276 and its rear end fixed to the crank plate 322 of the rear crank mechanism 277 . As shown in FIG. 8 , pulley 282 of front crank mechanism 276 and pulley 310 of rear crank mechanism 277 are each connected to rotation transmission shaft 428 of power transmission mechanism 402 . Therefore, when the rotation transmission shaft 428 rotates, the pulleys 280 and 282 of the front crank mechanism 276 and the pulleys 308 and 310 of the rear crank mechanism 277 rotate in synchronization with each other, and the crank plate 294 of the front crank mechanism 276 rotates. and the crank plate 322 of the rear crank mechanism 277 operate in synchronization with each other. That is, when the rotation transmission shaft 428 rotates in the forward or reverse direction, the pulleys 280, 282, 308, 310 rotate in the forward or reverse direction, thereby causing the crank plates 294, 322 to move along the side step path S to the right. The step bars 272 and 274 also move clockwise or counterclockwise along the side step track S. One of the front crank mechanism 276 and the rear crank mechanism 277 (for example, the front crank mechanism 276) is provided with a zero point detection sensor (not shown). The zero point detection sensor includes, for example, a permanent magnet (not shown) fixed to the crank plate 294 and a Hall element (not shown) fixed to the guide plate 300 . The zero point detection sensor can detect whether or not the crank plates 294 and 322 are at the zero point position with the center of the upper side of the side step track S in the horizontal direction as the zero point position.

As shown in FIG. 11, when the crank plates 294 and 322 are on the upper side of the side step track S (see FIG. 9) and the step bars 272 and 274 are moving upward, the crank plates 294 and 322 and the step bars 272 and 274 are separated from the first reinforcing bar R1 and the second reinforcing bar R2. In this state, the right crawler 192 and the left crawler 194 are in contact with the first reinforcing bar R1 and the second reinforcing bar R2. It can be moved forward and backward. Further, the reinforcing bar binding robot 100 can change the direction of the chassis 190 with respect to the first reinforcing bar R1 and the second reinforcing bar R2 by giving a speed difference between the right crawler 192 and the left crawler 194 .

When the rotation transmission shaft 428 rotates from the state shown in FIG. 11, the crank plates 294, 322 move along the side step track S (see FIG. 9), and the step bars 272, 274 move downward accordingly. Then, the crank plates 294, 322 and the step bars 272, 274 come into contact with the second reinforcing bars R2. When the rotation transmission shaft 428 rotates further from this state, the crank plates 294, 322 and the step bars 272, 274 move further downward, and as shown in FIG. Move away from R2. When the rotation transmission shaft 428 rotates as it is, the chassis 190 moves rightward or leftward by a step width corresponding to the lateral width of the side step track S, and then the crank plates 294, 322 and the step bars 272, 274 Moving upward, the right crawler 192 and the left crawler 194 contact the first reinforcing bar R1 and the second reinforcing bar R2 again, and the crank plates 294, 322 and the step bars 272, 274 separate from the second reinforcing bar R2. As described above, the reinforcing bar binding robot 100 can move the chassis 190 rightward or leftward by a predetermined step width by driving the side stepper 196 .

Note that the side step track S defined by the guide grooves 302, 304, 330, 332 is not limited to the substantially rectangular shape as described above, and may have various shapes. In the side step track S, when the step bars 272 and 274 move along the side step track S, the lower ends of the step bars 272 and 274 move below the lower ends of the right crawler 192 and the left crawler 194, and then Any shape can be used as long as the lower ends of the step bars 272 and 274 move in the horizontal direction and then the lower ends of the step bars 272 and 274 move higher than the lower ends of the right crawler 192 and the left crawler 194. may For example, the side step track S may be circular, elliptical, triangular with a lower base, or polygonal with pentagons or more.

(Structure of Lifting Mechanism 130)
As shown in FIG. 13, the elevating mechanism 130 includes a worm gear case 132, an elevating arm 134, and a slider crank mechanism 138. As shown in FIG. Worm gear case 132 is fixed to base plate 204 (see FIG. 7). The lift arm 134 is fixed to the worm gear case 132 with screws. The lifting arm 134 extends from the worm gear case 132 forward and leftward. The worm gear case 132 has a worm shaft 136 . The slider-crank mechanism 138 includes a crankshaft 142 , a crank arm 144 , a crank pin 146 , a crank rod 148 , a slider pin 150 , a slider 152 , rails 153 and a base member 154 .

Crankshaft 142 is connected to worm shaft 136 via a worm gear (not shown) built in worm gear case 132 . Crank arm 144 is fixed to crankshaft 142 . Crank pin 146 is rotatably held on each of crank arm 144 and crank rod 148 . Slider pin 150 is rotatably held on crank rod 148 . Slider pin 150 is fixed to slider 152 . The slider 152 is slidably held by a rail 153 provided on the elevating arm 134 . The base member 154 is rotatably provided on the slider pin 150 . The base member 154 is fixed to the housing 3 with a screw (not shown) while being fitted in the fitting portion 3a (see FIG. 3) of the housing 3 of the reinforcing bar binding unit 2. As shown in FIG. That is, the lifting mechanism 130 holds the reinforcing bar binding unit 2 via the base member 154 . As shown in FIG. 2, in the reinforcing bar binding unit 2 held by the lifting mechanism 130, the front direction of the reinforcing bar binding unit 2 faces downward of the reinforcing bar binding robot 100, and the rear direction of the reinforcing bar binding unit 2 faces the reinforcing bar. It faces above the bundling robot 100 .

In the state shown in FIG. 13, the slider crank mechanism 138 is at the top dead center position. At this time, the reinforcing bar binding unit 2 (see FIG. 3) is held at a position separated from the first reinforcing bar R1 and the second reinforcing bar R2. In this specification, the position of the reinforcing bar binding unit 2 in this state may be called "upper limit position". When the worm shaft 136 rotates in the forward or reverse direction from the state shown in FIG. move around the circle. At this time, the slider pin 150 and the slider 152, which are connected to the crank pin 146 via the crank rod 148, move downward along the rail 153 while maintaining a constant distance from the crank pin 146. At this time, the reinforcing bar binding unit 2 fixed to the base member 154 descends with respect to the chassis 190 .

In the state shown in FIG. 14, the slider crank mechanism 138 is at the bottom dead center position. At this time, the reinforcing bar binding unit 2 (see FIG. 3) is held at a position that enables binding of the first reinforcing bar R1 and the second reinforcing bar R2. In this specification, the position of the reinforcing bar binding unit 2 in this state may be called the "lower limit position". When the worm shaft 136 rotates forward or backward from the state shown in FIG. move around the circle. At this time, the slider pin 150 and the slider 152, which are connected to the crank pin 146 via the crank rod 148, move upward along the rail 153 while maintaining a constant distance from the crank pin 146. At this time, the reinforcing bar binding unit 2 fixed to the base member 154 rises with respect to the chassis 190 .

The slider crank mechanism 138 of this embodiment is a so-called offset crank in which the rotation axis of the crankshaft 142 is not on the extension line of the slide track of the slider 152 . Therefore, when raising the reinforcing bar binding unit 2, rather than rotating the crank arm 144 so that the crank pin 146 passes from the position shown in FIG. 14 to the position shown in FIG. The stroke of the crank arm 144 is larger when the crank arm 144 is rotated so that the crank pin 146 passes through the lower side of the crankshaft 142 from the position shown in FIG. 14 and reaches the position shown in FIG. The same applies when the reinforcing bar binding unit 2 is lowered.

When the reinforcing bar binding unit 2 is lifted, the crankshaft 142 is rotated against the gravity acting on the reinforcing bar binding unit 2, so the load torque applied to the dual-purpose motor 400 is relatively large. In this embodiment, when the reinforcing bar binding unit 2 is lifted, the crank arm 144 is rotated so that the crank pin 146 passes from the position shown in FIG. 14 to the position shown in FIG. . This makes it possible to increase the stroke of the crank arm 144 and reduce the load torque applied to the dual-purpose motor 400 when the reinforcing bar binding unit 2 is lifted where a relatively large torque load is applied to the dual-purpose motor 400 . On the other hand, when lowering the rebar binding unit 2, the crank arm 144 is rotated so that the crank pin 146 passes over the crankshaft 142 from the position shown in FIG. 13 and reaches the position shown in FIG. As a result, the stroke of the crank arm 144 is reduced when the reinforcing bar binding unit 2 is lowered when the load torque applied to the dual-purpose motor 400 is relatively small, and the lowering speed of the reinforcing bar binding unit 2 can be increased.

The slider 152 has a first interference pin 156 protruding toward the base member 154 along the rotation axis A1 of the slider pin 150, and a long hole 158 cut out along the circumferential direction of the rotation axis A1. The base member 154 protrudes toward the slider 152 along the rotation axis A1 and has a second interference pin 160 inserted into the long hole 158 . The long hole 158 receives the second interference pin 160 so as to be slidable in the circumferential direction of the rotation axis A1. A torsion spring 162 is attached to the slider pin 150 so as to urge the second interference pin 160 against the first interference pin 156 in the first circumferential direction of the rotation axis A1. . Therefore, the second interference pin 160 is held in contact with the end side surface of the long hole 158 from the first circumferential direction by the biasing force of the torsion spring 162 and resists the biasing force of the torsion spring 162 . can swing in the second circumferential direction opposite to the first circumferential direction. That is, the reinforcing bar binding unit 2 fixed to the base member 154 is held swingably in the second circumferential direction of the rotation axis A1. As a result, for example, when the reinforcing bar binding unit 2 collides with the first reinforcing bar R1, the second reinforcing bar R2, or other obstacles, the reinforcing bar binding unit 2 and the reinforcing bar binding unit 2 swing in the second circumferential direction. The impact on the lifting mechanism 130 is mitigated.

As shown in FIG. 15, the lifting mechanism 130 is fixed to a crankshaft 142 (see FIG. 13), and has a cam formed with a first fin 163 and a second fin 164 protruding radially outward of the crankshaft 142. 166 are further provided. One end of the first fin 163 and one end of the second fin 164 overlap each other in the circumferential direction of the rotation axis of the crankshaft 142 . On the other hand, the other end of the first fin 163 and the other end of the second fin 164 are separated from each other in the circumferential direction of the rotation axis of the crankshaft 142 . Therefore, between the other end of the first fin 163 and the other end of the second fin 164, a gap having a width in the circumferential direction of the rotating shaft of the crankshaft 142 is formed. The lifting mechanism 130 further includes a first photosensor 168 and a second photosensor 170, each having a light emitting portion and a light receiving portion. Each of the first photosensor 168 and the second photosensor 170 transmits an ON signal to the control unit 126 when the space between the light emitting unit and the light receiving unit is not blocked, and the space between the light emitting unit and the light receiving unit is blocked. If so, it sends an off signal to the control unit 126 . The first photosensor 168 and the second photosensor 170 are fixed to the worm gear case 132 so as to be aligned along the rotational axis of the crankshaft 142 .

When the reinforcing bar binding unit 2 is at a position between the lower limit position and the upper limit position, one of the first fin 163 or the second fin 164 is the light emitting part and the light receiving part of one of the first photosensor 168 or the second photosensor 170. It is in a position to block between The other of the first fin 163 and the second fin 164 is positioned so as not to block the light-emitting portion and the light-receiving portion of either the first photosensor 168 or the second photosensor 170 . From this state, when the reinforcing bar binding unit 2 is moved to the lower limit position, the mutually overlapping portions of the first fin 163 and the second fin 164 move in the circumferential direction of the rotation axis of the crankshaft 142 to the first photosensor 168 and the first photo sensor 168 . 2 photosensor 170 is moved to substantially the same position. That is, when the reinforcing bar binding unit 2 is at the lower limit position, the first fin 163 blocks the space between the light-emitting portion and the light-receiving portion of the first photosensor 168 , and the first fin 163 blocks the space between the light-emitting portion and the light-receiving portion of the second photosensor 170 . It is blocked by two fins 164 . On the other hand, when the reinforcing bar binding unit 2 is moved to the upper limit position, the parts of the first fin 163 and the second fin 164 that are separated from each other move in the circumferential direction of the rotation axis of the crankshaft 142 to the first photosensor 168 and It is moved to substantially the same position as the second photosensor 170 . That is, when the reinforcing bar binding unit 2 is at the upper limit position, the light-emitting portion and the light-receiving portion of the first photosensor 168 are not blocked, and the light-emitting portion and the light-receiving portion of the second photosensor 170 are not blocked. Therefore, based on the signals transmitted from the first photosensor 168 and the second photosensor 170, the control unit 126 detects that the reinforcing-bar binding unit 2 has reached the upper limit position and that the reinforcing-bar binding unit 2 has reached the lower limit position. can be detected.

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

(Power transmission path in power transmission mechanism 402)
As shown in FIG. 17, the input shaft 404 is held by a dual-purpose motor 400, and is rotationally driven by the dual-purpose motor 400 around a rotation axis A2 extending in the left-right direction. The dual-purpose motor 400 is, for example, a DC brushless motor. A sun gear 406 is fixed to the input shaft 404 . A plurality of teeth (not shown) projecting radially outward are formed on the outer surface of the sun gear 406 . Each of the plurality of planetary gears 408 is rotatably held on a planetary carrier 410 . The plurality of planetary gears 408 are arranged side by side at regular intervals in the circumferential direction of the rotation axis A2. A plurality of teeth (not shown) protruding radially outward are formed on the outer surface of each of the plurality of planetary gears 408 . The plurality of teeth of each of the plurality of planetary gears 408 are configured to mesh with the plurality of teeth of the sun gear 406 from the outside in the radial direction of the rotation axis A2. In addition, a plurality of teeth (not shown) projecting radially inward are formed on the inner surface of the internal gear 412 . The plurality of teeth of the internal gear 412 are configured to mesh with the plurality of teeth of each of the plurality of planetary gears 408 from the radially outer side of the rotation axis A2. The sun gear 406, the plurality of planetary gears 408, and the internal gear 412 are housed in a gear box 438 (see FIG. 8) while meshing with each other. Thus, the sun gear 406, the plurality of planetary gears 408, the planetary carrier 410, and the internal gear 412 form a so-called planetary gear mechanism. Therefore, prohibiting rotation of the internal gear 412 allows rotation of the planetary carrier 410 as the sun gear 406 rotates. On the other hand, prohibiting rotation of planet carrier 410 allows rotation of internal gear 412 as sun gear 406 rotates.

As shown in FIG. 16, planet carrier 410 is secured to first output shaft 414 . One end of a universal joint 430 is attached to the first output shaft 414 . The other end of universal joint 430 is attached to worm shaft 136 (see FIG. 13) of lifting mechanism 130 . Therefore, the lifting mechanism 130 is driven as the planetary carrier 410 rotates. As described above, when the rotation of the internal gear 412 is prohibited in the power transmission mechanism 402, the power of the dual-purpose motor 400 is applied to the input shaft 404, the sun gear 406, the plurality of planetary gears 408, the planetary carrier 410, and the first output shaft 414. , and the universal joint 430 to the lifting mechanism 130 .

A plurality of teeth (not shown) projecting radially outward are formed on the outer surface of the internal gear 412 . A first spur gear 418 is fixed to the second output shaft 416 . The first spur gear 418 meshes with multiple teeth of the internal gear 412 . A second spur gear 420 is fixed to the second output shaft 416 . The second spur gear 420 meshes with the third spur gear 422 . A third spur gear 422 is fixed to a worm shaft 424 . Worm shaft 424 meshes with worm wheel 426 . A worm wheel 426 is fixed to a rotation transmission shaft 428 . Therefore, the side stepper 196 (see FIG. 8) connected to the rotation transmission shaft 428 is driven as the internal gear 412 rotates. As described above, when the planetary carrier 410 is prohibited from rotating in the power transmission mechanism 402, the power of the combined motor 400 is applied to the input shaft 404, the sun gear 406, the plurality of planetary gears 408, the internal gear 412, and the first spur gear 418. , the second output shaft 416 , the second spur gear 420 , the third spur gear 422 , the worm shaft 424 , the worm wheel 426 and the rotation transmission shaft 428 in order, to the side stepper 196 .

(Method of Switching Power Transmission Path in Power Transmission Mechanism 402)
As shown in FIG. 18, the outer surface of planet carrier 410 is further formed with an inner engagement recess 440 . The inner engaging recesses 440 are arranged side by side in the circumferential direction and have a plurality of inner recessed grooves 440a recessed from the radially outer side to the radially inner side. In addition, the inner side surface of the internal gear 412 is further formed with an outer recessed groove 442a. The outer recessed grooves 442a are arranged side by side in the circumferential direction and have a plurality of outer recessed grooves 442a recessed from the radially inner side to the radially outer side. Note that the outer engaging recess 442 is formed separately from the plurality of teeth (not shown) of the internal gear 412 . The outer engagement recess 442 is arranged radially outward of the inner engagement recess 440 .

The locking member 434 includes a locking arm 444 extending in the front-rear direction, and a locking pin 446 and an operating pin 448 held by the locking arm 444 . The locking pin 446 is arranged in the vicinity of the front end of the locking arm 444 so as to extend along the left-right direction (see FIG. 16). The operation pin 448 is arranged near the rear end of the locking arm 444 so as to extend along the vertical direction. The actuator 432 includes a movable member 450 that extends in the front-rear direction, a solenoid 452 that holds the movable member 450 so as to be slidable in the front-rear direction, and a third actuator that urges the movable member 450 forward against the solenoid 452 . 1 spring member 454 is provided. A cap 456 is attached to the solenoid 452 to prevent the movable member 450 from falling out of the solenoid 452 . A first slide hole 458 is provided below the cap 456 to receive the operation pin 448 of the locking member 434 so as to be slidable in the front-rear direction. The movable member 450 includes a hollow portion 460 , a second slide hole 462 provided below the movable member 450 , and a concave portion 464 recessed downward from above in the outer peripheral surface of the upper portion of the movable member 450 . The second slide hole 462 vertically communicates the hollow portion 460 with the outside of the movable member 450 . Like the first slide hole 458, the second slide hole 462 receives the operation pin 448 of the locking member 434 so as to be slidable in the front-rear direction. A portion of the operating pin 448 passes through the first slide hole 458 and the second slide hole 462 and is housed in the hollow portion 460 . The hollow portion 460 further accommodates a second spring member 466 and a third spring member 468 that can extend and contract in the front-rear direction. In the hollow portion 460 , the second spring member 466 is provided in front of the operating pin 448 and the third spring member 468 is provided behind the operating pin 448 . In the state shown in FIG. 18, the solenoid 452 is energized, and the attractive force of the electromagnet formed by the solenoid 452 causes the movable member 450 to move backward against the elastic restoring force of the first spring member 454. there is In this specification, the position of the movable member 450 in this state is sometimes referred to as a "suction position". When movable member 450 is in the suction position, locking member 434 is moved to a position where locking pin 446 engages outer engagement recess 442 of internal gear 412 . In this specification, the position of the locking member 434 in this state is sometimes called the "first locking position." When the locking member 434 is in the first locking position, the rotation of the internal gear 412 is prohibited, so that the power transmission mechanism 402 transmits power from the dual-purpose motor 400 to the lifting mechanism 130 ("first locking position"). status.

When the solenoid 452 is switched from the state shown in FIG. 18 to the non-energized state, the elastic restoring force of the first spring member 454 urges the movable member 450 forward, thereby moving the movable member 450 forward. When the movable member 450 is moved forward, the operation pin 448 of the locking member 434 relatively moves backward within the hollow portion 460, thereby compressing the third spring member 468. As shown in FIG. The contracted third spring member 468 biases the operating pin 448 forward against the rear wall of the cavity 460 . As a result, the locking pin 446 connected to the operating pin 448 via the locking arm 444 is biased forward. As shown in FIG. 19, the movable member 450 moved forward eventually comes into contact with the front wall portion of the cap 456 . Even in this state, the movable member 450 is urged forward by the first spring member 454 . Therefore, as long as the solenoid 452 is not energized, the movable member 450 is held in contact with the front wall portion of the cap 456 . In this specification, the position of the movable member 450 in this state is sometimes called a "return position." When movable member 450 is in the return position, locking member 434 is moved to a position where locking pin 446 engages inner engaging recess 440 of planet carrier 410 . In this specification, the position of the locking member 434 in this state is sometimes called a "second locking position." When the locking member 434 is in the second locking position, the rotation of the planetary carrier 410 is prohibited, so that the power transmission mechanism 402 transmits power from the dual-purpose motor 400 to the side stepper 196 ("second locking position"). status.

When the solenoid 452 is switched from the state shown in FIG. 19 to the energized state, the movable member 450 is moved backward against the elastic restoring force of the first spring member 454 by the attractive force of the electromagnet formed by the solenoid 452 . When the movable member 450 is moved rearward, the operation pin 448 of the locking member 434 relatively moves forward in the hollow portion 460 to contract the second spring member 466 . The contracted second spring member 466 urges the operating pin 448 rearward against the front wall of the cavity 460 . As a result, the locking pin 446 connected to the operating pin 448 via the locking arm 444 is biased rearward. In this manner, as shown in FIG. 18, the movable member 450 is moved to the suction position, and the locking member 434 is moved to the first locking position, thereby bringing the power transmission mechanism 402 into the first state.

As described above, when the solenoid 452 is switched between the energized state and the non-energized state, the position of the movable member 450 is switched between the attraction position and the return position, and the position of the locking member 434 is changed between the first locking position and the first locking position. Switched between the two locking positions, the power transmission mechanism 402 is switched between the first state and the second state. Therefore, the control unit 126 can switch the power transmission mechanism 402 between the first state and the second state by switching the solenoid 452 between the energized state and the non-energized state.

(State detection method of power transmission mechanism 402)
The position detection mechanism 436 is attached above the cap 456 . The position detection mechanism 436 includes a slider 470 having a convex portion 470a that approximately fits into the concave portion 464 of the movable member 450. As shown in FIG. The slider 470 is provided so as to be slidable in the front-rear direction. Therefore, the slider 470 slides in conjunction with the movement of the movable member 450 in the front-rear direction. In this specification, the position of slider 470 when movable member 450 is at the suction position is sometimes referred to as the "first detection position." Also, the position of the slider 470 (see FIG. 19) when the movable member 450 is at the return position is sometimes referred to as the "second detection position". The position detection mechanism 436 transmits a suction position detection signal to the control unit 126 when the slider 470 is at the first detection position, and transmits a suction position detection signal to the control unit 126 when the slider 470 is at the second detection position. Send a return position detection signal. Therefore, based on the signal transmitted from the position detection mechanism 436, the control unit 126 can detect that the movable member 450 is at the suction position and that the movable member 450 is at the return position.

(Configuration of Reel 500 and Wire Relay Mechanism 600)
As shown in FIG. 2 , the reel 500 and wire relay mechanism 600 are provided in the transport unit 106 separately from the reinforcing bar binding unit 2 . The reel 500 and the wire relay mechanism 600 supply the wire W to the reinforcing bar binding unit 2 (see FIG. 3).

As shown in FIG. 20, reel 500 includes bobbin 502, bobbin shaft 504 (see FIG. 21), guide member 506, and wire W. As shown in FIG. Reel 500 is fixed to base plate 204 via bobbin shaft 504 . Bobbin shaft 504 is arranged to extend along axis A3. In this embodiment, the forward direction along the axis A3 is defined as the first axial direction, and the backward direction along the axis A3 is defined as the second axial direction. The axis A3 extends in a direction perpendicular to the left-right direction, and is inclined upward from the bottom toward the first axis with respect to the horizontal direction. The inclination angle of the axis A3 with respect to the horizontal direction is within the range of 0° to 45°, for example 10°. The bobbin 502 is non-rotatably attached to the bobbin shaft 504 . That is, bobbin 502 is non-rotatably attached to base plate 204 . The bobbin 502 includes a winding portion 508 (see FIG. 21), a first retaining portion 510 and a second retaining portion 512 . The winding portion 508 is formed in a substantially cylindrical shape centering on the axis A3, and the wire W is spirally wound thereon. The wire W is wound around the winding portion 508 along a predetermined winding direction. In this embodiment, the wire W is wound in a clockwise direction when the bobbin 502 is viewed from the first axial direction along the axis A3. The first retaining portion 510 is connected to the end portion of the winding portion 508 on the first axial direction side, and has a diameter-expanding shape that increases in diameter toward the first axial direction. The second retaining portion 512 is connected to the end portion of the winding portion 508 on the second axial direction side, and has a flange shape that widens outward in the radial direction of the axis A3. Also, the longitudinal direction of the bobbin 502 substantially coincides with the direction in which the axis A3 extends. The maximum length of the wire W that can be wound around the bobbin 502 of this embodiment is within the range of 600m to 1000m, for example 800m. Moreover, the length of the wire W used when the reinforcing bar binding unit 2 of this embodiment binds the intersection of the first reinforcing bar R1 and the second reinforcing bar R2 is about 0.67 m. As described above, the number of times of continuous binding in the reinforcing bar binding robot 100 of the present embodiment is within the range of 900 times to 1500 times, for example 1200 times. In this specification, the maximum number of binding times when the reinforcing bar binding robot 100 continuously binds the reinforcing bars without replacing the reel 500 may be referred to as the "continuous binding number".

As shown in FIG. 21 , the guide member 506 is provided on the first axial direction side of the first retaining portion 510 . The guide member 506 is formed in a substantially axially symmetrical shape with respect to the axis A3. The guide member 506 includes a shaft portion 514 , a rotor portion 516 , a first ring portion 518 , a second ring portion 520 and a braking portion 522 . Shaft portion 514 is fixed to bobbin shaft 504 and extends on axis A3. Rotor portion 516 is rotatably attached to shaft portion 514 . The rotor portion 516 has a plate portion 524 and a ring holding portion 526 . The plate portion 524 is made of a conductor (for example, copper or the like). Ring holding portion 526 holds first ring portion 518 and second ring portion 520 . The first ring portion 518 and the second ring portion 520 are provided so as to be able to swing relative to the ring holding portion 526 about a predetermined swinging axis (for example, an axis extending in the longitudinal direction of the ring holding portion 526). The first ring portion 518 forms a first guide hole 528 for guiding the wire W pulled out from the bobbin 502 . The second ring portion 520 forms a second guide hole 530 for guiding the wire W pulled out from the bobbin 502 . As shown in FIG. 20 , the first guide hole 528 and the second guide hole 530 are arranged radially outward of the axis A3 from the first retaining portion 510 . In this embodiment, the wire W pulled out from the bobbin 502 is passed through the first guide hole 528 of the first ring portion 518 . As shown in FIG. 22, when the first ring portion 518 through which the wire W pulled out from the bobbin 502 is passed is viewed from the outside in the radial direction of the axis A3, the hole axis A4 of the first guide hole 528 is It inclines so that it may go to the winding direction of the wire W as it goes to a 1st axial direction. As shown in FIG. 21, the braking portion 522 is non-rotatably attached to the shaft portion 514 . The braking portion 522 includes a plurality of magnetic members 532 arranged side by side in the circumferential direction of the axis A3 and spaced apart from the plate portion 524 in the second axial direction. In addition, in FIG. 21, illustration of the wire W is omitted for simplification of explanation.

As shown in FIG. 20 , the wire relay mechanism 600 includes a base portion 602 , guide rollers 604 , feed rollers 606 and 607 and an insertion member 608 . The wire relay mechanism 600 is fixed to the base plate 204 via a pedestal portion 602 . The wire W pulled out from the bobbin 502 through the guide member 506 is sandwiched between the feed rollers 606 and 607 through the insertion member 608, and the through hole 3b (see FIG. 4) of the reinforcing bar binding unit 2 by the guide roller 604. ). Therefore, when the wire W is sent out by the feeding mechanism 12 , the wire W is pulled out from the bobbin 502 via the wire relay mechanism 600 . In this embodiment, the insertion member 608 is arranged in front of the reel 500 and on the axis A3 of the reel 500 .

As described above, when the wire W is pulled out from the bobbin 502 , the wire W is pulled out from the first axial direction side of the bobbin 502 . As described above, since the bobbin 502 is non-rotatably attached to the base plate 204 , when the wire W is pulled out from the bobbin 502 , the wire W unwinds from the bobbin 502 along the direction opposite to the winding direction. While being unwound, it is pulled out in the first axial direction. Therefore, the rotor portion 516 holding the first ring portion 518 through which the wire W is passed rotates in the direction opposite to the winding direction of the wire W as the wire W is pulled out. Also, when the rotor portion 516 rotates, the plate portion 524 rotates with respect to the plurality of magnetic members 532 of the braking portion 522 . At this time, the plurality of magnetic members 532 generate eddy currents in the plate portion 524 of the rotor portion 516 . Due to the eddy current generated in the plate portion 524 , a Lorentz force acts on the rotor portion 516 to prevent the rotation of the rotor portion 516 . That is, when the rotor portion 516 rotates, the braking portion 522 applies braking force to the rotor portion 516 in a non-contact manner. This prevents the rotor portion 516 from continuing to rotate due to inertia after the feeding mechanism 12 (see FIG. 3) of the reinforcing bar binding unit 2 stops feeding the wire W, and the wire W is excessively unwound from the bobbin 502. can be suppressed.

(Operation of reinforcing bar binding robot 100)
When the execution of the operation of the reinforcing bar binding robot 100 is instructed via an operation execution button (not shown) or the like, the control unit 126 executes the processing shown in FIG. 23 . In the following description, the movement of the chassis 190 of the reinforcing bar binding robot 100 is assumed to be the movement of the reinforcing bar binding robot 100 for the sake of simplicity.

In S2, the control unit 126 determines that the lateral position of the first reinforcing bar R1′ to be bundled among the plurality of first reinforcing bars R1 detected by the reinforcing bar detection sensor (not shown) is the reference position. is within the first predetermined position range. The reference position here means the position where the intersection of the first reinforcing bar R1 and the second reinforcing bar R2 should exist when the reinforcing bar binding unit 2 at the lower limit position performs the binding operation. For example, the reference position is positioned at the center of the base plate 204 in the front-rear direction and the left-right direction. Further, the first predetermined position range referred to here is a range in which it is determined that lateral movement by the side stepper 196 is necessary when the lateral position of the first reinforcing bar R1' is out of that range. be. If the horizontal position of the first reinforcing bar R1' is not within the first predetermined position range from the reference position (NO), the process proceeds to S3.

In S3, the control unit 126 performs movement switching processing. In the movement switching process, when the solenoid 452 is in the non-energized state, the control unit 126 switches the solenoid 452 from the non-energized state to the energized state. As a result, the power transmission mechanism 402 is switched from the first state to the second state, and the side stepper 196 can be driven by the dual-purpose motor 400 . When the position detection mechanism 436 detects that the movable member 450 is at the suction position, the control unit 126 ends the movement switching process. After the movement switching process ends, the process proceeds to S4.

In S4, the control unit 126 drives the side stepper 196 to move the reinforcing bar binding robot 100 rightward or leftward. After S4, the process returns to S2.

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

In S8, the control unit 126 determines whether the angle of the first reinforcing bar R1 detected by the reinforcing bar detection sensor (not shown) is within a predetermined angle range from the reference angle. The reference angle here means the angle that the first reinforcing bar R1′ should take at the intersection of the first reinforcing bar R1 and the second reinforcing bar R2 when the reinforcing bar binding unit 2 at the lower limit position performs the binding operation. . For example, the reference angle is zero degrees. Moreover, the predetermined angle range referred to here is a range in which the binding operation by the reinforcing bar binding unit 2 can be performed as long as the angle of the first reinforcing bar R1' is within that range. If the angle of the first reinforcing bar R1' is not within the predetermined angle range (NO), the process proceeds to S10. If the angle of the first reinforcing bar R1 is within the predetermined angle range (YES), the process proceeds to S20.

At S10, the control unit 126 starts rebar tracing control. In the reinforcing bar tracing control, the control unit 126 advances or retreats the reinforcing bar binding robot 100 while giving a speed difference between the right crawler 192 and the left crawler 194, and adjusts the horizontal position and angle of the first reinforcing bar R1′ to Approach the reference position and reference angle.

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

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

In S16, the control unit 126 ends the reinforcing bar tracing control. By performing the processes from S10 to S16, as shown in FIG. 24, the reinforcing bar binding robot 100 moves so that the horizontal position and angle of the first reinforcing bar R1' match the reference position and reference angle. . 24 and 25, the reference position and reference angle of the reinforcing bar binding robot 100 are represented by a cross cursor C. As shown in FIG.

As shown in FIG. 23, in S18, the control unit 126 performs recovery processing. In the return process, the control unit 126 causes the reinforcing bar binding robot 100 to advance in the direction opposite to the direction in which the reinforcing bar binding robot 100 advanced in the previous S10. At this time, the control unit 126 determines that the horizontal position and angle of the first reinforcing bar R1′, which has been within the second predetermined position range and the predetermined angle range in the previous processing from S10 to S16, is changed to the second predetermined position. The rebar binding robot 100 is advanced while giving a speed difference between the right crawler 192 and the left crawler 194 so as not to deviate from the range and the predetermined angle range. The control unit 126 measures the forward or backward movement distance of the reinforcing bar binding robot 100 from the start of the reinforcing bar tracing control in S10 to the end of the reinforcing bar tracing control in S16. , advances the reinforcing bar binding robot 100 in the opposite direction by the same moving distance. By performing the return processing of S18, as shown in FIG. 25, the reinforcing bar binding robot 100 moves in the opposite direction while the position and angle of the first reinforcing bar R1' in the horizontal direction are kept in agreement with the reference position and the reference angle. proceed. As shown in FIG. 23, after S18, the process proceeds to S20.

In S20, the control unit 126 starts rebar tracing control, as in S10. This causes the reinforcing bar binding robot 100 to start advancing or retreating along the first reinforcing bar R1'.

In S22, the control unit 126 determines whether the longitudinal position of the second reinforcing bar R2 detected by the reinforcing bar detection sensor (not shown) is within a predetermined position range from the reference position. The predetermined position range referred to here is a range in which the binding operation by the reinforcing bar binding unit 2 can be performed as long as the position of the second reinforcing bar R2 is within that range. If the longitudinal position of the second reinforcing bar R2 is not within the predetermined position range (NO), the process returns to S22. If the longitudinal position of the second reinforcing bar R2 is within the predetermined position range (YES), the process proceeds to S24.

In S24, the control unit 126 ends the reinforcing bar tracing control.

In S25, the control unit 126 performs a lifting/lowering switching process. In the up/down switching process, the control unit 126 switches the solenoid 452 from the energized state to the non-energized state when the solenoid 452 is in the energized state. As a result, the power transmission mechanism 402 is switched from the second state to the first state, and the dual-purpose motor 400 can be driven to drive the lifting mechanism 130 . When the position detection mechanism 436 detects that the movable member 450 is at the return position, the control unit 126 ends the elevation switching process. After the up/down switching process is completed, the process proceeds to S26.

In S26, the control unit 126 performs reinforcing bar binding processing. In the reinforcing bar binding process, the control unit 126 drives the lifting mechanism 130 to lower the reinforcing bar binding unit 2 to the lower limit position, and then transmits a binding instruction signal to the control device 80 . As a result, the reinforcing bar binding unit 2 is set at the intersection of the first reinforcing bar R1' and the second reinforcing bar R2, and the first reinforcing bar R1' and the second reinforcing bar R2 are bound by the reinforcing bar binding unit 2. After that, the control unit 126 drives the lifting mechanism 130 to lift the reinforcing bar binding unit 2 to the upper limit position. After S26, the process proceeds to S28.

In S28, the control unit 126 determines whether or not the bundling work performed in S26 has been completed normally. If it is determined that the bundling work has not been completed normally (in the case of NO), the process returns to S26. If it is determined that the bundling work has been completed normally (if YES), the process proceeds to S30.

In S30, the control unit 126 determines whether or not the bundling work for the first reinforcing bar R1' has been completed. If it is determined that the process has not ended yet (NO), the process returns to S20. By repeating the processes from S20 to S30, the reinforcing bar binding robot 100 moves along the first reinforcing bar R1' and moves along the first reinforcing bar R1' as shown in FIG. tying work repeatedly.

As shown in FIG. 23, when it is determined in S30 that the bundling work for the first reinforcing bar R1' is all completed (YES), the process proceeds to S32.

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

In S34, the control unit 126 changes the first reinforcing bar R1' to be bundled to another first reinforcing bar R1 for which the binding operation has not yet been completed. After S34, the process returns to S2.

If it is determined in S32 that the bundling work has been completed for all the first reinforcing bars R1 (YES), the process of FIG. 23 ends.

In the process of FIG. 23, when the reinforcing bar binding robot 100 repeatedly performs the binding work at the intersection of the first reinforcing bar R1' and the second reinforcing bar R2, the intersection of the first reinforcing bar R1' and the second reinforcing bar R2 may be tied together. In this case, the intersecting points to be bound by the reinforcing bar binding robot 100 may be selected so that at least one of the adjacent intersecting points is finally bound.

(Modification)
In the above examples, power supply unit 102 and control unit 126 may or may not be supported by chassis 190 . Further, in the above embodiment, the control unit 126 may be provided so as to be able to communicate wirelessly with each of the reinforcing bar binding unit 2, the power supply unit 102, and the transport unit 106. In this case, the control unit 126 may be provided in an external controller operated by the user (for example, a dedicated controller, smartphone, tablet terminal, or the like).

In the above embodiment, the reinforcing bar binding robot 100 is provided with a power supply unit 102 to which a plurality of battery packs are attached. The configuration for supplying power to each has been described. In another embodiment, the rebar binding robot 100 may be provided with a power cord for supplying power from an external power source instead of the power unit 102 . In this case, power may be supplied from an external power supply to each of the reinforcing bar binding unit 2, the transport unit 106, and the control unit 126.

In the above embodiment, first output shaft 414 may be coupled to at least one of right crawler 192 and left crawler 194 instead of lift mechanism 130 . Specifically, first output shaft 414 may be coupled to at least one of front pulley 218 and front pulley 244 . In this case, since at least one of the right crawler motor 228 and the left crawler motor 254 does not need to be provided in the transport unit 106, the number of motors provided in the transport unit 106 can be reduced. Further, in this case, the power transmission mechanism 402 is in a third state in which power is transmitted to at least one of the right crawler 192 and the left crawler 194, and in a second state in which power from the dual-purpose motor 400 is transmitted to the side stepper 196. Toggles between states.

In the above examples, the second output shaft 416 may be connected to at least one of the right crawler 192 and the left crawler 194 . Specifically, second output shaft 416 may be coupled to at least one of front pulley 218 and front pulley 244 . In this case, since at least one of the right crawler motor 228 and the left crawler motor 254 does not need to be provided in the transport unit 106, the number of motors provided in the transport unit 106 can be reduced. In this case, the power transmission mechanism 402 is in a first state in which power is transmitted from the dual-purpose motor 400 to the lifting mechanism 130, and in a third state in which power is transmitted to at least one of the right crawler 192 and the left crawler 194. Toggles between states.

In the above embodiment, planetary carrier 410 is connected to first output shaft 414 and internal gear 412 is connected to second output shaft 416 . In another embodiment, planet carrier 410 may be coupled to second output shaft 416 and internal gear 412 may be coupled to first output shaft 414 .

In the above embodiment, the planet carrier 410 is positioned radially inward of the internal gear 412, the inner engagement recess 440 is formed in the planet carrier 410, and the outer engagement recess 442 is formed in the internal gear 412. I explained the configuration. In another embodiment, the planet carrier 410 may be positioned radially outward of the internal gear 412 with an inner engaging recess 440 formed in the internal gear 412 and an outer engaging recess 442 in the planet carrier 410. may be formed.

In the above embodiment, the locking pin 446 engages the outer engagement recess 442 when the solenoid 452 is energized, and the locking pin 446 engages the inner engagement recess 440 when the solenoid 452 is de-energized. has been described. In another embodiment, locking pin 446 may engage inner engagement recess 440 when solenoid 452 is energized, and locking pin 446 may engage outer engagement recess 440 when solenoid 452 is de-energized. It may engage with the joint recess 442 .

In the above embodiment, when the solenoid 452 is energized, the locking member 434 is moved to the first locking position, and when the solenoid 452 is de-energized, the locking member 434 is moved to the second locking position. described the configuration that In another example, locking member 434 may be moved to the second locking position when solenoid 452 is energized. When solenoid 452 is de-energized, locking member 434 may be moved to the first locking position.

In the embodiment described above, the actuator 432 is a solenoid actuator, and the structure for moving the locking member 434 between the first locking position and the second locking position has been described. In another embodiment, actuator 432 may be an actuator other than a solenoid actuator. For example, actuator 432 may be a motor. In this case, the motor may move the locking member 434 between the first locking position and the second locking position via the rack and pinion.

In the above embodiment, a so-called planetary gear mechanism is used to enable the power transmission mechanism 402 to switch between the first state and the second state. In another embodiment, a clutch mechanism other than a planetary gear mechanism may be used to allow the power transmission mechanism 402 to switch between the first state and the second state.

In the embodiment described above, the reel 500 and the wire relay mechanism 600 are provided in the transport unit 106 separately from the reinforcing bar binding unit 2 . In another embodiment, the reel 500 may be provided integrally with the reinforcing bar binding unit 2 . In this case, the wire relay mechanism 600 may not be provided.

In the above embodiment, the bobbin 502 is non-rotatably attached to the base plate 204, and the wire W is pulled out from the bobbin 502 in the first axial direction. In another embodiment, the bobbin 502 may not be non-rotatable with respect to the base plate 204 and the wire W may be drawn from other than the first axial side of the bobbin 502 . For example, the bobbin 502 may be rotatable with respect to the base plate 204 , and the wire W may be pulled out along the tangential direction of the bobbin 502 while rotating the bobbin 502 .

In the above embodiment, the first retainer portion 510 has a diameter-expanded shape that expands in the first axial direction. In another embodiment, the first retaining portion 510 may have a flange shape that widens outward in the radial direction of the axis A3.

In the above embodiment, the configuration in which the longitudinal direction of the bobbin 502 substantially coincides with the direction in which the axis A3 extends has been described. In another embodiment, the longitudinal direction of bobbin 502 may not substantially coincide with the direction in which axis A3 extends. For example, the maximum diameter of bobbin 502 may be greater than the length of bobbin 502 in the direction in which axis A3 extends.

In the above embodiment, the configuration in which the guide member 506 has two ring portions (the first ring portion 518 and the second ring portion 520) has been described. In another embodiment, guide member 506 may include only one ring portion. In yet another embodiment, guide member 506 may comprise more than two ring portions. Also in this case, three or more ring portions may be provided at predetermined angular intervals around the axis A3.

In the above embodiment, the configuration in which the wire W pulled out from the bobbin 502 is passed through the first guide hole 528 of the first ring portion 518 has been described. In another embodiment, the wire W drawn from the bobbin 502 may pass through the second guide hole 530 of the second ring portion 520 . Since the first ring portion 518 and the second ring portion 520 are substantially symmetrical about the axis A3, the above description of the first ring portion 518 with the wire W passed therethrough is It can also be applied to the second ring portion 520 in the state.

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

In the above embodiment, the configuration in which the dedicated reinforcing bar binding unit 2 is attached to the reinforcing bar binding robot 100 has been described. In another embodiment, the rebar binding robot 100 may be attached with a commercially available rebar binding machine (eg, TR180D sold by Makita Corporation). In this case, the reel 500 and the wire relay mechanism 600 may not be provided, and the wire W may be supplied from a reel included in the reinforcing bar binding machine. Moreover, the reinforcing bar binding robot 100 may further include a gripping mechanism for gripping the trigger of the reinforcing bar binding machine. In still another embodiment, the handle may be detachable from the reinforcing bar binding unit 2 of this embodiment. Also, the reinforcing bar binding unit 2 may be detached from the chassis 190 and may be used as a hand-held reinforcing bar binding machine. Also in this case, the wire W may be supplied from the reel 500 to the reinforcing bar binding unit 2 . Note that the reel 500 may be fixed to the chassis 190 or may be removed from the chassis 190 in the same manner as the reinforcing bar binding unit 2 . When the rebar tying unit 2 and the reel 500 are removed from the chassis 190, the reel 500 may be portable, such as being carried by the user.

In the above embodiment, the reinforcing bar binding robot 100 may be provided with an emergency stop button for the user to stop the operation of the reinforcing bar binding robot 100 in an emergency. In this case, when the emergency stop button is pressed by the user, control unit 126 stops right crawler motor 228, left crawler motor 254, and dual purpose motor 400. FIG. When the user instructs the execution of the operation again after removing the danger, the control unit 126 first executes the movement switching process, and drives the combined motor 400 to set the front crank mechanism 276 and the rear crank mechanism 277 to the zero point. return to position. After that, the lifting/lowering switching process is executed, and the dual-purpose motor 400 is driven to return the lifting mechanism 130 to the upper limit position. After that, the control unit 126 performs normal control to operate the reinforcing bar binding robot 100 . The emergency stop button may be provided near the outer circumference of the reinforcing bar binding robot 100, for example, near the ends in the front-rear direction or the left-right direction so that the user can easily press it in an emergency. Also, a plurality of emergency stop buttons may be provided.

In the above embodiment, the reinforcing bar binding robot 100 may be provided with an operation display indicator (not shown) for displaying the operating state of the reinforcing bar binding robot 100 . In this case, the operation display indicator may display the state of the bundling work performed by the reinforcing rod bundling robot 100 to the user. The state of the tying work includes, for example, a state of tying all the intersections of the first reinforcing bars R1 and the second reinforcing bars R2, and a state of tying the intersections of the first reinforcing bars R1 and the second reinforcing bars R2 one by one. You can Alternatively, the operation display indicator may display to the user that the reinforcing bar binding robot 100 has stopped abnormally. The operation display indicator may display the operation state of the reinforcing rod binding robot 100 by, for example, one or more light emission colors, blinking patterns, or a combination thereof.

(correspondence relationship)
As described above, in one or more embodiments, the reinforcing bar binding robot 100 performs a plurality of first reinforcing bars R1 and a plurality of second reinforcing bars R2 intersecting the plurality of first reinforcing bars R1. The operation of moving on the reinforcing bars R1 and the plurality of second reinforcing bars R2 and the action of binding the intersections of the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2 can be repeatedly performed. The reinforcing bar binding robot 100 includes a reinforcing bar binding unit 2 , a transport unit 106 that transports the reinforcing bar binding unit 2 , and a control unit 126 that controls the operation of the transport unit 106 . The transport unit 106 is supported by a chassis 190 (example of a pedestal), a dual-purpose motor 400 (example of a motor) supported by the chassis 190, and the chassis 190 is supported by a plurality of first reinforcing bars R1 and a plurality of A side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) (an example of a moving mechanism) that moves on the second reinforcing bar R2, and is supported by the chassis 190, and the reinforcing bar binding unit is attached to the chassis 190. 2 and a lifting mechanism 130 that is supported by the chassis 190 and selectively supplies power from a dual-purpose motor 400 to the side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) or the lifting mechanism 130. is provided with a power transmission mechanism 402 capable of transmitting the

According to the above configuration, the power transmission mechanism 402 can selectively transmit power from the dual-purpose motor 400 to the side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) or the lifting mechanism 130. It is configured. Therefore, the side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) and the lifting mechanism 130 can be driven by a single motor 400, and the number of motors provided in the transport unit 106 can be reduced to can be reduced.

In one or more embodiments, the power transmission mechanism 402 includes an input shaft 404 driven in rotation by the dual purpose motor 400, a first output shaft 414 that drives the lift mechanism 130, a side stepper 196 (or a right crawler). 192 and/or left crawler 194). The power transmission mechanism 402 rotates the first output shaft 414 as the input shaft 404 rotates, thereby transmitting power from the dual-purpose motor 400 to the lifting mechanism 130 . A second state (or a third state) in which power from the dual-purpose motor 400 is transmitted to the side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) by rotating the second output shaft 416 accordingly. ).

In a power transmission mechanism that converts rotary motion of an input shaft into rotary motion of an output shaft, the arrangement of the output shaft with respect to the input shaft can be determined relatively freely. According to the above configuration, the power transmission mechanism 402 in the first state converts the rotational motion of the input shaft 404 into the rotational motion of the first output shaft 414, thereby transmitting power from the combined motor 400 to the lifting mechanism 130. to communicate. In the second state, the power transmission mechanism 402 converts rotational motion of the input shaft 404 into rotational motion of the second output shaft 416 to move the side stepper 196 (or at least one of the right crawler 192 and the left crawler 194). and transmits power from the dual-purpose motor 400 . Therefore, the arrangement of the first output shaft 414 and the arrangement of the second output shaft 416 with respect to the input shaft 404 can be determined relatively freely. Therefore, the arrangement of the lifting mechanism 130 and the side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) relative to the power transmission mechanism 402 can be determined relatively freely.

In one or more embodiments, the power transmission mechanism 402 rotatably retains a sun gear 406 fixed to the input shaft 404 , a plurality of planetary gears 408 meshing with the sun gear 406 , and a plurality of planetary gears 408 . In addition, a planetary carrier 410 rotatable around the rotation axis A2 of the sun gear 406, an internal gear 412 meshing with the plurality of planetary gears 408 and rotatable around the rotation axis A2 of the sun gear 406, the planetary carrier 410 or and a locking member 434 selectively engageable with the internal gear 412 . First output shaft 414 is configured to rotate with rotation of planetary carrier 410 (or internal gear 412) (one example of a planetary carrier and an internal gear). Second output shaft 416 is configured to rotate with rotation of internal gear 412 (or planet carrier 410) (another example of a planet carrier and internal gear). Locking member 434 engages internal gear 412 (or planet carrier 410) to inhibit rotation of internal gear 412 (or planet carrier 410) and prevent planet carrier 410 (or planet carrier 410) from rotating as sun gear 406 rotates. By allowing the gear 412) to rotate, the power transmission mechanism 402 enters the first state. Locking member 434 engages planet carrier 410 (or internal gear 412) to inhibit rotation of planet carrier 410 (or internal gear 412), and prevents internal gear 412 (or planet gear 412) from rotating as sun gear 406 rotates. By permitting the rotation of the carrier 410), the power transmission mechanism 402 is placed in the second state.

Typically, a speed reducer is provided between dual-purpose motor 400 and lifting mechanism 130 and between dual-purpose motor 400 and side stepper 196 (or at least one of right crawler 192 and left crawler 194). According to the above configuration, it is possible to switch the power transmission mechanism 402 between the first state and the second state while using a so-called planetary gear mechanism as a speed reducer. Therefore, the power transmission mechanism 402 can be downsized.

In one or more embodiments, the planet carrier 410 (or internal gear 412) (an example of a planet carrier and internal gear) are arranged circumferentially side-by-side and radially outward from the radially outer side. An inner engaging recess 440 is formed having a plurality of inner recessed grooves 440a recessed inwardly. Internal gear 412 (or planetary carrier 410) (another example of planetary carrier and internal gear) has a plurality of circumferentially arranged recesses extending radially inward to radially outward. An outer engaging recess 442 is formed with an outer recessed groove 442a. The outer engaging recess 442 is arranged radially outward of the inner engaging recess 440 . Locking member 434 includes a locking pin 446 extending along axis of rotation A2 of sun gear 406 . Lock pin 446 engages outer engagement recess 442 (or inner engagement recess 440) (one example of an inner engagement recess and an outer engagement recess) to engage internal gear 412 (or planet carrier 410). By prohibiting the rotation, the power transmission mechanism 402 enters the first state. Lock pin 446 engages inner engagement recess 440 (or outer engagement recess 442) (another example of an inner engagement recess and an outer engagement recess) to lock planet carrier 410 (or internal gear 412). By prohibiting the rotation, the power transmission mechanism 402 enters the second state.

According to the above configuration, the locking pin 446 engaged with the inner engagement recess 440 is disengaged from the inner engagement recess 440 by being moved radially outward of the inner engagement recess 440 . be. The locking pin 446 disengaged from the inner engagement recess 440 is moved radially outward of the inner engagement recess 440 to engage with the outer engagement recess 442 . Conversely, the locking pin 446 engaged with the outer engaging recess 442 is disengaged from the outer engaging recess 442 by moving radially inward of the outer engaging recess 442 . Then, the locking pin 446 disengaged from the outer engaging recess 442 is engaged with the inner engaging recess 440 by moving radially inward of the outer engaging recess 442 . Therefore, switching between the first state and the second state in the power transmission mechanism 402 is completed simply by moving the locking pin 446 substantially linearly. According to the above configuration, switching between the first state and the second state in the power transmission mechanism 402 can be performed smoothly.

In one or more embodiments, the power transmission mechanism 402 moves the locking member 434 between a first locking position (example first position) and a second locking position (example second position). It further comprises an actuator 432 that causes the When locking member 434 is in the first locking position, locking pin 446 is positioned to engage outer engaging recess 442 (or inner engaging recess 440). When the locking member 434 is in the second locking position, the locking pin 446 is positioned to engage the inner engagement recess 440 (or the outer engagement recess 442). The control unit 126 controls the operation of the actuator 432 to move the position of the locking member 434 between the first locking position and the second locking position, thereby shifting the power transmission mechanism 402 to the first state and the second state. Toggle between states.

According to the above configuration, the control unit 126 can switch between the first state and the second state in the power transmission mechanism 402 by controlling the operation of the actuator 432 . Therefore, in the reinforcing bar binding robot 100 , switching between the first state and the second state in the power transmission mechanism 402 can be performed in conjunction with the control of the dual-purpose motor 400 by the control unit 126 .

In one or more embodiments, the linear direction from the second locking position to the first locking position is the rearward direction (example first direction) and from the first locking position to the second locking position. When the linear direction is the forward direction (example of the second direction), the actuator 432 pulls the movable member 450 extending along the front-rear direction (examples of the first direction and the second direction) and the movable member 450. A solenoid 452 slidably held between a position (example of the third position) and a return position (example of the fourth position) on the front side of the suction position, It has a first spring member 454 that biases the movable member 450 forward (example of one of the first direction and the second direction) against the solenoid 452 . When the solenoid 452 is energized, the attractive force of the electromagnet formed by the solenoid 452 causes the movable member 450 to move backward (an example of the other of the first direction and the second direction) against the elastic restoring force of the first spring member 454 . As a result, the movable member 450 is moved to the suction position (or return position) (example of one of the third position and the fourth position). When the solenoid 452 is in a non-energized state, the elastic restoring force of the first spring member 454 urges the movable member 450 forward, thereby moving the movable member 450 to the return position (or the suction position) (the third position and the suction position). the other example of the fourth position). Interlocking with the movement of the movable member 450 to the suction position, the locking member 434 is moved to the first locking position. Interlocking with the movement of the movable member 450 to the return position, the locking member 434 is moved to the second locking position. The control unit 126 switches the power transmission mechanism 402 between the first state and the second state by switching the solenoid 452 between an energized state and a non-energized state.

In general, solenoid actuators are capable of relatively fast response. According to the above configuration, by using a so-called pull-type solenoid actuator to move the locking member 434 between the first locking position and the second locking position, the first state of the power transmission mechanism 402 can be obtained. and a second state. Therefore, switching between the first state and the second state in the power transmission mechanism 402 can be performed at a relatively high speed.

In one or more embodiments, the locking member 434 further includes an operating pin 448 (an example of an operating portion) extending vertically (an example of a direction substantially perpendicular to the extending direction of the movable member). The movable member 450 vertically communicates with a hollow portion 460 in which a second spring member 466 and a third spring member 468 that can expand and contract in the extension direction are accommodated, and the hollow portion 460 and the outside of the movable member 450. A second slide hole 462 (an example of a slide hole) is provided to slidably receive the operation pin 448 of the locking member 434 in the extending direction. The operating pin 448 is accommodated in the hollow portion 460 via the second slide hole 462 . In the hollow portion 460 , the second spring member 466 is provided on the forward side of the operating pin 448 , and the third spring member 468 is provided on the rearward side of the operating pin 448 . When the movable member 450 is moved to the suction position, the operation pin 448 relatively moves forward in the hollow portion 460 so that the second spring member 466 is contracted, and the second spring member 466 in the contracted state is contracted. urges the operation pin 448 rearward against the movable member 450 to move the locking member 434 to the first locking position. When the movable member 450 is moved to the return position, the operation pin 448 relatively moves rearward in the hollow portion 460 to contract the third spring member 468 , and the third spring member 468 in the contracted state urges the operating pin 448 forward against the movable member 450 to move the locking member 434 to the second locking position.

For example, when moving locking member 434 from the first locking position toward the second locking position, locking pin 446 does not successfully enter inner recessed groove 440a or outer recessed groove 442a, causing locking member 434 to move. may stagnate at a position on the rearward side of the second locking position. Similarly, the locking member 434 may stay at a position on the front side of the first locking position. In this case, if the locking member 434 is fixed to the movable member 450, a large load may be applied to the locking member 434 in the front-rear direction. According to the above configuration, the locking member 434 is provided so as to be able to swing in the front-rear direction with respect to the movable member 450 . The above configuration allows the locking member 434 to move rearwardly or forwardly relative to the movable member 450 if the locking pin 446 does not successfully enter the inner recessed groove 440a or the outer recessed groove 442a. Therefore, the load applied to the locking member 434 can be reduced.

In one or more embodiments, the power transmission mechanism 402 further includes a position detection mechanism 436 that detects when the movable member 450 is in the attract position or in the return position. During operation of the reinforcing rod binding robot 100, the control unit 126 changes the solenoid 452 from a non-energized state (or energized state) (an example of one of the energized state and the non-energized state) to the energized state (or non-energized state) (energized state). and the other example of the de-energized state) to switch the power transmission mechanism 402 from the second state to the first state (example of first switching processing); state) to a non-energized state (or an energized state) to execute movement switching processing (example of second switching processing) for switching the power transmission mechanism 402 from the first state to the second state. When the position detection mechanism 436 detects that the movable member 450 is at the suction position during the elevation switching process, the control unit 126 ends the elevation switching process. When the position detection mechanism 436 detects that the movable member 450 is at the return position in the movement switching process, the control unit 126 ends the movement switching process.

For example, when the control unit 126 detects that the locking pin 446 is in the first locking position or the second locking position during the lifting switching process or the movement switching process, the lifting switching process or the movement switching process is terminated. With such a configuration, the up/down switching process and the movement switching process cannot be completed in a state where the locking member 434 is stagnant between the first locking position and the second locking position. However, in most cases, when the locking member 434 is stagnant between the first locking position and the second locking position, the locking member 434 is released from the stagnation by driving the dual-purpose motor 400 or the like. It is better to end the up/down switching process and the movement switching process and move to the next process. According to the above configuration, the control unit 126 terminates the elevation switching process and the movement switching process when detecting that the movable member 450 is at the suction position or the return position in the elevation switching process or the movement switching process. It is configured. Therefore, even when the locking member 434 is stuck between the first locking position and the second locking position, it is possible to end the up/down switching process and the movement switching process and proceed to the next process. .

In one or more embodiments, the position detection mechanism 436 has a first detection position (example fifth position) and a second detection position forward of the first detection position (example sixth position). It has a slider 470 that slides between. The position detection mechanism 436 detects that the movable member 450 is at the suction position when the slider 470 is at the first detection position, and detects that the movable member 450 is at the return position when the slider 470 is at the second detection position. is configured to detect The movable member 450 is provided separately from the second slide hole 462 on the outer peripheral surface around the extending direction, and further includes a concave portion 464 recessed vertically from the outer peripheral surface. The slider 470 has a convex portion 470 a that approximately fits into the concave portion 464 of the movable member 450 . In conjunction with the movement of movable member 450 to the suction position, slider 470 is moved to the first detection position. In conjunction with the movement of movable member 450 to the return position, slider 470 is moved to the second detection position.

According to the above configuration, the position detection mechanism 436 detects the position of the movable member 450 based on the position of the slider 470 that slides in conjunction with the movable member 450 . Therefore, the position detection mechanism 436 can be configured simply and inexpensively.

In one or more embodiments, the movement mechanism includes at least one of right crawler 192 and left crawler 194 (longitudinal) that moves chassis 190 longitudinally over the plurality of first rebars R1 and the plurality of second rebars R2. This is an example of a directional movement mechanism).

According to the above configuration, the power transmission mechanism 402 is configured to be capable of selectively transmitting power from the dual-purpose motor 400 to at least one of the right crawler 192 and the left crawler 194 or the lifting mechanism 130 . Therefore, at least one of the right crawler 192 and the left crawler 194 and the lift mechanism 130 can be driven by the single dual-purpose motor 400, and the number of motors provided in the transport unit 106 can be reduced.

In one or more embodiments, the longitudinal movement mechanism includes at least one of front pulley 218 and front pulley 244 (example of a drive wheel) coupled to second output shaft 416 and front pulley 218 and front pulley 244. At least one of the rear pulley 220, the plurality of auxiliary pulleys 222, the tensioner pulley 224, the rear pulley 246, the plurality of auxiliary pulleys 248, and the tensioner pulley 250 provided separately from at least one of (an example of a training wheel); At least one of the front pulley 218 and the front pulley 244, and at least one of the rear pulley 220, the plurality of auxiliary pulleys 222, the tensioner pulley 224, the rear pulley 246, the plurality of auxiliary pulleys 248, and the tensioner pulley 250. , at least one of a right crawler 192 and a left crawler 194 (examples of crawlers) with at least one of rubber belts 226 and 252 (examples of belts).

For example, in a configuration that includes wheels that run using a portion of the plurality of first reinforcing bars R1 or the plurality of second reinforcing bars R2 as rails, if the weight of the transport unit 106 increases, the running performance of the transport unit 106 decreases. According to the above configuration, even when the weight of the transport unit 106 increases, it is possible to suppress deterioration in the running performance of the transport unit 106 .

In one or more embodiments, the movement mechanism is a side stepper 196 (an example of a lateral movement mechanism) that moves the undercarriage 190 laterally over the plurality of first rebars R1 and the plurality of second rebars R2. be.

According to the above configuration, the power transmission mechanism 402 is configured to selectively transmit the power from the dual-purpose motor 400 to the side stepper 196 or the lifting mechanism 130 . Therefore, the side stepper 196 and the lifting mechanism 130 can be driven by the single dual-purpose motor 400, and the number of motors provided in the transport unit 106 can be reduced.

In one or more embodiments, the side stepper 196 includes a front crank mechanism 276 and a rear crank mechanism 277 (an example crank mechanism) coupled to the second output shaft 416 and a front crank mechanism 276 and rear crank mechanism 276 coupled to the second output shaft 416 . A side stepper 196 with step bars 272 , 274 driven along a predetermined side step trajectory S by a second output shaft 416 via mechanism 277 .

According to the above configuration, the chassis 190 can be step-moved in the left-right direction at a constant step width on the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2. Therefore, the chassis 190 can be stably moved in the left-right direction.

In one or more embodiments, the rebar binding robot 100 winds the wire W around the chassis 190, the plurality of first rebars R1 and the plurality of second rebars R2 (examples of rebars), and The reinforcing bar binding unit 2 that twists W, the lifting mechanism 130 (example of the first moving mechanism) that moves the reinforcing bar binding unit 2 with respect to the chassis 190, the chassis 190, the plurality of first reinforcing bars R1 and the plurality of A side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) (an example of a second moving mechanism) that moves with respect to the second reinforcing bar R2, and the lifting mechanism 130 or the side stepper 196 (or the right crawler 192 and (At least one of the left crawlers 194) is provided with a dual-purpose motor 400 capable of selectively transmitting power.

According to the above configuration, dual-purpose motor 400 is configured to selectively transmit power to lifting mechanism 130 or side stepper 196 (or at least one of right crawler 192 and left crawler 194). Therefore, each of the lifting mechanism 130 and the side stepper 196 (or at least one of the right crawler 192 and the left crawler 194) can be driven by the single dual-purpose motor 400, and the number of motors provided in the transport unit 106 can be reduced to can be reduced.

In one or more embodiments, the rebar binding robot 100 winds the wire W around the chassis 190, the plurality of first rebars R1 and the plurality of second rebars R2 (examples of rebars), and A reinforcing bar binding unit 2 for twisting W; Both the right crawler 192 and the left crawler 194 (an example of a planar movement mechanism) that move back and forth and/or left and right with respect to the second reinforcing bar R2 (an example of a reinforcing bar), and the lifting mechanism 130 or the right crawler 192 and the left crawler 194 is provided with a dual-purpose motor 400 capable of selectively transmitting power to both.

According to the above configuration, dual-purpose motor 400 is configured to selectively transmit power to lifting mechanism 130 or both right crawler 192 and left crawler 194 . Therefore, the lifting mechanism 130 and both the right crawler 192 and the left crawler 194 can be driven by the single dual-purpose motor 400, and the number of motors provided in the transport unit 106 can be reduced.

In one or more embodiments, the rebar binding robot 100 further includes a power supply unit 102 (an example of a battery device) supported by the chassis 190 and capable of powering the dual purpose motor 400 .

When the dual-purpose motor 400 is driven by electric power from an external power supply, it is necessary to attach a power cord to the dual-purpose motor 400 . In this case, the power cord attached to the dual-purpose motor 400 may prevent the chassis 190 from moving on the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2. According to the above configuration, since it is not necessary to attach a power cord to the dual-purpose motor 400, the chassis 190 can be freely moved on the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2.

In one or more embodiments, the power supply unit 102 can also power the rebar tying unit 2 .

When driving the reinforcing bar binding unit 2 with electric power from an external power supply, it is necessary to attach a power cord to the reinforcing bar binding unit 2 . In this case, the power cord attached to the reinforcing bar binding unit 2 may prevent the chassis 190 from moving on the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2. According to the above configuration, since it is not necessary to attach a power cord to the reinforcing bar binding unit 2, the chassis 190 can be freely moved on the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2. .

2: Reinforcement binding unit 3: Housing 3a: Fitting portion 3b: Through hole 4: Body portion 6: Grip portion 10: Guide reel 12: Feed mechanism 14: Guide mechanism 18: Cutting mechanism 20: Mechanism 21: Insertion member 22: Feed motor 24 : Drive roller 26 : Driven roller 28 : Guide pipe 30 : Upper curl guide 32 : Lower curl guide 34 : First guide passage 38 : Guide pin 40 : Cutter 42 : Return plate 52 : Link 54 : Motor 56 : Reduction mechanism 58 : Screw shaft 60 : Sleeve 61 : Push plate 62 : Hook 80 : Control device 100 : Rebar binding robot 102 : Power supply unit 106 : Transfer unit 126 : Control unit 130 : Lifting mechanism 132 : Worm gear case 134 : Lifting arm 136 : Worm shaft 138 : Slider crank mechanism 142 : Crankshaft 144 : Crank arm 146 : Crank pin 148 : Crank rod 150 : Slider pin 152 : Slider 153 : Rail 154 : Base member 156 : First interference pin 158 : Long hole 160 : Second interference pin 162 : Spring 163 : First fin 164 : Second fin 166 : Cam 168 : First photosensor 170 : Second photosensor 190 : Undercarriage 192 : Right crawler 194 : Left crawler 196 : Side stepper 204 : Base plate 204a: Through hole 210: Right plate 212: Left plate 214: Base frame 215: Front connecting frame 216: Rear connecting frame 218: Front pulley 220: Rear pulley 222: Auxiliary pulley 224: Tensioner pulley 226: Rubber belt 228: Right side Crawler motor 230 : Gear box 232 : Bearing 234 : Bearing 236 : Bearing 237 : Movable bearing 244 : Front pulley 246 : Rear pulley 248 : Auxiliary pulley 250 : Tensioner pulley 252 : Rubber belt 254 : Left crawler motor 256 : Gear box 258 : Bearing 260 : Bearing 262 : Bearing 264 : Movable bearing 272 : Step bar 274 : Step bar 276 : Front side crank mechanism 277 : Rear side crank mechanism 278, 306 : Support plates 280, 282 : Pulleys 280a, 282a : Shafts 283, 311 : Tensioner pulleys 284, 312: Belts 286, 288: Crank arms 286a, 288a: Fitting holes 286b, 288b: Long holes 290, 292: Crank pins 294, 322: Crank plates 296, 298: Rollers 300, 328: Guide plate 302 , 304: guide grooves 308, 310: pulleys 308a, 310a: shafts 314, 316: crank arms 314a, 316a: fitting holes 314b, 316b: long holes 318, 320: crank pins 324, 326: rollers 330, 332: guides Groove 400 : dual-purpose motor 402 : power transmission mechanism 404 : input shaft 406 : sun gear 408 : planetary gear 410 : planetary carrier 412 : internal gear 414 : first output shaft 416 : second output shaft 418 : first spur gear 420 : Second spur gear 422 : Third spur gear 424 : Worm shaft 426 : Worm wheel 428 : Rotation transmission shaft 430 : Universal joint 432 : Actuator 434 : Locking member 436 : Position detection mechanism 438 : Gear box 440 : Inner engaging recess 440a: inner recessed groove 442: outer engaging recess 442a: outer recessed groove 444: locking arm 446: locking pin 448: operating pin 450: movable member 452: solenoid 454: first spring member 456: cap 458: First slide hole 460 : Cavity 462 : Second slide hole 464 : Recess 466 : Second spring member 468 : Third spring member 470 : Slider 470a : Projection 500 : Reel 502 : Bobbin 504 : Bobbin shaft 506 : Guide member 508: winding portion 510: first retaining portion 512: second retaining portion 514: shaft portion 516: rotor portion 518: first ring portion 520: second ring portion 522: braking portion 524: plate portion 526: ring Holding portion 528: first guide hole 530: second guide hole 532: magnetic member 600: wire relay mechanism 602: base portion 604: guide rollers 606, 607: feed roller 608: insertion members R1, R1': first reinforcing bar R2 : Second reinforcing bar S : Side step track W : Wire

Claims (17)

With respect to a plurality of first reinforcing bars and a plurality of second reinforcing bars that intersect with the plurality of first reinforcing bars, an action of moving over the plurality of first reinforcing bars and the plurality of second reinforcing bars; and an operation of binding the points where the plurality of second reinforcing bars intersect, and a reinforcing bar binding robot capable of repeatedly executing,
a reinforcing bar binding unit;
a transport unit that transports the reinforcing bar binding unit;
a control unit for controlling the operation of the transport unit;
The transport unit
a pedestal;
a motor supported by the pedestal;
a movement mechanism supported by the pedestal and configured to move the pedestal on the plurality of first reinforcing bars and the plurality of second reinforcing bars;
an elevating mechanism supported by the pedestal for elevating the reinforcing bar binding unit with respect to the pedestal;
a power transmission mechanism supported by the pedestal and capable of selectively transmitting power from the motor to the moving mechanism or the lifting mechanism. The power transmission mechanism is
an input shaft rotatably driven by the motor;
a first output shaft that drives the lifting mechanism;
a second output shaft that drives the movement mechanism,
A first state in which power from the motor is transmitted to the lifting mechanism by rotating the first output shaft as the input shaft rotates, and the second output shaft as the input shaft rotates. 2. The rebar tying robot of claim 1 switchable between a second state of transmitting power from said motor to said moving mechanism by rotating a. The power transmission mechanism is
a sun gear fixed to the input shaft;
a plurality of planetary gears meshing with the sun gear;
a planetary carrier rotatably holding the plurality of planetary gears and rotatable about the axis of rotation of the sun gear;
an internal gear meshing with the plurality of planetary gears and rotatable around the rotation axis of the sun gear;
a locking member selectively engageable with the planet carrier or the internal gear;
the first output shaft is configured to rotate with rotation of one of the planetary carrier and the internal gear;
the second output shaft is configured to rotate with rotation of the other of the planetary carrier and the internal gear;
The locking member engages with the other of the planetary carrier and the internal gear to prohibit rotation of the other and permit rotation of the one of the planetary carrier and the internal gear accompanying rotation of the sun gear. Thus, the power transmission mechanism is in the first state,
The locking member engages with the one of the planetary carrier and the internal gear to prohibit rotation of the one and permit rotation of the other of the planetary carrier and the internal gear accompanying rotation of the sun gear. 3. The reinforcing rod binding robot according to claim 2, wherein said power transmission mechanism is brought into said second state. One of the planetary carrier and the internal gear is formed with an inner engaging recess having a plurality of inner recessed grooves that are arranged side by side in the circumferential direction and recessed from the radially outer side to the radially inner side. and
The other of the planetary carrier and the internal gear is formed with an outer engaging recess having a plurality of outer recessed grooves that are arranged side by side in the circumferential direction and recessed from the radially inner side to the radially outer side. has been
The outer engaging recess is arranged radially outward of the inner engaging recess,
the locking member comprises a locking pin extending along the axis of rotation of the sun gear;
The locking pin engages with one of the inner engagement recess and the outer engagement recess to prohibit rotation of the other of the planetary carrier and the internal gear, whereby the power transmission mechanism is in the first state. becomes,
The locking pin engages with the other of the inner engagement recess and the outer engagement recess to prohibit rotation of the one of the planetary carrier and the internal gear, whereby the power transmission mechanism is in the second state. The reinforcing bar binding robot according to claim 3, wherein: the power transmission mechanism further comprising an actuator for moving the locking member between a first position and a second position;
when the locking member is in the first position, the locking pin is in a position to engage with the one of the inner engagement recess and the outer engagement recess;
when the locking member is in the second position, the locking pin is in a position to engage with the other of the inner engaging recess and the outer engaging recess;
The control unit controls the operation of the actuator to move the position of the locking member between the first position and the second position, thereby moving the power transmission mechanism to the first state and the second state. 5. The rebar tying robot of claim 4, which switches between states. When the linear direction from the second position to the first position is defined as the first direction, and the linear direction from the first position to the second position is defined as the second direction,
The actuator is
a movable member extending along the first direction and the second direction;
a solenoid slidably holding the movable member between a third position and a fourth position on the second direction side of the third position;
a first spring member that can expand and contract in the direction in which the movable member extends and biases the movable member in one of the first direction and the second direction with respect to the solenoid;
When the solenoid is energized, the movable member is attracted in the other of the first direction and the second direction against the elastic restoring force of the first spring member by the attractive force of the electromagnet formed by the solenoid. thereby moving the movable member to one of the third position and the fourth position,
When the solenoid is in a non-energized state, the elastic restoring force of the first spring member biases the movable member in one of the first direction and the second direction. moved to the other of the three positions and the fourth position;
the locking member is moved to the first position in conjunction with the movement of the movable member to the third position;
the locking member is moved to the second position in conjunction with the movement of the movable member to the fourth position;
6. The rebar binding robot of claim 5, wherein the control unit switches the power transmission mechanism between the first state and the second state by switching the solenoid between the energized state and the non-energized state. The locking member further includes an operating portion extending in a direction substantially orthogonal to the extending direction of the movable member,
The movable member
a hollow portion that accommodates a second spring member and a third spring member that can expand and contract in the extending direction;
a slide hole that communicates the hollow portion with the outside of the movable member in a direction substantially perpendicular to the extending direction, and receives the operating portion of the locking member so as to be slidable in the extending direction; cage,
the operating portion is accommodated in the hollow portion via the slide hole,
In the hollow portion, the second spring member is provided on the second direction side of the operation portion, and the third spring member is provided on the first direction side of the operation portion,
When the movable member is moved to the third position, the second spring member is contracted by relatively moving the operating portion in the second direction in the hollow portion, and the first spring member in the contracted state is contracted. 2 a spring member urges the operating portion against the movable member in the first direction, thereby moving the locking member to the first position;
When the movable member is moved to the fourth position, the third spring member is contracted by relatively moving the operating portion in the first direction in the hollow portion, and the third spring member in the contracted state is compressed. 7. The reinforcing bar binding robot according to claim 6, wherein said locking member is moved to said second position by a spring member urging said operating portion against said movable member in said second direction. The power transmission mechanism further comprises a position detection mechanism for detecting that the movable member is at the third position or at the fourth position,
the control unit
During operation of the rebar binding robot, the power transmission mechanism is changed from the second state to the first state by switching the solenoid from one of the energized state and the non-energized state to the other of the energized state and the non-energized state. and switching the solenoid from the other of the energized state and the non-energized state to the one of the energized state and the non-energized state, thereby switching the power transmission mechanism from the first state to the first state. A second switching process for switching to two states can be executed,
in the first switching process, when the position detection mechanism detects that the movable member is at the third position, ending the first switching process;
8. The reinforcing bar binding robot according to claim 6, wherein in said second switching process, said second switching process is terminated when said position detection mechanism detects that said movable member is at said fourth position. The position detection mechanism is
a slider that slides between a fifth position and a sixth position on the second direction side of the fifth position;
detecting that the movable member is at the third position when the slider is at the fifth position; and detecting that the movable member is at the fourth position when the slider is at the sixth position; is configured to
The movable member is provided separately from the slide hole on an outer peripheral surface around the extending direction, and further includes a recess recessed from the outer peripheral surface in a direction substantially orthogonal to the extending direction. ,
The slider has a convex portion that substantially fits into the concave portion of the movable member,
moving the slider to the fifth position in conjunction with the movement of the movable member to the third position;
9. The reinforcing bar binding robot according to claim 8, wherein said slider is moved to said sixth position in conjunction with movement of said movable member to said fourth position. The reinforcing bar binding robot according to any one of claims 1 to 9, wherein the moving mechanism is a longitudinal moving mechanism that moves the pedestal on the plurality of first reinforcing bars and the plurality of second reinforcing bars in the front-rear direction. . The longitudinal movement mechanism is
a drive wheel coupled to the second output shaft;
Auxiliary wheels provided separately from the driving wheels;
11. The rebar tying robot of claim 10, which is a crawler comprising a belt wrapped around the driving wheels and the auxiliary wheels. The reinforcing bar binding robot according to any one of claims 1 to 9, wherein the moving mechanism is a lateral moving mechanism that moves the pedestal horizontally on the plurality of first reinforcing bars and the plurality of second reinforcing bars. . The lateral movement mechanism is
a crank mechanism coupled to the second output shaft;
and a step bar driven along a predetermined side step trajectory by said second output shaft via said crank mechanism. a pedestal;
a reinforcing bar binding unit that winds a wire around a reinforcing bar and twists the wire;
a first moving mechanism for moving the reinforcing bar binding unit with respect to the pedestal;
a second moving mechanism for moving the pedestal with respect to the reinforcing bar;
and a motor capable of selectively transmitting power to the first moving mechanism or the second moving mechanism. a pedestal;
a reinforcing bar binding unit that winds a wire around a reinforcing bar and twists the wire;
a vertical movement mechanism for vertically moving the reinforcing bar binding unit with respect to the pedestal;
a planar movement mechanism for moving the pedestal back and forth and/or left and right with respect to the reinforcing bar;
and a motor capable of selectively transmitting power to the vertical movement mechanism or the planar movement mechanism. The reinforcing bar binding robot according to any one of claims 1 to 15, further comprising a battery device supported by said base and capable of supplying power to said motor. 17. The rebar tying robot of claim 16, wherein the battery system can also power the rebar tying unit.

Images