US 12,390,851 B2
Rebar tying robot
Kengo Onoda, Anjo (JP); and Kazuki Oguchi, Anjo (JP)
Assigned to MAKITA CORPORATION, Anjo (JP)
Appl. No. 18/271,888
Filed by MAKITA CORPORATION, Anjo (JP)
PCT Filed Dec. 16, 2021, PCT No. PCT/JP2021/046529
§ 371(c)(1), (2) Date Jul. 12, 2023,
PCT Pub. No. WO2022/153778, PCT Pub. Date Jul. 21, 2022.
Claims priority of application No. 2021-006038 (JP), filed on Jan. 18, 2021.
Prior Publication US 2024/0300004 A1, Sep. 12, 2024
Int. Cl. B21F 15/06 (2006.01); B25J 5/00 (2006.01); E04G 21/12 (2006.01)
CPC B21F 15/06 (2013.01) [B25J 5/005 (2013.01); E04G 21/12 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A rebar tying robot configured to alternately and repeatedly perform an operation of moving, in a direction in which a plurality of primary rebars extends, over the plurality of primary rebars and a plurality of secondary rebars intersecting the plurality of primary rebars and an operation of tying the plurality of primary rebars and the plurality of secondary rebars at points where the plurality of primary rebars and the plurality of secondary rebars intersect, the rebar tying robot comprising:
a rebar tying unit;
a conveying unit configured to convey the rebar tying unit; and
a control unit configured to control an operation of the conveying unit, wherein
the conveying unit comprises:
a longitudinal movement mechanism configured to move the rebar tying robot in a front-rear direction; and
a first three-dimensional distance sensor configured to output first point cloud data which represents a three-dimensional position of an object in a first field of view by point clouds, and
the control unit is configured to execute:
a first rebar extraction process in which the control unit extracts, from the point clouds included in the first point cloud data, point clouds whose positions in an up-down direction are within a predetermined rebar depth range; and
a rebar model generation process in which the control unit generates a rebar model in which the primary rebar or the secondary rebar is modeled by a linear line based on the point clouds extracted in the first rebar extraction process.