A rebar binding machine comprises a curl guide that causes a wire to curl, a torsion part including a torsion shaft for twisting the curled wire, and a pair of grips that can be grasped by an operator. The grips are provided to the two axial sides of the torsion shaft as viewed from the operator side when the operator grasps the grips to perform an operation, and it is possible to change the height of the grips in the axial direction of the torsion shaft.

A rebar tying tool (2; 302; 402) include a feed mechanism (24), which includes a first motor (32; 304) and feeds a wire (W), and a twisting mechanism, which includes a second motor (76; 306) and twists together one or more portions of the wire. A control unit (202; 350) controls the first motor and the second motor and includes a general-purpose I/O port (202c; 350c) and a motor-control-signal output port (202a; 350a). A motor-control-signal-output-destination-switching circuit (204; 310; 406) inputs motor-control signals (UH, VH, WH, UL, VL, WL) from the control unit via the motor-control-signal output port and selectively outputs the inputted motor-control signals to either the first motor or the second motor in response to input of a switching signal (SW).

A reinforcing bar binding machine capable of reliably performing a wire gripping operation includes a first movable gripping member that is displaced in a direction to contact with and separate from one side of a fixed gripping member and a second movable gripping member that is displaced in a direction to contact with and separate from the other side of the fixed gripping member. A bending portion brings the first movable gripping member and the second movable gripping member into and out of contact with the fixed gripping member. The fixed gripping member includes a shaft that rotatably supports the first movable gripping member and the second movable gripping member. Further, the bending portion includes an opening and closing pin that pushes an opening and closing guide hole provided in the first movable gripping member, and an opening and closing guide hole provided in the second movable gripping member.

A tool for manufacturing of a reinforcement bar structure, wherein the tool comprises a main body, a jaw arrangement, a tying device and an arrangement configured for moving the jaw arrangement between a gripping state and a tying state. A system for manufacturing a reinforcement bar structure, wherein the system comprises a supply of reinforcement bar material, a bending apparatus, a holding apparatus and a group of robots wherein at least one robot of the group of robots is equipped with the tool for manufacturing a reinforcement bar structure. A method for transporting and attaching a reinforcement bar during manufacturing of a reinforcement bar structure using a tool comprising a main body, the method comprising gripping a reinforcement bar, tying together the reinforcement bar with another reinforcement bar by looping a wire around the reinforcement bars, tightening the wire around the reinforcement bars, forming a knot, and cutting the wire.

A binding machine for binding reinforcing bars with a wire, the binding machine including: a wire feeder that feeds a wire; and a binding unit configured to twist the wire. The wire feeder and the binding unit are controlled based on reinforcing bar identification information related to reinforcing bars to be bound with the wire.

A binding system including: a binding device including a binding machine that binds reinforcing bars with a wire, and a transfer robot that moves the binding machine to a binding position; a remaining wire amount detection unit configured to detect a remaining amount of the wire to be used in the binding machine; and processing circuitry configured to control a binding operation of the binding device based on the remaining amount of the wire detected by the remaining wire amount detection unit.

A binding system including: a binding device including a binding machine that binds reinforcing bars with a wire, and a transfer robot that moves the binding machine to a binding position by a relative movement between the binding machine and the reinforcing bars; an information acquisition unit configured to acquire binding related information related to an operation of binding the reinforcing bars with the wire; and a position information acquisition unit configured to acquire position information of the binding position in a manner associable with the binding related information for the binding position acquired by the information acquisition unit.

A binding device including: a binding machine that binds reinforcing bars with a wire; and a transfer robot that moves the binding machine and the reinforcing bars positioned at a binding position in a direction of approaching and a direction of separating from each other by a relative movement of the binding machine and the reinforcing bars. The binding machine is configured to determine, when the binding machine starts an operation of binding the reinforcing bars with the wire, a timing of moving the binding machine and the reinforcing bars in the direction of separating from each other, and the transfer robot is configured to move the binding machine and the reinforcing bars in the direction of separating from each other at the determined timing.

A binding device communicable with an information processing device, the binding device including: a binding machine that binds reinforcing bars with a wire; and a transfer robot that moves the binding machine to a binding position by a relative movement between the binding machine and the reinforcing bars. The binding machine includes: an information acquisition unit configured to acquire binding related information related to an operation of binding the reinforcing bars with the wire, and an information communication unit configured to notify the information processing device of the binding related information acquired by the information acquisition unit.

A rebar tying tool includes: a feed mechanism (24), which includes a first brushless motor (32) and performs an advancing process that advances a wire (W) and a draw-back process that draws back the wire (W); a first inverter circuit (212), which is electrically connected to the first brushless motor; and a control unit (202), which controls the first brushless motor via the first inverter circuit. The first brushless motor comprises a first Hall-effect sensor (180), which is disposed on a first sensor board (178). In the advancing process, the control unit performs lead-angle control on the first brushless motor at a first lead angle. In the draw-back process, the control unit performs lead-angle control on the first brushless motor at a second lead angle. The first lead angle is set to be larger than the second lead angle.