Binding system, method for controlling binding device, and computer readable storage medium storing program
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.
1 . A binding system comprising:
a binding device including a binding machine that includes a curl forming unit forming a path through which a wire is wound around reinforcing bars, a cutting unit that cuts the wire wrapped around the reinforcing bars, and a binding unit that twists the wire wrapped around the reinforcing bars, and that binds the reinforcing bars with the wire, and a transfer robot that moves the binding machine to a binding position; and
processing circuitry configured to:
detect a remaining amount of the wire to be used in the binding machine; and
control a binding operation of the binding device based on the detected remaining amount of the wire.
2 . The binding system according to claim 1 , wherein
the processing circuitry is configured to predict a number of necessary binding positions in a structure in which a plurality of binding positions is to be formed, and wherein
the processing circuitry is configured to determine, based on the detected remaining amount of the wire, whether the remaining amount of the wire is insufficient with respect to the predicted scheduled binding number.
3 . The binding system according to claim 2 , wherein
the processing circuitry is configured to output report information when it is determined that the remaining amount of the wire is insufficient with respect to the scheduled binding number.
4 . The binding system according to claim 1 , wherein
the processing circuitry is configured to set, based on the remaining amount of the wire, a binding position at which the binding operation is performed, and
the processing circuitry is configured to move the binding machine to the binding position by controlling the transfer robot, and to control the binding machine to perform the binding operation.
5 . The binding system according to claim 4 , wherein
the processing circuitry is configured to limit, based on the remaining amount of the wire, a range of the binding position at which the binding operation is performed.
6 . The binding system according to claim 4 , wherein
the processing circuitry is configured to select, based on the remaining amount of the wire, the binding position to be preferentially subjected to the binding operation.
7 . The binding system according to claim 1 , wherein
the processing circuitry is configured to determine the remaining amount of the wire based on a weight of a reel around which the wire is wound.
8 . The binding system according to claim 1 , wherein
the processing circuitry is configured to determine the remaining amount of the wire based on a number of times of binding.
9 . The binding system according to claim 1 , wherein
the processing circuitry is configured to determine the remaining amount of the wire based on a feed amount of the wire in an operation of feeding the wire in a reverse direction and wrapping the wire around the reinforcing bars.
10 . A method for controlling a binding device, the binding device comprising a binding machine that binds reinforcing bars with a wire and a transfer robot that moves the binding machine to a binding position, the method comprising computer-implemented steps of:
detecting a remaining amount of the wire to be used in the binding machine; and
controlling a binding operation of the binding device based on the detected remaining amount of the wire.
11 . The method according to claim 10 , further comprising computer-implemented steps of:
predicting a number of necessary binding positions in a structure in which a plurality of binding positions is to be formed; and
determining, based on the predicted remaining amount of the wire, whether the remaining amount of the wire is insufficient with respect to the predicted scheduled binding number.
12 . The method according to claim 10 , further comprising computer-implemented step of:
setting, based on the remaining amount of the wire, a binding position at which the binding operation is performed, wherein
controlling a binding operation of the binding device includes moving the binding machine to the binding position by controlling the transfer robot, and performing the binding operation by controlling the binding machine.
13 . The method according to claim 12 , wherein
setting the binding position includes
limiting, based on the remaining amount of the wire, a range of the binding position at which the binding operation is performed, or
selecting, based on the remaining amount of the wire, the binding position to be preferentially subjected to the binding operation.
14 . The method according to claim 10 , wherein
detecting the remaining amount of the wire includes determining the remaining amount of the wire based on one of a weight of a reel around which the wire is wound, a number of times of binding, and a feed amount of the wire in an operation of feeding the wire in a reverse direction and wrapping the wire around the reinforcing bars.
15 . A non-transitory computer-readable storage medium storing a program for causing a computer to execute the method according to claim 10 .
16 . A binding system comprising:
a binding device including:
a binding machine that includes:
a curl guide that imparts a winding habit to a wire to form a path through which the wire is wound around reinforcing bars;
a pair of blades to cut the wire wrapped around the reinforcing bars;
a hook member including a center hook, a first hook, and a second hook, the first hook and the second hook being configured to open and close with respect to the center hook, the hook member being configured to lock the wire between the center hook and the first hook, and between the center hook and the second hook;
a sleeve that causes the hook member to operate;
a rotation shaft configured to twist the wire wrapped around the reinforcing bars,
the binding machine being configured to bind the reinforcing bars with the wire; and
a transfer robot that moves the binding machine to a binding position; and
processing circuitry configured to:
detect a remaining amount of the wire to be used in the binding machine; and
control a binding operation of the binding device based on the detected remaining amount of the wire.
17 . The binding system according to claim 16 , wherein
the processing circuitry is configured to predict a number of necessary binding positions in a structure in which a plurality of binding positions is to be formed, and wherein
the processing circuitry is configured to determine, based on the detected remaining amount of the wire, whether the remaining amount of the wire is insufficient with respect to the predicted scheduled binding number.
18 . The binding system according to claim 17 , wherein
the processing circuitry is configured to output report information when it is determined that the remaining amount of the wire is insufficient with respect to the scheduled binding number.
19 . The binding system according to claim 16 , wherein
the processing circuitry is configured to set, based on the remaining amount of the wire, a binding position at which the binding operation is performed, and
the processing circuitry is configured to move the binding machine to the binding position by controlling the transfer robot, and to control the binding machine to perform the binding operation.
20 . The binding system according to claim 19 , wherein
the processing circuitry is configured to limit, based on the remaining amount of the wire, a range of the binding position at which the binding operation is performed.
21 . The binding system according to claim 19 , wherein
the processing circuitry is configured to select, based on the remaining amount of the wire, the binding position to be preferentially subjected to the binding operation.
22 . The binding system according to claim 16 , wherein
the processing circuitry is configured to determine the remaining amount of the wire based on a weight of a reel around which the wire is wound.
23 . The binding system according to claim 16 , wherein
the processing circuitry is configured to determine the remaining amount of the wire based on a number of times of binding.
24 . The binding system according to claim 16 , wherein
the processing circuitry is configured to determine the remaining amount of the wire based on a feed amount of the wire in an operation of feeding the wire in a reverse direction and wrapping the wire around the reinforcing bars.