Legal document is a tricky phrase to use. "No trespassing" signs are usually considered sufficient to justify prosecution for trespassing. If the sign is conspicuously placed, it does not usually matter if you actually see the sign or not.
I am not as familiar with law around accessing computer systems, but I imagine that given some of the draconian enforcement we've seen in the past that a robots.txt should be sufficient to support some legal action against someone who disregards it.
Sure, but federal law does prevent you from repeatedly placing that request into my mailbox. I don't even need a sign for that.
Making an http request does not fit cleanly as an analogue to yelling from the street, nor does it fit as an analogue to throwing a written request on a brick through a window. It is something different that must be understood on its own terms.
I am not as familiar with law around accessing computer systems, but I imagine that given some of the draconian enforcement we've seen in the past that a robots.txt should be sufficient to support some legal action against someone who disregards it.