WO2023282258A1 - Rebar tying robot - Google Patents

Abstract

A rebar tying robot disclosed in the present specification is able to repeatedly execute, for a plurality of first rebars and a plurality of second rebars intersecting with the plurality of first rebars, an operation for travelling on the plurality of first rebars and the plurality of second rebars and an operation for tying rebar intersection locations where the plurality of first rebars and the plurality of second rebars intersect with each another. The rebar tying robot is provided with a robot control unit for controlling the operations of the rebar tying robot, and a rebar tying device for using a wire to execute rebar tying work. The rebar tying device is provided with a device control unit for controlling the operation of the rebar tying device. The device control unit is configured to transmit a first signal to the robot control unit. The robot control unit is configured to control the operation of the rebar tying robot on the basis of the first signal transmitted from the device control unit.

Description

Rebar binding robot

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

Japanese Patent Application Laid-Open No. 2019-39174 discloses that a plurality of first reinforcing bars and a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars are moved over the plurality of first reinforcing bars and the plurality of second reinforcing bars. A rebar binding robot is disclosed that can repeatedly perform an action of pulling and an action of binding rebar intersections where the plurality of first rebars and the plurality of second rebars intersect. The reinforcing bar binding path robot includes a robot control unit that controls the operation of the reinforcing bar binding robot, and a reinforcing bar binding device that performs a reinforcing bar binding operation using wires. The robotic control unit is configured to send a trigger signal to the rebar tying device. The reinforcing bar binding device is configured to perform the reinforcing bar binding work according to the trigger signal.

In the reinforcing bar binding robot, there are cases where it is desired to control the operation of the reinforcing bar binding robot according to the state of the reinforcing bar binding device, for example, by stopping the operation of the reinforcing bar binding robot in response to the shortage of wires in the reinforcing bar binding device. However, in the reinforcing bar binding robot disclosed in Japanese Patent Application Laid-Open No. 2019-39174, the robot control unit cannot grasp the state of the reinforcing bar binding device (for example, the occurrence of wire shortage, the occurrence of malfunction, etc.). . Therefore, the operation of the reinforcing bar binding robot cannot be controlled according to the state of the reinforcing bar binding device. This specification provides a technique capable of controlling the operation of a reinforcing bar binding robot according to the state of the reinforcing bar binding device.

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 reinforcing bar intersections where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect can be repeatedly performed. The reinforcing bar binding robot includes a robot control unit that controls the operation of the reinforcing bar binding robot, and a reinforcing bar binding device that performs a reinforcing bar binding operation using wires. The rebar tying device comprises a device control unit for controlling the operation of the rebar tying device. The device control unit is configured to send a first signal to the robot control unit. The robot control unit is configured to control operation of the rebar tying robot based on the first signal sent from the device control unit. In this specification, "the work of binding the reinforcing bar intersections where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect" may be referred to as "reinforcing bar binding work".

According to the above configuration, the device control unit can transmit the state of the reinforcing bar binding device to the robot control unit through the first signal. The robot control unit can grasp the state of the reinforcing bar binding device based on the first signal. Therefore, the robot control unit can control the operation of the reinforcing bar binding robot according to the state of the reinforcing bar binding device.

It is the figure which looked at the reinforcement binding robot 1 which concerns on an Example from upper direction. It is the perspective view which looked at the reinforcement binding robot 1 which concerns on an Example from the front right lower part. It is the perspective view which looked at the reinforcing-bar binding apparatus 2 which concerns on an Example from the back left upper part. It is the perspective view which looked at the internal structure of the reinforcing-bar binding apparatus 2 which concerns on an Example from the back right upper part. It is the perspective view which looked at the internal structure of the reinforcing-bar binding apparatus 2 which concerns on an Example from the upper front left. 4 is a cross-sectional view of the reel holding mechanism 36 of the reinforcing bar binding device 2 according to the example. FIG. Fig. 4 is a perspective view of the release lever 82 and the lock lever 86 of the reinforcing bar binding device 2 according to the embodiment, as seen from the left upper front; Fig. 3 is a perspective view of the upper curl guide 90 of the reinforcing bar binding device 2 according to the embodiment, as seen from the left upper rear. Fig. 3 is a perspective view of the upper curl guide 90 of the reinforcing bar binding device 2 according to the embodiment, as seen from the right upper rear side; Fig. 11 is a perspective view of the internal structure of the first guide passage 94 of the upper curl guide 90 of the reinforcing bar binding device 2 according to the embodiment, viewed from the left upper rear; Fig. 10 is a perspective view of the internal structure of the second guide passage 96 of the upper curl guide 90 of the reinforcing bar binding device 2 according to the embodiment, viewed from the left upper rear; Fig. 10 is a perspective view of the internal structure of the reinforcing bar binding device 2 according to the embodiment when the lower curl guide 92 is closed, as viewed from the lower right front side; Fig. 10 is a perspective view of the internal structure of the reinforcing bar binding device 2 according to the embodiment when the lower curl guide 92 is open, as viewed from the lower right front side; FIG. 10 is a perspective view of the wire reel WR and the brake mechanism 40 viewed from the upper right and rear when the pull solenoid 146 is not energized in the reinforcing bar binding device 2 according to the embodiment; FIG. 10 is a perspective view of the wire reel WR and the brake mechanism 40 viewed from the right upper rear side when the pull solenoid 146 is energized in the reinforcing bar binding device 2 according to the embodiment; 4 is a block diagram showing an example of an electrical system of the device control unit 50 according to the embodiment; FIG. 5 is a flowchart showing an example of device main processing executed by the device control unit 50 according to the embodiment; 5 is a flowchart showing an example of feeding operation state determination processing executed by the device control unit 50 according to the embodiment; 5 is a flowchart showing an example of plate state determination processing executed by the device control unit 50 according to the embodiment; 5 is a flowchart showing an example of supply voltage state determination processing executed by the device control unit 50 according to the embodiment; 5 is a flowchart showing an example of temperature state determination processing executed by the device control unit 50 according to the embodiment; 5 is a flowchart showing an example of a twisting motion state determination process executed by the device control unit 50 according to the embodiment; 5 is a flowchart showing an example of hardware state determination processing executed by the device control unit 50 according to the embodiment; Fig. 10 is a perspective view of the side stepper 196 of the reinforcing bar binding robot 1 according to the embodiment, as seen 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 1 according to the embodiment, as seen from the rear; FIG. 10 is a perspective view of the rear part of the side stepper 196 of the reinforcing-bar binding robot 1 according to the embodiment, viewed from the front right upper side; FIG. 10 is a front view of the step bars 272 and 274 raised in the reinforcing bar binding robot 1 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 1 according to the embodiment, as seen from the front. FIG. 10 is a perspective view of the internal structure of the power transmission mechanism 402 in the reinforcing bar binding robot 1 according to the example, viewed from the front upper right side. FIG. 10 is a perspective view of the lifting device 6 seen from the front and above when the slider crank mechanism 638 is at the top dead center position in the reinforcing bar binding robot 1 according to the embodiment; FIG. 10 is a perspective view of the lifting device 6 seen from the front and above when the slider crank mechanism 638 is at the bottom dead center position in the reinforcing bar binding robot 1 according to the embodiment; 6 is a diagram showing the positional relationship among a cam 666, a first photosensor 668, and a second photosensor 670 provided in the lifting device 6 in the reinforcing bar binding robot 1 according to the example. FIG. 4 is a flowchart showing an example of robot main processing executed by the robot control unit 10 according to the embodiment; FIG. 4 is a top view showing an example of the operation of the reinforcing bar binding robot 1 according to the embodiment; FIG. 11 is a top view showing another example of the operation of the reinforcing bar binding robot 1 according to the embodiment;

A representative and non-limiting specific example of the present invention will be 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. In addition, various features of the representative embodiments below, as well as various features of those that are claimed, may be used in conjunction with the specific embodiments described herein to provide additional and useful embodiments of the invention. They do not have to be combined exactly as shown or in the order listed.

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

In a first aspect of the present technology, the reinforcing bar binding robot performs the following operations on a plurality of first reinforcing bars and a plurality of second reinforcing bars intersecting the plurality of first reinforcing bars. and an operation of binding a reinforcing bar intersection where the plurality of first reinforcing bars and the plurality of second reinforcing bars intersect can be repeatedly performed. The reinforcing bar binding robot may include a robot control unit that controls the operation of the reinforcing bar binding robot, and a reinforcing bar binding device that performs a reinforcing bar binding operation using wires. The rebar tying device may comprise a device control unit for controlling operation of the rebar tying device. The device control unit may be configured to send a first signal to the robot control unit. The robot control unit may be configured to control operation of the rebar tying robot based on the first signal transmitted from the device control unit.

According to the above configuration, the device control unit can transmit the state of the reinforcing bar binding device to the robot control unit through the first signal. The robot control unit can grasp the state of the reinforcing bar binding device based on the first signal. Therefore, the robot control unit can control the operation of the reinforcing bar binding robot according to the state of the reinforcing bar binding device.

In a second aspect, in the first aspect, the reinforcing bar binding device may be configured to be capable of executing the operation of feeding the wire. The rebar binding device may further include a first state detector that detects a state related to the operation of feeding the wire. The first signal may include information about the detection result of the first state detector. Note that the "state related to wire feed operation" as used herein includes not only the state of the feed mechanism, but also the presence or absence of the wire, the state of the braking mechanism described later, and the like.

The wire feeding operation is the main operation in the rebar binding device. Therefore, the robot control unit may want to know the status of the wire feeding operation of the rebar binding device. According to the above configuration, the robot control unit can grasp the state of the operation of feeding the wire based on the first signal.

In a third aspect, in the second aspect, the first state detection section may include a wire detection section that detects the presence or absence of the wire. The first signal may include information about the detection result of the wire detection section.

　If there is a shortage of wires in the reinforcing bar binding device, the reinforcing bar binding device will not be able to perform the reinforcing bar binding work. In order to control the operation of the reinforcing bar binding robot in such a situation, the robot control unit needs to grasp the presence or absence of wires. According to the above configuration, the robot control unit can grasp the presence or absence of the wire based on the first signal.

In a fourth aspect, in the third aspect, the reinforcing bar binding device may further include a wire reel around which the wire is wound, and a housing that rotatably holds the wire reel. The wire detection section may detect the presence or absence of the wire wound around the wire reel.

According to the above configuration, when the wire is wound around the wire reel, the wire reel rotates as the wire is fed by the rebar binding device. When the wire wound around the wire reel runs out, the wire reel stops rotating as the wire is fed by the rebar binding device. Therefore, the wire detection unit can indirectly detect the presence or absence of the wire by detecting whether the wire reel rotates as the wire is fed by the rebar binding device.

In a fifth aspect, in any one of the second to fourth aspects, the reinforcing bar binding device includes a feed motor, and further includes a feed mechanism capable of feeding the wire. good too. The first state detector may include a feed mechanism state detector that detects the state of the feed mechanism. The first signal may include information about the detection result of the feeding mechanism state detection section.

For example, the wire may get tangled in the feed mechanism and the feed mechanism may become inoperable. In order to control the operation of the reinforcing bar binding robot in such a situation, the robot control unit needs to grasp the state of the feed mechanism (for example, whether the feed mechanism is operating smoothly). According to the above configuration, the robot control unit can grasp the state of the feed mechanism based on the first signal.

In a sixth aspect, in any one of the second to fifth aspects, the reinforcing bar binding device includes a wire reel around which the wire is wound, a housing that rotatably holds the wire reel, A braking mechanism comprising a braking actuator and capable of performing an operation of braking the rotational motion of the wire reel may be further provided. The first state detection section may include a braking mechanism state detection section that detects the state of the braking mechanism. The first signal may include information regarding the detection result of the braking mechanism state detection section.

For example, the electrical connection between the power supply and the braking actuator may be interrupted, rendering the braking mechanism inoperable. In order to control the operation of the rebar binding robot in such situations, the robot control unit needs to know the state of the braking mechanism (for example, whether the electrical connection between the power supply and the braking actuator is secured). There is a need to. According to the above configuration, the robot control unit can grasp the state of the braking mechanism based on the first signal.

In a seventh aspect, in any one of the first to sixth aspects, the reinforcing bar binding device is configured to be capable of twisting the wire wound around the reinforcing bar intersection. good too. The reinforcing bar binding device may further include a second state detector that detects a state related to twisting of the wire. The first signal may include information about the detection result of the second state detector.

The action of twisting the wire is the main action of the rebar binding device. For this reason, the robot control unit may want to grasp the state of the wire twisting operation of the reinforcing bar binding device. According to the above configuration, the robot control unit can grasp the state of the operation of twisting the wire based on the first signal.

In an eighth aspect according to the seventh aspect, the reinforcing bar binding device includes a twisting motor, and further includes a twisting mechanism capable of twisting the wire wound around the reinforcing bar intersection. may be The second state detection section may include a torsion mechanism state detection section that detects the state of the torsion mechanism. The first signal may include information regarding the detection result of the torsion mechanism state detection section.

For example, the twisting mechanism may become inoperable due to tangling of wires in the twisting mechanism. In order to control the operation of the reinforcing bar binding robot in such a situation, the robot control unit needs to grasp the state of the twisting mechanism (for example, whether the twisting mechanism is operating smoothly). According to the above configuration, the robot control unit can grasp the state of the twisting mechanism (for example, whether the twisting mechanism is operating smoothly) based on the first signal.

In a ninth aspect, in any one of the first to eighth aspects, the reinforcing bar binding device comprises: a wire reel around which the wire is wound or for guiding the wire; It may further include a reel holding portion that is detachably held, and a reel detection portion that detects whether or not the wire reel is held by the reel holding portion. The first signal may include information regarding the detection result of the reel detection section.

When the wire reel is not held by the reel holding part, the situation is substantially equivalent to wire shortage, so the reinforcing bar binding device cannot perform the reinforcing bar binding work. In order to control the operation of the reinforcing bar binding robot in such a situation, the robot control unit needs to grasp whether the wire reel is held by the reel holding section. According to the above configuration, the robot control unit can grasp whether or not the wire reel is held by the reel holding section based on the first signal.

In a tenth aspect, in any one of the first to ninth aspects, the rebar binding device includes a feed motor, a feed mechanism capable of executing an operation to feed the wire, and the feed motor. a first position that is attached to the housing and that guides the wire fed by the feed mechanism on a substantially annular guide track so as to circulate around the rebar intersection; A guide member movable between a position and a second position moved to the outside of the guide track, and a guide member position detection unit that detects the position of the guide member with respect to the housing. good. The first signal may include information regarding the detection result of the guide member position detector.

In the reinforcing bar binding device, in order to improve the maintenance performance of the parts provided around the guide track, the guide member may be provided movably with respect to the housing. However, if the reinforcing bar binding work is performed with the guide member moved to the second position, the reinforcing bar crossing points cannot be properly tied. Therefore, in the reinforcing bar binding robot, there are cases where it is desired to execute control (for example, switching between permission and prohibition of the reinforcing bar binding operation) according to the position of the guide member. In this case, the robot control unit needs to know the position of the guide member relative to the housing. According to the above configuration, the robot control unit can grasp the position of the guide member with respect to the housing based on the first signal.

In an eleventh aspect, in any one of the first to tenth aspects, the reinforcing bar binding device may further include a temperature detection section that detects the temperature of the device control unit. The first signal may include information regarding the detection result of the temperature detection unit.

If the temperature of the device control unit becomes extremely high, it may lead to a failure of the device control unit. For this reason, in a reinforcing bar binding robot, there are cases where it is desired to perform control according to the temperature of the device control unit (for example, interrupt the reinforcing bar binding operation when the temperature of the device control unit becomes extremely high). In this case, the robot control unit needs to know the temperature of the device control unit. According to the above configuration, the robot control unit can grasp the temperature of the device control unit based on the first signal.

In a twelfth aspect, in any one of the first to eleventh aspects, the reinforcing bar binding robot may further include a power supply device for supplying power to the reinforcing bar binding device. The rebar binding device may further include a supply voltage detection unit that detects a voltage value of power supplied from the power supply to the rebar binding device. The first signal may include information about a detection result of the supply voltage detector.

If the voltage value of the power supplied from the power supply to the reinforcing bar binding device drops to an insufficient value, the reinforcing bar binding work may be forcibly interrupted due to power shortage. For this reason, in the reinforcing rod binding robot, control is performed according to the voltage value of the electric power supplied to the device control unit (for example, when the voltage value drops to an insufficient value, the user is notified of the fact). etc.). In this case, the robot control unit needs to grasp the voltage value of the power supplied from the power supply to the reinforcing bar binding device. According to the above configuration, the robot control unit can grasp the voltage value of the power supplied from the power supply device to the reinforcing bar binding device based on the first signal.

In a thirteenth aspect, in any one of the first to twelfth aspects, the reinforcing bar binding device is positioned so as to be able to contact the first reinforcing bar or the second reinforcing bar during the reinforcing bar binding operation. The contact member may further include a contact member, a housing that holds the contact member in a swingable manner, and a contact member position detector that detects the position of the contact member with respect to the housing. The first signal may include information regarding the detection result of the contact member position detector.

In order to reliably perform the reinforcing bar binding work, the robot control unit may want to detect that the reinforcing bar binding device has been set at the reinforcing bar intersection. According to the above configuration, the robot control unit can detect that the reinforcing bar binding device is set at the reinforcing bar intersection by determining whether or not the contact member has been swung based on the first signal.

In a fourteenth aspect, in any one of the first to thirteenth aspects, the first signal may include information indicating that an abnormality has occurred in the rebar binding device.

According to the above configuration, the robot control unit can grasp that an abnormality has occurred in the reinforcing bar binding device based on the first signal. Therefore, the robot control unit can stop the operation of the reinforcing bar binding robot in response to the occurrence of an abnormality in the reinforcing bar binding device, or notify the user of the fact.

In a fifteenth aspect, in any one of the first to fourteenth aspects, the robot control unit may be configured to transmit a call signal to the device control unit. The device control unit may be configured to transmit the first signal to the robot control unit upon receiving the call signal.

According to the above configuration, the device control unit does not need to execute processing for specifying the timing of transmitting the first signal. Therefore, the device control unit can have a simple configuration. Furthermore, according to the above configuration, the robot control unit can grasp the state of the reinforcing bar binding device at a desired timing.

In a sixteenth aspect, in any one of the first to fifteenth aspects, the robot control unit may be configured to transmit a bundling instruction signal to the device control unit. The device control unit may be configured to cause the rebar tying device to perform the rebar tying operation when receiving the tying instruction signal. The robot control unit may be configured to send the ringing signal to the device control unit prior to sending the bundling instruction signal.

If the state of the reinforcing bar binding device can be grasped at the timing when the reinforcing bar binding work is started, the robot control unit can determine whether or not to continue the reinforcing bar binding work based on the state of the reinforcing bar binding device. According to the above configuration, the robot control unit can grasp the state of the reinforcing bar binding device at the timing when the reinforcing bar binding operation is started. Therefore, the robot control unit can determine whether or not to continue the reinforcing bar binding work based on the state of the reinforcing bar binding device.

(Example)
As shown in FIG. 1, the reinforcing bar binding robot 1 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 device 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 1 has a longitudinal dimension of, for example, about 900 mm, and a lateral dimension of, for example, about 600 mm.

The reinforcing bar binding robot 1 mainly includes a reinforcing bar binding device 2, a transport device 4, an elevating device 6, a power supply device 8, a robot control unit 10, an independent reel 500, and a wire relay mechanism 550.

In addition, the reinforcing bar binding robot 1 is provided with a patrol lamp 183, a buzzer (not shown), an operation panel (not shown), and a plurality of reinforcing bar detection sensors (not shown). The patrol lamp 183 can notify the user of an abnormality or the like of the reinforcing bar binding robot 1 by emitting light. The buzzer can notify the user of an abnormality or the like in the reinforcing bar binding robot 1 by emitting a sound. The operation panel includes a power switch (not shown) for turning on the power to the reinforcing bar binding robot 1, a setting switch (not shown) for setting the number of turns of the wire W around the reinforcing bar R, and the twisting torque for twisting the wire W. (not shown), an emergency stop button (not shown) for stopping the reinforcing bar binding robot 1 in an emergency, and a display LED (not shown) for displaying the current settings. The plurality of rebar detection sensors are, for example, TOF (Time-of-Flight) sensors capable of acquiring distance image data obtained by measuring the distance to the subject for each pixel. The plurality of reinforcing bar detection sensors includes a reinforcing bar detecting sensor provided on the front connecting frame 215 (see FIG. 2), a reinforcing bar detecting sensor provided on the rear connecting frame 216 (see FIG. 2), and a center portion of the base plate 204. Including a rebar detection sensor provided.

(Configuration of robot control unit 10)
The robot control unit 10 includes a CPU, memory, communication interface, and the like. A robot control unit 10 is configured to control the movement of the transport device 4 and the lifting device 6 . The robot control unit 10 can identify the relative arrangement of the first reinforcing bar R1 and the second reinforcing bar R2 with respect to the plurality of reinforcing bar detecting sensors based on the distance image data acquired by the plurality of reinforcing bar detecting sensors. For example, the memory of the robot control unit 10 stores map information (herein referred to as "reinforcement map") indicating the positional relationship between the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2. . Thereby, the robot control unit 10 can also specify the placement of the reinforcing bar binding robot 1 with respect to the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2. In addition, the robot control unit 10 can store information on the bundling state of reinforcing bar intersections in the memory at any time. As a result, the robot control unit 10 can distinguish between bound reinforcing bar crossing points and unbound reinforcing bar crossing points in the reinforcing bar map.

(Configuration of power supply device 8)
The power supply device 8 includes a right battery case 802 , a left battery case 804 , a transformer 806 and a power control board 808 . Three battery packs B are detachably attached in the right battery case 802 . Two battery packs B are detachably attached in the left battery case 804 . In this specification, these five battery packs B are collectively referred to as "a plurality of battery packs B". The plurality of battery packs B are, for example, lithium ion batteries that can be charged by a charger (not shown). The right battery case 802 is provided with a right battery remaining amount display section 812 that displays the remaining battery amount of each battery pack B attached inside the right battery case 802 . The left battery case 804 is provided with a left battery remaining amount display section 814 that displays the remaining battery amount of each battery pack B attached in the left battery case 804 . Also, the plurality of battery packs B are electrically connected to a power control board 808 via transformers 806 . The power control board 808 is electrically connected to each of the reinforcing bar binding device 2 , the transfer device 4 and the robot control unit 10 . Therefore, the power supply device 8 (specifically, the power control board 808 ) can supply power from the plurality of battery packs B to the reinforcing bar binding device 2 , the transfer device 4 and the robot control unit 10 . In FIG. 2 and subsequent figures, the illustration of the power supply device 8 and the robot control unit 10 is omitted for simplification of explanation.

(Configuration of Independent Reel 500 and Wire Relay Mechanism 550)
Independent reel 500 is fixed to base plate 204 . A wire W used for the reinforcing bar binding work is pre-wound around the independent reel 500 . The maximum length of the wire W that can be wound around the independent reel 500 of this embodiment is within the range of 600 m to 1000 m, for example 800 m. The wire relay mechanism 550 includes a base portion 552 , guide rollers 554 , feed rollers 556 and 557 and an insertion member 558 . The wire relay mechanism 550 is fixed to the base plate 204 via a pedestal portion 552 . The wire W pulled out from the independent reel 500 passes through the insertion member 558 , is sandwiched between the feed rollers 556 and 557 , and is guided toward the reinforcing bar binding device 2 by the guide rollers 554 . The independent reel 500 can be said to be a supply source of the wire W in the reinforcing bar binding robot 1 .

(Configuration of reinforcing bar binding device 2)
Below, the structure of the reinforcing-bar binding apparatus 2 is demonstrated. 3 to 15, 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 based on the reinforcing bar binding robot 1, but the front-back direction based on the reinforcing bar binding device 2. , means left-right and up-down.

As shown in FIG. 3, the reinforcing bar binding device 2 binds the mutually crossing reinforcing bars R (for example, the first reinforcing bar R1 and the second reinforcing bar R2) with the wire W. The reinforcing bar binding device 2 has a housing 12 . The housing 12 has a fitting portion 12a for fitting a base member 654 (see FIG. 30) of the lifting device 6. As shown in FIG. As shown in FIG. 4, the rear portion of the housing 12 is provided with a through hole 12b for receiving the wire W pulled out from the independent reel 500. As shown in FIG. As shown in FIG. 1, the through hole 12b opens toward the wire relay mechanism 550. As shown in FIG.

As shown in FIGS. 4 and 5, the rebar binding device 2 mainly includes a reel holding mechanism 36, a feed mechanism 38, a brake mechanism 40, a guide mechanism 42, a cutting mechanism 44, a twisting mechanism 46, A device control unit 50 is provided.

(Configuration of Reel Holding Mechanism 36)
As shown in FIG. 6, the reel holding mechanism 36 includes a cam member 54, a shaft member 56, and a compression spring 58. As shown in FIG. Cam member 54 is rotatably retained by housing 12 . The shaft member 56 is biased rightward (that is, toward the inside of the housing 12) by a compression spring 58 held in the housing 12. As shown in FIG. Normally, the biasing force of the compression spring 58 causes the shaft member 56 to move rightward with respect to the housing 12 (that is, toward the inside of the housing 12). In this state, the right end of the shaft member 56 slidably enters the shaft receiving groove WRa of the wire reel WR. At this time, the wire reel WR is rotatably held with respect to the shaft member 56 . From this state, when the user moves the rotating lever 54a (see FIG. 3) of the cam member 54 from the front to the rear, the shaft member 56 resists the biasing force of the compression spring 58 in the manner of a so-called cylindrical cam mechanism. Move to the left (ie, out of housing 12). As a result, the shaft member 56 is pulled out of the shaft receiving groove WRa of the wire reel WR. In this state, the user can put the wire reel WR in and out of the housing 12 .

The reel holding mechanism 36 further includes a turntable 60, an inner bearing 62, an outer bearing 64, and a reel rotation detection sensor 66 (see FIG. 4). The turntable 60 is rotatably held by the housing 12 via an inner bearing 62 and an outer bearing 64 . The turntable 60 is relatively non-rotatably engaged with the wire reel WR. Therefore, when the wire reel WR rotates, the turntable 60 also rotates together with the wire reel WR. As shown in FIG. 4, the reel rotation detection sensor 66 is fixed to the housing 12 . The reel rotation detection sensor 66 is a Hall sensor having a Hall IC (not shown). The reel rotation detection sensor 66 can detect the rotation of the wire reel WR from variations in magnetism from a plurality of magnets (not shown) provided on the turntable 60 .

As described above, the reel holding mechanism 36 detachably and rotatably holds the wire reel WR. In this embodiment, the wire W pulled out from the independent reel 500 is passed through the through hole 12b, wound around the wire reel WR, and supplied to the feed mechanism 38. As shown in FIG. Therefore, when the wire W is sent out by the sending mechanism 38, the wire W slides along the outer peripheral surface of the wire reel WR. At this time, the sliding friction between the wire reel WR and the wire W generates a force that rotates the wire reel WR. Thus, the wire reel WR is configured to rotate as the wire W is sent out.

(Structure of feed mechanism 38)
As shown in FIG. 4 , the feed mechanism 38 feeds the wire W supplied from the wire reel WR of the reel holding mechanism 36 to the guide mechanism 42 in front of the reinforcing bar binding device 2 . The feed mechanism 38 includes a guide member 68 , a feed motor 72 , a main drive gear 78 , a driven gear 80 , a release lever 82 , a compression spring 84 (see FIG. 7), and a lock lever 86 . A wire W passes through the guide member 68 and is sandwiched between the main driving gear 78 and the driven gear 80 . The main drive gear 78 is connected to the feed motor 72 via a speed reduction mechanism (not shown). Feed motor 72 is a DC brushed motor.

As shown in FIG. 7, the side surface of the main driving gear 78 is formed with a V-shaped groove 78a extending radially at the center in the height direction. A side surface of the driven gear 80 is formed with a V-shaped groove 80a extending radially at the center in the height direction. The driven gear 80 is rotatably supported by the gear arm 82a of the release lever 82. As shown in FIG. The release lever 82 is a substantially L-shaped member that includes a gear arm 82a and an operating arm 82b. The release lever 82 is swingably supported by the housing 12 via a swing shaft 82c. The operating arm 82b of the release lever 82 is biased leftward, that is, outwardly by a compression spring 84 held in the housing 12. As shown in FIG. Normally, the urging force of the compression spring 84 applies torque to the release lever 82 in a direction to bring the driven gear 80 closer to the main driving gear 78 , and the driven gear 80 is pressed against the main driving gear 78 . As a result, the teeth (not shown) on the side surface of the driven gear 80 and the teeth (not shown) on the side surface of the main driving gear 78 are engaged, and the V-shaped groove 78a of the main driving gear 78 and the V-shaped groove 78a of the driven gear 80 are engaged. A wire W is sandwiched between the shaped grooves 80a. In this state, when the feed motor 72 (see FIG. 4) rotates the main driving gear 78, the driven gear 80 rotates in the opposite direction, and the wire W sandwiched between the main driving gear 78 and the driven gear 80 moves toward the guide mechanism 42 (see FIG. 4). 4), and the wire W is pulled out from the wire reel WR. The main drive gear 78 and the driven gear 80 can be called feed gears for feeding the wire W. As shown in FIG. The feed mechanism 38 incorporates a gear rotation detection sensor 79 (see FIG. 16) for detecting the rotation angle of the main driving gear 78. As shown in FIG.

The lock lever 86 is a substantially L-shaped member that includes a lock arm 86a and a spring receiving arm (not shown). The lock lever 86 is swingably supported by the housing 12 via a swing shaft 86c. A spring receiving arm of the lock lever 86 is biased rightward by a compression spring (not shown) retained in the housing 12 . Due to the biasing force of this compression spring, a torque acts on the lock lever 86 in a direction to bring the lock arm 86a closer to the operation arm 82b of the release lever 82. As shown in FIG. The lock arm 86a of the lock lever 86 is formed with an engagement projection 86d, and the operating arm 82b of the release lever 82 is formed with an engagement recess 82d that engages with the engagement projection 86d.

When the user pushes the operating arm 82 b against the biasing force of the compression spring 84 , the release lever 82 swings around the swing shaft 82 c and the driven gear 80 separates from the main driving gear 78 . At this time, when the operating arm 82b is pushed to a position where the engaging concave portion 82d of the operating arm 82b faces the engaging convex portion 86d of the lock arm 86a, the lock lever 86 swings around the swing shaft 86c. , the engagement projection 86d of the lock arm 86a engages with the engagement recess 82d of the operating arm 82b. As a result, the operation arm 82b is held in a pushed state. When setting the wire W extending from the wire reel WR to the feeding mechanism 38, the user pushes the operation arm 82b to separate the driven gear 80 from the main driving gear 78, and in this state, the wire W pulled out from the wire reel WR is fed. The tip is inserted between the main drive gear 78 and the driven gear 80 through the insertion hole 68 a of the guide member 68 . Then, when the user swings the lock arm 86a of the lock lever 86 in the direction away from the operation arm 82b against the biasing force of the compression spring, the engagement projection 86d of the lock arm 86a and the operation arm 82b are engaged. The engagement of the recessed portion 82d is released, and the release lever 82 swings around the swing shaft 82c by the biasing force of the compression spring 84, and the driven gear 80 engages with the main driving gear 78. A wire W is sandwiched between the V-shaped groove 78 a and the V-shaped groove 80 a of the driven gear 80 .

(Configuration of guide mechanism 42)
As shown in FIG. 5, the guide mechanism 42 is arranged in the front part of the reinforcing bar binding device 2, and guides the wire W sent from the feed mechanism 38 on a substantially annular guide track (see FIG. 3). ). As shown in FIG. 4 , the guide mechanism 42 includes a guide pipe 88 , an upper curl guide 90 and a lower curl guide 92 . The rear end of the guide pipe 88 opens between the main drive gear 78 and the driven gear 80 of the feed mechanism 38 . The wire W fed from the feed mechanism 38 is fed into the guide pipe 88 . As shown in FIG. 10 , the front end of the guide pipe 88 opens toward the inside of the upper curl guide 90 . The upper curl guide 90 has a first guide passage 94 for guiding the wire W sent from the guide pipe 88 and a second guide passage 96 for guiding the wire W sent from the lower curl guide 92 (see FIG. 11). ) are provided.

As shown in FIGS. 8 and 9, the upper curl guide 90 includes a lead holder 98, a guide arm 100, a contact plate 102, a left guide plate 104, an inner guide plate 106, a right guide plate 108, and a guide plate. It has a member 110 and a top plate 112 (see FIG. 10).

In the lead holder 98, the opening on the front side of the guide pipe 88 (see FIG. 10) is in the first guide passage 94 formed by the guide member 110, the right guide plate 108, the inner guide plate 106, and the top plate 112. The guide pipe 88 is held so as to open toward it. As shown in FIG. 10, the guide member 110 is a member made of metal, and a wire passage 110a through which the wire W passes is formed therein. A first guide pin 114 is arranged below the front end of the wire passage 110a. The first guide pin 114 is a highly wear-resistant metal member such as tungsten, and is press-fitted into the right guide plate 108 . The wire W sent out from the guide pipe 88 is guided toward the cutter 116 by the wire passage 110 a and the first guide pin 114 .

The cutter 116 has a fixed member 118 and a swing member 120 . The fixing member 118 is a metal member having a cylindrical outer shape, and a wire passage 118a through which the wire W passes is formed inside. The fixing member 118 is fitted to the inner guide plate 106 and sandwiched between the right guide plate 108 and the inner guide plate 106 . The swinging member 120 is a metal member having a through hole 120a through which the fixing member 118 penetrates and a cut piece 120b for cutting the wire W. It is held swingably on the plate 108 . The cutting piece 120b cuts the wire W by shearing when the swinging member 120 swings. The top plate 112 is a metal member and fixed to the right guide plate 108 . After passing through the cutter 116 , the wire W is further guided downward by the projecting portion 112 a of the top plate 112 and the second guide pin 122 . The second guide pin 122 is a highly wear-resistant metal member such as tungsten, and is press-fitted into the right guide plate 108 . When passing through the first guide passage 94, the wire W is curled by the inner upper surface of the wire passage 110a, the first guide pin 114, and the second guide pin 122, and is directed toward the lower curl guide 92. Sent.

A third guide passage 124 and a guard plate 126 are provided in the lower curl guide 92 . The third guide passage 124 has a left guide wall 124a and a right guide wall 124b that guide the wire W fed from the front end of the upper curl guide 90. As shown in FIG. The guard plate 126 is formed in a shape that extends upward on both sides of the third guide passage 124, prevents the plurality of reinforcing bars R from interfering with the twisting mechanism 46, and prevents foreign matter from entering the reinforcing bar binding device 2. to prevent In addition, the guard plate 126 prevents the wire W from swaying left and right when the twisting mechanism 46 twists the wire W wound in a substantially annular shape. The wire W guided by the lower curl guide 92 is sent toward the second guide passage 96 of the upper curl guide 90 .

The wire W sent from the rear of the lower curl guide 92 to the rear of the upper curl guide 90 is sent to the second guide passage 96 formed by the guide arm 100, the left guide plate 104 and the inner guide plate 106. As shown in FIG. 11, an arc-shaped upper guide wall 100a for guiding the wire W is formed on the front lower surface of the guide arm 100. As shown in FIG. The wire W sent from the lower curl guide 92 to the upper curl guide 90 is guided by the second guide passage 96 and sent from the front of the upper curl guide 90 to the front of the lower curl guide 92 again.

As shown in FIGS. 8 and 9, the contact plate 102 is a substantially U-shaped member and is arranged to straddle the lead holder 98 and the guide arm 100 . The contact plate 102 includes a contact portion 102a, a pivot shaft 102b, and a connecting portion 102c. The contact plate 102 is swingably supported by the lead holder 98 via a swing shaft 102b. The connecting portion 102c of the contact plate 102 is urged upward by a compression spring 128 held by the lead holder 98. As shown in FIG. As shown in FIG. 9, the contact plate 102 has a magnet arm 132 to which a sensor magnet 130 is attached. The sensor magnet 130 is made of a magnet having a strong magnetic force, such as a neodymium magnet. As shown in FIG. 4, a plate position detection sensor 134 is attached to the housing 12 . Normally, the sensor magnet 130 of the contact plate 102 is arranged at a position facing the plate position detection sensor 134 . When the reinforcing bar binding device 2 is set on a plurality of reinforcing bars R, when the plurality of reinforcing bars R are pressed against the contact portion 102a, the contact plate 102 swings against the urging force of the compression spring 128, and the magnet arm rotates. A sensor magnet 130 at 132 is arranged at a position separated from the plate position detection sensor 134 . The plate position detection sensor 134 can detect whether or not a plurality of reinforcing bars R are pressed against the contact portion 102a.

As shown in FIG. 5, the lower curl guide 92 is swingably supported by the housing 12 via a swing shaft 92a. The lower curl guide 92 can swing between the closed state shown in FIG. 12 and the open state shown in FIG. The lower curl guide 92 in the open state is swung outward with respect to the wire W guide track. As shown in FIG. 5, the lower curl guide 92 is biased in the closing direction by a torsion spring 92b. The reinforcing bar binding device 2 is normally used with the lower curl guide 92 closed. If the wire W is entangled with the twisting mechanism 46, the user can remove the wire W entangled with the twisting mechanism 46 by opening the lower curl guide 92 against the biasing force of the torsion spring 92b. can.

As shown in FIGS. 12 and 13, a guide position detection mechanism 136 for detecting the open/closed state of the lower curl guide 92 is provided at the lower front portion of the reinforcing bar binding device 2 . The guide position detection mechanism 136 is attached to the housing 12 . The guide position detection mechanism 136 includes a guide position detection member 138 , a compression spring 140 and a guide position detection sensor 142 . The guide position detection member 138 has a contact arm 138a and a support arm 138c. The guide position detection member 138 is swingably supported by the housing 12 via a swing shaft 138b. Further, the guide position detecting member 138 is urged by a compression spring 140 held by the housing 12 in a swinging direction in which the contact arm 138a is directed upward. A sensor magnet 144 (see FIG. 13) is attached to the support arm 138c of the guide position detection member 138. As shown in FIG. The sensor magnet 144 is made of a magnet with strong magnetic force, such as a neodymium magnet. The guide position detection sensor 142 is fixed to the housing 12 . A rear lower part of the lower curl guide 92 is formed with a contact portion 92c projecting rearward. As shown in FIG. 12, when the lower curl guide 92 is closed by the biasing force of the torsion spring 92b, the contact portion 92c of the lower curl guide 92 pushes down the contact arm 138a of the guide position detecting member 138, thereby supporting the support. The sensor magnet 144 of the arm 138 c is arranged at a position facing the guide position detection sensor 142 . As shown in FIG. 13, when the user opens the lower curl guide 92 against the biasing force of the torsion spring 92b, the contact portion 92c of the lower curl guide 92 separates from the contact arm 138a of the guide position detecting member 138. do. As a result, the biasing force of the compression spring 140 swings the guide position detection member 138, and the sensor magnet 144 of the support arm 138c is arranged at a position separated from the guide position detection sensor 142. FIG. The guide position detection sensor 142 can detect the open/closed state of the lower curl guide 92 .

As shown in FIG. 3, the upper curl guide 90 feeds the wire W from above the plurality of reinforcing bars R to the lower side, and the lower curl guide 92 feeds the wire W sent from the upper curling guide 90 to the rear of the plurality of reinforcing bars R. Send from bottom to top. As a result, the wire W fed from the feeding mechanism 38 is wound around the plurality of reinforcing bars R in a substantially annular shape. When the wire W is fed by the wire W feed amount set by the user, the feed mechanism 38 stops the feed motor 72 to stop feeding the wire W. As shown in FIG.

(Configuration of Brake Mechanism 40)
The brake mechanism 40 shown in FIG. 4 stops the rotation of the wire reel WR in conjunction with the stopping of the feeding of the wire W by the feeding mechanism 38 . As shown in FIGS. 14 and 15, the brake mechanism 40 includes a pull solenoid 146, a compression spring 148, and a brake member 150. As shown in FIGS. Brake member 150 is a single member comprising drive arm 150a and brake arm 150c. The brake member 150 is swingably attached to the housing 12 via a swing shaft 150b. The drive arm 150a of the brake member 150 is connected to the output shaft of a pull solenoid 146 that moves up and down. Also, the brake member 150 is urged by the compression spring 148 in the swinging direction in which the brake arm 150c separates from the wire reel WR. The brake arm 150c of the brake member 150 includes a wide plate-shaped plate portion 150d, a tip rib 150e projecting toward the wire reel WR at the tip of the plate portion 150d, and a wire reel WR at both ends of the plate portion 150d. It has side end ribs 150f that protrude to the side. Engagement portions WRc with which tip ribs 150e of brake arms 150c engage are formed on the wire reel WR at predetermined angular intervals in the circumferential direction. As shown in FIG. 14, when the pull solenoid 146 is not energized, the biasing force of the compression spring 148 keeps the brake arm 150c away from the engaging portion WRc of the wire reel WR. In this state, the wire reel WR can rotate freely, and the feed mechanism 38 can pull out the wire W from the wire reel WR. As shown in FIG. 15, when the pull solenoid 146 is energized, the pull solenoid 146 drives the drive arm 150a, and a torque around the swing shaft 150b acts on the brake member 150, causing the brake member 150 to rotate. swings around the swing shaft 150b, and the tip rib 150e of the brake arm 150c engages with the engaging portion WRc of the wire reel WR. In this state, rotation of the wire reel WR is prohibited. As a result, even after the feed mechanism 38 stops feeding the wire W, the wire reel WR continues to rotate due to inertia, and the wire W can be prevented from loosening between the wire reel WR and the feed mechanism 38. .

In this specification, the operation of feeding the wire W so that the wire W is wound around the plurality of reinforcing bars R by using the feed mechanism 38, the brake mechanism 40, and the guide mechanism 42 is simply referred to as "feeding operation". Sometimes. The feed operation is started by driving the feed motor 72 and terminated by stopping the pull solenoid 146 .

(Configuration of Cutting Mechanism 44)
As shown in FIG. 5, the cutting mechanism 44 is arranged at the front part of the reinforcing bar binding device 2, and cuts the wire W in a state in which the wire W is wound around a plurality of reinforcing bars R. As shown in FIG. As shown in FIG. 10, the cutting mechanism 44 and the upper curl guide 90 of the guide mechanism 42 are unitized. Cutting mechanism 44 includes push plate 152 , pull plate 154 , first link arm 156 , second link arm 158 and cutter 116 . The push plate 152 , the pull plate 154 and the first link arm 156 are connected to each other via a swing shaft 160 so as to be swingable. Also, the push plate 152 and the pull plate 154 are swingably supported by the guide arm 100 via a swing shaft 162 . The first link arm 156 is biased forward by a torsion spring 164 . The first link arm 156 and the second link arm 158 are connected to each other via a swing shaft 166 so as to be swingable. The second link arm 158 is connected to the swing member 120 of the cutter 116 through a swing shaft 168 so as to be swingable.

When the lower portion of the push plate 152 is pushed forward by the operation of the torsion mechanism 46, which will be described later, the first link arm 156 and the second link arm 158 move rearward, causing the swinging member 120 of the cutter 116 to move. It swings around the fixed member 118 . As a result, the wire W is cut at the front end of the wire passage 118a of the fixing member 118 by being sheared by the cutting piece 120b of the swinging member 120. As shown in FIG. From this state, when the lower portion of the pull plate 154 is pushed rearward by the operation of the torsion mechanism 46, the first link arm 156 and the second link arm 158 move forward, and the swinging member of the cutter 116 is moved forward. 120 swings around fixed member 118 and cutter 116 returns to its initial state.

(Configuration of twisting mechanism 46)
The twisting mechanism 46 shown in FIG. 5 binds the plurality of reinforcing bars R with the wires W by twisting the wires W wound around the plurality of reinforcing bars R. As shown in FIG. The torsion mechanism 46 includes a torsion motor 170, a speed reduction mechanism 172, a sleeve 174, a screw shaft (not shown) arranged inside the sleeve 174, a pusher 176, a sleeve position detection sensor 177, and a hook 178. .

The torsion motor 170 is a DC brushless motor. The torsion motor 170 is provided with a torsion motor rotation detection sensor 55 (see FIG. 16) for detecting the rotation angle of the rotor (not shown). Rotation of the torsion motor 170 is transmitted to the screw shaft via a speed reduction mechanism 172 . The torsion motor 170 is forward and reverse rotatable and the screw shaft is correspondingly forward and reverse rotatable. A sleeve 174 is arranged to cover the periphery of the screw shaft. When the rotation of the sleeve 174 is prohibited, forward rotation of the screw shaft causes the sleeve 174 to move forward, and reverse rotation of the screw shaft causes the sleeve 174 to move backward. When the screw shaft rotates while the sleeve 174 is allowed to rotate, the sleeve 174 rotates together with the screw shaft. The pusher 176 moves forward when the sleeve 174 moves forward and moves rearward when the sleeve 174 moves rearward. As shown in FIG. 10, when the sleeve 174 advances from the initial position to a predetermined position, the pusher 176 pushes the lower portion of the push plate 152 of the cutting mechanism 44 forward, causing the swinging member 120 of the cutter 116 to move. It swings around the fixed member 118 . Conversely, when the sleeve 174 retreats from the advanced position to the predetermined position, the pusher 176 pushes the lower portion of the pull plate 154 of the cutting mechanism 44 rearward, causing the swinging member 120 of the cutter 116 to move toward the fixed member 118 . oscillate around. A hook 178 is provided at the front end of the sleeve 174 and opens and closes according to the position of the sleeve 174 in the front-rear direction. As the sleeve 174 moves forward, the hook 178 closes and grips the wire W. Conversely, as the sleeve 174 moves rearwardly, the hook 178 opens and releases the wire W. As shown in FIG. 5, the sleeve position detection sensor 177 is fixed in position in the front-rear direction with respect to the housing 12, and by detecting magnetism from a magnet (not shown) provided on the pusher 176, It can be detected whether the sleeve 174 is in the initial position.

When the torsion motor 170 is rotated with the wire W wound around the plurality of reinforcing bars R, the sleeve 174 advances due to the rotation of the screw shaft, and the pusher 176 and the hook 178 advance. As the wire W is cut, the hook 178 closes and the wire W is gripped. Thereafter, when the sleeve 174 is allowed to rotate, the rotation of the screw shaft causes the sleeve 174 to rotate and the hook 178 to rotate. As a result, the wire W is twisted up to the set twisting torque, and the plurality of reinforcing bars R are bundled. From this state, when the torsion motor 170 is rotated in the opposite direction, the rotation of the screw shaft retracts the sleeve 174 and retracts the hook 178 while opening it, and the wire W is released. Further, as the sleeve 174 retreats, the pusher 176 retreats and the cutting mechanism 44 returns to its initial state. After that, the pusher 176 and the hook 178 are retracted to the initial position, and the rotation of the sleeve 174 is allowed to return the hook 178 to the initial angle.

In this specification, the operation of cutting the wire W and twisting the wire W wound around the plurality of reinforcing bars R using the cutting mechanism 44 and the twisting mechanism 46 may be simply referred to as "twisting operation". The twisting motion is initiated by activating the torsion motor 170 and terminated by deactivating the torsion motor 170 .

(Configuration of device control unit 50)
As shown in FIG. 16, the device control unit 50 includes a control power supply circuit 20, a main microcomputer 21, driver circuits 22, 23, 24, voltage detection circuits 25, 26, 27, a current detection circuit 28, and the like. The main microcomputer 21 includes a CPU, memory, communication interface, and the like. The main microcomputer 21 is configured to communicate with the robot control unit 10 . A communication method between the main microcomputer 21 and the robot control unit 10 is, for example, a wired serial communication method. Thereby, the robot control unit 10 and the device control unit 50 can communicate with each other. Further, the device control unit 50 is provided with a temperature detection sensor 32 capable of detecting the temperature of the device control unit 50 .

The control power supply circuit 20 adjusts the power supplied from the power control board 808 of the power supply device 8 to a predetermined voltage and supplies power to the main microcomputer 21 .

The driver circuit 22 drives the pull solenoid 146 according to instructions from the main microcomputer 21 . Although not shown, the driver circuit 22 incorporates an FET as a switching element. The main microcomputer 21 can control the operation of the pull solenoid 146 via the driver circuit 22 .

The voltage detection circuit 25 is provided corresponding to the driver circuit 22 . The voltage detection circuit 25 can detect the voltage applied to the driver circuit 22 and the potential of the driver circuit 22 .

The driver circuit 23 drives the feed motor 72 according to instructions from the main microcomputer 21 . Although not shown, the driver circuit 23 incorporates an FET as a switching element. The main microcomputer 21 can control the operation of the feed motor 72 via the driver circuit 23 .

The voltage detection circuit 26 is provided corresponding to the driver circuit 23 . The voltage detection circuit 26 can detect the voltage applied to the driver circuit 23 and the potential of the driver circuit 23 .

The driver circuit 24 drives the torsion motor 170 according to instructions from the main microcomputer 21 . Although not shown, the driver circuit 24 incorporates an FET as a switching element. The main microcomputer 21 can control the operation of the torsion motor 170 via the driver circuit 24 .

The voltage detection circuit 27 detects the voltage of the power supplied from the power control board 808 . The main microcomputer 21 can obtain the voltage of the power supplied from the power control board 808 from the signal received from the voltage detection circuit 27 .

The current detection circuit 28 detects the current supplied from the power control board 808 to the driver circuits 22, 23, 24 and the like. The main microcomputer 21 detects the current supplied from the power control board 808 to the driver circuits 22, 23, 24, etc. from the signal received from the current detection circuit 28, i. 146, etc., can be obtained.

A protection FET 31 is provided in the path for supplying power from the power control board 808 to the driver circuits 22 , 23 and 24 . When the protection FET 31 is turned on, power is supplied from the power control board 808 to the driver circuits 22 , 23 , 24 . When the protection FET 31 is turned off, power supply from the power control board 808 to the driver circuits 22, 23 and 24 is cut off. The main microcomputer 21 can switch the protection FET 31 between an ON state and an OFF state.

Various processes executed by the device control unit 50 (specifically, processes executed by the main microcomputer 21) will be described below.

(equipment main processing)
When power supply from the power control board 808 to the reinforcing bar binding device 2 is started, the device control unit 50 executes the device main processing shown in FIG.

At S102, the device control unit 50 executes hardware state determination processing. Details of the hardware state determination process will be described later. After S102, the process proceeds to S104.

In S104, the device control unit 50 determines whether or not an abnormality has occurred in the reinforcing bar binding device 2. Specifically, the device control unit 50 determines whether or not a binding device abnormality determination flag, which will be described later, is stored in the memory. If no abnormality has occurred in the reinforcing bar binding device 2 (in the case of NO), the process proceeds to S106.

At S106, the device control unit 50 executes device initialization processing. When the device initialization process is started, the device control unit 50 turns on the protection FET 31 . After that, the device control unit 50 rotates the torsion motor 170 in the forward and reverse directions to check the operation and return the sleeve 174 to the initial position. After that, the device control unit 50 turns off the protection FET 31 and terminates the device initialization process. After S106, the process proceeds to S108.

At S108, the device control unit 50 determines whether or not the status call signal transmitted from the robot control unit 10 has been received. If the status call signal has not been received (NO), the process executes S108 again. If the status call signal has been received (if YES), the process proceeds to S110.

At S<b>110 , the device control unit 50 transmits a state notification signal to the robot control unit 10 . The status notification signal includes various flags stored in memory, for example. After S110, the process proceeds to S112.

At S112, the device control unit 50 determines whether or not the binding instruction signal transmitted from the robot control unit 10 has been received. If the bundling instruction signal has not been received (NO), the process executes S112 again. If the bundling instruction signal has been received (YES), the process proceeds to S114.

At S114, the device control unit 50 executes hardware state determination processing. Details of the hardware state determination process will be described later. After S114, the process proceeds to S116.

At S116, the device control unit 50 determines whether or not an abnormality has occurred in the reinforcing bar binding device 2. Specifically, the device control unit 50 determines whether or not the binding device abnormality determination flag is stored in the memory. If no abnormality has occurred in the reinforcing bar binding device 2 (in the case of NO), the process proceeds to S118.

At S118, the device control unit 50 starts the reinforcing bar binding work. The device control unit 50 stores in the memory a binding flag indicating that the reinforcing bar binding device 2 is executing the reinforcing bar binding work, and turns on the protection FET 31 . After S118, the process proceeds to S120.

At S<b>120 , the device control unit 50 instructs the driver circuit 23 to start driving the feed motor 72 . That is, the device control unit 50 instructs the start of the feeding operation. After S120, the process proceeds to S122.

At S122, the device control unit 50 executes a feeding operation state determination process. Details of the feeding operation state determination processing will be described later. After S122, the process proceeds to S124.

At S124, the device control unit 50 determines whether or not an abnormality has occurred in the reinforcing bar binding device 2. Specifically, the device control unit 50 determines whether or not the binding device abnormality determination flag is stored in the memory. If no abnormality has occurred in the reinforcing bar binding device 2 (in the case of NO), the process proceeds to S126.

At S126, the device control unit 50 determines whether or not the feeding operation has ended. If the feeding operation has not ended (NO), the process returns to S122. If the feeding operation has ended (if YES), the process proceeds to S128.

At S128, the device control unit 50 instructs the driver circuit 24 to start driving the torsion motor 170. That is, the device control unit 50 instructs the start of the twisting motion. After S128, the process proceeds to S130.

At S130, the device control unit 50 executes a torsion motion state determination process. Details of the twisting motion state determination processing will be described later. After S130, the process proceeds to S132.

At S132, the device control unit 50 determines whether or not an abnormality has occurred in the reinforcing bar binding device 2. Specifically, the device control unit 50 determines whether or not the binding device abnormality determination flag is stored in the memory. If no abnormality has occurred in the reinforcing bar binding device 2 (NO), the process proceeds to S134.

At S134, the device control unit 50 determines whether or not the twisting motion has ended. If the twisting motion has not ended (NO), the process returns to S130. If the twisting motion has ended (if YES), the process proceeds to S136.

At S136, the device control unit 50 ends the reinforcing bar binding work. The device control unit 50 turns off the protection FET 31 and erases the bundling flag stored in the memory. After S136, the process returns to S108.

If it is determined in S104, S116, S124, or S132 that an abnormality has occurred in the reinforcing bar binding device 2 (YES), the process proceeds to S138. At S138, the device control unit 50 determines whether or not the status call signal transmitted from the robot control unit 10 has been received. If the status call signal has not been received (NO), the process executes S138 again. If the status call signal has been received (YES), the process proceeds to S140.

At S<b>140 , the device control unit 50 transmits a state notification signal to the robot control unit 10 . The status notification signal includes various flags stored in memory, for example. After S140, the process shown in FIG. 17 ends.

(Feeding operation state determination processing)
The apparatus control unit 50 executes the feeding operation state determination process shown in FIG. 18 in S122 of the apparatus main process (see FIG. 17).

In S2, the device control unit 50 determines whether the wire reel WR is held by the reel holding mechanism 36 or not. Specifically, when the rotation of the wire reel WR is not detected by the reel rotation detection sensor 66 even once after S118 of the main processing of the device (see FIG. 17) is completed, the device control unit 50 determines that the wire reel WR is held by the reel. It is determined that the mechanism 36 is not held. If the reel rotation detection sensor 66 detects the rotation of the wire reel WR even once after S118 of the main processing of the device (see FIG. 17) is completed, the device control unit 50 holds the wire reel WR in the reel holding mechanism 36. It is determined that If the wire reel WR is held by the reel holding mechanism 36 (YES), the process proceeds to S3.

In S3, the device control unit 50 determines whether or not the feed motor FET (FET of the driver circuit 23) has an open failure. Specifically, if the device control unit 50 does not supply current to the driver circuit 23 for a predetermined period of time after S118 of the device main processing (see FIG. 17) ends, the feed motor It is determined that the FET has an open failure. The apparatus control unit 50 determines that the feed motor FET has an open failure when current flows through the driver circuit 23 even once during the period from the end of S118 of the main processing of the apparatus (see FIG. 17) to the elapse of a predetermined period of time. judge not. If the feed motor FET does not have an open failure (NO), the process proceeds to S4.

In S4, the device control unit 50 determines whether an overload is detected in the feed motor 72. Specifically, when the current value detected by the current detection circuit 28 continues to exceed the first upper limit current value for a predetermined time or longer, the device control unit 50 causes the feed motor 72 to Determine that an overload has been detected. If no overload is detected in the feed motor 72 (NO), the process proceeds to S6.

In S6, the device control unit 50 determines whether or not an abnormality has occurred in the feed gears (main driving gear 78 and driven gear 80). The device control unit 50 of this embodiment calculates the amount of rotation of the main driving gear 78 after S118 of the device main processing (see FIG. 17) is completed based on the gear rotation detection sensor 79. FIG. Then, the apparatus control unit 50 determines that the amount of rotation of the main driving gear 78 remains a predetermined value (for example, a wire speed set by the user) even after a predetermined period of time has elapsed since S118 of the apparatus main processing (see FIG. 17) was completed. If it does not reach the amount of rotation corresponding to the feed amount of W), it is determined that an abnormality has occurred in the feed gear. If no abnormality has occurred in the feed gear (in the case of NO), the process proceeds to S8.

In S8, the device control unit 50 determines whether wire shortage has occurred. The device control unit 50 of this embodiment calculates the amount of rotation of the wire reel WR after S118 of the device main process (see FIG. 17) is completed based on the reel rotation detection sensor 66. FIG. Then, the apparatus control unit 50 determines that the amount of rotation of the wire reel WR remains a predetermined value (for example, the wire reel set by the user) even after a predetermined period of time has elapsed since S118 of the apparatus main processing (see FIG. 17) was completed. If the amount of rotation does not reach the amount of rotation corresponding to the feed amount of W), it is determined that a wire shortage has occurred. If it is determined that there is no shortage of wires (in the case of NO), the process proceeds to S9.

In S9, the device control unit 50 determines whether or not the solenoid FET (FET of the driver circuit 22) has an open failure. Specifically, if the device control unit 50 detects that no current flows through the driver circuit 22 for a predetermined period of time from the end of S118 of the device main processing (see FIG. 17), the solenoid FET has an open failure. The device control unit 50 determines that the solenoid FET is not open-failed if a current flows through the driver circuit 22 even once during a predetermined period of time from the end of S118 of the device main processing (see FIG. 17). I judge. If the solenoid FET does not have an open failure (NO), the process proceeds to S10.

In S10, the device control unit 50 stores in the memory a feed operation normality determination flag indicating that the feed operation is normally performed. After S10, the process of FIG. 18 ends.

If it is determined in S2 that the wire reel WR is not held by the reel holding mechanism 36 (if NO), if it is determined that the feed motor FET has an open failure in S3 (if YES), then in S4 If it is determined that an overload has been detected in the feed motor 72 (if YES), if it is determined that an abnormality has occurred in the feed gear in S6 (if YES), a wire shortage has occurred in S8. If it is determined that there is an open failure in the solenoid FET (if YES), or if it is determined in S9 that the solenoid FET has an open failure (if YES), the process proceeds to S12. In S12, which is executed when S2 is NO, the device control unit 50 stores in the memory a reel dropout determination flag indicating that the wire reel WR is not held by the reel holding mechanism . In S12, which is executed when S3 is YES, the device control unit 50 stores in the memory a feed motor FET open failure determination flag indicating that the feed motor FET has an open failure. In S12, which is executed when S4 is YES, the apparatus control unit 50 stores in the memory a feed motor overload determination flag indicating that the feed motor 72 is overloaded. In S12, which is executed when the result of S6 is YES, the device control unit 50 stores in the memory a feed gear abnormality determination flag indicating that the feed gear is abnormal. In S12, which is executed when the result of S8 is YES, the device control unit 50 stores in the memory a wire shortage determination flag indicating that a wire shortage has occurred. In S12, which is executed when S9 is YES, the device control unit 50 stores in the memory a solenoid FET open failure determination flag indicating that the solenoid FET has an open failure. After S12, the process proceeds to S14.

At S14, the device control unit 50 suspends the reinforcing bar binding work being performed. Specifically, the device control unit 50 turns off the protection FET 31 . As a result, the power supply from the power control board 808 to the driver circuits 22, 23, 24 is cut off. After S14, the process of FIG. 18 ends.

The feed operation normal determination flag stored in the memory in S10, the reel dropout determination flag, the feed motor FET open failure determination flag, the feed motor overload determination flag, the feed gear abnormality determination flag, and the wire The shortage determination flag and the solenoid FET open failure determination flag are held in the memory until the feed operation state determination process is started next time, and are deleted from the memory when the feed operation state determination process is started next time. . These determination flags are also erased from the memory when the power supply from the power control board 808 to the device control unit 50 is interrupted.

(Plate state determination processing)
The apparatus control unit 50 repeatedly executes the plate position state determination process shown in FIG. 19 while power is being supplied from the power control board 808 .

In S32, the device control unit 50 uses the plate position detection sensor 134 to determine whether or not a rebar contact state has been detected. The rebar contact state here means a state in which a plurality of rebars R are pressed against the contact plate 102 . If the rebar contact state is detected (if YES), the process proceeds to S34. When the reinforcing bar contact state is not detected (in the case of NO), the process executes S32 again.

In S34, the device control unit 50 determines whether or not the rebar contact state has continued for a predetermined time (for example, 5 seconds) or longer. The device control unit 50 makes the determination of S34 by continuing to monitor the plate position detection sensor 134 until a predetermined period of time has elapsed since the determination of YES was made in the process of S32. If the rebar contact state has not continued for the predetermined time or longer (NO), the process proceeds to S36.

In S36, the device control unit 50 stores in memory a plate normality determination flag indicating that the contact plate 102 is operating normally. After S36, the process of FIG. 19 ends.

If it is determined in S34 that the rebar contact state has continued for a predetermined time or longer (YES), the process proceeds to S38. In S38, device control unit 50 stores in memory a plate abnormality determination flag indicating that an abnormality has occurred in the operation of contact plate 102 . After S38, the process of FIG. 19 ends.

The plate normality determination flag stored in the memory in S36 or the plate abnormality determination flag stored in the memory in S38 is held in the memory until the next plate state determination process is started, and the plate state determination flag is stored in the memory next time. When the determination process is started, it is cleared from memory. These determination flags are also erased from the memory when the power supply from the power control board 808 to the device control unit 50 is interrupted.

(Supply voltage state determination processing)
The device control unit 50 repeatedly executes the supply voltage state determination process shown in FIG. 20 while power is being supplied from the power control board 808 .

In S42, the device control unit 50 determines whether the voltage value detected by the voltage detection circuit 27 is below a predetermined voltage lower limit value. If the voltage value detected by the voltage detection circuit 27 is below the voltage lower limit value (YES), the process proceeds to S44. If the voltage value detected by the voltage detection circuit 27 is equal to or higher than the voltage lower limit value (NO), the process proceeds to S46.

In S44, the device control unit 50 stores in memory a low voltage determination flag indicating that the voltage value of the power supplied from the power control board 808 to the device control unit 50 is insufficient. After S44, the process of FIG. 20 ends.

In S46, the device control unit 50 stores in memory a supply voltage normality determination flag indicating that the voltage value of the power supplied from the power control board 808 to the device control unit 50 is a sufficient value. After S46, the process of FIG. 20 ends.

The low voltage determination flag stored in the memory in S44 or the supply voltage normality determination flag stored in the memory in S46 is held in the memory until the supply voltage state determination process is started next time. It is cleared from memory when the supply voltage status determination process is started. These determination flags are also erased from the memory when the power supply from the power control board 808 to the device control unit 50 is interrupted.

(Temperature state determination processing)
The device control unit 50 repeatedly executes the temperature state determination process shown in FIG. 21 while power is being supplied from the power control board 808 .

At S52, the device control unit 50 determines whether or not the device control unit 50 is overheating. Specifically, the device control unit 50 determines whether or not the temperature of the device control unit 50 detected by the temperature detection sensor 32 has continued to exceed a predetermined upper temperature limit for a predetermined time or longer. do. If the device control unit 50 is overheating (YES), the process proceeds to S54.

In S54, the device control unit 50 stores in memory a temperature abnormality determination flag indicating that the device control unit 50 is overheating. After S54, the process proceeds to S56.

In S56, the device control unit 50 interrupts the reinforcing bar binding work in progress when the reinforcing bar binding work is being executed. Specifically, the device control unit 50 turns off the protection FET 31 . As a result, the power supply from the power control board 808 to the driver circuits 22, 23, 24 is cut off. After S56, the process of FIG. 21 ends.

If it is determined in S52 that the device control unit 50 is not overheating (NO), the process proceeds to S58. In S58, the device control unit 50 stores in memory a temperature normality determination flag indicating that the device control unit 50 is not overheating (that is, the temperature of the device control unit 50 is normal). After S58, the process of FIG. 21 ends.

The temperature abnormality determination flag stored in the memory in S54 or the temperature normality determination flag stored in the memory in S58 is held in the memory until the temperature state determination process is started next time. When the determination process is started, it is cleared from memory. These determination flags are also erased from the memory when the power supply from the power control board 808 to the device control unit 50 is interrupted.

(Twisting operation state determination processing)
The device control unit 50 executes the twisting motion state determination processing shown in FIG. 22 in S130 of the device main processing (see FIG. 17).

In S62, the device control unit 50 determines whether or not the torsion motor 170 is locked based on the detection result of the torsion motor rotation detection sensor 55. The torsion motor rotation detection sensor 55 of this embodiment is a Hall sensor, and switches the signal output to the device control unit 50 between the H signal and the L signal each time the rotor of the torsion motor 170 rotates by a predetermined angle. is configured as The device control unit 50 detects the rotation of the torsion motor 170 based on the number of times the signal output from the torsion motor rotation detection sensor 55 is switched. Therefore, the device control unit 50 does not change the signal output from the torsion motor rotation detection sensor 55 even after a predetermined time has passed since S128 of the device main processing (see FIG. 17) is completed. If so, it is determined that the torsion motor 170 is locked. If the torsion motor 170 is not locked (NO), the process proceeds to S64.

At S64, the device control unit 50 determines whether or not the rotation abnormality of the torsion motor 170 has been detected. Specifically, the device control unit 50 compares the change pattern of the rotation angle of the torsion motor 170 detected by the torsion motor rotation detection sensor 55 with the ideal change pattern stored in the memory, thereby detecting the rotation angle of the torsion motor 170. is detected. If no abnormal rotation of torsion motor 170 is detected (NO), the process proceeds to S66.

At S66, the device control unit 50 determines whether or not an overload is detected in the torsion motor 170. Specifically, the device control unit 50 determines whether or not a state in which the current value detected by the current detection circuit 28 exceeds a predetermined second current upper limit value has been detected continuously for a predetermined time or longer. If no overload is detected in the torsion motor 170 (NO), the process proceeds to S68.

At S68, the device control unit 50 determines whether or not the torsion motor rotation detection sensor 55 has become abnormal. Specifically, the device control unit 50 continues to monitor the control output from the torsion motor rotation detection sensor 55 from the time the torsion motor 170 is driven until the torsion motor 170 is stopped. If the signal (H signal or L signal) output from the torsion motor rotation detection sensor 55 never changes, the device control unit 50 determines that the torsion motor rotation detection sensor 55 has become abnormal. If no abnormality has occurred in the torsion motor rotation detection sensor 55 (NO), the process proceeds to S70.

At S70, the device control unit 50 determines whether or not an abnormality has occurred in the torsion arm (sleeve 174 and hook 178). Specifically, the device control unit 50 determines that an abnormality has occurred in the torsion arm when the sleeve 174 is not in the initial position after a predetermined time has elapsed since S128 of the device main processing (see FIG. 17) has ended. do. If no abnormality has occurred in the torsion arm (NO), the process proceeds to S72.

In S72, the device control unit 50 determines whether or not overcurrent is detected in the current detection circuit 28 during execution of the twisting motion. In this embodiment, the current detection circuit 28 includes an overcurrent detection circuit that transmits an overcurrent detection signal to the device control unit 50 when the current value flowing through the current detection circuit 28 exceeds a predetermined third current upper limit value. A circuit (not shown) is provided. Therefore, the device control unit 50 determines whether or not it has received an overcurrent detection signal from the overcurrent detection circuit. The third upper limit current value is set to a value larger than the first upper limit current value in S4 of FIG. 18 and the second upper limit current value in S66 of FIG. If overcurrent is not detected (NO), the process proceeds to S74.

In S74, the device control unit 50 stores in memory a twisting motion normal determination flag indicating that the twisting motion is being performed normally. After S74, the process of FIG. 22 ends.

If it is determined in S62 that the locked state of the torsion motor 170 has been detected (if YES), if it is determined that an abnormal rotation of the torsion motor 170 has been detected in S64 (if YES), the torsion motor 170 is turned on in S66. If it is determined that an overload has been detected (if YES), if it is determined that an abnormality has occurred in the torsion motor rotation detection sensor 55 in S68 (if YES), an abnormality has occurred in the torsion arm in S70. If it is determined that the overcurrent is detected in S72 (YES), the process proceeds to S76. In S76, which is executed when S62 is YES, the device control unit 50 stores in the memory a torsion motor lock determination flag indicating that the torsion motor 170 is in a locked state. In S76, which is executed when S64 is YES, the device control unit 50 stores in the memory a torsion motor rotation abnormality determination flag indicating that the torsion motor 170 has an abnormality in rotation. In S76, which is executed when S66 is YES, the device control unit 50 stores in the memory a torsion motor overload determination flag indicating that an overload has been detected in the torsion motor 170. FIG. In S76, which is executed when S68 is YES, the device control unit 50 stores in the memory a torsion motor rotation detection sensor abnormality determination flag indicating that the torsion motor rotation detection sensor 55 is abnormal. In S76, which is executed when the result of S70 is YES, the device control unit 50 stores in the memory a torsion arm abnormality determination flag indicating that an abnormality has occurred in the torsion arm. In S76, which is executed when the result of S72 is YES, the device control unit 50 stores in the memory an overcurrent determination flag indicating that an overcurrent has been detected. After S76, the process proceeds to S78.

At S78, the device control unit 50 suspends the reinforcing bar binding work being performed. Specifically, the device control unit 50 turns off the protection FET 31 . As a result, the power supply from the power control board 808 to the driver circuits 22, 23, 24 is cut off. After S78, the process of FIG. 22 ends.

Note that the torsion operation normal determination flag stored in the memory in S74, the torsion motor lock determination flag, the torsion motor rotation abnormality determination flag, the torsion motor overload determination flag, and the torsion motor rotation detection sensor abnormality determination stored in the memory in S76. The flag, the torsion arm abnormality determination flag, and the overcurrent determination flag are held in the memory until the torsion motion state determination process is started next time, and are deleted from the memory when the torsion motion state determination process is started next time. be done. These determination flags are also erased from the memory when the power supply from the power control board 808 to the device control unit 50 is interrupted.

(Hardware state determination processing)
The device control unit 50 executes the hardware state determination processing shown in FIG. 23 in S102 and S114 of the device main processing (see FIG. 17).

In S82, the device control unit 50 determines whether or not the lower curl guide 92 is open based on the guide position detection sensor 142. If it is determined that the lower curl guide 92 is not open (that is, closed) (NO), the process proceeds to S84.

At S84, the device control unit 50 identifies the voltage value of the protection FET 31 based on the respective detection values of the voltage detection circuits 25, 26, and 27. Then, the device control unit 50 determines whether or not the voltage value of the protection FET 31 is abnormal. The abnormal value here is, for example, a value below the gate threshold value of the protection FET 31 . If the voltage value of protection FET 31 is normal (NO), the process proceeds to S86.

At S86, the device control unit 50 uses the voltage detection circuit 25 to determine whether the voltage value of the solenoid FET is an abnormal value. The abnormal value here is, for example, a value below the gate threshold value of the solenoid FET. If the voltage value of the solenoid FET is normal (NO), the process proceeds to S88.

At S88, the device control unit 50 uses the voltage detection circuit 26 to determine whether the voltage value of the feed motor FET is an abnormal value. The abnormal value here is, for example, a value below the gate threshold of the feed motor FET. If the voltage value of the feed motor FET is normal (NO), the process proceeds to S90.

In S90, the device control unit 50 stores in memory a hardware normality determination flag indicating that the hardware state is normal. After S90, the process of FIG. 23 ends.

If it is determined in S82 that the lower curl guide 92 is open (if YES), if it is determined that the voltage value of the protection FET 31 is abnormal in S84 (if YES), the solenoid If the voltage value of the FET is determined to be abnormal (YES), or if the voltage value of the feed motor FET is determined to be abnormal in S88 (YES), the process proceeds to S92. move on. In S92, which is executed when YES in S82, the device control unit 50 stores in the memory a guide position abnormality determination flag indicating that the position of the lower curl guide 92 is not at an appropriate position. In S92, which is executed when S84 is YES, the device control unit 50 stores in the memory a protection FET voltage abnormality determination flag indicating that the voltage value of the protection FET 31 is an abnormal value. In S92, which is executed when YES in S86, the device control unit 50 stores in the memory a solenoid FET voltage abnormality determination flag indicating that the voltage value of the solenoid FET is an abnormal value. In S92, which is executed when YES in S88, the device control unit 50 stores in the memory a feed motor FET voltage abnormality determination flag indicating that the voltage value of the feed motor FET is an abnormal value. After S92, the process of FIG. 23 ends.

The hardware normality determination flag stored in the memory in S90, the guide position abnormality determination flag, the protection FET voltage abnormality determination flag, the solenoid FET voltage abnormality determination flag, and the feed motor FET voltage abnormality determination flag stored in the memory in S92. is held in the memory until the hardware state determination process is started next time, and is deleted from the memory when the hardware state determination process is started next time. These determination flags are also erased from the memory when the power supply from the power control board 808 to the device control unit 50 is interrupted.

(Classification of various judgment flags)
In this specification, of the various determination flags described above, the feed operation normality determination flag, the plate normality determination flag, the supply voltage normality determination flag, the temperature normality determination flag, the torsion operation normality determination flag, and the hardware normality determination flag are collectively used. This is called a "binding device normality determination flag". In addition, a reel dropout determination flag, a feed motor FET open failure determination flag, a feed motor overload determination flag, a feed gear abnormality determination flag, a wire shortage determination flag, a solenoid FET open failure determination flag, a plate abnormality determination flag, a low voltage determination flag, Temperature abnormality determination flag, torsion motor lock determination flag, torsion motor rotation abnormality determination flag, torsion motor overload determination flag, torsion motor rotation detection sensor abnormality determination flag, torsion arm abnormality determination flag, overcurrent determination flag, guide position abnormality determination flag , the protection FET voltage abnormality determination flag, the solenoid FET voltage abnormality determination flag, and the feed motor FET voltage abnormality determination flag are collectively referred to as "binding device abnormality determination flag".

(Structure of Conveying Device 4)
As shown in FIG. 2 , the transport device 4 includes a chassis 190 , a right crawler 192 , a left crawler 194 , a side stepper 196 and a power transmission mechanism 402 . Right crawler 192 , left crawler 194 , side stepper 196 , and power transmission mechanism 402 are each supported by undercarriage 190 .

(Configuration of Chassis 190)
As shown in FIG. 2 , 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 reinforcement binding robot 1 is provided with a through-hole 204a formed by penetrating the base plate 204 in the vertical direction at the central portion in the front-rear and left-right directions. The through hole 204a is provided with a size that allows the reinforcing bar binding device 2 to pass therethrough substantially along the vertical direction. Also, the plurality of base frames 214 are fixed to the lower 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.

(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. 24, the side stepper 196 includes step bars 272 and 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. 2, 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. 24, 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. 25). , 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. 2) via a movable bearing (not shown) provided so as to be vertically movable. 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 .

The crank arms 286, 288, crank pins 290, 292 (see FIG. 25), crank plate 294, rollers 296, 298, and guide plate 300 are arranged forward of the support plate 278. As shown in FIG. 25, 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. 24 ) are attached to crank pins 290 , 292 forward of crank plate 294 . As shown in FIG. 24, 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. 25, 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 broken 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 side crank mechanism 276, when the pulleys 280, 282 rotate, the rotation of the crank arms 286, 288 causes the crank pins 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. 26, 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. 25). ), a crank plate 322 , rollers 324 and 326 and a guide plate 328 . The support plate 306 is fixed to the lower surface of the base plate 204 near the rear end of the base plate 204 (see FIG. 2). 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 direction or the reverse direction, the other also rotates in the forward direction or the reverse direction at approximately the same number of rotations. In addition, the tensioner pulley 311 is rotatably supported by the base plate 204 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 .

The crank arms 314 , 316 , crank pins 318 , 320 (see FIG. 25), crank plate 322 , rollers 324 , 326 and guide plate 328 are arranged behind the support plate 306 . As shown in FIG. 25, 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. 26 ) are attached to crankpins 318 , 320 behind crank plate 322 . As shown in FIG. 26, the rollers 324, 326 enter guide grooves 330, 332 formed on the front surface of the guide plate 328. As shown in FIG. 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. 25, 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 broken 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 crank arms 314, 316 rotate, causing the crank pins 318, 320 to move in the rotational direction of the crank arms 314, 316. At this time, 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. 2 , the step bars 272 and 274 have their front ends fixed to the crank plate 294 of the front crank mechanism 276 and their rear ends fixed to the crank plate 322 of the rear crank mechanism 277 . As shown in FIG. 24 , 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, which causes 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. 27, when the crank plates 294, 322 are on the upper side of the side step track S (see FIG. 25) and the step bars 272, 274 are moving upward, the crank plates 294, 322 and the step bars 272, 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 1 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 (see FIG. 24) rotates from the state shown in FIG. 27, the crank plates 294, 322 move along the side step track S (see FIG. 25), and accordingly the step bars 272, 274 move. By moving downward, 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 1 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 can 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.

(Configuration of power transmission mechanism 402)
As shown in FIG. 29, the power transmission mechanism 402 includes a planetary gear mechanism 406, a first output shaft 414, a second output shaft 416, a first spur gear 418, a second spur gear 420, and a third spur gear. A gear 422 , a worm shaft 424 , a worm wheel 426 , a rotation transmission shaft 428 , a universal joint 430 and a switching actuator 432 are provided. Planetary gear mechanism 406, first output shaft 414, second output shaft 416, first spur gear 418, second spur gear 420, third spur gear 422, worm shaft 424, and worm wheel 426 are , are housed in a gear box 438 (see FIG. 24).

A dual-purpose motor 400 is connected to the planetary gear mechanism 406 from the left. Dual-purpose motor 400 is coupled to a sun gear (not shown) of planetary gear mechanism 406 . The dual-purpose motor 400 is, for example, a DC brushless motor. Also, the planetary carrier 410 of the planetary gear mechanism 406 is connected to the worm shaft 636 (see FIG. 30) of the lifting device 6 via the first output shaft 414 and the universal joint 430 . The internal gear 412 of the planetary gear mechanism 406 passes through a first spur gear 418, a second output shaft 416, a second spur gear 420, a third spur gear 422, a worm shaft 424, a worm wheel 426, and a rotation transmission shaft 428 in order. , is connected to the side stepper 196 .

An inner engaging recess 440 is formed on the outer surface of the planetary carrier 410 . 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, an outer recessed groove 442a is formed on the inner surface of the internal gear 412. As shown in FIG. 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.

The switching actuator 432 includes a locking member 434 , a position detection mechanism 436 , a pull solenoid 452 and a cap 456 . The locking member 434 has a locking pin 446 extending in the left-right direction in the vicinity of the front end. The locking member 434 is held by a cap 456 so as to be slidable in the front-rear direction. Locking member 434 is connected to the output shaft of pull solenoid 452 within cap 456 . A compression spring (not shown) is provided in the cap 456 to bias the output shaft of the pull solenoid 452 forward. The robot control unit 10 can switch the pull solenoid 452 between an energized state and a non-energized state.

In the state shown in FIG. 29, the pull solenoid 452 is energized. The output shaft of the pull solenoid 452 is moved rearward against the biasing force of the compression spring by the attractive force of the pull solenoid 452 . The locking member 434 is moved rearward in conjunction with the output shaft of the pull solenoid 452 . At this time, the locking pin 446 of the locking member 434 engages with the outer engaging recess 442 of the internal gear 412 to prohibit rotation of the internal gear 412 . In this state, the power of the dual-purpose motor 400 is transmitted to the lifting device 6 (see FIG. 30) through the planetary gear mechanism 406, the first output shaft 414, and the universal joint 430 in this order. In this specification, the state in which the power of the dual-purpose motor 400 is transmitted to the lifting device 6 may be referred to as the "first transmission state".

When the pull solenoid 452 is switched from the state shown in FIG. 29 to the non-energized state, the locking member 434 is moved forward by the biasing force of the compression spring. The locking member 434 is moved forward in conjunction with the output shaft of the pull solenoid 452 . The locking pin 446 of the locking member 434 thereby engages the inner engagement recess 440 of the planet carrier 410 . Rotation of the internal gear 412 is prohibited when the locking pin 446 is engaged with the inner engagement recess 440 . In this state, the power of the dual-purpose motor 400 is the planetary gear mechanism 406, 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. It is transmitted to the side stepper 196 through the shaft 428 in turn. In this specification, the state in which the power of dual-purpose motor 400 is transmitted to side stepper 196 is sometimes referred to as the "second transmission state."

The position detection mechanism 436 is attached above the cap 456 . The position detection mechanism 436 is a slide switch interlocked with the movement of the locking member 434 and can detect the position of the locking member 434 . Therefore, based on the signal transmitted from the position detection mechanism 436, the robot control unit 10 determines whether the power transmission mechanism 402 is in the first transmission state or the power transmission mechanism 402 is in the second transmission state. can be detected.

(Structure of lifting device 6)
As shown in FIG. 30, the lifting device 6 includes a worm gear case 632, a lifting arm 634, and a slider crank mechanism 638. As shown in FIG. Worm gear case 632 is fixed to base plate 204 (see FIG. 2). The lift arm 634 is fixed to the worm gear case 632 by screws. The lifting arm 634 extends from the worm gear case 632 forward and leftward. The worm gear case 632 has a worm shaft 636 . Slider-crank mechanism 638 includes crankshaft 642 , crank arm 644 , crank pin 646 , crank rod 648 , slider pin 650 , slider 652 , rail 653 and base member 654 .

The crankshaft 642 is connected to the worm shaft 636 via a worm gear (not shown) built into the worm gear case 632 . Crank arm 644 is fixed to crankshaft 642 . Crank pin 646 is rotatably held on each of crank arm 644 and crank rod 648 . Slider pin 650 is rotatably held on crank rod 648 . Slider pin 650 is fixed to slider 652 . The slider 652 is slidably held by a rail 653 provided on the elevating arm 634 . The base member 654 is rotatably provided on the slider pin 650 . The base member 654 is fixed to the housing 12 by a screw (not shown) while being fitted in the fitting portion 12a (see FIG. 3) of the housing 12 of the reinforcing bar binding device 2. As shown in FIG. That is, the lifting device 6 holds the reinforcing bar binding device 2 via the base member 654 . As shown in FIG. 2, in the reinforcing bar binding device 2 held by the lifting device 6, the front direction of the reinforcing bar binding device 2 faces downward of the reinforcing bar binding robot 1, and the rear direction of the reinforcing bar binding device 2 faces the reinforcing bar. It faces above the bundling robot 1 .

In the state shown in FIG. 30, the slider crank mechanism 638 is at the top dead center position. At this time, the reinforcing bar binding device 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 device 2 in this state may be referred to as the "upper limit position". When the worm shaft 636 rotates forward or reverse from the state shown in FIG. move around the circle. At this time, the slider pin 650 and slider 652 , which are connected to the crank pin 646 via the crank rod 648 , move downward along the rail 653 while keeping a constant distance from the crank pin 646 . At this time, the reinforcing bar binding device 2 fixed to the base member 654 descends with respect to the chassis 190 . In this embodiment, when lowering the reinforcing bar binding device 2, the crank arm 644 is rotated so that the crank pin 646 passes from the position shown in FIG. 30 to the position shown in FIG. .

In the state shown in FIG. 31, the slider crank mechanism 638 is at the bottom dead center position. At this time, the reinforcing bar binding device 2 (see FIG. 3) is held at a position that enables binding of the reinforcing bar intersections. In this specification, the position of the reinforcing bar binding device 2 in this state may be referred to as the "lower limit position". When the worm shaft 636 rotates forward or reverse from the state shown in FIG. move around the circle. At this time, the slider pin 650 and slider 652 , which are connected to the crank pin 646 via the crank rod 648 , move upward along the rail 653 while keeping a constant distance from the crank pin 646 . At this time, the reinforcing bar binding device 2 fixed to the base member 654 rises with respect to the chassis 190 . In this embodiment, when the rebar binding device 2 is lifted, the crank arm 644 is rotated so that the crank pin 646 passes through the lower side of the crank shaft 642 from the position shown in FIG. 31 and reaches the position shown in FIG. .

The slider 652 has a first interference pin 656 protruding toward the base member 654 along the rotation axis A1 of the slider pin 650, and an elongated hole 658 cut out along the circumferential direction of the rotation axis A1. The base member 654 has a second interference pin 660 that protrudes toward the slider 652 along the rotation axis A1 and is inserted into the slot 658 . The long hole 658 receives the second interference pin 660 so as to be slidable in the circumferential direction of the rotation axis A1. A torsion spring 662 is attached to the slider pin 650 so as to urge the second interference pin 660 against the first interference pin 656 in the first circumferential direction of the rotation axis A1. . Therefore, the biasing force of the torsion spring 662 keeps the second interference pin 660 in contact with the end side surface of the long hole 658 from the first circumferential direction, and resists the biasing force of the torsion spring 662 . can swing in the second circumferential direction opposite to the first circumferential direction. That is, the reinforcing bar binding device 2 fixed to the base member 654 is held swingably in the second circumferential direction of the rotation axis A1. As a result, for example, when the reinforcing bar binding device 2 collides with the first reinforcing bar R1, the second reinforcing bar R2, or other obstacles, the reinforcing bar binding device 2 and the reinforcing bar binding device 2 swing in the second circumferential direction. The impact on the lifting device 6 is mitigated.

As shown in FIG. 32, the lifting device 6 is fixed to a crankshaft 642 (see FIG. 30), and has a cam formed with a first fin 663 and a second fin 664 protruding radially outward of the crankshaft 642. 666 is further provided. One end of the first fin 663 and one end of the second fin 664 overlap each other in the circumferential direction of the rotation axis of the crankshaft 642 . On the other hand, the other end of the first fin 663 and the other end of the second fin 664 are separated from each other in the circumferential direction of the rotation axis of the crankshaft 642 . Therefore, between the other end of the first fin 663 and the other end of the second fin 664, a gap having a width in the circumferential direction of the rotating shaft of the crankshaft 642 is formed. The lifting device 6 further includes a first photosensor 668 and a second photosensor 670 each having a light emitting portion and a light receiving portion. Each of the first photosensor 668 and the second photosensor 670 transmits an ON signal to the robot control unit 10 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 robot control unit 10 . The first photosensor 668 and the second photosensor 670 are fixed to the worm gear case 632 so as to be aligned along the rotational axis of the crankshaft 642 .

When the reinforcing bar binding device 2 is at a position between the lower limit position and the upper limit position, one of the first fin 663 or the second fin 664 is the light emitting part and the light receiving part of one of the first photosensor 668 or the second photosensor 670. It is in a position to block between The other of the first fin 663 and the second fin 664 is positioned so as not to block the light-emitting portion and the light-receiving portion of either the first photosensor 668 or the second photosensor 670 . From this state, when the reinforcing bar binding device 2 is moved to the lower limit position, the overlapping portions of the first fin 663 and the second fin 664 are moved in the circumferential direction of the rotation axis of the crankshaft 642 by the first photosensor 668 and the first photo sensor 668 . 2 photosensor 670 is moved to substantially the same position. That is, when the reinforcing bar binding device 2 is at the lower limit position, the first fin 663 blocks the space between the light emitting portion and the light receiving portion of the first photosensor 668, and the second light emitting portion and the light receiving portion of the second photosensor 670 do not have a space between the light emitting portion and the light receiving portion. It is blocked by two fins 664 . On the other hand, when the rebar binding device 2 is moved to the upper limit position, the parts of the first fin 663 and the second fin 664 that are spaced apart from each other move in the circumferential direction of the rotation axis of the crankshaft 642 to the first photosensor 668 and It is moved to substantially the same position as the second photosensor 670 . That is, when the reinforcing bar binding device 2 is at the upper limit position, the light-emitting portion and the light-receiving portion of the first photosensor 668 are not blocked, and the light-emitting portion and the light-receiving portion of the second photosensor 670 are not blocked. Therefore, based on the signals transmitted from the first photosensor 668 and the second photosensor 670, the robot control unit 10 detects that the reinforcing bar binding device 2 has reached the upper limit position and that the reinforcing bar binding device 2 has reached the lower limit position. It is possible to detect such things as having been reached.

(robot initialization processing)
When the reinforcing bar binding robot 1 is powered on via the power switch, the robot control unit 10 executes robot initialization processing. In this specification, "turning on the power" means that power supply from the power control board 808 to the reinforcing bar binding device 2, the transport device 4, and the robot control unit 10 is started. When the robot initialization process is started, the robot control unit 10 transmits a status call signal to the device control unit 50 . As a result, a status notification signal is transmitted from the device control unit 50 to the robot control unit 10 . After that, the robot control unit 10 determines whether or not an abnormality has occurred in the reinforcing bar binding device 2 based on the transmitted status notification signal. Specifically, the robot control unit 10 determines whether or not the state notification signal includes a binding device abnormality determination flag. If it is determined that no abnormality has occurred in the reinforcing bar binding device 2, the robot control unit 10 terminates the robot initialization process. When it is determined that an abnormality has occurred in the reinforcing bar binding device 2, the robot control unit 10 executes an abnormality occurrence process, which will be described later. After that, the robot control unit 10 ends the robot initialization process.

(robot main processing)
When the execution of the operation of the reinforcing bar binding robot 1 is instructed via an operation execution button or the like (not shown), the robot control unit 10 executes the robot main processing shown in FIG. 33 . In the following description, the movement of the chassis 190 of the reinforcing-bar binding robot 1 is regarded as the movement of the reinforcing-bar binding robot 1 for the sake of simplicity.

At S202, the robot control unit 10 transmits a status call signal to the device control unit 50. As a result, a status notification signal is transmitted from the device control unit 50 to the robot control unit 10 . After S202, the process proceeds to S204.

At S<b>204 , the robot control unit 10 determines whether or not an abnormality has occurred in the reinforcing bar binding device 2 based on the status notification signal sent from the device control unit 50 . Specifically, the robot control unit 10 determines whether or not the state notification signal includes a binding device abnormality determination flag. If no abnormality has occurred in the reinforcing bar binding device 2 (if YES), the process proceeds to S206.

In S206, the robot control unit 10 drives at least one of the right crawler 192, the left crawler 194, and the side stepper 196 to cause the reinforcing bar binding robot 1 to move the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2. move up. The robot control unit 10 moves the reinforcing bar binding robot 1 with the reinforcing bar intersection RC' as the target point of the reinforcing bar binding work. At this time, the robot control unit 10 controls the right crawler 192, the left crawler 194, and the side crawler 192, the left crawler 194, and the side crawler 192 based on the relative arrangement of the first reinforcing bar R1 and the second reinforcing bar R2 detected by the plurality of reinforcing bar detection sensors and the reinforcing bar map. Controls the operation of stepper 196 . If the pull solenoid 452 is in the energized state at the start of S206, the robot control unit 10 switches the pull solenoid 452 to the non-energized state. As a result, the power transmission mechanism 402 is switched from the first transmission state to the second transmission state, and the side stepper 196 can be driven by the dual-purpose motor 400 . After S206, the process proceeds to S208.

In S208, the robot control unit 10 determines whether the horizontal position of the reinforcing bar intersection RC' detected by the plurality of reinforcing bar detection sensors is within a predetermined position range from the reference position. Here, the reference position is the position where the reinforcing bar intersection point RC' should exist when the reinforcing bar binding device 2 at the lower limit position performs the reinforcing bar 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 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 reinforcing bar intersection RC' is out of that range. If the position of the reinforcing bar intersection RC' is not within the predetermined position range (NO), the process returns to S206. If the position of the reinforcing bar intersection RC' is within the predetermined position range (if YES), the process proceeds to S210.

In S210, the robot control unit 10 determines that the angle of the first reinforcing bar R1 detected by the plurality of reinforcing bar detection sensors at the reinforcing bar intersection RC' (hereinafter simply referred to as "the angle of the reinforcing bar intersection RC'") is It is determined whether or not the angle 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 reinforcing bar crossing point RC' when the reinforcing bar binding device 2 at the lower limit position performs the reinforcing bar binding operation. For example, the reference angle is zero degrees. Further, the predetermined angle range referred to here is a range in which the reinforcing bar binding operation can be performed by the reinforcing bar binding device 2 as long as the angle of the reinforcing bar intersection RC' is within that range. If the angle of the reinforcing bar intersection point RC' is not within the predetermined angle range (NO), the process proceeds to S212. If the angle of the reinforcing bar intersection RC' is within the predetermined angle range (YES), the process proceeds to S214.

At S212, the robot control unit 10 executes reinforcing bar tracing control. In the reinforcing bar tracing control, the robot control unit 10 advances or retreats the reinforcing bar binding robot 1 while giving a speed difference between the right crawler 192 and the left crawler 194, and adjusts the horizontal position and angle of the reinforcing bar intersection RC'. , approaches the reference position and reference angle. As shown in FIG. 34, when the reinforcing bar trace control is started, the robot control unit 10 first matches the angle of the reinforcing bar intersection point RC' with the reference angle. Thereafter, as shown in FIG. 35, the robot control unit 10 matches the horizontal position of the reinforcing bar intersection RC' with the reference position. 34 and 35, the reference position and reference angle of the reinforcing bar binding robot 1 are represented by a cross cursor C. As shown in FIG. After S212, the process proceeds to S214.

At S214, the robot control unit 10 first switches the pull solenoid 452 to an energized state. As a result, the power transmission mechanism 402 is switched from the second transmission state to the first transmission state, and the dual-purpose motor 400 can be driven to drive the lifting device 6 . After that, the robot control unit 10 drives the lifting device 6 to lower the reinforcing bar binding device 2 to the lower limit position. As a result, the reinforcing bar binding device 2 is set at the reinforcing bar intersection RC'. After S214, the process proceeds to S216.

At S<b>216 , the robot control unit 10 transmits a status call signal to the device control unit 50 . As a result, a status notification signal is transmitted from the device control unit 50 to the robot control unit 10 . After S216, the process proceeds to S218.

At S<b>218 , the robot control unit 10 determines whether or not an abnormality has occurred in the reinforcing bar binding device 2 based on the status notification signal transmitted from the device control unit 50 . Specifically, the robot control unit 10 determines whether or not the state notification signal includes a binding device abnormality determination flag. If no abnormality has occurred in the reinforcing bar binding device 2 (in the case of YES), the process proceeds to S220.

At S<b>220 , the robot control unit 10 transmits a bundling instruction signal to the device control unit 50 . After S220, the process proceeds to S222.

At S222, the robot control unit 10 determines whether or not the reinforcing bar binding operation in the reinforcing bar binding device 2 has been completed. If the state notification signal received in S216 includes the bundling flag, the robot control unit 10 determines that the reinforcing rod bundling device 2 has not completed the bundling operation. If the status notification signal received in S216 does not include the tying flag, the robot control unit 10 determines that the reinforcing bar tying device 2 has completed the tying work. If the reinforcing bar binding operation has not been completed in the reinforcing bar binding device 2 (NO), the process returns to S216. When the reinforcing bar binding operation is completed in the reinforcing bar binding device 2 (in the case of YES), the process proceeds to S224.

At S224, the robot control unit 10 drives the lifting device 6 to raise the reinforcing bar binding device 2 to the upper limit position. After S224, the process proceeds to S226.

At S226, the robot control unit 10 refers to the reinforcing bar map and determines whether or not the reinforcing bar binding work has been completed for all reinforcing bar intersections. If it is determined that the reinforcing bar binding work has been completed for all reinforcing bar intersections (YES), the process of FIG. 33 ends. If it is determined that the process has not been completed yet (NO), the process proceeds to S228.

In S228, the robot control unit 10 changes the reinforcing bar crossing point RC' targeted for the reinforcing bar binding work to another reinforcing bar crossing point for which the reinforcing bar binding work has not yet been completed. After S228, the process returns to S206.

If it is determined in S204 or S218 that an abnormality has occurred in the reinforcing bar binding device 2 (NO), the process proceeds to S230. At S230, the robot control unit 10 executes a process when an abnormality occurs, which will be described later. After S230, the process of FIG. 33 ends.

(Processing when abnormality occurs)
When the abnormality occurrence process is started, the robot control unit 10 first stops driving the right crawler 192 , the left crawler 194 and the side stepper 196 . After that, the robot control unit 10 activates the patrol lamp 183 to notify that the reinforcing bar binding device 2 is abnormal. In addition, the robot control unit 10 notifies that an abnormality has occurred in the reinforcing bar binding device 2 using a buzzer. If the reinforcing bar binding robot 1 is equipped with an external controller (not shown), the robot control unit 10 notifies the external controller that an abnormality has occurred in the reinforcing bar binding device 2. . After that, the robot control unit 10 terminates the processing when an abnormality occurs. The external controller referred to here may be a controller dedicated to the reinforcing rod binding robot 1, or may be a general-purpose communication terminal such as a smart phone or a tablet terminal.

(Modification)
In the above embodiment, the configuration in which the reinforcing bar binding robot 1 has the independent reel 500 and the independent reel 500 serves as the wire W supply source has been described. In another embodiment, the reinforcing bar binding robot 1 may not have the independent reel 500 . In this case, the reinforcing bar binding device 2 may include a wire reel WR around which the wire W is wound in advance, and the wire reel WR may serve as the wire W supply source.

In the above embodiment, the wire W guided into the housing 12 from the through-hole 12b is wound around the wire reel WR and then supplied to the feed mechanism 38. In another embodiment, the wire W guided into the housing 12 from the through hole 12b is stretched along the outer peripheral surface of the wire reel WR without being wound around the wire reel WR. It may be supplied to the feed mechanism 38 . In this case, the wire reel WR may guide the wire W by rotating as the wire W is sent out.

In the above embodiment, the configuration in which the wire reel WR is detachably attached to the housing 12 has been described. In another embodiment, the wire reel WR may be non-removably attached to the housing 12 .

In the above embodiment, the power supply device 8 includes a plurality of battery packs B, and the power control board 808 of the power source device 8 distributes power from the plurality of battery packs B to the reinforcing bar binding device 2 and the conveying device 4. , the configuration for supplying to the robot control unit 10 has been described. In another embodiment, instead of multiple battery packs B, power supply 8 may include a power cord that connects to an external power source. The power control board 808 may be configured to supply power from an external power source to the rebar binding device 2 , the transport device 4 and the robot control unit 10 .

In the above embodiment, the configuration in which the communication method between the device control unit 50 and the robot control unit 10 is the wired serial communication method has been described. In another embodiment, the communication method between the device control unit 50 and the robot control unit 10 may be a wired parallel communication method. In yet another embodiment, the communication method between device control unit 50 and robot control unit 10 may be a wireless communication method.

In the above embodiment, the device control unit 50 may further include a voltage detection circuit provided corresponding to the driver circuit 24 . The device control unit 50 may directly detect the voltage applied to the driver circuit 24 and the potential of the driver circuit 24 via this voltage detection circuit.

In the above embodiment, the reel rotation detection sensor 66 (hall sensor) detects the presence or absence of the wire W wound around the wire reel WR. In another embodiment, sensors other than Hall sensors (eg, pressure sensors, photoelectric sensors, or microswitches) may detect the presence or absence of the wire W wound around the wire reel WR. For example, the pressure sensor may be provided to detect the pressure of the cylindrical portion (the portion around which the wire W is wound) of the wire reel WR. The photoelectric sensor may include a light-emitting portion provided on one of a pair of flanges (a portion that prevents the wire W from coming off) of the wire reel WR, and a light-receiving portion provided on the other of the pair of flanges. The microswitch may be provided so as to be pressed by a wire W wound around the wire reel WR.

In the above embodiment, the reel rotation detection sensor 66 (hall sensor) is configured to detect whether the wire reel WR is held by the reel holding mechanism 36 or not. In another embodiment, a sensor (for example, a microswitch) other than a Hall sensor may detect whether the wire reel WR is held by the reel holding mechanism 36 or not. For example, the microswitch may be provided to be depressed when the wire reel WR is held by the reel holding mechanism 36 .

In the above embodiment, the configuration in which the dedicated reinforcing bar binding device 2 is attached to the reinforcing bar binding robot 1 has been described. In another embodiment, the reinforcing bar binding robot 1 may be equipped with a commercially available hand-held reinforcing bar binding machine (for example, TR180D sold by Makita Corporation) instead of the dedicated reinforcing bar binding device 2. In this case, a control unit built into a commercially available rebar binding machine may have the same configuration as the device control unit 50 . A control unit built into a commercially available reinforcing bar binding machine may be configured to be able to execute various processes executed by the device control unit 50 .

In the above embodiment, the robot control unit 10 may transmit a status call signal to the device control unit 50 each time a predetermined period of time elapses. The device control unit 50 may transmit a state notification signal to the robot control unit 10 in response to a state call signal periodically transmitted from the robot control unit 10 . In this case, in S204 or S218 of the processing shown in FIG. 33, the robot control unit 10 may always determine whether or not an abnormality has occurred in the reinforcing bar binding device 2 based on the latest state notification signal. .

In the above embodiment, the robot control unit 10 determines that an abnormality has occurred in the reinforcing bar binding device 2 when the status notification signal sent from the device control unit 50 includes the binding device abnormality determination. I explained the configuration. In another embodiment, the robot control unit 10 sends the binding instruction signal to the device control unit 50, and if a predetermined time elapses without receiving the binding completion signal from the device control unit 50, the rebar binding device 2 It can be determined that an abnormality has occurred.

In the above embodiment, the device control unit 50 controls the reel rotation detection sensor 66, the gear rotation detection sensor 79, the plate position detection sensor 134, the guide position detection sensor 142, the sleeve position detection sensor 177, the torsion detection sensor 177, and the torsion detection sensor 177 during execution of the reinforcing bar binding operation. Transitions of detected values of the motor rotation detection sensor 55, the voltage detection circuits 25, 26, 27, the current detection circuit 28, and the temperature detection sensor 32 may be stored in a memory. Then, the device control unit 50 may transmit a binding completion signal including transitions of the above detection values to the robot control unit 10 when the reinforcing bar binding work by the reinforcing bar binding device 2 is normally completed. In this case, the robot control unit 10 may specify the performance of the reinforcing bar binding work (for example, whether the wire W is loose) based on the transition of each detection value.

(correspondence relationship)
As described above, in the first aspect of the present technology, the reinforcing bar binding robot 1 performs the following operations on the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2 intersecting the plurality of first reinforcing bars R1. The operation of moving on R1 and the plurality of second reinforcing bars R2 and the operation of binding the reinforcing bar intersections where the plurality of first reinforcing bars R1 and the plurality of second reinforcing bars R2 intersect can be repeatedly performed. The reinforcing bar binding robot 1 includes a robot control unit 10 that controls the operation of the reinforcing bar binding robot 1 and a reinforcing bar binding device 2 that uses a wire W to perform a reinforcing bar binding operation. The reinforcing bar binding device 2 includes a device control unit 50 that controls the operation of the reinforcing bar binding device 2 . The device control unit 50 is configured to send a state notification signal (example of first signal) to the robot control unit 10 . The robot control unit 10 is configured to control the operation of the reinforcing bar binding robot 1 based on the status notification signal sent from the device control unit 50 .

According to the above configuration, the device control unit 50 can transmit the state of the reinforcing bar binding device 2 to the robot control unit 10 through the state notification signal. The robot control unit 10 can grasp the state of the reinforcing bar binding device 2 based on the state notification signal. Therefore, the robot control unit 10 can control the operation of the reinforcing bar binding robot 1 according to the state of the reinforcing bar binding device 2 .

In the second aspect, in the first aspect, the reinforcing bar binding device 2 is configured to be able to perform the operation of feeding the wire W. The rebar binding device 2 includes a reel rotation detection sensor 66, a gear rotation detection sensor 79, a voltage detection circuit 25, a voltage detection circuit 26, and a current detection circuit 28 (of the first state detection section) that detect the state related to the wire W feeding operation. Example) is further provided. The status notification signal includes a feed operation normality determination flag, a hardware normality determination flag, a wire shortage determination flag, a feed motor overload determination flag, a feed gear abnormality determination flag, a feed motor FET open failure determination flag, and a feed motor overload determination flag. Motor FET voltage abnormality determination flag, solenoid FET open failure determination flag, solenoid FET voltage abnormality determination flag, reel rotation detection sensor 66, gear rotation detection sensor 79, voltage detection circuit 25, voltage detection circuit 26, and current detection circuit 28 detection values (an example of information about the detection result of the first state detection unit).

The operation of feeding the wire W is the main operation in the reinforcing bar binding device 2. Therefore, the robot control unit 10 may want to grasp the state of the wire W feeding operation of the reinforcing bar binding device 2 . According to the above configuration, the robot control unit 10 can grasp the state regarding the operation of sending the wire W based on the state notification signal.

In the third aspect, in the second aspect, the first state detection section includes a reel rotation detection sensor 66 (an example of a wire detection section) that detects the presence or absence of the wire W. The state notification signal includes a wire shortage determination flag and a detection value of the reel rotation detection sensor 66 (an example of information regarding the detection result of the wire detection section).

When the wire shortage occurs in the reinforcing bar binding device 2, the reinforcing bar binding device 2 cannot perform the reinforcing bar binding work. In order to control the operation of the reinforcing bar binding robot 1 in such a situation, the robot control unit 10 needs to know whether the wire W is present. According to the above configuration, the robot control unit 10 can grasp the presence or absence of the wire W based on the state notification signal.

In the fourth aspect, in the third aspect, the reinforcing bar binding device 2 further includes a wire reel WR around which the wire W is wound, and a housing 12 that rotatably holds the wire reel WR. A reel rotation detection sensor 66 detects the presence or absence of the wire W wound around the wire reel WR.

According to the above configuration, when the wire W is wound around the wire reel WR, the wire reel WR rotates as the wire W is fed by the rebar binding device 2 . When the wire W wound around the wire reel WR runs out, the wire reel WR stops rotating as the wire W is fed by the reinforcing bar binding device 2 . Therefore, the reel rotation detection sensor 66 can indirectly detect the presence or absence of the wire W by detecting whether or not the wire reel WR rotates as the wire W is fed by the rebar binding device 2. can.

In a fifth aspect, in any one of the second to fourth aspects, the reinforcing bar binding device 2 includes a feed motor 72 and further includes a feed mechanism 38 capable of feeding the wire W. ing. The first state detection section includes a gear rotation detection sensor 79 that detects the state of the feed mechanism 38, a voltage detection circuit 26, and a current detection circuit 28 (an example of a feed mechanism state detection section). The state notification signal includes a feed motor overload determination flag, a feed gear abnormality determination flag, a feed motor FET open failure determination flag, a feed motor FET voltage abnormality determination flag, a gear rotation detection sensor 79, a voltage detection circuit 26, and a It includes the detection value of the current detection circuit 28 (an example of information on the detection result of the feeding mechanism state detection section).

For example, the wire W may become entangled in the feed mechanism 38 and the feed mechanism 38 may become inoperable. In order to control the operation of the reinforcing bar binding robot 1 in such a situation, the robot control unit 10 needs to grasp the state of the feed mechanism 38 . According to the above configuration, the robot control unit 10 can grasp the state of the feeding mechanism 38 based on the state notification signal.

In a sixth aspect, in any one of the second to fifth aspects, the reinforcing bar binding device 2 includes a wire reel WR around which the wire W is wound, and a housing 12 that rotatably holds the wire reel WR. and a brake mechanism 40 (an example of a braking mechanism) that includes a pull solenoid 146 (an example of a braking actuator) and is capable of braking the rotational motion of the wire reel WR. The first state detection section includes a voltage detection circuit 25 and a current detection circuit 28 (an example of a braking mechanism state detection section) that detect the state of the brake mechanism 40 . The state notification signal includes a solenoid FET open failure determination flag, a solenoid FET voltage abnormality determination flag, and values detected by the voltage detection circuit 25 and the current detection circuit 28 (an example of information regarding detection results of the braking mechanism state detection section).

For example, the brake mechanism 40 may become inoperable due to an open failure of the solenoid FET (an example of disconnection of the electrical connection between the power supply and the brake actuator). In order to control the operation of the reinforcing bar binding robot 1 in such a situation, the robot control unit 10 needs to grasp the state of the brake mechanism 40 . According to the above configuration, the robot control unit 10 can grasp the state of the brake mechanism 40 based on the state notification signal.

In the seventh aspect, in any one of the first to sixth aspects, the reinforcing bar binding device 2 is configured to be capable of twisting the wire W wound around the reinforcing bar intersection. The rebar binding device 2 further includes a twist motor rotation detection sensor 55 for detecting the state of twisting the wire W, a sleeve position detection sensor 177, and a current detection circuit 28 (an example of a second state detector). The state notification signal includes a torsion operation normality determination flag, a hardware normality determination flag, a torsion motor lock determination flag, a torsion motor rotation abnormality determination flag, a torsion motor overload determination flag, and a torsion motor rotation detection sensor abnormality determination flag. , the torsion arm abnormality determination flag, the detection values of the torsion motor rotation detection sensor 55, the sleeve position detection sensor 177, and the current detection circuit 28 (an example of information regarding the detection result of the second state detection section).

The operation of twisting the wire W is the main operation in the reinforcing bar binding device 2. Therefore, the robot control unit 10 may want to grasp the state of the operation of twisting the wire W of the reinforcing bar binding device 2 . According to the above configuration, the robot control unit 10 can grasp the state of the motion of twisting the wire W based on the state notification signal.

In an eighth aspect, in the seventh aspect, the reinforcing bar binding device 2 further includes a twisting mechanism 46 that includes a twisting motor 170 and is capable of twisting the wire W wound around the intersection of the reinforcing bars. I have. The second state detector includes a torsion motor rotation detection sensor 55 that detects the state of the torsion mechanism 46, a sleeve position detection sensor 177, and a current detection circuit 28 (an example of a torsion mechanism state detector). The state notification signal includes a torsion motor lock determination flag, a torsion motor rotation abnormality determination flag, a torsion motor overload determination flag, a torsion motor rotation detection sensor abnormality determination flag, a torsion arm abnormality determination flag, and a torsion motor rotation detection sensor. 55, the sleeve position detection sensor 177, and the detection values of the current detection circuit 28 (an example of information regarding the detection result of the torsion mechanism state detection section).

For example, the wire W may become entangled in the twisting mechanism 46 and the twisting mechanism 46 may become inoperable. In order to control the operation of the reinforcing bar binding robot 1 in such a situation, the robot control unit 10 needs to grasp the state of the twisting mechanism 46 . According to the above configuration, the robot control unit 10 can grasp the state of the twisting mechanism 46 based on the state notification signal.

In a ninth aspect, in any one of the first to eighth aspects, the reinforcing bar binding device 2 includes a wire reel WR around which the wire W is wound or for guiding the wire W, and a wire reel WR A reel holding mechanism 36 (an example of a reel holding portion) that detachably holds a reel rotation detection sensor 66 (an example of a reel detecting portion) that detects whether or not the wire reel WR is held by the reel holding mechanism 36. , is further provided. The state notification signal includes a reel dropout determination flag (an example of information regarding the detection result of the reel detection unit).

When the wire reel WR is not held by the reel holding mechanism 36, the situation is substantially the same as wire shortage, so the reinforcing bar binding device 2 cannot perform the reinforcing bar binding work. In order to control the operation of the reinforcing bar binding robot 1 in such a situation, the robot control unit 10 needs to know whether the wire reel WR is held by the reel holding mechanism 36 or not. According to the above configuration, the robot control unit 10 can grasp whether or not the wire reel WR is held by the reel holding mechanism 36 based on the state notification signal.

In a tenth aspect, in any one of the first to ninth aspects, the reinforcing bar binding device 2 includes a feed motor 72, a feed mechanism 38 capable of executing an operation to feed the wire W, and a feed A housing 12 that houses a motor 72, and a closed position (first position) in which the wire W attached to the housing 12 and fed by the feed mechanism 38 is guided on a substantially annular guide track to be routed around the intersection of reinforcing bars. A lower curl guide 92 (an example of a guide member) movable between an open state position (example of a second position) moved outside the guide track with respect to the closed state position. and a guide position detection sensor 142 (an example of a guide member position detector) that detects the position of the lower curl guide 92 with respect to the housing 12 . The state notification signal includes a guide position abnormality determination flag and a detection value of the guide position detection sensor 142 (an example of information regarding the detection result of the guide member position detection section).

In the reinforcing bar binding device 2, the lower curl guide 92 may be provided movably with respect to the housing 12 in order to improve the maintenance performance of parts provided around the guide track. However, if the reinforcing bar binding work is performed with the lower curl guide 92 moved to the open position, the reinforcing bar crossing points cannot be properly tied. Therefore, in the reinforcing bar binding robot 1, there are cases where it is desired to execute control according to the position of the lower curl guide 92. FIG. In this case, the robot control unit 10 needs to know the position of the lower curl guide 92 with respect to the housing 12 . According to the above configuration, the robot control unit 10 can grasp the position of the lower curl guide 92 with respect to the housing 12 based on the state notification signal.

In an eleventh aspect, in any one of the first to tenth aspects, the reinforcing bar binding device 2 further includes a temperature detection sensor 32 (an example of a temperature detection section) that detects the temperature of the device control unit 50. ing. The status notification signal includes a temperature normality determination flag, a temperature abnormality determination flag, and a detection value of the temperature detection sensor 32 (an example of information regarding the detection result of the temperature detection unit).

If the temperature of the device control unit 50 becomes extremely high, it may lead to a failure of the device control unit 50. Therefore, in the reinforcing bar binding robot 1, there are cases where it is desired to execute control according to the temperature of the device control unit 50. FIG. In this case, the robot control unit 10 needs to know the temperature of the device control unit 50 . According to the above configuration, the robot control unit 10 can grasp the temperature of the device control unit 50 based on the state notification signal.

In a twelfth aspect, in any one of the first to eleventh aspects, the reinforcing bar binding robot 1 further includes a power supply device 8 for supplying electric power to the reinforcing bar binding device 2 . The rebar binding device 2 further includes a voltage detection circuit 27 (an example of a supply voltage detection section) that detects the voltage value of the power supplied from the power supply device 8 to the rebar binding device 2 . The state notification signal includes a low voltage determination flag, a normal supply voltage determination flag, and a detection value of the voltage detection circuit 27 (an example of information regarding the detection result of the supply voltage detection unit).

If the voltage value of the power supplied from the power supply 8 to the reinforcing bar binding device 2 drops to an insufficient value, there is a possibility that the reinforcing bar binding work will be forcibly interrupted due to power shortage. Therefore, in the reinforcing bar binding robot 1, there are cases where it is desired to execute control according to the voltage value of the power supplied to the reinforcing bar binding device 2. FIG. In this case, the robot control unit 10 needs to grasp the voltage value of the power supplied from the power supply device 8 to the reinforcing bar binding device 2 . According to the above configuration, the robot control unit 10 can grasp the voltage value of the power supplied from the power supply device 8 to the reinforcing bar binding device 2 based on the state notification signal.

In a thirteenth aspect, in any one of the first to twelfth aspects, the reinforcing bar binding device 2 is arranged at a position capable of coming into contact with the first reinforcing bar R1 or the second reinforcing bar R2 during the reinforcing bar binding operation. contact plate 102 (example of contact member), housing 12 holding contact plate 102 in a swingable manner, and plate position detection sensor 134 (contact member position detection unit) for detecting the position of contact plate 102 with respect to housing 12. Example) and are further provided. The state notification signal includes a plate normality determination flag, a plate abnormality determination flag, and a detection value of the plate position detection sensor 134 (an example of information regarding the detection result of the contact member position detection section).

In order to reliably perform the reinforcing bar binding work, the robot control unit 10 may want to detect that the reinforcing bar binding device 2 has been set at the reinforcing bar intersection. According to the above configuration, the robot control unit 10 determines whether or not the contact plate 102 has been swung based on the state notification signal, thereby indicating that the reinforcing bar binding device 2 has been set at the reinforcing bar intersection. detectable.

In a fourteenth aspect, in any one of the first to thirteenth aspects, the state notification signal includes a binding device abnormality determination flag (an example of information indicating that an abnormality has occurred in the reinforcing bar binding device).

According to the above configuration, the robot control unit 10 can grasp that an abnormality has occurred in the reinforcing bar binding device 2 based on the state notification signal. Therefore, the robot control unit 10 can stop the operation of the reinforcing bar binding robot 1 in response to the occurrence of an abnormality in the reinforcing bar binding device 2, or notify the user of the fact.

In a fifteenth aspect, in any one of the first to fourteenth aspects, the robot control unit 10 is configured to send a status call signal (an example of a call signal) to the device control unit 50. . The device control unit 50 is configured to send a status notification signal to the robot control unit 10 when it receives the status call signal.

According to the above configuration, the device control unit 50 does not need to execute processing for specifying the timing of transmitting the state notification signal. Therefore, the device control unit 50 can have a simple configuration. Furthermore, according to the above configuration, the robot control unit 10 can grasp the state of the reinforcing bar binding device 2 at desired timing.

In a sixteenth aspect, in any one of the first to fifteenth aspects, the robot control unit 10 is configured to transmit a bundling instruction signal to the device control unit 50 . The device control unit 50 is configured to cause the reinforcing bar binding device 2 to perform the reinforcing bar binding operation when receiving the binding instruction signal. The robot control unit 10 is configured to send a status call signal to the device control unit 50 prior to sending the bundling instruction signal.

If the state of the reinforcing bar binding device 2 can be grasped at the timing when the reinforcing bar binding work is started, the robot control unit 10 can determine whether or not the subsequent reinforcing bar binding work can be continued based on the state of the reinforcing bar binding device 2. can be done. According to the above configuration, the robot control unit 10 can grasp the state of the reinforcing bar binding device 2 at the timing when the reinforcing bar binding work is started. Therefore, the robot control unit 10 can determine whether or not to continue the reinforcing bar binding work based on the state of the reinforcing bar binding device 2 .

Claims (16)

1. 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 reinforcing bar intersections where the plurality of second reinforcing bars intersect, and a reinforcing bar binding robot capable of repeatedly executing,
   a robot control unit that controls the operation of the reinforcing bar binding robot;
   a reinforcing bar binding device that performs a reinforcing bar binding operation using a wire,
   The reinforcing bar binding device includes a device control unit that controls the operation of the reinforcing bar binding device,
   the device control unit is configured to send a first signal to the robot control unit;
   The rebar tying robot, wherein the robot control unit is configured to control operation of the rebar tying robot based on the first signal transmitted from the device control unit.
2. The reinforcing bar binding device is configured to be able to execute the operation of feeding the wire,
   The reinforcing bar binding device further comprises a first state detection unit that detects a state related to the operation of feeding the wire,
   2. The reinforcing rod binding robot according to claim 1, wherein said first signal includes information regarding the detection result of said first state detection section.
3. The first state detection unit includes a wire detection unit that detects the presence or absence of the wire,
   3. The reinforcing bar binding robot according to claim 2, wherein said first signal includes information about a detection result of said wire detection unit.
4. The reinforcing bar binding device is
   a wire reel around which the wire is wound;
   further comprising a housing that rotatably holds the wire reel,
   4. The reinforcing bar binding robot according to claim 3, wherein said wire detection unit detects the presence or absence of said wire wound around said wire reel.
5. The reinforcing bar binding device comprises a feed motor and further comprises a feed mechanism capable of executing the operation of feeding the wire,
   The first state detection unit includes a feed mechanism state detection unit that detects the state of the feed mechanism,
   The reinforcing bar binding robot according to any one of claims 2 to 4, wherein said first signal includes information about a detection result of said feeding mechanism state detection section.
6. The reinforcing bar binding device is
   a wire reel around which the wire is wound;
   a housing that rotatably holds the wire reel;
   a braking mechanism that includes a braking actuator and is capable of performing an operation of braking the rotational motion of the wire reel;
   The first state detection unit includes a braking mechanism state detection unit that detects the state of the braking mechanism,
   The reinforcing bar binding robot according to any one of claims 2 to 5, wherein said first signal includes information about a detection result of said braking mechanism state detection section.
7. The reinforcing bar binding device is configured to be capable of twisting the wire wound around the reinforcing bar intersection,
   The reinforcing bar binding device further comprises a second state detection unit that detects a state related to an operation of twisting the wire,
   The reinforcing bar binding robot according to any one of claims 1 to 6, wherein said first signal includes information about a detection result of said second state detection section.
8. The reinforcing bar binding device includes a twisting motor, and further includes a twisting mechanism capable of twisting the wire wound around the reinforcing bar intersection,
   The second state detection unit includes a torsion mechanism state detection unit that detects the state of the torsion mechanism,
   8. The reinforcing rod binding robot according to claim 7, wherein said first signal includes information on a detection result of said twisting mechanism state detection section.
9. The reinforcing bar binding device is
   a wire reel on which the wire is wound or on which the wire is guided;
   a reel holding portion that detachably holds the wire reel;
   a reel detection unit that detects whether or not the wire reel is held by the reel holding unit;
   The reinforcing bar binding robot according to any one of claims 1 to 8, wherein the first signal includes information about the detection result of the reel detection section.
10. The reinforcing bar binding device is
    a feed mechanism having a feed motor and capable of executing an operation for feeding the wire;
    a housing that houses the feed motor;
    a first position attached to the housing and adapted to guide the wire fed by the feeding mechanism on a substantially annular guide track to circulate around the rebar intersection; and the guide relative to the first position. a guide member movable between a second position moved outside the track;
    a guide member position detector that detects the position of the guide member with respect to the housing,
    The reinforcing bar binding robot according to any one of claims 1 to 9, wherein said first signal includes information about a detection result of said guide member position detector.
11. The reinforcing bar binding device further comprises a temperature detection unit that detects the temperature of the device control unit,
    The reinforcing bar binding robot according to any one of claims 1 to 10, wherein said first signal includes information about a detection result of said temperature detection unit.
12. The reinforcing bar binding robot further comprises a power supply for supplying power to the reinforcing bar binding device,
    The reinforcing bar binding device further comprises a supply voltage detection unit that detects a voltage value of power supplied from the power supply device to the reinforcing bar binding device,
    The reinforcing bar binding robot according to any one of claims 1 to 11, wherein said first signal includes information about a detection result of said supply voltage detection section.
13. The reinforcing bar binding device is
    a contact member arranged at a position capable of coming into contact with the first reinforcing bar or the second reinforcing bar during the reinforcing bar binding operation;
    a housing that pivotably holds the contact member;
    a contact member position detector that detects the position of the contact member with respect to the housing,
    The reinforcing bar binding robot according to any one of claims 1 to 12, wherein said first signal includes information on a detection result of said contact member position detector.
14. The reinforcing bar binding robot according to any one of claims 1 to 13, wherein the first signal includes information indicating that an abnormality has occurred in the reinforcing bar binding device.
15. the robot control unit is configured to send a call signal to the device control unit;
    15. The rebar tying robot of any one of claims 1 to 14, wherein the device control unit is configured to transmit the first signal to the robot control unit upon receiving the call signal.
16. The robot control unit is configured to send a bundling instruction signal to the device control unit,
    The device control unit is configured to cause the reinforcing bar binding device to perform the reinforcing bar binding operation when receiving the binding instruction signal,
    Rebar tying robot according to any one of claims 1 to 15, wherein the robot control unit is arranged to transmit the call signal to the device control unit prior to transmitting the tying instruction signal. .

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